CN211003001U

CN211003001U - Sorting robot and sorting system

Info

Publication number: CN211003001U
Application number: CN201921457708.4U
Authority: CN
Inventors: 陈宇奇
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2019-08-30
Filing date: 2019-08-30
Publication date: 2020-07-14
Anticipated expiration: 2029-08-30

Abstract

The utility model relates to a sorting robot, sorting robot include vertical frame, circulation elevating system and letter sorting mechanism. The vertical frame is arranged along the vertical direction, and the circulating lifting mechanism is arranged on the vertical frame. Sorting mechanism is connected with circulation elevating system, and sorting mechanism can follow the circulation route circulation that sets for under circulation elevating system's drive and go up and down, and sorting mechanism drives the goods synchronous cycle lift of waiting to sort, and sorting mechanism can deliver the goods of waiting to sort to the letter sorting position that corresponds. The utility model discloses still relate to a letter sorting system including above-mentioned letter sorting robot. Above-mentioned letter sorting robot and letter sorting system, circulation elevating system and the cooperation between the letter sorting mechanism have realized the automation of goods letter sorting, have improved the efficiency of goods letter sorting greatly when having reduced goods letter sorting cost. Simultaneously, the sorting mechanism moves to different heights under the driving of the circulating lifting mechanism, and then goods to be sorted can be delivered to sorting positions with different heights.

Description

Sorting robot and sorting system

Technical Field

The utility model relates to an intelligence storage logistics technical field especially relates to a sorting robot and letter sorting system.

Background

The rapid development in the field of warehouse logistics brings more and more convenience to the life of people. The sorting of goods is used as a key link in the process of warehouse logistics, and the overall efficiency of the warehouse logistics is determined to a great extent. Currently, the major cargo sorting work is done manually or by simple mechanical equipment. The manual sorting has the defects of high labor intensity and high labor cost, and simple mechanical equipment is basically special equipment, can only disperse goods in a specific area, and has low efficiency, large occupied area and poor adaptability to different working conditions. The current main goods sorting mode seriously restricts the overall efficiency of the warehousing and logistics process.

SUMMERY OF THE UTILITY MODEL

Therefore, the sorting robot and the sorting system have the advantages of low cost, high efficiency and strong universality, and are necessary to solve the problems of high cost, low efficiency and poor universality existing in the existing cargo sorting mode.

A sorting robot, the sorting robot comprising:

a vertical frame disposed in a vertical direction;

the circulating lifting mechanism is arranged on the vertical frame;

the sorting mechanism is connected with the circulating lifting mechanism, the sorting mechanism can circularly lift along a set circulating path under the driving of the circulating lifting mechanism, the sorting mechanism drives the goods to be sorted to synchronously circularly lift, and the sorting mechanism can deliver the goods to be sorted to a corresponding sorting position.

The sorting system comprises a goods shelf and the sorting robot in any scheme, wherein the sorting robot is used for placing goods to be sorted to corresponding sorting positions on the goods shelf.

Above-mentioned letter sorting robot and letter sorting system, circulation elevating system and the cooperation between the letter sorting mechanism have realized the automation of goods letter sorting, have improved the efficiency of goods letter sorting greatly when having reduced goods letter sorting cost. Simultaneously, the sorting mechanism moves to different heights under the driving of the circulating lifting mechanism, so that goods to be sorted can be delivered to sorting positions with different heights, the universality is strong, and the occupied area of the sorting positions is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic view of a sorting robot and a shelf according to an embodiment of the present invention;

fig. 2 is an assembly schematic view of a guiding assembly and a sorting mechanism according to an embodiment of the present invention;

fig. 3 is a schematic front view of a sorting robot according to an embodiment of the present invention;

fig. 4 is a schematic rear view of a sorting robot according to an embodiment of the present invention;

fig. 5 is a schematic side view of a sorting robot according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a sorting system according to an embodiment of the present invention;

fig. 7 illustrates a sorting method according to an embodiment of the present invention;

fig. 8 is a sorting method under the condition of a plurality of groups of sorting action tables according to an embodiment of the present invention;

fig. 9 illustrates a sorting method according to an embodiment of the present invention, when the sorting table is rotatable;

fig. 10 is a diagram illustrating a sorting method for delivering by a robot according to an embodiment of the present invention;

FIG. 11 is a detailed process of step D50 in FIG. 10;

fig. 12 is a process of receiving goods by a sorting robot according to an embodiment of the present invention;

fig. 13 is a sorting method according to another embodiment of the present invention;

fig. 14 is a detailed process of step S20 in fig. 13.

Wherein:

10-a sorting robot; 100-vertical frame, 110-outer frame, 120-inner frame, 130-bending suspension; 200-a circulating lifting mechanism, 210-a circulating power source, 220-a circulating transmission component, 221-a circulating traction rope, 222-a circulating rotating wheel and 230-a chain wheel mechanism; 300-sorting mechanism, 310-sorting bracket, 320-sorting action table, 330-manipulator; 400-a circular guide mechanism, 410-a guide rail, 411-a translation rail, 412-a path rail, 420-a guide assembly, 421-a translation wheel set, 4211-a guide part, 4212-a connecting shaft part and 422-a path wheel set; 500-chassis, 510-tray frame, 520-rotating wheel; 80-shelf, 810-sorting location.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. The following description of the embodiments is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

In the description of the present invention, it is to be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.

As shown in fig. 1-2, an embodiment of the present invention provides a sorting robot 10, in which the sorting robot 10 includes a vertical frame 100, a circulating lifting mechanism 200, and a sorting mechanism 300. The vertical frame 100 is disposed in a vertical direction, and the circulation elevating mechanism 200 is disposed in the vertical frame 100. Sorting mechanism 300 is connected with circulation elevating system 200, and sorting mechanism 300 can follow the circulation route circulation lift of setting for under the drive of circulation elevating system 200, and sorting mechanism 300 drives the goods synchronous cycle lift of waiting to sort, and sorting mechanism 300 can deliver the goods of waiting to sort to corresponding letter sorting position 810. Above-mentioned letter sorting robot 10 and letter sorting system, the cooperation between circulation elevating system 200 and the letter sorting mechanism 300 has realized the automation of goods letter sorting, has improved the efficiency of goods letter sorting when having reduced goods letter sorting cost greatly. Meanwhile, the sorting mechanism 300 is driven by the circulating lifting mechanism 200 to move to different heights, so that goods to be sorted can be delivered to sorting positions 810 with different heights, universality is strong, and the floor area of the sorting positions 810 is reduced. The sorting mechanism 300 capable of lifting can also be more suitable for the actual working condition of the sorting robot 10 for receiving goods, and the sorting mechanism 300 can be lifted to a proper receiving height so as to complete the receiving goods quickly.

