Patent Description:
Intelligent warehousing is an important part of a logistics process. Robots can replace manual labor in moving logistics crates and play an important role in intelligent warehousing.

A robot includes a body, and a control device, a pickup device, and multiple storage racks provided on the body. The control device controls movement of the body. Logistics crates on the storage racks are removed from the body (also called loading) or logistics crates are placed on the storage racks on the body (also called unloading) by the pickup device.

However, during unloading, the robot needs to remove the logistics crates on the storage racks from the body one by one through the pickup device, resulting in low work efficiency of the robot.

Chinese Patent <CIT> discloses a seeding type automatic sorting system, comprising: an automatic sorting shelf, AGV, and an upper computer; The automatic sorting shelf includes the shelf body, sorting mechanism, conveying platform, and communication mechanism; The upper computer communicates and connects with AGV and communication mechanism respectively; AGV and communication institutions receive picking task information sent by the upper computer. The picking task information includes the placement position information and sorting destination information of each item on the AGV's automatic sorting shelf; AGV, sorting mechanism, and conveying platform pick out corresponding goods and deliver them to the sorting destination based on the placement position information and sorting destination information. The several storage positions of the automatic sorting rack enable AGVs to complete a large number of goods sorting tasks in a single trip. Compared with existing intelligent sorting, this utility model requires fewer AGVs to operate simultaneously when sorting the same quantity of goods. Moreover, the various mechanisms on the automatic sorting rack cooperate with each other, achieving unmanned intelligent and automated sorting.

<CIT> discloses a sorting system according to the preamble of claim <NUM>.

The invention is defined by the sorting system according to claim <NUM>. This application provides a sorting system and a sorting method, which can improve the work efficiency of a robot.

This application provides a transfer device, applied to equipment on which multiple logistics crates can be placed in a first direction, where there are at least two transfer devices provided in the first direction of the equipment, the transfer device includes a supporting base and a first transmission assembly, the first transmission assembly is located on the supporting base, and the first transmission assembly is configured to transport a logistics crate.

Optionally, the transfer device provided in this application further includes a first controller and at least one first detection assembly, the first detection assembly is provided on the supporting base, and the first transmission assembly and the first detection assembly are both electrically connected to the first controller; and.

Optionally, in the transfer device provided in this application, at least two first detection assemblies are respectively disposed at two ends of the supporting base.

Optionally, in the transfer device provided in this application, the first detection assembly is a reflective photoelectric sensor.

Optionally, in the transfer device provided in this application, the first detection assembly is located on the supporting base, and the detection area formed by the first detection assembly covers at least part of the supporting base.

Optionally, in the transfer device provided in this application, the first detection assembly is a light curtain sensor.

Optionally, in the transfer device provided in this application, the supporting base includes two supports, and the two supports are respectively located on two opposite sides of the first transmission assembly; and
each support includes a supporting portion and a blocking edge for blocking the logistics crate, the blocking edge is connected to the supporting portion, the first transmission assembly is fixed to the supporting portion, and the first detection assembly is located on the supporting portion and/or the blocking edge.

Optionally, in the transfer device provided in this application, the first transmission assembly is a conveyor belt assembly or a roller transmission assembly.

Optionally, in the transfer device provided in this application, the first direction is a height direction of the equipment.

This application provides a robot, including a body and at least two transfer devices provided on the body, where the transfer devices are disposed in a first direction of the body, and each of the transfer devices is the transfer device described above.

Optionally, in the robot provided in this application, the body includes a first mobile chassis and at least two first supporting frames provided on the first mobile chassis, and the first mobile chassis is configured to drive the first supporting frames to move; and
the first supporting frames extend upward from the first mobile chassis and are perpendicular to the first mobile chassis, and the transfer devices are connected between two adjacent first supporting frames.

Optionally, in the robot provided in this application, the transfer devices are disposed at intervals in the first direction of the first supporting frames.

According to the invention, this application provides a sorting system, including at least one conveyor and at least one robot described above, where the conveyor is configured to receive a logistics crate on the robot or transport a logistics crate to the robot.

According to the invention, in the sorting system provided in this application, the conveyor includes a second supporting frame and at least two first storage layers, the first storage layer is disposed in a first direction of the second supporting frame, and the first storage layer is configured to receive the logistics crate on the robot or transport the logistics crate to the robot.

According to the invention, in the sorting system provided in this application, the first storage layer is movable between a first position and a second position, the first position is on the second supporting frame, and the second position is at a side of the second supporting frame facing away from the robot.

Optionally, in the sorting system provided in this application, a blocking member is provided on the second supporting frame, the blocking member is located at the side of the second supporting frame facing away from the robot, and the blocking member is configured to block at least one of the first storage layers located at an upper part of the second supporting frame.

Optionally, in the sorting system provided in this application, each of the first storage layers is the transfer device described above.

Optionally, in the sorting system provided in this application, the conveyor includes a third supporting frame, a second transmission assembly located on the third supporting frame, and at least one transfer mechanism; and
the transfer mechanism is configured to receive the logistics crate, the second transmission assembly is connected to the transfer mechanism, and the second transmission assembly drives the transfer mechanism to rotate around the third supporting frame, so as to deliver the logistics crate to a lower part of the third supporting frame.

According to the invention, the sorting system provided in this application further includes at least one unloader, and the unloader is configured to transport the logistics crate between the robot and the conveyor.

According to the invention, in the sorting system provided in this application, the unloader includes at least two second storage layers, the second storage layer is disposed in the first direction of the unloader, and the unloader transports the logistics crate between the robot and the elevator through the second storage layer.

Optionally, in the sorting system provided in this application, each of the second storage layers is the transfer device described above.

Optionally, the sorting system provided in this application further includes at least one elevator, and the elevator is configured to transport the logistics crate between the robot and the conveyor.

Optionally, the sorting system provided in this application further includes at least one elevator, and the elevator is configured to transport the logistics crate between the unloader and the conveyor.

According to the invention, in the sorting system provided in this application, the elevator includes a fourth supporting frame and at least one third storage layer, the third storage layer is disposed in the first direction of the fourth supporting frame and is movable in the first direction of the fourth supporting frame, and the third storage layer is configured to transport the logistics crate.

Optionally, in the sorting system provided in this application, the elevator further includes a second mobile chassis, the fourth supporting frame is located on the second mobile chassis, and the second mobile chassis is configured to drive the elevator to move.

Optionally, in the sorting system provided in this application, the elevator further includes a second controller and at least one second detection assembly, the second detection assembly is electrically connected to the second controller, the second detection assembly is configured to detect a distance between the third storage layer and an object at a side of the elevator, and the second controller is configured to control, in a case that the distance is less than or equal to a preset value, the third storage layer to stop moving in the first direction.

Optionally, in the sorting system provided in this application, the number of the elevator is less than or equal to the number of the conveyor.

Optionally, the sorting system provided in this application further includes at least one rack and/or a logistics crate transport assembly, the rack is configured to store the logistics crates on the conveyor, and the logistics crate transport assembly is configured to transport the logistics crates on the conveyor.

Optionally, in the sorting system provided in this application, the number of the unloader is the same as the number of the conveyor.

According to the invention, this application also provides a sorting method as defined in claim <NUM>, using the sorting system described above.

This application provides a sorting system, and a sorting method.

The transfer device is applied to equipment on which multiple logistics crates are placed in a first direction. The transfer device includes a first transmission assembly. The first transmission assembly moves a logistics crate to a rack or a logistics crate transport assembly corresponding to the equipment. Thus, all logistics crates on the equipment can be simultaneously moved to the rack or the logistics crate transport assembly at a same time, thereby improving the unloading speed of the equipment, reducing the unloading time of the equipment, and improving the work efficiency of the equipment.

