WO2022047897A1 - 一种单件分离系统 - Google Patents

一种单件分离系统 Download PDF

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Publication number
WO2022047897A1
WO2022047897A1 PCT/CN2020/120832 CN2020120832W WO2022047897A1 WO 2022047897 A1 WO2022047897 A1 WO 2022047897A1 CN 2020120832 W CN2020120832 W CN 2020120832W WO 2022047897 A1 WO2022047897 A1 WO 2022047897A1
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WO
WIPO (PCT)
Prior art keywords
tensioning
shaft
driving
motor
roller
Prior art date
Application number
PCT/CN2020/120832
Other languages
English (en)
French (fr)
Inventor
孙炳洙
Original Assignee
上海宝羽自动化系统设备有限公司
孙炳洙
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海宝羽自动化系统设备有限公司, 孙炳洙 filed Critical 上海宝羽自动化系统设备有限公司
Priority to KR1020237007972A priority Critical patent/KR20230054842A/ko
Publication of WO2022047897A1 publication Critical patent/WO2022047897A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/02—Belt- or chain-engaging elements
    • B65G23/04—Drums, rollers, or wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
    • B65G47/30—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a series of conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
    • B65G21/14—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of length or configuration of load-carrier or traction element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/22—Arrangements or mountings of driving motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/44—Belt or chain tensioning arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/02—Adaptations of individual rollers and supports therefor
    • B65G39/09—Arrangements of bearing or sealing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0285—Postal items, e.g. letters, parcels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2812/00—Indexing codes relating to the kind or type of conveyors
    • B65G2812/02—Belt or chain conveyors
    • B65G2812/02128—Belt conveyors
    • B65G2812/02138—Common features for belt conveyors
    • B65G2812/02148—Driving means for the belts

Definitions

  • the invention relates to the field of transmission equipment, in particular to a single-piece separation system.
  • Conveyor belts are used in many fields such as logistics, assembly line operations, and automated production.
  • the conveyor belt is driven by a power source to transport the items on the conveyor belt to different locations.
  • the traditional method is to manually sort the stacked parcels. more onerous.
  • the equipment for dividing the stacked packages into pieces came into being, and the machines were used instead of manpower to divide the pieces, which greatly reduced the burden on personnel.
  • the prior art such as the invention patent with application number 201911168246.9, discloses a separation device and method for side-by-side parcels.
  • the distance between parcels is firstly dispersed, and then an image recognition algorithm is used to take pictures to identify the positional relationship between adjacent parcels.
  • an image recognition algorithm is used to take pictures to identify the positional relationship between adjacent parcels.
  • the separation is realized by the separation device, and the separation device is realized by the separation belt conveyor arranged in a matrix, and each separation belt conveyor is independently driven by a servo motor, through the
  • the image recognition algorithm compares and identifies the package in the front position, and increases the motor speed of the separation belt conveyor in its position.
  • the motor speed of the separation belt conveyor in the position of the package in the back position slows down or stops rotating. packages are separated.
  • the separation belt conveyor in this patent application consists of 24 small belt conveyors arranged in a matrix, each small belt conveyor is driven by a servo system, and each small belt conveyor includes a conveyor belt driven by a servo reducer and a pulley; Tensioning belts are arranged between the pulleys on both sides, and the tensioning belts are sequentially connected to drive rolling, a tensioning drum installed on a tensioning crankshaft, a tensioning handle and a spring.
  • the width of the belt of this type of separation belt conveyor is wide, and it is difficult to achieve single-piece separation for small packages, and it is easy for multiple small packages to appear on the same belt conveyor; the cost of the servo motor is also relatively high, And the structure layout is not compact enough.
  • the present invention provides a kind of single-piece separation system, improves the precision of single-piece separation, realizes the precise separation of the package, and the technical purpose of the present invention is achieved through the following technical solutions:
  • a single-piece separation system includes a dispersion device, a separation unit, and an arrangement device arranged in sequence, the separation unit includes a plurality of separators arranged in a matrix, and the separator includes a drive system, a conveyor belt, and a main body bracket, and at least one side of the main body bracket is provided with Driving system and conveyor belt;
  • the driving system includes a driving roller, a driving motor, a motor base and several driven rollers, the driven roller is horizontally installed on one side of the upper end of the main body bracket, the motor seat is a sleeve structure, and the motor seat is installed on the driven roller.
  • the driving motor On the lower side of the main body bracket, the driving motor is installed in the motor seat, and the driving motor is connected with the driving roller in a transmission; the driving roller is sleeved on the outside of the motor seat, and the outer side of the motor seat is provided with a bearing, and the bearing is arranged between the motor seat and the driving roller; The conveyor belt goes around the driving roller and the driven roller in turn.
  • the conveyor belts are arranged in 4 rows ⁇ 7 rows along the conveying direction of the diverting unit.
  • the drive drum is also provided with a reducer and an expanding sleeve, the drive motor is connected to the reducer and the expanding sleeve in sequence, and the reducer and the inner side wall of the driving drum are connected through the expanding sleeve.
  • the structure also includes an automatic conveyor belt tensioning device for tensioning the conveyor belt, and the automatic conveyor belt tensioning device is arranged on the main body bracket on one side of the conveyor belt.
  • the conveyor belt automatic tensioning device includes a tensioning roller, a tensioning roller shaft, a tensioning short shaft, a tensioning arm, and a spring.
