CN108453048B - Package sorting method based on vertical stacking type sorter - Google Patents

Abstract

The parcel sorting method based on the vertical stacking sorter is applied to the logistics sorting system with equidistant separation-slow-speed diversion-rapid confluence; the process is as follows: 1. Parcels with disordered intervals are output at equal intervals; 2. Parcels with 3. Scan the barcode information of the parcels; 4. The parcels converge in an orderly manner; 5. Check whether the parcels are missing; 6. The parcels are divided in an orderly manner; 7. The parcels are sorted into the collection box; 8. The collection bags are closed; 9. , the closed collection bag is transferred to the stage; 10, a collection bag is automatically opened in the collection box; 11, the collection bag on the stage is transferred by the pusher. Aiming at the problem that the existing logistics sorting line carries out flat laying and sorting through the conveyor belt, and occupies a large area, the present invention realizes the sorting of the packages in the vertical direction through the tower sorting device, and the automatic packing after sorting. Compared with existing sorting methods, the footprint is small and the functions are integrated.

Description

Parcel sorting method based on vertical stacking sorter

technical field

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

Background technique

In today's information age, especially in the current Internet + and O2O economic model, logistics is a very important link. Today's consumers, especially the younger generation, are more inclined to shop online, so the daily circulation of domestic and foreign express delivery is huge. In the process of express transportation, sorting the express is essential, and this process determines whether the express can be transported to the correct direction.

Among the existing express companies, many express sorting methods are still carried out by manual sorting. Manual sorting has the disadvantages of high error rate, low efficiency, heavy workload, and violent sorting.

At present, the existing express sorting equipment can realize automatic express code scanning, sorting, sorting and storage, which reduces the workload of express sorting personnel to a certain extent, but there are still the following shortcomings:

1. Most of the existing express sorting equipment is a multi-level sorting equipment with a conveyor belt assembly line laid out on a plane, which occupies a large area and has a low space utilization rate.

2. There are some slow links in the existing express sorting equipment, such as parcel address scanning code. The "bottleneck effect" formed by these slow links will lead to low efficiency of the entire sorting line.

3. When the package is running on the sorting line, it may accidentally drop. If this happens after the package address scanning link, it will lead to subsequent large-scale sorting errors. In the absence of warning and countermeasures , its reliability is poor.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies of the prior art, and to provide a package sorting method based on a vertical stacking sorter, which can be used to distinguish express packages according to their destinations, and deliver them to different destinations according to different destinations. The corresponding storage container has a small footprint and high sorting efficiency.

The technical scheme of the present invention is: a package sorting method based on a vertical stacking sorter is applied to a logistics sorting system including equidistant separation-slow-speed diversion-fast confluence;

Logistics sorting system with equidistant separation-slow speed separation-fast confluence, including take-by-catch separation device, front flow divider, front flow separation conveyor, code scanning device, combiner, confluence conveyor, rear flow divider, and rear flow separation conveying device, error correction device, tower sorting device and controller;

The removal and separation device includes conveyor A, smooth separation plate, roller group and conveyor B which are arranged in close proximity from front to back;

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

The combiner includes a lead screw, a positioning seat, a drive motor K, a nut, a guide rod, a base, a small-section conveyor belt assembly A and a small-section conveyor belt assembly B; the small-section conveyor belt assembly A includes a small-section conveyor belt A, driving roller A, driven roller A, Roller base A, drive motor L and photoelectric sensor A; small conveyor belt assembly B includes small conveyor belt B, driving roller B, driven roller B, roller base B, driving motor M and photoelectric sensor B;

The rear diverter includes a rotating frame, a driving motor N, a lifting plate and a small section conveyor belt assembly C; sensor C;

The error correction device includes a barcode scanner and a timer counter arranged in order from far to near from the rear end of the confluence conveyor;

The tower sorting device includes a sorter, a packer, a pusher and a conveyor C;

There are multiple sorters, and they are stacked vertically. The central area of each sorter is provided with a cylindrical central channel. Parcel transportation channel; sorter includes bottom plate, leakage plate, collection box, collection bag, support base, rotary drive mechanism A, shift fork and rotary drive mechanism B; collection box includes box bottom plate, column, lifting frame, lifting control mechanism, Closing assembly, electromagnet A, electromagnet B and ultra-high and overweight detection components. The ultra-high and overweight detection components include a package overweight detector and a package overweight detector; the bottom of the box is provided with left inner bosses at the four corners, respectively. Left outer boss, right inner boss and right outer boss; lifting control mechanism includes wire rope, servo motor A and retractable wheel; closing assembly includes servo motor B and gears; collection bag includes bag body, drawstring and iron sheet; The four corners of the upper edge of the bag body are respectively provided with everted ear pieces, and iron rings are fixed on the ear pieces;

The parcel picker includes a lifting driver, a loading platform and a picking robot; the picking robot includes a mechanical arm, a rotating shaft, a rotating shaft seat, a splint body and a swing drive mechanism; the splint body includes a left iron plate, a right electromagnetic plate, a rotating pin and a torsion spring ; The swing drive mechanism includes a supporting hydraulic cylinder, a movable chain link and a slider;

The pusher includes an electric hydraulic cylinder and a push plate;

Before the parcels are sorted, the logistics sorting system with equidistant separation-slow-speed diversion-fast confluence is in the initial state, in this state:

a. The roller group of the removal and separation device is in the running state;

b. The first side or the second side of the V-shaped disc of the front diverter is facing the rear end of the conveyor B;

c. The front end of the small conveyor belt A of the combiner is facing the rear end of a front split conveyor, and the rear end of the small conveyor belt B is facing the front end of the confluence conveyor;

d. The front end of a small conveyor belt C of the rear splitter is facing the rear end of the confluence conveyor, and the rear ends of the other three small conveyor belts C are facing the front ends of the three rear split conveyors respectively;

e. The temporary stop area of the upper transfer plane of the uppermost sorter is directly at the package entrance of the outer cover;

f. The drop area B of the lower transfer plane of the sorter is facing the temporary stop area of the upper transfer plane of the next-level sorter;

g. The lifting frame of the collection box is located at the uppermost end of its movement stroke, and a collection bag is adsorbed and opened by the electromagnets A and B at the lower end;

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

i. The loading platform of the wrapping device is at the lowest position of its motion stroke;

j. The pick-up manipulator of the packager is at the lowest end of its rotation stroke;

k. The right electromagnetic plate of the wrapping device is energized;

l. The piston rod of the electric hydraulic cylinder of the pusher is in a retracted state;

The parcel sorting process is as follows:

S01, the parcels input in the disordered arrangement on the conveyor A are arranged at equal intervals and output on the conveyor B by the eviction separation device:

a. Put the package on the running conveyor A, when the package is discharged from the cargo discharge end of the conveyor A, it enters and rests on the smooth separation plate;

b. The package that enters the smooth separation plate later contacts and pushes the package that enters the smooth separation plate first, so that the package that enters the smooth separation plate first is pushed onto the roller group;

c. The package at the front is driven to move by the roller group, so that it is separated from the package at the rear end. After the package is discharged from the roller group, it enters the running conveyor B, and the distance between the packages on the conveyor B is equal;

S02, the packages discharged from the conveyor B are divided into two front diverting conveyors in an orderly manner through the front diverter:

a. The first package discharged from conveyor B falls on the first surface of the V-shaped disc of the front diverter, and then slides into a front diverting conveyor through the second surface of the V-shaped disc;

b. After the first package leaves the V-shaped disc, the pressure sensor J and the pressure sensor K on the V-shaped disc transmit electrical signals to the controller respectively. After the controller receives the signal, it immediately controls the shaft of the driving motor J to rotate, Rotate the second side of the V-shaped disc to face the discharge end of the conveyor B;

c. The second package discharged from conveyor B falls on the second surface of the V-shaped disc of the diverter, and then slides into another front diverting conveyor through the first surface of the V-shaped disc;

d. After the second package leaves the V-shaped disc, the pressure sensor J and the pressure sensor K on the V-shaped disc transmit electrical signals to the controller. After the controller receives the signal, it immediately controls the shaft of the driving motor J to rotate, and the The first side of the V-shaped disc is turned to the discharge end of the conveyor B to meet the arrival of the third package;

e. Repeat the four sub-steps a-d to achieve an average shunting of the packages on the conveyor B to the two front shunt conveyors;

S03, scan the barcode information of the package on the front diverting conveyor through the barcode scanning device:

The package is scanned by the barcode scanning device on the front split conveyor, and the scanned address information is transmitted to the controller. The controller then generates each split according to the established confluence rules of the subsequent package merging device and the established split rules of the splitter. Sorting list of packages on the conveyor belt and the sorting route of each package in the sorting tower;

S04, orderly confluence the packages discharged from the multiple front split conveyors to the confluence conveyor through the confluencer:

Number the two front split conveyors as X and Y respectively, number the small conveyor belt A of the combiner as x, and number the small conveyor belt B of the combiner as y, and arrange the packages on the two front split conveyors according to the order of discharge. The order is divided into two groups, and a group of packages are numbered as I and II according to the order of discharge. In the following description, the full name of the component is replaced by the label;

a. Before the packages converge, the combiner is in the initial state. In the initial state, x is facing X, and y is facing the confluence conveyor; the package I discharged from X falls on x, and the photoelectric sensor A senses the package. Immediately send an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor K to start, so that x and y move along the lead screw as a whole. When x is facing the confluence conveyor, and y is positive When facing Y, stop moving; 2. Control the drive motor L to start to make x run, and the package I on x is transported to the confluence conveyor;

b. The package II discharged from the Y falls on the y. After the photoelectric sensor B senses the package, it sends an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor K Start, make x and y move to the initial state as a whole, that is, stop moving; 2. Control the drive motor M to start, make y run, and the package II on y is transported to the confluence conveyor;

c. Repeat steps a and b to alternately deliver the packages on the two front split conveyors to the confluence conveyor;

S05, check whether the package on the confluence conveyor is missing through the error correction device:

a. The front end of the first package on the confluence conveyor starts to count when it passes the infrared track of the timer counter, and the front end of the second package passes through the infrared track of the time counter and counts +1; the rear end of the first package on the confluence conveyor Start timing when it passes the infrared channel of the timing counter, and stop timing when the front end of the second package passes the infrared channel of the timing counter; at this point, one timing counting cycle is completed, and the next timing counting cycle is started at the same time. , the timing starts from 0 seconds, and the count is accumulated;

b. The timing counter checks the error by continuously comparing the timing data difference between the two adjacent parcels before and after. If there is a missing parcel, the timing counter immediately sends an alarm signal to the controller. (Under normal circumstances, because the distance between adjacent parcels is basically the same, Therefore, the timing data is basically the same; if there is a package loss, the distance between adjacent packages will become larger and far beyond the normal spacing range, and accordingly, the timing data will also become larger and far beyond the normal value, based on which to determine whether there is a package. Missing) After the controller receives the alarm signal, it starts the code scanner, and the code scanner scans the address of the first package after the vacancy and sends it to the controller; the controller first searches the package sorting list and counts the first package before the vacancy The package address corresponding to the number, and then search backward from the package address, relocate the address of the first package after the vacancy, and calculate the number of missing packages according to the relocated address. Finally, in the package sorting list, put the missing package. The address of the vacancy is replaced with a blank address to prevent subsequent sorting errors (if the relocated address is n distances away from the address of the first package before the vacancy, it means that there are n packages missing in the vacancy);

c. The controller starts the code scanner. The code scanner scans the address of the second package after the vacancy and sends it to the controller. The controller compares and identifies whether the address information of the package is consistent with the corresponding package information in the package sorting list. The controller does not act, if it is inconsistent, the controller controls the entire logistics sorting system to stop running to prevent sorting errors;

S06, the packages discharged from the converging conveyor are distributed to the three rear shunt conveyors in an orderly manner through the rear shunt:

