CN111661579A

CN111661579A - Sorting machine

Info

Publication number: CN111661579A
Application number: CN202010592654.3A
Authority: CN
Inventors: 张号; 王志明; 代铁山
Original assignee: CHINA POST SCIENCE AND TECHNOLOGY CO LTD
Current assignee: CHINA POST SCIENCE AND TECHNOLOGY CO LTD
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2020-09-15

Abstract

The invention relates to the technical field of material sorting, in particular to a sorting machine. The sorting machine comprises annular rails, a plurality of trolley mechanisms and pull rods, wherein the two annular rails are arranged in a staggered mode in front and back at intervals in parallel, and the distance between the front and back staggered mode of the two annular rails is equal to the distance between a front end travelling wheel and a rear end travelling wheel of each trolley mechanism; two sides of two adjacent trolley mechanisms are hinged through pull rods, and the two trolley mechanisms and the two pull rods are hinged to form a spatial parallel four-bar mechanism, so that when the trolley mechanisms move along the arc-shaped section, all the trolley mechanisms can be always kept horizontal. This sorting machine compares with chain formula sorting machine and has following advantage: when the arc-shaped section moves, the distance between the trolley mechanisms is unchanged; the pull rod transmission can transmit pulling force and pressure, and the required driving force is small; the arc-shaped section does not need to be guided when moving; after long-time operation, the device does not need to be tensioned regularly, and the later maintenance cost is low.

Description

Sorting machine

Technical Field

The invention relates to the technical field of material sorting, in particular to a sorting machine.

Background

The sorting machine is applicable to sorting and classifying smallclothes commodity, and the sorting machine includes circular orbit and a plurality of dolly, and when the dolly turned along the circular orbit, the transport face of dolly can the downward sloping, and commodity can't stop on the conveyer line for current sorting machine can only carry out the commodity circulation letter sorting on the circular orbit upper strata, can't carry out the commodity circulation letter sorting at circular orbit's lower floor, has greatly reduced circular orbit's utilization ratio, and letter sorting efficiency is low.

At present, the prior art discloses a sorting machine, which comprises annular rails, trolleys and a rotary driving mechanism, wherein the two annular rails are arranged in a staggered manner, the trolleys are positioned between the two annular rails, the trolleys are connected through chains, and the rotary driving mechanism is used for providing power for the trolleys to move around the annular rails; in addition, two ends of the opposite angle of the trolley are respectively hinged with the two rotary driving mechanisms to form a first hinge point and a second hinge point; the annular track is matched with a roller arranged on the trolley in a rolling way, the roller and the first hinge point are positioned at the same side of the sorting trolley, and the annular track is opposite to the rotary driving mechanism at one side of the second hinge point and the central axis of the annular track is superposed. The sorting machine drives the trolley to move by using the method, and the sorting trolley realizes translation in a turning section.

However, such a track structure has the following drawbacks: 1) the trolleys are connected through the chain, when the trolleys pass through the turning section, the distance between the same driving wheels of the trolleys is a chord line of an arc section, so that the distance between the trolleys can be reduced at the turning section, the working area of a small workshop is smaller at the moment, and the trolleys are not suitable for sorting larger mails. 2) The chain transmission can only transmit tensile force but not compressive force, and the track structure does not have the force transmission characteristic of a closed loop, so that the structure needs larger driving force. 3) The chain structure needs guiding when turning, and the noise is higher when high speed. 4) The chain drive needs periodic tensioning when long-time operation, and the later maintenance cost is high.

Therefore, a new sorting machine is needed to solve the above problems.

Disclosure of Invention

The invention aims to provide a sorting machine, which aims to solve the problem that a trolley in the sorting machine in the prior art is driven by a chain.

In order to realize the purpose, the following technical scheme is provided:

a sorting machine comprises an annular track, a plurality of trolley mechanisms and a pull rod, wherein the annular track comprises a straight line section and an arc section, the two annular tracks are arranged in a staggered mode in front and back at intervals in parallel, and the distance between the front staggered mode and the back staggered mode of the two annular tracks is equal to the distance between a front end travelling wheel and a rear end travelling wheel of each trolley mechanism;

two adjacent sides of the two trolley mechanisms are hinged through the pull rod, two ends of the pull rod are hinged with rotating shafts of front-end walking wheels of the two adjacent trolley mechanisms respectively on one side of the trolley mechanism, and two ends of the pull rod are hinged with rotating shafts of rear-end walking wheels of the two adjacent trolley mechanisms respectively on the other side of the trolley mechanism, so that the two trolley mechanisms and the two pull rods are hinged to form a spatial parallel four-bar mechanism, and all the trolley mechanisms can be always kept horizontal when the trolley mechanisms move along the arc-shaped section.

As the preferred scheme of the sorting machine, the front end and the rear end of one side of the trolley mechanism are respectively provided with a first walking wheel and a second walking wheel, the front end and the rear end of the other side of the trolley mechanism are respectively provided with a second walking wheel and a first walking wheel, the first walking wheel is matched with a straight line section of the circular track, the second walking wheel is matched with an arc section of the circular track, one end of each pull rod is hinged with a rotating shaft of the second walking wheel of one trolley mechanism, and the other end of each pull rod is hinged with a rotating shaft of the second walking wheel of the other trolley mechanism, so that the two trolley mechanisms and the two pull rods are hinged to form a space parallel four-bar mechanism.

As the preferred scheme of the sorting machine, the front end of one side of the trolley mechanism is provided with a travelling shaft, the rear end of the other side of the trolley mechanism is provided with a travelling shaft, the second travelling wheel is rotatably arranged on the travelling shaft, and the pull rod is hinged with the travelling shaft.

As a preferable scheme of the sorting machine, in the two circular tracks, the arc-shaped section is positioned at the outer side of the straight line section, and in the trolley mechanism, the second travelling wheel is positioned at the outer side of the first travelling wheel.

