Flap sorting device, flap sorting system and flap sorting method

Abstract

The present invention discloses a flap sorting device, a flap sorting system and a flap sorting method. The flap sorting device includes an annular track, on which a circle of flap trolleys are movably arranged along the annular track and a driving mechanism for driving the flap trolleys to move along the annular track. The flaps of adjacent two flap trolleys are arranged closely, and each flap trolley has a power source for driving its flap to flip. The flaps of at least two consecutive flap trolleys form a bearing surface. When the bearing surface moves to the target routing position, the flaps constituting the bearing surface flip synchronously and in the same direction. This solution enables multiple flap trolleys to form a bearing surface and the multiple flaps constituting the bearing surface to act synchronously, which can effectively carry, convey and sort items of different sizes, reduces the limitation of the flap sorting equipment on the size of goods to the lowest level, is more suitable for the sorting requirements of packages of various sizes and weights, and can also reduce the requirements for the power source, which is beneficial to reducing the equipment cost.

Description

Technical Field

[0001] The present invention relates to the field of logistics sorting equipment, in particular to a flap sorting device, a flap sorting system and a flap sorting method. Background Art

[0002] A sorting and conveying system is a material handling system that classifies random and differently oriented items according to certain requirements. With the rapid development of e-commerce, the logistics industry has also developed rapidly accordingly, and various automatic and semi-automatic logistics sorting systems and equipment have been developed and applied to actual sorting operations. Among them, the flap sorting equipment uses the flap to tilt at a certain angle at the sorting position, so that the items on it are unloaded into the sorting port or other sorting equipment.

[0003] Most of the known ring-type flap sorting equipment uses sorting trolleys as units for cargo transportation and sorting. For example, the structure shown in the application number 201810262068.5 applied by the applicant, the flap trolley adopts an intermittent structure, and the size and weight of the packages that can be sorted by it largely depend on the size and structure of the sorting trolley. When faced with goods of various different sizes and weights, especially when there are many heavy and large-sized goods and various special-shaped parts, most flap sorting equipment cannot be effectively applied. Therefore, before using the flap sorting equipment for sorting, it is necessary to pre-sort the packages according to size and weight to first screen out the goods that can be sorted by the flap sorting equipment for the flap sorting equipment to sort. For heavy and large-sized goods, forklifts are mostly used for manual sorting, and the sorting efficiency is extremely low. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems existing in the prior art, and provide a flap sorting device, a flap sorting system and a flap sorting method.

[0005] The purpose of the present invention is achieved by the following technical solutions:

[0006] A flap sorting device includes an annular track, and a circle of flap trolleys are movably arranged on the annular track in sequence along it, and a driving mechanism for driving the flap trolleys to move along the annular track. Each flap trolley has a power source for driving its flap to flip. The flaps of at least two consecutive flap trolleys form a bearing surface. When the bearing surface moves to the target routing position, all the flaps constituting the bearing surface flip synchronously in the same direction.

[0007] Preferably, in the flap sorting device, the annular track is kidney-shaped or rounded rectangular, and its axis is vertical.

[0008] Preferably, in the flip - type sorting device, the flip - plate trolley includes a vehicle frame that is roll - mounted on a circular track through rollers. A fixed seat is provided on the top of the vehicle frame. A support rotating shaft that is perpendicular and horizontal to the axis of the rollers is rotatably provided on the fixed seat. The support rotating shaft is connected to a power source that drives its rotation, and a flipping member that protrudes above the fixed seat is provided thereon. The flip - plate is provided on the top of the flipping member.

[0009] Preferably, in the flip - type sorting device, one end of the flip - plate is connected to a support member, and the other end of the support member is provided on the vehicle frame, and the support member rotates with the flip - plate.

[0010] Preferably, in the flip - type sorting device, the vehicle frames of adjacent flip - plate trolleys are connected by a spherical hinge, and the distance between adjacent flip - plates is less than the length of the spherical hinge.

[0011] Preferably, in the flip - type sorting device, the distance between adjacent flip - plates does not exceed 5 cm or at least the middle area of the opposite sides of adjacent flip - plates is in contact.

[0012] Preferably, in the flip - type sorting device, the flip - plate at least includes a first arc - shaped side surface and a second arc - shaped side surface that protrude in the same direction and are distributed front - to - back. The connection line of their vertices is their axis of symmetry; they are elliptical arcs or circular arcs.

[0013] Preferably, in the flip - type sorting device, the first arc - shaped side surface and the second arc - shaped side surface are parts of two elliptical arcs with different eccentricities, and the eccentricity of the first arc - shaped side surface is greater than the eccentricity of the second arc - shaped side surface.