Number the three post-split conveyors as b, c, and d, respectively, number the four small-section conveyor belts as A, B, C, and D, and set the 12 consecutive packages on the confluence conveyor as a group. The order of discharge is numbered ①, ②, ③, ④, ⑤, ⑥, ⑦, ⑧, ⑨, ⑩, ⑪, ⑫;

a. Before the package is divided, the rotating frame is in the initial state. In the initial state, A is facing the confluence conveyor, B is facing b, C is facing c, and D is facing d; when the package discharged by the confluence conveyor ① falls on A On, the photoelectric sensor C corresponding to A senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame by one station , so that A is facing d, B is facing the confluence conveyor, C is facing b, and D is facing c; 2. Control the C corresponding to A to start, and A and the package on it run synchronously; after this sub-step is completed, B receives the package ②, and the package ① on A is discharged to d;

b. When the package ② discharged by the confluence conveyor falls on B, the photoelectric opposite-radiation sensor C446 corresponding to B senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame to a station, so that A is facing c, B is facing d, C is facing the confluence conveyor, and D is facing b; 2. Control the driving motor Q corresponding to D to start, D Start running; after this sub-step is completed, C receives the package ③;

c. When the package ③ discharged by the confluence conveyor falls on C, the photoelectric sensor C446 corresponding to C senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame to a station, so that A is facing d, B is facing C, C is facing d, and D is facing the confluence conveyor; 2. Control the driving motor Q corresponding to B to start, B Together with the package ② on it, it runs synchronously; after this sub-step is completed, D receives the package ④, and the package ② on B is discharged to c;

d. When the package ④ discharged by the confluence conveyor 300 falls on D, the photoelectric sensor C446 corresponding to D senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the drive motor N42 to start, and rotate the rotating frame to a station, so that A is facing the confluence conveyor, B is facing b, C is facing c, and D is facing d; 2. Control the driving motor Q corresponding to D to start, D and the package ④ on it run synchronously; after this sub-step is completed, A receives the package ⑤, and the package ④ on D is discharged to d;

e. When the package ⑤ discharged by the confluence conveyor falls on A, the photoelectric opposite-radiation sensor C corresponding to A senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame for one station, so that A is facing d, D is facing c, C is facing b, and B is facing the confluence conveyor; 2. Control the driving motor Q corresponding to C to start, C Together with the package ③ on it, it runs synchronously; after this sub-step is completed, B receives the package ⑥, and the package ③ on C is discharged to b;

f. When the package ⑥ discharged by the confluence conveyor falls on B, the photoelectric sensor C corresponding to B senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame to a station, so that A is facing c, B is facing d, C is facing the confluence conveyor, and D is facing b; 2. Control the driving motor Q corresponding to A to start, A Together with the package ⑤ on it, it runs synchronously; after this sub-step is completed, C receives the package ⑦, and the package ⑤ on A is discharged to c;

g. When the package ⑦ discharged by the confluence conveyor falls on C, the photoelectric opposite-radiation sensor C corresponding to C senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame to a station, so that A is facing b, B is facing c, C is facing d, and D is facing the confluence conveyor; 2. Control the driving motor Q corresponding to C to start, C It runs synchronously together with the package ⑦ on it; after this sub-step is completed, D receives the package 8, and the package ⑦ on C is discharged to d;

h. When the package ⑧ discharged by the confluence conveyor falls on D, the photoelectric sensor C corresponding to D senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame to a station, so that A is facing the confluence conveyor, B is facing b, C is facing c, and D is facing d; 2. Control the driving motor Q corresponding to B to start, B Together with the package ⑥ on it, it runs synchronously; after this sub-step is completed, A receives the package ⑨, and the package ⑥ on B is discharged to b;

i. When the package ⑨ discharged by the confluence conveyor falls on A, the photoelectric sensor C corresponding to A senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame to a station, so that A is facing d, B is facing the confluence conveyor, C is facing b, and D is facing c; 2. Control the driving motor Q corresponding to D to start, D Together with the package ⑧ on it, it runs synchronously; after this sub-step is completed, B receives the package ⑩, and the package ⑥ on D is discharged to c;

j. When the package ⑩ discharged by the confluence conveyor falls on B, the photoelectric sensor C corresponding to B senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame to a station, so that A is facing c, B is facing d, C is facing the confluence conveyor, and D is facing b; 2. Control the driving motor Q corresponding to B to start, B It runs synchronously with the package ⑩ on it; after this sub-step is completed, C receives the package ⑪, and the package ⑩ on B is discharged to d;

k. When the package ⑪ discharged by the confluence conveyor falls on C, the photoelectric sensor C corresponding to C senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame to a station, so that A is facing b, B is facing c, C is facing d, and D is facing the confluence conveyor; 2. Control the driving motor Q corresponding to A to start, A It runs synchronously with the package ⑨ on it; after this sub-step is completed, D receives the package ⑫, and the package ⑨ on A is discharged to b;

l. When the package ⑫ discharged by the confluence conveyor falls on D, the photoelectric sensor C corresponding to D senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor N to start, and rotate the rotating frame to a station, so that A is facing the confluence conveyor, B is facing b, C is facing c, and D is facing d; 2. Control the driving motor Q corresponding to C to start, C It runs synchronously with the package ⑪ on it; after this sub-step is completed, A receives the package ① of the next group of packages, and the package ⑪ on C is discharged to c;

m, when the package ① of the next group of packages discharged by the confluence conveyor falls on A, repeat the steps from a to l for control, and so on and so forth, realize the orderly shunting of the packages discharged by the confluence conveyor to three;

S07, the packages discharged from the rear split conveyor and entering the tower sorting device are sorted into the corresponding collection box:

a. After the package is discharged from the rear shunt conveyor, it falls into the temporary stop area of the transfer plane on the top sorter of the tower sorting device. The controller controls the rotary drive mechanism A according to the pre-calculated sorting route of the package to generate action, so that the package drop hole A of the bushing plate selectively faces the upper end opening of the collection box or the package drop hole B on the bottom plate, and then controls the rotary drive mechanism B to generate action, and the package is moved to the package of the bushing plate through the fork. At the drop hole A, the package falls into the collection box of the sorter of this layer or the temporary stop area of the upper transfer plane of the sorter of the next layer through the package drop hole A of the leakage plate;

b. After the package reaches the temporary stop area of the upper transfer plane of the new layer of sorter, repeat the control process of step a, so that the package finally falls into the corresponding collection box of the corresponding layer of sorter;

S08, the collection box will automatically close the collection bag that meets the closing standard: when the package in the collection box reaches the predetermined weight or height, the package overweight detector or the package over-height detector will immediately alarm the controller, and the controller will receive the alarm signal after receiving the alarm signal. Control the two servo motors B to start at the same time, the two servo motors B respectively drive the gears to move along the rack on the side wall of the gear accommodating cavity, and the two servo motors B move in the motor chutes of the inner and outer arc side bars respectively. , the electromagnet A is gradually approaching the electromagnet B, when the electromagnet A moves to the position closest to the electromagnet B, the servo motor B stops moving, and the upper opening of the collection bag is closed at this time;

S09, transfer the closed collection bag to the stage by the picking manipulator:

a. After the opening at the upper end of the collection bag is closed, the controller controls the lift driver to act to raise the stage to the height corresponding to the alarmed collection box;

b. The controller performs two controls at the same time: 1. Control the extension of the piston rod of the supporting hydraulic cylinder, push the picking manipulator upward, so that the splint body approaches the iron piece of the collection bag; 2. Control the power off of the right electromagnetic board, The closed splint body is opened under the action of the torsion spring, and the opened splint body is facing the iron sheet of the collection bag;

c. After the splint body is opened for a few seconds, the controller controls the right electromagnetic plate to energize again, so that the splint body is closed. When the splint body is closed, the iron sheet of the collection bag is adsorbed to the right electromagnetic plate. After the splint body is closed, the collection bag The iron sheet is clamped between the left iron plate and the right electromagnetic plate of the splint body;

d. After the iron sheet of the collection bag is clamped, the controller first controls the power off of electromagnet A and electromagnet B, so that the collection bag is disconnected from the collection box, and then controls the piston rod supporting the hydraulic cylinder to extend further, so that the goods can be picked up. The manipulator pushes up further, thereby tightening the opening at the upper end of the collection bag, and pulling it out from the package pull-out port of the collection box to land on the stage;

S10, after the collection bag in the collection box is transferred out, a collection bag is automatically opened in the collection box:

a. After the overweight detector of the collection box detects that the collection bag is pulled out, it transmits a signal to the controller. After the controller receives the signal, it controls the two servo motors B to start. The shaft of the servo motor B rotates to drive the gear along the side of the gear housing cavity. The rack on the wall meshes and moves, the two servo motors B move in the motor chutes of the inner and outer arc side bars respectively, the electromagnet A gradually moves away from the electromagnet B, and stops when the electromagnet A moves to the initial position move;

b. The controller then controls the servo motor A to start, put down the wire rope, the lifting frame slides down along the chute of the column through the roller, and after the wire rope is emptied, the lifting frame slides down to the height close to the bottom of the box;

c. The controller then controls the two electromagnets A and the two electromagnets B to be energized, and the electromagnets A and B are respectively adsorbed and sleeved on the left inner boss, left outer boss, right inner boss and right outer boss on the bottom plate of the box. The four ear pieces of the uppermost collection bag on the boss, so as to complete the collection of the collection bag;

d. The controller finally controls the servo motor A to start, retracts the wire rope, the wire rope drives the lifting frame to rise, the lifting frame drives the newly picked collection bag to rise, and finally rises to the initial position;

S11, the collection bag on the stage is transferred to the conveyor C through the pusher:

a. After the package falls on the stage, the controller performs three controls at the same time: 1. Control the power of the right electromagnetic plate to release the iron piece of the collection bag; 2. Control the retraction of the piston rod supporting the hydraulic cylinder to make the The cargo manipulator falls to the lowest position; 3. Control the lift drive to generate action to make the stage drop to the lowest position;

b. When the stage is lowered to the lowest position, the controller controls the piston rod of the electric hydraulic cylinder to extend, and pushes the collection bag on the stage to the conveyor C through the push plate. After the action is completed, the electric hydraulic cylinder The piston rod retracts, waiting for the next command.

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

1. Aiming at the problem that the existing logistics sorting line uses the conveyor belt for flat laying and sorting, which occupies a large area, the present invention realizes the sorting of the packages in the vertical direction through the tower sorting device, and the automatic packaging after sorting. Compared with existing sorting methods, the footprint is small and the functions are integrated.

2. The express sorting method provided by the present invention is based on a logistics sorting system including equidistant separation-slow-speed diversion-fast confluence, which has a high degree of automation, and can realize automatic code scanning of packages, sorting and bagging by address, and sorting. Compared with manual sorting, the courier's workload is reduced, the sorting error rate is reduced, and the sorting efficiency is improved.

3. Aiming at the problem that the slow link (such as address scanning) existing in the existing logistics sorting line will cause the entire sorting line to not be able to speed up, the present invention firstly arranges and outputs the packages at equal intervals through the fetching and separating device (packages). Fast line), and then distribute the package to multiple front split conveyors through the front splitter (parcel slow line), the address scan code is performed on multiple front split conveyors at the same time, and then the package is collected to the confluence through the combiner On the conveyor (fast parcel line), and then distribute the parcels to multiple post diversion conveyors (slow parcel line) through the rear diverter, and finally the packages discharged from each post diversion conveyor enter a tower sorting. This kind of sorting method that connects multiple slow-speed lines in parallel improves the sorting efficiency of the entire logistics sorting line.

