Sorting system and sorting method

Abstract

A sorting system and a sorting method. The sorting system comprises a sorting apparatus, a first robot and a second robot. The sorting apparatus comprises a sorting mechanism, storage warehouse racks and a docking warehouse rack, wherein the storage warehouse racks are arranged in two rows, and comprise a plurality of storage layers; each storage layer comprises a plurality of material bin compartments; each material bin compartment is configured to store a material bin to be loaded; the docking warehouse rack is arranged adjacent to the storage warehouse racks, and is configured to temporarily store fully loaded material bins or empty material bins awaiting replenishment; and the sorting mechanism is arranged between the two rows of storage warehouse racks, and is configured to receive goods to be sorted and transfer said goods into the material bins on the storage warehouse racks. The first robot is configured to pick and place the fully loaded material bins or the empty material bins between the storage warehouse racks and the docking warehouse rack. The second robot is configured to pick and place the fully loaded material bins or the empty material bins between the docking warehouse rack and a material bin transfer station. Applying the embodiments of the present application can realize automatic replacement of the material bins of the sorting system, thereby improving the sorting efficiency and the space utilization rate of the sorting system.

Description

A sorting system and sorting method

[0001] This application claims priority to Chinese Patent Application No. 202410814791.5, filed on June 21, 2024, entitled "A Sorting System and Sorting Method"; Application No. 202421441602.6, entitled "A Sorting System"; Application No. 202410815047.7, entitled "A Sorting System and Sorting Method"; Application No. 202421441644.X, entitled "A Sorting System"; and Application No. 202423019927.8, filed on December 6, 2024, entitled "A Sorting System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of logistics and warehousing technology, and in particular to a sorting system and sorting method. Background Technology

[0003] With the continuous improvement of intelligent logistics and warehousing technology, packaging and handling processes can be completed by intelligent robots. However, sorting processes still require human intervention. For example, in the sorting process, workers need to take the full boxes from the sorting equipment shelves to the next stage, and also need to replenish the empty boxes in the empty spaces, which reduces sorting efficiency.

[0004] Currently, the relevant technologies mainly focus on researching sorting equipment to improve sorting efficiency. However, after the sorting equipment has filled the boxes with the goods to be sorted, it is still necessary to manually change the boxes, which limits the sorting efficiency. In addition, the height of the sorting equipment shelves is limited by the height of the staff, resulting in low space utilization. Summary of the Invention

[0005] The purpose of this application is to provide a sorting system and sorting method to achieve automatic bin replacement, thereby improving sorting efficiency and space utilization. The specific technical solution is as follows:

[0006] This application provides a sorting system, including: sorting equipment, a first robot, and a second robot; the sorting equipment includes: a sorting mechanism, storage shelves, and connecting shelves; the storage shelves are arranged in two rows and include multiple storage layers; each storage layer includes multiple bin slots, and each bin slot is used to store a bin to be loaded; the connecting shelves are arranged adjacent to the storage shelves and are used to temporarily store full bins or empty bins to be replenished; the sorting mechanism is arranged between the two rows of storage shelves and is configured to receive goods to be sorted and transport the goods to be sorted to the bins on the storage shelves; the first robot is configured to pick up and place full bins or empty bins between the storage shelves and the connecting shelves; the second robot is configured to pick up and place full bins or empty bins between the connecting shelves and the bin transfer station.

[0007] This application also provides a sorting method using a control device. The control device is communicatively connected to the sorting mechanism, first robot, and second robot of the sorting equipment in the aforementioned sorting system. The method includes: instructing the sorting mechanism to receive goods to be sorted and transport the goods to be sorted to a partially full bin on a storage shelf; when there is a full bin on the storage shelf, instructing the first robot to move the full bin on the storage shelf to a connecting shelf, wherein the full bin is a bin filled with goods or a bin on an order that has been completely sorted; instructing the second robot to move the full bin on the connecting shelf to a bin transfer station; when at least one bin slot on the storage shelf is empty, instructing the second robot to move an empty bin from the bin transfer station to the connecting shelf; and instructing the first robot to move an empty bin from the connecting shelf to an empty bin slot on the storage shelf.

[0008] The sorting system and method provided in this application, through a first robot picking up and placing boxes between storage shelves and connecting shelves, and a second robot picking up and placing boxes between the connecting shelves and the box transfer station, achieves automatic box replacement in the sorting system. Compared with manual box replacement, this improves sorting efficiency and accuracy. Furthermore, the first robot replacing manual box replacement allows the height of the storage shelves to overcome the height limitations of workers, increasing the number of box slots that can be configured on the storage shelves, thus improving the sorting capacity and space utilization of the sorting system.

[0009] This application embodiment also provides a sorting system, including: a sorting mechanism, shelves, a handling robot, and a bin connection conveyor line; the shelves are arranged in two rows, including multiple storage layers spaced apart in a vertical direction; each storage layer includes multiple bin slots, each bin slot being used to store a bin to be loaded; the sorting mechanism is arranged between the two rows of shelves, configured to receive goods to be sorted and transport the goods to be sorted to the bins on the shelves; the bin connection conveyor line is arranged adjacent to the shelves, configured to transport empty bins toward the shelves, or transport full bins away from the shelves; the handling robot is configured to pick up and place full or empty bins between the shelves and the bin connection conveyor line.

[0010] This application also provides a sorting method using a control device. The control device is communicatively connected to the sorting mechanism, the handling robot, and the bin conveyor line in the aforementioned sorting system. The method includes: instructing the bin conveyor line to start, enabling it to transport empty bins toward the shelf and full bins away from the shelf; instructing the sorting mechanism to receive goods to be sorted and transport them to bins that are not full on the shelf; when there are full bins on the shelf, instructing the handling robot to move the full bins on the shelf to the bin conveyor line; and when at least one bin slot on the shelf is empty, instructing the handling robot to move an empty bin from the bin conveyor line to an empty bin slot on the shelf.

[0011] This application also provides a control device, including: a memory for storing computer programs; and a processor for executing the program stored in the memory to implement the sorting method described in any of the above embodiments.

[0012] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the sorting method described in any of the above embodiments.

[0013] The sorting system and method provided in this application, through the use of a handling robot to pick up and place boxes between the shelves and the box conveyor line, achieves automatic box replacement in the sorting system. Compared with manual box replacement, this improves sorting efficiency and accuracy. Furthermore, the use of a handling robot to replace manual box replacement allows the shelf height to overcome the height limitations of workers, increasing the number of box slots that can be configured on the shelves and improving the sorting capacity and space utilization of the sorting system. Moreover, the box conveyor line can transport empty boxes towards the shelves or full boxes away from the shelves, achieving automatic transfer of empty and full boxes, further improving the overall operating efficiency of the sorting system.

[0014] This application embodiment also provides a sorting system, including: at least two sorting devices, a box-changing robot, and a box transport device; the at least two sorting devices are arranged side by side with intervals, and a box-changing robot channel is formed between the two adjacent sorting devices; each sorting device is capable of sorting received goods into various boxes; the at least two sorting devices are provided with a storage area for storing boxes and a docking area for docking with the box transport device; the box transport device is used to transport empty boxes to the docking area of ​​the sorting device, or to transport full boxes located in the docking area of ​​the sorting device to the outside of the sorting device; the box-changing robot is attached to either sorting device on both sides of the box-changing robot channel, and is capable of traveling along the box-changing robot channel, for transporting empty boxes in the docking area of ​​the two sorting devices on both sides of the box-changing robot channel to the storage area of ​​the sorting device, or transporting full boxes in the storage area of ​​the storage area of ​​the sorting device to the docking area of ​​the sorting device.

[0015] The sorting system provided in this application embodiment includes a carton-changing robot mounted on either side of the carton-changing robot's channel. This robot travels along the channel to move empty cartons from the receiving area of ​​one of the two sorting devices to its storage area, or full cartons from its storage area to the receiving area of ​​the other sorting device. This improves the utilization rate of the carton-changing robot, reduces the cost of the sorting system, and achieves automatic carton replacement. Compared to manual carton changing, this improves sorting efficiency and accuracy. Furthermore, the carton-changing robot replaces manual carton changing, allowing the height of the sorting equipment to overcome the height limitations of workers, thus increasing the storage capacity, sorting ability, and space utilization of the sorting system. A carton transport device is used to transport empty cartons to the receiving area of ​​the sorting equipment, or to transport full cartons located in the receiving area to the outside of the sorting equipment, achieving automatic transfer of empty and full cartons and further improving the overall operating efficiency of the sorting system. Attached Figure Description

[0016] The accompanying drawings, which are provided to further understand this application and constitute a part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0017] Figure 1 is a three-dimensional structural diagram of the first sorting system of this application;

[0018] Figure 2 is a front view schematic diagram of the sorting system shown in Figure 1;

[0019] Figure 3 is a top view of the sorting system shown in Figure 1;

[0020] Figure 4 is a side view of the sorting system shown in Figure 1.

[0021] Figure 5 is a three-dimensional structural diagram of the first robot shown in Figure 1;

[0022] Figure 6 is a front view schematic diagram of the first robot shown in Figure 1;

[0023] Figure 7 is a top view of the first robot shown in Figure 1;

[0024] Figure 8 is a side view of the first robot shown in Figure 1;

[0025] Figure 9 is a top view of the connecting rack shown in Figure 1;

[0026] Figure 10 is a three-dimensional structural schematic diagram of the second robot shown in Figure 1;

[0027] Figure 11 is a three-dimensional structural diagram of the second robot lifting box shown in Figure 1;

[0028] Figure 12 is a three-dimensional structural diagram of the docking between the second robot and the material box transfer station shown in Figure 11;

[0029] Figure 13 is a three-dimensional structural diagram of the second robot after docking with the material box transfer station shown in Figure 12;

[0030] Figure 14 is a three-dimensional structural diagram of the second sorting system of this application;

[0031] Figure 15 is a front view schematic diagram of the sorting system shown in Figure 14;

[0032] Figure 16 is a top view of the sorting system shown in Figure 14;

[0033] Figure 17 is a side view of the sorting system shown in Figure 14.

[0034] Figure 18 is a flowchart of a first embodiment of the first sorting method provided in this application;

[0035] Figure 19 is a flowchart of a second embodiment of the first sorting method provided in this application;

[0036] Figure 20 is a flowchart of a third embodiment of the first sorting method provided in this application;

[0037] Figure 21 is a flowchart of the fourth embodiment of the first sorting method provided in this application;

[0038] Figure 22 is a structural diagram of the first type of control device provided in this application;

[0039] Figure 23a is a three-dimensional structural diagram of the third sorting system of this application;

[0040] Figure 23b is a front view schematic diagram of the sorting system shown in Figure 23a;

[0041] Figure 23c is a top view of the sorting system shown in Figure 23a;

[0042] Figure 23d is a side view of the sorting system shown in Figure 23a;

[0043] Figure 24 is a schematic diagram of the connection relationship of the material box connecting conveyor line shown in Figure 23a;

[0044] Figure 25a is a three-dimensional structural diagram of the handling robot shown in Figure 23a;

[0045] Figure 25b is a front view schematic diagram of the handling robot shown in Figure 23a;

[0046] Figure 25c is a top view of the handling robot shown in Figure 23a;

[0047] Figure 25d is a side view of the handling robot shown in Figure 23a;

[0048] Figure 26 is a top view of the fourth sorting system of this application;

[0049] Figure 27 is a flowchart of the first embodiment of the second sorting method provided in this application;

[0050] Figure 28 is a flowchart of a second embodiment of the second sorting method provided in this application;

[0051] Figure 29 is a flowchart of a third embodiment of the second sorting method provided in this application;

[0052] Figure 30 is a flowchart of the fourth embodiment of the second sorting method provided in this application;

[0053] Figure 31 is a structural diagram of the second type of control device provided in this application;

[0054] Figure 32a is a three-dimensional structural diagram of the five sorting systems of this application;

[0055] Figure 32b is a top view of the sorting system shown in Figure 32a;

[0056] Figure 32c is a front view schematic diagram of the sorting equipment shown in Figure 32a;

[0057] Figure 33 is a top view of the docking layer shown in Figure 32a;

[0058] Figure 34 is a three-dimensional structural diagram of the transfer robot shown in Figure 32a;

[0059] Figure 35 is a three-dimensional structural diagram of the box-changing robot shown in Figure 32a;

[0060] Figure 36a is a three-dimensional structural diagram of the sixth sorting system of this application;

[0061] Figure 36b is a top view of the sorting system shown in Figure 36a.

[0062] Figure 36c is a front view schematic diagram of the sorting equipment shown in Figure 36a;

[0063] Figure 37 is a top view of the seventh sorting system of this application;

[0064] Figure 38 is a top view of the eighth sorting system of this application.

[0065] Reference numerals in Figures 1 to 22: Sorting equipment 100; Sorting mechanism 110; Guiding mechanism 111; Shuttle guide rail 1111; Shuttle sorting cart 112; Storage rack 120; Storage layer 121; Bin compartment 1211; Crossbeam 122; Connecting rack 130; Temporary storage location 131; Through channel 1311; Lifting mechanism 140; Feeding table 150; First robot 200; Column gantry 210; Gatepost 211; Handling mechanism 220; Lifting assembly 221; Picking assembly 222; Sliding guide rail 230; Second robot 300; Motion chassis 310; Lifting mechanism 320; Lifting platform 321; Bin transfer station 400; Connecting position 401; Conveying section 402; Full bin conveyor line 410; Empty bin replenishment line 420; Conveyor belt 430; Bin 500; Channel 1: 600; Channel 2: 700; Channel 3: 800; Channel 4: 900.

[0066] The reference numerals in Figures 23a to 31 are as follows: Sorting mechanism 2-100; Feeding table 2-110; Lifting mechanism 2-120; Guiding mechanism 2-130; Shuttle guide rail 2-131; Shuttle sorting cart 2-140; Shelf 2-200; Storage layer 2-210; Bin compartment 2-211; Capacity space 2-220; Beam 2-230; Handling robot 2-300; Column gantry 2-310; Door post 2-311; Handling mechanism 2-320; Lifting assembly 2-321; Picking assembly 2-322; Sliding guide rail 2-330; Bin connecting conveyor line 2-400; Connecting position 2-410; Conveying section 2-420; Full bin connecting conveyor line 2-430; Empty bin connecting conveyor line 2-440; Bin 2-500.

[0067] The reference numerals in Figures 32a to 38 are as follows: Sorting equipment 3-100; Picking mechanism 3-110; Feeding table 3-111; Lifting mechanism 3-112; Guiding mechanism 3-113; Shuttle rail 3-1131; Shuttle sorting cart 3-114; Shelf 3-120; Storage layer 3-121; Storage compartment 3-1211; Dating layer 3-122; Dating compartment 3-1221; Through channel 3-1222; Horizontal track 3-130; Connection area 3-140; Carton changing robot 3-200; Mounting rack 3-210; Column 3-211; Picking and placing assembly 3-220; 3-300: Material box transport equipment; 3-300A: Transfer robot; 3-310: Walking mechanism; 3-320: Lifting mechanism; 3-300B: First material box conveyor line; 3-330: Connecting position; 3-340: Conveying section; 3-350: Second full material box conveyor line; 3-360: Second empty material box conveyor line; 3-300C: Second material box conveyor line; 3-400: Box changing robot channel; 3-500: Material box; 3-600: Material box transfer station; 3-610: First full material box conveyor line; 3-620: First empty material box conveyor line; 3-700: Transfer robot channel; 3-710: First channel; 3-720: Second channel; 3-730: Third channel; 3-810: Auxiliary connecting rack; 3-820: Auxiliary transmission line. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention are within the scope of protection of this invention.

[0069] As mentioned in the background technology, with the continuous improvement of intelligent logistics and warehousing technology, packaging, handling and other processes can be completed by intelligent robots. However, sorting still requires human intervention. For example, in the sorting process, workers need to take the full boxes from the sorting equipment shelf to the next stage, and also need to replenish the empty boxes in the empty space, which reduces sorting efficiency.

[0070] Currently, the relevant technologies mainly focus on researching sorting equipment to improve sorting efficiency. However, after the sorting equipment has filled the boxes with the goods to be sorted, manual replacement of the boxes is still required, which limits the sorting efficiency. In addition, the height of the sorting equipment shelves is limited by the height of the staff, resulting in low space utilization.

[0071] To achieve automated bin replacement and improve sorting efficiency and space utilization, this application provides several sorting systems and methods. These systems all utilize dedicated bin-changing robots that work in conjunction with transport equipment to achieve automated bin replacement. The transport equipment can be a separate dedicated robot or a conveyor line, capable of transporting bins to shelves on either side of the sorting mechanism (picking mechanism) or to locations away from the sorting mechanism. These are described in detail below.

[0072] First, a first sorting system provided in the embodiments of this application will be described in detail. In this sorting system, the robot dedicated to changing boxes is the first robot 200; the conveying device capable of transporting boxes to the connecting racks 130 on both sides of the sorting mechanism 110 in the system or to a position away from the connecting racks 130 is the second robot 300.

[0073] Referring to Figures 1 to 4, Figure 1 is a three-dimensional structural schematic diagram of the first sorting system of this application; Figure 2 is a front view schematic diagram of the sorting system shown in Figure 1; Figure 3 is a top view schematic diagram of the sorting system shown in Figure 1; and Figure 4 is a side view schematic diagram of the sorting system shown in Figure 1.

[0074] As shown in Figures 1 to 4, the sorting system provided in this application embodiment includes: sorting equipment 100, first robot 200 and second robot 300; sorting equipment 100 includes: sorting mechanism 110, storage rack 120 and connecting rack 130.

[0075] The storage rack 120 is arranged in two rows and includes multiple storage layers 121; each storage layer 121 includes multiple bin slots 1211, and each bin slot 1211 is used to store a bin 500 to be loaded.

[0076] The connecting rack 130 is arranged adjacent to the storage rack 120 for temporarily storing full material bins 500 or empty material bins 500 that are to be replenished.

[0077] The sorting mechanism 110 is located between two rows of storage shelves 120 and is configured to receive goods to be sorted and transport them to the bins 500 of the storage shelves 120.

[0078] The first robot 200 is configured to pick up and place full or empty bins 500 between the storage rack 120 and the connecting rack 130.

[0079] The second robot 300 is configured to pick up and place full or empty bins 500 between the connecting rack 130 and the bin transfer station 400.

[0080] It should be noted that although the connecting rack 130 is classified as sorting equipment in this application, in actual practice, the connecting rack 130 can also be equipped separately and is set independently from the sorting mechanism 110 and storage rack 120 of the sorting equipment 100.

[0081] This application provides a sorting system in which a first robot 200 picks up and places material boxes 500 between storage racks 120 and connecting racks 130, and a second robot 300 picks up and places material boxes 500 between connecting racks 130 and material box transfer stations 400. This achieves automatic replacement of material boxes 500 in the sorting system, improving sorting efficiency and accuracy compared to manual box replacement. Furthermore, the first robot 200 replacing manual box replacement allows the height of the storage racks 120 to overcome the height limitations of workers, increasing the number of configurable material box slots 1211 on the storage racks 120, and improving the sorting capacity and space utilization of the sorting system.

[0082] In the embodiment shown in Figure 1, as shown in Figures 2 and 3, the storage rack 120 may include multiple horizontal beams 122 spaced apart in a vertical direction, so that a first robot 200 is mounted on the outside of the storage rack 120 based on the horizontal beams 122. There may be multiple first robots 200, all mounted on the horizontal beams 122, to pick up and place material boxes on the storage rack 120 and the connecting rack 130, thereby improving handling efficiency.

[0083] Specifically, the crossbeam 122 extends from one end of the storage rack 120 along its length to the other end, and the first robot 200 can slide along the crossbeam 122 to move horizontally along the storage rack 120. Specific details of the arrangement will be provided later.

[0084] In the embodiment shown in Figure 1, referring to Figures 5 to 8, Figure 5 is a three-dimensional structural schematic diagram of the first robot shown in Figure 1; Figure 6 is a front view schematic diagram of the first robot shown in Figure 1; Figure 7 is a top view schematic diagram of the first robot shown in Figure 1; and Figure 8 is a side view schematic diagram of the first robot shown in Figure 1.

[0085] As shown in Figures 5 to 8, the first robot 200 may include: a column gantry 210, a transport mechanism 220, and at least one sliding guide rail 230.

[0086] The upright frame 210 is installed along the vertical direction of the storage rack 120.

[0087] The handling mechanism 220 is installed on the column gantry 210 and is used to pick up and put in the storage bins 500 of different heights on the storage rack 120.

[0088] At least one sliding guide rail 230 is fixedly installed on the crossbeam 122; the upright frame 210 is slidably connected to at least one sliding guide rail 230 so that the upright frame 210 and the conveying mechanism 220 slide horizontally along the crossbeam 122 to pick up and put in different material boxes 500 in the length direction of the storage rack 120.

[0089] The first robot 200 is configured to move a full container 500 on the storage rack 120 to the connecting rack 130, or to move an empty container 500 on the connecting rack 130 to the storage rack 120.

[0090] Specifically, as shown in Figures 1 and 2, the first robot 200 is fixed to the storage rack 120 by two sliding guide rails 230 that are spaced apart vertically. The first robot 200 can move along the length of the storage rack 120 based on these two sliding guide rails 230.

[0091] Using the embodiments of this application, the first robot 200 can move horizontally along the length of the storage rack 120 to pick up and place various boxes 500 along the length of the storage rack 120. Additionally, the picking component 222 of the first robot 200 can move vertically along the height of the storage rack 120 to pick up and place boxes 500 at different heights on the storage rack 120. Specific picking and placing methods are detailed in subsequent descriptions.

[0092] In the embodiment shown in Figure 1, as shown in Figures 5 to 8, the handling mechanism 220 may include a lifting assembly 221 and a picking assembly 222.

[0093] The lifting assembly 221 is mounted on the column gantry 210 and is configured to drive the picking assembly 222 to move vertically.

[0094] The picking component 222 is installed on the lifting component 221 and is configured to extend out of the upright gantry 210 to pick up and place the material box 500 on the storage rack 120 or the connecting rack 130.

[0095] Specifically, the column gantry 210 includes two columns 211. The lifting assembly 221 can drive the picking assembly 222 to move up and down along the vertical direction of the storage rack 120 through the drive motor set in the column gantry 210, the driving wheel and driven wheel set at the top and bottom of the two columns 211, and the two synchronous belts sleeved on the driving wheel and driven wheel.

[0096] The pickup assembly 222 can take various forms, including but not limited to forklift, suction cup, roller, and hook arm.

[0097] The picking component 222 can be installed on the synchronous belt, and the picking component 222 can include a telescopic structure with bidirectional telescopic direction. It can move toward the storage rack 120 or away from the storage rack 120, and can extend into the storage rack 120 or the connecting rack 130 to pick up and put in the material box 500.

[0098] According to the embodiments of this application, the first robot 200 can pick up and place the material box 500 on the storage shelf 120 or the connecting shelf 130 in the horizontal direction based on the sliding guide rail 230; and pick up and place the material box 500 on the storage shelf 120 or the connecting shelf 130 in the vertical direction based on the lifting component 221.

[0099] In the embodiment shown in Figure 1, as shown in Figures 1 to 3, the connecting racks 130 are arranged in two rows corresponding to each other below the storage racks 120.

[0100] The connecting rack 130 can be a single-layer rack arranged along the length of the storage rack 120. Two connecting racks 130 are respectively set below the two storage racks 120. The connecting rack 130 is equipped with multiple temporary storage positions 131, configured to temporarily store a full material box 500 or an empty material box 500.

[0101] In the embodiment shown in Figure 1, see Figure 9, which is a top view of the connecting rack shown in Figure 1. The connecting rack 130 is located below the storage rack 120. It can be a separate rack or, as shown in Figures 1 and 9, can be integrated with the storage rack 120 as a whole. The bottom layer of the rack serves as the connecting rack 130 to temporarily store the material bins 500.

[0102] As shown in Figure 9, each temporary storage compartment 131 of the connecting shelf 130 is provided with a through groove 1311 at the bottom, so that the second robot 300 can pick up and put the material box 500 on the temporary storage compartment 131 based on the through groove 1311.

[0103] Specifically, as shown in Figure 3, the process of the second robot 300 taking the full container 500 from the connecting shelf 130 is as follows:

[0104] The second robot 300 moves to below the target temporary storage compartment 131, passes through the through channel 1311, lifts the full material box 500, and exits the temporary storage compartment 131 along the through channel 1311.

