CN219008833U - Sorting device - Google Patents

Abstract

The utility model discloses a sorting device, which comprises a frame and at least one sorting assembly arranged on the frame, wherein the sorting assembly comprises a supporting mechanism, a traction mechanism and a guide mechanism, the supporting mechanism defines a preset moving path for a sorting frame to move, and the guide mechanism is arranged on the supporting mechanism and is used for guiding the sorting frame deviating from the preset moving path; the traction mechanism comprises an adsorption mechanism, the adsorption mechanism comprises a connecting seat and an electromagnet assembly which is arranged on the connecting seat and used for magnetically adsorbing the picking frame, the electromagnet assembly can move along a transverse direction relative to the connecting seat and is provided with an intermediate position along the transverse direction, and the electromagnet assembly is transversely perpendicular to a preset moving path; an elastic reset piece is arranged between the connecting seat and the electromagnet assembly, and when the electromagnet assembly transversely deviates from the middle position, the elastic reset piece applies elastic bias towards the middle position to the electromagnet assembly. After the electromagnet assembly is separated from the picking frame, the electromagnet assembly can automatically return to the middle position under the action of the elastic reset piece.

Description

Sorting device

Technical Field

The utility model relates to the technical field of material sorting, in particular to a sorting device.

Background

The automatic warehousing system mainly comprises a goods shelf, a sorting robot and a sorting frame, wherein the warehousing system can be distributed to robot tasks according to order information so as to dispatch the robot to pick or place the sorting frame at a designated position of the goods shelf.

The existing sorting robot firstly utilizes a traction mechanism to grab a sorting frame, and then the traction mechanism drives the sorting frame to conduct linear motion along a preset moving track. In the process that the sorting robot drives the sorting frame to move, when the sorting frame moves in the transverse direction, namely in the direction perpendicular to the preset moving track, the sorting frame can drive the traction mechanism to move in the transverse direction, so that the position of the traction mechanism relative to the preset moving track changes in the transverse direction, and the traction mechanism can not drive the sorting frame to move along the preset moving track.

Disclosure of Invention

In view of the above, the present utility model provides a sorting device to solve the problem that the existing traction mechanism cannot be reset after the position is shifted.

A sorting apparatus for picking and placing a pick-up frame comprising a frame and at least one sorting assembly mounted on the frame, the sorting assembly comprising:

a support mechanism coupled to the frame for supporting the pick frame, the support mechanism defining a predetermined path of movement of the pick frame; and

the traction mechanism comprises an adsorption mechanism used for being in adsorption connection with the picking frame, and the adsorption mechanism can move relative to the supporting mechanism to drive the picking frame in adsorption connection to move along the preset moving path; and

a guide mechanism mounted to the support mechanism for guiding the picking frame deviated from the predetermined moving path;

the adsorption mechanism comprises a connecting seat and an electromagnet assembly which is arranged on the connecting seat and used for magnetically adsorbing the picking frame, wherein the electromagnet assembly can move along a transverse direction relative to the connecting seat and has an intermediate position along the transverse direction, and the transverse direction is perpendicular to the preset moving path; an elastic reset piece is arranged between the connecting seat and the electromagnet assembly, and when the electromagnet assembly transversely deviates from the middle position, the elastic reset piece applies elastic bias to the electromagnet assembly towards the middle position.

In some embodiments, the connecting seat is provided with a guide rod, the electromagnet assembly is provided with a sliding block, the sliding block is movably sleeved on the guide rod and can slide along the transverse direction, and the elastic reset piece comprises a reset spring arranged between the sliding block and the connecting seat.

In some embodiments, the electromagnet assembly includes a support frame and at least two electromagnets movably mounted on the support frame, the support frame is fixedly connected with the slider, and at least two electromagnets are arranged at intervals in the lateral direction.

In some embodiments, each of the electromagnets is rotatable relative to the support frame on a vertical axis and a horizontal axis, the horizontal axis being parallel to the lateral direction.

In some embodiments, another elastic reset piece is arranged between the electromagnet and the supporting frame, and after the electromagnet rotates relative to the vertical axis or the horizontal axis, when the electromagnet is disconnected from the picking frame, the electromagnet is restored to the original position under the action of the other elastic reset piece.

