CN108453048B

CN108453048B - Package sorting method based on vertical stacking type sorter

Info

Publication number: CN108453048B
Application number: CN201810101859.XA
Authority: CN
Inventors: 谢超; 胡良斌; 何宇航; 李泽峰; 高丽娟; 邓健
Original assignee: University of South China
Current assignee: University of South China
Priority date: 2018-02-01
Filing date: 2018-02-01
Publication date: 2020-02-11
Anticipated expiration: 2038-02-01
Also published as: CN108453048A

Abstract

The parcel sorting method based on the vertical stacking type sorter is applied to a logistics sorting system comprising equidistant separation, slow flow separation and fast flow confluence; the process is as follows: 1, outputting packages at equal intervals in a disordered way; 2, orderly distributing the packages; 3, scanning the bar code information of the package; 4, wrapping and orderly converging; 5, checking whether the package is missing; 6, orderly distributing the packages; 7, sorting the packages into a collection box; 8, closing the collection bag; 9, transferring the closed collection bag to an objective table; 10, automatically opening a collecting bag in the collecting box; the collection bag on the stage is transferred by the pusher 11. The invention aims at the problem that the floor space is large when the traditional logistics sorting assembly line is used for carrying out plane spreading sorting through a conveying belt, and realizes the functions of sorting packages in the vertical direction, automatically packaging and outputting after sorting through the tower type sorting device.

Description

Package sorting method based on vertical stacking type sorter

Technical Field

The invention relates to the technical field of express sorting, in particular to a parcel sorting method based on a vertical stacking type sorter.

Background

In the information age today, logistics is a very important link, especially in the current internet +, O2O economic model. The current consumers, especially the young generation, are more inclined to shop online, so the daily traffic of home and abroad express delivery is very huge. In the process of express delivery transportation, it is indispensable to sort the express delivery, and this process has decided whether the express delivery can be carried to the correct direction.

In the existing express companies, express sorting is still carried out in a manual sorting mode. The manual sorting has the defects of high error rate, low efficiency, large workload, violent sorting and the like.

Present express delivery letter sorting equipment has can realize that the express delivery is automatic to be swept the sign indicating number, sort, classify and deposit, has alleviateed express delivery letter sorting personnel's work load to a certain extent, still has following weak point:

1. the existing express sorting equipment is mostly conveying belt assembly line type multistage sorting equipment with spread planes, the occupied area is large, and the space utilization rate is low.

2. The existing express sorting equipment has certain slow links, such as parcel address code scanning, and the bottleneck effect formed by the slow links can cause the low efficiency of the whole sorting production line.

3. The package can accidentally drop when running on the sorting production line, if the situation occurs after the code scanning link of the package address, subsequent large-scale sorting errors can be caused, and the reliability is poor under the condition of no early warning and coping measures.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a parcel sorting method based on a vertical stacking type sorter, which can be used for distinguishing express parcels according to destinations and conveying the express parcels into corresponding storage containers according to the different destinations, and has the advantages of small occupied area and high sorting efficiency.

The technical scheme of the invention is as follows: the parcel sorting method based on the vertical stacking type sorter is applied to a logistics sorting system comprising equidistant separation, slow flow separation and fast flow confluence;

the logistics sorting system comprises an equidistant separation, a slow flow dividing and a fast flow converging, and comprises a gradual taking separation device, a front flow divider, a front flow dividing conveyor, a code scanning device, a flow converging conveyor, a rear flow divider, a rear flow dividing conveyor, an error correction device, a tower type sorting device and a controller;

the gradually-taking separation device comprises a conveyor A, a smooth separation plate, a roller group and a conveyor B which are arranged in close proximity from front to back in sequence;

the front shunt comprises a support frame J, a drive motor J, V-shaped disc, a pressure sensor J and a pressure sensor K; the upper end of the V-shaped disc is provided with a first surface and a second surface;

the flow combiner comprises a lead screw, a positioning seat, a driving motor K, a screw, a guide rod, a bottom table, a small-section conveying belt component A and a small-section conveying belt component B; the small section conveying belt component A comprises a small section conveying belt A, a driving roller A, a driven roller A, a roller seat A, a driving motor L and a photoelectric correlation sensor A; the small section conveying belt component B comprises a small section conveying belt B, a driving roller B, a driven roller B, a roller seat B, a driving motor M and a photoelectric correlation sensor B;

the rear flow divider comprises a rotating frame, a driving motor N, a lifting plate and a small section of conveyor belt component C; the small section conveying belt component C comprises a small section conveying belt C, a driving roller C, a driven roller C, a roller seat C, a driving motor Q and a photoelectric correlation sensor C;

the error correction device comprises a code scanner and a timing counter which are sequentially arranged from far to near from the rear end of the confluence conveyor;

the tower type sorting device comprises a sorter, a wrapping device, a pusher and a conveyor C;

the sorting device comprises a plurality of sorting devices, wherein the sorting devices are stacked in the vertical direction, a cylindrical central channel is arranged in the central area of each sorting device, and the central channels of the sorting devices are sequentially communicated to form a vertical and coherent package conveying channel; the sorter comprises a bottom plate, a bushing plate, a collecting box, a collecting bag, a supporting seat, a rotary driving mechanism A, a shifting fork and a rotary driving mechanism B; the collecting box comprises a box bottom plate, an upright post, a lifting frame, a lifting control mechanism, a closing-in component, an electromagnet A, an electromagnet B and an ultrahigh overweight detection component, wherein the ultrahigh overweight detection component comprises a wrapped overweight detector and a wrapped ultrahigh overweight detector; the box bottom plate is provided with a left inner boss, a left outer boss, a right inner boss and a right outer boss at four corners respectively; the lifting control mechanism comprises a steel wire rope, a servo motor A and a take-up and pay-off wheel; the closing-in assembly comprises a servo motor B and a gear; the collecting bag comprises a bag body, a drawstring and an iron sheet; the four corners of the upper edge opening of the bag body are respectively provided with outward-turned lugs, and iron rings are fixedly connected on the lugs;

the parcel taking device comprises a lifting driver, an object stage and a goods taking manipulator; the goods taking manipulator comprises a mechanical arm, a rotating shaft seat, a clamping plate body and a swing driving mechanism; the splint body comprises a left iron plate, a right electromagnetic plate, a rotating pin and a torsion spring; the swing driving mechanism comprises a supporting hydraulic cylinder, a movable chain link and a sliding block;

the pusher comprises an electric hydraulic cylinder and a push plate;

before parcel sorting, the logistics sorting system comprising equidistant separation-slow diversion-fast confluence is in an initial state, and in the initial state:

a. the roller groups of the gradual taking separation device are in a running state;

b. the first surface or the second surface of the V-shaped disc of the front flow divider is opposite to the rear end of the conveyor B;

c. the front end of a small section of conveyor belt A of the flow combiner is right opposite to the rear end of a front shunting conveyor, and the rear end of a small section of conveyor belt B is right opposite to the front end of a confluence conveyor;

d. the front end of one small section of conveyor belt C of the rear splitter is right opposite to the rear end of the confluence conveyor, and the rear ends of the other three small sections of conveyor belts C are respectively right opposite to the front ends of the three rear splitting conveyors;

e. the temporary stop area of the upper transfer plane of the sorter on the uppermost layer is over against the package inlet of the outer cover;

f. the falling area B of the lower conveying plane of the sorter is over against the temporary stopping area of the upper conveying plane of the next sorter;

g. the lifting frame of the collecting box is positioned at the uppermost end of the movement stroke of the collecting box, and absorbs and opens a collecting bag through the electromagnet A, B at the lower end of the lifting frame;

h. two electromagnets A of the collecting box are opposite to the left inner boss and the left outer boss on the box bottom plate;

i. taking the object stage of the wrapper to be at the lowest position of the motion stroke of the object stage;

j. the goods taking mechanical hand of the parcel taking device is positioned at the lowest end of the rotation stroke of the goods taking mechanical hand;

k. taking the right electromagnetic plate of the wrapper to be in a power-on state;

l, a piston rod of an electric hydraulic cylinder of the pusher is in a contraction state;

the parcel sorting process comprises the following steps:

s01, the parcels input by the conveyor A at intervals in a disordered arrangement are arranged and output on the conveyor B at equal intervals through the pick-by-pick separation device:

a. placing the parcels on a conveyor A in operation, and after the parcels are discharged from the goods discharge end of the conveyor A, entering and standing on a smooth separation plate;

b. then the first part enters the package contact of the smooth separating plate and pushes the package of the first part, so that the package of the first part is pushed to the roller group;

c. the parcels at the front end are driven by the roller group to move so as to be separated from the parcels at the rear end, the parcels enter a running conveyor B after being discharged from the roller group, and the parcel intervals on the conveyor B are equal;

s02, orderly distributing the parcels discharged from the conveyor B to two front distribution conveyors by the front distribution conveyor:

a. the first parcel discharged from the conveyor B falls on the first surface of the V-shaped disc of the front flow divider, and then slides into a front flow dividing conveyor through the second surface of the V-shaped disc;

b. after the first parcel leaves the V-shaped disc, the pressure sensor J and the pressure sensor K on the V-shaped disc respectively transmit electric signals to the controller, and the controller immediately controls the crankshaft of the driving motor J to rotate after receiving the signals, so that the second surface of the V-shaped disc rotates to just face the goods discharge end of the conveyor B;

c. the second parcel discharged from the conveyor B falls on the second surface of the V-shaped disc of the splitter, and then slides into another front splitting conveyor through the first surface of the V-shaped disc;

d. after a second parcel leaves the V-shaped disc, the pressure sensor J and the pressure sensor K on the V-shaped disc transmit electric signals to the controller, the controller immediately controls the crankshaft of the driving motor J to rotate after receiving the signals, and the first surface of the V-shaped disc rotates to be opposite to the goods discharge end of the conveyor B so as to meet the arrival of a third parcel;

e. repeating the four substeps a-d to averagely distribute the packages on the conveyor B to the two front distribution conveyors;

s03, scanning the bar code information of the packages on the front shunting conveyor through a code scanning device:

the packages are scanned by the code scanning device on the front shunting conveyor, address information obtained by scanning is transmitted to the controller, and the controller generates a package sequencing list on each shunting conveyor belt and a sorting route of each package in the tower type sorting device according to a confluence rule set by a subsequent package combining and aligning device and a shunting rule set by a diverter;

s04, orderly converging the packages discharged by the front diversion conveyors onto a converging conveyor through a flow combiner:

the two front shunting conveyors are respectively numbered as X, Y, the small segment conveyor belt A of the flow combiner is numbered as x, the small segment conveyor belt B of the flow combiner is numbered as y, packages on the two front shunting conveyors are divided into two groups according to the sequence of discharge, one group of packages are sequentially numbered as I and II according to the sequence of discharge, and the parts are all replaced by the labels in the following description;

a. before the package confluence, the confluence device is in an initial state, wherein X is over against X, and y is over against the confluence conveyor in the initial state; the parcel I who discharges on the follow X falls on X, and photoelectric correlation sensor A sends the signal of telecommunication promptly after sensing the parcel for the controller, and the controller carries out two controls immediately after receiving the signal simultaneously: 1. controlling a driving motor K to start, so that x and Y integrally move along a lead screw, and stopping moving when x is over against a confluence conveyor and Y is over against Y; 2. controlling a driving motor L to start to enable x to run, and conveying the packages I on the x to a confluence conveyor;

b. the package II discharged from the Y falls into the Y, the photoelectric correlation sensor B senses the package and then sends an electric signal to the controller, and the controller immediately and simultaneously controls the package II after receiving the signal: 1. controlling a driving motor K to start, and integrally moving x and y to an initial state, namely stopping moving; 2. controlling a driving motor M to start to enable y to run, and conveying the packages II on the y to a confluence conveyor;

c. repeating the step a and the step b to alternately convey the packages on the two front shunting conveyors to the confluence conveyor;

s05, checking whether the packages on the confluence conveyor have a missing condition through an error correction device:

a. counting is started when the front end of a first parcel on the confluence conveyor passes through an infrared channel of a timing counter, and counting is +1 when the front end of a second parcel passes through the infrared channel of the timing counter; timing is started when the rear end of a first parcel on the confluence conveyor passes through an infrared line of a timing counter, and timing is stopped when the front end of a second parcel passes through the infrared line of the timing counter; thus, a timing counting cycle is completed, and the next timing counting cycle is started at the same time, wherein in each timing counting cycle, the timing is started from 0 second, and the counting adopts an accumulation mode;