4. In view of the long conveying distance between the address scanning link and the package sorting and bagging link in the logistics sorting process, the package is prone to fall, resulting in the dislocation of the actual order of the package and the order of the scanning address. An error correction link with address error checking-error-correcting-error-checking function is added before the sorting and bagging link to prevent the misplacement of the scanning address and the package address, and improve the accuracy of sorting.

The present invention will be further described below with reference to figures and embodiments.

Description of drawings

FIG. 1 is a schematic structural diagram of a logistics sorting system including equidistant separation-slow speed splitting-fast confluence;

Fig. 2 is the first state schematic diagram of the front shunt device;

Fig. 3 is the second state schematic diagram of the front shunt device;

Fig. 4 is the structural representation of the combiner;

Fig. 5 is the A-A sectional view of Fig. 4;

Fig. 6 is the structural representation of rear shunt;

Figure 7 is a schematic structural diagram of a tower sorting device;

8 is a schematic structural diagram of a sorter of a tower sorting device;

Fig. 9 is the structural representation of the bottom plate of the sorter;

Fig. 10 is the structural schematic diagram of the leakage plate of the sorter;

Figure 11 is a schematic structural diagram of the collection box of the sorter at a certain angle of view;

Figure 12 is a schematic structural diagram of the collection box of the sorter from another perspective;

Figure 13 is an enlarged view of part A of Figure 12;

Fig. 14 is the structural schematic diagram of the collection bag of the sorter;

FIG. 15 is a schematic structural diagram of a package picker of a tower sorting device;

Figure 16 is an enlarged view of part B of Figure 15;

Fig. 17 is the structural representation of the splint body of the wrapping device;

FIG. 18 is a schematic structural diagram of the outer cover of the tower sorting device;

19 is a schematic diagram of the initial state of the combiner in step S04 of the workflow of the present invention;

Fig. 20 is the state schematic diagram of step a of step S04 of the working flow of the present invention;

Fig. 21 is the state schematic diagram of step b of step S04 of the working flow of the present invention;

22 is a schematic diagram of the initial state of the rotating frame in step S05 of the workflow of the present invention;

Fig. 23 is the state schematic diagram of sub-step a of step S05 of the work flow of the present invention;

FIG. 24 is a schematic diagram of the state of step 1 of step S05 of the work flow of the present invention.

Legend description: Removal separation device 1; Conveyor A11; Smooth separation plate 12; Roller conveying device 13; Rolling transfer surface 131; Conveyor B14; The first surface 231 of the V-shaped plate; the second surface of the V-shaped plate 232; the pressure sensor J24; the pressure sensor K25; the front split conveyor 100; Motor K33; silk nut 34; guide rod 35; bottom table 36; small conveyor belt A371; driving roller A372; driven roller A373; roller seat A374; driving motor L375; photoelectric sensor A376; Driven Roller B383; Roller Base B384; Drive Motor M385; Photoelectric Sensor B386; ;Small conveyor belt C441; Driving roller C442; Driven roller C443; Roller base C444; Driving motor Q445; 5; center channel 51; bottom plate 52; center hole B521; wrapping drop hole B522; annular groove B523; leakage plate 53; wrapping drop hole A532; collection box 54; box bottom plate 541; 5412; right inner boss 5413; right outer boss 5414; column 542; chute 5421; lifting frame 543; inner arc side bar 5431; left bar 5432; outer arc side bar 5433; Moving channel 5436; Motor chute 54361; Gear accommodating cavity 54362; Elevating control mechanism 544; Steel wire rope 5441; Servo motor A5442; Package pulling outlet 548; collection bag 55; bag body 551; drawstring installation cavity 5511; inlet 55111; outlet 55112; ear piece 5512; Slewing drive mechanism A57; driving sprocket A571; stepping motor A572; driven sprocket A573; chain A574; shift fork 58; slewing ring 581; sweep arm 582; slewing drive mechanism B59; ; Driven sprocket B593; Chain B594; Wrapper 6; Lifting drive 61; Stage 62; Picking robot 63; Robot arm 631; Chute 6311; Plate 6341; Right Electromagnetic Plate 6342; Rotating Pin 6343; Torsion Spring 6344; Swing Drive Mechanism 635; Supporting Hydraulic Cylinder 6 351; movable chain link 6352; slider 6353; pusher 7; electric hydraulic cylinder 71; push plate 72; conveyor C8;

Detailed ways

Example 1:

The parcel sorting method based on the vertical stacking sorter is applied to the logistics sorting system including equidistant separation-slow-speed diversion-fast confluence.

A logistics sorting system with equidistant separation-slow speed separation-fast merge The diverter 4, the rear diverter conveyor 500, the error correction device 400, the tower sorting device and the controller.

The removing and separating device 1 includes a conveyor A11, a smooth separating plate 12, a roller conveying device 13 and a conveyor B14 which are arranged in close proximity from front to back.

The front splitter 2 includes a support frame J21, a drive motor J22, a V-shaped disc 23, a pressure sensor J24 and a pressure sensor K25. The upper end of the V-shaped disc 23 is provided with a first surface 231 and a second surface 232 .

The combiner 3 includes a lead screw 31 , a positioning seat 32 , a drive motor K33 , a nut 34 , a guide rod 35 , a base 36 , a small conveyor belt assembly A37 and a small conveyor belt assembly B38 . The small-section conveyor belt assembly A37 includes a small-section conveyor belt A371, a driving roller A372, a driven roller A373, a roller base A374, a driving motor L375, and a photoelectric through-beam sensor A376. The small-section conveyor belt assembly B38 includes a small-section conveyor belt B381, a driving roller B382, a driven roller B383, a roller base B384, a driving motor M385, and a photoelectric through-beam sensor B386.

The rear diverter 4 includes a rotating frame 41 , a driving motor N42 , a lifting plate 43 and a small-section conveyor belt assembly C44 . The small-section conveyor belt assembly C44 includes a small-section conveyor belt C441, a driving roller C442, a driven roller C443, a roller seat C444, a driving motor Q445, and a photoelectric through-beam sensor C446.

The error correction device 400 includes a barcode scanner 401 and a timer counter 402 arranged in order from far to near from the rear end of the rear-split conveyor 500 , that is, the end of the discharged package.

The tower sorting device includes a sorter 5, a parcel taker 6, a pusher 7 and a conveyor C8.

There are a plurality of sorters 5, and they are stacked in the vertical direction. The central area of each sorter 5 is provided with a cylindrical central channel 51, and the central channels 51 of each sorter 5 are connected in turn to form A vertical and continuous package transportation channel 900. The sorter 5 includes a bottom plate 52 , a leakage plate 53 , a collection box 54 , a collection bag 55 , a support base 56 , a rotary drive mechanism A57 , a shift fork 58 and a rotary drive mechanism B59 . The collection box 54 includes a box bottom plate 541 , a column 542 , a lifting frame 543 , a lifting control mechanism 544 , a closing assembly 545 , an electromagnet A546 , an electromagnet B547 , and an ultra-high and overweight detection assembly. The box bottom plate 541 is respectively provided with a left inner boss 5411 , a left outer boss 5412 , a right inner boss 5413 and a right outer boss 5414 at four corners. The lift control mechanism 544 includes a wire rope 5441 , a servo motor A5442 and a retractable pulley 5443 . The closing assembly 545 includes a servo motor B5451 and a gear 5452. The collection bag 55 includes a bag body 551 , a drawstring 552 and an iron piece 553 . The four corners of the upper edge of the bag body 551 are respectively provided with outwardly turned ear pieces 5512 , and iron rings 5513 are fixed on the ear pieces 5512 .

The parcel picker 6 includes a lift drive 61 , a loading platform 62 and a picking robot 63 . The picking robot 63 includes a robot arm 631 , a rotating shaft 632 , a rotating shaft seat 633 , a splint body 634 and a swing driving mechanism 635 . The splint body 634 includes a left iron plate 6341 , a right electromagnetic plate 6342 , a rotating pin 6343 and a torsion spring 6344 . The swing driving mechanism 635 includes a supporting hydraulic cylinder 6351 , a movable chain link 6352 and a sliding block 6353 .

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

Before the parcels are sorted, the logistics sorting system with equidistant separation-slow-speed diversion-fast confluence is in the initial state, in this state:

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

b. The first surface 231 or the second surface 232 of the V-shaped disc 23 of the front diverter 2 is facing the rear end of the conveyor B14;

c. The front end of the small conveyor belt A371 of the combiner 3 is facing the rear end of a front split conveyor 100, and the rear end of the small conveyor belt B381 is facing the front end of the converging conveyor 300;

d, the front end of a small section conveyor belt C441 of the rear splitter 4 is facing the rear end of the confluence conveyor 300, and the rear ends of the remaining three small section conveyor belts C441 are facing the front end of the three rear splitting conveyors 100 respectively;

e. The temporary stop area of the upper transfer plane of the uppermost sorter 5 is directly at the package entrance 91 of the outer cover 9;

f. The drop area B of the lower transfer plane of the sorter 5 is facing the temporary stop area of the upper transfer plane of the next stage of the sorter 5;

g. The lifting frame 543 of the collection box 54 is located at the uppermost end of its movement stroke, and is adsorbed and propped open a collection bag 55 through the electromagnets A546 and B547 at the lower end;

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

i. The stage 62 of the wrapping device 6 is at the lowest position of its motion stroke;

j. The picking manipulator 63 of the wrapping device 6 is at the lowermost end of its rotational stroke;

k, the right electromagnetic plate 6342 of the wrapping device 6 is energized;

1. The piston rod of the electric hydraulic cylinder 71 of the pusher 7 is in a retracted state.

The parcel sorting process is as follows;

S01, the parcels input in the disordered arrangement on the conveyor A11 are arranged at equal intervals and output on the conveyor B14 by the extracting and separating device 1:

a. Put the package on the running conveyor A11. After the package is discharged from the cargo discharge end of the conveyor A11, it enters and rests on the smooth separation plate 12.

b. The package that enters the smooth separation plate 12 later contacts and pushes the package that enters the smooth separation plate 12 first, so that the package that enters the smooth separation plate 12 first is pushed onto the roller conveying device 13 .

c. The package at the front end is driven by the roller conveying device 13 to move, thereby separating from the package at the rear end. After the package is discharged from the roller conveying device 13, it enters the running conveyor B14, and the distance between the packages on the conveyor B14 is equal.

In this step, the packages are placed on the conveyor A in a row. The running speed of the conveyor A<the rolling line speed of the roller group≤the running speed of the conveyor B.

S02, the packages discharged from the conveyor B14 are divided in an orderly manner through the front diverter 2 to the two front diverter conveyors 100:

a. The first package discharged from the conveyor B14 falls on the first surface of the V-shaped disc of the front diverter 2, and then slides into a front diverting conveyor 100 through the second surface of the V-shaped disc.

b. After the first package leaves the V-shaped disc 23, the pressure sensor J24 and the pressure sensor K25 on the V-shaped disc 23 respectively transmit electrical signals to the controller, and the controller immediately controls the crankshaft of the driving motor J22 after receiving the signal Rotation, so that the second face 232 of the V-shaped disc 23 is rotated to face the goods discharge end of the conveyor B14.

c. The second package discharged from the conveyor B14 falls on the second surface 232 of the V-shaped disc of the diverter, and then slides into another front diverting conveyor 100 through the first surface 231 of the V-shaped disc.

d. After the second package leaves the V-shaped disc 23, the pressure sensor J24 and the pressure sensor K25 on the V-shaped disc transmit electrical signals to the controller, and the controller immediately controls the shaft of the driving motor J24 to rotate after receiving the signal. Rotate the first side 231 of the V-shaped disc to face the cargo discharge end of the conveyor B14 to meet the arrival of the third package.

e. Repeat the four sub-steps a-d to achieve an even distribution of the packages on the conveyor B14 to the two front-dividing conveyors 100 .

