CN218133393U - Sorting device and sorting system - Google Patents

Abstract

A sorting device and a sorting system. The sorting device comprises a lifting module and a picking module, and the picking module can rotate relative to the lifting module and is connected with the lifting module in a way of moving up and down; the lifting module comprises a movable seat; the picking module comprises a first rotating arm, a second rotating arm, a rotating part, a second driving assembly, a third driving assembly and a fourth driving assembly, and the overall gravity centers of the second driving assembly, the third driving assembly and the fourth driving assembly are all located on the moving seat; the third driving assembly comprises a third power element and a third transmission mechanism, the third power element is fixed on the movable seat, the third transmission mechanism is arranged in the first rotating arm, and the third transmission mechanism is respectively connected with the third power element and the second rotating arm. The sorting device has the advantages of simple structure, convenience in installation and small occupied space.

Description

Sorting device and sorting system

Technical Field

The utility model relates to a letter sorting machine people field, concretely relates to sorting device and letter sorting system.

Background

In industries such as food, medicine, electronics, cosmetics and the like, a sorting robot is required to efficiently grab, carry, place and the like light and small materials at medium and short distances so as to improve the production efficiency. However, the existing sorting robots mostly adopt parallel sorting robots. Take an example of a light and small material sorting and packaging parallel robot disclosed in the patent of the utility model with the publication number of CN 210233026U, the defect is that: 1) The robot is generally used for sorting articles by controlling a tail end moving platform through a plurality of parallel mechanical arms, has a complex structure and high manufacturing cost, and is not suitable for enterprises with small object flow; 2) The base of the parallel robot is located at the top, a rack needs to be built above the sorting area during installation so that the base of the parallel robot can be installed and fixed, installation is complex and inconvenient, occupied space is large, and the parallel robot is not used for a factory building with small space.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a sorting device is provided, sorting device has the structure simple and easy, be convenient for installation, and advantage that occupation space is little.

The utility model discloses another technical problem that will solve provides a sorting system.

For solving the technical problem, the utility model adopts the technical scheme that a sorting device is provided, the sorting device includes:

the lifting module comprises a mounting upright post, a first driving component mounted on the mounting upright post and a moving seat connected with the first driving component; the first driving assembly is used for driving the moving seat to move up and down relative to the mounting upright post;

one end of the first rotating arm is rotatably arranged on the moving seat;

one end of the second rotating arm is rotatably arranged at the other end of the first rotating arm;

the second driving assembly is connected with the first rotating arm and is used for driving the first rotating arm to rotate relative to the moving seat;

the third driving assembly is connected with the second rotating arm and is used for driving the second rotating arm to rotate relative to the first rotating arm;

the fourth driving component is connected with the rotating part and is used for driving the rotating part to rotate relative to the second rotating arm;

the pickup module (18) further comprises a rotating part (14), and the rotating part (14) is rotatably arranged at the other end of the second rotating arm (13); the overall gravity centers of the second driving assembly, the third driving assembly and the fourth driving assembly are all located on the moving seat;

the third driving assembly comprises a third power element and a third transmission mechanism, the third power element is fixed on the movable seat, the third transmission mechanism is arranged in the first rotating arm, and the third transmission mechanism is respectively connected with the third power element and the second rotating arm.

In the sorting apparatus provided in this embodiment, the second driving assembly includes a second power element and a second transmission mechanism, the second power element and the second transmission mechanism are both fixed to the moving seat, and the second transmission mechanism is respectively connected to the second power element and the first rotating arm.

In the sorting apparatus provided in this embodiment, the third transmission mechanism adopts a two-stage transmission form, and includes a first-stage transmission unit connected to the third power element and a second-stage transmission unit respectively connected to the first-stage transmission unit and the second rotating arm, where a transmission ratio of the first-stage transmission unit is 4:1 to 5:1, the transmission ratio of the second-stage transmission unit is 3:1 to 4: 1;

in the sorting apparatus provided in this embodiment, the third power element has a third output rotating shaft; the third transmission mechanism includes:

the first driving wheel is fixedly sleeved on the third output rotating shaft; and

and the third driving wheel is linked with the first driving wheel and is fixedly connected with the second rotating arm.

In the sorting device provided by this embodiment, the first driving wheel is connected to the third driving wheel through a transition mechanism; the transition mechanism includes:

the second transmission wheel is connected with the first transmission wheel; and

a first transmission column which is fixedly inserted in the second transmission wheel and can be rotatably arranged on the first rotating arm;

the third transmission wheel is connected with the first transmission column.

In the sorting apparatus provided in this embodiment, the third power element has a third output rotating shaft; the third transmission mechanism includes: the first transmission wheel is fixedly sleeved on the third output rotating shaft; the third driving wheel is linked with the first driving wheel and is fixedly connected with the second rotating arm;

the fourth driving assembly comprises a fourth power element and a fourth transmission mechanism, the fourth power element is fixed in the moving seat, the fourth transmission mechanism comprises a front section transmission mechanism arranged in the first rotating arm and a rear section transmission mechanism arranged in the second rotating arm, the front section transmission mechanism is respectively connected with the fourth power element and the rear section transmission mechanism, and the rear section transmission mechanism is connected with the rotating part; the fourth power element is provided with a fourth output rotating shaft; the anterior segment transmission mechanism comprises: a fourth driving wheel fixedly sleeved on the fourth output rotating shaft; a fifth driving wheel connected with the fourth driving wheel; the second transmission column is fixedly inserted in the fifth transmission wheel and rotatably arranged on the second rotating arm;

the third transmission wheel, the fifth transmission wheel and the second transmission column are coaxial, and the second transmission column can rotatably penetrate through the third transmission wheel.

In order to solve another technical problem, the utility model adopts the technical solution of providing a sorting system, wherein the sorting system comprises the above sorting devices, the sorting system further comprises a conveyor belt for conveying the objects to be sorted, and a plurality of sorting devices are arranged at intervals along the conveying direction of the conveyor belt; the mounting upright post is supported on the ground, and the lifting module is fixed beside the conveyor belt in a manner that the moving seat faces the conveyor belt; the pick-up module is located above the conveyor belt.