The sorting mechanism 300 is an action performing terminal of the sorting robot 10 provided by the present invention, and functions to deliver the goods to be sorted to the corresponding sorting position 810. Alternatively, the sorting mechanism 300 is a robot arm 330, an actuatable push rod, a plane with a conveying function, or the like. As an implementation manner, as shown in fig. 2, the sorting mechanism 300 includes a sorting support 310 and a sorting motion table 320, the sorting support 310 is movably disposed on the vertical frame 100, the sorting support 310 is connected to the circulating lifting mechanism 200, the sorting support 310 can be driven by the circulating lifting mechanism 200 to circularly lift along a set circulating path, the sorting motion table 320 is disposed on the sorting support 310, the sorting motion table 320 is used for bearing goods to be sorted, and the goods to be sorted are delivered to a corresponding sorting position 810 when the sorting motion table 320 performs a motion. The structural style of letter sorting support 310 and letter sorting action platform 320 is not only convenient for bear the goods of waiting to sort, and letter sorting action platform 320 has stronger adaptability to the goods of various not unidimensional, different weight moreover, can also guarantee the safe letter sorting of mutability goods, breakable goods simultaneously.

Optionally, when the sorting action table 320 performs the sorting action, the table top of the sorting action table 320 acts or other action mechanism delivers the goods to be sorted to the corresponding sorting position 810. The utility model discloses an in the embodiment, letter sorting action platform 320 includes letter sorting belt and letter sorting drive assembly, and letter sorting drive assembly sets up in letter sorting support 310, and letter sorting belt rotates to set up in letter sorting support 310, and letter sorting belt is connected with letter sorting drive assembly transmission, and letter sorting belt is used for bearing the goods of treating the letter sorting, and the letter sorting position 810 that corresponds will be delivered to the goods of treating the letter sorting when letter sorting belt rotates under letter sorting drive assembly's drive. The upper surface of the rotating sorting belt forms a support surface for the goods to be sorted, and the sorting action performed by the sorting action table 320 is a rotation of the sorting belt. By adopting the sorting belt and the sorting driving assembly, the sorting action table 320 does not need to occupy redundant action space when executing sorting action, and the sorting belt has the advantages of stable performance, low cost and convenience in replacement. In other embodiments of the present invention, the goods placed on the sorting motion stage 320 may be pushed to the sorting position 810 by the elastic mechanism, or pushed to the sorting position 810 by the cam mechanism, or the table top of the sorting motion stage 320 is formed by a plurality of rotatable rollers, and the present invention is not limited to the specific structure of the sorting motion stage 320.

The sorting driving assembly is used for driving the sorting belt to rotate for a set stroke so as to deliver the goods to be sorted on the sorting belt to the corresponding sorting position 810, and then the sorting action of the goods is completed. As an achievable mode, letter sorting drive assembly includes letter sorting motor and two letter sorting axles, and two letter sorting axle intervals set up in letter sorting support 310, and letter sorting belt cover is located two letter sorting epaxially, and at least one letter sorting axle is connected with letter sorting motor transmission, and the letter sorting motor can corotation or reversal. The combination mode of the motor and the sorting shaft has the advantages of high transmission efficiency, convenience in control, mature technology and low cost. Further, the output shaft of the motor is directly connected with the sorting shaft or in transmission connection through a gear structure. In an embodiment of the present invention, the motor is a stepping motor. In other realizations, the sorting driving component is a matching form of a pneumatic motor and a rotating shaft or a driving form of a hydraulic motor and a rotating shaft, so long as the driving of the sorting belt to rotate can be realized.

The sorting action 320 is capable of delivering goods to be sorted to a sorting location 810 at its delivery end. In an embodiment of the present invention, the table surface of the sorting motion table 320 is rotated and disposed on the sorting support 310, and the sorting motion table 320 can rotate in the horizontal plane relative to the sorting support 310. When sorting position 810 does not directly lie in the shipment end of letter sorting action platform 320, letter sorting action platform 320 can be through the rotation of self, and adjustment shipment end orientation letter sorting position 810 has avoided letter sorting robot 10's whole rotation, has improved letter sorting robot 10's letter sorting efficiency greatly. Meanwhile, the sorting action table 320 can enhance the adaptability to the goods receiving working condition through the rotation of the sorting action table, so that the goods receiving efficiency of the sorting robot 10 is greatly improved. As an implementation manner, the sorting mechanism 300 further includes a rotation driving assembly, the rotation driving assembly is disposed on the sorting support 310, the rotation driving assembly is in transmission connection with the sorting motion table 320, and the sorting motion table 320 can be driven by the rotation driving assembly to rotate in a horizontal plane relative to the sorting support 310. In a specific embodiment of the present invention, the rotation driving assembly includes a rotation ring gear disposed on the sorting motion table 320 and a rotation motor fixedly mounted on the sorting support 310, and an output shaft of the rotation motor is connected to the rotation ring gear for driving the sorting motion table 320 to rotate.

The cooperation of letter sorting mechanism 300 and circulation elevating system 200 has improved greatly the utility model provides a letter sorting efficiency of letter sorting robot 10. In an embodiment of the present invention, as shown in fig. 1, the sorting mechanism 300 includes a plurality of groups of sorting supports 310 and sorting motion tables 320, and the groups of sorting supports 310 and sorting motion tables 320 are uniformly distributed along the set circulation path. The multiple sets of sorting supports 310 and sorting motion tables 320 allow the sorting robot 10 provided in the present embodiment to carry a plurality of goods to be sorted at a time, which can significantly improve the sorting efficiency of the sorting robot 10. As can be appreciated, the multiple groups of sorting supports 310 and sorting action tables 320 can perform the action of sorting the goods one by one or sort the goods simultaneously, which further improves the adaptability of the sorting robot 10 provided by the present embodiment to the actual working conditions.

In a practical way, the circular ascending and descending tracks of the plurality of groups of sorting action tables 320 are a complete ring or a semi-closed ring. In a specific embodiment of the present invention, as shown in fig. 1, the circular ascending and descending tracks of the plurality of sorting motion tables 320 are in the shape of a closed ring in a vertical plane. The number of the sorting motion tables 320 on each circulation path is 9, the 9 sorting motion tables 320 are uniformly distributed along the circulation path, and when the three sorting motion tables 320 are simultaneously circularly lifted to the vertical section, the three sorting motion tables 320 can simultaneously or individually perform the sorting motion. In other embodiments, the number of the sorting action tables 320 may also be 8 or other numbers designed according to actual conditions.