b. the timing counter is used for carrying out error checking by continuously comparing timing data differences of two adjacent parcels before and after the parcels are checked, if the parcels are checked to be missing, the timing counter immediately sends an alarm signal to the controller, and if the parcels are lost, the spacing between the adjacent parcels is enlarged and far exceeds the range of the normal spacing, correspondingly, the timing data is enlarged and far exceeds the normal value, and whether the parcels are missing is judged according to the spacing, the controller starts a code scanner after receiving the alarm signal, and the code scanner scans the address of the first parcel after the vacancy is found and sends the address to the controller; the controller searches a package address corresponding to a first counting number before vacancy in a package sorting list, then searches backwards from the package address, relocates the address of the first package after vacancy, calculates the number of missing packages according to the relocated address, and finally replaces the address of the missing package with a blank address in the package sorting list to prevent subsequent sorting errors (if the relocated address is n away from the address of the first package before vacancy, the missing packages at the vacancy are n);

c. the controller starts a code scanner, the code scanner scans the address of the second package after vacancy and sends the address to the controller, the controller contrasts and identifies whether the address information of the package is consistent with the corresponding package information in the package sorting list, if so, the controller does not act, and if not, the controller controls the whole logistics sorting system to stop running, so that sorting errors are prevented;

s06, orderly distributing the parcels discharged by the confluence conveyor to three rear distribution conveyors through a rear distributor:

the three rear shunting conveyors are respectively numbered as b, C and d, the four small-segment conveyor belts C are respectively numbered as A, B, C, D, the 12 packages which are connected on the confluence conveyor are arranged into a group, and the groups of packages are sequentially numbered as ①, ②, ③, ④, ⑤, ⑥, ⑦, ⑧, ⑨, ⑩, ② 0 and ② 1 according to the discharging sequence;

a. when a package ① discharged by the confluence conveyor falls on the A, a photoelectric correlation sensor C corresponding to the A senses the package and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, controlling a driving motor N to start, rotating the rotary frame by one station to enable the A to be over against the D, the B to be over against the confluence conveyor, the C to be over against the B and the D to be over against the C, 2, controlling the C corresponding to the A to start, and the A and the package ① on the A synchronously run;

b. when a parcel ② discharged by the confluence conveyor falls on a parcel B, a photoelectric correlation sensor C446 corresponding to the parcel B senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N to be started, a rotating frame to rotate by one station, so that the A is opposite to C, the B is opposite to D, the C is opposite to the confluence conveyor, and the D is opposite to B;

c. when a parcel ③ discharged by the confluence conveyor falls on a parcel C, a photoelectric correlation sensor C446 corresponding to the parcel C senses the parcel and then transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N is controlled to start, a rotating frame is rotated by one station, so that A is over against D, B is over against C, C is over against D, and D is over against the confluence conveyor;

d. when a parcel ④ discharged by the confluence conveyor 300 falls on a parcel D, a photoelectric correlation sensor C446 corresponding to the parcel D senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N42 to be started, a rotating frame to rotate by one station to enable the A to be opposite to the confluence conveyor, the B to be opposite to the B, the C to be opposite to the C, and the D to be opposite to the D;

e, when a parcel ⑤ discharged by the confluence conveyor falls on the conveyor A, a photoelectric correlation sensor C corresponding to the conveyor A senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N is controlled to start, a rotating frame is rotated by one station, so that the A is over against D, the D is over against C, the C is over against B, and the B is over against the confluence conveyor, 2, a driving motor Q corresponding to the C is controlled to start, and the C and a parcel ③ on the C synchronously run;

f, when a parcel ⑥ discharged by the confluence conveyor falls on a parcel B, a photoelectric correlation sensor C corresponding to the parcel B senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N is controlled to start, a rotating frame is rotated by one station, so that A is over against C, B is over against D, C is over against the confluence conveyor, and D is over against B;

g, when a parcel ⑦ discharged by the confluence conveyor falls on a parcel C, a photoelectric correlation sensor C corresponding to the parcel C senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N is controlled to start, a rotating frame is rotated by one station, so that A is over against B, B is over against C, C is over against D, and D is over against the confluence conveyor;

h, when a package ⑧ discharged by the confluence conveyor falls on a package D, a photoelectric correlation sensor C corresponding to the package D senses the package and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N is controlled to start, a rotating frame is rotated by one station, so that A is opposite to the confluence conveyor, B is opposite to B, C is opposite to C, and D is opposite to D;

when a parcel ⑨ discharged by a confluence conveyor falls on a, a photoelectric correlation sensor C corresponding to the A senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N is controlled to start, a rotating frame is rotated by one station to enable the A to be over against D, the B to be over against the confluence conveyor, the C to be over against B and the D to be over against C;

j. when a parcel ⑩ discharged by a confluence conveyor falls on a parcel B, a photoelectric correlation sensor C corresponding to the parcel B senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N is controlled to start, a rotating frame is rotated by one station, so that the A is opposite to C, the B is opposite to D, the C is opposite to the confluence conveyor, and the D is opposite to B;

k, when a parcel ⑪ discharged by the confluence conveyor falls on a sensor C, the photoelectric correlation sensor C corresponding to the sensor C senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, controlling a driving motor N to start, rotating a rotating frame by one station to enable A to be over against B, B to be over against C, C to be over against D and D to be over against the confluence conveyor;

i, when packages ⑫ discharged by a confluence conveyor fall on a device D, a photoelectric correlation sensor C corresponding to the device D senses the packages and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N is controlled to start, a rotating frame is rotated by one station, so that the device A is opposite to the confluence conveyor, the device B is opposite to B, the device C is opposite to C, and the device D is opposite to D;

m, when the next group of parcels ① discharged by the confluence conveyor falls on A, repeating the steps from a to l for control, and repeating the steps in such a way to realize the orderly distribution of the parcels discharged by the confluence conveyor to three parcels;

s07, sorting the parcels discharged from the rear diversion conveyor and entering the tower type sorting device into the corresponding collecting boxes:

a. the parcel falls on the temporary stop area of the upper transfer plane of the sorter on the uppermost layer of the tower type sorting device after being discharged from the rear diversion conveyor, the controller controls the rotary driving mechanism A to act according to a pre-calculated sorting route of the parcel, so that the parcel falling hole A of the bushing selectively faces an opening at the upper end of the collecting box or a parcel falling hole B of the bottom plate, then the rotary driving mechanism B is controlled to act, the parcel is shifted to the parcel falling hole A of the bushing through a shifting fork, and the parcel falls into the temporary stop area of the upper transfer plane of the collecting box of the sorter on the layer or the sorter on the lower layer through the parcel falling hole A of the bushing;

b. after the packages reach the temporary stop area of the upper transfer plane of the new layer of sorter, repeating the control process of the step a, and finally enabling the packages to fall into the corresponding collection boxes of the corresponding layer of sorter;

s08, automatically closing the collection bag meeting the closing standard by the collection box: when the package in the collecting box reaches the preset weight or height, the package overweight detector or the package ultrahigh detector immediately alarms to the controller, the controller controls two servo motors B to start simultaneously after receiving an alarm signal, the two servo motors B respectively drive the gear to move along the rack on the side wall of the gear accommodating cavity, the two servo motors B respectively move in the motor chutes of the inner arc-shaped side rod and the outer arc-shaped side rod, the electromagnet A gradually approaches to the electromagnet B, when the electromagnet A moves to the position closest to the electromagnet B, the servo motor B stops moving, and the opening at the upper end of the collecting bag is closed;

s09, transferring the closed collection bag to an object stage through a goods taking mechanical arm:

a. after the opening at the upper end of the collecting bag is closed, the controller controls the lifting driver to act, and the objective table is lifted to the height corresponding to the alarming collecting box;

b. the controller performs two controls simultaneously: 1. controlling a piston rod of the supporting hydraulic cylinder to extend out, and pushing the goods taking manipulator upwards to enable the clamping plate body to approach the iron sheet of the collecting bag; 2. controlling the right electromagnetic plate to be powered off, so that the closed clamping plate body is opened under the action of the torsion spring, and the opened clamping plate body is opposite to the iron sheet of the collecting bag;

c. after the splint body is opened for a plurality of seconds, the controller controls the right electromagnetic plate to be electrified to close the splint body, the iron sheet of the collection bag is adsorbed to the right electromagnetic plate while the splint body is closed, and after the splint body is closed, the iron sheet of the collection bag is clamped between the left iron plate and the right electromagnetic plate of the splint body;

d. after the iron sheet of the collecting bag is clamped, the controller firstly controls the electromagnet A and the electromagnet B to be powered off to disconnect the collecting bag from the collecting box, and then controls the piston rod of the supporting hydraulic cylinder to further extend out to further push the goods taking manipulator upwards so as to tighten the upper end opening of the collecting bag, pull the collecting bag out of the package pulling-out opening of the collecting box and fall on the objective table;

s10, automatically opening a collecting bag in the collecting box after the collecting bag in the collecting box is transferred out:

a. the wrapping overweight detector of the collecting box detects that the collecting bag is pulled away, and transmits a signal to the controller, the controller receives the signal and controls the two servo motors B to start, a crankshaft of the servo motor B rotates to drive the gear to move along the rack meshing on the side wall of the gear accommodating cavity, the two servo motors B respectively move in the motor sliding grooves of the inner arc-shaped side rod and the outer arc-shaped side rod, the electromagnet A gradually moves away from the electromagnet B, and the electromagnet A stops moving when moving to the initial position;

b. the controller controls the servo motor A to start, the steel wire rope is put down, the lifting frame slides downwards along the sliding groove of the upright post through the idler wheel, and after the steel wire rope is emptied, the lifting frame slides to a height close to the bottom plate of the box;

c. the controller then controls the two electromagnets A and the two electromagnets B to be electrified, and the electromagnets A and the electromagnets B respectively adsorb four lug pieces of the uppermost layer of the collection bag sleeved on the left inner boss, the left outer boss, the right inner boss and the right outer boss of the box bottom plate, so that the collection of the collection bag is completed;

d. the controller finally controls the servo motor A to start, the steel wire rope is retracted, the steel wire rope drives the lifting frame to ascend, and the lifting frame drives the newly picked collecting bag to ascend and finally ascend to the initial position;

s11, the collection bag on the stage is transferred to the conveyor C by the pusher:

a. after the parcel falls on the objective table, the controller carries out three controls simultaneously: 1. controlling the right electromagnetic plate to be powered off, and loosening the iron sheet of the collecting bag; 2. controlling a piston rod of the supporting hydraulic cylinder to retract so that the goods taking manipulator falls to the lowest position; 3. controlling the lifting driver to act to enable the objective table to descend to the lowest position;

b. after the objective table descends to the lowest position, the controller controls the piston rod of the electric hydraulic cylinder to extend out, the collecting bag on the objective table is pushed to the conveyor C through the push plate, and after the action is finished, the piston rod of the electric hydraulic cylinder retracts to wait for the next instruction.

Compared with the prior art, the invention has the following advantages:

1. aiming at the problem that the floor area is large when the existing logistics sorting assembly line is used for carrying out plane spreading sorting through a conveying belt, the invention realizes the functions of sorting packages in the vertical direction and automatically packing and outputting after sorting through the tower type sorting device, and compared with the existing sorting method, the logistics sorting assembly line has small floor area and integrated functions.

2. The express sorting method provided by the invention is based on a logistics sorting system comprising equidistant separation, slow flow distribution and fast flow combination, has higher automation degree, can realize automatic code scanning of packages, address classification and bagging, whole bag packaging and whole bag output, and has the advantages of lower workload of couriers, lower sorting error rate and higher sorting efficiency compared with manual sorting.

3. Aiming at the problem that the whole sorting production line cannot be fast due to slow links (such as address code scanning) existing in the conventional logistics sorting production line, the invention firstly outputs packages in an equidistant arrangement mode through a gradual taking and separating device (package fast line), then distributes the packages to a plurality of front distribution conveyors (package slow line) through a front splitter, simultaneously scans the addresses on the plurality of front distribution conveyors, collects the packages to a confluence conveyor (package fast line) through a combiner, distributes the packages to a plurality of rear distribution conveyors (package slow line) through a rear splitter, and finally, the packages discharged by each rear distribution conveyor respectively enter a tower type sorting device for sorting.

4. Aiming at the problems that the conveying distance between an address code scanning link and a package classifying and bagging link is long in the logistics sorting process, packages are prone to falling off, and the actual sequence of the packages is staggered with the code scanning address sequence, an error correction link with the address error checking-correcting-error checking function is added before the package classifying and bagging link, dislocation of code scanning addresses and package addresses is prevented, and sorting accuracy is improved.

The invention is further described below with reference to the figures and examples.

