Sorting assembly, sorting device and sorting method

Abstract

The application discloses a sorting assembly, a sorting device and a sorting method. The sorting assembly comprises a supporting mechanism, a traction mechanism and a guiding mechanism. The supporting mechanism is used for supporting a sorting frame. The supporting mechanism comprises opposite outer ends and inner ends. The outer ends serve as an entrance for the sorting frame to enter the supporting mechanism. The traction mechanism comprises an adsorption mechanism used for adsorbing and connecting with the sorting frame. The adsorption mechanism is movable relative to the supporting mechanism to drive the sorting frame adsorbed and connected to move into or out of the sorting assembly. The guiding mechanism is movably installed relative to the supporting mechanism. When the sorting frame moves on the supporting mechanism, the guiding mechanism is used for contacting the sorting frame to limit the sorting frame to move on the supporting mechanism along a predetermined moving track. The guiding mechanism can contact the sorting frame and limit the sorting frame to move along the predetermined moving track, so that the sorting frame is aligned and returned to the predetermined moving track, thereby achieving the effect of alignment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material sorting, and in particular to a sorting assembly, a sorting device and a sorting method. BACKGROUND

[0002] An automated warehousing system mainly comprises shelves, sorting robots and sorting frames. The warehousing system can allocate tasks to the robots according to order information, so as to schedule the robots to pick up or place the sorting frames at specified positions of the shelves.

[0003] The existing sorting robot can usually only pick up the sorting frame and then drive the sorting frame to move linearly, so as to place the sorting frame at the specified position. Since the sorting robot can only drive the sorting frame to move linearly, when the sorting frame is not properly positioned and / or deviates from the predetermined trajectory (i.e., an angle and / or distance deviation occurs), the sorting robot cannot correct the sorting frame. After the sorting robot operates the sorting frame multiple times, the angle and / or distance deviation of the sorting frame accumulates and becomes larger and larger, eventually resulting in that the sorting robot cannot pick up the sorting frame. SUMMARY

[0004] Therefore, the present application provides a sorting assembly with a correcting function, a sorting device and a sorting method.

[0005] In one aspect, the sorting assembly provided by the present application is used for picking up and placing a sorting frame, and comprises:

[0006] A supporting mechanism for supporting the sorting frame, the supporting mechanism comprising opposite outer and inner ends, the outer end serving as an entrance for the sorting frame to enter the supporting mechanism;

[0007] A traction mechanism comprising an adsorption mechanism for adsorbing and connecting with the sorting frame, the adsorption mechanism being movable relative to the supporting mechanism to drive the sorting frame adsorbed and connected to move into or out of the sorting assembly;

[0008] A correcting mechanism movably mounted relative to the supporting mechanism, the correcting mechanism being used for contacting the sorting frame to limit the sorting frame to move on the supporting mechanism along a predetermined movement trajectory when the sorting frame moves on the supporting mechanism.

[0009] In some embodiments, the correcting mechanism has a first state and a second state, and the correcting mechanism comprises a first elastic return member, wherein when the sorting frame is driven by the traction mechanism to move in a direction of entering the sorting assembly, the correcting mechanism is moved from the first state to the second state against the elastic force of the first elastic return member, and when the sorting frame is driven by the traction mechanism to move in a direction of leaving the sorting assembly, the correcting mechanism is moved from the second state to the first state under the action of the elastic force of the first elastic return member.

[0010] In some embodiments, the guiding mechanism comprises two rotating members rotatably mounted on the supporting mechanism and spaced apart, each of the rotating members being connected with the first elastic return member, each of the rotating members having opposite front end and rear end of rotating member, the front ends of the two rotating members being located at the entrance, in the first state, the distance between the front ends of the two rotating members is greater than the distance between the rear ends of the two rotating members, in the second state, the two rotating members are parallel.

[0011] In some embodiments, the first elastic return member comprises a first return spring connected with the rotating members and applying bias to the two rotating members to make the rear ends of the two rotating members approach each other.

[0012] In some embodiments, the supporting mechanism is provided with two limiting structures for limiting the two rotating members respectively, the limiting structure comprises at least two limiting members spaced apart, and the rotating members are located between the two limiting members.

[0013] In some embodiments, each of the front ends of the rotating members is provided with a bending portion, and the two bending portions extend away from the rotating members in a gradually away from each other manner.

[0014] In some embodiments, the adsorbing mechanism comprises a connecting seat and an electromagnet assembly mounted on the connecting seat for magnetically adsorbing the sorting frame, the electromagnet assembly is movable along a transverse direction relative to the connecting seat and has a middle position along the transverse direction, the transverse direction is perpendicular to the predetermined movement track direction; a second elastic return member is arranged between the connecting seat and the electromagnet assembly, when the electromagnet assembly deviates from the middle position in the transverse direction, the second elastic return member applies elastic bias to the electromagnet assembly towards the middle position.

[0015] In some embodiments, the connecting seat is provided with a guide rod, the electromagnet assembly is provided with a sliding block, the sliding block is movably sleeved on the guide rod and is slidable along the transverse direction, and the second elastic return member comprises a second return spring arranged between the sliding block and the connecting seat.

