WO2022252343A1

WO2022252343A1 - Parcel classification conveying robot and sorting method therefor

Info

Publication number: WO2022252343A1
Application number: PCT/CN2021/105417
Authority: WO
Inventors: 李坤; 华娟; 孙勇
Original assignee: 南京昱晟机器人科技有限公司
Priority date: 2021-06-04
Filing date: 2021-07-09
Publication date: 2022-12-08
Also published as: CN113477536A

Abstract

Disclosed are a parcel classification conveying robot and a sorting method therefor, which relate to the technical field of parcel sorting. The robot comprises an input continuous track, a scanning assembly, a controller and a sorting assembly. The scanning assembly comprises a bearing platform, a support located on one side of the bearing platform, a scanner mounted on the support and used for scanning parcels on the bearing platform, a moving-out assembly mounted on the support, a plurality of driving assemblies mounted on the top surface of the bearing platform, and an electric push rod provided below the bearing platform and used for driving the bearing platform to move up and down. The sorting assembly comprises a receiving belt located below the bearing platform and used for receiving parcels on the bearing platform, a rotary shaft mounted below the receiving belt and used for controlling the receiving belt to rotate, a speed reducing motor transmissionally connected to the rotary shaft, and a servo motor transmissionally connected to the speed reducing motor. In the present invention, parcels may be accurately and rapidly sorted.

Description

A parcel sorting and conveying robot and its sorting method

technical field

The invention belongs to the technical field of parcel sorting, and in particular relates to a parcel sorting and conveying robot and a sorting method thereof.

Background technique

In the traditional logistics industry, packages are usually sorted manually. With the continuous growth of the e-commerce industry, the number of express packages has increased rapidly, which has increased the work intensity of workers and increased labor costs. The work efficiency of sorting itself is relatively low, and it is prone to missing or wrong sorting. However, the common machine sorting machines on the market usually require a certain distance between packages to allow packages to enter the sorting order in sequence. The sorting area is used to scan and sort the parcels. If the parcels are close to each other, two parcels will enter the sorting area together, resulting in misclassification of the parcels.

technical problem

A welding robot capable of all-round adjustment and its use method are provided, which solve the above-mentioned problems existing in the prior art.

technical solution

A fully adjustable welding robot including input tracks for delivering parcels;

A break-up assembly, installed on the input track, is used to break up the packages accumulated on the input track;

The scanning assembly includes a receiving platform located at the end of the input crawler belt, a bracket located on one side of the receiving platform, a scanner installed on the bracket and used to scan packages on the receiving platform, and a moving out device installed on the bracket. Components, a number of driving components installed on the top surface of the receiving platform, an electric push rod arranged under the receiving platform and driving the receiving platform to move up and down, a sensor embedded in the receiving platform near the input track end, and embedded in the receiving platform The infrared sensor far away from the input track end;

The controller is placed under the input crawler and controls the rotation of the input crawler, and is used to receive signals from sensors and infrared sensors to control the driving component and the removal component to work;

The sorting assembly includes a receiving belt located under the receiving platform and used to receive packages on the receiving platform, a rotating shaft installed under the receiving belt and controlling the rotation of the receiving belt, and a geared motor connected to the rotating shaft, And the servo motor connected with the transmission of the reduction motor; the controller controls the servo motor, cooperates with the reduction motor to drive the rotating shaft to rotate, so that the receiving belt installed on the rotating shaft rotates, and the receiving belt Bring on the parcels for sorting.

First, the parcels accumulated on the input crawler are broken up by the dispersing component, and transported to the scanning component, the parcel is scanned by the scanner, and the position of the parcel is detected by the sensor and the infrared sensor, if the infrared When the sensor and the sensor detect the package at the same time, the controller controls the removal component to move the package on the receiving platform out of the receiving platform. If the infrared sensor detects the package, when the sensor does not detect the package, the controller controls the electric push rod to shrink, and in the Under the action of the driving component, the package is transferred to the receiving belt in the sorting component, and the servo motor cooperates with the geared motor to drive the rotating shaft to rotate to classify the packages on the receiving belt.