To make the objectives, technical solutions, and advantages of this application clearer, the following describes the technical solutions in the embodiments of this application in more detail with reference to the accompanying drawings in preferred embodiments of this application. In the accompanying drawings, the same or similar components or the components having same or similar functions are denoted by the same or similar reference numerals throughout the description. The described embodiments are only some embodiments rather than all the embodiments of this application. The following embodiments described with reference to the accompanying drawings are exemplary, and are intended to describe this application and cannot be construed as a limitation to this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

In the description of this application, unless otherwise explicitly specified and defined, the terms "mounted", "connected", and "connection" are to be understood in a broad sense, for example, the connection may be a fixed connection, an indirect connection through an intermediary, internal communication between two elements, or an interaction relationship between two elements. A person of ordinary skill in the art may understand specific meanings of the terms in this application according to specific situations.

In the description of this application, it is to be understood that, orientations or position relationships indicated by terms such as "up", "down", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", and "outer" are orientations or position relationships shown based on the accompanying drawings, and are used only for ease of describing this application and simplifying the description, rather than indicating or implying that the device or element has a particular orientation or is constructed and operated in a particular orientation, and therefore, cannot be construed as a limitation to this application.

In the description, claims, and accompanying drawings of this application, the terms "first", "second", and "third" (if present) are intended to distinguish similar objects but do not necessarily indicate a specific order or sequence. It is to be understood that such used data is interchangeable where appropriate so that the embodiments of this application described here can be implemented, for example, in an order other than those illustrated or described here.

Moreover, the terms "include", "have" and any other variants are intended to cover the non-exclusive inclusion, for example, a process, method, system, product, or display that includes a list of steps or units is not necessarily limited to those expressly listed steps or units, but may include other steps or units not expressly listed or inherent to such a process, method, system, product, or display.

Robots can replace manual labor in moving logistics crates and play an important role in intelligent warehousing. A robot includes a body, and a control device, a pickup device, and multiple storage racks provided on the body. The control device controls movement of the body. Logistics crates on the storage racks are removed from the body (also called loading) or logistics crates are placed on the storage racks on the body (also called unloading) by the pickup device. However, during unloading, the robot needs to remove the logistics crates on the storage racks from the body one by one through the pickup device, resulting in low work efficiency of the robot. Thus, embodiments of this application provide a transfer device, a robot, a sorting system, and sorting methods, which can improve the work efficiency of a robot.

This application will be described in detail below with reference to the accompanying drawings and specific embodiments.

<FIG> is a schematic structural diagram of a transfer device according to an embodiment of this application. <FIG> is an exploded view of a transfer device according to an embodiment of this application. <FIG> is a schematic structural diagram of a support and detection assemblies in a transfer device according to an embodiment of this application. <FIG> is a schematic structural diagram of a supporting rod in a transfer device according to an embodiment of this application. <FIG> is a use state diagram of a transfer device according to an embodiment of this application.

<FIG> is a top view of <FIG>. <FIG> is a schematic structural diagram of a robot according to an embodiment of this application. <FIG> is a partial enlarged view of part A in <FIG>. With reference to <FIG>, this application provides a transfer device <NUM>, applied to equipment on which multiple logistics crates <NUM> can be placed in a first direction. There are at least two transfer devices <NUM> provided in the first direction of the equipment. The first direction may be a height direction of the equipment.

The transfer device <NUM> includes a supporting base <NUM> and a first transmission assembly <NUM>. The first transmission assembly <NUM> is located on the supporting base <NUM>. The first transmission assembly <NUM> transports a logistics crate <NUM>.

In this application, the equipment on which multiple logistics crates <NUM> can be placed in the first direction may be equipment used in the art for transporting logistics crates, such as a robot <NUM>, an unloader <NUM>, or a conveyor <NUM>. For the convenience of depiction, the description in this application is given by providing at least two transfer devices <NUM> on the robot <NUM> in the first direction, that is, the robot <NUM> can be provided with at least two transfer devices <NUM> in the height direction. A logistics crate <NUM> can be placed on each of the transfer devices <NUM>.

The sizes and packaging of goods are different. In order to facilitate transportation of goods, the goods can be placed in a logistics crate <NUM>, and the logistics crate <NUM> is placed on the first transmission assembly <NUM> to transport the logistics crate <NUM>. One or more logistics crates <NUM> can be placed on the first transmission assembly <NUM>. When the goods have outer packaging and the size thereof is close to or equal to the size of the logistics crate <NUM>, the goods can be directly placed on the first transmission assembly <NUM> for transportation.

The first transmission assembly <NUM> is configured to transport the logistics crate <NUM>. When the robot <NUM> loads goods, the logistics crates <NUM> are placed one by one into the multiple transfer devices <NUM> provided on the robot <NUM> through a pickup device such as a fork <NUM> on the robot <NUM>. At least one logistics crate <NUM> can be placed in each of the transfer devices <NUM>, and at least one piece of goods can be placed in one logistics crate <NUM>. This can be selected according to actual situations, and is not limited in this application.

When the robot <NUM> unloads goods, the robot <NUM> moves to a position where the goods need to be unloaded, for example, the robot <NUM> moves to a rack or the conveyor <NUM>. The rack or the conveyor <NUM> is provided with a storage layer opposite to the transfer device <NUM>. The first transmission assembly <NUM> synchronously perform transmission in the +Y direction or the -Y direction in <FIG> to move the logistics crate <NUM> to the storage layer opposite thereto, so that all the logistics crates <NUM> on the robot <NUM> can be simultaneously moved to the storage layers at a same time, thereby improving the unloading speed of the robot <NUM>, reducing the unloading time of the robot <NUM>, and improving the work efficiency of the robot <NUM>. The logistics crates <NUM> on the storage layers can also be simultaneously returned to the transfer devices <NUM> on the robot <NUM>, thereby improving the loading efficiency of the robot <NUM>.

With continuing reference to <FIG>, the transfer device <NUM> further includes a first controller (not shown) and at least one first detection assembly <NUM>, the first detection assembly <NUM> is provided on the supporting base <NUM>, and the first transmission assembly <NUM> and the first detection assembly <NUM> are both electrically connected to the first controller. The first detection assembly <NUM> is configured to detect whether the logistics crate <NUM> is at an unsafe position. The first controller is configured to control, in a case that the logistics crate <NUM> is at an unsafe position, the first transmission assembly <NUM> to perform transmission in a second direction or a third direction to move the logistics crate <NUM> to a safe position. The second direction is opposite to the third direction. For convenience of depiction, the second direction may be the +Y direction in <FIG>, and the third direction may be the -Y direction in <FIG>.

At the unsafe position, the logistics crate <NUM> partially extends out of the supporting base <NUM>, or the logistics crate <NUM> partially extends out of a detection area formed by the first detection assembly <NUM>.

Specifically, the supporting base <NUM> is used for supporting the first transmission assembly <NUM>, and the length of the supporting base <NUM> in the second direction is equal to the length of the first transmission assembly <NUM> in the second direction, or the difference between the length of the supporting base <NUM> in the second direction and the length of the first transmission assembly <NUM> in the second direction is less than or equal to <NUM>, thereby making it convenient for the first detection assembly <NUM> to detect whether the logistics crate <NUM> is located at an unsafe position. The first controller may be provided on the supporting base <NUM>. Thus, it is convenient to electrically connect the first transmission assembly <NUM> to the first controller, and to mount the first controller. In some embodiments, the first controller may also be disposed on another position of the robot <NUM>. The position of the first controller is not limited in this application.

