A multi-directional clamping combined gripper of an intelligent sorting device and the intelligent sorting device

Abstract

The application discloses a multi-directional clamping combined gripper of an intelligent sorting equipment and the intelligent sorting equipment, which can simultaneously clamp different positions of express packages through multiple clamping components, can put express packages of different sizes into collecting barrels, and reduces the combined gripper structure of the falling of express packages in the moving process. The combined gripper structure is characterized by comprising a fixed component and a clamping component, the clamping component is arranged on the side of the fixed component, the number of the clamping components is greater than 1, multiple clamping components are equidistantly arranged along the side of the fixed component, the fixed component is composed of a fixed disc and a connecting disc, and the clamping component is composed of a fourth telescopic rod, a T-shaped sliding block, a sliding connecting plate, a first gripper arm, a second gripper arm, a third gripper arm, a gripper connecting piece, a sliding groove, a fifth telescopic rod, a sliding connecting block and a gripper.

Description

TECHNICAL FIELD

[0001] The multi-directional clamping combined gripper of the intelligent sorting equipment and the intelligent sorting equipment relate to a combined gripper structure installed on an intelligent sorting equipment, belong to the technical field of intelligent logistics, and particularly relate to a combined gripper structure capable of clamping different positions of express packages at the same time through multiple clamping components, capable of putting express packages of different sizes into collection barrels, and reducing the falling of express packages during movement. BACKGROUND

[0002] With the development of society, online shopping has become the main shopping way of consumers. In the process of sending express packages from the origin to the destination, the express packages need to be sorted and stacked according to different destinations to realize rapid transfer. The current sorting method is mainly manual, but manual sorting is low in efficiency, high in labor intensity, and prone to sorting errors, which causes the express packages to fail to reach the correct destination. Therefore, intelligent sorting lines are applied. The existing intelligent sorting is to automatically read the bar code of the express package through the read-write device arranged on the conveying belt, then the control system receives the data from the read-write device, processes the read data according to the preset sorting rules, and generates a sorting instruction, and finally the sorting device such as a push rod, a chute or a pneumatic device sorts the express packages of different destinations into the corresponding containers according to the sorting instruction issued by the control system. However, when the bar code of the express package is not directly opposite to the read-write device, the existing intelligent sorting method cannot automatically identify the destination of the express package, the control system cannot issue the correct sorting instruction for the express package, and therefore the sorting device cannot sort the express package into the corresponding container, which causes the express package to stay on the conveying belt for a long time or enter the non-corresponding container, and the sorting efficiency and accuracy are low.

[0003] The disclosure No. CN209792017U discloses a carousel sorting machine, including a package supply system, a carousel system arranged at the outlet of the package supply system, and a plurality of bag drop frames arranged outside the carousel system. The package supply system includes a lower package section, an information acquisition section, a fast lower package section arranged in turn in the lower package direction, and a servo motor for driving the lower package section and the fast lower package section. The carousel system includes a main support fixed frame, a carousel support and a driving motor. The outer side of the carousel support is provided with an electric roller corresponding to the bag drop frame, and a baffle is arranged between adjacent electric rollers. The electric roller and the bag drop frame are provided with a guide groove, and one side of the guide groove is provided with a first inclined plate inclined in the direction opposite to the rotation direction of the carousel support. The above-mentioned carousel sorting machine collects the information of the goods through the code reading camera, and sorts the goods into different bag drop frames according to the information of the goods, but when the barcode of the goods is not directly opposite to the code reading camera, the above-mentioned carousel sorting machine cannot automatically identify the information of the goods, and cannot sort the goods, resulting in that the goods stay on the carousel support for a long time or enter the corresponding bag drop frame, and the sorting efficiency and accuracy are low.