Preferably, the dispersing assembly includes a fixed frame installed on the input crawler belt, a roller wheel connected to the fixed frame is rotated, a stepping motor is fixedly installed on the fixed frame, and a stepping motor is fixedly mounted on the fixed frame. Several first baffles on the roller, and several second baffles fixedly installed on the roller and interspersed between the first baffles; the width of the first baffle is smaller than that of the second According to the width of the baffle, the stepper motor drives the roller to rotate clockwise along the moving direction of the input track, and drives the first baffle and the second baffle to rotate to break up the packages accumulated on the input track.

Preferably, it also includes a pair of blocking plates installed on the input track and located on both sides of the track, the blocking plate is located at the initial entry end of the input track and extends to the side of the fixed frame, avoiding the first When the baffle plate and the second baffle plate are rotating, the package is pushed out of the input track to cause the package to fall.

Preferably, the drive assembly includes a support rod, which rotates a rotating wheel of a built-in drive motor installed at the top of the support rod; the rotating wheel is connected to the controller by wiring and the rotation of the rotating wheel is controlled by the controller.

Preferably, the scanning assembly further includes a pair of rotating baffles that are rotatably mounted on the receiving platform, the rotating baffles are connected to the receiving platform through torsion springs, and the rotation stops under the action of the torsion springs. The plate is reset. When the package enters the receiving table, the package pushes the rotating baffle, and the rotating baffle produces an opposite force on the package, preventing the packages from stacking on each other and causing missing scanning.

Preferably, it also includes a partition plate that is perpendicular to the rotating baffle and integrally formed with the rotating baffle, and several sawtooths arranged on the partition plate to increase the force on the outer surface of the package.

Preferably, the removal assembly includes a reciprocating cylinder installed on the bracket, and a push plate fixedly installed at the end of the reciprocating cylinder; the reciprocating cylinder is connected to the controller by wiring, and is controlled by the controller The reciprocating cylinder stretches and drives the push plate on the reciprocating cylinder to reciprocate on the receiving platform, and the overlong package is moved out of the receiving platform.

Preferably, it also includes a diverting conveyor belt arranged on one side of the scanning component, through which the unqualified packages are pushed to the diverting conveyor belt through the removal component, and the packages are transported to other inspection stations for detection.

Preferably, it also includes three delivery belts arranged on the other three sides of the sorting assembly, and the delivery belts are used to receive packages on the receiving belt.

A sorting method for a parcel sorting delivery robot, comprising the following steps:

The first step is to drive the first baffle plate and the second baffle plate on the roller to rotate through the progressive motor, break up the packages accumulated on the input crawler belt, and transport the package to the scanning assembly through the conveyor belt, when After the sensor detects that the package moves to the receiving platform, the controller controls the input crawler to stop rotating, and drives the package to move on the receiving platform through the driving component, until the infrared sensor detects the package, the controller controls the driving component to stop working;

Step 2: If the sensor detects the package, the controller controls the removal component to push the package, pushes the package to the diverting conveyor belt and transports it to other detection stations for detection. If the sensor does not detect the package, the controller controls the electric push rod to shrink and drive The receiving table moves down to the vicinity of the sorting component, and starts the driving component to transfer the package to the sorting component;

Step 3: When the package enters the receiving belt, after receiving the feedback information from the scanner through the controller, the servo motor is controlled to rotate, and the servo motor cooperates with the deceleration motor and the rotating shaft to drive the receiving belt to rotate, so that the receiving belt The parcels on the conveyor belt are transported to the corresponding delivery belt to complete the sorting of the parcels;

The fourth step, repeat the first step to the third step until all the parcels are sorted.

Beneficial effect

The invention relates to a parcel sorting and conveying robot and a sorting method thereof. First, the parcels accumulated on the input crawler are broken up by a breaking group, and the broken parcels are transported to the receiving platform through the input crawler. , use the controller to receive information from scanners, sensors and infrared sensors, control the drive components to drive the parcels to continue to move, and control the removal components and electric push rods to perform preliminary sorting of the parcels, some of the parcels enter the diversion conveyor belt, and some of the parcels enter the sorting On the receiving table in the sorting assembly, the servo motor drives the rotating shaft to rotate, and further sorts the packages on the receiving table, which can ensure accurate and fast sorting of the packages.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is a partial schematic view of the scanning assembly of the present invention;

Fig. 3 is a partial schematic diagram of the scanning assembly of the present invention;

Fig. 4 is a partial schematic view of the scanning assembly of the present invention;

Fig. 5 is a schematic diagram of the sorting assembly of the present invention;

Fig. 6 is a schematic diagram of a broken assembly of the present invention;

Fig. 7 is a schematic diagram of the tentacle of the present invention.