The utility model provides a sorting system, which also comprises a material bin for storing the articles to be sorted and a plurality of storage devices for accommodating the sorted articles; the lower end of the material bin is provided with an outlet through which articles to be sorted can fall off, and the material bin is arranged above the upstream end of the conveyor belt; one side of each sorting device is provided with the storage device.

The utility model provides a sorting system, which also comprises a vision module; the vision module comprises an identification unit and a processing unit connected with the identification unit; the identification unit faces the conveyor belt, and the processing unit is in signal connection with the sorting device; wherein the identification unit is used for identifying the objects to be sorted on the conveyor belt; the processing unit is used for generating a corresponding sorting instruction according to the recognition result of the recognition unit and sending the sorting instruction to the sorting device; the sorting device is used for operating according to the sorting instruction to finish the sorting operation.

The utility model provides an in the sorting system, the sorting system includes a plurality of said vision modules, at least one said sorting device with two said vision module signal connection simultaneously, with the same said sorting device signal connection two said vision modules respectively located the corresponding said sorting device upstream side and downstream side; the identification unit of the vision module on the upstream side is used for identifying the to-be-sorted articles on the conveyor belt which are about to enter the working range of the corresponding sorting device; the identification unit of the vision module on the downstream side is used for identifying the articles to be sorted on the conveyor belt which are about to leave the working range of the corresponding sorting device.

The utility model provides an among the letter sorting system, at least one the vision module simultaneously with two sorting device signal connection, with same two of vision module signal connection sorting device is located the correspondence respectively the upstream side and the downstream side of vision module, the recognition cell of vision module is used for discerning respectively be about to get into the downstream side on the conveyer belt sorting device's the operation scope wait to sort article with be about to leave the upstream side on the conveyer belt sorting device's the operation scope wait to sort article.

Implement the utility model provides a sorting device can reach following beneficial effect at least:

1. in the prior art, the series robot has large system inertia and poor dynamic performance because the driving motor and the transmission system are both arranged on a moving part, is not suitable for finishing high-speed and high-precision fine operation, and has lower safety of the system at high speed. However, in the sorting apparatus provided in this embodiment, the centers of gravity of the second driving assembly, the third driving assembly and the fourth driving assembly, which are relatively heavy, are located on the moving seat, so as to reduce the weight that the first rotating arm and the second rotating arm need to bear, especially, the size and the weight of the tail end of the first rotating arm and the tail end of the second rotating arm can be effectively reduced, which is convenient for improving the performance of the tail end, so that the sorting apparatus is suitable for performing fine operations with high speed and high precision, and the safety of the sorting apparatus during high-speed operation is improved.

2. The free end of the second rotating arm is provided with a rotatable rotating part, and the sorting device can be applied to different scenes by matching an external clamp on the rotating part.

3. Through carrying out optimal design to the structure and arranging of third drive assembly, further reduced the size of first swinging boom and second swinging boom and the weight that bears, realized the lightweight and the miniaturization of first swinging boom and second swinging boom, make sorting handling operation in terminal narrow space that sorting device can be better.

4. When the sorting device is installed in a sorting area to be put into use, a rack does not need to be additionally built above the sorting area, and the sorting device can be directly fixed on the ground through an installation stand column.

Implement the utility model provides a letter sorting system can reach following beneficial effect at least:

1. in the sorting system provided by the embodiment, the sorting device can be directly installed at the side of the conveyor belt through the lifting module of the sorting device, so that a rack does not need to be additionally built above the conveyor belt, and the building difficulty and cost of the sorting system are greatly reduced. In addition, a plurality of sorting devices are arranged beside the conveyor belt, so that the sorting efficiency of the sorting system can be improved;

2. in the sorting system provided by this embodiment, a rotating element capable of rotating 360 ° is installed at the end of the second rotating arm of the sorting device, and the rotating element passes through the second rotating arm downward, so that a clamp matched with an article to be sorted can be externally connected to the rotating element, so that the sorting system can be applied to different scenarios;

3. in the sorting system provided by this embodiment, a plurality of sorting devices are configured beside the conveyor belt, and the vision module can issue different sorting instructions to the plurality of sorting devices at the same time, so that the plurality of sorting devices perform sorting operations on different types of articles to be sorted on the conveyor belt, and the sorting system can realize simultaneous sorting of multiple articles;

4. in the sorting system provided by the embodiment, the first sorting device is simultaneously in signal connection with the first vision module and the second vision module, so that missing sorting of the articles to be sorted can be effectively prevented, and the sorting accuracy is ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts:

fig. 1 is a schematic perspective view of a sorting apparatus according to a first embodiment;

fig. 2 is a schematic front view of a sorting apparatus according to the first embodiment;

fig. 3 is a schematic cross-sectional view of a sorting apparatus according to an embodiment;

fig. 4 is a schematic top view of the sorting apparatus according to the first embodiment, in which the first rotating arm is processed in a perspective manner;

fig. 5 is a schematic view of a second rotating arm in the sorting apparatus according to the first embodiment;

FIG. 6 is an enlarged partial schematic view of FIG. 3;

fig. 7 is a schematic bottom view of the sorting apparatus according to the first embodiment, in which the first rotating arm is processed in a perspective manner;

fig. 8 is a schematic perspective view of a sorting system provided in the second embodiment;

fig. 9 is a schematic perspective view of a sorting system provided in the third embodiment;

fig. 10 is a schematic top view of a sorting system according to the third embodiment;

fig. 11 is a schematic perspective view of a sorting system according to the fourth embodiment;

fig. 12 is a schematic top view of the sorting system according to the fourth embodiment.

The reference numerals in the detailed description illustrate:

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Typical embodiments of the invention are given in the accompanying drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In further detail, the present invention is not only the sorting device related to the present embodiment, but also other devices similar to the structure of the present patent application are within the protection scope of the present invention. Simultaneously, in this embodiment with sorting device application to food letter sorting, wafer and glass substrate transport, especially use in the unordered letter sorting of light and small article, the work piece of narrow and small processing position is placed, especially uses the application on automatic sorting device. Other applications the utility model provides a sorting device carries out the application that certain function was realized to new external module and all belongs to the utility model discloses a protection range. Will simultaneously the utility model discloses also belong to in using other relevant letter sorting conveyer belts, the lathe equipment the utility model discloses a protection scope.