It can be understood that, when the operator directly places the goods to be sorted on the sorting mechanism 300 of the sorting robot 10, the operator does not need to step on a ladder or other auxiliary platforms, so that the risk factor that the operator directly places the goods to be sorted on the sorting robot 10 is reduced, and meanwhile, the time for placing the goods to be sorted by the operator is effectively saved. Furthermore, the sorting robot 10 provided in the present embodiment may be configured with substantially twice the number of sorting action tables 320 at the same height as compared to linear elevation, so that the sorting robot 10 may be loaded with more goods to be sorted.

The sorting mechanism 300 in the form of a sorting action table 320 is capable of accommodating a vast majority of types of goods. In an embodiment of the present invention, as shown in fig. 6, the sorting mechanism 300 further includes a manipulator 330, the manipulator 330 is disposed on the vertical frame 100, the manipulator 330 can deliver the goods to be sorted on the sorting action table 320 to the corresponding sorting position 810, or the manipulator 330 can put the goods on the sorting action table 320. The mechanical arm 330 can smoothly deliver fragile, irregular-shaped or large-sized goods to be sorted to the corresponding sorting position 810, and the mechanical arm 330 and the sorting action table 320 cooperate to further increase the adaptability of the sorting robot 10 to the goods to be sorted. As one way of accomplishing this, the vertical frame 100 may be equipped with a plurality of independently acting manipulators 330 at different orientations, thereby achieving an increase in the sorting efficiency of the sorting robot 10. Specifically, the robot arms 330 are respectively mounted at opposite ends of the vertical frame 100. Further, the robot 330 is slidably provided to the vertical frame 100 in a vertical direction. The manipulator 330 that slides along vertical direction and sets up can follow the not goods of taking on the letter sorting action platform 320 of co-altitude to can put into the letter sorting position 810 that corresponds the height with the goods of taking, avoided the circulation lift of whole letter sorting action platforms 320 along the circulation route, further improved the letter sorting efficiency of the letter sorting robot 10 that this embodiment provided.

Further, a shooting component is also installed on the sorting mechanism 300, and is used for acquiring image information of the goods to be sorted or the sorting position 810 so as to judge the height of the sorting action table 320 relative to the sorting position 810. In this embodiment, the image information is a two-dimensional code attached to the goods to be sorted or the sorting position.

The circulating lifting mechanism 200 is used for driving the sorting mechanism 300 in the above embodiments to lift along the set circulating path. As shown in fig. 1 and fig. 3-4, in an embodiment of the present invention, the circulation lifting mechanism 200 includes a circulation power source 210 and a circulation transmission assembly 220, the circulation power source 210 and the circulation transmission assembly 220 are respectively disposed on the vertical frame 100, the circulation power source 210 is in transmission connection with an input side of the circulation transmission assembly 220, and an output side of the circulation transmission assembly 220 is in transmission connection with the sorting mechanism 300. The circulation power source 210 and the circulation transmission assembly 220 are respectively disposed on the vertical frame 100, and the circulation power source 210 and the circulation transmission assembly 220 are in transmission connection, so that the circulation lifting mechanism 200 can be conveniently assembled and disassembled on the vertical frame 100. Optionally, the power output by the circulation power source 210 is in the form of rotation, linear motion or any other form of motion, and the final output of the circulation transmission assembly 220 in transmission connection with the circulation power source 210 is motion along a circulation path. In one implementation, the circulation power source 210 includes a circulation driving motor, the circulation driving motor is in transmission connection with the input side of the circulation transmission assembly 220, and the circulation lifting mechanism 200 is powered by at least one circulation driving motor. The cyclical power source 210 in the form of a motor operates more stably. Further, the circulation driving motor may be a stepping motor that rotates forward and/or backward, which facilitates the control of the lifting process of the circulation lifting mechanism 200.

As an implementation manner, as shown in fig. 3, the circulating transmission assembly 220 includes a circulating traction cable 221 and at least two circulating pulleys 222, the at least two circulating pulleys 222 are rotatably disposed on the vertical frame 100, at least one circulating pulley 222 is in transmission connection with the circulating power source 210, the circulating traction cable 221 is sleeved on the at least two circulating pulleys 222, the circulating traction cable 221 is fixedly connected with the sorting mechanism 300 along a circulating path thereof, and when the at least one circulating pulley 222 rotates, the circulating traction cable 221 is driven to circularly move by means of meshing or friction, so as to drive the sorting mechanism 300 to circularly lift along the set circulating path. The circulating transmission assembly 220 in the form of the circulating traction rope 221 and the circulating rotating wheel 222 has the advantages of simple structure, stable performance, low cost and convenience in replacement while realizing circulating lifting. In this embodiment, the sorting support 310 is fixedly connected to the endless traction cable 221 in the direction of the endless path.

In a specific embodiment of the present invention, as shown in fig. 3, the circulating traction cable 221 is annular, the sorting mechanism 300 is installed on the circulating traction cable 221, the plurality of rotating wheels are jointly sleeved on the circulating traction cable 221, and when any one of the rotating wheels rotates, the rotating wheel drives the traction cable to circularly move in the vertical plane through friction or meshing, so as to drive the sorting mechanism 300 of each of the above embodiments to circularly lift in the vertical plane. Specifically, the number of the circulating rotating wheels 222 is four, the four rotating wheels are distributed in a rectangular shape, and the number of the circulating rotating wheels 222 can be six, eight, and the like according to actual conditions. The circulating rotating wheel 222 is a chain wheel, the circulating traction cable 221 is a chain, the circulating chain wheel drives the circulating chain to circularly move in a meshing mode when rotating, according to actual conditions, the circulating rotating wheel 222 can also be a V belt wheel, correspondingly, the circulating traction cable 221 can be a V belt, and the V belt wheel drives the V belt wheel to circularly move in a friction mode when rotating. The output shaft of the circulating driving motor is in transmission connection with one or more circulating rotating wheels 222, and the circulating driving motor drives the circulating rotating wheels 222 and the circulating traction rope 221 to rotate.

