A dynamic grabbing, transferring, automatic sorting and conveying system

Abstract

The present invention discloses a dynamic grasping, transferring, and automatic sorting and conveying system, comprising a spider arm main body, a horizontal limit assembly mounted on the top of the spider arm main body, side suction assemblies mounted symmetrically on both sides of the spider arm main body, a rotation assembly mounted symmetrically on the inner side of the side suction assembly, and angle limit assemblies mounted symmetrically on both sides of the rotation assembly. The present invention provides a spider arm dynamic transfer module with a module suction cup designed as a rectangular honeycomb porous cup, and also provides side suction assemblies on both sides of the spider arm. This avoids the risk of packages not being able to be sucked up due to irregular shapes, and allows packages to be sucked from the side, thereby improving the spider arm's capture adaptability, replacing traditional manual sorting, saving labor costs, and effectively avoiding sorting errors caused by manual fatigue.

Description

Technical Field

[0001] The present invention belongs to the field of logistics equipment, and in particular relates to a dynamic grabbing, transferring and automatic sorting and conveying system. Background Art

[0002] In the traditional logistics industry, the entire system for package delivery, transfer, and sorting has a low degree of automation, mostly relying on manual labor or semi-automated manual connections. Therefore, the need for a complete system, from package unloading to package delivery, transfer during delivery, and on-demand sorting, is crucial.

[0003] Currently, most logistics sorting work is done manually, which is labor-intensive, inefficient, and prone to errors due to fatigue. Therefore, we propose a dynamic grabbing and transfer automatic sorting and conveying system to improve this. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above problems existing in the prior art and to provide a dynamic grasping, transferring and automatic sorting and conveying system. The spider hand module suction cup is designed as a rectangular honeycomb porous suction cup in the dynamic transfer module of the spider hand, and side adsorption components are provided on both sides of the spider hand. This avoids the risk of the package not being able to be sucked up due to its irregular shape, and can adsorb the package from the side, thereby improving the capture adaptability of the spider hand, replacing traditional manual sorting, saving labor costs, and effectively avoiding sorting errors caused by manual work fatigue.

[0005] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0006] A dynamic grabbing, transferring and automatic sorting and conveying system comprises a spider arm main body, a horizontal limit assembly is installed on the top of the spider arm main body, side adsorption assemblies are symmetrically installed on both sides of the spider arm main body, a rotating assembly is symmetrically installed on the inner side of the side adsorption assembly, and angle limit assemblies are symmetrically installed on both sides of the rotating assembly;

[0007] The spider arm body includes a horizontal support plate and a symmetrically arranged rotation axis. Linkage rods are fixedly arranged at the four corners of the top of the horizontal support plate. There are symmetrically arranged yielding rotation grooves on both sides of the horizontal support plate. The inner sides of the yielding rotation grooves are provided with rotation connection holes that are rotatably connected to the rotation axis. A horizontal suction cup is fixedly connected to the bottom end of the horizontal support plate.

[0008] The horizontal limit assembly includes a center fixed seat fixedly connected to the top of the horizontal support plate at the bottom end, and a symmetrically arranged horizontal sliding block, wherein a rectangular sliding groove is opened on the side of the center fixed seat and is slidably connected to the horizontal sliding block. The side of the center fixed seat is fixedly connected to a horizontal guide rod below the rectangular sliding groove, and a movable sleeve around the horizontal guide rod is provided with a first spring. The horizontal sliding block is provided with a first slide at one end away from the rectangular sliding groove, and the bottom end of the horizontal sliding block is fixedly connected to the connecting vertical rod, and the bottom end of the connecting vertical rod is fixedly connected to the horizontal fixing column, and the end surface of the horizontal fixing column is provided with a sliding through hole slidably connected to the horizontal guide rod;

