WO2022257265A1 - Robot de tri à base d'identification visuelle et procédé de tri - Google Patents

Robot de tri à base d'identification visuelle et procédé de tri Download PDF

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Publication number
WO2022257265A1
WO2022257265A1 PCT/CN2021/112028 CN2021112028W WO2022257265A1 WO 2022257265 A1 WO2022257265 A1 WO 2022257265A1 CN 2021112028 W CN2021112028 W CN 2021112028W WO 2022257265 A1 WO2022257265 A1 WO 2022257265A1
Authority
WO
WIPO (PCT)
Prior art keywords
objects
sorting
conveyor belt
cylinder
identification
Prior art date
Application number
PCT/CN2021/112028
Other languages
English (en)
Chinese (zh)
Inventor
方静
谢广飞
田亮
Original Assignee
南京轩世琪源软件科技有限公司
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 南京轩世琪源软件科技有限公司 filed Critical 南京轩世琪源软件科技有限公司
Publication of WO2022257265A1 publication Critical patent/WO2022257265A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B07C3/082—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
    • B07C3/087—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts the objects being taken up in transport files or holders which are not part of the conveyor belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means

Definitions

  • the invention relates to a sorting robot and a sorting method based on visual recognition, belonging to the technical field of logistics.
  • the present invention provides a sorting robot and a sorting method based on visual recognition.
  • a sorting robot based on visual recognition comprising:
  • the object box is installed on the ground for loading objects
  • the transmission mechanism is installed close to the object box and the centerline of the running track surface of the transmission mechanism corresponds to the extension of the symmetry line of the object box upwards, and the transmission mechanism is provided with a conveyor belt to transmit objects;
  • the transfer mechanism is installed close to the object box, and the pick-up mechanism in the transfer mechanism moves along the extension of the symmetry line of the object box.
  • the transfer mechanism is provided with a lifting mechanism and a pick-up mechanism, and the transfer mechanism transfers the items in the item box onto the transfer mechanism;
  • the identification mechanism corresponds to the identification code installed above the transmission mechanism and is used to identify the object on the transmission mechanism through the installation shaft, and transmits the information to the computer;
  • the current limiting mechanism is correspondingly installed above the conveying mechanism and is set to allow a predetermined number of objects conveyed on the conveying mechanism to pass within a predetermined time;
  • the sorting mechanism is installed close to the end of the conveying mechanism and its rotation center is located upwards from the center line of the running track surface of the conveying mechanism.
  • the sorting mechanism sorts objects to a predetermined position.
  • the transfer mechanism absorbs one object at a time and transfers it to the transmission mechanism.
  • the identification code on the object is recognized by the instrument in the recognition machine, and the information is sent to the computer.
  • the current limiting mechanism transmits an object within a predetermined time. After each item passes, the sorting mechanism grabs an item correspondingly, and receives the feedback signal from the computer, and puts the item into the designated position.
  • the item box includes:
  • An adjusting plate is elastically connected to the bottom of the object box
  • An adjustment member arranged between the adjustment plate and the bottom of the object box, is used to adjust the elasticity of the adjustment plate relative to the object box, thereby adjusting the objects in the object box to correspond to the movement of the conveying mechanism.
  • the height of the running track surface is used to adjust the elasticity of the adjustment plate relative to the object box, thereby adjusting the objects in the object box to correspond to the movement of the conveying mechanism.
  • the delivery mechanism includes:
  • the conveyor belt has an installation height corresponding to the height of the objects loaded in the object box, carries the objects transferred by the transfer mechanism and transmits the objects to the identification code of the identification mechanism, and a section of baffle is respectively installed on both sides of the conveyor belt.
  • the baffles are turned outward by a predetermined angle relative to the conveyor belt.
  • the transfer mechanism includes:
  • the horizontal slide rail is arranged parallelly above the conveyor belt and the object box through the installation shaft, and the movement range of the sliding seat on the horizontal slide rail is from the object box to the conveyor belt;
