A sorting machine for items and its control method

Abstract

This application relates to an item sorting machine and its control method. The item sorting machine includes: a frame; a conveying mechanism mounted on the frame and having locking components, the conveying mechanism loading items in the loading area of ​​the frame via the locking components and sequentially transporting them to the identification area, detection area, and recycling area of ​​the frame; multiple triggering mechanisms, each disposed in the recycling area of ​​the frame; multiple recycling mechanisms, each disposed below a corresponding triggering mechanism; an identification module mounted on the frame and capable of identifying the presence or absence of locking components passing through the identification area; a detection mechanism mounted on the frame and performing grade detection on items passing through the detection area; and a control module capable of controlling each triggering mechanism to select and trigger the locking components in the recycling area based on the identification results of the identification module and the detection results of the detection mechanisms, so that each locking component releases items of the same grade into the corresponding grade recycling component. This application has the effect of automatically sorting items, thereby improving sorting efficiency.

Description

Technical Field

[0001] This application relates to the field of article sorting, and in particular to an article sorting machine and a control method for the article sorting machine. Background Technology

[0002] Items such as fruits, vegetables, and stones often need to be sorted according to quality, volume, or grade before being sold, so that different grades of items can be sold at different prices, and substandard items can be removed from the market. Current sorting methods rely primarily on manual labor with machinery as a supplement. The commonly used machinery is the conveyor belt, which is only used to transport items so that workers can easily select them according to requirements alongside the conveyor belt.

[0003] The inventors believe that the existing sorting process for items is done manually, which results in low sorting efficiency. Summary of the Invention

[0004] In order to achieve automatic sorting of items, this application provides an item sorting machine and a control method for the item sorting machine.

[0005] According to the first aspect of this application, the following is provided:

[0006] An item sorting machine includes a frame with a loading area, an identification area, a detection area, and a recycling area arranged sequentially; a conveying mechanism mounted on the frame and having a locking assembly, the conveying mechanism loading items in the loading area via the locking assembly and transporting them sequentially to the identification area, detection area, and recycling area; multiple triggering mechanisms of different levels, each disposed within the recycling area of ​​the frame; multiple recycling mechanisms of different levels, each disposed below a corresponding triggering mechanism; an identification module mounted on the frame, capable of identifying the presence or absence of the locking assembly passing through the identification area; a detection mechanism mounted on the frame, capable of performing level detection on items passing through the detection area; and a control module connected to the identification module, detection mechanisms, and triggering mechanisms, capable of controlling each triggering mechanism to select and trigger the locking assembly passing through the recycling area based on the identification results of the identification module and the detection results of the detection mechanisms, so that each locking assembly releases items of the same level into the corresponding level recycling assembly.

[0007] By adopting the above technical solution, when items need to be sorted, the items to be sorted are first loaded onto the locking tray assembly in the loading area. Driven by the conveyor mechanism, the locking tray assembly sequentially carries the items to the identification area, detection area, and recycling area. When items are transported to the identification area, the identification module identifies whether the items have entered the area. When items are transported to the detection area, the detection mechanism performs a grade detection on the items entering the detection area. The control module can control the triggering mechanism to select the locking tray assembly in the recycling area as the trigger path based on the identification results of the identification module and the detection results of the detection mechanism. This causes the locking tray assembly to release items of the same grade into the corresponding grade recycling assembly, thereby completing the automatic sorting of items.

[0008] Optionally, the identification module is a photoelectric sensor switch or an infrared distance sensor.

[0009] By adopting the above technical solution, whenever the locking bracket assembly passes through the identification zone, the photoelectric sensor switch is triggered and generates a sensing signal. Each time the control module receives this sensing signal, it can determine that a locking bracket assembly has passed through the identification zone. Similarly, whenever the locking bracket assembly passes through the identification zone, the measurement result of the infrared distance sensor will change. Each time the control module receives this change, it can determine that a locking bracket assembly has passed through the identification zone.

[0010] Optionally, the detection mechanism includes a shooting module mounted on the frame and capable of shooting the item, and a supplementary light mounted on the frame and capable of enhancing the shooting effect of the shooting module.

[0011] By adopting the above technical solution, when the items to be sorted pass through the detection area, the imaging module takes pictures of the items. The control module can then identify the volume, weight, or quality of the items based on the imaging results and determine the grade of each item. The addition of supplementary lighting enhances the imaging effect of the imaging module, helping to improve the accuracy of the control module's identification.