[0004] In order to improve the above problems, the applicant has filed another Chinese invention patent application with the title of "Intelligent sorting equipment", when the code reader cannot collect the barcode data of the express package, and the control system cannot identify the destination in the barcode data, the support mechanism cooperates with the clamping mechanism to sort all the express packages whose barcode destinations cannot be recognized by the reader into the collection barrel through the first clamping jaw for subsequent re-sorting. The extension range of the first clamping jaw in the above-mentioned intelligent sorting equipment is limited, which can easily clamp and move small-sized express packages. For large-sized express packages, the first clamping jaw cannot effectively clamp the express packages or can only clamp part of the express packages. In the process of moving the express packages to the collection barrel, the express packages may fall off, the packages cannot enter the collection barrel, and even the express packages are damaged, reducing the sorting efficiency. SUMMARY

[0005] In order to improve the above situation, the multi-directional clamping combined clamping jaw of the intelligent sorting equipment and the intelligent sorting equipment can clamp different positions of the express package through multiple clamping components at the same time, can put express packages of different sizes into the collection barrel, and reduce the falling of the express packages in the moving process.

[0006] The multi-directional clamping combined clamping jaw of the intelligent sorting equipment and the intelligent sorting equipment are implemented as follows: the multi-directional clamping combined clamping jaw of the intelligent sorting equipment includes a fixed component and a clamping component,

[0007] Its characterized in that, the said clamping assembly is placed on the side of the said fixed assembly, the number of the said clamping assembly is more than one, and multiple said clamping assemblies are equidistantly arranged along the side of the said fixed assembly,

[0008] The said fixed assembly is composed of a fixed disc and a connecting disc,

[0009] The said fixed disc is placed in the middle of the said connecting disc, and the outer diameter of the said fixed disc is smaller than that of the said connecting disc,

[0010] Preferably, the said fixed disc and the said connecting disc are both hollow structures,

[0011] The said clamping assembly is composed of a fourth telescopic rod, a T-shaped sliding block, a sliding connecting plate, a first clamping jaw arm, a second clamping jaw arm, a third clamping jaw arm, a clamping jaw connecting piece, a sliding groove, a fifth telescopic rod, a sliding connecting block and a clamping jaw,

[0012] One end of the said fourth telescopic rod is placed on the side of the said fixed disc,

[0013] One end of the said sliding connecting plate is placed on the side of the said connecting disc,

[0014] Preferably, one end of the said fourth telescopic rod is detachably placed on the side of the said fixed disc, and one end of the said sliding connecting plate is detachably placed on the side of the said connecting disc,

[0015] The said sliding connecting plate is provided with a sliding groove, the said sliding groove is a structure with both ends closed, and the depth of the said sliding groove is equal to the thickness of the said sliding connecting plate,

[0016] The other end of the said fourth telescopic rod is provided with a T-shaped sliding block, the said T-shaped sliding block corresponds to the said sliding groove, the other end of the said fourth telescopic rod is telescopically placed on the said sliding connecting plate through the cooperation of the said T-shaped sliding block and the said sliding groove, and the said T-shaped sliding block and the said sliding groove are fixed through fastening bolts,

[0017] The bottom surface of the said T-shaped sliding block is placed on the top surface of the said sliding connecting block, and the top surface of the said sliding connecting block and the bottom surface of the said sliding connecting plate are in slidable contact,

[0018] One end of the said fifth telescopic rod is placed in the middle of the bottom surface of the said sliding connecting block, and the other end of the said fifth telescopic rod is provided with a clamping jaw connecting piece,

[0019] The two sides of the bottom surface of the said sliding connecting block are respectively correspondingly hingedly provided with one end of the said first clamping jaw arm,

[0020] The other end of the said first clamping jaw arm is respectively hingedly connected with one end of the said second clamping jaw arm,

[0021] The other end of the said second clamping jaw arm is respectively hingedly connected with the two ends of the said clamping jaw connecting piece,

[0022] One end of the third jaw arm is hingedly connected to the two ends of the jaw connector respectively, and the one end of the third jaw arm is located below the other end of the second jaw arm,

[0023] The other end of the third jaw arm is correspondingly arranged at one end of the jaw, and the height of the third jaw arm gradually decreases from one end to the other end,

[0024] Further, the side surface of the jaw is provided with flexible pads, and the flexible pads are one-to-one corresponding to the plurality of jaws.

