Balanced wheel sorting equipment

Abstract

An embodiment of the present disclosure provides a pendulum wheel sorting device. The pendulum wheel sorting device includes: a frame; a plurality of sorting modules arranged in an array, each of the sorting modules being hinged to the frame; at least one planar link mechanism located between the frame and the plurality of sorting modules, each of the planar link mechanisms being hinged to the frame and hinged to at least two of the plurality of sorting modules for driving the at least two sorting modules to swing; at least one driving device arranged in one-to-one correspondence with the at least one planar link mechanism, each of the driving devices being fixed to the frame and the output side thereof being hinged to the corresponding planar link mechanism for driving the corresponding planar link mechanism to swing.

Description

Technical Field

[0001] The present disclosure relates to the technical field of warehousing and logistics, and in particular to a pendulum wheel sorting device. Background Art

[0002] The pendulum wheel sorting equipment, also known as the guide wheel sorter, roller wheel sorter or inclined wheel sorter, uses a conveyor roller group that can be switched between different angles. According to the commands issued by the front-end management system, it automatically diverts the passing materials according to certain rules.

[0003] How to improve the operational reliability of the balance wheel sorting equipment and reduce its installation and maintenance costs is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The disclosed embodiment provides a balance wheel sorting device to improve the operational reliability of the balance wheel sorting device and reduce the cost of its installation and maintenance.

[0005] According to one aspect of an embodiment of the present disclosure, there is provided a balance wheel sorting device, comprising:

[0006] frame;

[0007] A plurality of sorting modules arranged in an array, each of the sorting modules being hinged to the frame;

[0008] At least one planar linkage mechanism is located between the frame and the plurality of sorting modules, each of the planar linkage mechanisms is hinged to the frame and to at least two of the plurality of sorting modules, and is used to drive the at least two sorting modules to swing;

[0009] At least one driving device is arranged in one-to-one correspondence with the at least one planar linkage mechanism, each of the driving devices is fixed to the frame and has an output side hinged to the corresponding planar linkage mechanism, so as to drive the corresponding planar linkage mechanism to swing.

[0010] In some embodiments, at least one of the at least one planar linkage mechanism is a parallelogram linkage mechanism.

[0011] In some embodiments,

[0012] Each of the driving devices comprises an output shaft and a driving arm fixedly connected to the output shaft, the driving arm is hinged to the planar linkage mechanism corresponding to the driving device, and the hinge center line of the driving arm and the planar linkage mechanism is eccentrically arranged relative to the axis of the output shaft.

[0013] In some embodiments, each of the sorting modules includes: a swinging flange and a transition plate fixedly connected to the swinging flange, the transition plate is hinged to the planar linkage corresponding to the sorting module, and the hinge center line of the transition plate and the planar linkage is eccentrically arranged relative to the axis of the swinging flange;

[0014] The pendulum wheel sorting device further includes: a plurality of fixed flanges fixedly connected to the frame and arranged in one-to-one correspondence with the plurality of sorting modules, and the swinging flange is pivotally mounted on the corresponding fixed flange through a flange bearing.

[0015] In some embodiments, each of the sorting modules further includes:

[0016] A mounting plate, fixedly connected to the transition plate and forming an accommodating space;

[0017] An outer rotor motor, fixed to the mounting plate and located within the accommodating space;

[0018] A conveying roller set, including at least two conveying rollers pivotally mounted on the mounting plate and arranged in parallel, the load-bearing side of the conveying roller set is located above the accommodating space, and the bottom side of the conveying roller set is located within the accommodating space;

[0019] At least two supporting rollers, pivotally mounted on the mounting plate and located within the accommodating space, and the top-side generatrix of each supporting roller is located above the bottom side of the conveying roller set;

[0020] A flat belt, wound around the periphery of the outer rotor motor, the periphery of each supporting roller, and the bottom side of the conveying roller set, and in surface contact with the periphery of each conveying roller.

[0021] In some embodiments, each of the supporting rollers includes:

[0022] A shaft, a plurality of bearings sleeved on the shaft, and a plurality of spacer sleeves, wherein each spacer sleeve is located between two adjacent bearings.

