CN115724177A - Non-standard part sorting device, sorting system and sorting method - Google Patents

Abstract

The application discloses a non-standard part sorting device, a non-standard part sorting system and a non-standard part sorting method. The non-standard part sorting device comprises a mechanical arm, an end effector, a closing mechanism and a control unit. The end effector comprises a coaming connected with the mechanical arm, a bottom plate rotationally connected with the coaming, a rolling part rotationally connected with the bottom plate and an electromagnetic part connected with the coaming. The control unit controls the mechanical arm to drive the end effector to move to a preset discharging position, and controls the electromagnetic part to be disconnected with the bottom plate, so that the bottom plate opens the discharging opening under the action of gravity, the non-standard part can fall off from the discharging opening, the mechanical arm is controlled to drive the end effector to move to a preset closing position, the non-standard part moves towards the closing mechanism along the first direction, the rolling part rolls on the closing mechanism, the bottom plate is driven to move towards the discharging opening along the second direction, the electromagnetic part is controlled to be connected with the bottom plate, so that the bottom plate covers the discharging opening, the non-standard part is not required to be sorted manually, sorting efficiency can be improved, and labor cost can be reduced.

Description

Non-standard part sorting device, sorting system and sorting method

Technical Field

The invention relates to the field of logistics sorting, in particular to a non-standard piece sorting device, a non-standard piece sorting system and a non-standard piece sorting method.

Background

In the logistics industry, express sorting is a very important link. In order to save labor cost, a plurality of express items are sorted by an automatic sorting device and transported to a designated sorting address. The types of the current express mail are various, and besides some standard express mails, such as regular-shaped cartons, some non-standard express mails, such as spherical or cylindrical express mails, irregular soft packages wrapped by adhesive tapes or express mails with excessively smooth surfaces, exist. However, the sorting apparatus in the prior art mainly relies on friction force for sorting, for example, a cross belt sorting machine or a conveyor belt sorting machine including a belt conveyor, cannot sort the non-standard articles, and needs to sort the non-standard articles manually, resulting in low sorting efficiency.

Disclosure of Invention

The application provides a non-standard part sorting device, a non-standard part sorting system and a non-standard part sorting method, and aims to solve the problem that the sorting efficiency is low due to the fact that a non-standard part cannot be sorted by a sorting device in the prior art.

In a first aspect, the present application provides a non-standard part sorting apparatus comprising: the device comprises a mechanical arm, an end effector, a closing mechanism and a control unit;

the end effector includes: the mechanical arm comprises a coaming, at least one bottom plate, at least one rolling piece and an electromagnetic piece, wherein the coaming is connected with the mechanical arm;

the coaming defines an accommodating cavity with a material receiving opening and a material discharging opening;

the closing mechanism is located at a preset closing position;

the control unit electricity is connected the arm with the electromagnetism piece is used for control the arm drive end effector moves to predetermineeing the unloading position, and control the electromagnetism piece with bottom plate disconnection, so that the bottom plate opens under the action of gravity the feed opening, the control again the arm drive end effector moves to predetermineeing the closed position, and follows first direction court the closed mechanism motion makes the rolling piece with the closed mechanism butt rolls on the closed mechanism, drives the bottom plate is followed the second direction court the feed opening motion, and control the electromagnetism piece with the bottom plate is connected, so that the bottom plate shelters from the feed opening.

In some possible implementations, the closing mechanism includes at least one closing sub-mechanism, and the closing sub-mechanism includes a support frame, a bearing plate connected to the support frame, and a first side plate connected to the bearing plate and disposed obliquely to the bearing plate.

In some possible implementations, the number of the bottom plates is two, and the two bottom plates are arranged oppositely;

the sub-mechanism of the said closure also includes connecting with said bearing plate and with the second curb plate that the said bearing plate tilts and sets up, the said first curb plate sets up and tilts the opposite direction with the said second curb plate relatively.

In some possible implementations, the number of closure sub-mechanisms is the same as the number of rolling members on one of the base plates.

In some possible implementations, the number of the rolling members is two, and the two rolling members are respectively connected to two ends of one of the bottom plates.

In some possible implementations, the bottom plate includes a plate body rotatably connected to the enclosing plate, and at least one extending plate connected to one end of the plate body and extending in a direction away from the accommodating cavity, and the rolling member is rotatably connected to the extending plate.

In some possible implementations, the end effector further includes a proximity switch connected to an end of the enclosure proximate to the feed opening.

In some possible implementations, the end effector further includes at least one detection member coupled to the shroud.

In a second aspect, the present application provides a sorting system comprising: a supply device and the non-standard part sorting device; the parts supply device is used for transporting nonstandard parts to the accommodating cavity of the end effector.