  • the tensioning roller is movably installed on the tensioning roller shaft, and the tensioning roller shaft is connected and fixed on the One end of the tensioning stub shaft is on one side of the axis, one end of the tensioning arm is vertically connected to the other end of the tensioning stub shaft, the spring is stretched and connected to the other end of the tensioning arm, and the tensioning stub shaft is movably installed on the main body on the stand.
  • the main body bracket is provided with a tensioning stub shaft mounting seat, the tensioning stub shaft is movably installed in the tensioning stub shaft installation seat, and the tensioning stub shaft can rotate relative to the tensioning stub shaft installation seat.
  • tension crank connecting block between the tensioning drum shaft and the tensioning shaft, the tensioning crank connecting block is connected and fixed on one side of the shaft center of the tensioning short shaft, and the tensioning shaft is movably installed on the tensioning crank connection. on the block.
  • main body bracket is also provided with a spring fixing shaft, one end of the spring is connected to the tensioning arm, and the other end of the spring is connected to the spring fixing shaft.
  • system further includes a diversion device, and the diversion device is arranged at the rear end of the arrangement device.
  • the above-mentioned driving motor is a stepping motor.
  • the setting of the external bearing of the motor base ensures that the driving rolling is more stable relative to the rotation of the motor base.
  • the servo motor is changed into a stepper motor, which reduces the production cost.
  • the setting of the automatic tensioning device realizes the automatic adjustment of the conveyor belt, keeps the conveyor belt in a tensioned state during the working process, and ensures the stable operation of the conveyor belt.
  • the power is directly transmitted to the driving drum by the stepper motor.
  • the transmission method is more direct and reliable, and the transmission wear is small. It is easy to carry out maintenance and debugging operations separately, and the maintenance is more convenient.
  • the magnetic ring on the transmission rod and the transmission shaft are driven by magnetic force, and the transmission shaft and the driving unit are driven by magnetic force.
  • the friction loss is reduced and the use of the equipment is prolonged. Long service life, ensure the smooth operation of the equipment, realize rapid diversion including express delivery, parcels, etc., and improve work efficiency.
  • Figure 1 is a schematic diagram of the structure of the separator in the present invention.
  • Figure 2 is a front view of the separator in the present invention.
  • Figure 3 is a rear view of the separator in the present invention.
  • Figure 4 is a left side perspective view of the separator in the present invention.
  • Fig. 5 is an assembled perspective view of the separator in the present invention.
  • Figure 6 is a top plan view of the one-piece separation system of the present invention.
  • FIG. 7 is a schematic diagram of the structure of the diverting unit in the present invention.
  • Fig. 8 is a cross-sectional view of the flow dividing unit in the present invention.
  • FIG. 9 is a top view of the flow splitting module in the present invention.
  • FIG. 10 is a front view of the diverter module in the present invention.
  • a new type of stable and high-precision separation module is characterized in that its structure includes a dispersion device 18, a separation unit 21, an arrangement device 19, and a distribution device 20 arranged in sequence, and the front end of the separation unit 21 is provided with a dispersion device 18.
  • 18 can be a scattering belt conveyor
  • an arrangement device 19 is arranged at the rear end of the separation unit 21, the arrangement device 19 is an oblique roller machine, and a diversion device 20 is arranged at the rear end of the arrangement device 19, and the conveying direction is the dispersing device 18 to 18.
  • the shunt device 20 is shown in FIG. 6 .
  • the separation unit 21 is composed of several separators.
  • the separators include a drive system, a conveyor belt 6, a main body support 1, and an automatic conveyor belt tensioner;
  • the specific driving system includes several driven rollers 5, driving rollers 2, stepping motors 7, and motor bases 12, as shown in Figures 1-4:
  • the main body bracket 1 is a vertical plate, a number of driven rollers 5 are installed horizontally on one side of the upper end of the main body bracket 1, and the driven rollers 5 are arranged horizontally and can rotate freely;
  • the driving drum 5 and the driving drum 2 at the lower end can drive the conveyor belt 6 to move along the driven drum 5 through the rotation of the driving drum 2 .
  • the stepping motor 7 is installed inside the driving drum 2, and the motor base 12 is installed on the main body support 1.
  • the motor base 12 is a sleeve type motor base.
  • the motor base 12 is fixed on the main body support 1 by bolts, and the stepping motor 7 is fixed on the In the sleeve of the motor base 12, the output end of the stepping motor 7 is connected to the reducer 13, the expansion sleeve 14, and the driving drum 2 in sequence. It is sleeved on the outer side of the motor base 12, and a bearing 15 is also installed on the outer side of the motor base 12.
  • the bearings 15 in this embodiment are all deep groove ball bearings, and the bearing 15 is arranged between the motor base 12 and the driving drum 2.
  • the length of the driving roller 2 can be shortened, that is, the width of the conveyor belt 6 on the driving roller 2 can be reduced.
  • the installation method can control the width of the belt to be no more than 200mm.
  • the conveyor belt automatic tensioning device includes a tensioning roller 3, a tensioning roller shaft 4, a tensioning short shaft 8, and a tensioning crank
  • the connecting block 16, the tensioning arm 9, the spring 10, the spring fixing shaft 11, the bearing 15, the tensioning short shaft mounting seat 17, the tensioning roller 3 is arranged on one side of the main body bracket 1, and the tensioning roller 3 is installed on the tensioning On the roller shaft 4, the tensioning roller 3 can rotate freely relative to the tensioning roller shaft 4.
  • the tensioning roller 3 and the driving roller 2 are located on the inner and outer sides of the conveyor belt 6 respectively.