S03, scan the barcode information of the package on the front diverting conveyor 100 by the barcode scanning device 200:

The package is scanned by the barcode scanning device 200 on the front diverting conveyor 100, and the scanned address information is transmitted to the controller, and the controller then generates each package according to the established confluence rules of the subsequent parcel merging device and the established diversion rules of the diverter. A sorting list of packages on a diverter conveyor belt and the sorting route of each package in the sorting tower.

In this step, the lengths and running speeds of the two front diverting conveyors 100 are the same, and the cargo discharge ends of the two front diverting conveyors 100 discharge packages in an alternate manner.

S04, orderly merge the packages discharged from the plurality of front split conveyors 100 to the confluence conveyor 300 through the combiner 3:

The two front split conveyors 100 are numbered as X and Y respectively, the small conveyor belt A371 of the combiner 3 is numbered as x, the small conveyor belt B381 of the combiner 3 is numbered as y, and the packages on the two front split conveyors 100 are numbered. It is divided into two groups according to the order of discharge, and a group of packages are numbered I and II according to the order of discharge, and the full names of the components are replaced by reference numerals in the following description.

a. Before the package converges, the combiner 3 is in the initial state. In the initial state, x is facing X, and y is facing the confluence conveyor. The package I discharged from the X falls on the X, and the photoelectric sensor A376 sends an electrical signal to the controller after sensing the package. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor K33 to start, Move x and y along the lead screw as a whole, and stop moving when x is facing the merge conveyor and y is facing Y. 2. Control the drive motor L375 to start, to make x run, and the package I on x is transported to the confluence conveyor 300.

b. The package II discharged from Y falls on y, and the photoelectric sensor B386 sends an electrical signal to the controller after sensing the package. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor K33 Start, make x and y move to the initial state as a whole, that is, stop moving. 2. Control the drive motor M385 to start, to make y run, and the package II on y is transported to the confluence conveyor 300.

c. Repeat steps a and b to realize alternately conveying the packages on the two front split conveyors 100 to the confluence conveyor 300 .

S05, check whether the package on the confluence conveyor is missing through the error correction device:

a. The front end of the first package on the confluence conveyor 300 starts counting when it passes the infrared track of the timer counter 402 , and counts +1 when the front end of the second package passes the infrared track of the timer counter 402 . The timing starts when the rear end of the first package on the combined conveyor 300 passes the infrared track of the timer counter 402 , and the timing stops when the front end of the second package passes the infrared track of the timing counter 402 . So far, one timing counting cycle is completed, and the next timing counting cycle is started at the same time. In each timing counting cycle, the timing starts from 0 seconds, and the counting adopts the accumulation method.

b. The timing counter 402 checks the error by continuously comparing the timing data difference between the two adjacent parcels before and after. If there is a parcel missing, the timing counter immediately sends an alarm signal to the controller. (Under normal circumstances, the distance between adjacent parcels is basically the same. , so the timing data is basically the same. If there is a package loss, the spacing between adjacent packages will become larger and far beyond the normal spacing range, and accordingly, the timing data will also become larger and far beyond the normal value. Package is missing) After the controller receives the alarm signal, it starts the code scanner, and the code scanner scans the address of the first package after the vacancy and sends it to the controller. The controller first searches for the package address corresponding to the first count number before the vacancy in the package sorting list, then searches backward from the package address, relocates the address of the first package after the vacancy, and according to the relocated The address calculates the number of missing packages, and finally replaces the address of the missing package with a blank address in the package sorting list to prevent subsequent sorting errors (if the relocated address is n distances from the address of the first package before the vacancy, it indicates a vacancy There are n packages missing).

c. The controller starts the code scanner 401, the code scanner 401 scans the address of the second package after the vacancy and sends it to the controller. The controller compares and identifies whether the address information of the package is consistent with the corresponding package information in the package sorting list. If they are consistent, the controller will not act. If they are inconsistent, the controller will control the entire logistics sorting system to stop running to prevent sorting errors.

In this step, when the number of missing packages is greater than or equal to three, the controller controls the entire logistics sorting system to stop running, and at the same time triggers an external alarm to alert the operator to deal with it.

S06, through the rear shunt 3, the packages discharged from the converging conveyor 300 are distributed to the three rear shunt conveyors 500 in an orderly manner:

The three rear split conveyors 500 are numbered as b, c, and d, respectively, and the four small-section conveyor belts C441 are numbered as A, B, C, and D respectively, and the 12 consecutive packages on the confluence conveyor 300 are set as one group, one group The packages are numbered ①, ②, ③, ④, ⑤, ⑥, ⑦, ⑧, ⑨, ⑩, ⑪, ⑫ according to the order of discharge.

a. Before the package is divided, the rotating frame 41 is in the initial state. In the initial state, A is facing the confluence conveyor 300, B is facing b, C is facing c, and D is facing d. When the package ① discharged by the confluence conveyor 300 falls on A, the photoelectric opposite-radiation sensor C446 corresponding to A senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control The driving motor N42 is activated, and the rotating frame 41 is rotated by one station, so that A is facing d, B is facing the bus conveyor 300, C is facing b, and D is facing c. 2. Control the startup of C corresponding to A, and A and the package ① on it run synchronously. After this sub-step is completed, B receives the package ②, and the package ① on A is discharged to d.

b. When the package ② discharged by the confluence conveyor 300 falls on B, the photoelectric sensor C446 corresponding to B senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the drive motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing c, B is facing d, C is facing the bus conveyor 300, and D is facing b. 2. Control the drive motor Q445 corresponding to D to start, and D starts to run. After this sub-step is completed, C receives the package ③.

c. When the package ③ discharged by the confluence conveyor 300 falls on C, the photoelectric sensor C446 corresponding to C senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the driving motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing d, B is facing c, C is facing d, and D is facing the confluence conveyor 300. 2. Control the driving motor Q445 corresponding to B Start, B runs synchronously with the package ② on it. After this sub-step is completed, D receives the package ④, and the package ② on B is discharged to c.

d. When the package ④ discharged by the confluence conveyor 300 falls on D, the photoelectric sensor C446 corresponding to D senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the drive motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing the bus conveyor 300, B is facing b, C is facing c, and D is facing d. 2. Control the drive motor Q445 corresponding to D to start, and D and the package ④ on it run synchronously. After this sub-step is completed, A receives the package ⑤, and the package ④ on D is discharged to d.

e. When the package ⑤ discharged by the confluence conveyor 300 falls on A, the photoelectric opposite-radiation sensor C446 corresponding to A senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the driving motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing d, D is facing c, C is facing b, and B is facing the confluence conveyor 300. 2. Control the driving motor Q445 corresponding to C Start, C and its package ③ run synchronously. After this sub-step is completed, B receives the package ⑥, and the package ③ on C is discharged to b.

f. When the package ⑥ discharged by the confluence conveyor 300 falls on B, the photoelectric opposite-radiation sensor C446 corresponding to B senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the drive motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing c, B is facing d, C is facing the bus conveyor 300, and D is facing b. 2. Control the drive motor Q445 corresponding to A to start, and A and the package ⑤ on it run synchronously. After this sub-step is completed, C receives the package ⑦, and the package ⑤ on A is discharged to c.

g. When the package ⑦ discharged by the confluence conveyor 300 falls on C, the photoelectric opposite-radiation sensor C446 corresponding to C senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the driving motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing b, B is facing c, C is facing d, and D is facing the confluence conveyor 300. 2. Control the driving motor Q445 corresponding to C Start, C runs synchronously with the package ⑦ on it. After this sub-step is completed, D receives the package ⑧, and the package ⑦ on C is discharged to d.

h, when the package ⑧ discharged by the confluence conveyor 300 falls on D, the photoelectric sensor C446 corresponding to D senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the drive motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing the bus conveyor 300, B is facing b, C is facing c, and D is facing d. 2. Control the drive motor Q445 corresponding to B to start, and B runs synchronously with the package ⑥ on it. After this sub-step is completed, A receives the package ⑨, and the package ⑥ on B is discharged to b.

i. When the package ⑨ discharged by the confluence conveyor 300 falls on A, the photoelectric cross-radiation sensor C446 corresponding to A senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the drive motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing d, B is facing the confluence conveyor 300, C is facing b, and D is facing c. 2. Control the drive motor Q445 corresponding to D to start, and D and the package ⑧ on it run synchronously. After this sub-step is completed, B receives the package ⑩, and the package ⑥ on D is discharged to c.

j. When the package ⑩ discharged by the confluence conveyor 300 falls on B, the photoelectric sensor C446 corresponding to B senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the drive motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing c, B is facing d, C is facing the confluence conveyor, and D is facing b. 2. Control the drive motor Q445 corresponding to B to start, and B runs synchronously with the package ⑩ on it. After this sub-step is completed, C receives the package ⑪, and the package ⑩ on B is discharged to d.

k. When the package ⑪ discharged by the confluence conveyor 300 falls on C, the photoelectric sensor C446 corresponding to C senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the drive motor N42 to start, and rotate the rotating frame 41 for one station, so that A is facing b, B is facing c, C is facing d, and D is facing the confluence conveyor 300. 2. Control the driving motor Q445 corresponding to A Start, A runs synchronously with the package ⑨ on it. After this sub-step is completed, D receives the package ⑫, and the package ⑨ on A is discharged to b.

l. When the package ⑫ discharged by the confluence conveyor 300 falls on D, the photoelectric sensor C446 corresponding to D senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. . Control the driving motor N42 to start, and rotate the rotating frame by one station, so that A is facing the confluence conveyor 300, B is facing b, C is facing c, and D is facing d. 2. Control the drive motor Q445 corresponding to C to start, and C and the package ⑪ on it run synchronously. After this sub-step is completed, A receives the package ① of the next group of packages, and the package ⑪ on C is discharged to c.

m, when the package ① of the next group of packages discharged by the confluence conveyor 300 falls on A, repeat steps a to 1 to control, and so on and so forth, realize the orderly shunting of the packages discharged by the confluence conveyor 300 to three.

S07, the packages discharged from the rear split conveyor and entering the tower sorting device are sorted into the corresponding collection box 54:

a. After the package is discharged from the rear shunt conveyor 500, it falls into the temporary stop area of the transfer plane on the uppermost sorter 5 of the tower sorting device, and the controller controls the rotary drive mechanism according to the pre-calculated sorting route of the package A57 generates action, so that the package drop hole A532 of the leakage plate 53 selectively faces the upper end opening of the collection box 54 or faces the bottom plate 52 to wrap the drop hole B522, and then controls the rotary drive mechanism B59 to produce action, and the package is moved by the fork. To the package drop hole A532 of the slip plate 53, the package falls into the collection box 54 of the sorter 5 of the current layer or the temporary stop area of the upper transfer plane of the sorter 5 of the next layer through the package drop hole A532 of the slip plate 53 .

b. After the package arrives at the temporary stop area of the upper transfer plane of the new layer of sorter 5, repeat the control process of step a, so that the package finally falls into the corresponding collection box 54 of the corresponding layer of sorter.

S08, the collection box 54 automatically closes the collection bag 55 that has reached the closing standard: when the package in the collection box 54 reaches a predetermined weight or height, the package overweight detector or the package overelevation detector immediately alarms the controller, and the controller receives the After the alarm signal, the two servo motors B5451 are controlled to start at the same time. The two servo motors B5451 respectively drive the gear 5452 to move along the rack on the side wall of the gear accommodating cavity 54362. The two servo motors B5451 respectively drive the inner and outer arc side bars 5433 When the electromagnet A546 moves to the position closest to the electromagnet B547, the servo motor B5451 stops moving, and the upper opening of the collection bag 55 is closed at this time.