As the preferable scheme of the sorting machine, the length of the pull rod is L₀The length of the straight line segment of the annular track is L₁＝n*L₀Two arc sections of the annular track can be spliced to form a virtual circle with the radius of RThe virtual circle is composed of an arc segment with a central angle of β and a non-arc segment with a central angle of α, the track of the non-arc segment is located inside the virtual circle, the motion track of the second road wheel is made to coincide with the track of the non-arc segment, n is a positive integer, and α is 2 × arcsin (L)₀/(2×R)，α≤90°，β＝360°-α。

As a preferable aspect of the sorting machine, at least one of the non-circular arc segments is disposed on the arc segment of the endless track.

As a preferable aspect of the sorting machine, the sorting machine further includes:

the driving device comprises driving knife boards and driving mechanisms, wherein each trolley mechanism is close to two sides of the circular orbit and is provided with the driving knife boards, the driving mechanisms are located at the linear section of the circular orbit and can be matched with the driving knife boards, the driving mechanisms can drive the trolley mechanisms to move in a matched mode, and then the trolley mechanisms drive the trolley mechanisms to move along the circular orbits in a whole mode through the pull rods.

As a preferable scheme of the sorting machine, the driving knife plate comprises a connecting part and a horizontal driving part, the connecting part is fixedly connected with the trolley mechanism, the horizontal driving part is located below the trolley mechanism, and the driving mechanism can be matched with the horizontal driving part to drive the trolley mechanism to move along the annular track.

As a preferable aspect of the sorting machine, the driving mechanism includes:

a mounting frame;

the two driving assemblies are symmetrically arranged on the mounting frame and can be matched with the driving knife boards on two sides of the trolley mechanism respectively;

and the driver can simultaneously drive the two driving components to work so as to enable the two driving components to drive the trolley mechanism to move along the annular track.

As a preferred aspect of the sorter, the driving assembly includes:

the mounting plate is arranged on the mounting frame and comprises an upper support plate and a lower support plate which are arranged in parallel at intervals along the vertical direction;

the friction wheel set comprises an upper friction wheel and a lower friction wheel, the upper friction wheel is mounted on the upper support plate, the lower friction wheel is mounted on the lower support plate, the horizontal driving portion can penetrate between the upper friction wheel and the lower friction wheel, and the driver can drive the friction wheel set to rotate so as to drive the driving knife board to drive the trolley mechanism to move along the annular track.

As a preferred scheme of the sorting machine, the sorting machine further comprises a power supply communication device, the power supply communication device is arranged on each of two sides of the trolley mechanism, the power supply communication device on one side of the trolley mechanism is used for supplying power, the power supply communication device on the other side of the trolley mechanism is used for communication, the power supply communication device comprises a cable and a conductive sliding ring, the cable is arranged on each pull rod, the conductive sliding ring is arranged on each trolley mechanism, the cable at one end of the conductive sliding ring is electrically connected with the cable inside the trolley mechanism, and the cable at the other end of the conductive sliding ring is electrically connected with the cable.

Compared with the prior art, the invention has the beneficial effects that:

the sorting machine provided by the invention comprises annular rails, a plurality of trolley mechanisms and pull rods, wherein the two annular rails are arranged in a staggered manner in front and back at intervals in parallel, and the staggered distance between the annular rails is equal to the distance between the travelling wheels at two sides of each trolley mechanism; the two sides of two adjacent trolley mechanisms are hinged through the pull rods, the pull rods on the two sides of the two adjacent trolley mechanisms are arranged in a staggered mode from front to back, so that the two trolley mechanisms and the two pull rods are hinged to form a space parallel four-bar mechanism, when the trolley mechanisms move along the arc-shaped section of the circular track, all the trolley mechanisms can be always kept horizontal, articles can be sorted on the upper side and the lower side of the sorting machine, and sorting efficiency of the sorting machine is improved.

According to the sorting machine, the trolley mechanisms are connected in a hinged mode through the pull rods, and the two adjacent trolley mechanisms are hinged through the pull rods to form the spatial parallel four-bar mechanism, so that the trolley mechanisms can be always kept horizontal when moving along the arc-shaped section of the circular track. This sorting machine compares with chain formula sorting machine and has following advantage: 1) the trolley mechanisms are hinged through the pull rods, when the arc-shaped section of the annular track moves, the distance between the trolley mechanisms is unchanged, and the working interval of the trolley mechanisms is unchanged. 2) The pull rod transmission can transmit pulling force and pressure, the pull rod forms a closed-loop force transmission structure, and the driving force required for driving the trolley mechanisms to move is smaller than that required for chain transmission. 3) The pull rod drive does not require guidance when the arc segment moves. 4) After the pull rod transmission runs for a long time, the pull rod transmission does not need to be tensioned periodically, and the later maintenance cost is lower.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention 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 for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a sorting machine according to a first embodiment of the present invention;

FIG. 2 is a first schematic view of the circular track and trolley mechanism according to a first embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a cart mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a trolley mechanism and a pull rod hinge joint provided in the first embodiment of the present invention;

fig. 5 is a schematic view illustrating a combination of a road wheel set and an annular track according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a sorting machine according to an embodiment of the present invention, with a frame removed;

FIG. 7 is a second schematic view of the circular track and cart mechanism according to the first embodiment of the present invention;

FIG. 8 is a schematic view of a partial structure of a trolley mechanism and a pull rod hinge joint provided in the first embodiment of the present invention;

FIG. 9 is a first schematic diagram of a circular track design method according to a second embodiment of the present invention;

FIG. 10 is a second schematic diagram of a circular track design method according to a second embodiment of the present invention;

FIG. 11 is a schematic diagram of the driving device and the cart mechanism according to the third embodiment of the present invention;

FIG. 12 is a schematic view of a cart mechanism according to a third embodiment of the present invention during a curve turning;

fig. 13 is a schematic structural diagram of a driving mechanism according to a third embodiment of the present invention;

FIG. 14 is a schematic view of the operation of the tie bar and the carriage of the fourth embodiment of the present invention when they travel along the circular track;

fig. 15 is a schematic structural diagram of a power supply communication device according to a fourth embodiment of the present invention;

fig. 16 is a schematic view illustrating a carbon brush and a trolley line according to a fourth embodiment of the present invention;

FIG. 17 is a schematic diagram of a cart mechanism group control scheme according to a fourth embodiment of the present invention;

fig. 18 is a schematic diagram of the trolley mechanism power-on communication provided by the fourth embodiment of the invention.