  • the tensioning stub shaft 8 is installed in the tensioning stub shaft mounting seat 17, the outer side of the tensioning stub shaft 8 is sleeved with a bearing 15, the bearing 15 is installed in the tensioning stub shaft mounting seat 17, and the tensioning stub shaft 8 can be Relative to the tensioning stub shaft mounting seat 17 to rotate freely, install and fix the tensioning crank connecting block 16 at one end of the tensioning stub shaft 8, and the tensioning crank connecting block 16 is fixed on one side of the axial center of the tensioning stub shaft 8, and the tensioning roller
  • the shaft 4 is installed on the tensioning crank connecting block 16.
  • conveyor belts 6 and corresponding drive systems can be installed on both sides of the main body bracket 1 respectively.
  • Each conveyor belt 6 is driven by a corresponding drive system, and each conveyor belt 6 is configured with a corresponding conveyor belt.
  • two sets of conveyor belts 6 and corresponding drive systems are installed on the same main body bracket 1, which makes the structure more compact and the space utilization rate is greatly improved.
  • some of the separators in this embodiment are arranged in a matrix, and the position of the package on the separation unit 21 is determined by the recognition system above the separation unit 21. Specifically, the position of the package is determined by the 3D camera of the recognition system, and the different control systems are used to control different positions.
  • the operation of the position separator realizes the separation of the packages through the difference in the speed of each conveyor belt; compared with the prior art, the stepping motor 7 is installed in the motor base 12, and then the driving roller 2 is installed in the sleeve of the motor base 12 On the outside, the width of the conveyor belt 6 can be shortened, and the separation accuracy when a single piece is separated can be improved.
  • the arrangement of the bearing 15 between the motor base 12 and the driving drum 2 makes the driving drum 2 rotate more smoothly.
  • the diverting device 20 includes several diverting modules arranged side by side. As shown in FIG. 6 , the diverting module includes a workbench 35 and a diverter unit. In this embodiment, six diverter units are arranged in a row and installed on the workbench 35. Set the equidistant between the machine units, as shown in Figure 7-10.
  • the diverter unit includes a fixed seat 22 , a swing shaft connection seat 23 , a drive unit, and a transmission shaft module.
  • the fixed seat 22 is installed and fixed on the worktable 35 by bolts, and the swing shaft connection seat 23 is installed in the middle of the upper end of the fixed seat 22 .
  • a bearing is installed between the swing shaft connection seat 23 and the fixed seat 22, and the swing shaft connection seat 23 can rotate relative to the fixed seat 22;
  • the transmission shaft module is installed in the middle of the swing shaft connection seat 23, and the transmission shaft module and the swing shaft connection seat 23 Bearings are also arranged therebetween, the transmission shaft module can rotate relative to the swing shaft connecting seat 23 , and the drive unit is installed on the upper end of the swing shaft connecting seat 23 .
  • the driving unit includes a driving shaft 28 , a magnetic ring 29 , a driving wheel 30 , and a driven wheel 31 .
  • the driving wheels 30 are respectively installed on both ends of the driving shaft 28
  • the magnetic ring 29 is installed on the driving shaft between the two driving wheels 30 .
  • the magnetic ring 29 is arranged close to one of the driving wheels 30, and the two driven wheels 31 are respectively arranged on both sides of the driving shaft 28.
  • the driven wheels 31 are driven by the driving shaft 28 to rotate.
  • a multi-ribbed wheel 43 is provided, and one end of the driven wheel 31 is also provided with a multi-ribbed wheel 43.
  • the multi-ribbed wheel 43 on the driving shaft and the multi-ribbed wheel 43 on the driven wheel 31 are connected by a multi-ribbed belt drive.
  • the multi-ribbed belt has larger transmission power, less vibration and more stable operation.
  • the drive shaft 28 is installed on the swing shaft connecting seat 23 through a bearing, and the driven wheel 31 is also installed on the swing shaft connecting seat 23; on the upper end of the drive unit, a cover plate 27 is also installed, and the cover plate 27 is installed on the swing shaft connecting seat 23
  • the cover plate 27 is provided with a drive shaft opening 33 and a driven wheel opening 34, the driving wheel opening 33 and the driven wheel opening 34 are respectively corresponding to the driving wheel 30 and the driven wheel 31, and the upper end face of the driving wheel 30 and
  • the upper end surface of the driven wheel 31 can protrude relative to the cover plate 27 , and the lower end of the cover plate 27 is further provided with a dust cover 38 , as shown in FIG.
  • the dust cover 38 can cover the drive shaft between the two driving wheels 30 28 and the magnetic ring 29 on the drive shaft 28,
  • the dust cover 38 is composed of two rectangular plates 40 and two rectangular plates 41 with arc grooves 42, and the two rectangular plates 41 with arc grooves 42 are arranged opposite each other , the circular arc groove 42 can cover the upper end of the drive shaft 28, but does not contact the drive shaft 28, so as to protect the drive shaft 28 and the magnetic ring 29 on the drive shaft to the greatest extent.
  • the transmission shaft module includes a transmission shaft 24 and a magnetic disk 25, the transmission shaft 24 is arranged vertically, the two magnetic disks 25 are respectively installed on the upper and lower ends of the transmission shaft 24, and the magnetic disk 25 on the upper end of the transmission shaft 24 is located on the magnetic ring on the driving shaft Below 29, there is no contact between the magnetic disk 25 and the magnetic ring 29.
  • the drive module includes a transmission rod 26, a second drive unit, and a magnetic ring 29.
  • Six magnetic rings 29 are installed on the horizontally arranged transmission rod 26.
  • the transmission rod 26 is installed under the table 35 through a bearing.
