CN215278621U - Linear plane analysis device and modular high-speed intelligent sorting equipment - Google Patents

Abstract

The utility model belongs to the technical field of sorting equipment, in particular to a linear plane analysis device and modular high-speed intelligent sorting equipment, the linear plane analysis device comprises a mounting frame and an imaging mechanism, the imaging mechanism comprises a first industrial camera, a second industrial camera and a control system, the first industrial camera is used for collecting 2D images of objects to be sorted, the control system is electrically connected with the first industrial camera and the second industrial camera, the control system can obtain 2D outlines of the objects to be sorted according to the 2D images, the second industrial camera is used for obtaining 3D point clouds of the objects to be sorted, the control system can obtain the volumes of the objects to be sorted according to the 3D point clouds and the 2D outlines, no additional sensor is needed, the cost is saved, and the volume information of the method is more accurate and reliable, which is beneficial to improving the sorting effect, is beneficial to the development of enterprises.

Description

Linear plane analysis device and modular high-speed intelligent sorting equipment

Technical Field

The utility model belongs to the technical field of letter sorting equipment, especially, relate to a linear plane analytical equipment and high-speed intelligent sorting facilities of modularization.

Background

The sorting of garbage is a bottleneck of the garbage treatment technology, and no matter the garbage sorting is an incineration and landfill treatment process or a comprehensive treatment process, many failure cases are that the whole production line cannot normally run due to the fact that the garbage sorting is not thorough and the next working procedure cannot be treated.

The core of the technology is a garbage sorting system which is a 'LJ' pentachemical treatment technology for urban domestic garbage and can sort the urban domestic garbage into the following components after the system is treated by processes such as garbage uniform feeding, a large garbage automatic sorting system, a large garbage crushing system, bagged garbage automatic bag breaking, a large organic matter automatic crushing system, a fully-closed mechanical winnowing system, a plastic water sorting system, an organic matter high-temperature high-pressure hydrolysis hydrothermal oxidation 'heat sorting' system and the like: inorganic substances; sand and soil; an organic substance; non-recyclable combustible materials (hard plastics, rubber and the like can be separated if simple manual separation is adopted); thin film plastics; ferromagnetic substances.

Traditional sorting facilities is most including recognition device and letter sorting robot, recognition device is used for the type of record rubbish, the letter sorting robot forwards rubbish to predetermineeing the position, realize selecting separately, however, most of traditional sorting facilities are the fixed knot structure setting, when using a plurality of sorting processes, this kind of operating mode requirement of the unable adaptation of its fixed knot structure, the appearance that this kind of condition is more is in, letter sorting robot's output is limited in quantity, need increase the length of treating the sorting thing removal line, and add a plurality of sorting robots according to the removal line length and realize the dislocation and select separately, the sorting facilities that fixed knot structure set up can't satisfy this requirement, lead to traditional sorting facilities practicality more and more low, be unfavorable for enterprise development.

The traditional identification device obtains profile information of a material through an industrial camera, obtains height information of the material through a distance measuring sensor, estimates the volume of the material by combining the profile information and the height information of the material, obtains the weight of the material through a tension sensor arranged on a robot, finally obtains the density of the material according to the weight of the material and the volume of the material, measures the weight of the material by arranging the tension sensor, and additionally adds a sensor, thereby increasing the cost; in addition, the mode of combining the industrial camera to recognize the material profile and measuring the height by the distance measuring sensor is adopted, the calculated volume error is too large for the material with irregular shape, the sorting effect is poor, the practicability is low, and the enterprise development is not facilitated.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a linear plane analysis device and a modularized high-speed intelligent sorting device, aiming at solving the problem that the cost is increased because a sensor is additionally arranged in the analysis device in the prior art; combine the mode of industry camera discernment material profile, range sensor height of measurement, the volume error of calculating is too big, selects separately the effect poor, and the practicality is low, is unfavorable for the technical problem of enterprise development.

In order to achieve the above object, an embodiment of the present invention provides a linear plane analysis device, which includes a mounting frame and an imaging mechanism, wherein the mounting frame is provided with a mounting cavity, the mounting frame is disposed on a moving path of an object to be sorted, side walls of two opposite ends of the mounting frame are provided with through grooves, and the through grooves are used for a transportation device for transporting the object to be sorted to pass through; imaging mechanism includes first industry camera, second industry camera and control system, first industry camera with second industry camera sets up on the roof of installation cavity, first industry camera with the output of second industry camera sets up towards the movement path of waiting to select separately the thing, first industry camera is used for gathering the 2D image of waiting to select separately the thing, control system with first industry camera electric connection, control system can obtain the 2D profile of waiting to select separately the thing according to the 2D image, second industry camera is used for acquireing the 3D point cloud of waiting to select separately the thing, control system can obtain the volume of waiting to select separately the thing according to 3D point cloud and 2D profile.

Optionally, the mounting bracket is internally provided with two groups of beams, the two groups of beams are positioned between the forming mechanism and a moving path of an object to be sorted, the beams are provided with light sources, the output ends of the light sources face the moving path of the object to be sorted, a gap is formed between the two groups of beams, a gap is formed between the first industrial camera and the second industrial camera, the two groups of beams are arranged in a staggered manner between the first industrial camera and the second industrial camera, the number of the light sources is multiple groups, and the multiple groups of light sources are uniformly distributed on the two groups of beams

The embodiment of the utility model provides an among the linear plane analytical equipment above-mentioned one or more technical scheme have one of following technological effect at least: the working principle of the linear plane analysis device is as follows: when the sorted objects move to the position below the output end of the imaging mechanism, the first industrial camera acquires 2D images of the objects to be sorted, the control system is electrically connected with the first industrial camera and the second industrial camera, the control system obtains 2D outlines of the objects to be sorted according to the 2D images, the second industrial camera obtains 3D point clouds of the objects to be sorted, and the control system obtains the volumes of the objects to be sorted according to the 3D point clouds and the 2D outlines; compared with the analysis device in the prior art, the analysis device additionally adds a sensor, so that the cost is increased; combine industry camera discernment material profile, range sensor height of measurement's mode, the volume error who calculates is too big, selects separately the effect poor, and the practicality is low, is unfavorable for the technical problem of enterprise development, the embodiment of the utility model provides a linear plane analytical equipment adopts 2D camera and 3D camera to combine to acquire the volume information of selecting separately the thing, need not additionally to use the sensor, has practiced thrift the cost, and the volume information of this mode is more accurate reliable moreover, is favorable to improving the separation effect, is favorable to the enterprise to develop.

In order to achieve the above object, an embodiment of the present invention provides a modular high-speed intelligent sorting apparatus, which includes the above linear plane analysis device, an installation frame, and a multi-axis intelligent sorting robot; the linear plane analysis device is arranged at the input end of the moving path of the object to be sorted; the installation frame is arranged at the output end of the linear plane analysis device and is positioned on a moving path of an object to be sorted, the installation frame comprises two groups of baffles which are symmetrically arranged and a portal frame which is arranged between the two groups of baffles, one end of each baffle is connected with the side wall of the output end of the linear plane analysis device, the other end of each baffle extends in the direction of the moving path of the object to be sorted back to the linear plane analysis device, the portal frame is arranged at the output end of the linear plane analysis device, and two ends of the portal frame are respectively fixedly connected with the corresponding baffles; the multi-axis intelligent sorting robot is arranged on the portal frame, the output end of the multi-axis intelligent sorting robot is positioned above the moving path of the objects to be sorted, and a control system of the multi-axis intelligent sorting robot is electrically connected with the linear plane analysis device; the installation frame with the quantity of multiaxis intelligence letter sorting robot is a set of at least, all homonymies the baffle is connected gradually along waiting to select separately thing moving path, all the portal frame sets gradually along waiting to select separately thing moving path, each multiaxis intelligence letter sorting robot sets up and is corresponding on the portal frame.