As an implementation manner, as shown in fig. 3 and 4, the circulation driving assembly 220 further includes a chain wheel mechanism 230, the circulation driving motor and the chain wheel mechanism 230 are both mounted on the vertical frame 100, the chain wheel mechanism 230 connects the circulation driving motor and one circulation wheel 222, and the circulation driving motor drives one circulation wheel 222 to rotate through the chain wheel mechanism 230. The sprocket mechanism 230 may be replaced with a worm gear mechanism, a gear mechanism, or the like, as the case may be, and further, the sprocket mechanism 230 may be omitted. It is understood that, in the present embodiment, the circulating elevating mechanism 200 is powered only by the circulating driving motor to drive the plurality of sorting mechanisms 300 to synchronously circulate the elevating. In some other embodiments, the circulation power source 210 includes a plurality of circulation drive motors, each of which provides power to drive a corresponding one of the sorting mechanisms 300 to circulate up and down. The circulating driving motor can rotate forward or backward, so the circulating lifting mechanism 200 is used for driving the sorting mechanism 300 to lift in a forward circulating mode or a reverse circulating mode.

The vertical frame 100 mainly plays a role of supporting and forming a circulation path in the sorting robot 10. In an embodiment of the present invention, as shown in fig. 1 and 5, the vertical frame 100 includes an outer frame 110 and an inner frame 120, the inner frame 120 is fixedly disposed in the outer frame 110, and the inner frame 120 is spaced apart from the outer frame 110. The circulation elevating mechanism 200 is disposed on the inner frame 120, the sorting mechanism 300 is movably disposed between the inner frame 120 and the outer frame 110, the outer frame 110 and the inner frame 120 are substantially ring-shaped in a vertical plane, and the inner frame 120 and the outer frame 110 are separated to form a circulation path of the sorting mechanism 300 therebetween. Further, the vertical frame 100 further includes a bending suspension 130, the bending suspension 130 is fixedly connected to the outer frame 110 and the inner frame 120, respectively, and the bending suspension 130 has a bending portion that avoids the circulation path of the sorting mechanism 300.

In an embodiment of the present invention, as shown in fig. 3 to 5, the sorting robot 10 further includes a circulation guiding mechanism 400, the circulation guiding mechanism 400 is disposed on the vertical frame 100, the circulation guiding mechanism 400 is connected to the sorting mechanism 300, the sorting mechanism 300 is driven by the circulation lifting mechanism 200 to lift along the circulation path of the setting, and the circulation guiding mechanism 400 can prevent the sorting mechanism 300 from overturning. Specifically, the circulation guide mechanism 400 is disposed between the inner frame 120 and the outer frame 110, and a plurality of circulation guide mechanisms 400 are disposed along the circulation path. The circulating guide mechanism 400 is fixedly connected with the circulating traction cable 221 along the direction of the circulating path, and the sorting support 310 is fixedly connected with the circulating guide mechanism 400 along the direction of the circulating path, so that the circulating traction cable 221 and the circulating guide mechanism 400 cooperatively drive the sorting support 310 and the sorting action table 320 to circularly translate along the circulating path, and the goods on the sorting action table 320 are prevented from falling off when the sorting mechanism 300 is completely circularly lifted.

As an implementation manner, as shown in fig. 4 and 5, the circular guide mechanism 400 includes a guide rail 410 and a guide assembly 420, the guide rail 410 is fixedly disposed on the vertical frame 100, the guide rail 410 extends along the circular path of the sorting mechanism 300, the guide assembly 420 is movably disposed on the vertical frame 100, the guide assembly 420 is fixedly connected with the sorting mechanism 300, the guide assembly 420 contacts the guide rail 410 during the ascending and descending process of the sorting mechanism 300 along the circular path, and the guide assembly 420 translates along the circular path of the sorting mechanism 300. Specifically, the guide rail 410 includes a translation rail 411 and a path rail 412, the translation rail 411 and the path rail 412 are respectively and fixedly disposed on the vertical frame 100, and the translation rail 411 and the path rail 412 respectively extend along the circulating path of the sorting mechanism 300. The guide assembly 420 includes a translational wheel set 421 and a path wheel set 422, the translational wheel set 421 is fixedly connected to the sorting mechanism 300, and the path wheel set 422 is rotatably connected to the sorting mechanism 300. During the ascending and descending of the sorting mechanism 300 along the circulating path, the translation wheel set 421 is in rolling contact with the translation rail 411, and the path wheel set 422 is in rolling contact with the path rail 412.

Further, as shown in fig. 2 and 5, the translation rail 411 is formed by assembling and welding a plate and a section bar. The translation rail 411 includes a plurality of sub-rails independent of each other. Each sub-track is similar to the circular lifting track of the sorting mechanism 300, and under the combined action of all the sub-tracks and the circular traction cable 221, the translational wheel set 421 does not rotate around its own rotating shaft in the circular lifting process, so that the sorting mechanism 300 is ensured to be horizontal in the whole circular lifting process. Specifically, the translational wheel set 421 includes a guide portion 4211 and a connecting shaft portion 4212. The path wheel set 422 is mounted on the endless traction cable 221, the path wheel set 422 is sleeved between two ends of the connection shaft portion 4212, the path wheel set 422 can rotate around the connection shaft portion 4212 relative to the connection shaft portion 4212, one end of the connection shaft portion 4212 is connected with the guide portion 4211, and the other end of the connection shaft portion 4212 is connected with the sorting support 310.

The guide portion 4211 is provided with a plurality of guide wheels, and the plurality of guide wheels are distributed in a vertical plane and surround the guide portion 4211. Each guide wheel may contact only one corresponding sub-track, and at least two guide wheels may contact the corresponding sub-track at any time during the vertical movement of the guide portion 4211, and different guide wheels may contact the corresponding sub-track at different times. The sub-track is used as a traveling track of the guide wheel, and the traveling track of the guide wheel is limited under the combined action of the circulating traction cable 221, so that the traveling track of the guide part 4211 is limited, and the angle of the guide part 4211 is ensured to be unchanged in the circulating lifting process.

It should be noted that, the path wheel set 422 can rotate around the connection rotation shaft relative to the guide portion 4211, so that the guide portion 4211 still has a rotational degree of freedom relative to the endless traction cable 221, and further limits the guide portion 4211 by cooperating with the guide rail 410, thereby ensuring that the sorting motion table 320 can be kept horizontal in the process of circular lifting regardless of the type of the circular lifting mechanism 200. The number of the circulation guide mechanisms 400 may be plural, and a plurality of circulation guide mechanisms 400 are adapted to one sorting mechanism 300.

