CN113879812A

CN113879812A - Automatic separating and carrying device for logistics goods and working method

Info

Publication number: CN113879812A
Application number: CN202111163305.0A
Authority: CN
Inventors: 汪嘉毅; 任天挺; 俞斌; 陈旭东; 张承业; 郭绍伟
Original assignee: Hangzhou Confirmware Technology Co ltd
Current assignee: Hangzhou Confirmware Technology Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-01-04

Abstract

The invention discloses an automatic cargo separating and transporting device and a working method thereof. The device comprises a packet arranging and supplying mechanism and an identification executing mechanism; the bag arranging and supplying mechanism comprises a vibration feeding mechanism; the vibration feeding mechanism comprises a vibration groove; the vibration groove drives the goods to move obliquely upwards in a vibration mode, so that the goods with superposed layers are flatly laid in the vibration conveying process. The identification executing mechanism is used for identifying the goods output by the bag arranging and supplying mechanism and carrying the goods one by one to the subsequent butt joint system. According to the invention, through the matching of inclined conveying, brush blocking and vibration separation modes, a plurality of cargoes which are stacked together in a disordered way and have different sizes can be separated, so that the technical problems that the automatic packaging is hindered due to various packaging sizes, stacking and the like in the prior art are solved. In addition, the invention uses the actuating mechanism to transport the goods to the target point, so that the goods can be directly butted with a sorting machine or an AGV.

Description

Automatic separating and carrying device for logistics goods and working method

Technical Field

The invention belongs to the technical field of logistics automation, and particularly relates to an automatic cargo separation and handling device. The device can be used independently, can also be used by matching with other automatic goods sorting systems, and particularly plays a great role when being used by automatic sorting equipment such as a butt-joint cross belt sorting machine, an AGV sorting system and the like.

Background

With the development of the logistics industry, the demand of goods sorting is increasing. At present, most logistics sorting stations adopt automatic sorting equipment. Automated sorting equipment, such as crossband sorters, flap sorters, AGV cart sorting systems. The automatic sorting equipment has high efficiency and low error rate and is popularized quickly. However, the existing automatic sorting systems separate and provide the stacked goods to the automatic sorting equipment by manual work, which becomes an efficiency bottleneck of the automatic goods sorting.

As the efficiency of manually handling goods is low, the labor costs of separating and arranging goods are increasing with the increase in the number of goods. And because goods size, form, material are different, and the supplied materials are unordered to be piled up usually, and the manual operation of this station is difficult to directly to replace to current automation equipment. If automation equipment can be used to replace manpower in the links of cargo separation and arrangement, the capacity can be greatly improved, and greater economic benefit can be generated.

Disclosure of Invention

The invention aims to provide an automatic cargo separating and conveying device.

In a first aspect, the invention provides an automatic separating and carrying device for logistics goods, which comprises a bag arranging and supplying mechanism and an identifying and executing mechanism; the bag arranging and supplying mechanism comprises a vibration feeding mechanism; the vibration feeding mechanism comprises a vibration groove; the vibration groove drives the goods to move obliquely upwards in a vibration mode, so that the goods with superposed layers are flatly laid in the vibration conveying process. The identification executing mechanism is used for identifying the goods output by the bag arranging and supplying mechanism and carrying the goods one by one to the subsequent butt joint system.

Preferably, the automatic separating and transporting device for logistics goods further comprises a buffer hopper. The buffer hopper is arranged at the input end of the vibration groove.

Preferably, the buffer hopper comprises a first conveyor, a first side baffle and a brush roller; two sides of the first conveyor are provided with first side baffles; a plurality of brush rollers are supported above the first conveyor along the first conveyor; the distance from each brush roller to the conveying surface of the first conveyor is reduced in sequence along the direction from the input end to the output end;

preferably, the diameter of each brush roller is reduced in sequence from the input end to the output end of the buffer hopper.

Preferably, the positions of the two brush rollers are adjustable in a direction perpendicular to the conveying surface of the first conveyor.

Preferably, the automatic separating and carrying device for logistics goods further comprises an edge leaning mechanism. The input end of the side abutting mechanism is connected with the output end of the vibration groove and used for arranging input goods into one or more linear queues.

Preferably, the side abutting mechanism comprises two second side baffles and two groups of symmetrically arranged inclined roller conveyors; the two second side baffles are arranged at intervals; the two groups of inclined roller conveyors are arranged between the two second side baffles; and the two groups of inclined roller conveyors respectively convey the goods above the inclined roller conveyors to the second side baffle plates of the corresponding sides in an inclined manner, so that the goods entering the side leaning mechanism are automatically abutted against the inner side surfaces of the two second side baffle plates.

