CN113262989A

CN113262989A - Sorting device and sorting method

Info

Publication number: CN113262989A
Application number: CN202110710377.6A
Authority: CN
Inventors: 涂勇涛; 李贝; 左世超; 胡义龙; 朱鸿鹏
Original assignee: Ubtech Robotics Corp
Current assignee: Ubtech Robotics Corp
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2021-08-17

Abstract

The invention provides a sorting device and a sorting method, and relates to the field of feeding and sorting. Sorting device includes feeding mechanism, recognition mechanism, pick up the mechanism, output mechanism and control mechanism, feeding mechanism is used for bearing the weight of the material and with the material dispersion, recognition mechanism's discernment end is towards feeding mechanism, recognition mechanism is used for shooing the material that bears on the feeding mechanism, and give control mechanism with the image information transmission who shoots, control mechanism can confirm the material information of material and the positional information of material on feeding mechanism according to the image information who shoots, it is used for picking up the material on the feeding mechanism to pick up the mechanism, and place it on output mechanism, output mechanism is used for exporting the material of placing above that. The sorting device is independent of the overall dimension of materials for sorting, can sort multiple different materials simultaneously, and can rapidly switch the types of the sorted materials according to the requirements, so that the production utilization rate is improved, and the production land is saved.

Description

Sorting device and sorting method

Technical Field

The invention relates to the field of feeding and sorting, in particular to a sorting device and a sorting method.

Background

During the production and processing, corresponding parts are often required to be supplied so as to facilitate processing. The sorting and feeding of the parts are generally carried out by using a vibrating tray specially made according to the shapes of the parts, feeding each part separately, and counting the parts by matching with a sensor. However, with the development of science and technology, the variety of parts required by products is more and more, the number of special vibrating trays is increased, the requirements of the vibrating trays on production sites are increased, and the capacity of the existing factory buildings is limited, so that contradictions occur. And, when present letter sorting mode material loading, rely on the overall dimension of part to come the customization, only can carry out the material loading to single part, be difficult to satisfy the demand of letter sorting kind, the commonality is poor.

Disclosure of Invention

In order to overcome the defects in the prior art, the application provides a sorting device and a sorting method.

The sorting device comprises a feeding mechanism, an identification mechanism, a picking mechanism, an output mechanism and a control mechanism, wherein the control mechanism is connected with and controls the feeding mechanism, the identification mechanism, the picking mechanism and the output mechanism; the feeding mechanism is controlled by the control mechanism to bear materials and disperse the materials; the identification end of the identification mechanism faces the feeding mechanism to photograph the materials loaded on the feeding mechanism, and the photographed image information is transmitted to the control mechanism; the control mechanism confirms material information of the carried material and position information of the material on the feeding mechanism according to the shot image information and sends the material information and the position information to the pickup mechanism; the control mechanism controls the picking mechanism to pick materials on the feeding mechanism according to the material information and the position information, the materials are placed on the output mechanism, and the control mechanism controls the output mechanism to output the materials.

In a possible embodiment, the feeding mechanism includes a feeding table and a dispersing member, the feeding table is disposed on the dispersing member and is used for placing the material to be sorted, the dispersing member is connected to the control mechanism, and the dispersing member receives a feeding control signal from the control mechanism to drive the feeding table to vibrate, so that the material placed on the feeding table is vibrated and dispersed.

In a possible implementation mode, the feed platform includes the material loading platform and gets the material platform, the material loading platform is located get the material bench, get the material platform and locate on the dispersion piece, the material loading bench is equipped with the material loading mouth, just the material loading mouth is located get the material bench side, the dispersion piece is received control mechanism's feed control signal is in order to drive the material loading platform reaches get the vibration of material platform, thereby make bear in the material on the material loading bench is followed shake in the material loading mouth and fall the dispersion extremely get on the material platform.

In a possible implementation mode, the identification mechanism includes driving piece, identification piece and light source, the identification piece reaches the light source is located respectively on the driving piece, the identification piece is received control mechanism's identification control signal is in order to right material on the feeding mechanism shoots, the light source is received control mechanism's illumination control signal is in order to provide illumination to feeding mechanism, so that the identification piece shoots the material, the driving piece is received control mechanism's drive control signal is in order to drive the identification piece reaches the light source is close to or keeps away from feeding mechanism.