[0014] Preferably, in the flip - type sorting device, the first circle where the first arc - shaped side surface is located is a closed curve obtained by rotating one week with the rotation center of the spherical hinge located behind the first arc - shaped side surface on the vehicle frame as the center and the horizontal distance from the rotation center of the spherical hinge to the first arc - shaped side surface as the first radius; the second circle is a closed curve obtained by rotating one week with the turning rotation center around which the tail end of the vehicle frame rotates when turning as the center and the horizontal distance from the turning rotation center point to the second arc - shaped side surface as the second radius, and the second radius is greater than or equal to the first radius.

[0015] Preferably, in the flip - type sorting device, the first arc - shaped side surface and the second arc - shaped side surface are circular arcs and do not intersect, and an extension section is provided outside the connection side surface at least at one end of them.

[0016] Preferably, in the flip - type sorting device, the power source is a servo motor with a brake function.

[0017] Preferably, in the flip - type sorting device, the driving mechanism includes a secondary plate disposed at the bottom of the flip - car and a linear motor for driving the secondary plate to move in a horizontal straight line.

[0018] Preferably, in the flip - type sorting device, the secondary plate is horizontally disposed.

[0019] A flip - type sorting system includes the flip - type sorting device according to any one of the above.

[0020] Preferably, the flip - type sorting system further includes a bag - feeding table and sorting compartments located on the side of the circular track.

[0021] Preferably, in the flip - type sorting system, an image acquisition device is further disposed above the circular track between the bag - feeding table and the sorting compartments, and the lens of the image acquisition device faces the flip - plate.

[0022] The flip - type sorting method includes at least the following steps:

[0023] After the goods move onto the flip - car, determine the flip - car occupied by the goods.

[0024] When the goods move with the flip - car to the target routing position, the flip - plate where the goods are located flips synchronously in the same direction to complete sorting.

[0025] The flip - type sorting method includes at least the following steps:

[0026] S10. The goods enter the bag - feeding table, determine the number of flip - cars required for the goods at the bag - feeding table and reserve the corresponding number of flip - cars.

[0027] S20. The bag - feeding table conveys the goods to the reserved flip - cars.

[0028] S30. When the goods move to the target routing position, the flip - plates where the goods are located flip synchronously in the same direction to complete sorting.

[0029] The advantages of the technical solution of the present invention are mainly reflected in:

[0030] In the flip - type sorting device of this solution, a power source for driving the flip - plate to flip is integrated on each flip - car, so that the flip - cars form a bearing surface in a combined manner and the flip - plates of multiple flip - cars act synchronously. It can effectively realize the loading, conveying and sorting of items of different sizes, reduce the limitation of the flip - type sorting equipment on the goods size to the lowest level, and is more suitable for sorting packages of various sizes and weights. At the same time, each flip - plate only bears part of the weight of the item. Therefore, the power requirement for sorting by a single flip - plate sorting device is greatly reduced, thereby effectively reducing the requirement for the power source and being beneficial to reducing the equipment cost.

[0031] The trolley structure of this solution is simple and easy to implement. Moreover, the support of the flap is highly reliable, and at the same time, the shear force on the motor shaft can be effectively reduced.

[0032] The flap of this solution adopts a crescent shape design with an oval side, and through the design of the eccentricity of the two arc sides, when the flap trolley is in the turning section, the front and rear elliptical arc sections of the flap can effectively reduce the gap between the trolleys, greatly reducing the risk of goods jamming, especially for large-sized soft packages, during the combined transportation and sorting of multiple trolleys.

[0033] The two sides of the flap of this solution are designed as matching arcs, so that the arc sides of adjacent flaps can be closely attached to eliminate the gap between the flaps. On the basis of ensuring the smooth turning of the trolley, the risk of goods jamming can be effectively avoided.

[0034] The power source of this solution uses a motor with a brake function, which can effectively keep the flap in a horizontal state, thus providing stable support for the items during transportation and ensuring the feasibility of sorting.

[0035] This solution uses a flat-push linear motor to drive the secondary plate to drive the flap trolley to move along the circular track, which can effectively reduce the installation space required for the drive structure and is beneficial to reducing the height of the whole machine.

[0036] The sorting system of this solution can, according to different needs, adopt the method of first loading the package and then using visual recognition to determine the trolley occupied by the package and / or first measuring the size of the package to determine the number of trolleys required and making a reservation, so as to determine the trolley where the package is located, facilitating subsequent accurate control of sorting and making the application more flexible. Brief Description of the Drawings

[0037] Figure 1 is the top view of the flap sorting device of the present invention (the distribution and transportation section of the device is shown in the figure);

[0038] Figure 2 is the main cross-sectional view of the flap sorting device of the present invention;

[0039] Figure 3 is the end cross-sectional view of the flap sorting device of the present invention;

[0040] Figure 4 is Figure 3 the enlarged view of area M in

[0041] Figure 5 is the first perspective three-dimensional view of the flap trolley of the present invention;

[0042] Figure 6 is the second perspective three-dimensional view of the flap trolley of the present invention;