In some embodiments, the number of electromagnets is two, and the electromagnet assembly further includes a probe head mounted on the support frame, the probe head being the same distance from the two electromagnets in the lateral direction.

In some embodiments, the traction mechanism further comprises a conveying mechanism and a driving mechanism, wherein the connecting seat of the adsorption mechanism is fixedly connected with the conveying mechanism, and the driving mechanism drives the conveying mechanism to move and then drives the adsorption mechanism to move.

In some embodiments, the guide mechanism comprises two rotating members rotatably mounted on the support mechanism and spaced apart in the lateral direction, each of the rotating members being capable of rotating along a vertical axis, the two rotating members being adapted to be in movable contact with lateral sides of the picking frame as the picking frame moves on the support mechanism to define movement of the picking frame along the predetermined path of movement.

In some embodiments, the support mechanism is provided with two limiting structures for limiting the two rotating members respectively, the limiting structures comprise at least two limiting members spaced from each other, and each rotating member is located between two limiting members.

In some embodiments, the guide mechanism has a first state and a second state, the guide mechanism includes two rotating members rotatably mounted on the support mechanism and spaced apart in the lateral direction, each having opposite front and rear ends, and another elastic restoring member connected to the rotating members;

when the picking frame is driven by the traction mechanism to enter the sorting assembly along the direction from the front end of the rotating piece to the rear end of the rotating piece, the guide mechanism overcomes the elastic force of the other elastic reset piece and moves from the first state to the second state, and when the picking frame is driven by the traction mechanism to leave the sorting assembly along the direction from the rear end of the rotating piece to the front end of the rotating piece, the guide mechanism moves from the second state to the first state under the elastic force of the other elastic reset piece;

in the first state, the distance between the front ends of the two rotating parts is larger than the distance between the rear ends of the two rotating parts; in the process of moving from the first state to the second state, the distance between the front ends of the two rotating parts is gradually reduced, and the distance between the rear ends of the two rotating parts is gradually increased.

According to the sorting device provided by the utility model, the elastic reset piece is arranged between the electromagnet assembly and the connecting seat, so that when the electromagnet assembly deviates from the middle position under the action of the sorting frame, the elastic reset piece can apply elastic bias to the electromagnet assembly towards the middle position. The guide mechanism is used for guiding the picking frame deviating from the preset moving path, the picking frame can move transversely, the electromagnet assembly is driven to move transversely, the electromagnet assembly deviates from the middle position, after the electromagnet assembly is separated from the picking frame, the electromagnet assembly can automatically move to the middle position under the action of the elastic reset piece, and the phenomenon that the electromagnet assembly deviates from the middle position to cause that the electromagnet assembly cannot drive the picking frame to move along the preset moving path is avoided.

Drawings

Fig. 1 is a schematic structural view of a sorting apparatus according to an embodiment of the present utility model;

fig. 2 is a schematic structural view of a sorting assembly according to an embodiment of the present utility model, where the guide mechanism is in a first state;

FIG. 3 is a schematic view of the sorter assembly of FIG. 2 with the guide in a second position;

FIG. 4 is a schematic diagram illustrating the support mechanism and the alignment mechanism shown in FIG. 2;

FIG. 5 is a schematic view of the adsorption mechanism shown in FIG. 2;

fig. 6 is a schematic view of the assembly of the connecting seat and electromagnet assembly shown in fig. 5.

In the figure: 10. a sorting assembly; 100. a sorting device; 200. a frame; 12. a support mechanism; 14. a traction mechanism; 16. a guide mechanism; 18. an outer end; 20. an inner end; 24. a receiving groove; 26. a first elastic restoring member; 28. a rotating member; 30. the front end of the rotating piece; 32. the rear end of the rotating piece; 34. a cross plate; 36. a vertical plate; 38. a bending part; 40. a limiting piece; 44. a column; 46. an adsorption mechanism; 48. a connecting seat; 50. an electromagnet assembly; 52. a second elastic restoring member; 54. a guide rod; 56. a slide block; 58. a support frame; 60. an electromagnet; 62. a first mounting frame; 64. a second mounting frame; 66. a third elastic restoring member; 68. a probe; 70. a conveying mechanism; 72. a driving mechanism; 74. a slide; 76. a chute; 78. and a bump.

Detailed Description

The present utility model will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.