In a possible implementation manner, the picking mechanism includes a manipulator and a material taking part, the material taking part is arranged on a driving end of the manipulator, the material taking part receives a material taking control signal of the control mechanism to pick up a material, the manipulator is connected with the control mechanism, and the manipulator receives the picking control signal of the control mechanism to drive the material taking part to move between the feeding mechanism and the output mechanism.

In a possible embodiment, the output mechanism includes a transmission module, a lifting module and a receiving member, the receiving member is used for bearing the sorted materials, the control mechanism controls the transmission module to drive the receiving member to move so as to send out the sorted materials and send back the empty receiving member, and the control mechanism controls the lifting module to transfer the receiving member on the transmission module.

In a possible implementation manner, the transmission module includes a first conveying rail, a first conveying member, a second conveying rail, and a second conveying member, the first conveying rail is disposed above the second conveying rail, and the conveying directions are parallel, the first conveying member is connected to the first conveying rail to drive the receiving member to move on the first conveying rail, the second conveying member is connected to the second conveying rail to drive the receiving member to move on the second conveying rail, the lifting module is disposed on one side of the transmission module, and the control mechanism controls the lifting module to drive the receiving member to lift, so as to transfer the receiving member between the first conveying rail and the second conveying rail.

In a possible implementation manner, the lifting module comprises a lifting member, a lifting frame, a transfer rail and a transfer member, the lifting frame is arranged at the driving end of the lifting member, the lifting member is controlled by the control mechanism to drive the lifting frame to lift, the transfer rail is arranged on the lifting frame, the conveying direction of the transfer rail is the same as the conveying direction of the first conveying rail and the conveying direction of the second conveying rail, the transfer member is connected with the transfer rail to drive the receiving member to move on the transfer rail, and the receiving member can move between the transfer rail and the first conveying rail or the second conveying rail when the transfer rail is the same as the first conveying rail or the second conveying rail in height.

In a possible implementation manner, the control mechanism includes a control module and a human-computer interaction module electrically connected to each other, and the control module is electrically connected to the feeding mechanism, the identification mechanism, the picking mechanism and the output mechanism, respectively.

The application provides a sorting method, which comprises the following steps: placing a material in the feeding mechanism; dispersing the materials, and dispersing the loaded materials through the feeding mechanism; acquiring image information of the material, photographing the material loaded on the feeding mechanism through the identification mechanism, and transmitting the photographed image information to the control mechanism; confirming material information and position information of the material, and confirming the material information of the material and the position information of the material on the feeding mechanism by the control mechanism according to the shot image information; sorting the materials, picking the materials on the feeding mechanism by the picking mechanism, and placing the materials on the output mechanism; and outputting the material, and outputting the material placed on the output mechanism through the output mechanism.

Compared with the prior art, the beneficial effects of the application are that:

the application provides a sorting device and sorting method, through control mechanism with feed mechanism, recognition mechanism, pick up mechanism and output mechanism electric connection, thereby under control mechanism's control, can shake the material scattered in feed mechanism, shoot the material and confirm material information and positional information according to image information through recognition mechanism, and carry out accurate pick-up and release to the material through picking up the mechanism, export the material through output mechanism at last, thereby realized sorting and supplying with the material. Sorting device can disperse multiple material in feed mechanism, can carry out visual identification to multiple material through identification mechanism to fix a position through control mechanism, sort through picking up the mechanism at last and pick up, thereby the overall dimension that does not rely on the material sorts, can sort the material of multiple difference simultaneously, and can carry out the fast switch-over to the type of sorting material as required, has improved production utilization greatly, simultaneously great saving the production land used.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a sorting device according to an embodiment of the present application;

fig. 2 shows a schematic structural view from another perspective of the sorting device of fig. 1;

figure 3 shows a top view of the sorting apparatus of figure 1;

fig. 4 shows a left side view of the sorting apparatus of fig. 1;

figure 5 shows a front view of the sorting apparatus of figure 1;

fig. 6 shows a rear view of the sorting apparatus of fig. 1;

FIG. 7 is a schematic view of the feeding mechanism of the sorting apparatus of FIG. 1;

FIG. 8 shows a top view of the feed mechanism of FIG. 7;

fig. 9 shows a schematic view of the identification mechanism of the sorting apparatus of fig. 1;

fig. 10 shows a schematic view of the pick-up mechanism of the sorting apparatus of fig. 1;

fig. 11 shows a schematic view of the transfer module of the output mechanism of the sorting apparatus of fig. 1;

FIG. 12 shows a top view of the transfer module of FIG. 11;

figure 13 shows a top view of the lifting module of the output mechanism of the sorting apparatus of figure 1;

FIG. 14 shows a front view of the lifting module of FIG. 13;

fig. 15 is a flow chart illustrating a sorting method according to an embodiment of the present application.