Optionally, a door structure for an operator to enter is arranged on the baffle.

Optionally, the multi-axis intelligent sorting robot comprises a first linear driving device, a second linear driving device, a third linear driving device and a clamping device, wherein the driving direction of the first linear driving device is arranged along the moving direction of the objects to be sorted; the second linear driving device is arranged at the output end of the first linear driving device, the driving direction of the second linear driving device is vertical to the driving direction of the first linear driving device, and the driving direction of the second linear driving device is horizontal; the third linear driving device is arranged at the output end of the second linear driving device, the driving direction of the third linear driving device is vertically arranged, and the output end of the third linear driving device can extend to a garbage conveying path of the garbage sorting machine; the clamping device is arranged at the output end of the third linear driving device and used for clamping the objects to be sorted so as to transfer the objects to be sorted to a preset position.

Optionally, the first linear driving device includes a first driving mechanism, a first mounting mechanism, and a first moving mechanism, the first mounting mechanism extends along a moving direction of the object to be sorted, the first moving mechanism is slidably connected to the first mounting mechanism, an output end of the first driving mechanism is in driving connection with the first moving mechanism for driving the first moving mechanism to move along the moving direction of the object to be sorted, and the second linear driving device is disposed on the first moving mechanism; wherein, first actuating mechanism includes first driving source and first drive assembly, first moving mechanism with first installation mechanism's quantity is two sets ofly, and is two sets ofly first installation mechanism is located the both sides of treating the removal route of letter sorting respectively, and is two sets of first moving mechanism one-to-one swing joint is respectively two sets ofly on the first installation mechanism, the quantity of first drive assembly is two sets ofly, and is two sets of first drive assembly one-to-one drive connection is two sets ofly respectively first moving mechanism, first driving source is provided with two sets of respectively one-to-one two the output of first drive assembly, and is two sets of first moving mechanism removes syntropy all the time, second linear driving device connects two sets ofly between the first moving mechanism.

Optionally, the first driving source includes a first driving motor and a first gear box, the first gear box is provided with two output connection ends, the output end of the first driving motor is in driving connection with the input end of the first gear box, two sets of the input ends of the first transmission assemblies respectively correspond to one and are connected with two sets of the output ends of the first gear box, and the input end direction of the first gear box is perpendicular to the output direction of the first gear box.

Optionally, the first transmission assembly includes a first coupling, a second coupling and a first transmission shaft, the first transmission shaft is connected to the output end of the first gear box through the first coupling, and the first transmission shaft is connected to the first moving mechanism through the second coupling.

Optionally, a tensioning adjusting assembly is arranged at the output end of the first linear driving device, the tensioning adjusting assembly includes two sets of adjusting parts symmetrically arranged at two sides of the output end of the first linear driving device, each adjusting part includes a fixed seat, a guide part and a locking part, the fixed seat is fixedly connected with the conveying belt of the first linear driving device, the guide part is arranged at the output end of the first linear driving device, the fixed seat is in sliding fit with the guide part, and the locking part is detachably arranged on the guide part and used for positioning the position of the fixed seat on the guide part; the two groups of fixing seats move to preset positions along the guide direction corresponding to the guide piece, so that after the tightness degree of the conveying belt between the two groups of fixing seats reaches a preset value, the locking pieces position and lock the positions of the corresponding fixing seats on the guide piece.

Optionally, the second linear driving device includes a second driving mechanism, a second mounting mechanism, and a second moving mechanism, the second mounting mechanism is disposed at an output end of the first linear driving device, the second moving mechanism is movably connected to the first mounting mechanism, the second driving mechanism is in driving connection with the second moving mechanism, and the third linear driving device is disposed on the second moving mechanism; wherein, second installation mechanism includes that second installation roof beam and second guide rail are vice, second installation roof beam sets up first linear drive device's output, second installation roof beam is provided with first terminal surface and the second terminal surface that is longitudinal symmetry, the vice quantity of second guide rail is two sets of, and is two sets of the vice guide rail of second guide rail is respectively the one-to-one setting and is in first terminal surface with on the second terminal surface, the vice guide rail of second guide rail is followed the length direction of second installation roof beam sets up, the both ends of second moving mechanism respectively with two sets of the vice slider fixed connection of second guide rail.

Optionally, the third linear driving device includes a third mounting mechanism, a third driving mechanism and a third moving mechanism, the third mounting mechanism is fixedly disposed at the output end of the second linear driving device, the third moving mechanism is movably connected to the output end of the second linear driving device, and the output end of the third driving mechanism is in driving connection with the third moving mechanism; the third driving mechanism comprises a third driving motor, a third rack and a third driving gear, the third driving motor is fixedly arranged on the third mounting mechanism, the third rack is fixedly arranged on the third moving mechanism, the third rack is arranged along the moving direction of the third moving mechanism, the third driving gear is tightly connected to an output main shaft of the third driving motor, the third driving gear is meshed with the third rack, and the clamping device is arranged on the third moving mechanism.

Optionally, the clamping device includes a connecting mechanism, a clamping driving mechanism and a deflection opening and closing mechanism, the connecting mechanism is fixedly connected with the output end of the third linear driving device, the connecting mechanism is provided with an installation cavity, the clamping driving mechanism is arranged in the installation cavity, the deflection opening and closing mechanism is rotatably connected to the connecting mechanism, the number of the output ends of the deflection opening and closing mechanism is two, the output ends of the deflection opening and closing mechanism extend to the outer side of the installation cavity, and the two output ends of the deflection opening and closing mechanism move relatively all the time to realize the closing or expanding action; wherein, coupling mechanism includes pin joint seat and flexible buffering subassembly, the quantity of flexible buffering subassembly is two sets of at least, and is two sets of flexible buffering subassembly sets up respectively the both ends of pin joint seat, the beat is opened the output that closes the mechanism and is rotated and connect the tip of pin joint seat, flexible buffering subassembly is located the beat is opened the output removal route that closes the mechanism, the output direction of flexible buffering subassembly is aimed at the beat is opened the output that closes the subassembly.

The embodiment of the utility model provides an above-mentioned one or more technical scheme in the high-speed intelligent sorting facilities of modularization have one of following technological effect at least: because the modularized high-speed intelligent sorting equipment adopts the linear plane analysis device, the working principle of the linear plane analysis device is as follows: when the sorted objects move to the position below the output end of the imaging mechanism, the first industrial camera acquires 2D images of the objects to be sorted, the control system is electrically connected with the first industrial camera and the second industrial camera, the control system obtains 2D outlines of the objects to be sorted according to the 2D images, the second industrial camera obtains 3D point clouds of the objects to be sorted, and the control system obtains the volumes of the objects to be sorted according to the 3D point clouds and the 2D outlines; compared with the analysis device in the prior art, the analysis device additionally adds a sensor, so that the cost is increased; combine industry camera discernment material profile, range sensor height of measurement's mode, the volume error who calculates is too big, selects separately the effect poor, and the practicality is low, is unfavorable for the technical problem of enterprise development, the embodiment of the utility model provides a sorter adopts 2D camera and 3D camera to combine to acquire the volume information of sorting out the thing, need not additionally to use the sensor, has practiced thrift the cost, and the volume information of this mode is more accurate reliable moreover, is favorable to improving the sorting effect, is favorable to the enterprise development.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions 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 without inventive labor.

Fig. 1 is the embodiment of the utility model provides a multiaxis intelligence letter sorting robot's schematic structure diagram.

Fig. 2 is a schematic structural diagram of a first linear driving device according to an embodiment of the present invention.

Fig. 3 is an exploded view of a second linear driving device according to an embodiment of the present invention.