[0043] Figure 7 It is the front view of the tipping trolley of the present invention;

[0044] Figure 8 It is the top view of the tipping plate of the present invention adopting an elliptical arc-shaped side;

[0045] Figure 9 It is the top view of the tipping plate of the present invention adopting an elliptical arc-shaped side and having flat ends at both ends;

[0046] Figure 10 It is the top view of the tipping plate of the present invention adopting a circular arc-shaped first arc side and a second arc side that intersect (the dotted line part in the figure shows the ball joint on the vehicle frame and the rotating ball of the ball joint on the tipping plate sorting trolley connected behind it);

[0047] Figure 11 It is the tipping trolley of the present invention adopting Figure 10 The schematic diagram of the turning state of the tipping plate structure shown (where the left tipping trolley starts to turn and the right tipping trolley does not turn);

[0048] Figure 12 It is the top view of the tipping plate of the present invention adopting a circular arc-shaped first arc side and a second arc side and not having an extended section at both ends;

[0049] Figure 13 It is the top view of the tipping plate of the present invention adopting a circular arc-shaped first arc side and a second arc side and having an approximately U-shaped extended section at both ends;

[0050] Figure 14 It is the tipping trolley of the present invention adopting Figure 13 The schematic diagram of the turning state of the tipping plate structure shown (where the left tipping trolley starts to turn and the right tipping trolley does not turn);

[0051] Figure 15 It is the top view of the tipping plate of the present invention adopting a circular arc-shaped first arc side and a second arc side and having an approximately quadrilateral extended section at both ends;

[0052] Figure 16 It is Figure 2 The enlarged view of the N area in

[0053] Figure 17 It is the top view of the first embodiment of the tipping plate sorting system of the present invention;

[0054] Figure 18 It is the top view of the second embodiment of the tipping plate sorting system of the present invention. Specific embodiments

[0055] The objectives, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of the preferred embodiments. These embodiments are only typical examples of applying the technical solution of the present invention, and any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

[0056] In the description of the solution, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. And in the description of the solution, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0057] Embodiment 1

[0058] The following describes the flip-type sorting device disclosed by the present invention with reference to the drawings. As shown in the attached Figure 1 - attached Figure 3 drawing, it includes a circular track 100. The specific structure of the circular track 100 can be designed according to needs. Among them, the shape of the circular track 100 can be set into various regular or irregular shapes such as a regular circle, an ellipse or a rounded polygon according to needs. In a preferred embodiment, as shown in the attached Figure 1 drawing, the circular track 100 is a waist shape or a rounded rectangle. Such a shape of the circular track can effectively reduce the length of the turning section, which is beneficial to reserving enough space for increasing sorting compartments and parcel supply platforms. As shown in the attached Figure 4 drawing, the longitudinal cross-sectional shape of the circular track 100 is approximately U-shaped, with its notch facing upwards. The circular track 100 specifically includes a bottom plate 110, and side plates 120, 130 are vertically arranged on both sides of the bottom plate 110. Roller limiting grooves 121, 131 are formed at the tops of the side plates 120, 130.

[0059] As shown in the attached Figure 1As shown, a circle of flap trolleys 200 connected in sequence are movably arranged on the annular track 100. According to the different shapes of the flaps on the flap trolleys 200, two flaps of adjacent flap trolleys 200 can be arranged with a micro-gap or at least the middle regions of their opposite sides are in contact. The gap states of adjacent two flaps in different shapes will be specifically described later, and will not be elaborated here for the time being. Each flap trolley 200 has a power source for driving its flap to flip. The flaps of at least two consecutive flap trolleys 200 form a bearing surface A. When the bearing surface A moves to the target routing position, the flaps constituting the bearing surface A flip synchronously in the same direction, so as to realize the sorting of goods on several flaps.

[0060] This way of combining the flaps 210 of multiple flap trolleys 200 for one cargo transportation and sorting can flexibly adapt to goods of different sizes. Therefore, the limitation of the equipment by the cargo size is minimized, and it is more suitable for the sorting requirements of application scenarios with various goods of different sizes.

[0061] The specific structure of the flap trolley 200 can also be set as needed. In a common structure, as shown in the attached Figure 4 - attached Figure 5 As shown, it includes a vehicle frame 210 and rollers 220 that are rollingly arranged on the annular track 100. Its specific structure can be designed as needed. In a preferred embodiment, the vehicle frame 210 includes a first column 211 and a second column 212 connected together. The axes of the first column 211 and the second column 212 are parallel and they are arranged vertically. The first ends 2111 and 2121 of the first column 211 and the second column 212 maintain a distance, their second ends 2112 and 2122 maintain a distance, and a wheel bracket 213 perpendicular to the first column 211 and symmetric with respect to the first column 211 is arranged on the first column 211. Rotating rollers 220 are respectively arranged at both ends of the wheel bracket 213. The axes of the rollers 220 are horizontal and their diameters are larger than the height of the wheel bracket 213, and the top and bottom of the rollers 220 protrude to the upper and lower sides outside the wheel bracket 213. The two rollers 220 are rollingly arranged in the roller limiting grooves 121 and 131 of the annular track 100, so as to prevent the flipping trolley 200 from moving in the vertical direction.