Description of the main element symbols:

100-a sorting device; 10-a frame; 20-a feeding mechanism; 21-a supply table; 211-a feeding table; 2111-feeding port; 212-a material taking table; 22-a dispersion member; 30-an identification mechanism; 31-a drive member; 32-an identification member; 33-a light source; 40-a pick-up mechanism; 41-a manipulator; 42-taking the material; 50-an output mechanism; 51-a transmission module; 511-a first conveying rail; 512-a first transport; 513-a second conveying track; 514-a second transport; 52-a lifting module; 521-a lifting member; 522-a lifting frame; 523-transfer rail; 524-a transfer member; 53-receiving parts; 60-a control mechanism; 61-a control module; 62-a human-computer interaction module; 70-a recovery mechanism; 71-a recovery pipeline; 72-recovery cartridge.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Example one

Referring to fig. 1 to 6, a sorting apparatus 100 according to an embodiment of the present application is provided. The sorting device 100 is used for sorting materials and outputting the sorted materials. Sorting device 100 can sort multiple different materials simultaneously, so reducible sorting equipment's use amount improves production utilization, reduces equipment cost and practices thrift equipment occupation space.

The sorting apparatus 100 includes a frame 10, a feeding mechanism 20, an identifying mechanism 30, a picking mechanism 40, an outputting mechanism 50, and a control mechanism 60. The feeding mechanism 20, the recognition mechanism 30, the picking mechanism 40, the output mechanism 50 and the control mechanism 60 are respectively arranged on the frame 10. The control mechanism 60 is electrically connected to the feeding mechanism 20, the recognition mechanism 30, the picking mechanism 40, and the output mechanism 50, and controls the mechanisms. The feeding mechanism 20 is used for carrying the material and dispersing the material under the control of the control mechanism 60. The recognition end of the recognition mechanism 30 faces the feeding mechanism 20, and the recognition mechanism 30 is used for photographing the materials carried on the feeding mechanism 20 under the control of the control mechanism 60 and transmitting the photographed image information to the control mechanism 60. The picking mechanism 40 is used for picking up the material on the feeding mechanism 20 under the control of the control mechanism 60 and placing the material on the output mechanism 50. The output mechanism 50 is used for outputting the material placed on the output mechanism under the control of the control mechanism 60 for subsequent processing of the corresponding device.

The control mechanism 60 can control the feeding mechanism 20 to disperse the material placed thereon; controlling the recognition mechanism 30 to photograph the material loaded on the feeding mechanism 20, and confirming the material information of the loaded material and the position information of the material on the feeding mechanism 20 according to the photographed image information, wherein the material information comprises information such as the type and size of the material; sending the material information and the position information to the picking mechanism, and controlling the picking mechanism 40 to accurately pick up the material on the feeding mechanism 20 according to the material information and the position information and release the material on the output mechanism 50; the output mechanism 50 is controlled to output the material.

The sorting device 100 provided by this embodiment electrically connects the feeding mechanism 20, the recognition mechanism 30, the picking mechanism 40 and the output mechanism 50 through the control mechanism 60, so that under the control of the control mechanism 60, the material can be scattered in the feeding mechanism 20, the material is photographed through the recognition mechanism 30, the material information and the position information are confirmed according to the image information, the material is accurately picked and released through the picking mechanism 40, and finally the material is output through the output mechanism 50, thereby realizing the supply of the material. Sorting device 100 can disperse multiple material in feeding mechanism 20, can carry out visual identification to multiple material through identification mechanism 30, and fix a position through control mechanism 60, sort through picking up mechanism 40 at last and pick up, thereby the overall dimension that does not rely on the material sorts, can sort the material of multiple difference simultaneously, and can carry out the fast switch-over to the type of sorting the material as required, has improved production utilization greatly, simultaneously great saving the production area.