Fig. 4 is an exploded view of a second linear driving device according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a third linear driving device according to an embodiment of the present invention.

Fig. 6 is an exploded view of a third linear driving device according to an embodiment of the present invention.

Fig. 7 is an exploded view of a tension adjusting assembly according to an embodiment of the present invention.

Fig. 8 is a schematic structural view of a clamping device according to an embodiment of the present invention.

Fig. 9 is an exploded view of a structure of a clamping device according to an embodiment of the present invention.

Fig. 10 is a structural sectional view of a connection mechanism according to an embodiment of the present invention.

Fig. 11 is a schematic structural diagram of the modular high-speed intelligent sorting apparatus provided by the embodiment of the present invention.

Fig. 12 is the utility model discloses installation frame and multiaxis intelligence letter sorting robot's that embodiment provided structure schematic diagram.

Fig. 13 is a cross-sectional view of a linear planar analyzer according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10-first linear drive 20-second linear drive 40-clamping device

30-third linear drive 11-first drive mechanism 12-first mounting mechanism

13-first moving mechanism 111-first driving source 112-first transmission assembly

113-first coupling 114-second coupling 115-first transmission shaft

121-first mounting beam 122-first guide rail pair 132-first movable base

131 first synchronous conveying component 21 second driving mechanism 22 second mounting mechanism

23-second moving mechanism 221-second mounting beam 222-second guide rail pair

231-second moving assembly 233-connecting part 234-second moving seat

232-second synchronizing wheel conveying component 211-second mounting seat 212-second driving source

31-third mounting mechanism 32-third driving mechanism 33-third moving mechanism

321, third driving motor 322, third rack 323, and third pinion gear

311-mounting side plate 312-third guide rail pair 313-connecting cover plate

331-third traveling beam 332-third mount 50-tension adjustment assembly

34-horizontal angle adjusting mechanism 51-fixed seat 52-guide piece

511-first fixing plate 512-second fixing plate 513-clamping part

514-extension 41-connecting mechanism 42-clamping driving mechanism

43-deflection opening and closing mechanism 411-pivot seat 412-telescopic buffer component

413 mounting block 414 extension plate 415 deflection mounting groove

60-linear plane analysis device 61-mounting frame 62-forming mechanism

63-light source 70-mounting frame 71-baffle

72-gantry 100-multi-axis intelligent sorting robot.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-13 are exemplary and intended to be used to illustrate embodiments of the present invention, and should not be construed as limiting the invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which is only for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.

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

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as fixed or detachable connections or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.

In an embodiment of the present invention, as shown in fig. 1 to 13, a linear plane analysis device 60 is provided, which is described in detail for the description and application in a modular high-speed intelligent sorting apparatus.

The modular high-speed intelligent sorting apparatus includes a linear plane analyzing device 60, a mounting frame 70, and a multi-axis intelligent sorting robot 100; the linear plane analysis device 60 is arranged at the input end of the moving path of the object to be sorted; the mounting frame 70 is arranged at the output end of the linear plane analysis device 60 and is located on the moving path of the objects to be sorted, the mounting frame 70 comprises two groups of baffles 71 which are symmetrically arranged and a portal frame 72 which is arranged between the two groups of baffles 71, one end of each baffle 71 is connected with the side wall of the output end of the linear plane analysis device 60, the other end of each baffle 71 is back to the linear plane analysis device 60 and extends along the moving path direction of the objects to be sorted, the portal frame 72 is arranged at the output end of the linear plane analysis device 60, and two ends of each portal frame 72 are respectively fixedly connected with the corresponding baffles 71; the multi-axis intelligent sorting robot 100 is arranged on the gantry 72, the output end of the multi-axis intelligent sorting robot 100 is positioned above the moving path of the object to be sorted, and the control system of the multi-axis intelligent sorting robot 100 is electrically connected with the linear plane analysis device 60; the number of the mounting frame 70 and the multi-axis intelligent sorting robot 100 is at least one, the baffles 71 on all the same sides are sequentially connected along a moving path of the objects to be sorted, all the portal frames 72 are sequentially arranged along the moving path of the objects to be sorted, and each multi-axis intelligent sorting robot 100 is arranged on the corresponding portal frame 72.

Specifically, the operating principle of the modular high-speed intelligent sorting equipment is as follows: when sorting robots need to be added, a preset number of the mounting frames 70 are added to the existing mounting frames 70, the baffles 71 are sequentially connected along the moving direction of the objects to be sorted, the portal frames 72 are sequentially arranged at intervals along the moving direction of the objects to be sorted, and each sorting robot is arranged on the corresponding portal frame 72, so that a plurality of groups of sorting robots correspond to each other on the same sorting line; compare in prior art, there is the length that needs to increase and treat the sorting thing removal line to add a plurality of sorting robots according to the removal line length and realize the dislocation and select separately, the sorting equipment of fixed knot structure setting can't satisfy this requirement, leads to traditional sorting equipment practicality to be more and more low, is unfavorable for enterprise development technical problem, the embodiment of the utility model provides a high-speed intelligent sorting equipment of modularization adopts frame construction to realize the independent modularization of sorting robot, adjusts the sorting robot quantity on the same sorting line through the modular structure of frame-type according to operating mode needs, has greatly improved the practicality of this sorter, is favorable to the enterprise development.

As shown in fig. 12, in another embodiment of the present invention, a door structure for an operator to enter is provided on the baffle 71.

As shown in fig. 1 to 10, in another embodiment of the present invention, the multi-axis intelligent sorting robot 100 includes a first linear driving device 10, a second linear driving device 20, a third linear driving device 30 and a clamping device 40, wherein a driving direction of the first linear driving device 10 is set along a moving direction of an object to be sorted; the second linear driving device 20 is arranged at the output end of the first linear driving device 10, the driving direction of the second linear driving device 20 is perpendicular to the driving direction of the first linear driving device 10, and the driving direction of the second linear driving device 20 is horizontally arranged; the third linear driving device 30 is arranged at the output end of the second linear driving device 20, the driving direction of the third linear driving device 30 is vertically arranged, and the output end of the third linear driving device 30 can extend to a garbage conveying path of the garbage sorting machine; the clamping device 40 is disposed at an output end of the third linear driving device 30 and is used for clamping the object to be sorted so as to transfer the object to be sorted to a preset position.

The working principle of the multi-axis intelligent sorting robot 100 is as follows: the first linear driving device 10 drives the second linear driving device 20 to linearly move to a preset position along the X-axis direction, the second linear driving device 20 drives the third linear driving device 30 to move to a preset position along the Y-axis direction, the third linear driving device 30 drives the clamping device 40 to move along the Z-axis direction, and the output end of the clamping device 40 is close to an object to be sorted, so that the object to be sorted is clamped; compared with the sorting machine in the prior art, the connecting shaft structure is adopted to realize flexible movement of the material taking end, the manufacture is complex, the cost is high, and the technical problem of enterprise development is not facilitated.

As shown in fig. 1-2, in another embodiment of the present invention, the first linear driving device 10 includes a first driving mechanism 11, a first mounting mechanism 12 and a first moving mechanism 13, the first mounting mechanism 12 extends along a moving direction of an object to be sorted, the first moving mechanism 13 is slidably connected to the first mounting mechanism 12, an output end of the first driving mechanism 11 is connected to the first moving mechanism 13 for driving the first moving mechanism 13 to move along the moving direction of the object to be sorted, the second linear driving device 20 is disposed on the first moving mechanism 13, specifically, the first driving mechanism 11 drives the first moving mechanism 13 to move along the first mounting mechanism 12 for realizing X-axis positioning.

