CN113291682A

CN113291682A - Sorting system and storage order processing system

Info

Publication number: CN113291682A
Application number: CN202110630843.XA
Authority: CN
Inventors: 刘旭; 宋国库
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-06-07
Filing date: 2021-06-07
Publication date: 2021-08-24

Abstract

The present disclosure relates to a sorting system and storage order processing system, wherein, the sorting system includes: comprising at least one sorting device comprising: a first transport component configured to transport an epicyclic container for containing articles; the mechanical arm is arranged on one side of the first conveying component along a first direction, and the first direction is consistent with the width direction of the first conveying component; and the first station is located the same side of the first conveying component with the mechanical arm, the first station comprises a sorting station area and a buffer station area which are arranged side by side along the second direction, the second direction is consistent with the length direction of the first conveying component, the sorting station area is configured to receive the turnover container conveyed by the first conveying component, so that the mechanical arm can take out articles from the turnover container to sort the articles, and the buffer station area is configured to receive the turnover container which finishes article sorting in the sorting station area.

Description

Sorting system and storage order processing system

Technical Field

The disclosure relates to the technical field of logistics storage, in particular to a sorting system and a storage order processing system.

Background

In the existing intensive storage system, a goods-to-person mode is mostly adopted for warehouse order processing, a container is conveyed to a manual sorting station by equipment from a goods shelf, goods are manually sorted into an order box, then the order box is conveyed to a rechecking station by utilizing conveying equipment to be sorted according to orders, and the goods of the same order are conveyed to a packing table to be packed.

In the related technology known by the inventor, cargo-to-person systems relate to various types of equipment, such as a shuttle vehicle, a lifting machine, a manual picking station and the like, in the existing system, the systems are connected together through a production line to carry out cooperative work, in different planning layouts, the production line needs a large number of arrangements, and phenomena of mutual crossing among the production lines, turning of the production line, inclined climbing of the production line and the like often occur. The problems of high laying cost, large occupied area, large working noise, large power loss, slow damage recovery and the like are brought along. Moreover, the picking link is also mostly carried out by manpower, the accuracy and efficiency are also influenced by long-time work of logistics, personnel fatigue, operation proficiency and the like, and the enterprise burden is also increased by gradually increasing the current labor cost.

Disclosure of Invention

The utility model provides a sorting system and storage order processing system can improve article letter sorting efficiency.

According to a first aspect of the present disclosure, there is provided a sorting system comprising:

a sorting system comprising at least one sorting apparatus, the sorting apparatus comprising:

a first transport component configured to transport an epicyclic container for containing articles;

the mechanical arm is arranged on one side of the first conveying component along a first direction, and the first direction is consistent with the width direction of the first conveying component; and

the first station is located the homonymy of first conveying part with the arm, and first station includes along the letter sorting station district and the buffer memory station district that the second direction set up side by side, and the second direction is unanimous with first conveying part's length direction, and letter sorting station district is configured to receive the turnover container that first conveying part conveys to get the article from the turnover container for the arm sorts, and buffer memory station district is configured to receive the turnover container of accomplishing article letter sorting in letter sorting station district.

In some embodiments, the sorting station area is provided with a first transfer member configured to move the turnaround container completing the sorting of the articles from the sorting station area to the buffer station area; the buffer station area is provided with a second transfer means configured to transfer empty turnaround containers from the buffer station area back to the first transport means.

In some embodiments, the sorting device comprises two sets of first stations, which are respectively disposed on both sides of the robot arm along the second direction.

In some embodiments, the sorting apparatus further comprises:

a mounting frame;

the shooting component is arranged on the mounting rack and is configured to shoot an article image in a turnover container of the sorting station area;

a second station configured to receive articles sorted by the robot arm; and

and the controller is configured to calculate the position of each article through the shot image, move the mechanical arm to the position of the article to take out the article, and sort the taken out article to the second station.