[0009] The side adsorption assembly includes a side mounting plate, a limiting plug rod, a second spring, and a positioning fixing column. A T-shaped slider is fixedly connected to the middle of the inner side of the central fixing seat, a limiting plug hole is provided on the inner side of the T-shaped slider, a side suction cup in a linear array is fixedly connected to the inner side of the side mounting plate, a protruding disk is fixedly connected to the peripheral side of the limiting plug rod, a second spring is provided on the movable sleeve around the peripheral side of the limiting plug rod, a guide through hole is provided on the end surface of the positioning fixing column for sliding connection with the limiting plug rod, and a support column is fixedly connected to the bottom end of the positioning fixing column;

[0010] The rotating assembly includes a rotating block, gear teeth, and a moving ring. A T-shaped groove is provided on the top of the rotating block for sliding connection with the T-shaped slider. A symmetrically arranged pressure block is fixedly connected to the top of the pressure block. A second slide is provided on the top of the pressure block for sliding contact with the first slide. A fixed connection hole is provided on the side of the rotating block for fixed cooperation with the rotating shaft. The gear teeth are located on both sides of the rotating block. The end faces of the gear teeth are provided with connection and fixing holes for fixed cooperation with the rotating shaft. The inner ring of the moving ring is provided with internal teeth meshing with the gear teeth. The top of the moving ring is fixedly connected with an L-shaped rod.

[0011] Furthermore, the angle limit assembly includes a guide through tube and a rotating ring. The L-shaped rod passes through the guide through tube and slides with the guide through tube. The bottom end of the guide through tube is fixedly connected to a fixed vertical rod. The guide through tube is provided with an external thread on the circumference, a groove is provided at one end of the guide through tube, a pressed surface is provided on the circumference of one end of the guide through tube, an internal thread that cooperates with the external thread is provided on the inner diameter of the rotating ring, and a pressing surface corresponding to the pressed surface is provided on the inner diameter of the rotating ring.

[0012] Furthermore, one end of the first spring is in contact with and connected to the transverse fixing column, and the other end of the first spring is in contact with and connected to the side surface of the central fixing seat.

[0013] Furthermore, one end of the second spring is in contact with and connected to the protruding disk, and the other end of the second spring is in contact with and connected to the positioning and fixing column.

[0014] Furthermore, the top end of the rotating block is fixedly connected to the bottom end of the supporting column.

[0015] The beneficial effects of the present invention are: this dynamic grasping and transferring automatic sorting and conveying system, by providing a spider hand dynamic transfer module with a spider hand module suction cup designed as a rectangular honeycomb porous suction cup, and at the same time providing side adsorption components on both sides of the spider hand, avoids the risk of the package not being able to be sucked up due to its irregular shape, and can adsorb the package from the side, thereby improving the capture adaptability of the spider hand, replacing traditional manual sorting, saving labor costs, and effectively avoiding sorting errors caused by manual work fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 It is a structural schematic diagram of the present invention;

[0018] Figure 2 It is a partial structural exploded view of the present invention;

[0019] Figure 3 It is a partial structural exploded view of the present invention;

[0020] Figure 4 It is a partial structural exploded view of the present invention;

[0021] Figure 5 It is a partial structural exploded view of the present invention;

[0022] Figure 6 It is a partial structural explosion diagram of the present invention.

[0023] In the figure: 1. Spider arm body; 11. Horizontal support plate; 111. Yield rotation groove; 112. Rotation connection hole; 12. Linkage rod; 13. Horizontal suction cup; 14. Rotation axis; 2. Horizontal limit assembly; 21. Center fixing seat; 211. Rectangular sliding groove; 22. Horizontal guide rod; 23. First spring; 24. Horizontal sliding block; 241. First slide; 242. Connecting vertical pole; 25. Horizontal fixing column; 251. Sliding through hole; 3. Side adsorption assembly; 31. Side mounting plate; 311. Side suction cup; 32. T-shaped slider; 321. Limiting hole; 33. Limiting rod ;331, protruding disk; 34, second spring; 35, positioning and fixing column; 351, guide through hole; 352, supporting column; 4, rotating assembly; 41, rotating block; 411, T-shaped slide; 412, fixed connecting hole; 42, pressure block; 421, second slide; 43, gear teeth; 431, connecting and fixing hole; 44, moving ring; 441, internal teeth; 45, L-shaped rod; 5, angle limit assembly; 51, guide through tube; 511, fixed column; 512, external thread; 513, slot; 514, pressed surface; 52, rotating ring; 521, internal thread; 522, pressing surface. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0026] like Figure 1 The dynamic grasping, transferring and automatic sorting and conveying system shown includes a spider hand main body 1, a horizontal limit component 2 is installed on the top of the spider hand main body 1, side adsorption components 3 are symmetrically installed on both sides of the spider hand main body 1, a rotating component 4 is symmetrically installed on the inner side of the side adsorption component 3, and an angle limit component 5 is symmetrically installed on both sides of the rotating component 4.