In an embodiment of the present invention, as shown in fig. 1, 3 and 6, the sorting robot 10 further includes a movable chassis 500, and the outer frame 110 of the vertical frame 100 is disposed on the chassis 500. The movable chassis 500 can drive the sorting robot 10 to move, and the adaptation of the sorting robot 10 to actual working conditions is greatly improved. Specifically, the chassis 500 includes a tray frame 510, a travel driving assembly and a plurality of rotating wheels 520, the vertical frame 100 is disposed on the upper portion of the tray frame 510, the plurality of rotating wheels 520 are disposed on the bottom portion of the tray frame 510, the travel driving assembly is disposed on the tray frame 510, and at least one rotating wheel 520 is in transmission connection with the travel driving assembly. Further, at least two rotating wheels 520 are respectively in transmission connection with the traveling driving assembly, and the at least two rotating wheels 520 respectively in transmission connection with the traveling driving assembly are distributed on two sides of the tray frame 510 along the traveling direction, so that the steering function of the chassis 500 is realized. The travel driving assembly includes at least two wheel driving motors, and at least two rotating wheels 520 distributed at both sides of the disc frame 510 in the traveling direction are respectively driven by the individual wheel driving motors. At least two rotating wheels 520 distributed on both sides of the tray frame 510 in the traveling direction are respectively driven by separate wheel driving motors, so that the transmission structure on the chassis 500 can be simplified.

In one embodiment, the chassis 500 is provided with driving wheels and driven wheels, which are respectively rotatable with respect to the chassis 500, and which together support the chassis 500, the driving wheels being driven by a wheel driving motor to move the chassis 500. By configuring the movable chassis 500, the sorting robot 10 may be enabled to deliver goods between multiple shelves 80. The number of action wheels is two, and two action wheels are distributed symmetrically, and correspondingly, the number of wheel drive motor is two, and two action wheels are driven by two wheel drive motor respectively, can make the rotational speed of two action wheels different to realize chassis 500 turns to. The number of the driven wheels is four, the four driven wheels are distributed in a rectangular mode, the driven wheels can be universal wheels, and other wheel body structures with steering functions can be adopted. The number of driven wheels is not limited to four, and may be six, three, or the like, depending on the actual situation.

In this embodiment, the chassis 500 is further installed with a guiding device (not shown), which is a camera for recognizing a graphic code attached to the ground, so that the chassis 500 travels along a preset path. The graphic code can be a two-dimensional code, a bar code or some customized identification code and the like. In other embodiments, the guiding device is a laser guiding device for guiding the chassis 500 to travel along the laser beam, or the guiding device is a short wave receiving device for guiding the chassis 500 to travel along the preset path by receiving a preset short wave signal. It should be noted that in other embodiments, the chassis 500 may be omitted and the upright frame 100 may be directly fixedly mounted to the ground or other platform for carrying cargo on the shelves 80 thereabout.

The utility model discloses an in the embodiment, letter sorting robot 10 still includes control center, and control center is connected with chassis 500, circulation elevating system 200 and letter sorting mechanism 300 electricity respectively, and control center is used for controlling circulation elevating system 200 and letter sorting mechanism 300 and carries out the action alone or jointly, and then guarantees letter sorting robot 10's letter sorting efficiency.

In an embodiment of the present invention, as shown in fig. 6, the sorting robot 10 includes at least two sets of sorting mechanisms 300, the at least two sets of sorting mechanisms 300 are uniformly distributed along the outer periphery of the vertical frame 100, and the at least two sets of sorting mechanisms 300 are respectively driven by the circulating lifting mechanism 200. Specifically, the picking robot includes two sets of sorting mechanisms 300, and the two sets of sorting mechanisms 300 are respectively distributed on two sides of the vertical frame 100. At least two sets of sorting mechanisms 300 can perform the sorting action individually or simultaneously, greatly improving the sorting efficiency of the sorting robot 10. Further, the sorting robot 10 includes at least two sets of circulating lifting mechanisms 200, the number of the circulating lifting mechanisms 200 is the same as that of the sorting mechanisms 300, and each set of sorting mechanisms 300 is driven by a separate circulating lifting mechanism 200, so that each set of sorting mechanism 300 can independently execute sorting actions. As a realizable manner, the sorting robot 10 includes at least two vertical frames 100, at least two vertical frames 100 are fixedly connected, each set of the circulating lifting mechanism 200 and the individually driven sorting mechanism 300 thereof are respectively arranged on one vertical frame 100, so as to facilitate the assembly between the circulating lifting mechanism 200, the sorting mechanism 300 and the vertical frame 100, and facilitate the formation of the modular sorting robot 10.

An embodiment of the utility model provides a sorting system is still provided, as shown in fig. 1 and 6, sorting system includes goods shelves 80 and above-mentioned each embodiment sorting robot 10, sorting robot 10 is used for delivering the goods of waiting to sort to the letter sorting position 810 that corresponds on goods shelves 80. The present embodiment provides the sorting system with the same advantages as the sorting robot 10 in the above-described embodiments. As one way of accomplishing this, open containers are placed on the racks 80, one container being a sort location 810. Further, the shelf 80 has at least two sorting positions 810 with different heights, the sorting mechanism 300 can be driven by the circulating lifting mechanism 200 to lift to the height corresponding to the sorting position 810, and the sorting mechanism 300 can deliver the goods to be sorted to the corresponding sorting position 810.

As shown in fig. 1 and 2, an embodiment of the present invention provides a sorting robot 10, where the sorting robot 10 includes a chassis 500, a vertical frame 100, a circulating lifting mechanism 200, a sorting mechanism 300, and a control center. The chassis 500 is movable over the ground. The vertical frame 100 is fixedly disposed on the base plate 500, and the vertical frame 100 is disposed in a vertical direction. The circulation elevating mechanism 200 is provided to the vertical frame 100. Sorting mechanism 300 includes letter sorting support 310 and letter sorting action platform 320, letter sorting support 310 activity sets up in vertical frame 100, letter sorting support 310 is connected with circulation elevating system 200, letter sorting support 310 can follow the circulation route circulation lift of setting for under the drive of circulation elevating system 200, letter sorting action platform 320 sets up in letter sorting support 310, letter sorting action platform 320 is used for bearing the goods that wait to sort, will wait to sort when letter sorting action platform 320 carries out the action in goods delivery to corresponding letter sorting position 810. The control center is electrically connected with the chassis 500, the circulating lifting mechanism 200 and the sorting mechanism 300 respectively, and is used for controlling the chassis 500, the circulating lifting mechanism 200 and the sorting mechanism 300 to perform actions individually or jointly.