Preferably, the automatic separating and carrying device for logistics goods further comprises a differential conveying mechanism; the differential conveying mechanism is arranged at the tail end of the automatic logistics cargo separation and carrying device and used for increasing the distance between adjacent cargos in a cargo linear queue output by the side approaching mechanism.

Preferably, the differential conveying mechanism comprises a second conveyor; the conveying speed of the second conveyor is greater than a speed component of the conveying speed of the inclined roller conveyor in the conveying direction of the second conveyor.

Preferably, the differential conveying mechanism comprises two or more than two sections of second conveyors which are connected in series in sequence; the conveying speed of each second conveyor is increased in sequence along the direction from the input end to the output end.

Preferably, the subsequent docking system is a packing platform or an AGV sorting trolley.

Preferably, the identification executing mechanism comprises an identification mechanism and a conveying mechanism; the identification mechanism is arranged on the differential conveying mechanism and used for identifying the goods on the differential conveying mechanism; the carrying mechanism or the carrying mechanisms are arranged on one side of the identification mechanism far away from the edge leaning mechanism; the carrying mechanism comprises a mechanical arm and an end effector; the tail end executing mechanism is arranged at the tail end of the mechanical arm and used for grabbing goods; the mechanical arm is used for driving the goods grabbed by the tail end executing mechanism to leave the differential conveying mechanism.

The working method of the integrated device for automatically separating and carrying the logistics goods comprises the following specific steps:

firstly, stacking goods on a buffer hopper by a worker; the first conveyor at the lower end in the buffer hopper conveys the goods obliquely upwards until the goods enter the vibration feeding mechanism; the goods sequentially pass through the brush rollers in the process of obliquely and upwards conveying; the distance between each brush roller and the first conveyor is gradually reduced, so that stacked goods are gradually and uniformly dispersed;

secondly, the goods entering the vibration feeding mechanism are driven by vibration force to be transported upwards in an inclined mode, and are separated in the transportation process, so that the vibration feeding mechanism does not have the stacking condition any more;

thirdly, the vibration feeding mechanism feeds the goods into the edge leaning mechanism, and the edge leaning mechanism arranges the input goods into a linear queue; outputting the linear queue to a differential speed conveying mechanism to enlarge the distance;

and step four, the identification executing mechanism identifies the goods on the differential conveying mechanism and carries the goods out of the differential conveying mechanism one by one.

In a third aspect, the invention provides an application of a vibrating machine to logistics sorting equipment; the vibrating conveying surface of the vibrating machine is obliquely arranged, and stacked logistics cargos are flatly spread by applying vibrating force to the stacked logistics cargos.

The invention has the beneficial effects that:

1. according to the invention, through the matching of inclined conveying, brush blocking and vibration separation modes, a plurality of cargoes which are stacked together in a disordered way and have different sizes can be separated, so that the technical problems that the automatic packaging is hindered due to various packaging sizes, stacking and the like in the prior art are solved.

2. The invention can completely separate the stacked goods, arrange the goods into a linear queue and then pull the goods apart; it can be seen that the present invention can significantly improve the stability of cargo separation compared to existing single piece separation devices that can only pull the cargo distance apart in the transport direction (X direction).

3. According to the invention, the goods are transported to the target point by the executing mechanism, so that the goods can be directly butted with a sorting machine or an AGV trolley, other butting mechanisms are not needed, the layout is flexible, the space is saved, compared with manual goods processing, higher efficiency can be achieved, the number requirement of the packing tables is reduced, the occupied area of subsequent automatic equipment is reduced, and further the goods transportation cost is reduced.

4. The invention is suitable for the goods made of various materials such as cartons, nylon bags, bubble films and the like, and allows the goods made of various materials to be stacked together in a disordered way, which is consistent with the current packing conditions; in addition, compared with other single-piece separation systems, the system has the advantages of small occupied area, compatibility with the conventional bag supply mode, easiness in arrangement in the conventional logistics sorting station and high practicability.