Example two

Referring to fig. 1 to 8, a sorting apparatus 100 according to the present embodiment can be used for sorting materials. The present embodiment is an improvement on the technology of the first embodiment, and compared with the first embodiment, the difference is that:

the feeding mechanism 20 includes a feeding table 21 and a dispersing member 22. The supply table 21 is provided on the dispersion member 22. The dispersion member 22 is provided on the frame 10. The supply table 21 is used for placing the material to be sorted. The dispersion member 22 is connected to a control mechanism 60. The dispersing member 22 receives the feeding control signal of the control mechanism 60 to drive the feeding table 21 to vibrate, so that the materials placed on the feeding table 21 are vibrated and dispersed, the identification mechanism 30 accurately identifies each material, and the pickup mechanism 40 accurately picks up the materials.

In some embodiments, the supply table 21 includes a loading table 211 and a taking table 212. The feeding table 211 is arranged on the material taking table 212. The material taking table 212 is provided on the dispersion member 22. The feeding platform 211 is provided with a feeding port 2111, and the feeding port 2111 is positioned above the material taking platform 212. The loading table 211 is used for an operator or other device to place material to be sorted into the sorting apparatus 100. The dispersing member 22 drives the feeding platform 211 and the material taking platform 212 to vibrate, so that the materials borne on the feeding platform 211 are vibrated from the feeding port 2111 onto the material taking platform 212 due to vibration, and some of the materials originally adhered together are dispersed onto the material taking platform 212. The material taking table 212 is used for carrying the dispersed materials for the recognition mechanism 30 to take a photo for recognition and for the picking mechanism 40 to pick.

In some embodiments, the feeding platform 211 is substantially a rectangular box with an upper opening, and a feeding port 2111 is provided at the bottom of one side wall of the feeding platform 211. The side wall of the charging platform 211 where the charging port 2111 is provided is inclined in a direction away from the charging port 2111, so that the materials adhered together collide with the side wall due to vibration when passing through the charging port 2111, and are dispersed.

In some embodiments, the dispersion member 22 employs a vibration motor.

The sorting device 100 that this embodiment provided, provide the vibrational force through dispersion piece 22, make the feed platform 21 of locating on it take place the vibration, thereby make the material of placing on material loading platform 211 excited vibration, and fall into the material platform 212 of getting of lower floor by the dispersion on, the recognition mechanism 30 of being convenient for discerns, and make pick-up mechanism 40 can pick up accurately, and, different materials move also to some extent under the drive of the vibrational force of dispersion piece 22, can be convenient for sieve different materials, the recognition mechanism 30 of being convenient for discerns, and the production utilization rate is greatly improved.

EXAMPLE III

Referring to fig. 1 to 8, a sorting apparatus 100 according to the present embodiment can be used for sorting materials. The present embodiment is an improvement on the basis of the techniques of the first and second embodiments, and compared with the first embodiment, the difference is that:

in this embodiment, the sorting apparatus 100 further includes a recovery mechanism 70. The recovery mechanism 70 is connected to the supply mechanism 20. The recovery mechanism 70 is used to recover the material remaining after the completion of the work.

Specifically, the recovery mechanism 70 includes a recovery duct 71 and a recovery cassette 72. One end of the recovery pipeline 71 is communicated with one side of the material taking table 212 far away from the picking mechanism 40, and the other end of the recovery pipeline 71 is communicated with the recovery box 72. The recovery box 72 is provided below the feeding mechanism 20, and the recovery box 72 is used to store the remaining material after the work.

After the sorting operation, the supply table 21 is driven by the dispersing member 22 to vibrate, so that the material placed on the material taking table 212 is excited to move in the direction of the recovery duct 71, and falls into the recovery box 72 through the recovery duct 71.

In some embodiments, the sorting apparatus 100 comprises two sets of feeding mechanisms 20 arranged side by side, and correspondingly, the recovery mechanism 70 is provided with two recovery ducts 71. One end of each of the two recycling pipes 71 is communicated with a corresponding material taking table 212 of the two groups of feeding mechanisms 20. The other ends of the two recovery ducts 71 communicate with the recovery boxes 72, respectively. However, in other embodiments, the number of the feeding mechanisms 20 and the number of the recycling pipes 71 may be set according to actual requirements.

The sorting device 100 provided by the embodiment leads out the remaining materials through the recovery pipeline 71 connected with the feeding mechanism 20, and stores the remaining materials through the recovery box 72, so that the excess materials after the operation is completed can be collected and sorted, and the excess materials are convenient to store and utilize. And, the clout after the operation is collected the arrangement for sorting device 100 can be used by the directness when next operation, has improved production efficiency.