During the process that the robot <NUM> moves to a position where goods need to be unloaded, or during other movements, the logistics crate <NUM> may move on the first transmission assembly <NUM> due to vibration and other reasons, and thus is at a risk of falling from the transfer device <NUM>. Therefore, in this application, the transfer device <NUM> further includes a first controller and at least one first detection assembly <NUM>. The first detection assembly <NUM> detects whether the logistics crate <NUM> is at an unsafe position. In a case that the first detection assembly <NUM> detects that the logistics crate <NUM> is at an unsafe position, the first controller controls the first transmission assembly <NUM> to perform transmission in the +Y direction or -Y direction in <FIG> to move the logistics crate <NUM> to a safe position. Thus, the logistics crate <NUM> is prevented from falling from the transfer device <NUM> during movement of the robot <NUM>.

In some embodiments, the number of the first detection assembly <NUM> is at least two, and the at least two first detection assemblies <NUM> are respectively disposed on two ends of the supporting base <NUM>. When a first end 200a of the logistics crate moves to a first end 110a of the supporting base, the logistics crate <NUM> tends to extend out of the supporting base <NUM>, and the first of the first detection assemblies 120a can detect the logistics crate <NUM>. In this case, the first controller may control the first transmission assembly <NUM> to perform transmission in the -Y direction, so as to move the logistics crate <NUM> toward a second end 110b of the supporting base, thereby moving the logistics crate <NUM> into the supporting base <NUM>. When a second end 200b of the logistics crate moves to the second end 110b of the supporting base, the second of the first detection assemblies 120b can detect the logistics crate <NUM>. In this case, the first controller may control the first transmission assembly <NUM> to perform transmission in the +Y direction, so as to move the logistics crate <NUM> toward the first end 110a of the supporting base, thereby moving the logistics crate <NUM> into the supporting base <NUM>. Thus, the logistics crate <NUM> can be prevented from falling from the transfer device <NUM>.

The first detection assembly <NUM> may be a reflective photoelectric sensor. The reflective photoelectric sensor is not affected by the shape, color, and material of an object to be detected, and is easy to mount.

The detection timing for the first detection assembly <NUM> to detect whether the logistics crate <NUM> is located at an unsafe position may be during a process that the robot <NUM> moves to a position where goods needs to be unloaded, or during other movements. When the robot <NUM> is in a stationary state or in the process of transporting the logistics crate <NUM>, the first detection assembly <NUM> may stop detection operation.

In another embodiment, the number of the first detection assembly <NUM> may be one, the first detection assembly <NUM> may be located on the supporting base <NUM>, and a detection area formed by the first detection assembly <NUM> covers at least part of the supporting base <NUM>. The first detection assembly <NUM> may be a light curtain sensor. The detection area formed by the light curtain sensor matches the logistics crate <NUM>. When the logistics crate <NUM> partially extends out of the detection area formed by the first detection assembly <NUM>, the first controller may control the first transmission assembly <NUM> to perform transmission in the -Y direction or the +Y direction, so as to make the logistics crate <NUM> located in the detection area formed by the detection assembly <NUM>. Thus, the logistics crate <NUM> can be prevented from falling from the transfer device <NUM>.

With continuing reference to <FIG>, in the transfer device provided in this application, the supporting base <NUM> includes two supports <NUM>, and the two supports <NUM> are respectively located on two opposite sides of the first transmission assembly <NUM>.

Each support <NUM> includes a supporting portion <NUM> and a blocking edge <NUM> for blocking the logistics crate <NUM>. The blocking edge <NUM> is connected to the supporting portion <NUM>, and the blocking edge <NUM> is located above the supporting portion <NUM>. The first transmission assembly <NUM> is fixed to the supporting portion <NUM>. The first detection assembly <NUM> is located on the supporting portion <NUM> and/or the blocking edge <NUM>.

In the transfer device provided in this application, the first transmission assembly <NUM> is a conveyor belt assembly or a roller transmission assembly. The conveyor belt assembly may include a motor (not shown), two spindles <NUM>, and a conveyor belt <NUM> sleeved on the spindles <NUM>. The logistics crate <NUM> is located on the conveyor belt <NUM>. The two ends of each spindle <NUM> are respectively rotatably connected to the two supporting portions <NUM>. There may be one motor, and the motor is connected to any of the spindles <NUM>. The spindle <NUM> is driven to rotate forwardly or backwardly by the motor, so as to drive the logistics crate <NUM> on the conveyor belt <NUM> to move in the +Y direction or the -Y direction in <FIG>. Alternatively, the two spindles <NUM> are each connected to a motor, one motor drives the spindle <NUM> connected thereto to forwardly rotate, and the other motor drives the spindle <NUM> connected thereto to backwardly rotate, so as to drive the logistics crate <NUM> on the conveyor belt <NUM> to move.

If the logistics crate <NUM> is heavy and the conveyor belt <NUM> cannot support the logistics crate <NUM>, the logistics crate <NUM> on the conveyor belt <NUM> may be caused to move at a reduced speed or be difficult to move smoothly. Therefore, in some embodiments, supporting rods <NUM> are connected between the two supports <NUM>, the supporting rods <NUM> are located in an area enclosed by the conveyor belt <NUM>, and the conveyor belt <NUM> is supported by the supporting rods <NUM>. In order to increase the supporting area, a supporting plate <NUM> can be connected onto the supporting rods <NUM>, and the conveyor belt <NUM> is supported by the supporting plate <NUM>.

In this application, an anti-skid layer may be provided on the conveyor belt <NUM>, and the anti-skid layer can increase the static friction between the logistics crate <NUM> and the surface of the conveyor belt <NUM> to prevent the logistics crate <NUM> from sliding on the conveyor belt <NUM>. The anti-skid layer may be an anti-skid pattern provided on the surface of the conveyor belt <NUM> (the contact surface between the conveyor belt <NUM> and the logistics crate <NUM>), or an uneven structure provided on the surface of the conveyor belt <NUM>, or an anti-skid layer well known to a person skilled in the art, which is not limited in this embodiment.

In some embodiments, the first transmission assembly <NUM> may be a roller transmission assembly. The roller transmission assembly may include at least one driving member and multiple spindles <NUM>. Two ends of each spindle <NUM> are respectively rotatably connected to the two supporting portions <NUM>, and at least one spindle <NUM> is connected to the driving member. The logistics crate <NUM> is placed on the spindles <NUM>, and the spindles <NUM> are driven to rotate by the driving member, so as to move the logistics crate <NUM> in the +Y direction or the -Y direction. An anti-skid sleeve can be provided on each spindle <NUM>. The static friction between the logistics crate <NUM> and the surfaces of the spindles <NUM> is increased through the anti-skid sleeves to prevent the logistics crate <NUM> from sliding on the spindles <NUM>.

In order to facilitate mounting of the first detection assembly <NUM>, in the transfer device provided in this application, the supporting base <NUM> further includes at least two mounting members <NUM>. The at least two mounting members <NUM> are respectively connected to two opposite ends of the supporting base <NUM>. Each mounting member <NUM> is provided with a mounting portion <NUM>, and the first detection assembly <NUM> is located on the mounting portion <NUM>.