[0105] The process by which the second robot 300 places the empty bin on the connecting shelf 130 is as follows:

[0106] The second robot 300 moves to below the target temporary storage compartment 131, passes through the channel 1311 and descends to place the full material box 500, and exits the temporary storage compartment 131 along the channel 1311.

[0107] There are various types of connecting racks. One type is the connecting rack 130 shown in Figure 9, which has a through slot 1311 in the middle. In other embodiments of this application, it can also be a connecting rack 130 with a comb-shaped slot in the middle, where the comb-shaped slot is a plurality of spaced grooves. Correspondingly, the lifting mechanism 320 of the second robot 300 also has a comb-shaped slot on its carrying surface to allow it to move up and down through the comb-shaped slot, thus realizing the picking and placing of the material box 500. This application does not limit the specific type of connecting rack 130.

[0108] In the embodiment shown in Figure 1, each row of storage shelves 120 is provided with a parallel and spaced first channel 600 and a second channel 700 on the side away from the sorting mechanism 110.

[0109] The first aisle 600 is closer to the storage rack 120 than the second aisle 700.

[0110] The first aisle 600 and the second aisle 700 extend from the storage rack 120 to the bin transfer station 400.

[0111] The second robot 300 is configured as follows:

[0112] An unloaded second robot 300 travels along the first aisle 600 to the connecting rack 130, retrieves a full material box 500 from the connecting rack 130, and travels along the second aisle 700 to transport the full material box 500 to the material box transfer station 400; or, an unloaded second robot 300 travels along the first aisle 600 to the material box transfer station 400, retrieves an empty material box 500 from the material box transfer station 400, and travels along the second aisle 700 to transport the empty material box 500 to the connecting rack 130.

[0113] That is, the first channel 600 is for the second robot 300 to travel on when it is not in use. The second robot 300 can go to the connecting shelf 130 to pick up a full material box 500 or go to the material box transfer station 400 to pick up an empty material box 500 while on the first channel 600.

[0114] The second aisle 700 is for the second robot 300 to travel when fully loaded. On the second aisle 700, the second robot 300 can go to the connecting shelf 130 to place empty bins 500, or go to the bin transfer station 400 to place full bins 500.

[0115] The structure of the material bin transfer station 400 includes, but is not limited to, conveyor lines and connecting racks. Figure 3 shows the material bin transfer station 400 as a conveyor line, which includes a full-bin conveyor line 410 and an empty-bin replenishment line 420. The second robot 300 is configured to: move full-bin 500s on the connecting rack 130 to the full-bin conveyor line 410; or move empty-bin 500s on the empty-bin replenishment line 420 to the connecting rack 130.

[0116] Specifically, as shown in Figure 3, the second robot 300 moves the full material box 500 on the connecting shelf 130 to the full material box conveyor line 410 along the second channel 700; or moves the empty material box 500 on the empty material box replenishment line 420 to the connecting shelf 130.

[0117] It should be noted that in Figure 3, the black squares represent full bins 500, and the white squares represent empty bins 500. In this embodiment, the two second channels 700 can carry either a second robot 300 carrying a full bin 500 or a second robot 300 carrying an empty bin 500. Figure 3 only shows one embodiment where a second robot 300 carrying an empty bin 500 travels on one second channel 700 and a second robot 300 carrying a full bin 500 travels on the other second channel 700.

[0118] The orientation of the first channel 600 and the second channel 700 is determined according to the position of the bin transfer station 400 relative to the sorting equipment 100, as shown in Figure 3. Since the bin transfer station 400 is located at one end of the sorting equipment 100, the directions of the first channel 600 and the second channel 700 are parallel to the long side of the storage rack 120, extending from the end of the storage rack 120 furthest from the bin transfer station 400 to the bin transfer station 400. The ends of the first channel 600 and the second channel 700 closest to the bin transfer station 400 can converge and extend together to the bin transfer station 400.

[0119] Because it is necessary to ensure that the picking component 222 of the first robot 200 can pick up and put the bins 500 on the storage shelf 120 and the connecting shelf 130, the height of the column mast 210 of the first robot 200 needs to extend from the top storage layer 121 to the connecting shelf 130 in the vertical direction.

[0120] The height of the unloaded second robot 300 is lower than the height of the picking component 222 of the first robot 200 when picking up and placing the bins 500 on the connecting shelf 130. Therefore, the first channel 600 for the unloaded second robot 300 to travel can be set as close as possible to the storage shelf 120 while ensuring the smooth passage of the second robot 300. This will not cause interference between the first robot 200 and the second robot 300, and will also save the maximum area of ​​the sorting equipment 100 deployment area.

[0121] As shown in Figures 1 to 3, the motion process of the unloaded second robot 300 is as follows:

[0122] The unloaded second robot 300 can pass under the first robot 200 along the first channel 600, enter the temporary storage bin 131 from the side of the temporary storage bin 131 near the first channel 600 and lift the full material bin 500, then return along the original path along the through channel 1311 and drive into the second channel 700 to the full material bin conveyor line 410.

[0123] Alternatively, the unloaded second robot 300 can travel along the first channel 600 to the empty material box replenishment line 420 to pick up the empty material box 500.

[0124] The movement process of the second robot 300, which carries the material bin 500, is as follows:

[0125] The second robot 300, carrying an empty material box 500, travels along the second channel 700, enters the temporary storage bin 131 and puts down the empty material box 500, then returns along the original route along the through channel 1311 and enters the first channel 600. It then travels along the first channel 600 to other temporary storage bins 131 containing full material boxes 500 to pick up the full material boxes 500, and finally travels along the second channel 700 to the full material box conveyor line 410.

[0126] Alternatively, the second robot 300 carrying the empty material box 500 travels along the second channel 700, enters the temporary storage bin 131 and puts down the empty material box 500, then returns along the original route along the through channel 1311 and enters the first channel 600 to go to the standby area or the empty material box replenishment line 420.

[0127] The second robot 300, carrying a full container 500, travels along the second channel 700 to the full container conveyor line 410 to place the full container 500. After that, it can go to the standby area, or go to the empty container replenishment line 420 to pick up an empty container, or go along the first channel 600 to the connecting shelf 130 to pick up the full container 500.

[0128] In this embodiment, the connecting racks 130 are arranged in two rows below the storage racks 120, saving space in the sorting equipment 100 deployment area and improving the space utilization of the storage racks 120. The travel route of the second robot 300 is divided into a first channel 600 and a second channel 700, respectively for the empty second robot 300 and the second robot 300 carrying a material box 500, improving the handling efficiency of the second robot 300. The empty second robot 300 travels on the first channel 600, avoiding interference between the first robot 200 and the second robot 300, and also saving space in the sorting equipment 100 deployment area, improving space utilization. The material box transfer station 400 is divided into a full material box conveyor line 410 and an empty material box replenishment line 420, which can simultaneously transport full and empty material boxes 500, improving the working efficiency of the sorting system.

[0129] In the embodiment shown in Figure 1, see Figures 10 and 11. Figure 10 is a three-dimensional structural diagram of the second robot shown in Figure 1; Figure 11 is a three-dimensional structural diagram of the lifting box of the second robot shown in Figure 1.

[0130] As shown in Figures 10 and 11, the second robot 300 includes a motion chassis 310 and a lifting mechanism 320; the lifting mechanism 320 is disposed on the top of the motion chassis 310; the lifting mechanism 320 is configured to move under the drive of the motion chassis 310 and pass through the through slot 1311 in the vertical direction to lift or place the material box 500.

[0131] Specifically, the lifting mechanism 320 includes a lifting platform 321. The width of the through slot 1311 is configured to be smaller than the size of the hopper 500 and larger than the size of the lifting platform 321, so that the lifting platform 321 can lift or lower the hopper 500 through the through slot 1311, and also prevent the hopper 500 from falling through the through slot 1311.

[0132] As shown in Figures 1 to 3 and Figure 9, the process of the second robot 300 picking up the full material box 500 is as follows: After the first robot 200 places the full material box in the temporary storage compartment 131 of the connecting shelf 130, the second robot 300 moves to the bottom of the temporary storage compartment 131, the lifting platform 321 moves upward, passes through the through groove 1311 and lifts the full material box 500, then moves out of the temporary storage compartment 131 along the through groove 1311 and transports the full material box 500 to the full material box conveyor line 410.

[0133] The process of the second robot 300 emptying the material box 500 is as follows: The second robot 300 loads the empty material box 500 and moves it to the side of the temporary storage compartment 131. The lifting mechanism 320 lifts the empty material box 500 to a height higher than the temporary storage compartment 131. Then, the second robot 300 moves along the through groove 1311 to below the temporary storage compartment 131. The lifting mechanism 320 drives the empty material box 500 downward until the empty material box 500 contacts the top surface of the temporary storage compartment 131. It continues to move downward and exits the temporary storage compartment 131.

[0134] The vertical movement of the lifting mechanism 320 and the horizontal movement of the moving chassis 310 can be carried out simultaneously. That is, during the process of the moving chassis 310 entering or leaving the temporary storage compartment 131, the lifting mechanism can raise or lower the material box 500.

[0135] By applying the embodiments of this application, the first robot 200 can pick up and put down the material box 500 without stopping or only briefly stopping its movement, which can improve the efficiency of the second robot picking up and putting down the material box 500. In addition, the second robot 300 picks up and puts down the material box 500 below the temporary storage compartment 131, which can improve the space utilization of the connecting shelf 130.

[0136] In the embodiment shown in Figure 1, both the full hopper conveyor line 410 and the empty hopper replenishment line 420 consist of a connecting point 401 and a conveying section 402. The rolling of the connecting point 401 and the conveying section 402 is independent of each other. The connecting point 401 is located at the end, and the remaining part is the conveying section 402. The connecting point 401 and the conveying section 402 can cooperate to perform the transfer of the hopper 500.

[0137] Specifically, the second robot 300 docks with the connection point 401 of the full material box conveyor line 410 or the empty material box replenishment line 420 to complete the placement of the full material box 500 or the removal of the empty material box 500.

[0138] The process of the second robot 300 transporting a full 500-ton container is as follows:

[0139] When the second robot 300 transports the full box 500 from the connecting rack 130 to the connecting position 401 of the full box conveyor line 410, the connecting position 401 stops rolling. It resumes rolling only after the second robot 300 has placed the full box 500, coordinating with the conveyor section 402 to transport the full box 500 to the next processing stage, such as outbound processing or repackaging. After transporting the full box 500, the second robot 300 can either go to the standby area or go to the empty box replenishment line 420 and connect with the connecting position 401 to pick up empty boxes 500 to replenish the connecting rack 130, or go to the connecting rack 130 to continue picking up full boxes 500.

[0140] The process of the second robot 300 transporting 500 empty material boxes is as follows:

[0141] When the second robot 300 moves to the docking position 401 of the empty material box replenishment line 420, the docking position 401 is stationary. It will start rolling after the second robot 300 takes away the empty material box 500. The conveying section 402 will replenish the next empty material box 500 to the docking position 401, waiting for the second robot 300 to pick it up.

[0142] The second robot 300, after completing the transport of empty boxes 500, can go to the standby area to wait, or pick up full boxes 500 from the connecting rack 130 and transport them to the full box conveyor line 410, or go to the empty box replenishment line 420 to continue picking up empty boxes 500.

[0143] In the embodiments of this application, the transmission of the connecting position 401 and the conveying section 402 is independent yet coordinated. When the connecting position 401 needs to pick up a full hopper 500 or the second robot 300 needs to take away an empty hopper 500, the stationary position of the connecting position 401 will not affect the transmission of the hopper 500 already on the conveying section 402, thereby improving the working efficiency of the hopper transfer station 400.

[0144] Referring to Figures 12 and 13, Figure 12 is a three-dimensional structural diagram of the second robot docking with the material box transfer station shown in Figure 11; Figure 13 is a three-dimensional structural diagram of the second robot after docking with the material box transfer station shown in Figure 12.

[0145] As shown in Figure 12, the input end of the full material box conveyor line 410 and the connection point 401 of the empty material box replenishment line 420 both include two parallel conveyor belts 430; a travel space for the second robot 300 to pass through is provided between the two conveyor belts 430.

[0146] As shown in Figures 11 to 13, when the second robot 300 docks with the connection point 401 of the full-load conveyor line 410 to place the full-load box 500, the conveyor belt 430 is stationary. The second robot 300 lifts the full-load box 500 to a height higher than the conveyor belt 430 through the lifting mechanism 320 and moves towards the driving space. After the second robot 300 enters the driving space, it places the full-load box 500 on the two conveyor belts 430 through the lifting mechanism 320. The conveyor belts 430 start to roll and, in conjunction with the conveyor section 402, transport the full-load box 500 to the next processing stage. The second robot 300 continues to move and leaves the driving space to perform the next task.

[0147] The bin transfer station 400 may also include an empty bin shelf, where workers or automated equipment, such as robotic arms, can place empty bins 500 from the empty bin shelf onto the empty bin replenishment line 420. A second robot 300 moves to the docking position 401 of the empty bin replenishment line 420, docks with and picks up the empty bin 500, and transports the empty bin 500 to the docking shelf 130.

[0148] When the second robot 300 docks with the connection position 401 of the empty material box replenishment line 420 to pick up the empty material box 500, the second robot 300 moves to the connection position 401 of the empty material box replenishment line 420. When the empty material box 500 moves to the connection position 401 of the empty material box replenishment line 420, the connection position 401 stops rolling, and the second robot 300 takes away the empty material box 500 through the lifting mechanism 320. Afterwards, new empty material boxes 500 are replenished to the empty material box replenishment line 420 by manual or automated equipment.

[0149] By applying the embodiments of this application, the transfer of full bins 500 and the replenishment of empty bins 500 are completed by the second robot 300 and the bin transfer station 400. Compared with manual handling of full bins 500 and replenishment of empty bins 500, the working efficiency of the sorting system is improved.

[0150] In the embodiment shown in Figure 1, as shown in Figures 1 to 3, the sorting equipment 100 further includes: a lifting mechanism 140 and a feeding table 150; the sorting mechanism 110 includes: a guiding mechanism 111 and a shuttle sorting vehicle 112.

[0151] The lifting mechanism 140 is installed at both ends of the storage rack 120 and is used to drive the shuttle sorting car 112 to move up and down along the height direction of the storage rack 120 when the shuttle sorting car 112 moves to one end of the storage rack 120.

[0152] The feeding platform 150 is located on one or both sides of the lifting mechanism 140 and is connected to the lifting mechanism 140.

[0153] The guiding mechanism 111 is set between two rows of storage shelves 120, including multiple shuttle guide rails 1111 corresponding to the height of each storage layer 121. The shuttle guide rails 1111 are connected to the lifting mechanism 140, allowing the shuttle sorting cart 112 to move back and forth along the length of the storage shelf 120.

[0154] The shuttle sorting vehicle 112 is used to switch between shuttle guides 1111 at different heights via the lifting mechanism 140 to sort the goods to be sorted at the feeding table 150 into the bins 500 at different heights of the bin slots 1211, and to sort the goods to be sorted at the feeding table 150 into the bins 500 at different length slots 1211 via the guiding mechanism 111.

[0155] Specifically, the feeding station 150 can be connected to the cargo conveyor line, which transports the goods to be sorted to the feeding station 150. Alternatively, staff can place the goods to be sorted at the feeding station 150 for the shuttle sorting vehicle 112 to pick up.

[0156] The sorting system also includes a control device that is communicatively connected to the shuttle sorting vehicle 112. The control device can send instructions to control the shuttle sorting vehicle 112 to put each item to be sorted into the corresponding material box 500.

[0157] The control device is communicatively connected to the lifting mechanism 140. The control device can send commands to cause the lifting mechanism 140 to move the shuttle sorting cart 112 along the height direction of the storage rack 120 to the height of the storage layer 121 where the corresponding material box 500 is located. The shuttle sorting cart 112 continues to move along the shuttle guide rail 1111 at the storage layer 121 where the corresponding material box 500 is located to the corresponding material box 500 and put the goods into the material box 500.

[0158] The above operations are repeated continuously. When a bin 500 on the storage shelf 120 is filled with goods, or when all the goods in the order bound to the bin 500 have been picked, the bin 500 is considered a full bin 500. The control device is communicatively connected to the first robot 200 and the second robot 300. The control device can send instructions to the first robot 200 to move the full bin 500 on the storage shelf 120 to the connecting shelf 130, the second robot 300 to move the full bin 500 on the connecting shelf 130 to the bin transfer station 400, then move the empty bin 500 in the bin transfer station 400 to the empty space on the connecting shelf 130, and finally the first robot 200 to move the empty bin 500 on the connecting shelf 130 to the empty bin slot 1211 on the storage shelf 120.

[0159] Each row of storage shelves 120 has at least one first robot 200 and one second robot 300. Multiple first robots 200 can simultaneously move full boxes 500 to connecting shelves 130 or move empty boxes 500 to empty box slots 1211. Multiple second robots 300 can simultaneously move full boxes 500 to the box transfer station 400 or move empty boxes 500 to connecting shelves 130, which can improve the working efficiency of the sorting system.

[0160] Using the embodiments of this application, the shuttle sorting cart 112 moves along the height and length of the storage rack 120 via the lifting mechanism 140 and the guiding mechanism 111. The sorting mechanism 110 is positioned between the two rows of storage racks 120, saving space and improving space utilization. The shuttle sorting cart 112 can handle the order sorting of the loading boxes 500 on both rows of storage racks 120 via the shuttle guide rail 1111, improving the working efficiency of the sorting system.

[0161] As mentioned above, in the sorting system of the embodiment shown in Figure 1, the connecting racks 130 are arranged in two rows below the storage racks 120. In other embodiments of sorting systems, the connecting racks 130 can be arranged in two rows on the side of each row of storage racks 120 away from the sorting mechanism 110, parallel to and spaced apart from the storage racks 120.

[0162] The second sorting system provided in this application embodiment will now be described in detail. In this sorting system, the robot dedicated to changing boxes is the first robot 200; the conveying device capable of transporting boxes to the connecting racks 130 on both sides of the sorting mechanism 110 in the system or to a location away from the connecting racks 130 is the second robot 300.

[0163] Specifically, see Figures 14 to 17. Figure 14 is a three-dimensional structural schematic diagram of the second sorting system of this application; Figure 15 is a front view schematic diagram of the sorting system shown in Figure 14; Figure 16 is a top view schematic diagram of the sorting system shown in Figure 14; and Figure 17 is a side view schematic diagram of the sorting system shown in Figure 14.

[0164] As shown in Figures 14 to 17, the connecting racks 130 are arranged in two rows on the side of each row of storage racks 120 away from the sorting mechanism 110, parallel to and spaced apart from the storage racks 120.

[0165] A third aisle 800 is provided in the interval area between each row of connecting racks 130 and storage racks 120, and a fourth aisle 900 parallel to the third aisle 800 is provided on the side of each row of connecting racks 130 away from storage racks 120.

[0166] The third aisle 800 and the fourth aisle 900 extend from the storage rack 120 to the bin transfer station 400;

[0167] The second robot 300 is configured as follows:

[0168] The unloaded second robot 300 travels along the third aisle 800 to the connecting rack 130, picks up a full material box 500 from the connecting rack 130, and travels along the fourth aisle 900 to transport the full material box 500 to the material box transfer station 400; or, the unloaded second robot 300 travels along the third aisle 800 to the material box transfer station 400, picks up an empty material box 500 from the material box transfer station 400, and travels along the fourth aisle 900 to transport the empty material box 500 to the connecting rack 130.

[0169] That is, the third channel 800 is for the second robot 300 to travel on when it is not in use. The second robot 300 can go to the connecting shelf 130 to pick up a full material box 500 on the third channel 800, or it can go to the material box transfer station 400 to pick up an empty material box 500.

[0170] The fourth aisle 900 is for the second robot 300 to travel when fully loaded. The second robot 300, on the fourth aisle 900, can go to the connecting shelf 130 to place empty bins 500, or go to the bin transfer station 400 to place full bins 500.

[0171] Specifically, as shown in Figure 16, the second robot 300 moves the full material box 500 on the connecting shelf 130 to the full material box conveyor line 410 along the fourth channel 900; or moves the empty material box 500 on the empty material box replenishment line 420 to the connecting shelf 130.

[0172] It should be noted that in Figure 16, the black squares represent full bins 500, and the white squares represent empty bins 500. In this embodiment, the two fourth channels 900 can carry either a second robot 300 carrying a full bin 500 or a second robot 300 carrying an empty bin 500. Figure 16 only shows one embodiment where a second robot 300 carrying an empty bin 500 travels on one fourth channel 900 and a second robot 300 carrying a full bin 500 travels on the other fourth channel 900.

[0173] The first robot 200 is positioned on the outer side of the storage rack 120, that is, the first robot 200 is located between the storage rack 120 and the connecting rack 130. The picking component 222 of the first robot 200 can extend and retract in both directions, extending towards the storage rack 120 to pick up a full box 500 or place an empty box 500, and extending towards the connecting rack 130 to place a full box 500 or pick up an empty box 500.

[0174] The orientation of the third channel 800 and the fourth channel 900 is determined by the position of the bin transfer station 400 relative to the sorting equipment 100, as shown in Figure 16. Since the bin transfer station 400 is located at one end of the sorting equipment 100, the directions of the third channel 800 and the fourth channel 900 are parallel to the long side of the storage rack 120, extending from the end of the storage rack 120 furthest from the bin transfer station 400 to the bin transfer station 400. The ends of the third channel 800 and the fourth channel 900 closest to the bin transfer station 400 can converge and extend together to the bin transfer station 400.

[0175] As shown in Figures 14 to 16, the motion process of the unloaded second robot 300 is as follows:

[0176] The unloaded second robot 300 can pass under the first robot 200 along the third channel 800, enter the temporary storage bin 131 from the side of the temporary storage bin 131 near the third channel 800 and lift the full material bin 500, drive along the through groove 1311 into the fourth channel 900 and head to the full material bin conveyor line 410.

[0177] Alternatively, the unloaded second robot 300 can travel along the third channel 800 to the empty material box replenishment line 420 to pick up the empty material box 500.

[0178] The movement process of the second robot 300, which carries the material bin 500, is as follows:

[0179] The second robot 300, carrying an empty material box 500, travels along the fourth channel 900, enters the temporary storage bin 131 and puts down the empty material box 500. Then, it can travel along the through channel 1311 into the third channel 800, and then along the third channel 800 into other temporary storage bins 131 containing full material boxes 500 to pick up the full material boxes 500. Finally, it travels along the fourth channel 900 to the full material box conveyor line 410.

[0180] Alternatively, the second robot 300 carrying the empty material box 500 travels along the fourth channel 900, enters the temporary storage bin 131 and puts down the empty material box 500, then travels along the through channel 1311 into the third channel 800 and proceeds to the standby area or the empty material box replenishment line 420.

[0181] The second robot 300, carrying a full container 500, travels along the fourth channel 900 to the full container conveyor line 410 to place the full container 500. After that, it can go to the standby area, or to the empty container replenishment line 420 to pick up an empty container, or it can go along the third channel 800 to the connecting shelf 130 to pick up a full container 500.

[0182] In this embodiment, the connecting racks 130 are arranged in two rows on the side of each row of storage racks 120 away from the sorting mechanism 110, allowing for more bin slots 1211 on the storage racks 120 and improving the sorting capacity of the sorting equipment 100. The travel path of the second robot 300 is divided into a third channel 800 and a fourth channel 900, respectively for the empty second robot 300 and the second robot 300 carrying bins 500, improving the handling efficiency of the second robot 300. Both the first robot 200 and the empty second robot 300 move between the storage racks 120 and the connecting racks 130 without interfering with each other, saving the deployment area of ​​the sorting equipment 100, improving space utilization, and avoiding the need for the first robot 200 and the second robot 300 to avoid each other.

[0183] In addition, in the embodiment shown in Figure 14, the structure of the sorting mechanism 110, the structure and installation method of the first robot 200, the structure of the second robot 300, and the structure of the material box transfer station 400 in the sorting equipment 100 can be exactly the same as the sorting mechanism 110, the first robot 200, the second robot 300, and the material box transfer station 400 in the first sorting system shown in Figure 1, and will not be described again here.

[0184] In other words, the main difference between the second sorting system shown in Figure 14 and the first sorting system shown in Figure 1 lies in the travel routes of the storage rack 120, the connecting rack 130, and the second robot 300; everything else can be set up the same.