[0016] In some embodiments, the electromagnet assembly comprises a supporting frame and at least two electromagnets movably mounted on the supporting frame, the supporting frame is fixedly connected with the sliding block, and the at least two electromagnets are arranged in the transverse direction.

[0017] In some embodiments, each of the electromagnets is rotatable relative to the supporting frame about a vertical axis and a horizontal axis, and the horizontal axis is parallel to the transverse direction.

[0018] In some embodiments, a third elastic reset member is arranged between the electromagnet and the support frame, and when the electromagnet is disengaged from the sorting frame after rotating relative to the vertical axis or the horizontal axis, the electromagnet is restored to the original position under the action of the third elastic reset member.

[0019] In some embodiments, the number of electromagnets is two, and the electromagnet assembly further comprises a detection head mounted on the support frame, and the distance between the detection head and the two electromagnets is the same in the transverse direction.

[0020] In some embodiments, the traction mechanism further comprises a conveying mechanism and a driving mechanism, the connecting seat of the adsorption mechanism is fixedly connected with the conveying mechanism, and the driving mechanism drives the movement of the conveying mechanism, and in turn drives the movement of the adsorption mechanism.

[0021] In some embodiments, the sorting assembly further comprises a control device, when the sorting frame has been aligned by the alignment mechanism, the control device controls the electromagnet assembly to be de-energized, so that the electromagnet assembly is reset to the intermediate position under the elastic biasing action of the second elastic reset member; the control device then controls the electromagnet assembly to be energized and controls the adsorption mechanism to move towards the sorting frame to allow the electromagnet assembly to magnetically adsorb the sorting frame; the control device then controls the adsorption mechanism to drive the sorting frame to move towards the inner end of the support mechanism.

[0022] In another aspect, the present application also provides a sorting device, comprising a rack and a plurality of sorting assemblies as described above, and the plurality of sorting assemblies are arranged on the rack in the vertical direction and / or the horizontal direction.

[0023] In yet another aspect, the present application also provides a sorting method for picking and placing a sorting frame, comprising:

[0024] using an adsorption mechanism to adsorb and pull a sorting frame to a support mechanism of a sorting assembly, wherein the support mechanism has opposite outer and inner ends, and the sorting frame enters the support mechanism from the outer end and moves towards the inner end;

[0025] during the movement of the sorting frame pulled by the adsorption mechanism, using an alignment mechanism to align the sorting frame to define the movement of the sorting frame on the support mechanism in a predetermined movement track;

[0026] after the sorting frame is aligned, the adsorption mechanism is de-energized to release the sorting frame and moves transversely to the center of the side of the sorting frame;

[0027] the adsorption mechanism is energized and moves towards the sorting frame to adsorb the sorting frame;

[0028] The adsorption mechanism continues to pull the sorting frame to move towards the inner end of the support mechanism.

[0029] In some embodiments, the step of powering on the adsorption mechanism and moving towards the sorting frame to adsorb the sorting frame includes the adsorption mechanism pushing the sorting frame towards the outer end of the support mechanism by a predetermined distance.

[0030] The sorting assembly provided by the present application can realize the effect of guiding by setting the guiding mechanism on the support mechanism, and when the pulled sorting frame has angle and / or distance deviation, the guiding mechanism can contact the sorting frame and limit the sorting frame to move on the support mechanism along the predetermined moving track, so that the sorting frame is adjusted and returned to the predetermined moving track, the angle and / or distance deviation is eliminated, the effect of guiding is realized, and the problem that the adsorption mechanism cannot adsorb the sorting frame due to the angle and / or distance deviation of the sorting frame caused by the improper placement position and / or posture of the sorting frame is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The structural schematic diagram of the sorting device provided by an embodiment of the present application is shown in FIG. 1.

[0032] Figure 2 The structural schematic diagram of the sorting assembly provided by an embodiment of the present application is shown in FIG. 1.

[0033] Figure 3 The structural schematic diagram of the sorting assembly provided by an embodiment of the present application is shown in FIG. 1. Figure 3 The structural schematic diagram of the sorting assembly provided by an embodiment of the present application is shown in FIG. 1.

[0034] Figure 4 The structural schematic diagram of the sorting assembly provided by an embodiment of the present application is shown in FIG. 1. Figure 2 The structural schematic diagram of the sorting assembly provided by an embodiment of the present application is shown in FIG. 1.

[0035] Figure 5 The structural schematic diagram of the sorting assembly provided by an embodiment of the present application is shown in FIG. 1. Figure 2 The structural schematic diagram of the sorting assembly provided by an embodiment of the present application is shown in FIG. 1.

[0036] Figure 6 The structural schematic diagram of the sorting assembly provided by an embodiment of the present application is shown in FIG. 1. Figure 5 The structural schematic diagram of the sorting assembly provided by an embodiment of the present application is shown in FIG. 1.