Drawings

FIG. 1 is a schematic diagram of a logistics sorting system comprising equidistant separation-slow diversion-fast confluence;

FIG. 2 is a schematic view of a front shunting device in a first state;

FIG. 3 is a schematic view of a second state of the front shunting device;

FIG. 4 is a schematic structural diagram of a flow combiner;

FIG. 5 is a cross-sectional view A-A of FIG. 4;

FIG. 6 is a schematic structural view of the rear diverter;

FIG. 7 is a schematic structural view of a tower type sorting device;

FIG. 8 is a schematic view of the structure of the sorter of the tower sorting apparatus;

FIG. 9 is a schematic view of the structure of the bottom plate of the sorter;

FIG. 10 is a schematic view of a bushing of the sorter;

FIG. 11 is a schematic view of a collection bin of the sorter from a certain perspective;

FIG. 12 is a schematic view of the collection bin of the sorter from another perspective;

FIG. 13 is an enlarged view of portion A of FIG. 12;

FIG. 14 is a schematic view of the structure of a collection bag of the sorter;

fig. 15 is a schematic structural diagram of a wrapper taking device of the tower type sorting device;

FIG. 16 is an enlarged view of portion B of FIG. 15;

FIG. 17 is a schematic structural view of a clip body of the wrapper taking device;

FIG. 18 is a schematic structural view of a housing of the tower type sorting apparatus;

FIG. 19 is a simplified schematic diagram of the initial state of the confluence device at step S04 of the present invention;

FIG. 20 is a schematic view of a substep state of step S04 of the workflow of the present invention;

FIG. 21 is a schematic view of the state of step b of step S04 in the present invention;

FIG. 22 is a simplified schematic illustration of the initial state of the turret at step S05 of the workflow of the present invention;

FIG. 23 is a schematic view of a substep state of step S05 of the workflow of the present invention;

FIG. 24 is a diagram illustrating the status of step I of step S05 in the present invention.

Illustration of the drawings: gradually taking the separation device 1; conveyor a 11; a smooth separator plate 12; a drum conveying device 13; a rolling transfer surface 131; conveyor B14; a front flow divider 2; a support frame 21; a drive motor J22; a V-shaped disc 23; the V-shaped disc first face 231; a V-shaped disc second face 232; a pressure sensor J24; a pressure sensor K25; a front diversion conveyor 100; a code scanning device 200; a flow combiner 3; a lead screw 31; a positioning seat 32; a drive motor K33; a nut 34; a guide rod 35; a base table 36; segment conveyor a 371; a drive roller A372; a driven roller A373; a roller seat A374; drive motor L375; a photoelectric correlation sensor a 376; a small segment belt B381; a drive roller B382; a driven roller B383; a roller seat B384; a drive motor M385; a photoelectric correlation sensor B386; a confluence conveyor 300; a rear flow divider 4; a rotating frame 41; a vertical turning bar 411; a cantilever 412; drive motor N42; a lift plate 43; segment conveyor C441; a drive roller C442; a driven roller C443; a roller seat C444; the drive motor Q445; a photoelectric correlation sensor C446; a rear diversion conveyor 500; an error correction device 400; a code scanner 401; a timer counter 402; a sorter 5; a central passage 51; a bottom plate 52; a center hole B521; wrap drop hole B522; an annular groove B523; the bushing 53; wrapping the drop hole A532; a collection tank 54; a bottom panel 541; left inner boss 5411; left outer boss 5412; a right inner boss 5413; right outer boss 5414; a column 542; a slide groove 5421; a lifting frame 543; inner arcuate side rail 5431; left rod 5432; outer arcuate side rail 5433; the right rod 5434; a roller 5435; a movement channel 5436; a motor chute 54361; the gear receiving cavity 54362; a lift control mechanism 544; a wire rope 5441; servo motor a 5442; retracting wheels 5443; a cuff assembly 545; a servo motor B5451; gear 5452; electromagnet a 546; electromagnet B547; a wrap drag outlet 548; a collection bag 55; a bag body 551; the drawstring mounting cavity 5511; an inlet 55111; an outlet 55112; the ear 5512; a drawstring 552; an iron piece 553; a support base 56; a lower swivel ring 561; a support rod 562; a swing drive mechanism a 57; a drive sprocket A571; a stepping motor a 572; a driven sprocket a 573; a chain A574; a shift fork 58; a rotary ring 581; a sweep arm 582; a rotation drive mechanism B59; a drive sprocket B591; a stepping motor B592; a driven sprocket B593; a chain B594; taking a wrapper 6; a lifting driver 61; an object stage 62; a pickup manipulator 63; a robot arm 631; a slide groove 6311; a rotating shaft 632; a rotating shaft seat 633; a clip body 634; a left iron plate 6341; a right electromagnetic plate 6342; a swivel pin 6343; a torsion spring 6344; a swing drive mechanism 635; a support cylinder 6351; a movable link 6352; a slider 6353; a pusher 7; the electric hydraulic cylinder 71; a push plate 72; conveyor C8; a housing 9; a package inlet 91; a package outlet 92; a base 600; the parcel transport aisle 700.

Detailed Description

Example 1:

the parcel sorting method based on the vertical stacking type sorter is applied to a logistics sorting system comprising equidistant separation, slow flow separation and fast flow confluence.

The logistics sorting system comprising equidistant separation, slow flow separation and fast flow combination comprises a gradual taking separation device 1, a front flow divider 2, a front flow dividing conveyor 100, a code scanning device 200, a flow combiner 3, a flow combining conveyor 200, a rear flow divider 4, a rear flow dividing conveyor 500, an error correction device 400, a tower type sorting device and a controller.

The take-by-take separating device 1 includes a conveyor a11, a smooth separating plate 12, a roller conveyor 13, and a conveyor B14, which are disposed immediately adjacent to each other from front to back.

The front flow divider 2 comprises a support frame J21, a driving motor J22, a V-shaped disc 23, a pressure sensor J24 and a pressure sensor K25. The upper end of the V-shaped disc 23 is provided with a first face 231 and a second face 232.

The flow combiner 3 comprises a lead screw 31, a positioning seat 32, a driving motor K33, a screw nut 34, a guide rod 35, a bottom table 36, a short segment conveyor belt assembly a37 and a short segment conveyor belt assembly B38. The segment conveyor assembly a37 includes a segment conveyor a371, a drive roller a372, a driven roller a373, a roller holder a374, a drive motor L375, and a photo-correlation sensor a 376. The segment conveyor assembly B38 includes a segment conveyor B381, a drive roller B382, a driven roller B383, a roller base B384, a drive motor M385, and an electro-optical correlation sensor B386.

The rear diverter 4 includes a rotary frame 41, a drive motor N42, a lift plate 43, and a segment conveyor assembly C44. The segment conveyor assembly C44 includes a segment conveyor C441, a drive roller C442, a driven roller C443, a roller holder C444, a drive motor Q445, and a photo-correlation sensor C446.

The error correction device 400 includes a scanner 401 and a timing counter 402 arranged in this order from the far side to the near side from the rear end of the rear diversion conveyor 500, i.e., the end from which the package is discharged.

The tower type sorting device comprises a sorter 5, a wrapper taking device 6, a pusher 7 and a conveyor C8.

The sorters 5 are stacked in a vertical direction, a central area of each sorter 5 is provided with a cylindrical central passage 51, and the central passages 51 of the sorters 5 are sequentially communicated to form a vertical continuous parcel transport passage 900. Sorter 5 includes bottom plate 52, nozzle plate 53, collection box 54, collection bag 55, support base 56, rotary drive a57, fork 58, and rotary drive B59. The collecting box 54 comprises a box bottom plate 541, an upright post 542, a lifting frame 543, a lifting control mechanism 544, a closing-up component 545, an electromagnet A546, an electromagnet B547 and an ultrahigh overweight detection component. The box bottom plate 541 is provided with a left inner boss 5411, a left outer boss 5412, a right inner boss 5413 and a right outer boss 5414 at four corners, respectively. The lifting control mechanism 544 comprises a steel wire rope 5441, a servo motor A5442 and a take-up and pay-off wheel 5443. The necking-in assembly 545 comprises a servo motor B5451 and a gear 5452. The collection bag 55 includes a bag body 551, a drawstring 552, and an iron piece 553. The four corners of the upper edge opening of the bag body 551 are respectively provided with an outward-turned lug sheet 5512, and an iron ring 5513 is fixedly connected on the lug sheet 5512.

The extractor 6 includes a lifting drive 61, a stage 62 and a pick robot 63. The pick-up robot 63 includes a robot arm 631, a shaft 632, a shaft base 633, a clamp plate 634 and a swing driving mechanism 635. The clamping plate body 634 includes a left iron plate 6341, a right electromagnetic plate 6342, a rotating pin 6343 and a torsion spring 6344. The swing drive mechanism 635 includes a support cylinder 6351, a movable link 6352, and a slide 6353.

The pusher 7 comprises an electric hydraulic cylinder 71 and a push plate 72.

a. the roller conveying device 13 of the gradual taking and separating device 1 is in a running state;

b. the first face 231 or the second face 232 of the V-shaped disk 23 of the front splitter 2 faces the rear end of the conveyor B14;

c. the front end of the small segment of the conveyor belt A371 of the flow combiner 3 is just opposite to the rear end of a front shunting conveyor 100, and the rear end of the small segment of the conveyor belt B381 is just opposite to the front end of a confluence conveyor 300;

d. the front end of one small segment of the conveyor belt C441 of the rear splitter 4 faces the rear end of the confluence conveyor 300, and the rear ends of the other three small segment of the conveyor belts C441 respectively face the front ends of the three rear splitting conveyors 100;

e. the parking area of the upper transfer plane of the uppermost sorter 5 faces the package entrance 91 of the housing 9;

f. the falling area B of the lower conveying plane of the sorter 5 is over against the temporary stopping area of the upper conveying plane of the next sorter 5;

g. the lifting frame 543 of the collecting box 54 is positioned at the uppermost end of the movement stroke, and absorbs and opens one collecting bag 55 through the electromagnets A546 and B547 at the lower end of the lifting frame;

h. the two electromagnets A546 of the collecting box 54 are opposite to the left inner boss 5411 and the left outer boss 5412 on the box bottom plate 541;

i. the carrier 62 of the parcel taking device 6 is at the lowest position of its movement stroke;

j. the pick-up robot 63 of the parcel picker 6 is at the lowermost end of its rotational stroke;

k. the right electromagnetic plate 6342 of the parcel taking device 6 is in an electrified state;

l, the piston rod of the electric cylinder 71 of the pusher 7 is in a contracted state.

The package sorting process is as follows;

s01, the parcels fed on the conveyor a11 at intervals in a disordered arrangement are output on the conveyor B14 at equal intervals by the pick-and-place separating device 1:

a. the packages are placed on the moving conveyor a11 and enter and rest on the smooth separator plate 12 as they are discharged from the cargo discharge end of conveyor a 11.

b. And then enters the package contact of the smooth separation plate 12 and pushes the package of the smooth separation plate 12 in advance, so that the package of the smooth separation plate 12 in advance is pushed up to the roller conveying device 13.

c. The parcels at the front end are driven by the roller conveying device 13 to move, so that the parcels are separated from the parcels at the rear end, and the parcels are discharged from the roller conveying device 13 and enter the running conveyor B14, and the parcel spacing on the conveyor B14 is equal.

In this step, the parcels are placed in a row on conveyor A. The running speed of the conveyor A is less than the rolling linear speed of the roller group and less than or equal to the running speed of the conveyor B.

S02, packages discharged from conveyor B14 are sequentially diverted by front diverter 2 onto two front diverting conveyors 100:

a. the first parcel discharged from conveyor B14 lands on the first face of the V-shaped pan of the forward splitter 2 and slides through the second face of the V-shaped pan into a forward splitter conveyor 100.

b. After the first parcel leaves the V-shaped disc 23, the pressure sensor J24 and the pressure sensor K25 on the V-shaped disc 23 respectively transmit electric signals to the controller, and the controller immediately controls the crankshaft of the driving motor J22 to rotate after receiving the signals, so that the second surface 232 of the V-shaped disc 23 rotates to be opposite to the goods discharge end of the conveyor B14.

c. The second parcel exiting conveyor B14 lands on the second face 232 of the V-shaped pan of the diverter and slides through the first face 231 of the V-shaped pan into the other forward diverting conveyor 100.

d. After the second parcel leaves the V-shaped tray 23, the pressure sensor J24 and the pressure sensor K25 on the V-shaped tray transmit electric signals to the controller, and the controller immediately controls the crankshaft of the drive motor J24 to rotate after receiving the signals, so that the first face 231 of the V-shaped tray is rotated to be opposite to the goods discharge end of the conveyor B14 to meet the arrival of the third parcel.

e. The four substeps a-d are repeated to effect an even diversion of parcels on conveyor B14 to the two front diversion conveyors 100.