5. The invention automates the entrance of the sorting system, further realizes the unmanned operation capability, improves the utilization rate of the sorting equipment, and leads the goods which arrive at the station first to be sorted first, thereby improving the timeliness and the stability of the goods.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of a package administration mechanism of the present invention;

fig. 3 is a schematic diagram of an identification actuator according to the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, an automatic cargo separating and handling device includes a bag arranging and supplying mechanism 100 and an identification executing mechanism 200. The package arranging and supplying mechanism 100 is used for arranging various goods 300 stacked out of order into an approximately linear arrangement by caching the goods 300 and performing quantitative control, vibration and climbing operation, and then supplying the arrangement to the identification executing mechanism 200. The approximately linear arrangement of the cargo 300 can facilitate efficient operation of the identification actuator. Sufficient means that the package ordering mechanism 100 is able to provide the identification actuator 200 with a quantity of goods 300 per unit time that is greater than its operating speed. The recognition executing mechanism 200 is used for recognizing the line of the goods 300 output by the parcel arranging and supplying mechanism 100 and transporting the goods to the placing table 230 one by one. The placement stage 230 is configured to receive the single load 300 from the transport mechanism 220 and perform further operations including, but not limited to, cross-belt loading and AGV sorting mechanism loading. A controller capable of notifying the controller of the subsequent docking system of information that the "wrapping operation has been completed" after the cargo 300 is carried to the placing table 230; thereby allowing the docking system to automate operations on the cargo 300 including code scanning, weighing, and transport. The docking system in this embodiment is a packing table or an AGV sorting cart.

As shown in fig. 2, the bag arranging and supplying mechanism 100 includes a buffer hopper 110, a vibration feeding mechanism 120, an edge approaching mechanism 130 and a differential conveying mechanism 140 connected in series. The input ends of the vibratory feeding mechanism 120 and the buffer hopper 110 are inclined and raised toward the output end. The output end of the buffer hopper 110 is positioned directly above the input end of the vibratory feeding mechanism 120. The output end of the vibratory feeding mechanism 120 is positioned directly above the input end of the edge abutting mechanism 130. The edge leaning mechanism 130 and the differential conveying mechanism 140 are horizontally arranged and are butted together.

The buffer hopper 110 includes a first conveyor 111, a first side fence 112, and a brush roller 113. The first conveyor 111 is a belt conveyor, and is disposed obliquely upward. First side guards 112 are provided at both sides of the first conveyor 111 to prevent stacked goods from falling from the sides of the first conveyor 111. Two or more brush rollers 113 are provided at intervals in the conveying direction of the first conveyor 111 and supported between the two first side fences 112. The distances from the respective brush rollers 113 to the conveying surface of the first conveyor 111 decrease in order in the direction from the input end to the output end, and the diameters decrease in order. The last brush drum 114 is located at a distance from the first conveyor greater than the maximum height of the goods being transported. The positions of the two brush rollers 113 can be adjusted in the direction perpendicular to the conveying surface. Since the brush drum 113 is soft and can rotate, it is not easy to damage the goods.

The vibratory feeding mechanism 120 includes a vibratory trough and a vibration generator. The vibration generator is arranged at the bottom of the vibration tank and used for generating vibration and driving the goods 300 on the vibration tank to move obliquely upwards; the stacked products 300 are separated by the vibration force, and the stacked products 300 are prevented from directly entering the edge-abutting mechanism 130.

The edge-abutting mechanism 130 comprises two second side baffles and two groups of symmetrically arranged inclined roller conveyors. Two second side baffles which are arranged at intervals are fixed on the frame. The two sets of inclined roller conveyors are arranged between the two second side baffles and convey the goods 300 to the second side baffle on the corresponding side in an inclined manner, so that the goods 300 entering the side abutting mechanism 130 from the vibration feeding mechanism 120 can automatically abut against the inner side faces of the two second side baffles.

The differential conveying mechanism 140 includes a second conveyor. The conveying speed of the second conveyor is greater than the speed component of the conveying speed of the inclined roller conveyor along the conveying direction of the second conveyor; the differential conveying mechanism 140 may also be provided with two or more than two second conveyors connected in series. In this case, the conveying speed of each second conveyor is increased in order in the direction from the input end to the output end, and the closely arranged loads 300 output from the edge abutting mechanism 130 can be separated.

When the system starts to work, the buffer hopper 110 delivers a certain amount of goods 300 to the vibratory feeding mechanism 120; the two brush rollers 113 separate the stacked goods 300 with too high heights step by step, so that the situation that the excessive goods 300 enter the vibration feeding mechanism 120 at one time to influence the separation effect of the vibration feeding mechanism 120 is avoided. The vibration feeding mechanism 120 drives the goods 300 to climb through vibration, and the goods 300 with the overlapping condition are flatly spread; the spread goods 300 are conveyed to the side leaning mechanism 130, the side leaning mechanism 130 conveys the spread goods 300 to two sides to form a linear queue, and the linear queue is conveyed to the differential conveying mechanism 140; the differential transport mechanism 140 increases the pitch of the queue of the goods 300 and transports the goods 300 to the recognition performing mechanism 200.