[0037] In the diagram: 10, Sorting assembly; 100, Sorting device; 200, Frame; 12, Support mechanism; 14, Traction mechanism; 16, Guiding mechanism; 18, Outer end; 20, Inner end; 24, Receiving groove; 26, First elastic reset component; 28, Rotating component; 30, Front end of rotating component; 32, Rear end of rotating component; 34, Horizontal plate; 36, Vertical plate; 38, Bending part; 40, Limiting component; 44, Column; 46, Adsorption mechanism; 48, Connecting seat; 50, Electromagnet assembly; 52, Second elastic reset component; 54, Guide rod; 56, Slider; 58, Support frame; 60, Electromagnet; 62, First mounting frame; 64, Second mounting frame; 66, Third elastic reset component; 68, Probe head; 70, Conveying mechanism; 72, Drive mechanism; 74, Slide seat; 76, Slide groove; 78, Protrusion. Detailed Implementation

[0038] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0039] It should be noted that all directional indications (such as up, down, left, right, front, back, inside, outside, top, bottom, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship between the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0040] It should also be noted that when a component is referred to as "fixed to" or "set on" another component, the component may be directly on the other component or there may be an intervening component present. When a component is referred to as "connected to" another component, it may be directly connected to the other component or there may be an intervening component present.

[0041] like Figure 1 As shown, an embodiment of the present invention provides a sorting component 10, applicable to a sorting device 100. The sorting device 100 includes a frame 200 and a plurality of sorting components 10 mounted on the frame 200. The plurality of sorting components 10 are arranged at intervals along the vertical and / or horizontal directions on the frame 200 to pick up and place picking boxes at multiple positions of the shelf in the vertical and / or horizontal directions. In this embodiment, the plurality of sorting components 10 are arranged at intervals along the vertical direction on the frame 200.

[0042] Please see Figures 2 to 4The sorting assembly 10 includes a support mechanism 12, a traction mechanism 14, and a guide mechanism 16. The support mechanism 12 supports the picking frame, the traction mechanism 14 connects to the picking frame to drive it into or out of the sorting assembly 10, and the guide mechanism 16 is movably mounted on the support mechanism 12. When the picking frame moves on the support mechanism 12 in the direction of entering the sorting assembly 10, the guide mechanism 16 contacts the picking frame to limit its movement on the support mechanism 12 along a predetermined trajectory, including the predetermined trajectory of the picking frame and the predetermined trajectory of the center of the picking frame. By providing a guiding mechanism 16 on the support mechanism 12, when the picking frame pulled by the traction mechanism 14 is not positioned correctly and / or has an incorrect posture (i.e., there is a distance and / or angle deviation), the guiding mechanism 16 can guide the picking frame connected to the traction mechanism 14 during the movement of the picking frame driven by the traction mechanism 14, so that the picking frame is aligned and returns to the predetermined movement trajectory. This avoids the problem that the distance and / or angle deviation of the picking frame will become larger and larger due to the incorrect placement position and / or posture of the picking frame, which would prevent the traction mechanism 14 from pulling the picking frame to move.

[0043] The support mechanism 12 includes an outer end 18 and an inner end 20. The outer end 18 serves as the entrance for the picking frame to enter the support mechanism 12, meaning the picking frame enters the sorting assembly 10 from the outer end to the inner end of the support mechanism 12. When the picking frame needs to enter the sorting assembly 10, the traction mechanism 14 moves from the inner end 20 to the outer end 18 to the entrance, connects with the picking frame, and drives the picking frame to move towards the inner end 20 on the support mechanism 12, allowing the picking frame to enter the sorting assembly 10.

[0044] Specifically, the inlet is also the outlet for the picking frame to leave the sorting component 10. When the picking frame needs to leave the sorting component 10, the traction mechanism 14 drives the picking frame to move from the inner end 20 to the outer end 18. After the picking frame passes through the inlet, the traction mechanism 14 disengages from the picking frame, and the picking frame leaves the sorting component 10.

[0045] In this embodiment, the support member has a receiving groove 24 in the middle, which extends from the inner end 20 to the outer end 18, and the traction mechanism 14 is installed in the receiving groove 24.

[0046] like Figure 2 and Figure 3As shown, in some embodiments, the guiding mechanism 16 has a first state and a second state, and the guiding mechanism 16 comprises a first elastic return member 26. When the sorting frame is driven by the traction mechanism 14 to move in the direction of entering the sorting assembly 10, i.e. from the outer end 18 to the inner end 20, the guiding mechanism 16 is moved from the first state to the second state against the elastic force of the first elastic return member 26. When the sorting frame is driven by the traction mechanism 14 to move in the direction of leaving the sorting assembly 10, i.e. from the inner end 20 to the outer end 18, the guiding mechanism 16 is moved from the second state to the first state under the elastic force of the first elastic return member 26, and finally the sorting frame is out of contact with the guiding mechanism 16. When the guiding mechanism 16 is moved from the first state to the second state, the first elastic return member 26 is deformed under the action of the guiding mechanism 16, thereby generating an elastic force. During the movement of the sorting frame in the direction of leaving the sorting assembly 10, the guiding mechanism 16 is automatically moved from the second state to the first state under the elastic force of the first elastic return member 26, so as to continue to guide the sorting frame entering the sorting assembly 10, without the need for manual switching of the state of the guiding mechanism 16, which is convenient to use.

[0047] The guiding mechanism 16 comprises two rotating members 28 rotatably installed on the support mechanism 12, and the two rotating members 28 are oppositely arranged at intervals. Each rotating member 28 is connected with the first elastic return member 26. The rotating member 28 can rotate relative to the support mechanism 12 under the action of the sorting frame and the first elastic return member 26, so as to switch between the first state and the second state.