[0185] In practical applications, regardless of whether the first or second sorting system described above, or any variations of the two embodiments, is used, the first robot 200 can pick up and place the material boxes 500 between the storage rack 120 and the connecting rack 130, and the second robot 300 can pick up and place the material boxes 500 between the connecting rack 130 and the material box transfer station 400. This achieves automatic replacement of the material boxes 500 in the sorting system, improving sorting efficiency and accuracy compared to manual box replacement. Furthermore, the first robot 200 replacing manual box replacement allows the height of the storage rack 120 to overcome the height limitations of workers, increasing the number of configurable material box slots 1211 on the storage rack 120 and improving the sorting capacity and space utilization of the sorting system.

[0186] Next, the first sorting method provided in the embodiments of this application will be described in detail.

[0187] The sorting method provided in this application embodiment is applied to a control device, which is communicatively connected to the sorting mechanism 110, the first robot 200, and the second robot 300 of the sorting device 100 in the aforementioned sorting system.

[0188] Referring to Figure 18, which is a flowchart of a first embodiment of the sorting method provided in this application, the process includes the following steps:

[0189] Step S1800: Instruct the sorting mechanism to receive the goods to be sorted and transport the goods to be sorted to the storage bins that are not full.

[0190] Step S1810: When there is a full box on the storage shelf, instruct the first robot to move the full box on the storage shelf to the connecting shelf. The full box is a box that is filled with goods or the goods on the bound order have been picked out.

[0191] Step S1820: Instruct the second robot to move the full container on the docking shelf to the container transfer station;

[0192] Step S1830: If at least one bin slot on the storage rack is empty, instruct the second robot to move the empty bin from the bin transfer station to the connecting rack.

[0193] Step S1840: Instruct the first robot to move the empty bin from the connecting shelf to an empty bin slot on the storage shelf.

[0194] This embodiment is applied to the sorting system described above. The method involves instructing the first robot 200 to move a full box 500 from the storage rack 120 to the connecting rack 130, and the second robot 300 to move the full box 500 from the connecting rack 130 to the box transfer station 400; and instructing the second robot 300 to move an empty box 500 from the box transfer station 400 to the connecting rack 130, and the first robot 200 to move the empty box 500 from the connecting rack 130 to an empty box slot 1211 on the storage rack 120. This achieves automatic replacement of the boxes 500 in the sorting system, improving sorting efficiency and accuracy compared to manual box replacement. Furthermore, the first robot 200 replacing manual box replacement allows the height of the storage rack 120 to exceed the height limitations of workers, increasing the number of configurable box slots 1211 on the storage rack 120, thus improving the sorting capacity and space utilization of the sorting system.

[0195] It should be noted that in practical applications, steps S1810 and S1830 can be executed in parallel. As long as the conditions are met, such as when there is a full bin on the storage shelf or at least one bin slot on the storage shelf is empty, steps S1810 and S1830 can be executed separately. The order of execution of the steps is not restricted here.

[0196] In practical applications, all bin slots on the storage racks are empty when the sorting system is initially started. Therefore, empty bins can be moved to the bin slots on the storage racks in preparation for subsequent picking.

[0197] Specifically, see Figure 19, which is a flowchart of a second embodiment of the first sorting method provided in this application; the process includes the following steps:

[0198] Step S1801: Instruct the second robot to move the empty bin from the bin transfer station to the connecting shelf.

[0199] Step S1802: Instruct the first robot to move the empty bin from the connecting shelf to the bin slot on the storage shelf.

[0200] In this way, there will be empty bins in the bin slots on the storage shelves for the sorting mechanism to pick goods.

[0201] Step S1800: Instruct the sorting mechanism to receive the goods to be sorted and transport them to the storage bins that are not full.

[0202] In practical applications, this step can be performed as soon as there are empty bins and goods to be sorted in the bin slots of the storage rack. It is not necessary to wait until all bin slots on the storage rack are empty before starting. For example, it can start when a certain number of bin slots on the storage rack are empty. The number can be flexibly set according to the actual situation, and there is no limit here. In other words, batch sorting can be carried out, which can further improve sorting efficiency.

[0203] Step S1810: When there is a full box on the storage shelf, instruct the first robot to move the full box on the storage shelf to the connecting shelf. The full box is a box that is filled with goods or the goods on the bound order have been picked out.

[0204] Specifically, in practical applications, the control equipment records how much goods are in each bin. This step uses this record to determine whether each bin is full.

[0205] Step S1820: Instruct the second robot to move the full bin on the docking shelf to the bin transfer station.

[0206] Step S1830: If at least one bin slot on the storage rack is empty, instruct the second robot to move the empty bin from the bin transfer station to the connecting rack.

[0207] Specifically, in practical applications, the control equipment records the status of each bin compartment. In this step, based on this record, it is determined whether each bin compartment is empty.

[0208] Step S1840: Instruct the first robot to move the empty bin from the connecting shelf to an empty bin slot on the storage shelf.

[0209] In this embodiment, as shown in Figure 19, after step S1840, empty bins are replenished on the storage shelf. At this time, the process returns to step S1800 and the sorting mechanism is instructed to continue sorting, thus forming a cyclical operation and further improving picking efficiency.

[0210] In some embodiments, the sorting system is as shown in Figures 1 to 3. The connecting racks 130 can be arranged in two rows below the storage racks 120. Each row of storage racks 120 has parallel and spaced first channels 600 and second channels 700 on the side furthest from the sorting mechanism 110. The first channel 600 is closer to the storage rack 120 than the second channel 700. The first channel 600 and the second channel 700 extend from the storage rack 120 to the material bin transfer station 400. The specific structure will not be detailed here. For this sorting system, the sorting process is shown in Figure 20, which is a flowchart of the third embodiment of the first sorting method provided in this application. The process includes the following steps:

[0211] Step S1801: Instruct the second robot to move the empty bin from the bin transfer station to the connecting shelf.

[0212] Step S1802: Instruct the first robot to move the empty bin from the connecting shelf to the bin slot on the storage shelf.

[0213] Step S1800: Instruct the sorting mechanism to receive the goods to be sorted and transport them to the storage bins that are not full.

[0214] Step S1810: When there is a full box on the storage shelf, instruct the first robot to move the full box on the storage shelf to the connecting shelf. The full box is a box that is filled with goods or the goods on the bound order have been picked out.

[0215] Step S1821: Instruct the unloaded second robot to travel along the first channel to the connecting rack, pick up the full material box from the connecting rack, and travel along the second channel to transport the full material box to the material box transfer station.

[0216] Step S1831: When at least one bin slot on the storage rack is empty, instruct the empty second robot to travel along the first channel to the bin transfer station, pick up the empty bin from the bin transfer station, and travel along the second channel to transport the empty bin to the connecting rack.

[0217] Step S1840: Instruct the first robot to move the empty bin from the connecting shelf to an empty bin slot on the storage shelf.

[0218] In the sorting system of this embodiment, the travel route of the second robot 300 is divided into a first channel 600 and a second channel 700, which are respectively used for the second robot 300 when it is empty and for the second robot 300 when it is carrying a material box 500, thereby improving the handling efficiency of the second robot 300.

[0219] In some embodiments, the sorting system is shown in Figures 14 to 16. The connecting racks 130 are arranged in two rows on the side of each row of storage racks 120 away from the sorting mechanism 110, parallel to and spaced apart from the storage racks 120. A third channel 800 is provided in the interval area between each row of connecting racks 130 and the storage racks 120, and a fourth channel 900 parallel to the third channel 800 is provided on the side of each row of connecting racks 130 away from the storage racks 120. The third channel 800 and the fourth channel 900 extend from the storage racks 120 to the material box transfer station 400.

[0220] The sorting process of this sorting system is similar to that shown in the embodiment of Figure 20. Specifically, refer to Figure 21, which is a flowchart of the fourth embodiment of the first sorting method provided in this application. The process includes the following steps:

[0221] Step S1801: Instruct the second robot to move the empty bin from the bin transfer station to the connecting shelf.

[0222] Step S1802: Instruct the first robot to move the empty bin from the connecting shelf to the bin slot on the storage shelf.

[0223] Step S1800: Instruct the sorting mechanism to receive the goods to be sorted and transport them to the storage bins that are not full.

[0224] Step S1810: When there is a full box on the storage shelf, instruct the first robot to move the full box on the storage shelf to the connecting shelf. The full box is a box that is filled with goods or the goods on the bound order have been picked out.

[0225] Step S1822: Instruct the unloaded second robot to travel along the third channel to the connecting rack, pick up the full material box from the connecting rack, and travel along the fourth channel to transport the full material box to the material box transfer station.

[0226] In step S1832, when at least one bin slot on the storage rack is empty, the second robot is instructed to travel along the third channel to the bin transfer station, pick up an empty bin from the bin transfer station, and travel along the fourth channel to transport the empty bin to the connecting rack.

[0227] Step S1840: Instruct the first robot to move the empty bin from the connecting shelf to an empty bin slot on the storage shelf.

[0228] In the sorting system of this embodiment, the travel route of the second robot 300 is divided into a third channel 800 and a fourth channel 900, which are respectively used for the second robot 300 when it is empty and the second robot 300 when it is carrying a material box 500, thereby improving the handling efficiency of the second robot 300.

[0229] In some embodiments, referring to Figure 3, the bin transfer station 400 shown in Figure 3 is in the form of a conveyor line, including a full bin conveyor line 410 and an empty bin replenishment line 420. In this case, step S1810 shown in Figure 18 may specifically be: when there are full bins on the storage rack, instructing the second robot to move the full bins on the connecting rack to the full bin conveyor line. Correspondingly, step S1830 may specifically be: when at least one bin slot on the storage rack is empty, instructing the second robot to move the empty bins on the empty bin replenishment line to the connecting rack.

[0230] In this embodiment, the material box transfer station 400 is divided into a full material box conveying line 410 and an empty material box replenishment line 420, which can simultaneously convey full material boxes 500 and empty material boxes 500, thereby improving the working efficiency of the sorting system.

[0231] In some embodiments, the sorting equipment 100 further includes: a lifting mechanism 140 and a feeding table 150; the sorting mechanism 110 includes: a guiding mechanism 111 and a shuttle sorting vehicle 112; the control device is also communicatively connected to the lifting mechanism 140 and the shuttle sorting vehicle 112.

[0232] In this case, step S1800 shown in Figure 18 can specifically be:

[0233] When the shuttle sorting vehicle moves to one end of the storage rack, the lifting mechanism is instructed to drive the shuttle sorting vehicle to move up and down along the height direction of the storage rack; the shuttle sorting vehicle is instructed to switch between shuttle guides of different heights through the lifting mechanism; the goods to be sorted at the feeding table are sorted into bins of different heights, and the goods to be sorted at the feeding table are sorted into bins of different length directions through the guiding mechanism.

[0234] In this embodiment, a sorting device 100 with a lifting mechanism 140, a guiding mechanism 111, and a shuttle sorting vehicle 112 is used, which can realize the rapid sorting of goods in the length and height directions, and further improve the sorting efficiency.

[0235] This application also provides a control device. The control device is communicatively connected to the sorting mechanism, the first robot, and the second robot of any of the aforementioned sorting systems; see Figure 22, which is a schematic diagram of the structure of the first type of control device provided in this application. As shown in Figure 22, the control device includes:

[0236] Memory 2201 is used to store computer programs;

[0237] When processor 2202 executes the program stored in memory 2201, it implements the steps of the above-described picking method: the method includes:

[0238] The sorting mechanism is instructed to receive goods to be sorted and transport them to a storage bin that is not full.

[0239] When there is a full box on the storage shelf, the first robot is instructed to move the full box on the storage shelf to the connecting shelf. The full box is a box that is filled with goods or the goods on the bound order have been picked out.

[0240] Instruct the second robot to move the full container on the docking shelf to the container transfer station;

[0241] When at least one bin slot on the storage rack is empty, the second robot is instructed to move the empty bin from the bin transfer station to the connecting rack.

[0242] The first robot is instructed to move the empty bin from the connecting shelf to an empty bin slot on the storage shelf.

[0243] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 2202, the communication interface, and the memory 2201 communicating with each other via the communication bus.

[0244] In addition, the aforementioned control device can be implemented by a computer and may also include a communication module, such as a wired or wireless network card, for communication connection with the handling robot and the sorting robot.

[0245] The third sorting system provided in this application embodiment will now be described in detail. In this sorting system, the robot dedicated to changing boxes is a handling robot 2-300; the conveying equipment capable of transporting boxes to the shelves 2-200 on both sides of the sorting mechanism 2-100 in the system or to a location away from the shelves 2-200 is a box connecting conveyor line 2-400.

[0246] Referring to Figures 23a to 23d, Figure 23a is a three-dimensional structural schematic diagram of the third sorting system of this application; Figure 23b is a front view schematic diagram of the sorting system shown in Figure 23a; Figure 23c is a top view schematic diagram of the sorting system shown in Figure 23a; and Figure 23d is a side view schematic diagram of the sorting system shown in Figure 23a.

[0247] As shown in Figures 23a to 23d, the sorting system provided in this application embodiment includes: a sorting mechanism 2-100, a shelf 2-200, a handling robot 2-300, and a material box connecting conveyor line 2-400.

[0248] The shelving 2-200 is arranged in two rows, including multiple storage layers 2-210 spaced apart in the vertical direction; each storage layer 2-210 includes multiple bin slots 2-211, and each bin slot 2-211 is used to store a bin 2-500 to be loaded.

[0249] The sorting mechanism 2-100 is located between two rows of shelves 2-200 and is configured to receive goods to be sorted and transport them to the material bins 2-500 on the shelves 2-200.

[0250] The material bin connecting conveyor line 2-400 is set up adjacent to the shelf 2-200 and is configured to convey empty material bins 2-500 toward the shelf 2-200 or convey full material bins 2-500 away from the shelf 2-200.

[0251] The handling robot 2-300 is configured to pick up and place full or empty bins 2-500 between the shelf 2-200 and the bin connection conveyor line 2-400.

[0252] This application provides a sorting system in which a handling robot 2-300 picks up and places boxes 2-500 between a shelf 2-200 and a box conveyor line 2-400, achieving automatic replacement of boxes 2-500. Compared with manual box replacement, this improves sorting efficiency and accuracy. Furthermore, the handling robot 2-300 replacing manual box replacement allows the height of the shelf 2-200 to overcome the height limitations of workers, increasing the number of configurable box slots 2-211 on the shelf 2-200 and improving the sorting capacity and space utilization of the sorting system. Moreover, the box conveyor line 400 can transport empty boxes 2-500 towards the shelf 2-200 or full boxes 2-500 away from the shelf 2-200, achieving automatic transfer of empty and full boxes 2-500, further improving the overall operating efficiency of the sorting system.

[0253] In the embodiment shown in Figure 23a, as shown in Figures 23a and 23c, the bin connection conveyor line 2-400 is arranged in two rows and docks with two rows of shelves 2-200 respectively, so that the handling robot 2-300 can pick up and place full or empty bins 2-500 between the shelves 2-200 and the bin connection conveyor line 2-400 based on the shelves 2-200.

[0254] Specifically, Figures 23a to 23c only show a section of the bin connecting conveyor line 2-400 located at shelf 2-200. The actual bin connecting conveyor line 2-400 is set up in the logistics and warehousing system according to the bin's transmission path, and transmits bins 2-500 between the sorting system and other links.

[0255] In some embodiments, the material box conveyor line 2-400 and the shelf 2-200 are spaced apart, and the handling robot 2-300 is mounted on the shelf 2-200. The picking component of the handling robot 2-300 picks up and places material boxes 2-500 in the interval between the material box conveyor line 2-400 and the shelf 2-200. There can be multiple handling robots 2-300, with at least one handling robot 2-300 picking up and placing material boxes 2-500 between each row of shelves 2-200 and the material box conveyor line 2-400. Each handling robot 2-300 is used to move material boxes 2-500 within a predetermined length range of the shelf 2-200.

[0256] When the shelf 2-200 is relatively long, each shelf 2-200 can be equipped with 2, 3, or more handling robots 2-300. The shelf 2-200 corresponds to the number of handling robots 2-300, and is divided into multiple sections along its length. Each handling robot 2-300 is responsible for handling the tote boxes 2-500 within one length section on the shelf 2-200. It should be noted that the length sections can be divided according to the distribution area of ​​the tote boxes 2-500 that need to be handled on the shelf 2-200; therefore, the length sections are not fixed. Applying this embodiment can improve the efficiency of the handling robots 2-300 in handling the tote boxes 2-500.

[0257] In the embodiments shown in Figures 23a to 23c, taking two handling robots 2-300 as an example, each handling robot 2-300 is used to connect with a row of shelves 2-200 and a material box connection conveyor line 2-400.

[0258] Specifically, Figures 23a to 23c only show that the arrangement direction of the material bin connecting conveyor line 2-400 is parallel to the length direction of the shelf 2-200. The actual arrangement direction of the material bin connecting conveyor line 2-400 depends on the specific scenario, and this application does not limit it.

[0259] By applying the embodiments of this application, two material box connecting conveyor lines 2-400 are set up and connected to two rows of shelves 2-200 respectively, which can improve the replenishment efficiency of empty material boxes 2-500 and the conveying efficiency of full material boxes 2-500 in the sorting system.

[0260] In the embodiment shown in Figure 23a, as shown in Figures 23a to 23c, one or more connection positions 2-410 are provided on the material box connection conveyor line 2-400; the connection positions 2-410 are located in the interval corresponding to the long side of the material box connection conveyor line 2-400 and the shelf 2-200; each connection position 2-410 can be arranged adjacent to each other or spaced apart, and this application does not limit the distance between each connection position 2-410.

[0261] The handling robot 2-300 is configured to move full boxes 2-500 on shelf 2-200 to connection position 2-410 of box connection conveyor line 2-400, or move empty boxes 2-500 on connection position 2-410 of box connection conveyor line 2-400 to shelf 2-200.

[0262] By applying the embodiments of this application, one or more docking positions 2-410 are set on the material box docking conveyor line 2-400. The handling robot 2-300 does not need to move along the length of the material box docking conveyor line 2-400 to pick up and put down the material box 2-500. It only needs to move along the horizontal direction of the shelf 2-200 and dock with the docking position 2-410 to complete the picking up and putting down of the material box 2-500. This improves the efficiency of the handling robot 2-300 in picking up and putting down the material box 2-500 and improves the sorting capacity of the sorting system.

[0263] In the embodiment shown in Figure 23a, refer to Figure 24, which is a three-dimensional structural schematic diagram of the bin connection conveyor line shown in Figure 23a. As shown in Figures 23c and 24, the part of the bin connection conveyor line 2-400 other than the connection position 2-410 is the conveying section 2-420;

[0264] Conveying section 2-420 is used to transport empty bins 2-500 to connecting position 2-410, or to transport full bins 2-500 on connecting position 2-410 in a direction away from shelf 2-200.

[0265] Specifically, the sorting system also includes control equipment, which can control the operation of the sorting mechanism 2-100, the handling robot 2-300 and the bin connection conveyor line 2-400.

[0266] As shown in Figure 24, the bin connecting conveyor line 2-400 can be a roller conveyor line. Both the connecting position 2-410 and the conveying section 2-420 include multiple rollers, enabling rolling transmission. The bin connecting conveyor line 2-400 also includes a drive device (not shown in the figure). Both the connecting position 2-410 and the conveying section 2-420 are equipped with detection devices (not shown in the figure). The control equipment can control the drive device to start or stop the rotation of the rollers at the connecting position 2-410 or the conveying section 2-420 based on the detection information fed back by the detection devices at the connecting position 2-410 and the conveying section 2-420. Detailed transmission processes are described later.

[0267] According to the embodiments of this application, the material box connecting conveyor line 2-400 includes an independent connecting position 2-410 and a conveying section 2-420. The connecting position 2-410 and the conveying section 2-420 can cooperate to carry out the transmission of the material box 2-500. When the material box 2-500 is temporarily placed on the connecting position 2-410 and cannot roll, it will not affect the transmission of the conveying section 2-420, thereby improving the working efficiency of the material box connecting conveyor line 2-400.

[0268] In the embodiment shown in Figure 23a, as shown in Figure 24, when the handling robot 2-300 needs to place the full material box 2-500 on the docking position 2-410, the docking position 2-410 stops rolling and starts rolling again after the placement is completed, and works with the conveyor section 2-420 to transport the full material box 2-500 away.

[0269] When the empty material box 2-500 is transported to the receiving position 2-410, the receiving position 2-410 stops rolling. After the handling robot 2-300 takes away the empty material box 2-500, it starts rolling again until the next empty material box 2-500 is transported to the receiving position 2-410.

[0270] When the material box 2-500 on the conveyor section 2-420 is transported to the area adjacent to the connecting position 2-410, if the connecting position 2-410 is in a stopped rolling state, the area of ​​the conveyor section 2-420 carrying the material box 2-500 will stop rolling. After the connecting position 2-410 starts rolling, the area carrying the material box 2-500 will also start rolling, and the material box 2-500 will continue to be transported.

[0271] Specifically, the control equipment of the sorting system is communicatively connected to the handling robot 2-300 and the bin connecting conveyor line 2-400. The control equipment can independently control the start and stop of the connecting position 2-410 of the bin connecting conveyor line 2-400 to cooperate with the handling robot 2-300, so that the handling robot 2-300 can pick up and place the bin 2-500 on the connecting position 2-410 when the connecting position 2-410 is in a stopped rolling state.

[0272] When the handling robot 2-300 is about to place a full bin 2-500, the control equipment sends a command to the bin connecting conveyor line 2-400, instructing the connecting position 2-410 of the bin connecting conveyor line 2-400 to stop rolling. The roller at the connecting position 2-410 is stationary. After the full bin 2-500 is placed, the connecting position 2-410 is instructed to start rolling again, and the conveyor section 2-420 will send the full bin 2-500 to the next processing stage, such as outbound or verification and packaging workstation. When an empty bin 2-500 is transported to the connecting position 2-410, the roller at the connecting position 2-410 stops rolling. After the handling robot 2-300 takes away the empty bin 2-500, the bin connecting conveyor line 2-400 will then transport the next empty bin 2-500 to the connecting position 2-410 to wait for the handling robot 2-300 to pick it up.

[0273] A photoelectric sensor can be installed in the area of ​​the conveying section 2-420 adjacent to the downstream connection position 2-410. When the downstream connection position 2-410 is placing a full material box 2-500 or an empty material box 2-500, the roller at the connection position 2-410 is stationary, and the area of ​​the conveying section 2-420 away from the connection position 2-410 remains in a rolling state. When the photoelectric sensor detects that a material box 2-500 has been transported to the area adjacent to the downstream connection position 2-410, the area adjacent to the material box 2-500 stops rolling. After the connection position 2-410 starts rolling, the area adjacent to the material box 2-500 also starts rolling, and the material box 2-500 continues to be transported.

[0274] It should be noted that when the connecting position 2-410 stops rolling, the sorting system only pauses the conveying of the feeding box 2-500 in a part of the conveying section 2-420 upstream of the connecting position 2-410, which is adjacent to the connecting position 2-410. It does not affect the conveying of the feeding box 2-500 in a part of the conveying section 2-420 that is far away from the connecting position 2-410.

[0275] In the embodiments of this application, the transmission of the connecting position 2-410 and the conveying section 2-420 is independent yet coordinated. When the connecting position 2-410 needs to pick up a full hopper 2-500 or the handling robot 2-300 needs to remove an empty hopper 2-500, the stationary position of the connecting position 2-410 will not affect the transmission of the hopper 2-500 already on the conveying section 2-420, thus improving the working efficiency of the hopper connecting conveyor line 2-400.

[0276] In the embodiment shown in Figure 23a, as shown in Figures 23a and 24, the bin connection conveyor line 2-400 includes a full bin connection conveyor line 2-430 and an empty bin connection conveyor line 2-440 arranged at intervals along the vertical direction; the handling robot 2-300 is configured to transport the full bins 2-500 on the shelf 2-200 to the full bin connection conveyor line 2-430, or to transport the empty bins 2-500 on the empty bin connection conveyor line 2-440 to the shelf 2-200.

[0277] Specifically, a row of material box connecting conveyor lines 2-400 includes a full material box connecting conveyor line 2-430 and an empty material box connecting conveyor line 2-440; the full material box connecting conveyor line 2-430 and the empty material box connecting conveyor line 2-440 have the same specific structure, each consisting of one or more connecting positions 2-410 and conveying sections 2-420.

[0278] The full-load box conveyor line 2-430 can be positioned above or below the empty-load box conveyor line 2-440. This application does not limit the vertical relationship between the full-load box conveyor line 2-430 and the empty-load box conveyor line 2-440. As shown in Figures 23a and 24, the full-load box conveyor line 2-430 is positioned above the empty-load box conveyor line 2-440, with a gap between the two conveyor lines to provide adequate space for the empty-load box conveyor line 2-440 to transport the empty-load box 2-500.