[0012] Optionally, the transmission mechanism further includes a chain conveyor mounted on the frame, with multiple locking assemblies sequentially mounted on multiple links of the chain conveyor.

[0013] By adopting the above technical solution, during the transportation of items, the items are driven by the locking and supporting components to move along the chain conveyor, so that the items can pass through the identification area, detection area and recycling area in sequence.

[0014] Optionally, the locking assembly includes: a base, fixedly mounted on a link of the chain conveyor; a rocker arm, one end of which is hinged to the bottom of the base on the side away from the link; a material holder, fixedly mounted on the end of the rocker arm away from the base, for loading items; a rocker arm, the middle of which is hinged to the top of the base on the side away from the link; a first hook, disposed on the end of the rocker arm near the rocker arm; a second hook, disposed on the rocker arm and capable of engaging with the first hook when the rocker arm is in a horizontal position; a pressure-receiving component, disposed on the other end of the rocker arm away from the rocker arm, capable of receiving pressure from the triggering mechanism and driving the rocker arm to rotate relative to the base, thereby causing the first hook and the second hook to disengage from each other; and an elastic reset component, disposed between the base and the rocker arm, capable of keeping the first hook and the second hook in an engaged state when the triggering mechanism does not apply pressure.

[0015] By adopting the above technical solution, when the item is placed on the locking tray assembly, the item is first placed on the material tray, which is connected to the base through the swing arm and fixed by the interlocking action between the first hook and the second hook; when it is necessary to trigger the locking tray assembly to release the item to be sorted, the pressure-bearing component first receives the pressure from the triggering mechanism and drives the rocker arm to rotate relative to the base, thereby causing the first hook and the second hook to disengage from each other. At this time, the swing arm rotates downward relative to the base under the gravity of the material tray, thereby releasing the item in the material tray.

[0016] Optionally, the item sorting machine further includes a reset bend rod disposed on the frame and at the end of the conveying mechanism, the reset bend rod being used to raise the swing arm of the locking assembly and force the first hook and the second hook to engage with each other.

[0017] By adopting the above technical solution, after the locking bracket releases the item, the swing arm is lifted by the reset bend when it passes through the reset bend, thereby returning the swing arm to its initial position and re-engaging the first hook and the second hook.

[0018] Optionally, the triggering mechanism includes a linear driver, a swing arm, and a hinge shaft. The linear driver is mounted on the frame. The swing arm has a hinged end, a pressure-receiving end, and a pressure-applying end with an arc surface. The hinged end of the swing arm is hinged to the frame via the hinge shaft and is located between the linear driver and the conveyor. The linear driver can apply pressure to the pressure-receiving end of the swing arm and force it to rotate, thereby causing the swing arm to make linear contact with and apply pressure to the locking assembly passing below it through the arc surface of the pressure-applying end until the locking assembly releases the item.

[0019] By adopting the above technical solution, when the locking bracket assembly passes the triggering mechanism and the triggering mechanism needs to release the item on the locking bracket assembly, the linear driver of the triggering mechanism first applies pressure to the pressure end of the swing arm and forces the swing arm to rotate, so that the swing arm makes linear contact with the pressure part of the locking bracket assembly passing below it through the arc surface of the pressure end and applies pressure to the pressure part of the locking bracket assembly, thereby causing the locking bracket assembly to release the item.

[0020] Optionally, the recycling mechanism includes a transmission component fixedly mounted on a frame, with the input end of the transmission component located below the triggering mechanism and lower than the locking tray assembly containing the items, and the output end of the transmission component higher than the storage box placed on the ground.

[0021] By adopting the above technical solution, after the locking component releases the item, the item first falls onto the transmission component and is then transported to the storage box for storage via the transmission component.

[0022] Optionally, the item sorting machine also includes a feeding mechanism fixed on the frame and capable of loading items one by one into each of the locking assemblies.

[0023] By adopting the above technical solution, when it is necessary to sort the goods during loading, the feeding mechanism loads the goods one by one into the locking tray assembly.

[0024] According to a second aspect of this application, a control method for an article sorting machine as described in the first aspect of this application is provided, the steps of which include:

[0025] Start the item sorting machine, number each item passing through the identification area according to the identification result of the identification module, and record the numbering time of each item;

[0026] The testing agency identifies the grade of items passing through the testing area and associates the item's number with the grade.