[0062] As shown in the attached Figure 4 、 attached Figure 5 As shown, limiting wheels 230 that can rotate and are symmetrically arranged at both sides of the first column 211 are also arranged at the bottom of the wheel bracket 213. The axes of the limiting wheels 230 are vertical, and they are located inside the two rollers 220. The two limiting wheels 230 are in contact with the inner walls of the two side plates 120 and 130 of the annular track 100, so as to limit the horizontal position of the vehicle frame 210 in the annular track.

[0063] As shown in the appended Figure 5 and appended Figure 7 figures, a ball joint 240 is further provided at the first end of the second cylinder 212. The ball joint 240 is fixed on a shaft 214 parallel to the axis of the limiting wheel. A threaded hole 2123 for connecting the ball joint 240 is further provided at the second end 2122 of the second cylinder 212. The threaded hole is coaxial with a screw rod 241 in a horizontal state on the ball joint 240. Thus, the vehicle frames of two adjacent tipping trolleys 200 are connected by the ball joint 240, and the length of the ball joint 240 is less than the distance between the first ends of the first cylinder 211 and the second cylinder 212, and the distance between adjacent tipping plates is less than the length of the ball joint 240. This design of the vehicle frame structure can effectively solve the installation space problem required by the ball joint, and can minimize the distance between two adjacent tipping trolleys 200 to avoid the problem of material jamming on the tipping plates.

[0064] As shown in the appended Figure 5 and appended Figure 6 figures, a fixed seat 250 is provided at the top of the vehicle frame 210. The specific installation position of the fixed seat 250 can be adjusted flexibly. Preferably, a fixed seat 250 is provided at the top of the first cylinder 211 at its first end. The fixed seat 250 is specifically an inverted T-shaped block. A support rotating shaft 260 is rotatably provided on the fixed seat 250. The axis of the support rotating shaft 260 is horizontal and perpendicular to the axis of the roller 220. The support rotating shaft 260 is rotatably provided on the fixed seat 250 through a first bearing 270. The support rotating shaft 260 is connected to a power source 280 that drives its rotation, and a turning member 290 protruding above the fixed seat 250 is provided thereon. The tipping plate 2100 is provided at the top of the turning member 290. The projection of the axis of the support rotating shaft 260 on the tipping plate 2100 is the axis of symmetry of the tipping plate 2100, and both ends of the tipping plate 2100 extend a certain distance to both sides of the wheel support 213. The specific length of the tipping plate 2100 can be designed according to needs. Preferably, the distance between both ends of the tipping plate 2100 is about three times that of the wheel support. Of course, in other embodiments, the length of the tipping plate 2100 can also be adjusted.

[0065] The power source 280 can be various feasible motors or rotary cylinders, etc. More preferably, considering that the size and weight of the goods to be sorted are relatively large, in order to prevent the flap from flipping under the action of the gravity of the goods, resulting in ineffective transportation of the goods, in a more preferred embodiment, the power source 280 is a servo motor with a brake function, which is fixed on the motor base located at the top of the first column. When the flap 2100 is in a horizontal state, the motor shaft of the servo motor is locked by the brake function to prevent the flap 2100 from flipping. When sorting is required, the lock of the brake on the motor shaft is released, and the motor shaft is driven to rotate to achieve sorting.

[0066] As shown in the Figure 7 accompanying drawings, the flipping member 290 includes a triangular plate-like member 291 that is axisymmetric and perpendicular to the support rotating shaft 260. One end of the support rotating shaft 260 is fixed at the lower vertex position of one side of the triangular plate-like member 291. A support plate 292 flush with the top edge is vertically provided at the top edge of the triangular plate-like member 291. A reinforcing plate 293 perpendicular to both of them is provided between the support plate 292 and the triangular plate-like member 291. The triangular plate-like member 291 and the support plate 292 are provided with the flap 2100.

[0067] As shown in the Figure 5 - accompanying Figure 7 drawings, in order to effectively support the flap 2100, one end of the flap 2100 is connected to the support member 2200, and the other end of the support member 2200 is arranged on the support block 2300 on the vehicle frame 210. And a rotating shaft 2500 coaxial with the support rotating shaft 260 is rotatably provided on the support block 2300 through a second bearing 2500. The rotating shaft 2500 is connected to the other end of the support member 2200. Thus, the support member 220 follows the rotation of the flap 210 to provide support for the flap 210.