In a third aspect, the present application further provides a sorting method applied to the above sorting system, the method includes:

the parts supply device is used for transporting nonstandard parts to the accommodating cavity of the end effector;

the control unit controls the mechanical arm to drive the end effector to move to a preset blanking position and controls the electromagnetic part to be disconnected with the bottom plate, so that the bottom plate opens the blanking port under the action of gravity, and the non-standard part falls from the accommodating cavity;

the control unit controls the mechanical arm to drive the end effector to move to a preset closing position, the closing mechanism moves along a first direction, the rolling piece is enabled to be abutted against the closing mechanism and roll on the closing mechanism, the bottom plate is driven to move towards the feed opening along a second direction, and the electromagnetic piece is controlled to be connected with the bottom plate, so that the feed opening is shielded by the bottom plate.

The application provides a nonstandard piece sorting device includes arm, end effector, closing mechanism and the control unit. The end effector includes: the device comprises a coaming, at least one bottom plate, at least one rolling part and an electromagnetic part, wherein the coaming is connected with the mechanical arm, the at least one bottom plate is rotationally connected with the coaming, the at least one rolling part is rotationally connected with the bottom plate, and the electromagnetic part is connected with the coaming. The bounding wall is injectd and is had the chamber that holds that connects material mouth and feed opening. When the electromagnetic part is connected with the bottom plate, the enclosing plate and the bottom plate are combined equivalently to form an accommodating box, the non-standard part can fall into an accommodating cavity of the enclosing plate from a material receiving port, the control unit is electrically connected with the mechanical arm and the electromagnetic part, the mechanical arm drives the end effector to move to a preset discharging position and controls the electromagnetic part to be disconnected from the bottom plate, so that the bottom plate opens the discharging port under the action of gravity, the non-standard part can fall from the discharging port to a corresponding sorting address, then the mechanical arm drives the end effector to move to the preset closing position and move towards the closing mechanism along the first direction, the rolling part is enabled to be abutted against the closing mechanism and roll on the closing mechanism, the bottom plate is driven to move towards the discharging port along the second direction, the electromagnetic part is controlled to be connected with the bottom plate, so that the bottom plate covers the discharging port, the next non-standard part can be sorted, the non-standard part does not need to be sorted manually, the sorting efficiency can be improved, and the labor cost can be reduced.

Drawings

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

Fig. 1 is a schematic view of a non-standard part sorting apparatus provided in an embodiment of the present application;

fig. 2 is a schematic connection diagram of a control unit of the non-standard part sorting apparatus according to an embodiment of the present application;

fig. 3 is a schematic view of a first perspective of an end effector of a non-standard part sorting apparatus according to an embodiment of the present application;

fig. 4 is a second perspective view of an end effector of a non-standard sorting device according to an embodiment of the present application;

FIG. 5 is a schematic view of a closing mechanism of a non-standard part sorting apparatus provided in an embodiment of the present application;

fig. 6 is a logic diagram of the operation of the non-standard part sorting device provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of a sortation system provided by an embodiment of the present application;

fig. 8 is a flowchart of a sorting method according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present 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, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The sorting system can be applied to sorting fields, such as express transfer stations. The utility model provides a non-standard piece sorting device is connected with the bottom plate through the electromagnetism piece, bounding wall and bottom plate have formed one in other words to make up and have held the box, non-standard piece can drop to the chamber that holds of bounding wall from connecing the material mouth, control unit electricity is connected arm and electromagnetism piece, control arm drive end effector moves to predetermineeing the unloading position, and control electromagnetism piece and bottom plate disconnection, so that the bottom plate opens the feed opening under the action of gravity, non-standard piece can drop to corresponding letter sorting address from the feed opening, again control arm drive end effector moves to predetermineeing closed position, and move towards closed mechanism along the first direction, make rolling member and closed mechanism butt roll on closed mechanism, drive the bottom plate along the second direction to the feed opening motion down, and control electromagnetism piece and bottom plate be connected, so that the bottom plate shelters from the feed opening, so as to can sort next non-standard piece, need not to sort non-standard piece through the manual work, not only can improve letter sorting efficiency, can also reduce the cost of labor.