Reference numerals:

100-frame body; 200-mail;

1-an annular track; 11-straight line segment; 12-arc segment; 121-a circular arc segment; 122-a non-circular arc segment;

2-a trolley mechanism; 21-a frame; 211-walking axis; 212-a first travelling wheel; 213-a second road wheel;

3-a pull rod;

4-driving the knife board; 41-a connecting part; 42-horizontal driving part;

5-a drive mechanism; 51-a mounting frame; 52-a drive assembly; 521-an upper support plate; 522-lower pallet; 523-upper friction wheel; 524-lower friction wheel; 525-a spacing assembly; 526-pre-tightening the elastic element; 527-driving wheel; 528-a tensioning wheel; 529-a drive belt; 53-a driver;

61-a cable; 62-a conductive slip ring; 63-trolley line; 64-carbon brush;

71-a limit track; 72-horizontal wheel;

8-trolley.

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.

Example one

As shown in fig. 1-8, the present embodiment provides a sorting machine, which includes an annular track 1, a plurality of trolley mechanisms 2 and a pull rod 3, wherein two annular tracks 1 are arranged in a staggered manner in front and back at a parallel interval, and the distance between the front and back staggered positions of the two annular tracks 1 is equal to the distance between the front end traveling wheels and the rear end traveling wheels of the trolley mechanisms 2; the both sides of two adjacent trolley mechanism 2 all are connected through pull rod 3 is articulated, in one side of trolley mechanism 2, the both ends of pull rod 3 are articulated with the pivot of the front end walking wheel of two adjacent trolley mechanism 2 respectively, at the opposite side of trolley mechanism 2, the both ends of pull rod 3 are articulated with the pivot of the rear end walking wheel of two adjacent trolley mechanism 2 respectively, so that two trolley mechanism 2 and two pull rod 3 articulate and form the parallel four-bar linkage in space, make when trolley mechanism 2 moves along segmental arc 12, whole trolley mechanism 2 can remain the level throughout, with both sides homoenergetic letter sorting article about realizing the sorting machine, improve the letter sorting efficiency of sorting machine.

This sorting machine compares with chain formula sorting machine and has following advantage: 1) the trolley mechanisms 2 are hinged through the pull rod 3, and when the trolley mechanisms move on the arc-shaped section 12 of the annular track 1, the distance between the trolley mechanisms 2 is unchanged, and the working interval of the trolley mechanisms 2 is unchanged.

2) The pull rod transmission can not only transmit pulling force but also transmit pressure, the pull rod 3 forms a closed loop force transmission structure, and the driving force required for driving the plurality of trolley mechanisms 2 to move is smaller than that required for chain transmission.

3) The drawbar drive requires no guidance when the arc segment 12 is moved.

4) After the pull rod transmission runs for a long time, the pull rod transmission does not need to be tensioned periodically, and the later maintenance cost is lower.

Preferably, as shown in fig. 1-2, a shelf 100 is built on the outside of the two endless tracks 1, and the shelf 100 is used for fixedly mounting the endless tracks 1. The annular tracks 1 comprise straight line segments 11 and arc segments 12, the two annular tracks 1 are arranged in a staggered mode from front to back, and the distance from the front end of one annular track 1 to the front end of the other annular track 1 is equal to the length of the trolley mechanism 2 in the moving direction.

Preferably, as shown in fig. 2-3, the sorting machine further includes a trolley 8, the trolley mechanism 2 includes a frame 21, the trolley 8 is disposed on the frame 21, and the direction of the trolley 8 for conveying the material is perpendicular to the moving direction of the frame 21.

The trolley 8 is exemplarily a belt conveyor or a roller conveyor.

Preferably, as shown in fig. 3-5, the front end and the rear end of one side of the trolley mechanism 2 are respectively provided with a first traveling wheel 212 and a second traveling wheel 213, the front end and the rear end of the other side of the trolley mechanism 2 are respectively provided with a second traveling wheel 213 and a first traveling wheel 212, the first traveling wheel 212 is matched with the straight section 11 of the circular track 1, the second traveling wheel 213 is matched with the arc-shaped section 12 of the circular track 1, one end of the pull rod 3 is hinged with the rotating shaft of the second traveling wheel 213 of one trolley mechanism 2, and the other end thereof is hinged with the rotating shaft of the second traveling wheel 213 of the other trolley mechanism 2, so that the two trolley mechanisms 2 and the two pull rods 3 are hinged to form a spatial parallel four-bar mechanism.

Further, a traveling shaft 211 is arranged at the front end of one side of the trolley mechanism 2, a traveling shaft 211 is arranged at the rear end of the other side of the trolley mechanism 2, a second traveling wheel 213 is rotatably arranged on the traveling shaft 211, and the pull rod 3 is hinged to the traveling shaft 211.

In the present embodiment, the traveling shaft 211, the first traveling wheels 212, and the second traveling wheels 213 are provided at the vehicle frame 21 so that the vehicle frame 21 can be engaged with the endless track 1 and travel along the endless track 1.

As shown in fig. 4, two sides of two adjacent vehicle frames 21 are hinged by the pull rods 3, two ends of each pull rod 3 are hinged to the traveling shaft 211 on two sides of the vehicle frame 21, and the pull rods 3 on two sides are arranged in a staggered manner in the front and back direction, so that the two vehicle frames 21 and the two pull rods 3 form a spatial parallel four-bar mechanism, and the vehicle frames 21 can be always kept horizontal when the vehicle frames 21 travel along the arc-shaped sections 12.