[0279] As shown in Figure 24, as the material box connecting conveyor line 2-400 extends away from the shelf 2-200, the full material box connecting conveyor line 2-430 and the empty material box connecting conveyor line 2-440 separate and extend to different workstations. The full material box connecting conveyor line 2-430 transports the full material box 2-500 to the verification and packaging workstation. The empty material box connecting conveyor line 2-440 extends to the empty material box transfer station, transporting the empty material box 2-500 at the transfer station to the connecting position 2-410 of the empty material box connecting conveyor line 2-440, so that the handling robot 2-300 can pick it up and replenish it in the empty material box slot 211.

[0280] In this embodiment of the application, the material box connecting conveyor line 2-400 is divided into a full material box connecting conveyor line 2-430 and an empty material box connecting conveyor line 2-440, which are arranged vertically at intervals. This makes the division of labor between the full material box connecting conveyor line 2-430 and the empty material box connecting conveyor line 2-440 clear. The two tasks of transporting the full material box 2-500 to the next processing stage and transporting the empty material box 2-500 to the connecting position 2-410 can be performed simultaneously, which improves the working efficiency of the material box connecting conveyor line 2-400. After the handling robot 2-300 places the full material box 2-500 on the full material box connecting conveyor line 2-430, it can then pick up the empty material box 2-500 on the empty material box connecting conveyor line 2-440, which simplifies the movement route of the handling robot 2-300 and improves the working efficiency of the handling robot 2-300.

[0281] In the embodiment shown in Figure 23a, as shown in Figures 23a to 23d, the bin connection conveyor line 2-400 is located on the side of the shelf 2-200 away from the sorting mechanism 2-100; wherein, the connection position 2-410 of the bin connection conveyor line 2-400 is arranged parallel to and spaced apart from the length direction of the shelf 2-200.

[0282] Specifically, as shown in Figures 23a to 23d, the two rows of material box connecting conveyor lines 2-400 are respectively set on the outside of the two rows of shelves 2-200, that is, on the side away from the sorting mechanism 2-100.

[0283] It should be noted that Figures 23a to 23d only show that the arrangement direction of the bin connecting conveyor line 2-400 is parallel to the length direction of the shelf 2-200. The actual arrangement of the bin connecting conveyor line 2-400 needs to be determined according to the specific scenario. The connecting position 2-410 needs to be set parallel to the length direction of the shelf 2-200 so that the handling robot 2-300 can pick up and put the bin 2-500 on the connecting position 2-410. The conveying section 2-420 can be arranged according to the location of the processing stage to which the full bin 2-500 is to be transported and the location of the empty bin replenishment station. This application does not limit this.

[0284] By applying the embodiments of this application, the material box connecting conveyor line 2-400 is set on the outside of the shelf 2-200, and the connecting position 2-410 is set parallel to the length direction of the shelf 2-200 at intervals, which does not occupy the space of the shelf 2-200. This allows more material box slots 2-211 to be set on the shelf 2-200, thereby improving the sorting capacity of the sorting system.

[0285] In the embodiment shown in Figure 23a, as shown in Figures 23a to 23d, the shelf 2-200 includes: a plurality of beams 2-230 arranged in a vertical direction; so that the handling robot 2-300 is mounted on the outside of the shelf 2-200 based on the beams 2-230.

[0286] Specifically, multiple handling robots 2-300 are respectively installed on the crossbeams 2-230 on the outer sides of the two rows of shelves 2-200. These robots slide along the crossbeams 2-230, enabling them to move horizontally along the shelves 2-200. This allows multiple robots 2-300 to simultaneously pick up and place boxes between the shelves 2-200 and the box conveyor line 2-400, improving handling efficiency. Specific coordination methods will be detailed later.

[0287] In the embodiment shown in Figure 23a, referring to Figures 25a to 25d, Figure 25a is a three-dimensional structural schematic diagram of the handling robot shown in Figure 23a; Figure 25b is a front view schematic diagram of the handling robot shown in Figure 23a; Figure 25c is a top view schematic diagram of the handling robot shown in Figure 23a; and Figure 25d is a side view schematic diagram of the handling robot shown in Figure 23a.

[0288] As shown in Figures 25a to 25c, the handling robot 2-300 includes: a column gantry 2-310, a handling mechanism 2-320, and at least one sliding guide rail 2-330.

[0289] The upright frame 2-310 is installed vertically along the shelf 2-200.

[0290] The handling mechanism 2-320 is installed on the column gantry 2-310 and is used to pick up and put in boxes 2-500 at different heights on the shelf 2-200 or the box connection conveyor line 2-400.

[0291] At least one sliding guide rail 2-330 is fixedly installed on the crossbeam 2-230; the upright gantry 2-310 is slidably connected to at least one sliding guide rail 2-330 so that the upright gantry 2-310 and the conveying mechanism 2-320 slide horizontally along the crossbeam 2-230 to pick up and put in different material boxes 2-500 along the length of the shelf 2-200 or the material box connecting conveyor line 2-400.

[0292] Specifically, as shown in Figures 23a and 23b, the handling robot 2-300 is fixed on the shelf 2-200 by two sliding guide rails 2-330 that are spaced apart vertically. The handling robot 2-300 can move along the length of the shelf 2-200 based on these two sliding guide rails 2-330.

[0293] Using the embodiments of this application, the handling robot 2-300 can move horizontally along the length of the shelf 2-200 to pick up and place various material boxes 2-500 along the length of the shelf 2-200 or on the connecting positions 2-410 of the material box connecting conveyor line 2-400. Additionally, the picking component 2-322 of the handling robot 2-300 can move vertically along the height of the shelf 2-200 or the material box connecting conveyor line 2-400 to pick up and place material boxes 2-500 at different height storage layers 2-210, full material box connecting conveyor line 2-430, or empty material box connecting conveyor line 2-440 on the shelf 2-200. Specific methods for picking up and placing material boxes 2-500 are detailed in the following description.

[0294] In the embodiment shown in Figure 23a, as shown in Figures 25a to 25d, the handling mechanism 2-320 of the handling robot 2-300 includes: a lifting component 2-321 and a picking component 2-322.

[0295] The lifting component 2-321 is mounted on the column gantry 2-310 and is configured to drive the picking component 2-322 to move vertically.

[0296] The picking component 2-322 is installed on the lifting component 2-321 and is configured to extend the upright frame 2-310 towards the shelf 2-200 or the bin connection conveyor line 2-400 to pick up and place the bin 2-500 on the shelf 2-200 or the bin connection conveyor line 2-400.

[0297] Specifically, the upright mast 2-310 includes two masts 2-311. The lifting assembly 2-321 can drive the picking assembly 2-322 to move up and down along the vertical direction of the shelf 2-200 or the material box connecting conveyor line 2-400 through the drive motor set in the upright mast 2-310, the driving wheel and driven wheel set at the top and bottom of the two masts 2-311, and the two synchronous belts sleeved on the driving wheel and driven wheel.

[0298] The types of picking components 2-322 include, but are not limited to, forklift type, suction cup type, roller type, hook arm type, etc.

[0299] The picking component 2-322 can be installed on the synchronous belt, and the picking component 2-322 can include a telescopic structure with bidirectional telescopic direction. It can move towards the shelf 2-200 or away from the shelf 2-200. The telescopic structure extends into the shelf 2-200 or the material box connection conveyor line 2-400 to pick up or put in the material box 2-500.

[0300] Using the embodiments of this application, the handling robot 2-300 can, based on the sliding guide rail 2-330, pick up and place the material box 2-500 on the shelf 2-200 or the material box connecting conveyor line 2-400 in the horizontal direction; and based on the lifting component 2-321, pick up and place the material box 2-500 on the shelf 2-200 at different heights of the storage layer 2-210, the full material box connecting conveyor line 2-430, or the empty material box connecting conveyor line 2-440 in the vertical direction.

[0301] The following is a detailed description of the material handling robot 2-300 and the material handling box 2-500, based on the embodiment shown in Figure 23a.

[0302] Specifically, the control equipment of the sorting system can control the operation of the sorting mechanism 2-100, the handling robot 2-300, and the material box connecting conveyor line 2-400.

[0303] The process of moving a full 2-500 container includes the following steps:

[0304] Step A: The handling robot 2-300 moves along the length of the shelf 2-200 to the column where the target full bin 2-500 is located, based on the sliding guide rail 2-330.

[0305] Step B: The lifting component 2-321 drives the picking component 2-322 to move along the height direction of the shelf 2-200 to the row where the target full box 2-500 is located.

[0306] The execution order of steps A and B is not important. Step A can be executed first, followed by step B; or step B can be executed first, with the picking component 2-322 moving to the row containing the target bin 2-500, and then step A executed, with the handling robot 300 moving to the column containing the target full bin 2-500 based on the sliding guide rail 2-330; or steps A and B can be executed simultaneously, with the vertical movement of the picking component 2-322 and the horizontal movement of the handling robot 2-300 occurring at the same time.

[0307] In step C, the picking component 2-322 extends towards the full container 2-500 under the action of the telescopic structure, and retracts after picking up the full container 2-500.

[0308] In step D, based on the sliding guide rail 2-330 and the lifting component 2-321, the picking component 2-322, carrying the full material box 2-500, moves to the connection position 2-410 of the full material box connecting conveyor line 2-430. The horizontal movement based on the sliding guide rail 2-330 and the vertical movement based on the lifting component 2-321 can be performed simultaneously, thereby improving the transfer efficiency of the handling robot 2-300.

[0309] In step E, the picking component 2-322 extends toward the connection position 2-410 of the full-load box connecting conveyor line 2-430 under the action of the telescopic structure, and places the full-load box 2-500 on the connection position 2-410.

[0310] The subsequent material box connection conveyor line 2-400 works as follows: the full material box connection conveyor line 2-430 transports the full material box 2-500 to the next processing stage, and at the same time, the control equipment issues an instruction to replenish the empty material box slot 2-211 of the shelf 2-200 with an empty material box 2-500. The empty material box connection conveyor line 2-440 then transports the empty material box 2-500.

[0311] The process of moving empty material bins 2-500 includes the following steps:

[0312] In step F, based on the sliding guide rail 2-330 and the lifting component 2-321, the picking component 2-322 moves to the connection position 2-410 of the empty material box connecting conveyor line 2-440.

[0313] In step G, the picking component 2-322 extends towards the connection position 2-410 of the empty material box connecting conveyor line 2-440 under the action of the telescopic structure, and retracts after picking up the empty material box 2-500.

[0314] In step H, based on the sliding guide rail 2-330 and the lifting component 2-321, the picking component 2-322 moves to the front of the empty material box slot 2-211.

[0315] Step 1: Under the action of the telescopic structure, the picking component 2-322 extends toward the empty material box slot 2-211, places the empty material box 2-500 in the empty material box slot 2-211, and then retracts.

[0316] The workflow of the subsequent material box connection conveyor line 2-400 is as follows: after the waiting robot 2-300 takes away the empty material box 2-500, the control equipment controls the empty material box connection conveyor line 2-440 to continue to transport the next empty material box 2-500 to the connection position 2-410, so that the waiting robot 2-300 can pick it up.

[0317] After the handling robot 2-300 completes step E, it can directly move the picking component 2-322 to the connection position 2-410 of the empty material box connecting conveyor line 2-440 based on the lifting component 2-321, and then execute steps G to I to complete the picking and placing of the material box 2-500.

[0318] By applying the embodiments of this application, the sorting system automates the flow of boxes by only using a handling robot 2-300 to interface with the shelf 2-200 and the bin conveyor line 2-400, replacing manual labor for retrieving full bins and replenishing empty bins. Compared to manual bin changing, this improves sorting efficiency and accuracy. Furthermore, by using the handling robot 2-300 to change bins on the shelf 2-200, the design height of the shelf 2-200 overcomes the height limitations of workers, increasing the number of configurable bin slots 2-211 on the shelf 2-200 and improving the sorting capacity and space utilization of the sorting system. Moreover, the bin conveyor line 2-400 can transport empty bins 2-500 towards the shelf 2-200 or full bins 2-500 away from the shelf 2-200, achieving automatic transfer of empty and full bins 2-500 and further improving the overall operating efficiency of the sorting system.

[0319] In the embodiment shown in Figure 23a, the sorting mechanism 2-100 is arranged between two rows of shelves 2-200, and is able to receive goods to be sorted and transport the goods to be sorted to the material box 2-500 of the shelf 2-200.

[0320] Specifically, as shown in Figures 23a to 23d, the sorting mechanism 2-100 includes: a feeding table 2-110, a lifting mechanism 2-120, a guiding mechanism 2-130, and a shuttle sorting vehicle 2-140.

[0321] The lifting mechanism 2-120 is located at both ends of the shelf 2-200 and is used to drive the shuttle sorting cart 2-140 to move up and down along the height direction of the shelf 2-200.

[0322] The feeding platform 2-110 is located on one or both sides of the lifting mechanism 2-120 and is connected to the lifting mechanism 2-120.

[0323] The guiding mechanism 2-130 is set between the two rows of shelves 2-200, including multiple shuttle guide rails 2-131 corresponding to the height of each storage layer 2-210. The shuttle guide rails 2-131 are connected to the lifting mechanism 2-120, allowing the shuttle sorting cart 2-140 to move back and forth along the length of the shelf 2-200.

[0324] The shuttle sorting vehicle 2-140 is used to switch between shuttle guides 2-131 at different heights via the lifting mechanism 2-120 to sort the goods to be sorted at the feeding table 2-110 into the material boxes 2-500 at different heights of the material box slots 2-211, and to sort the goods to be sorted at the feeding table 2-110 into the material boxes 2-500 at different length slots 2-211 in the material box direction via the guiding mechanism 2-130.

[0325] Specifically, the feeding station 2-110 can be connected to the cargo conveyor line, which will transport the goods to be sorted to the feeding station 2-110. Alternatively, staff can place the goods to be sorted at the feeding station 2-110 for the shuttle sorting vehicle 2-140 to pick up.

[0326] The control device is connected to the shuttle sorting vehicle 2-140 and can send commands to control the shuttle sorting vehicle 2-140 to put each item to be sorted into the corresponding material box 2-500.

[0327] The control device is communicatively connected to the lifting mechanism 2-120. The control device can send commands to control the lifting mechanism 2-120 to move the shuttle sorting cart 2-140 along the height direction of the shelf 2-200 to the height of the storage layer 2-210 where the corresponding material box 2-500 is located. The shuttle sorting cart 2-140 continues to move along the shuttle guide rail 2-131 at the storage layer 2-210 where the corresponding material box 2-500 is located to the corresponding material box 2-500, and puts the goods into the material box 2-500.

[0328] The above operation is repeated continuously. When a bin 2-500 on shelf 2-200 is full of goods, or when all the goods in the order bound to bin 2-500 have been picked, bin 2-500 is considered a full bin 2-500. The control device communicates with the handling robot 2-300 and controls the handling robot 2-300 to move the full bin 2-500 on shelf 2-200 to the connection position 2-410 of the full bin connection conveyor line 2-430. The full bin connection conveyor line 2-430 transports the full bin away from the sorting system. Then, the handling robot 2-300 moves the empty bin 2-500 from the connection position 2-410 of the empty bin connection conveyor line 2-440 to the empty bin slot 2-211 on shelf 2-200.

[0329] Using the embodiments of this application, the lifting mechanism 2-120 and the guiding mechanism 2-130 enable the shuttle sorting cart 2-140 to move in the height and length directions of the shelf 2-200. The sorting mechanism 2-100 is set between the two rows of shelves 2-200, which can save space and improve space utilization; the shuttle sorting cart 2-140 can handle the order sorting of the loading boxes 2-500 of the two rows of shelves 2-200 through the shuttle guide rail 2-131, which improves the working efficiency of the sorting system.

[0330] As mentioned earlier, in the third sorting system shown in Figure 23a, the bin connection conveyor line 2-400 is located on the side of the shelf 2-200 away from the sorting mechanism 2-100. In other embodiments of the sorting system, the bin connection conveyor line 2-400 can be located at one end of the shelf 2-200 along its length.

[0331] The fourth sorting system provided in this application embodiment will now be described in detail. In this sorting system, the robot dedicated to changing boxes is a handling robot 2-300; the conveying equipment capable of transporting boxes to the shelves 2-200 on both sides of the sorting mechanism 2-100 in the system or to a location away from the shelves 2-200 is a box connecting conveyor line 2-400.

[0332] Referring to Figure 26, which is a top view of the fourth sorting system of this application, in the fourth sorting system of this application, the bin connecting conveyor line 2-400 is located at one end of the shelf 2-200 along its length; a receiving space 2-220 is provided at the bottom of the shelf 2-200 near the end of the bin connecting conveyor line 2-400; the connecting position 2-410 of the bin connecting conveyor line 2-400 extends into the receiving space 2-220.

[0333] Specifically, in this embodiment, the number of lifting mechanisms 2-120 is 1, and the two rows of material box connecting conveyor lines 2-400 are respectively set at the ends of the two rows of shelves 2-200 away from the lifting mechanism 2-120. Their respective connecting positions 2-410 are respectively set at the bottom accommodating space 2-220 of the two rows of shelves 2-200.

[0334] To provide space 2-220 for the docking station 2-410, the shelf 2-200 can be raised so that its bottom has enough height to accommodate the docking station 2-410.

[0335] If the shelf 2-200 is not raised, the length of the one or two storage layers 2-210 at the bottom of the shelf 2-200 that may interfere with the material box connection conveyor line 2-400 can be shortened. That is, the bottom one or two storage layers 2-210 are shortened in the direction of the lifting mechanism 2-120, and two columns are installed at the shortened end for support. These two columns and the two columns of the shelf 2-200 near the material box connection conveyor line 2-400 form a receiving space 2-220, thereby accommodating the connection position 2-410.

[0336] By applying the embodiments of this application, setting the connection position 2-410 of the material box connection conveyor line 2-400 at the bottom of the shelf 2-200 can save the distance that the handling robot 2-300 needs to travel to the connection position 2-410, improve the efficiency of the handling robot 2-300 in picking up and placing the material box 2-500, and improve the sorting capacity of the sorting system; it also saves the area of ​​the sorting system deployment area and improves the space utilization rate.

[0337] In addition, in the fourth sorting system, apart from the number of lifting mechanisms 2-120, the location of the bin connection conveyor line 2-400, and the structure of the shelf 2-200, the structures of the remaining sorting mechanisms 2-100, the handling robots 2-300 and their installation methods, and the bin connection conveyor line 2-400 can be exactly the same as the sorting mechanisms 2-100, handling robots 2-300, and bin connection conveyor line 2-400 in the third sorting system shown in Figure 23a, and will not be described in detail here.

[0338] In other words, the main difference between the fourth sorting system shown in Figure 26 and the third sorting system shown in Figure 23a lies in the number of lifting mechanisms 2-120, the location of the material box connecting conveyor line 2-400, and the structure of the shelf 2-200. Everything else can be set up the same.

[0339] In practical applications, regardless of whether the third or fourth sorting system described above is used, or any variation of the two embodiments mentioned above, the handling robot 2-300 can automatically pick up and place the material box 2-500 between the shelf 2-200 and the material box conveyor line 2-400, achieving automatic replacement of the material box 2-500 in the sorting system. Compared with manual box replacement, this improves sorting efficiency and accuracy. Furthermore, the handling robot 2-300 replacing manual box replacement allows the height of the shelf 2-200 to overcome the height limitations of workers, increasing the number of configurable material box slots 2-211 on the shelf 2-200 and improving the sorting capacity and space utilization of the sorting system. Moreover, the material box conveyor line 2-400 can transport empty material boxes 2-500 towards the shelf 2-200 or full material boxes 2-500 away from the shelf 2-200, achieving automatic transfer of empty and full material boxes 2-500, further improving the overall operating efficiency of the sorting system.

[0340] Next, the second sorting method provided in the embodiments of this application will be described in detail.

[0341] The second sorting method provided in this application embodiment is applied to a control device, which is communicatively connected to the sorting mechanism 2-100, the handling robot 2-300, and the material box connecting conveyor line 2-400 in the aforementioned sorting system.

[0342] Referring to Figure 27, which is a flowchart of the first embodiment of the second sorting method provided in this application, the process includes the following steps:

[0343] Step S500: Instruct the bin connection conveyor line to start, so that the bin connection conveyor line can transport empty bins toward the shelf and transport full bins away from the shelf;

[0344] Step S510: Instruct the sorting mechanism to receive the goods to be sorted and transport the goods to be sorted to the unfilled bins on the shelf;

[0345] Step S520: When there are full boxes on the shelf, instruct the handling robot to move the full boxes on the shelf to the box connection conveyor line;

[0346] Specifically, a full bin 2-500 refers to a bin 2-500 that is completely filled with goods or where all goods on a bound order have been picked. In practical applications, the control equipment records how much goods are stored in each bin 2-500. In this step, based on this record, it can be determined whether each bin 2-500 is full.

[0347] Step S530: If at least one bin slot on the shelf is empty, instruct the handling robot to move the empty bins on the bin connection conveyor line to the empty bin slots on the shelf.

[0348] Specifically, in practical applications, the control equipment records the status of each hopper 2-500 and hopper slot 2-211. In this step, based on this record, it is determined whether each hopper slot 2-211 is idle.

[0349] This embodiment is applied to the aforementioned sorting system. The method instructs the handling robot 2-300 to move full boxes 2-500 from shelf 2-200 to the box conveyor line 2-400, and to move empty boxes 2-500 from the conveyor line 2-400 to available box slots 2-211 on shelf 2-200. This achieves automatic box replacement in the sorting system, improving sorting efficiency and accuracy compared to manual box replacement. Furthermore, the handling robot 2-300 replacing manual box replacement allows the shelf 2-200 to overcome the height limitations of workers, increasing the number of configurable box slots 2-211 on shelf 2-200 and improving the sorting capacity and space utilization of the sorting system. Furthermore, the method instructs the material box connection conveyor line 2-400 to transport empty material boxes 2-500 toward the shelf 2-200, and to transport full material boxes 2-500 away from the shelf 2-200, thereby realizing the automatic transfer of empty material boxes 2-500 and full material boxes 2-500, and further improving the overall operating efficiency of the sorting system.

[0350] It should be noted that in practical applications, steps S520 and S530 can be executed in parallel. As long as there is a full material box 2-500 on the shelf 2-200, or at least one material box slot 2-211 on the shelf 2-200 is empty, steps S520 and S530 can be executed respectively. The order of execution of the steps is not restricted here.

[0351] In some embodiments, the bin connection conveyor line 2-400 shown in FIG24 includes a full bin connection conveyor line 2-430 and an empty bin connection conveyor line 2-440 arranged vertically at intervals. Referring to FIG28, FIG28 is a flowchart of a second embodiment of the second sorting method provided in this application; the process includes the following steps:

[0352] Step S501: Instruct the full-load box conveyor line and the empty-load box conveyor line of the material box connection conveyor line to start, so that the empty-load box conveyor line can convey empty boxes toward the shelf, and the full-load box conveyor line can convey full boxes away from the shelf.

[0353] Step S510: Instruct the sorting mechanism to receive the goods to be sorted and transport the goods to be sorted to the unfilled bins on the shelf;

[0354] Step S521: When there are full boxes on the shelf, instruct the handling robot to move the full boxes on the shelf to the full box connection conveyor line;

[0355] Step S531: If at least one bin slot on the shelf is empty, instruct the handling robot to move the empty bin from the connection conveyor line to the empty bin slot on the shelf.

[0356] In practical applications, steps S521 and S531 can be executed in parallel. As long as there is a full material box 2-500 on the shelf 2-200, or at least one material box slot 2-211 on the shelf 2-200 is empty, steps S521 and S531 can be executed respectively. The order of execution of the steps is not restricted here.

[0357] In this embodiment, by instructing the handling robot 2-300 to move the full box 2-500 on the shelf 2-200 to the full box connecting conveyor line 2-430, and to move the empty box 2-500 on the empty box connecting conveyor line 2-440 to the vacant box slot 2-211 on the shelf 2-200, the full box connecting conveyor line 2-430 and the empty box connecting conveyor line 2-440 have a clear division of labor. The two tasks of transporting the full box 2-500 to the next processing stage and transporting the empty box 2-500 to the connecting position 2-410 can be performed simultaneously, further improving the working efficiency of the box connecting conveyor line 2-400.