S03, scanning the barcode information of the parcels on the front diversion conveyor 100 through the barcode scanning device 200:

the packages are scanned by the code scanning device 200 on the front shunting conveyor 100, address information obtained by scanning is transmitted to the controller, and the controller generates a package sequencing list on each shunting conveyor belt and a sorting route of each package in the tower type sorting device according to a confluence rule set by a subsequent package aligning device and a shunting rule set by a diverter.

In this step, the lengths and the running speeds of the two front diversion conveyors 100 are the same, and the goods discharge ends of the two front diversion conveyors 100 discharge the packages in a front-back alternating manner.

S04, orderly converging the parcels discharged from the front diversion conveyor 100 onto the converging conveyor 300 through the flow combiner 3:

the two front diversion conveyors 100 are respectively numbered X, Y, the small segment conveyor belt A371 of the flow combiner 3 is numbered x, the small segment conveyor belt B381 of the flow combiner 3 is numbered y, the packages on the two front diversion conveyors 100 are divided into two groups according to the sequence of discharge, the packages in one group are sequentially numbered I and II according to the sequence of discharge, and the labels are used for replacing the parts in the following description.

a. Before the packages are converged, the confluence device 3 is in an initial state, wherein X is over against X, and y is over against the confluence conveyor. The parcel I that discharges from X falls on X, and photoelectric correlation sensor A376 sends the signal of telecommunication promptly after sensing the parcel to the controller, and the controller carries out two controls simultaneously immediately after receiving the signal: 1. and controlling a driving motor K33 to start, so that the x and the Y integrally move along the lead screw, and stopping when the x is opposite to the confluence conveyor and the Y is opposite to the Y. 2. The drive motor L375 is controlled to start, x is operated, and the parcel i on x is conveyed to the confluence conveyor 300.

b. On the parcel II who discharges falls into Y from Y, photoelectric correlation sensor B386 senses the parcel and then sends the signal of telecommunication promptly to the controller, and the controller is received and is carried out two controls simultaneously immediately after the signal: 1. the drive motor K33 is controlled to start, so that the x and y move integrally to the initial state, i.e. stop moving. 2. The driving motor M385 is controlled to be started, so that y runs, and the packages II on y are conveyed to the confluence conveyor 300.

c. And (c) repeating the steps a and b to realize the alternate conveying of the parcels on the two front shunting conveyors 100 to the confluence conveyor 300.

a. the front end of the first parcel on the merge conveyor 300 starts counting when it passes through the infrared ray of the timer counter 402, and the front end of the second parcel counts +1 when it passes through the infrared ray of the timer counter 402. The timing is started when the rear end of the first parcel on the confluence conveyor 300 passes through the infrared ray of the timing counter 402, and the timing is stopped when the front end of the second parcel passes through the infrared ray of the timing counter 402. And finishing one timing counting cycle, and simultaneously starting the next timing counting cycle, wherein in each timing counting cycle, the timing is started from 0 second, and the counting adopts an accumulation mode.

b. The timing counter 402 checks for errors by continuously comparing timing data differences of two adjacent parcels before and after checking, if the parcels are missing, the timing counter immediately sends an alarm signal to the controller, and if the parcels are missing, the distance between the adjacent parcels is increased and far exceeds the range of the normal distance, correspondingly, the timing data is also increased and far exceeds the normal value, and therefore whether the parcels are missing is judged), the controller starts the code scanner after receiving the alarm signal, and the code scanner scans the address of the first parcel after the missing occurs and sends the address to the controller. The controller searches a package address corresponding to a first counting number before vacancy in a package sorting list, then searches backwards from the package address, relocates the address of the first package after vacancy, calculates the number of missing packages according to the relocated address, and finally replaces the address of the missing package with a blank address in the package sorting list to prevent subsequent sorting errors (if the relocated address is n away from the address of the first package before vacancy, the missing package at the vacancy is n).

c. The controller starts the code scanner 401, the code scanner 401 scans the address of the second parcel after the vacancy and sends the address to the controller, the controller contrasts and identifies whether the address information of the parcel is consistent with the corresponding parcel information in the parcel sorting list, if so, the controller does not act, and if not, the controller controls the whole logistics sorting system to stop running, so that sorting errors are prevented.

In the step, when the number of the missing packages is more than or equal to three, the controller controls the whole logistics sorting system to stop running and simultaneously triggers an external alarm to alarm so as to remind an operator to handle the missing packages.

S06, the parcels discharged from the confluence conveyor 300 are orderly distributed to three rear distribution conveyors 500 by the rear distribution conveyor 3:

the three rear diversion conveyors 500 are respectively numbered as b, C and d, the four small segment conveyor belts C441 are respectively numbered as A, B, C, D, the 12 packages which are connected on the confluence conveyor 300 are arranged into a group, and the groups of packages are sequentially numbered as ①, ②, ③, ④, ⑤, ⑥, ⑦, ⑧, ⑨, ⑩, ② 0 and ② 1 according to the discharging sequence.

a. Before shunting the packages, the rotating frame 41 is in an initial state, wherein A is over against the confluence conveyor 300, B is over against B, C is over against C, and D is over against D, when the packages ① discharged by the confluence conveyor 300 fall on A, the photoelectric corresponding sensor C446 corresponding to A senses the packages and transmits an electric signal to the controller, the controller immediately and simultaneously performs two controls after receiving the signal, 1, controlling the driving motor N42 to start, rotating the rotating frame 41 by one station to enable A to be over against D, B to be over against the confluence conveyor 300, C to be over against B, D to be over against c.2, controlling C to start corresponding to A, and A and packages ① on the A to synchronously run, after the sub-step is completed, B receives packages ②, and packages ① on A are discharged onto D.

b. When a parcel ② discharged by the confluence conveyor 300 falls on a parcel B, a photoelectric correlation sensor C446 corresponding to the parcel B senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1 and a driving motor N42 to start after receiving the signal, namely, the controller rotates a rotating frame 41 to a station, so that the A is over against C, the B is over against D, the C is over against the confluence conveyor 300, the D is over against b.2, a driving motor Q445 corresponding to the D is controlled to start, and the D starts to operate.

c. When the packages ③ discharged by the confluence conveyor 300 fall on the C, the photoelectric correlation sensor C446 corresponding to the C senses the packages and transmits an electric signal to the controller, and the controller immediately and simultaneously controls 1, controlling a driving motor N42 to be started, rotating a rotating frame 41 by one station to enable the A to be over against D, the B to be over against C, the C to be over against D, the D to be over against the confluence conveyor 300.2, controlling a driving motor Q445 corresponding to the B to be started, and the B and the packages ② on the B synchronously run.

d. When a parcel ④ discharged by the confluence conveyor 300 falls on a parcel D, a photoelectric correlation sensor C446 corresponding to the parcel D senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N42 to be started, a rotating frame 41 to rotate by one station, so that the A is just opposite to the confluence conveyor 300, the B is just opposite to the B, the C is just opposite to the C, the D is just opposite to the d.2, a driving motor Q445 corresponding to the D is controlled to be started, and the D and the parcel ④ on the D synchronously run.

e, when the packages ⑤ discharged by the confluence conveyor 300 fall on the A, the photoelectric correlation sensor C446 corresponding to the A senses the packages and transmits electric signals to the controller, and the controller immediately and simultaneously controls 1, controlling a driving motor N42 to start, rotating a rotating frame 41 to a station to enable the A to face D, the D to face C, the C to face B, the B to face the confluence conveyor 300.2, controlling a driving motor Q445 corresponding to the C to start, and enabling the C and the packages ③ on the C to synchronously run.

f, when the packages ⑥ discharged by the confluence conveyor 300 fall on the B, the photoelectric correlation sensor C446 corresponding to the B transmits an electric signal to the controller after sensing the packages, and the controller immediately and simultaneously controls 1, controlling a driving motor N42 to start, rotating a rotating frame 41 by one station to enable the A to be over against C, the B to be over against D, the C to be over against the confluence conveyor 300, the D to be over against b.2, controlling a driving motor Q445 corresponding to the A to start, and the A and the packages ⑤ on the A synchronously run.

And g, when the packages ⑦ discharged by the confluence conveyor 300 fall on the C, the photoelectric correlation sensor C446 corresponding to the C senses the packages and transmits an electric signal to the controller, and the controller immediately and simultaneously controls 1, a driving motor N42 to be started, a rotating frame 41 to rotate by one station to enable the A to be over against B, the B to be over against C, the C to be over against D, the D to be over against the confluence conveyor 300.2, a driving motor Q445 corresponding to the C to be started, and the C and the packages ⑦ on the C synchronously run.

h, when the packages ⑧ discharged by the confluence conveyor 300 fall on D, the photoelectric correlation sensor C446 corresponding to D senses the packages and transmits electric signals to the controller, and the controller immediately and simultaneously controls 1, controlling a driving motor N42 to be started, rotating a rotating frame 41 by one station to enable A to be over against the confluence conveyor 300, B to be over against B, C to be over against C, D to be over against d.2, controlling a driving motor Q445 corresponding to B to be started, and B to synchronously run together with the packages ⑥ on the rotating frame.

i, when a parcel ⑨ discharged by the confluence conveyor 300 falls on A, a photoelectric correlation sensor C446 corresponding to A senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N42 to be started, a rotating frame 41 rotates by one station to enable A to be over against D, B to be over against the confluence conveyor 300, C to be over against B, D to be over against c.2, a driving motor Q445 corresponding to D to be started, and D and a parcel ⑧ on the rotating frame synchronously run.

j. When a parcel ⑩ discharged by the confluence conveyor 300 falls on a parcel B, a photoelectric correlation sensor C446 corresponding to the parcel B senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N42 to be started, a rotating frame 41 to rotate by one station to enable the A to be over against C, the B to be over against D, the C to be over against the confluence conveyor, the D to be over against b.2, a driving motor Q445 corresponding to the B to be started, and the B and the parcel ⑩ on the B to synchronously run.

k, when the packages ⑪ discharged by the confluence conveyor 300 fall on the C, the photoelectric correlation sensor C446 corresponding to the C senses the packages and transmits an electric signal to the controller, and the controller immediately and simultaneously controls 1, controlling a driving motor N42 to start, rotating a rotating frame 41 by one station to enable A to be over against B, B to be over against C, C to be over against D, D to be over against the confluence conveyor 300.2, controlling a driving motor Q445 corresponding to the A to start, and enabling the A and the packages ⑨ on the A to synchronously run.

1, controlling a driving motor N42 to start, rotating a rotating frame by a station to enable A to be opposite to the confluence conveyor 300, B to be opposite to B, C to be opposite to C, D to be opposite to d.2, controlling a driving motor Q445 corresponding to C to start, and C to synchronously run together with the parcels ⑪.

m, when the next group of parcels ① discharged by the confluence conveyor 300 falls on A, repeating the steps from a to l for control, and repeating the steps in such a way to realize the orderly distribution of the parcels discharged by the confluence conveyor 300 to three.

S07, the parcels exiting the post-diverting conveyor and entering the tower sorter pass through the sorting bin into the corresponding collection bin 54:

a. after being discharged from the rear diversion conveyor 500, the packages fall on the adjacent stop area of the transfer plane on the sorter 5 on the uppermost layer of the tower sorting device, the controller controls the rotary driving mechanism A57 to act according to the pre-calculated sorting route of the packages, so that the package falling hole A532 of the bushing 53 selectively faces the opening at the upper end of the collecting box 54 or the package falling hole B522 of the bottom plate 52, then the rotary driving mechanism B59 is controlled to act, the packages are shifted to the package falling hole A532 of the bushing 53 through the shifting fork, and the packages fall into the adjacent stop area of the collection box 54 of the sorter 5 on the layer or the upper transfer plane of the sorter 5 on the next layer through the package falling hole A532 of the bushing 53.

b. After the parcel reaches the parking area of the upper transfer plane of the new layer of sorters 5, the control process of step a is repeated, so that the parcel finally falls into the corresponding collection bin 54 of the corresponding layer of sorters.

S08, collecting box 54 automatically closes collection bag 55 meeting the closing standard: when the package in the collecting box 54 reaches the preset weight or height, the package overweight detector or the package ultrahigh detector immediately gives an alarm to the controller, the controller receives the alarm signal and controls the two servo motors B5451 to start simultaneously, the two servo motors B5451 respectively drive the gear 5452 to move along the rack on the side wall of the gear accommodating cavity 54362, the two servo motors B5451 respectively move in the motor sliding grooves of the inner arc-shaped side rod 5433 and the outer arc-shaped side rod 5433, the electromagnet A546 gradually approaches to the electromagnet B547, when the electromagnet A546 moves to the position closest to the electromagnet B547, the servo motor B5451 stops moving, and at the moment, the opening at the upper end of the collecting bag 55 is closed.