[0025] Further, the jaw is replaced by an arc-shaped hook, and the other end of the third jaw arm is correspondingly arranged at one end of the arc-shaped hook, and the extension lines of the other ends of the two arc-shaped hooks coincide with the extension line of the other end of the fifth telescopic rod.

[0026] The application also relates to an intelligent sorting device, which comprises a supporting mechanism, a clamping mechanism, a rotating mechanism, a sorting mechanism and a conveying mechanism,

[0027] The supporting mechanism comprises a support, a camera, a first sliding block, a base, a first sliding groove and a second telescopic rod,

[0028] The support comprises a plurality of support assemblies arranged at equal angles, and each support assembly comprises a support horizontal rod and a support vertical rod, one end of the support vertical rod is arranged on the base, one end of the support horizontal rod is arranged vertically on the side surface of the other end of the support vertical rod, and the other ends of the plurality of support horizontal rods are connected,

[0029] The bottom surface of the support horizontal rod is correspondingly provided with a camera, and the camera is close to one end of the support horizontal rod,

[0030] The bottom surface of the support horizontal rod is provided with a first sliding groove,

[0031] The second telescopic rod is slidably arranged in the first sliding groove, one end of the second telescopic rod is close to the other end of the support horizontal rod, and the first sliding groove side wall is fixedly connected,

[0032] The side surface of the first sliding block is arranged at the other end of the second telescopic rod, and the first sliding block corresponds to the first sliding groove,

[0033] The clamping mechanism comprises a first connecting arm, a second connecting arm, a third telescopic rod, a third connecting arm, a fourth connecting arm, a fifth connecting arm, a first telescopic rod, a first jaw, a fixing piece, a first connecting piece, a connecting shaft and a second connecting piece,

[0034] One end of the first connecting arm is placed on the bottom surface of the first sliding block, the other end of the first connecting arm is vertically provided with one end of the second connecting arm, the other end of the second connecting arm is vertically provided with one end of the third telescopic rod, the height of the third telescopic rod gradually decreases from one end to the other end,

[0035] The other end of the third telescopic rod is vertically placed on one end side of the third connecting arm, the other end of the third connecting arm is vertically placed on one end side of the fifth connecting arm, the height of the third connecting arm remains unchanged from one end to the other end,

[0036] The other end of the fifth connecting arm is vertically placed on one end side of the fourth connecting arm, the height of the fifth connecting arm remains unchanged from one end to the other end, and the height of the fourth connecting arm gradually decreases from one end to the other end,

[0037] One end of the first telescopic rod is placed on the other end of the fourth connecting arm, and the other end of the first telescopic rod is provided with a fixing member,

[0038] The first connecting member and the second connecting member are respectively sleeved on the telescopic joint of the first telescopic rod through the through hole opened in the middle, the distance from the first connecting member to the fixing member is less than the distance from the second connecting member to the fixing member, and the length of the first connecting member is greater than the length of the second connecting member,

[0039] The two ends of the second connecting member are respectively correspondingly hingedly provided with one end of the first clamping jaw, the two ends of the first connecting member are respectively correspondingly hingedly provided with one end of the connecting shaft, and the other end of the connecting shaft is correspondingly hingedly placed at one third of the first clamping jaw,

[0040] The extension line of the other end of the two first clamping jaws coincides with the extension line of the other end of the first telescopic rod,

[0041] The rotating structure is composed of a bottom plate, a motor fixing shell, a driven turntable, a collection barrel, a rotating shaft, a driving turntable, a support rod, a U-shaped support arm, a connecting disc, a second sliding groove and a second sliding block,