Example one

The present embodiment provides a sorting apparatus 100. The sorting device 100 includes a lifting module 11, a first rotating arm 12, a second rotating arm 13, a rotating member 14, a second driving assembly, a third driving assembly, and a fourth driving assembly.

Referring to fig. 1, fig. 1 is a schematic perspective view of a sorting apparatus 100 provided in this embodiment, and as shown in fig. 1, the lifting module 11 includes a mounting upright 111, a first driving assembly mounted on the mounting upright 111, and a moving base 112 connected to the first driving assembly; the first driving assembly is used for driving the moving base 112 to move up and down relative to the mounting upright 111. Specifically, the first driving assembly includes a first power element 113 and a first transmission mechanism 114, and both the first power element 113 and the first transmission mechanism 114 are mounted on the mounting upright 111. In this embodiment, the first power element 113 is a servo motor, and the first transmission mechanism 114 is a lifting slide table. Thus, when the first power element 113 operates, the first transmission mechanism 114 can drive the movable base 112 to move up and down. Of course, in some other embodiments, the first power element 113 may also adopt other devices that can realize the function of a servo motor, such as a stepping motor, a brushless motor, etc. In some other embodiments, the first transmission mechanism 114 may also adopt other devices that can implement the function of a lifting and lowering sliding platform, such as a screw rod mechanism. The head end of the first rotating arm 12 is rotatably mounted on the upper side of the moving base 112, and the head end of the second rotating arm 13 is rotatably connected to the lower side of the tail end of the first rotating arm 12.

Referring to fig. 2, fig. 2 is a schematic front view of the sorting apparatus 100 provided in this embodiment, as shown in fig. 2, the rotating part 14 is rotatably installed at the end of the second rotating arm 13, and the rotating part 14 penetrates downward through the second rotating arm 13, so that a user can connect a fixture matched with a desired scene to the rotating part 14.

Referring to fig. 3, fig. 3 is a schematic cross-sectional view of the sorting apparatus 100 provided in this embodiment, as shown in fig. 3, the second driving assembly is supported on the moving base 112 and connected to the first rotating arm 12 for driving the first rotating arm 12 to rotate relative to the moving base 112. Here, the center of gravity of the second drive assembly as a whole falls on the moving base 122. Specifically, the second driving assembly includes a second power element 151 and a second transmission mechanism 152, the second power element 151 and the second transmission mechanism 152 are both fixed on the upper side of the moving seat 112, and the second transmission mechanism 152 is respectively connected to the second power element 151 and the first rotating arm 12. In this embodiment, the second power element 151 is a servo motor, and the second transmission mechanism 152 is a large reduction ratio transmission mechanism, for example, the second transmission mechanism 152 may be an RV reducer, a harmonic reducer, a planetary reducer, or the like. The second power element 151 has a second output rotating shaft 1511, and the second power element 151 is fixed on the moving base 112 in a manner that the second output rotating shaft 1511 faces downward vertically. The second transmission mechanism 152 has a fifth output rotating shaft 1521, and the second transmission mechanism 152 is fixed on the moving base 112 in a manner that the fifth output rotating shaft 1521 faces upward vertically. As can be seen in fig. 3, the second power element 151 is located above the second transmission 152, and the second output rotating shaft 1511 is connected to the fifth output rotating shaft 1521. The first rotating arm 12 has a central axis not shown), and the fifth output rotating shaft 1521 of the second transmission mechanism 152 is coaxially connected with the central axis of the first rotating arm 12 and can rotate synchronously. Therefore, when the second power element 151 operates, the second transmission mechanism 152 can drive the first rotating arm 12 to rotate around the fifth output rotating shaft 1521 or the axis where the middle axle is located.

With reference to fig. 3, the third driving assembly is supported on the moving base 112 and connected to the second rotating arm 13, for driving the second rotating arm 13 to rotate relative to the first rotating arm 12. Here, the overall center of gravity of the third driving assembly is located on the moving seat 122. Specifically, the third driving assembly includes a third power element 161 and a third transmission mechanism 162, the third power element 161 is fixed on the upper side of the movable base 112, the third transmission mechanism 162 is disposed in the first rotating arm 12, and the third transmission mechanism 162 is respectively connected to the third power element 161 and the second rotating arm 13. The third power element 161 has a third output rotating shaft, not shown in the drawings), and the third power element 161 is fixed on the upper side of the movable base 112 with the third output rotating shaft facing downward. The third transmission mechanism 162 includes: a first driving wheel not shown fixed to the third output shaft; and a third driving wheel 1622 linked with the first driving wheel and fixedly connected with the second rotating arm 13. As can be seen in fig. 3, the second rotating arm 13 has a sleeve 131 therein, and the third transmission wheel 1622 is located above the sleeve 131 and coaxially connected to the sleeve 131, so that the second rotating arm 13 can rotate synchronously with the third transmission wheel 1622. Preferably, the first driving wheel is connected with the third driving wheel 1622 through a transition mechanism. Referring to fig. 4, fig. 4 is a schematic top view of the sorting apparatus 100 provided in this embodiment, and in fig. 4, the first rotating arm 12 is processed in a perspective manner. As shown in fig. 3 and 4, the transition mechanism includes: a second transmission wheel 1621 connected with the first transmission wheel; and a first transmission column 1623 inserted and fixed to the second transmission wheel 1621 and rotatably mounted to the first rotating arm 12. Specifically, the second driving wheel 1621 is coaxially connected to the first driving column, the second driving wheel 1621 is fixed to the upper end of the first driving column, the lower end of the first driving column is rotatably inserted into the inner wall surface of the first rotating arm 12, and the third driving wheel 1622 is connected to the first driving column. In this embodiment, the third power element 161 is selected as a servo motor, the first driving wheel, the second driving wheel 1621 and the third driving wheel 1622 are selected as belt pulleys, the first driving wheel is connected with the second driving wheel 1621 through a first synchronous belt 1624, and the third driving wheel 1622 is connected with the first transmission column through a second synchronous belt 1625. Therefore, when the third power element 161 operates, the first rotating arm 12 can be driven to rotate around the third transmission wheel 1622 or the axis of the sleeve 131 by the first transmission wheel, the second transmission wheel 1621, the first transmission column and the third transmission wheel 1622. Of course, in some other embodiments, the third power element 161 may also adopt other devices that can realize the function of a servo motor, such as a stepping motor, a brushless motor, etc. In some other embodiments, the first transmission wheel, the second transmission wheel 1621 and the third transmission wheel 1622 may also adopt other devices capable of realizing the function of a pulley, such as a chain wheel, a gear and the like. From the above description, it can be understood that the third transmission mechanism 162 is actually in the form of two-stage transmission, and the third transmission mechanism 162 can also be considered to include a first-stage transmission unit connected to the third power element 161 and a second-stage transmission unit connected to the first-stage transmission unit and the second rotating arm 13, respectively. The first driving wheel, the second driving wheel 1621 and the first synchronous belt 1624 form the first stage transmission unit, and the first driving column 1623, the third driving wheel 1622 and the second synchronous belt 1625 form the second stage transmission unit. Preferably, the transmission ratio of the first stage transmission unit is 4:1 to 5:1, that is, the ratio of the radii of the second transmission wheel 1621 and the first transmission wheel is 4:1 to 5: 1; the transmission ratio of the second-stage transmission unit is 3:1 to 4:1, that is, the ratio of the radii of the third transmission wheel 1622 and the first transmission column 1623 is 3:1 to 4: 1. Through the distribution of the transmission ratio, the sizes of the second transmission wheel 1621 and the third transmission wheel 1622 are not too large, and the volume of the second rotating arm 13 is ensured to be small.