  • the lifting mechanism is connected to the sliding seat through the first mounting plate, and the lifting mechanism is composed of connecting the first mounting plate and the second mounting plate through a plurality of first cylinders, the first mounting plate and the A telescopic shaft is also provided in the middle of the second mounting plate to assist lifting.
  • the horizontal slide rail and the lifting mechanism can realize the horizontal and vertical movement from the object box to the conveyor belt.
  • the pick-up mechanism includes:
  • the first support plate is assembled with the second mounting plate and has a space for placing the drive motor, and is connected to the first support plate in rotation.
  • a second rotating shaft that is threaded, rotating the first rotating shaft to adjust the lifting of the second rotating shaft;
  • the second air cylinder is connected to the first support plate through a plurality of second fixed shafts.
  • One end of the second air cylinder is open and a flexible connecting piece is provided outside the open end for directly contacting objects.
  • the second air cylinder passes through the flexible When the connecting piece connects the object, the object and the bottom space of the second cylinder generate air pressure, and the other end of the second cylinder is provided with a vent hole to maintain the balance of internal and external air pressure and a through hole for the second shaft to pass through;
  • the piston is connected to the second rotating shaft and slides in the second cylinder, the piston is provided with multiple annular grooves and a seal is provided in the grooves for close contact with the inner wall of the second cylinder ;
  • the air pressure sensor is arranged under the piston and at the air hole on the side of the second cylinder.
  • the air pressure sensor senses the air pressure change and feeds back the signal to the computer.
  • the pick-up mechanism controls the space pressure between the bottom of the second cylinder and the object to become smaller, and the object is absorbed by the pick-up device; when the object is transported to the conveyor belt, the pick-up mechanism controls the bottom of the second cylinder and the object The pressure in the space between becomes larger, and the objects are placed on the conveyor belt, and an air pressure sensor is set up to monitor the working condition of the pick-up mechanism.
  • the identification mechanism includes:
  • the identification instrument is set directly above the transmission mechanism through the installation shaft, and the identification instrument identifies the identification code on the object and transmits the information to the computer.
  • the identification code on the object identified by the identification instrument is transmitted to the computer.
  • the current limiting mechanism includes:
  • the third air cylinder is installed under the support and is facing the conveyor belt;
  • the top of the clamping plate is connected to the third cylinder and the two sides are provided on both sides of the supporting member to slide up and down.
  • the minimum distance between the clamping plate and the conveyor belt is preset to prevent objects from passing through.
  • controlling the time for a single item to pass from the current limiting mechanism to the end of the conveyor belt, and allowing a single item to pass per unit of time is to finally cooperate with the sorting mechanism to achieve accurate sorting.
  • Step 1 Put a sufficient number of objects into the object box.
  • the transfer mechanism adjusts the height through the lifting mechanism, so that the pick-up mechanism uses pressure to absorb the objects.
  • there is an air pressure sensor at the bottom of the pick-up mechanism. Send the corresponding data to the computer, then the lifting mechanism rises, the horizontal slide rail controls the pick-up mechanism to slide above the transfer mechanism, the lift mechanism goes down, the pick-up machine goes down, and the objects are placed on the conveyor belt;
  • Step 2 the object passes through the identification mechanism, and the identification instrument scans and recognizes the identification code on the object, and transmits the information to the computer, which then feeds back to the sorting mechanism;
  • Step 3 When the object is conveyed to the current limiting mechanism, the current limiting mechanism is set to allow a single object to pass through within a predetermined time. When an object passes through the current limiting mechanism, the clamp on the current limiting mechanism moves up and down on the track of the support , until the preset distance is reached, that is, the minimum distance between the pallet and the conveyor belt prevents objects from passing through;
  • Step 4 It takes a fixed time for the objects to go from the pallet to the end of the conveyor belt.
  • the sorting mechanism sorts the objects and receives signals from the computer to control the classification.