Two ends of at least one support <NUM> are each connected to a mounting member <NUM>; or two ends of one of the two supports <NUM> are each connected to a mounting member <NUM>; or, a first end of one support 111a is connected to a mounting member <NUM>, and a second end of the other support 111b is connected to a mounting member <NUM>; or, a second end of the support 111a is connected to a mounting member <NUM>, and a first end of the other support 111b is connected to a mounting member <NUM>. As long as it is ensured that the at least two first detection assemblies <NUM> are respectively disposed at the two ends of the supporting base <NUM>.

The logistics crate <NUM> is moved on the first transmission assembly <NUM>. In order to avoid collision between the logistics crate <NUM> and the first detection assembly <NUM>, in a specific implementation, the mounting portion <NUM> is an accommodating groove, the first detection assembly <NUM> is accommodated in the accommodating groove, and a detection end of the first detection assembly <NUM> faces the first transmission assembly <NUM>.

Exemplarily, a sensing surface of the reflective photoelectric sensor faces the first transmission assembly <NUM>. The first detection assembly <NUM> may also be a travel switch. The travel switch may be located on the first transmission assembly <NUM> or on the mounting portion <NUM>, as long as the travel switch can detect movement of the logistics crate <NUM> relative to the first transmission assembly <NUM> when the first transmission assembly <NUM> is in a stationary state. No limitation is made thereto in this embodiment.

Further, in the transfer device provided in this application, two ends of the blocking edge <NUM> are provided with bent edges facing away from the first transmission assembly <NUM>, so as to increase the opening size of the exit and the entry of the transfer device <NUM>, thereby achieving a guiding function for the logistics crate <NUM> to enter the first transmission assembly <NUM> and exit the first transmission assembly <NUM>.

The mounting portion <NUM> is flush with the inner side of a corresponding bent edge <NUM> or is located outside the corresponding bent edge <NUM>. In this way, collision between the logistics crate <NUM> and the first detection assembly <NUM> can be avoided. The height of the bent edge <NUM> (the +X direction in <FIG>) may be greater or less than the height of the mounting portion <NUM> (the +X direction in <FIG>), as long as the first detection assembly <NUM> is higher than the bent edge <NUM>.

With continuing reference to <FIG>, this application further provides a robot <NUM>, including a body <NUM> and at least one transfer device <NUM> provided on the body <NUM>. The transfer device <NUM> is the transfer device <NUM> according to any one of the foregoing embodiments.

The structure of the transfer device <NUM> is described in detail in the above embodiments, and no repeated description is provided herein.

A pickup device may also be provided on the robot <NUM>, and the pickup device is configured to move the logistics crate <NUM> to the transfer device <NUM>. The pickup device may be a pickup device commonly used in the art, such as a robotic arm, a clamping fork, or a claw, which is not limited in this application. In <FIG> of this embodiment, a fork <NUM> is taken as the pickup device for description.

In order to facilitate movement of the robot <NUM>, during specific implementation, the body <NUM> includes a first mobile chassis <NUM> and at least two first supporting frames <NUM> provided on the first mobile chassis <NUM>, and the first mobile chassis <NUM> is configured to drive the first supporting frames <NUM> to move.

The first supporting frames <NUM> extend upward from the first mobile chassis <NUM> and are perpendicular to the first mobile chassis <NUM>, and the transfer devices <NUM> are connected between two adjacent first supporting frames <NUM>.

The transfer devices <NUM> are disposed at intervals in a first direction of the first supporting frames <NUM> (i.e., the height direction of the first supporting frames <NUM>). The distance between two adjacent transfer devices <NUM> may be the same or different. For example, the distance between two adjacent transfer devices <NUM> increases or decreases sequentially in the height direction of the first mobile chassis <NUM>. Thus, logistics crates <NUM> of different specifications can be placed.

In some embodiments, the mounting positions of the transfer devices <NUM> are adjustable, so that the distances between the transfer devices <NUM> can be adjusted according to the specifications of the logistics crates <NUM>. For example, multiple first through holes are provided at intervals in the height direction of each first supporting frame <NUM>, and the transfer devices <NUM> are connected to the through holes by bolts to adjust the distances between the transfer devices <NUM>.

In order to facilitate mounting of the transfer device <NUM> on the body <NUM>, in the robot provided in this application, each first supporting frame <NUM> is provided with at least one first connection portion <NUM> in the first direction, the supporting base <NUM> is provided with a second connection portion <NUM>, the transfer device <NUM> and the first supporting frame <NUM> are detachably connected through the first connection portion <NUM> and the second connection portion <NUM>.

In a specific implementation, one of the first connection portion <NUM> and the second connection portion <NUM> is first connection holes, and the other is a connection seat. The connection seat is provided with second through holes, and screws are connected to the first connection holes through the second through holes on the connection seat, so as to detachably connect the transfer device <NUM> to the first supporting frame <NUM>. Alternatively, the first connection portion <NUM> is snap-fit to the second connection portion <NUM>. One of the first connection portion <NUM> and the second connection portion <NUM> is a slot, and the other is a fastener matching the slot. Alternatively, the transfer devices <NUM> are connected to the first supporting frames <NUM> in a detachable connection manner well known to a person skilled in the art to adjust the distances between the transfer devices <NUM>. No limitation thereto is made herein.

The second connection portion <NUM> may be located on the supporting portion <NUM>, and the supporting portion <NUM> is a main load-bearing portion of the supporting base <NUM>. Thus, the reliability of the connection between the transfer devices <NUM> and the body <NUM> is increased.

<FIG> is a first schematic structural diagram of a sorting system according to an embodiment of this application. With reference to <FIG>, the sorting system provided in this application includes at least one conveyor <NUM> and at least one robot <NUM> according to any one of the foregoing embodiments. The conveyor <NUM> is configured to receive a logistics crate <NUM> on the robot <NUM>, or to transport a logistics crate <NUM> on the conveyor <NUM> to the robot <NUM>.

The structure of the robot <NUM> is described in detail in the above embodiments, and no repeated description is provided herein.

Possible implementation structures of the conveyor <NUM> will be described below through different embodiments.

<FIG> is a first schematic structural diagram of a conveyor in a sorting system according to an embodiment of this application. <FIG> is a schematic diagram of the internal structure of part B in <FIG>. With reference to <FIG> and <FIG>, in the sorting system provided in this application, the conveyor <NUM> includes a second supporting frame <NUM> and at least two first storage layers <NUM> located on the second supporting frame <NUM>. The first storage layer <NUM> is disposed in a first direction of the second supporting frame <NUM> (i.e., the height direction of the second supporting frame <NUM>), and the first storage layer <NUM> is configured to receive a logistics crate <NUM> on the robot <NUM> or transport a logistics crate <NUM> to the robot <NUM>. The second supporting frame <NUM> may be a cuboid frame, and the first storage layers <NUM> are located in the second supporting frame <NUM>.

Optionally, the first storage layer <NUM> is provided in one-to-one correspondence to the transfer device <NUM> on the robot <NUM>. When the robot <NUM> moves to the conveyor <NUM>, the transfer device <NUM> on the robot <NUM> simultaneously move the logistics crate <NUM> to the first storage layer <NUM> opposite thereto through transmission by the first transmission assembly <NUM>, and an operator sorts the logistics crate <NUM> on the first storage layer <NUM> of the conveyor <NUM>. In this way, direct contact between the operator and the robot <NUM> is avoided, the unloading speed of the robot <NUM> is increased, the unloading time of the robot <NUM> is reduced, and the work efficiency of the robot <NUM> is improved.