With continued reference to fig. 3 and fig. 4, the fourth driving component is supported on the moving base 112 and connected to the rotating component 14, for driving the rotating component 14 to rotate relative to the second rotating arm 13. Here, the overall center of gravity of the fourth drive assembly falls on the movable base 112. Specifically, the fourth driving assembly includes a fourth power element 171 and a fourth transmission mechanism 172, the fourth power element 171 is fixed in the moving seat 112, the fourth transmission mechanism 172 includes a front section transmission mechanism disposed in the first rotating arm 12 and a rear section transmission mechanism disposed in the second rotating arm 13, the front section transmission mechanism is connected to the fourth power element 171 and the rear section transmission mechanism, and the rear section transmission mechanism is connected to the rotating member 14. The fourth power element 171 has a fourth output rotating shaft, not shown), as can be seen from fig. 4, the fourth power element 171 is fixed on the upper side of the movable base 112 in a manner that the fourth output rotating shaft faces vertically downward. The anterior segment transmission mechanism comprises: a fourth driving wheel 1721 fixedly sleeved on the fourth output rotating shaft; a fifth driving wheel 1722 connected with the fourth driving wheel 1721; and a second transmission column 1723 inserted into the fifth transmission wheel 1722 and rotatably mounted on the second rotating arm 13. The back end transmission mechanism comprises: a sixth driving wheel 1724 fixedly sleeved on the second driving column 1723; and a seventh driving wheel 1725 connected to the sixth driving wheel 1724 and fixedly connected to the rotation member 14. As can be seen in fig. 3, the third transmission wheel 1622, the fifth transmission wheel 1722 and the second transmission column 1723 are coaxial, and the second transmission column 1723 passes through the third transmission wheel 1622 in a rotatable manner. Specifically, the second transmission column 1723 can rotatably pass through the third transmission wheel 1622 and the sleeve 131, and the upper end and the lower end of the second transmission column 1723 respectively axially pass through the third transmission wheel 1622 and the sleeve 131. Referring to fig. 5, fig. 5 is a schematic view of the second rotating arm 13 in the sorting apparatus 100 according to this embodiment. As shown in fig. 3 and 5, the fifth driving wheel 1722 is fixed on the upper end of the second driving column 1723 and is located above the third driving wheel 1622. The sixth driving wheel 1724 is fixed to the lower end of the second driving column 1723, and the fifth driving wheel 1722, the second driving column 1723 and the sixth driving wheel 1724 are coaxial and can rotate synchronously. Fig. 6 is a partially enlarged schematic view of fig. 3 in combination with fig. 6. As shown in fig. 3 and fig. 6, the rotating member 14 is rotatably inserted into the end of the second rotating arm 13, the seventh transmission wheel 1725 is fixed on the periphery of the rotating member 14, and the seventh transmission wheel 1725 is coaxially connected with the rotating member 14 and can rotate synchronously. In this embodiment, the fourth power element 171 is a servo motor, and the fourth driving wheel 1721, the fifth driving wheel 1722, the sixth driving wheel 1724 and the seventh driving wheel 1725 are belt pulleys. The fourth driving wheel 1721 is connected with the fifth driving wheel 1722 through a third synchronous belt 1726. Referring to fig. 7, fig. 7 is a schematic bottom view of the sorting apparatus 100 provided in this embodiment, and fig. 7 is a perspective view of the first rotating arm 12. As shown in fig. 3 and 7, the sixth driving wheel 1724 and the seventh driving wheel 1725 are connected by a fourth timing belt 1727. Therefore, when the fourth power element 171 operates, the rotating member 14 can be driven to rotate 360 ° around its own axis by the fourth transmission wheel 1721, the fifth transmission wheel 1722, the second transmission column 1723, the sixth transmission wheel 1724 and the seventh transmission wheel 1725.

It is worth mentioning that the ratio of the distance between the central axis of the second driving wheel 1621 and the central axis of the third driving wheel 1622 to the distance between the central axis of the second driving wheel 1621 and the central axis of the third output rotating shaft is 0.3:1 to 0.5:1, it can be ensured that the shaft of the second transmission wheel 1621 does not interfere with the third timing belt 1726 of the fourth transmission mechanism 172.