S09, transferring the closed collection bag 55 onto the stage 62 by the pick robot 63:

a. when the upper opening of the collection bag 55 is closed, the controller controls the elevating driver 61 to operate to raise the stage 62 to a height corresponding to the warning collection box 54.

b. The controller performs two controls simultaneously: 1. the piston rod of the support cylinder 6351 is controlled to extend, pushing the pick robot 63 upwards, bringing the gripper plate 634 closer to the iron plate 553 of the collection bag 55. 2. The right electromagnetic plate 6342 is controlled to be powered off, so that the closed pinch plate body 634 is opened under the action of the torsion spring 6344, and the opened pinch plate body 634 faces the iron 553 of the collection bag 55.

c. After the pinch plate body 634 is opened for several seconds, the controller controls the right electromagnetic plate 6342 to be powered on again, so that the pinch plate body 634 is closed, the iron sheet 35 of the collection bag 55 is adsorbed on the right electromagnetic plate 6342 while the pinch plate body 634 is closed, and after the pinch plate body 634 is closed, the iron sheet 553 of the collection bag 55 is clamped between the left iron sheet 6341 and the right electromagnetic plate 6342 of the pinch plate body 634.

d. After the iron sheet 553 of the collection bag 55 is clamped, the controller first controls the electromagnet A546 and the electromagnet B547 to be powered off, so that the collection bag 55 is disconnected from the collection box 54, and then controls the piston rod of the supporting hydraulic cylinder 6351 to further extend, so that the goods taking manipulator 63 is further pushed upwards, thereby tightening the upper end opening of the collection bag 55, pulling out the collection bag from the package pulling-out opening 548 of the collection box 54, and dropping on the object stage 62.

S10, automatically opening a collection bag 55 in the collection box 54 after the collection bag 55 in the collection box 54 is transferred out:

a. after detecting that the collection bag 55 is drawn away, the package overweight detector of the collection box 54 transmits a signal to the controller, the controller receives the signal and controls the two servo motors B5451 to start, the shafts of the servo motors B5451 rotate to drive the gears 5452 to move along the racks on the side walls of the gear accommodating cavities 54362, the two servo motors B5451 move in the motor chutes of the inner arc-shaped side rods 5433 and the outer arc-shaped side rods 5433 respectively, the electromagnet A546 gradually moves away from the electromagnet B547, and the electromagnet A546 stops moving when moving to the initial position.

b. The controller controls the servo motor A5442 to start, the steel wire rope 5441 is put down, the lifting frame 543 slides downwards along the sliding groove 5421 of the stand column 542 through the idler wheel 5435, and after the steel wire rope 5441 is emptied, the lifting frame 543 slides to the height close to the box bottom plate 541.

c. The controller then controls the two electromagnets a546 and the two electromagnets B547 to be electrified, and the electromagnets a546 and the electromagnets B547 respectively adsorb the four lug plates 5512 of the uppermost layer of the collection bag 55 sleeved on the left inner boss 5411, the left outer boss 5412, the right inner boss 5413 and the right outer boss 5414 of the box bottom plate 541, so that the collection bag 55 is completely picked up.

d. The controller finally controls the servo motor A5442 to start, the steel wire rope 5441 is retracted, the steel wire rope 5441 drives the lifting frame 543 to ascend, and the lifting frame 543 drives the newly picked collecting bag 55 to ascend and finally ascend to the initial position.

S11, the collection bag 55 on the stage 62 is transferred to the conveyor C8 by the pusher 7:

a. after the package is landed on the stage 62, the controller performs three controls simultaneously: 1. the right electromagnetic plate 6342 is controlled to be de-energized to release the iron piece 553 of the collection bag 55. 2. The piston rod of the support cylinder 6351 is controlled to retract, and the pickup robot 63 is lowered to the lowermost position. 3. The elevating driver 61 is controlled to operate to lower the stage 62 to the lowest position.

b. When the object stage 62 is lowered to the lowest position, the controller controls the piston rod of the electric hydraulic cylinder 71 to extend, the push plate 72 pushes the collection bag 55 on the object stage 62 to the conveyor C8, and after the operation is completed, the piston rod of the electric hydraulic cylinder 71 retracts to wait for the next command.

As shown in fig. 1 to 24, the logistics sorting system including equidistant separation, slow diversion and fast confluence comprises a gradual separation device 1, a front splitter 2, a front splitter conveyor 100, a code scanning device 200, a confluence device 3, a confluence conveyor 300, a rear splitter conveyor 4, a rear splitter conveyor 500, an error correction device 400, a tower type sorting device and a controller.

The take-by-take separating device 1 includes a conveyor a11, a smooth separating plate 12, a roller conveyor 13, and a conveyor B14, which are disposed immediately adjacent to each other from front to back. The roller conveyor 13 includes a plurality of parallel and horizontally arranged rollers and a roller driving mechanism (not shown) for driving all the rollers to rotate synchronously, and the roller driving mechanism is a chain transmission pair driven by a motor. All the rollers form a rolling transfer surface 131 at the upper end, the height of the rolling transfer surface 131 is not higher than the height of the upper surface of the smooth separation plate 12, and the height of the upper surface of the smooth separation plate 12 is not higher than the height of the upper surface of the conveyor a 11.

A forward splitter 2 is provided at the rear end of conveyor B14 for sequentially splitting parcels discharged by conveyor B14 onto all forward splitting conveyors 100. The front splitter 2 includes a support frame 21, a driving motor J22, a V-shaped disc 23, a pressure sensor J24, and a pressure sensor K25. The lower end of the supporting frame 21 is fixedly connected to the crankshaft of the driving motor J22, and the upper end is fixedly connected to the lower end of the V-shaped disc 23. The V-shaped plate 23 is in an inverted V shape and has a first surface 231 and a second surface 232 at an upper end thereof. A pressure sensor J24 and a pressure sensor K25 are mounted on the first face 231 and the second face 232 of the V-shaped disc 23, respectively.

The front branch conveyors 100 are provided at the rear end of the front branch 2, and the number thereof is two. When the V-shaped tray 23 is swung such that its first face 231 faces the rear end of the conveyor B14, its second face 232 faces a front branch conveyor 100. When the V-shaped tray 23 swings such that its second face 232 faces the rear end of the conveyor B14, its first face 231 faces the other front branch conveyor 100.

A code scanner 200 is provided on the front branch conveyor 100 for scanning the bar code of the parcel.

The flow combiner 3 is disposed at the rear end of the front diversion conveyor 100, and is used for orderly diverting the packages discharged by the front diversion conveyor 100 onto the confluence conveyor 300. The flow combiner 3 comprises a lead screw 31, a positioning seat 32, a driving motor K33, a screw nut 34, a guide rod 35, a bottom table 36, a small-segment conveyor belt component A and a small-segment conveyor belt component B.

Two ends of the screw 31 are movably mounted on the positioning seat 32, and one end of the screw is associated with a crankshaft of the driving motor K33. The driving motor K33 is fixedly mounted on the positioning seat 32. The nut 34 is screwed with the screw rod 31, and a guide rod hole for the guide rod 35 to pass through is formed in the nut. The guide rod 35 passes through the guide rod hole of the nut 34, and both ends thereof are fixedly mounted on the positioning seat 32. The base 36 is fixedly attached to the upper end of the nut 34. Both the segment conveyor assembly a and the segment conveyor assembly B are mounted on the upper end of the base table 36.

The segment conveyor assembly a includes a segment conveyor a371, a drive roller a372, a driven roller a373, a roller mount a374, a drive motor L375, and a photo-correlation sensor a 376. Drive roller A372 one end is associated with the spindle of driving motor L375, and the other end movable mounting is on roller seat A374, and driving motor L375 and roller seat A374 are all fixed mounting on the base platform 36, and subsection conveyer belt A371 is around establishing between drive roller A372 and driven roller A373, and photoelectricity correlation sensor A376 is installed on base platform 36 to be located the upper end of subsection conveyer belt A371 and the front end of subsection conveyer belt A371, it is used for detecting whether there is the parcel to fall on subsection conveyer belt A371.

The segment conveyor assembly B includes a segment conveyor B381, a drive roller B382, a driven roller B383, a roller base B384, a drive motor M385, and an electro-optical correlation sensor B386. One end of the driving roller B382 is associated with a crankshaft of the driving motor M385, the other end of the driving roller B382 is movably arranged on a roller seat B384, the driving motor M385 and the roller seat B384 are fixedly arranged on the bottom table 36, the small-section conveyor belt B381 is wound between the driving roller B382 and the driven roller B383, and the photoelectric correlation sensor B386 is arranged on the bottom table 36 and is positioned at the upper end of the small-section conveyor belt B381 and the front end of the small-section conveyor belt B381 and used for detecting whether a package falls on the small-section conveyor belt B381.

The segment A may be moved in its entirety with the base table 36 such that the segment A371 is selectively aligned with the rear end of one of the front diversion conveyors 100 or the front end of the merge conveyor 300. The short segment belt assembly B is movable integrally with the base table 36 such that the short segment belt B381 selectively faces either the rear end of the other of the front diverging conveyors 100 or the front end of the converging conveyor 300.

The confluence conveyor 300 is provided at the rear end of the flow combiner 3.

The rear divider 4 is provided at the rear end of the confluence conveyor 300, and serves to divide the parcels discharged from the confluence conveyor 300 into all the rear divider conveyors 500 in order. The rear splitter 4 includes a rotating frame 41, a driving motor N42, a lifting plate 43, and a small segment conveyor belt assembly C. The rotating frame 41 comprises a vertical rotating rod 411 and four cantilevers 412 which are uniformly distributed and fixedly connected to the upper end of the vertical rotating rod 411 in a ring shape, and the lower end of the vertical rotating rod 411 is fixedly connected to a crankshaft of the driving motor N42. The lifting plates 43 are fixed at the overhanging ends of the cantilevers 412, and the rotation paths of the four lifting plates 43 are all overlapped.

The small segment conveyor belt assembly C is mounted at the upper end of the lifting plate 43 and comprises a small segment conveyor belt C441, a driving roller C442, a driven roller C443, a roller seat C444, a driving motor Q445 and a photoelectric correlation sensor C446. One end of the driving roller C442 is associated with a crankshaft of the driving motor Q445, the other end of the driving roller C442 is movably installed on the roller seat C444, the driving motor Q445 and the roller seat C444 are both fixedly installed on the lifting plate 43, two ends of the driven roller C443 are movably installed on the roller seat C444, the small section of conveyor belt C441 is wound between the driving roller C442 and the driven roller C443, and the photoelectric correlation sensor C446 is installed on the lifting plate 43, is positioned at the upper end of the small section of conveyor belt C441 and at the front end of the advancing direction of the small section of conveyor belt C441 and is used for detecting whether packages fall on the small section of conveyor belt C441.

The rear shunt conveyor 500 is provided at the rear end of the rear shunt 4, and the number thereof is three. When any one of the short segment transfer belts C441 faces the rear end of the confluence conveyor 300, the remaining three short segment transfer belts C441 respectively face the front ends of the three rear diversion conveyors 500.

The error correction device 400 is provided on each rear diversion conveyor 500, and includes a code scanner 401 and a timing counter 402 arranged in this order from the far side to the near side from the rear end of the rear diversion conveyor 500.

The tower type sorting devices are arranged at the rear end of the rear diversion conveyor 500, the number of the tower type sorting devices is three, and each tower type sorting device corresponds to one rear diversion conveyor 500. The tower type sorting device comprises a sorter 5, a wrapper taking device 6, a pusher 7, a conveyor C8, a cover 9 and a base 600.

Sorter 5 includes bottom plate 52, nozzle plate 53, collection box 54, collection bag 55, support base 56, rotary drive a57, fork 58, and rotary drive B59.

The bottom plate 52 is an annular plate, a central hole B521 and a wrapping falling hole B522 located outside the central hole B521 are formed in the bottom plate, an annular groove B523 is formed in a region between the outside of the central hole B521 and the inside of the wrapping falling hole B522 on the upper end face of the bottom plate, and the bottom plate 52 is directly or indirectly fixedly connected to the outer cover 9.

The bushing 53 is an annular plate, and has a central hole a531 and a wrapped drop hole a532 located outside the central hole a531, and an annular groove a533 in a region between the outside of the central hole a531 and the inside of the wrapped drop hole a532 on the upper end surface thereof.

The collecting box 54 is provided with a plurality of collecting boxes 54, which are respectively installed on the bottom plate 52 around the central hole B521 of the bottom plate 52 and are positioned outside the annular groove B523 of the bottom plate 52, and the upper ends of the collecting boxes 54 are provided with openings. The collecting box 54 comprises a box bottom plate 541, an upright post 542, a lifting frame 543, a lifting control mechanism 544, a closing-up component 545, an electromagnet A546, an electromagnet B547 and an ultrahigh overweight detection component.

