CN115213117A

CN115213117A - Sorting machine and sorting system based on sorting machine

Info

Publication number: CN115213117A
Application number: CN202110411239.8A
Authority: CN
Inventors: 张威; 叶铭
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-04-16
Filing date: 2021-04-16
Publication date: 2022-10-21

Abstract

The application provides a sorting machine, sorting machine includes the base, connects the pivot, swivel work head, drive arrangement and container fixing device, wherein the base with swivel work head passes through connect the pivot and connect, swivel work head installation two at least container fixing device, container fixing device is used for fixed article collection container, article collection container is used for receiving the article that sorting robot put in, drive arrangement with it connects to connect the pivot, is used for the drive it is rotatory to connect the pivot, it drives to connect the pivot swivel work head is rotatory, so that on the swivel work head target container fixing device among two at least container fixing device is rotatory to facing the position of putting in that sorting robot reachd.

Description

Sorting machine and sorting system based on sorting machine

Technical Field

The specification relates to the technical field of warehouse logistics, in particular to a sorting machine and a sorting system based on the sorting machine.

Background

With the increasing demand of users for logistics services, logistics sorting becomes a main service processing node of upstream services before shipment. The logistics picking means that the goods to be picked are distributed through manual box separation operation, namely after the order picking is completed, manual box removal and box rearrangement operations are performed manually, so that the goods are distributed and boxed orderly, and the problems that goods are difficult to find and inventory are difficult in downstream business can be avoided. In the prior art, a full-manual sorting mode and an automatic secondary sorting mode are generally adopted when the goods are sorted. The full-manual picking mode not only increases the cost due to the fact that a large amount of labor consumption is involved, but also seriously affects the operation efficiency, and therefore the overall picking treatment efficiency is low. The automatic secondary sorting mode is to transport the articles to a target container by means of automatic docking of a conveying line and a sorting robot after a manual sorting task is created, but because the conveying line occupies a large area and the equipment is relatively rigid and difficult to expand, a great limitation is also generated to the sorting process, and therefore an effective scheme is urgently needed to solve the problems.

Disclosure of Invention

In view of this, the present application provides a sorting machine and a sorting system based on the sorting machine to solve the technical defects existing in the prior art.

According to a first aspect of the embodiments of the present specification, there is provided a sorting machine, the sorting machine includes a base, a connecting rotating shaft, a rotating table, a driving device and container fixing devices, wherein the base and the rotating table are connected through the connecting rotating shaft, the rotating table is provided with at least two container fixing devices, the container fixing devices are used for fixing an article collecting container, the article collecting container is used for receiving articles thrown by a sorting robot, the driving device is connected with the connecting rotating shaft and is used for driving the connecting rotating shaft to rotate, and the connecting rotating shaft drives the rotating table to rotate, so that a target container fixing device of the at least two container fixing devices on the rotating table rotates to a throwing position facing the sorting robot.

Optionally, the emergency stop device is fixed on the upper surface of the base and used for controlling the rotary workbench to change the working state.

Optionally, a label is affixed to each container holder, and the label is used to mark the container holder.

Optionally, the tag is a barcode, a two-dimensional code or an RFID tag.

Optionally, the device further comprises a container detection device and a display device, wherein the container detection device is arranged on each container fixing device, and the display device is arranged on the rotary workbench;

the container detection device is used for detecting whether the article collecting container exists in the container fixing device;

the display device is used for displaying the information of the container fixing device where the article collecting container is not placed and/or displaying the information of the container fixing device which finishes the sorting task.

Optionally, the rotary table is in a regular polygon structure.

Optionally, each of the at least two container holders is distributed on an upper surface of the rotary table centering on a center point of the rotary table.

Optionally, the base is of circular configuration.

Optionally, the driving device is provided with a transmission case, an output end of the transmission case is connected with the connecting rotating shaft, a lower end of the connecting rotating shaft is located at the center of the base, and an upper end of the connecting rotating shaft is connected with the center box of the rotary workbench.

Optionally, the emergency stop device is a button.

According to a second aspect of embodiments of the present application, there is provided a sorting system based on a sorting machine, the system comprising a sorting machine, a control system and a sorting robot, the control system being in communication with the sorting machine and the sorting robot, respectively; wherein,

the control system configured to receive an item sorting request; determining a target item to be sorted according to the item sorting request, and allocating a target item collecting container for collecting the target item and a target container fixing device for fixing the target item collecting container to the target item; distributing a sorting task corresponding to the target object for the target object collecting container and the target container fixing device; creating a sorting path according to the sorting task, and issuing the sorting path to the sorting robot; and controlling the sorting machine to rotate the target container fixing device to a throwing position facing the sorting robot according to the sorting task;

the sorting robot is configured to move to an article supply position according to the sorting path to acquire the target article, convey the target article to the drop position, and drop the target article to the target article collection container.

Optionally, the target items are items having the same attributes or packages having the same destination.

Optionally, the control system is further configured to control the display device to display information of the container fixing device in which the non-article-collecting container is placed, in a case where the container detection device detects that the non-article-collecting container is not placed in the container fixing device in which the container detection device is located.

Optionally, the control system is further configured to, in a case where the container detection device detects that the article collection container is placed in the container fixing device in which the container detection device is located, control the display device to display information of the container fixing device in which the article collection container in the full state is located if it is detected that the article collection container is in the full state.

Optionally, the control system is further configured to determine a current position of the target container fixing device if the capacity of the target object collection container is detected to be in a less-than-full state; and calculating a rotation angle according to the throwing position and the current position of the target container fixing device, and controlling the sorting machine to rotate the rotating workbench according to the rotation angle so as to rotate the target container fixing device to face the throwing position.

Optionally, the control system is further configured to receive scanning information obtained by scanning a label on the target container fixture and the target item collection container; and establishing a binding relationship between the target container fixing device and the target article collecting container according to the scanning information.

Optionally, the control system is further configured to detect whether the article collecting container is full according to the number of times the sorting robot releases the articles to the article collecting container.

Optionally, the control system is further configured to issue a drop instruction to the sorting robot after the target container fixing device is rotated to face the drop position;

the sorting robot is further configured to drop the target object into the target object collection container fixed in the target container fixing device according to the drop instruction.

Optionally, the sorting robot is further configured to scan a label on a current container fixture of the drop location before dropping the target item; and if the current container fixing device is the target container fixing device, throwing the target object into the target object collecting container fixed in the target container fixing device.

Optionally, the sorting robot is further configured to scan a label on a current container fixture of the face-to-face drop location before dropping the target item, and upload a scan result to the control system;

the control system is further configured to issue a release instruction to the sorting robot when it is determined that the current container fixing device is the target container fixing device according to the scanning result.