[0358] In some embodiments, the material bin connecting conveyor line 2-400 is provided with one or more connecting positions 2-410, and the portion other than the connecting positions 2-410 is the conveying section 2-420. Referring to Figure 29, Figure 29 is a flowchart of a third embodiment of the second sorting method provided in this application; the process includes the following steps:

[0359] Step S502: Instruct the material box docking conveyor line to start, so that the conveying section of the material box docking conveyor line can convey empty material boxes to the docking position, and receive full material boxes from the docking position and then convey them in a direction away from the shelf; and enable the docking position to convey full material boxes to the conveying section;

[0360] Step S510: Instruct the sorting mechanism to receive the goods to be sorted and transport the goods to be sorted to the unfilled bins on the shelf;

[0361] Step S522: When there is a full box on the shelf, instruct the handling robot to move the full box on the shelf to the docking position;

[0362] Step S532: If at least one bin slot on the shelf is empty, instruct the handling robot to move the empty bin at the docking position to the empty bin slot on the shelf.

[0363] In practice, the start and stop of docking position 2-410 can be controlled separately by the control equipment to cooperate with the handling robot 2-300, so that the handling robot 2-300 can pick up and put the material box 2-500 on docking position 2-410 when docking position 2-410 is in a stopped rolling state.

[0364] In practical applications, steps S522 and S532 can be executed in parallel. As long as there is a full material box 2-500 on the shelf 2-200, or at least one material box slot 2-211 on the shelf 2-200 is empty, steps S522 and S532 can be executed respectively. The order of execution of the steps is not restricted here.

[0365] In this embodiment, the connecting position 2-410 and the conveying section 2-420 can cooperate to transport the material box 2-500. The conveying section 2-420 can transport empty material boxes 2-500 to the connecting position 2-410, and receive full material boxes 2-500 from the connecting position 2-410 and then transport them away from the shelf 2-200. The connecting position 2-410 can transport full material boxes 2-500 to the conveying section 2-420. The connecting position 2-410 and the conveying section 2-420 can also work independently, as detailed in the following description.

[0366] In some embodiments, referring to Figure 30, which is a flowchart of a fourth embodiment of the second sorting method provided in this application, the process includes the following steps:

[0367] Step S502: Instruct the material box docking conveyor line to start, so that the conveying section of the material box docking conveyor line can convey empty material boxes to the docking position, and receive full material boxes from the docking position and then convey them in a direction away from the shelf; and enable the docking position to convey full material boxes to the conveying section;

[0368] Step S510: Instruct the sorting mechanism to receive the goods to be sorted and transport the goods to be sorted to the unfilled bins on the shelf;

[0369] Step S5221: When the handling robot needs to place the full container at the docking station, it instructs the docking station to stop rolling.

[0370] Step S5222: After the handling robot places the full box at the docking position, it instructs the docking position to start rolling, and coordinates with the conveyor section to transport the full box away from the shelf.

[0371] Step S5223: When the material box on the conveying section is transported to the area adjacent to the connecting position, and the connecting position is in a stopped rolling state, the area of ​​the conveying section carrying the material box is triggered to stop rolling based on the photoelectric sensor set on the conveying section. After the connecting position starts rolling, the area carrying the material box also starts rolling to continue transporting the material box.

[0372] Step S5321: If an empty material box is already parked at the docking position, instruct the docking position to stop rolling.

[0373] Step S5322: If there is no empty material box at the docking position, instruct the conveyor section to transport the empty material box to the docking position;

[0374] In step S5323, after the handling robot takes the empty box from the docking station, it instructs the docking station to start rolling and instructs the conveyor section to transport the next empty box to the docking station.

[0375] In this embodiment, the docking position 2-410 and the conveying section 2-420 can work independently of each other. When the docking position 2-410 needs to pick up a full hopper 2-500 or the handling robot 2-300 needs to remove an empty hopper 2-500, the stationary position of the docking position 2-410 will not affect the transmission of the hopper 2-500 already on the conveying section 2-420, thus improving the working efficiency of the hopper docking conveyor line 2-400.

[0376] In some embodiments, the sorting mechanism 2-100 includes: a feeding table 2-110, a lifting mechanism 2-120, a guiding mechanism 2-130, and a shuttle sorting cart 2-140; the guiding mechanism 2-130 includes multiple shuttle guide rails 2-131; the control device is also communicatively connected to the lifting mechanism 2-120 and the shuttle sorting cart 2-140. In this case, step S510 shown in Figure 27 can specifically be:

[0377] When the shuttle sorting vehicle moves to one end of the shelf, the lifting mechanism is instructed to move the shuttle sorting vehicle up and down along the height direction of the shelf; the shuttle sorting vehicle is instructed to switch between shuttle guides of different heights through the lifting mechanism; the goods to be sorted at the feeding table are sorted into bins of different heights, and the goods to be sorted at the feeding table are sorted into bins of different length directions through the guiding mechanism.

[0378] In this embodiment, a sorting mechanism 2-100 with a lifting mechanism 2-120, a guiding mechanism 2-130, and a shuttle sorting vehicle 2-140 is used, which can realize the rapid sorting of goods in the length and height directions, and further improve the sorting efficiency.

[0379] This application also provides a control device. The control device is communicatively connected to the sorting mechanism, handling robot, and material bin conveyor line in any of the aforementioned sorting systems; see Figure 31, which is a schematic diagram of the structure of a second type of control device provided in this application. As shown in Figure 31, the control device includes:

[0380] Memory 901 is used to store computer programs;

[0381] When processor 902 executes the program stored in memory 901, it implements the steps of the above-described sorting method: the method includes:

[0382] Instruct the bin connection conveyor line to start, so that the bin connection conveyor line can transport empty bins toward the shelf and transport full bins away from the shelf;

[0383] Instruct the sorting mechanism to receive the goods to be sorted and transport them to the empty bins on the shelf;

[0384] When there are full boxes on the shelf, instruct the handling robot to move the full boxes on the shelf to the box receiving conveyor line;

[0385] When at least one bin slot on the shelf is empty, the handling robot is instructed to move an empty bin from the bin connection conveyor line to an empty bin slot on the shelf.

[0386] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 902, communication interface, and memory 901 communicating with each other via the communication bus.

[0387] In addition, the aforementioned control device can be implemented by a computer and may also include a communication module, such as a wired or wireless network card, for communication connection with the handling robot and the sorting robot.

[0388] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0389] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0390] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0391] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0392] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the picking methods described above.

[0393] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the picking methods described in the above embodiments.

[0394] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0395] To improve sorting efficiency, a sorting system can be equipped with multiple sorting devices. If one robot is used to replace the bins on one device, it will result in low robot utilization and high sorting system costs.

[0396] The fifth sorting system provided in this application embodiment will now be described in detail. In this sorting system, the robot dedicated to changing boxes is a box-changing robot 3-200; the transfer device capable of transporting boxes to the shelves 3-120 on both sides of the picking mechanism 3-110 in the system or to a location away from the shelves 3-120 is a transfer robot 3-300A.

[0397] Referring to Figures 32a to 32c, Figure 32a is a three-dimensional structural schematic diagram of the fifth sorting system of this application; Figure 32b is a top view schematic diagram of the sorting system shown in Figure 32a; and Figure 32c is a front view schematic diagram of the sorting equipment shown in Figure 32a.

[0398] As shown in Figures 32a to 32c, the sorting system includes: at least two sorting devices 3-100, a box-changing robot 3-200, and a box transport device 3-300.

[0399] At least two sorting devices 3-100 are arranged side by side with intervals, and a carton-changing robot channel 3-400 is formed between the two adjacent sorting devices 3-100; each sorting device 3-100 can sort the received goods to be sorted into each material box 3-500.

[0400] At least two sorting devices 3-100 are provided with a storage area for storing bins 3-500 and a docking area 3-140 for docking with bin transport equipment 3-300.

[0401] The bin transport equipment 3-300 is used to transport empty bins 3-500 to the connection area 3-140 of the sorting equipment 3-100, or to transport full bins 3-500 located in the connection area 3-140 of the sorting equipment 3-100 to the outside of the sorting equipment 3-100.

[0402] The carton-changing robot 3-200 is mounted on either of the sorting devices 3-100 on either side of the carton-changing robot channel 3-400. It can travel along the carton-changing robot channel 3-400 and is used to transport empty cartons 3-500 from the connection area 3-140 of the two sorting devices 3-100 on either side of the carton-changing robot channel 3-400 to the storage area of ​​the sorting device 3-100, or to transport full cartons 3-500 from the storage area of ​​the sorting device 3-100 to the connection area 3-140 of the sorting device 3-100.

[0403] It should be noted that there are multiple sorting devices 3-100 in the sorting system. As long as two sorting devices 3-100 meet the above-mentioned parallel spacing setting and are transported by a common box-changing robot 3-200, the material box 3-500 can be handled.

[0404] This application provides a sorting system in which a carton-changing robot 3-200 is mounted on either side of a sorting device 3-100 along a carton-changing robot channel 3-400. The robot can travel along the channel and transport empty cartons 3-500 from the receiving area 3-140 of each sorting device 3-100 to its storage area, or vice versa. This improves the utilization rate of the carton-changing robot 3-200, reduces the cost of the sorting system, and enables automatic carton replacement. Compared to manual carton changing, this improves sorting efficiency and accuracy. Furthermore, the robot-assisted carton changing, replacing manual carton changing, allows the height of the sorting equipment to overcome the height limitations of workers, increasing the storage capacity, sorting ability, and space utilization of the sorting system.

[0405] The bin transport device 3-300 is used to transport empty bins 3-500 to the connection area 3-140 of the sorting device 3-100, or to transport full bins 3-500 located in the connection area 3-140 of the sorting device 3-100 to the outside of the sorting device 3-100, realizing the automatic transfer of empty bins 3-500 and full bins 3-500, and further improving the overall operating efficiency of the sorting system.

[0406] In the embodiment shown in Figure 32a, as shown in Figures 32a to 32c, the sorting equipment 3-100 includes: a picking mechanism 3-110 and a shelf 3-120.

[0407] Shelves 3-120 are arranged in two rows, with the storage area located on shelves 3-120. Multiple storage layers 3-121 are arranged vertically at intervals. The multiple storage layers 3-121 are used to store the material boxes 3-500 that are waiting to be loaded. Each storage layer 3-121 is divided into multiple storage compartments 3-1211, and each storage compartment 3-1211 is used to store one material box 3-500 that is waiting to be loaded.

[0408] The picking mechanism 3-110 is located between two rows of shelves 3-120. It is used to receive goods to be picked and transport them to the various bins 3-500 on the shelves 3-120.

[0409] The carton-changing robot 3-200 is mounted on the side of the shelf 3-120 of either sorting device 3-100 on both sides of the carton-changing robot aisle 3-400, away from the picking mechanism 3-110. For the two shelves 3-120 on both sides of the carton-changing robot aisle 3-400, the carton-changing robot 3-200 moves the empty cartons 3-500 in the receiving area 3-140 to the storage layer 3-121 of the shelf 3-120, or moves the full cartons 3-500 in the storage layer 3-121 of the shelf 3-120 to the receiving area 3-140.

[0410] If only one of the two shelves 3-120 of each sorting device 3-100 is adjacent to the carton-changing robot aisle 3-400, then at least one carton-changing robot 3-200 shall be mounted on the other shelf 3-120 on the side away from the picking mechanism 3-110.

[0411] As shown in Figure 32c, the sorting system in this embodiment includes two sorting devices 3-100, and a carton-changing robot channel 3-400 is formed between the two sorting devices 3-100. A carton-changing robot 3-200 is provided in the carton-changing robot channel 3-400. The carton-changing robot 3-200 is hung on the shelf 3-120 of the sorting device 3-100 on one side of the carton-changing robot channel 3-400, and is used to pick up and put the material boxes 3-500 on the shelves 3-120 on both sides of the carton-changing robot channel 3-400.

[0412] It should be noted that in the embodiment shown in Figure 32c, only one box-changing robot 3-200 is set in the box-changing robot channel 3-400.

[0413] Multiple carton-changing robots 3-200 can also be installed in the carton-changing robot channel 3-400, hanging on the shelves 3-120 of either sorting device 3-100 on both sides of the carton-changing robot channel 3-400. Each robot is responsible for picking up and placing cartons 3-500 in a certain area on these two shelves 3-120, thereby improving carton-changing efficiency and avoiding avoidance between the carton-changing robots 3-200. For example, in the embodiment shown in Figure 32a, two carton-changing robots 3-200 are installed in the carton-changing robot channel 3-400, respectively hanging on the shelves 3-120 of the two sorting devices 3-100. One carton-changing robot 3-200 is installed on the shelf 3-120 on the side of the two sorting devices 3-100 away from the carton-changing robot channel 3-400. This carton-changing robot 3-200 is responsible for picking up and placing cartons 3-500 in the shelf 3-120 and its connecting area 3-140.

[0414] In the embodiments of this application, the picking mechanism 3-110 is positioned between two rows of shelves 3-120 for picking, and the box-changing robot 3-200 is positioned within the box-changing robot aisle 3-400 to pick up and place boxes 3-500, thereby improving the space utilization of the sorting system. The box-changing robot 3-200 positioned within the box-changing robot aisle 3-400 can pick up and place boxes 3-500 on shelves 3-120 of the two sorting devices 3-100 and on the connecting area 3-140, further improving the utilization rate of the box-changing robot 3-200. Box-changing robots 3-200 are also mounted on shelves 3-120 of the sorting device 3-100 that are not adjacent to the box-changing robot aisle 3-400, ensuring that boxes 3-500 on all shelves 3-120 in the sorting system can be automatically changed.

[0415] In the embodiment shown in Figure 32a, as shown in Figures 32a to 32c, the docking area 3-140 is located below the bottom storage layer 3-121 of the shelf 3-120, and is provided with a docking layer 3-122 for temporarily storing full or empty material bins 3-500. The docking layer 3-122 is divided into multiple docking positions 3-1221; each docking position 3-1221 is used to temporarily store one full or empty material bin 3-500.

[0416] The material box transport equipment 3-300 is a transfer robot 3-300A; the transfer robot 3-300A is used to transport empty material boxes 3-500 to the docking layer 3-122, or to transport full material boxes 3-500 of the docking layer 3-122 to the outside of the sorting equipment 3-100.

[0417] The box-changing robot 3-200 is used to move full boxes 3-500 on storage layer 3-121 of shelf 3-120 to docking layer 3-122, or to move empty boxes 3-500 on docking layer 3-122 of shelf 3-120 to storage layer 3-121.

[0418] Specifically, the box-changing robot 3-200 is used to move along the box-changing robot channel 3-400 to transport the full box 3-500 on the storage compartment 3-1211 of the shelf 3-120 to the empty docking compartment 3-1221, or to transport the empty box 3-500 on the docking compartment 3-1221 to the empty storage compartment 3-1211.

[0419] The transfer robot 3-300A is used to move along the transfer robot channel 3-700 to transport empty material boxes 3-500 outside the sorting equipment 3-100 to empty docking positions 3-1221, or to transport full material boxes 3-500 in docking positions 3-1221 to the outside of the sorting equipment 3-100.

[0420] The carton-changing robot channel 3-400 is a two-way channel. The transfer robot channel 3-700 partially overlaps with the carton-changing robot channel 3-400. The carton-changing robot 3-200 is hung on the shelf 3-120 with a preset distance from the ground, so that the movement of the carton-changing robot 3-200 and the transfer robot 3-300A in the overlapping part of the two channels does not interfere with each other. They can move to pick up and put down the material box 3-500 at the same time, improving the overall operating efficiency of the sorting system.

[0421] In this embodiment of the application, a box-changing robot 3-200 picks up and places boxes 3-500 between storage compartment 3-1211 and docking layer 3-122, while a transfer robot 3-300A moves boxes 3-500 between docking layer 3-122 and the outside of sorting equipment 3-100. This achieves automatic replacement of boxes 3-500 in the sorting system, improving sorting efficiency and accuracy compared to manual box-changing. By setting up docking layer 3-122, both transfer robot 3-300A and box-changing robot 3-200 dock with it to pick up and place boxes 3-500. Compared to direct docking between transfer robot 3-300A and box-changing robot 3-200, this improves the transmission efficiency of boxes 3-500 in the sorting system, thereby increasing the overall operating efficiency of the sorting system.

[0422] In the embodiment shown in Figure 32a, referring to Figures 33 and 34, Figure 33 is a top view of the docking layer shown in Figure 32a; Figure 34 is a three-dimensional structural diagram of the transfer robot shown in Figure 32a. As shown in Figures 32a, 33 and 34, a through groove 3-1222 is provided at the bottom of the docking compartment 3-1221 to allow the transfer robot 3-300A to pick up and place the material box 3-500 on the docking compartment 3-1221 based on the through groove 3-1222.

[0423] The transfer robot 3-300A includes: a walking mechanism 3-310 and a lifting mechanism 3-320; the lifting mechanism 3-320 is located on top of the walking mechanism 3-310.

[0424] The transfer robot 3-300A is used so that the walking mechanism 3-310 drives the lifting mechanism 3-320 to move along the transfer robot channel 3-700 to the position corresponding to the docking bin 3-1221, and then moves to the bottom of the docking bin 3-1221. The lifting mechanism 3-320 passes through the through groove 3-1222 in the vertical direction to lift or place the material box 3-500.

[0425] Specifically, as shown in Figures 32a and 33, the through slot 3-1222 is perpendicular to the length of the shelf 3-120. The width of the through slot 3-1222 is smaller than the size of the material box 3-500, but larger than the top width of the lifting mechanism 3-320, so that the lifting mechanism 3-320 can pass through the through slot 3-1222 to lift or lower the material box 3-500, and also prevent the material box 3-500 from falling through the through slot 3-1222.

[0426] The process by which the transfer robot 3-300A removes the full material bin 3-500 from the docking layer 3-122 is as follows:

[0427] The walking mechanism 3-310 of the empty transfer robot 3-300A drives the lifting mechanism 3-320 to move along the transfer robot channel 3-700 to the position corresponding to the docking bin 3-1221. After moving to the bottom of the docking bin 3-1221, the lifting mechanism 3-320 lifts the full material box 3-500 through the through groove 3-1222. The walking mechanism 3-310 drives the lifting mechanism 3-320 to exit the docking bin 3-1221 along the through groove 3-1222 and continues to move along the transfer robot channel 3-700 out of the sorting equipment 3-100.

[0428] The process by which the transfer robot 3-300A places the empty material box 3-500 onto the docking layer 3-122 is as follows:

[0429] The walking mechanism 3-310 of the transfer robot 3-300A drives the lifting mechanism 3-320, which carries the empty material box 3-500, to move along the transfer robot channel 3-700 to the position corresponding to the docking compartment 3-1221. Then, the lifting mechanism 3-320 moves upward to raise the empty material box 3-500. The walking mechanism 3-310 moves to below the docking compartment 3-1221, and the lifting mechanism 3-320 descends through the through-slot 3-1222 to lower the empty material box. After box 3-500 is placed on docking position 3-1221, the walking mechanism 3-310 drives the lifting mechanism 3-320 to exit docking position 3-1221. After that, the transfer robot 3-300A can continue to move along the transfer robot channel 3-700 to other docking positions 3-1221 to pick up full boxes 3-500, or move along the transfer robot channel 3-700 out of the sorting equipment 3-100 to continue picking up empty boxes 3-500.

[0430] When the transfer robot 3-300A docks with the docking layer 3-122, it is located at the bottom of the docking layer 3-122, which improves the space utilization of the sorting system. The lifting mechanism 3-320 of the transfer robot 3-300A can lift or place the material box 3-500 by moving vertically through the through slot 3-1222. The material box 3-500 can be picked up and placed without stopping or only briefly stopping, which improves the efficiency of the transfer robot 3-300A in picking up and placing the material box 3-500.

[0431] In the embodiment shown in Figure 32a, as shown in Figure 32c, the sorting system also includes a material bin transfer station 3-600.

[0432] The transfer robot 3-300A is used to move between the shelf 3-120 and the bin transfer station 3-600, to move empty bins 3-500 from the bin transfer station 3-600 to the docking layer 3-122 of the shelf 3-120, or to move full bins 3-500 from the docking layer 3-122 to the bin transfer station 3-600.

[0433] The structure of the material bin transfer station 3-600 includes, but is not limited to, conveyor lines and connecting frames. Figure 32c shows the material bin transfer station 3-600 in the form of a conveyor line.

[0434] Specifically, the material box transfer station 3-600 is used to transport empty material boxes 3-500 in the direction toward the sorting equipment 3-100, or to receive full material boxes from the sorting equipment 3-100 transported by the transfer robot 3-300A, and to pack and ship them out of the warehouse.

[0435] The outbound process of full container 3-500 is as follows: the container changing robot 3-200 moves the full container 3-500 from the storage layer 3-121 of the shelf 3-120 to the docking layer 3-122 at the bottom of the shelf 3-120. The transfer robot 3-300A moves to the docking layer 3-122 to pick up the full container 3-500 and moves the full container 3-500 to the container transfer station 3-600.

[0436] The warehousing process for empty material box 3-500 is as follows: the transfer robot 3-300A moves to the material box transfer station 3-600 to pick up the empty material box 3-500, and moves the empty material box 3-500 to the docking layer 3-122 at the bottom of the shelf 3-120 where the target empty storage location 3-1211 is located. The box-changing robot 3-200 moves the empty material box 3-500 from the docking layer 3-122 to the target empty storage location 3-1211.

[0437] In the embodiments of this application, the material box transfer station 3-600 can transport empty material boxes 3-500 towards the sorting equipment 3-100, or receive full material boxes from the sorting equipment 3-100 transported by the transfer robot 3-300A, and pack them for shipment. By setting up the material box transfer station 3-600, the travel path length of the transfer robot 3-300A is shortened. The transfer robot 3-300A only needs to transport material boxes 3-500 between the material box transfer station 3-600 and the sorting equipment 3-100, improving the handling efficiency of the transfer robot 3-300A, thereby improving the overall operating efficiency of the sorting system.

[0438] In the embodiment shown in Figure 32a, as shown in Figure 32c, the material bin transfer station 3-600 includes: a first full material bin conveyor line 3-610 and a first empty material bin conveyor line 3-620.

[0439] The transfer robot 3-300A is used to move empty boxes 3-500 on the first empty box conveyor line 3-620 to the docking layer 3-122 of the shelf 3-120, or to move full boxes 3-500 on the docking layer 3-122 to the first full box conveyor line 3-610.

[0440] Specifically, as shown in Figure 32c, the first full box conveyor line 3-610 and the first empty box conveyor line 3-620 are arranged side by side outside the sorting equipment 3-100. The first empty box conveyor line 3-620 is used for placing empty boxes 3-500 manually or by equipment, and docking with the transfer robot 3-300A to transport the empty boxes 3-500 to the transfer robot 3-300A.

[0441] The first full-load box conveyor line 3-610 is used to receive full-load boxes 3-500 from the sorting equipment 3-100 brought by the transfer robot 3-300A, and transport them to the outbound area for packaging and outbound.

[0442] In the embodiments of this application, the material box transfer station 3-600 is configured with two conveyor lines, which are used to transport full material boxes 3-500 and empty material boxes 3-500 respectively. The transfer robot 3-300A can connect with different conveyor lines according to the task being performed, which can improve the material box transfer efficiency of the sorting system.

[0443] In the embodiment shown in Figure 32a, as shown in Figure 32c, a transfer robot channel 3-700 is also provided from the material bin transfer station 3-600 to the sorting equipment 3-100; the transfer robot channel 3-700 extends from the material bin transfer station 3-600 to the sorting equipment 3-100.

[0444] The transfer robot 3-300A is used to move along the transfer robot channel 3-700 to transport empty material boxes 3-500 from the material box transfer station 3-600 to the shelf 3-120 of the sorting equipment 3-100, or to transport full material boxes 3-500 on the shelf 3-120 of the sorting equipment 3-100 to the material box transfer station 3-600.

[0445] The transfer robot channel 3-700 includes: channel 3-710, channel 3-720, and channel 3-730.

[0446] The first channel 3-710 extends from the material box transfer station 3-600 to the sorting equipment 3-100, and part of it overlaps with the box-changing robot channel 3-400.

[0447] The first channel 3-710 extends into the second channel 3-720 and the third channel 3-730. The second channel 3-720 is located in the connecting area 3-140, and the third channel 3-730 is located on the side of the sorting equipment 3-100 away from the box-changing robot channel 3-400. Both the second channel 3-720 and the third channel 3-730 are parallel to the box-changing robot channel 3-400.