In some embodiments, the sorting apparatus further comprises a second station comprising:

at least part of the target station areas are provided with turnover containers; and

the guide rail is horizontally arranged among the target station areas;

and the transfer component is movably arranged along the guide rail so as to reach each target station area, and is rotatably arranged in a plane perpendicular to the guide rail so as to receive the articles sorted by the mechanical arm in an initial state and pour the articles into the turnover container when rotating to a preset inclined state.

In some embodiments, the plurality of target station areas are arranged in two rows, the guide rail is arranged between the two rows of target station areas, and the extension length of the guide rail covers the whole row of target station areas.

In some embodiments, the second station is located on a side of the robotic arm that is distal from the first transport member in the first direction.

In some embodiments, a plurality of sorting devices are included, a plurality of sorting systems are arranged side by side along the second direction, and the first conveying components of the plurality of sorting systems are connected in sequence.

According to a second aspect of the present disclosure, there is provided a stock order processing system including:

a stereoscopic library system configured to store items;

the sorting system of the above embodiment;

a distribution system configured to separate the items in the sorted divert container according to an order; and

and the automatic guide transport vehicle is configured to transfer the articles output from the three-dimensional library system to the sorting system for sorting and/or transfer the sorted articles to the distribution system.

In some embodiments, in the first direction, the three-dimensional warehouse system and the distribution system are respectively arranged at two sides of the sorting system, a first transfer area for automatically guiding the operation of the transport vehicle is formed between the three-dimensional warehouse system and the sorting system, and a second transfer area for automatically guiding the operation of the transport vehicle is formed between the distribution system and the sorting system.

In some embodiments, the allocation system comprises:

a second conveying member configured to convey a turnaround container containing sorted articles;

allocating a transport vehicle;

the packaging device is configured to receive the articles in the turnover container conveyed by the second conveying component and place the articles on the distribution transport vehicle; and

a plurality of storage compartments configured to store items in order;

wherein the allocation transport vehicle is configured to place the items in the corresponding storage compartments according to the order.

The letter sorting system of this disclosed embodiment can move to letter sorting station district when turnover container transmits to letter sorting station district to the article of getting out from the turnover container of confession arm sorts, article in the turnover container are whole to be taken out the back, empty turnover container need not directly to return to first conveying component, but moves to buffer memory station district earlier, next turnover container on the first conveying component can enter into letter sorting station district at any time like this, latency has been saved, can make the letter sorting flow more smooth and easy, the efficiency of article letter sorting is improved.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a block diagram of some embodiments of the warehouse order processing system of the present disclosure.

Fig. 2 is a schematic structural diagram of some embodiments of a stereoscopic library system in the warehouse order processing system of the present disclosure.

Fig. 3 is a schematic diagram of some embodiments of an automated guided vehicle in a warehousing order processing system according to the present disclosure.

FIG. 4 is a block diagram of some embodiments of a picking system in the warehouse order processing system of the present disclosure.

Fig. 5 and 6 are schematic views of a transfer member in a picking system in an initial state and a preset inclination state, respectively.

Fig. 7 is a block diagram of some embodiments of a sortation system in a warehouse order processing system according to the present disclosure.

Description of the reference numerals

10. A sorting system; 10', a sorting device; 20. a stereoscopic garage system; 30. automatically guiding the transport vehicle; 40. a distribution system; 50. a first transfer zone; 60. a second transport region; 70. a transfer container;

11. a first conveying member; 12. a first station; 121. a sorting station area; 122. a cache station area; 13. a second station; 131. a target station area; 132. a guide rail; 133. a transfer member; 14. a mechanical arm; 15. a mounting frame; 151. a cross bar; 152. a vertical rod; 16. a photographing part;

21. a shelf; 22. a shuttle vehicle; 23. a cache line; 24. a hoist;

41. a second conveying member; 42. a packaging device; 43. allocating a transport vehicle; 44. a storage cell; 45. an operator;

x, a first direction; y, a second direction; z, third direction.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without any inventive step, are intended to be within the scope of the present disclosure.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In the description of the present disclosure, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are presented only for the convenience of describing and simplifying the disclosure, and in the absence of a contrary indication, these directional terms are not intended to indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be taken as limiting the scope of the disclosure; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

In the description of the present disclosure, it should be understood that the terms "first", "second", etc. are used to define the components, and are used only for convenience of distinguishing the corresponding components, and if not otherwise stated, the terms have no special meaning, and thus, should not be construed as limiting the scope of the present disclosure.