Above-mentioned letter sorting robot 10, the cooperation between circulation elevating system 200 and the letter sorting mechanism 300 has realized the automation of goods letter sorting, has improved the efficiency of goods letter sorting greatly when having reduced goods letter sorting cost. Meanwhile, the sorting mechanism 300 is driven by the circulating lifting mechanism 200 to move to different heights, so that goods to be sorted can be delivered to sorting positions 810 with different heights, universality is strong, and the floor area of the sorting positions 810 is reduced.

As shown in fig. 7, an embodiment of the present invention provides a sorting method, which is suitable for the above sorting robot, the sorting robot is used to deliver specific goods to be sorted to specific sorting positions, the sorting motion table bearing the specific goods to be sorted corresponds to the specific sorting positions, and the sorting method includes:

s10: the sorting action table receives goods to be sorted;

s30: the sorting action table is driven by the circulating lifting mechanism to lift to a height corresponding to the sorting position;

s50: and the sorting action table executes actions to deliver the goods to be sorted placed on the sorting action table to the corresponding sorting position.

According to the sorting method, the automatic sorting of the goods is realized through the cooperation between the circulating lifting mechanism and the sorting mechanism, the goods sorting cost is reduced, and meanwhile, the goods sorting efficiency is greatly improved. Simultaneously, the sorting mechanism moves to different heights under the driving of the circulating lifting mechanism, so that goods to be sorted can be delivered to sorting positions of different heights, the universality is strong, and the occupied area of the sorting positions is reduced.

As a practical way, each part of the sorting robot coordinates and executes actions under the control of the control center, and the control center of the sorting robot is in communication connection with an external server. The letter sorting robot can discern the information of waiting to sort the goods to and the letter sorting robot can acquire the information of every letter sorting position of waiting to sort the goods and corresponding, and the letter sorting robot is according to each item information coordinated control each part that acquires, and then the letter sorting of efficient completion goods. In the sorting robot and the sorting method provided in the above embodiments, only when the information of the goods to be sorted carried by the sorting action table corresponds to the information of the sorting position, the sorting action table executes the delivery action.

The utility model discloses an in the embodiment, for further improving letter sorting efficiency of letter sorting robot, letter sorting mechanism includes the multiunit letter sorting support with letter sorting action platform, multiunit letter sorting support with letter sorting action platform distributes along the circulation path of settlement, and is a plurality of the letter sorting position sets up along vertical direction interval. As shown in fig. 7, the sorting method further includes, after the step S50, a step S60: and executing the steps S30 and S50 by each group of the sorting action tables delivering the goods to the sorting position of the row respectively until the delivery of the goods to each group of the sorting action tables delivering the goods to the sorting position of the row is finished. The sorting robot provided by the embodiment can carry a plurality of goods to be sorted at one time. The circulation elevating system drives the multiunit sort support with the goods that wait to sort are delivered to a letter sorting position at first to the letter sorting action platform, full play the advantage of letter sorting action platform liftable, have effectively improved the holistic letter sorting efficiency of letter sorting robot.

Optionally, when the plurality of groups of sorting action tables are lifted, only one group of sorting action tables is lifted to the corresponding sorting position height, or the plurality of groups of sorting action tables are lifted to the corresponding sorting position heights. In one embodiment of the present invention, in step S30, the sorting motion tables are driven by the circulating lifting mechanism to simultaneously lift to the corresponding sorting positions; in step S50, the sorting motion tables perform motions simultaneously to deliver the goods to be sorted to the corresponding sorting locations respectively. The sorting action platforms execute actions simultaneously, so that waiting time caused under the condition that delivery actions are executed in sequence among the sorting action platforms of multiple groups is effectively eliminated, and the overall sorting efficiency of the sorting robot is effectively improved.

It will be appreciated that the height differences between the sorting locations of the plurality of different heights may be the same or different from the height differences between the sets of sorting actions. When the height difference between the sorting positions is the same as that between the sorting action tables, the sorting action tables can be driven by the circulating lifting mechanism to simultaneously lift to the corresponding sorting positions. When a plurality of the difference in height between the letter sorting position is different with the multiunit the difference in height between the letter sorting action platform, the multiunit the difference in height between the letter sorting action platform is adjustable, until with the difference in height adaptation between the letter sorting position that corresponds respectively, then the multiunit the letter sorting action platform carries out the action simultaneously, will wait to sort the goods and deliver respectively to corresponding letter sorting position.

It can be understood that, in the above embodiment, the plurality of groups of sorting action tables can simultaneously and respectively correspond to different sorting positions, but only after the information of the goods to be sorted carried by the sorting action tables corresponds to the information of the sorting positions, the sorting action tables perform the delivery action. In actual operation, therefore, the following conditions may exist: the plurality of groups of sorting action tables respectively correspond to different sorting positions in height at the same time, but only the information of the goods to be sorted carried by one group of sorting action tables corresponds to the information of the sorting positions. In the above-described operating conditions, only this group of sorting stations performs the delivery action.

The utility model discloses an in the embodiment, the multiunit the circulation path both sides of letter sorting action platform are equipped with respectively along a plurality of vertical direction interval sets up letter sorting position, both sides letter sorting action platform goes up and down to corresponding respectively simultaneously letter sorting position. In step S50, the sorting motion tables on both sides simultaneously perform motions to deliver the goods to be sorted to the corresponding sorting locations respectively. The sorting method provided by the embodiment allows the sorting robot to deliver the goods to be sorted to the sorting positions on two sides of the circulating path at the same time, so that the adaptability of the sorting method to the actual working conditions is improved, and the overall sorting efficiency of the sorting robot is effectively improved.

The utility model relates to an embodiment, operating condition is multiseriate letter sorting position sets up along the horizontal direction in order. As shown in fig. 8, the sorting method further includes, after the step S60, the step S70: the sorting action table is driven by the chassis to move to other delivery positions, and the sorting action table repeats the step S60. The letter sorting robot that this embodiment provided will be preferentially waited to deliver to the goods delivery completion of a letter sorting position, then the chassis drives letter sorting action platform to other delivery positions and delivers the letter sorting position of other rows. The sorting method provided by the embodiment effectively ensures that the sorting robot delivers the goods to be sorted in a row and a column, and avoids time waste caused by the fact that the sorting robot repeatedly moves to and fro at the same delivery position.