Example four

Referring to fig. 1 to 9, a sorting apparatus 100 according to the present embodiment can be used for sorting materials. The present embodiment is an improvement on the technology of the first embodiment, and compared with the first embodiment, the difference is that:

the identification mechanism 30 includes a driving member 31, an identification member 32, and a light source 33. The driving member 31 is provided on the frame 10. The identification member 32 and the light source 33 are provided on the driving member 31, respectively. The recognition member 32 receives the recognition control signal of the control mechanism 60 to photograph the material on the feeding mechanism 20. The light source 33 receives the illumination control signal of the control mechanism 60 to provide illumination to the feeding mechanism 20, so that the identification member 32 can photograph the material. The driving member 31 receives the driving control signal of the control mechanism 60 to drive the identification member 32 and the light source 33 to move close to or away from the feeding mechanism 20, so that the identification member 32 can accurately photograph the material on the feeding mechanism 20, and the light source 33 can provide sufficient light.

In some embodiments, the driving member 31 is a driving motor, but is not limited thereto.

In some embodiments, the identification member 32 is an industrial camera, such as a CCD camera (Charge Coupled Device) or a CMOS camera (complementary Metal Oxide Semiconductor), and the identification member 32 is connected to the control mechanism 60 via a data line to transmit the captured image information. But not limited thereto, in other embodiments, the identification member 32 may be a digital camera such as a single lens reflex camera, and the identification member 32 may be connected to the control mechanism 60 via other wireless or wired means such as bluetooth or wireless network. The identification member 32 may also capture image information by imaging the material on the feeding mechanism 20.

In some embodiments, the light source 33 is a shadowless lamp, thereby enabling the identification member 32 to accurately identify the material on the feed mechanism 20. But is not limited to, in other embodiments, light source 33 may also be an industrial light source.

In some embodiments, the sorting apparatus 100 includes two sets of feeding mechanisms 20 arranged side by side, and the identifying mechanisms 30 are respectively arranged in two corresponding sets.

The sorting device 100 provided by this embodiment drives the identification piece 32 and the light source 33 through the driving piece 31, so that the light source 33 can illuminate the material on the feeding mechanism 20, and the identification piece 32 can accurately identify the material, thereby providing accurate image information, facilitating the control mechanism 60 to confirm the material according to the image information, enabling the pickup mechanism 40 to accurately pick up the material, and improving the production efficiency.

EXAMPLE five

Referring to fig. 1 to 10, a sorting apparatus 100 according to the present embodiment can be used for sorting materials. The present embodiment is an improvement on the technology of the first embodiment, and compared with the first embodiment, the difference is that:

the pick-up mechanism 40 includes a robot 41 and a picking member 42. The robot 41 is provided on the frame 10. The take-out member 42 is provided on the drive end of the robot 41. The take off member 42 receives a take off control signal from the control mechanism 60 to pick up material. The robot 41 is connected to the control mechanism 60. The robot 41 receives a pick-up control signal from the control mechanism 60 to drive the take-out member 42 to move between the feeding mechanism 20 and the output mechanism 50.

In some embodiments, the material extracting member 42 is a jaw, and the material is gripped by the jaw. But not limited to, in other embodiments, the material taking member 42 may also be a suction cup, which sucks the material by suction.

The sorting device 100 provided by the embodiment drives the material taking part 42 to move between the feeding mechanism 20 and the output mechanism 50 through the manipulator 41, so that the material taking part 42 arranged on the manipulator can accurately pick up the material on the feeding mechanism 20 and place the material on the output mechanism 50, so that the material on the feeding mechanism 20 is sorted, and different materials can be respectively picked up by the material taking part 42 and placed on the output mechanism 50, so that multiple different materials can be simultaneously sorted, the production utilization rate is greatly improved, and meanwhile, the production land is greatly saved.

EXAMPLE six

Referring to fig. 1 to 14, a sorting apparatus 100 according to the present embodiment can be used for sorting materials. The present embodiment is an improvement on the technology of the first embodiment, and compared with the first embodiment, the difference is that:

the output mechanism 50 includes a transmission module 51, a lifting module 52 and a receiving member 53. The receiving member 53 is used for carrying the sorted material. The control mechanism 60 controls the transmission module 51 to drive the receiving member 53 to move, so as to send out the sorted materials, and send back the empty receiving member 53. The control mechanism 60 controls the lifting module 52 to transfer the receiving member 53 on the transmission module 51, so that the returned empty receiving member 53 is received.