As shown in fig. 5, the trolley mechanism 2 in this embodiment can keep walking horizontally on the arc-shaped section 12 of the circular track 1 without any other limiting device by the cooperation of the first walking wheel 212 and the straight section 11, the cooperation of the second walking wheel 213 and the arc-shaped section 12, and the cooperation of the two adjacent trolley mechanisms 2 and the spatial parallel four-bar formed by hinging the pull rod 3.

As shown in fig. 6, the two sides of the plurality of frames 21 are respectively formed with a ring structure hinged by the pull rod 3, and the plurality of carriage 8 frame mechanisms are rigidly hinged together, so that on one hand, power can be better transmitted, on the other hand, the stability of the carriage mechanism 2 in the moving process can be improved, and when the carriage mechanism 2 moves at a high speed, vibration is not easy to generate.

Further, as shown in fig. 7 and fig. 5, the straight line segment 11 and the arc segment 12 of the circular track 1 are arranged in a staggered manner, and the arc segment 12 is located outside the straight line segment 11, the second road wheel 213 and the first road wheel 212 are also arranged in a staggered manner, and the second road wheel 213 is located outside the first road wheel 212 to avoid the second road wheel 213 interfering with the straight line segment 11.

Further, the second traveling wheel 213 is mounted on the traveling shaft 211 inside the drawbar 3 to prevent the drawbar 3 from interfering with the second traveling wheel 213.

In short, the two circular tracks 1 are arranged alternately in a front-back staggered manner, and the arc-shaped section 12 of the circular track 1 is formed by combining an inner track and an outer track so as to limit the trolley mechanism 2 to move along the arc-shaped section 12. In the process that the trolley mechanism 2 moves along the circular track 1, the front frame 21 and the rear frame 21 are connected with each other through the equidistant pull rods 3, when the trolley mechanism passes through a curve, the moving tracks of the front frame 21 and the rear frame 21 are the same, and the upper surfaces of the frames 21 can be always kept in a horizontal state by utilizing the characteristic that the space formed by the pull rods 3 between the two adjacent frames 21 is parallel to four rods, namely, the trolley 8 can be kept in the horizontal state so as to be convenient for carrying mails 200. Further, the distance between the two circular rails 1 staggered back and forth is equal to the distance between the hinge points of the front end and the rear end of the trolley mechanism 2 and the pull rod 3.

Preferably, the sorting machine further comprises a limiting device, and the limiting device is used for enabling the trolley mechanism 2 to run according to a preset direction and enabling the trolley mechanism 2 to stably move along the annular track 1.

Preferably, as shown in fig. 8 in combination with fig. 4, the limiting device comprises a limiting track 71 and a horizontal wheel 72, the limiting track 71 is arranged between the two annular tracks 1, the limiting track 71 is parallel to the linear sections 11 and is located below the two linear sections 11 in the same horizontal plane; the horizontal wheel 72 is disposed on the carriage mechanism 2, and a wheel surface of the horizontal wheel 72 can abut against two side walls of the limit rail 71, so that the carriage mechanism 2 travels along the limit rail 71.

Further, as shown in fig. 1, the limiting rail 71 is installed on the rack body 100, the supports are erected at the upper and lower ends of the rack body 100, and the limiting rail 71 is installed on the supports.

Preferably, the number of the limiting rails 71 is two, specifically, one limiting rail 71 is arranged between two upper straight line segments 11, and one limiting rail 71 is also arranged between two lower straight line segments 11, so that when the trolley mechanism 2 travels along the straight line segments 11, the wheel surfaces of the horizontal wheels 72 on the trolley mechanism 2 can be in rolling contact with two side walls of the limiting rails 71, so as to prevent the trolley mechanism 2 from rocking left and right.

Illustratively, as shown in fig. 4, the horizontal wheel 72 is disposed at the bottom of the frame 21, in this embodiment, the frame 21 has a rectangular frame structure, a mounting plate is disposed at a middle position of the frame 21, and the horizontal wheel 72 is disposed on the mounting plate.

Preferably, the limiting rail 71 is a U-shaped groove rail, the opening of which is upward, and the wheel surface of the horizontal wheel 72 abuts against two inner walls of the U-shaped groove, so as to prevent the vehicle frame 21 from shaking left and right, and to enable the vehicle frame 21 to move stably along the extending direction of the limiting rail 71.

Optionally, the limiting rail 71 includes an inlet end, a guiding portion and a traveling portion, wherein the width of the rail groove at the inlet end is greater than the width of the rail groove at the traveling portion, the guiding portion is used for connecting the inlet end and the traveling portion, the guiding portion is trapezoidal, the width of the rail groove at one end of the guiding portion is equal to the width of the rail groove at the inlet end, and the width of the rail groove at the other end of the guiding portion is equal to the width of the rail groove at the traveling portion, so that the horizontal wheel 72 can smoothly enter the traveling portion of the limiting rail 71.

Example two

As shown in fig. 9-10, the present embodiment provides an endless track 1, which can be applied to the sorting machine provided in the first embodiment, for solving the problem that the trolley mechanism 2 will be separated from the arc-shaped segment 12 of the endless track 1 due to the rigid connection of the pull rod 3 when the trolley mechanism 2 moves on the arc-shaped segment 12 of the endless track 1.