In order to facilitate sorting of goods in the logistics crate <NUM> by the operator, in the sorting system provided in this application, each first storage layer <NUM> can be moved between a first position and a second position. The first position is on the second supporting frame <NUM>, and the second position is at the side of the second supporting frame <NUM> facing away from the robot <NUM>. That is, the first storage layer <NUM> can move toward the side facing away from the robot <NUM> to the outside of the second supporting frame <NUM>. In this way, the operator can directly perform an operation of sorting the goods in the logistics crate <NUM> moving along with the first storage layer <NUM> to the outside of the second supporting frame <NUM>. It is convenient for the operator to sort the goods in the logistics crate <NUM>.

In some embodiments, one or two first storage layers <NUM> in the lower part of the second supporting frame <NUM> can be moved between the first position and the second position. In this way, the operator can stand to sort the goods at a comfortable height that can be reached, without squatting or climbing, thereby increasing comfort of the operator during work.

In this application, the heights of some first storage layers <NUM> located at the upper part of the second supporting frame <NUM> may exceed the height of the operator, which is inconvenient for the operator to sort the goods. Therefore, the some first storage layers <NUM> can be used as temporary logistics crate placement positions for temporarily placing the logistics crates <NUM>. When sorting of goods in the logistics crate <NUM> on the first storage layer <NUM> at the lower part of the second supporting frame <NUM> is completed, the logistics crates <NUM> at the temporary logistics crate storage positions can be moved to the first storage layer <NUM> at the lower part of the second supporting frame <NUM>.

In some embodiments, a blocking member <NUM> is provided on the second supporting frame <NUM>, the blocking member <NUM> is located at the side of the second supporting frame <NUM> facing away from the robot <NUM>, and the blocking member <NUM> is configured to block at least one first storage layer <NUM> located at the upper part of the second supporting frame <NUM>. By using the blocking member <NUM> to block at least one first storage layer <NUM> located at the upper part of the second supporting frame <NUM>, the logistics crate <NUM> on the first storage layer <NUM> at the upper part of the second supporting frame <NUM> is prevented from falling to the operator side, thereby increasing the safety of the operator during work.

The boundary between the upper part of the second supporting frame <NUM> and the lower part of the second supporting frame <NUM> can be configured according to the comfortable height for the operator to work. When the operator needs to use an auxiliary tool such as a step stool or a ladder to sort the logistics crate <NUM> in a first storage layer <NUM>, the second supporting frame <NUM> at the height and above can be defined as the upper part of the second supporting frame <NUM>.

In order to make it convenient for the first storage layer <NUM> to extend out of the second supporting frame <NUM>, in one embodiment, a guide rail <NUM> is provided on the second supporting frame <NUM>, and the guide rail <NUM> may extend toward the outside of the second supporting frame <NUM>. Two guide rails <NUM> may be provided horizontally, and the first storage layer <NUM> is connected between the two guide rails <NUM>. The guide rail <NUM> having a guiding function for movement of the first storage layer <NUM>, so that the first storage layer <NUM> can smoothly extend out of the second supporting frame <NUM>.

Implementations in which the first storage layer <NUM> extends out of the second supporting frame <NUM> will be described below.

In a possible implementation, the first storage layer <NUM> is slidably connected to the guide rail <NUM> and slides in the extension direction of the guide rail <NUM>. For example, the guide rail <NUM> is provided with a groove, the first storage layer <NUM> is provided with a protrusion, and the protrusion is inserted into the groove to slidably connect the first storage layer <NUM> to the guide rail <NUM>. Alternatively, a slidable connection manner well known to a person skilled in the art may be used.

In another possible implementation, a driving structure is provided on the second supporting frame <NUM>, and the driving structure is connected to the first storage layer <NUM> to drive the first storage layer <NUM> to extend out of the second supporting frame <NUM>. Specifically, the driving structure may include a motor, a gear <NUM>, and a rack <NUM> meshed with the gear <NUM>. The rack <NUM> is located on the guide rail <NUM>. The motor drives the gear <NUM> to rotate forwardly or backwardly, so as to drive the gear <NUM> to move along the rack <NUM>, and then drive the first storage layer <NUM> connected to the rack <NUM> to extend out of the second supporting frame <NUM> or retreat into the second supporting frame <NUM>.

Implementations in which the first storage layer <NUM> extends out of the second supporting frame <NUM> are not limited to the above two. In a specific implementation, the above two manners can be combined so that the first storage layer <NUM> can extend out of the second supporting frame <NUM>. Alternatively, the structure of a slidable drawer in the related art can be used so that the first storage layer <NUM> can extend out of the second supporting frame <NUM>. No limitation thereto is made in this embodiment.

In some embodiments, the first storage layer <NUM> is the transfer device <NUM> provided in the foregoing embodiments.

<FIG> is a second schematic structural diagram of a conveyor in a sorting system according to an embodiment of this application. With reference to <FIG>, in the sorting system provided in this application, the conveyor <NUM> includes a third supporting frame <NUM>, a second transmission assembly (not shown), and at least one transfer mechanism <NUM>.

The transfer mechanism <NUM> is configured to receive a logistics crate <NUM>, the second transmission assembly is connected to the transfer mechanism <NUM>, and the second transmission assembly drives the transfer mechanism <NUM> to rotate around the third supporting frame <NUM>, so as to deliver the logistics crate <NUM> to a lower part of the third supporting frame <NUM>.

The division mode of the upper part of the third supporting frame <NUM> and the lower part of the third supporting frame <NUM> is the same as the division mode of the upper part of the second supporting frame <NUM> and the lower part of the second supporting frame <NUM> in the foregoing embodiments. Reference may be made to the division mode of the upper part of the second supporting frame <NUM> and the lower part of the second supporting frame <NUM> described above, and will not be repeated here. No repeated description is provided herein.

Specifically, the second transmission assembly includes a driving member, a driving wheel, a driven wheel, and pulleys. The transfer mechanisms <NUM> are connected to the pulleys at intervals. The driving wheel and the driven wheel are connected through the pulleys. The pulleys can be arranged in a racetrack shape to rotate around the third supporting frame <NUM>, so as to drive the transfer mechanisms <NUM> to rotate around the third supporting frame <NUM>. The driving wheel is connected to the driving member, and the driving member drives the pulleys to rotate through the driving wheel, so as to deliver the logistics crates <NUM> to the lower part of the third supporting frame <NUM>.

The transfer mechanism <NUM> may be the transfer device <NUM> provided in the foregoing embodiments, or the transfer mechanism <NUM> may be a toothed supporting structure shown in <FIG>. No limitation thereto is made in this embodiment.

<FIG> is a second schematic structural diagram of a sorting system according to an embodiment of this application. <FIG> is a schematic structural diagram of an unloader in <FIG>. On the basis of embodiment <NUM> above, with reference to <FIG> and <FIG>, the sorting system provided in this application further includes at least one unloader <NUM>. The unloader <NUM> is configured to transport logistics crates <NUM> between a robot <NUM> and a conveyor <NUM>. In this case, the structure of the conveyor <NUM> in the implementation shown in <FIG> described above is used.

The unloader <NUM> includes at least two second storage layers <NUM>, the second storage layer <NUM> is disposed in a first direction of the unloader <NUM> (i.e., the height direction of the unloader <NUM>), and the unloader <NUM> transports the logistics crate <NUM> between the robot <NUM> and the conveyor <NUM> through the second storage layer <NUM>.

In a specific implementation, the unloader <NUM> further includes a fifth supporting frame <NUM>, and the second storage layer <NUM> is located on the fifth supporting frame <NUM>. The second storage layer <NUM> is supported by the fifth supporting frame <NUM>. The fifth supporting frame <NUM> may be a rectangular frame, and the second storage layer <NUM> is located in the fifth supporting frame <NUM>.