In summary, the first power element 113 can drive the first rotating arm 12, the second rotating arm 13 and the rotating member 14 to move up and down synchronously, the second power element 151 can drive the first rotating arm 12, the second rotating arm 13 and the rotating member 14 to rotate around the axis of the fifth output rotating shaft 1521 synchronously, the third power element 161 can drive the second rotating arm 13 and the rotating member 14 to rotate around the axis of the sleeve 131 synchronously, and the fourth power element 171 can drive the transmission member to rotate 360 degrees. Thus, after the lower side of the transmission member is externally connected with the clamp corresponding to the application scene, the sorting device 100 can well complete the sorting work.

Compared with the prior art, the sorting device 100 provided in the present embodiment has the following advantages:

1. the first power element 113 and the first transmission mechanism 114 with heavier mass are fixed on the mounting upright post 111, and the second power element 151, the third power element 161, the fourth power element 171 and the second transmission mechanism 152 are all fixed on the movable base 112, so that the weight required to be borne by the first rotating arm 12 and the second rotating arm 13 is greatly reduced, particularly, the size and the weight of the tail ends of the first rotating arm 12 and the second rotating arm 13 can be effectively reduced, the performance of the tail ends is convenient to improve, the sorting device 100 is suitable for finishing high-speed and high-precision fine operation, and the safety of the sorting device 100 in high-speed operation is improved;

2. a rotatable rotating part 14 is installed at the end of the second rotating arm 13, the rotating part 14 penetrates out of the second rotating arm 13, and the sorting device 100 can be applied to different scenes by matching with an external clamp on the rotating part 14.

3. Through carrying out optimal design to the structure and arranging of third drive assembly, can reduce by a wide margin the required space of third drive mechanism 162 to further reduce the size and the weight that bears of first swinging boom 12 and second swinging boom 13, realize the lightweight and the miniaturization of first swinging boom 12 and second swinging boom 13, make sorting device 100 can be better carry out the letter sorting transport operation in terminal narrow space. In summary, the sorting device 100 is more effective in sorting operations under the condition of limited operation space.

4. When the sorting apparatus 100 is installed in a sorting area to be put into use, there is no need to additionally build a rack above the sorting area, but the sorting apparatus 100 can be directly fixed to the ground through the installation columns 111.

Example two

The present embodiment provides a sorting system including a conveyor belt 300 for conveying articles to be sorted and a sorting apparatus 100 as provided in the first embodiment, a plurality of material bins 200 for storing the articles to be sorted, which are arranged at intervals along a conveying direction of the conveyor belt 300 by the sorting apparatus 100, and a plurality of storage apparatuses 400 for receiving the sorted articles. Referring to fig. 8, fig. 8 is a schematic perspective view of the sorting system according to the present embodiment, as shown in fig. 8, the lifting module 11 is installed beside the conveyor belt 300, where the installation column 111 is supported on the ground, and the lifting module 11 is fixed beside the conveyor belt 300 in a manner that the moving base 112 faces the conveyor belt 300; the pick-up module 18 is located above the conveyor belt 300. The lower end of the material bin 200 is provided with an outlet through which articles to be sorted can fall, and the material bin 200 is arranged above the upstream end of the conveyor belt 300; one side of each sorting apparatus 100 is provided with the storage apparatus 400. In this embodiment, one sorting device 100 is disposed on each of opposite sides of the conveyor belt 300, one storage device 400 is disposed beside each of the two sorting devices 100, and the storage device 400 is a box body having an opening at the top. The articles to be sorted in the material bin 200 may drop onto the conveyor belt 300 through the outlet, the conveyor belt 300 carrying the articles to be sorted moves slowly along the conveying direction in the direction indicated by the arrow in fig. 1), the plurality of sorting devices 100 arranged at the side of the conveyor belt 300 perform a sorting operation on the articles to be sorted on the conveyor belt 300 through the picking module 18, and place the sorted articles in the storage device 400. Of course, in some other embodiments, the number of the sorting devices 100 and the storage devices 400 may also be more, for example, 3, 4, or more than 5, a plurality of sorting devices 100 may also be arranged on the same side of the conveyor belt, and the number of the storage devices 400 configured beside each sorting device 100 may also be adjusted to 2, 3, or 4, etc.

Compared with the prior art, the sorting system provided by the embodiment has the advantages that:

1. in the sorting system provided by the embodiment, the sorting device 100 can be directly installed beside the conveyor belt 300 through the lifting module 11, so that a rack does not need to be additionally built above the conveyor belt 300, and the difficulty and cost of building the sorting system are greatly reduced. In addition, the sorting efficiency of the sorting system can be improved by arranging a plurality of sorting devices 100 at the side of the conveyor belt 300;

2. in the sorting system provided in this embodiment, the rotating component 14 capable of rotating 360 ° is installed at the end of the second rotating arm 13 of the sorting device 100, and the rotating component 14 passes through the second rotating arm 13 downward, so that a clamp matched with the object to be sorted can be externally connected to the rotating component 14, so that the sorting system can be applied to different scenes;