[0023] In some embodiments, each of the sorting modules further includes: at least one fixed roller, pivotally mounted on the mounting plate and located within the accommodating space;

[0024] The flat belt is also wound around the periphery of each fixed roller;

[0025] At least one of the at least one fixed roller includes: a cylindrical portion, a first conical portion connecting one end of the cylindrical portion, and a second conical portion connecting the other end of the cylindrical portion, and the vertices of the first conical portion and the second conical portion are arranged away from each other.

[0026] In some embodiments, each of the sorting modules further includes: at least one tension roller pivotally mounted on the mounting plate and located within the accommodation space;

[0027] The flat belt also wraps around the circumferences of each of the tension rollers;

[0028] The axes of the outer rotor motor, the at least two idler rollers, the at least two conveyor rollers, and the at least one fixed roller are parallel;

[0029] The axis of at least one of the at least one tension roller has an adjustable inclination angle relative to the axis of the outer rotor motor.

[0030] In some embodiments, the orthographic projection of the axis of the outer rotor motor on the transition plate is located between the orthographic projections of the axes of two adjacent ones of the at least two conveyor rollers on the transition plate, and the top side busbar of the outer rotor motor is located above the bottom side of the conveyor roller group;

[0031] The orthographic projections of the axes of the at least two conveyor rollers on the transition plate are located between the orthographic projections of the axes of two of the at least two idler rollers on the transition plate.

[0032] In some embodiments, each of the sorting modules further includes: a top cover fixedly connected to the mounting plate, the top cover having a first opening that exposes the loading side and is located below the loading side.

[0033] In some embodiments, the swing wheel sorting device further includes: a protective cover located above the plurality of sorting modules and fixedly connected to the frame, the protective cover having a plurality of second openings, and the plurality of second openings respectively expose the loading side, and each of the second openings is located below the corresponding loading side.

[0034] The swing wheel sorting device according to the embodiments of the present disclosure uses a planar linkage mechanism for transmission. The planar linkage mechanism is arranged between the frame and the plurality of sorting modules and is respectively hinged to the frame and the plurality of sorting modules. Driven by the power of the driving device, the planar linkage mechanism drives the plurality of sorting modules to swing synchronously. This structural design is simple, compact, runs safely and reliably, and can effectively reduce the material accumulation caused by equipment failures. In addition, the equipment has relatively low requirements for the manufacturing and installation accuracy of the main transmission components, which is convenient for the installation and maintenance operations of the equipment, and can reduce the use and maintenance costs.

[0035] Of course, when implementing the product or method of any embodiment of the present disclosure, it is not necessarily required to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] To more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the following briefly introduces the drawings required for the description of the embodiments of the present disclosure or related technologies. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0037] Figure 1 Stereoscopic schematic diagram of a pendulum wheel sorting device according to some embodiments of the present disclosure;

[0038] Figure 2 Stereoscopic schematic diagram of the assembly of a planar linkage mechanism with a frame and a sorting module according to some embodiments of the present disclosure;

[0039] Figure 3 Front view schematic diagram of the assembly of a planar linkage mechanism with a frame and a sorting module according to some embodiments of the present disclosure;

[0040] Figure 4 Assembly schematic diagram of a fixed flange, a flange bearing and a swing flange according to some embodiments of the present disclosure;

[0041] Figure 5 Stereoscopic schematic diagram of a sorting module according to some embodiments of the present disclosure;

[0042] Figure 6 Front view of the internal structure of a sorting module according to some embodiments of the present disclosure;

[0043] Figure 7 Front view of a supporting roller according to some embodiments of the present disclosure;

[0044] Figure 8 Front view of a fixed roller according to some embodiments of the present disclosure. Detailed implementation manners

[0045] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some embodiments of the present disclosure, rather than all embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present disclosure.

[0046] To improve the operating reliability of the pendulum wheel sorting device, extend its service life, and reduce the installation and maintenance costs thereof, the embodiments of the present disclosure provide a pendulum wheel sorting device.