Optionally, the control system is further configured to determine an unloading position and calculate a rotation angle according to the unloading position and a current position of the target container fixing device; controlling the sorting machine to rotate the target container holding device storing the target item to face the unloading position where the target item collection container is unloaded from the target container holding device or the target item is unloaded from the target item collection container, based on the rotation angle.

Optionally, the control system is further configured to control the sorting machine to switch the operating state from the operating state to the stop state if the sorting machine is in the operating state and a signal triggered by the emergency stop device is received; or if the sorting machine is in a stop state, controlling the sorting machine to switch the working state from the stop state to the running state under the condition of receiving a signal triggered by the emergency stop device.

According to a third aspect of embodiments herein, there is provided a sorting method based on a sorting machine, the method being performed jointly by the sorting machine, a control system and a sorting robot; wherein,

the control system receiving an item sort request; determining a target item to be sorted according to the item sorting request, and allocating a target item collecting container for collecting the target item and a target container fixing device for fixing the target item collecting container to the target item; distributing a sorting task corresponding to the target object for the target object collection container and the target container fixing device; creating a sorting path according to the sorting task, and issuing the sorting path to the sorting robot;

the sorting robot moves to an article supply position according to the sorting path to obtain the target article and conveys the target article to the release position;

the control system controls the sorting machine to rotate the target container fixing device to a throwing position facing the arrival of the sorting robot according to the sorting task, and sends a delivery instruction to the sorting robot;

the sorting robot drops the target item into the target item collection container according to the delivery instruction.

The application provides a sorting machine, which comprises a base, a connecting rotating shaft, a rotating workbench, a driving device and container fixing devices, wherein the base is connected with the rotating workbench through the connecting rotating shaft, the rotating workbench is provided with at least two container fixing devices, the container fixing devices are used for fixing article collecting containers, the article collecting containers are used for receiving articles thrown by a sorting robot, the driving device is connected with the connecting rotating shaft and is used for driving the connecting rotating shaft to rotate, and the connecting rotating shaft drives the rotating workbench to rotate so that target container fixing devices in the at least two container fixing devices on the rotating workbench rotate to a throwing position facing the arrival of the sorting robot; through the sorting machine not only can reduce the cost of labor, can also reach the purpose of once throwing the line and sorting twice, not only improve letter sorting efficiency, still improve the flexibility of letter sorting article, can effectually save the operation area that the letter sorting in-process used simultaneously through above-mentioned structure to the realization is in the maximize completion letter sorting task in fixed space, thereby promotes the treatment effeciency of letter sorting upstream and downstream business.

Drawings

Fig. 1 is a schematic structural diagram of a first sorting machine provided in an embodiment of the present specification;

fig. 2 is a schematic structural diagram of a second sorting machine provided in an embodiment of the present specification;

fig. 3 is a schematic structural diagram of a third sorting machine provided in an embodiment of the present specification;

FIG. 4 is a schematic diagram of a sorter-based sorting system provided in one embodiment of the present description;

fig. 5 is a schematic diagram of a sorting machine-based sorting system applied to a sorting scenario according to an embodiment of the present disclosure;

fig. 6 is a flowchart of a sorting method based on a sorting machine according to an embodiment of the present disclosure.

Reference numerals

100-sorting machine, 101-base, 102-connecting rotating shaft, 103-rotating table, 104-driving device, 105-container fixing device, 106-article collecting container, 107-emergency stop device, 108-container detecting device, 109-display device, 110-label, 410-control system, 420-sorting robot.

Detailed Description

The following description of specific embodiments of the present application refers to the accompanying drawings.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.

The terminology used in the one or more embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the present application. As used in one or more embodiments of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present application refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It will be understood that, although the terms first, second, etc. may be used herein in one or more embodiments of the present application to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first aspect may be termed a second aspect, and, similarly, a second aspect may be termed a first aspect, without departing from the scope of one or more embodiments of the present application. The word "if," as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination," depending on the context.

In the present application, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.

In the present application, "first", "second", and the like are used only for distinguishing one from another, and do not indicate importance, order, and the premise that each other exists.

In this application, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include errors that may be understood by those skilled in the art and allowed for manufacturing or use, etc.

Unless otherwise indicated, the numerical ranges in this application include not only the entire range within its two endpoints, but also several sub-ranges contained therein.

In practical application, the shop orders in the shoe and clothing industry usually relate to multiple materials, the styles of the materials are multiple, and different models exist under each style, so that when the order picking operation is carried out, the order internal sorting and picking are difficult to achieve, and in the moving process of a robot, complete intelligence is difficult to achieve, so that in the goods picking process of a person, the ordered picking of different types and commodities with the same style and stored in the same bin is difficult to achieve in the picking stage, and the problem that the shop at the tail end of a supply chain is difficult to find the goods and count the goods is obvious without performing box sorting operation. Therefore, after the picking process, it is very necessary to add a sorting action to sort different types of commodities of the same style into the same bin.

The existing logistics field picking process is mostly operated through manual box separation, after orders are picked and finished, manual box disassembly and box reassembly actions are carried out manually, but manual operation can increase operation links of a distribution logistics center, and the operation efficiency is low, so that the overall efficiency in a warehouse is low. In addition, there is also an operation of performing secondary sorting using an automated apparatus. The method comprises the steps that materials to be sorted are manually scanned and then are thrown to a sorting robot, or the materials are firstly thrown to two lines, then the materials are thrown to the sorting robot in an automatic butt joint mode of a conveying line and the sorting robot, the sorting robot obtains a target goods collection container of the materials according to information of the loaded materials, then the materials move according to a preset advancing path, the robot reaches the specified goods collection container, a machine body decelerates, after the materials stop, a delivery mechanism above the robot starts sorting action, namely, the materials on the delivery mechanism are automatically thrown into the specified goods collection container, and the sorting task of the materials is completed. The scheme of using automatic sorting equipment to carry out secondary sorting has high cost and large occupied area, and the equipment is rigid and difficult to expand. Therefore, a box separation device which is flexible, small in occupied area and low in cost is needed.

In view of the above, the present application provides a sorting machine, which includes a base, a connecting rotating shaft, a rotating table, a driving device and a container fixing device, wherein the base and the rotating table are connected through the connecting rotating shaft, the rotating table is provided with at least two container fixing devices, the container fixing devices are used for fixing an article collecting container, the article collecting container is used for receiving articles thrown by a sorting robot, the driving device is connected with the connecting rotating shaft and is used for driving the connecting rotating shaft to rotate, and the connecting rotating shaft drives the rotating table to rotate, so that a target container fixing device of the at least two container fixing devices on the rotating table rotates to a throwing position facing the arrival of the sorting robot; through the sorting machine not only can reduce the cost of labor, can also reach the purpose of once throwing the line and sorting twice, not only improve letter sorting efficiency, still improve the flexibility of letter sorting article, can effectually save the operation area that the letter sorting in-process used simultaneously through above-mentioned structure to the realization is in the maximize completion letter sorting task in fixed space, thereby promotes the treatment effeciency of letter sorting upstream and downstream business.