As shown in fig. 1-7, the present disclosure provides a sorting system 10 for sorting articles in a warehouse logistics system, including in some embodiments: at least one sorting device 10 ', as shown in fig. 4, the sorting device 10' comprises: a first conveying part 11, a mechanical arm 14 and a first station 12.

The first conveying member 11 is configured to convey an epicyclic container 70 for accommodating articles, the first conveying member 11 may be a belt conveyor, a drum conveyor or the like, the epicyclic container 70 may be an epicyclic box, or a container such as a box, a cylinder, a tray or the like, and the articles may be goods or the like.

The robot arm 14 is provided on one side of the first conveyance member 11 in the first direction x, which coincides with the width direction of the first conveyance member 11. The robot arm 14 has an execution end such as a gripper or a jig, and has multiple degrees of freedom to flexibly pick and place an article. Alternatively, the robot arm 14 may have a degree of freedom of rotation in a full circle in a horizontal plane to take and place articles in a wider range, and also to facilitate layout of the first and

second stations

12 and 13 mentioned later.

The first station 12 is located on the same side of the first transport element 11 as the robot arm 14, facilitating the removal of the articles from the first station 12 by the robot arm 14. The first station 12 includes a sorting station area 121 and a buffer station area 122, which are arranged side by side along a second direction y, the second direction y is consistent with the length direction of the first conveying component 11, the sorting station area 121 is configured to receive the turnover container 70 conveyed by the first conveying component 11 for the mechanical arm 14 to take out the articles from the turnover container 70 for sorting, and the buffer station area 122 is configured to receive the turnover container 70 which completes the article sorting in the sorting station area 121.

This embodiment can move to letter sorting station district 121 when turnover container 70 transmits to letter sorting station district 121 to the article that gets out from turnover container 70 for arm 14 sorts, article in turnover container 70 are all taken out the back, empty turnover container 70 need not directly to return to first conveying component 11, but move earlier to buffer station district 122, next turnover container 70 on first conveying component 11 can enter into letter sorting station district 121 at any time like this, the latency has been saved, can shorten turnover container 70's change cycle, make the letter sorting flow more smooth and easy, the efficiency of article letter sorting is improved.

In some embodiments, the sorting station area 121 is provided with a first transfer member configured to move the transfer container 70, which has completed sorting the articles, from the sorting station area 121 to the buffer station area 122; the buffer station area 122 is provided with a second transfer means configured to transfer the empty turnaround container 70 from the buffer station area 122 back to the first transport means 11. The first transport means 11 may be provided with a third transfer means configured to move the revolving container 70 to the sorting station area 121 or the buffer station area 122.

This embodiment enables the empty turnaround container 70 to be further returned to the first conveying means 11 after being moved to the buffer station area 122 to achieve automatic recycling of the empty turnaround container 70, thereby improving sorting efficiency.

In some embodiments, as shown in fig. 4, the sorter apparatus 10' includes two sets of first stations 12, the two sets of first stations 12 being disposed on either side of the robotic arm 14 along the second direction y.

This embodiment enables the transfer container 70 of the articles to be sorted to be selectively moved to any one of the first stations 12 to be sorted, which reduces the waiting time when there are a large number of articles to be sorted, thereby improving the sorting efficiency.