[0042] The bottom plate is located in the middle of the plurality of bases,

[0043] A second sliding groove is opened on the top surface of the bottom plate, the second sliding groove is a circular ring structure, and the center of the second sliding groove coincides with the center of the bottom plate,

[0044] Second sliding blocks are correspondingly provided on both sides of the bottom surface of the U-shaped support arm, the second sliding blocks correspond to the second sliding groove, and the second sliding blocks and the second sliding groove are fixed through fastening bolts,

[0045] There are two U-shaped support arms, and the bottom surfaces of the two U-shaped support arms are cross-connected in a cross shape,

[0046] One end of the rotating shaft is placed in the center of the top surface of the bottom plate through a bearing, and the other end of the rotating shaft is placed at the cross connection of the bottom surfaces of the two U-shaped support arms,

[0047] The collecting barrel is placed on the inner bottom surface of the two U-shaped support arms, and has a cylindrical structure with an open top surface,

[0048] The two ends of the U-shaped support arm are respectively placed on the bottom surface of the driven turntable, and the driven turntable has a circular ring structure,

[0049] The top surface edge of the bottom plate is provided with a motor fixing shell, and the driving motor is placed in the motor fixing shell,

[0050] One end of the rotating shaft is connected with the motor shaft of the driving motor through the through hole opened on the top surface of the motor fixing shell, and a bearing is arranged between the rotating shaft and the motor fixing shell, and the other end of the rotating shaft is placed on the bottom surface of the driving turntable, and the driving turntable is engaged with the driven turntable,

[0051] One end of the support rod is placed on the top surface of the driven turntable, and the other end of the support rod is placed on the bottom surface of the connecting disc,

[0052] The connecting disc has a circular ring structure, and is coincided with the center of the driven turntable and the collecting barrel, the outer diameter of the connecting disc is larger than that of the driven disc, and the edge of the connecting disc is flush with the edge of the bottom plate,

[0053] The top surface of the collecting barrel is connected with the inner side edge of the connecting disc through the inner side of the driven turntable, and the side edge of the collecting barrel is connected with the inner side edge of the driven turntable,

[0054] Preferably, the support rod has a plurality of support rods, and the plurality of support rods are arranged equidistantly along the top surface of the driven turntable,

[0055] Preferably, the collecting barrel is detachably placed on the inner bottom surface of the two U-shaped support arms, the top surface of the collecting barrel and the inner side edge of the connecting disc are detachably connected, and the side edge of the collecting barrel and the inner side edge of the driven turntable are detachably connected,

[0056] Preferably, the top surface of the collecting barrel is provided with an ultrasonic ranging module,

[0057] The sorting mechanism is composed of a classification barrel, a second conveying belt, a first engaging gear, a second engaging gear, a rotating motor and a U-shaped baffle,

[0058] The top surface of the connecting disc is provided with a U-shaped baffle, and the opening of the U-shaped baffle is flush with the edge of the connecting disc,

[0059] Preferably, the U-shaped baffle has a plurality of U-shaped baffles, and the plurality of U-shaped baffles are arranged equidistantly along the top surface of the connecting disc,

[0060] The connecting disc is provided with a plurality of first rotating motors, and the plurality of first rotating motors correspond to the plurality of U-shaped baffles, and the first rotating motor is close to the side surface of the U-shaped baffle,

[0061] The inner side surface of the U-shaped baffle is rotatably provided with a second meshing gear,

[0062] The motor shaft of the first rotating motor is connected to the wheel shaft of the second meshing gear through the through hole formed in the side surface of the U-shaped baffle,

[0063] The connecting disc and the corresponding position of the U-shaped baffle are hollow structures, and the two ends of the hollow structure are respectively provided with first rotating rollers, and the two first rotating rollers are connected through a second conveying belt, and the two sides of the second conveying belt are respectively provided with first meshing gears,

[0064] Preferably, the first meshing gear has a plurality of first meshing gears, and the plurality of first meshing gears are arranged equidistantly along the length direction of the two sides of the second conveying belt, and the gap between the first meshing gear and the two adjacent second meshing gears is meshed,