[0068] The shape of the flap 2100 can be designed into various feasible shapes, such as a rounded rectangle, an oval, a rectangle, a symmetric polygon, etc. However, since there must be a certain arc section (turning section) in the entire annular track 100, at these arc section positions, there is a risk of goods getting stuck on the flap, especially for soft packages, this risk is greater.

[0069] Therefore, through a large amount of research by researchers, a flap structure that can effectively solve the above problems has been obtained:

[0070] Specifically, as shown in the Figure 8As shown, the flap 2100 includes a first arc-shaped side surface 2110 and a second arc-shaped side surface 2120 that protrude in the same direction (in front of the flap trolley). The first arc-shaped side surface 2110 is located in front of the second arc-shaped side surface 2120, and the line 2130 connecting their vertices 2111 and 2121 is their axis of symmetry. The vertex 2111 of the first arc-shaped side surface 2110 extends outside the front end of the first cylinder 211, and the vertex 2121 of the second arc-shaped side surface 2120 is located in front of the rotation center of the spherical hinge 240.

[0071] The specific shapes of the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 can be adjusted as needed.

[0072] In the first feasible embodiment: The first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 are respectively an arc of an ellipse, and they can be arcs of the same shape. More preferably, they are arcs of two different ellipses including the ends of the ellipse, and the eccentricity of the first arc-shaped side surface 2110 is greater than the eccentricity of the second arc-shaped side surface 2120.

[0073] With this design, when two of the flaps 2100 are arranged adjacent to each other, the distance between the two ends of the first arc-shaped side surface 2110 of the rear flap 2100 and the two ends of the second arc-shaped side surface 2120 of the front flap 2100 is greater than the distance at the middle position. Thus, when the flap 2100 moves to the turning position of the annular track, due to the difference in the rotation angles of the front and rear flaps 2100, the distance between the inner end of the first arc-shaped side surface 2110 of the rear flap 2100 and the inner end of the second arc-shaped side surface 2120 of the front flap 2100 is smaller than the gap between the two in the straight annular track section, thereby avoiding the risk of material jamming.

[0074] As shown in the appendix Figure 8 As shown, the two ends of the first arc-shaped side surface 2110 extend outside the two ends of the second arc-shaped side surface 2120, the second arc-shaped side surface 2120 extends to the rear side of the rotation center of the spherical hinge 240, and the same ends of the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 are connected by an arc surface 2140. However, in this structure, the gap at both ends of the flap 2100 is relatively large.

[0075] As shown in the appendix Figure 9 As shown, in a more preferred embodiment, the same-direction ends of the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 are flush. Therefore, both ends of the flap are vertical planes 2150 parallel to the support rotating shaft 260, which can effectively increase the width at both ends of the flap, avoid interference between the goods and other flaps 2100 that do not need to be flipped during bottom bagging, affecting the stability of bottom bagging, and at the same time facilitate connection with the bag supply table and the compartments.

[0076] In the embodiment where the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 are elliptical arcs as described above, the spacing between the flaps 210 of adjacent flap trolleys 200 can be set as required, preferably not exceeding 5 cm, and more preferably not exceeding 3 cm.

[0077] In the first embodiment as described above, in order to avoid interference between adjacent two flaps 2100 during turning, a certain gap still needs to be left between adjacent two flaps. In the second and more preferable embodiment, as shown in the attached Figure 10 figure, both the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 are circular arcs, that is, their arcs are both segments of a circle. And the first circle C1 to which the first arc-shaped side surface 2110 belongs is a closed curve obtained by rotating one week with the rotation center O1 of the spherical hinge 240 located behind the first arc-shaped side surface 2110 on the vehicle frame 210 as the center of the circle, and with the horizontal distance from the rotation center of the spherical hinge 240 to the first arc-shaped side surface 210 as the first radius r1. The second radius r2 of the second circle C2 to which the second arc-shaped side surface 2120 belongs is greater than or equal to the first radius r1 of the first circle C1, preferably the first radius r1 is equal to the second radius r2. The second circle C2 is a closed curve obtained by rotating one week with the turning rotation center around which the tail end rotates when the vehicle frame 210 turns (the rotation center of the spherical hinge 240 on the flap trolley located behind and connected to the second column of this flap trolley) as the center of the circle 02, and with the horizontal distance from the turning rotation center point to the second arc-shaped side surface 2120 as the second radius r2.

[0078] When adopting this flap shape, as shown in the attached Figure 11 figure, the first arc-shaped side surface 2110 of each flap 2100 fits with the second arc-shaped side surface 2120 of the flap 2100 in front of it, and its second arc-shaped side surface 2120 fits with the first arc-shaped side surface 2120 of the flap 2100 behind it. At this time, there is no gap between adjacent two flaps 2100, so that the occurrence of material jamming can be effectively avoided. At the same time, when a flap trolley moves from the straight section of the annular track to the turning section for turning, the flaps of the flap trolleys located in the straight section behind it will not interfere with the flaps of the turning flap trolley.