Wherein, the first driving mechanism 11 includes a first driving source 111 and a first transmission assembly 112, the number of the first moving mechanisms 13 and the first installation mechanisms 12 is two sets, two sets of the first installation mechanisms 12 are respectively located at two sides of the moving path of the objects to be sorted, two sets of the first moving mechanisms 13 are respectively movably connected to the two sets of the first installation mechanisms 12 in a one-to-one correspondence manner, the number of the first transmission assemblies 112 is two sets, two sets of the first transmission assemblies 112 are respectively connected to the two sets of the first moving mechanisms 13 in a one-to-one correspondence manner, the first driving source 111 is provided with two sets of output ends respectively connected to the two sets of the first transmission assemblies 112 in a one-to-one correspondence manner, the two sets of the first moving mechanisms 13 always move in the same direction, the second linear driving device 20 is connected between the two sets of the first moving mechanisms 13, specifically, the second linear driving device 20 is laid between the two sets of the first installation mechanisms 12 along the Y-axis direction, the first linear driving device 10 and the second linear driving device 20 are integrally provided in an i-shaped configuration.

Specifically, the operation principle of the first linear driving device 10 is as follows: first driving source 111 drives first moving mechanism 13 simultaneously through two sets of first drive assembly 112 and removes along corresponding first installation mechanism 12, realizes single drive source drive double-line and removes end synchronous motion, when comparing the linear device in prior art and adopting the double-line drive, adopts many driving source drives in order to guarantee the drive effect, leads to the cost extravagant, and the structure is complicated, and the synchronous rate is low, is unfavorable for the technical problem of enterprise development, the embodiment of the utility model provides a first linear drive device 10 realizes double-line synchronous drive through synchronous transmission structure and single drive source cooperation, improves linear drive device's double-line drive synchronous rate effectively, reduces the cost of manufacture, and simple structure is favorable to enterprise development.

As shown in fig. 1-2, in another embodiment of the present invention, the first driving source 111 includes a first driving motor and a first gear box, the first gear box is provided with two output connection ends, the output end of the first driving motor is connected with the input end of the first gear box in a driving manner, and is two sets of the input end of the first transmission component 112 is respectively in one-to-one correspondence and two sets of the output end of the first gear box is connected, the input end direction of the first gear box is perpendicular to the output direction of the first gear box, specifically, the input end connection port of the first gear box is located at the upper end of the gear box, the input end connection port is formed on two mutually opposite side walls of the first gear box towards the horizontal direction, the input end and the two output ends of the first gear box are in an inverted T shape, and the first gear box reverses the driving direction of the first driving motor from the perpendicular direction to water through the input end and the output end of the inverted T shape structure And (4) a flat direction.

As shown in fig. 1-2, in another embodiment of the present invention, the first transmission assembly 112 includes a first coupling 113, a second coupling 114 and a first transmission shaft 115, the first transmission shaft 115 is connected to the output end of the first gear box through the first coupling 113, the first transmission shaft 115 is connected to the first moving mechanism 13 through the second coupling 114, and two sets of the first transmission shaft 115 rotate synchronously all the time.

As shown in fig. 1-2, in another embodiment of the present invention, the first mounting mechanism 12 includes a first mounting beam 121 and a first guiding rail pair 122, the first mounting beam 121 is disposed along a moving direction of the object to be sorted, the guiding rail of the first guiding rail pair 122 is disposed on the first mounting beam 121 and disposed along a length direction of the first mounting beam 121, the first moving mechanism 13 is fixedly connected to the sliding block of the first guiding rail pair 122, and the first moving mechanism 13 can move linearly along the guiding rail of the first guiding rail pair 122 by being driven by the first transmission shaft 115.

In another embodiment of the present invention, as shown in fig. 1-2, the first moving mechanism 13 comprises a first synchronous wheel conveying assembly 131 and a first moving seat 132, the first synchronous wheel conveying assembly 131 is arranged on the first mounting beam 121 and the conveying direction of the first synchronous wheel conveying assembly 131 is arranged along the extending direction of the guide rails of the first guide rail pair 122, the belt of the first synchronous wheel conveyor assembly 131 is drivingly connected to the first movable base 132 via a belt tensioning adjustment assembly 50, the first transmission shaft 115 is connected to the first synchronous wheel conveying assembly 131 in a driving manner, and the first movable base 132 is fixedly connected to the sliding block of the first guide rail pair 122, in this embodiment, the first synchronous wheel conveying assembly 131 is a synchronous wheel-synchronous belt linear conveyor, in other embodiments, the first synchronous wheel conveyor assembly 131 may be a belt conveyor.

In another embodiment of the present invention, as shown in fig. 1-2, the output end of the first synchronous wheel transfer assembly 131 is located at the top end of the first mounting beam 121, the first movable base 132 moves along the top plane of the first mounting beam 121, a plurality of support plates are disposed at the bottom of the first mounting beam 121, all of the support plates are disposed at intervals along the length direction of the first mounting beam 121, the guide rails of the first guide rail pair 122 are disposed on the side walls of the first mounting beam 121, the bottom of the first movable seat 132 is provided with an extending block extending downward, and the extending block is fixedly connected with the sliding block of the first guide rail pair 122, specifically, the extension block, the support plate and the first movable seat 132 are integrally formed in a Contraband-shaped structure to cover the first guide rail, the upper end of the first movable base 132 extends toward the second linear transporter to facilitate the connection and installation of the second linear transporter 20.

As shown in fig. 1-2, in another embodiment of the present invention, the side walls of the two ends of the first mounting beam 121 are provided with a limit abutting block, and the limit abutting block is used for adjusting and limiting the moving stroke of the first moving seat 132, controlling the moving path of the first moving seat 132, and preventing the first moving seat 132 from impacting the first driving mechanism 11.

As shown in fig. 1-2, in another embodiment of the present invention, the top end of the first movable seat 132 extends toward the second linear driving device 20 to form a first mounting beam 121 for mounting the second linear driving device 20, the first mounting beam 121 is provided with a first limiting mounting groove, and the end of the second linear driving device 20 is fixed and disposed in the first limiting mounting groove.

As shown in fig. 3 to 4, in another embodiment of the present invention, the second linear driving device 20 includes a second driving mechanism 21, a second mounting mechanism 22 and a second moving mechanism 23, the second mounting mechanism 22 is disposed at the output end of the first linear driving device 10, the second moving mechanism 23 is movably connected to the first mounting mechanism 12, the second driving mechanism 21 is in driving connection with the second moving mechanism 23, and the third linear driving device 30 is disposed on the second moving mechanism 23; the second mounting mechanism 22 includes a second mounting beam 221 and a second guide rail pair 222, the second mounting beam 221 is disposed at the output end of the first linear driving device 10, the second mounting beam 221 is provided with a first end surface and a second end surface which are symmetrical up and down, the number of the second guide rail pair 222 is two, the two sets of guide rails of the second guide rail pair 222 are respectively disposed on the first end surface and the second end surface in a one-to-one correspondence manner, the guide rails of the second guide rail pair 222 are disposed along the length direction of the second mounting beam 221, and two ends of the second moving mechanism 23 are respectively fixedly connected with two sets of sliders of the second guide rail pair 222.

Specifically, the operation principle of the second linear driving device 20 is as follows: the upper and lower both ends of second installation roof beam 221 are installed the pair of second guide 222, and the both ends of second moving mechanism 23 are passed through extension structure and are connected two sets of the pair of second guide 222, therefore, the cross-section of second moving mechanism 23 becomes Contraband type column structure cladding the second installation roof beam 221, second actuating mechanism 21 drive second moving mechanism 23 with the state linear motion of cladding second installation roof beam 221, compare in the overall structure that linear device among the prior art adopted many roof beams to set up side by side, improve the stability of removing the seat, lead to linear device's space occupation proportion increase, the practicality is low, simultaneously, the area of contact of removal end and carrier bar is big, and the spare part of whole linear device is numerous, and is heavy, influence the removal flexibility when whole linear device realizes as the removal end and drives, be unfavorable for the multiaxis that the enterprise develops, the second linear drive device 20 that the embodiment provides adopts the removal end linear drive effect that monomer carrier bar structure cooperation cladding formula was installed And meanwhile, when the whole second linear device is driven by multiple shafts as the moving end of the rest linear driving devices, the light characteristic of the single body bearing is favorable for improving the moving flexibility of the whole second linear driving device 20.