  • the magnetic rings 29 The installation position corresponds to the bottom of the magnetic disk 25 at the lower end of each transmission shaft module, the magnetic disk 25 is not in contact with the magnetic ring 29, the second driving unit is a driving motor, and the transmission connection between the second driving unit and the transmission rod 26 can be
  • the second drive unit drives the transmission rod 26 to rotate, and then drives the magnetic ring 29 on the transmission rod 26 to rotate, and the magnetic ring 29 on the transmission rod 26 drives the transmission shaft module to rotate.
  • a first drive unit 39 is also provided at the lower end of the worktable 35, and the first drive unit 39 selects a stepping motor;
  • the connection hole 32, the output shaft of the first drive unit 39 is hingedly connected with a swing shaft connection hole 32 of one of the diverter units through the joint bearing 36, and the diverter units are connected by a rotating connecting rod 37;
  • this embodiment selects a workbench
  • the first diverter unit at one end of 35 is connected to the first drive unit 39, one end of the joint bearing 36 is connected to a pendulum shaft connection hole 32 of the first diverter unit, and the pendulum on the other side of the first diverter unit is connected.
  • the shaft connection hole 32 is connected to the swing shaft connection hole 32 on the same side of the second diverter unit through the rotating link 37 , and the swing shaft connection hole 32 on the other side of the second diverter unit is also connected to the second diverter unit through the rotating link 37 .
  • the three diverter units are located at the swing shaft connection hole 32 on the same side, and the swing shaft connection hole 32 on the other side of the third diverter unit is connected to the pendulum shaft connection hole on the same side of the fourth diverter unit through the rotating link 37 32.
  • the fourth shunt unit is connected to the pendulum shaft connection hole 32 on the other side through the rotating connecting rod 37 to the pendulum shaft connection hole 32 on the same side of the fifth shunt unit, and the pendulum on the other side of the fifth shunt unit is connected.
  • the shaft connecting hole 32 is connected to the swing shaft connecting hole 32 on the same side of the sixth diverter unit through a rotating link 37 , and the rotating link 37 and the swing shaft connecting hole 32 are hingedly connected.
  • the first drive unit 39 drives the pendulum shaft connecting seat 23 of the first shunt unit to deflect, and the first shunt unit drives the remaining five shunt units to deflect synchronously by rotating the connecting rod 37 in turn.
  • the direction, angle, The times are the same.
  • the second drive unit drives the transmission rod 26 to rotate, the magnetic ring 29 on the transmission rod 26 rotates under the action of the transmission rod 26, and the magnetic ring 29 rotates to drive the magnetic disk 25 at the lower end of the transmission shaft module to rotate, thereby driving the transmission shaft module.
  • the magnetic disk 25 on the upper end rotates, the magnetic disk 25 on the upper end of the transmission shaft module drives the magnetic ring 29 on the drive shaft 28 to rotate, and then drives the drive wheel 9 on the drive shaft 28 to rotate, and the drive shaft 28 drives the driven wheel 31 to rotate through the V-ribbed belt, driving The rotation of the wheel 9 and the driven wheel 31 transports the package or express on the diverter unit.
  • the first drive unit 39 drives the shunt unit to achieve synchronous deflection, so as to achieve the purpose of splitting fast flow.
  • a stepping motor is used as the driving motor.
  • the cost of the stepping motor is lower, the response of the stepping motor is slow, and the torque of the stepping motor is not enough. Therefore, in order to reduce the cost, this application adopts the parameter
  • the automatic identification technology calculates the resistance, inductance, torque coefficient, magnetic flux and other parameters of the stepping motor, confirms the rotor position and speed of the motor through the synovial observer and PLL estimator, and adjusts and controls the output frequency of the stepping motor through the FOC control.
  • the size and angle of the output voltage reduce the cost of motor control, and improve the performance of the stepping motor; through the control of FOC+PWM modulation and demodulation, the high-speed response of the stepping motor is realized.
  • a synovial film observer to confirm the position and speed of the motor rotor
  • the invention patent with the application number of 201811045137.3 discloses a method for detecting the position and speed of the motor rotor based on the adaptive synovial film observer; the invention patent with the application number of 201510828298.X discloses A sensorless control system for brushless DC motors is proposed, which uses the line back EMF method to replace the indirect measurement of back EMF in the FOC algorithm, which can effectively simplify the calculation process of the FOC algorithm and improve the response speed and control accuracy of the control system.
  • the fuzzy PI is introduced in the FOC algorithm to replace the traditional PI regulation, so that the FOC control algorithm can improve the dynamic response more effectively, generate the best torque with a lower current, and control the motor current in each PWM cycle , fundamentally limit the current, and then respond to the dynamic change of the load to achieve the purpose of improving the dynamic performance of the motor, which is not described in detail in this article.
  • each conveyor belt 6 is applied with different conveying speeds, according to the different speeds, the parcels arrive at the arranging device 19, the dispersing device 18 and the arranging device 19 respectively, as the application number is 201911168246.9
  • the scattering belt conveyor and the oblique roller conveyor in the patent application of are arranged in a row by the arranging device 19 and then reach the diverting device 20, and the diverting device 20 sends the parcels to different directions.