[0047] In the embodiments of the present disclosure, descriptions of directions such as "above", "top", and "bottom" are relative to the normal use state of the pendulum wheel sorting device. The "fixed connection" between two components can be either a direct connection or an indirect connection through other intermediate components.

[0048] As Figure 1 , Figure 2 and Figure 3 shown, some embodiments of the present disclosure provide a pendulum wheel sorting device 100, including:

[0049] A frame 101;

[0050] A plurality of sorting modules 1 arranged in an array, each sorting module 1 being hinged to the frame 101;

[0051] At least one planar linkage mechanism 21, each planar linkage mechanism 21 being hinged to the frame 101 and hinged to at least two of the aforementioned plurality of sorting modules 1 for driving the at least two sorting modules 1 to swing;

[0052] At least one driving device 22 provided in one-to-one correspondence with the aforementioned at least one planar linkage mechanism 21, each driving device 22 being fixed to the frame 101 and the output side being hinged to the corresponding planar linkage mechanism 21 for driving the corresponding planar linkage mechanism 21 to swing.

[0053] In some embodiments of the present disclosure, the driving device 22 is a swing motor, such as a stepper reciprocating swing servo motor. As Figure 2 shown, each driving device 22 includes an output shaft 221 and a driving arm 222 fixedly connected to the output shaft 221. The driving arm 222 is hinged to the corresponding planar linkage mechanism 21, and the hinge center line S2 of the driving arm 222 with respect to the corresponding planar linkage mechanism 21 is eccentrically arranged relative to the axis S1 of the output shaft 221. The planar linkage mechanism 21 and the output side of the driving device 22 can be hinged by a set screw. When the driving device 22 operates, the planar linkage mechanism 21 as a whole makes a planar swing relative to each hinge center line of the frame 101. The movement of the planar linkage mechanism 21 drives the sorting module 1 hinged thereto to perform a fixed-axis rotation around the axis S3 of its swing flange 110 within a certain angle range. The sorting module 1 includes a conveying roller group 14 and an external rotor motor 13 for driving the conveying roller group 14 to rotate (as Figure 6 shown). While the sorting module 1 is swinging, the conveying roller group 14 is driven to rotate, so as to change the conveying direction of the material and achieve the purpose of diversion.

[0054] In the embodiments of the present disclosure, the number of rods of the planar linkage mechanism 21 should be at least four. In some embodiments, at least one of the aforementioned at least one planar linkage mechanism is a parallelogram linkage mechanism. AsFigure 2 As shown, in an embodiment of the present disclosure, the above-described pendulum wheel sorting device 100 includes two planar linkage mechanisms 21, each planar linkage mechanism 21 being a parallelogram linkage mechanism with a swing angle range up to 120°. Each parallelogram linkage mechanism is hinged to eight sorting modules 1. The present disclosure embodiment does not specifically limit the number of planar linkage mechanisms 21, the number of rods included in each planar linkage mechanism 21, or the number of sorting modules 1 hinged to each planar linkage mechanism 21, and can be designed according to actual requirements.

[0055] For the pendulum wheel sorting device 100 of the present disclosure embodiment, the planar linkage mechanism 21 is used for transmission. The planar linkage mechanism 21 is disposed between the frame 101 and multiple sorting modules 1, and is respectively hinged to the frame 101 and multiple sorting modules 1. Driven by the power of the driving device 22, the planar linkage mechanism 21 drives the multiple sorting modules 1 to rotate synchronously about a fixed axis. This structural design is simple, compact, and operates safely and reliably, and can effectively reduce the material accumulation caused by equipment failures. In addition, the equipment has relatively low requirements for the manufacturing and installation accuracy of the main transmission components, facilitating the installation and maintenance operations of the equipment, and can reduce the use and maintenance costs.