S09, transfer the closed collection bag 55 to the stage 62 through the picking robot 63:

a. After the upper opening of the collection bag 55 is closed, the controller controls the lift driver 61 to act to raise the stage 62 to a height corresponding to the alarmed collection box 54 .

b. The controller performs two controls at the same time: 1. Control the piston rod of the supporting hydraulic cylinder 6351 to extend, push the picking manipulator 63 upwards, and make the splint body 634 approach the iron sheet 553 of the collection bag 55. 2. Control the right The electromagnetic plate 6342 is powered off, so that the closed splint body 634 is opened under the action of the torsion spring 6344 , and the opened splint body 634 is facing the iron 553 piece of the collection bag 55 .

c. After the splint body 634 is opened for a few seconds, the controller controls the right electromagnetic plate 6342 to energize again, so that the splint body 634 is closed. When the splint body 634 is closed, the iron piece 35 of the collection bag 55 is adsorbed to the right electromagnetic plate 6342. After the splint body 634 is closed, the iron piece 553 of the collection bag 55 is clamped between the left iron plate 6341 and the right electromagnetic plate 6342 of the splint body 634 .

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

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

a. The package overweight detector of the collection box 54 detects that the collection bag 55 is pulled out, and transmits a signal to the controller. After receiving the signal, the controller controls the two servo motors B5451 to start, and the servo motor B5451 shaft rotates to drive the gear 5452 along the gear. The rack on the side wall of the accommodating cavity 54362 meshes and moves, the two servo motors B5451 move in the motor chutes of the inner and outer arc side bars 5433 respectively, and the electromagnet A 546 gradually moves away from the electromagnet B547. When the electromagnet A546 Stop when moving to the initial position.

b. The controller then controls the servo motor A5442 to start, lowers the wire rope 5441, and the lifting frame 543 slides down along the chute 5421 of the column 542 through the roller 5435.

c. The controller then controls two electromagnets A546 and two electromagnets B547 to be energized, and the electromagnets A546 and B547 are respectively adsorbed and sleeved on the left inner boss 5411, left outer boss 5412, and right inner boss on the bottom plate 541 of the box. 5413 and the four ears 5512 of the uppermost layer of the collection bag 55 on the right outer boss 5414, so as to complete the collection of the collection bag 55.

d. The controller finally controls the servo motor A5442 to start, and retracts the wire rope 5441. The wire rope 5441 drives the lifting frame 543 to rise, and the lifting frame 543 drives the newly picked collection bag 55 to rise, and finally rise to the initial position.

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

a. After the package falls on the stage 62, the controller performs three controls at the same time: 1. Control the power of the right electromagnetic plate 6342 to release the iron piece 553 of the collection bag 55. 2. Control the piston rod that supports the hydraulic cylinder 6351 Retract, so that the picking robot 63 falls to the lowest position. 3. Control the lift driver 61 to act to lower the stage 62 to the lowest position.

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

As shown in Figure 1-24, the logistics sorting system with equidistant separation-slow-speed separation-fast confluence includes a pick-by-drop separation device 1, a front diverter 2, a front diverter conveyor 100, a code scanning device 200, and a confluencer 3. Confluence conveyor 300, rear splitter 4, rear split conveyor 500, error correction device 400, tower sorting device and controller.

The removing and separating device 1 includes a conveyor A11, a smooth separating plate 12, a roller conveying device 13 and a conveyor B14 which are arranged in close proximity from front to back. The roller conveying device 13 includes a plurality of parallel and horizontally arranged rollers and a roller drive mechanism (not shown in the figure) for driving all the rollers to rotate synchronously. The roller drive mechanism is a motor-driven chain drive pair. All the rollers form a rolling transfer surface 131 at the upper end, the height of the rolling transfer surface 131 is not higher than that of the smooth separation plate 12, and the upper surface of the smooth separation plate 12 is not higher than that of the conveyor A11.

The front diverter 2 is arranged at the rear end of the conveyor B14, and is used for orderly diverting the packages discharged from the conveyor B14 to all the front diverting conveyors 100. The front splitter 2 includes a support frame 21 , a drive motor J22 , a V-shaped disc 23 , a pressure sensor J24 and a pressure sensor K25 . The lower end of the support frame 21 is fixedly connected to the shaft of the driving motor J22 , and the upper end is fixedly connected to the lower end of the V-shaped disc 23 . The V-shaped disc 23 is in an inverted V-shape, and the upper end thereof is provided with a first surface 231 and a second surface 232 . The pressure sensor J24 and the pressure sensor K25 are respectively mounted on the first surface 231 and the second surface 232 of the V-shaped disc 23 .

The front diverter conveyor 100 is arranged at the rear end of the front diverter 2, and there are two in number. When the V-shaped disc 23 swings until its first face 231 faces the rear end of the conveyor B14 , its second face 232 faces a front split conveyor 100 . When the V-shaped disc 23 swings until its second surface 232 is facing the rear end of the conveyor B14 , its first surface 231 is facing the other front diverting conveyor 100 .

The barcode scanning device 200 is provided on the front diverting conveyor 100, and is used for scanning the barcode of the package.

The combiner 3 is provided at the rear end of the front split conveyor 100 , and is used for orderly splitting the packages discharged from the front split conveyor 100 to the merge conveyor 300 . The combiner 3 includes a lead screw 31 , a positioning seat 32 , a drive motor K33 , a nut 34 , a guide rod 35 , a base 36 , a small-section conveyor belt assembly A and a small-section conveyor belt assembly B.

Both ends of the lead screw 31 are movably mounted on the positioning seat 32, and one end of the lead screw 31 is associated with the shaft of the drive motor K33. The drive motor K33 is fixedly mounted on the positioning seat 32 . The nut 34 is screwed with the lead screw 31 , and a guide rod hole for the guide rod 35 to pass through is provided on the nut 34 . The guide rod 35 passes through the guide rod hole on the nut 34 , and both ends of the guide rod 35 are fixedly mounted on the positioning seat 32 . The base 36 is fixedly connected to the upper end of the nut 34 . Both the small-section conveyor belt assembly A and the small-section conveyor belt assembly B are mounted on the upper end of the bottom table 36 .

The small-section conveyor belt assembly A includes a small-section conveyor belt A371, a driving roller A372, a driven roller A373, a roller seat A374, a driving motor L375, and a photoelectric through-beam sensor A376. One end of the driving roller A372 is associated with the shaft of the driving motor L375, and the other end is movably installed on the roller seat A374. The driving motor L375 and the roller seat A374 are fixedly installed on the base table 36, and the small conveyor belt A371 is wound around the driving roller A372 and the slave roller A372. Between the moving rollers A373, the photoelectric sensor A376 is installed on the bottom table 36, and is located at the upper end of the small conveyor belt A371 and the front end of the small conveyor belt A371, which is used to detect whether a package falls on the small conveyor belt A371.

The small-section conveyor belt assembly B includes a small-section conveyor belt B381, a driving roller B382, a driven roller B383, a roller base B384, a driving motor M385 and a photoelectric sensor B386. One end of the driving roller B382 is associated with the shaft of the driving motor M385, and the other end is movably installed on the roller seat B384. The driving motor M385 and the roller seat B384 are fixedly installed on the base 36, and the small conveyor belt B381 is wound around the driving roller B382 and the slave roller. Between the moving rollers B383, the photoelectric sensor B386 is installed on the bottom table 36, and is located at the upper end of the small conveyor belt B381 and the front end of the small conveyor belt B381, which is used to detect whether a package falls on the small conveyor belt B381.

The small-section conveyor belt assembly A can move with the bottom table 36 as a whole, so that the small-section conveyor belt A371 can selectively face the rear end of a front split conveyor 100 or the front end of the merge conveyor 300 . The small-section conveyor belt assembly B can move with the bottom table 36 as a whole, so that the small-section conveyor belt B381 can selectively face the rear end of another front split conveyor 100 or the front end of the merge conveyor 300 .

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

The rear diverter 4 is provided at the rear end of the joint conveyor 300 , and is used for orderly diverting the packages discharged from the joint conveyor 300 to all the rear divert conveyors 500 . The rear diverter 4 includes a rotating frame 41 , a driving motor N42 , a lifting plate 43 and a small-section conveyor belt assembly C . The rotating frame 41 includes a vertical rotating rod 411 and four cantilevers 412 uniformly distributed and fixed on the upper end of the vertical rotating rod 411 in a ring shape. The lower end of the vertical rotating rod 411 is fixed on the shaft of the driving motor N42. The lifting plate 43 is fixedly connected to the overhanging end of the cantilever 412 , and the rotation paths of the four lifting plates 43 are all coincident.

The small-section conveyor belt assembly C is installed on the upper end of the lifting plate 43. The small-section conveyor belt assembly C includes a small-section conveyor belt C441, a driving roller C442, a driven roller C443, a roller base C444, a driving motor Q445 and a photoelectric sensor C446. One end of the driving roller C442 is associated with the shaft of the driving motor Q445, and the other end is movably installed on the roller seat C444. The driving motor Q445 and the roller seat C444 are fixedly installed on the lifting plate 43, and both ends of the driven roller C443 are movably installed on the roller seat C444. On the seat C444, the small conveyor belt C441 is wound between the driving roller C442 and the driven roller C443, the photoelectric sensor C446 is installed on the lifting plate 43, and is located at the upper end of the small conveyor belt C441 and the front end of the small conveyor belt C441 in the forward direction, It is used to detect whether a package has landed on the short conveyor belt C441.

The rear split conveyor 500 is arranged at the rear end of the rear splitter 4, and there are three in number. When any one of the small-section conveyor belts C441 is facing the rear end of the converging conveyor 300 , the remaining three small-section conveyor belts C441 are facing the front end of the three rear branching conveyors 500 respectively.

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

The tower sorting devices are arranged at the rear end of the rear diversion conveyor 500 , and there are three in number, and each tower sorting device corresponds to a rear diversion conveyor 500 . The tower sorting device includes a sorter 5 , a package taker 6 , a pusher 7 , a conveyor C8 , a cover 9 and a base 600 .

The sorter 5 includes a bottom plate 52 , a leakage plate 53 , a collection box 54 , a collection bag 55 , a support base 56 , a rotary drive mechanism A57 , a shift fork 58 and a rotary drive mechanism B59 .

The bottom plate 52 is an annular plate with a central hole B521 and a wrapping drop hole B522 on the outside of the central hole B521, and an annular groove B523 is provided on the upper end surface between the outside of the central hole B521 and the inside of the wrapping drop hole B522. 52 is directly or indirectly fixed on the outer cover 9 .

The leakage plate 53 is an annular plate with a central hole A531 and a wrapping drop hole A532 located outside the central hole A531, and an annular groove A533 is provided on its upper end surface in the area between the outside of the central hole A531 and the inside of the wrapping drop hole A532.

There are a plurality of collecting boxes 54 , which are respectively mounted on the bottom plate 52 around the central hole B521 of the bottom plate 52 and are located outside the annular groove B523 of the bottom plate 52 . The upper end of the collecting boxes 54 is provided with an opening. The collection box 54 includes a box bottom plate 541 , a column 542 , a lifting frame 543 , a lifting control mechanism 544 , a closing assembly 545 , an electromagnet A546 , an electromagnet B547 , and an ultra-high and overweight detection assembly.

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

There are four uprights 542 , and the four uprights 542 are respectively fixed on the four corners of the box bottom plate 541 and protrude upward perpendicular to the box bottom plate 541 , and are provided with chute 5421 .

The lifting frame 543 is a fan-shaped frame, which includes an inner arc side rod 5431, a left side rod 5432, an outer arc side rod 5433 and a right side rod 5434 which are connected in sequence. Between the four uprights 542 , the rollers 5435 cooperate with the chute 5421 to move up and down along the uprights 542 . The lower end surfaces of the inner arc side bar 5431 and the outer arc side bar 5433 are respectively provided with a circular arc moving channel 5436, the moving channel 5436 extends along the length direction of the inner and outer arc side bars, and runs through the inner and outer arcs On both sides of the edge bar, the moving channel 5436 includes a motor chute 54361 and a gear accommodating cavity 54362 that communicate with each other up and down. A rack is provided on the side wall of the gear accommodating cavity 54362. The motor chute 54361 is connected to the inner and outer arc-shaped edges The lower end surfaces of the rods communicate with each other.