[0065] The bottom plate and the supporting vertical rod are provided with classification barrels, and the plurality of classification barrels correspond to the plurality of second conveying belts, and the classification barrel is an open structure at the top surface,

[0066] Preferably, the top surface of the classification barrel is provided with an ultrasonic ranging module,

[0067] The transmission mechanism is composed of a first conveying belt, a supporting leg, a side baffle, a reader and a U-shaped supporting rod,

[0068] The transmission mechanism is located between the two adjacent bases,

[0069] The supporting leg has two supporting legs, and the top of the supporting leg is respectively arranged on the side surface of the side baffle,

[0070] A main second rotating roller and a plurality of slave second rotating rollers are arranged between the two side baffles, one of the side baffles is provided with a second rotating motor, the motor shaft of the second rotating motor is connected to one end of the main second rotating roller through the through hole formed in the side surface of the side baffle, the other end of the main second rotating roller is arranged on the side surface of the other side baffle, and the two ends of the plurality of slave second rotating rollers are respectively arranged on the side surface of the two side baffles,

[0071] One said main second rotating roller and a plurality of said slave second rotating rollers are connected by a first conveyor belt, one end of said first conveyor belt is close to said connecting disc, and there is a small gap between said first conveyor belt and said second conveyor belt,

[0072] Two ends of a U-shaped support rod are respectively arranged on the side surfaces of two said side plates, the U-shaped support rod is arranged above said first conveyor belt and close to the other end of said first conveyor belt, and a reader is arranged on the inner top surface of said U-shaped support rod,

[0073] Preferably, said intelligent sorting device further comprises a control system, said control system comprising a signal converter, a data processor and a controller,

[0074] Said signal converter is arranged on said support, said data processor is arranged on said support, and said controller is arranged on said support,

[0075] Said camera and said reader are connected with said signal converter through data lines,

[0076] Said first telescopic rod, said second telescopic rod, said third telescopic rod, said fourth telescopic rod, said fifth telescopic rod, said first rotating motor, said second rotating motor and said driving motor are connected with said controller through data transmission lines,

[0077] Said signal converter is connected with said data processor through data transmission lines, and said data processor is connected with said controller through data transmission lines,

[0078] Said signal converter can convert the image data collected by said camera and the electrical signal of the bar code data of the express package collected by said reader into digital signals,

[0079] Said controller can be implemented by one or at least two application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components, for executing instructions of a data processing device,

[0080] Said data processor and said signal converter interact with each other,

[0081] When said control system is executed, the following steps are mainly implemented:

[0082] Before sorting the express package, the control system presets the destination of the express package corresponding to each U-shaped baffle in advance, for example, No. 1 U-shaped baffle corresponds to Jiangsu Province, No. 2 U-shaped baffle corresponds to Shaanxi Province, No. 3 U-shaped baffle corresponds to Zhejiang Province, and so on. The plurality of U-shaped baffles and the plurality of classification barrels correspond one by one, for example: the express package on No. 1 U-shaped baffle is sorted into No. 1 classification barrel, the express package on No. 2 U-shaped baffle is sorted into No. 2 classification barrel, the express package on No. 3 U-shaped baffle is sorted into No. 3 classification barrel, and so on. The rotational speed of the driving motor and the rotational speed of the second rotating motor are preset, so that when the express package reaches one end of the first conveying belt, the U-shaped baffle corresponding to the express package can rotate to a position corresponding to the one end of the first conveying belt, so that the express package can be conveyed from the first conveying belt to the second conveying belt of the U-shaped baffle. The plurality of U-shaped baffles and the plurality of cameras correspond one by one, for example: No. 1 U-shaped baffle corresponds to No. 1 camera, No. 2 U-shaped baffle corresponds to No. 2 camera, No. 2 U-shaped baffle corresponds to No. 2 camera, and so on.

