CN111389739A - Working method of sorting device - Google Patents
Working method of sorting device Download PDFInfo
- Publication number
- CN111389739A CN111389739A CN202010193331.7A CN202010193331A CN111389739A CN 111389739 A CN111389739 A CN 111389739A CN 202010193331 A CN202010193331 A CN 202010193331A CN 111389739 A CN111389739 A CN 111389739A
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- China
- Prior art keywords
- clamping
- picking
- pushing
- positioning
- sorting device
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
- B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C1/00—Measures preceding sorting according to destination
- B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/34—Devices for discharging articles or materials from conveyor
- B65G47/46—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points
- B65G47/51—Devices for discharging articles or materials from conveyor and distributing, e.g. automatically, to desired points according to unprogrammed signals, e.g. influenced by supply situation at destination
Abstract
The invention aims to provide a working method of a sorting device, which is used for solving the technical problem of sorting objects. A method of operating a sorting device comprising the steps of: s1 the article moves forward under the drive of the conveying mechanism; s2, the picking mechanism acquires the articles on the conveying mechanism; s3 the moving and positioning mechanism drives the picking mechanism to move and position to the corresponding position of the docking mechanism; s4 pushing mechanism pushes the object on the picking mechanism to the docking mechanism.
Description
Technical Field
The invention relates to the technical field of object subpackaging, in particular to a working method of a sorting device.
Background
With the rise of electronic commerce, the express industry also faces the era of rapid development. In a traditional mode, mailed express items are separated and placed in different regions by adopting a manual sorting mode. The mode has low efficiency and large workload, and can not meet the requirement of the modern society on high efficiency. The development of the intelligent robot provides a reliable technical support for an intelligent sorting mode. In the prior art, an intelligent robot sorting mode is adopted, so that the cost investment is large, and the occupied plane space is large.
Disclosure of Invention
The invention aims to provide a working method of a sorting device, which is used for solving the technical problem of sorting objects.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method of operating a sorting device comprising the steps of:
s1 the article moves forward under the drive of the conveying mechanism;
s2, the picking mechanism acquires the articles on the conveying mechanism;
s3 the moving and positioning mechanism drives the picking mechanism to move and position to the corresponding position of the docking mechanism;
s4 pushing mechanism pushes the object on the picking mechanism to the docking mechanism.
Preferably, under the driving of the moving and positioning mechanism, the picking mechanism acquires the object above the tail end of the conveying mechanism, and the object is continuously moved backwards to a position between the pushing mechanism and the butting mechanism after being acquired.
Preferably, the transport mechanism is driven by a stepper motor.
Preferably, in step S1, the conveying mechanism detects the arrival of the object through the centering detection switch, and pushes the object to the middle position of the belt conveyor through the centering cylinders on both sides of the belt conveyor.
Preferably, in step S2, the picking mechanism obtains the information on the object by the scanner.
Preferably, in the step S2, the picking mechanism sucks the object through the suction cup.
Preferably, the picking mechanism drives the clamping arm to act through the clamping oil cylinder in the process of fixing the object, and then clamps and fixes the object through the clamping plate on the inner side of the clamping arm.
Preferably, the clamping plate is connected with the clamping arm through a clamping spring, and a clamping detection pressure sensor is arranged on the clamping plate to detect clamping force; when the movable positioning mechanism brings the object to a specified position through the picking mechanism, the clamping oil cylinder drives the clamping arm to move outwards, and after the clamping detection pressure sensor detects that the pressure reaches a specified value, the pushing mechanism pushes the object into the butt joint mechanism.
Preferably, the mobile positioning mechanism drives the picking mechanism to move back and forth relative to the conveying mechanism through the transfer oil cylinder, drives the picking mechanism to rotate through the positioning motor, and drives the picking mechanism to move telescopically through the positioning oil cylinder.
Preferably, the pushing mechanism correspondingly pushes the object to the annular butt joint port on the butt joint mechanism through the pushing oil cylinder annularly arranged on the pushing support frame.
The effect provided in the summary of the invention is only the effect of the embodiment, not all the effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
1. according to the intelligent sorting device, the objects can be intelligently sorted, the objects in different regions can be intelligently sorted, and the plane space occupied by the device is relatively small.