Specifically, the receiving member 53 is substantially a box-shaped structure with an upper opening. The receiving member 53 is movable in the transfer module 51 and the lifting module 52.

The transmission module 51 is a double-layer transmission line. The transfer module 51 includes a first conveying rail 511, a first conveying member 512, a second conveying rail 513 and a second conveying member 514. The first conveying rail 511 is disposed above the second conveying rail 513, and the conveying directions are parallel. The first conveying member 512 is connected to the first conveying rail 511, and is used for driving the receiving member 53 to move on the first conveying rail 511. The second conveying member 514 is connected to the second conveying rail 513, and drives the receiving member 53 to move on the second conveying rail 513.

In some embodiments, the first conveying element 512 and the second conveying element 514 are driving motors, but not limited thereto.

The lifting module 52 is disposed on one side of the transmission module 51. The control mechanism 60 controls the lifting module 52 to drive the receiving member 53 to lift, so as to transfer the receiving member 53 between the first conveying rail 511 and the second conveying rail 513.

The lifting module 52 includes a lifting member 521, a lifting frame 522, a transfer rail 523 and a transfer member 524. The lifting frame 522 is provided on the driving end of the lifting member 521. The lifting member 521 is controlled by the control mechanism 60 to drive the lifting frame 522 to lift. The transfer rail 523 is provided on the crane 522. The conveying direction of the transfer rail 523 is the same as the conveying direction of the first conveying rail 511 and the second conveying rail 513, and the receiving member 53 can move between the transfer rail 523 and the transfer rail 523 when the height of the transfer rail 523 is the same as that of one of the transfer rail and the second conveying rail. The transfer member 524 is connected to the transfer rail 523, and is used for driving the receiving member 53 to move on the transfer rail 523.

In some embodiments, the lifting member 521 and the transferring member 524 are driving motors, but are not limited thereto.

During operation, the picking mechanism 40 places the picked materials in the material receiving part 53 of the first conveying rail 511, and when the number of the placed materials reaches a preset value, the first conveying part 512 drives the material receiving part 53 to move on the first conveying rail 511, so that the material receiving part 53 bearing the materials is sent out of the sorting device 100; the empty receiving member 53 is fed from the second conveying rail 513, and is driven by the second conveying member 514 to move on the second conveying rail 513 to the transfer rail 523; the lifting piece 521 drives the lifting frame 522 to ascend to the height of the transfer rail 523 consistent with the height of the first conveying rail 511, and the transfer piece 524 drives the vacant material receiving piece 53 to move to the first conveying rail 511 on the transfer rail 523; the pick-up mechanism 40 continues to place material to the empty receiving member 53.

The sorting device 100 provided by the embodiment accepts the materials picked up by the picking mechanism 40 through the material receiving piece 53, outputs the material receiving piece 53 full of the materials through the transmission module 51 with a double-layer structure, inputs the empty material receiving piece 53, transfers the empty material receiving piece 53 to the position of the material bearing mechanism 50 through the lifting module 52, so that the sorted materials are output, different materials can be picked up by the picking mechanism 40 respectively and placed in the different material receiving pieces 53 of the output mechanism 50, so that multiple different materials can be sorted simultaneously, the production utilization rate is greatly improved, and meanwhile, the production land is greatly saved.

EXAMPLE seven

Referring to fig. 1 to 6, a sorting apparatus 100 according to the present embodiment can be used for sorting materials. The present embodiment is an improvement on the technology of the first embodiment, and compared with the first embodiment, the difference is that:

the control mechanism 60 includes a control module 61 and a human-computer interaction module 62 electrically connected to each other.

The control module 61 is electrically connected to the feeding mechanism 20, the recognition mechanism 30, the picking mechanism 40 and the output mechanism 50 respectively. The control module 61 is used for controlling the feeding mechanism 20, the recognition mechanism 30, the picking mechanism 40 and the output mechanism 50 to sequentially operate, and receiving feedback information of the feeding mechanism 20, the recognition mechanism 30, the picking mechanism 40 and the output mechanism 50.

The control module 61 is embedded with an image processing algorithm and various control software. The control module 61 may be connected via an ethernet network.