Abstract

一种单件分离系统，包括依次设置的分散装置（18）、分离单元（21）、排列装置（19）、分流装置（20），分离单元（21）包括若干矩阵排列的分离机，分离机包括驱动系统、输送带（6）、主体支架（1），主体支架（1）的至少一侧设有驱动系统和输送带（6）；驱动系统包括驱动滚筒（2）、驱动电机（7）、电机座（12）和若干从动滚筒（5），电机座（12）为套筒结构，驱动电机（7）安装在电机座（12）内，驱动电机（7）和驱动滚筒（2）传动连接；驱动滚筒（2）套设在电机座（12）外侧，轴承（15）设置在电机座（12）和驱动滚筒（2）之间；输送带（6）依次绕过驱动滚筒（2）和从动滚筒（5）。该单件分离系统可以提升包裹单件分离的精度和快速分流，降低成本，提升设备使用寿命。

Description

一种单件分离系统 技术领域
本发明涉及传输设备领域，具体涉及一种单件分离系统。
背景技术
传送带应用在物流、流水线作业、自动化生产等较多领域，借助动力源驱动传送带将传送带上的物品输送至不同位置。其中，伴随网购的发展，快递、物流行业的业务量急剧增加，每天都要处理大量的包裹，大量的包裹堆积在一起并不方便操作，传统的方法为人力将堆积包裹进行分拣，任务量较为繁重。由此，用于将堆积的包裹进行分件的设备应运而生，通过机器代替人力进行分件，大大减轻了人员的负担。
现有技术如申请号为201911168246.9的发明专利公开了一种并排包裹的分离装置及其方法，采取先分散拉开包裹之间的距离，再应用图像识别算法进行拍照识别相邻包裹间的位置关系，以针对性地对包裹进行分离和单队列输送，其中，其分离时依靠分离装置实现，分离装置通过呈矩阵排列的分离皮带机实现，每一台分离皮带机单独地通过伺服电机驱动，通过图像识别算法对比识别出位置靠前的包裹，提升其所在位置分离皮带机的电机转速，位置靠后的包裹所在位置的分离皮带机电机转速变慢或者停止转动，通过不同的传输速度，将堆积的包裹分离开来。
该专利申请中的分离皮带机包含24条呈矩阵排列的小皮带机组成，每一条小皮带机由一台伺服系统驱动，每个小皮带机包括由伺服减速机和带轮驱动的输送带；在两侧带轮之间设有涨紧带，涨紧带依次连接驱动滚动、安装于涨紧曲柄轴上的涨紧滚筒、以及涨紧柄和弹簧。
该类分离皮带机的皮带的宽度较宽，对于体积较小的包裹而言难以实现单件分离，极易发生多个小型的包裹出现在同一个皮带机上；伺服电机的成本也相对较高，且结构布局不够紧凑。
发明内容
为了解决上述技术问题，本发明提供了一种单件分离系统，提升单 件分离的精度，实现包裹的精准分离，本发明的技术目的是通过以下技术方案实现的：
一种单件分离系统，包括依次设置的分散装置、分离单元、排列装置，分离单元包括若干矩阵排列的分离机，分离机包括驱动系统、输送带、主体支架，主体支架的至少一侧设有驱动系统和输送带；驱动系统包括驱动滚筒、驱动电机、电机座和若干从动滚筒，从动滚筒水平安装在主体支架上端的一侧，电机座为套筒结构，电机座安装在从动滚筒下方的主体支架一侧，驱动电机安装在电机座内，驱动电机和驱动滚筒传动连接；驱动滚筒套设在电机座外侧，电机座外侧设有轴承，轴承设置在电机座和驱动滚筒之间；输送带依次绕过驱动滚筒和从动滚筒。
进一步地，输送带沿分流单元输送方向按照4排×7列排布。
进一步地，驱动滚筒内还设有减速器、涨套，驱动电机依次连接减速器和涨套，减速器和驱动滚筒内侧壁之间通过涨套连接。
进一步地，其结构还包括用以张紧输送带的输送带自动张紧装置，输送带自动张紧装置设置在输送带一侧的主体支架上。
进一步地，输送带自动张紧装置包括张紧滚筒、张紧滚筒轴、张紧短轴、张紧转臂、弹簧，张紧滚筒活动安装在张紧滚筒轴上，张紧滚筒轴连接固定在张紧短轴一端的轴心一侧，张紧转臂的一端垂直连接张紧短轴另外一端的轴心，弹簧拉伸连接在张紧转臂的另外一端，张紧短轴活动安装在主体支架上。
进一步地，主体支架上设有张紧短轴安装座，张紧短轴活动安装在张紧短轴安装座内，张紧短轴可相对张紧短轴安装座转动。
进一步地，张紧滚筒轴和张紧转轴之间还设有张紧曲柄连接块，张紧曲柄连接块连接固定在张紧短轴的轴心一侧，张紧转轴活动安装在张紧曲柄连接块上。
进一步地，主体支架上还设有弹簧固定轴，弹簧一端连接张紧转臂，弹簧另外一端连接弹簧固定轴。
进一步地，该系统还包括分流装置，分流装置设置在排列装置后端。
进一步地，上述的驱动电机为步进电机。
相比现有技术，本发明的有益效果在于：
1、将电机安装在电机座内，再将驱动滚筒安装在电机座的套筒外侧，可以缩短输送带的宽度，提升单件分离时的分离精度，能够适应体积较小的包裹及无规则形状的包裹的准确输送和分拣，此外使得结构上更加紧凑合理。
2、电机座外部轴承的设置，保证驱动滚动相对电机座转动时更加平稳。
3、将伺服电机变为步进电机，降低了生产成本。
4、自动张紧装置的设置，实现了输送带的自动调节，保持输送带在工作过程中始终保持张紧状态，保证输送带的稳定运行。