[0048] The specific position of the rotating member 28 is not limited, which can be above the support mechanism 12 or below the support mechanism 12. In the embodiment, the two rotating members 28 are rotatably installed above the support mechanism 12.

[0049] It can be understood that the sorting frame can move between the two rotating members 28. When the sorting frame moves in the direction of entering the sorting assembly 10, the opposite sides of the sorting frame are in contact with the inner walls of the rotating members 28 and push the two rotating members 28 to rotate. Alternatively, two spaced protrusions can be arranged on the bottom of the sorting frame, so that the two rotating members 28 are located between the two protrusions. When the sorting frame moves in the direction of entering the sorting assembly 10, the two protrusions are in contact with the outer walls of the two rotating members 28, respectively. In the embodiment, the sorting frame is located between the two rotating members 28 and can slide between the two rotating members 28 following the traction mechanism 14.

[0050] In the embodiment, each rotating member 28 has opposite rotating member front end 30 and rotating member rear end 32, the rotating member front end 30 is located at the entrance, the sorting frame enters the sorting assembly 10 along the rotating member front end 30 to the rotating member rear end 32 direction. When the guide mechanism 16 is in the first state, the distance between the rotating member front end 30 of the two rotating members 28 is greater than the distance between the rotating member rear end 32 of the two rotating members 28, during the guide mechanism 16 from the first state to the second state, the distance between the two rotating member front ends 30 gradually decreases, and the distance between the two rotating member rear ends 32 gradually increases. From the outer end 18 to the inner end 20, the two rotating members 28 in the first state extend towards each other, forming a roughly eight-shaped, so that the distance between the two rotating members 28 gradually decreases, the distance between the two rotating members 28 at the entrance is the largest, facilitating the sorting frame to enter between the two rotating members 28, during the sorting frame moving towards the inner end 20 direction, the distance between the two rotating members 28 gradually decreases, the sorting frame will contact with the inner wall of the rotating member 28, and push the rotating member 28 to rotate relative to the support mechanism 12, so that the rotating member rear end 32 of the two rotating members 28 gradually opens outward, during the rotating member 28 rotating, the sorting frame will be pushed to move between the two rotating members 28, finally make the sorting frame straighten and move along the predetermined moving track, finally make the two rotating members 28 parallel, the guide mechanism 16 from the first state to the second state.

[0051] As shown in Figure 4 , the rotating member 28 is roughly L-shaped, including a horizontal plate 34 and a vertical plate 36, the horizontal plate 34 is rotationally connected with the support mechanism 12, for example, through a rotating shaft, the vertical plate 36 is fixed on the inner side of the horizontal plate 34 to guide the sorting frame.

[0052] Each rotating member front end 30 is provided with a bending portion 38, the two bending portions 38 extend away from the rotating member 28 in a gradually away from each other manner from the rotating member front end 30. The bending portion 38 is connected to the front end of the vertical plate 36, the two bending portions 38 extend away from the rotating member 28 in opposite directions, further increasing the size of the entrance, facilitating the sorting frame to enter the sorting assembly 10.

[0053] The support mechanism 12 is provided with two limiting mechanisms for limiting the two rotating members 28 respectively, the limiting mechanism includes at least two limiting members 40 spaced from each other, the rotating member 28 is located between the two limiting members 40. The limiting member 40 protrudes from the top of the support mechanism 12 and is spaced in the direction perpendicular to the movement direction of the traction mechanism 14, the rotating member 28 is located between the two limiting members 40, when the rotating member 28 rotates to the limiting member 40 in a certain direction, it will be blocked by the rotating member 28 and cannot continue to rotate in that direction, but only rotate in the opposite direction, thereby limiting the rotation angle of the rotating member 28.

[0054] In the embodiment, each limiting mechanism comprises two limiters 40, which are arranged close to the rear ends 32 of the rotating members. When the rear ends 32 of the rotating members are rotated to the limiters 40 on the outer side, the rear ends 32 of the rotating members cannot be further rotated outward, and at this time, the two rotating members 28 are parallel, and the guiding mechanism 16 is in the second state. When the rear ends 32 of the rotating members are rotated to the limiters 40 on the inner side, the rear ends 32 of the rotating members cannot be further rotated inward, and at this time, the two rotating members 28 are substantially in the shape of a splay, and the guiding mechanism 16 is in the first state.

[0055] The first elastic reset member 26 comprises a first reset spring, which is connected with the rotating member 28 and exerts a biasing force on the two rotating members 28 to make the rear ends 32 of the rotating members approach each other, i.e., exerts an elastic force on the rear ends 32 of the rotating members to make them approach each other. One end of the first reset spring is connected with the rotating member 28, and the other end is connected with the supporting mechanism 12. When the sorting frame moves in the direction of entering the sorting assembly 10 and pushes the rotating member 28 to rotate, the rotating member 28 will further compress or stretch the first reset spring, so that the first reset spring generates a corresponding elastic force. When the sorting frame moves a certain distance in the direction of leaving the sorting assembly 10, the rear ends 32 of the rotating members will approach each other under the action of the elastic force of the first reset spring, and finally automatically return to the first state.