[0079] When both the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 are arc-shaped, the arc lengths of the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 are different, as shown in the attached Figure 10 figure, attached Figure 11As shown, the arc length of the first arc-shaped side surface 2110 is greater than that of the second arc-shaped side surface 2120 and their two ends intersect. The arc length of the first arc-shaped side surface 2110 is greater than the semi-circular arc length of the first circle, and the arc length of the second arc-shaped side surface is less than the semi-circular arc length of the second circle. Thus, the outer contour of the flap 2100 is crescent-shaped.

[0080] In another embodiment, as shown in the appendix Figure 13 As shown, the arc length of the first arc-shaped side surface 2110 is greater than that of the second arc-shaped side surface 2120, and their two ends do not intersect. The arc length of the first arc-shaped side surface 2110 is less than the semi-circular arc length of the first circle, and the arc length of the second arc-shaped side surface 2120 is less than the semi-circular arc length of the second circle. Thus, the outer contour of the flap is fan-shaped.

[0081] Of course, in other embodiments, as shown in the appendix Figure 12 As shown, the arc lengths of the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 may also be the same. At this time, their arc lengths are less than the semi-circular arc length of the first circle, and their two ends are flush. Their corresponding ends are connected by a vertical plane 2160 parallel to the support rotating shaft 260.

[0082] Furthermore, in order to increase the bearing area of the flap so that the items on multiple flaps can be transported more stably at the annular track, as shown in the appendix Figure 13 - Appendix Figure 15 As shown, in the embodiment where the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 of the flap 2100 adopt non-intersecting circular arcs and the arc lengths are both less than the semi-circular arc of the first circle, an extension section 2180 is further provided outside the connecting side surface 2170 at at least one end of the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120. Preferably, extension sections 2180 are symmetrically provided outside the connecting side surfaces 2170 at both ends of the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120. The shape of the extension section 2180 can be designed as needed, with the shape of the extension section 2180 meeting the requirement that there is no interference when adjacent two flaps turn. And there is a certain gap between the extension sections 2180 of adjacent two flaps.

[0083] As shown in the appendix Figure 13 、Appendix Figure 14As shown, when the outer contour shapes of the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 are fan-shaped, the outer contour of the extension section 2180 is approximately U-shaped. That is, the extension section 2180 includes an end arc 2181, a first arc-shaped extension section 2182 connecting the end arc 2181 and the first arc-shaped side surface, and a second arc-shaped extension section 2182 connecting the end arc 2181 and the second arc-shaped side surface. The horizontal distance from the rotation center of the spherical hinge to different positions of the first arc-shaped extension section 2182 increases or decreases. The horizontal distance from the rotation center of the spherical hinge to the connection end of the first arc-shaped extension section and the first arc-shaped side surface is the smallest and equal to the first radius. The horizontal distance from the turning rotation center to different positions of the second arc-shaped extension section increases or decreases. The horizontal distance from the turning rotation center to the connection end of the second arc-shaped extension section and the second arc-shaped side surface is the smallest and equal to the second radius.

[0084] As shown in the attached Figure 15 figure, when the arc lengths of the first arc-shaped side surface 2110 and the second arc-shaped side surface 2120 are equal, the outer contour of the extension section 2180 can be triangular, trapezoidal, fan-shaped or other feasible shapes.

[0085] As shown in the attached Figure 2 figure, a driving mechanism 300 for driving the tipping trolley 200 to move along the annular track 100 for one circle is further provided on the annular track 100. The driving mechanism 300 can adopt various feasible ways to drive the tipping trolley to rotate for one circle. In a feasible embodiment, a chain driving mechanism (not shown in the figure) can be adopted for driving, that is, a chain is connected to the tipping trolley for one circle, and the chain is sleeved on two sprockets, and one of the sprockets is connected to a motor that drives its self-rotation.

[0086] In another feasible embodiment, a friction driving structure (not shown in the figure) can be adopted for driving, that is, a friction plate is provided on each tipping trolley 200 (at the bottom of the vehicle frame), the friction plate is vertically arranged, a friction wheel in contact with the friction plate is provided on the annular track, the axis of the friction wheel is also vertical, the friction wheel is driven by a motor with a fixed installation position to rotate, and the friction plate is driven to move through the frictional force between the friction wheel and the friction plate. The structure for driving the friction plate to move in the friction driving structure can also adopt the structure disclosed in the application number 201811247583.2.

[0087] In still another feasible embodiment, an electromagnetic driving method can also be adopted to achieve driving, that is, as shown in the attached Figure 16As shown, a secondary plate 310 is provided on each tipping trolley 200 (at the bottom of the vehicle frame), and a linear motor 320 for driving the secondary plate to move linearly by electromagnetic force is provided on the circular track. The specific structure of the linear motor 320 is known technology and will not be elaborated here.