The lifting control mechanism 544 includes a wire rope 5441, a servo motor A5442, and a retractable pulley 5443. One end of the wire rope 5441 is wound around the retractable pulley 5443, and the other end is fixed on the lifting frame 543. The servo motor A5442 is fixedly installed on the top of the column 542. The release wheel 5443 is fixed on the shaft of the servo motor A5442.

The closing assembly 545 includes a servo motor B5451 and a gear 5452. There are two servo motors B5451, which are respectively slidably installed in the motor chute 54361 of the inner and outer arc-shaped side bars. The shaft extends into the gear accommodating cavity 54362. 5452 is fixed on the shaft of the servo motor B5451, and is located in the gear accommodating cavity 54362, and meshes with the rack of the gear accommodating cavity 54362.

There are two electromagnets A546, which are respectively installed at the lower end of the servo motor B5451, and correspond to the left inner boss 5411 and the left outer boss 5412 on the bottom plate 541 of the box.

There are two electromagnets B547, which are respectively fixed on the lower end surfaces of the inner and outer arc-shaped side bars, and correspond to the right inner boss 5413 and the right outer boss 5414 on the bottom plate 541 of the box.

The over-height and over-weight detection assembly includes a package over-height detector installed on the upright column 542 and a package over-weight detector installed on the box bottom plate 541 .

The collection box 54 is provided with a package pull-out port 548 on the side facing the package transport channel 200 . The package pulling outlet 548 is formed by two uprights 542 facing the package transportation channel 200 side, the inner arc side bar 5431 and the edge of the box bottom plate 541 located on the package transportation channel 200 side.

The collection bag 55 includes a bag body 551 , a drawstring 552 and an iron piece 553 . The bag body 551 is in a fan-column shape that is adapted to the shape of the collection box 54 in the open state. The upper edge of the bag body 551 is provided with a drawstring installation cavity 5511, and the drawstring installation cavity 5511 is provided with an inlet 55111 and an outlet 55112. The four corners of the upper edge of the bag body 551 are respectively provided with outwardly turned ear pieces 5512 , and iron rings 5513 are fixed on the ear pieces 5512 . The drawstring 552 penetrates into the drawstring installation cavity 5511 through the inlet 55111, and then goes out of the drawstring installation cavity 5511 through the outlet 55112. Connected to the upper edge of the bag body 551 .

The collection bag 55 is stacked and placed on the box bottom plate 541 of the collection box 54 , and its four iron rings are respectively sleeved on the left inner boss 5411 , the left outer boss 5412 , the right inner boss 5413 and the right outer boss of the box bottom plate 541 . on Taiwan 5414. The inlet 55111 of the drawstring installation cavity 5511 , the outlet 55112 of the drawstring installation cavity 5511 , the two ends of the drawstring 552 , and the iron pieces 553 are all located on the side of the package pulling outlet 548 of the collection box 54 .

The support base 56 includes a lower slewing ring 561 and at least three support rods 562 fixed on the upper end of the lower slewing ring 561 . superior.

The rotary drive mechanism A57 is associated with the support seat 56 to drive the support seat 56 to rotate in the annular groove B523 of the bottom plate 52, and the support seat 56 drives the leakage plate 53 to perform a rotary motion, so that the package drop hole A532 of the leakage plate 53 selectively faces the bottom plate 52 wraps the drop hole B522 or is open to the upper end of the collection box 54 . The rotary drive mechanism A57 includes a driving sprocket A571, a stepping motor A572, a driven sprocket A573, and a chain A574. The driving sprocket A571 is fixedly installed on the shaft of the stepping motor A572, the stepping motor A572 is directly or indirectly fixed on the base plate 52, the driven sprocket A571 is fitted and fixed on the lower slewing ring 561 of the support base 56, The chain A574 is wound between the driving sprocket A571 and the driven sprocket A573.

The shift fork 58 is movably installed on the bushing plate 53, which includes an upper slewing ring 581 and a sweep arm 582, the lower end of the upper slewing ring 581 is movably installed in the annular groove A533 of the bushing plate 53, and the sweep arm 582 is fixed on the upper slewing ring 581. on the outer wall, and protrudes radially outward of the upper swivel ring 581 .

A rotary drive mechanism B59 is associated with the shift fork 58 to drive the shift fork 58 to rotate within the annular groove A533 of the bushing 53 . The rotary drive mechanism B59 includes a driving sprocket B591, a stepping motor B592, a driven sprocket B593, and a chain B594. The driving sprocket B591 is fixedly installed on the shaft of the stepping motor B592, the stepping motor B592 is directly or indirectly fixed on the cover 9, the driven sprocket B593 is fitted and fixed on the upper slewing ring 581 of the fork 58, The chain B594 is wound between the driving sprocket B591 and the driven sprocket B593.

There are a plurality of sorters 5 and they are stacked in the vertical direction. Each sorter 5 is directly or indirectly fixedly installed on the base 600 , and a cylindrical central channel is arranged in the central area of each sorter 5 51 , the central passages 51 of the sorters 5 are connected in sequence to form a vertically continuous parcel transport passage 700 . The sorter 4 is provided with an upper transfer plane and a lower transfer plane from top to bottom. The upper transfer plane is provided with a temporary stop area and a drop area A, and the lower transfer plane is provided with a storage area and a drop area B. The upper transfer plane can be Rotate relative to the lower transport plane, so that the drop area A can selectively face the storage area or the drop area B of the lower transport plane. The drop area B on the lower transfer plane of the sorter 5 is facing the parking area of the upper transfer plane of the adjacent next-stage sorter 5 .

The central channel 51 is connected from top to bottom by the inner hole of the upper slewing ring 581 of the fork 58, the central hole A531 of the leakage plate 53, the inner hole of the lower slewing ring 561 of the support seat 56, and the central hole B521 of the bottom plate 52. form. The upper transfer plane is the plane on which the upper surface of the bushing 53 is located, the falling area A is the wrapping drop hole A532 of the bushing 53 , and the temporary stop area is the area where the bushing 53 is facing the wrapping inlet 91 of the cover 9 . The lower transfer plane is the plane where the upper surface of the bottom plate 52 is located, the storage area is the area where the collection box 54 is installed on the bottom plate 52 , and the drop area B is the package drop hole B522 of the bottom plate 52 .

The package picker 6 is arranged in the package transportation channel 700 , and includes a lift drive 61 , a loading platform 62 and a picking robot 63 .

The lift driver 61 is a scissor-type hydraulic lift, the lower end of which is mounted on the base 600, and is used to drive the stage 62 to perform vertical lift motion.

The stage 62 is fixedly connected to the upper end of the lift driver 61 .

The picking robot 63 is installed on the carrier table 62 , which is used to transfer the packages in the storage area of the sorter 5 to the carrier table 62 . The picking robot 63 includes a robot arm 631 , a rotating shaft 632 , a rotating shaft seat 633 , a splint body 634 and a swing driving mechanism 635 . The lower end of the robotic arm 631 is mounted on the rotating shaft seat 633 through the rotating shaft 632 , and the upper end is connected to the splint body 634 , which is provided with a chute 6311 extending along its length direction. Both ends of the rotating shaft 632 are movably mounted on the rotating shaft seat 633 . The rotating shaft seat 633 is fixedly mounted on the stage 62 . The splint body 634 includes a left iron plate 6341 , a right electromagnetic plate 6342 , a rotating pin 6343 and a torsion spring 6344 . Both the left iron plate 6341 and the right electromagnetic plate 6342 are fixed on one side with a revolving pin sleeve for inserting the reversing pin 6343. The revolving pin 6343 passes through the revolving pin sleeves of the left iron plate 6341 and the right electromagnetic The iron plate 6341 and the right electromagnetic plate 6342 are movably connected, the rotating pin 6343 is welded and fixed to the upper end of the robot arm 631 at the end, and the left iron plate 6341 and the right electromagnetic plate 6342 rotate around the rotating pin 6343 to realize relative closing or opening. The torsion spring 6344 is sleeved on the rotating pin 6343, one end of the torsion spring 6344 is pressed against the inner end surface of the left iron plate 6341, and the other end is pressed against the inner end surface of the right electromagnetic plate 6342, so that the left iron plate 6341 and the right electromagnetic plate 6342 are relatively opened to form one fixed angle.

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

The pusher 7 and the conveyor C8 are located on both sides of the stage 62, respectively. The pusher 7 includes an electric hydraulic cylinder 71 and a push plate 72. The electric hydraulic cylinder 71 is fixed on the base 600, and its piston rod extends in the horizontal direction. vertical state. The front end of the conveyor C8 is located in the outer cover 9 , the rear end passes through the package outlet 92 of the outer cover 9 , and the front end of the conveyor belt 8 faces the push plate 72 of the pusher 7 .

The outer cover 9 is fixedly installed on the base 600, and covers the sorter 5 and the package taker 6. The upper end is provided with a package inlet 91 for the package to fall into the uppermost sorter 5, and the lower end is provided with the package output. The package exit 92. The package inlet 91 of the outer cover 9 is directly opposite the rear end of the split conveyor belt 3 .

The controller is electrically connected with the servo motor A5442, the servo motor B5451, the electromagnet A546, the electromagnet B547, the parcel over-height detector, the parcel over-weight detector, the stepper motor A572, and the stepper motor B592 of the sorter 5. The controller is electrically connected with the lift driver 61 of the wrapper 6, the right electromagnetic plate 6342, and the support hydraulic cylinder 6351. The controller is electrically connected to the electric hydraulic cylinder 71 . The controller is electrically connected with the driving motor J22 of the front shunt 2, the pressure sensor J24 and the pressure sensor K25. The controller is electrically connected to the drive motor K33 , the drive motor L375 , the drive motor M385 , the photoelectric sensor A376 and the photoelectric sensor B386 of the combiner 3 . The controller is electrically connected to the drive motor N42 of the rear shunt 4, the drive motor Q445 and the photoelectric through-beam sensor C446. The controller is electrically connected to the timer counter 402 and the code scanner 401 of the error correction device 400 . The controller is electrically connected to the code scanning device 200 .

Preferably, the conveyor A11, the conveyor B14, the front split conveyor 100, the merge conveyor 300, the rear split conveyor 500 and the conveyor C8 are belt conveyors or roller conveyors.