As shown in fig. 9, the circular track 1 provided in this embodiment includes a straight section 11 and an arc section 12, and the length of the pull rod 3 is L₀The length of the straight line segment 11 of the circular track 1 is L₁＝n*L₀ Two arc sections 12 of the annular track 1 can be spliced to form a virtual circle with a radius R, the virtual circle is composed of an arc section 121 with a central angle of β and a non-arc section 122 with a central angle of α, the track of the non-arc section 122 is located inside the virtual circle, and the motion track of the traveling wheel of the trolley mechanism 2 is coincided with the track of the non-arc section 122, wherein n is a positive integer, α is 2 × arcsin (L)₀/2×R)，α≤90°，β＝360°-α。

The calculation principle of the above formula is as follows:

as shown in fig. 10, when the circular track 1 is a circular track with a radius R, the center of the circular track is O, the trolley mechanisms 2 are hinged to form an equilateral polygon through the pull rods 3, the trolley mechanisms 2 move along the circular track, and the pull rods 3 and the second road wheels 213 moving along the arc segments 12 are both rotatably disposed on the traveling shafts 211, so that the motion model can be simplified into that an equilateral polygon formed by hinging the pull rods 3 moves along the circular track, at this time, the circular track corresponds to the circumscribed circle of the equilateral polygon, wherein the central angle of the equilateral polygon is α, as can be seen from the circular motion mode of the equilateral polygon, the central angle α is the motion period angle of the pull rods 3, and α is 2 × arcsin (L is L)₀/2 × R), namely the movement tracks of the previous pull rod 3 and the next pull rod 3 of the pull rod 3 in the angle are consistent.

As shown in fig. 9, when the circular track is introduced into the straight line segment 11, the circular track 1 provided in this embodiment is obtained, wherein the length of the straight line segment 11 is L₁＝n*L₀N is a positive integer, as known from the geometric relationship, when the edges are presentThe polygon still follows the motion law, but due to the introduction of the straight line segment 11, in the process of the equilateral polygon rotation, the pull rod 3 can be separated from the circular arc track or press the circular arc track in the motion period of the central angle α, the motion track of the pull rod 3 separated from the circular arc track can be obtained by setting the hinge point B of the pull rod 3 as a dynamic simulation point, fixing the motion tracks of the hinge points of all the other pull rods 3, and calculating the motion track of the hinge point B of any one pull rod 3 in the motion period of the central angle α by using a motion simulation method, wherein the motion track is a non-circular arc segment 122.

In summary, the two arc segments 12 of the circular track 1 can be spliced to form a virtual circle with a radius R, the center of the virtual circle is O', any arc segment 121 with a central angle α of the virtual circle is replaced by the non-arc segment 122, and the track of the non-arc segment 122 is located inside the virtual circle, at this time, the virtual circle is composed of the arc segment 121 with the central angle β and the non-arc segment 122 with the central angle α, where β is 360 ° - α, that is, the pull rod 3 is prevented from being separated from the circular track 1.

Preferably, at least one non-circular arc segment 122 is disposed on the arc segment 12 of the circular track 1. In other embodiments, the number of non-circular arc segments 122 may be any number, such as two, three, etc.

Further, the number of the non-circular arc segments 122 is one, and the non-circular arc segments 122 are arranged on one arc segment 12 of the circular track 1, so that it can be ensured that the other arc segment 12 of the circular track 1 is a semi-arc with a radius of R, which is convenient for processing and manufacturing the circular track 1.

Preferably, the number of non-circular arc segments 122 is one. In other embodiments, the number of non-circular arc segments 122 may also be set to two or three as desired.

Optionally, the radius R of the virtual circle is equal to the length L of the drawbar 3₀α is 60 °. 2 × arcsin (L) with α ═ L₀/2 × R) when L is present₀Towards 0, the less α, the less the rigid connection of the drawbar 3 will have an effect.

EXAMPLE III

As shown in fig. 11 to 13, the present embodiment provides a driving device, which can be applied to the sorting machine provided in the first embodiment, for driving the cart mechanism 2 to travel along the endless track 1.

Preferably, as shown in fig. 11, the driving device includes driving knife boards 4 and driving mechanisms 5, the driving knife boards 4 are installed on two sides of each trolley mechanism 2 close to the circular track 1, the driving mechanisms 5 are located at the straight line sections 11 of the circular track 1 and can be matched with the driving knife boards 4, the driving mechanisms 5 can drive the trolley mechanisms 2 matched with the driving knife boards to move, and then all the trolley mechanisms 2 are driven to move along the two circular tracks 1 through the pull rods 3.

In addition, as shown in fig. 12, by arranging two driving blades 4 on both sides of the trolley mechanism 2, on one hand, when the trolley mechanism 2 turns on the arc-shaped section 12 of the circular track 1, the driving blade 4 arranged on the upper trolley mechanism 2 does not interfere with the mail 200 on the lower trolley mechanism 2, so that the working space of the lower trolley mechanism 2 is increased, and the requirement of transporting the large-size mail 200 can be satisfied. On the other hand, the driving mechanism 5 can cooperate with two driving knife boards 4 on the same trolley mechanism 2 to drive the trolley mechanism 2 to move stably.

Further, as shown in fig. 11 and fig. 4, the driving knife board 4 is disposed on the frame 21, specifically, the driving knife board 4 may be fixedly disposed on the frame 21 by a fastener, or may be fixed on the frame 21 by another method.

Alternatively, two driving cutter plates 4 are symmetrically arranged on both sides of the carriage 21.

Preferably, the driving knife board 4 comprises a connecting portion 41 and a horizontal driving portion 42, the connecting portion 41 is fixedly connected with the trolley mechanism 2, the horizontal driving portion 42 is located below the trolley mechanism 2, and the driving mechanism 5 can cooperate with the horizontal driving portion 42 to drive the trolley mechanism 2 to move along the circular track 1. Through set up horizontal drive portion 42 on drive cutting board 4, then drive dolly mechanism 2 through the cooperation of actuating mechanism 5 with horizontal drive portion 42 and remove to can effectively reduce the occupation space of drive cutting board 4 in vertical direction, can further increase the working interval of dolly mechanism 2 that is located the below when arc section 12 turns of dolly mechanism 2.

Alternatively, the connecting portion 41 is perpendicular to the horizontal driving portion 42, and the driving knife plate 4 is L-shaped. The L-shaped driving knife board 4 has better structural stability and is easier to process and manufacture.