Referring to fig. 1, fig. 1 shows a schematic structural diagram of a first sorting machine provided in an embodiment of the present application, the sorting machine 100 includes a base 101, a connecting shaft 102, a rotating table 103, a driving device 104 and a container fixing device 105, wherein the base 101 and the rotating table 103 are connected through the connecting shaft 102, the rotating table 103 mounts at least two container fixing devices 105, the container fixing devices 105 are used for fixing an article collecting container 106, the article collecting container 106 is used for receiving an article thrown by a sorting robot, the driving device 104 is connected with the connecting shaft 102 and is used for driving the connecting shaft 102 to rotate, and the connecting shaft drives the rotating table 103 to rotate so that a target container fixing device 1051 of the at least two container fixing devices 105 on the rotating table 103 rotates to a throwing position facing the sorting robot.

In specific implementation, when a sorting operation is performed, the sorting robot may convey an article to be sorted to a drop position, and since the sorting operation requires that materials with the same property or packages with the same destination be conveyed to the same destination to ensure the ordering of the materials or packages, a target container fixing device 1051 may be determined in the container fixing device 105 included in the sorting machine 100 according to a sorting task, and then an article to be dropped by the sorting robot may be received by the article collecting container 106 placed in the target container fixing device 1051.

In the process, since the sorting machine 100 includes at least two container fixtures 105 and different container fixtures 105 are located at different positions, if the target container fixture 1051 is not moved to the drop position, the sorting robot will cause an article sorting error if delivering an article, after the sorting robot moves to the drop position, the connecting shaft 102 can be driven to rotate by the driving device 104 on the sorting machine 100, so as to drive the rotating table 103 to rotate by the connecting shaft 102, and since the container fixtures 105 are arranged on the rotating table 103, the target container fixture 1051 in the container fixture 105 can be rotated to the drop position facing the sorting robot according to a sorting task, so as to store the dropped article by the article collecting container 106 fixed in the target container fixture 1051. The subsequent goods stored in the goods collecting container 106 fixed in the target container fixing device 1051 can be conveyed to the destination designated by the sorting task to be unloaded by rotating the workbench 103 again, so that the purpose of one-time line-throwing and two-time sorting is achieved, the sorting efficiency is improved, and the flexibility of sorting the goods is also improved.

In specific implementation, considering that the sorting machine 100 is convenient to receive articles conveyed by a sorting robot, the base 101 of the sorting machine 100 can be non-fixedly mounted on the ground, so that the position of the sorting machine 100 can be moved according to requirements, and the processing of sorting tasks under different scenes can be met; accordingly, the article collecting container 106 includes, but is not limited to, a carton, a plastic box or a metal box with a predetermined specification, so as to implement loading of the articles thrown by the sorting robot, and accordingly, the specification of the article collecting container 106 may be set according to actual requirements, such as a size of 600mm × 400mm or a size of 800mm × 400mm, which is not limited in this embodiment.

Further, the driving device 104 specifically refers to a device for driving the rotating table 103 to rotate, and includes, but is not limited to, a driving motor. When the driving device 104 drives the rotating table 103 to rotate through the connecting rotating shaft 102, in consideration of the balance problem and the power problem when the rotating table 103 transports the articles in the article collecting container 106, it is preferable that the driving device 104 is provided with a transmission box, an output end of the transmission box is connected with the connecting rotating shaft 102, a lower end of the connecting rotating shaft 102 is located at the center of the base, and an upper end of the connecting rotating shaft 102 is connected with the center box of the rotating table 103.

In specific implementation, when the driving device 104 drives the rotary table 103 to rotate, power is generated through the transmission case, and then the output end of the transmission case drives the connecting rotating shaft 102 to rotate, the driving device 104 may be disposed inside the connecting rotating shaft, or the outside of the connecting rotating shaft drives the connecting rotating shaft 102 through a gear. When the connecting shaft 102 rotates, the central box is driven to rotate by the upper end of the connecting shaft 102, so as to drive the rotary worktable 103 to rotate, and drive the target box fixing device 1051 to displace.

Alternatively, the base of the sorter 100 may be provided in a circular configuration, allowing for the sorter 100 to accommodate more container fixtures 105 while saving the footprint of the sorter 100. Correspondingly, the rotary worktable 103 included in the sorting machine 100 may be set to be a regular polygon, so as to realize that the container fixing devices 105 are uniformly distributed on the rotary worktable, thereby facilitating calculation of the rotation angle when the rotary worktable 103 is rotated, and simultaneously facilitating the sorting robot to put articles into the article collecting container 106.

Based on this, in the case that the rotating table 103 is a regular polygon, the specific arrangement of the at least two container fixing devices 105 may be: the container holders 105 are distributed on the upper surface of the rotary table 103, centering on the center point of the rotary table 103. That is, in order to sort more articles, the container holders 105 may be uniformly distributed on the upper surface of the regular polygonal rotary table 103 around the center point of the rotary table 103, so as to prevent the container holders from occupying too much space.

In addition, since the container holders 105 themselves have a certain mass, if the respective container holders 105 are randomly disposed on the upper surface of the rotary table 103, the rotary table 103 may be inclined, and thus the articles conveyed by the sorting robot may not be normally loaded. Thus, when configuring the individual container holders 105, the container holders can be distributed symmetrically, while regular polygons can be used with an even number of regular polygons to increase the service life of the sorting machine. In practical applications, the regular polygon of the rotary table 103 may be selected according to practical application scenarios, such as a complete quadrangle, a regular pentagon, a regular hexagon, or a regular octagon, which is not limited herein.

Alternatively, in practice, the sorter 100 is in process of sorting jobs, for some unexpected reason, such as a sorter malfunction; or a need for item handling, such as when the item contained in the item collection container is not empty. In order to be able to perform normal sorting tasks subsequently, the sorting machine 100 needs to be stopped to perform the sorting tasks after maintenance of the corresponding malfunctioning or emptying of the articles, and therefore the sorting machine may be equipped with an emergency stop device 107, see the schematic structural diagram of the second sorting machine shown in fig. 2. The emergency stop device 107 is fixed on the upper surface of the base 101, and is used for controlling the rotary table 103 to change the working state. Further, the emergency stop device 107 may be provided as a button.

Based on this, when the sorting machine 100 starts to perform a sorting task, if a worker finds that the sorting machine 100 in an operating state is out of order, the worker may control the sorting machine 100 to stop operating by pressing the scram device 107. After the fault is relieved, the emergency stop device 107 can be pressed to control the sorting machine 100 to recover to operate, so that the loss caused by emergency is avoided, and meanwhile, the operation state of the sorting machine 100 is convenient for workers to operate.