Claims (2)

1. The parcel sorting method based on the vertical stacking sorter is applied to the logistics sorting system including equidistant separation-slow-speed diversion-fast confluence; A logistics sorting system including equidistant separation-slow-speed separation-fast confluence, including an extracting separation device (1), a front-diverter (2), a front-diversion conveyor (100), a code scanning device (200), and a combiner (3), a confluence conveyor (300), a rear shunt (4), a rear shunt conveyor (500), an error correction device (400), a tower sorting device and a controller; The ejecting and separating device (1) comprises a conveyor A (11), a smooth separating plate (12), a roller conveying device (13) and a conveyor B (14), which are arranged next to each other in sequence from front to back; The front diverter (2) includes a support frame J (21), a drive motor J (22), a V-shaped disc (23), a pressure sensor J (24) and a pressure sensor K (25); the V-shaped disc (23) The upper end is provided with a first surface (231) and a second surface (232); The combiner (3) includes a lead screw (31), a positioning seat (32), a drive motor K (33), a screw nut (34), a guide rod (35), a bottom platform (36), and a small conveyor belt assembly A (37) and small section conveyor belt assembly B (38); small section conveyor belt assembly A (37) includes small section conveyor belt A (371), driving roller A (372), driven roller A (373), roller seat A (374), drive motor L ( 375) and photoelectric sensor A (376); small conveyor belt assembly B (38) includes small conveyor belt B (381), driving roller B (382), driven roller B (383), roller seat B (384), drive Motor M (385) and photoelectric sensor B (386); The rear diverter (4) includes a rotating frame (41), a drive motor N (42), a lift plate (43) and a small-section conveyor belt assembly C (44); the small-section conveyor belt assembly C (44) includes a small-section conveyor belt C (441), Drive roller C (442), driven roller C (443), roller base C (444), drive motor Q (445) and photoelectric sensor C (446); The error correction device (400) comprises a code scanner (401) and a timer counter (402) arranged in order from far to near from the rear end of the confluence conveyor (300); The tower sorting device includes a sorter (5), a bag taker (6), a pusher (7) and a conveyor C (8); There are a plurality of sorters (5) and they are superimposed in the vertical direction. The central area of each sorter (5) is provided with a cylindrical central channel (51). The central channel (51) is connected in sequence to form a vertical continuous package transportation channel (900); the sorter (5) includes a bottom plate (52), a leakage plate (53), a collection box (54), a collection bag (55) ), support base (56), rotary drive mechanism A (57), shift fork (58) and rotary drive mechanism B (59); the collection box (54) includes a box bottom plate (541), a column (542), a lifting frame ( 543), lifting control mechanism (544), closing assembly (545), electromagnet A (546), electromagnet B (547) and ultra-high and overweight detection components. detector; the box bottom plate (541) is respectively provided with a left inner boss (5411), a left outer boss (5412), a right inner boss (5413) and a right outer boss (5414) at four corners; The control mechanism (544) includes a wire rope (5441), a servo motor A (5442) and a retractable wheel (5443); the closing assembly (545) includes a servo motor B (5451) and a gear (5452); the collection bag (55) includes a bag The body (551), the drawstring (552) and the iron piece (553); the four corners of the upper edge of the bag body (551) are respectively provided with everted ear pieces (5512), and the ear pieces (5512) are fixed on the With iron ring (5513); The parcel picker (6) includes a lift drive (61), a loading platform (62) and a picking robot (63); the picking robot (63) includes a mechanical arm (631), a rotating shaft (632), and a rotating shaft seat (633) , splint body (634) and swing drive mechanism (635); splint body (634) includes left iron plate (6341), right electromagnetic plate (6342), rotating pin (6343) and torsion spring (6344); swing drive mechanism (6344) 635) including supporting hydraulic cylinder (6351), movable chain link (6352) and slider (6353); The pusher (7) includes an electric hydraulic cylinder (71) and a push plate (72); Before the parcels are sorted, the logistics sorting system with equidistant separation-slow-speed diversion-fast confluence is in the initial state, in this state: a. The roller conveying device (13) of the ejecting and separating device (1) is in a running state; b. The first surface (231) or the second surface (232) of the V-shaped disc (23) of the front diverter (2) is facing the rear end of the conveyor B (14); c. The front end of the small conveyor belt A (371) of the combiner (3) is facing the rear end of a front split conveyor (100), and the rear end of the small conveyor belt B (381) is facing the front end of the converging conveyor (300); d. The front end of a small conveyor belt C (441) of the rear splitter (4) is facing the rear end of the confluence conveyor (300), and the rear ends of the remaining three small conveyor belts C (441) are facing the three rear split conveyors ( 100) front end; e. The temporary stop area of the upper transfer plane of the uppermost sorter (5) is directly at the package entrance (91) of the outer cover (9); f. The drop area B of the lower transfer plane of the sorter (5) is facing the temporary stop area of the upper transfer plane of the next-level sorter (5); g. The lifting frame (543) of the collection box (54) is located at the uppermost end of its motion stroke, and is adsorbed and propped up to a collection bag (55) by the electromagnets A (546) and B (547) at its lower end; h. The two electromagnets A (546) of the collection box (54) are in direct alignment with the left inner boss (5411) and the left outer boss (5412) on the box bottom plate (541); i. The stage (62) of the wrapping device (6) is at the lowest position of its motion stroke; j. The pick-up robot (63) of the packager (6) is at the lowermost end of its rotational stroke; k. The right electromagnetic plate (6342) of the wrapping device (6) is energized; l. The piston rod of the electric hydraulic cylinder (71) of the pusher (7) is in a retracted state; Its characteristics are: the parcel sorting process is as follows; S01, the packages input in the disordered arrangement on the conveyor A (11) are arranged at equal intervals and output on the conveyor B (14) by the eviction separation device (1): a. Put the package on the running conveyor A (11), when the package is discharged from the cargo discharge end of the conveyor A (11), enter and rest on the smooth separation plate (12); b. The package that enters the smooth separation plate (12) later contacts and pushes the package that first enters the smooth separation plate (12), so that the package that first enters the smooth separation plate (12) is pushed onto the roller conveying device (13); c. The package at the front end is driven to move by the roller conveying device (13), so as to be separated from the package at the rear end. After the package is discharged from the roller conveying device (13), it enters the running conveyor B (14), and the conveyor B (14) ) on equal wrapping spacing; S02, the packages discharged from the conveyor B (14) are divided in an orderly manner through the front diverter (2) to the two front diverting conveyors (100): a. The first package discharged from the conveyor B (14) falls on the first side of the V-shaped disc of the front diverter (2), and then slides into a front diverter conveyor ( 100); b. After the first package leaves the V-shaped disc (23), the pressure sensor J (24) and the pressure sensor K (25) on the V-shaped disc (23) transmit electrical signals to the controller respectively, and the controller receives Immediately after the signal, the shaft of the driving motor J (22) is controlled to rotate, so that the second surface (232) of the V-shaped disc (23) is rotated to face the cargo discharge end of the conveyor B (14); c. The second package discharged from the conveyor B (14) falls on the second surface (232) of the V-shaped disc of the diverter, and then slides into another front diversion through the first surface (231) of the V-shaped disc. conveyor (100); d. After the second package leaves the V-shaped disc (23), the pressure sensor J (24) and the pressure sensor K (25) on the V-shaped disc transmit electrical signals to the controller, and the controller immediately controls the control after receiving the signal. The crankshaft of the drive motor J (22) is rotated, and the first surface (231) of the V-shaped disc is rotated to face the cargo discharge end of the conveyor B (14), so as to welcome the arrival of the third package; e, repeating the four sub-steps a-d, to realize the average shunting of the packages on the conveyor B (14) to the two front shunt conveyors (100); S03, scan the barcode information of the package on the front diverting conveyor (100) by the code scanning device (200): The package is scanned by the barcode scanning device (200) on the front shunt conveyor (100), and the scanned address information is transmitted to the controller, and the controller then aligns the set flow rules of the device and the set flow divider according to subsequent packages. Rules to generate a sorting list of packages on each diversion conveyor belt and a sorting route for each package in the tower sorting device; S04, orderly merge the packages discharged from the plurality of front split conveyors (100) to the confluence conveyor (300) through the combiner (3): Number the two front split conveyors (100) as X and Y respectively, number the small conveyor belt A (371) of the combiner (3) as x, and number the small conveyor belt B (381) of the combiner (3) as y , divide the packages on the two front split conveyors (100) into two groups according to the order of discharge, and a group of packages are sequentially numbered I and II according to the order of discharge, and the full names of the components are replaced by labels in the following description. ; a. Before the packages converge, the combiner (3) is in the initial state. In the initial state, x is facing X, and y is facing the confluence conveyor; the package I discharged from X falls on x, and the photoelectric sensor A ( 376) After sensing the package, it immediately sends an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control the drive motor K (33) to start, so that x and y move along the lead screw as a whole, when x When facing the confluence conveyor, and y is facing Y, stop moving; 2. Control the drive motor L (375) to start to make x run, and the package I on x is transported to the confluence conveyor (300); b. The package II discharged from Y falls on y, and the photoelectric sensor B (386) sends an electrical signal to the controller after sensing the package. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control The drive motor K (33) is started to move x and y to the initial state as a whole, that is, to stop moving; 2. Control the drive motor M (385) to start to make y run, and the package II on y is transported to the confluence conveyor (300). )superior; c. Repeat steps a and b to realize alternately conveying the packages on the two front split conveyors (100) to the confluence conveyor (300); S05, check whether the package on the confluence conveyor (300) is missing through the error correction device: a. The front end of the first package on the confluence conveyor (300) starts to count when it passes the infrared track of the timer counter (402), and counts +1 when the front end of the second package passes the infrared track of the time counter (402); The timing starts when the rear end of the first package on the device (300) passes the infrared track of the timer counter (402), and the timing stops when the front end of the second package passes the infrared track of the timing counter (402). Count cycle, and start the next count cycle at the same time. In each count cycle, the count starts from 0 seconds, and the count is accumulated; b. The timing counter (402) checks the error by continuously comparing the timing data difference between the two adjacent parcels before and after. If there is a missing parcel, the timing counter immediately sends an alarm signal to the controller, and the controller starts scanning the code after receiving the alarm signal. The code scanner scans the address of the first package after the vacancy and sends it to the controller; the controller first searches the package sorting list for the package address corresponding to the first count number before the vacancy, and then selects the package address from the package address. Search later, relocate the address of the first package after the vacancy, and calculate the number of missing packages according to the relocated address. Finally, in the package sorting list, replace the address of the missing package with a blank address to prevent subsequent sorting errors. ; c. The controller starts the code scanner (401), the code scanner (401) scans the address of the second package after the vacancy and sends it to the controller, and the controller compares and identifies the address information of the package with the corresponding package information in the package sorting list Whether it is consistent, if consistent, the controller will not take action, if not, the controller will control the entire logistics sorting system to stop running to prevent sorting errors; S06, the packages discharged from the converging conveyor (300) are distributed in an orderly manner to the three rear diverting conveyors (500) through the rear diverter (4): Number the three rear split conveyors (500) as b, c, and d, respectively, number the four small-section conveyor belts C (441) as A, B, C, and D, respectively. Set as a group, and a group of packages are numbered ①, ②, ③, ④, ⑤, ⑥, ⑦, ⑧, ⑨, ⑩, ⑪, ⑫ according to the order of discharge; a. Before the package is divided, the rotating frame (41) is in the initial state. In the initial state, A is facing the confluence conveyor (300), B is facing b, C is facing c, and D is facing d; when the converging conveyor ( 300) The discharged package ① falls on A, and the photoelectric cross-radiation sensor C (446) corresponding to A senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately performs two controls at the same time: 1. Control The drive motor N (42) is started, and the rotating frame (41) is rotated by one station, so that A is facing d, B is facing the confluence conveyor (300), C is facing b, and D is facing c; 2. Control and A Corresponding C starts, A runs synchronously with the package ① on it; after this sub-step is completed, B receives the package ②, and the package ① on A is discharged to d; b. When the package ② discharged by the confluence conveyor (300) falls on B, the photoelectric sensor C (446) corresponding to B senses the package and transmits an electrical signal to the controller, and the controller receives the signal immediately and