[0056] As Figure 5 and Figure 6 shown, in some embodiments of the present disclosure, the sorting module 1 includes:

[0057] A swing flange 110;

[0058] A transition plate 111, fixedly connected to the swing flange 110;

[0059] A mounting plate 12, fixedly connected to the transition plate 111 and forming an accommodation space 30;

[0060] An outer rotor motor 13, fixed to the mounting plate 12 and located within the accommodation space 30;

[0061] A conveying roller group 14, including at least two conveying rollers 140 pivotally mounted on the mounting plate 12 and arranged in parallel. The load-bearing side 14a of the conveying roller group 14 is located above the accommodation space 30, and the bottom side 14b of the conveying roller group 14 is located within the accommodation space 30;

[0062] At least two supporting rollers 15, pivotally mounted on the mounting plate 12 and located within the accommodation space 30. The top-side bus 15s of each supporting roller 15 is located above the bottom side 14b of the conveying roller group 14;

[0063] A flat belt 16, wound around the periphery of the outer rotor motor 13, the periphery of each supporting roller 15, and the bottom side 14b of the conveying roller group 14, and in surface contact with the periphery of each conveying roller 140.

[0064] As Figure 2As shown, the transition plate 111 is hinged to the corresponding planar linkage mechanism 21, and the hinge center line S4 of the transition plate 111 and the corresponding planar linkage mechanism 21 is eccentrically arranged relative to the axis S3 of the swing flange 110. The transition plate 111 and the planar linkage mechanism 21 can be hinged by setscrews.

[0065] As Figure 3 and Figure 4 shown, the pendulum wheel sorting device further includes: a plurality of fixed flanges 102 fixedly connected to the frame 101 and arranged in one-to-one correspondence with the foregoing plurality of sorting modules 1, and the swing flange 110 is pivotally mounted on the corresponding fixed flange 102 through a flange bearing 103.

[0066] Compared with traditional rolling bearings, due to its own structural characteristics, the flange bearing is not only easier to axially position during installation, but also has lower requirements for machining accuracy. When using a flange bearing, there is no need to use a bearing housing additionally. Therefore, the economy is better and the use cost is lower. In an embodiment of the present disclosure, the flange bearing 103 is made of a stainless steel material with good wear resistance.

[0067] As Figure 5 and Figure 6 shown, the conveying roller 140 of the conveying roller group 14 is a power-free roller driven to rotate by a flat belt 16. The plurality of conveying rollers 140 can be arranged in parallel in a horizontal plane or in a plane at a certain angle to the horizontal plane. The top side bus 15s of each idler 15 is located above the bottom side 14b of the conveying roller group 14, so that the flat belt 16 exerts a supporting force on the conveying roller group 14. When the flat belt 16 is driven by the external rotor motor 13 to travel, the friction between the flat belt 16 and the conveying roller group 14 drives each conveying roller 140 to rotate, so that the materials on the load side 14a of the conveying roller group 14 can be conveyed. In the embodiment of the present disclosure, the flat belt 16 is in surface contact with the circumferences of each component it winds around, and is also in surface contact with the circumferences of each conveying roller 140, that is, a certain wrap angle is formed (the wrap angle refers to the central angle corresponding to the contact arc between the belt and the pulley). In this way, the flat belt can be prevented from slipping during travel, thereby ensuring the effectiveness of transmission.

[0068] In a related technology, a multi-wedge belt drive is adopted for the conveying roller group of the sorting module. Due to its own structural characteristics, the multi-wedge belt is prone to skin peeling and wear, so its service life is short and it needs to be replaced frequently. In addition, the structural design of the conveying rollers of the conveying roller group needs to cooperate with the structure of the multi-wedge belt, resulting in complex processing and high processing costs.

[0069] In another related art, each conveying roller of the conveying roller group is directly driven by an outer-rotor motor. The outer-rotor motor is arranged to float relative to the conveying roller group, and the circumferential side of the outer-rotor motor is in direct contact with the circumferential side of the conveying roller. In this related art, since the outer-rotor motor is not effectively fixed, the outer-rotor motor is extremely likely to be damaged, resulting in a relatively high maintenance cost of the swing-wheel sorting device. In addition, the number of outer-rotor motors also leads to relatively high production and use costs of the swing-wheel sorting device.