  • the fourth cylinder controls the clamping plates to approach each other to clamp the objects and rotate
  • the table receives the signal from the computer and rotates to the designated position, then the drive motor is started, the rotating shaft controls the turntable to rotate at a predetermined angle, and the fourth cylinder is controlled to release the two clamping plates, and the object falls to the designated position.
  • the invention organizes, recognizes and sorts letter-like objects to prevent the loss of such objects; it can calculate whether the pick-up mechanism is working normally by using the air pressure sensor in it combined with a computer program, and realize intelligent operation; The identification code on the object is automatically sorted with the sorting mechanism.
  • Fig. 1 is a schematic diagram of the overall system structure of the present invention.
  • Fig. 2 is a schematic structural view of the object box of the present invention.
  • Fig. 3 is a schematic diagram of a partial structure of the transmission mechanism of the present invention.
  • Fig. 4 is a schematic structural diagram of the transfer mechanism of the present invention.
  • Fig. 5 is a schematic structural diagram of the current limiting mechanism of the present invention.
  • Fig. 6 is a schematic structural view of the sorting mechanism of the present invention.
  • object box 1 adjusting plate 11, adjusting member 12, transfer mechanism 2, transverse slide rail 21, sliding seat 211, lifting mechanism 22, first mounting plate 221, first cylinder 223, first telescopic shaft 224, Second mounting plate 225, pick-up mechanism 23, first support plate 231, second fixed shaft 232, first rotating shaft 233, second rotating shaft 234, second cylinder 235, piston 236, flexible connector 237, air pressure sensor 238 , transmission mechanism 3, conveyor belt 31, baffle plate 32, identification mechanism 4, identification instrument 41, current limiting mechanism 5, support member 51, third cylinder 52, pallet 53, sorting mechanism 6, rotary table 61, support platform 62 , rotating shaft 63, turntable 64, fourth cylinder 65, clamping plate 66.
  • the sorting robot based on visual recognition includes: an object box 1 , a transmission mechanism 3 , a transfer mechanism 2 , an identification mechanism 4 , a current limiting mechanism 5 and a sorting mechanism 6 .
  • the object box 1 is installed on the ground and the object box 1 is used for loading objects
  • the transmission mechanism 3 is installed close to the object box 1 and the center line of the running track surface of the transmission mechanism 3 corresponds to the extension of the symmetry line of the object box 1
  • the transmission mechanism 3 is close to
  • the object box 1 is installed and the center line of the running track surface of the transmission mechanism 3 corresponds to the extension of the symmetry line of the object box 1.
  • the transmission mechanism 3 is provided with a conveyor belt 31 to transmit the objects.
  • the transfer mechanism 2 is installed near the object box 1, and the transfer mechanism 2
  • the pick-up mechanism 23 moves along the extension of the symmetry line of the object box 1.
  • the transfer mechanism 2 is provided with a lifting mechanism 22 and a pick-up mechanism 23.
  • the transfer mechanism 2 transfers the objects in the object box 1 to the transmission mechanism 3, and the identification mechanism 4 passes
  • the installation shaft corresponds to the top of the transmission mechanism 3 and is used to identify the identification code of the object on the transmission mechanism 3, and transmits the information to the computer.
  • the current limiting mechanism 5 is correspondingly installed above the transmission mechanism 3 and allows the transmission mechanism 3 to upload within a predetermined time.
  • the predetermined number of objects delivered passes through.
  • the sorting mechanism 6 is installed near the end of the conveying mechanism 3 and its rotation center is located at the center line of the running track surface of the conveying mechanism 3. The sorting mechanism 6 sorts the objects to a predetermined position.
  • the object box 1, the conveying mechanism 3 and the sorting mechanism 6 are arranged and installed on the same straight line, and the sliding seat 211 in the corresponding transfer mechanism 2 slides reciprocally along the direction of the line, wherein the object box 1 is loaded with document objects,
  • the transfer mechanism 2 absorbs one piece of the object at a time, and places it on the transmission mechanism 3.
  • the identification code on the object is recognized by the instrument in the recognition machine, and the information is sent to the computer.