[0056] The specific number of the first reset spring is not limited, and can be one first reset spring connected with each rotating member 28, or multiple first reset springs connected with each rotating member 28. In the embodiment, the number of the first reset spring is two, and one first reset spring is connected with each rotating member 28.

[0057] The specific position of the first reset spring is not limited, and can be arranged on the outer side of the rotating member 28, at this time, the first reset spring is in a compressed state; or can be arranged on the inner side of the rotating member 28, at this time, the first reset spring is in a stretched state. In the embodiment, the first reset spring is located on the inner side of the rotating member 28.

[0058] In the embodiment, the two ends of the first reset spring are respectively provided with hooks, and the horizontal plate 34 of the rotating member 28 and the supporting mechanism 12 are respectively provided with a stand 44, the two stands 44 are spaced from each other, and the hooks at the two ends of the first reset spring are respectively hung on the two stands 44. In other embodiments, a hanging hole can also be provided on the rotating member 28 and the supporting mechanism 12, and the hooks at the two ends of the first reset spring are respectively passed through the corresponding hanging holes.

[0059] Please refer to Figure 5 and Figure 6In some embodiments, the traction mechanism 14 comprises an adsorption mechanism 46 for adsorbing connection with the sorting frame, the adsorption mechanism 46 is movable relative to the support mechanism 12 to drive the sorting frame connected by adsorption to move into or out of the sorting assembly 10. In the present embodiment, the adsorption mechanism 46 is an electromagnetic adsorption mechanism, when the adsorption mechanism 46 is powered on, the adsorption mechanism 46 has magnetism, and the adsorption mechanism 46 can be matched with the sorting frame by magnetic adsorption to drive the sorting frame to move; when the adsorption mechanism 46 is powered off, the magnetism of the adsorption mechanism 46 disappears, and the adsorption mechanism 46 can be disconnected with the sorting frame.

[0060] The specific way in which the adsorption mechanism 46 moves relative to the support mechanism 12 is not limited, for example, it can be driven by a pneumatic cylinder, or it can be driven by a motor and a belt transmission structure or a chain transmission structure.

[0061] The adsorption mechanism 46 comprises a connecting seat 48 and an electromagnet assembly 50 mounted on the connecting seat 48, the connecting seat 48 is movable relative to the support mechanism 12 and drives the electromagnet assembly 50 to move together. The electromagnet assembly 50 can magnetically adsorb the sorting frame when powered on, and can be disconnected from the sorting frame by magnetic adsorption when powered off.

[0062] The electromagnet assembly 50 is movable relative to the connecting seat 48 along a transverse direction and has a middle position along the transverse direction, the transverse direction is perpendicular to the direction of the predetermined movement track. A second elastic return member 52 is provided between the connecting seat 48 and the electromagnet assembly 50, when the electromagnet 60 deviates from the middle position in the transverse direction, the second elastic return member 52 applies an elastic bias to the electromagnet assembly 50 towards the middle position, that is, an elastic force is applied to the electromagnet assembly 50 towards the middle position, so that the electromagnet assembly 50 moves to the middle position. The middle position in the present text refers to: when the electromagnet assembly 50 is located at this position, the center of the electromagnet assembly 50 in the transverse direction is located on the predetermined movement track. During the guiding process of the sorting frame by the guiding mechanism 16, that is, when the rotating member 28 pushes the sorting frame to move in the transverse direction, the sorting frame drives the electromagnet assembly 50 connected by adsorption to move in the transverse direction, and the position of the electromagnet assembly 50 in the transverse direction will deviate. After the sorting frame is guided, the electromagnet assembly 50 is disconnected from the sorting frame, and the electromagnet assembly 50 can automatically recover to the middle position under the action of the second elastic return member 52, and then is powered on to adsorb connection with the sorting frame to drive the sorting frame to move towards the inner end 20, avoiding the deviation of the sorting frame from the predetermined movement track due to the deviation of the electromagnet assembly 50 from the center position during driving the sorting frame to move.

[0063] The sorting assembly 10 further comprises a control device, when the sorting frame has been aligned by the alignment mechanism 16, the control device controls the electromagnetic assembly 50 to be powered off, so that the electromagnetic assembly 50 is reset to the intermediate position under the action of the second elastic reset member 52, and then the control device controls the electromagnetic assembly 50 to be powered on and controls the suction mechanism 46 to drive the sorting frame to move along the predetermined movement track towards the inner end 20 of the support mechanism 12.

[0064] As shown in Figure 5 The connecting seat 48 is provided with a guide rod 54, and the electromagnetic assembly 50 is provided with a sliding block 56, the sliding block 56 is movably sleeved on the guide rod 54 and can slide in the transverse direction, i.e., the axial direction of the guide rod 54, and the second elastic reset member 52 is a second reset spring arranged between the sliding block 56 and the connecting seat 48. When the electromagnetic assembly 50 moves with the sorting frame in the transverse direction, the sliding block 56 slides on the guide rod 54 and compresses the second elastic reset spring, and when the electromagnetic assembly 50 is separated from the sorting frame, the sliding block 56 will move in the opposite direction under the elastic force of the second reset spring and drive the electromagnetic assembly 50 to move, so that the electromagnetic assembly 50 returns to the intermediate position. The guide rod 54 has a guiding effect, and the cooperation of the sliding block 56 and the guide rod 54 enables the sliding block 56 and the electromagnetic assembly 50 to move only in the axial direction of the guide rod 54.