[0027] The triggering mechanism and its activation time corresponding to each item's number, numbering time, and level are determined.

[0028] The corresponding triggering mechanism is activated according to the activation time of each triggering mechanism, so that each triggering mechanism can selectively trigger the locking assembly below it, so that each locking assembly releases items of the same level into the same recycling assembly.

[0029] Under the control of the above-mentioned control methods, the item sorting machine can automatically sort items more accurately and faster.

[0030] Optionally, the start-up time T required for the triggering mechanism to trigger the i-th locking component is... i’ Calculate using the following formula:

[0031] Ti'=Tj+ΔT;

[0032] j = i + N;

[0033] ΔT=(V max *Δt ’ -V now *Δt ’ ) / V now ;

[0034] Δt ’ =(L-NS) / V max ;

[0035] In the formula:

[0036] T j The time it takes for the identification module to identify the j-th locking component;

[0037] ΔT is the preset delay;

[0038] N is the maximum number of lock bracket components that can be accommodated between the lock bracket component and the identification module;

[0039] V max The maximum set speed of the locking assembly;

[0040] V now The current actual speed of the locking assembly;

[0041] L is the horizontal distance from the triggering mechanism to the recognition module;

[0042] Δt' is the time required for the triggering mechanism to activate the locking component from the start, and is also the time taken from when the identification module identifies the j-th locking component, when the i-th locking component is in the conveying mechanism at its maximum speed V. max The time required to reach below the trigger mechanism under operating conditions;

[0043] S is the center-to-center distance between two adjacent locking components.

[0044] By adopting the above technical solution, the start time of the triggering mechanism can be automatically adjusted to adapt to changes in the speed of the conveyor belt, and ensure that it can accurately and reliably trigger each locking component, so that each locking component can release items of the same level into the corresponding recycling component.

[0045] In summary, this application includes at least one of the following beneficial technical effects:

[0046] 1. When sorting items is required, the items to be sorted are first loaded onto the locking tray assembly through the loading area. Driven by the conveyor mechanism, the locking tray assembly sequentially carries the items to the identification area, detection area, and recycling area. When items are transported to the identification area, the identification module checks for presence or absence. When items are transported to the detection area, the detection mechanism performs a grade detection on the items. The control module, based on the identification results from the identification module and the detection results from the detection mechanism, controls the triggering mechanism to select the locking tray assembly in the recycling area as the trigger path. This causes the locking tray assembly to release items of the same grade into the corresponding recycling assembly, thus completing the automatic sorting of items.

[0047] 2. When placing items onto the locking assembly, the items are first placed on the material tray, which is connected to the base via a swing arm and fixed by the interlocking action between the first and second hooks. When the locking assembly needs to be triggered to release the items to be sorted, the pressure-bearing component first receives pressure from the triggering mechanism and drives the rocker arm to rotate relative to the base, thereby disengaging the first and second hooks. At this time, the swing arm rotates downward relative to the base under the gravity of the material tray, thereby releasing the items in the material tray.

[0048] 3. The activation time of the triggering mechanism can be automatically adjusted to adapt to changes in the conveyor belt speed, and ensure that it can accurately and reliably trigger each locking component so that each locking component can release items of the same level into the corresponding recycling component. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of the item sorting machine according to an embodiment of this application;

[0050] Figure 2 yes Figure 1 A schematic diagram of the conveying mechanism of the item sorting machine shown;

[0051] Figure 3 Mainly showed Figure 1 The detection area of ​​the conveyor mechanism of the item sorting machine shown;

[0052] Figure 4 Showing Figure 1 The item sorting machine shown includes a locking assembly and a triggering mechanism.

[0053] Figure 5 It also showed Figure 1 The item sorting machine shown includes a locking assembly and a triggering mechanism.

[0054] Figure 6 Mainly showed Figure 1 The recycling area of ​​the conveyor mechanism of the item sorting machine shown.