  • the limit The flow mechanism 5 is set to allow an object to pass through the conveying mechanism 3 within a predetermined time, corresponding to the sorting mechanism 6 picking up an object each time, and receiving a feedback signal from the computer to put the object into a predetermined position.
  • the object box 1 is also provided with an adjustment plate 11 and an adjustment piece 12, the adjustment plate 11 is elastically connected to the bottom of the object box 1 by a spring, and the adjustment plate 11 is provided with a height adjustment corresponding to the conveyor belt 31, so that a predetermined number of When placing objects, the height of the top of the object is always close to the height of the conveyor belt 31, corresponding to the preset height that can be lowered when the transfer mechanism 2 absorbs the object to avoid real-time adjustment. Between the bottoms, rope parts can be selected for use to adjust the elasticity between the adjusting plate 11 and the object box 1, so as to facilitate adjustment of the height of the object corresponding to the running track surface of the conveying mechanism 3 in the object box 1.
  • the transmission mechanism 3 mainly includes a conveyor belt 31, which carries the objects transferred by the transfer mechanism 2 and transmits the objects to the identification code on the identification mechanism 4.
  • a section of baffle is respectively installed on both sides of the end of the conveyor belt 31 close to the object box 1. 32.
  • the baffle plate 32 is turned outward at a predetermined angle relative to the conveyor belt 31.
  • the transfer mechanism 2 is arranged above the object box 1 and the conveyor belt 31, and includes a horizontal slide rail 21 and a lifting mechanism 22 to realize horizontal and vertical displacements respectively.
  • the horizontal slide rail 21 is arranged parallel to the conveyor belt through the installation shaft 31 and the top of the object box 1, the range of motion of the sliding seat 211 on the transverse slide rail 21 is from the object box 1 to the position where the conveyor belt 31 is adjacent to the identification mechanism 4, and the lifting mechanism 22 is connected to the sliding seat 211 through the first mounting plate 221, and
  • the lifting mechanism 22 is composed of a plurality of first cylinders 223 connected between the first mounting plate 221 and the second mounting plate 225.
  • the first cylinder 223 controls the lifting.
  • the shaft 224 assists the lifting mechanism 22 to lift smoothly.
  • the horizontal slide rail 21 and the lifting mechanism 22 can realize the lateral and longitudinal displacement from the object box 1 to the conveyor belt 31 .
  • the pick-up mechanism 23 is mainly used for picking up objects, and the characteristics of the objects themselves are paper-type. At the same time, after the documents are packaged, the outer surface is mostly smooth. Therefore, we use a mechanism similar to a suction cup to pick up the objects, wherein
  • the pick-up mechanism 23 includes a first support plate 231, a second cylinder 235, a piston 236 and an air pressure sensor 238.
  • the first support plate 231 is assembled with the second mounting plate 225 and a space is provided for placing the drive motor.
  • the first The rotating shaft 233 is threadedly connected to the second rotating shaft 234, and the second cylinder 235 is connected to the first support plate 231 through a plurality of second fixed shafts 232.
  • the flexible connector 237 can be made of a rubber suction cup to further increase the contact area between the object and the flexible connector 237, that is, the force-bearing area.
  • the drive motor controls the first rotating shaft 233 to rotate on the first support plate 231 through gear transmission, and the second rotating shaft 234 that is screwed with the first rotating shaft 233 adjusts the second rotating shaft by rotating the first rotating shaft 233 234 rises, the second rotating shaft 234 is connected to the piston 236, and finally drives the piston 236 to rise and fall in the second cylinder 235.
  • the other end of the second cylinder 235 is provided with a vent hole to maintain the balance of internal and external air pressure.
  • the piston 236 can slide freely in the second cylinder 235.
  • the second cylinder 235 is an interference fit.
  • a plurality of annular grooves are provided and seals are placed therein.
  • the piston 236 can be controlled to be in a moving state all the time, that is, the pressure between the control object and the bottom of the second cylinder 235 is in a slowly increasing state.
  • an air pressure sensor 238 for monitoring the pressure at the bottom of the object and the second cylinder 235 when picking up the piece. , is a relatively definite fixed value time. For this reason, use the air pressure sensor 238 to record the pressure change during the period, and calculate by computer. Adjust the machine.
  • the identification instrument 41 is installed directly above the conveying mechanism 3 through the installation shaft.