[0070] In an embodiment of the present disclosure, as Figure 6 shown, the conveying roller group 14 is driven by an outer-rotor motor 13 fixedly arranged relative to the mounting plate 12. A flat belt 16 is used for transmission among main components such as the outer-rotor motor 13, the idler roller 15, and the conveying roller group 14. Not only is the structural design simple and the installation and maintenance convenient, but also the service lives of the flat belt 16 and the outer-rotor motor 13 are relatively long. Therefore, the sorting module design of the embodiment of the present disclosure, on the one hand, is conducive to improving the operation reliability of the swing-wheel sorting device and extending its service life, and on the other hand, can also reduce the control requirements for the manufacturing precision and installation precision of the sorting module, thereby reducing the installation and maintenance costs.

[0071] As Figure 6 and Figure 7 shown, in some embodiments of the present disclosure, at least one of the at least two idler rollers 15 includes: a shaft 150, a plurality of bearings 151 sleeved on the shaft 150, and a plurality of spacer sleeves 152. Wherein, each spacer sleeve 152 is located between two adjacent bearings 151. In this way, the manufacturing deviations and installation deviations between different bearings 151 can compensate for each other, thereby reducing or even avoiding the deviation of the flat belt 16 during transmission to a certain extent. Herein, the deviation refers to the displacement of the flat belt 16 in the width direction exceeding the threshold range. In one embodiment, each of the at least two idler rollers 15 adopts the Figure 7 structure shown in the embodiment, and the deviation correction effect on the flat belt 16 is better.

[0072] As Figure 6 and Figure 8 shown, in some embodiments of the present disclosure, the sorting module 1 further includes: at least one fixed roller 17 pivotally mounted on the mounting plate 12 and located in the accommodation space 30; the flat belt 16 also winds around the circumferential side of each fixed roller 17. At least one of the at least one fixed roller 17 includes: a cylindrical portion 170, a first conical portion 171 connecting one end of the cylindrical portion 170, and a second conical portion 172 connecting the other end of the cylindrical portion 170. The apex of the first conical portion 171 and the apex of the second conical portion 172 are arranged to face away from each other, that is, to be far away from each other.

[0073] The fixed roller 17 is used to generate a tension force on the flat belt 16, increasing the frictional force between the flat belt 16 and the conveyor roller group 14, thereby improving the transmission effect of the flat belt 16. Based on the transmission characteristics of the belt that "it runs tight rather than loose, and runs high rather than low", the settings of the first tapered portion 171 and the second tapered portion 172 have an automatic deviation correction effect on the flat belt 16 wound around the cylindrical portion 170, so that the deviation of the flat belt 16 during transmission can be effectively reduced or even avoided. In one embodiment, the taper angles of the first tapered portion 171 and the second tapered portion 172 range from 1° to 3°. In one embodiment, each of the at least one fixed roller 17 described above Figure 8 adopts the structure shown in the embodiment, and has a better deviation correction effect on the flat belt 16.

[0074] As Figure 6 shown, in some embodiments of the present disclosure, the sorting module 1 further includes: at least one tension roller 18, pivotally mounted on the mounting plate 12 and located in the accommodation space 30; the flat belt 16 is also wound around the circumferences of each tension roller 18. In one embodiment, the axes of the outer rotor motor 13, at least two support rollers 15, at least two conveyor rollers 140, and at least one fixed roller 17 of the sorting module 1 are parallel, and the axis of at least one of the at least one tension roller 18 has an adjustable inclination angle relative to the axis of the outer rotor motor 13.

[0075] One or more tension rollers 18 are used to finely adjust the tension effect of the flat belt 16, thereby increasing the frictional force between the flat belt 16 and the conveyor roller group 14, achieving the purpose of improving the transmission effect of the flat belt 16. The axis of the tension roller 18 has an adjustable inclination angle relative to the axis of the outer rotor motor 13. By adjusting the size of this inclination angle, for example, by adjusting the installation error of the tension roller 18 to adjust the size of this inclination angle, the deviation of the flat belt 16 can be corrected, thereby further improving the transmission stability of the flat belt 16.