In some embodiments, the sorting apparatus 10' further comprises: mounting 15, camera component 16, second station 13 and controller. The image capturing device 16 is disposed on the mounting frame 15 and configured to capture an image of the articles in the circulation container 70 of the sorting station area 121, and the image capturing device 16 may be a camera or the like, for example. The second station 13 is configured to receive articles sorted by the robot arm 14. The controller is configured to calculate the position of each article from the captured images and to move the robotic arm 14 to the position of the article to remove the article and sort the removed article to the second station 13.

This embodiment enables the robot arm 14 to move to the position of the article according to the planned path by acquiring the image of the article in the circulation container 70 through the photographing part 16, so as to accurately take out the article for sorting, thereby realizing the automatic sorting of the article.

In some embodiments, as shown in fig. 4, the sorting apparatus 10' further comprises a second station 13, the second station 13 comprising: a plurality of target station areas 131, a guide rail 132, and a transfer unit 133. Wherein, all place turnover container 70 on at least some target station district 131, guide rail 132 level is established between a plurality of target station districts 131. The transfer member 133 is movably disposed along the guide rail 132 to reach each of the target station areas 131, and the transfer member 133 is rotatably disposed in a plane perpendicular to the guide rail 132 to receive the articles sorted by the robot arm 14 in an initial state and to discharge the articles into the turnover container 70 when rotated to a preset inclination state. For example, the transfer member 133 may be a container such as a dump box for facilitating dumping.

This embodiment enables the controller to move the transfer unit 133 along the guide rail 132 to an area near the robot arm 14 and to place the transfer unit 133 in an initial state so that the robot arm 14 places the sorted articles, refer to fig. 5; and after the article is put into the transfer member 133, the transfer member 133 is moved to the target station area 131 where the article is to be placed, and the transfer member 133 is rotated to a preset inclination state so as to pour the article into the turn-around container 70 of the target station area 131, referring to fig. 6. Therefore, the automatic sorting of the articles can be realized, since the mechanical arm 14 can only place the articles in the surrounding area after sorting, more target station areas 131 can be arranged through the movement of the transfer component 133, more article sorting types are allowed to be arranged, and the sorting efficiency can also be improved.

In some embodiments, the plurality of target station areas 131 are arranged in two rows, the guide rail 132 is arranged between the two rows of target station areas 131, and the extending length of the guide rail 132 covers the whole row of target station areas 131. The arrangement mode can not only enable the transfer component 133 to conveniently reach any target station area 131, simplify the control of the motion path of the transfer component 133, but also shorten the motion path and improve the sorting speed of the articles.

As shown in fig. 4, the second station 13 is provided on a side of the robot arm 14 away from the first conveying member 11 in the first direction x. The first station 12, the second station 13 and the mechanical arm 14 are arranged on the same side of the first conveying part 11, so that the mechanical arm 14 can perform sorting operation more conveniently, and the movement range of the mechanical arm 14 can be reduced. The first stations 12 may be disposed on two sides of the mechanical arm 14 along the second direction y, the second station 13 may be disposed between the two first stations 12 and located on one side of the mechanical arm 14 away from the first conveying component 11, and the mechanical arm 14 is located in an area enclosed by the first conveying component 11, the two first stations 12, and the second station 13.

Alternatively, the plurality of target station areas 131, the sorting station area 121, and the buffer station area 122 may be provided in the form of conveyors so as to adjust the position of the revolving container 70, and the working surfaces of the sorting station area 121 and the buffer station area 122 may be flush with the working surface of the first conveying member 11 in a third direction z perpendicular to the first direction x and the second direction y, which is the height direction, so as to move the revolving container 70 relative to each other.

As shown in fig. 4, the mounting frame 15 includes a cross rod 151 and two vertical rods 152, the respective top ends of the two vertical rods 152 are respectively connected to the two ends of the cross rod 151, the respective bottom ends of the two vertical rods 152 are fixed on the ground or the platform, the two vertical rods 152 are respectively located at the outer sides of the two sets of first stations 12 along the second direction y to form a door frame structure, and the two shooting components 16 can be arranged on the cross rod 151 and are opposite to the two sorting station areas 121.