[0065] The specific number of the guide rod 54 and the sliding block 56 is not limited, which can be one or multiple. In the embodiment, the number of the guide rod 54 and the sliding block 56 is two respectively, and the two guide rods 54 are arranged in parallel at intervals, and the two sliding blocks 56 are movably sleeved on the two guide rods 54 respectively.

[0066] In the embodiment, the connecting seat 48 is substantially U-shaped, the two ends of the guide rod 54 are connected with the two side walls of the connecting seat 48 respectively, the sliding block 56 can slide in the axial direction of the guide rod 54 between the two side walls of the connecting member, and the second reset spring is located between the sliding block 56 and the side wall of the connecting member.

[0067] The specific number of the second reset spring is not limited, which can be one or multiple. In the embodiment, the number of the second reset spring is two, and the two second reset springs are sleeved on the same guide rod 54, and the two second reset springs are located on the opposite sides of the sliding block 56 respectively.

[0068] The electromagnetic assembly 50 comprises a support frame 58 and an electromagnet 60 movably mounted on the support frame 58, and the support frame 58 is fixedly connected with the sliding block 56 to move with the sliding block 56 and drive the electromagnet 60 to move. Since the electromagnet 60 is movably mounted on the support frame 58, when the rotating member 28 pushes the sorting frame to change the placement posture, the electromagnet 60 will rotate relative to the support frame 58 under the action of the sorting frame.

[0069] The specific number of electromagnets 60 on the support frame 58 is not limited, and can be one or multiple. In this embodiment, at least two electromagnets 60 are movably mounted on the support frame 58 and are arranged in a transverse direction. Specifically, the number of electromagnets 60 is two, and the two electromagnets 60 are symmetrically distributed on both sides of the predetermined moving track of the sorting frame.

[0070] As shown in Figure 6 The electromagnet 60 can rotate relative to the support frame 58 in the vertical axis Z and the horizontal axis X, and the horizontal axis is parallel to the transverse direction. The vertical axis is in the vertical direction, and the horizontal axis is in the horizontal direction. The electromagnet 60 can rotate relative to the support frame 58 in both the vertical direction and the horizontal direction, that is, the electromagnet 60 has rotational freedom in two directions, making the electromagnet 60 more flexible.

[0071] In this embodiment, the electromagnet assembly 50 includes a first mounting frame 62 and a second mounting frame 64. The first mounting frame 62 is movably connected to the support frame 58 in the horizontal direction and is fixed relative to the support frame 58 in the vertical direction. The second mounting frame 64 is fixed relative to the first mounting frame 62 in the horizontal direction and is movably connected to the first mounting frame 62 in the vertical direction. The electromagnet 60 is fixed on the second mounting frame 64. When the first mounting frame 62 moves relative to the support frame 58 in the horizontal direction, the second mounting frame 64 and the electromagnet 60 move together. When the second mounting frame 64 moves relative to the first mounting frame 62 in the vertical direction, the electromagnet 60 moves together, so that the electromagnet 60 can move relative to the support frame 58 in both the horizontal direction and the vertical direction.

[0072] A third elastic return member 66 is arranged between the electromagnet 60 and the support frame 58. After the electromagnet 60 rotates relative to the vertical axis or the horizontal axis, when the electromagnet 60 is disconnected from the sorting frame, the electromagnet 60 returns to the original position under the action of the third elastic return member 66, that is, the position of the electromagnet 60 when the electromagnet assembly 50 is in the middle position. Specifically, the third elastic return member 66 is a third return spring. After the electromagnet 60 rotates relative to the support frame 58 under the action of the sorting frame, the electromagnet 60 will stretch the third return spring. When the electromagnet 60 is separated from the sorting frame, the electromagnet 60 will automatically reset to the original position under the elastic force of the third return spring.

[0073] The electromagnet assembly 50 further includes a detection head 68 mounted on the support frame 58, which is used to detect whether the sorting frame exists. When the electromagnet assembly 50 moves to the entrance to grab the sorting frame, the detection head 68 first detects whether there is a sorting frame in front of the electromagnet assembly 50. When the detection head 68 detects a sorting frame, the electromagnet assembly 50 is energized, so that the electromagnet 60 has magnetism to adsorb the sorting frame. When the detection head 68 does not detect a sorting frame, the electromagnet assembly 50 is not energized, so as to avoid the empty grabbing phenomenon.

[0074] In this embodiment, there are two electromagnets 60, and the distance between the probe head 68 and the two electromagnets 60 is the same in the horizontal direction.