[0076] In the embodiments of the present disclosure, the number of conveyor rollers 140, the number of support rollers 15, the number of fixed rollers 17, and the number of tension rollers 18 are not limited, the specific positions of these components are not limited either, and furthermore, the relative winding positions of the flat belt 16 on these components are not limited. As Figure 6 shown, the conveyor roller group 14 of the sorting module 1 in this embodiment includes four conveyor rollers 140, two support rollers 15, one fixed roller 17, and one tension roller 18. The flat belt 16 is wound in a closed shape around the circumferences of the outer rotor motor 13, the fixed roller 17, the circumferences of one of the support rollers 15, the bottom side 14b of the conveyor roller group 14, the circumferences of the other support roller 15, and the circumferences of the tension roller 18 in sequence.

[0077] In some embodiments of the present disclosure, as Figure 6As shown, the orthographic projection of the axis of the outer rotor motor 13 on the transition plate 111 is located between the orthographic projections of the axes of two adjacent ones of the at least two conveying rollers 140 on the transition plate 111, and the top side bus 13s of the outer rotor motor 13 is located above the bottom side 14b of the conveying roller group 14; the orthographic projections of the axes of the at least two conveying rollers 140 on the transition plate 111 are all located between the orthographic projections of the axes of two of the at least two supporting rollers 15 on the transition plate 111.

[0078] In this embodiment, the top side buses 15s of the two supporting rollers 15 are located above the bottom side 14b of the conveying roller group 14, so that the flat belt 16 applies a supporting force to the conveying roller group 14. The top side bus 13s of the outer rotor motor 13 is located above the bottom side 14b of the conveying roller group 14, so that the outer rotor motor 13 indirectly applies a supporting force to the two adjacent conveying rollers 140. In the solution of this embodiment, by using the structural characteristics of the outer rotor motor 13, a supporting force is indirectly applied to two adjacent ones of the conveying rollers 140, so that the flat belt 16 is in surface contact with the two adjacent conveying rollers 140. In this way, the number of the supporting rollers 15 provided can be reduced, thereby simplifying the structure of the sorting module 1 and reducing the production and installation costs.

[0079] As Figure 5 and Figure 6 shown, in some embodiments of the present disclosure, the sorting module 1 further includes: a top cover 19 fixedly connected to the mounting plate 12, the top cover 19 having a first opening 190 that exposes the loading side 14a of the conveying roller group 14 and is located below the loading side 14a.

[0080] In some embodiments of the present disclosure, as Figure 6 shown, the outer rotor motor 13 is fixed on a motor fixing plate 20 and is then fixed on the mounting plate 12 through the motor fixing plate. Between the transition plate 111 and the swing flange 110, between the mounting plate 12 and the transition plate 111, between the motor fixing plate 20 and the mounting plate 12, and between the top cover 19 and the mounting plate 12, fixed connections can be respectively achieved through fasteners such as screws or bolts. The mounting plate 12 and the top cover 19 can protect the outer rotor motor 13, the fixed roller 17, the supporting roller 15, the tensioning roller 18, the flat belt 16, and the conveying roller group 14 located in the accommodation space 30, and can improve the reliability and safety when the sorting module 1 works.

[0081] As Figure 1As shown, in some embodiments of the present disclosure, the pendulum sorting device 100 further includes a protective cover 23. The protective cover 23 is located above the plurality of sorting modules 1 and is fixedly connected to the frame 101. The protective cover 23 has a plurality of second openings 230, and the plurality of second openings 230 expose the bearing sides of the conveyor roller sets 14 in a one-to-one correspondence. Each second opening 230 is located below the corresponding bearing side. The protective cover 23 can protect the sorting modules and planar link mechanisms below, etc., and can improve the reliability and safety of the pendulum sorting device during operation.

[0082] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0083] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments.

[0084] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the protection scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure are included in the protection scope of the present disclosure.