EXAMPLE III

The present embodiment provides a sorting system, which is added with the vision module 500 on the basis of the sorting system in the second embodiment. The vision module 500 includes an identification unit and a processing unit connected to the identification unit. Wherein the identification unit is used for identifying the article to be sorted on the conveyor belt 300; the processing unit is used for generating a corresponding sorting instruction according to the recognition result of the recognition unit and sending the sorting instruction to the sorting device 100; the sorting apparatus 100 is configured to operate according to the sorting instructions to complete a sorting operation. Because in the letter sorting system, the side of conveyer belt 300 is configured with a plurality of sorting device 100, vision module 500 can give a plurality of sorting device 100 different letter sorting instruction simultaneously to make a plurality of sorting device 100 right the different grade type on the conveyer belt 300 is waited to sort the article and is carried out the letter sorting operation, thereby the letter sorting system can realize the simultaneous letter sorting of many article types. Referring to fig. 9 and 10, fig. 9 is a schematic perspective view of the sorting system provided in the present embodiment, and fig. 10 is a schematic top view of the sorting system provided in the present embodiment, and as shown in fig. 9 and 10, two sorting devices 100 are arranged at intervals along a direction indicated by an arrow in the transmission pattern 9 of the conveyor belt 300), for convenience of description, the sorting device 100 located on the upstream side is referred to as a first sorting device 100a, and the sorting device 100 located on the downstream side is referred to as a second sorting device 100b. The first sorting device 100a and the second sorting device 100b are installed at opposite sides of the conveyor belt 300. One of the vision modules 500 is arranged at an upstream side of the first sorting device 100a, and a processing unit of the vision module 500 is in signal connection with the first sorting device 100a and the second sorting device 100b, respectively. One storage device 400 is disposed on each of the upstream and downstream sides of the first sorting device 100a, and similarly, one storage device 400 is disposed on each of the upstream and downstream sides of the second sorting device 100b. The storage device 400 is a box body with an opening at the upper part, and two storage sections are arranged in the box body. The vision module 500 is arranged right above the conveyor belt 300, and the collecting unit is aligned downward with the conveyor belt 300, wherein the collecting unit of the vision module 500 is a camera, and the processing unit is a microprocessor. So, the letter sorting system that this embodiment provided can wait to sort article a and wait to sort article b) to two kinds of different to sort the article simultaneously and carry out the letter sorting operation, and specific letter sorting process is as follows: two different articles to be sorted need to be placed in the material bin 200, the articles to be sorted in the material bin 200 can fall onto the conveyor belt 300 through the outlet, and the conveyor belt 300 carrying the articles to be sorted moves slowly along the conveying direction indicated by an arrow in fig. 1); when the article to be sorted on the conveyor belt 300 is about to enter the working range of the first sorting device 100a, the vision module 500 starts to collect information of the article to be sorted on the conveyor belt 300, respectively confirms arrangement information of the article a to be sorted and the article b to be sorted, the collection unit collects the arrangement information and then uploads the arrangement information to the processing unit, the processing unit confirms the time when the article a to be sorted reaches the working range of the first sorting device 100a and the time when the article b to be sorted reaches the working range of the second sorting device 100b according to the arrangement information and the conveying speed of the conveyor belt 300, and respectively sends a sorting instruction a and a sorting instruction b to the first sorting device 100a and the second sorting device 100 b; the first sorting device 100a receives and executes the sorting command a, and accurately grabs and moves the articles a to be sorted into the corresponding storage device 400; the second sorting device 100b receives and executes the sorting command b, and accurately captures and moves the article b to be sorted into the corresponding storage device 400. Therefore, the sorting system provided by the embodiment realizes the simultaneous sorting operation of two different materials to be sorted. Of course, in some other embodiments, the number of the sorting devices 100 and the storage devices 400 may be more, for example, 3, 4, or more than 5, so that the sorting system can realize the sorting operation for more different materials to be sorted at the same time. In some other embodiments, a plurality of sorting devices 100 may also be arranged on the same side of the conveyor belt. In some other embodiments, the number of the storage units 400 disposed beside each sorting apparatus 100 can be adjusted to 1, 3, or 4, etc.

Compared with the prior art, the sorting system provided by the embodiment has the advantages that:

1. in the sorting system provided by this embodiment, a plurality of sorting devices 100 are disposed beside the conveyor belt 300, and the vision module 500 can issue different sorting instructions to the plurality of sorting devices 100 at the same time, so that the plurality of sorting devices 100 perform sorting operations on different types of articles to be sorted on the conveyor belt 300, so that the sorting system can realize simultaneous sorting of multiple articles;

2. in the sorting system provided by this embodiment, due to the reduction of the size and weight of the ends of the first rotating arm 12 and the second rotating arm 13 of the sorting apparatus 100, the inertia of the first rotating arm 12 and the second rotating arm 13 is small, the dynamic performance is more stable, and it is allowed that the lengths of the first rotating arm 12 and the second rotating arm 13 are designed to be longer, so that the movement range of the sorting apparatus 100 is larger to adapt to the conveyor belt 300 with a larger width, and further, the sorting system can better realize the multi-material screening and the multi-material sorting and screening function cooperatively processed by the multi-sorting apparatus 100 in a time-sharing manner.

3. In the sorting system provided by this embodiment, the rotating component 14 capable of rotating 360 ° is installed at the end of the second rotating arm 13 of the sorting apparatus 100, and the rotating component 14 passes through the second rotating arm 13 downward, so that a clamp matched with an article to be sorted can be externally connected to the rotating component 14, so that the sorting system can be applied to different scenes; more importantly, the two sorting devices 100 can sort different kinds of objects respectively by externally connecting different types of clamps to the rotating members 14 of the two sorting devices 100, so that the sorting system can sort different materials or mixed materials at one time.

4. In the sorting system provided in this embodiment, the sorting device 100 facilitates configuring more sorting devices 100 side by side or in a cross manner on two sides or the same side of the same conveyor belt 300 in a limited space, so as to further improve the sorting efficiency of the sorting system, and at the same time, the sorting system can realize more complicated sorting processes such as sorting of multiple articles, sorting of good and defective products, screening of multiple parts, screening of multiple mixed materials, and the like, so that the sorting system can be applied to more operation demand scenarios.