  • the identification instrument 41 scans and identifies the identification code on the object, and transmits the information to the computer, and then the computer feeds back to the sorting mechanism 6 middle.
  • the current limiting mechanism 5 is set to allow a single object to pass within a predetermined time.
  • the current limiting mechanism 5 includes a support member 51, a third cylinder 52 and a clamping plate 53.
  • the support member 51 is correspondingly installed on the conveying mechanism 3
  • the third cylinder 52 is installed below the support 51 and corresponds to the conveyor belt 31.
  • the top of the clamp 53 is connected to the third cylinder 52 and the two sides are arranged on both sides of the support 51 to slide up and down.
  • the clamp 53 is preset to the conveyor belt 31 The minimum distance prohibits objects from passing through, that is, without affecting the work of the conveyor belt 31, the third cylinder 52 controls the clamping plate 53 to descend, and the clamping plate 53 slides on both sides of the support member 51 until it is close to the surface of the conveyor belt 31. At the same time, the corresponding The time when the transfer mechanism 2 transfers the object can control a single object from
  • the time from the current limiting mechanism 5 to the end of the conveyor belt 31 allows a single item to pass per unit of time in order to finally cooperate with the sorting mechanism 6 to achieve accurate sorting.
  • the sorting mechanism 6 includes: a rotating table 61, a rotating shaft 63 and two clamping plates 66, wherein the rotating table 61 is installed near the end of the conveying mechanism 3 and its center of rotation is extended on the centerline of the conveying belt 31
  • a supporting platform 62 is provided on the rotating table 61 for installing multiple mechanisms.
  • the rotating shaft 63 is arranged on the supporting platform 62 through a bearing seat.
  • the two ends of the rotating shaft 63 are respectively connected with a driving motor and a turntable 64.
  • the starting motor drives the rotating shaft.
  • the rotary table 61 receives the signal from the computer Rotate to the specified position, then the drive motor starts, the rotating shaft 63 controls the rotation of the priority disc to rotate 90°, controls the fourth cylinder 65 to release the clamping plate 66, and the object falls to the specified position.
  • the shaft 232 is connected to the first support plate 231, the position of the second cylinder 235 is relatively static, the pressure of the space between the bottom of the second cylinder 235 and the object becomes smaller, and the object is absorbed by the pick-up mechanism 23, wherein the other end of the second cylinder 235 Ventilation holes are provided to maintain the balance of internal and external air pressure.
  • the piston 236 is provided with multiple annular grooves and seals are provided in the grooves.
  • an air pressure sensor 238 is provided at the bottom of the second cylinder 235 to monitor the pressure and send corresponding data. Then, the first cylinder 223 shrinks, the horizontal slide rail 21 slides horizontally above the transmission mechanism 3 through the slide seat 211, the first cylinder 223 extends until the object crosses the uppermost end of the baffle plate 32, and reverses the drive motor, the first The rotating shaft 233 reverses, the second rotating shaft 234 descends relative to the first rotating shaft 233, the piston 236 descends, the space pressure between the bottom of the second cylinder 235 and the object becomes larger, and the object is placed on the conveyor belt 31.
  • the identification instrument 41 is set directly above the transmission mechanism 3 through the installation shaft, the identification instrument 41 scans and identifies the identification code on the object, and transmits the information to the computer, and then the computer feeds back to the sorting mechanism 6, and the object is transmitted to
  • the current-limiting mechanism 5 is used, the current-limiting mechanism 5 is set to a predetermined time to allow a single object to pass through.
  • the third cylinder 5 controls the clamping plate 53 to move up and down on the track of the support member 51 until Reaching the preset distance, that is, the minimum distance between the pallet 53 and the conveyor belt 31 prohibits the object from passing through.
  • the sorting mechanism 6 sorts the object, and
  • the fourth cylinder 65 is installed on the turntable 64 to control the clamping plate 66 to approach each other to clamp objects, the rotary table 61 receives the signal from the computer and rotates to the designated position, then the drive motor is started, and the rotating shaft 63 is controlled The turntable rotates 90° preferentially, controls the fourth cylinder 65 to release the clamping plate 66, and the object falls to the designated position.