[0075] like Figure 3 and Figure 5 As shown, in some embodiments, the traction mechanism 14 further includes a transmission mechanism 70 and a drive mechanism 72. The transmission mechanism is fixedly connected to the connecting seat 48 of the adsorption mechanism 46. The drive mechanism 72 is driven by the transmission mechanism to drive the transmission mechanism 70 to move. The transmission mechanism then drives the adsorption mechanism 46 to move, and the adsorption mechanism 46 can drive the picking box connected to it to move. Specifically, the drive mechanism 72 includes a motor, and the transmission mechanism includes a belt drive structure. The belt drive structure is installed in the receiving groove 24. The connecting seat 48 of the adsorption mechanism 46 is fixedly connected to the belt of the belt drive structure through a support member 73. Therefore, when the motor drives the belt to move, the belt can drive the adsorption mechanism 46 to move together.

[0076] The traction mechanism 14 also includes a slide 74 located within the receiving groove 24, and a belt drive structure is located within the slide 74. The slide 74 has a groove 76, and the support member 73 has a protrusion 78 that movably inserts into the groove 76. When the adsorption mechanism 46 moves along with the belt, the protrusion 78 slides within the groove 76. The cooperation between the protrusion 78 and the groove 76 allows the adsorption mechanism 46 to operate more smoothly, reducing the risk of swaying during movement.

[0077] The present invention also provides a picking method for picking and placing picking boxes, the picking method comprising:

[0078] The picking frame is moved to a support mechanism 12 of a sorting assembly 10 using an adsorption mechanism 46 and traction, wherein the support mechanism 12 has an outer end 18 and an inner end 20, and the picking frame enters the support mechanism 12 from the outer end 18 and moves to the inner end 20.

[0079] During the process of the adsorption mechanism 46 pulling the picking frame to move, a guiding mechanism 16 is used to guide the picking frame to limit the picking frame to move on the support mechanism 12 along a predetermined movement trajectory.

[0080] After the picking frame is aligned, the adsorption mechanism 46 is de-energized, releases the picking frame, and moves laterally to the center of the side of the picking frame.

[0081] The adsorption mechanism 46 is powered on and moves toward the picking box to adsorb the picking box;

[0082] The adsorption mechanism 46 continues to pull the picking frame toward the inner end 20 of the support mechanism 12.

[0083] By setting the guiding mechanism 16, the guiding mechanism 16 guides the sorting frame to move along the predetermined moving track, avoiding the influence of the subsequent sorting operation caused by the improper position or posture of the sorting frame. Moreover, after the guiding of the sorting frame, the suction mechanism 46 is powered off to release the sorting frame, the suction mechanism 46 moves to the center of the side of the sorting frame in the transverse direction, and then is powered on to suck the sorting frame, avoiding the problem that the suction mechanism 46 deviates from the middle position and causes the sorting frame to deviate from the predetermined moving track again during the movement of the sorting frame.

[0084] The step of powering on the suction mechanism 46 and moving towards the sorting frame to suck the sorting frame includes that the suction mechanism 46 pushes the sorting frame towards the outer end 18 of the supporting mechanism 12 by a predetermined distance. After the suction mechanism 46 is powered on to suck the sorting frame again, the suction mechanism 46 pushes the sorting frame to move outward by a certain distance, ensuring that the suction mechanism 46 can suck the sorting frame.

[0085] The sorting assembly of the present application sets the guiding mechanism on the supporting mechanism. When the angle and / or distance deviation of the sorting frame pulled by the traction mechanism exists during the movement of the sorting frame on the supporting mechanism, the guiding mechanism can contact the sorting frame and limit the sorting frame to move on the supporting mechanism along the predetermined moving track, so that the sorting frame is adjusted and returns to the predetermined moving track, eliminating the angle and / or distance deviation, achieving the effect of guiding, avoiding the problem that the distance and / or angle deviation of the sorting frame becomes larger and larger due to the improper position and / or posture of the sorting frame, and causing the suction mechanism to fail to suck the sorting frame.

[0086] The above-mentioned embodiments are only preferred embodiments of the present application, and cannot be used to limit the scope of protection of the present application. Any non-essential changes and replacements made by those skilled in the art on the basis of the present application are within the scope of protection of the present application.

Claims

1. A sorting assembly for picking and placing a sorting bin, characterized by, The application relates to a sorting assembly, comprising: a supporting mechanism for supporting the sorting frame, the supporting mechanism comprising opposite outer ends and inner ends, the outer ends serving as an entrance for the sorting frame to enter the supporting mechanism; a traction mechanism comprising an adsorption mechanism for adsorbing the sorting frame, the adsorption mechanism being movable relative to the supporting mechanism to drive the sorting frame adsorbed to move into or out of the sorting assembly; a guiding mechanism movably mounted relative to the supporting mechanism, the guiding mechanism being used to contact the sorting frame to limit the sorting frame to move on the supporting mechanism along a predetermined moving track when the sorting frame moves on the supporting mechanism; the adsorption mechanism comprises a connecting base and an electromagnet assembly mounted on the connecting base to magnetically adsorb the sorting frame, the electromagnet assembly being movable along a transverse direction relative to the connecting base and having a middle position along the transverse direction, the transverse direction being perpendicular to the direction of the predetermined moving track; a second elastic reset member is arranged between the connecting base and the electromagnet assembly, the second elastic reset member elastically biasing the electromagnet assembly towards the middle position when the electromagnet assembly deviates from the middle position along the transverse direction; when the electromagnet assembly is powered off, the electromagnet assembly is separated from the magnetic adsorption with the sorting frame and moves to the middle position under the action of the second elastic reset member, and when the electromagnet assembly is powered on, the electromagnet assembly is re-magnetically adsorbed with the sorting frame.