[0088] In a more preferred embodiment, the secondary plate 320 is horizontally arranged, and a small gap 330 is maintained between the linear motor 320 and the secondary plate 310, which can better reduce the height of the equipment.

[0089] Embodiment 2

[0090] This embodiment discloses a tipping sorting system, as shown in the appendix Figure 17 As shown, it includes the tipping sorting device 1000 described in Embodiment 1 above. The loop length of the tipping sorting device 1000 can be designed according to the needs of different application scenarios and is not limited here.

[0091] In some embodiments, the goods can be scanned and placed on the tipping trolleys of the tipping sorting device 1000 manually. However, due to the large size and weight of some goods, there are certain inconveniences during manual loading. Although auxiliary instruments such as balance cranes can be controlled manually for loading, the efficiency is low. Therefore, as shown in the appendix Figure 17 As shown, in a more preferred manner, a bag feeding station 2000 and sorting bays 3000 are also provided on the side of the circular track 200.

[0092] The bag feeding station 2000 is preferably located on the straight section of the tipping sorting device 1000 to facilitate ensuring the stability of bag feeding. The specific structure of the bag feeding station 2000 is known technology. It usually adopts a multi-section conveying structure and integrates functions such as weighing, body measurement, and scanning, such as various known DWS bag feeding stations, such as the structures disclosed in application numbers 201710511270.2 and 202010303866.5. In a more preferred embodiment, the bag feeding station 2000 can be various known six-sided scanning bag feeding lines, such as the structure disclosed in application number 201922221682.X. At the bag feeding station 2000, the size of the goods (especially the maximum length) and the state on the bag feeding station can be determined through visual recognition.

[0093] After determining the size and state of the goods, several tipping trolleys 200 that can form a large enough bearing surface A can be reserved according to the size and state of the goods. Then, the bag feeding station 2000 controls the conveying parameters of its different sections to convey the goods to the reserved several tipping trolleys 200. During subsequent sorting, as long as the reserved several tipping trolleys 200 are controlled to start tilting in the same direction simultaneously, the sorting can be completed.

[0094] In another way, after the goods are supplied to the tipping sorting device, it can be determined which tipping trolleys the goods occupy. Therefore, as shown in the appendix Figure 18 as shown, an image acquisition device 4000 is further provided above the circular track 100 and between the bag supply table 2000 and the sorting grid 3000. The lens of the image acquisition device 4000 faces the tipping plate, and images are acquired through the image acquisition device 4000, so that it can be determined which tipping trolleys 200 the goods occupy, and thus the synchronous actions of multiple tipping trolleys can be accurately controlled.

[0095] The sorting grid 3000 includes a chute, and a container or other conveying equipment can be provided at the lower end of the chute, which is designed according to specific needs. Of course, in some non-parcel sorting application fields, it is not necessary and can be omitted. In a more optimal embodiment, as shown in the appendix Figure 17 as shown, at least one of the sorting grids 3000 is set as a strong discharge grid 3100. When there is only one bag supply table 2000 in the system, the strong discharge grid 3100 is set as the last sorting grid that the tipping trolley 200 passes through. As shown in the appendix Figure 17 and the appendix Figure 18 as shown, when the bag supply table 2000 in the system is arranged on both sides of the two longer straight segments of the track, the strong discharge grid 3100 is set as the last sorting grid that the tipping trolley 200 passes through on this straight segment. When the goods miss the sorting grid or do not effectively obtain the routing, the goods are discharged from the strong discharge grid to prevent occupying multiple tipping trolleys and affecting the subsequent bag supply of goods.

[0096] When the whole system works, the loop operation, tipping trolleys, bag supply table, and image acquisition device can be automatically controlled through the control device combined with various sensors. The corresponding connection and communication structures are known technologies and will not be elaborated here.

[0097] Embodiment 3

[0098] This embodiment discloses a tipping sorting method, which at least includes the following steps:

[0099] S1. After the goods enter the bag supply table, at least the weight of the goods and the target routing (sorting grid position) are obtained.

[0100] S2. After the goods move onto the tipping trolley, the top image of the tipping trolley is acquired through the image acquisition device, and it is analyzed and determined which tipping trolley the goods occupy, and the position of the goods is tracked.

[0101] S3. When the goods move to the target routing position following the tipping trolley, the motors of the multiple tipping trolleys where the goods are located are started, and multiple said tipping plates are driven to turn synchronously in the same direction to complete sorting.

[0102] Example 4

[0103] This embodiment also discloses a flap sorting method, which at least includes the following steps:

[0104] S10. The goods enter the bagging station, and the weight, target routing, size of the goods, and the state on the bagging station are obtained at the bagging station. After determining the size and state of the goods, the number of flap trolleys required for the goods is determined at the bagging station (the carrying surface A formed by the flap trolleys of this number can be not less than the size of the goods), and the corresponding number of flap trolleys is reserved.