Example four

The present embodiment provides a sorting system, which is different from the third embodiment in that: the sorting system provided by the present embodiment comprises a plurality of vision modules 500, wherein at least one sorting apparatus 100 is simultaneously connected with two vision modules 500 by signals, and the two vision modules 500 connected with the same sorting apparatus 100 by signals are respectively located at the upstream side and the downstream side of the corresponding sorting apparatus 100; the identification unit of the vision module 500 on the upstream side is used for identifying the articles to be sorted on the conveyor belt which are about to enter the working range of the corresponding sorting device 100; the identification unit of the vision module 500 on the downstream side is used to identify the articles to be sorted on the conveyor belt that are about to leave the working range of the corresponding sorting device 100. Meanwhile, at least one of the vision modules 500 is simultaneously in signal connection with two sorting devices 100, the two sorting devices 100 in signal connection with the same vision module 500 are respectively located at the upstream side and the downstream side of the corresponding vision module 500, and the identification unit of the vision module 500 is used for respectively identifying the articles to be sorted in the operation range of the sorting device 100 on the downstream side on the conveyor belt and the articles to be sorted in the operation range of the sorting device 100 on the upstream side on the conveyor belt. Referring to fig. 11 and 12, fig. 11 is a schematic perspective view of the sorting system provided in the present embodiment, and fig. 12 is a schematic top view of the sorting system provided in the present embodiment, as shown in fig. 11 and 12, the number of the vision modules 500 is two, and the two vision modules 500 are respectively arranged at the upstream side of the first sorting device 100a and the upstream side of the second sorting device 100b. For convenience of description, the vision module 500 positioned at the upstream side of the first sorting device 100a is referred to as a first vision module 500a, and the vision module 500 positioned at the upstream side of the second sorting device 100b is referred to as a second vision module 500b. In this embodiment, the first sorting device 100a is in signal connection with the first and second vision modules 500a and 500b, respectively, and the processing unit of the second vision module 500b is in signal connection with the first and second sorting devices 100a and 100b, respectively. So, the letter sorting system that this embodiment provided can wait to sort article a and wait to sort article b) to two kinds of different to sort the article simultaneously and carry out the letter sorting operation, and specific letter sorting process is as follows: two different articles to be sorted need to be placed in the material bin 200, the articles to be sorted in the material bin 200 can fall onto the conveyor belt 300 through the outlet, and the conveyor belt 300 carrying the articles to be sorted moves slowly along the conveying direction as indicated by an arrow in fig. 11); when the to-be-sorted articles on the conveyor belt 300 are about to enter the working range of the first sorting device 100a, the collecting unit of the first vision module 500a starts to collect information of the to-be-sorted articles a on the conveyor belt 300 and confirms first distribution information a of the to-be-sorted articles a, the collecting unit of the first vision module 500a collects the first distribution information a and then uploads the first distribution information a to the processing unit, the processing unit of the first vision module 500a confirms the time when the to-be-sorted articles a reach the working range of the first sorting device 100a according to the first distribution information a and the conveying speed of the conveyor belt 300 and gives a first sorting instruction a to the first sorting device 100a, and the first sorting device 100a receives and executes the first sorting instruction a to accurately grasp and move the to-be-sorted articles a into the corresponding storage device 400; when the to-be-sorted articles on the conveyor belt 300 are about to leave the working range of the first sorting device 100a, the collecting unit of the second vision module 500b starts to collect information of the to-be-sorted articles on the conveyor belt 300 and respectively confirms second arrangement information a of the to-be-sorted articles a and arrangement information b of the to-be-sorted articles b, the collecting unit of the second vision module 500b finishes collecting the second arrangement information a and the arrangement information b and then uploads the second arrangement information a and the arrangement information b to the processing unit, the processing unit of the second vision module 500b confirms the time when the to-be-sorted articles a leave the working range of the first sorting device 100a according to the second arrangement information a and the conveying speed of the conveyor belt 300 and gives a second sorting instruction a to the first sorting device 100a, and the processing unit of the second vision module 500b also confirms the time when the to-be-sorted articles b reach the working range of the second sorting device 100b according to the arrangement information b and the conveying speed of the conveyor belt 300 and respectively gives an instruction to the second sorting device 100 b; the first sorting device 100a receives and executes the second sorting instruction a, and grabs and moves the articles a to be sorted which are missed after primary sorting on the conveyor belt 300 into the corresponding storage device 400; the second sorting device 100b receives and executes the sorting command b, and accurately captures and moves the object to be sorted b into the corresponding storage device 400. Thereby, realized the letter sorting operation to two kinds of different waiting to sort materials simultaneously.

In summary, compared with the embodiments, the sorting system provided by the embodiment has the following advantages:

1. the first sorting device 100a is simultaneously in signal connection with the first vision module 500a and the second vision module 500b, the first vision module 500a can perform primary screening on the article a to be sorted on the conveyor belt 300, which is about to enter the operation range of the first sorting device 100a, and generate a first sorting instruction a, the second vision module 500b can perform secondary screening on the article a to be sorted on the conveyor belt 300, which is about to leave the operation range of the first sorting device 100a, and generate a corresponding second sorting instruction a, so that the first sorting device 100a can perform multiple sorting on the article a to be sorted on the conveyor belt 300 according to the first sorting instruction a and the second sorting instruction a, which can effectively prevent missing sorting of the article a to be sorted, and ensure the sorting accuracy.

2. The second vision module 500b is in signal connection with the first sorting device 100a and the second sorting device 100b at the same time, and the second vision module 500b can respectively give a second sorting instruction a and a sorting instruction b to the first sorting device 100a and the second sorting device 100b, so that the second vision module 500b can simultaneously perform feedback control on the first sorting device 100a and the second sorting device 100b, the utilization rate of the vision module 500 is effectively improved, the usage amount of the vision module 500 by the sorting system can be reduced, and the construction operation of the sorting system is further simplified.

The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many forms without departing from the spirit and scope of the present invention, which is protected by the following claims.

Claims (11)

1. A sorting device, the sorting device (100) comprising a lifting module (11) and a pick-up module (18), the pick-up module (18) being connected to the lifting module (11) so as to be rotatable relative to the lifting module (11) and so as to be movable up and down;

the lifting module (11) comprises a mounting upright post (111), a first driving component mounted on the mounting upright post (111), and a moving seat (112) connected with the first driving component; the first driving component is used for driving the moving seat (112) to move up and down relative to the mounting upright post (111);

the pick-up module (18) comprises:

a first rotating arm (12) with one end rotatably mounted on the moving seat (112);

a second rotating arm (13) with one end rotatably mounted on the other end of the first rotating arm (12);

the second driving assembly is connected with the first rotating arm (12) and is used for driving the first rotating arm (12) to rotate relative to the moving seat (112);

the third driving assembly is connected with the second rotating arm (13) and is used for driving the second rotating arm (13) to rotate relative to the first rotating arm (12);

the fourth driving component is connected with the rotating part (14) and is used for driving the rotating part (14) to rotate relative to the second rotating arm (13);

the method is characterized in that: the pickup module (18) further comprises a rotating part (14), and the rotating part (14) is rotatably arranged at the other end of the second rotating arm (13); the overall gravity centers of the second driving assembly, the third driving assembly and the fourth driving assembly are all located on the moving seat (112);

the third driving assembly comprises a third power element (161) and a third transmission mechanism (162), the third power element (161) is fixed on the movable base (112), the third transmission mechanism (162) is arranged in the first rotating arm (12), and the third transmission mechanism (162) is respectively connected with the third power element (161) and the second rotating arm (13).