[0027] like Figure 2As shown, the spider hand body 1 includes a horizontal support plate 11 and a symmetrically arranged rotating shaft 14. Linkage rods 12 are fixedly arranged at the four corners of the top of the horizontal support plate 11. The horizontal support plate 11 has symmetrically provided two sides with a clearance rotating groove 111. The inner side of the clearance rotating groove 111 has a rotating connection hole 112 that is rotatably connected to the rotating shaft 14. The bottom end of the horizontal support plate 11 is fixedly connected to a horizontal suction cup 13.

[0028] like Figure 3 As shown, the horizontal limit assembly 2 includes a central fixed seat 21 fixedly connected to the top of the horizontal support plate 11 at the bottom end, and a symmetrically arranged horizontal sliding block 24. A rectangular sliding groove 211 is provided on the side of the central fixed seat 21 and is slidably connected to the horizontal sliding block 24. A horizontal guide rod 22 is fixedly connected to the side of the central fixed seat 21 below the rectangular sliding groove 211. A first spring 23 is movably sleeved on the side of the horizontal guide rod 22. A first slide slope 241 is provided on the end of the horizontal sliding block 24 away from the rectangular sliding groove 211. The bottom end of the horizontal sliding block 24 is fixedly connected to a connecting vertical rod 242. The bottom end of the connecting vertical rod 242 is fixedly connected to a horizontal fixing column 25. A sliding through hole 251 is provided on the end surface of the horizontal fixing column 25 and is slidably connected to the horizontal guide rod 22. One end of the first spring 23 is in contact with and connected to the horizontal fixing column 25, and the other end of the first spring 23 is in contact with and connected to the side of the central fixed seat 21.

[0029] like Figure 4 As shown, the side adsorption assembly 3 includes a side mounting plate 31, a limiting plug rod 33, a second spring 34, and a positioning fixing column 35. A T-shaped slider 32 is fixedly connected to the middle part of the inner side of the center fixing seat 21, and a limiting plug hole 321 is provided on the inner side of the T-shaped slider 32. A side suction cup 311 in a linear array is fixedly connected to the inner side of the side mounting plate 31. A protruding disk 331 is fixedly connected to the peripheral side of the limiting plug rod 33. A second spring 34 is movably provided on the peripheral side of the limiting plug rod 33. A guide through hole 351 is provided on the end face of the positioning fixing column 35 for sliding connection with the limiting plug rod 33. A supporting column 352 is fixedly connected to the bottom end of the positioning fixing column 35. One end of the second spring 34 is in contact with the protruding disk 331, and the other end of the second spring 34 is in contact with the positioning fixing column 35.

[0030] like Figure 5As shown, the rotating assembly 4 includes a rotating block 41, gear teeth 43, and a movable ring 44. The top of the rotating block 41 is provided with a T-shaped groove 411 that is slidably connected to the T-shaped slider 32, the top of the pressure block 42 is fixedly connected to a symmetrically arranged pressure block 42, and the top of the pressure block 42 is provided with a second slide 421 that is in sliding contact with the first slide 241. The side of the rotating block 41 is provided with a fixed connection hole 412 that is fixedly matched with the rotating shaft 14, the gear teeth 43 are located on both sides of the rotating block 41, and the end surface of the gear teeth 43 is provided with a connecting fixing hole 431 that is fixedly matched with the rotating shaft 14. The inner ring of the movable ring 44 is provided with an internal tooth 441 that meshes with the gear teeth 43, the top of the movable ring 44 is fixedly connected to an L-shaped rod 45, and the top of the rotating block 41 is fixedly connected to the bottom end of the support column 352.