The box bottom plate 541 is a fan-shaped plate, and four corners of the box bottom plate are respectively provided with a left inner boss 5411, a left outer boss 5412, a right inner boss 5413 and a right outer boss 5414.

Four upright columns 542 are respectively fixedly connected at four corners of the box bottom plate 541 and extend upwards perpendicular to the box bottom plate 541, and a sliding groove 5421 is arranged on the four upright columns 542.

The lifting frame 543 is a fan-shaped frame and comprises an inner arc-shaped side rod 5431, a left side rod 5432, an outer arc-shaped side rod 5433 and a right side rod 5434 which are sequentially connected, the lifting frame 543 is horizontally movably mounted between the four stand columns 542 at four corners through idler wheels 5435, and the lifting frame 543 moves up and down along the stand columns 542 through the cooperation of the idler wheels 5435 and the sliding grooves 5421. The lower end faces of the inner arc-shaped side rod 5431 and the outer arc-shaped side rod 5433 are respectively provided with a circular arc-shaped moving channel 5436, the moving channel 5436 extends along the length direction of the inner arc-shaped side rod and the outer arc-shaped side rod and penetrates through the end faces of two sides of the inner arc-shaped side rod and the outer arc-shaped side rod, the moving channel 5436 comprises a motor sliding groove 54361 and a gear accommodating cavity 54362 which are mutually communicated from top to bottom, a rack is arranged on the side wall of the gear accommodating cavity 54362, and the motor sliding groove 54361 is communicated with the lower end faces of the inner arc-.

The lifting control mechanism 544 comprises a steel wire rope 5441, a servo motor A5442 and a take-up and pay-off wheel 5443, one end of the steel wire rope 5441 is wound on the take-up and pay-off wheel 5443, the other end of the steel wire rope 5441 is fixedly connected to the lifting frame 543, the servo motor A5442 is fixedly installed at the top end of the upright post 542, and the take-up and pay-off wheel 5443 is fixedly connected to a crankshaft of the servo motor A.

The necking-in assembly 545 comprises a servo motor B5451 and two gears 5452, wherein the servo motor B5451 is slidably mounted in the motor slide groove 54361 of the inner arc-shaped side rod and the outer arc-shaped side rod respectively, the shaft of the servo motor B5451 extends into the gear accommodating cavity 54362, and the gears 5452 are fixedly connected to the shaft of the servo motor B5451, are positioned in the gear accommodating cavity 54362 and are meshed with the racks of the gear accommodating cavity 54362.

Two electromagnets A546 are respectively arranged at the lower end of the servo motor B5451 and correspond to the left inner boss 5411 and the left outer boss 5412 on the box bottom plate 541.

Two electromagnets B547 are respectively fixed on the lower end faces of the inner and outer arc-shaped side rods and correspond to the right inner boss 5413 and the right outer boss 5414 on the box bottom plate 541.

The ultra-high and ultra-heavy detection component comprises a wrapped ultra-high detector arranged on the upright 542 and a wrapped ultra-heavy detector arranged on the box bottom plate 541.

The collection bin 54 is provided with a package pulling outlet 548 at a side facing the package conveying passage 200. The parcel drawing outlet 548 is formed by being surrounded by two columns 542 facing one side of the parcel transport path 200, an inner arc-shaped side bar 5431, and the edge of the box bottom 541 on one side of the parcel transport path 200.

The collection bag 55 includes a bag body 551, a drawstring 552, and an iron piece 553. The bag body 551 is in a fan-shaped column shape matched with the shape of the collecting box 54 in an opening state, a circle of drawstring installation cavity 5511 is arranged at the upper end edge opening of the bag body 551, the drawstring installation cavity 5511 is provided with an inlet 55111 and an outlet 55112, the four edges of the upper end edge opening of the bag body 551 are respectively provided with outward-turned lugs 5512, and an iron ring 5513 is fixedly connected on the lugs 5512. The drawstring 552 penetrates into the drawstring installation cavity 5511 through the inlet 55111 and then penetrates out of the drawstring installation cavity 5511 through the outlet 55112, one end of the drawstring 552 is exposed outside the bag body 551 and is fixedly connected with the iron sheet 553, and the other end of the drawstring 552 is fixedly connected with the upper end edge of the bag body 551.

The collecting bags 55 are stacked in multiple layers and placed on the box bottom plate 541 of the collecting box 54, and four iron rings of the collecting bags are respectively sleeved on the left inner boss 5411, the left outer boss 5412, the right inner boss 5413 and the right outer boss 5414 of the box bottom plate 541. The inlet 55111 of the drawstring installation cavity 5511, the outlet 55112 of the drawstring installation cavity 5511, the two ends of the drawstring 552 and the iron sheet 553 are all positioned at one side of the wrapping and pulling outlet 548 of the collection box 54.

The supporting seat 56 comprises a lower revolving ring 561 and at least three supporting rods 562 fixedly connected with the upper end of the lower revolving ring 561, the lower end of the lower revolving ring 561 is movably installed in the annular groove B523 of the bottom plate 52, and the upper ends of the supporting rods 562 are fixedly connected with the lower end face of the bushing 53.

The rotary driving mechanism A57 is associated with the supporting seat 56 to drive the supporting seat 56 to rotate in the annular groove B523 of the bottom plate 52, and the supporting seat 56 drives the leakage plate 53 to do rotary motion, so that the wrapping falling hole A532 of the leakage plate 53 selectively faces the wrapping falling hole B522 of the bottom plate 52 or faces the upper end opening of the collecting box 54. The swing drive mechanism a57 includes a drive sprocket a571, a stepping motor a572, a driven sprocket a573, and a chain a 574. The driving sprocket A571 is fixedly installed on the crankshaft of the stepping motor A572, the stepping motor A572 is directly or indirectly fixed on the bottom plate 52, the driven sprocket A571 is sleeved and fixed on the lower revolving ring 561 of the supporting seat 56, and the chain A574 is wound between the driving sprocket A571 and the driven sprocket A573.

The shifting fork 58 is movably arranged on the bushing 53 and comprises an upper rotating ring 581 and a sweeping arm 582, the lower end of the upper rotating ring 581 is movably arranged in the annular groove A533 of the bushing 53, and the sweeping arm 582 is fixedly connected on the outer wall of the upper rotating ring 581 and extends out of the radial outer side of the upper rotating ring 581.

A rotary drive mechanism B59 is associated with the fork 58 to drive the fork 58 to rotate within the annular groove a533 of the bushing 53. The rotary driving mechanism B59 includes a driving sprocket B591, a stepping motor B592, a driven sprocket B593, and a chain B594. The driving chain wheel B591 is fixedly arranged on a crankshaft of the stepping motor B592, the stepping motor B592 is directly or indirectly fixedly connected on the outer cover 9, the driven chain wheel B593 is sleeved and fixedly connected on the upper rotating ring 581 of the shifting fork 58, and the chain B594 is wound between the driving chain wheel B591 and the driven chain wheel B593.

The sorters 5 are stacked in the vertical direction, each sorter 5 is directly or indirectly fixedly mounted on the base 600, a cylindrical central passage 51 is provided in the central area of each sorter 5, and the central passages 51 of the sorters 5 are sequentially communicated to form a vertical coherent parcel transport passage 700. Sorter 4 is from last to being equipped with down in proper order and goes up the transfer plane and down the transfer plane, is equipped with on going up the transfer plane and faces the parking area and fall regional A, is equipped with storage area and fall regional B on going down the transfer plane, goes up the transfer plane and can rotate for lower transfer plane, and then makes the selective storage area or the fall regional B that just goes down the transfer plane of falling regional A. The falling area B on the lower transfer plane of the sorter 5 faces the stop area of the upper transfer plane of the next sorter 5.

The central passage 51 is formed by an inner hole of the upper rotating ring 581 of the shifting fork 58, a central hole A531 of the bushing 53, an inner hole of the lower rotating ring 561 of the bearing seat 56 and a central hole B521 of the bottom plate 52 which are sequentially communicated from top to bottom. The upper transfer plane is a plane where the upper surface of the bushing 53 is located, the falling area a is a wrapping falling hole a532 of the bushing 53, and the temporary stop area is an area where the bushing 53 faces the wrapping inlet 91 of the outer cover 9. The lower transfer plane is a plane on which the upper surface of the bottom plate 52 is located, the storage area is an area on the bottom plate 52 where the collecting box 54 is installed, and the falling area B is a wrapping falling hole B522 of the bottom plate 52.

The parcel picker 6 is disposed in a parcel transport path 700, which includes a lift drive 61, a stage 62, and a pick robot 63.

The lifting driver 61 is a scissor hydraulic lift, and the lower end thereof is mounted on the base 600 for driving the stage 62 to vertically move.

The stage 62 is fixed to the upper end of the elevating driver 61.

A pick robot 63 is mounted on the carrier 62 for transferring parcels from the storage area of the sorter 5 onto the carrier 62. The pick-up robot 63 includes a robot arm 631, a shaft 632, a shaft base 633, a clamp plate 634 and a swing driving mechanism 635. The lower end of the robot arm 631 is mounted on the rotating shaft seat 633 through the rotating shaft 632, the upper end is connected to the clamping plate body 634, and a sliding groove 6311 extending along the length direction is formed thereon. Two ends of the rotating shaft 632 are movably mounted on the rotating shaft seat 633. The spindle base 633 is fixedly mounted on the stage 62. The clamping plate body 634 includes a left iron plate 6341, a right electromagnetic plate 6342, a rotating pin 6343 and a torsion spring 6344. A rotating pin sleeve for inserting a rotating pin 6343 is fixedly connected to one side of each of the left iron plate 6341 and the right electromagnetic plate 6342, the rotating pin 6343 sequentially passes through the rotating pin sleeves of the left iron plate 6341 and the right electromagnetic plate 6342 to movably connect the left iron plate 6341 and the right electromagnetic plate 6342, the rotating pin 6343 is welded and fixed to the upper end of the mechanical arm 631 at the end, and the left iron plate 6341 and the right electromagnetic plate 6342 rotate around the rotating pin 6343 to realize relative folding or unfolding. The torsion spring 6344 is sleeved on the rotating pin 6343, and one end of the torsion spring abuts against the inner end surface of the left iron plate 6341, and the other end abuts against the inner end surface of the right electromagnetic plate 6342, so that the left iron plate 6341 and the right electromagnetic plate 6342 are relatively opened to form a fixed angle.

The swing driving mechanism 635 is associated with the robot arm 631 to drive the robot arm 631 to swing about the rotation shaft 632. The swing drive mechanism 635 includes a support cylinder 6351, a movable link 6352, and a slide 6353. The support cylinder 6351 is fixedly mounted on the stage 62. One end of the movable link 6352 is movably connected to a piston rod supporting the hydraulic cylinder 6351, and the other end is movably connected to the slide block 6353. The slide 6353 is movably installed in the slide 6311 of the robot arm 631.

The pusher 7 and the conveyor C8 are located on both sides of the stage 62, respectively. The pusher 7 comprises an electric hydraulic cylinder 71 and a push plate 72, the electric hydraulic cylinder 71 is fixedly connected to the base 600, a piston rod of the electric hydraulic cylinder 71 extends out along the horizontal direction, and the push plate 72 is fixedly connected to the piston rod of the electric hydraulic cylinder 71 and is in a vertical state. The front end of the conveyor C8 is located inside the housing 9, and the rear end thereof passes out of the package outlet 92 of the housing 9, and the front end of the conveyor belt 8 faces the push plate 72 of the pusher 7.

The outer cover 9 is fixedly installed on the base 600, covers the sorter 5 and the wrapping taking device 6, is provided with a wrapping inlet 91 for wrapping the upper end of the sorter 5, and is provided with a wrapping outlet 92 for outputting the wrapping at the lower end of the sorter. The package inlet 91 of the housing 9 is directed towards the rear end of the diverting conveyor 3.

The controller is electrically connected with a servo motor A5442, a servo motor B5451, an electromagnet A546, an electromagnet B547, a wrapping superelevation detector, a wrapping overweight detector, a stepping motor A572 and a stepping motor B592 of the sorter 5. The controller is electrically connected with the lifting driver 61, the right electromagnetic plate 6342 and the supporting hydraulic cylinder 6351 of the bale taking device 6. The controller is electrically connected to the electric cylinder 71. The controller is electrically connected with the driving motor J22, the pressure sensor J24 and the pressure sensor K25 of the front flow divider 2. The controller is electrically connected with a driving motor K33, a driving motor L375, a driving motor M385, a photoelectric correlation sensor A376 and a photoelectric correlation sensor B386 of the confluence device 3. The controller is electrically connected with the driving motor N42, the driving motor Q445 and the photoelectric correlation sensor C446 of the rear splitter 4. The controller is electrically connected to the timing counter 402 and the code scanner 401 of the error correction device 400. The controller is electrically connected to the code scanning device 200.

