CN209697521U - A kind of non-grasping/releasing Automated Sorting System - Google Patents
A kind of non-grasping/releasing Automated Sorting System Download PDFInfo
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- CN209697521U CN209697521U CN201920237733.5U CN201920237733U CN209697521U CN 209697521 U CN209697521 U CN 209697521U CN 201920237733 U CN201920237733 U CN 201920237733U CN 209697521 U CN209697521 U CN 209697521U
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Abstract
The utility model provides a kind of non-grasping/releasing Automated Sorting System.Wherein, the Automated Sorting System includes: the pigeonholes that article is transmitted for receiving conveying mechanism；For article on the pigeonholes to be pushed to the pushing meanss on handling device；And the article come and the handling device for being transported to sorting cabinet are pushed away for receiving the pushing meanss.The utility model conveys article to pigeonholes by conveying mechanism, and onto article is shifted to the conveyor type end effector on handling device by the pushing hands component in pushing meanss from pigeonholes, Item Information to be recognized by handling device according to item identification devices will be in article carrying to corresponding sorting cabinet, not only make soft, irregular shape and is resolved compared with the crawl difficulty of heavy articles, and sorting speed is improved, cost of investment is reduced.
Description
Technical field
The utility model relates to Sorting Technique field, in particular to a kind of non-grasping/releasing Automated Sorting System.
Background technique
In the sorting system of modernization, it can be grabbed by clamping jaw or sucker suction article sorts article.It is logical
It crosses clamping jaw crawl article and is put into corresponding sorting cabinet or sucker suction article is put into corresponding sorting cabinet, realize and article is divided
Pick operation, non-single sort operation mode, but also goods sorting is more convenient.
Current existing robot sorting system identifies segregating articles using handgrip in robot or sucker, but machine
People grabs the sorting of article with sucker, has certain difficulty for the crawl of soft, irregular shape and heavier article, and
Soft be wrapped in sorting object occupies larger proportion, and sucker will succeed, completely grab soft goods, is easy to be limited by several factors
System.
Therefore, the prior art urgently needs a kind of non-grasping/releasing Automated Sorting System.
Utility model content
(1) purpose of utility model
To overcome above-mentioned at least one defect of the existing technology, it is automatic that the utility model provides a kind of non-grasping/releasing
Sorting system is shifted article on handling device onto pigeonholes, and then by pushing meanss by conveying article using conveying mechanism
Conveyor type end effector, article is transported to correspondence according to the Item Information that item identification devices recognize by handling device
Sorting cabinet in so that soft, irregular shape and the crawl difficulty compared with heavy articles are resolved, sorting speed is improved.
(2) technical solution
As the utility model in a first aspect, the utility model discloses a kind of non-grasping/releasing Automated Sorting System, wrap
It includes:
The pigeonholes of article is transmitted for receiving conveying mechanism；
For article on the pigeonholes to be pushed to the pushing meanss on handling device；
And the article come and the handling device for being transported to sorting cabinet are pushed away for receiving the pushing meanss.
In a kind of possible embodiment, the conveying mechanism is conveyor type conveying mechanism.
In a kind of possible embodiment, the pushing meanss and/or the handling device are manipulator.
In a kind of possible embodiment, the pushing meanss include the pushing hands component of setting at its end, for pushing
Or on the traction pigeonholes on article to the handling device.
In a kind of possible embodiment, the pushing hands component for pushing the side of article to be provided with inner sunken face.
In a kind of possible embodiment, at least side of the pushing hands component inner sunken face is provided at least one suction
Disk is used for adsorbent article.
In a kind of possible embodiment, the pushing meanss include impeller-hub, and the pushing hands component passes through the promotion
Axis is rotatablely connected or is slidably connected with the pushing meanss.
In a kind of possible embodiment, the handling device includes conveyor type end effector, described for receiving
Pushing meanss push away the article come and the article are sent in the sorting cabinet.
In a kind of possible embodiment, the handling device includes carrying axis, and the conveyor type end effector is logical
The carrying axis is crossed to be rotatablely connected or be slidably connected with the handling device.
In a kind of possible embodiment, the sorting system further include: the Item Information of article to be sorted for identification
Item identification devices, the item identification devices are installed in the pushing meanss and/or the handling device and/or described
In pigeonholes and/or the pigeonholes external environment.
In a kind of possible embodiment, the edge of the handling device is provided with reception device, for receiving the object
The identification signal comprising Item Information that product identification device is sent.