[0083] In the process of sorting the express package, the express package is placed on the first conveying belt with a certain interval for conveying, and the reader collects the bar code data on the express package,

[0084] When the code reader can collect the bar code data of the express package, the collected bar code data is sent to the signal converter, the signal converter converts the electrical signal of the received bar code data into a digital signal and sends it to the data processor, the data processor processes the digital signal of the received bar code data, identifies the destination of the express package in the bar code data, finds the U-shaped baffle corresponding to the destination, and controls the driving motor to rotate. The driving motor controls the driving turntable to rotate, the driving turntable drives the driven turntable to rotate, the driven turntable drives the collecting cylinder, the connecting disc and the plurality of U-shaped baffles to rotate, so that the U-shaped baffle corresponding to the express package rotates close to the first conveying belt, and the express package is conveyed from the first conveying belt to the second conveying belt on the U-shaped baffle. When the U-shaped baffle rotates close to the corresponding classification barrel, the controller controls the first rotating motor corresponding to the U-shaped baffle to start, the first rotating motor drives the first meshing gear to rotate, the first meshing gear drives the second meshing gear to rotate, the second meshing gear drives the second conveying belt to rotate, and the second conveying belt conveys the express package into the corresponding classification barrel. In this way, the express package whose bar code destination can be recognized by the reader is sorted into the corresponding classification barrel,

[0085] When the code reader cannot collect the bar code data of the express package, the control system cannot identify the destination in the bar code data, the controller controls the multiple cameras to start, the express package is conveyed from the first conveying belt to the second conveying belt of any one U-shaped baffle, the camera collects the image data of the express package on each U-shaped baffle, and sends the collected image data signal to the signal converter, the signal converter converts the electric signal of the received image data signal into a digital signal and sends it to the data processor, the data processor processes the digital signal of the received image data, identifies the bar code in the image data, when the bar code cannot be identified, the controller controls the driving motor to stop rotating, the controller controls the second telescopic rod and the third telescopic rod on the support horizontal rod where the camera is located to start, the second telescopic rod shrinks towards the U-shaped baffle, and the third telescopic rod stretches downward, driving the first telescopic rod and the first clamping jaw to move to the express package directly above, the controller controls the first telescopic rod to start, the first telescopic rod stretches downward, so that the two first clamping jaws clamp the express package, and then the controller controls the third telescopic rod to shrink upward, the second telescopic rod shrinks towards the collection barrel, driving the first telescopic rod and the first clamping jaw to move above the collection barrel, the controller controls the first telescopic rod to shrink upward, so that the two first clamping jaws separate and put the express package into the collection barrel, so as to sort the express package whose bar code destination cannot be identified by the reader into the collection barrel for subsequent re-sorting.

[0086] Further, the other end side of the first clamping jaw is provided with a flexible sheet, and the flexible sheet is provided with anti-skid lines, and the anti-skid lines include transverse anti-skid lines and vertical anti-skid lines, and the transverse anti-skid lines and the vertical anti-skid lines are staggered.

[0087] Further, the second conveying belt is provided with rubber pads, and the rubber pads are in one-to-one correspondence with the second conveying belt. Beneficial effects

[0088] I. By simultaneously clamping different positions of the express package through multiple clamping assemblies, different sizes of express packages can be put into the collection barrel, the falling of the express package during movement is reduced, the damage of the express package is reduced, and the sorting efficiency is improved.

[0089] II. Simple structure, convenient and practical.