[0055] Explanation of reference numerals in the attached drawings: 1. Frame; 11. Loading area; 12. Identification area; 13. Detection area; 14. Recycling area; 15. Reset bending rod; 16. Feeding mechanism; 2. Conveying mechanism; 21. Locking support assembly; 211. Base; 212. Swing arm; 213. Material support; 214. Rocker arm; 215. First hook; 216. Second hook; 217. Pressure-bearing component; 218. Elastic reset component; 22. Chain conveyor; 3. Triggering mechanism; 31. Linear driver; 32. Swing arm; 321. Hinge end; 322. Pressure-bearing end; 323. Pressure-applying end; 33. Hinge shaft; 4. Recycling mechanism; 41. Transmission assembly; 42. Storage box; 5. Identification module; 6. Detection mechanism; 61. Imaging module; 62. Fill light. Detailed Implementation

[0056] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0057] This application discloses an article sorting machine. (Refer to...) Figure 1 An item sorting machine includes a frame 1, which has a loading area 11, an identification area 12, a detection area 13, and a recycling area 14 arranged sequentially. A conveying mechanism 2 is also provided on the frame 1, and a locking assembly 21 is provided on the conveying mechanism 2. The conveying mechanism 2 can load items in the loading area 11 via the locking assembly 21 and then sequentially transport the items to the identification area 12, the detection area 13, and finally to the recycling area 14 for recycling.

[0058] Reference Figure 1 The recycling area 14 is equipped with multiple triggering mechanisms 3, each corresponding to a different level of item classification. These mechanisms are located within the recycling area 14 of the rack 1. Below each triggering mechanism 3 is a corresponding recycling mechanism 4 for collecting the items to be classified. The rack 1 is equipped with an identification module 5, which can identify the presence or absence of items passing through the identification area 12 and generate an identification signal. The identification module 5 can be a photoelectric sensor or an infrared distance sensor.

[0059] Reference Figure 1The frame 1 is also equipped with a detection mechanism 6 located in the detection zone 13. The detection mechanism 6 can perform grade detection on items passing through the detection zone 13. The item sorting machine also includes a control module, which is connected to the identification module 5, the detection mechanism 6, and the triggering mechanism 3. Based on the identification results of the identification module 5 and the detection results of the detection mechanism 6, the control module can control each triggering mechanism 3 to select the locking assembly 21 in the recycling zone 14, so that each locking assembly 21 releases items of the same grade into the corresponding recycling zone 14. The control module may include a programmable logic controller (PLC or CPU), a memory, and electronic components connected to the programmable logic controller, which are well known to those skilled in the art and will not be described in detail here.

[0060] When sorting items is required, the items to be sorted are first loaded onto the locking assembly 21 via the loading area 11. The locking assembly 21, driven by the conveying mechanism 2, is then transported sequentially to the identification area 12, the detection area 13, and the recycling area 14. When the items to be sorted pass through the identification area 12, they trigger a photoelectric sensor or infrared distance sensor, causing the sensor to record the item information and send it to the control module. When the items reach the detection area 13, the detection mechanism 6 performs a grade detection on the items entering the detection area 13 and generates a detection signal corresponding to the item. The control module, based on the identification result of the identification module 5 and the detection signal of the detection mechanism 6, controls the triggering mechanism 3 to select and trigger the locking assembly 21 passing through the recycling area 14. This causes the locking assembly 21 to release items of the same grade into the corresponding recycling assembly, thus completing the automatic sorting of the items to be sorted.

[0061] Reference Figure 1 and Figure 2 The transmission mechanism also includes a chain conveyor 22 mounted on the frame 1. Multiple locking assemblies 21 are sequentially mounted on the side wall of multiple chain links of the chain conveyor 22 away from the frame 1. To ensure the stability of the chain conveyor 22 during the conveying process, the chain of the chain conveyor 22 should maintain a certain tension. During the conveying process, the items and locking assemblies 21 are driven by the chain conveyor 22 and move along the chain, so that the items can pass through the identification area 12, the detection area 13, and the recycling area 14 in sequence.

[0062] Reference Figure 1 and Figure 3The detection mechanism 6 includes a camera module 61 connected to the frame 1 for detecting items, and a supplementary light 62 mounted on the frame 1 to enhance the imaging effect of the camera module 61. When items to be sorted pass through the detection area, the camera module 61 captures images of the items. The control module can then identify the volume, weight, or quality of the items based on the imaging results and determine the grade of each item. The supplementary light 62 enhances the imaging effect of the camera module 61, helping to improve the accuracy of the control module's identification. It should be noted that, in addition to the combination of the camera module 61 and the supplementary light 62, the detection mechanism 6 can also be selected as an item weighing module or a size scanning module, etc.