(3) beneficial effect
A kind of non-grasping/releasing Automated Sorting System provided by the utility model, is transported article by conveyor type conveying mechanism
Pigeonholes is transported to, is executed to shift article onto conveyor type end on handling device by the pushing hands component in pushing meanss
Device, or by the sucker in pushing meanss by article-absorbing to the conveyor type end effector on handling device, carry dress
Set the Item Information recognized according to item identification devices in article carrying to corresponding sorting cabinet, will not only solve it is soft,
Irregular shape and crawl difficulty compared with heavy articles, and for the material of article to be sorted, volume and weight etc. without too many
Limitation, also allows for sorting speed and is improved, cost of investment is accordingly reduced.
Detailed description of the invention
It is exemplary below with reference to the embodiment of attached drawing description, it is intended to it is used for explanation and illustration the utility model, without
It can be interpreted as the limitation to the protection scope of the utility model.
Fig. 1 is a kind of structural schematic diagram of non-grasping/releasing Automated Sorting System provided by the utility model.
Appended drawing reference:
1 conveying mechanism
2 pigeonholes
3 pushing meanss
4 pushing hands components
5 handling devices
6 end effectors
7 articles
Specific embodiment
To keep the purposes, technical schemes and advantages of the utility model implementation clearer, below in conjunction with the utility model
Attached drawing in embodiment, is further described in more detail the technical scheme in the embodiment of the utility model.
It should be understood that in the accompanying drawings, from beginning to end same or similar label indicate same or similar element or
Element with the same or similar functions.The embodiments are a part of the embodiments of the present invention, rather than whole
Embodiment, in the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.Based on this reality
It is obtained by those of ordinary skill in the art without making creative efforts every other with the embodiment in novel
Embodiment is fallen within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion institute
The device or element of finger must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this reality
With the limitation of novel protected range.
The attached drawing being used in the present invention adjusts the size of each section in figure to more accurately show various pieces
It is whole.
A kind of non-grasping/releasing Automated Sorting System provided by the utility model is described in detail below with reference to Fig. 1 first is implemented
Example.As shown in Figure 1, Automated Sorting System provided in this embodiment specifically includes that pigeonholes, pushing meanss and handling device.
Pigeonholes is for receiving the article that conveying mechanism transmits.Conveying mechanism conveys article and reaches pigeonholes, and pigeonholes exists
It, can be by the item identification devices being arranged on pigeonholes and/or setting in pigeonholes external environment after receiving article
Item identification devices identification operation is carried out to article.Conveying mechanism can be moving trolley, conveyer belt etc., and pigeonholes can be
Positioned at (having recognition reaction) support construction for conveying mechanism conveying article end, several articles are by conveying mechanism
Conveying is temporarily stored in pigeonholes.
Conveying mechanism can be used with pigeonholes and be fixedly connected, so that conveying mechanism links together with pigeonholes；Conveying
Mechanism can also be connected and fixed with pigeonholes without using any, be placed side by side in specific range；Conveying mechanism and pigeonholes
Position, distance etc. can not also do any limitation, should specifically be subject to the selection of conveying mechanism.Such as when conveying mechanism is
When moving trolley, moving trolley is moved to pigeonholes and article is poured on pigeonholes to the conveying operations for realizing article with this, this
When pigeonholes at a distance from moving trolley and limitation that position is not fixed；When conveying mechanism is conveyer belt, then pigeonholes
It can be fixedly connected with structure for conveying or place side by side, conveying mechanism conveys the end of article and the gap of pigeonholes with not shadow
It rings conveyer belt to work normally, and subject to article intact can be totally placed on pigeonholes after conveyer belt.Such as Fig. 1 institute
Show, conveying mechanism 1 and pigeonholes 2 are placed side by side.
The surface layer of pigeonholes can be rubber product, increase frictional force of the article on pigeonholes, avoid due to article
The phenomenon that article caused by movement is fallen from pigeonholes sliding.
Pushing meanss are used to article on pigeonholes being pushed to handling device.Pushing meanss push the object on pigeonholes
Product, so that the article on pigeonholes is shifted on handling device, to realize the moving operation of article.
Handling device is used to receive pushing meanss and pushes away the article come and carry article to sorting cabinet.Handling device, which receives, to be pushed
Device pushes away the article come, and the Item Information identified according to item identification devices is by article carrying to the corresponding sorting of sorting cabinet
In mouthful, to complete the identification sort operation of article.