2. The mobile positioning mechanism can realize the forward and backward, rotation and lifting movement of the picking mechanism, and can accurately move and position the acquired object.
3. The picking mechanism is provided with a clamping arm, a clamping plate, a clamping spring and a clamping detection pressure sensor, and can flexibly clamp an object when the object is fixed; when an object needs to be placed, the clamping detection pressure sensor can detect that the clamping plate can clamp the object, and meanwhile, the object can be separated from the clamping state of the clamping plate under the action of the pushing mechanism; the pushing mechanism can push the object to the docking mechanism conveniently.
4. The butt joint frame in the butt joint mechanism adopts an annular plate structure, and a plurality of butt joint ports are arranged on the butt joint frame, so that the occupied space of a plane is small.
Drawings
FIG. 1 is a schematic side view of an embodiment of the present invention;
FIG. 2 is a schematic top view of an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 1 at A;
fig. 4 is an enlarged partial side view of a pick-off mechanism in an embodiment of the present invention;
in the figure: 1. a belt conveyor; 2. centering the oil cylinder; 3. a centering detection switch; 4. a picking frame; 5. a vacuum adsorption pan; 6. a clamp arm; 7. a clamping plate; 8. a clamping spring; 9. a clamping detection pressure sensor; 10. clamping the oil cylinder; 11. a code scanner; 12. transferring a positioning frame; 13. transferring the oil cylinder; 14. positioning a motor; 15. positioning the oil cylinder; 16. pushing the support frame; 17. a pushing cylinder; 18. a docking rack; 19. and (5) sorting pipelines.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. In the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to be construed as only or implying relative importance.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 4, a sorting device includes a control system, and a conveying mechanism, a picking mechanism, a moving positioning mechanism, a pushing mechanism and a docking mechanism electrically connected to the control system. The picking mechanism is used for acquiring the objects transferred on the conveying mechanism, the positioning moving mechanism drives the picking mechanism to carry the objects to move to a corresponding inlet of the butt joint mechanism, the pushing mechanism is used for pushing the objects on the picking mechanism into the butt joint mechanism, and the butt joint mechanism is used for shunting the objects.
The conveying mechanism comprises a belt conveyor 1 and a centering mechanism, a stepping motor is adopted as a conveying motor of the belt conveyor 1, and the centering mechanism is used for pushing the articles on the belt conveyor 1 to the middle position. The centering mechanism comprises a centering oil cylinder 2 and a centering detection switch 3 (a photoelectric correlation type switch), the centering oil cylinder 2 is symmetrically arranged on two sides of the belt conveyor 1 through a support, and the centering detection switch 3 is also arranged on the support; when the centering detection switch 3 detects that the object passes through, the centering oil cylinders 2 on the two sides simultaneously move inwards, and the object is pushed to the middle of the belt conveyor 1, so that the rear picking mechanism can grab the object conveniently.
The picking mechanism is arranged on the power output end of the mobile positioning mechanism and comprises a picking frame 4, a vacuum adsorption disc 5, a clamping arm 6, a clamping plate 7, a clamping spring 8, a clamping detection pressure sensor 9, a clamping oil cylinder 10 and a code scanner 11. The picking frame 4 is movably arranged above the belt conveyor 1, and the code scanner 11 is arranged in front of the picking frame 4 and used for scanning two-dimensional code information on the object. The vacuum adsorption disc 5 is arranged at the lower end of the picking frame 4, is connected with an external vacuum generator and is used for adsorbing and obtaining the objects transferred by the belt conveyor 1. The clamping arm 6 can be installed on two sides of the picking frame 4 in a left-right moving mode (a clamping driving sliding groove is formed in the picking frame 4, and a clamping driving sliding rail is correspondingly arranged on the clamping arm 6), and the clamping plate 7 is installed on the inner side of the clamping arm 6 through the clamping spring 8 and used for assisting in clamping objects adsorbed by the vacuum adsorption disc 5. The clamping detection pressure sensor 9 is embedded on the clamping plate 7 and used for detecting the clamping force. The clamping oil cylinder 10 is also arranged on the picking frame 4, and the power output end of the clamping oil cylinder 10 is connected with the power input end of the clamping arm 6 and used for driving the clamping arm 6 to act.