Preferably, the conveyor a11, the conveyor B14, the front branch conveyor 100, the confluence conveyor 300, the rear branch conveyor 500, and the conveyor C8 are belt conveyors or roller conveyors.

Claims

1. The parcel sorting method based on the vertical stacking type sorter is applied to a logistics sorting system comprising equidistant separation, slow flow separation and fast flow confluence;

the logistics sorting system comprises an equidistant separation, a slow flow division and a fast flow combination, and comprises a gradual taking separation device (1), a front flow divider (2), a front flow dividing conveyor (100), a code scanning device (200), a flow combination device (3), a flow combination conveyor (300), a rear flow divider (4), a rear flow dividing conveyor (500), an error correction device (400), a tower type sorting device and a controller;

the gradual taking separation device (1) comprises a conveyor A (11), a smooth separation plate (12), a roller conveying device (13) and a conveyor B (14) which are arranged in close proximity from front to back in sequence;

the front shunt (2) comprises a support frame J (21), a driving motor J (22), a V-shaped disc (23), a pressure sensor J (24) and a pressure sensor K (25); the upper end of the V-shaped disc (23) is provided with a first surface (231) and a second surface (232);

the flow combiner (3) comprises a lead screw (31), a positioning seat (32), a driving motor K (33), a nut (34), a guide rod (35), a bottom table (36), a small-section conveyor belt component A (37) and a small-section conveyor belt component B (38); the small-section conveying belt component A (37) comprises a small-section conveying belt A (371), a driving roller A (372), a driven roller A (373), a roller seat A (374), a driving motor L (375) and a photoelectric correlation sensor A (376); the small-section conveyor belt component B (38) comprises a small-section conveyor belt B (381), a driving roller B (382), a driven roller B (383), a roller seat B (384), a driving motor M (385) and a photoelectric correlation sensor B (386);

the rear flow divider (4) comprises a rotating frame (41), a driving motor N (42), a lifting plate (43) and a small section of conveyor belt component C (44); the small section conveyor belt component C (44) comprises a small section conveyor belt C (441), a driving roller C (442), a driven roller C (443), a roller seat C (444), a driving motor Q (445) and a photoelectric correlation sensor C (446);

the error correction device (400) comprises a code scanner (401) and a timing counter (402) which are sequentially arranged from far to near from the rear end of the confluence conveyor (300);

the tower type sorting device comprises a sorter (5), a wrapping device (6), a pusher (7) and a conveyor C (8);

a plurality of sorters (5) are stacked in the vertical direction, a cylindrical central channel (51) is arranged in the central area of each sorter (5), and the central channels (51) of the sorters (5) are sequentially communicated to form a vertical and continuous parcel conveying channel (900); the sorter (5) comprises a bottom plate (52), a bushing plate (53), a collecting box (54), a collecting bag (55), a supporting seat (56), a rotary driving mechanism A (57), a shifting fork (58) and a rotary driving mechanism B (59); the collecting box (54) comprises a box bottom plate (541), an upright post (542), a lifting frame (543), a lifting control mechanism (544), a closing-in component (545), an electromagnet A (546), an electromagnet B (547) and an ultrahigh overweight detection component, wherein the ultrahigh overweight detection component comprises a wrapped overweight detector and a wrapped ultrahigh detector; the box bottom plate (541) is provided with a left inner boss (5411), a left outer boss (5412), a right inner boss (5413) and a right outer boss (5414) at four corners respectively; the lifting control mechanism (544) comprises a steel wire rope (5441), a servo motor A (5442) and a take-up and pay-off wheel (5443); the closing-in assembly (545) comprises a servo motor B (5451) and a gear (5452); the collecting bag (55) comprises a bag body (551), a drawing rope (552) and an iron sheet (553); the four corners of the upper edge opening of the bag body (551) are respectively provided with an outward-turned lug (5512), and an iron ring (5513) is fixedly connected on the lug (5512);

the parcel taking device (6) comprises a lifting driver (61), an object stage (62) and a goods taking manipulator (63); the goods taking manipulator (63) comprises a manipulator arm (631), a rotating shaft (632), a rotating shaft seat (633), a splint body (634) and a swinging driving mechanism (635); the splint body (634) comprises a left iron plate (6341), a right electromagnetic plate (6342), a rotating pin (6343) and a torsion spring (6344); the swing driving mechanism (635) comprises a supporting hydraulic cylinder (6351), a movable chain link (6352) and a sliding block (6353);

the pusher (7) comprises an electric hydraulic cylinder (71) and a push plate (72);

a. the roller conveying device (13) of the gradual taking separation device (1) is in a running state;

b. the first surface (231) or the second surface (232) of the V-shaped disc (23) of the front flow divider (2) is opposite to the rear end of the conveyor B (14);

c. the front end of a small section of conveyor belt A (371) of the flow combiner (3) is just opposite to the rear end of a front shunting conveyor (100), and the rear end of a small section of conveyor belt B (381) is just opposite to the front end of a confluence conveyor (300);

d. the front end of one small section of conveyor belt C (441) of the rear flow divider (4) is aligned with the rear end of the confluence conveyor (300), and the rear ends of the other three small section of conveyor belts C (441) are respectively aligned with the front ends of the three rear flow dividing conveyors (100);

e. the adjacent stop area of the upper transfer plane of the uppermost sorter (5) is opposite to the package inlet (91) of the outer cover (9);

f. the falling area B of the lower conveying plane of the sorter (5) is over against the temporary stopping area of the upper conveying plane of the next sorter (5);

g. the lifting frame (543) of the collecting box (54) is positioned at the uppermost end of the movement stroke of the collecting box, and absorbs and opens one collecting bag (55) through the electromagnets A (546) and B (547) at the lower end of the collecting box;

h. two electromagnets A (546) of the collecting box (54) are opposite to the left inner boss (5411) and the left outer boss (5412) on the box bottom plate (541);

i. the object stage (62) of the parcel taking device (6) is at the lowest position of the motion stroke;

j. the goods taking mechanical hand (63) of the parcel taking device (6) is positioned at the lowest end of the rotation stroke;

k. a right electromagnetic plate (6342) of the wrapper (6) is in an electrified state;

l, a piston rod of an electric hydraulic cylinder (71) of the pusher (7) is in a contraction state;

the method is characterized in that: the package sorting process is as follows;

s01, the parcels input by the conveyor A (11) in the interval unordered arrangement are arranged and output on the conveyor B (14) at equal intervals through the pick-by-pick separation device (1):

a. placing the parcels on a conveyor A (11) in operation, and after the parcels are discharged from the goods discharge end of the conveyor A (11), entering and resting on a smooth separation plate (12);

b. then enters the smooth separation plate (12) to contact with the packages and pushes the packages which enter the smooth separation plate (12) first, so that the packages which enter the smooth separation plate (12) first are pushed to the roller conveying device (13);

c. the parcels at the front end are driven by the roller conveying device (13) to move so as to be separated from the parcels at the rear end, the parcels enter the running conveyor B (14) after being discharged from the roller conveying device (13), and the parcel intervals on the conveyor B (14) are equal;

s02, orderly distributing the parcels discharged from the conveyor B (14) to two front distributing conveyors (100) through the front distributing conveyor (2):

a. the first parcel discharged from the conveyor B (14) falls on the first surface of the V-shaped disc of the front flow divider (2) and slides through the second surface of the V-shaped disc to fall into a front flow dividing conveyor (100);

b. after the first parcel leaves the V-shaped disc (23), a pressure sensor J (24) and a pressure sensor K (25) on the V-shaped disc (23) respectively transmit electric signals to a controller, and the controller immediately controls a crankshaft of a driving motor J (22) to rotate after receiving the signals, so that a second surface (232) of the V-shaped disc (23) rotates to be opposite to a goods discharge end of a conveyor B (14);

c. the second parcel discharged from the conveyor B (14) falls on the second face (232) of the V-shaped disc of the diverter, passes through the first face (231) of the V-shaped disc and slides into another front diversion conveyor (100);

d. after the second parcel leaves the V-shaped disc (23), a pressure sensor J (24) and a pressure sensor K (25) on the V-shaped disc transmit electric signals to the controller, the controller immediately controls a crankshaft of a driving motor J (22) to rotate after receiving the signals, and a first surface (231) of the V-shaped disc rotates to be opposite to a goods discharge end of a conveyor B (14) so as to meet the arrival of a third parcel;

e. the four sub-steps a to d are repeated, so that the parcels on the conveyor B (14) are averagely distributed to two front distribution conveyors (100);

s03, scanning the bar code information of the parcels on the front diversion conveyor (100) through the code scanning device (200):

the packages are scanned by the code scanning device (200) on the front shunting conveyor (100), address information obtained by scanning is transmitted to the controller, and the controller generates a package sequencing list on each shunting conveyor belt and a sorting route of each package in the tower type sorting device according to a confluence rule set by a subsequent package combining and aligning device and a shunting rule set by a diverter;

s04, orderly converging the parcels discharged by the front diversion conveyors (100) onto a converging conveyor (300) through a flow combiner (3):

the two front shunting conveyors (100) are respectively numbered as X, Y, the small segment conveyor belt A (371) of the flow combiner (3) is numbered as x, the small segment conveyor belt B (381) of the flow combiner (3) is numbered as y, packages on the two front shunting conveyors (100) are divided into two groups according to the sequence of discharge, one group of packages are sequentially numbered as I and II according to the sequence of discharge, and the labels are used for replacing parts in the following description;

a. before the package confluence, the current combiner (3) is in an initial state, wherein X is over against X, and y is over against the confluence conveyor in the initial state; a package I discharged from the X falls on the X, the photoelectric correlation sensor A (376) senses the package and then sends an electric signal to the controller, and the controller immediately performs two controls after receiving the signal: 1. controlling a driving motor K (33) to start, so that the x and the Y integrally move along the lead screw, and stopping moving when the x is over against the confluence conveyor and the Y is over against the Y; 2. controlling a driving motor L (375) to start to enable x to run, and conveying the packages I on the x to a confluence conveyor (300);

b. the package II discharged from the Y falls into the Y, the photoelectric correlation sensor B (386) senses the package and then sends an electric signal to the controller, and the controller immediately and simultaneously controls the package II after receiving the signal: 1. controlling a driving motor K (33) to start, and enabling x and y to integrally move to an initial state, namely stopping moving; 2. controlling a driving motor M (385) to start to enable y to run, and conveying the packages II on the y to the confluence conveyor (300);

c. repeating the step a and the step b to realize that the parcels on the two front shunting conveyors (100) are alternately conveyed to the confluence conveyor (300);

s05, checking whether the packages on the confluence conveyor (300) have a missing condition through an error correction device:

a. counting is started when the front end of a first parcel on the confluence conveyor (300) passes through the infrared channel of the timing counter (402), and counting is +1 when the front end of a second parcel passes through the infrared channel of the timing counter (402); timing is started when the rear end of a first parcel on the confluence conveyor (300) passes through the infrared line of the timing counter (402), and timing is stopped when the front end of a second parcel passes through the infrared line of the timing counter (402); thus, a timing counting cycle is completed, and the next timing counting cycle is started at the same time, wherein in each timing counting cycle, the timing is started from 0 second, and the counting adopts an accumulation mode;

b. the timing counter (402) continuously compares the timing data difference of two adjacent parcels before and after the parcel is checked for error, if the parcel is checked to be missing, the timing counter immediately sends an alarm signal to the controller, the controller starts the code scanner after receiving the alarm signal, and the code scanner scans the address of the first parcel after the vacancy is generated and sends the address to the controller; the controller searches a package address corresponding to a first counting number before vacancy in a package sorting list, then searches backwards from the package address, relocates the address of the first package after vacancy, calculates the missing number of the packages according to the relocated address, and finally replaces the address of the missing package with a blank address in the package sorting list to prevent subsequent sorting errors;

c. the controller starts a code scanner (401), the code scanner (401) scans the address of a second package after vacancy and sends the address to the controller, the controller contrasts and identifies whether the address information of the package is consistent with the corresponding package information in the package sorting list, if so, the controller does not act, and if not, the controller controls the whole logistics sorting system to stop running, so that sorting errors are prevented;

s06, orderly distributing the parcels discharged by the confluence conveyor (300) to three rear distribution conveyors (500) through a rear distributor (4):