Alternatively, when the sorting machine 100 is used to process sorting jobs, since the sorting machine 100 includes at least two container holders 105, and different sorting jobs require that the objects be sorted to different destinations by different target container holders, in order to ensure that the sorting robot can accurately drop the objects to the designated target container holders and then deliver the objects to the accurate destinations, in this embodiment, a label 110 may be attached to each container holder 105, wherein the label 110 is used to mark the container holder. Correspondingly, the label is a bar code, a two-dimensional code or an RFID label.

Based on this, in order to ensure that the sorting robot can accurately place the articles to be placed into the article collecting containers in the target container fixing device 1051, when a sorting task is created, the article collecting containers 106 and the container fixing device 105 may be bound by scanning the labels on the container fixing device 105, so as to determine the article collecting containers 106 that contain the articles, and the target container fixing device 1051 that fixes the article collecting containers 106, so that the subsequent sorting robot may place the articles according to the sorting instructions. In a specific implementation, the label may be attached to an inner surface or an outer surface of each container fixing device 105, and the attaching position may be selected according to an actual application scenario, and the embodiment is not limited herein.

Alternatively, in practical applications, if the article collecting container 106 is not placed in the container fixing device 105, a problem that the articles dropped by the sorting robot are dropped from the container fixing device 105 may be caused, and the articles may not be easily placed. In order to be able to accommodate more items and avoid loss of items, item collection receptacles 106 may be placed in each receptacle fixture 105. On this basis, after the sorting task is completed, the user can directly carry away all the article collecting containers 106 on the target container holding device 1051, and the container holding device will be in an idle state (without placing the article collecting containers 106), and in order to avoid that the worker forgets to place a new article collecting container 106 in the idle container holding device 105, preferably, the container detecting device 108 and the display device 109 can be configured in the sorting machine 100, see the schematic structural diagram of the third sorting machine shown in fig. 3, (a) in fig. 3 is a schematic structural diagram of the third sorting machine, fig. 3 (b) is a front view of the third sorting machine, and fig. 3 (b) is a top view of the third sorting machine. Wherein the container detection means 108 are provided on each container holding means 105, and the display means 109 are provided on the rotary table 103; the container detection device 108 is used for detecting whether the article collecting container 106 is in the container fixing device 105; the display device 109 is used to display information of container holders 105 on which the article collecting containers 106 are not placed and/or information of container holders 105 on which the sorting task has been completed.

Based on this, the container detection device 108 specifically refers to a device capable of detecting whether the article collecting container 106 is present in the container fixing device 105, and the container detection device 108 includes, but is not limited to, an infrared detector, a crystal detector, a conductivity detector, and the like. Accordingly, in the case where the container detection device 108 detects that the article collecting container 106 is not present in the container holding device 105, in order to continue the sorting operation, information indicating that the article collecting container 106 is not placed in the container holding device 105 may be transmitted to the display device 109. The display device 109 is a device capable of displaying information of the container fixing device 105 in which the article collecting container 106 is not placed in the container fixing device 105, and the displayed information may be the number or the position of the container fixing device.

Furthermore, in consideration of the sorting speed, in order to enable the worker to monitor the working status of each container fixing device 105 on the sorting machine 100 at any time, the display device 109 may further display information related to the container fixing device 105 that has completed the sorting task, that is, after the container fixing device 105 transports the articles contained in the loaded article collecting container 106 to the destination, the container fixing device 105 will complete the sorting task at this time. In order to increase the sorting speed, information of the container holding device 105 may be displayed on the display device 109, so that a worker may put a new article mobile phone container 106 into the container holding device 105 to receive a new sorting task to complete the conveyance of the article.

In practical applications, when the display device 109 displays the information of the container holders 105 on which the article collecting containers 106 are not placed and the information of the container holders 105 on which the sorting task is completed, the display device 109 may display the information of the container holders 105 on which the article collecting containers 106 are not placed and the information of the container holders 105 on which the sorting task is completed in a split screen manner, in which one part displays the information of the container holders 105 on which the article collecting containers 106 are not placed and the other part displays the information of the container holders 105 on which the sorting task is completed. Or one of the information can be preferentially displayed and then the other information can be displayed according to the actual requirement. Further, in the case where a plurality of container fixtures 105 are not simultaneously loaded with the mobile phone containers 106 of the articles, or the sorting task is simultaneously completed, information of the container fixtures 105 may be displayed on the display device 109, so that the worker can quickly confirm the information of each container fixture 105.

In addition, in order to facilitate the staff to view the information displayed on the display module 109, the display module may be fixed on the upper surface of the rotary worktable 103 and located at the center of the rotary worktable 103, so that the staff can view the information on the display module 109 in all directions of the sorting machine 100. Further, the container inspection device 108 may be attached to an inner surface of each container holding device 105 to allow accurate inspection of the collection of items 106 placed in the container holding device 105.

In conclusion, through the sorting machine, the labor cost can be reduced, the purpose of one-time line throwing and twice sorting can be achieved, the sorting efficiency is improved, the flexibility of sorting objects is improved, meanwhile, the working area used in the sorting process can be effectively saved through the structure, the sorting task can be completed to the maximum in a fixed space, and the processing efficiency of upstream and downstream sorting businesses is improved.

Corresponding to the above embodiments, the present embodiment further provides a sorting system based on a sorting machine, referring to fig. 4, fig. 4 shows a schematic diagram of a sorting system based on a sorting machine provided by the present application, the system includes the sorting machine 100, the control system 410 and the sorting robot 420, the control system 410 is in communication with the sorting machine 100 and the sorting robot 420 respectively; wherein,

the control system 410 configured to receive an item sort request; determining a target item to be sorted according to the item sorting request, allocating a target item collection container 1061 for collecting the target item and a target container fixing device 1051 for fixing the target item collection container 1061 to the target item; allocating sorting tasks corresponding to the target items to the target item collection container 1061 and the target container fixture 1051; creating a sorting path according to the sorting task, and issuing the sorting path to the sorting robot 420; and controlling the sorting machine 100 to rotate the target container fixing device 1051 to a drop position facing the arrival of the sorting robot 420 according to the sorting task;

the sorting robot 420 is configured to move to an item supply location according to the sorting path to take the target item, transport the target item to the drop location, and drop the target item to the target item collection container 1061.

Specifically, the Control System functionally refers to a System capable of controlling the sorting Robot 420 and the sorting machine 100 to cooperate with each other to realize sorting, and when controlling the sorting Robot 420, the Control System may specifically be a Robot Management System (RMS), and when controlling the sorting machine 100, the Control System may specifically be an equipment Flow Control System (MFC). In addition, the control system is also responsible for interfacing with the upstream system and managing the individual execution and operation in the sorting scenario.