As shown in fig. 1, the sorting system 10 includes a plurality of sorting devices 10', the plurality of sorting systems 10 are arranged side by side in the second direction y, and the first conveying members 11 of the plurality of sorting systems 10 are sequentially connected.

The plurality of sorting devices 10' provided in the embodiment can simultaneously perform sorting operations when the tasks to be sorted are heavy, and can improve the sorting efficiency.

Second, as shown in fig. 1, the present disclosure provides a warehouse order processing system, in some embodiments, comprising: a stereoscopic library system 20, the sorting system 10 of the above embodiment, a distribution system 40 and an automated guided vehicle 30. Wherein the stereoscopic warehouse system 20 is a multi-story warehouse configured to store items, and the distribution system 40 is configured to separate the items in the sorted turnaround containers 70 according to orders; automated guided vehicles 30, or AGVs for short, may be provided with one or more of the above-described configurations for transferring articles output from the stereoscopic library system 20 to the sortation system 10 for sorting and/or transferring sorted articles to the sortation system 40.

This embodiment can realize automatic sorting and improve sorting efficiency by adopting the sorting system 10 of the present disclosure. Moreover, the automatic guide transport vehicle 30 is adopted to replace a distribution conveying line, a plurality of subsystems are fused together, arrangement and laying of a production line are greatly reduced, the order processing process is more flexible, the automatic order processing system integrating the links of warehousing and delivery, sorting and distribution is realized, labor cost is reduced, and efficiency is improved.

As shown in fig. 1, in the first direction x, the three-dimensional warehouse system 20 and the distribution system 40 are respectively disposed at two sides of the sorting system 10, a first transfer area 50 for automatically guiding the transportation cart 30 to operate is formed between the three-dimensional warehouse system 20 and the sorting system 10, and a second transfer area 60 for automatically guiding the transportation cart 30 to operate is formed between the distribution system 40 and the sorting system 10. The first transfer area 50 and the second transfer area 60 may be provided with two independent sets of automated guided vehicles 30 for easy path planning, or the automated guided vehicles 30 of the two areas may be shared to improve scheduling flexibility. The second station 13 may be positioned toward the distribution system 40 to facilitate shortest path transport of the sorted articles to the distribution system 40. The automated guided vehicle 30 is used for picking, transferring and handling of articles, and its movement path can be planned by the controller.

The embodiment can improve the sorting efficiency by reasonably arranging all the subsystems.

As shown in FIG. 2, a volumetric library system 20 for storing items may include: a multi-level rack 21, a shuttle 22, a cache line 23, and a hoist 24. The shuttle 22 may be provided one per level of racks 21 or one shuttle 22 may correspond to a level of racks 21 and the shuttle elevator is set up to perform the change-over operation accordingly. Since the elevator 24 is provided with only one platform, the buffer line 23 is provided, the shuttle 22 can perform the next task after placing the article on the buffer line 23, and the article on the buffer line 23 is conveyed to the position of the elevator 24, as shown in fig. 3, and the article can be moved to the automatic guided vehicle 30 by the elevator 24 cooperating with the conveying component in the automatic guided vehicle 30.

As shown in fig. 7, the allocation system 40 includes: a second conveying member 41, a bagging apparatus 42, a distribution truck 43, and a plurality of storage compartments 44.

Wherein the second conveying component 41 is configured to convey the turnaround container 70 containing the sorted articles, the second conveying component 41 may be arranged along the second direction y, the packing apparatus 42 is arranged at one side of the second conveying component 41, and is configured to receive the articles in the turnaround container 70 conveyed by the second conveying component 41 and place the articles on the distribution transport vehicle 43, for example, the articles in the turnaround container 70 on the second conveying component 41 may be taken to the packing apparatus 42 by the operator 45, and the distribution transport vehicle 43 is configured to place the articles in the corresponding storage compartments 44 according to the order. The plurality of storage compartments 44 are configured to store items in order for subsequent delivery to a packing station for review of packing.