Furthermore, the connecting portion 41 is provided with a lightening hole, so that the weight of the driving knife board 4 can be reduced, the trolley mechanism 2 can be driven to move by a small driving force, and the power consumption is reduced. Illustratively, in the present embodiment, two lightening holes are arranged on the connecting part 41, and the two lightening holes are arranged in a horizontal direction. In other embodiments, the number and shape of the lightening holes can be designed according to needs, and are not illustrated.

Preferably, the connecting portion 41 is a trapezoidal plate, the shorter parallel side of the connecting portion 41 is fixedly disposed on the frame 21, and the longer parallel side thereof is connected with the horizontal driving portion 42 to prevent the driving blades 4 of two adjacent frames 21 from interfering with each other during turning. Preferably, the horizontal driving portion 42 is also substantially trapezoidal, and the longer parallel side of the horizontal driving portion 42 is connected to the connecting portion 41, and the free end thereof is the shorter parallel side, and this arrangement is also for preventing the driving blades 4 of the adjacent two frames 21 from interfering with each other during turning.

Alternatively, the driving cutter plate 4 is integrally formed, and the connecting portion 41 and the horizontal driving portion 42 are formed by bending, so as to improve the connecting strength between the horizontal driving portion 42 and the connecting portion 41. In other embodiments, the connecting portion 41 and the horizontal driving portion 42 may be fixedly connected together by a fastener.

Preferably, as shown in fig. 13, the driving mechanism 5 includes a mounting frame 51, two driving assemblies 52 and a driver 53, the two driving assemblies 52 are symmetrically disposed on the mounting frame 51 and can be respectively matched with the driving knife boards 4 at two sides of the trolley mechanism 2; the driver 53 can drive the two driving assemblies 52 to work simultaneously, so that the two driving assemblies 52 drive the trolley mechanism 2 to move along the circular track 1. The driving mechanism 5 drives two driving knife boards 4 on the same trolley mechanism 2 simultaneously through a driver 53, so that the trolley mechanism 2 is stressed evenly and moves stably along the circular track 1.

It should be noted that the mounting frame 51 may be fixed on the straight line segment 11 of the circular track 1, or may be fixed on another frame body 100 outside, as long as it can stably support the driving assembly 52 and the driver 53, which is not limited herein. In this embodiment, the frame body 100 is built on the outer sides of the two circular rails 1, and then the mounting frame 51 is fixedly mounted on the frame body 100, and in addition, the frame body 100 can also be used for fixedly mounting the limiting rail 71.

Further, the driving assembly 52 includes a mounting plate and a friction wheel set, the mounting plate is disposed on the mounting bracket 51, and the mounting plate includes an upper supporting plate 521 and a lower supporting plate 522 which are disposed in parallel and spaced in a vertical direction; the friction wheel set comprises an upper friction wheel 523 and a lower friction wheel 524, the upper friction wheel 523 is mounted on an upper support plate 521, the lower friction wheel 524 is mounted on a lower support plate 522, the horizontal driving part 42 can penetrate between the upper friction wheel 523 and the lower friction wheel 524, and the driver 53 can drive the friction wheel set to rotate so as to drive the knife board 4 to drive the trolley mechanism 2 to move along the annular track 1.

In other embodiments, the driving mechanism 5 may also be a linear induction driving, specifically, a rotor of the linear motor is installed on the driving cutting board 4, a stator of the linear motor is disposed on the linear section 11 of the annular track 1, and the stator of the linear motor and the rotor of the linear motor are matched to realize a non-contact driving.

In other embodiments, the driving mechanism 5 may also be a rack-and-pinion drive, specifically, the horizontal driving portion 42 of the driving knife board 4 is configured as a rack, in this case, the horizontal driving portions 42 of the driving knife boards 4 on two adjacent vehicle frames 21 need to be connected to form a complete rack structure, and then the motor drives the gear to rotate, so that the vehicle frames 21 move through the engagement of the gear and the rack.

Preferably, the driving assembly 52 further includes a limiting assembly 525, which keeps the upper friction wheel 523 and the lower friction wheel 524 spaced apart, so that the horizontal driving portion 42 can be inserted between the upper friction wheel 523 and the lower friction wheel 524.

Optionally, the limiting component 525 includes a first limiting rod and a second limiting rod, the first limiting rod is installed on the end portion of the upper support plate 521, the second limiting rod is installed on the end portion of the lower support plate 522, the first limiting rod and the second limiting rod can be abutted to keep the upper friction wheel 523 and the lower friction wheel 524 spaced, it is ensured that the horizontal driving portion 42 can penetrate between the upper friction wheel 523 and the lower friction wheel 524, and the friction wheel set is matched to drive the horizontal driving portion 42 to drive the trolley mechanism 2 to move.

Preferably, the first limit rod is arranged on the upper support plate 521 in a liftable manner; and/or the second limiting rod is arranged on the lower supporting plate 522 in a liftable manner, so that the distance between the upper supporting plate 521 and the lower supporting plate 522 is adjusted according to the thickness of the horizontal driving part 42, namely, the distance between the upper friction wheel 523 and the lower friction wheel 524 is adjusted, and the horizontal driving part 42 can smoothly enter between the upper friction wheel 523 and the lower friction wheel 524.

In order to ensure the friction force between the upper friction wheel 523 and the lower friction wheel 524, the driving assembly 52 further includes a pre-tightening elastic member 526, one end of the pre-tightening elastic member 526 is fixedly connected to the end of the upper supporting plate 521, and the other end of the pre-tightening elastic member 526 is fixedly connected to the end of the lower supporting plate 522, and the pre-tightening elastic member 526 is used for abutting the upper friction wheel 523 and the lower friction wheel 524 against the horizontal driving part 42 to maintain the friction force.

Optionally, the pre-tensioned spring 526 is a tension spring.

Preferably, the driving assembly 52 further comprises a driving wheel 527, a tension pulley 528 and a transmission belt 529, wherein the transmission belt 529 is wound on the driving wheel 527, the friction wheel set and the tension pulley 528, and then the driving wheel 527 is driven to rotate by the driver 53, and the friction wheel set is driven to rotate by the transmission belt 529. The tension pulley 528 serves to tension the transmission belt 529 to ensure power transmission of the driving wheel 527.