[0063] Reference Figure 1 and Figure 4 The locking assembly 21 includes: a base 211, a rocker arm 212, a material tray 213, a rocker arm 214, a first hook 215, a second hook 216, a pressure-bearing component 217, and an elastic reset component 218. The base 211 is fixedly connected to the side wall of the chain conveyor 22 away from the frame 1; one end of the rocker arm 212 is hinged to the bottom of the base 211 on the side away from the chain link, and the other end is connected to the material tray 213 for loading items.

[0064] Reference Figure 1 and Figure 4 The base 211 includes two opposing clamping plates, and a rocker arm 214 is hinged between the two clamping plates. The middle part of the rocker arm 214 is hinged to the two clamping plates. A first hook 215 is provided at one end of the rocker arm 214 near the swing rod 212, and a second hook 216 is provided on the swing rod 212. The second hook 216 can engage with the first hook 215 when the swing rod 212 is in a horizontal position. The engagement between the first hook 215 and the second hook 216 can safely and effectively lock the swing rod 212. The manufacturing difficulty is not high, and it is easy to save costs.

[0065] Reference Figure 1 and Figure 4 The pressure-receiving component 217 is located on the other end of the rocker arm 214 away from the swing arm 212. It receives pressure from the triggering mechanism 3 and drives the rocker arm 214 to rotate relative to the base 211, thereby causing the first hook 215 and the second hook 216 to disengage. It should be noted that the pressure-receiving component has a rectangular plane for receiving pressure, and the length direction of the rectangular plane is spatially perpendicular to the length direction of the swing arm 212. The elastic reset component 218 is located between the base 211 and the rocker arm 214, and can keep the first hook 215 and the second hook 216 in an engaged state when the triggering mechanism 3 does not apply pressure. The elastic reset component 218 is a tension spring, with one end connected to the base 211 and the other end connected to the rocker arm 214. Preferably, the rocker arm 214, the first hook 215, and the pressure-receiving component are integrally molded structures made of hard materials such as resin or metal.

[0066] When an item is placed on the locking assembly 21, the item is first placed on the tray 213. The tray 213 is connected to the base 211 via the rocker arm 212 and is fixed by the interlocking action between the first hook 215 and the second hook 216. When the locking assembly 21 needs to be triggered to release the item to be sorted, the pressure-bearing component 217 first receives pressure from the triggering mechanism 3 and drives the rocker arm 214 to rotate relative to the base 211, thereby causing the first hook 215 and the second hook 216 to disengage. At this time, the rocker arm 212 rotates downward relative to the base 211 under the gravity of the tray 213, thereby releasing the item in the tray 213. After the triggering mechanism 3 releases the pressure on the pressure-bearing component 217, the elastic reset component 218 resets the rocker arm 214.

[0067] Reference Figure 2 and Figure 4 The item sorting machine also includes a reset bent rod 15 mounted on the frame 1 and located at the end of the conveying mechanism 2. The reset bent rod 15 can raise the swing arm 212 of the locking assembly 21 to a horizontal position when the locking assembly 21 passes by, so that the second hook 216 mounted on the swing arm 212 engages with the first hook 215 mounted on the rocker arm 214, thereby resetting the locking assembly 21 to its initial state so that the locking assembly 21 can load items when it re-enters the loading area.

[0068] Reference Figure 1 and Figure 5 The triggering mechanism 3 includes a linear actuator 31, a swing arm 32, and a hinge shaft 33. The linear actuator 31 is mounted on the frame 1 and is preferably an electromagnetic actuator, an electro-hydraulic actuator, or a cylinder. The swing arm 32 has a hinge end 321, a pressure-receiving end 322, and a pressure-applying end 323 with an arc surface. The hinge end 321 of the swing arm 32 is hinged to the frame 1 via the hinge shaft 33 and is located between the linear actuator 31 and the conveyor. The linear actuator 31 can apply pressure to the pressure-receiving end 322 of the swing arm 32 and force it to rotate, so that the swing arm 32 makes linear contact with the locking assembly 21 passing below it through the arc surface of the pressure-applying end 323 and applies pressure to the locking assembly 21 until the locking assembly 21 releases the item.