It should be noted that, in the embodiments of the present utility model, all directional indicators (such as up, down, left, right, front, back, inner, outer, top, bottom … …) are merely used to explain the relative positional relationship between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators correspondingly change.

It will also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

As shown in fig. 1, an embodiment of the present utility model provides a sorting apparatus 100 for picking and placing a picking frame, where the sorting apparatus 100 includes a rack 200 and at least one sorting assembly 10 mounted on the rack 200, and the sorting assembly 10 is capable of grabbing the picking frame and moving the picking frame.

Specifically, the number of the sorting assemblies 10 is plural, and the plural sorting assemblies 10 are arranged on the rack 200 at intervals in the vertical direction and/or the horizontal direction to pick and place the sorting frames at plural positions of the racks in the vertical direction and/or the horizontal direction. In the present embodiment, a plurality of sorting assemblies 10 are arranged on the rack 200 at intervals in the vertical direction.

Referring to fig. 2-4, sorter assembly 10 includes a support mechanism 12 and a traction mechanism 14, support mechanism 12 being coupled to a frame 200 for supporting a pick frame. The traction mechanism 14 is used for being connected with the picking frame so as to drive the picking frame to move.

The support mechanism 12 includes opposite outer and inner ends 18, 20, the outer end 18 serving as an entrance for the pick frame into the support mechanism 12, i.e., the pick frame enters the sorter assembly 10 from the outer end to the inner end of the support mechanism 12. When the picking frame needs to enter the sorting assembly 10, the traction mechanism 14 moves to the entrance from the direction from the inner end 20 to the outer end 18, and after being connected with the picking frame, the traction mechanism drives the picking frame to move on the supporting mechanism 12 towards the direction of the inner end 20, so that the picking frame enters the sorting assembly 10.

Specifically, the inlet is also the outlet from which the picking frame leaves the sorting assembly 10, and when the picking frame needs to leave the sorting assembly 10, the traction mechanism 14 drives the picking frame to move from the inner end 20 to the outer end 18, and after the picking frame passes through the inlet, the traction mechanism 14 is disconnected from the picking frame, and the picking frame leaves the sorting assembly 10.

In this embodiment, the support member has a central portion provided with a receiving slot 24, the receiving slot 24 extending from the inner end 20 to the outer end 18, and the traction mechanism 14 is mounted to the receiving slot 24.

As shown in fig. 2 and 3, in some embodiments, the support mechanism 12 defines a predetermined path of movement for movement of the picking frame, and the sorter assembly 10 further includes a guide 16 mounted to the support mechanism 12, the guide 16 for guiding the picking frame that deviates from the predetermined path of movement. When the picking frame connected with the traction mechanism 14 has a distance and/or an angle deviation from the preset moving path due to the fact that the placing position and/or the posture are not aligned, the guide mechanism 16 can guide the deviated picking frame to return to the preset moving path again, and the problem that the distance and/or the angle deviation from the preset moving path is larger and bigger after the picking frame is picked and placed for a plurality of times, and the traction mechanism 14 cannot be connected with the picking frame and cannot drive the picking frame to move is avoided.

The guide mechanism 16 includes two rotating members 28 rotatably mounted on the support mechanism 12, the two rotating members 28 being spaced apart from each other in a transverse direction, i.e., perpendicular to the direction of the predetermined path of movement, each rotating member 28 being rotatable relative to the support mechanism 12 along a vertical axis. When the picking frame is moved on the support mechanism 12, two rotating members 28 are used to movably contact the lateral sides of the picking frame to define the movement of the picking frame along a predetermined path of movement. When the picking frame moves on the support mechanism 12, the picking frame contacts with the rotating member 28 and pushes the rotating member 28 to rotate relative to the support mechanism 12, and when the picking frame deviates from the preset moving path, the rotating member 28 pushes the picking frame to move transversely during rotation, so that the picking frame returns to the preset moving path.

Each rotor 28 has opposite rotor front ends 30 and rotor rear ends 32, the rotor front ends 30 being positioned at the entrance, and the traction mechanism 14 driving the picking frames into the sorter assembly 10 from the rotor front ends 30 to the rotor rear ends 32 and driving the picking frames out of the sorter assembly 10 from the rotor rear ends 32 to the rotor front ends 30.