In one embodiment, conveying mechanism is conveyor type conveying mechanism.As shown in Figure 1, conveying mechanism 1 can be
Conveyor type conveying mechanism, the setting of conveyor type conveying mechanism is so that article conveying is more quick, conveniently.In article by passing
When being transported to pigeonholes of belt type conveying mechanism is sent, article is temporarily stored on pigeonholes and waits the operation of next stage.
In one embodiment, pushing meanss and/or handling device are manipulator.Pushing meanss are manipulator, are passed through
The promotion operation of article is realized in the movement of manipulator；Handling device is also manipulator, also be may be implemented by the movement of manipulator
The carrying of article operates.
In one embodiment, pushing meanss include setting pushing hands component at its end, for pushing or drawing point
It picks on platform on article to handling device.As shown in Figure 1, pushing meanss 3 include: pushing hands component 4, pass through the promotion of pushing meanss 3
So that pushing hands component 4 shifts the article 7 on pigeonholes 2 on handling device 5 onto.
In one embodiment, pushing hands component for pushing the side of article to be provided with inner sunken face.Pushing hands component
Promotion article side be in inner concavity.As shown in Figure 1, it is in inner concavity that pushing hands component 4, which pushes the side of article, enable article
It enough deposits in the spill of the setting of pushing hands component 4, and is moved to handling device 5 under the action of pushing hands component 4；Pushing hands component 4
Indent side shape in curved surface, curved can be semi-circular shape, and the control of pushing hands component 4 is detached from when avoiding article mobile, is made
Obtaining pushing hands component 4 pushes operating process when article more smooth.In addition, the indent side of pushing hands component is provided with multiple flexibilities
Protrusion.As shown in Figure 1, multiple flexible projections should be arranged in the indent side of pushing hands component 4, flexible projection can be strip
Rubber product, semicircular cotton products etc..The setting of flexible projection increases pushing hands component 4 when article is pushed by pushing meanss 3
Degree of roughness at article contact position, increases frictional force, so that pushing hands component 4 avoids during pushing article
The operation of the disengaging of the article as caused by the effect of 3 thrust of pushing meanss 4 indent side of pushing hands component.
In one embodiment, at least side of pushing hands component inner sunken face is provided at least one sucker, for inhaling
Addendum product.As shown in Figure 1, the sucker being arranged on pushing hands component 4 can be located at the curved sides of pushing hands component 4, i.e. sucker is set to
The side of the flexible protrusion of pushing hands component 4；It can also be in the upper surface of curved sides edge, left side edge or right side edge
(i.e. three pushing hands component on of the pushing meanss when pushing article on pigeonholes, except pushing hands component and pigeonholes contact side
A edge lateral parts) setting sucker, pushing meanss 3 need that shaft is arranged at this time, connect pushing hands component 4 by shaft and inhale
Disk realizes rotation or moving operation when sucker suction article；Sucker can also be installed on the bottom surface of pushing hands component 4, i.e. pushing hands
Component 4 pushes the opposing face of article, is also required to that another shaft is arranged at this time to realize the movement in another freedom degree.In article
When class small article flat for envelope etc., by using the sucker suction article in pushing meanss, thus to the object on pigeonholes
Product play the role of traction, realize the moving operation on light and small flat class article to handling device.
In one embodiment, pushing meanss include impeller-hub, and pushing hands component is rotated by impeller-hub and pushing meanss
It connects or is slidably connected.Pushing meanss are provided with impeller-hub, and the connection of pushing hands component and pushing meanss is realized by impeller-hub, into
And it realizes pushing meanss and the promotion of article is operated by pushing hands component.Pushing hands component and pushing meanss are rotatablely connected or the company of sliding
Connect, when pushing hands component and pushing meanss are using being rotatablely connected, then impeller-hub is a rotation axis, rotation axis it is approximately axially vertical
In the upper surface of pigeonholes, can be used for shifting article onto handling device in pushing hands component, but the presence of the location of article pushes away
When dynamic inconvenient, the angle of pushing hands component is adjusted；When pushing hands component and pushing meanss are using being slidably connected, then impeller-hub is stretched for one
Contracting arm, the telescopic direction of telescopic arm are roughly parallel to pigeonholes upper surface.