5、动力直接由步进电机传递至驱动滚筒，传动方式更加直接、可靠且传动磨耗较小，易于单独实施检修、调试作业，维护更加方便。
6、若干从动滚筒的设置，有效增大了输送带与输送带上端包裹之间的接触面积，提升了输送效率。
7、分流设备中传动杆上的磁环和传动轴之间通过磁力驱动，传动轴和驱动单元之间通过磁力驱动，通过非接触式的传动方式，减小了摩擦损耗，延长了设备的使用寿命，保证设备平稳运行，实现包括快递、包裹等快速的分流，提升工作效率。
附图说明
图1是本发明中的分离机结构示意图。
图2是本发明中的分离机前视图。
图3是本发明中的分离机后视图。
图4是本发明中的分离机的左侧透视图。
图5是本发明中的分离机组装立体图。
图6是本发明中的单件分离系统俯视图。
图7是本发明中的分流单元结构示意图。
图8是本发明中的分流单元剖面图。
图9是本发明中的分流模组俯视图。
图10是本发明中的分流模组前视图。
图中，1、主体支架；2、驱动滚筒；3、张紧滚筒；4、张紧滚筒轴；5、从动滚筒；6、输送带；7、步进电机；8、张紧短轴；9、张紧转臂；10、弹簧；11、弹簧固定轴；12、电机座；13、减速器；14、涨套；15、轴承；16、张紧曲柄连接块；17、张紧短轴安装座；18、分散装置；19、排列装置；20、分流装置；21、分离单元；22、固定座；23、摆轴连接座；24、传动轴；25、磁盘；26、传动杆；27、盖板；28、驱动轴；29、磁环；30、驱动轮；31、从动轮；32、摆轴连接孔；33、驱动轮开孔；34、从动轮开孔；35、工作台；36、关节轴承；37、转动连杆；38、防尘罩；39、第一驱动单元；40、矩形板；41、矩形板；42、圆弧槽；43、多楔轮。
具体实施方式
下面结合具体实施方式对本发明的技术方案进行进一步描述：
一种新型平稳高精度分离模组，其特征在于，其结构包括依次设置的分散装置18、分离单元21、排列装置19、分流装置20，在分离单元21的前端设有分散装置18，分散装置18可以是散射皮带机，在分离单元21的后端设有排列装置19，排列装置19为斜向辊筒机，在排列装置19的后端设有分流装置20，传送方向为分散装置18到分流装置20，如图6所示。分离单元21由若干分离机组成，分离机包括驱动系统、输送带6、主体支架1、输送带自动张紧装置；分离机矩阵排列，使得输送带排布形成4排×7列的矩阵。
具体的驱动系统包括若干从动滚筒5、驱动滚筒2、步进电机7、电机座12，如图1-4所示：
主体支架1为立板，若干从动滚筒5水平安装在主体支架1上端的一侧，从动滚筒5水平设置，可自由转动；在从动滚筒5的下端，输送带6依次绕过若干从动滚筒5以及下端的驱动滚筒2，通过驱动滚筒2转动可以带动输送带6沿从动滚筒5移动。步进电机7安装在驱动滚筒 2的内部，在主体支架1上安装电机座12，电机座12为套筒式电机座，电机座12通过螺栓固定在主体支架1上，步进电机7固定在电机座12的套筒内，步进电机7的输出端依次连接减速器13、涨套14、驱动滚筒2，减速器13和驱动滚筒2的内侧壁之间通过涨套14连接，驱动滚筒2套设在电机座12的外侧，在电机座12的外侧面还安装有轴承15，本实施例中的轴承15均为深沟球轴承，轴承15设置在电机座12和驱动滚筒2之间，保证驱动滚动2转动时的稳定性，同时步进电机7安装在驱动滚筒2内，可以缩短驱动滚筒2的长度，也即可以减小驱动滚筒2上的输送带6的宽度，通过本申请的安装方式，可以将皮带宽度控制在不超过200mm。
为了保证输送带6运行的稳定性，在主体支架1上设置输送带自动张紧装置，输送带自动张紧装置包括张紧滚筒3、张紧滚筒轴4、张紧短轴8、张紧曲柄连接块16、张紧转臂9、弹簧10、弹簧固定轴11、轴承15、张紧短轴安装座17，张紧滚筒3设置在主体支架1的一侧，张紧滚筒3安装在张紧滚筒轴4上，张紧滚筒3可相对张紧滚筒轴4自由转动，张紧滚筒3和驱动滚筒2分别位于输送带6的内外两侧，张紧短轴安装座17安装在主体支架1的另外一侧，张紧短轴8安装在张紧短轴安装座17内，张紧短轴8外侧套设轴承15，轴承15安装在张紧短轴安装座17内，张紧短轴8可相对张紧短轴安装座17自由转动，在张紧短轴8的一端安装固定张紧曲柄连接块16，张紧曲柄连接块16固定在张紧短轴8的轴心一侧，张紧滚筒轴4安装在张紧曲柄连接块16上，此时张紧滚筒轴4的轴心与张紧短轴8的轴心错位；在张紧短轴8的另外一端的轴心处安装一张紧转臂9，张紧转臂9的一端垂直连接张紧短轴8的轴心，张紧转臂9的另外一端连接弹簧10的一端，弹簧10的另外一端挂在弹簧固定轴11上，弹簧固定轴11垂直固定在主体支架1上，弹簧10保持拉伸状态，通过弹簧10拉紧张紧转臂9使得张紧滚筒3始终贴靠在输送带6上，达到自动张紧输送带6的目的。