The rotating member 28 is generally L-shaped and includes a transverse plate 34 and a vertical plate 36, the transverse plate 34 is rotatably connected to the supporting mechanism 12 through a rotating shaft, the axial direction of the rotating shaft is in the vertical direction, and the vertical plate 36 is fixed on the inner side of the transverse plate 34 for movably contacting with the picking frame, so that the picking frame forms a guiding effect.

In this embodiment, the two rotating members 28 extend in opposite directions from the rear rotating member ends 32 to the front rotating member ends 30 such that the spacing between the front rotating member ends 30 is greater than the spacing between the rear rotating member ends 32. During the movement of the picking frame in the direction into the sorter assembly 10, the distance between the two rotating members 28 becomes smaller gradually, the picking frame moves a certain distance and then contacts the rotating members 28, and pushes the rotating members 28 to rotate, so that the front ends 30 of the rotating members 28 are gradually closed, and the distance between the rear ends 32 of the rotating members is gradually increased.

Each rotor front end 30 is provided with a bending portion 38, and two bending portions 38 extend from the rotor front end 30 in a direction away from the rotor 28 in a gradually moving away manner. The bending parts 38 are connected to the front ends of the vertical plates 36, and the two bending parts 38 extend away from the rotating member 28 in opposite directions, so that the size of the inlet is further increased, and the picking frame can conveniently enter the sorting assembly 10.

The centering mechanism 16 further includes a first resilient return member 26 coupled to a rotating member 28, the centering mechanism 16 having a first state and a second state. When the picking frame is driven by the traction mechanism 14 to enter the sorting assembly 10 along the direction from the front end 30 of the rotating member to the rear end 32 of the rotating member, the guide mechanism 16 overcomes the elastic force of the first elastic reset member 26 to move from the first state to the second state, and when the picking frame is driven by the traction mechanism 14 to leave the sorting assembly 10 along the direction from the rear end 32 of the rotating member to the front end 30 of the rotating member, the guide mechanism moves from the second state to the first state under the elastic force of the first elastic reset member 26. The first state is a state in which the picking frame is not aligned, i.e., the rotating member 28 is not in contact with the picking frame, and the second state is a state in which alignment of the picking frame is completed. After the guide mechanism 16 guides the picking frame, the guide mechanism 16 moves from the first movable state to the second state, and deforms the first elastic reset piece 26 to generate elastic force, and after the picking frame leaves the sorting assembly, the guide mechanism 16 automatically moves from the second state to the first state under the elastic force of the first elastic reset piece 26, so that the picking frame entering the sorting assembly 10 is continuously guided, and the state of the guide mechanism 16 does not need to be manually switched.

In the first state, the distance between the front ends 30 of the two rotating members is greater than the distance between the rear ends 32 of the two rotating members, and in the process that the guide mechanism 16 moves from the first state to the second state, the picking frame presses the rotating members 28 outwards, the rotating members 28 rotate relative to the supporting mechanism 12, the distance between the front ends 30 of the two rotating members is gradually reduced, and the distance between the rear ends 32 of the two rotating members is gradually increased.

When the guide mechanism 16 is in the second state, the distance between the rear ends 32 of the two rotating members and the distance between the front ends 30 of the two rotating members may be the same or different, i.e., the two rotating members 28 may or may not be parallel. In this embodiment. The picking frame is generally square and when the guide 16 is in the second position, the two rotating members 28 are parallel.

The first resilient return member 26 includes a first return spring connected to the rotary members 28 and biasing the two rotary members 28 toward each other at their rear ends 32. One end of the first return spring is connected with the rotating member 28, the other end of the first return spring is connected with the supporting mechanism 12, and when the picking frame moves along the direction of entering the sorting assembly 10 and pushes the rotating member 28 to rotate, the rotating member 28 further compresses or stretches the first return spring, so that the first return spring generates corresponding elastic force; when the picking frame moves a certain distance in a direction away from the picking assembly 10, the rear ends 32 of the two rotating members will approach each other under the action of the elastic force of the first return spring, and finally, the picking frame automatically returns to the first state.

The specific number of the first return springs is not limited, and each rotating member 28 may be connected to one first return spring, or each rotating member 28 may be connected to a plurality of first return springs. In the present embodiment, the number of the first return springs is two, and each rotating member 28 is connected to one first return spring.