Referring to fig. 1 to 6, in an embodiment of the present invention, a non-standard part sorting apparatus 100 is provided, including: the mechanical arm 1, the end effector 2, the closing mechanism 3 and the control unit 4;

the end effector 2 includes: the mechanical arm comprises a coaming 21 connected with the mechanical arm 1, at least one bottom plate 22 rotationally connected with the coaming 21, at least one rolling part 23 rotationally connected with the bottom plate 22, and an electromagnetic part 24 connected with the coaming 21;

the shroud 21 defines an accommodating cavity 103 with a receiving opening 101 and a discharging opening 102;

the closing mechanism 3 is located at a preset closing position;

the control unit 4 is electrically connected with the mechanical arm 1 and the electromagnetic part 24, and is used for controlling the mechanical arm 1 to drive the end effector 2 to move to a preset blanking position, and controlling the electromagnetic part 24 to be disconnected with the bottom plate 22, so that the bottom plate 22 opens the blanking opening 102 under the action of gravity, and then controlling the mechanical arm 1 to drive the end effector 2 to move to a preset closing position, and move towards the closing mechanism 3 along the first direction, so that the rolling part 23 is abutted against the closing mechanism 3 and rolls on the closing mechanism 3, the bottom plate 22 is driven to move towards the blanking opening 102 along the second direction, and the electromagnetic part 24 is controlled to be connected with the bottom plate 22, so that the bottom plate 22 covers the blanking opening 102.

It should be noted that, when the electromagnetic element 24 is connected to the bottom plate 22, the enclosing plate 21 and the bottom plate 22 are combined to form a containing box, the non-standard element can fall into the containing box from the receiving opening 101, that is, the containing cavity 103 of the enclosing plate 21, and the bottom plate 22 can carry the non-standard element. The control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset discharging position, the preset discharging position refers to a position above a sorting address of a non-standard part, and controls the electromagnetic part 24 to be disconnected from the bottom plate 22, so that the bottom plate 22 opens the discharging opening 102 under the action of gravity, the non-standard part can fall from the discharging opening 102 to the corresponding sorting address, the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset closing position and move towards the closing mechanism 3 along a first direction, so that the rolling part 23 is abutted against the closing mechanism 3, and the end effector 2 is continuously driven to move along the first direction, so that the rolling part 23 rolls on the closing mechanism 3 and rolls from a direction far away from the discharging opening 102 towards a direction close to the discharging opening 102, so as to drive the bottom plate 22 to move towards the discharging opening 102 along a second direction, namely, the bottom plate 22 rotates towards the discharging opening 102, the first direction and the second direction are opposite, for example, the first direction can be a vertical downward direction, the control unit 4 controls the electromagnetic part 24 to be connected with the bottom plate 22, so that manual sorting efficiency of the non-standard part can be improved, and the sorting efficiency can be improved.

In addition, this application is through setting up closing mechanism 3 at preset closed position, need not to set up extra power supply at end effector 2 and close bottom plate 22, can reduce end effector 2's cost to can also reduce end effector 2's dead weight, so that end effector 2 can bear heavier non-standard piece, improves end effector 2's suitability. This application can realize closing of bottom plate 22 through the motion of arm 1, need not manual operation, can not lose letter sorting takt time.

In this embodiment, during the process that the robot arm 1 drives the end effector 2 to move to the preset blanking position, the end effector 2 is always kept in a horizontal state, that is, the bottom plate 22 is parallel to the horizontal plane, so as to prevent the non-standard part from falling from the end effector 2. In addition, in the non-standard part sorting process, the mechanical arm 1 does not need to drive the end effector 2 to rotate, the mechanical arm 1 with low degree of freedom is suitable, and design difficulty and cost are reduced.

In this embodiment, the control unit 4 may be a single chip microcomputer or a PLC (programmable logic controller). Of course, the control unit 4 may also be other mechanisms with control function, and the application is not limited herein.

In this embodiment, referring to fig. 3, the enclosure 21 may include a frame 211 and a plurality of side guards 212 connected to the frame 211, and the frame 211 and the side guards 212 may be made of a metal material, such as carbon steel or aluminum, for increasing strength. In order to reduce the dead weight of the end effector 2, the thickness of the frame 211 may be 3mm to 5mm, the thickness of the side barrier 212 may be 0.2mm to 1mm, and the thickness of the frame 211 and the thickness of the side barrier may be other thickness values, which is not limited herein.

Further, the number of the side guards 212 may be four, and the four side guards 212 are connected to each other so that the overall shape of the end effector 2 is a hexahedron. The length, width and height dimensions of the end effector 2 may be set according to common non-standard dimensions, for example, the length and width may be 500mm-600mm and the height may be 250mm-300mm.

In this embodiment, the base 22 may be connected to the enclosure 21 by a hinge to allow pivotal connection of the base 22 to the enclosure 21. The hinge may be a torsion spring hinge, and the rotation angle of the bottom plate 22 is limited by the elasticity of the torsion spring, for example, the maximum rotation angle of the bottom plate 22 is limited to 90 °.