Specifically, the control module 61 can control the dispersing part 22 to move, so as to disperse the material placed on the feeding table 211; the control recognition part 32 takes a picture of the material loaded on the material taking platform 212, and confirms the material information of the material and the position information of the material on the material taking platform 212 according to the taken picture information; controlling the manipulator 41 to move according to the material information and the position information, and accurately picking up the material on the material taking platform 212 through the material taking part 42 and releasing the material on the material receiving part 53 of the output mechanism 50; controlling the output mechanism 50 to output the material receiving part 53 containing the material; the dispersion member 22 is controlled to move, and the material placed on the material taking table 212 is recovered in the recovery box 72.

The human-computer interaction module 62 is used for displaying the image information shot by the recognition mechanism 30, the material information and position information confirmed by the control module 61, the control result of the control module 61, and the like, and can also perform manual control through a human-computer interaction interface arranged on the human-computer interaction module, such as selection of material types and quantity, and the like.

Example eight

As shown in fig. 15, the present embodiment further provides a sorting method, which can be implemented based on the sorting apparatus 100 provided in the embodiment. The sorting method can comprise the following steps:

s101: the material is placed in the feeding mechanism 20.

Specifically, the material is thrown into the feeding table 211 of the feeding mechanism 20 by a human or a machine.

S102: and (4) dispersing the materials.

Specifically, the dispersing member 22 drives the feeding table 21 to vibrate, so that the material carried on the feeding table 211 is vibrated from the feeding port 2111 onto the material taking table 212 by the vibration, and thus the material is dispersed onto the material taking table 212.

S103: and acquiring image information of the material.

Specifically, the driving member 31 drives the recognition member 32 to move, so that the recognition member 32 photographs the material on the material taking table 212, and the recognition member 32 transmits the photographed image information to the control mechanism 60.

S104: and confirming material information and position information of the material.

Specifically, the control module 61 confirms the material information of the material and the position information of the material on the material taking platform 212 according to the image information transmitted by the identification mechanism 30.

S105: and sorting the materials.

Specifically, the control mechanism 60 controls the manipulator 41 to move according to the material information of the material and the position information of the material on the material taking table 212, and picks up the target material by the material taking member 42, and then moves to the material receiving member 53 of the first conveying rail 511 to release the target material.

S106: and (5) outputting the materials.

Specifically, after the control mechanism 60 confirms that the quantity of the materials carried on the receiving member 53 reaches the preset value, the first conveying member 512 is controlled to drive the receiving member 53 to move on the first conveying rail 511, so that the receiving member 53 carrying the materials is sent out of the sorting device 100.

S107: and returning the empty receiving part.

Specifically, the empty receiving member 53 is fed from the second conveying rail 513, and the control mechanism 60 controls the second conveying member 514 to drive the empty receiving member 53 to move on the second conveying rail 513, until the empty receiving member 53 moves on the transfer rail 523; the lifting piece 521 drives the lifting frame 522 to ascend to the height of the transfer rail 523 consistent with the height of the first conveying rail 511, and the transfer piece 524 drives the vacant material receiving piece 53 to move to the first conveying rail 511 on the transfer rail 523; so that the empty receiving member 53 is returned to the sorting device 100.

S108: and confirming whether the sorting is finished.

Specifically, the control mechanism 60 confirms whether the predetermined number of materials are delivered in accordance with the set amount. If yes, go to step S109; if not, executing the step S105 and continuously sorting the materials.

S109: recovering the residual materials.

Specifically, the control mechanism 60 controls the dispersing member 22 to drive the feeding table 21 to vibrate, so that the material carried on the material taking table 212 moves towards the recovery pipeline 71 due to the vibration and falls into the recovery box 72 through the recovery pipeline 71, and the recovery of the excess material is completed.

It is understood that in other embodiments, if the recycling mechanism 70 is not provided, step S109 may be omitted, and the conveying of the material is completed and then ended directly. The remaining material was recovered manually.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A sorting device is characterized by comprising a feeding mechanism, an identification mechanism, a picking mechanism, an output mechanism and a control mechanism, wherein the control mechanism is connected with and controls the feeding mechanism, the identification mechanism, the picking mechanism and the output mechanism; the feeding mechanism is controlled by the control mechanism to bear materials and disperse the materials; the identification end of the identification mechanism faces the feeding mechanism to photograph the materials loaded on the feeding mechanism, and the photographed image information is transmitted to the control mechanism; the control mechanism confirms material information of the carried material and position information of the material on the feeding mechanism according to the shot image information and sends the material information and the position information to the pickup mechanism; the control mechanism controls the picking mechanism to pick materials on the feeding mechanism according to the material information and the position information, the materials are placed on the output mechanism, and the control mechanism controls the output mechanism to output the materials.