The reference signs in the figure are: input crawler 1, scanning component 2, controller 3, sorting component 4, diverting conveyor belt 5, delivery belt 6, breaking component 7, infrared sensor 20, receiving platform 21, bracket 22, Scanner 23, removal assembly 24, drive assembly 25, electric push rod 26, sensor 27, rotating baffle plate 28, partition plate 29, receiving belt 41, rotating shaft 42, reduction motor 43, servo motor 44, support rod 251, Rotating wheel 252 , fixed frame 71 , roller 72 , first baffle 73 , second baffle 74 , reciprocating air cylinder 75 , elastic fixing plate 76 .

Embodiments of the present invention

In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the present invention.

In practical applications, the applicant found that: in the traditional logistics industry, packages are usually sorted manually. With the continuous growth of the e-commerce industry, the number of express packages has increased rapidly, increasing the work intensity of workers. At the same time, it also increases the labor cost, and the efficiency of manual sorting itself is relatively low, and it is prone to missing or wrong classification. However, the common machine sorting machines on the market usually require a certain distance between packages. Let the parcels enter the sorting area in order to scan and sort the parcels. If the parcels are close to each other, two parcels will enter the sorting area together, resulting in the parcel being In the case of misclassification, in view of these problems, a package classification delivery robot and its sorting method were invented, which can effectively solve the above problems.

Example 1

As shown in Figures 1 to 6, a welding robot that can be adjusted in all directions is hereinafter referred to as "the device". The device includes five parts: input crawler belt 1 , breaking assembly 7 , scanning assembly 2 , controller 3 and sorting assembly 4 .

Parcels are usually piled up on the input crawler 1 during the process of inspection. In order to scan each parcel smoothly, a breaking assembly 7 is installed on the input crawler 1. The progressive motor drives the roller 72 to rotate, so that the first baffle 73 and the second baffle 74 on the roller 72 rotate, because the distance between the first baffle 73 and the second baffle 74 and the input crawler belt 1 is different , block the piles of packages at different heights, push the packages down and scatter them on the input crawler 1, and use the input crawler 1 to transfer the packages to the scanning component 2, and scan the packages through the scanning component 2, in order to avoid breaking up the packages During the process, if the package falls, barrier plates are installed on both sides of the input track 1 to enclose the package and effectively prevent the package from rolling down during the process of breaking up.

The scanning assembly 2 includes a receiving platform 21 located at the end of the input crawler belt 1, a support 22 is arranged on one side of the receiving platform 21, and a scanner 23 is installed on the support 22, and the scanner 23 is used to scan the receiving platform. Wrapping on the platform 21, the removal assembly 24 is installed on the support 22, a number of drive assemblies 25 are installed on the top surface of the receiving platform 21, and an electric push rod 26 is arranged under the receiving platform 21, and the electric push rod 26 drives the receiving The platform 21 moves up and down, and the receiving platform 21 is inlaid with a sensor 27 close to the end of the input crawler 1, and the sensor 27 adopts a distance sensor 27, and the end of the receiving platform 21 far away from the input crawler 1 is inlaid with an infrared sensor 20; the controller 3 is placed under the input crawler 1 and controls the rotation of the input crawler 1, and is used to receive signals from the sensor 27 and the infrared sensor 20 to control the drive assembly 25 and the removal assembly 24 to work; the sorting assembly 4 includes Under the receiving platform 21 and for receiving the receiving belt 41 wrapped on the receiving platform 21, a rotating shaft 42 is installed below the receiving belt 41, and the rotating shaft 42 controls the rotating shaft 42 that the receiving belt 41 rotates. The rotating shaft 42 It is connected in transmission with the reduction motor 43, the transmission connection between the reduction motor 43 and the servo motor 44, the controller 3 controls the servo motor 44, cooperates with the reduction motor 43 through the servo motor 44, drives the rotating shaft 42 to rotate, and makes the installation The receiving belt 41 on the rotating shaft 42 rotates to classify the parcels on the receiving belt 41 . The package is scanned by the scanner 23, and the sensor 27 and the infrared sensor 20 are used to detect the position of the package. If the infrared sensor 20 and the sensor 27 detect the package at the same time, the controller 3 controls the removal component 24 to move the receiving platform 21 The package on the platform moves out of the receiving platform 21. If the infrared sensor 20 detects the package and the sensor 27 does not detect the package, the controller 3 controls the electric push rod 26 to shrink, and under the action of the driving component 25, the package is transferred to the sorting On the receiving belt 41 in the assembly 4, the servo motor 44 cooperates with the reduction motor 43 to drive the rotating shaft 42 to rotate, and classify the packages on the receiving belt 41. The other three sides of the sorting assembly 4 are provided with three outlets. The delivery belt 6 is used to accept the packages on the receiving belt 41 by using the delivery belt 6 .