2. Sorting device according to claim 1, characterized in that the second drive assembly comprises a second power element (151) and a second transmission mechanism (152), the second power element (151) and the second transmission mechanism (152) being fixed to the mobile seat (112), the second transmission mechanism (152) being connected to the second power element (151) and to the first rotating arm (12), respectively.

3. Sorting device according to claim 1, characterised in that the third transmission mechanism (162) takes the form of a two-stage transmission comprising a first stage transmission unit connected to the third power element (161) and a second stage transmission unit connected to the first stage transmission unit and to the second rotary arm (13), respectively, the first stage transmission unit having a transmission ratio of 4:1 to 5:1, the transmission ratio of the second-stage transmission unit is 3:1 to 4: 1.

4. Sorting device according to claim 1, characterised in that the third power element (161) has a third output shaft; the third transmission mechanism (162) includes:

the first driving wheel is fixedly sleeved on the third output rotating shaft; and

and a third driving wheel (1622) which is linked with the first driving wheel and is fixedly connected with the second rotating arm (13).

5. A sorting device according to claim 4, characterised in that said first transmission wheel is connected to said third transmission wheel (1622) by means of a transition mechanism; the transition mechanism includes:

a second transmission wheel (1621) connected with the first transmission wheel; and

a first transmission column (1623) which is fixedly inserted in the second transmission wheel (1621) and can be rotatably arranged on the first rotating arm (12);

the third transmission wheel (1622) is connected with the first transmission column.

6. Sorting device according to claim 1, characterised in that the third power element (161) has a third output shaft; the third transmission mechanism (162) includes: the first driving wheel is fixedly sleeved on the third output rotating shaft; and a third driving wheel (1622) which is linked with the first driving wheel and is fixedly connected with the second rotating arm (13);

the fourth driving assembly comprises a fourth power element (171) and a fourth transmission mechanism (172), the fourth power element (171) is fixed in the moving seat (112), the fourth transmission mechanism (172) comprises a front section transmission mechanism arranged in the first rotating arm (12) and a rear section transmission mechanism arranged in the second rotating arm (13), the front section transmission mechanism is respectively connected with the fourth power element (171) and the rear section transmission mechanism, and the rear section transmission mechanism is connected with the rotating part (14); the fourth power element (171) has a fourth output shaft; the anterior segment transmission mechanism comprises: a fourth driving wheel (1721) fixedly sleeved on the fourth output rotating shaft; a fifth driving wheel (1722) connected with the fourth driving wheel (1721); and a second transmission column (1723) which is fixedly inserted in the fifth transmission wheel (1722) and can be rotatably arranged on the second rotating arm (13);

the third transmission wheel (1622), the fifth transmission wheel (1722) and the second transmission column (1723) are coaxial, and the second transmission column (1723) can rotatably penetrate through the third transmission wheel (1622).

7. A sorting system, characterized in that the sorting system comprises a sorting device according to any of claims 1-6, the sorting system further comprising a conveyor belt (300) for conveying articles to be sorted, a plurality of the sorting devices (100) being arranged at intervals along the conveying direction of the conveyor belt (300); the mounting upright post (111) is supported on the ground, and the lifting module (11) is fixed at the side of the conveyor belt (300) in a manner that the moving seat (112) faces the conveyor belt (300); the pick-up module (18) is located above the conveyor belt (300).

8. Sorting system according to claim 7, further comprising a material bin (200) for storing items to be sorted and a plurality of storage devices (400) for receiving sorted items; the lower end of the material bin (200) is provided with an outlet through which articles to be sorted can fall, and the material bin (200) is arranged above the upstream end of the conveyor belt (300); one side of each sorting device (100) is provided with the storage device (400).

9. The sorting system according to claim 7, further comprising a vision module (500); the vision module (500) comprises an identification unit and a processing unit connected with the identification unit; said identification unit being directed towards said conveyor belt (300), said processing unit being in signal connection with said sorting device (100); wherein the identification unit is used for identifying the articles to be sorted on the conveyor belt (300); the processing unit is used for generating a corresponding sorting instruction according to the recognition result of the recognition unit and sending the sorting instruction to the sorting device (100); the sorting device (100) is used for operating according to the sorting instruction so as to finish the sorting operation.

10. Sorting system according to claim 9, characterized in that it comprises a plurality of said vision modules (500), at least one of said sorting apparatuses (100) being simultaneously signally connected to two of said vision modules (500), two of said vision modules (500) signally connected to the same sorting apparatus (100) being located respectively on the upstream and downstream sides of the corresponding sorting apparatus (100); the identification unit of the vision module (500) on the upstream side is used for identifying the articles to be sorted on the conveyor belt which are about to enter the working range of the corresponding sorting device (100); the identification unit of the downstream vision module (500) is used for identifying the objects to be sorted on the conveyor belt which are about to leave the working range of the corresponding sorting device (100).

11. Sorting system according to claim 9, characterised in that at least one vision module (500) is signal-connected to two sorting devices (100) simultaneously, the two sorting devices (100) signal-connected to the same vision module (500) being located upstream and downstream, respectively, of the corresponding vision module (500), the identification unit of the vision module (500) being adapted to identify the items to be sorted on the conveyor belt which are about to enter the operating range of the sorting devices (100) on the downstream side and the items to be sorted on the conveyor belt which are about to leave the operating range of the sorting devices (100) on the upstream side, respectively.

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