2. A sorting device according to claim 1, wherein the feeding mechanism comprises a feeding table and a dispersing member, the feeding table is arranged on the dispersing member and is used for placing the materials to be sorted, the dispersing member is connected with the control mechanism, and the dispersing member receives the feeding control signal of the control mechanism to drive the feeding table to vibrate, so that the materials placed on the feeding table are vibrated and dispersed.

3. A sorting device according to claim 2, wherein the feeding table comprises a feeding table and a taking table, the feeding table is arranged on the taking table, the taking table is arranged on the dispersing member, a feeding port is arranged on the feeding table and is located above the taking table, and the dispersing member receives a feeding control signal of the control mechanism to drive the feeding table and the taking table to vibrate, so that the material borne on the feeding table is vibrated and dispersed on the taking table from the feeding port.

4. A sorting device according to claim 1, wherein the identification mechanism includes a driving member, an identification member and a light source, the identification member and the light source are respectively disposed on the driving member, the identification member receives the identification control signal of the control mechanism to photograph the material on the feeding mechanism, the light source receives the illumination control signal of the control mechanism to provide illumination for the feeding mechanism, so that the identification member photographs the material, and the driving member receives the driving control signal of the control mechanism to drive the identification member and the light source to approach or leave the feeding mechanism.

5. A sorter as in claim 1 wherein the picker mechanism includes a robot and a picker member, the picker member is disposed on a drive end of the robot, the picker member receives the picker control signal from the control mechanism to pick up the material, the robot is connected to the control mechanism, and the robot receives the picker control signal from the control mechanism to drive the picker member to move between the feed mechanism and the output mechanism.

6. A sorter as in claim 1 wherein the output mechanism includes a transfer module, a lift module and a receiving member for carrying the sorted material, the control mechanism controlling the transfer module to drive the receiving member to move to carry the sorted material out and to carry the empty receiving member back, the control mechanism controlling the lift module to transfer the receiving member over the transfer module.

7. A sorting device according to claim 6, wherein the conveying module includes a first conveying rail, a first conveying member, a second conveying rail and a second conveying member, the first conveying rail is disposed above the second conveying rail, the conveying directions of the first conveying member and the second conveying member are parallel, the first conveying member and the first conveying rail are connected to drive the receiving member to move on the first conveying rail, the second conveying member and the second conveying rail are connected to drive the receiving member to move on the second conveying rail, the lifting module is disposed at one side of the conveying module, and the control mechanism controls the lifting module to drive the receiving member to lift and lower so as to transfer the receiving member between the first conveying rail and the second conveying rail.

8. The sorting device according to claim 7, wherein the lifting module comprises a lifting member, a lifting frame, a transfer rail and a transfer member, the lifting frame is arranged on a driving end of the lifting member, the lifting member is controlled by the control mechanism to drive the lifting frame to lift, the transfer rail is arranged on the lifting frame, the conveying direction of the transfer rail is the same as that of the first conveying rail and the second conveying rail, the transfer member is connected with the transfer rail to drive the receiving member to move on the transfer rail, and the receiving member can move between the transfer rail and the first conveying rail or the second conveying rail when the transfer rail is the same as that of the first conveying rail or the second conveying rail.

9. A sorter as in claim 1 wherein the control mechanism includes a control module and a human-machine interaction module electrically connected to each other, the control module being electrically connected to the feeding mechanism, the identifying mechanism, the picking mechanism and the output mechanism, respectively.

10. A sorting method based on a sorting device according to any of claims 1-9, characterised in that the sorting method comprises:

placing a material in the feeding mechanism;

dispersing the materials, and dispersing the loaded materials through the feeding mechanism;

acquiring image information of the material, photographing the material loaded on the feeding mechanism through the identification mechanism, and transmitting the photographed image information to the control mechanism;

confirming material information and position information of the material, and confirming the material information of the material and the position information of the material on the feeding mechanism by the control mechanism according to the shot image information;

sorting the materials, picking the materials on the feeding mechanism by the picking mechanism, and placing the materials on the output mechanism;

and outputting the material, and outputting the material placed on the output mechanism through the output mechanism.