The specific position of the first return spring is not limited, and may be disposed outside the rotating member 28, and the first return spring is in a compressed state at this time; the first return spring may be provided on the inner side of the rotor 28, and may be in a stretched state. In this embodiment, the first return spring is located inside the rotor 28.

In this embodiment, hooks are respectively disposed at two ends of the first return spring, the transverse plate 34 of the rotating member 28 and the supporting mechanism 12 are respectively disposed with two stand columns 44, the two stand columns 44 are spaced from each other, and the hooks at two ends of the first return spring are respectively hung on the two stand columns 44. In other embodiments, hanging holes may be formed on the rotating member 28 and the supporting mechanism 12, so that hooks at two ends of the first return spring respectively pass through the corresponding hanging holes.

The supporting mechanism 12 is provided with two limiting mechanisms for limiting the two rotating members 28 respectively, the limiting mechanism comprises at least two limiting members 40 which are spaced from each other, and the rotating members 28 are positioned between the two limiting members 40. The limiting members 40 protrude from the top of the supporting mechanism 12 and are spaced apart from each other in a transverse direction, i.e., a direction perpendicular to the predetermined moving path, and the rotating member 28 is located between the two limiting members 40, and when the rotating member 28 rotates to the limiting member 40 in a certain direction, the rotating member 28 is blocked by the limiting member 40 and cannot rotate in the direction, so that the effect of limiting the rotation angle of the rotating member 28 is achieved.

In this embodiment, each of the limiting mechanisms includes two limiting members 40, with the two limiting members 40 being disposed proximate the rotor rear end 32. After the two rotating member rear ends 32 rotate to the outer limiting member 40, the rotating member rear ends 32 cannot continue to rotate outwards, at this time, the two rotating members 28 are parallel, and the aligning mechanism 16 is in the second state. After the two rear ends 32 of the rotating members rotate to the inner limiting member 40, the rear ends 32 of the rotating members cannot rotate further inwards, and the two rotating members 28 are approximately splayed, so that the guide mechanism 16 is in the first state.

Referring to fig. 5 and 6, in some embodiments, the traction mechanism 14 includes a suction mechanism 46 for suction connection with the picking frame, the suction mechanism 46 being movable relative to the support mechanism 12 to drive the suction connected picking frame along a predetermined path of movement into or out of the picking assembly 10.

The specific manner in which the suction mechanism 46 moves relative to the support mechanism 12 is not limited, and may be driven by, for example, a cylinder or a motor in combination with a belt or chain drive.

The adsorption mechanism 46 comprises a connecting seat 48 and an electromagnet assembly 50 arranged on the connecting seat 48, and the connecting seat 48 can move relative to the supporting mechanism 12 and drive the electromagnet assembly 50 to move together. The electromagnet assembly 50 can magnetically attract the picking frame when energized and can be disengaged from magnetic attraction engagement with the picking frame when de-energized.

The electromagnet assembly 50 is movable relative to the connecting seat 48 in a transverse direction and has an intermediate position in the transverse direction, transverse to the predetermined path of movement. A second elastic restoring member 52 is provided between the connection base 48 and the electromagnet assembly 50, and when the electromagnets 60 are laterally deviated from the intermediate position, the second elastic restoring member 52 applies an elastic bias to the electromagnet assembly 50 toward the intermediate position, that is, applies an elastic force to the electromagnet assembly 50 toward the intermediate position, thereby moving the electromagnet assembly 50 to the intermediate position. Intermediate position herein refers to: when the electromagnet assembly 50 is located at this position, the electromagnet assembly 50 is centered in the lateral direction at a position intermediate the predetermined movement path. In the process of correcting the picking frame deviated from the preset moving path, the correcting mechanism 16 can transversely move the picking frame and drive the electromagnet assembly 50 to transversely move, so that the electromagnet assembly 50 deviates from the middle position, after the electromagnet assembly 50 is powered off, the electromagnet assembly 50 is disconnected with the picking frame, the electromagnet assembly 50 can automatically recover to the middle position under the action of the second elastic reset piece 52, and the phenomenon that the picking frame cannot deviate from the preset moving path in the process of driving the picking frame due to the fact that the electromagnet assembly 50 deviates from the middle position is avoided.