As shown in fig. 3 to 4, in another embodiment of the present invention, the second moving mechanism 23 includes a second moving assembly 231 and a second synchronous wheel conveying assembly 232, two ends of the second moving assembly 231 are respectively fixedly connected to two sets of sliding blocks of the second guide rail pair 222, the second synchronous wheel conveying assembly 232 is disposed on the second mounting beam 221, the second synchronous wheel conveying assembly 232 is drivingly connected to the second moving assembly 231 through a tensioning adjusting assembly 50, an output end of the second driving mechanism 21 is connected to an input end of the second synchronous wheel conveying assembly 232, and in this embodiment, the second synchronous wheel conveying assembly 232 may be a synchronous wheel-synchronous belt linear conveyor or a belt linear conveyor.

As shown in fig. 3 to 4, in another embodiment of the present invention, the second moving assembly 231 includes a connecting member 233 and a second moving seat 234, the second moving seat 234 is vertically disposed, the connecting member 233 is disposed on an end surface of the second moving seat 234 close to the second mounting beam 221, two ends of the connecting member 233 are respectively fixedly connected to two sets of sliders of the second rail pair 222 in a one-to-one correspondence, and the connecting member 233 and the second moving seat 234 are integrally configured in a Contraband-shaped structure.

As shown in fig. 3 to 4, in another embodiment of the present invention, the connecting component 233 includes a first connecting plate and a second connecting plate, the first connecting plate and the second connecting plate are respectively disposed on the upper end side wall and the lower end side wall of the second movable seat 234, the bottom of the first connecting plate is corresponding to the slider fixed connection of the second guide rail pair 222, the top of the second connecting plate is corresponding to the slider fixed connection of the second guide rail pair 222, specifically, the second movable seat 234 is disposed in a plate-mounting structure and disposed in a set state, and the upper end and the lower end of the second movable seat 234 extend to the upper side and the lower side of the second mounting beam 221 respectively.

As shown in fig. 3-4, in another embodiment of the present invention, a reinforcing plate is connected between the second connecting plate and the second movable seat 234, the upper end and the side wall of the reinforcing plate are respectively fixedly connected to the bottom of the second connecting plate and the side wall of the second movable seat 234, the cross section of the reinforcing plate is a tapered structure, and the lower end of the reinforcing plate is gradually narrowed.

As shown in fig. 3 to 4, in another embodiment of the present invention, the upper end and the lower end of the second mounting beam 221 are respectively provided with a second limiting mounting groove for mounting the guide rail of the second guide rail pair 222, the side wall of the second mounting beam 221 is provided with an extending mounting seat extending outward, the extending mounting seat is located between the second moving mechanism 23 and the second mounting beam 221, the end portion of the extending mounting seat close to the second moving mechanism 23 is provided with a receiving groove for receiving the conveying belt of the second synchronizing wheel conveying assembly 232, and the conveying belt is movably fitted in the receiving groove.

As shown in fig. 3 to 4, the second driving mechanism 21 includes two sets of second mounting seats 211 and second driving sources 212, the two sets of second mounting seats 211 are symmetrically disposed at two ends of the second mounting beam 221, a cavity for accommodating a synchronizing wheel of the second synchronizing wheel conveying assembly 232 is disposed on the second mounting seat 211, and the second driving sources 212 are in driving connection with the synchronizing wheel of the second synchronizing wheel conveying assembly 232 through a second transmission assembly; the second transmission assembly is disposed on the second mounting base 211, an output end of the second transmission assembly extends into the cavity and is connected to the driving of the synchronizing wheel of the second synchronizing wheel conveying assembly 232, an output end of the second driving source 212 is connected to an input end of the second transmission assembly, and the second driving source 212 is a driving motor.

As shown in fig. 5 to 6, in another embodiment of the present invention, the third linear driving device 30 includes a third mounting mechanism 31, a third driving mechanism 32 and a third moving mechanism 33, the third mounting mechanism 31 is fixedly disposed at the output end of the second linear driving device 20, the third moving mechanism 33 is movably connected to the output end of the second linear driving device 20, and the output end of the third driving mechanism 32 is drivingly connected to the third moving mechanism 33; the third driving mechanism 32 includes a third driving motor 321, a third rack 322 and a third driving gear 323, the third driving motor 321 is fixedly disposed on the third mounting mechanism 31, the third rack 322 is fixedly disposed on the third moving mechanism 33, the third rack 322 is disposed along the moving direction of the third moving mechanism 33, the third driving gear 323 is tightly connected to the output spindle of the third driving motor 321, the third driving gear 323 is engaged with the third rack 322, and the clamping device 40 is disposed on the third moving mechanism 33.

Specifically, the operation principle of the third linear driving device 30 is as follows: when the clamping device 40 needs to be driven to move along the Z axis, the third driving motor 321 drives the third driving gear 323 to rotate, and since the third driving gear 323 is meshed with the third rack 322, the third rack 322 drives the third moving mechanism 33 to slide along a preset path relative to the third mounting mechanism 31; compare in Z axle linear driving device among the prior art adopts sharp slip table structure drive to remove the end location, and sharp slip table remains the stationary state throughout, and it occupies to be the stationary state to the path space of Z axle direction, leads to removing the driven structure's of end installation space and removal space to reduce, and the practicality reduces, is unfavorable for the technical problem of enterprise development, the embodiment of the utility model provides a third linear driving device 30 adopts rack and pinion structure to realize Z axle direction linear drive, and drive arrangement's body structure is synchronous motion state with drive arrangement's removal end on Z axle removal route, has avoided drive arrangement's body to occupy the influence to its route and the space that remove the end effectively, improves drive arrangement's practicality, is favorable to enterprise development.

As shown in fig. 5 to 6, in another embodiment of the present invention, the third mounting mechanism 31 includes two sets of mounting side plates 311, three pairs of guide rails 312 and two sets of mounting side plates 311, the two sets of mounting side plates 311 are spaced apart from each other at the output end of the second linear driving device 20 and are located at two ends of the third moving mechanism 33, the two sets of sliders of the third pair of guide rails 312 are respectively disposed on the opposite end surfaces of the two sets of mounting side plates 311 in a one-to-one correspondence manner, the two sets of guide rails of the third pair of guide rails 312 are symmetrically disposed at two ends of the third moving mechanism 33, the connecting cover plate 313 is connected between the two sets of mounting side plates 311 far away from the end of the second linear driving device 20, the third driving motor 321 is fixedly disposed on one of the mounting side plates 311, the third rack 322 is located between the mounting side plates 311 and the third moving mechanism 33, specifically, the mounting side plate 311 and the connecting cover plate 313 are matched with the output end of the second linear driving device 20 to form a sliding sleeve structure to cover the third moving mechanism 33.

As shown in fig. 5 to 6, in another embodiment of the present invention, a reinforcing block is disposed on the end surface of the mounting side plate 311 away from the third guide rail pair 312, two adjacent side walls of the reinforcing block are respectively fixedly connected to the mounting side plate 311 and the output end of the second linear driving device 20, and the cross section of the reinforcing block is disposed in a tapered structure.