Claims

1. A pendulum wheel sorting device, characterized in that, Comprising: A frame; A plurality of sorting modules arranged in an array, each of the sorting modules being hinged to the frame; At least one planar linkage mechanism located between the frame and the plurality of sorting modules, each of the planar linkage mechanisms being hinged to the frame and hinged to at least two of the plurality of sorting modules for driving the at least two sorting modules to swing; At least one driving device provided corresponding to the at least one planar linkage mechanism, each of the driving devices being fixed to the frame and the output side thereof being hinged to the corresponding planar linkage mechanism for driving the corresponding planar linkage mechanism to swing; Each of the driving devices includes an output shaft and a driving arm fixedly connected to the output shaft, the driving arm being hinged to the planar linkage mechanism corresponding to the driving device, and the hinge center line of the driving arm and the planar linkage mechanism being eccentrically arranged relative to the axis of the output shaft; Each of the sorting modules includes: a swing flange and a transition plate fixedly connected to the swing flange, the transition plate being hinged to the planar linkage mechanism corresponding to the sorting module, and the hinge center line of the transition plate and the planar linkage mechanism being eccentrically arranged relative to the axis of the swing flange; Each of the sorting modules further includes: A mounting plate fixedly connected to the transition plate and forming an accommodation space; An outer rotor motor fixed to the mounting plate and located within the accommodation space; A conveying roller group including at least two conveying rollers pivotally mounted on the mounting plate and arranged in parallel, the load-bearing side of the conveying roller group being located above the accommodation space, and the bottom side of the conveying roller group being located within the accommodation space; At least two supporting rollers pivotally mounted on the mounting plate and located within the accommodation space, the top-side generatrix of each of the supporting rollers being located above the bottom side of the conveying roller group; A flat belt wound around the periphery of the outer rotor motor, the periphery of each of the supporting rollers, and the bottom side of the conveying roller group, and being in surface contact with the periphery of each of the conveying rollers; The orthographic projection of the axis of the outer rotor motor on the transition plate is located between the orthographic projections of the axes of two adjacent ones of the at least two conveying rollers on the transition plate, and the top-side generatrix of the outer rotor motor is located above the bottom side of the conveying roller group.

2. The pendulum wheel sorting device according to claim 1, characterized in that At least one of the at least one planar linkage mechanisms is a parallelogram linkage mechanism.

3. The pendulum wheel sorting device according to any one of claims 1-2, wherein The pendulum wheel sorting device further includes: a plurality of fixed flanges fixedly connected to the frame and provided corresponding to the plurality of sorting modules one by one, and the swing flange is pivotally mounted on the corresponding fixed flange through a flange bearing.

4. The pendulum wheel sorting device according to claim 3, characterized in that Each of the supporting rollers includes: A shaft, a plurality of bearings sleeved on the shaft, and a plurality of spacer sleeves, wherein each of the spacer sleeves is located between two adjacent ones of the bearings.

5. The pendulum wheel sorting device according to claim 3, wherein Each of the sorting modules further includes: at least one fixed roller pivotally mounted on the mounting plate and located within the accommodation space; The flat belt is further wound around the periphery of each of the fixed rollers; At least one of the at least one fixed roller includes: a cylindrical portion, a first conical portion connecting one end of the cylindrical portion, and a second conical portion connecting the other end of the cylindrical portion, wherein the vertices of the first conical portion and the second conical portion are arranged to face away from each other.

6. The pendulum wheel sorting device according to claim 3, wherein Each of the sorting modules further includes: at least one tensioning roller pivotally mounted on the mounting plate and located within the accommodating space; The flat belt also wraps around the circumferences of each of the tensioning rollers; The axes of the outer rotor motor, the at least two supporting rollers, the at least two conveying rollers, and the at least one fixed roller are parallel; The axis of at least one of the at least one tensioning roller has an adjustable inclination angle relative to the axis of the outer rotor motor.

7. The pendulum wheel sorting device according to claim 3, wherein The orthographic projection of the axes of the at least two conveying rollers on the transition plate is located between the orthographic projections of the axes of two of the at least two supporting rollers on the transition plate.

8. The pendulum wheel sorting device according to claim 3, wherein Each of the sorting modules further includes: a top cover fixedly connected to the mounting plate, the top cover having a first opening that exposes the loading side and is located below the loading side.

9. The pendulum wheel sorting device according to claim 3, wherein Further includes: A protective cover located above the plurality of sorting modules and fixedly connected to the frame, the protective cover having a plurality of second openings that respectively expose the loading side, and each of the second openings is located below the corresponding loading side.

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