Illustratively, the driver 53 is a hollow shaft motor, a transmission shaft penetrates through the output end of the hollow shaft motor, then belt wheels are respectively installed at the two ends of the transmission shaft, and then the driving wheel 527 is driven to rotate through belt transmission, thereby realizing that two driving assemblies 52 are driven to work simultaneously through one hollow shaft motor.

Example four

As shown in fig. 14, during the movement of the frame 21, the link 3 is hinged to form a ring and rotates forward, and since the frame 21 needs to be kept horizontal, the frame 21 itself has a reverse rotation direction relative to the movement direction of the ring formed by the link 3, and the cable on the frame 21 is easy to wind, which affects the power supply and communication of the trolley mechanism 2.

As shown in fig. 15 to 18, the present embodiment provides a power supply communication device, which can apply the sorting machine provided in the first embodiment to supply power to the cart mechanism 2 for communication, so as to control the movement and stop of the cart mechanism 2.

Preferably, two sets of power supply communication devices are symmetrically arranged on two sides of the trolley mechanism 2, wherein one set of power supply communication device is used for electrifying the trolley mechanism 2, and the other set of power supply communication device is used for communicating the trolley mechanism.

As shown in fig. 15, the power supply communication device includes a cable 61 and a conductive slip ring 62, the cable 61 is disposed on each pull rod 3 on the same side of the frame 21, the conductive slip ring 62 is mounted on each trolley mechanism 2, the cable at one end of the conductive slip ring 62 is electrically connected to the cable inside the trolley mechanism 2, the cable at the other end of the conductive slip ring 62 is electrically connected to the cable 61, and the cable 61 can be electrically connected to an external power source, so that all the trolley mechanisms 2 can realize power-on communication. In addition, when the trolley mechanism 2 travels along the circular track 1, the conductive slip ring 62 can be rotated adaptively to avoid pulling and damaging the cable 61.

Preferably, the pull rod 3 is provided with a groove extending along the length direction thereof, and the groove is used for accommodating the cable 61, so as to better fix the cable 61 and protect the cable 61 from external damage. In other embodiments, the transmission member is provided with a wire fixing device for accommodating and fixing the cable 61.

Alternatively, the conductive slip ring 62 is a cap-type conductive slip ring, the end of the traveling shaft 211 is provided with a mounting hole extending along the axial direction thereof, and one end of the cap-type conductive slip ring is embedded in the mounting hole. When the trolley mechanism 2 runs along the annular track 1, the cap type conductive slip ring can rotate adaptively to avoid pulling and damaging the cable 61.

Optionally, the conductive slip ring 62 is a via-hole conductive slip ring, the via-hole conductive slip ring is sleeved on the traveling shaft 211 on the trolley mechanism 2, and when the trolley mechanism 2 travels along the circular track 1, an outer ring of the via-hole conductive slip ring, on which the cable is fixed, can adaptively rotate to avoid pulling and damaging the cable 61.

Preferably, the power supply communication device further comprises a trolley line 63 and a carbon brush 64, wherein the annular rails 1 are provided with the trolley line 63, each frame 21 is provided with the carbon brush 64, and when the frame 21 runs along the annular rails 1, the trolley mechanism 2 is electrified and communicated through the cooperation of the carbon brush 64 and the trolley line 63.

In addition, because it is difficult to arrange the wiping line 63 (or get the electricity in a non-contact manner) with the same radian with the carbon brush 64 on the trolley mechanism 2 at the turning section usually, in order to ensure the electrifying communication quality of the trolley mechanism 2 at the arc section 12, the trolley mechanism 2 is controlled in groups according to the scheme, and the wiping line 63 is independently arranged on the upper straight line section 11 and the lower straight line section 11 respectively, namely, the upper wiping line (or get the electricity in a non-contact manner) and the lower wiping line (or get the electricity in a non-contact manner) are independent from each other.

In addition, a sorting machine usually includes hundreds of trolley mechanisms 2, and each trolley mechanism 2 is provided with an electricity taking device and a wireless communication module, so that the cost of the equipment can be increased, and the complexity of the system can be increased. The embodiment provides a set of solution, realizes the grouping control and the grouping power supply when the frame 21 runs, reduces the production cost and reduces the complexity of manufacturing.

Specifically, as shown in fig. 16 to 18, any two trolley mechanisms 2 are taken as one group from the same group of trolley mechanisms 2, and carbon brushes 64 are respectively placed on the two trolley mechanisms 2, that is, two power taking points are set, and the two power taking points are connected in parallel. In addition, the distance between the two trolley mechanisms 2 should be satisfied, when one trolley mechanism 2 passes through a curve section, the carbon brush 64 of the other trolley mechanism 2 can be matched with the sliding contact line 63 on the straight line section 11, that is, when the two electricity taking points should satisfy that the first electricity taking point leaves the upper/lower sliding contact line, the second electricity taking point should enter the lower/upper sliding contact line, and this can ensure that one trolley mechanism 2 in the same group of trolley mechanisms 2 always supplies power for the same group of trolley mechanisms 2. As shown in fig. 18, each trolley mechanism 2 is electrically connected through a cable 61, and each cable 61 is fixed with the pull rod 3, and then the cables 61 are led into the frame 21 through the conductive slip ring 62 and are electrically connected with the trolley 8, so that power supply of a group of trolley mechanisms 2 can be realized. In this case, the cable 61 may be a power supply cable.

Further, similar to the power supply scheme, one trolley mechanism 2 is selected from each group of trolley mechanisms 2, a wireless communication module is mounted on each trolley mechanism 2 to perform data interaction with a control system, then the cable 61 is led out to the outer side of the trolley mechanism 2 through the conductive slip ring 62, the cable 61 is fixed on the pull rod 3, and then the cable is led into the other frame 21 through the conductive slip ring 62 and is in communication connection with the trolley 8. In this case, the cable 61 may be a communication cable.