使用时，如图5所示，可在主体支架1的两侧分别安装输送带6和 对应的驱动系统，每个输送带6由对应的驱动系统驱动，每个输送带6分别配置对应的输送带自动张紧装置，将两套输送带6和对应的驱动系统安装在同一个主体支架1上，使得结构更加紧凑，空间利用率大大提升。最终将若干本实施例中的分离机按照矩阵排列，通过分离单元21上方的识别系统判断包裹在分离单元21上的位置，具体的通过识别系统的3D相机判断包裹的位置，通过控制系统控制不同位置分离机的运行，通过每个输送带速度的差异实现包裹的分离；相比现有技术，将步进电机7安装在电机座12内，再将驱动滚筒2安装在电机座12的套筒外侧，可以缩短输送带6的宽度，提升单件分离时的分离精度，电机座12和驱动滚筒2之间轴承15的设置，使得驱动滚筒2转动时更加平稳。
分流装置20包括若干并排设置的分流模组，如图6所示，分流模组包括工作台35、分流机单元，本实施例中6个分流机单元排成一列安装在工作台35上，分流机单元之间等距设置，如图7-10所示。
具体的，分流机单元包括固定座22、摆轴连接座23、驱动单元、传动轴模块，固定座22通过螺栓安装固定在工作台35上，摆轴连接座23安装在固定座22的上端中部，摆轴连接座23和固定座22之间安装有轴承，摆轴连接座23可以相对固定座22转动；传动轴模块安装在摆轴连接座23的中部，传动轴模块和摆轴连接座23之间也设有轴承，传动轴模块可相对摆轴连接座23转动，驱动单元安装在摆轴连接座23的上端。
具体的，驱动单元包括驱动轴28、磁环29、驱动轮30、从动轮31，驱动轮30分别安装在驱动轴28的两端，磁环29安装在两个驱动轮30之间的驱动轴28上，磁环29靠近其中一个驱动轮30设置，两个从动轮31分别设置在驱动轴28的两侧，从动轮31在驱动轴28的带动下转动，本实施例中驱动轴28上还设有多楔轮43，从动轮31的一端也设有多楔轮43，驱动轴上的多楔轮43和从动轮31上的多楔轮43之间通过多楔带传动连接，相比传统的同步带，多楔带传动功率较大、振动小，运行更加平稳。驱动轴28通过轴承安装在摆轴连接座23上，从动轮31也安装在摆轴连接座23上；在驱动单元的上端，还安装有盖板27，盖板27 安装在摆轴连接座23上，盖板27上设有驱动轴开孔33和从动轮开孔34，驱动轮开孔33和从动轮开孔34分别与驱动轮30和从动轮31相对应，驱动轮30的上端面和从动轮31的上端面可以相对盖板27凸出，盖板27的下端还设有防尘罩38，如图5所示，防尘罩38可以罩住两个驱动轮30之间的驱动轴28以及驱动轴28上的磁环29，防尘罩38由两块矩形板40和两块带有圆弧槽42的矩形板41组成，两块带有圆弧槽42的矩形板41相对设置，圆弧槽42可以罩在驱动轴28的上端，但不接触驱动轴28，最大程度对驱动轴28及驱动轴上的磁环29进行防护。
具体的，传动轴模块包括传动轴24、磁盘25，传动轴24竖直设置，两个磁盘25分别安装在传动轴24的上下两端，传动轴24上端的磁盘25位于驱动轴上的磁环29的下方，磁盘25与磁环29之间不接触。
具体的，驱动模块包括传动杆26、第二驱动单元、磁环29，6个磁环29安装在水平设置的传动杆26上，传动杆26通过轴承安装在工作台35的下方，磁环29的安装位置对应每个传动轴模块下端的磁盘25的下方，磁盘25与磁环29之间不接触，第二驱动单元为驱动电机，第二驱动单元和传动杆26之间传动连接，可以是通过齿轮传动，也可以是通过传动带传动，通过第二驱动单元驱动传动杆26转动，进而带动传动杆26上的磁环29转动，通过传动杆26上的磁环29驱动传动轴模块转动。
为了实现分流机单元的输送角度变化，在工作台35的下端还设置有第一驱动单元39，第一驱动单元39选用步进电机；在摆轴连接座23的两侧分别设置两个摆轴连接孔32，第一驱动单元39的输出轴通过关节轴承36与其中一个分流机单元的一个摆轴连接孔32铰接连接，分流机单元之间通过转动连杆37连接；本实施例选取工作台35一端第一个的分流机单元与第一驱动单元39连接，关节轴承36的一端连接在第一个分流机单元的一个摆轴连接孔32上，第一个分流机单元另外一侧的摆轴连接孔32通过转动连杆37连接第二个分流机单元位于同侧的摆轴连接孔32处，第二个分流机单元另外一侧的摆轴连接孔32也通过转动连杆37连接第三个分流机单元位于同侧的摆轴连接孔32处，第三个分流机 单元另外一侧的摆轴连接孔32通过转动连杆37连接第四个分流机单元同侧的摆轴连接孔32，第四个分流机单元通另外一侧的摆轴连接孔32通过转动连杆37连接第五个分流机单元同侧的摆轴连接孔32，第五个分流机单元另外一侧的摆轴连接孔32通过转动连杆37连接第六个分流机单元同侧的摆轴连接孔32，转动连杆37与摆轴连接孔32之间铰接连接。通过第一驱动单元39驱动第一个分流机单元的摆轴连接座23发生偏转，第一个分流机单元通过转动连杆37依次带动其余五个分流机单元同步偏转，偏转的方向、角度、时间均相同。