[0031] like Figure 6 As shown, the angle limit assembly 5 includes a guide through tube 51 and a rotating ring 52. The L-shaped rod 45 passes through the guide through tube 51 and slides with the guide through tube 51. The bottom end of the guide through tube 51 is fixedly connected to a fixed vertical rod 511. An external thread 512 is provided on the circumference of the guide through tube 51. A groove 513 is provided at one end of the guide through tube 51. A pressed surface 514 is provided on the circumference of one end of the guide through tube 51. An internal thread 521 threadably matched with the external thread 512 is provided on the inner diameter of the rotating ring 52. A pressing surface 522 corresponding to the pressed surface 514 is provided on the inner diameter of the rotating ring 52.

[0032] In the present invention, the packages unloaded from the transport vehicle are transported to the circular assembly line as a buffer circular transport, waiting for the transfer of the spider arm. The packages transferred one by one by the spider arm will be sensed by the photoelectric signal on the circular cross belt for each package information, and then sorted one by one in sequence. The whole process is achieved without human intervention, directly eliminating the need for package transfer personnel and sorting personnel. The limit rod 33 is moved outward, the limit rod 33 leaves the limit socket 321, and the T-shaped slider 32 is moved up and down to adjust the vertical height of the side suction cup 311. The limit rod 33 is released, and under the elastic force of the second spring 34, the limit rod 33 is reinserted into the limit socket 321 for limiting. The moving ring 44 is moved to make the moving ring 44 leave the gear 43, and the rotating block 41 is rotated to a suitable angle. The moving ring 44 is moved to re-engage with the gear 43, and the rotating ring 52 is rotated. The rotating ring 52 moves toward the guide through the cylinder 51, and at the same time, the pressing surface 522 contacts the pressed surface 514 to make the pressed surface 514 deforms inwardly and presses against the side of the L-shaped rod 45 to limit the L-shaped rod 45. The L-shaped rod 45 is fixed to drive the moving ring 44 to be fixed. The moving ring 44 engages with the gear 43 to limit the angle of the rotating block 41. When the side mounting plate 31 needs to be horizontal, the rotating block 41 is rotated, and the second slide 421 slides in contact with the first slide 241. The horizontal sliding block 24 moves inward. When the side mounting plate 31 is completely horizontal, the top of the second slide 421 contacts the bottom of the first slide 241. Under the action of the elastic force of the first spring 23, the horizontal fixing column 25 is pushed outward. The horizontal sliding block 24 limits the pressure block 42, and the side mounting plate 31 can remain in a horizontal state, thereby increasing the number of flat suction cups.