In this embodiment, the electromagnetic element 24 may be an electromagnet, the electromagnet may be attracted to the bottom plate 22 by the magnetic force generated after the electromagnet is powered on, and the control unit 4 controls the electromagnet to be attracted to or not attracted to the bottom plate 22 by powering on or powering off the electromagnet. This electromagnetism piece 24 also can be electromagnetic lock, bottom plate 22 is last have with electromagnetic lock complex hasp 221, electromagnetic lock's lock core can carry out the lock with hasp 221, the motion of lock core can be controlled after the electromagnetic lock circular telegram, make lock core and hasp 221 carry out the lock or not carry out the lock, then the control unit 4 controls electromagnetic lock's lock core and hasp 221 lock or not lock through circular telegram to electromagnetic lock, and can keep the state of lock core after the electromagnetic lock outage, after lock core and hasp 221 lock, also can keep lock core and hasp 221's lock to the electromagnetic lock outage, can save the electric energy, reduce generating heat of electromagnetic lock, the life of extension electromagnetic lock.

In addition, in order not to influence the containing cavity 103 to contain the non-standard part, the electromagnetic lock is located outside the containing cavity 103, namely the electromagnetic lock is connected with one side of the enclosing plate 21 far away from the containing cavity 103, then the bottom plate 22 is also provided with a protruding part extending to the outside of the containing cavity 103, and the lock catch 221 is connected with the protruding part, so that the electromagnetic lock is buckled with the lock catch 221.

In addition, when the electromagnetic element 24 is an electromagnet, the bottom plate 22 is made of a material that can be attracted to the electromagnet, or a portion of the bottom plate 22 that can be attracted to the electromagnet is made of a material that can be attracted to the electromagnet, such as a magnet or a metal material, or a special material that can be easily attracted, such as a glass fiber PTFE (polytetrafluoroethylene) coating or a water-based paint that can be attracted to the electromagnet, can be coated or placed on the portion of the bottom plate 22 that can be attracted to the electromagnet. When the electromagnetic member 24 is an electromagnetic lock, the material of the base plate 22 may be a lightweight material, such as carbon fiber or engineering plastic, to reduce the dead weight of the end effector 2.

In this embodiment, referring to fig. 3 and 4, the end effector 2 further includes a mounting flange 25 connected to the shroud 21, and is connected to the robotic arm 1 via the mounting flange 25. When the electromagnetic member 24 is an electromagnetic lock, it can be connected to the mounting flange 25 through a mounting plate, and the electromagnetic lock is mounted on the mounting plate, so that the electromagnetic lock is located outside the accommodating cavity 103. When the electromagnetic member 24 is an electromagnet, the electromagnet may be connected to an end of the enclosure 21 near the opening.

In this embodiment, the number of the electromagnetic members 24 may be the same as the number of the base plates 22, and each electromagnetic member 24 is correspondingly connected to one base plate 22, so as to improve the stability of the closing of the base plates 22.

In this embodiment, referring to fig. 1, the control unit 4 can control the mechanical arm 1 to drive the end effector 2 to move to a preset material receiving position to receive a non-standard part. The preset material receiving position can be one end of the workpiece supply device 200, and when the end effector 2 is located at the preset material receiving position, the workpiece supply device 200 transports the non-standard workpiece to the end effector 2. The feeding device 200 may be a belt conveyor, a roller conveyor or a chain conveyor, as long as it is a mechanism capable of transporting goods, and the present application is not limited thereto.

In addition, the preset closing position can be the same position as the preset material receiving position, that is, the closing mechanism 3 is arranged at one end of the piece supplying device 200, when the rolling piece 23 abuts against the closing mechanism 3, the bottom plate 22 of the end effector 2 shields the feed opening 102, the piece supplying device 200 rapidly transports the non-standard piece to the end effector 2, and the end effector 2 can rapidly receive the next non-standard piece, so that the sorting efficiency is improved.

In this embodiment, referring to fig. 1, the sorting address refers to one sorting cell 300 corresponding to the delivery address of the non-standard component in the plurality of sorting cells 300, and the predetermined blanking position may be above the sorting cell 300. The sorting cell 300 may be a conveyor belt or a chute.

In this embodiment, the rolling member 23 may be a roller or a ball, but may also be other structures capable of rolling, and the application is not limited herein. When the rolling member 23 is a roller, it can pass through the bottom plate 22 through a rotating shaft and is fixedly connected with the bottom plate 22, and the roller is rotatably connected with the rotating shaft through a bearing, so as to realize the rotatable connection of the roller and the bottom plate 22. When the rolling members 23 are balls, a rolling groove may be provided on the base plate 22, or a receiving portion having a rolling groove may be provided on the base plate 22, a part of the balls is located in the rolling groove and rotatably connected to the base plate 22, and another part of the balls protrudes to the outside of the rolling groove.