In this embodiment, the buffer hopper 110 is used for buffering a certain amount of the goods 300, where the certain amount is greater than the number of the goods 300 that can be grabbed by the identification executing mechanism 200; the plurality of brush rollers 111 with different heights on the buffer hopper 110 can gradually and uniformly buffer the quantity of the goods 300 in the buffer hopper 110, so that the goods 300 in the buffer hopper are more uniformly distributed.

The vibration feeding mechanism 120 mainly plays two roles, one is to disperse the goods 300, and the principle is that the conveying speed of the goods 300 along with vibration is inconsistent by utilizing the differences of the individual materials, the volume, the density and the weight of the goods 300, so that the stacked goods 300 are dispersed, and the linear sequencing is facilitated in the next step; the second function is to tile the cargo 300. The principle is that the stacked goods 300 are tiled by utilizing the mutual extrusion force generated when the goods 300 vibrate, and the linear sequencing is favorably carried out in the next step.

The side abutting mechanism 130 mainly plays two roles, namely, the goods 300 are close to one side of the identification executing mechanism 200 as much as possible, the distance for the identification executing mechanism 200 to carry the goods 300 is shortened, and therefore the efficiency of the executing mechanism is improved; the second function is to linearly sort the goods 300, and the principle is that the inclined rollers generate outward friction force to the goods 300, so that the goods 300 move outward and are arranged linearly, and in addition, because the goods 300 have a certain height, the goods 300 are not stacked when being converged, and can be automatically queued.

The differential transport mechanism 140 functions to transport the goods 300 by a linear velocity component greater than that of the side approaching mechanism 130, which enlarges the interval between the queues of the goods 300, thereby further separating the goods 300 and improving the stability of the execution of the recognition mechanism.

As shown in fig. 3, the recognition performing mechanism 200 includes a recognition mechanism 210 and a plurality of carrying mechanisms 220. The recognition mechanism 210 is provided on the differential conveyance mechanism 140, and includes a recognition bracket 211 and a recognition camera 212. The recognition bracket 211 is provided to the side of the differential conveyance mechanism 140. The recognition camera 212 is fixed to the recognition bracket 211, and is disposed directly above and downward of the differential transport mechanism 140. The recognition camera 212 employs a 2D camera, a 3D camera, a scanner, or other sensor capable of recognizing the cargo 300. The recognition camera 212 can photograph the cargo 300 conveyed by the differential conveying mechanism 140, thereby realizing the recognition of the cargo 300.

The plurality of carrying mechanisms 220 are distributed on both sides of the differential conveying mechanism 140. The handling mechanism 220 includes a robot arm 221, a robot arm base 222, and an end effector 223. The robot 221 is mounted on a robot base 222. The robot arm 221 may be one of a single-axis robot, a multi-axis robot, a four-axis Scara robot, a parallel spider-hand robot, and a six-axis joint robot, or other devices capable of handling the goods 300. An end effector 223 is mounted at the end of the robot arm 221 to grip, suck, or otherwise grasp the cargo 300.

The recognition mechanism 210 is used for algorithmically recognizing the proper gripping position and angle of the cargo 300 to be sent to the carrying mechanism 220. The carrying mechanism 220 is configured to carry out the carrying operation of the cargo 300 after receiving the coordinates and the angle of the cargo 300 transmitted from the recognition mechanism 210.

Claims

1. A logistics cargo automatic separation and handling device comprises a bag arranging and supplying mechanism (100) and an identification executing mechanism (200); the method is characterized in that: the bag arranging and supplying mechanism (100) comprises a vibration feeding mechanism (120); the vibration feeding mechanism (120) comprises a vibration groove; the vibration trough drives the goods (300) to move obliquely upwards in a vibration mode, so that the goods with superposed layers are flatly laid in the vibration conveying process; the identification executing mechanism (200) is used for identifying the goods (300) output by the pack arranging and supplying mechanism (100) and carrying the goods one by one to a subsequent butt joint system.

2. The device for automatically separating and transporting logistic goods according to claim 1, wherein: further comprising a buffer hopper (110); the buffer hopper (110) is arranged at the input end of the vibration tank.

3. The device for automatically separating and transporting logistic goods according to claim 2, wherein: the buffer hopper (110) comprises a first conveyor (111), a first side baffle (112) and a brush roller (113); two sides of the first conveyor (111) are provided with first side baffles (112); a plurality of brush rollers (113) are supported above the first conveyor (111) along the first conveyor (111); the distance from each brush roller (113) to the conveying surface of the first conveyor (111) decreases in sequence along the direction from the input end to the output end.