[0090] III. Low cost, easy to promote. BRIEF DESCRIPTION OF DRAWINGS

[0091] Figure 1 It is a three-dimensional structure diagram of the intelligent sorting equipment;

[0092] Figure 2It is a perspective view of the intelligent sorting equipment, which only shows the structure of the second telescopic rod and the rotating mechanism;

[0093] Figure 3 It is a perspective view of the intelligent sorting equipment, which only shows the structure of the sorting mechanism;

[0094] Figure 4 It is a perspective view of the intelligent sorting equipment, which only shows the structure of the second sliding block and the second sliding groove;

[0095] Figure 5 It is a perspective view of the intelligent sorting equipment, which only shows the structure of the clamping mechanism;

[0096] Figure 6 It is a perspective view of the intelligent sorting equipment, which only shows the structure of the U-shaped support rod and the reader;

[0097] Figure 7 It is a perspective view of the embodiment 2 of the intelligent sorting equipment;

[0098] Figure 8 It is a perspective view of the embodiment 3 of the intelligent sorting equipment;

[0099] Figure 9 It is a perspective view of the multi-directional clamping combined clamping jaw of the intelligent sorting equipment;

[0100] Figure 10 It is a perspective view of the multi-directional clamping combined clamping jaw of the intelligent sorting equipment, which only shows the structure of the clamping assembly;

[0101] Figure 11 It is a perspective view of the embodiment 2 of the multi-directional clamping combined clamping jaw of the intelligent sorting equipment;

[0102] Figure 12 It is a perspective view of the embodiment 3 of the multi-directional clamping combined clamping jaw of the intelligent sorting equipment.

[0103] DRAWINGS

[0104] Wherein: support (1), first connecting arm (2), second connecting arm (3), third telescopic rod (4), third connecting arm (5), camera (6), first sliding block (7), fourth connecting arm (8), first telescopic rod (9), first conveyor belt (10), support leg (11), side baffle (12), bottom plate (13), motor fixing shell (14), base (15), classification barrel (16), second conveyor belt (17), first meshing gear (18), second meshing gear (19), first sliding groove (20), second telescopic rod (21), first rotating motor (22), driven turntable (23), collection barrel (24), rotating shaft (25), driving turntable (26), U-shaped baffle (27), support rod (28), rotating shaft (29), U-shaped support arm (30), connecting disc (31), second sliding groove (32), second sliding block (33), first clamping jaw (34), fixing piece (35), first connecting piece (36), connecting shaft (37), second connecting piece (38), fifth connecting arm (39), U-shaped support rod (40), reader (41), flexible sheet (42), rubber gasket (43), fixed disc (44), fourth telescopic rod (45), T-shaped sliding block (46), sliding connecting plate (47), first clamping jaw arm (48), second clamping jaw arm (49), third clamping jaw arm (50), clamping jaw connecting piece (51), sliding groove (52), connecting disc (53), fifth telescopic rod (54), sliding connecting block (55), clamping jaw (56), flexible gasket (57), arc-shaped hook (58). DETAILED DESCRIPTION Example 1

[0105] The multi-directional clamping combined clamping jaw (56) of the intelligent sorting equipment comprises a fixing assembly and a clamping assembly,

[0106] characterized in that the clamping assembly is arranged on the side of the fixing assembly, the number of the clamping assemblies is greater than 1, and the clamping assemblies are equidistantly arranged along the side of the fixing assembly,

[0107] the fixing assembly is composed of a fixed disc (44) and a connecting disc (53),

[0108] the fixed disc (44) is arranged in the middle of the connecting disc (53), and the outer diameter of the fixed disc (44) is smaller than that of the connecting disc (53),

[0109] Preferably, the fixed plate and the connecting plate are both hollow structures,

[0110] The clamping assembly is composed of a fourth telescopic rod (45), a T-shaped sliding block (46), a sliding connecting plate (47), a first clamping jaw arm (48), a second clamping jaw arm (49), a third clamping jaw arm (50), a clamping jaw connecting piece (51), a sliding groove (52), a fifth telescopic rod (54), a sliding connecting block (55), and a clamping jaw (56),

[0111] One end of the fourth telescopic rod (45) is arranged on the side of the fixed disc (44),

[0112] One end of the sliding connecting plate (47) is arranged on the side of the connecting disc (53),

[0113] Preferably, one end of the fourth telescopic rod (45) is detachably arranged on the side of the fixed disc (44), and one end of the sliding connecting plate (47) is detachably arranged on the side of the connecting disc (53),