[0069] Reference Figure 4 and Figure 5 When the locking assembly 21 passes the triggering mechanism 3 and the triggering mechanism 3 needs to release the item on the locking assembly 21, the linear drive 31 of the triggering mechanism 3 first applies pressure to the pressure end of the swing arm 32 and forces the swing arm 32 to rotate, so that the swing arm 32 makes linear contact with the pressure part 217 of the locking assembly 21 that is passing below it through the arc surface of the pressure end 323 and applies pressure to the pressure part 217 of the locking assembly 21, thereby causing the locking assembly 21 to release the item.

[0070] Reference Figure 1 and Figure 6 The item sorting machine also includes a transmission assembly 41 and a feeding mechanism 16 fixedly mounted on the frame 1. The input end of the transmission assembly 41 is located below the triggering mechanism 3 and lower than the locking tray assembly 21 containing the items, while the output end of the transmission assembly 41 is higher than the storage box 42 located on the ground. The transmission assembly 41 is preferably a belt conveyor or a slide structure. When the locking tray assembly 21 releases an item, the item first falls onto the transmission assembly and is then transported to the storage box via the transmission assembly. The feeding mechanism 16 includes two baffles arranged in an inverted V-shape, both of which are fixedly mounted on the frame 1, allowing items to be loaded one by one into each locking tray assembly 21.

[0071] The implementation principle of an item sorting machine according to an embodiment of this application is as follows: Items to be sorted are first loaded one by one into the locking tray assembly 21 through two baffles of the feeding mechanism 16. The locking tray assembly 21 is then transported sequentially to the identification area 12, the detection area 13, and the recycling area 14 by the conveying mechanism 2. When the item to be sorted passes through the identification area 12, it triggers a photoelectric sensor switch, causing the switch to record item information and send it to the control module. When the item reaches the detection area 13, the imaging module 61 takes a picture of the item to be sorted so that the control module can determine the item's grade. The control module controls the triggering mechanism 3 to select the locking bracket assembly 21 in the recycling area 14 based on the identification result of the identification module 5 and the detection signal of the detection mechanism 6. This causes the corresponding linear driver 31 to apply pressure to the pressure end of the swing arm 32 and force the swing arm 32 to rotate. As a result, the swing arm 32 applies pressure to the pressure part 217 of the locking bracket assembly 21. The pressure part 217 receives the pressure from the triggering mechanism 3 and drives the rocker arm 214 to rotate relative to the base 211. This causes the first hook 215 and the second hook 216 to disengage from each other. At this time, the swing arm 212 rotates downward relative to the base 211 under the gravity of the material tray 213, causing the locking bracket assembly 21 to release the item. The item falls onto the transmission assembly 41 and is then transported to the storage box 42 for storage via the transmission assembly 41.

[0072] This application also discloses a control method for an item sorting machine, wherein the item sorting machine is any of the item sorting machines described in the above embodiments. (Refer to...) Figure 1 The control method includes steps 1, 2, 3 and 4.

[0073] Step 1 includes: starting the item sorting machine, numbering the locking components 21 passing through the identification area 12 according to the identification results of the identification module 5, and recording the numbering time of each item. For example, when the identification module 5 identifies the first locking component 21, it numbers this locking component 21 as 1 and records the time T1; when it identifies the second locking component 21, it numbers the second locking component 21 as 2 and records the time T2; and so on, numbering the kth locking component 21 as k and recording the time Tk.

[0074] Step 2 includes: identifying the grade of items passing through detection zone 13 using detection mechanism 6 and associating the item's number with the grade. When detection mechanism 6 includes a camera module 61, the camera module 61 can photograph the items passing through detection zone 13, ensuring that the control method can use image recognition technology to identify the photographed results and classify the items according to quality, volume, or grade. Since the information from detection mechanism 6 to identification module 5 is fixed and known, the time when each numbered locking component 21 reaches directly below or above detection mechanism 6 can be calculated based on the current actual speed of conveying mechanism 2. The grade of the item is determined near this time and assigned to the item with the corresponding number, thereby achieving the association between the item's number and grade.