The picking assembly 10 further includes a control device that controls the electromagnet assembly 50 to de-energize when the picking frame has been guided by the guide mechanism 16, causing the electromagnet assembly 50 to return to the neutral position by the action of the second resilient return member 52, the control device then controlling the electromagnet assembly 50 to energize and controlling the suction mechanism 46 to drive the picking frame along a predetermined path of movement toward the inner end 20 of the support mechanism 12.

As shown in fig. 5, the connection seat 48 is provided with a guide rod 54, the electromagnet assembly 50 is provided with a sliding block 56, the sliding block 56 is movably sleeved on the guide rod 54 and can slide along the transverse direction, namely the axial direction of the guide rod 54, and the second elastic reset piece 52 is a second reset spring arranged between the sliding block 56 and the connection seat 48. When the electromagnet assembly 50 moves transversely along with the picking frame, the sliding block 56 slides on the guide rod 54 and compresses the second elastic reset spring, and when the electromagnet assembly 50 is separated from the picking frame, the sliding block 56 moves in the opposite direction under the elastic force of the second reset spring and drives the electromagnet assembly 50 to move together, so that the electromagnet assembly 50 returns to the middle position. The guide rod 54 has a guide effect, and the slider 56 cooperates with the guide rod 54 so that the slider 56 and the electromagnet assembly 50 can move only in the axial direction of the guide rod 54.

The specific number of the guide bars 54 and the sliders 56 is not limited, and may be one or more. In this embodiment, the number of the sliding blocks 56 of the guide rods 54 is two, the two guide rods 54 are arranged in parallel at intervals, and the two sliding blocks 56 are respectively sleeved on the two guide rods 54 in a sliding manner.

In this embodiment, the connecting seat 48 is substantially U-shaped, two ends of the guide rod 54 are respectively connected to two opposite side walls of the connecting seat 48, the slider 56 can slide between the two side walls of the connecting member along the axial direction of the guide rod 54, and the second return spring is located between the slider 56 and the side wall of the connecting member.

The specific number of the second return springs is not limited, and may be one or a plurality of. In this embodiment, the number of the second return springs is two, the two second return springs are sleeved on the same guide rod 54, and the two second return springs are respectively located on two opposite sides of the sliding block 56.

The electromagnet assembly 50 comprises a support 58 and an electromagnet 60 movably mounted on the support 58, wherein the support 58 is fixedly connected with the sliding block 56 to move along with the sliding block 56, so as to drive the electromagnet 60 to move. Because the electromagnet 60 is movably mounted on the supporting frame 58, when the rotating member 28 pushes the picking frame to change its placing posture, the electromagnet 60 will rotate relative to the supporting frame 58 under the action of the picking frame.

The specific number of the electromagnets 60 on the support frame 58 is not limited, and may be one or more, and in this embodiment, at least two electromagnets 60 are movably mounted on the support frame 58, and at least two electromagnets 60 are arranged at intervals in the lateral direction. Specifically, the number of electromagnets 60 is two, and the two electromagnets 60 are symmetrically distributed on both sides of the predetermined moving path of the picking frame.

As shown in fig. 6, the electromagnet 60 is rotatable relative to the support frame 58 on a vertical axis Z and a horizontal axis X, the horizontal axis being parallel to the lateral direction. The vertical axis is located in the vertical direction, the horizontal axis is located in the horizontal direction, and the electromagnet 60 can rotate relative to the support frame 58 in both the vertical direction and the horizontal direction, i.e. the electromagnet 60 has rotational freedom degrees in both directions, so that the electromagnet 60 is more flexible.

In this embodiment, the electromagnet assembly 50 includes a first mounting frame 62 and a second mounting frame 64, where the first mounting frame 62 is movably connected to the support frame 58 in a horizontal direction and fixed relative to the support frame 58 in a vertical direction. The second mounting frame 64 is fixed relative to the first mounting frame 62 in the horizontal direction, movably connected to the first mounting frame 62 in the vertical direction, and the electromagnet 60 is fixed to the second mounting frame 64. When the first mounting frame 62 moves horizontally relative to the support frame 58, the second mounting frame 64 and the electromagnet 60 are driven to move together, and when the second mounting frame 64 moves vertically relative to the first mounting frame 62, the electromagnet 60 is driven to move together, so that the electromagnet 60 can move horizontally and vertically relative to the support frame 58.