In the above embodiment, after the sorting robot completes the delivery to one row of sorting positions at one delivery position, the sorting robot may move to the delivery positions of the adjacent row, or may move to the delivery positions of the spaced rows according to the actual working conditions. In a practical way, after the delivery of the sorting robot to one row of sorting positions at one delivery position is completed, the sorting robot moves to the delivery position of the adjacent row preferentially. Further, as shown in fig. 8, the step S80 is further included after the step S70: the sorting robot repeatedly executes the steps S60 and S70 until all the sorting action tables finish delivering the goods to the corresponding sorting positions respectively; the sorting robot waits for the next step of instructions. The sorting method provided by the embodiment effectively ensures that each goods to be sorted is delivered under the condition of improving the sorting efficiency.

In an embodiment of the present invention, as shown in fig. 6, the sorting robot includes at least two sets of the sorting mechanisms, at least two sets of the sorting mechanisms are respectively disposed on the vertical frame, the shipment directions of the sorting action tables in at least two sets of the sorting mechanisms are the same, at least two sets of the sorting mechanisms are respectively driven by the circulating lifting mechanism to lift, and the adjacent distance between at least two sets of the sorting mechanisms along the horizontal setting direction of the sorting position is an integral multiple of the adjacent distance between multiple columns of the sorting positions along the horizontal direction; each set of the sorting mechanisms simultaneously and independently performs the step S60. The number of goods to be sorted carried by the increased sorting robot which can be multiplied by the multiple sets of sorting mechanisms arranged on the vertical frame is remarkably improved, and the overall sorting efficiency of the sorting robot is remarkably improved. On the premise of the same sorting task amount, the travel of the sorting robot between goods receiving and delivering is effectively saved. It can be understood that the sorting method provided by the embodiment can also deliver the goods to be sorted to the sorting positions on both sides of the circulating path at the same time.

Further, as shown in fig. 6, the sorting robot includes at least two sets of the circulating lifting mechanisms, the number of the circulating lifting mechanisms is the same as that of the sorting mechanisms, and each set of the sorting mechanisms is driven by a separate circulating lifting mechanism; each set of sorting mechanism is driven by the independent circulating lifting mechanism to simultaneously and independently execute the step S60. Each set of sorting mechanism is driven by the independent circulating lifting mechanism, so that waiting time caused under the condition that delivery actions are sequentially executed among a plurality of sets of sorting mechanisms is eliminated to the maximum extent, and the integral sorting efficiency of the sorting robot is effectively improved.

In an embodiment of the present invention, in order to further improve the adaptability of the sorting robot and the sorting method to the actual working conditions and simultaneously improve the sorting efficiency of the sorting robot and the sorting method, the sorting motion table is rotatably disposed on the sorting support, and the sorting motion table can rotate in the horizontal plane relative to the sorting support; as shown in fig. 9, the step S30 is followed by a step S40: the sorting action table rotates in the horizontal plane relative to the sorting support until the delivery end of the sorting action table faces to the corresponding sorting position. The sorting method provided by the embodiment solves the problem that the initial delivery end of the sorting action table does not correspond to the sorting position. Meanwhile, the sorting method provided by the embodiment can allow the sorting action table to deliver the goods to the sorting positions in different directions at one delivery position.

In practice, the sorting robot needs to deliver fragile, large-sized or irregular goods. As shown in fig. 6 and 10, in an embodiment of the present invention, the sorting mechanism further includes a manipulator, the manipulator is disposed on the vertical frame, and the manipulator can deliver the goods to be sorted on the sorting motion table to the corresponding sorting position, or the manipulator can place the goods on the sorting motion table; the sorting method includes an alternative step D50 to the step S50: and the mechanical arm delivers the goods to be sorted on the sorting action table to the corresponding sorting position. The manipulator and the sorting action table are cooperatively matched, so that the adaptability of the sorting method provided by the embodiment to actual working conditions is improved. It will be appreciated that the manipulator is also capable of placing goods onto the sorting action table when the sorting robot receives goods to be sorted.

Further, as shown in fig. 11, the manipulator is slidably disposed on the vertical frame in a vertical direction; the step D50 includes:

d501: the manipulator is lifted to a height corresponding to the sorting position;

d502: the manipulator takes the goods to be sorted on the corresponding sorting action table;

d503: the mechanical arm delivers the goods to be sorted to the corresponding sorting positions.

The manipulator that slides along vertical direction and set up can take not co-altitude goods, also can deliver the goods of taking to in the not letter sorting position of co-altitude, perhaps carries the goods of taking to on the not co-altitude letter sorting action platform.

In practical situations, the sorting robot needs to be different between the receiving location for receiving the goods and the delivery location for delivering the goods, and the sorting robot needs to go and return between the receiving location for receiving the goods and the delivery location for delivering the goods. As shown in fig. 12, in an embodiment of the present invention, the step S10 includes:

s101: the sorting robot receives a goods receiving instruction, wherein the goods receiving instruction comprises goods receiving position information;

s102: the chassis drives the sorting robot to move to a corresponding goods receiving position according to the goods receiving position information;

s104: the sorting action table bears the goods to be sorted conveyed to the sorting action table.

Further, the sorting motion table has a receiving height when receiving goods, and after the step S102, the method further includes the step S103: the sorting action table is driven by the circulating lifting mechanism to lift to the goods receiving height. It can be understood that when the goods receiving end of the sorting action table is not consistent with the goods coming direction, the sorting action table rotates until the goods receiving end of the sorting action table is consistent with the goods coming direction.

In an embodiment of the present invention, as shown in fig. 13, before step S30, the method further includes step S20: and the sorting action table moves to a delivery position corresponding to the sorting position. Specifically, as shown in fig. 14, the step S20 includes:

s201: the sorting robot receives delivery instructions, wherein the sorting instructions comprise delivery position information;

s202: and the chassis drives the sorting action platform to move to a corresponding delivery position according to the delivery position information.

Further, the step S202 includes:

s2021: the chassis drives the sorting robot to move to the sorting side of the goods shelf;

s2023: the chassis drives the sorting robot to move along the horizontal extending direction of the goods shelf until the sorting action table moves to a delivery position corresponding to the sorting position.

Specifically, the step S2021 is followed by a step S2022: the chassis drives the sorting robot to move until the sorting action table is close to the sorting area of the goods shelf.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A sorting robot, characterized in that the sorting robot comprises:

a vertical frame disposed in a vertical direction;

the circulating lifting mechanism is arranged on the vertical frame;

2. The sorting robot according to claim 1, wherein the sorting mechanism includes a sorting bracket movably disposed on the vertical frame, the sorting bracket is connected to the circulating lifting mechanism, the sorting bracket can be driven by the circulating lifting mechanism to circularly lift along a set circulating path, and a sorting motion table disposed on the sorting bracket, the sorting motion table is used for carrying the goods to be sorted, and the sorting motion table delivers the goods to be sorted to a corresponding sorting position when performing the motion.