As shown in fig. 5 to 6, in another embodiment of the present invention, the third moving mechanism 33 includes a third moving beam 331 and a third mounting seat 332, the number of the third mounting seats 332 is two, two sets of the third mounting seats 332 are symmetrically disposed at two ends of the third moving beam 331, the clamping device 40 is disposed on one of the third mounting seats 332, a third limit mounting groove for fixedly mounting the guide rail of the third guide rail pair 312 is disposed on a side wall of the third moving beam 331, a gap is disposed between the third moving beam 331 and the output end of the second linear driving device 20, the third moving beam 331 is slidably fitted to the third mounting mechanism 31 through the third limit mounting groove and the third guide rail pair 312, the third rack 322 is fixedly disposed on a side wall of the third moving beam 331 and is disposed along the length direction of the third moving beam 331, specifically, the entire third moving mechanism 33 is slidably connected to the mounting side plate 311 only via a guide rail, and is driven by a rack-and-pinion structure.

In another embodiment of the present invention, as shown in fig. 5 to 6, the third linear driving device 30 further includes a horizontal angle adjusting mechanism 34 for adjusting the clamping angle of the clamping device 40.

As shown in fig. 5 to 6, in another embodiment of the present invention, the horizontal angle adjusting mechanism 34 includes an adjusting driving assembly and an adjusting connection assembly, the adjusting driving assembly is disposed on the third moving mechanism 33, an output end of the adjusting driving assembly is disposed along a length direction of the third moving mechanism 33, the adjusting connection assembly is disposed between the third moving mechanism 33 and the clamping device 40, and two ends of the adjusting connection assembly are respectively fixedly connected to the output end of the adjusting driving assembly and the clamping device 40.

As shown in fig. 5-6, in another embodiment of the present invention, the adjusting driving assembly includes an adjusting driving motor, an adjusting mounting seat and an adjusting transmission shaft, the adjusting mounting seat is fixed to be set at the end of the third moving mechanism 33, the adjusting transmission shaft is rotatably connected to the inside of the third moving mechanism 33, the adjusting driving motor is set on the adjusting mounting seat, the output end of the adjusting driving motor is in driving connection with the adjusting transmission shaft, and the adjusting transmission shaft is away from the end of the adjusting driving motor and in fixed connection with the adjusting connection assembly.

As shown in fig. 5-6, in another embodiment of the present invention, the output end of the driving motor is connected to the adjusting transmission shaft through a synchronous transmission assembly, the synchronous transmission assembly is fixed in the adjusting mounting seat, and in this embodiment, the synchronous transmission assembly is a synchronous wheel-synchronous belt transmission structure.

As shown in fig. 7, in another embodiment of the present invention, the tensioning adjustment assembly 50 includes two sets of adjustment components symmetrically disposed at two ends of the first movable seat 132, the adjustment components include a fixed seat 51, a guide 52 and a locking component, the fixed seat 51 is fixedly connected with the conveyor belt of the first synchronous wheel conveying assembly 131, the guide 52 is disposed at an end of the first movable seat 132, the fixed seat 51 is slidably fitted with the guide 52, and the detachable locking component is disposed on the guide 52 and is used for positioning the fixed seat 51 on the guide 52; the two groups of the fixing seats 51 move to preset positions along the guiding direction corresponding to the guide piece 52, so that the positions of the corresponding fixing seats 51 on the guide piece 52 are positioned and locked by the locking pieces after the tightness degree of the conveying belt between the two groups of the fixing seats 51 reaches the preset value.

Specifically, the operation principle of the tension adjusting assembly 50 is as follows: when the conveying belt begins to loosen along with the increase of the working time, the locking pieces are unlocked, the fixed seats 51 are driven to move towards the direction of the first moving seat 132 through the guide piece 52, and after the distance between the two fixed seats 51 is shortened, the positions of the two groups of fixed seats 51 on the corresponding guide pieces 52 are locked and positioned through the locking pieces, so that the conveying belt is tensioned; compare in the conveyer belt linear device among the prior art, the conveyer belt begins to loosen along with operating time increases and collapses, influences the conveyer belt and carries the precision, leads to carrying the poor technical problem of effect, the embodiment of the utility model provides a tensioning adjusting part 50 will remove the coupling part design of end and conveyer belt into adjustable, when the conveyer belt is loose collapsing, adjusts the both sides conveyer belt length that removes the end, and then guarantees the conveyer belt and guarantee the state of tightening all the time, prevents that circumstances such as sliding tooth, pulley, conveyer belt stagnation from taking place, improves and carries the effect, is favorable to the enterprise to develop.

As shown in fig. 7, in another embodiment of the present invention, the fixing base 51 includes a first fixing plate 511 and a second fixing plate 512, the first fixing plate 511 and the second fixing plate 512 are symmetrically disposed at two ends of the timing belt of the first synchronous wheel conveying assembly 131, the first fixing plate 511 and the second fixing plate 512 clamp the timing belt of the first synchronous wheel conveying assembly 131 through screw locking, and the first fixing plate 511 is slidably connected to the guide 52.

In another embodiment of the present invention, as shown in fig. 7, the guiding element 52 comprises two sets of guiding rods, two sets of guiding rods are spaced apart from each other at the end of the first movable base 132, and the guiding rods are slidably fitted with the end of the first fixing plate 511.

As shown in fig. 7, in another embodiment of the present invention, the first fixing plate 511 includes a clamping portion 513 and an extending portion 514, the clamping portion 513 and the second fixing plate 512 clamp the conveyor belt of the first synchronous wheel conveyor assembly 131 by screw locking, and the extending portion 514 is disposed at an end of the clamping portion 513 close to the first movable seat 132; wherein, the interface of extension 514 is T type dress structure setting, extension 514 includes connector and connector, the taper structure setting that is of connector, the connector dorsad first removal seat 132 shrink gradually and with clamping part 513 fixed connection, the connector sets up the connector is close to the first tip that removes seat 132, the cross-sectional width of connector is greater than the connector, the connector with the shaping has the groove of stepping down that two sets of symmetries set up between the connector, the connector with guide bar sliding adaptation.

In another embodiment of the present invention, as shown in fig. 7, the guiding rod is provided with an external thread on the circumferential side wall, the locking member is a pre-tightening screw, and the locking member is screwed on the guiding rod.

As shown in fig. 7, in another embodiment of the present invention, the connecting head is provided with a connecting hole slidably fitting the guide rod, and the connecting hole is offset from the clamping portion 513.

As shown in fig. 7, in another embodiment of the present invention, a tooth portion for increasing the friction between the second fixing plate 512 and the conveyor belt is disposed on the end of the second fixing plate 512 close to the conveyor belt of the first synchronous wheel conveyor assembly 131.

As shown in fig. 8 to 10, in another embodiment of the present invention, the clamping device 40 includes a connecting mechanism 41, a clamping driving mechanism 42 and a deflection opening and closing mechanism 43, the connecting mechanism 41 is fixedly connected to the output end of the third linear driving device 30, the connecting mechanism 41 is provided with an installation cavity, the clamping driving mechanism 42 is disposed in the installation cavity, the deflection opening and closing mechanism 43 is rotatably connected to the connecting mechanism 41, the number of the output ends of the deflection opening and closing mechanism 43 is two, the output ends of the deflection opening and closing mechanism 43 extend to the outside of the installation cavity, and two output ends of the deflection opening and closing mechanism 43 move relatively all the time to realize the closing or expanding action; wherein, coupling mechanism 41 includes pin joint seat 411 and flexible buffering subassembly 412, the quantity of flexible buffering subassembly 412 is two sets of at least, and is two sets of flexible buffering subassembly 412 sets up respectively the both ends of pin joint seat 411, the beat is opened and is closed the output of mechanism 43 and rotate and connect in the tip of pin joint seat 411, flexible buffering subassembly 412 is located the beat is opened and is closed the output moving path of mechanism 43, the output direction of flexible buffering subassembly 412 is aimed at the beat is opened and is closed the output of subassembly, flexible buffering subassembly 412 is the hydraulic buffer.