simultaneously. Two controls: 1. Control the drive motor N (42) to start, rotate the rotating frame (41) for one station, so that A is facing c, B is facing d, C is facing the confluence conveyor (300), and D is facing b; 2. Control the drive motor Q (445) corresponding to D to start, and D starts to run; after this sub-step is completed, C receives the package ③; c. When the package ③ discharged by the confluence conveyor (300) falls on C, the photoelectric sensor C (446) corresponding to C senses the package and transmits an electrical signal to the controller, and the controller receives the signal immediately and simultaneously. Two controls: 1. Control the drive motor N (42) to start, rotate the rotating frame (41) for one station, so that A is facing d, B is facing c, C is facing d, and D is facing the confluence conveyor (300 ); 2. Control the drive motor Q (445) corresponding to B to start, and B runs synchronously with the package ② on it; after this sub-step is completed, D receives the package ④, and the package ② on B is discharged to c; d. When the package ④ discharged by the confluence conveyor (300) falls on D, the photoelectric opposite-radiation sensor C (446) corresponding to D senses the package and transmits an electrical signal to the controller. Two controls: 1. Control the drive motor N (42) to start, rotate the rotating frame (41) for one station, so that A is facing the confluence conveyor (300), B is facing b, C is facing c, and D is facing d; 2. Control the drive motor Q (445) corresponding to D to start, and D and the package ④ on it run synchronously; after this sub-step is completed, A receives the package ⑤, and the package ④ on D is discharged to d; e. When the package ⑤ discharged by the confluence conveyor (300) falls on A, the photoelectric opposite-radiation sensor C (446) corresponding to A senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately executes the same process. Two controls: 1. Control the drive motor N (42) to start, and rotate the rotating frame (41) for one station, so that A is facing d, D is facing c, C is facing b, and B is facing the confluence conveyor (300 ); 2. Control the drive motor Q (445) corresponding to C to start, and C and the package ③ on it run synchronously; after this sub-step is completed, B receives the package ⑥, and the package ③ on C is discharged to b; f. When the package ⑥ discharged by the confluence conveyor (300) falls on B, the photoelectric sensor C (446) corresponding to B senses the package and transmits an electrical signal to the controller, and the controller receives the signal immediately and simultaneously. Two controls: 1. Control the drive motor N (42) to start, rotate the rotating frame (41) for one station, so that A is facing c, B is facing d, C is facing the confluence conveyor (300), and D is facing b; 2. Control the drive motor Q (445) corresponding to A to start, and A and the package ⑤ on it run synchronously; after this sub-step is completed, C receives the package ⑦, and the package ⑤ on A is discharged to c; g. When the package ⑦ discharged by the confluence conveyor (300) falls on C, the photoelectric sensor C (446) corresponding to C senses the package and transmits an electrical signal to the controller, and the controller receives the signal immediately and simultaneously. Two controls: 1. Control the drive motor N (42) to start, and rotate the rotating frame (41) for one station, so that A is facing b, B is facing c, C is facing d, and D is facing the confluence conveyor (300 ); 2. Control the drive motor Q (445) corresponding to C to start, C and the package ⑦ on it run synchronously; after this sub-step is completed, D receives the package 8, and the package ⑦ on C is discharged to d; h, when the package ⑧ discharged by the confluence conveyor (300) falls on D, the photoelectric sensor C (446) corresponding to D senses the package and transmits an electrical signal to the controller, and the controller receives the signal immediately and simultaneously. Two controls: 1. Control the drive motor N (42) to start, rotate the rotating frame (41) for one station, so that A is facing the confluence conveyor (300), B is facing b, C is facing c, and D is facing d; 2. Control the drive motor Q (445) corresponding to B to start, and B runs synchronously with the package ⑥ on it; after this sub-step is completed, A receives the package ⑨, and the package ⑥ on B is discharged to b; i. When the package ⑨ discharged by the confluence conveyor (300) falls on A, the photoelectric opposite-radiation sensor C (446) corresponding to A senses the package and transmits an electrical signal to the controller. After the controller receives the signal, it immediately executes the same process. Two controls: 1. Control the drive motor N (42) to start, rotate the rotating frame (41) for one station, so that A is facing d, B is facing the confluence conveyor (300), C is facing b, and D is facing c; 2. Control the drive motor Q (445) corresponding to D to start, and D runs synchronously with the package ⑧ on it; after this sub-step is completed, B receives the package ⑩, and the package ⑥ on D is discharged to c; j. When the package ⑩ discharged by the confluence conveyor (300) falls on B, the photoelectric sensor C (446) corresponding to B senses the package and transmits an electrical signal to the controller, and the controller receives the signal immediately and simultaneously. Two controls: 1. Control the drive motor N (42) to start, rotate the rotating frame (41) for one station, so that A is facing c, B is facing d, C is facing the confluence conveyor, and D is facing b; 2 . Control the drive motor Q (445) corresponding to B to start, and B runs synchronously with the package ⑩ on it; after this sub-step is completed, C receives the package ⑪, and the package ⑩ on B is discharged to d; k. When the package ⑪ discharged by the confluence conveyor (300) falls on C, the photoelectric opposite-radiation sensor C (446) corresponding to C senses the package and transmits an electrical signal to the controller. Two controls: 1. Control the drive motor N (42) to start, and rotate the rotating frame (41) for one station, so that A is facing b, B is facing c, C is facing d, and D is facing the confluence conveyor (300 ); 2. Control the drive motor Q (445) corresponding to A to start, and A runs synchronously with the package ⑨ on it; after this sub-step is completed, D receives the package ⑫, and the package ⑨ on A is discharged to b; l. When the package ⑫ discharged by the confluence conveyor (300) falls on D, the photoelectric opposite-radiation sensor C (446) corresponding to D senses the package and transmits an electrical signal to the controller. Two controls: 1. Control the drive motor N (42) to start, rotate the rotating frame by one station, so that A is facing the confluence conveyor (300), B is facing b, C is facing c, and D is facing d; 2 . Control the drive motor Q (445) corresponding to C to start, C and the package ⑪ on it run synchronously; after this sub-step is completed, A receives the package ① of the next group of packages, and the package ⑪ on C is discharged to c ; m, when the package ① of the next group of packages discharged by the confluence conveyor (300) falls on A, repeat steps a to 1 for control, and so on and so forth, to realize the orderly shunting of the packages discharged by the confluence conveyor (300) to three; S07, the packages discharged from the rear split conveyor and entering the tower sorting device are sorted into the corresponding collection box (54): a. After the package is discharged from the rear diversion conveyor (500), it falls into the temporary stop area of the transfer plane on the uppermost sorter (5) of the tower sorting device, and the controller calculates the sorting route of the package according to the pre-calculated Control the rotary drive mechanism A (57) to generate action, so that the wrapping drop hole A (532) of the leakage plate (53) selectively faces the upper opening of the collection box (54) or faces the bottom plate (52) wrapping drop hole B ( 522), and then control the rotary drive mechanism B (59) to generate action, move the package to the package drop hole A (532) of the leakage plate (53) through the fork, and the package passes through the package drop hole of the leakage plate (53). A (532) falls into the collection box (54) of the sorter (5) of this layer or the temporary stop area of the upper transfer plane of the sorter (5) of the next layer; b. After the package arrives at the temporary stop area of the upper transfer plane of the new layer of sorter (5), repeat the control process of step a, so that the package finally falls into the corresponding collection box (54) of the corresponding layer of sorter; S08, the collection box (54) automatically closes the collection bag (55) that has reached the closing standard: when the package in the collection box (54) reaches a predetermined weight or height, the package overweight detector or the package overelevation detector immediately sends the controller to the controller. Alarm, the controller controls the two servo motors B (5451) to start at the same time after receiving the alarm signal, and the two servo motors B (5451) respectively drive the gear (5452) to move along the rack on the side wall of the gear accommodating cavity (54362), The two servo motors B (5451) move in the motor chute (54361) of the inner and outer arc side bars respectively, and the electromagnet A (546) gradually approaches the electromagnet B (547). When the electromagnet A (546) ) moves to the position closest to the electromagnet B (547), the servo motor B (5451) stops moving, and the upper opening of the collection bag (55) is closed at this time; S09, transfer the closed collection bag (55) to the loading platform (62) by the picking robot (63): a. After the upper end opening of the collection bag (55) is closed, the controller controls the lift driver (61) to generate an action to raise the stage (62) to a height corresponding to the alarmed collection box (54); b. The controller performs two controls at the same time: 1. Control the piston rod of the supporting hydraulic cylinder (6351) to extend, and push the picking manipulator (63) upward to make the splint body (634) approach the end of the collection bag (55). Iron sheet (553); 2. Control the power off of the right electromagnetic plate (6342), so that the closed splint body (634) opens under the action of the torsion spring (6344), and the opened splint body (634) faces the collection bag (55) iron sheet (553); c. After the splint body (634) is opened for several seconds, the controller controls the right electromagnetic plate (6342) to energize again, so that the splint body (634) is closed. The sheet (553) is adsorbed to the right electromagnetic plate (6342), and after the splint body (634) is closed, the iron sheet (553) of the collection bag (55) is clamped to the left iron plate (6341) of the splint body (634). Between the right electromagnetic plate (6342); d. After the iron piece (553) of the collection bag (55) is clamped, the controller first controls the electromagnet A (546) and the electromagnet B (547) to power off, so that the collection bag (55) and the collection box (54) Disconnect the connection, and then control the piston rod of the supporting hydraulic cylinder (6351) to extend further, so that the picking manipulator (63) is further pushed upward, so as to tighten the upper opening of the collection bag (55), and remove the package from the collection box (54). Pull out the port (548) and land on the stage (62); S10, after the collection bag (55) in the collection box (54) is transferred out, a collection bag (55) is automatically opened in the collection box (54): a. After the package overweight detector of the collection box (54) detects that the collection bag (55) is pulled out, it transmits a signal to the controller. After the controller receives the signal, it controls the two servo motors B (5451) to start, and the servo motor B ( 5451) The rotation of the crankshaft drives the gear (5452) to mesh along the rack on the side wall of the gear accommodating cavity (54362). ), the electromagnet A (546) gradually moves away from the electromagnet B (547), and stops moving when the electromagnet A (546) moves to the initial position; b. The controller then controls the servo motor A (5442) to start, put down the wire rope (5441), the lift frame (543) slides down along the chute (5421) of the column (542) through the roller (5435), and wait until the wire rope (5441) is emptied After that, the lifting frame (543) slides down to a height close to the bottom plate (541) of the box; c. The controller then controls the two electromagnets A (546) and the two electromagnets B (547) to be energized, and the electromagnets A (546) and B (547) are respectively adsorbed and sleeved on the left side of the box bottom plate (541). The four lugs (5512) of the uppermost collection bag (55) on the boss (5411), the left outer boss (5412), the right inner boss (5413) and the right outer boss (5414) are completed. Pick up the collection bag (55); d. The controller finally controls the servo motor A (5442) to start, retracts the wire rope (5441), the wire rope (5441) drives the lift frame (543) to rise, and the lift frame (543) drives the new collection bag (55) to rise, and finally rise to the initial position; S11, the collection bag (55) on the stage (62) is transferred to the conveyor C (8) by the pusher (7): a. After the package falls on the stage (62), the controller performs three controls at the same time: 1. Control the power of the right electromagnetic board (6342) to release the iron piece (553) of the collection bag (55); 2. Control the piston rod of the supporting hydraulic cylinder (6351) to retract, so that the picking manipulator (63) drops to the lowest position; 3. Control the lift driver (61) to act to make the stage (62) drop to the lowest position; b. When the stage (62) is lowered to the lowest position, the controller controls the piston rod of the electric hydraulic cylinder (71) to extend, and pushes the collection bag (55) on the stage (62) through the push plate (72). Push up the conveyor C (8), after the action is completed, the piston rod of the electric hydraulic cylinder (71) retracts and waits for the next command. 2. the package sorting method based on vertical stacking sorter as claimed in claim 1, is characterized in that: In step S01, the packages are placed in a row on the conveyor A (11); the running speed of the conveyor A (11) <the rolling line speed of the roller conveyor (13)≤the running speed of the conveyor B (14); In step S03, the lengths and running speeds of the two front split conveyors (100) are the same, and the cargo discharge ends of the two front split conveyors (100) discharge packages in an alternate manner; In step S06, when the number of missing packages is greater than or equal to three, the controller controls the entire logistics sorting system to stop running, and at the same time triggers an external alarm to alert the operator to deal with it.

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