3. The sorting robot according to claim 2, wherein the sorting action table comprises a sorting belt and a sorting driving assembly, the sorting driving assembly is arranged on the sorting support, the sorting belt is rotatably arranged on the sorting support, the sorting belt is in transmission connection with the sorting driving assembly, the sorting belt is used for bearing the goods to be sorted, and the sorting belt delivers the goods to be sorted to the corresponding sorting position when driven by the sorting driving assembly to rotate.

4. The sorting robot according to claim 3, wherein the sorting driving assembly comprises a sorting motor and two sorting shafts, the two sorting shafts are arranged on the sorting support at intervals, the sorting belt sleeves the two sorting shafts, at least one sorting shaft is in transmission connection with the sorting motor, and the sorting motor can rotate forwards or backwards.

5. The sorting robot of claim 2, wherein the sorting motion table is rotatably disposed to the sorting support, the sorting motion table being rotatable in a horizontal plane relative to the sorting support.

6. The sorting robot according to claim 5, wherein the sorting mechanism further comprises a rotation driving assembly, the rotation driving assembly is disposed on the sorting support, the rotation driving assembly is in transmission connection with the sorting action table, and the sorting action table can rotate in a horizontal plane relative to the sorting support under the driving of the rotation driving assembly.

7. The sorting robot of claim 2, wherein the sorting mechanism includes a plurality of sets of the sorting carriages and the sorting motion stages, the plurality of sets of the sorting carriages and the sorting motion stages being evenly distributed along a set circulation path.

8. The sorting robot according to claim 2, wherein the sorting mechanism further comprises a manipulator, the manipulator is disposed on the vertical frame, and the manipulator is capable of delivering the goods to be sorted on the sorting motion stage to the corresponding sorting position or placing the goods on the sorting motion stage.

9. The sorting robot according to claim 8, wherein the robot hand is slidably provided to the vertical frame in a vertical direction.

10. The sorting robot of claim 2, further comprising a movable chassis, the vertical frame being disposed on the chassis.

11. The sorting robot according to any one of claims 1 to 10, wherein the circulating lifting mechanism comprises a circulating power source and a circulating transmission assembly, the circulating power source and the circulating transmission assembly are respectively arranged on the vertical frame, the circulating power source is in transmission connection with an input side of the circulating transmission assembly, and an output side of the circulating transmission assembly is in transmission connection with the sorting mechanism.

12. The sorting robot of claim 11, wherein the cyclical power source includes a cyclical drive motor drivingly connected to an input side of the cyclical drive assembly, the cyclical lift mechanism being powered by at least one of the cyclical drive motors.

13. The sorting robot of claim 12, wherein the endless drive motor is rotatable in forward or reverse directions.

14. The sorting robot according to claim 11, wherein the circulating transmission assembly includes a circulating traction cable and at least two circulating wheels, at least two of the circulating wheels are rotatably disposed on the vertical frame, at least one of the circulating wheels is drivingly connected to the circulating power source, the circulating traction cable is sleeved on at least two of the circulating wheels, the circulating traction cable is fixedly connected to the sorting mechanism along its own circulating path, and at least one of the circulating wheels drives the circulating traction cable to move circularly by means of engagement or friction when rotating, so as to drive the sorting mechanism to circularly lift along the set circulating path.

15. The sorting robot according to any one of claims 1 to 10, further comprising a circulation guide mechanism disposed on the vertical frame, the circulation guide mechanism being connected to the sorting mechanism, and the sorting mechanism being capable of preventing the sorting mechanism from overturning during the circulation lifting along the set circulation path under the driving of the circulation lifting mechanism.

16. The sorting robot of claim 15, wherein the endless guide mechanism includes a guide rail fixedly disposed on the vertical frame, the guide rail extending along the endless path of the sorting mechanism, and a guide assembly movably disposed on the vertical frame, the guide assembly being fixedly coupled to the sorting mechanism, the guide assembly contacting the guide rail during the ascending and descending of the sorting mechanism along the endless path, the guide assembly translating along the endless path of the sorting mechanism.

17. The sorting robot of claim 16, wherein the guide track comprises a translation track and a path track, the translation track and the path track are respectively fixedly arranged on the vertical frame, and the translation track and the path track respectively extend along a circulating path of the sorting mechanism; the guide assembly comprises a translation wheel set and a path wheel set, the translation wheel set is fixedly connected with the sorting mechanism, and the path wheel set is rotatably connected with the sorting mechanism; in the process that the sorting mechanism ascends and descends along a circulating path, the translational wheel set is in rolling contact with the translational track, and the path wheel set is in rolling contact with the path track.

18. The sorting robot according to any one of claims 1-10, wherein the vertical frame comprises an outer frame and an inner frame, the inner frame being fixedly arranged within the outer frame, the inner frame being arranged spaced apart from the outer frame; the circulation lifting mechanism is arranged on the inner frame, the sorting mechanism is movably arranged between the inner frame and the outer frame, and a circulation path of the sorting mechanism is formed between the inner frame and the outer frame.

19. The sorting robot according to claim 18, wherein the vertical frame further comprises a bending hanger fixedly connected to the outer frame and the inner frame, respectively, the bending hanger having a bent portion that avoids a circulation path of the sorting mechanism.

20. The sorting robot according to any one of claims 1 to 10, further comprising a control center electrically connected to the circulating lifting mechanism and the sorting mechanism, respectively, for controlling the circulating lifting mechanism and the sorting mechanism to perform actions individually or in combination.

21. A sorting robot according to any one of claims 1-10, characterised in that the sorting robot comprises at least two sets of sorting mechanisms, which are evenly distributed along the outer circumference of the vertical frame, at least two sets of sorting mechanisms being separately driven by the circulating lifting mechanism.

22. The sorting robot of claim 21, wherein the robot includes at least two sets of the cyclic lifting mechanisms, the number of the cyclic lifting mechanisms being the same as the number of the sorting mechanisms, each set of the sorting mechanisms being driven by a separate cyclic lifting mechanism.

23. The sorting robot according to claim 22, wherein the sorting robot comprises at least two vertical frames, at least two vertical frames are fixedly connected, and each set of the circulating lifting mechanism and the sorting mechanism driven by the circulating lifting mechanism are respectively arranged on one vertical frame.

24. A sorting system, characterized in that it comprises a rack and a sorting robot according to any of claims 1-23 for placing goods to be sorted to corresponding sorting locations on the rack.