By providing the unloader <NUM>, the logistics crate <NUM> on the robot <NUM> can be temporarily stored on the unloader <NUM>, thereby reducing the unloading time of the robot <NUM>. Thus, the robot <NUM> can be released, so that the robot <NUM> can perform other tasks, thereby further improving the operation efficiency of the robot <NUM>. Alternatively, the logistics crate <NUM> on the conveyor <NUM> is transported to the robot <NUM> through the unloader <NUM>.

In order to timely move the logistics crate <NUM> on the robot <NUM> to the unloader <NUM>, in some embodiments, the second storage layer <NUM> is in one-to-one correspondence to the transfer device <NUM> on the robot <NUM>. The second storage layer <NUM> is configured to transfer the logistics crate <NUM> on the transfer devices <NUM> of the robot <NUM> to the conveyor <NUM> at a same time. The transfer mechanism <NUM> may be in one-to-one correspondence to the second storage layer <NUM>. The logistics crate <NUM> is transported to the transfer device <NUM> of the robot <NUM> sequentially through the transfer mechanism <NUM> and the second storage layer <NUM> at a same time.

In order to facilitate transfer of the logistics crate <NUM> on the unloader <NUM> to the conveyor <NUM>, or to the robot <NUM>, the second storage layer <NUM> may be the transfer device <NUM> provided in the foregoing embodiments.

<FIG> is a third schematic structural diagram of a sorting system according to an embodiment of this application. <FIG> is a schematic structural diagram of an elevator in <FIG>. <FIG> is a partial enlarged view of part C in <FIG>. <FIG> is a use state diagram of a second detection assembly in <FIG>. On the basis of embodiment <NUM> above, with reference to <FIG>, the sorting system further includes at least one elevator <NUM>. The elevator <NUM> is configured to transport a logistic crates <NUM> between a robot <NUM> and a conveyor <NUM>. Specifically, the elevator <NUM> receives the logistics crate <NUM> on the robot <NUM> and transports the logistics crate <NUM> to the conveyor <NUM>, or the elevator <NUM> receives the logistics crate <NUM> on the conveyor <NUM> and transports the logistics crate <NUM> to the robot <NUM>.

The elevator <NUM> includes a fourth supporting frame <NUM> and at least two third storage layers <NUM>. The third storage layer <NUM> is disposed in a first direction of the fourth supporting frame <NUM> (i.e., the height direction of the fourth supporting frame <NUM>), and the third storage layer <NUM> can move in the first direction of the fourth supporting frame <NUM> (i.e., moving up and down in the height direction of the fourth supporting frame <NUM>). The third storage layer <NUM> is used for placing the logistics crate <NUM>. In a specific implementation, the elevator <NUM> may be provided with a timing belt assembly or a chain assembly, and the third storage layer <NUM> is driven to move in the first direction of the fourth supporting frame <NUM> by the timing belt assembly or the chain assembly. The third storage layer <NUM> may be the transfer device <NUM> provided in the foregoing embodiments.

When the conveyor <NUM> has the structure shown in <FIG>, the elevator <NUM> may be omitted, and the sorting system may include the robot <NUM> and the conveyor <NUM>.

In order to facilitate movement of the elevator <NUM> between the robot <NUM> and the conveyor <NUM>, the elevator <NUM> further includes a second mobile chassis <NUM>. The fourth supporting frame <NUM> is located on the second mobile chassis <NUM>, and the second mobile chassis <NUM> is configured to drive the elevator <NUM> to move.

In this application, the third storage layer <NUM> can move up and down in the height direction of the fourth supporting frame <NUM>, that is, the third storage layer <NUM> can be lifted and lowered cyclically. By the cyclic lifting and lowering of the third storage layer <NUM> of the elevator <NUM>, the sorted logistics crate <NUM> on the first storage layer <NUM> at the lower part of the conveyor <NUM> can be transported to the robot <NUM>, or transported to the first storage layer <NUM> at the upper part of the conveyor <NUM> for temporary storage. By the cyclic lifting and lowering of the third storage layer <NUM> of the elevator <NUM>, the logistics crate <NUM> that is not sorted at the upper part of the conveyor <NUM> can also be transported to the first storage layer <NUM> at the lower part of the conveyor <NUM> for sorting.

In some embodiments, the elevator <NUM> further includes a second controller (not shown) and at least one second detection assembly <NUM>. The second detection assembly <NUM> is electrically connected to the second controller. The second detection assembly <NUM> is configured to detect a distance H between the third storage layer <NUM> and an object at a side of the elevator <NUM>. The second controller is configured to control, in a case that the distance H is less than or equal to a preset value, the third storage layer <NUM> to stop moving in the first direction.

The object at the side of the elevator <NUM> may be a logistics crate <NUM> at an unsafe position on the robot <NUM> and/or a logistics crate <NUM> at an unsafe position on the conveyor <NUM> shown in <FIG>.

In this application, a detection surface of the second detection assembly <NUM> faces a first end in the first direction and a second end in a second direction, respectively. When there is one third storage layer <NUM>, at least one second detection assembly <NUM> may be connected to each of the upper surface and the lower surface of the third storage layer <NUM>. When there are two or more third storage layers <NUM>, at least one second detection assembly <NUM> may be connected to each of the upper surface of the third storage layer <NUM> at the first end in the first direction (the uppermost third storage layer <NUM> in <FIG>) and the lower surface of the third storage layer <NUM> at the second end in the first direction (the lowermost third storage layer <NUM> in <FIG>). The second detection assembly <NUM> detects whether the third storage layer <NUM> will collide with the logistics crate <NUM> at the unsafe position on the robot <NUM> and/or the logistics crate <NUM> at the unsafe position on the conveyor <NUM> during the upward/downward movement of the third storage layer <NUM> in the height direction of the fourth supporting frame <NUM>.

The preset value is a safety distance between the third storage layer <NUM> and the logistics crate <NUM> located at the unsafe position on the robot <NUM> and/or the logistics crate <NUM> located at the unsafe position on the conveyor <NUM>. That is, when the distance is less than or equal to the safety distance, the third storage layer <NUM> is controlled to stop moving up/down to prevent the third storage layer <NUM> from colliding with the logistics crate <NUM> at the unsafe position on the robot <NUM> and/or the logistics crate <NUM> at the unsafe position on the conveyor <NUM>.

The sorting system may include a master controller to which the first and second controllers are connected. In this application, when the distance H is less than or equal to the preset value, the second controller controls the third storage layer <NUM> to stop moving in the first direction, and the first controller controls the transfer device <NUM> to transmit the logistics crate <NUM> in the second direction or the third direction, so as to move the logistics crate <NUM> to a safe position. In this case, the second controller <NUM> controls the third storage layer <NUM> to move in the first direction.

In some embodiments, the angle of the second detection assembly <NUM> is adjustable. By adjusting the angle of the second detection assembly <NUM>, the detection surface of the second detection assembly <NUM> can detect the logistics crate <NUM> at the unsafe position and/or the logistics crate <NUM> at the unsafe position on the conveyor <NUM>. An angle adjustment structure commonly used by a person skilled in the art may be adopted, which is not limited in this embodiment.

The second detection assembly <NUM> may be a gap sensor.

In this application, since the elevator <NUM> includes the second mobile chassis <NUM>, the second mobile chassis <NUM> can drive the elevator <NUM> to move, so that the elevator <NUM> moves between the conveyor <NUM> and the robot <NUM> to transport the logistics crates <NUM>. That is, one elevator <NUM> may correspond to at least one conveyor <NUM> and at least one robot <NUM>. In this way, the number of the elevator <NUM> may be less than or equal to the number of the conveyor <NUM>.