The sorting robot 420 specifically refers to a robot that transports the articles to be sorted to the drop position and completes dropping of the articles, and the sorting robot may be an AGV robot or other robot with a sorting function, which is not limited herein. Since the control system 410 needs to control the sorting machine 100 and the sorting robot 420 to perform the process of the sorting task, the control system 410 will communicate with the sorting machine 100 and the sorting robot 420 respectively, and the communication mode may be internet communication or local area network communication, which is not limited herein.

Further, the target objects are materials with the same attribute or packages with the same destination. For example, if an order requires 100 pairs of 40 size shoes for type a, then the 100 pairs of shoes are materials with the same properties. For another example, a certain merchant needs 50 pairs of 40 size a shoes and 50 xl size B pants, and the 50 pairs of shoes and 50 pants are packages with the same destination. Correspondingly, the target article collecting container 1061 is an article collecting container for accommodating the target article, the target container fixing device 1051 is a container fixing device for fixing the target article collecting container 1061, the sorting task is a task for moving the target article to a destination through the target container fixing device 1051 on the sorting machine 100, the sorting path is a path traveled by the sorting robot for transporting the target article to the drop position, and the drop position is a position for dropping the article to the container fixing device on the sorting machine 100.

Based on this, when the control system 410 receives an item sorting request uploaded by a worker, in order to quickly complete a sorting process for a target item, the target item to be sorted may be determined according to the item sorting request, and then a target item collecting container 1061 containing the target item and a target container fixing device 1051 fixing the target item collecting container 1061 may be selected from the item collecting containers 106 placed in the plurality of container fixing devices 105. Then distributing a sorting task corresponding to the target item to the target container fixing device 1051 and the target item collection container 1061; at this time, a sorting path for the sorting robot 420 to convey the target item may be created based on the sorting task, and then the sorting path is issued to the sorting robot 420, so that the sorting robot 420 may convey the target item to the drop position based on the sorting path. In this process, in order to ensure that the sorting robot 420 can accurately drop the target item into the target item collection container 1061 placed by the target container fixture 1051, the target container fixture 1051 of the sorting machine 100 may be controlled to rotate to face the drop position reached by the sorting robot 420 according to the sorting task. Finally, the target item can be dropped into the target item collection container 1061 by the sorting robot 420, so that the sorting machine 100 can transport the target item to a designated location.

For example, the logistics center receives a shoe of type a of 100 double 40 yards required by the first store, at this time, the staff uploads an article sorting request through the control system, the control system determines that the article to be sorted is the shoe of type 100 double a (40 yards) according to the article sorting request, and then allocates the carton for collecting the shoes and the carton fixing device 5 number for fixing the carton on the sorting machine for the shoes, and allocates the sorting task for sorting the shoe of type 100 double a (40 yards) for the carton fixing device 5 number and the carton fixed by the device. The control system creates a sorting path for the AGV robot to carry the shoes according to the sorting task and issues the sorting path to the AGV robot; and meanwhile, controlling the sorting machine to rotate the carton fixing device No. 5 to the delivery position facing the AGV robot according to the sorting task.

Further, the AGV robot moves to the shoe supply position according to the sorting path issued by the control system to obtain the 100 double a style shoes (40 yards), and then transports the 100 double shoes to the delivery position, and delivers the shoes to the carton fixed in the carton fixing device No. 5 corresponding to the delivery position. And finally, the control system can control the sorting machine to convey the shoes contained in the cartons fixed in the carton fixing device No. 5 to the appointed unloading position so as to finish the order sorting task of the first shop.

In summary, the sorting robot 420 and the sorting machine 100 are controlled by the control system 410 to configure the sorting process operation for the target item. The labor cost can be reduced, the purpose of one-time line throwing and two-time sorting can be achieved, the sorting efficiency is improved, and meanwhile, the flexibility of sorting articles is improved; furthermore, the sorting machine can effectively save the working area used in the sorting process so as to realize the maximum completion of the sorting task in a fixed space, thereby promoting the processing efficiency of upstream and downstream sorting businesses.

Further, in order to avoid damage to the articles sorted by the sorting machine 100, a container detection device 108 may be installed in the sorting machine 100 to detect whether the article collecting container 106 is placed in each container fixing device 105, that is, the control system 410 is further configured to control the display device 109 to display information of the container fixing device 105 in which the article collecting container 106 is not placed, if the container detection device 108 detects that the article collecting container 106 is not placed in the container fixing device 105 in which the container detection device is located.

In addition, in view of the limited articles that can be contained in the article collecting container 106, the containing state of the article collecting container 106 can be detected, and in this embodiment, on one hand, the control system 410 is further configured to, when the container detection device 108 detects that the article collecting container 106 is placed in the container fixing device 105 in which the article collecting container 106 is located, control the display device 109 to display information of the container fixing device 105 in which the article collecting container 106 in the full state is located if the article collecting container 106 is detected to be in the full state.

On the other hand, the control system 410 is further configured to determine the current location of the target receptacle fixture 1051 if the volume of the target collection receptacle 1061 is detected as being in a less than full state; a rotation angle is calculated according to the drop position and the current position of the target container fixture 1051, and the sorting machine 100 is controlled to rotate the rotary table 103 according to the rotation angle so as to rotate the target container fixture 1051 to face the drop position.

Specifically, when the container detection device 108 disposed on the sorting machine 100 detects that no article collecting container 106 is placed in the container holding device 105, it indicates that the currently detected container holding device 105 has completed a sorting task or has not been used. In order to avoid delaying the subsequent sorting task, the limiting device 109 installed in the sorting machine 100 may be controlled to display the information about the container fixing device 105 for placing the article collecting container 106, so as to prompt the staff to add a new article collecting container 106 to the container fixing device 105 in time.

Further, in order to avoid the problem that the article collecting container 106 for storing articles is too much or too little to be conveyed, the state of storing articles in the article collecting container 106 may be detected under the condition that the article collecting container 106 is placed in the container fixing device 105, and if it is detected that the article collecting container 106 is in a full state, the display device 109 may be controlled to display information of the container fixing device 105 where the article collecting container 106 in the full state is located, so as to give a prompt to an operator, and timely carry away the article collecting container 106 placed in the container fixing device 105, thereby avoiding the problem of sorting congestion.

Furthermore, when it is detected that the capacity of the target item collection container 1061 is in the insufficient state, it is indicated that the target item collection container 1061 is performing a sorting task, so as to avoid wasting resources, at this time, the current position of the target container fixing device 1051 for placing the target item collection container 1061 may be determined, and then a rotation angle may be calculated according to the drop position and the current position of the target container fixing device 1051, so that the sorting machine 100 may rotate the rotating table 103 according to the rotation angle, so that the target container fixing device 1051 rotates the drop position to receive the target item dropped by the sorting robot 420.