4. The device for automatically separating and transporting logistic goods according to claim 3, wherein: the diameter of each brush roller (113) is reduced in turn along the direction from the input end to the output end of the buffer hopper (110).

5. The device for automatically separating and transporting logistic goods according to claim 3 or 4, wherein: the positions of the two brush rollers (113) can be adjusted along the direction vertical to the conveying surface of the first conveyor (111).

6. The device for automatically separating and transporting logistic goods according to claim 3, wherein: the device also comprises an edge leaning mechanism (130); the input end of the edge leaning mechanism (130) is connected with the output end of the vibration groove and used for arranging the input goods into one or more linear queues.

7. The device as claimed in claim 6, wherein the device comprises: the side-leaning mechanism (130) comprises two second side baffles and two groups of symmetrically arranged inclined roller conveyors; the two second side baffles are arranged at intervals; the two groups of inclined roller conveyors are arranged between the two second side baffles; the two groups of inclined roller conveyors respectively convey the goods above the inclined roller conveyors to the second side baffle plates on the corresponding sides in an inclined mode, so that the goods (300) entering the side leaning mechanism (130) automatically abut against the inner side faces of the two second side baffle plates.

8. The device for automatically separating and transporting logistic goods according to claim 1, 6 or 7, wherein: also comprises a differential conveying mechanism (140); the differential conveying mechanism (140) is arranged at the tail end of the logistics cargo automatic separation device and is used for increasing the distance between adjacent cargos in the linear cargo queue output by the edge leaning mechanism (130).

9. The device for automatically separating and transporting logistic goods according to claim 8, wherein: the differential conveying mechanism (140) comprises a second conveyor; the conveying speed of the second conveyor is greater than a speed component of the conveying speed of the inclined roller conveyor in the conveying direction of the second conveyor.

10. The device for automatically separating and transporting logistic goods according to claim 8, wherein: the differential conveying mechanism (140) comprises two sections or more than two sections of second conveyors which are connected in series in sequence; the conveying speed of each second conveyor is increased in sequence along the direction from the input end to the output end.

11. The device for automatically separating and transporting logistic goods according to claim 1, 2, 3, 4, 6 or 7, wherein: the subsequent butt joint system is an upper package platform or an AGV sorting trolley.

12. The integrated device for automatically separating and carrying logistics goods as claimed in claim 1, 2, 3, 4, 6 or 7, wherein: the identification executing mechanism (200) comprises an identification mechanism (210) and a carrying mechanism (220); the identification mechanism (210) is arranged on the differential conveying mechanism (140) and is used for identifying the goods on the differential conveying mechanism (140); a carrying mechanism (220) or a plurality of carrying mechanisms (220) are arranged on one side of the identification mechanism (210) far away from the edge leaning mechanism (130); the handling mechanism (220) comprises a robot arm (221) and an end effector (223); the tail end actuating mechanism (223) is arranged at the tail end of the mechanical arm (221) and is used for grabbing goods; the mechanical arm (221) is used for driving the goods grabbed by the tail end executing mechanism (223) to leave the differential conveying mechanism (140).

13. The operation method of the integrated device for automatically separating and transporting logistics goods as claimed in claim 8, wherein:

firstly, stacking goods on a buffer hopper (110) by a worker; the first conveyor (111) at the lower end in the buffer hopper (110) conveys the goods obliquely upwards until the goods enter the vibration feeding mechanism (120); the goods sequentially pass through the brush rollers (113) in the process of obliquely and upwards conveying; the distance between each brush roller (113) and the first conveyor is gradually reduced, so that stacked goods are gradually dispersed uniformly;

secondly, the goods entering the vibration feeding mechanism (120) are driven by the vibration force to be transported upwards in an inclined mode, and are separated in the transportation process, so that the vibration feeding mechanism (120) does not have the stacking condition any more;

thirdly, the vibration feeding mechanism (120) sends the goods into the edge leaning mechanism (130), and the edge leaning mechanism (130) arranges the input goods into a linear queue; the linear queues are output to a differential conveying mechanism (140) to be enlarged in space;

and fourthly, the identification executing mechanism (200) identifies the goods (300) on the differential conveying mechanism (140) and carries the goods out of the differential conveying mechanism (140) one by one.

14. The application of the vibrating machine on the logistics sorting equipment is characterized in that: the vibrating conveying surface of the vibrating machine is obliquely arranged, and stacked logistics cargos are flatly spread by applying vibrating force to the stacked logistics cargos.