In some embodiments, referring to fig. 5 and fig. 6, the closing mechanism 3 includes at least one closing sub-mechanism 31, and the closing sub-mechanism 31 includes a supporting frame 311, a supporting plate 312 connected to the supporting frame 311, and a first side plate 313 connected to the supporting plate 312 and disposed obliquely to the supporting plate 312. When the end effector 2 is located the preset closing position, when not abutting against the closing mechanism 3, the rolling member 23 is located directly above the first side plate 313, the bearing plate 312 is located directly below the feed opening 102, when the rolling member 23 abuts against the closing mechanism 3, the rolling member 23 abuts against the first side plate 313 first, at this time, the mechanical arm 1 continues to drive the end effector 2 to move along the first direction, the rolling member 23 can roll towards the bearing plate 312 on the inclined first side plate 313, thereby driving the bottom plate 22 to rotate towards the feed opening 102 until the bottom plate 22 blocks the feed opening 102, the bottom plate 22 does not need to be closed manually, not only can the sorting efficiency be improved, but also the labor cost can be reduced.

In this embodiment, the inclination angle between the first side plate 313 and the loading plate 312 is an obtuse angle, for example, the inclination angle is 120 °, that is, the first side plate 313 is inclined in a direction away from the loading plate 312, so as to ensure that the rolling member 23 can roll from the first side plate 313 toward the loading plate 312.

In this embodiment, the thickness of the rolling member 23 is greater than that of the bottom plate 22, so that when the rolling member 23 abuts against the closing sub-mechanism 31, the bottom plate 22 does not abut against the closing sub-mechanism 31, the closing sub-mechanism 31 is prevented from interfering with the rotation of the bottom plate 22, and the bottom plate 22 can be ensured to cover the feed opening 102.

In this embodiment, the supporting frame 311 includes three supporting rods 3111 arranged in a triangle, and a connecting plate 3112 connecting the three supporting rods 3111, which can save cost and increase stability of the supporting frame 311.

In this embodiment, referring to fig. 3 to fig. 6, the number of the bottom plates 22 is two, and the two bottom plates 22 are disposed opposite to each other, the closing sub-mechanism 31 further includes a second side plate 314 connected to the bearing plate 312 and disposed obliquely to the bearing plate 312, and the first side plate 313 and the second side plate 314 are disposed opposite to each other and have opposite oblique directions. Namely, each bottom plate 22 is provided with a rolling element 23, when the rolling elements 23 abut against the closing mechanism 3, the rolling elements 23 on the two bottom plates 22 abut against the first side plate 313 and the second side plate 314 respectively, at this time, the mechanical arm 1 continues to drive the end effector 2 to move along the first direction, the rolling elements 23 on the two bottom plates 22 can roll towards the bearing plate 312 on the inclined first side plate 313 and the second side plate 314 respectively, so as to drive the two bottom plates 22 to rotate towards the feed opening 102 until the two bottom plates 22 shield the feed opening 102, the two bottom plates 22 do not need to be closed manually, not only can the sorting efficiency be improved, but also the labor cost can be reduced.

In this embodiment, the rolling members 23 of the two bottom plates 22 are arranged in a mirror image manner, so as to ensure that the rolling members 23 of the two bottom plates 22 can abut against the first side plate 313 and the second side plate 314 respectively.

In this embodiment, the inclination angle between the second side plate 314 and the loading plate 312 is also an obtuse angle, for example, the inclination angle is 120 °, that is, the second side plate 314 is also inclined towards the direction away from the loading plate 312, and the first side plate 313 and the second side plate 314 are respectively connected to two ends of the loading plate 312, so as to ensure that the rolling members 23 on the two bottom plates 22 can roll from the first side plate 313 and the second side plate 314 towards the loading plate 312.

In this embodiment, referring to fig. 5, the closing sub-mechanism 31 further includes a reinforcing plate 315 connected to the bearing plate 312, the first side plate 313 and/or the second side plate 314, so as to increase the rigidity of the closing sub-mechanism 3.

In this embodiment, the size of the loading plate 312, the first side plate 313 and the second side plate 314 is set according to the size of the rolling member 23 and the size of the end effector 2 as long as the closing mechanism 3 can be made to carry the rolling member 23 and the bottom plate 22 is closed. For example, the width of the rolling member 23 is 40mm, and the width of the loading plate 312, the first side plate 313 and the second side plate 314 may be 50mm. The length of the end effector 2 is 500mm, the length of the carrier plate 312 may be 400mm, and the length of the first side plate 313 and the second side plate 314 may be 300mm.

In this embodiment, the number of closure sub-mechanisms 31 is the same as the number of rolling members 23 on one base plate 22. When a plurality of rolling members 23 are arranged on one bottom plate 22, the number of the closing sub-mechanisms 31 is also multiple, and the plurality of closing sub-mechanisms 31 are respectively abutted against the plurality of rolling members 23 on one bottom plate 22, so that the plurality of rolling members 23 of the bottom plate 22 can be abutted against the closing mechanism 3, the smoothness of closing the bottom plate 22 is improved, and the bottom plate 22 can be ensured to shield the feed opening 102.