The mobile positioning mechanism comprises a transfer positioning frame 12, a transfer oil cylinder 13, a positioning motor 14 and a positioning oil cylinder 15 (an oil cylinder with a displacement sensor arranged inside). The transfer positioning frame 12 is arranged above the tail end of the belt conveyor 1, and the transfer oil cylinder 13 is longitudinally arranged on the transfer positioning frame 12. The positioning motor 14 is arranged on the moving power output end of the transfer oil cylinder 13, and two sides of the positioning motor are in slidable supporting fit with the transfer positioning frame 12 through sliding plates; a rotary support frame is arranged at the rotary power output end of the positioning motor 14, and the positioning oil cylinder 15 is installed on the rotary support frame and is vertical to the rotary power output shaft of the positioning motor 14; the power output end of the positioning oil cylinder 15 is connected with the picking frame 4. In the process of acquiring the objects on the belt conveyor 1, the picking mechanism is driven by the transfer cylinder 13 to move forward, and after the objects are acquired, the transfer cylinder 13 drives the picking mechanism to move backward, so that a larger moving and positioning space is obtained. According to the code scanning information on the object, the positioning motor 14 rotates by a specified angle, the positioning oil cylinder 15 extends by a specified length, the picking mechanism drives the object to move to the corresponding butt joint of the butt joint mechanism, and finally the pushing mechanism pushes the object on the picking mechanism into the butt joint mechanism.
The pushing mechanism comprises a pushing support frame 16 and a pushing oil cylinder 17, the pushing support frame 16 is of an annular plate structure and is sleeved behind the tail end of the belt conveyor 1; the pushing oil cylinders 17 are provided with a plurality of sets, the pushing oil cylinders 17 are annularly arranged on the pushing support frame 16, and the pushing oil cylinders 17 are arranged corresponding to the objects acquired on the picking frame 4; the pushing oil cylinder 17 is electrically connected with the control system through an electric control switch. The butt joint mechanism is arranged behind the mobile positioning mechanism and corresponds to the pushing mechanism. The butt joint mechanism comprises a butt joint frame 18, a plurality of butt joint ports are arranged on the butt joint frame 18, and sorting pipelines 19 are communicated behind the butt joint ports; each of the pair of interfaces corresponds to a corresponding pushing cylinder 17 in the front and back directions.
The control system comprises a P L C controller, a control box and a control board, wherein the P L C controller is electrically connected with corresponding functional components respectively.
A method of operating a sorting device comprising the steps of:
s1 the article moves forward under the drive of the conveying mechanism;
s2, the picking mechanism acquires the articles on the conveying mechanism;
s3 the moving and positioning mechanism drives the picking mechanism to move and position to the corresponding position of the docking mechanism;
s4 pushing mechanism pushes the object on the picking mechanism to the docking mechanism.
Preferably, under the driving of the moving and positioning mechanism, the picking mechanism acquires the object above the tail end of the conveying mechanism, and the object is continuously moved backwards to a position between the pushing mechanism and the butting mechanism after being acquired.
Preferably, the transport mechanism is driven by a stepper motor.
Preferably, in step S1, the conveying mechanism detects the arrival of the article by the centering detection switch 3, and pushes the article toward the middle position of the belt conveyor 1 by the centering cylinders 2 on both sides of the belt conveyor 1.
Preferably, in step S2, the picking mechanism acquires the information on the object by the scanner 11.
Preferably, in the step S2, the picking mechanism sucks the articles by the vacuum sucking disc 5.
Preferably, the picking mechanism drives the clamping arm 6 to act through the clamping cylinder 10 during the process of fixing the object, and then clamps and fixes the object through the clamping plate 7 on the inner side of the clamping arm 6.