A third elastic reset piece 66 is arranged between the electromagnet 60 and the supporting frame 58, after the electromagnet 60 rotates relative to the vertical axis or the horizontal axis, when the electromagnet 60 is disconnected from the picking frame, the electromagnet 60 is restored to the original position under the action of the third elastic reset piece 66, namely, the position of the electromagnet 60 when the electromagnet assembly 50 is in the middle position. Specifically, the third elastic restoring element 66 is a third restoring spring, after the electromagnet 60 rotates relative to the supporting frame 58 under the action of the picking frame, the electromagnet 60 stretches the third restoring spring, and when the electromagnet 60 is separated from the picking frame, the electromagnet 60 automatically returns to the original position under the action of the elastic force of the third restoring spring.

Electromagnet assembly 50 also includes a detector head 68 mounted on carriage 58, detector head 68 for detecting the presence of a pick box. When the electromagnet assembly 50 moves to the entrance to grab the picking frame, the detecting head 68 detects whether the picking frame exists in front of the electromagnet assembly 50, when the detecting head 68 detects the picking frame, the electromagnet assembly 50 is electrified, so that the electromagnet 60 has magnetism to adsorb the picking frame, and when the detecting head 68 does not detect the picking frame, the electromagnet assembly 50 is not electrified, and the phenomenon of empty grabbing is avoided.

In this embodiment, the number of electromagnets 60 is two, and the distance between the detector head 68 and the two electromagnets 60 is the same in the lateral direction.

As shown in fig. 3 and 5, in some embodiments, the traction mechanism 14 further includes a conveying mechanism 70 and a driving mechanism 72, the driving mechanism is fixedly connected with the connecting seat 48 of the adsorbing mechanism 46, the driving mechanism 72 is in driving connection with the driving mechanism to drive the conveying mechanism 70 to move, the driving mechanism in turn drives the adsorbing mechanism 46 to move, and the adsorbing mechanism 46 can drive the picking frame connected with the adsorbing mechanism to move. Specifically, the driving mechanism 72 includes a motor, the driving mechanism includes a belt driving structure, the belt driving structure is installed in the accommodating groove 24, and the connecting seat 48 of the adsorption mechanism 46 is fixedly connected with a belt of the belt driving structure through a supporting member 73, so that when the motor drives the belt to move, the belt can drive the adsorption mechanism 46 to move together.

Traction mechanism 14 further includes a slide 74 positioned within receiving slot 24, and a belt drive is positioned within slide 74. The slide 74 is provided with a slide groove 76, and the support 73 is provided with a projection 78 movably inserted into the slide groove 76. As the suction mechanism 46 moves with the belt, the lugs 78 slide within the slide grooves 76. The cooperation of the protrusion 78 and the chute 76 can make the operation of the adsorption mechanism 46 smoother, and reduce the risk of shaking during movement.

According to the sorting device, when the distance and/or angle deviation between the picking frame connected with the traction mechanism and the preset moving path is caused by the fact that the placing position and/or the posture of the picking frame are not aligned, the deviation of the picking frame can be guided by the guide mechanism, so that the picking frame returns to the preset moving path again, and the problem that the distance and/or angle deviation between the picking frame and the preset moving path is larger and larger after the picking frame is picked and placed for multiple times, and the traction mechanism cannot be connected with the picking frame and cannot drive the picking frame to move is avoided. Meanwhile, an elastic reset piece is arranged between the electromagnet assembly and the connecting seat, when the electromagnet assembly deviates from the middle position under the action of the picking frame, the elastic reset piece can apply elastic bias towards the middle position to the electromagnet assembly, the picking frame can move transversely in the process of guiding the picking frame deviating from a preset moving path by the guiding mechanism, the electromagnet assembly is driven to move transversely, the electromagnet assembly deviates from the middle position, after the electromagnet assembly is separated from the picking frame, the electromagnet assembly can automatically move to the middle position under the action of the elastic reset piece, and the phenomenon that the electromagnet assembly deviates from the middle position to cause that the picking frame cannot be driven to move along the preset moving path is avoided.

The above embodiments are only preferred embodiments of the present utility model, and the scope of the present utility model is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present utility model are intended to be within the scope of the present utility model as claimed.