In this embodiment, referring to fig. 3 to 6, the number of the rolling members 23 is two, and the two rolling members 23 are respectively connected to both ends of one bottom plate 22, so the number of the closing sub mechanisms 31 is also two, the two closing sub mechanisms 31 are arranged in a mirror image, each closing sub mechanism 31 abuts against one rolling member 23 on one bottom plate 22, the two closing sub mechanisms 31 abut against four rolling members 23 on the two bottom plates 22, and smoothness of closing the two bottom plates 22 is improved, and by arranging the rolling members 23 at the end portions of the bottom plates 22, when the rolling members 23 abut against the closing sub mechanisms 31, the bottom plates 22 are prevented from abutting against the closing sub mechanisms 31, and the closing sub mechanisms 31 are prevented from interfering with rotation of the bottom plates 22.

In this embodiment, the distance between the two closure sub-mechanisms 31 is the same or approximately the same as the distance between the two rolling elements 23, in order to ensure that the two rolling elements 23 can be brought into exact abutment with the two closure sub-mechanisms 31. For example, if the distance between two rolling elements 23 on one base plate 22 is 600mm, the distance between two closure sub-mechanisms 31 may be 600m.

In some embodiments, referring to fig. 3, the bottom plate 22 includes a plate body 222 rotatably connected to the surrounding plate 21, and at least one extending plate 223 connected to one end of the plate body 222 and extending in a direction away from the accommodating cavity 103, and the rolling member 23 is rotatably connected to the extending plate 223, so that the rolling member 23 is always located outside the accommodating cavity 103, and thus the bottom plate 22 does not interfere with the covering of the feed opening 102, and the bottom plate 22 does not interfere with the connection of the electromagnetic member 24.

In this embodiment, the extension plate 223 may be vertically connected to the plate body 222. The number of extension plates 223 is the same as the number of rolling members 23 on one base plate 22, and one rolling member 23 is attached to each extension plate 223.

In some embodiments, referring to fig. 4, the end effector 2 further includes a proximity switch 26 coupled to an end of the shroud 21 proximate the feed opening 102. The proximity switch 26 can be used to monitor whether the bottom plate 22 blocks the feed opening 102, that is, when the bottom plate 22 blocks the feed opening 102, the proximity switch 26 is triggered by the bottom plate 22 and always sends a closing signal to the control unit 4, so that the control unit 4 can know the position of the bottom plate 22. If the proximity switch 26 is not triggered, it indicates that the bottom plate 22 does not block the feed opening 102, and the situation that the bottom plate 22 is opened by mistake in the non-standard part sorting process or the bottom plate 22 cannot be closed after the rolling member 23 abuts against the closing mechanism 3 may occur, at this time, the control unit 4 fails to receive a closing signal for a long time, and can suspend sorting and perform an abnormal alarm, so as to avoid wrong sorting of the non-standard parts.

In this embodiment, the number of proximity switches 26 may be the same as the number of base plates 22, with each proximity switch 26 monitoring one base plate 22 to improve the accuracy of the triggering.

In this embodiment, the proximity switch 26 may be an electro-optic proximity switch, a hall proximity switch, a capacitive proximity switch, or a vortex proximity switch. In addition, in order to facilitate the triggering of the proximity switch 26, a corresponding sensing member may be disposed on the bottom plate 22 according to the type of the proximity switch 26.

In some embodiments, referring to fig. 3 and 4, the end effector 2 further includes at least one detecting member 27 connected to the shroud 21, and the detecting member 27 is used for sensing whether the non-standard member is in the accommodating cavity 103 of the shroud 21. That is, when the containing cavity 103 of the enclosing plate 21 contains the non-standard part, the detecting part 27 is triggered by the non-standard part and sends a sorting signal to the control unit 4, so that the control unit 4 can control the mechanical arm 1 to drive the end effector 2 to sort the non-standard part according to the sorting signal.

Further, the detecting member 27 may be a photoelectric sensor. Of course, the detecting member 27 may be other types of sensors, such as an ultrasonic sensor or a laser sensor, and the application is not limited thereto.

In this embodiment, the shroud 21 has mounting holes through which the detector 27 can be mounted to the shroud 21.

In this embodiment, since the non-standard components are various, in order to improve the accuracy rate of sensing the non-standard components, a plurality of detecting components 27 may be arranged on the enclosing plate 21, and the plurality of detecting components 27 may be arranged in an array.