After the input crawler belt 1 transports the package to the receiving platform 21, the input crawler belt 1 stops rotating, and the package stays between the input crawler belt 1 and the receiving platform 21. The driving assembly 25 needs to drive the package to move on the receiving platform 21. To scan and sort the parcels, the drive assembly 25 includes a support rod 251, and the top of the support rod 251 is rotated with a rotating wheel 252 with a built-in drive motor; the rotating wheel 252 is connected to the controller 3 and controlled by The device 3 controls the rotation of the rotating wheel 252 to drive the package to move, scan the package, and detect the length of the package through the distance sensor 27 and the infrared sensor 20, and perform preliminary sorting on the package.

Due to the small size of some parcels, these small parcels cannot be scattered on the input crawler one by one by breaking up. In order to scan the parcels one by one, a pair of rotating baffles 28 are installed on the receiving platform 21 for rotation. The rotating baffle 28 is connected to the receiving platform 21 by a torsion spring, and the rotating baffle 28 is reset under the action of the torsion spring. When the package enters the receiving platform 21, the package pushes the rotating baffle 28, and the rotating baffle 28 is rotated. The plate 28 produces an opposite force to the parcels, preventing the parcels from being stacked on each other and causing missing scans.

In order to separate the stacked packages more smoothly, a partition 29 perpendicular to the rotary baffle 28 is provided on the rotary baffle 28, and the partition 29 is integrally formed with the rotary baffle 28, The partition plate 29 is provided with several serrations to increase the force on the outer surface of the package.

Due to the long and short length of the parcels, and the overlong parcels cannot be sorted by the sorting assembly 4, the overlong parcels need to be preliminarily sorted. A reciprocating cylinder is installed on the support 22, and the reciprocating cylinder ends The push plate is fixedly installed at the top, and the reciprocating cylinder is connected to the controller 3 by wiring. The controller 3 controls the reciprocating cylinder to expand and contract, and drives the push plate on the reciprocating cylinder to reciprocate on the receiving platform 21 to remove the overlong package. On the receiving platform 21, a diversion conveyor belt 5 is arranged on one side of the scanning component 2, and the unqualified packages are pushed to the diversion conveyor belt 5 through the removal component 24, and the packages are transported to other detection stations for detection.

Through the above technical scheme, the present invention can realize the following work process:

The first step is to drive the first baffle plate and the second baffle plate on the roller to rotate through the progressive motor, break up the packages accumulated on the input crawler, and use the conveyor belt to transport the package to the scanning unit 2, when After the sensor 27 detects that the package moves to the receiving platform 21, the controller 3 controls the input crawler belt 1 to stop rotating, and drives the package to move on the receiving platform 21 through the drive assembly 25, until the infrared sensor 20 detects the package, the controller 3 The control drive assembly 25 stops working.

In the second step, if the sensor 27 detects the package, the controller 3 controls the removal component 24 to push the package, pushes the package to the diverting conveyor belt 5 and transports it to other detection stations for detection, if the sensor 27 does not detect the package, the controller 3 controls The electric push rod 26 shrinks, drives the receiving table 21 to move down to the vicinity of the sorting assembly 4 , and starts the driving assembly 25 to transfer the package to the sorting assembly 4 .