According to the above example, when the container detection device on the sorting machine detects that No. 5 carton fixing device is not provided with a carton, in order to complete the subsequent sorting task, no. 5 lacking cartons can be displayed through the display screen on the sorting machine, and the worker is asked to quickly supplement related information.

Further, when the carton is placed in the carton fixing device No. 5 and the carton is filled with other articles, in order to avoid causing sorting congestion, the carton in the carton fixing device No. 5 can be displayed through the display screen to be full, and the staff is asked to clear up related information in time.

Furthermore, the capacity of the carton in carton fixing device No. 5 is to hold 150 pairs of shoes, and 50 pairs of shoes have been already held in this carton, and in order to fully utilize the sorting resources, 100 pairs of shoes can be continuously put into the carton in carton fixing device No. 5 at this time, and considering that this carton fixing device No. 5 is not located at the putting position corresponding to the AGV robot, it can be calculated that there is more rotation of carton fixing device No. 5 to the putting position, and then No. 5 carton fixing device is rotated to the putting position by the rotary workbench on the rotary sorting machine for continuously receiving the AGV robot to put in the remaining shoes, so as to complete the order of the first shop.

Further, the target container fixture 1051 may be rotated in such a manner that the minimum rotation angle is selected in consideration of the time when the sorter rotates to the drop position. If the clockwise rotation requires 300 degrees and the counterclockwise rotation requires 60 degrees, the target container fixing device 1051 may be rotated to the release position by 60 degrees, so as to save the time consumed for sorting.

In summary, in order to prompt the staff to replenish the container fixing device 105 with the object collecting container 106 in time, the detection can be realized by the container detecting device 108, and the detected information can be displayed by the display device 109, so as to improve the sorting efficiency. Furthermore, in order to make full use of sorting resources, information of the target container fixing device 1051 corresponding to the target object collection container 1061 in a less than full state may be displayed on the display device 109, so that sorting resources are fully utilized, and sorting cost is saved.

In detecting the status of the capacity in the item collection container 106, the status may be determined by the number of drops of the sorting robot 420, and in this embodiment, the control system 410 is further configured to detect whether the item collection container 106 is full according to the number of drops of the sorting robot 420 to the item collection container 106.

In practical applications, since the quantity of articles dropped by the sorting robot 410 at each time is fixed, and the quantity of articles that can be contained in the article collecting container 106 is also fixed, the control system 410 can detect the capacity of the article collecting container 106 by monitoring the number of times of dropping the articles into the article collecting container 106 by the sorting robot 410, so as to avoid the problem that the article collecting container 106 contains too many or too few articles, and improve the sorting efficiency.

Before the sorting task is created for the item sorting request, in order to accurately deliver the target item to the designated destination, a binding relationship between the labels of the scanning container fixing device 105 and the item collection container 106 may be established to implement the release and sorting of the target item, in this embodiment, the control system 410 is further configured to receive scanning information obtained by scanning the labels on the target container fixing device 1051 and the target item collection container 1061; and establishing a binding relationship between the target container fixing device 1051 and the target item collection container 1061 according to the scanning information.

That is, by establishing the binding relationship between the target container fixing device 1051 and the target object collection container 1061, the sorting robot 420 can accurately drop the target object into the target object collection container 1061, so as to transport the target object to a designated location by the sorting machine 100, and the sorting task is completed.

When the sorting robot 420 drops the target item into the target item collection container 1061 of the target container holder 1051, considering the drop accuracy, the drop action may be completed by the control system 410 sending a drop command to the sorting robot 420, in this embodiment, the control system 410 is further configured to issue a drop command to the sorting robot 420 after the target container holder 1051 rotates to face the drop position; the sorting robot 420 is further configured to drop the target item to the target item collection container 1061 fixed in the target container fixing device 1051 according to the drop instruction.

Further, considering that the sorting efficiency can also complete the releasing action by actively scanning the label by the sorting robot 420, in this embodiment, the sorting robot 420 is further configured to scan the label on the current container fixing device 105 of the releasing position before releasing the target item; if the current container fixture 105 is the target container fixture 1051, the target item is dropped into the target item collection container 1061 held in the target container fixture 1051.

Further, after the sorting robot 420 moves to the drop position, in response to the control system 410, information related to the arrival may be sent to the control system 410 to prompt the control system 410 to issue a drop command to the sorting robot, in this embodiment, the sorting robot 420 is further configured to scan a tag on the current container fixture 105 of the drop position before dropping the target item, and to upload the scan result to the control system 410; the control system 410 is further configured to issue a release instruction to the sorting robot 420 if it is determined that the current container fixture 105 is the target container fixture 1051 according to the scanning result.

Specifically, after the target container fixing device 1051 rotates to face the drop position, the controllable system 410 may issue a drop command to the sorting robot 420, and after receiving the drop command, the sorting robot 420 may drop the target object into the target object collecting container 1061 fixed in the target container fixing device 1051.

Further, after the sorting robot 420 moves to the drop position, the tag on the container fixing device 105 parked at the current drop position may be actively scanned, and if the tag is determined as the target container fixing device 1051, the target object may be directly dropped into the target object collecting container 1061 fixed in the target container fixing device 1051, so as to improve the sorting efficiency

Further, after the sorting robot 420 moves to the drop position, the control system 410 may actively respond to the control system 410, that is, scan the label of the container fixing device 105 currently located at the drop position, and send the scanning result to the control system 410, and the control system 410 determines whether the container fixing device 105 currently located at the drop position is the target container fixing device 1051, if yes, the control system 410 may directly issue a drop instruction to the sorting robot 420, so as to drop the target object into the target object collecting container 1061 fixed in the target container fixing device 1051; if not, the sorter 100 may be controlled to rotate to move the target container fixture 1051 to the drop position to complete the subsequent drop operation.

In conclusion, considering the problems of sorting efficiency and sorting accuracy, the above two modes can be adopted for operation before target objects are put in, so that the sorting robot can accurately put in the target objects and the putting efficiency is improved.

In addition, after the sorting robot 420 finishes releasing the target object, the target object may be transported to a designated location for unloading according to the object sorting request, in this embodiment, the control system 410 is further configured to determine an unloading location, and calculate a rotation angle according to the unloading location and the current location of the target container fixing device 1051; controlling the sorting machine 100 to rotate the target receptacle fixture 1051 storing the target item to face the unloading position where the target item collection receptacle 1061 is unloaded from the target receptacle fixture 1051 or the target item is unloaded from the target item collection receptacle 1061 based on the rotation angle.