Referring to fig. 6, the following describes the operation of the non-standard part sorting apparatus 100 of the present application:

the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset material receiving position, and receives non-standard pieces conveyed by the piece supplying device 200;

the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset blanking position, and controls the electromagnetic part 24 to be disconnected with the bottom plate 22, so that the bottom plate 22 opens the blanking opening 102 under the action of gravity, and non-standard parts can fall to corresponding sorting addresses from the blanking opening 102;

the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset closing position, and moves towards the closing mechanism 3 along the first direction, so that the rolling piece 23 is abutted to the closing mechanism 3, and the end effector 2 is continuously driven to move along the first direction, so that the rolling piece 23 rolls on the closing mechanism 3, and rolls from the direction far away from the feed opening 102 towards the direction close to the feed opening 102, so as to drive the bottom plate 22 to move towards the feed opening 102 along the second direction, and the control unit 4 controls the electromagnetic piece 24 to be connected with the bottom plate 22, so that the bottom plate 22 shields the feed opening 102. And the process is repeated to finish the sorting of a plurality of nonstandard parts.

Referring to fig. 7, based on the non-standard part sorting apparatus 100, the present application further provides a sorting system, including: a supply device 200, and the non-standard part sorting device 100; the parts feeder 200 is used to transport nonstandard parts into the receiving cavity 103 of the end effector 2.

It should be noted that one end of the workpiece supply device 200 may be a preset material receiving position, the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to the preset material receiving position, and the workpiece supply device 200 transports the non-standard workpiece to the accommodating cavity 103 of the end effector 2. The control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset discharging position, the preset discharging position refers to a position above a sorting address of a non-standard part, and controls the electromagnetic part 24 to be disconnected from the bottom plate 22, so that the bottom plate 22 opens the discharging opening 102 under the action of gravity, the non-standard part can fall from the discharging opening 102 to the corresponding sorting address, the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset closing position and move towards the closing mechanism 3 along a first direction, so that the rolling part 23 is abutted against the closing mechanism 3, and the end effector 2 is continuously driven to move along the first direction, so that the rolling part 23 rolls on the closing mechanism 3 and rolls from a direction far away from the discharging opening 102 towards a direction close to the discharging opening 102, so as to drive the bottom plate 22 to move towards the discharging opening 102 along a second direction, namely, the bottom plate 22 rotates towards the discharging opening 102, the first direction and the second direction are opposite, for example, the first direction can be a vertical downward direction, the control unit 4 controls the electromagnetic part 24 to be connected with the bottom plate 22, so that manual sorting efficiency of the non-standard part can be improved, and the sorting efficiency can be improved.

In this embodiment, referring to fig. 7, the sorting system further includes a plurality of sorting cells 300 located at the side of the non-standard part sorting apparatus 100, each sorting cell 300 corresponds to a sorting flow direction (i.e., a distribution address), and the non-standard part sorting apparatus 100 transports the non-standard part to one sorting cell 300 corresponding to the distribution address of the non-standard part among the plurality of sorting cells 300.

Furthermore, the sorting cell 300 may be a conveyor belt or a chute. The one end of letter sorting check mouth 300 still is equipped with support 301, and the packing bag can overlap on support 301, and letter sorting check mouth 300 can transport nonstandard piece to the packing bag in to pack nonstandard piece fast.

Referring to fig. 8, based on the above sorting system, the present application further provides a sorting method applied to the above sorting system, the sorting method includes:

step S1, the parts supply device 200 is used for transporting non-standard parts to the accommodating cavity 103 of the end effector 2;

s2, the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset blanking position, and controls the electromagnetic part 24 to be disconnected with the bottom plate 22, so that the bottom plate 22 opens the blanking port 102 under the action of gravity, and the non-standard part falls from the accommodating cavity 103;

and S3, the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset closing position, and moves the closing mechanism 3 along the first direction, so that the rolling piece 23 is abutted to the closing mechanism 3 and rolls on the closing mechanism 3, the bottom plate 22 is driven to move towards the lower material opening 102 along the second direction, and the electromagnetic piece 24 is controlled to be connected with the bottom plate 22, so that the bottom plate 22 shields the lower material opening 102.