For example, each storage compartment 44 may have an item of an order placed therein, or a plurality of storage compartments 44 may have an item of an order placed therein. The plurality of storage compartments 44 may be provided in a multi-layer form and disposed opposite to the second conveying member 41, and the wrapping apparatus 42 is disposed between the plurality of storage compartments 44 and the second conveying member 41.

The operation of the warehouse order processing system of the present disclosure will be described with reference to fig. 1 to 7.

After the system issues the order to the warehouse system, the stereoscopic warehouse system 20 finds the specific position of the required goods in the shelf 21 according to the issued order, and then the corresponding shuttle 22 moves the turnover container 70 with the corresponding goods from the shelf 21 to the cache line 23 of the corresponding layer and transports the turnover container to the bottommost layer by the elevator 24.

As shown in fig. 2 and 3, at this time, the warehouse level system sends a command to the automated guided vehicle 30 to move the automated guided vehicle 30 to a position corresponding to the elevator 24, and abuts against the elevator, and transfers the turnover container 70 on which the desired product is placed to the automated guided vehicle 30 by the elevator and the roller of the automated guided vehicle 30.

As shown in fig. 4, the automated guided vehicle 30 moves after the scheduled planned path of the system according to the specified path to the corresponding sorting device 10' in the sorting system 10, and the transfer container 70 is transferred to the first transport element 11 by the rollers on the automated guided vehicle 30 and on the first transport element 11. When reaching the position of the sorting station area 121 allocated in advance, the transfer container 70 reaches the sorting station area 121 by the third transfer means, the robot arm 14 takes out the article based on the image of the article in the transfer container 70 picked up by the image pickup means 16, and the article is placed in the transfer unit 133 by the movement of the robot arm 14, as shown in fig. 5, at this time, the transfer unit 133 is in a position close to the robot arm 14 and in an initial position state, then, the transfer member 133 is moved along the guide rail 132 to the target station area 131 allocated in advance, as shown in fig. 6, and the transfer member 133 is rotated to a preset inclination state, the commodities are poured into the turnover container 70, and the articles in an aggregation list are placed in the same turnover container 70, wherein the aggregation list is an aggregation list form which is used for arranging the articles in the warehousing system for aggregation scheduling, so that the condition that the articles are too many and are set by a user is avoided.

As shown in fig. 7, after all the collection sheets in the corresponding transfer container 70 are picked, the transport vehicle 30 is automatically guided to interface with the distribution system 40, and the transfer container 70 with the collection sheet items placed therein is transferred to the second conveying member 41. When the transfer container 70 is about to reach the packing device 42, the operation is stopped, the operator 45 takes the articles out of the transfer container 70, places the articles on the packing device 42 after the articles are checked, and distributes the articles of different orders to the corresponding storage grids 44 by the butt joint of the packing device 42 and the distribution transport vehicle 43.

The Controller described in this disclosure may be a general purpose Processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable Logic device, discrete Gate or transistor Logic, discrete hardware components, or any suitable combination thereof for performing the functions described in this disclosure.

The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A sorting system (10), characterized in that it comprises at least one sorting device (10 '), said sorting device (10') comprising:

a first transport component (11) configured to transport an epicyclic container (70) for containing articles;

a robot arm (14) provided on one side of the first conveyance member (11) in a first direction (x) that coincides with a width direction of the first conveyance member (11); and

a first station (12) located on the same side of the first conveying member (11) as the mechanical arm (14), the first station (12) comprising a sorting station area (121) and a buffer station area (122) arranged side by side along a second direction (y), the second direction (y) coinciding with the length direction of the first conveying member (11), the sorting station area (121) being configured to receive the transfer containers (70) transferred by the first conveying member (11) for the mechanical arm (14) to take out the articles from the transfer containers (70) for sorting, the buffer station area (122) being configured to receive the transfer containers (70) for which the sorting of the articles is completed in the sorting station area (121).