In one embodiment, handling device includes conveyor type end effector, for receiving pushing meanss and pushing away
Article and article is sent in sorting cabinet.Handling device is provided with end effector, and pushing meanss are by article from pigeonholes
The end effector being pushed on handling device, end effector receive article.The end effector of handling device setting is to pass
Send belt end effector.As shown in Figure 1, the end effector 6 of handling device 5 can be conveyor type end effector, pass
It send belt end effector that article is sent in the corresponding sorting port of sorting cabinet by conveyor belts operation, avoids article 7 and divide
Grasping movement when picking realizes non-gripping formula sorting.Using pushing hands components drive compared with heavy articles, sucker suction small article,
Conveyor type end effector receives the carrying sort operation that article carries out article, and sort process is to the shape of article, material, again
Amount etc. does not limit too much, so that sort operation is more convenient, saves cost of investment.
In one embodiment, handling device includes carrying axis, and conveyor type end effector is by carrying axis and removing
Shipping unit is rotatablely connected or is slidably connected.Handling device is connect by carrying axis with conveyor type end effector, so that
Handling device can control the carrying operation of conveyor type end effector.The company of conveyor type end effector and handling device
It is connected in rotation connection or is slidably connected, when conveyor type end effector is used with handling device to be rotatablely connected, then carry axis
For a rotation axis, the upper surface for being approximately axially parallel to pigeonholes of rotation axis can be used to deliver belt end effector and exist
When placing an article within sorting cabinet, angle is put into for adjustment and the pitching motion implemented and roll movement；When conveyor type end is held
Row device and handling device are a telescopic arm using axis when being slidably connected, is then carried, and the telescopic direction of telescopic arm is roughly parallel to point
Pick platform upper surface.
In one embodiment, the side of pigeonholes is provided with the item identification devices of type of goods for identification, removes
Corresponding reception device is arranged in the edge of shipping unit.As shown in Figure 1, on pigeonholes 2 (article from pigeonholes shift onto carrying dress
By pigeonholes when setting) item identification devices can be set in side, and reception should be arranged in the corresponding edge in handling device 5
Device.Item identification devices for identification on article code information, to obtain Item Information, reception device is for receiving article
The Item Information that identification device obtains.
Item identification devices are when article pushes away pigeonholes by the pushing hands component in pushing meanss or in sucker suction object
Information content when product will reach handling device by pigeonholes on identification article, handling device are executed in conveyor type end
Article is put into the sorting port of corresponding sorting cabinet by the Item Information received when device receives article according to reception device, thus
Realize the identification sort operation of article.When pushing hands components drive article or sucker suction article leave pigeonholes, article identification
Device carries out the identification operation of single article code, and pushing meanss control the single passage of article, and pushing hands component or sucker are every at this time
It is secondary to transport an article arrival handling device, to successively carry out the sort operation of all items.
In another embodiment, item identification devices are provided on pigeonholes and/or in pigeonholes external environment, used
In article to be sorted on identification pigeonholes.On item identification devices acquisition pigeonholes after Item Information, Item Information is fed back
To System Control Center, System Control Center can be integrated on pushing meanss and/or handling device, and system control can also be separately provided
Center processed, after System Control Center receives the Item Information of identification, control pushing meanss optionally push one by one to be known
It is clipped to article, control handling device, which receives, to be pushed away the article come and be transported to corresponding sorting cabinet, and primary sorting is completed.Further
Ground, System Control Center is after receiving the Item Information identified, to multiple Item Information (such as article class recognized
Not, size, pose, ownership place), calculating is optimized, the sorting sequence of article to be sorted is selected, improves sorting efficiency.
In another embodiment, item identification devices also can be set on pushing hands component, for identification on pigeonholes
The information such as the classification of article to be sorted and pose.Item identification devices include bar code reader and 3D visual sensor, and article is known
Other device obtains the classification and posture information etc. of multiple articles on pigeonholes, according to posture information, optimization calculate selection push to
The classification information of the article is simultaneously sent to handling device by segregating articles, and handling device is transported to pair according to the Item Information of acquisition
Sorting cabinet is answered, primary sorting is completed.
In one embodiment, item identification devices also can be set on conveyor type end effector, for identification
Pushing meanss push away the article come.Conveyor type end effector carries article to corresponding sorting according to the Item Information recognized
Cabinet is sorted.Further, in this embodiment, item identification devices include bar code reader, for obtaining goods categories
And information of home location.3D sensor is provided on pushing hands component, it is excellent for obtaining multiple article posture informations on pigeonholes
Change and calculates and select promotion sequence.