Illustratively, the communication mode is 485 communication (hand-in-hand connection), io control or ethernet, etc.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. The sorting machine is characterized by comprising an annular track (1), a plurality of trolley mechanisms (2) and a pull rod (3), wherein the annular track (1) comprises a straight line section (11) and an arc section (12), the two annular tracks (1) are arranged in a staggered mode in the front and back direction at intervals in parallel, and the staggered distance in the front and back direction of the two annular tracks (1) is equal to the distance between a front end travelling wheel and a rear end travelling wheel of each trolley mechanism (2); two adjacent sides of the trolley mechanisms (2) are hinged through the pull rod (3), two ends of the pull rod (3) are hinged with rotating shafts of front-end walking wheels of the two adjacent trolley mechanisms (2) respectively on one side of the trolley mechanisms (2), two ends of the pull rod (3) are hinged with rotating shafts of rear-end walking wheels of the two adjacent trolley mechanisms (2) respectively on the other side of the trolley mechanisms (2), so that the two trolley mechanisms (2) and the two pull rods (3) are hinged to form a space parallel four-bar mechanism, and when the trolley mechanisms (2) move along the arc-shaped sections (12), all the trolley mechanisms (2) are always kept horizontal.

2. Sorting machine according to claim 1, characterised in that the front and rear ends of one side of the trolley mechanism (2) are provided with a first travelling wheel (212) and a second travelling wheel (213), respectively, the front end and the rear end of the other side of the trolley mechanism (2) are respectively provided with a second walking wheel (213) and a first walking wheel (212), the first travelling wheel (212) is matched with a straight line segment (11) of the annular track (1), the second walking wheel (213) is matched with the arc-shaped section (12), one end of the pull rod (3) is hinged with a rotating shaft of the second walking wheel (213) of the trolley mechanism (2), the other end of the trolley mechanism is hinged with a rotating shaft of a second walking wheel (213) of the other trolley mechanism (2), so that the two trolley mechanisms (2) and the two pull rods (3) are hinged to form a spatial parallel four-bar mechanism.

3. The sorting machine according to claim 2, characterized in that a traveling shaft (211) is arranged at the front end of one side of the trolley mechanism (2), a traveling shaft (211) is arranged at the rear end of the other side of the trolley mechanism (2), the second traveling wheel (213) is rotatably arranged on the traveling shaft (211), and the pull rod (3) is hinged with the traveling shaft (211).

4. Sorting machine according to claim 2, characterised in that the tie-rod (3) has a length L₀The length of the straight line segment (11) of the annular track (1) is L₁＝n*L₀Two arc sections (12) of the annular track (1) can be spliced to form a virtual circle with a radius of R, the virtual circle is composed of an arc segment (121) with a central angle of β and a non-arc segment (122) with a central angle of α, the track of the non-arc segment (122) is located inside the virtual circle, the motion track of the second road wheel (213) is coincident with the track of the non-arc segment (122), n is a positive integer, and α is 2 × arcsin (L)₀/(2×R)，α≤90°，β＝360°-α。

5. Sorting machine according to claim 4, characterised in that at least one of the non-circular arc segments (122) is arranged on the arc segment (12) of the endless track (1).

6. The sorting machine according to claim 1, characterized in that the sorting machine further comprises a driving device, the driving device comprises a driving knife plate (4) and a driving mechanism (5), the driving knife plate (4) is installed on each trolley mechanism (2) close to two sides of the circular track (1), the driving mechanism (5) is located on a straight line section (11) of the circular track (1) and can be matched with the driving knife plate (4), the driving mechanism (5) can drive the trolley mechanism (2) matched with the driving mechanism to move, and then all the trolley mechanisms (2) are driven to move along the two circular tracks (1) through the pull rod (3).

7. Sorting machine according to claim 6, characterised in that the driving knife plate (4) comprises a connecting portion (41) and a horizontal driving portion (42), the connecting portion (41) being fixedly connected with the trolley mechanism (2), the horizontal driving portion (42) being located below the trolley mechanism (2), the driving mechanism (5) being able to cooperate with the horizontal driving portion (42) to drive the trolley mechanism (2) to move along the endless track (1).

8. Sorting machine according to claim 7, characterised in that the drive mechanism (5) comprises:

a mounting frame (51);

the two driving assemblies (52) are symmetrically arranged on the mounting rack (51) and can be respectively matched with the driving knife boards (4) on two sides of the trolley mechanism (2);

the driver (53) can drive the two driving assemblies (52) to work simultaneously, so that the two driving assemblies (52) drive the trolley mechanism (2) to move along the annular track (1).

9. Sorting machine according to claim 8, characterised in that the drive assembly (52) comprises:

the mounting plate is arranged on the mounting frame (51) and comprises an upper support plate (521) and a lower support plate (522) which are arranged in parallel at intervals along the vertical direction;

the friction wheel set comprises an upper friction wheel (523) and a lower friction wheel (524), the upper friction wheel (523) is installed on the upper support plate (521), the lower friction wheel (524) is installed on the lower support plate (522), the horizontal driving part (42) can penetrate through the upper friction wheel (523) and the lower friction wheel (524), and the driver (53) can drive the friction wheel set to rotate so as to drive the driving knife plate (4) to drive the trolley mechanism (2) to move along the annular track (1).

10. The sorting machine according to claim 1, characterized in that the sorting machine further comprises a power supply communication device, the power supply communication device is arranged on both sides of the trolley mechanism (2), the power supply communication device on one side of the trolley mechanism (2) is used for supplying power, the power supply communication device on the other side of the trolley mechanism (2) is used for communication, the power supply communication device comprises a cable (61) and a conductive slip ring (62), the cable (61) is arranged on each pull rod (3), the conductive slip ring (62) is arranged on each trolley mechanism (2), the cable at one end of the conductive slip ring (62) is electrically connected with the cable inside the trolley mechanism (2), and the cable at the other end of the conductive slip ring is electrically connected with the cable (61).