2. Sorting system (10) according to claim 1, characterised in that the sorting station (121) is provided with first transfer means configured to move the turnaround container (70) that has finished sorting the articles from the sorting station (121) to the buffer station (122); the buffer station area (122) is provided with second transfer means configured to transfer the empty transfer container (70) from the buffer station area (122) back to the first transport means (11).

3. Sorting system (10) according to claim 1, characterised in that said sorting means (10') comprise two sets of said first stations (12), two sets of said first stations (12) being respectively provided on either side of said robot arm (14) along said second direction (y).

4. Sorting system (10) according to claim 1, characterised in that the sorting device (10') further comprises:

a mounting frame (15);

a photographing part (16) provided on the mounting frame (15) and configured to photograph an image of an article in the turnaround container (70) of the sorting station area (121);

a second station (13), the second station (13) being configured to receive items sorted by the robotic arm (14); and

and the controller is configured to calculate the position of each article through the shot image, move the mechanical arm (14) to the position of the article to take out the article, and sort the taken out article to the second station (13).

5. Sorting system (10) according to claim 1, characterised in that said sorting device (10') further comprises a second station (13), said second station (13) comprising:

a plurality of target station areas (131), wherein at least part of the target station areas (131) are provided with the turnover containers (70); and

a guide rail (132) horizontally provided between the plurality of target station areas (131);

a transfer part (133) movably disposed along the guide rail (132) to reach each of the target station areas (131), and the transfer part (133) is rotatably disposed in a plane perpendicular to the guide rail (132) to receive the sorted articles of the robot arm (14) in an initial state and to discharge the articles into the turnover container (70) when rotated to a preset inclined state.

6. Sorting system (10) according to claim 5, characterised in that the target station areas (131) are arranged in two rows, that the guide rails (132) are arranged between the two rows of target station areas (131), and that the extension of the guide rails (132) covers the entire row of target station areas (131).

7. Sorting system (10) according to claim 5, characterised in that the second station (13) is provided on the side of the robot arm (14) facing away from the first transport element (11) in the first direction (x).

8. Sorting system (10) according to claim 1, characterised in that it comprises a plurality of said sorting devices (10'), a plurality of said sorting systems (10) being arranged side by side along said second direction (y), and said first conveying members (11) of a plurality of said sorting systems (10) being connected in sequence.

9. A warehouse order processing system, comprising:

a stereoscopic library system (20) configured to store items;

the sorting system (10) of any of claims 1 to 8;

a distribution system (40) configured to separate the sorted items in the turnaround container (70) according to an order; and

an automated guided vehicle (30) configured to transfer articles output from the stereoscopic garage system (20) to the sorting system (10) for sorting and/or to transfer sorted articles to the sorting system (40).

10. The warehouse order processing system according to claim 9, wherein the three-dimensional warehouse system (20) and the distribution system (40) are respectively arranged on two sides of the sorting system (10) in the first direction (x), a first transfer area (50) for the operation of the automatic guided vehicle (30) is formed between the three-dimensional warehouse system (20) and the sorting system (10), and a second transfer area (60) for the operation of the automatic guided vehicle (30) is formed between the distribution system (40) and the sorting system (10).

11. Warehouse order processing system according to claim 9, characterized in that the allocation system (40) comprises:

a second conveying member (41) configured to convey the turnaround container (70) containing sorted articles;

a distribution transport vehicle (43);

a wrapping device (42) configured to receive the articles in the turnaround container (70) conveyed by the second conveyor component (41) and to place the articles on the distribution conveyor (43); and

a plurality of storage compartments (44) configured to store items in order;

wherein the allocation conveyor (43) is configured to place items in the corresponding storage compartments (44) according to an order.