[0448] The transfer robot 3-300A is used to move along the first channel 3-710 or the third channel 3-730 to the position corresponding to the target position on the docking layer 3-122, then move to the second channel 3-720 at the bottom of the docking layer 3-122, dock with the docking layer 3-122 to pick up and put down the material box 3-500, then move to the first channel 3-710 or the third channel 3-730, and go to the material box transfer station 3-600.

[0449] Specifically, as shown in Figure 32c, part of the first channel 3-710 is located between the two sorting devices 3-100, and the other part extends to the material box transfer station 3-600. Multiple branch channels extend from the first channel 3-710, including four second channels 3-720 located in the connecting area 3-140 and two third channels 3-730 located on the side of the sorting device 3-100 away from the box-changing robot channel 3-400.

[0450] The process of the 3-300A transfer robot moving a full 3-500 container is as follows:

[0451] The unloaded transfer robot 3-300A moves to the position corresponding to the target docking bin 3-1221 on the second channel 3-720, lifts the full bin 3-500 through the through channel 3-1222, and then retreats along the through channel 3-1222 to the first channel 3-710 or the third channel 3-730 outside the shelf 3-120, and moves toward the bin transfer station 3-600.

[0452] The process of the 3-300A transfer robot moving an empty 3-500 material box is as follows:

[0453] After receiving an empty bin 3-500 from the bin transfer station 3-600, the transfer robot 3-300A moves along the first channel 3-710 to a position close to the sorting equipment 3-100. Then, depending on the location of the target docking position 3-1221, it travels along the corresponding first channel 3-710 or third channel 3-730 to the position corresponding to the target docking position 3-1221. It lifts the bin 3-500 and moves it towards the target docking position 3-1221 to the second channel 3-720. After placing the bin 3-500, it can move directly along the second channel 3-721 to another docking position 3-1221 to receive a full bin 3-500, or it can retreat to the shelf 3-120 and go to the bin transfer station 3-600 to continue receiving empty bins 3-500.

[0454] It should be noted that the diagram shows the first channel 3-710 and the carton-changing robot channel 3-400 separately, distinguishing the widths of the two channels. In actual scenarios, the widths of the two channels are not limited. Furthermore, the width of the third channel 3-730 is also not limited; the transfer robot 3-300A only needs to travel within the space on the side of the sorting equipment 3-100 away from the carton-changing robot channel 3-400.

[0455] By applying the embodiments of this application and setting up the aforementioned transfer robot channel 3-700, the movement of the transfer robot 3-300A can be standardized, facilitating the management of multiple transfer robots 3-300A in the sorting system. The transfer robot 3-300A can switch between the first channel 3-710, the second channel 3-720, and the third channel 3-730 to avoid each other and improve the efficiency of material box handling.

[0456] In the embodiment shown in Figure 32a, see Figure 35, which is a three-dimensional structural diagram of the box-changing robot shown in Figure 32a. As shown in Figures 32a, 32b and 35, multiple horizontal tracks 3-130 are arranged at intervals along the vertical direction on the side of the shelf 3-120 near the box-changing robot channel 3-400; the box-changing robot 3-200 is installed on the outside of the shelf 3-120 based on the horizontal tracks 3-130.

[0457] The box-changing robot 3-200 includes: a mounting frame 3-210 and a picking and placing component 3-220; the mounting frame 3-210 is movably mounted on a horizontal track 3-130, and the picking and placing component 3-220 is set on the mounting frame 3-210 and can move vertically along the mounting frame 3-210 and horizontally along the horizontal track 3-130 with the mounting frame 3-210 to pick and place the boxes 3-500 at different positions on the storage layer 3-121 of the shelves 3-120 on both sides of the box-changing robot channel 3-400 and the connecting area 3-140.

[0458] Specifically, the structure of the mounting frame 3-210 can be varied; it can be a single column or a column gantry composed of two columns. This application does not limit the specific structure. In a particular embodiment, as shown in Figures 32a, 32b, and 35, the mounting frame 3-210 is a column gantry, comprising two opposing columns 3-211. The loading and unloading assembly 3-220 is disposed between the two columns 3-211 of the mounting frame 3-210, and is movably connected to one column 3-211 on each side.

[0459] The picking and placing component 3-220 can take forms including, but not limited to, forklift type, suction cup type, roller type, hook arm type, etc. In a specific embodiment, as shown in Figures 32a and 32b, the picking and placing component 3-220 can extend relative to the mounting frame 3-210 toward the storage layer 3-121 of the shelf 3-120 on both sides of the box-changing robot channel 3-400 or the docking layer 3-122 at the bottom of the shelf 3-120 to pick and place the material box 3-500.

[0460] The process of the 3-200 box-changing robot handling a full 3-500 box is as follows:

[0461] Mounting frame 3-210 drives the picking and placing component 3-220 to move horizontally along horizontal track 3-130 to the column containing the target storage compartment 3-1211 containing the full material box 3-500; picking and placing component 3-220 moves vertically along mounting frame 3-210 to the row containing the target storage compartment 3-1211; picking and placing component 3-220 extends towards the target storage compartment 3-1211, picks up the full material box 3-500, and then retracts; picking and placing component 3-220 moves horizontally along horizontal track 3-130 with mounting frame 3-210 and moves vertically downward along mounting frame 3-210 to the empty docking compartment 3-1221; picking and placing component 3-220 extends towards the empty docking compartment 3-1221 and places the full material box 3-500.

[0462] The process of the 3-200 box-changing robot moving empty 3-500 boxes is as follows:

[0463] Mounting frame 3-210 drives the picking and placing component 3-220 to move horizontally along horizontal track 3-130, and the picking and placing component 3-220 moves vertically along mounting frame 3-210, so that the picking and placing component 3-220 moves to the target docking position 3-1221 where an empty material box 3-500 is temporarily stored; the picking and placing component 3-220 extends toward the target docking position 3-1221, picks up the empty material box 3-500 and then retracts; mounting frame 3-210 drives the picking and placing component 3-220 to move horizontally along horizontal track 3-130, and the picking and placing component 3-220 moves vertically along mounting frame 3-210, so that the picking and placing component 3-220 moves to an empty storage position 3-1211; the picking and placing component 3-220 extends toward the empty storage position 3-1211 and places the empty material box 3-500.

[0464] During the process of the box-changing robot 3-200 handling the material box 3-500, the mounting frame 3-210 drives the picking and placing component 3-220 to move horizontally along the horizontal track 3-130 and the picking and placing component 3-220 moves vertically along the mounting frame 3-210. There is no specific order for the two movements. The vertical movement can be performed first, followed by the horizontal movement; or the horizontal movement can be performed first, followed by the vertical movement; or the horizontal and vertical movements can be performed simultaneously to improve the box-changing efficiency of the box-changing robot 3-200.

[0465] According to the embodiments of this application, the box-changing robot 3-200 can, based on the horizontal track 3-130, pick up and place the boxes 3-500 on the storage layer 3-121 or docking layer 3-122 of the shelves 3-120 on both sides of the box-changing robot channel 3-400 in the horizontal direction, and based on the vertical movement of the picking and placing component 3-220 along the mounting frame 3-210, pick up and place the boxes 3-500 on the shelves 3-120 at different heights of the storage layer 3-121 or docking layer 3-122 in the vertical direction.

[0466] In the embodiment shown in Figure 32a, the picking mechanism 3-110 shown in Figures 32a to 32c includes: a feeding table 3-111, a lifting mechanism 3-112, a guiding mechanism 3-113, and a shuttle sorting vehicle 3-114.

[0467] The lifting mechanism 3-112 is located at one or both ends of the shelf 3-120 and is used to drive the shuttle sorting cart 3-114 to move up and down along the height direction of the shelf 3-120.

[0468] The feeding platform 3-111 is located on one or both sides of the lifting mechanism 3-112 and is connected to the lifting mechanism 3-112.

[0469] The guiding mechanism 3-113 is set between the two rows of shelves 3-120, including multiple shuttle guide rails 3-1131 corresponding to the height of each storage layer 3-121. The shuttle guide rails 3-1131 are connected to the lifting mechanism 3-112, allowing the shuttle sorting cart 3-114 to move back and forth along the length of the shelf 3-120.

[0470] The shuttle sorting vehicle 3-114 is used to switch between shuttle guides 3-1131 at different heights via the lifting mechanism 3-112 to sort the goods to be sorted at the feeding table 3-111 into the material bins 3-500 at different heights of the storage compartments 3-1211, and to sort the goods to be sorted at the feeding table 3-111 into the material bins 3-500 at different storage compartments 3-1211 along the length direction via the guiding mechanism 113.

[0471] Specifically, the feeding station 3-111 can be connected to the cargo conveyor line, which will transport the goods to be sorted to the feeding station 3-111. Alternatively, staff can place the goods to be sorted at the feeding station 3-111 for the shuttle sorting vehicle 3-114 to pick up.

[0472] The sorting system also includes control equipment. The control equipment is communicatively connected to the shuttle sorting vehicle 3-114, and can send commands to control the shuttle sorting vehicle 3-114 to put each item to be sorted into the corresponding bin 500.

[0473] The control device is communicatively connected to the lifting mechanism 3-112. The control device can send commands to control the lifting mechanism 3-112 to move the shuttle sorting cart 3-114 along the height direction of the shelf 3-120 to the height of the storage layer 3-121 where the corresponding material box 3-500 is located. The shuttle sorting cart 3-114 continues to move along the shuttle guide rail 3-1131 at the storage layer 3-121 where the corresponding material box 3-500 is located to the corresponding material box 3-500, and puts the goods into the material box 3-500.

[0474] The above operation is repeated continuously. When a bin 3-500 on shelf 3-120 is full of goods, or when all the goods in the order bound to bin 3-500 have been picked, bin 3-500 is considered a full bin 3-500. The control device communicates with the bin-changing robot 3-200 and controls the bin-changing robot 3-200 to move the full bin 3-500 on storage layer 3-121 to docking layer 3-122. The transfer robot 3-300A then transports the full bin 3-500 away from sorting equipment 3-100. Then, the bin-changing robot 3-200 moves the empty bin 3-500 on docking layer 3-122 to the empty storage compartment 3-1211 on storage layer 3-121.

[0475] By applying the embodiments of this application, the lifting mechanism 3-112 and the guiding mechanism 3-113 enable the shuttle sorting cart 3-114 to move in the height and length directions of the shelf 3-120; the shuttle sorting cart 3-114 can also handle the order sorting of the two rows of shelves 3-120 of the sorting equipment 3-100 and the loading boxes 3-500 through the shuttle guide rail 3-1131, thereby improving the working efficiency of the sorting system.

[0476] As mentioned above, in the fifth sorting system shown in Figure 32a, the bin handling device 3-300 is a transfer robot 3-300A, which transports empty bins 3-500 to the docking layer 3-122 of the shelves 3-120 on both sides of the bin-changing robot channel 3-400, or transports full bins 3-500 of the docking layer 3-122 to the outside of the sorting device 3-100; in other embodiments of the sorting system, the bin handling device 3-300 can also be a first bin conveyor line 3-300B or a second bin conveyor line 3-300C.

[0477] The following is a detailed description of the sixth sorting system, which is the first bin conveyor line 3-300B, with the bin handling equipment 3-300 as the first bin conveyor line. In this sorting system, the robot dedicated to changing bins is the bin changing robot 3-200; the conveying equipment that can transport bins to the shelves 3-120 on both sides of the picking mechanism 3-110 in the system or to a position away from the shelves 3-120 is the first bin conveyor line 3-300B.

[0478] Referring to Figures 36a to 36c, Figure 36a is a three-dimensional structural schematic diagram of the sixth sorting system of this application; Figure 36b is a top view schematic diagram of the sorting system shown in Figure 36a; and Figure 36c is a front view schematic diagram of the sorting equipment shown in Figure 36a.

[0479] As shown in Figures 36a to 36c, the connection area 3-140 is located on the outer side of one end of the shelf 3-120 along its length.

[0480] The material box conveying equipment 3-300 is the first material box conveyor line 3-300B; the material box conveyor line 3-300B is arranged in two rows; a portion of the first material box conveyor line 3-300B in each row is located in the connecting area 3-140.

[0481] The box-changing robot 3-200 is used to travel along the box-changing robot aisle 3-400 to move between the rack 3-120 and the connecting area 3-140. For the two racks 3-120 on both sides of the box-changing robot aisle 3-400, the box-changing robot 3-200 transports the empty box 3-500 on the first box conveyor line 3-300B in the connecting area 3-140 to the storage layer 3-121 of the rack 3-120, or transports the full box 3-500 on the storage layer 3-121 of the rack 3-120 to the first box conveyor line 3-300B in the connecting area 3-140.

[0482] Specifically, Figures 36a to 36c only show that the arrangement direction of the first material box conveyor line 3-300B is parallel to the length direction of the shelf 3-120. The actual arrangement of the first material box conveyor line 3-300B needs to be determined according to the specific scenario. The first material box conveyor line 3-300B located in the connecting area 3-140 needs to be set parallel to the length direction of the shelf 3-120 so that the box-changing robot 3-200 can pick up and put the material box 3-500 on the first material box conveyor line 3-300B. The part located outside the connecting area 3-140 can be arranged according to the source location of the empty material box 3-500 and the destination location to which the full material box 3-500 is to be transported. This application does not limit this.

[0483] In this embodiment, the first material box conveyor line 3-300B directly provides empty material boxes 3-500 to the shelf 3-120 and transports full material boxes 3-500 from the shelf 3-120 to the outside of the sorting equipment 3-100, eliminating the need for multiple transfer robots 3-300A, thus reducing the cost of the sorting system. Furthermore, one row of shelves 3-120 corresponds to one row of the first material box conveyor line 3-300B, resulting in a smaller number of material box transport devices 3-300, simpler control, and easier maintenance. In addition, the connecting area 3-140 is located on the outer side of one end of the shelf 3-120 along its length, eliminating the need for reserved space at the bottom of the shelf 3-120, allowing for more storage layers 3-121, thereby increasing the storage density of the shelf 3-120 and the storage capacity of the sorting system.

[0484] In the embodiment shown in Figure 36a, as shown in Figures 36a to 36c, the horizontal track 3-130 extends to the connecting area 3-140, so that the box-changing robot 3-200 can move along the horizontal track 3-130 between the shelf 3-120 and the connecting area 3-140 to pick up and put in the storage layer 3-121 of the shelf 3-120 on both sides of the box-changing robot channel 3-400 and the boxes 3-500 at different positions of the first box conveyor line 3-300B.

[0485] In this embodiment, the number of lifting mechanisms 3-112 in the picking mechanism 3-110 of each sorting device 3-100 is 1. The two rows of first material box conveyor lines 3-300B of the sorting device 3-100 are respectively set at the ends of the two rows of shelves 3-120 of the sorting device 3-100 away from the lifting mechanism 3-112.

[0486] Excluding the quantity of lifting mechanisms 3-112, the structure of bin handling equipment 3-300, shelves 3-120 and horizontal rails 3-130, and the location of connecting area 3-140, the structure of picking mechanism 3-110 and box-changing robot 3-200 in the sorting equipment 3-100 of this embodiment can be the same as the fifth sorting system shown in Figure 32a, and will not be described again here.

[0487] In the embodiment shown in Figure 36a, as shown in Figure 36c, the first material box conveyor line 3-300B is provided with one or more spaced connection positions 3-330 in the connection area 3-140, and the part of the first material box conveyor line 3-300B other than the connection positions 3-330 is the conveying section 3-340.

[0488] The docking position 3-330 is used to dock with the box-changing robot 3-200, receive the full box 3-500 transported by the box-changing robot 3-200 and transfer it to the conveyor section 3-340, or receive the empty box 3-500 transferred by the conveyor section 3-340 for the box-changing robot 3-200 to pick up.

[0489] Conveying section 3-340 is used to transport empty bins 3-500 to the docking position 3-330, or to receive full bins 3-500 from docking position 3-330 and transport them in a direction away from the shelf 3-120.

[0490] Specifically, the first material box conveyor line 3-300B can be a roller conveyor line, with both the connecting position 3-330 and the conveying section 3-340 including multiple rollers, enabling rolling transmission. The first material box conveyor line 3-300B also includes a drive device (not shown in the figure). Both the connecting position 3-330 and the conveying section 3-340 are equipped with detection devices (not shown in the figure). The control equipment can control the drive device to start or stop the rotation of the rollers in the connecting position 3-330 or the conveying section 3-340 based on the detection information fed back by the detection devices in the connecting position 3-330 and the conveying section 3-340.

[0491] The specific transmission process of the first material bin conveyor line 3-300B is as follows:

[0492] When the box-changing robot 3-200 is about to place a full box 3-500, the control equipment sends a command to the first box conveyor line 3-300B, instructing the connecting position 3-330 of the first box conveyor line 3-300B to stop rolling. The roller at the connecting position 3-330 is stationary. After the full box 3-500 is placed, the connecting position 3-330 is instructed to start rolling again, and the conveyor section 3-340 will send the full box 3-500 to the next processing stage, such as outbound or verification and packaging workstation. When an empty box 3-500 is transported to the connecting position 3-330, the roller at the connecting position 3-330 stops rolling. After the box-changing robot 3-200 takes away the empty box 3-500, the first box conveyor line 3-300B will then transport the next empty box 3-500 to the connecting position 3-330 to wait for the box-changing robot 3-200 to pick it up.

[0493] A photoelectric sensor can be installed in the area of ​​the conveying section 3-340 adjacent to the downstream connection position 3-330. When the downstream connection position 3-330 is placing a full material box 3-500 or an empty material box 3-500 is placed on the connection position 3-330, the roller at the connection position 3-330 is stationary, and the area of ​​the conveying section 3-340 away from the connection position 3-330 remains in a rolling state. When the photoelectric sensor detects that a material box 3-500 has been transported to the area adjacent to the downstream connection position 3-330, the area adjacent to the material box 3-500 stops rolling. After the connection position 3-330 starts rolling, the area adjacent to the material box 3-500 also starts rolling, and the material box 3-500 continues to be transported.

[0494] It should be noted that when the connecting position 3-330 stops rolling, the sorting system only pauses the conveying of the feeding box 3-500 in a part of the conveying section 3-340 upstream of the connecting position 3-330, which is adjacent to the connecting position 3-330. It does not affect the conveying of the feeding box 3-500 in a part of the conveying section 3-340 that is far away from the connecting position 3-330.

[0495] In the embodiments of this application, the transfer of the connecting position 3-330 and the conveying section 3-340 of the first material box conveyor line 3-300B is independent yet coordinated. The connecting position 3-330 and the conveying section 3-340 can cooperate to transfer the material box 3-500. When a material box 3-500 is temporarily placed on the connecting position 3-330 and cannot roll, it will not affect the transfer of the conveying section 3-340, thus improving the working efficiency of the first material box conveyor line 3-300B. The box-changing robot 3-200 does not need to move along the length of the first material box conveyor line 3-300B to pick up and place the material box 3-500; it only needs to move to the connecting position 3-330 to dock, which can complete the picking and placing of the material box 3-500, thus improving the efficiency of the box-changing robot 3-200 in picking up and placing the material box 3-500 and improving the sorting efficiency of the sorting system.

[0496] In the embodiment shown in Figure 36a, as shown in Figures 36a and 36b, each row of the first material box conveyor line 3-300B includes: a second full material box conveyor line 3-350 and a second empty material box conveyor line 3-360 arranged at intervals along the vertical direction.

[0497] The carton-changing robot 3-200 is used to travel along the carton-changing robot aisle 3-400 to move between the rack 3-120 and the connecting area 3-140. For the two racks 3-120 on both sides of the carton-changing robot aisle 3-400, the carton-changing robot 3-200 transports the empty carton 3-500 located on the second empty carton conveyor line 3-360 in the connecting area 3-140 to the storage layer 3-121 of the rack 3-120, or transports the full carton 3-500 in the storage layer 3-121 of the rack 3-120 to the second full carton conveyor line 3-350 located in the connecting area 3-140.

[0498] Specifically, the second full-load box conveyor line 3-350 and the second empty-load box conveyor line 3-360 have the same structure, both consisting of one or more connection points 3-330 and conveying sections 3-340. The second full-load box conveyor line 3-350 can be located above or below the second empty-load box conveyor line 3-360. This application does not limit the vertical relationship between the second full-load box conveyor line 3-350 and the second empty-load box conveyor line 3-360. As shown in Figures 36a and 36b, the second full-load box conveyor line 3-350 is located below the second empty-load box conveyor line 3-360, with a gap between the two conveyor lines to provide adequate space for the second full-load box conveyor line 3-350 to transport full-load boxes 3-500.

[0499] In the embodiments shown in Figures 36a and 36b, the arrangement direction of the second empty bin conveyor line 3-360 and the second full bin conveyor line 3-350 is parallel to the length direction of the shelf 3-120, and the second empty bin conveyor line 3-360 is shorter, while the second full bin conveyor line 3-350 is longer. In practical applications, the arrangement of the bin conveyor line 3-300B needs to be determined according to the specific scenario. This application does not limit the length of the second empty bin conveyor line 3-360 and the second full bin conveyor line 3-350, nor their orientation after extending out of the connecting area 3-140.

[0500] The handling process for a full 3-500mm material bin is as follows:

[0501] Mounting frame 3-210 moves the picking and placing component 3-220 horizontally along horizontal track 3-130 to the column containing the target storage compartment 3-1211 containing the full hopper 3-500; the picking and placing component 3-220 moves vertically along mounting frame 3-210 to the row containing the target storage compartment 3-1211; the picking and placing component 3-220 extends towards the target storage compartment 3-1211, picks up the full hopper 3-500, and then retracts; the picking and placing component 3-220... The mounting frame 3-210 moves horizontally along the horizontal track 3-130 and vertically along the mounting frame 3-210 to the connection position 3-330 of the second full-load box conveyor line 3-350 in the connection area 3-140; the picking and placing component 3-220 extends toward the connection position 3-330 and places the full-load box 3-500; the connection position 3-330 cooperates with the conveyor section 3-340 to send the full-load box 3-500 to the next processing stage, such as outbound or verification and packaging workstation.

[0502] The handling process for empty material bins 3-500 is as follows:

[0503] Mounting frame 3-210 drives the picking and placing component 3-220 to move horizontally along horizontal track 3-130, and the picking and placing component 3-220 moves vertically along mounting frame 3-210, so that the picking and placing component 3-220 moves to the connection position 3-330 of the second empty material box conveyor line 3-360 where the empty material box 3-500 is temporarily stored; the picking and placing component 3-220 extends toward the connection position 3-330, picks up the empty material box 3-500 and then retracts; mounting frame 3-210 drives the picking and placing component 3-220 to move horizontally along horizontal track 3-130, and the picking and placing component 3-220 moves vertically along mounting frame 3-210, so that the picking and placing component 3-220 moves to the empty storage compartment 3-1211; the picking and placing component 3-220 extends toward the empty storage compartment 3-1211 and places the empty material box 3-500.

[0504] By applying the embodiments of this application, the first material box conveyor line 3-300B is divided into a second full material box conveyor line 3-350 and a second empty material box conveyor line 3-360 arranged vertically at intervals. This makes the division of labor between the second full material box conveyor line 3-350 and the second empty material box conveyor line 3-360 clear. The two tasks of transporting the full material box 3-500 to the outside of the sorting equipment 3-100 and transporting the empty material box 3-500 to the receiving position 3-330 can be performed simultaneously, which improves the working efficiency of the material box conveyor line 3-300B. After the box-changing robot 3-200 places the full material box 3-500 on the second full material box conveyor line 3-350, it can then pick up the empty material box 3-500 on the second empty material box conveyor line 3-360, which simplifies the movement route of the box-changing robot 3-200 and improves the working efficiency of the box-changing robot 3-200.

[0505] The following is a detailed description of the seventh sorting system, which is the bin handling equipment 3-300 and the second bin conveyor line 3-300C. In this sorting system, the robot dedicated to changing bins is the bin changing robot 3-200; the conveying equipment that can transport bins to the shelves 3-120 on both sides of the picking mechanism 3-110 in the system or to a position away from the shelves 3-120 is the second bin conveyor line 3-300C.

[0506] Referring to Figure 37, which is a top view of the seventh sorting system of this application, as shown in Figure 37, the connecting area 3-140 is located below the bottom storage layer 3-121 of the shelf 3-120.

[0507] The material box transport equipment 3-300 is the second material box conveyor line 3-300C.