<FIG> is a fourth schematic structural diagram of a sorting system according to an embodiment of this application. <FIG> is a side view of <FIG>. <FIG> is a top view of <FIG>. On the basis of embodiment <NUM> above, with reference to <FIG>, the sorting system further includes at least one elevator <NUM>. That is, the sorting system includes a robot <NUM>, an unloader <NUM>, the elevator <NUM>, and a conveyor <NUM>. The elevator <NUM> is configured to transfer a logistics crate between the unloader <NUM> and the conveyor <NUM>.

In this application, the structure and working principle of the elevator <NUM> are the same as those in an embodiment <NUM>, and no repeated description is provided herein.

In this application, after the unloader <NUM> receives the logistics crate <NUM> on the robot <NUM>, the elevator <NUM> receives the logistics crate <NUM> on the unloader <NUM> and transports the logistics crate <NUM> to the conveyor <NUM>. Alternatively, the elevator <NUM> receives the logistics crate <NUM> on the conveyor <NUM> and transports the logistics crate <NUM> to the unloader <NUM>, and the unloader <NUM> transports the logistics crate <NUM> to the robot <NUM>.

An object at a side of the elevator <NUM> may be at least one of a logistics crate <NUM> at an unsafe position on the unloader <NUM> or a logistics crate <NUM> at an unsafe position on the conveyor <NUM>. The second detection assembly <NUM> detects whether the third storage layer <NUM> will collide with the logistics crate <NUM> at the unsafe position on the unloader <NUM> or the logistics crate <NUM> at the unsafe position on the conveyor <NUM> during upward/downward movement of the third storage layer <NUM> in the height direction of the fourth supporting frame <NUM>. The detection mode of the second detection assembly <NUM> is the same as that in an embodiment <NUM>, and no repeated description is provided herein.

<FIG> is a schematic structural diagram of a rack in <FIG>. With reference to <FIG> and <FIG>, the sorting system provided in this application further includes at least one rack <NUM> and/or a goods transport assembly. The rack <NUM> is used for storing the logistics crate <NUM> in the conveyor <NUM>. The rack <NUM> is used for placing the logistics crate <NUM>. The goods transport assembly is configured to transport the logistics crate <NUM> in the conveyor <NUM>.

At least one of embodiment <NUM> to embodiment <NUM> above may include at least one rack <NUM> and/or a goods transport assembly.

The number of the robot <NUM>, the number of the unloader <NUM>, and the number of the conveyor <NUM> may be the same. In <FIG>, description is made by taking the number of the robot <NUM> being six and the number of the elevator <NUM> being two as an example. In some embodiments, the number of the robot <NUM> is less than the number of the unloader <NUM>, thereby ensuring that the robot <NUM> can timely transport the logistics crate <NUM> thereon to the unloader <NUM> to avoid occupation of the robot <NUM>. The number of the unloader <NUM> may be the same as the number of the conveyor <NUM>.

In the sorting system provided in this application, the elevator <NUM> and the robot <NUM> can move independently, and the robot <NUM>, the unloader <NUM>, the elevator <NUM>, and the conveyor <NUM> cooperate with each other, so that an operator can conveniently sort goods. Moreover, the difficulty in an implementation and deployment is reduced, the workload of deploying and handling the sorting system is reduced, and the cost is reduced.

The sorting system provided by the foregoing embodiments has the following advantages:.

<FIG> is a first flowchart of a sorting method according to an embodiment of this application. With reference to <FIG>, this application further provides a sorting method, using the sorting system provided in an embodiment <NUM> above. The sorting method includes the following steps:.

Specifically, the first storage layer <NUM> on the conveyor <NUM> may be provided in one-to-one correspondence to the transfer device <NUM> on the robot <NUM>. The first storage layer <NUM> receives the logistics crate <NUM> on the robot <NUM>. The operator pulls out the first storage layer <NUM> at the lower part of the conveyor <NUM>, or the first storage layer <NUM> automatically extends out of the lower part of the conveyor <NUM>, or the transfer mechanism <NUM> rotates to the lower part of the conveyor <NUM>, and the operator sorts goods in the logistics crate <NUM> on the first storage layer <NUM> or the transfer mechanism <NUM> to deliver the goods to the rack <NUM> or the goods transport assembly. In this way, direct contact between the operator and the robot <NUM> is avoided, the unloading speed of the robot <NUM> is increased, the unloading time of the robot <NUM> is reduced, and the work efficiency of the robot <NUM> is improved.

Optionally, after S102, the sorting method provided in this application further includes: transporting, by the conveyor <NUM>, the logistics crate <NUM> to the robot <NUM>. That is, the conveyor <NUM> can transport a new logistics crate <NUM> or a sorted logistics crate <NUM> thereon to the robot <NUM>, so that the robot <NUM> transports the new logistics crate <NUM> or the sorted logistics crate <NUM> to a warehouse.

<FIG> is a second flowchart of a sorting method according to an embodiment of this application. With reference to <FIG>, this application further provides a sorting method, using the sorting system provided in an embodiment <NUM> above. The sorting method includes the following steps:.

Specifically, the second storage layer <NUM> on the unloader <NUM> is in one-to-one correspondence to the transfer device <NUM> on the robot <NUM>, the transfer device <NUM> on the robot <NUM> is used for placing the logistics crate <NUM>, and the second storage layer <NUM> on the unloader <NUM> receive the logistics crate <NUM> in the robot <NUM> and transports the logistics crate <NUM> to the transfer mechanisms <NUM> on the conveyor <NUM>.

S203: Receive, by the conveyor, the logistics crate on the unloader so as to sort the logistics crate on the conveyor.

Specifically, the transfer mechanisms <NUM> on the conveyor <NUM> receive the logistics crate <NUM> on the unloader <NUM>, and the operator sorts goods in the logistics crate <NUM> on the transfer mechanisms <NUM> to deliver the goods to the rack <NUM> or the goods transport assembly.

Optionally, after S203, the sorting method provided in this application further includes: transporting, by the conveyor <NUM>, the logistics crate <NUM> to the robot <NUM> through the unloader <NUM>. That is, the conveyor <NUM> can transport a new logistics crate <NUM> or a sorted logistics crate <NUM> thereon to the unloader <NUM>, and the unloader <NUM> transports the new logistics crate <NUM> or the sorted logistics crate <NUM> to the robot <NUM>, so that the robot <NUM> transports the new logistics crate <NUM> or the sorted logistics crate <NUM> to a warehouse.

<FIG> is a third flowchart of a sorting method according to an embodiment of this application. With reference to <FIG>, this application further provides a sorting method, using the sorting system provided in an embodiment <NUM> above. The sorting method includes the following steps:.

Specifically, the elevator <NUM> moves to the robot <NUM>, and the third storage layer <NUM> on the elevator <NUM> receives the logistics crate <NUM> placed on the transfer device <NUM> on the robot <NUM> and transport the logistics crate <NUM> to the first storage layer <NUM> on the conveyor <NUM>.

S303: Receive, by the conveyor, the logistics crate on the elevator so as to sort the logistics crate on the conveyor.

Specifically, the first storage layer <NUM> on the conveyor <NUM> receives the logistics crate <NUM> placed on the third storage layers <NUM> on the elevator <NUM>, and the operator sorts goods in the logistics crate <NUM> on the first storage layer <NUM> to deliver the goods to the rack <NUM> or the goods transport assembly.