Specifically, the working principle of the clamping device 40 is to adjust the telescopic limit stroke of the output end of the telescopic buffer component 412, and when the output end of the deflection opening and closing mechanism 43 performs a closing action to clamp a sorted item, since the output end of the telescopic buffer component 412 is located on the output end moving path of the deflection opening and closing mechanism 43, the output end of the telescopic buffer component 412 interferes with the movement of the output end of the deflection opening and closing mechanism 43 when contracting to the limit position; compare in the adoption numerical control system among the prior art then with high costs and transfer the machine complicated, be unfavorable for the operation, and adopt the cylinder structure, because of its stroke be fixed setting, need the dismouting during the change, the operation is more complicated, is unfavorable for the technical problem of enterprise development, the embodiment of the utility model provides a clamping device adopts flexible buffer unit as the limit structure who opens and shuts the output, provides the flexible buffering degree of its flexible end effectively and realizes clamping device's the range of opening and shutting, adjusts easy operation, and the effect is showing, is favorable to enterprise development.

As shown in fig. 8-10, in another embodiment of the present invention, the deflection opening and closing mechanism 43 comprises two sets of symmetrical rotating connection and is connected to the deflection clamping jaw assembly on the pivot seat 411, one end of the deflection clamping jaw assembly is connected to the output end of the clamping driving mechanism 42, the other end of the deflection clamping jaw assembly faces away from the direction of the pivot seat 411, and the deflection directions of the deflection clamping jaw assembly are opposite to each other all the time.

As shown in fig. 8 to 10, in another embodiment of the present invention, the deflecting clamping jaw assembly includes a connecting swing arm 431 and a clamping body 432; the pin joint seat 411 includes installation piece 413 and extension board 414, the quantity of extension board 414 is two sets of, and is two sets of extension board 414 is fixed to be set up the both ends of installation piece 413, the whole cross-section of pin joint seat 411 is the setting of I shape structure, the both ends of installation piece 413 shaping respectively has beat mounting groove 415, and is two sets of beat mounting groove 415 all is located two sets of extend between the board 414, it connects to connect swing arm 431 to rotate the connection in the beat mounting groove 415, connect swing arm 431's one end with centre gripping actuating mechanism 42's output fixed connection, connect swing arm 431's the other end with clamping body 432 fixed connection, flexible buffer unit 412 is fixed to be set up on the lateral wall of installation piece 413.

As shown in fig. 8 to 10, in another embodiment of the present invention, an extension seat is disposed at the bottom of the mounting block 413, the connection swing arm 431 is pivotally connected to the deflection mounting groove 415, the mounting block 413 and the extension seat are respectively located at two sides of the pivot, the number of the buffer components is two, and all the buffer components are uniformly distributed on the side walls of the extension seat and the mounting block 413.

As shown in fig. 8 to 10, in another embodiment of the present invention, the connection swing arm 431 includes a driving connection block and a driven connection block, one end of the driven connection block is connected to the deflection installation groove 415 through a pivot, the other end of the driven connection block is fixedly connected to the clamping body 432, one end of the driving connection block is connected to the deflection fixed end of the driven connection block, the other end of the driving connection block is far away from the driven connection block and extends linearly and is rotatably connected to the output end of the clamping driving mechanism 42, a bent structure is disposed between the driving connection block and the driven connection block, and the driving connection block is bent and extends away from the direction of the installation block 413; the end of the driving connecting block extends into the installation cavity, and the end of the driven connecting block extends to the outside of the installation cavity.

As shown in fig. 8-10, in another embodiment of the present invention, the clamping driving mechanism 42 includes two sets of symmetrically disposed telescopic assemblies, one end of the telescopic assembly is rotatably connected to the inner wall of the installation cavity, and the other end of the telescopic assembly is rotatably connected to the deflection end of the deflection opening and closing mechanism 43.

As shown in fig. 8-10, in another embodiment of the present invention, the retractable assembly is an air cylinder or an electric push rod, wherein the retractable assembly is far away from the end of the swing opening and closing mechanism 43 is rotatably connected to the top wall of the installation cavity through a pivot seat 411, and the two sets of retractable assemblies are arranged in a staggered and inclined manner, the installation block 413 is arranged at the bottom wall of the installation cavity, and a gap for accommodating the retractable assembly is formed between the installation block 413 and the top wall of the installation cavity.

In another embodiment of the present invention, the linear plane analyzer 60 includes a mounting frame 61 and an imaging mechanism 62, the mounting frame 61 is provided with a mounting cavity, the mounting frame 61 is disposed on a moving path of the object to be sorted, the side walls of two opposite ends of the mounting frame 61 are provided with through grooves, and the through grooves are used for a transporting device for transporting the object to be sorted to pass through; imaging mechanism 62 includes first industry camera, second industry camera and control system, first industry camera with second industry camera sets up on the roof of installation cavity, first industry camera with the output of second industry camera sets up towards the movement path of waiting to select separately the thing, first industry camera is used for gathering the 2D image of waiting to select separately the thing, control system with first industry camera electric connection, control system can obtain the 2D profile of waiting to select separately the thing according to the 2D image, second industry camera is used for acquireing the 3D point cloud of waiting to select separately the thing, control system can obtain the volume of waiting to select separately the thing according to 3D point cloud and 2D profile.

In another embodiment of the present invention, there are two sets of beams in the mounting frame 61, the number of beams is two sets of beams, the beams are located between the forming mechanism and the moving path of the object to be sorted, the beam is provided with the light source 63, the output end of the light source 63 is set towards the moving path of the object to be sorted, and the beams are two sets of gaps are arranged between the beams, the first industrial camera and the second industrial camera are provided with gaps, the beams are staggered and arranged between the first industrial camera and the second industrial camera, the number of the light source 63 is multiple sets, and the light source 63 is uniformly distributed on the beams

Specifically, when the sorted objects move to the lower part of the output end of the imaging mechanism 62, the first industrial camera acquires 2D images of the objects to be sorted, the control system is electrically connected with the first industrial camera and the second industrial camera, the control system obtains 2D contours of the objects to be sorted according to the 2D images, the second industrial camera obtains 3D point clouds of the objects to be sorted, and the control system obtains the volumes of the objects to be sorted according to the 3D point clouds and the 2D contours; compared with the analysis device in the prior art, the analysis device additionally adds a sensor, so that the cost is increased; combine industry camera discernment material profile, range sensor height of measurement's mode, the volume error who calculates is too big, selects separately the effect poor, and the practicality is low, is unfavorable for the technical problem of enterprise development, the embodiment of the utility model provides a linear plane analytical equipment adopts 2D camera and 3D camera to combine to acquire the volume information of selecting separately the thing, need not additionally to use the sensor, has practiced thrift the cost, and the volume information of this mode is more accurate reliable moreover, is favorable to improving the separation effect, is favorable to the enterprise to develop.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A linear planar analysis apparatus, comprising:

the mounting frame is provided with a mounting cavity, the mounting frame is arranged on a moving path of the objects to be sorted, the side walls of two opposite ends of the mounting frame are provided with through grooves, and the through grooves are used for a conveying device for conveying the objects to be sorted to pass through;

the imaging mechanism comprises a first industrial camera, a second industrial camera and a control system, wherein the first industrial camera and the second industrial camera are arranged on the top wall of the installation cavity, the output end of the first industrial camera and the output end of the second industrial camera are arranged towards the moving path of the object to be sorted, the first industrial camera is used for collecting a 2D image of the object to be sorted, the control system is electrically connected with the first industrial camera and the second industrial camera, the control system can obtain a 2D contour of the object to be sorted according to the 2D image, the second industrial camera is used for obtaining a 3D point cloud of the object to be sorted, and the control system can obtain the volume of the object to be sorted according to the 3D point cloud and the 2D contour.