Claims (10)

1. A sorting apparatus for picking and placing a pick-up frame, comprising a frame and at least one sorting assembly mounted on the frame, the sorting assembly comprising:

a support mechanism coupled to the frame for supporting the pick frame, the support mechanism defining a predetermined path of movement of the pick frame; and

the traction mechanism comprises an adsorption mechanism used for being in adsorption connection with the picking frame, and the adsorption mechanism can move relative to the supporting mechanism to drive the picking frame in adsorption connection to move along the preset moving path; and

a guide mechanism mounted to the support mechanism for guiding the picking frame deviated from the predetermined moving path;

the adsorption mechanism comprises a connecting seat and an electromagnet assembly which is arranged on the connecting seat and used for magnetically adsorbing the picking frame, wherein the electromagnet assembly can move along a transverse direction relative to the connecting seat and has an intermediate position along the transverse direction, and the transverse direction is perpendicular to the preset moving path; an elastic reset piece is arranged between the connecting seat and the electromagnet assembly, and when the electromagnet assembly transversely deviates from the middle position, the elastic reset piece applies elastic bias to the electromagnet assembly towards the middle position.

2. The sorting device of claim 1, wherein the connecting seat is provided with a guide rod, the electromagnet assembly is provided with a sliding block, the sliding block is movably sleeved on the guide rod and can slide along the transverse direction, and the elastic reset piece comprises a reset spring arranged between the sliding block and the connecting seat.

3. The sorting device of claim 2, wherein the electromagnet assembly comprises a support frame and at least two electromagnets movably mounted on the support frame, the support frame is fixedly connected with the slider, and at least two electromagnets are arranged at intervals in the transverse direction.

4. A sorting device according to claim 3, characterised in that each electromagnet is rotatable relative to the support frame on a vertical axis and a horizontal axis, the horizontal axis being parallel to the transverse direction.

5. The sorting device of claim 4, wherein another elastic reset member is disposed between the electromagnet and the supporting frame, and the electromagnet is restored to the original position under the action of the other elastic reset member when the electromagnet is disconnected from the sorting frame after the electromagnet rotates relative to the vertical axis or the horizontal axis.

6. A sorting apparatus according to claim 3, wherein the number of electromagnets is two, the electromagnet assembly further comprising a detector head mounted on the support frame, the detector head being equidistant from both electromagnets in the lateral direction.

7. The sorting device of claim 1, wherein the traction mechanism further comprises a conveying mechanism and a driving mechanism, wherein the connecting seat of the adsorption mechanism is fixedly connected with the conveying mechanism, and the driving mechanism drives the conveying mechanism to move and then drives the adsorption mechanism to move.

8. A sorting apparatus according to any one of claims 1 to 7, wherein the guide means comprises two rotatable members rotatably mounted on the support means and spaced apart in the transverse direction, each rotatable member being rotatable along a vertical axis, the two rotatable members being adapted to be brought into movable contact with the transverse sides of the picking frame as the picking frame moves on the support means to define the movement of the picking frame along the predetermined path of movement.

9. The sorting device of claim 8, wherein the support mechanism is provided with two limiting structures for limiting the two rotating members, the limiting structures comprise at least two limiting members spaced apart from each other, and each rotating member is located between two limiting members.

10. The sorter of claim 1 wherein the guide has a first state and a second state, the guide including two rotating members rotatably mounted on the support mechanism and spaced apart in the lateral direction, respectively, each having opposite front and rear rotating members, and a further resilient return member connected to the rotating members;

when the picking frame is driven by the traction mechanism to enter the sorting assembly along the direction from the front end of the rotating piece to the rear end of the rotating piece, the guide mechanism overcomes the elastic force of the other elastic reset piece and moves from the first state to the second state, and when the picking frame is driven by the traction mechanism to leave the sorting assembly along the direction from the rear end of the rotating piece to the front end of the rotating piece, the guide mechanism moves from the second state to the first state under the elastic force of the other elastic reset piece;

in the first state, the distance between the front ends of the two rotating parts is larger than the distance between the rear ends of the two rotating parts; in the process of moving from the first state to the second state, the distance between the front ends of the two rotating parts is gradually reduced, and the distance between the rear ends of the two rotating parts is gradually increased.

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