After the logistics crate <NUM> is sorted, the sorted logistics crate <NUM> on the first storage layer <NUM> at the lower part of the conveyor <NUM> can be transported to the robot <NUM>, or transported to the first storage layer <NUM> at the upper part of the conveyor <NUM> for temporary storage. By the cyclic lifting and lowering of the third storage layer <NUM> of the elevator <NUM>, the logistics crate <NUM> that is not sorted at the upper part of the conveyor <NUM> can also be transported to the first storage layer <NUM> at the lower part of the conveyor <NUM> for sorting. Optionally, after S303, the sorting method provided in this application further includes: transporting, by the conveyor <NUM>, the logistics crate <NUM> to the robot <NUM> through the elevator <NUM>. That is, the conveyor <NUM> can transport a new logistics crate <NUM> or a sorted logistics crate <NUM> thereon to the elevator <NUM>, and the elevator <NUM> transports the new logistics crate <NUM> or the sorted logistics crate <NUM> to the robot <NUM>, so that the robot <NUM> transports the new logistics crate <NUM> or the sorted logistics crate <NUM> to a warehouse.

<FIG> is a fourth flowchart of a sorting method according to an embodiment of this application. With reference to <FIG>, this application further provides a sorting method, using the sorting system provided in an embodiment <NUM> above. The sorting method includes the following steps:
S401: Receive, by the robot, a logistics crate to be sorted.

Specifically, the robot <NUM> receives an instruction for picking up at least one logistics crate <NUM> to be sorted, and puts the logistics crate <NUM> one by one into the transfer devices <NUM> provided on the robot <NUM> through the fork <NUM> on the robot <NUM>. An identifier used for identifying the goods in the logistics crate <NUM>, such as a QR code, can be attached to the logistics crate <NUM>.

S402: Receive, by the unloader, the logistics crate on the robot, and transport the logistics crate to the elevator.

Specifically, the second storage layer <NUM> on the unloader <NUM> is in one-to-one correspondence to the transfer device <NUM> on the robot <NUM>, the transfer device <NUM> on the robot <NUM> is used for placing the logistics crate <NUM>, and the second storage layer <NUM> on the unloader <NUM> receives the logistics crate <NUM> in the robot <NUM> and transports the logistics crate <NUM> to the elevator <NUM>.

S403: Receive, by the elevator, the logistics crate on the unloader, and transport the logistics crate to the conveyor.

Specifically, the third storage layer <NUM> in the elevator <NUM> receives the logistics crate <NUM> on the second storage layer <NUM> on the unloader <NUM>. The elevator <NUM> moves to the position of the conveyor <NUM> and transports the logistics crate <NUM> to the transfer mechanisms <NUM> or the first storage layers <NUM> on the conveyor <NUM>.

S404: Receive, by the conveyor, the logistics crate on the unloader so as to sort the logistics crate on the conveyor.

Specifically, the transfer mechanism <NUM> or the first storage layer <NUM> on the conveyor <NUM> receives the logistics crate <NUM> placed on the third storage layer <NUM> on the elevator <NUM>, and the operator sorts goods in the logistics crate <NUM> on the first storage layer <NUM> or the transfer mechanism <NUM> to deliver the goods to the rack <NUM> or the goods transport assembly. Exemplarily, in order to make it convenient for the operator to put sorted goods into a corresponding box <NUM>, an indicator light is provided below the box <NUM>, and the indicator light is used for giving a prompt about a placement position to the operator. The pattern and text of the indicator light can be matched with the goods. After sorting the goods, the operator can also place the goods on the goods transport assembly, such as a conveyor line and other transport assemblies. The operator places the logistics crate <NUM> on the conveyor line, and other equipment or operators classify same, thereby further improving the sorting efficiency.

If at least two pieces of goods are placed in the logistics crate <NUM>, the same operator may place the goods in corresponding different boxes <NUM> in the rack <NUM>, or different operators place the goods in corresponding different boxes <NUM> in the rack <NUM>.

Each box <NUM> may correspond to a different order, and each box <NUM> may contain at least one piece of goods. Through the above-mentioned sorting method, the goods can be placed in the boxes <NUM> corresponding to the same orders.

After the logistics crate <NUM> is sorted, the sorted logistics crate <NUM> on the first storage layer <NUM> at the lower part of the conveyor <NUM> can be transported to the unloader <NUM>, or transported to the first storage layer <NUM> at the upper part of the conveyor <NUM> for temporary storage. By the cyclic lifting and lowering of the third storage layer <NUM> of the elevator <NUM>, the logistics crate <NUM> that is not sorted at the upper part of the conveyor <NUM> can also be transported to the first storage layer <NUM> at the lower part of the conveyor <NUM> for sorting.

Optionally, after S403, the sorting method provided in this application further includes: transporting, by the conveyor, the logistics crate to the robot sequentially through the elevator and the unloader. That is, the conveyor <NUM> can transport a new logistics crate <NUM> or a sorted logistics crate <NUM> thereon to the elevator <NUM>, the elevator <NUM> transports the new logistics crate <NUM> or the sorted logistics crate <NUM> to the unloader <NUM>, and the unloader <NUM> transports the new logistics crate <NUM> or the sorted logistics crate <NUM> to the robot <NUM>, so that the robot <NUM> transports the new logistics crate <NUM> or the sorted logistics crate <NUM> to a warehouse.

Claim 1:
A sorting system, comprising at least one conveyor (<NUM>) and at least one robot (<NUM>), wherein the conveyor (<NUM>) is configured to receive a logistics crate on the robot (<NUM>) or transport a logistics crate to the robot (<NUM>);
wherein the robot (<NUM>) comprises a body (<NUM>) and at least two transfer devices (<NUM>) provided on the body (<NUM>); where the transfer device (<NUM>) is disposed in a first direction of the body (<NUM>); the transfer device (<NUM>) comprises a supporting base (<NUM>) and a first transmission assembly (<NUM>), the first transmission assembly (<NUM>) is located on the supporting base (<NUM>), and the first transmission assembly (<NUM>) is configured to transport the logistics crate;
the conveyor (<NUM>) comprises a second supporting frame (<NUM>) and at least two first storage layers (<NUM>), the first storage layer (<NUM>) is disposed in a first direction of the second supporting frame (<NUM>), and the first storage layer (<NUM>) is configured to receive the logistics crate on the robot (<NUM>) or transport the logistics crate to the robot (<NUM>);
wherein the first storage layer (<NUM>) is movable between a first position and a second position, the first position is on the second supporting frame (<NUM>), and the second position is at a side of the second supporting frame (<NUM>) facing away from the robot (<NUM>); characterized in that the sorting system further comprises at least one unloader (<NUM>) and at least one elevator (<NUM>);
wherein the unloader (<NUM>) is configured to transport the logistics crate between the robot (<NUM>) and the elevator (<NUM>), wherein the unloader (<NUM>) comprises at least two second storage layers (<NUM>), the second storage layer (<NUM>) is disposed in the first direction of the unloader (<NUM>), and the unloader transports the logistics crate between the robot and the elevator through the second storage layer; and
wherein the elevator (<NUM>) is configured to transport the logistics crate between the robot (<NUM>) and the conveyor (<NUM>) or between the unloader (<NUM>) and the conveyor (<NUM>); wherein the elevator comprises a fourth supporting frame (<NUM>) and at least one third storage layer (<NUM>), the third storage layer is disposed in the first direction of the fourth supporting frame (<NUM>) and is movable in the first direction of the fourth supporting frame, and the third storage layer (<NUM>) is configured to transport the logistics crate.