2. The linear planar analysis device of claim 1, wherein: be provided with the crossbeam in the mounting bracket, the quantity of crossbeam is two sets of, and is two sets of the crossbeam is located between imaging mechanism and the removal route of waiting to select separately the thing, be provided with the light source on the crossbeam, the output of light source is towards the removal route setting of waiting to select separately the thing, and is two sets of be provided with the clearance between the crossbeam, first industry camera with be provided with the clearance between the second industry camera, it is two sets of the crossbeam dislocation set is in between first industry camera and the second industry camera, the quantity of light source is the multiunit, and the multiunit light source evenly distributed is two sets of on the crossbeam.

3. A modular high-speed intelligent sorting apparatus, comprising:

the linear planar analysis device according to claim 1 or 2, which is provided at an input end of a moving path of an object to be sorted;

the installation frame is arranged at the output end of the linear plane analysis device and is positioned on a moving path of an object to be sorted, the installation frame comprises two groups of baffles which are symmetrically arranged and a portal frame which is arranged between the two groups of baffles, one end of each baffle is connected with the side wall of the output end of the linear plane analysis device, the other end of each baffle extends in the direction of the moving path of the object to be sorted back to the linear plane analysis device, the portal frame is arranged at the output end of the linear plane analysis device, and two ends of the portal frame are respectively fixedly connected with the corresponding baffles;

the multi-axis intelligent sorting robot is arranged on the portal frame, the output end of the multi-axis intelligent sorting robot is positioned above the moving path of the objects to be sorted, and a control system of the multi-axis intelligent sorting robot is electrically connected with the linear plane analysis device;

the installation frame with the quantity of multiaxis intelligence letter sorting robot is a set of at least, all homonymies the baffle is connected gradually along waiting to select separately thing moving path, all the portal frame sets gradually along waiting to select separately thing moving path, each multiaxis intelligence letter sorting robot sets up and is corresponding on the portal frame.

4. The modular high-speed intelligent sorting apparatus of claim 3, wherein: and a door body structure for operators to enter is arranged on the baffle.

5. The modular high-speed intelligent sorting apparatus of claim 3, wherein the multi-axis intelligent sorting robot comprises:

the first linear driving device is arranged along the moving direction of the objects to be sorted;

the second linear driving device is arranged at the output end of the first linear driving device, the driving direction of the second linear driving device is vertical to the driving direction of the first linear driving device, and the driving direction of the second linear driving device is horizontal;

the third linear driving device is arranged at the output end of the second linear driving device, the driving direction of the third linear driving device is vertically arranged, and the output end of the third linear driving device can extend to a garbage conveying path of the garbage sorting machine;

and the clamping device is arranged at the output end of the third linear driving device and is used for clamping the objects to be sorted so as to transfer the objects to be sorted to a preset position.

6. The modular high-speed intelligent sorting apparatus of claim 5, wherein: the first linear driving device comprises a first driving mechanism, a first mounting mechanism and a first moving mechanism, the first mounting mechanism extends along the moving direction of the objects to be sorted, the first moving mechanism is connected to the first mounting mechanism in a sliding manner, the output end of the first driving mechanism is connected with the first moving mechanism in a driving manner and is used for driving the first moving mechanism to move along the moving direction of the objects to be sorted, and the second linear driving device is arranged on the first moving mechanism;

wherein, first actuating mechanism includes first driving source and first drive assembly, first moving mechanism with first installation mechanism's quantity is two sets ofly, and is two sets ofly first installation mechanism is located the both sides of treating the removal route of letter sorting respectively, and is two sets of first moving mechanism one-to-one swing joint is respectively two sets ofly on the first installation mechanism, the quantity of first drive assembly is two sets ofly, and is two sets of first drive assembly one-to-one drive connection is two sets ofly respectively first moving mechanism, first driving source is provided with two sets of respectively one-to-one two the output of first drive assembly, and is two sets of first moving mechanism removes syntropy all the time, second linear driving device connects two sets ofly between the first moving mechanism.

7. The modular high-speed intelligent sorting apparatus of claim 5, wherein: the output end of the first linear driving device is provided with a tensioning adjusting assembly, the tensioning adjusting assembly comprises two groups of adjusting parts symmetrically arranged on two sides of the output end of the first linear driving device, each adjusting part comprises a fixed seat, a guide part and a locking part, the fixed seats are fixedly connected with a conveying belt of the first linear driving device, the guide parts are arranged on the output end of the first linear driving device, the fixed seats are in sliding fit with the guide parts, and the locking parts are detachably arranged on the guide parts and used for positioning the positions of the fixed seats on the guide parts;

the two groups of fixing seats move to preset positions along the guide direction corresponding to the guide piece, so that after the tightness degree of the conveying belt between the two groups of fixing seats reaches a preset value, the locking pieces position and lock the positions of the corresponding fixing seats on the guide piece.

8. The modular high-speed intelligent sorting apparatus of claim 6, wherein: the second linear driving device comprises a second driving mechanism, a second mounting mechanism and a second moving mechanism, the second mounting mechanism is arranged at the output end of the first linear driving device, the second moving mechanism is movably connected to the first mounting mechanism, the second driving mechanism is in driving connection with the second moving mechanism, and the third linear driving device is arranged on the second moving mechanism;

wherein, second installation mechanism includes that second installation roof beam and second guide rail are vice, second installation roof beam sets up first linear drive device's output, second installation roof beam is provided with first terminal surface and the second terminal surface that is longitudinal symmetry, the vice quantity of second guide rail is two sets of, and is two sets of the vice guide rail of second guide rail is respectively the one-to-one setting and is in first terminal surface with on the second terminal surface, the vice guide rail of second guide rail is followed the length direction of second installation roof beam sets up, the both ends of second moving mechanism respectively with two sets of the vice slider fixed connection of second guide rail.

9. The modular high-speed intelligent sorting apparatus of claim 5, wherein: the third linear driving device comprises a third mounting mechanism, a third driving mechanism and a third moving mechanism, the third mounting mechanism is fixedly arranged at the output end of the second linear driving device, the third moving mechanism is movably connected to the output end of the second linear driving device, and the output end of the third driving mechanism is in driving connection with the third moving mechanism;

the third driving mechanism comprises a third driving motor, a third rack and a third driving gear, the third driving motor is fixedly arranged on the third mounting mechanism, the third rack is fixedly arranged on the third moving mechanism, the third rack is arranged along the moving direction of the third moving mechanism, the third driving gear is tightly connected to an output main shaft of the third driving motor, the third driving gear is meshed with the third rack, and the clamping device is arranged on the third moving mechanism.

10. The modular high-speed intelligent sorting apparatus of claim 5, wherein: the clamping device comprises a connecting mechanism, a clamping driving mechanism and a deflection opening and closing mechanism, the connecting mechanism is fixedly connected with the output end of the third linear driving device, the connecting mechanism is provided with an installation cavity, the clamping driving mechanism is arranged in the installation cavity, the deflection opening and closing mechanism is rotatably connected to the connecting mechanism, the number of the output ends of the deflection opening and closing mechanism is two, the output ends of the deflection opening and closing mechanism extend to the outer side of the installation cavity, and the two output ends of the deflection opening and closing mechanism move relatively all the time to realize the closing or expanding action;

wherein, coupling mechanism includes pin joint seat and flexible buffering subassembly, the quantity of flexible buffering subassembly is two sets of at least, and is two sets of flexible buffering subassembly sets up respectively the both ends of pin joint seat, the beat is opened and is closed the output of mechanism and rotate and connect in the tip of pin joint seat, flexible buffering subassembly is located the beat is opened and is closed the output removal route of mechanism, the output direction of flexible buffering subassembly is aimed at the beat is opened and is closed the output of mechanism.

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