[0075] Step 3 includes: determining the triggering mechanism 3 and its activation time corresponding to each item's number, numbering time, and level. In step 3, the activation time required for the triggering mechanism 3 to trigger the i-th locking component 21 is defined as T. i ’ T i ’ The following formula can be used to calculate:

[0076] Ti'=Tj+ΔT;

[0077] j = i + N;

[0078] ΔT=(V max *Δt ’ -V now *Δt ’ ) / V now ;

[0079] Δt ’ =(L-NS) / V max ;

[0080] In the formula:

[0081] T j The time when the identification module 5 identifies the j-th lock bracket component 21;

[0082] ΔT is the preset delay;

[0083] N is the maximum number of locking bracket assemblies 21 that can be accommodated between the triggering mechanism 3 and the identification module 5;

[0084] V max The maximum set speed for the locking assembly 21;

[0085] V now The current actual speed of the locking assembly 21;

[0086] L is the horizontal distance from the triggering mechanism 3 to the recognition module 5;

[0087] Δt ’ This is the time required from the start of the triggering mechanism until the locking component is triggered, and also the time from when the identification module identifies the j-th locking component, when the i-th locking component is in the conveying mechanism at its maximum speed V. max The time required to reach below the trigger mechanism under operating conditions;

[0088] S is the center-to-center distance between two adjacent locking components 21.

[0089] Step 4 includes: activating the corresponding triggering mechanism 3 according to its activation time, so that each triggering mechanism 3 can selectively trigger the locking component 21 below it, so that each locking component 21 releases items of the same level into the same recycling component. For example, when the detection level of item number 1 is level 1, if the maximum number N of locking components 21 that can be accommodated between the first triggering mechanism 3 and the identification module 5 is 9, then when the identification module 5 identifies the 10th locking component 21, the first triggering mechanism 3 waits 0.1s (ΔT) before triggering the first locking component 21, so that the first locking component 21 releases the item into the first recycling component. When the detection level of item number 2 is level 2, if the maximum number N of locking components 21 that can be accommodated between the second triggering mechanism 3 and the identification module 5 is 14, then when the identification module 5 identifies the 15th locking component 21, the second triggering mechanism 3 will trigger the second locking component 21 after a 0.1s (ΔT) delay, allowing the second locking component 21 to release the item into the second recycling component. When the detection level of item number 3 is level 1, then when the identification module 5 identifies the 12th locking component 21, the first triggering mechanism 3 will trigger the third locking component 21 after a 0.1s (ΔT) delay, allowing the third locking component 21 to release the item into the first recycling component.

[0090] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0091] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A control method of an article sorter, characterized by, The article sorting machine comprises: a rack (1) having a loading area (11), an identification area (12), a detection area (13) and a recycling area (14) arranged in sequence; a conveying mechanism (2) provided on the rack (1) and having a lock-and-hold assembly (21), the conveying mechanism (2) being capable of loading articles in the loading area (11) and sequentially conveying them to the identification area (12), the detection area (13) and the recycling area (14) through the lock-and-hold assembly (21); a plurality of triggering mechanisms (3) having different levels and respectively arranged in the recycling area (14) of the rack (1); a plurality of recycling mechanisms (4) having different levels and respectively arranged below the corresponding triggering mechanisms (3); an identification module (5) provided on the rack (1) and capable of identifying the lock-and-hold assembly (21) passing through the identification area (12); a detection mechanism (6) provided on the rack (1) and capable of detecting the level of the articles passing through the detection area (13); a control module connected with the identification module (5), the detection mechanism (6) and the triggering mechanisms (3) and capable of controlling the triggering mechanisms (3) to selectively trigger the lock-and-hold assembly (21) in the recycling area (14) according to the identification result of the identification module (5) and the detection result of the detection mechanism (6), so that the lock-and-hold assembly (21) releases the articles of the same level into the recycling mechanism (4) of the corresponding level; a control method of the article sorting machine, comprising the steps of: starting the article sorting machine, and numbering each article passing through the identification area (12) according to the identification result of the identification module (5) and recording the numbering time of each article; detecting the level of the articles passing through the detection area (13) by the detection mechanism (6) and associating the numbering of the articles; determining the triggering mechanism (3) corresponding to the level of each article and the starting time of the triggering mechanism (3) based on the numbering, the numbering time and the level of each article; starting the triggering mechanism (3) according to the starting time of each triggering mechanism (3), so that each triggering mechanism (3) can selectively trigger the lock-and-hold assembly (21) below it, so that each lock-and-hold assembly (21) releases the articles of the same level into the same recycling mechanism (4); wherein the starting time Ti' required by the triggering mechanism (3) to trigger the ith lock-and-hold assembly (21) is calculated by the following formula: Ti' = Tj + ΔT; j = i + N; ΔT = (Vmax * Δt' - Vnow * Δt') / Vnow; Δt' = (L - NS) / Vmax; wherein: Tj is the time when the identification module (5) identifies the jth lock-and-hold assembly (21); ΔT is a preset delay; N is the maximum number of lock-and-hold assemblies (21) that can be accommodated between the lock-and-hold assembly (21) and the identification module (5); Vmax is the maximum set speed of the lock-and-hold assembly (21); Vnow is the current actual speed of the lock-and-hold assembly (21). L is the horizontal distance from the trigger mechanism (3) to the identification module (5); Δt' is the time required for the trigger mechanism (3) to trigger the lock holder assembly (21) from the start, and is also the time required for the ith lock holder assembly (21) to reach below the trigger mechanism (3) under the condition that the conveying mechanism (2) runs at the maximum speed Vmax since the identification module (5) identifies the jth lock holder assembly (21); S is the center distance between adjacent two lock holder assemblies (21).