It should be noted that one end of the workpiece supply device 200 may be a preset material receiving position, the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to the preset material receiving position, and the workpiece supply device 200 transports the non-standard workpiece to the accommodating cavity 103 of the end effector 2. The control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset blanking position, the preset blanking position refers to a position above a sorting address of a non-standard part, and controls the electromagnetic part 24 to be disconnected from the bottom plate 22, so that the bottom plate 22 opens the blanking opening 102 under the action of gravity, the non-standard part can fall from the blanking opening 102 to a corresponding sorting address, the control unit 4 controls the mechanical arm 1 to drive the end effector 2 to move to a preset closing position and move towards the closing mechanism 3 along a first direction, so that the rolling part 23 is abutted against the closing mechanism 3, and the end effector 2 is continuously driven to move along the first direction, so that the rolling part 23 rolls on the closing mechanism 3 and rolls from a direction far away from the blanking opening 102 towards a direction close to the blanking opening 102, so as to drive the bottom plate 22 to move towards the blanking opening 102 along a second direction, namely, the bottom plate 22 rotates towards the blanking opening 102, the first direction and the second direction are opposite, for example, the first direction can be a vertical downward direction, the control unit 4 controls the electromagnetic part 24 to be connected with the bottom plate 22, so that the bottom plate 22 can shield the blanking opening, so that the non-standard part can be sorted manually, and the non-standard part can be sorted, thereby the efficiency can be improved, and the non-standard part sorting efficiency can be sorted.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.

In a specific implementation, each component or structure may be implemented as an independent entity, or may be combined arbitrarily and implemented as one or several entities, and the specific implementation of each component or structure may refer to the foregoing embodiments, which are not described herein again.

The non-standard part sorting device, the non-standard part sorting system and the non-standard part sorting method provided by the embodiment of the invention are described in detail, a specific embodiment is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A non-standard part sorting device, comprising: the device comprises a mechanical arm, an end effector, a closing mechanism and a control unit;

the end effector includes: the mechanical arm comprises a coaming, at least one bottom plate, at least one rolling piece and an electromagnetic piece, wherein the coaming is connected with the mechanical arm;

the coaming defines an accommodating cavity with a material receiving opening and a material discharging opening;

the closing mechanism is located at a preset closing position;

the control unit electricity is connected the arm with the electromagnetism piece is used for control the arm drive end effector moves to predetermineeing the unloading position, and control the electromagnetism piece with bottom plate disconnection, so that the bottom plate opens under the action of gravity the feed opening, the control again the arm drive end effector moves to predetermineeing the closed position, and follows first direction court the closed mechanism motion makes the rolling piece with the closed mechanism butt rolls on the closed mechanism, drives the bottom plate is followed the second direction court the feed opening motion, and control the electromagnetism piece with the bottom plate is connected, so that the bottom plate shelters from the feed opening.

2. The non-standard part sorting apparatus according to claim 1, wherein the closing mechanism comprises at least one closing sub-mechanism, the closing sub-mechanism comprising a support frame, a carrying plate connected to the support frame, and a first side plate connected to the carrying plate and disposed obliquely to the carrying plate.

3. The non-standard part sorting apparatus according to claim 2, wherein the number of the bottom plates is two, and the two bottom plates are oppositely disposed;

the sub-mechanism of the said closure also includes connecting with said bearing plate and with the second curb plate that the said bearing plate tilts and sets up, the said first curb plate sets up and tilts the opposite direction with the said second curb plate relatively.

4. The non-standard part sorting apparatus according to claim 2, wherein the number of the shutter sub-mechanisms is the same as the number of the rolling members on one of the base plates.

5. The non-standard part sorting apparatus according to claim 4, wherein the number of the rolling members is two, and two of the rolling members are connected to both ends of one of the base plates, respectively.

6. The non-standard part sorting apparatus according to any one of claims 1 to 5, wherein the base plate includes a plate body rotatably coupled to the surrounding plate, and at least one extension plate coupled to an end of the plate body and extending in a direction away from the receiving chamber, the roller being rotatably coupled to the extension plate.

7. The non-standard part sorting apparatus according to any one of claims 1 to 5, wherein the end effector further comprises a proximity switch connected to an end of the enclosure adjacent to the feed opening.

8. The non-standard part sorting apparatus according to any one of claims 1 to 5, wherein the end effector further comprises at least one detecting member connected to the enclosing plate.

9. A sorting system, comprising: a supply device, and a non-standard part sorting device according to any one of claims 1 to 8; the parts supply device is used for transporting nonstandard parts to the accommodating cavity of the end effector.

10. A sorting method, applied to the sorting system according to claim 9, the method comprising:

the parts supply device is used for transporting nonstandard parts to the accommodating cavity of the end effector;

the control unit controls the mechanical arm to drive the end effector to move to a preset blanking position and controls the electromagnetic part to be disconnected with the bottom plate, so that the bottom plate opens the blanking port under the action of gravity, and the non-standard part falls from the accommodating cavity;

the control unit controls the mechanical arm to drive the end effector to move to a preset closing position, the closing mechanism moves along a first direction, the rolling piece is enabled to be abutted against the closing mechanism and roll on the closing mechanism, the bottom plate is driven to move towards the feed opening along a second direction, and the electromagnetic piece is controlled to be connected with the bottom plate, so that the feed opening is shielded by the bottom plate.

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