[0033] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0034] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A dynamic grabbing, transferring and automatic sorting and conveying system, characterized in that: The spider hand comprises a main body (1), a horizontal limit assembly (2) is arranged and installed on the top of the main body (1), side adsorption assemblies (3) are symmetrically arranged and installed on both sides of the main body (1), a rotation assembly (4) is symmetrically arranged and installed on the inner side of the side adsorption assembly (3), and an angle limit assembly (5) is symmetrically arranged and installed on both sides of the rotation assembly (4); The spider hand body (1) comprises a horizontal support plate (11) and a symmetrically arranged rotation shaft (14); linkage rods (12) are fixedly arranged at the four corners of the top of the horizontal support plate (11); symmetrically arranged yielding rotation grooves (111) are provided on both sides of the horizontal support plate (11); a rotation connection hole (112) rotatably connected to the rotation shaft (14) is provided inside the yielding rotation groove (111); and a horizontal suction cup (13) is fixedly connected to the bottom end of the horizontal support plate (11); The horizontal limit assembly (2) comprises a central fixed seat (21) whose bottom end is fixedly connected to the top of the horizontal support plate (11), and a symmetrically arranged horizontal sliding block (24); a rectangular sliding groove (211) is provided on the side of the central fixed seat (21) and is slidably connected to the horizontal sliding block (24); a horizontal guide rod (22) is fixedly connected to the side of the central fixed seat (21) below the rectangular sliding groove (211); a first spring (23) is movably sleeved around the circumference of the horizontal guide rod (22); a first slide (241) is provided on one end of the horizontal sliding block (24) away from the rectangular sliding groove (211); a connecting rod (242) is fixedly connected to the bottom end of the horizontal sliding block (244); a transverse fixed column (25) is fixedly connected to the bottom end of the connecting rod (242); and a sliding through hole (251) is provided on the end surface of the transverse fixed column (25) and is slidably connected to the horizontal guide rod (22); The side adsorption assembly (3) comprises a side mounting plate (31), a limiting plug rod (33), a second spring (34), and a positioning fixing column (35); a T-shaped slider (32) is fixedly connected to the middle portion of the inner side of the central fixing seat (21); a limiting plug hole (321) is provided on the inner side of the T-shaped slider (32); a side suction cup (311) in a linear array is fixedly connected to the inner side of the side mounting plate (31); a protruding disc (331) is fixedly connected to the circumference of the limiting plug rod (33); a second spring (34) is movably sleeved on the circumference of the limiting plug rod (33); a guide through hole (351) is provided on the end surface of the positioning fixing column (35) for sliding connection with the limiting plug rod (33); and a supporting column (352) is fixedly connected to the bottom end of the positioning fixing column (35); The rotating assembly (4) comprises a rotating block (41), gear teeth (43), and a moving ring (44); the top of the rotating block (41) is provided with a T-shaped sliding groove (411) slidably connected to the T-shaped sliding block (32); the top of the pressure block (42) is fixedly connected to a symmetrically arranged pressure block (42); the top of the pressure block (42) is provided with a second slideway (421) in sliding contact with the first slideway (241); the side of the rotating block (41) is provided with a fixed connection hole (412) fixedly matched with the rotating shaft (14); the gear teeth (43) are located on both sides of the rotating block (41); the end surface of the gear teeth (43) is provided with a connection fixing hole (431) fixedly matched with the rotating shaft (14); the inner ring of the moving ring (44) is provided with an inner tooth (441) meshing with the gear teeth (43); and the top of the moving ring (44) is fixedly connected with an L-shaped rod (45); One end of the second spring (34) is in contact with and connected to the protruding disc (331), and the other end of the second spring (34) is in contact with and connected to the positioning and fixing column (35); The top end of the rotating block (41) is fixedly connected to the bottom end of the supporting column (352).

2. The dynamic grabbing, transferring and automatic sorting and conveying system according to claim 1 is characterized in that: The angle limiting assembly (5) comprises a guide through tube (51) and a rotating ring (52); an L-shaped rod (45) passes through the guide through tube (51) and is slidably matched with the guide through tube (51); a fixed vertical rod (511) is fixedly connected to the bottom end of the guide through tube (51); an external thread (512) is provided on the circumference of the guide through tube (51); a slot (513) is provided on one end of the guide through tube (51); a pressed surface (514) is provided on the circumference of one end of the guide through tube (51); an internal thread (521) threadably matched with the external thread (512) is provided on the inner diameter of the rotating ring (52); and a pressing surface (522) corresponding to the pressed surface (514) is provided on the inner diameter of the rotating ring (52).

3. The dynamic grabbing, transferring and automatic sorting and conveying system according to claim 1 is characterized in that: One end of the first spring (23) is in contact with and connected to the transverse fixing column (25), and the other end of the first spring (23) is in contact with and connected to the side surface of the central fixing seat (21).

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