According to the above example, after the AGV robot puts 100 pairs of shoes into the paper box in the paper box fixing device 5, it is determined that the 100 pairs of shoes need to be conveyed to the position S, the rotation angle is clockwise 60 degrees according to the position S and the current position of the paper box fixing device 5, the rotating table is controlled by the sorting machine to rotate clockwise 60 degrees, the paper box fixing device 5 is moved to the position S, and then the worker carries away the paper box containing 100 pairs of shoes in the paper box fixing device 5, thereby completing the task of sorting 100 pairs of 40 yard a style shoes for the first shop.

In addition, since the sorting machine 100 may malfunction due to an emergency during the sorting process, in order to avoid causing a larger loss, the operating state of the sorting machine 100 may be changed at any time by the emergency stop device 107, in this embodiment, the control system 410 is further configured to control the sorting machine 100 to switch the operating state from the operating state to the stop state if the sorting machine 100 is in the operating state and a signal triggered by the emergency stop device 107 is received; alternatively, if the sorting machine 100 is in a stopped state, the sorting machine 100 is controlled to switch the operating state from the stopped state to the operating state when receiving a signal triggered by the emergency stop device 107.

In summary, the control system controls the sorting robot and the sorting machine to realize the sorting processing operation of the target articles. The labor cost can be reduced, the purpose of one-time line throwing and two-time sorting can be achieved, the sorting efficiency is improved, and meanwhile, the flexibility of sorting articles is improved; furthermore, the sorting machine can effectively save the working area used in the sorting process so as to realize the maximum completion of the sorting task in a fixed space, thereby promoting the processing efficiency of upstream and downstream sorting businesses.

Corresponding to the above embodiments, the present embodiment further provides a sorting system based on a sorting machine applied in a sorting scenario, referring to fig. 5, fig. 5 shows a schematic diagram of a sorting system based on a sorting machine applied in a sorting scenario, which is provided in an embodiment of the present specification, and the specific implementation manner is as follows:

and S502, the control system receives the scanning information uploaded by the staff, and establishes a binding relationship between the carton and the carton fixing device according to the scanning information.

Specifically, when the situation that the carton is not placed in the carton fixing device occurs in the sorting machine, the display screen of the sorting machine can show number information of the carton fixing device without the carton to workers, at the moment, the workers can scan the labels on the carton and the labels on the carton fixing device with the intention of placing the carton under the situation that the sorting machine stops rotating, the control system receives the scanning information uploaded by the workers and establishes the binding relationship between the carton and the carton fixing device according to the scanning information so as to be used for subsequently completing the sorting task.

And step S504, the control system receives a material sorting request uploaded by a worker, and determines a target material according to the material sorting request.

Step S506, the control system distributes a target carton for collecting the target materials and a target carton fixing device for fixing the target carton according to the target materials.

Specifically, after a sorting request uploaded by a worker is received, the sorting request can be analyzed to obtain order information of the sorted materials, and then the target materials to be sorted are determined to be L-brand clothes with 20L codes in K-type according to the order information. Further, after the target materials are determined, in order to sort and transport the target materials, target cartons for collecting the target materials and target carton fixing devices for fixing the target cartons can be distributed in the sorting machine aiming at the target materials. Namely, the carton fixed in the carton fixing device No. 4 in the sorting machine is determined to be used for receiving the clothes of the target material L brand, K model and 20I code.

Step S508, the control system allocates sorting tasks corresponding to the target materials to the target cartons and the target carton fixing devices, creates sorting paths according to the sorting tasks, and issues the sorting paths to the sorting robot.

Specifically, after the target cartons and the target carton fixing devices for fixing the target cartons are distributed for the target articles, a sorting task can be created for the target materials, so that a sorting path can be created according to the sorting task, and the sorting robot can move to a storage space for storing the target materials according to the sorting path to extract the target materials and carry the target materials to the feeding position of the sorting machine.

And step S510, the sorting robot moves to a work station for storing the target materials according to the sorting path to obtain the target materials, and the target materials are conveyed to a feeding position.

Specifically, after the sorting robot receives the sorting path, the number of the work stations for extracting the target material is determined to be four according to the sorting path, at the moment, the work stations can be moved to four according to the sorting path to extract the clothes with 20L codes of L brands and K models, and the target material is conveyed to a feeding position for feeding the material into the sorting machine.

Step S512, the control system detects the capacity state of the target carton according to the putting times of the sorting robot to the target carton placed in the target carton fixed container; if the target carton is full of capacity, executing step S514; if the target carton is not full, step 516 is performed.

Step S514, the control system controls a display screen of the sorting machine to display information of the target carton fixing device for fixing the target carton.

Specifically, under the condition that detects fixed target carton and has filled up the material among the target carton fixing device, in order to avoid causing the material to spill over, can show the relevant information of target carton regulation device No. 4 through the display screen of sorting machine this moment to remind the carton in the staff No. 4 device to fill up the material, please in time change the carton in No. 4 device. When the worker puts a new carton into the apparatus, step S516 is performed.

In step S516, the control system calculates a rotation angle according to the feeding position and the current position of the target carton fixing device, and rotates the target carton fixing device to the feeding position reached by the sorting robot facing thereto based on the rotation angle.

Specifically, when the target carton fixed in the target carton fixing device can continuously contain the target material, the current position of the target carton fixing device can be obtained at the moment, the rotating angle of the sorting machine is calculated according to the current position and the feeding position, and after the rotating angle is calculated, the control system can control the rotating workbench of the sorting machine to rotate the target carton fixing device to the feeding position facing the parking sorting robot.

And step S518, the control system sends a releasing instruction to the sorting robot.

And step S520, the sorting robot puts the target materials into the target cartons in the target carton fixing device according to the putting instructions.

Step S522, the control system controls the sorter to rotate the target carton fixing device storing the target material to the unloading position.

Specifically, after target carton fixing device 4 on the sorting machine rotated to the position of throwing the material facing parking sorting robot, control system can issue the input instruction to sorting robot, after sorting robot received the input instruction will throw in the target material to target carton fixing device 4 in fixed, after throwing in finishing, control system will control sorting machine and rotate target carton fixing device 4 to the position of unloading to the realization is unloaded the target material that target carton fixing device 4 number fixed holds, in order to accomplish this letter sorting task.

In summary, the control system controls the sorting robot and the sorting machine to configure to realize the sorting processing operation of the target articles. The labor cost can be reduced, the purpose of one-time line throwing and two-time sorting can be achieved, the sorting efficiency is improved, and meanwhile, the flexibility of sorting articles is improved; furthermore, the sorting machine can effectively save the working area used in the sorting process so as to realize the maximum completion of the sorting task in a fixed space, thereby promoting the processing efficiency of upstream and downstream businesses for sorting.