[0508] The second material box conveyor line 3-300C is arranged in two rows; each row of the second material box conveyor line 3-300C is located at one end of the length of a shelf 3-120 and extends to the connecting area 3-140.

[0509] The box-changing robot 3-200 travels along the box-changing robot channel 3-400. For the two shelves 3-120 on both sides of the box-changing robot channel 3-400, it transports empty boxes 3-500 on the second box conveyor line 3-300C located in the connecting area 3-140 to the storage layer 3-121 of the shelf 3-120, or transports full boxes 3-500 on the storage layer 3-121 of the shelf 3-120 to the second box conveyor line 3-300C located in the connecting area 3-140.

[0510] Specifically, the difference between the second material box conveyor line 3-300C in this embodiment and the first material box conveyor line 3-300B of the sixth sorting system shown in Figure 36a lies in their different locations, although their structures can be the same. The portion of the second material box conveyor line 3-300C located in the connecting area 3-140 has one or more spaced connecting positions, and the portion other than the connecting positions is a conveying section. Each row of the second material box conveyor line 3-300C includes: a third full material box conveyor line and a third empty material box conveyor line spaced apart in the vertical direction. The specific structure of the second material box conveyor line 3-300C will not be described in detail in this application.

[0511] In this embodiment, the shelf 3-120 can be raised to provide sufficient height space for the second material box conveyor line 3-300C, so that its bottom has enough height to accommodate the second material box conveyor line 3-300C.

[0512] If the shelf 3-120 is not raised, the length of one or two storage layers 3-121 at the bottom of the shelf 3-120 that may interfere with the second material box conveyor line 3-300C can be shortened. That is, the bottom one or two storage layers 3-121 are shortened towards the lifting mechanism 3-112. Two columns are then installed at the shortened end for support. These two columns and the two columns of the shelf 3-120 away from the lifting mechanism 3-112 form a connection area 3-140, thereby accommodating the connection position of the second material box conveyor line 3-300C.

[0513] By applying the embodiments of this application, the second material box conveyor line 3-300C directly provides empty material boxes 3-500 to the shelf 3-120 and transports full material boxes 3-500 on the shelf 3-120 to the outside of the sorting equipment 3-100, eliminating the need for a transfer robot 3-300A, thus reducing the cost of the sorting system. Furthermore, the second material box conveyor line 3-300C extends to the bottom of the shelf 3-120, improving the space utilization of the sorting system. Moreover, the box-changing robot 3-200 only needs to move within the length range of the shelf 3-120 to complete the replacement of material boxes 3-500, improving the handling efficiency of the box-changing robot 3-200 and the overall operating efficiency of the sorting system.

[0514] In this embodiment, the number of lifting mechanisms 3-112 in the picking mechanism 3-110 of the sorting equipment 3-100 is 1. The structure of the picking mechanism 3-110 and the box-changing robot 3-200 in the sorting equipment 3-100 of this embodiment can be the same as the fifth sorting system shown in Figure 32a. The handling process of the full box 3-500 or the empty box 3-500 in this embodiment can be the same as the sixth sorting system shown in Figure 36a, and will not be described again here.

[0515] The eighth sorting system of this application is described in detail below. In this sorting system, the robot dedicated to changing boxes is a box-changing robot 3-200; the conveying device capable of transporting boxes to the auxiliary connecting shelves 3-810 on both sides of the picking mechanism 3-110 in the system or to a position away from the auxiliary connecting shelves 3-810 is a second box conveyor transfer robot 3-300A; and the conveying device capable of transporting boxes to the shelves 3-120 on both sides of the picking mechanism 3-110 in the system or to a position away from the shelves 3-120 is an auxiliary conveyor line 3-820.

[0516] Referring to Figure 38, which is a top view of the eighth sorting system of this application, the sorting system further includes: auxiliary connecting rack 3-810 or auxiliary conveyor line 3-820.

[0517] The auxiliary connecting rack 3-810 or auxiliary conveyor line 3-820 is set on the side of the sorting equipment 3-100 away from the carton changing robot channel 3-400, and is used to temporarily store full cartons 3-500 and empty cartons 3-500.

[0518] The auxiliary connecting rack 3-810 or auxiliary transmission line 3-820 can dock with the carton changing robot 3-200 on the rack 3-120 of the sorting equipment 3-100, which is away from the carton changing robot channel 3-400, so that the carton changing robot 3-200 can pick up and put away the material box 3-500.

[0519] Specifically, as shown in Figure 38, the bin handling equipment 3-300 is a transfer robot 3-300A. One sorting device 3-100 has an auxiliary connecting shelf 3-810 on the side away from the bin-changing robot channel 3-400, and the other sorting device 3-100 has an auxiliary transmission line 3-820 on the side away from the bin-changing robot channel 3-400. In other embodiments of this application, both can be either auxiliary connecting shelves 3-810 or auxiliary transmission lines 3-820; this application does not limit this to either.

[0520] By applying the embodiments of this application, auxiliary connecting shelves 3-810 or auxiliary transmission lines 3-820 are set up so that the bottom of the adjacent shelf 3-120 does not need to be set up with a connecting area 3-140, and more storage layers 3-121 can be set up to increase the storage density of the shelf 3-120.

[0521] When the sorting equipment 3-100 is equipped with an auxiliary connecting shelf 3-810 on the side away from the box-changing robot channel 3-400, the box handling equipment 3-300 is a transfer robot 3-300A, and the shelf 3-120 adjacent to the auxiliary connecting shelf 3-810 does not need to be equipped with a docking layer 3-122.

[0522] The specific structure of the auxiliary connecting rack 3-810 carrying the material box 3-500 can be the same as that of the docking layer 3-122, and it is also divided into multiple docking positions 3-1221. Each docking position 3-1221 is equipped with a through slot 3-1222 so that the transfer robot 3-300A can dock with the auxiliary connecting rack 3-810 to lift and pick up the material box 3-500.

[0523] When the top surface of the lifting mechanism 3-320 of the transfer robot 3-300A is comb-shaped, corresponding comb-shaped grooves can also be opened on the docking positions of the auxiliary connecting rack 3-810 and the docking layer 3-122. This application does not limit this, as long as the shape of the through groove corresponds to the shape of the top surface of the lifting mechanism 3-320 and the lifting mechanism 3-320 can pass through the through groove.

[0524] The docking method between the transfer robot 3-300A and the auxiliary connecting shelf 3-810 and the picking and placing box 3-500 is the same as the docking method with the connecting layer 3-122 and the picking and placing box 3-500 mentioned above, and will not be repeated here.

[0525] In other embodiments of this application, the bin handling equipment 3-300 may be of other types, or the bin handling equipment 3-300 may not be provided, and the bins 3-500 on the auxiliary connecting rack 3-810 may be handled manually. This application does not limit this.

[0526] When both sorting devices 3-100 are equipped with auxiliary transmission lines 3-820 on the side away from the carton-changing robot channel 3-400, the carton-changing robot 3-200 can complete the transportation of the carton 3-500 by cooperating with the auxiliary transmission line 3-820. Therefore, the carton handling equipment 3-300 can be other types besides the transfer robot 3-300A, or the carton handling equipment 3-300 can be omitted and the carton 3-500 can be handled independently by the auxiliary transmission line 3-820. This application does not limit this.

[0527] The difference between the auxiliary transmission line 3-820 in this embodiment and the first material box conveyor line 3-300B of the sixth sorting system shown in Figure 36a is that they are set in different locations, but their structures can be the same, including a full material box conveyor line and an empty material box conveyor line, which will not be described in detail here.

[0528] In practical applications, regardless of whether the fifth, sixth, seventh, or eighth schemes, or variations of the four embodiments mentioned above, are adopted, the carton-changing robot 3-200 can be mounted on either of the sorting devices 3-100 on both sides of the carton-changing robot channel 3-400. It can travel along the carton-changing robot channel 3-400 to transport empty cartons 3-500 from the connection area 3-140 of the two sorting devices 3-100 on both sides of the carton-changing robot channel 3-400 to the storage area of ​​that sorting device 3-100, or to transport full cartons 3-500 from their storage area to the connection area 3-140 of that sorting device 3-100. This improves the utilization rate of the carton-changing robot 3-200, reduces the cost of the sorting system, and achieves automatic replacement of cartons in the sorting system. Compared with manual carton changing, this improves sorting efficiency and accuracy. Furthermore, the use of a carton-changing robot to replace manual carton changing allows the height of the sorting equipment to overcome the height limitations of workers, thereby improving the storage capacity, sorting ability, and space utilization of the sorting system. The carton transport device 3-300 is used to transport empty cartons 3-500 to the connection area 3-140 of the sorting equipment 3-100, or to transport full cartons 3-500 located in the connection area 3-140 of the sorting equipment 3-100 to the outside of the sorting equipment 3-100, achieving automatic transfer of empty and full cartons 3-500 and further improving the overall operating efficiency of the sorting system.

[0529] The eight sorting systems described above all utilize two types of equipment to automatically change the sorting bins. Compared to manual bin changing, this improves sorting efficiency and accuracy, representing a comprehensive inventive concept in the field of warehousing technology. The first type of equipment is a first robot (handling robot / bin-changing robot), and the second type is a second robot (transfer robot), a bin connection conveyor line (auxiliary conveyor line), or either a first bin conveyor line or a second bin conveyor line. The first robot (handling robot / bin-changing robot) replacing manual bin changing allows the height of storage racks to overcome the height limitations of workers, increasing the number of bin slots that can be configured on the storage racks and improving the sorting capacity and space utilization of the sorting system.

[0530] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A sorting system characterized by, The application relates to a sorting device, which comprises a sorting device (100), a first robot (200) and a second robot (300). The sorting device (100) comprises a sorting mechanism (110), a storage rack (120) and a transfer rack (130). The storage rack (120) is arranged in two rows and comprises a plurality of storage layers (121); each storage layer (121) comprises a plurality of bin compartments (1211), and each bin compartment (1211) is used for storing a bin (500) to be filled with goods. The transfer rack (130) is arranged adjacent to the storage rack (120) and is used for temporarily storing full bins (500) or empty bins (500) to be replenished. The sorting mechanism (110) is arranged between the two rows of storage racks (120) and is configured to receive goods to be sorted and transport the goods to be sorted into the bins (500) of the storage racks (120). The first robot (200) is configured to take and place full bins (500) or empty bins (500) between the storage racks (120) and the transfer rack (130). The second robot (300) is configured to take and place full bins (500) or empty bins (500) between the transfer rack (130) and a bin transfer station (400). The storage rack (120) comprises a plurality of crossbeams (122) arranged at intervals in the vertical direction; and the first robot (200) is mounted outside the storage rack (120) based on the crossbeams (122).

2. The sorting system of claim 1, wherein, The first robot (200) comprises a column gantry (210), a carrying mechanism (220) and at least one sliding guide rail (230).

3. The sorting system of claim 2, wherein, The column gantry (210) is mounted in the vertical direction of the storage rack (120). The carrying mechanism (220) is arranged on the column gantry (210) and is used for taking and placing bins (500) at different heights of the storage rack (120). The at least one sliding guide rail (230) is fixedly mounted on the crossbeams (122); the column gantry (210) is in sliding connection with the at least one sliding guide rail (230), so that the column gantry (210) and the carrying mechanism (220) slide horizontally along the crossbeams (122) to take and place different bins (500) in the length direction of the storage rack (120). The first robot (200) is configured to move full bins (500) on the storage rack (120) to the transfer rack (130) or move empty bins (500) on the transfer rack (130) to the storage rack (120). The carrying mechanism (220) comprises a lifting assembly (221) and a bin taking assembly (222).

4. The sorting system of claim 3, wherein, The lifting assembly (221) is arranged on the column gantry (210) and is configured to drive the bin taking assembly (222) to move in the vertical direction. The bin taking assembly (222) is mounted on the lifting assembly (221) and is configured to extend out of the column gantry (210) to take and place bins (500) on the storage rack (120) or the transfer rack (130). ​ 5. The sorting system according to claim 1, characterized in that, the transfer shelves (130) are single-layer shelves arranged along the length direction of the storage shelves (120); and each of the transfer shelves (130) is provided with a plurality of temporary storage positions (131) for temporarily storing a full bin (500) or an empty bin (500).

6. The sorting system of claim 5, wherein, Each of the temporary storage positions (131) is provided with a through slot (1311) at the bottom for the second robot (300) to take or place the bin (500) on the temporary storage position (131) based on the through slot (1311).

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

8. The sorting system according to claim 1 or 5, characterized in that, The transfer shelves (130) are correspondingly arranged in two rows below the storage shelves (120), or the transfer shelves (130) are correspondingly arranged in two rows on the side of each row of the storage shelves (120) away from the sorting mechanism (110) and parallel to and spaced from the storage shelves (120).

9. The sorting system of claim 8, wherein, The transfer shelves (130) are correspondingly arranged in two rows below the storage shelves (120); each row of the storage shelves (120) is provided with a first passage (600) and a second passage (700) parallel and spaced on the side away from the sorting mechanism (110); the first passage (600) is closer to the storage shelves (120) than the second passage (700); the first passage (600) and the second passage (700) extend from the storage shelves (120) to the bin transfer station (400); the second robot (300) is configured to: the empty second robot (300) travels along the first passage (600) to the transfer shelf (130), takes the full bin (500) from the transfer shelf (130), travels along the second passage (700), and carries the full bin (500) to the bin transfer station (400); or the empty second robot (300) travels along the first passage (600) to the bin transfer station (400), takes the empty bin (500) from the bin transfer station (400), travels along the second passage (700), and carries the empty bin (500) to the transfer shelf (130).

10. The sorting system of claim 8, wherein, The transfer shelves (130) are correspondingly arranged in two rows on the side of each row of the storage shelves (120) away from the sorting mechanism (110) and parallel to and spaced from the storage shelves (120). A third passage (800) is arranged in the spacing area between each row of the transfer shelves (130) and the storage shelves (120), and a fourth passage (900) parallel to the third passage (800) is arranged on the side of each row of the transfer shelves (130) away from the storage shelves (120); The third passage (800) and the fourth passage (900) extend from the storage shelves (120) to the bin transfer station (400); The second robot (300) is configured to: The empty second robot (300) travels along the third passage (800) to the transfer shelf (130), takes the full bin (500) from the transfer shelf (130), and travels along the fourth passage (900) to carry the full bin (500) to the bin transfer station (400); or, the empty second robot (300) travels along the third passage (800) to the bin transfer station (400), takes the empty bin (500) from the bin transfer station (400), and travels along the fourth passage (900) to carry the empty bin (500) to the transfer shelf (130).

11. The sorting system according to claim 1, wherein, The bin transfer station (400) comprises a full bin conveying line (410) and an empty bin replenishing line (420); The second robot (300) is configured to: move the full bin (500) on the transfer shelf (130) to the full bin conveying line (410); or move the empty bin (500) on the empty bin replenishing line (420) to the transfer shelf (130).

12. The sorting system of claim 1, wherein, The sorting device (100) further comprises a lifting mechanism (140) and a feeding table (150); the sorting mechanism (110) comprises a guide mechanism (111) and a shuttle sorting trolley (112); The lifting mechanism (140) is arranged at both ends of the storage shelves (120), and is used to drive the shuttle sorting trolley (112) to move up and down along the height direction of the storage shelves (120) when the shuttle sorting trolley (112) moves to one end of the storage shelves (120); The feeding table (150) is arranged on one side or both sides of the lifting mechanism (140) and is connected to the lifting mechanism (140); The guide mechanism (111) is arranged between the two rows of storage shelves (120) and comprises a plurality of shuttle guide rails (1111) corresponding to the heights of the storage layers (121), the shuttle guide rails (1111) are connected to the lifting mechanism (140), and the shuttle sorting trolley (112) moves back and forth along the length direction of the storage shelves (120); The shuttle sorting trolley (112) is used to switch between different height shuttle guide rails (1111) through the lifting mechanism (140), sort the to-be-sorted goods at the feeding table (150) into the totes (500) of different height tote bays (1211), and sort the to-be-sorted goods at the feeding table (150) into the totes (500) of different length direction tote bays (1211) through the guide mechanism (111).

13. The sorting system according to any one of claims 1-12, characterized in that, Further comprising: a control device; The control device is in communication connection with the sorting mechanism (110), the first robot (200) and the second robot (300), used to instruct the sorting mechanism (110) to receive to-be-sorted goods and transport the to-be-sorted goods into the totes (500) of the storage shelves (120); instruct the first robot (200) to take or place full totes (500) or empty totes (500) between the storage shelves (120) and the transfer shelves (130); and instruct the second robot (300) to take or place full totes (500) or empty totes (500) between the transfer shelves (130) and the tote transfer station (400).

14. A sorting method, characterized by, The application discloses a method for controlling the sorting system, and the control device is in communication connection with the sorting mechanism (110), the first robot (200) and the second robot (300) of the sorting system of any one of claims 1-13; the method comprises: instructing the sorting mechanism (110) to receive to-be-sorted goods and transport the to-be-sorted goods into the totes (500) of the storage shelves (120) which are not full; when there are full totes (500) on the storage shelves (120), instructing the first robot (200) to move the full totes (500) on the storage shelves (120) to the transfer shelves (130), wherein the full totes (500) are totes (500) which are full of goods or have all the goods of the bound orders sorted; instructing the second robot (300) to move the full totes (500) on the transfer shelves (130) to the tote transfer station (400); when at least one tote bay (1211) of the storage shelves (120) is idle, instructing the second robot (300) to move an empty tote (500) from the tote transfer station (400) to the transfer shelves (130); instructing the first robot (200) to move the empty tote (500) from the transfer shelves (130) to the idle tote bay (1211) of the storage shelves (120).

15. The method of claim 14, wherein, The connection shelves (130) are correspondingly arranged in two rows below the storage shelves (120); each row of the storage shelves (120) is provided with parallel and spaced first channels (600) and second channels (700) on the side away from the sorting mechanism (110); the first channels (600) are closer to the storage shelves (120) than the second channels (700); the first channels (600) and the second channels (700) extend from the storage shelves (120) to the box transfer stations (400); The indication that the second robot (300) moves the full box (500) on the connection shelf (130) to the box transfer station (400) comprises: The empty second robot (300) is instructed to travel along the first channel (600) to the connection shelf (130), take the full box (500) from the connection shelf (130), and travel along the second channel (700) to carry the full box (500) to the box transfer station (400); The indication that the second robot (300) moves the empty box (500) from the box transfer station (400) to the connection shelf (130) comprises: The empty second robot (300) is instructed to travel along the first channel (600) to the box transfer station (400), take the empty box (500) from the box transfer station (400), and travel along the second channel (700) to carry the empty box (500) to the connection shelf (130).

16. The method of claim 14, wherein, The connection shelves (130) are correspondingly arranged in two rows on the side away from the sorting mechanism (110) and parallel and spaced to the storage shelves (120); the third channel (800) is arranged in the spacing area between each row of the connection shelves (130) and the storage shelves (120); the fourth channel (900) parallel to the third channel (800) is arranged on the side of each row of the connection shelves (130) away from the storage shelves (120); the third channel (800) and the fourth channel (900) extend from the storage shelves (120) to the box transfer stations (400); The indication that the second robot (300) moves the full box (500) on the connection shelf (130) to the box transfer station (400) comprises: The empty second robot (300) is instructed to travel along the third channel (800) to the connection shelf (130), take the full box (500) from the connection shelf (130), and travel along the fourth channel (900) to carry the full box (500) to the box transfer station (400); The indication that the second robot (300) moves the empty box (500) from the box transfer station (400) to the connection shelf (130) comprises: The second robot (300) is instructed to drive along the third channel (800) to the bin transfer station (400), take an empty bin (500) from the bin transfer station (400), and drive along the fourth channel (900) to carry the empty bin (500) to the docking shelf (130).

17. The method of claim 14, wherein, The bin transfer station (400) includes a full bin conveying line (410) and an empty bin replenishing line (420); The instruction to the second robot (300) to move the full bin (500) on the docking shelf (130) to the bin transfer station (400) includes: The instruction to the second robot (300) to move the full bin (500) on the docking shelf (130) to the full bin conveying line (410); The instruction to the second robot (300) to move the empty bin (500) on the empty bin replenishing line (420) to the docking shelf (130). The sorting device (100) further includes a lifting mechanism (140) and a feeding table (150); the sorting mechanism (110) includes a guide mechanism (111) and a shuttle sorting trolley (112); the control device is further in communication connection with the lifting mechanism (140) and the shuttle sorting trolley (112); 18. The method of claim 14, wherein, The instruction to the sorting mechanism (110) to receive the goods to be sorted and transport the goods to be sorted into the bin (500) that is not full in the storage shelf (120) includes: When the shuttle sorting trolley (112) moves to one end of the storage shelf (120), the lifting mechanism (140) is instructed to drive the shuttle sorting trolley (112) to move up and down along the height direction of the storage shelf (120); The shuttle sorting trolley (112) is instructed to switch between different height shuttle guide rails (1111) through the lifting mechanism (140); the goods to be sorted at the feeding table (150) are sorted into the bins (500) of different height bin compartments (1211), and the goods to be sorted at the feeding table (150) are sorted into the bins (500) of different bin compartments (1211) in the length direction through the guide mechanism (111). It includes:

19. A sorting system characterized by, A sorting mechanism (2-100), a shelf (2-200), a carrying robot (2-300), and a bin docking conveying line (2-400); The shelf (2-200) is arranged in two rows and includes a plurality of storage layers (2-210) arranged at intervals in the vertical direction; each storage layer (2-210) includes a plurality of bin compartments (2-211), and each bin compartment (2-211) is used to store a bin (2-500) to be loaded with goods; The sorting mechanism (2-100) is arranged between the two rows of shelves (2-200) and is configured to receive goods to be sorted and transport the goods to be sorted into the bins (2-500) of the shelves (2-200); The sorting mechanism (2-100) is arranged between the two rows of shelves (2-200) and is configured to receive goods to be sorted and transport the goods to be sorted into the bins (2-500) of the shelves (2-200); The magazine connection conveying line (2-400) is arranged adjacent to the shelf (2-200) and is configured to convey the empty magazine (2-500) towards the shelf (2-200) or convey the full magazine (2-500) away from the shelf (2-200); The handling robot (2-300) is configured to take or place the full magazine (2-500) or the empty magazine (2-500) between the shelf (2-200) and the magazine connection conveying line (2-400).

20. The sorting system of claim 19, wherein, The magazine connection conveying line (2-400) is arranged in two rows and is connected to the two rows of shelves (2-200) respectively, so that the handling robot (2-300) takes or places the full magazine (2-500) or the empty magazine (2-500) between the shelf (2-200) and the magazine connection conveying line (2-400) based on the shelf (2-200).

21. The sorting system of claim 20, wherein, The magazine connection conveying line (2-400) is provided with one or more connection positions (2-410); The handling robot (2-300) is configured to carry the full magazine (2-500) on the shelf (2-200) to the connection position (2-410) of the magazine connection conveying line (2-400), or carry the empty magazine (2-500) on the connection position (2-410) of the magazine connection conveying line (2-400) to the shelf (2-200).

22. The sorting system of claim 21, wherein, The part of the magazine connection conveying line (2-400) other than the connection position (2-410) is a conveying section (2-420); The conveying section (2-420) is used to convey the empty magazine (2-500) to the connection position (2-410), or receive the full magazine (2-500) conveyed by the connection position (2-410) and then convey it away from the shelf (2-200).

23. The sorting system according to claim 22, wherein When the handling robot (2-300) needs to place the full magazine (2-500) on the connection position (2-410), the connection position (2-410) stops rolling, and starts rolling again after the full magazine (2-500) is placed, cooperating with the conveying section (2-420) to carry the full magazine (2-500) away; When the empty magazine (2-500) is conveyed to the connection position (2-410), the connection position (2-410) stops rolling, and starts rolling again after the handling robot (2-300) takes away the empty magazine (2-500), until the next empty magazine (2-500) is conveyed to the connection position (2-410); When the magazine (2-500) on the conveying section (2-420) is conveyed to the area close to the connection position (2-410), if the connection position (2-410) is in a stopped rolling state, the area of the conveying section (2-420) carrying the magazine (2-500) stops rolling, and starts rolling again after the connection position (2-410) starts rolling, continuing to carry the magazine (2-500).

24. The sorting system of claim 21, wherein, The bin connection conveying line (2-400) is arranged at a side of the shelf (2-200) away from the sorting mechanism (2-100); wherein the connection positions (2-410) of the bin connection conveying line (2-400) are arranged in parallel and at intervals along the length direction of the shelf (2-200).