The utility model conveys article to pigeonholes, by the pushing hands component in pushing meanss by conveyor type conveying mechanism
Or article is transported to the conveyor type end effector on handling device by sucker, handling device is identified according to item identification devices
To Item Information the identification sort operation of article will be realized in article carrying to corresponding sorting cabinet.The one of the utility model
Kind non-grasping/releasing Automated Sorting System does not need the grasping movement for carrying out robot, not only solve soft, irregular shape and
It is not limited too much compared with the crawl difficulty of heavy articles, and for the material of article to be sorted, volume and weight etc., so that sorting
Speed improves, and cost of investment is accordingly reduced.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, the change that can be readily occurred in
Change or replace, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with described
Subject to scope of protection of the claims.
Claims (10)
1. a kind of non-grasping/releasing Automated Sorting System characterized by comprising
The pigeonholes of article is transmitted for receiving conveying mechanism；
For article on the pigeonholes to be pushed to the pushing meanss on handling device；
And the article come and the handling device for being transported to sorting cabinet are pushed away for receiving the pushing meanss.
2. sorting system according to claim 1, which is characterized in that the conveying mechanism is conveyor type conveying mechanism.
3. sorting system according to claim 1, which is characterized in that the pushing meanss and/or the handling device are
Manipulator.
4. sorting system according to any one of claim 1-3, which is characterized in that the pushing meanss include that setting exists
The pushing hands component of its end, for pushing or drawing on the pigeonholes article to the handling device.
5. sorting system according to claim 4, which is characterized in that the side for being used to push article of the pushing hands component
It is provided with inner sunken face.
6. sorting system according to claim 5, which is characterized in that at least side of the pushing hands component inner sunken face is set
It is equipped at least one sucker, is used for adsorbent article.
7. sorting system according to claim 4, which is characterized in that the pushing meanss include impeller-hub, the pushing hands
Component is rotatablely connected or is slidably connected with the pushing meanss by the impeller-hub.
8. sorting system according to any one of claim 1-3, which is characterized in that the handling device includes conveyer belt
Formula end effector, for receive the pushing meanss push away come article and the article is sent in the sorting cabinet.
9. sorting system according to claim 8, which is characterized in that the handling device includes carrying axis, the transmission
Belt end effector is rotatablely connected or is slidably connected with the handling device by the carrying axis.
10. sorting system according to claim 1, which is characterized in that the sorting system further include: for identification wait divide
The item identification devices of the Item Information of article are picked, the item identification devices are installed in the pushing meanss and/or described
In handling device and/or the pigeonholes and/or the pigeonholes external environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920237733.5U CN209697521U (en) | 2019-02-25 | 2019-02-25 | A kind of non-grasping/releasing Automated Sorting System |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920237733.5U CN209697521U (en) | 2019-02-25 | 2019-02-25 | A kind of non-grasping/releasing Automated Sorting System |
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| CN209697521U true CN209697521U (en) | 2019-11-29 |
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| CN201920237733.5U Active CN209697521U (en) | 2019-02-25 | 2019-02-25 | A kind of non-grasping/releasing Automated Sorting System |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4249184A1 (en) * | 2022-03-25 | 2023-09-27 | Dexterity, Inc. | Robotic induction of heavy objects by pushing |
-
2019
- 2019-02-25 CN CN201920237733.5U patent/CN209697521U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4249184A1 (en) * | 2022-03-25 | 2023-09-27 | Dexterity, Inc. | Robotic induction of heavy objects by pushing |
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Effective date of registration: 20200312 Address after: 518000 H6-2 Reservoir, Chiwan Oil Base, No. 2 Zuo Battery Road, Nanshan District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN DORABOT ROBOTICS Co.,Ltd. Address before: 511400 No. 106 Fengze East Road, Nansha District, Guangzhou City, Guangdong Province (Building No. 1), X1301-G6161 (Cluster Registration) (JM) Patentee before: Guangzhou Blue Fat Robot Co., Ltd. |
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| TR01 | Transfer of patent right | ||
| CP03 | Change of name, title or address |
Address after: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: H6-2 depot of Chiwan oil base, No.2 zuobaotai Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN DORABOT ROBOTICS Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, Chiwan left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Lan pangzi machine intelligence Co., Ltd |
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| CP02 | Change in the address of a patent holder |