2. The control method of an article sorter according to claim 1, characterized by: The identification module (5) is a photoelectric sensor or an infrared distance sensor.

3. The method of claim 1, wherein: The detection mechanism (6) comprises a shooting module (61) arranged on the rack (1) and capable of shooting the articles, and a fill light (62) arranged on the rack (1) and capable of enhancing the shooting effect of the shooting module (61).

4. The method of claim 1, wherein: The conveying mechanism (2) further comprises a chain conveyor (22) arranged on the rack (1), and a plurality of lock holder assemblies (21) are sequentially arranged on a plurality of chain links of the chain conveyor (22).

5. A method of controlling an article sorter according to claim 4, characterized in that: The lock holder assembly (21) comprises: a base (211) fixedly arranged on a chain link of the chain conveyor (22); a swing rod (212) having one end hinged to a bottom side of the base (211) away from the chain link; a material holder (213) fixedly arranged at an end of the swing rod (212) away from the base (211) and used for loading articles; a rocker arm (214) having a middle part hinged to a top side of the base (211) away from the chain link; a first hook (215) arranged at an end of the rocker arm (214) close to the swing rod (212); a second hook (216) arranged on the swing rod (212) and capable of engaging with the first hook (215) when the swing rod (212) is in a horizontal position; a pressure receiving part (217) arranged at the other end of the rocker arm (214) away from the swing rod (212) and capable of receiving pressure from the trigger mechanism (3) and driving the rocker arm (214) to rotate relative to the base, so as to make the first hook (215) and the second hook (216) disengage with each other; a resilient reset part (218) arranged between the base and the rocker arm (214) and capable of keeping the first hook (215) and the second hook (216) in the engaged state when the trigger mechanism (3) does not apply pressure.

6. A method of controlling an article sorter according to claim 5, characterized in that: A reset bent rod (15) is further arranged on the rack (1) and at the end of the conveying mechanism (2), and the reset bent rod (15) is used for lifting the swing rod (212) of the lock holder assembly (21) and forcing the first hook (215) and the second hook (216) to engage with each other.

7. The method of claim 5, wherein: The trigger mechanism (3) comprises a linear driver (31), a swing arm (32) and a hinge shaft (33), the linear driver (31) is arranged on the frame (1), the swing arm (32) has a hinged end (321), a pressure receiving end (322) and a pressure applying end (323) with an arc surface, the hinged end (321) of the swing arm (32) is hinged on the frame (1) through the hinge shaft (33) and is between the linear driver (31) and the conveyor, the linear driver (31) can apply pressure to the pressure receiving end (322) of the swing arm (32) and force it to rotate, so that the swing arm (32) makes linear contact with the lock support assembly (21) passing below it through the arc surface of the pressure applying end and applies pressure to the lock support assembly (21) until the lock support assembly (21) releases the article.

8. The method of claim 1, wherein: The recovery mechanism (4) comprises a transmission assembly (41) fixedly arranged on the frame (1), the input end of the transmission assembly (41) is arranged below the trigger mechanism (3) and below the lock support assembly (21) containing the article, and the output end of the transmission assembly (41) is higher than the storage box (42) placed on the ground.

9. A method of controlling an article sorter according to claim 8, characterized in that: Further comprising a feeding mechanism (16) fixedly arranged on the frame (1) and capable of loading articles into each lock support assembly (21) one by one.

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