[0105] S20. The bagging station conveys the goods to several reserved flap trolleys according to the corresponding control parameters.

[0106] S30. When the goods move to the target routing position following the flap trolleys, the motors of the multiple flap trolleys where the goods are located are started, and the multiple flaps are driven to turn synchronously and in the same direction to complete sorting.

[0107] There are still various implementation manners of the present invention. All technical solutions formed by equivalent transformation or equivalent substitution fall within the protection scope of the present invention.

Claims

1. Flap sorting device, comprising an annular track, a circle of flap trolleys movably arranged along the annular track on the annular track and a driving mechanism for driving the flap trolleys to move along the annular track, characterized in that: Each of the flap trolleys has a power source for driving the flipping of its flap. The flaps of at least two consecutive flap trolleys form a bearing surface. When the bearing surface moves to the target routing position, all the flaps constituting the bearing surface flip synchronously in the same direction. The flap trolley includes a frame that is rollingly arranged on the annular track through rollers. A fixed seat is arranged on the top of the frame. A support rotating shaft that is perpendicular and horizontal to the axis of the roller is rotatably arranged on the fixed seat. The support rotating shaft is connected to a power source for driving its rotation, and a flipping member protruding above the fixed seat is arranged thereon. The flap is arranged on the top of the flipping member. The distance between two adjacent flaps is no more than 5 cm, or at least the middle area of the opposite sides of two adjacent flaps is in contact. The flap at least includes a first arc-shaped side and a second arc-shaped side that protrude in the same direction and are distributed front and back. The connection line of their vertices is their axis of symmetry. The first arc-shaped side and the second arc-shaped side are circular arcs. The first circle where the first arc-shaped side is located is a closed curve obtained by rotating one week with the rotation center of the spherical hinge located behind the first arc-shaped side on the frame as the center of the circle and the horizontal distance from the rotation center of the spherical hinge to the first arc-shaped side as the first radius. The second circle where the second arc-shaped side is located is a closed curve obtained by rotating one week with the turning rotation center around which the tail end of the frame rotates when the frame turns as the center of the circle and the horizontal distance from the turning rotation center point to the second arc-shaped side as the second radius. The second radius is greater than or equal to the first radius. The frame includes a first column body and a second column body that are connected together. The axes of the first column body and the second column body are parallel and they are arranged vertically. The first ends of the first column body and the second column body maintain a distance, and their second ends maintain a distance. A spherical hinge is also arranged at the first end of the second column body, and a screw hole for connecting the spherical hinge is also arranged at the second end of the second column body. The frames of adjacent flap trolleys are connected through a spherical hinge. The distance between adjacent flaps is less than the length of the spherical hinge. The vertex of the first arc-shaped side extends outside the front end of the first column body, and the vertex of the second arc-shaped side is located in front of the rotation center of the spherical hinge.

2. The flap sorting device according to claim 1, wherein: The annular track is waist-shaped or rounded rectangular.

3. The flap sorting device according to claim 1, wherein: One end of the flap is connected to a support member, and the other end of the support member is arranged on the frame. The support member rotates along with the flap.

4. The flap type sorting device according to claim 1, wherein: The first arc-shaped side and the second arc-shaped side are circular arcs and do not intersect. Extension segments are arranged outside the connection sides at least at one end of them.

5. The flap sorting device according to any one of claims 1-4, characterized in that: The power source is a servo motor with a brake function.

6. The flap sorting device according to any one of claims 1-4, characterized in that: The driving mechanism includes a secondary plate arranged at the bottom of the flap trolley and a linear motor for driving the horizontal linear movement of the secondary plate. The secondary plate is horizontally arranged.

7. Flip-type sorting system, characterized in that: It includes the flap sorting device according to any one of claims 1-6.

8. The flap sorting system according to claim 7, characterized in that: It further includes a bag supply table and sorting compartments located on the side of the annular track.

9. The flap sorting system according to claim 8, wherein: An image acquisition device is further arranged above the annular track and between the bag supply table and the sorting compartments. The lens of the image acquisition device faces the flap.

10. The flip - plate sorting method of the flip - plate sorting system according to any one of claims 7 - 9, characterized in that: It at least includes the following steps: After the goods move onto the flap trolley, determine the flap trolley occupied by the goods. When the goods move to the target routing position following the tipping trolley, the tipping plates where the goods are located flip synchronously and in the same direction to complete sorting.

11. The flap sorting method of the flap sorting system according to any one of claims 7-9, characterized in that: It includes at least the following steps: S10, The goods enter the bag supply table, determine the number of tipping trolleys required for the goods at the bag supply table, and reserve the corresponding number of tipping trolleys; S20, The bag supply table conveys the goods to the reserved tipping trolleys; S30, When the goods move to the target routing position, the tipping plates where the goods are located flip synchronously and in the same direction to complete sorting.

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