The third step, when the package enters the receiving belt 41, after receiving the feedback information from the scanner 23 through the controller 3, the servo motor 44 is controlled to rotate, and the servo motor 44 cooperates with the reduction motor 43 and the rotating shaft 42 to drive the receiving device. The belt 41 rotates, so that the packages on the receiving belt 41 are transported to the corresponding delivery belt 6, and the sorting of the packages is completed.

Example 2

As shown in Figures 1 to 7, a welding robot that can be adjusted in all directions is hereinafter referred to as "the device". The device includes five parts: input crawler belt 1 , breaking assembly 7 , scanning assembly 2 , controller 3 and sorting assembly 4 .

Parcels are usually piled up on the input track 1 during the process of inspection. In order to scan each package smoothly, a disintegrating component 7 is installed on the input crawler 1. The parcels on the input crawler 1 are broken up, so that the parcels are scattered on the input crawler 1. The scattered assembly 7 includes a rough breaking mechanism and a separation mechanism. Fixed frame 71, described fixed frame 71 is equipped with progressive motor and the roller wheel 72 that is installed on the described fixed frame 71 by rotation, starts progressive motor to drive roller wheel 72 to rotate, makes the first baffle plate 73 on the roller wheel 72 Rotate with the second baffle plate 74, because the distance between the first baffle plate 73 and the second baffle plate 74 and the input crawler belt 1 is different, the parcel piles of different heights are blocked, and the parcels are pushed down and scattered on the input crawler belt 1, However, in the process, some packages are close together. When scanning and sorting packages, multiple packages that are close together may be mistakenly sorted as one package, which cannot be accurately sorted. To complete the delivery of the package, in order to avoid this situation, a number of tentacles that can be stretched up and down are installed on the end of the fixed frame 71 close to the scanning component 2. The tentacles are in a straight line and there is an angle row between the straight line and the horizontal line. Clothed on the fixed frame 71, a timer is connected to the wiring on the tentacles, and the timer is connected to the controller 3 by wiring, and the timer is used to control the tentacles to stretch up and down intermittently, so that the time between wrapping and wrapping There is a certain distance, which is convenient for scanning and sorting the parcels. The tentacles include a reciprocating cylinder 75, which is fixedly installed on the fixed frame 71, and an elastic fixing plate 76 is installed on the lower end of the reciprocating cylinder 75. A pressure sensor is inlaid in the elastic fixing plate 76, and the pressure sensor is connected to the reciprocating cylinder 75 by wires to control the extension length of the reciprocating cylinder 75, so as to avoid damage to the package caused by the excessive extension of the reciprocating cylinder 75. The broken and separated packages are sent to the scanning component 2 through the input track 1, and the package is scanned by the scanning component 2. In order to avoid the falling of the package during the process of breaking up the package, the input track 1 Barrier plates are installed on both sides to enclose the parcels and effectively prevent the parcels from rolling down during the breaking up process.

The first step is to drive the first baffle plate and the second baffle plate on the roller to rotate through the progressive motor, break up the packages accumulated on the input crawler, and use the tentacles to separate the packages, so that the separation between the packages and the packages will be separated. There is a certain distance between them, and the separated parcels are transported to the scanning assembly 2 through the conveyor belt. When the sensor 27 detects that the parcel moves to the receiving platform 21, the controller 3 controls the input crawler belt 1 to stop rotating, and passes the driving assembly 25 drives the package to move on the receiving platform 21 until the infrared sensor 20 detects the package, and the controller 3 controls the drive assembly 25 to stop working.

The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be carried out to the technical solutions of the present invention. These equivalent transformations All belong to the protection scope of the present invention.