the three rear shunting conveyors (500) are respectively numbered as b, C and d, the four small segment conveyor belts C (441) are respectively numbered as A, B, C, D, the 12 packages which are connected on the converging conveyor (300) are arranged into a group, and the groups of packages are sequentially numbered as ①, ②, ③, ④, ⑤, ⑥, ⑦, ⑧, ⑨, ⑩, ② 0 and ② 1 according to the sequence of discharge;

a. before shunting the packages, a rotating frame (41) is in an initial state, wherein A is over against a confluence conveyor (300), B is over against B, C is over against C, and D is over against D, when the packages ① discharged by the confluence conveyor (300) fall on A, a photoelectric corresponding sensor C (446) corresponding to A senses the packages and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N (42) to be started, the rotating frame (41) rotates one station to enable A to be over against D, B to be over against the confluence conveyor (300), C to be over against B, and D to be over against C after receiving the signal, 2, C corresponding to A is controlled to be started, A and the packages ① on the A run synchronously, after the step of dividing is finished, B is connected to packages ②, and the packages ① on A are discharged to D;

b. when a parcel ② discharged by the confluence conveyor (300) falls on a parcel B, a photoelectric correlation sensor C (446) corresponding to the parcel B senses the parcel and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N (42) to be started, a rotating frame (41) to rotate by a station to enable the A to be over against C, the B to be over against D, the C to be over against the confluence conveyor (300) and the D to be over against B;

c. when a package ③ discharged by a confluence conveyor (300) falls on a container C, a photoelectric correlation sensor C (446) corresponding to the container C senses the package and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N (42) to be started, a rotating frame (41) to rotate by a station to enable the A to be over against D, the B to be over against C, the C to be over against D, and the D to be over against the confluence conveyor (300), 2, a driving motor Q (445) corresponding to the B to be started, and the B and a package ② on the B synchronously run;

d. when a package ④ discharged by a confluence conveyor (300) falls on a package D, a photoelectric correlation sensor C (446) corresponding to the package D senses the package and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N (42) to be started, a rotating frame (41) to rotate by a station to enable the A to be over against the confluence conveyor (300), the B to be over against B, the C to be over against C, and the D to be over against D;

e, when a parcel ⑤ discharged by the confluence conveyor (300) falls on the A, a photoelectric correlation sensor C (446) corresponding to the A senses the parcel and transmits an electric signal to the controller, and the controller immediately and simultaneously controls 1, a driving motor N (42) to start, a rotating frame (41) to rotate by a station, so that the A is just opposite to D, the D is just opposite to C, the C is just opposite to B, and the C and the B are just opposite to the confluence conveyor (300), 2, a driving motor Q (445) corresponding to the C are controlled to start, and the C and the parcel ③ on the C synchronously run;

f, when a package ⑥ discharged by the confluence conveyor (300) falls on a package B, a photoelectric correlation sensor C (446) corresponding to the package B transmits an electric signal to a controller after sensing the package, and the controller immediately and simultaneously controls 1, a driving motor N (42) to be started, a rotating frame (41) to rotate by a station, so that A is over against C, B is over against D, C is over against the confluence conveyor (300) and D is over against B, 2, a driving motor Q (445) corresponding to the A is controlled to be started, and the A and the package ⑤ on the A synchronously run;

g, when a package ⑦ discharged by the confluence conveyor (300) falls on a C, a photoelectric correlation sensor C (446) corresponding to the C senses the package and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N (42) to be started, a rotating frame (41) to rotate by a station, so that A is over against B, B is over against C, C is over against D, and D is over against the confluence conveyor (300), 2, a driving motor Q (445) corresponding to the C is controlled to be started, and the C and a package ⑦ on the C run synchronously;

h, when a package ⑧ discharged by the confluence conveyor (300) falls on a package D, a photoelectric correlation sensor C (446) corresponding to the package D transmits an electric signal to a controller after sensing the package, and the controller immediately and simultaneously controls 1, a driving motor N (42) to be started, a rotating frame (41) to rotate by a station to enable the A to be over against the confluence conveyor (300), the B to be over against B, the C to be over against C, and the D to be over against D;

when a package ⑨ discharged by a confluence conveyor (300) falls on A, a photoelectric correlation sensor C (446) corresponding to A senses the package and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N (42) to start and a rotating frame (41) to rotate a station to enable A to be opposite to D, B to be opposite to the confluence conveyor (300), C to be opposite to B and D to be opposite to C, 2, a driving motor Q (445) corresponding to D to start and D and a package ⑧ on the driving motor to synchronously run;

j. when a package ⑩ discharged by a confluence conveyor (300) falls on a package B, a photoelectric correlation sensor C (446) corresponding to the package B transmits an electric signal to a controller after sensing the package, and the controller immediately and simultaneously controls 1, a driving motor N (42) is controlled to be started, a rotating frame (41) rotates for one station, so that the A is over against C, the B is over against D, the C is over against the confluence conveyor, and the D is over against B;

k, when a package ⑪ discharged by the confluence conveyor (300) falls on the C, a photoelectric correlation sensor C (446) corresponding to the C senses the package and transmits an electric signal to the controller, and the controller immediately and simultaneously controls 1, a driving motor N (42) to be started, a rotating frame (41) to rotate by a station, so that A is over against B, B is over against C, C is over against D, and D is over against the confluence conveyor (300), 2, a driving motor Q (445) corresponding to the A is controlled to be started, and the A and the package ⑨ on the A synchronously run;

i, when packages ⑫ discharged by a confluence conveyor (300) fall on a device D, a photoelectric correlation sensor C (446) corresponding to the device D senses the packages and transmits an electric signal to a controller, and the controller immediately and simultaneously controls 1, a driving motor N (42) to be started, a rotating frame to rotate by a station to enable the device A to be over against the confluence conveyor (300), the device B to be over against B, the device C to be over against C, and the device D to be over against D;

m, when the next group of parcels ① discharged by the confluence conveyor (300) falls on A, repeating the steps from a to l for control, and repeating the steps in such a way to realize the orderly distribution of the parcels discharged by the confluence conveyor (300) to three;

s07, the parcels discharged from the rear diversion conveyor and entering the tower sorting device are sorted into the corresponding collecting box (54):

a. after being discharged from the rear diversion conveyor (500), the packages fall on the adjacent stop area of the transfer plane on the sorter (5) on the uppermost layer of the tower sorting device, the controller controls the rotary driving mechanism A (57) to act according to a pre-calculated sorting route of the packages, so that the package falling hole A (532) of the leakage plate (53) selectively faces an opening at the upper end of the collecting box (54) or a package falling hole B (522) of the bottom plate (52), then controls the rotary driving mechanism B (59) to act, the packages are shifted to the package falling hole A (532) of the leakage plate (53) through a shifting fork, and then the packages fall into the stop area of the upper transfer plane of the collecting box (54) of the sorter (5) on the current layer or the sorter (5) on the next layer through the package falling hole A (532) of the leakage plate (53);

b. after the packages reach the temporary stop area of the upper transfer plane of the new layer of sorters (5), the control process of the step a is repeated, so that the packages finally fall into the corresponding collection boxes (54) of the corresponding layer of sorters;

s08, the collection box (54) automatically closes the collection bag (55) meeting the closing standard: when the package in the collecting box (54) reaches the preset weight or height, the package overweight detector or the package ultrahigh detector immediately gives an alarm to the controller, the controller receives the alarm signal and then controls the two servo motors B (5451) to start simultaneously, the two servo motors B (5451) respectively drive the gear (5452) to move along the rack on the side wall of the gear accommodating cavity (54362), the two servo motors B (5451) respectively move in the motor sliding grooves (54361) of the inner arc-shaped side rod and the outer arc-shaped side rod, the electromagnet A (546) gradually approaches to the electromagnet B (547), when the electromagnet A (546) moves to the position closest to the electromagnet B (547), the servo motor B (5451) stops moving, and the opening at the upper end of the collecting bag (55) is closed;

s09, transferring the closed collection bag (55) to the object stage (62) through the goods taking mechanical arm (63):

a. after the upper end opening of the collecting bag (55) is closed, the controller controls the lifting driver (61) to act, and the object stage (62) is lifted to the height corresponding to the alarming collecting box (54);

b. the controller performs two controls simultaneously: 1. controlling a piston rod of a supporting hydraulic cylinder (6351) to extend, pushing a goods taking manipulator (63) upwards, and enabling a clamp plate body (634) to approach an iron sheet (553) of a collection bag (55); 2. controlling the right electromagnetic plate (6342) to be powered off, so that the closed splint body (634) is opened under the action of the torsion spring (6344), and the opened splint body (634) is opposite to the iron sheet (553) of the collection bag (55);

c. after the splint body (634) is opened for a plurality of seconds, the controller controls the right electromagnetic plate (6342) to be electrified to close the splint body (634), the iron sheet (553) of the collection bag (55) is adsorbed on the right electromagnetic plate (6342) while the splint body (634) is closed, and after the splint body (634) is closed, the iron sheet (553) of the collection bag (55) is clamped between the left iron plate (6341) and the right electromagnetic plate (6342) of the splint body (634);

d. after the iron sheet (553) of the collection bag (55) is clamped, the controller firstly controls the electromagnet A (546) and the electromagnet B (547) to be powered off, so that the collection bag (55) is disconnected from the collection box (54), and then controls the piston rod of the supporting hydraulic cylinder (6351) to further extend, so that the goods taking manipulator (63) further pushes upwards, thereby tightening the upper end opening of the collection bag (55), pulling out the collection bag from the package pulling outlet (548) of the collection box (54), and dropping on the object stage (62);

s10, automatically opening a collection bag (55) in the collection box (54) after the collection bag (55) in the collection box (54) is transferred out:

a. after detecting that the collection bag (55) is pulled away, a wrapping overweight detector of the collection box (54) transmits a signal to a controller, the controller receives the signal and controls two servo motors B (5451) to start, a crankshaft of the servo motor B (5451) rotates to drive a gear (5452) to move along a rack on the side wall of a gear accommodating cavity (54362), the two servo motors B (5451) respectively move in motor chutes (54361) of an inner arc-shaped side rod and an outer arc-shaped side rod, an electromagnet A (546) is gradually far away from the electromagnet B (547), and the electromagnet A (546) stops moving when moving to an initial position;

b. the controller controls the servo motor A (5442) to start again, the steel wire rope (5441) is put down, the lifting frame (543) slides downwards along the sliding groove (5421) of the upright post (542) through the idler wheel (5435), and after the steel wire rope (5441) is emptied, the lifting frame (543) slides to the height close to the box bottom plate (541);

c. the controller then controls the two electromagnets A (546) and the two electromagnets B (547) to be electrified, the electromagnets A (546) and the electromagnets B (547) respectively adsorb four lug plates (5512) of the uppermost layer of the collection bag (55) sleeved on the left inner boss (5411), the left outer boss (5412), the right inner boss (5413) and the right outer boss (5414) of the box bottom plate (541), and therefore the collection bag (55) is completely picked up;

d. the controller finally controls the servo motor A (5442) to start, the steel wire rope (5441) is withdrawn, the steel wire rope (5441) drives the lifting frame (543) to ascend, and the lifting frame (543) drives the newly picked collecting bag (55) to ascend and finally ascend to the initial position;

s11, the collection bag (55) on the stage (62) is transferred to the conveyor C (8) by the pusher (7):

a. after the parcel lands on the object stage (62), the controller performs three controls simultaneously: 1. controlling the right electromagnetic plate (6342) to be powered off, and loosening the iron sheet (553) of the collection bag (55); 2. controlling a piston rod of the supporting hydraulic cylinder (6351) to retract, so that the goods taking manipulator (63) falls to the lowest position; 3. controlling the lifting driver (61) to act to enable the objective table (62) to descend to the lowest position;

b. when the object stage (62) descends to the lowest position, the controller controls the piston rod of the electric hydraulic cylinder (71) to extend out, the collecting bag (55) on the object stage (62) is pushed up to the conveyor C (8) through the push plate (72), and after the action is finished, the piston rod of the electric hydraulic cylinder (71) retracts to wait for the next instruction.

2. The method of sorting parcels based on a vertical stack sorter as claimed in claim 1 wherein:

in step S01, the parcels are placed in a row on the conveyor a (11); the running speed of the conveyor A (11) is less than the rolling linear speed of the roller conveying device (13) and less than or equal to the running speed of the conveyor B (14);

in the step S03, the lengths and the running speeds of the two front shunting conveyors (100) are consistent, and the goods discharge ends of the two front shunting conveyors (100) discharge packages in a front-back alternating mode;

and in the step S06, when the number of missing packages is more than or equal to three, the controller controls the whole logistics sorting system to stop running and simultaneously triggers an external alarm to alarm so as to remind an operator to handle.