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  • Specific Conveyance Elements (AREA)
  • Sorting Of Articles (AREA)

Abstract

La présente invention se rapporte au domaine technique de la logistique et concerne un robot de tri à base d'identification visuelle et un procédé de tri. Le robot de tri à base d'identification visuelle comprend une boîte d'articles, un mécanisme de transport, un mécanisme de transfert, un mécanisme d'identification, un mécanisme de limitation de flux et un mécanisme de tri, les articles étant chargés dans la boîte d'articles. Le mécanisme de transport est pourvu d'une bande transporteuse servant à transporter les articles. Le mécanisme de transfert est monté à proximité de la boîte d'articles. Le mécanisme de transfert transfère les articles présents dans la boîte d'articles sur le mécanisme de transport. Le mécanisme d'identification est utilisé pour identifier des codes d'identification des articles sur le mécanisme de transport, et transférer des informations à un ordinateur. Le mécanisme de limitation de flux permet le passage d'un nombre prédéterminé d'articles, et le mécanisme de tri trie les articles vers des positions prédéfinies. Selon la présente invention, des articles de type lettre sont organisés, identifiés et triés pour empêcher la perte de tels articles. Le fonctionnement normal ou non d'un mécanisme de prélèvement peut être calculé en utilisant un capteur de pression d'air en combinaison avec un programme informatique, de sorte qu'une opération intelligente est obtenue. Les codes d'identification sur les articles sont identifiés en utilisant un instrument d'identification, et le tri automatique est réalisé en coopération avec le mécanisme de tri.
PCT/CN2021/112028 2021-06-10 2021-08-11 Robot de tri à base d'identification visuelle et procédé de tri WO2022257265A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110648619.3 2021-06-10
CN202110648619.3A CN113457992A (zh) 2021-06-10 2021-06-10 一种基于视觉识别的分拣机器人及分拣方法

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Publication Number Publication Date
WO2022257265A1 true WO2022257265A1 (fr) 2022-12-15

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CN (1) CN113457992A (fr)
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116913362A (zh) * 2023-06-13 2023-10-20 深圳玖合精工科技有限公司 一种带有多个独立检测工位的电脑内存条检测台

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US5379992A (en) * 1992-08-10 1995-01-10 Finmeccanica S.P.A. Mail sorting device
US20160263622A1 (en) * 2014-12-24 2016-09-15 Solystic Postal Sorting Machine With a Feed Inlet Having a Robotized Arm and a Vertically Movable Magazine
CN106743601A (zh) * 2015-11-23 2017-05-31 上海萍韵科技有限公司 一种环形连接臂的工装吸盘
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CN207446756U (zh) * 2017-11-06 2018-06-05 姜凯 一种快递自动分拣装置
CN109158320A (zh) * 2018-11-08 2019-01-08 深圳蓝胖子机器人有限公司 物流分拣系统及物流分拣方法
CN110328157A (zh) * 2019-07-17 2019-10-15 南京工程学院 一种基于机器视觉的智能分拣装置及其分拣方法
CN112295927A (zh) * 2019-07-31 2021-02-02 顺丰科技有限公司 信封类快件的供件装置及分拣系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5379992A (en) * 1992-08-10 1995-01-10 Finmeccanica S.P.A. Mail sorting device
US20160263622A1 (en) * 2014-12-24 2016-09-15 Solystic Postal Sorting Machine With a Feed Inlet Having a Robotized Arm and a Vertically Movable Magazine
CN106743601A (zh) * 2015-11-23 2017-05-31 上海萍韵科技有限公司 一种环形连接臂的工装吸盘
CN206778951U (zh) * 2017-04-14 2017-12-22 河南机电职业学院 一种小包装货物自动分拣装货机
CN107413658A (zh) * 2017-09-04 2017-12-01 西安外事学院 一种物流分拣装置
CN207446756U (zh) * 2017-11-06 2018-06-05 姜凯 一种快递自动分拣装置
CN109158320A (zh) * 2018-11-08 2019-01-08 深圳蓝胖子机器人有限公司 物流分拣系统及物流分拣方法
CN110328157A (zh) * 2019-07-17 2019-10-15 南京工程学院 一种基于机器视觉的智能分拣装置及其分拣方法
CN112295927A (zh) * 2019-07-31 2021-02-02 顺丰科技有限公司 信封类快件的供件装置及分拣系统

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116913362A (zh) * 2023-06-13 2023-10-20 深圳玖合精工科技有限公司 一种带有多个独立检测工位的电脑内存条检测台

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