Preferably, the clamping plate 7 is connected with the clamping arm 6 through a clamping spring 8, and a clamping detection pressure sensor 9 is arranged on the clamping plate 7 to detect clamping force; when the moving and positioning mechanism brings the object to the designated position through the picking mechanism, the clamping oil cylinder 10 drives the clamping arm 6 to move outwards, and after the clamping detection pressure sensor 9 detects that the pressure reaches the designated value (the clamping plate 7 can clamp the object and the object can be separated from the clamping state of the clamping plate 7 under the action of the pushing mechanism), the pushing mechanism pushes the object into the butting mechanism.
Preferably, the moving and positioning mechanism drives the pick-up mechanism to move back and forth relative to the conveying mechanism through the transfer oil cylinder 13, drives the pick-up mechanism to rotate through the positioning motor 14, and drives the pick-up mechanism to move telescopically through the positioning oil cylinder 15.
Preferably, the pushing mechanism correspondingly pushes the object to the docking port annularly arranged on the docking frame of the docking mechanism through the pushing oil cylinder 17 annularly arranged on the pushing support frame 16.
In addition to the technical features described in the specification, the technology is known to those skilled in the art.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A working method of a sorting device is characterized by comprising the following steps:
s1 the article moves forward under the drive of the conveying mechanism;
s2, the picking mechanism acquires the articles on the conveying mechanism;
s3 the moving and positioning mechanism drives the picking mechanism to move and position to the corresponding position of the docking mechanism;
s4 pushing mechanism pushes the object on the picking mechanism to the docking mechanism.
2. The operating method of a sorting device according to claim 1, wherein the picking mechanism picks up the object above the end of the conveying mechanism under the driving of the moving and positioning mechanism, and the picked object continues to move backward to a position between the pushing mechanism and the docking mechanism.
3. A method of operating a sorting device according to claim 1, characterised in that the conveying means are driven by a stepper motor.
4. The method of claim 1, wherein the conveying mechanism detects the arrival of the article through the centering detection switch and pushes the article toward the middle of the belt conveyor through the centering cylinders on both sides of the belt conveyor in step S1.
5. The method of claim 1, wherein the pick-up mechanism obtains information on the articles by a scanner in step S2.
6. The method of claim 1, wherein the pick-up mechanism sucks the object by the suction cup in step S2.
7. The operating method of a sorting device according to claim 1, wherein the picking mechanism drives the gripping arm to move through the gripping cylinder during the process of fixing the object, and further grips and fixes the object through the gripping plate inside the gripping arm.
8. The operating method of a sorting device according to claim 7, wherein the clamping plate is connected with the clamping arm through a clamping spring, and the clamping force is detected by arranging a clamping detection pressure sensor on the clamping plate; when the movable positioning mechanism brings the object to a specified position through the picking mechanism, the clamping oil cylinder drives the clamping arm to move outwards, and after the clamping detection pressure sensor detects that the pressure reaches a specified value, the pushing mechanism pushes the object into the butt joint mechanism.
9. The method of claim 1, wherein the moving positioning mechanism drives the pick-up mechanism to move back and forth relative to the conveying mechanism via a transfer cylinder, the positioning motor drives the pick-up mechanism to rotate, and the positioning cylinder drives the pick-up mechanism to extend and retract.
10. The operating method of a sorting device according to claim 1, wherein the pushing mechanism pushes the object to the docking port of the docking mechanism via a pushing cylinder disposed on the pushing support frame in a ring shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010193331.7A CN111389739B (en) | 2020-03-18 | 2020-03-18 | Working method of sorting device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010193331.7A CN111389739B (en) | 2020-03-18 | 2020-03-18 | Working method of sorting device |
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| CN111389739A true CN111389739A (en) | 2020-07-10 |
| CN111389739B CN111389739B (en) | 2022-01-11 |
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| CN111389739B (en) | 2022-01-11 |
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Effective date of registration: 20211224 Address after: 518000 309, building 2, Yuanchuang space South District, south side of Bulong Road, Xinniu community, Minzhi street, Longhua District, Shenzhen City, Guangdong Province Applicant after: SHENZHEN JOAN TECHNOLOGY Co.,Ltd. Address before: 274020 123 chaoxinzhuang administrative village, Helou office, Mudan District, Heze City, Shandong Province Applicant before: Chao Zhibing |
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