Corresponding to the above embodiments, the present embodiment further provides a sorting method based on a sorting machine, referring to fig. 6, fig. 6 shows a flowchart of a sorting system based on a sorting machine according to the present application, and the method is executed by the above sorting machine, the control system and the sorting robot together; the specific implementation is as follows:

step S602, the control system receives an article sorting request; determining a target item to be sorted according to the item sorting request, and allocating a target item collecting container for collecting the target item and a target container fixing device for fixing the target item collecting container to the target item; distributing a sorting task corresponding to the target object for the target object collection container and the target container fixing device; creating a sorting path according to the sorting task, and issuing the sorting path to the sorting robot;

step S604, the sorting robot moves to an article supply position according to the sorting path to obtain the target article, and conveys the target article to the putting position;

step S606, the control system controls the sorting machine to rotate the target container fixing device to a throwing position facing the arrival of the sorting robot according to the sorting task, and sends a delivery instruction to the sorting robot;

step S608, the sorting robot puts the target object into the target object collecting container according to the delivery instruction.

In an alternative embodiment, the target items are items having the same attributes or packages having the same destination.

In an alternative embodiment, the control system controls the display device to display information of the container fixing device in which the non-article-collecting container is placed, in case that the container detection device detects that the non-article-collecting container is not placed in the container fixing device in which the container detection device is located.

In an alternative embodiment, the control system controls the display device to display information of the container fixing device in which the full container is located if the container detection device detects that the container fixing device in which the container detection device is located has the object collection container placed therein.

In an optional embodiment, the control system determines the current position of the target container holder if it detects that the capacity of the target item collection container is not full; and calculating a rotation angle according to the throwing position and the current position of the target container fixing device, and controlling the sorting machine to rotate the rotating workbench according to the rotation angle so as to rotate the target container fixing device to face the throwing position.

In an alternative embodiment, the control system receives scan information obtained by scanning labels on the target container holding device and the target item collection container; and establishing a binding relationship between the target container fixing device and the target article collecting container according to the scanning information.

In an alternative embodiment, the control system detects whether the item collection container is full based on the number of releases of items from the sorting robot to the item collection container.

In an optional embodiment, the sorting robot further scans a label on a current container fixing device of the face-to-face drop position before dropping the target item; and if the current container fixing device is the target container fixing device, throwing the target object into the target object collecting container fixed in the target container fixing device.

In an optional embodiment, before the target item is released, the sorting robot scans a label on a current container fixing device of the release position, and uploads a scanning result to the control system; and the control system issues a throwing instruction to the sorting robot under the condition that the current container fixing device is determined to be the target container fixing device according to the scanning result.

In an alternative embodiment, the control system determines an unloading position and calculates a rotation angle based on the unloading position and a current position of the target container fixture; controlling the sorting machine to rotate the target container holding device storing the target item to face the unloading position where the target item collection container is unloaded from the target container holding device or the target item is unloaded from the target item collection container, based on the rotation angle.

In an optional embodiment, if the sorting machine is in a running state, the control system controls the sorting machine to switch the working state from the running state to the stop state under the condition of receiving a signal triggered by the emergency stop device; or if the sorting machine is in a stop state, controlling the sorting machine to switch the working state from the stop state to the running state under the condition of receiving a signal triggered by the emergency stop device.

In summary, the control system controls the sorting robot and the sorting machine to realize the sorting processing operation of the target articles. The labor cost can be reduced, the purpose of one-time line throwing and two-time sorting can be achieved, the sorting efficiency is improved, and meanwhile, the flexibility of sorting articles is improved; furthermore, the sorting machine can effectively save the working area used in the sorting process so as to realize the maximum completion of the sorting task in a fixed space, thereby promoting the processing efficiency of upstream and downstream businesses for sorting.

The preferred embodiments and examples of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the embodiments and examples described above, and various changes can be made within the knowledge of those skilled in the art without departing from the concept of the present application.

The foregoing description of specific embodiments of the present application has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.

The preferred embodiments of the present application disclosed above are intended only to aid in the explanation of the application. Alternative embodiments are not exhaustive and do not limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and its practical applications, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides a sorting machine, its characterized in that, sorting machine includes the base, connects the pivot, swivel work head, drive arrangement and container fixing device, wherein the base with swivel work head passes through connect the pivot and connect, swivel work head installation two at least container fixing device, container fixing device is used for fixed article to collect the container, article are collected the container and are used for receiving the article that sorting robot put in, drive arrangement with connect the pivot and connect for the drive it is rotatory to connect the pivot, it drives to connect the pivot the swivel work head is rotatory, so that on the swivel work head target container fixing device among two at least container fixing device is rotatory to facing the position of putting in that sorting robot reachd.

2. The sorter of claim 1 further including a hard stop secured to the upper surface of the base for controlling the rotary table to change operating conditions.

3. A sorter as in claim 1 wherein each container holder has a label affixed thereto for marking the container holder.

4. A sorter as in claim 1 further comprising container detection means disposed on each container fixture and display means disposed on the rotary table;

the display device is used for displaying the information of the container fixing device which is not provided with the article collecting container and/or displaying the information of the container fixing device which completes the sorting task.

5. A sorting machine based sorting system, characterised in that the system comprises a sorting machine according to any of claims 1-4, a control system and a sorting robot, the control system being in communication with the sorting machine and the sorting robot, respectively; wherein,

the control system configured to receive an item sort request; determining a target item to be sorted according to the item sorting request, and allocating a target item collecting container for collecting the target item and a target container fixing device for fixing the target item collecting container to the target item; distributing a sorting task corresponding to the target object for the target object collecting container and the target container fixing device; creating a sorting path according to the sorting task, and issuing the sorting path to the sorting robot; and controlling the sorting machine to rotate the target container fixing device to a throwing position facing the sorting robot according to the sorting task;

6. The system of claim 5, wherein the control system is further configured to issue a drop command to the sorting robot after the target container fixture is rotated to face the drop position;

7. The system of claim 6, wherein the sorting robot is further configured to scan a label on a current container fixture of the drop location across the surface prior to dropping the target item; and if the current container fixing device is the target container fixing device, throwing the target object into the target object collecting container fixed in the target container fixing device.

8. The system of claim 6, wherein the sorting robot is further configured to scan a label on a current container fixture of the drop location across the drop location and upload the scan to the control system prior to dropping the target item;

9. The system of claim 5, wherein the control system is further configured to control the sorting machine to switch the operating state from the operating state to the stopped state upon receiving a signal triggered by the scram device if the sorting machine is in the operating state; or if the sorting machine is in a stop state, controlling the sorting machine to switch the working state from the stop state to the running state under the condition of receiving a signal triggered by the emergency stop device.

10. A sorting method based on a sorting machine, characterized in that the method is jointly executed by a sorting machine according to any one of claims 1-4, a control system and a sorting robot; wherein,