2. The sorting assembly of claim 1, wherein, The guiding mechanism has a first state and a second state, and the guiding mechanism comprises a first elastic reset member, wherein when the sorting frame is driven by the traction mechanism to move in a direction of entering the sorting assembly, the guiding mechanism is moved from the first state to the second state against the elastic force of the first elastic reset member, and when the sorting frame is driven by the traction mechanism to move in a direction of leaving the sorting assembly, the guiding mechanism is moved from the second state to the first state under the action of the elastic force of the first elastic reset member.

3. The sorting assembly of claim 2, wherein, The guiding mechanism comprises two spaced rotating members rotatably mounted on the supporting mechanism, each of the rotating members is connected with the first elastic reset member, each of the rotating members has opposite front ends and rear ends, the front ends of the two rotating members are located at the entrance, in the first state, the distance between the front ends of the two rotating members is greater than the distance between the rear ends of the two rotating members, and in the second state, the two rotating members are parallel.

4. The sorting assembly of claim 3, wherein, The first elastic reset member comprises a first reset spring, the first reset spring is connected with the rotating members and exerts a biasing force on the two rotating members to make the rear ends of the two rotating members approach each other.

5. The sorting assembly of claim 3, wherein, The supporting mechanism is provided with two limiting structures for limiting the two rotating members respectively, the limiting structure comprises at least two spaced limiting members, and the rotating members are located between the two limiting members.

6. The sorting assembly of claim 3, wherein, Each of the front ends of the rotating members is provided with a bending portion, and the two bending portions extend away from the rotating members in a gradually far-away manner from the front ends of the rotating members.

7. The sorting assembly according to any one of claims 1-6, characterized in that, The connecting seat is provided with a guide rod, the electromagnet assembly is provided with a sliding block, the sliding block is movably sleeved on the guide rod and can slide along the transverse direction, and the second elastic reset member includes a second reset spring arranged between the sliding block and the connecting seat.

8. The sorting assembly of claim 7, wherein, The electromagnet assembly includes a support frame and at least two electromagnets movably arranged on the support frame, the support frame is fixedly connected with the sliding block, and the at least two electromagnets are arranged in the transverse direction.

9. The sorting assembly of claim 8, wherein, Each electromagnet can rotate relative to the support frame on a vertical axis and a horizontal axis, and the horizontal axis is parallel to the transverse direction.

10. The singulating assembly of claim 9, wherein, A third elastic reset member is arranged between the electromagnet and the support frame, and when the electromagnet is disconnected from the sorting frame after rotating relative to the vertical axis or the horizontal axis, the electromagnet is restored to the original position under the action of the third elastic reset member.

11. The singulating assembly of claim 8, wherein, The number of electromagnets is two, and the electromagnet assembly further includes a detection head arranged on the support frame, and the distance between the detection head and the two electromagnets is the same in the transverse direction.

12. The singulating assembly of any of claims 1-6, wherein, The traction mechanism further includes a conveying mechanism and a driving mechanism, the connecting seat of the adsorption mechanism is fixedly connected with the conveying mechanism, and the driving mechanism drives the conveying mechanism to move, thereby driving the adsorption mechanism to move.

13. The singulating assembly of any of claims 1-6, wherein, The sorting assembly further includes a control device, when the sorting frame is guided by the guiding mechanism, the control device controls the electromagnet assembly to be powered off, so that the electromagnet assembly is reset to the intermediate position under the elastic biasing action of the second elastic reset member; then the control device controls the electromagnet assembly to be powered on and controls the adsorption mechanism to move towards the sorting frame to enable the electromagnet assembly to magnetically adsorb the sorting frame; then the control device controls the adsorption mechanism to drive the sorting frame to move towards the inner end of the support mechanism.

14. A sorting device, characterized in that The sorting assembly includes a rack and a plurality of sorting assemblies as claimed in any one of claims 1-13, and the plurality of sorting assemblies are arranged in the vertical direction and / or the horizontal direction on the rack.

15. A sorting method applied to the sorting assembly according to any one of claims 1-13, characterized in that, The sorting assembly includes: Using an adsorption mechanism to adsorb and pull a sorting frame to a support mechanism of a sorting assembly, wherein the support mechanism has opposite outer and inner ends, and the sorting frame enters the support mechanism from the outer end and moves towards the inner end; During the movement of the sorting frame pulled by the adsorption mechanism, a guiding mechanism is used to guide the sorting frame to define a predetermined movement track of the sorting frame on the support mechanism; After the sorting frame is guided, the adsorption mechanism is powered off to release the sorting frame and moves transversely to the center of the side of the sorting frame; The adsorption mechanism is powered on and moves towards the sorting frame to adsorb the sorting frame; The adsorption mechanism continues to pull the sorting frame to move towards the inner end of the support mechanism.

16. The sorting method according to claim 15, characterized in that, The step of powering on the adsorption mechanism and moving towards the sorting frame to adsorb the sorting frame includes that the adsorption mechanism pushes the sorting frame towards the outer end of the support mechanism by a predetermined distance.

Images