25. The sorting system of claim 21, wherein, The bin connection conveying line (2-400) is arranged at one end of the length direction of the shelf (2-200); the bottom of the shelf (2-200) near one end of the bin connection conveying line (2-400) is provided with a containing space (2-220); the connection positions (2-410) of the bin connection conveying line (2-400) are arranged in extension in the containing space (2-220).

26. The sorting system of claim 20, wherein, Each of the bin connection conveying lines (2-400) comprises a full-bin connection conveying line (2-430) and an empty-bin connection conveying line (2-440) arranged in intervals along the vertical direction; the handling robot (2-300) is configured to handle the full bins (2-500) on the shelf (2-200) to the full-bin connection conveying line (2-430), or handle the empty bins (2-500) on the empty-bin connection conveying line (2-440) to the shelf (2-200).

27. The sorting system of claim 20, wherein, The shelf (2-200) comprises a plurality of crossbeams (2-230) arranged in intervals along the vertical direction; so that the handling robot (2-300) is installed outside the shelf (2-200) based on the crossbeams (2-230).

28. The sorting system of claim 27, wherein, The handling robot (2-300) comprises a column gantry (2-310), a handling mechanism (2-320) and at least one sliding guide rail (2-330); The column gantry (2-310) is installed along the vertical direction of the shelf (2-200); The handling mechanism (2-320) is arranged on the column gantry (2-310) and is used for picking and placing bins (2-500) at different heights on the shelf (2-200) or the bin connection conveying line (2-400); The at least one sliding guide rail (2-330) is fixedly installed on the crossbeam (2-230); the column gantry (2-310) is in sliding connection with the at least one sliding guide rail (2-330), so that the column gantry (2-310) and the handling mechanism (2-320) slide horizontally along the crossbeam (2-230) to pick and place different bins (2-500) in the length direction of the shelf (2-200) or the bin connection conveying line (2-400).

29. The sorting system of claim 28, wherein, The handling mechanism (2-320) comprises a lifting assembly (2-321) and a bin picking assembly (2-322); The lifting assembly (2-321) is arranged on the column gantry (2-310) and is configured to drive the bin picking assembly (2-322) to move along the vertical direction; The taking component (2-322) is mounted on the lifting component (2-321) and is configured to extend out of the column gantry (2-310) to take or place the bin (2-500) on the shelf (2-200) or the bin connection conveying line (2-400).

30. The sorting system of claim 19, wherein, The number of the carrying robots (2-300) is multiple, and the number of the carrying robots (2-300) for taking or placing the bin (2-500) between each row of the shelf (2-200) and the bin connection conveying line (2-400) is at least one, wherein each of the carrying robots (2-300) is used to carry the bin (2-500) in a predetermined length interval of the shelf (2-200).

31. The sorting system of claim 19, wherein, The sorting mechanism (2-100) comprises a feeding table (2-110), a lifting mechanism (2-120), a guide mechanism (2-130) and a shuttle sorting vehicle (2-140); The lifting mechanism (2-120) is arranged at both ends of the shelf (2-200) and is used to drive the shuttle sorting vehicle (2-140) to move up and down along the height direction of the shelf (2-200); The feeding table (2-110) is arranged on one side or both sides of the lifting mechanism (2-120) and is in butt joint with the lifting mechanism (2-120); The guide mechanism (2-130) is arranged between two rows of the shelf (2-200) and comprises a plurality of shuttle guide rails (2-131) corresponding to the height of each storage layer (2-210), the shuttle guide rail (2-131) is in butt joint with the lifting mechanism (2-120), and the shuttle sorting vehicle (2-140) moves back and forth along the length direction of the shelf (2-200); The shuttle sorting vehicle (2-140) is used to switch between the shuttle guide rails (2-131) at different heights through the lifting mechanism (2-120), sort the goods to be sorted at the feeding table (2-110) into the bin (2-500) of the bin grid (2-211) at different heights, and sort the goods to be sorted at the feeding table (2-110) into the bin (2-500) of the bin grid (2-211) at different positions in the length direction through the guide mechanism (2-130).

32. The sorting system of any of claims 19-31, wherein, Further comprising: A control device; The control device is in communication connection with the sorting mechanism (2-100), the carrying robot (2-300) and the bin connection conveying line (2-400), for instructing the sorting mechanism (2-100) to receive the goods to be sorted, and to carry the goods to be sorted into the bins (2-500) of the shelves (2-200); and instructing the carrying robot (2-300) to take or place the full bins (2-500) or empty bins (2-500) between the shelves (2-200) and the bin connection conveying line (2-400); and instructing the bin connection conveying line (2-400) to convey the empty bins (2-500) towards the shelves (2-200), or to convey the full bins (2-500) away from the shelves (2-200).

33. A method of sorting, characterized by The application discloses a control device, which is in communication connection with the sorting mechanism (2-100), the carrying robot (2-300) and the bin connection conveying line (2-400) in the sorting system of any one of claims 19-32; and the method comprises: instructing the bin connection conveying line (2-400) to start, so that the bin connection conveying line (2-400) can convey the empty bins (2-500) towards the shelves (2-200), and convey the full bins (2-500) away from the shelves (2-200); instructing the sorting mechanism (2-100) to receive the goods to be sorted, and to carry the goods to be sorted into the bins (2-500) of the shelves (2-200) which are not full; when there is a full bin (2-500) on the shelves (2-200), instructing the carrying robot (2-300) to move the full bin (2-500) on the shelves (2-200) to the bin connection conveying line (2-400); when at least one bin compartment (2-211) on the shelves (2-200) is idle, instructing the carrying robot (2-300) to move the empty bin (2-500) on the bin connection conveying line (2-400) to the idle bin compartment (2-211) on the shelves (2-200).

34. The method of claim 33, wherein, The bin connection conveying line (2-400) comprises a full bin connection conveying line (2-430) and an empty bin connection conveying line (2-440) which are arranged at intervals in the vertical direction; the instruction to start the bin connection conveying line (2-400) so that the bin connection conveying line (2-400) can convey the empty bins (2-500) towards the shelves (2-200), and convey the full bins (2-500) away from the shelves (2-200), comprises: indicating the full bin docking conveyor (2-430) and the empty bin docking conveyor (2-440) of the bin docking conveyor (2-400) to start, so that the empty bin docking conveyor (2-440) can transport empty bins (2-500) towards the rack (2-200), and the full bin docking conveyor (2-430) can transport full bins (2-500) away from the rack (2-200); when there is a full bin (2-500) on the rack (2-200), indicating the handling robot (2-300) to move the full bin (2-500) on the rack (2-200) to the bin docking conveyor (2-400), comprising: when there is a full bin (2-500) on the rack (2-200), indicating the handling robot (2-300) to move the full bin (2-500) on the rack (2-200) to the full bin docking conveyor (2-430); when there is at least one empty bin slot (2-211) on the rack (2-200), indicating the handling robot (2-300) to move the empty bin (2-500) on the bin docking conveyor (2-400) to the empty bin slot (2-211) on the rack (2-200), comprising: when there is at least one empty bin slot (2-211) on the rack (2-200), indicating the handling robot (2-300) to move the empty bin (2-500) on the empty bin docking conveyor (2-440) to the empty bin slot (2-211) on the rack (2-200).

35. The method of claim 33, wherein, The bin docking conveyor (2-400) is provided with one or more docking positions (2-410), and the part other than the docking position (2-410) is a conveying section (2-420); indicating the bin docking conveyor (2-400) to start, so that the bin docking conveyor (2-400) can transport empty bins (2-500) towards the rack (2-200), and transport full bins (2-500) away from the rack (2-200), comprising: indicating the bin docking conveyor (2-400) to start, so that the conveying section (2-420) of the bin docking conveyor (2-400) can transport empty bins (2-500) to the docking position (2-410), and receive full bins (2-500) transported by the docking position (2-410) and then transport them away from the rack (2-200); and the docking position (2-410) can transport full bins (2-500) to the conveying section (2-420); when there is a full bin (2-500) on the rack (2-200), indicating the handling robot (2-300) to move the full bin (2-500) on the rack (2-200) to the bin docking conveyor (2-400), comprising: When there is a full bin (2-500) on the rack (2-200), instruct the handling robot (2-300) to move the full bin (2-500) on the rack (2-200) to the docking position (2-410); When there is at least one empty bin (2-500) on the rack (2-200), instruct the handling robot (2-300) to move the empty bin (2-500) on the rack (2-200) to the docking position (2-410), comprising: When there is at least one empty bin (2-500) on the rack (2-200), instruct the handling robot (2-300) to move the empty bin (2-500) on the rack (2-200) to the docking position (2-410).

36. The method of claim 35, wherein, When there is a full bin (2-500) on the rack (2-200), instruct the handling robot (2-300) to move the full bin (2-500) on the rack (2-200) to the docking position (2-410), further comprising: When the handling robot (2-300) needs to place the full bin (2-500) on the docking position (2-410), instruct the docking position (2-410) to stop rolling; After the handling robot (2-300) places the full bin (2-500) on the docking position (2-410), instruct the docking position (2-410) to start rolling to cooperate with the conveying section (2-420) to convey the full bin (2-500) away from the rack (2-200); When the bin (2-500) on the conveying section (2-420) is conveyed to an area close to the docking position (2-410), and the docking position (2-410) is in a stopped rolling state, based on the photoelectric sensor arranged on the conveying section (2-420), trigger the area of the conveying section (2-420) carrying the bin (2-500) to stop rolling, and after the docking position (2-410) starts rolling, the area carrying the bin (2-500) also starts rolling to continue conveying the bin (2-500); When there is at least one empty bin (2-500) on the rack (2-200), instruct the handling robot (2-300) to move the empty bin (2-500) on the docking position (2-410) to the empty bin (2-211) on the rack (2-200), further comprising: When there is an empty bin (2-500) already placed on the docking position (2-410), instruct the docking position (2-410) to stop rolling; When there is no empty bin (2-500) on the docking position (2-410), instruct the conveying section (2-420) to convey the empty bin (2-500) to the docking position (2-410); After the to-be-transported robot (2-300) takes the empty bin (2-500) from the docking station (2-410), the docking station (2-410) is instructed to start rolling, and the conveying section (2-420) is instructed to transport the next empty bin (2-500) to the docking station (2-410).

37. The method of claim 33, wherein, The sorting mechanism (2-100) comprises a feeding table (2-110), a lifting mechanism (2-120), a guide mechanism (2-130), and a shuttle sorting trolley (2-140); the guide mechanism (2-130) comprises a plurality of shuttle guide rails (2-131); the control device is further in communication connection with the lifting mechanism (2-120) and the shuttle sorting trolley (2-140); The instruction to the sorting mechanism (2-100) to receive the to-be-sorted goods and transport the to-be-sorted goods into the bin (2-500) not full of the goods shelf (2-200) comprises: When the shuttle sorting trolley (2-140) moves to one end of the goods shelf (2-200), the lifting mechanism (2-120) is instructed to drive the shuttle sorting trolley (2-140) to move up and down along the height direction of the goods shelf (2-200); The shuttle sorting trolley (2-140) is instructed to switch between the shuttle guide rails (2-131) at different heights through the lifting mechanism (2-120); the to-be-sorted goods at the feeding table (2-110) are sorted into the bins (2-500) of the bin compartments (2-211) at different heights, and the to-be-sorted goods at the feeding table (2-110) are sorted into the bins (2-500) of the bin compartments (2-211) in the length direction through the guide mechanism (2-130).

38. A control device, characterized by Comprise: a memory for storing a computer program; a processor for executing the program stored on the memory to implement the sorting method of any one of claims 14-18 and 33-37.

39. A computer-readable storage medium, characterized in that, The computer program is stored in the computer readable storage medium, and the computer program is executed by the processor to implement the sorting method of any one of claims 14-18 and 33-37.

40. A sorting system characterized by, Comprise: at least two sorting devices (3-100), bin changing robots (3-200), and bin conveying devices (3-300); The at least two sorting devices (3-100) are arranged in parallel and spaced apart, and a bin changing robot passage (3-400) is formed between two adjacent sorting devices (3-100); each sorting device (3-100) can sort the received to-be-sorted goods into each bin (3-500); The at least two sorting devices (3-100) are provided with a storage area for storing bins (3-500) and a docking area (3-140) for docking with the bin conveying device (3-300); The bin conveying device (3-300) is used for conveying the empty bins (3-500) to the docking area (3-140) of the sorting device (3-100) or conveying the full bins (3-500) located at the docking area (3-140) of the sorting device (3-100) to the outside of the sorting device (3-100); The bin changing robot (3-200) is hung on any sorting device (3-100) on both sides of the bin changing robot channel (3-400) and can travel along the bin changing robot channel (3-400), and is used for carrying the empty bins (3-500) of the docking area (3-140) of the two sorting devices (3-100) on both sides of the bin changing robot channel (3-400) to the storage area of the sorting device (3-100) or carrying the full bins (3-500) of the storage area to the docking area (3-140) of the sorting device (3-100).

41. The sorting system according to claim 40, wherein, The sorting device (3-100) comprises a picking mechanism (3-110) and a goods shelf (3-120); The goods shelf (3-120) is arranged in two rows, and the storage area is located at the goods shelf (3-120) and is spaced apart from each other in the vertical direction to form a plurality of storage layers (3-121); The picking mechanism (3-110) is arranged between the two rows of goods shelves (3-120) and is used for receiving the goods to be sorted and conveying the goods to be sorted into each bin (3-500) of the goods shelf (3-120); The bin changing robot (3-200) is hung on the goods shelf (3-120) of any sorting device (3-100) on both sides of the bin changing robot channel (3-400) away from the picking mechanism (3-110), and is used for carrying the empty bins (3-500) of the docking area (3-140) to the storage layer (3-121) of the goods shelf (3-120) or carrying the full bins (3-500) of the storage layer (3-121) of the goods shelf (3-120) to the docking area (3-140) for the two goods shelves (3-120) on both sides of the bin changing robot channel (3-400).

42. The sorting system according to claim 41, wherein, Among the two goods shelves (3-120) of each sorting device (3-100), if only one goods shelf (3-120) is adjacent to the bin changing robot channel (3-400), at least one bin changing robot (3-200) is hung on the other goods shelf (3-120) away from the picking mechanism (3-110).

43. The sorting system according to claim 42, wherein, The docking area (3-140) is located below the bottommost storage layer (3-121) of the goods shelf (3-120) and is provided with a docking layer (3-122) for temporarily storing the full bins (3-500) or the empty bins (3-500). The bin conveying device (3-300) is a transfer robot (3-300A); the transfer robot (3-300A) is used to carry an empty bin (3-500) to the docking layer (3-122), or carry a full bin (3-500) on the docking layer (3-122) to the outside of the sorting device (3-100); The bin conveying device (3-300) is a transfer robot (3-300A); the transfer robot (3-300A) is used to carry an empty bin (3-500) to the docking layer (3-122), or carry a full bin (3-500) on the docking layer (3-122) to the outside of the sorting device (3-100); 44. The sorting system of claim 43, wherein, Further comprising: A bin transfer station (3-600); The transfer robot (3-300A) is used to move between the rack (3-120) and the bin transfer station (3-600), carry an empty bin (3-500) of the bin transfer station (3-600) to the docking layer (3-122) of the rack (3-120), or carry a full bin (3-500) on the docking layer (3-122) to the bin transfer station (3-600).

45. The sorting system according to claim 44, wherein, The bin transfer station (3-600) comprises a first full bin conveying line (3-610) and a first empty bin conveying line (3-620); The transfer robot (3-300A) is used to carry an empty bin (3-500) on the first empty bin conveying line (3-620) to the docking layer (3-122) of the rack (3-120), or carry a full bin (3-500) on the docking layer (3-122) to the first full bin conveying line (3-610).

46. The sorting system of claim 44, wherein, The bin transfer station (3-600) to the sorting device (3-100) is further provided with a transfer robot passage (3-700); The transfer robot passage (3-700) extends from the bin transfer station (3-600) to the sorting device (3-100); The transfer robot (3-300A) is used to move along the transfer robot passage (3-700), carry an empty bin (3-500) of the bin transfer station (3-600) to the rack (3-120) of the sorting device (3-100), or carry a full bin (3-500) on the rack (3-120) of the sorting device (3-100) to the bin transfer station (3-600).

47. The sorting system of claim 46, wherein, The transfer robot passage (3-700) comprises a first passage (3-710), a second passage (3-720) and a third passage (3-730); The first passage (3-710) extends from the bin transfer station (3-600) to the sorting device (3-100), and a part of it overlaps with the bin changing robot passage (3-400); The second passage (3-720) and the third passage (3-730) extend from the first passage (3-710), wherein, The second channel (3-720) is located at the connection area (3-140), and the third channel (3-730) is located at a side of the sorting device (3-100) away from the case changing robot channel (3-400), and the second channel (3-720) and the third channel (3-730) are parallel to the case changing robot channel (3-400); The transfer robot (3-300A) is used to move to a position corresponding to a target position on the docking layer (3-122) along the first channel (3-710) or the third channel (3-730), then move to the second channel (3-720) at the bottom of the docking layer (3-122), dock with the docking layer (3-122) to take or place the case (3-500), then move to the first channel (3-710) or the third channel (3-730), and go to the case transfer station (3-600).

48. The sorting system according to claim 43, characterized in that, The docking layer (3-122) is divided into a plurality of docking positions (3-1221), and each docking position (3-1221) is used for temporarily storing a full case (3-500) or an empty case (3-500); The bottom of the docking position (3-1221) is provided with a through slot (3-1222), so that the transfer robot (3-300A) takes or places the case (3-500) on the docking position (3-1221) based on the through slot (3-1222).

49. The sorting system according to claim 48, characterized in that, The transfer robot (3-300A) comprises a walking mechanism (3-310) and a lifting mechanism (3-320), and the lifting mechanism (3-320) is arranged on the top of the walking mechanism (3-310); The transfer robot (3-300A) is used for driving the walking mechanism (3-310) to move the lifting mechanism (3-320) to a position corresponding to the docking position (3-1221) along the case changing robot channel (3-400), then move to the bottom of the docking position (3-1221), and the lifting mechanism (3-320) passes through the through slot (3-1222) in the vertical direction to lift or place the case (3-500).

50. The sorting system according to claim 42, characterized in that, The sorting system further comprises an auxiliary connection rack (3-810) or an auxiliary transmission line (3-820); The auxiliary connection rack (3-810) or the auxiliary transmission line (3-820) is arranged at a side of the sorting device (3-100) away from the case changing robot channel (3-400), and is used for temporarily storing full cases (3-500) and empty cases (3-500); The auxiliary connection rack (3-810) or the auxiliary transmission line (3-820) can be docked with the case changing robot (3-200) on the rack (3-120) of the sorting device (3-100) away from the case changing robot channel (3-400), so that the case changing robot (3-200) takes or places the case (3-500).

51. The sorting system of claim 41, wherein, the connection area (3-140) is located outside one end of the length direction of the shelf (3-120); the bin conveying device (3-300) is a first bin conveying line (3-300B); the first bin conveying line (3-300B) is arranged in two rows; and part of each row of the first bin conveying line (3-300B) is arranged in the connection area (3-140); the bin changing robot (200) is used to travel along the bin changing robot channel (3-400) to move between the shelf (3-120) and the connection area (3-140); for two shelves (3-120) on both sides of the bin changing robot channel (3-400), the bin changing robot (3-200) carries an empty bin (3-500) on the first bin conveying line (3-300B) in the connection area (3-140) to a storage layer (3-121) of the shelf (3-120), or carries a full bin (3-500) of the storage layer (3-121) of the shelf (3-120) to the first bin conveying line (3-300B) in the connection area (3-140).

52. The sorting system of claim 51, wherein, part of the first bin conveying line (3-300B) in the connection area (3-140) is provided with one or more connection positions (3-330) arranged at intervals; and the part of the first bin conveying line (3-300B) other than the connection position (3-330) is a conveying section (3-340); the connection position (3-330) is used to interface with the bin changing robot (3-200), receive the full bin (3-500) carried by the bin changing robot (3-200) and transmit it to the conveying section (3-340), or receive the empty bin (3-500) transmitted by the conveying section (3-340) for the bin changing robot (3-200) to pick up; the conveying section (3-340) is used to convey the empty bin (3-500) to the connection position (3-330), or receive the full bin (3-500) conveyed by the connection position (3-330) and convey it away from the shelf (3-120).

53. The sorting system of claim 51, wherein, each row of the first bin conveying line (3-300B) includes a second full bin conveying line (3-350) and a second empty bin conveying line (3-360) arranged at intervals in the vertical direction. The box changing robot (3-200) is configured to travel along the box changing robot passage (3-400) to move between the rack (3-120) and the docking area (3-140), and for two racks (3-120) on both sides of the box changing robot passage (3-400), the box changing robot (3-200) is configured to carry the empty box (3-500) on the second empty box conveying line (3-360) in the docking area (3-140) to the storage layer (3-121) of the rack (3-120), or carry the full box (3-500) of the storage layer (3-121) of the rack (3-120) to the second full box conveying line (3-350) in the docking area (3-140).

54. The sorting system of claim 41, wherein, the docking area (3-140) is located below the bottommost storage layer (3-121) of the rack (3-120); the box conveying device (3-300) is a second box conveying line (3-300C); the second box conveying line (3-300C) is arranged in two rows, each row of the second box conveying line (3-300C) is arranged at one end of the length direction of one of the racks (3-120) and extends to the docking area (3-140); the box changing robot (3-200) is configured to travel along the box changing robot passage (3-400) to carry the empty box (3-500) on the second box conveying line (3-300C) in the docking area (3-140) to the storage layer (3-121) of the rack (3-120), or carry the full box (3-500) of the storage layer (3-121) of the rack (3-120) to the second box conveying line (3-300C) in the docking area (3-140) for two racks (3-120) on both sides of the box changing robot passage (3-400).

55. The sorting system of claim 41, wherein, the rack (3-120) is provided with a plurality of horizontal rails (3-130) arranged vertically at one side close to the box changing robot passage (3-400); and the box changing robot (3-200) is mounted outside the rack (3-120) based on the horizontal rails (3-130); the box changing robot (3-200) comprises a mounting frame (3-210) and a goods taking and placing assembly (3-220); the mounting frame (3-210) is movably mounted on the horizontal rails (3-130), and the goods taking and placing assembly (3-220) is arranged on the mounting frame (3-210) and can move vertically along the mounting frame (3-210) and horizontally along the horizontal rails (3-130) with the mounting frame (3-210) to take and place the boxes (3-500) at different positions of the storage layer (3-121) of the rack (3-120) and the docking area (3-140) on both sides of the box changing robot passage (3-400).

56. The sorting system of claim 55, wherein, the connection area (3-140) is located outside one end of the length direction of the shelf (3-120); the bin conveying device (3-300) is a first bin conveying line (3-300B); the bin conveying line (3-300B) is arranged in two rows; part of each row of the first bin conveying line (3-300B) is arranged in the connection area (3-140); the horizontal rail (3-130) extends to the connection area (3-140), so that the bin changing robot (3-200) can move along the horizontal rail (3-130) between the shelf (3-120) and the connection area (3-140) to take and place the bins (3-500) at different positions of the storage layer (3-121) of the shelf (3-120) and the first bin conveying line (3-300B) on both sides of the bin changing robot channel (3-400).

57. The sorting system of claim 41, wherein, the order picking mechanism (3-110) comprises a feeding table (3-111), a lifting mechanism (3-112), a guide mechanism (3-113), and a shuttle sorting trolley (3-114); the lifting mechanism (3-112) is arranged at one end or both ends of the shelf (3-120) and is used to drive the shuttle sorting trolley (3-114) to move up and down along the height direction of the shelf (3-120); the feeding table (3-111) is arranged on one side or both sides of the lifting mechanism (3-112) and is connected to the lifting mechanism (3-112); the guide mechanism (3-113) is arranged between the two rows of shelves (3-120) and comprises a plurality of shuttle guide rails (3-1131) corresponding to the height of each storage layer (3-121); the shuttle guide rail (3-1131) is connected to the lifting mechanism (3-112) and is used for the shuttle sorting trolley (3-114) to move back and forth along the length direction of the shelf (3-120); the shuttle sorting trolley (3-114) is used to switch between different height shuttle guide rails (3-1131) through the lifting mechanism (3-112), sort the goods to be sorted at the feeding table (3-111) into the bins (3-500) at different height storage positions (3-1211), and sort the goods to be sorted at the feeding table (3-111) into the bins (3-500) at different length direction storage positions (3-1211) through the guide mechanism (3-113).

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