工作时，第二驱动单元带动传动杆26转动，传动杆26上的磁环29在传动杆26的作用下发生转动，磁环29转动驱动传动轴模块下端的磁盘25转动，进而驱动传动轴模块上端的磁盘25转动，传动轴模块上端的磁盘25驱动驱动轴28上的磁环29转动，进而带动驱动轴28上的驱动轮9转动，驱动轴28通过多楔带驱动从动轮31转动，驱动轮9和从动轮31转动将分流机单元上的包裹或者快递输送。第一驱动单元39驱动分流机单元实现同步偏转，实现分快速流的目的。
本申请中使用步进电机作为驱动电机，步进电机相比伺服电机而言，虽然成本低，但是步进电机反应慢，且步进电机的扭矩不够，因此，为了降低成本，本申请采用参数自动识别技术，计算得到步进电机的电阻、电感、力矩系数、磁通量等参数，通过滑膜观测器和PLL估算器来确认电机转子位置和速度，通过FOC控制来调整控制步进电机的输出频率、输出电压的大小及角度，减少电机控制的成本，提升步进电机的性能；通过FOC+PWM调制解调的控制，实现步进电机高速响应。利用滑膜观测器确认电机转子的位置和速度如申请号为201811045137.3的发明专利公开了一种基于自适应滑膜观测器检测电机转子位置及转速的方法；申请号为201510828298.X的发明专利公开了一种无刷直流电机无位置传感器控制系统，利用线反电势法替代FOC算法中的间接测量反电动势EMF方式，可有效地简化FOC算法计算过程，提高控制系统的响应速度与控制精度。同时，在FOC算法中引入模糊PI以取代传统的PI调节，使得 FOC控制算法可以更加有效地改善动态响应，以较低的电流产生最佳的转矩，并且在每一个PWM周期中控制电机电流，从根本上限制电流，进而实现响应负载动态变化，达到改善电机动态性能的目的，本文不做详细描述。
工作时：
若干包裹由分散装置18通过输送角度的差异扩散开后移送至分离单元21，使得堆积的包裹间出现间隙，在分离单元21上通过识别系统判断包裹在分离单元21上的具体位置，控制系统控制分离单元21上不同位置的输送带6的运行，每个输送带6被施加不同的输送速度，根据速度的不同使得包裹先后到达排列装置19，分散装置18和排列装置19分别如申请号为201911168246.9的专利申请中的散射皮带机和斜向辊筒机，经排列装置19排成一列后到达分流装置20，分流装置20将包裹送往不同的方向。
本实施例只是对本发明的进一步解释，并不是对本发明的限制，本领域技术人员在阅读完本说明书后可以根据需要对本实施例做出没有创造性的修改，但是只要在本发明的权利要求范围内都受到专利法的保护。

Claims (10)

  1. 一种单件分离系统，其特征在于，包括依次设置的分散装置、分离单元、排列装置，所述分离单元包括若干矩阵排列的分离机，所述分离机包括驱动系统、输送带、主体支架，所述主体支架的至少一侧设有驱动系统和输送带；所述驱动系统包括驱动滚筒、驱动电机、电机座和若干从动滚筒，所述从动滚筒水平安装在主体支架上端的一侧，所述电机座为套筒结构，所述电机座安装在从动滚筒下方的主体支架一侧，所述驱动电机安装在电机座内，所述驱动电机和驱动滚筒传动连接；所述驱动滚筒套设在电机座外侧，所述电机座外侧设有轴承，所述轴承设置在电机座和驱动滚筒之间；所述输送带依次绕过驱动滚筒和从动滚筒。
  2. 根据权利要求1所述的一种单件分离系统，其特征在于，所述输送带沿分流单元输送方向按照4排×7列排布。
  3. 根据权利要求1所述的一种单件分离系统，其特征在于，所述驱动滚筒内还设有减速器、涨套，所述驱动电机依次连接减速器和涨套，所述减速器和驱动滚筒内侧壁之间通过涨套连接。
  4. 根据权利要求1所述的一种单件分离系统，其特征在于，其结构还包括用以张紧输送带的输送带自动张紧装置，所述输送带自动张紧装置设置在输送带一侧的主体支架上。
  5. 根据权利要求4所述的一种单件分离系统，其特征在于，所述输送带自动张紧装置包括张紧滚筒、张紧滚筒轴、张紧短轴、张紧转臂、弹簧，所述张紧滚筒活动安装在张紧滚筒轴上，所述张紧滚筒轴连接固定在张紧短轴一端的轴心一侧，所述张紧转臂的一端垂直连接张紧短轴另外一端的轴心，所述弹簧拉伸连接在张紧转臂的另外一端，所述张紧短轴活动安装在主体支架上。
  6. 根据权利要求5所述的一种单件分离系统，其特征在于，所述主体支架上设有张紧短轴安装座，所述张紧短轴活动安装在张紧短轴安装座内，张紧短轴可相对张紧短轴安装座转动。
  7. 根据权利要求5所述的一种单件分离系统，其特征在于，所述张紧滚 筒轴和张紧转轴之间还设有张紧曲柄连接块，所述张紧曲柄连接块连接固定在张紧短轴的轴心一侧，所述张紧转轴活动安装在张紧曲柄连接块上。
  8. 根据权利要求5所述的一种单件分离系统，其特征在于，所述主体支架上还设有弹簧固定轴，所述弹簧一端连接张紧转臂，所述弹簧另外一端连接弹簧固定轴。
  9. 根据权利要求1所述的一种单件分离系统，其特征在于，该系统还包括分流装置，所述分流装置设置在排列装置后端。
  10. 根据权利要求1-9任意一项权利要求所述的一种单件分离系统，其特征在于，所述驱动电机为步进电机。
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