Claims

A parcel sorting delivery robot, characterized in that it comprises:

Input track, used to transport parcels;

A break-up assembly, installed on the input track, is used to break up the packages accumulated on the input track;

The scanning assembly includes a receiving platform located at the end of the input crawler belt, a bracket located on one side of the receiving platform, a scanner installed on the bracket and used to scan packages on the receiving platform, and a moving out device installed on the bracket. Components, a number of driving components installed on the top surface of the receiving platform, an electric push rod arranged under the receiving platform and driving the receiving platform to move up and down, a sensor embedded in the receiving platform near the input track end, and embedded in the receiving platform The infrared sensor far away from the input track end;

The controller is placed under the input crawler and controls the rotation of the input crawler, and is used to receive signals from sensors and infrared sensors to control the driving component and the removal component to work;

The sorting assembly includes a receiving belt located under the receiving platform and used to receive packages on the receiving platform, a rotating shaft installed under the receiving belt and controlling the rotation of the receiving belt, and a geared motor connected to the rotating shaft, And the servo motor connected with the transmission of the reduction motor; the controller controls the servo motor, cooperates with the reduction motor to drive the rotating shaft to rotate, so that the receiving belt installed on the rotating shaft rotates, and the receiving belt Bring on the parcels for sorting.
A package sorting and conveying robot according to claim 1, characterized in that, the breaking assembly includes a fixed frame mounted on the input crawler belt, and the rollers connected to the fixed frame are rotatably mounted on The stepper motor on the fixed frame, several first baffles fixedly installed on the rollers, and several second baffles fixedly installed on the rollers and interspersed between the first baffles plate; the width of the first baffle is smaller than the width of the second baffle, and the stepping motor drives the roller to rotate clockwise along the moving direction of the input track, driving the first baffle and the second baffle to rotate Break up the packages accumulated on the input track.
The package sorting and conveying robot according to claim 2, further comprising a pair of barrier plates installed on the input track and located on both sides of the track, the barrier plates are located at the initial stage of the input track. into the end and extend to the side of the mount.
A parcel sorting and conveying robot according to claim 1, wherein the driving assembly comprises a support rod, which rotates a rotating wheel of a built-in drive motor mounted on the top of the supporting rod; the rotating wheel is connected with the control The controller is wired and connected to control the rotation of the rotating wheel through the controller.
The package sorting and conveying robot according to claim 1, wherein the scanning assembly further includes a pair of rotating baffles rotatably mounted on the receiving platform, and the distance between the rotating baffles and the receiving platform is They are connected by a torsion spring and the rotating baffle is reset under the action of the torsion spring.
The parcel sorting and conveying robot according to claim 5, further comprising a partition plate that is perpendicular to the rotating baffle and integrally formed with the rotating baffle, and is arranged on the partition Several serrations on the .
A parcel sorting and conveying robot according to claim 1, wherein the removal assembly includes a reciprocating cylinder mounted on the support, and a push plate fixedly mounted on the end of the reciprocating cylinder; The reciprocating cylinder is wired to the controller, and the controller controls the reciprocating cylinder to expand and contract, driving the push plate on the reciprocating cylinder to reciprocate on the receiving platform.
A parcel sorting and conveying robot according to claim 1, characterized in that it also includes a diverting conveyor belt arranged on one side of the scanning assembly, and the package that does not meet the requirements is pushed to the diverting conveyor belt through the removal assembly to transport the parcels to Tested on other test benches.
A parcel sorting and conveying robot according to claim 1, further comprising three delivery belts arranged on the other three sides of the sorting assembly, and the delivery belts are used to accept the parcels on the receiving belt. pack.
A sorting method for a parcel sorting delivery robot, comprising the following steps:

S1. Drive the first baffle and the second baffle on the roller to rotate through the progressive motor, break up the packages accumulated on the input crawler, and transport the package to the scanning component through the conveyor belt, when the sensor detects After the package moves to the receiving platform, the controller controls the input crawler to stop rotating, and drives the package to move on the receiving platform through the driving component, until the infrared sensor detects the package, the controller controls the driving component to stop working;

S2. If the sensor detects the package, the controller controls the removal component to push the package, and pushes the package to the diverting conveyor belt to be transported to other detection platforms for detection. If the sensor does not detect the package, the controller controls the electric push rod to shrink to drive the receiving platform Move down to the vicinity of the sorting component, and start the driving component to transfer the package to the sorting component;

S3. When the package enters the receiving belt, after receiving the feedback information from the scanner through the controller, the servo motor is controlled to rotate, and the servo motor cooperates with the deceleration motor and the rotating shaft to drive the receiving belt to rotate, so that the receiving belt on the receiving belt rotates. The package is transported to the corresponding delivery belt to complete the sorting of the package;

S4. Steps S1-S3 are repeated until all packages are sorted.