[0114] The sliding connecting plate (47) is provided with a sliding groove (52), the sliding groove (52) is a closed structure at both ends, and the depth of the sliding groove (52) is equal to the thickness of the sliding connecting plate (47),

[0115] The other end of the fourth telescopic rod (45) is provided with a T-shaped sliding block (46), the T-shaped sliding block (46) corresponds to the sliding groove (52), and the other end of the fourth telescopic rod (45) is telescopically arranged on the sliding connecting plate (47) through the T-shaped sliding block (46) cooperating with the sliding groove (52), and the T-shaped sliding block (46) and the sliding groove (52) are fixed through a fastening bolt,

[0116] The bottom surface of the T-shaped sliding block (46) is arranged on the top surface of the sliding connecting block (55), and the top surface of the sliding connecting block (55) and the bottom surface of the sliding connecting plate (47) are slidably in contact,

[0117] One end of the fifth telescopic rod (54) is arranged in the middle of the bottom surface of the sliding connecting block (55), and the other end of the fifth telescopic rod (54) is provided with a clamping jaw connecting piece (51),

[0118] The bottom surface of the sliding connecting block (55) is respectively provided with one end of the first clamping jaw arm (48) corresponding to the hinged arrangement on both sides,

[0119] The other end of the first clamping jaw arm (48) is respectively hingedly connected to one end of the second clamping jaw arm (49),

[0120] The other end of the second clamping jaw arm (49) is respectively hingedly connected to both ends of the clamping jaw connecting piece (51),

[0121] One end of the third gripper arm (50) is hingedly connected to the two ends of the gripper connecting piece (51) respectively, and the one end of the third gripper arm (50) is located below the other end of the second gripper arm (49),

[0122] The other end of the third gripper arm (50) is correspondingly arranged at one end of the gripper (56), and the height of the third gripper arm (50) gradually decreases from one end to the other end,

[0123] Preferably, the gripper (56) structure and the control system of the intelligent sorting equipment establish signal interaction;

[0124] In use, the combined gripper (56) structure is installed on the intelligent sorting equipment, and the other end of the fourth connecting arm (8) is arranged at the middle of the fixed disc (44). When the code reader cannot collect the bar code data of the express package, and the control system cannot identify the destination in the bar code data, the controller controls the multiple cameras (6) to start. The express package is conveyed from the first conveying belt (10) to the second conveying belt (17) of any one U-shaped baffle (27). The camera (6) collects the image of the express package on each U-shaped baffle (27), sends the collected image data signal to the signal converter, and converts the received image data signal into a digital signal and sends it to the data processor. The data processor processes the digital signal of the received image data, identifies the size and shape of the express package in the image data, determines the number of required gripping assemblies and the position suitable for stable gripping of the express package according to the size and shape of the express package, and drives the combined gripper (56) structure to the express package. The controller controls the corresponding fourth telescopic rod (45) in the required gripper (56) assembly to start, so that each gripping assembly is aligned with a certain position of the express package to be gripped. The fourth telescopic rod (45) drives the T-shaped slider and the sliding connection block (55) and the gripper (56) to the position above the corresponding position. The controller controls the corresponding fifth telescopic rod (54) to extend downward, so that the corresponding gripper (56) clamps the corresponding position of the express package. Then the controller controls the third telescopic rod (4) to shrink upward, and the second telescopic rod (21) shrinks in the direction of the collection barrel (24), driving the express package to move above the collection barrel (24). The controller controls the fifth telescopic rod (54) to shrink upward, so that the two grippers (56) separate and put the express package into the collection barrel (24). This is repeated to sort different sizes of express packages that cannot be identified by the reader (41) into the collection barrel (24) for subsequent re-sorting, which can reduce the dropping of express packages during movement to the collection barrel (24), reduce the damage of express packages, and improve the sorting efficiency. Example 2

[0125] The difference between this embodiment and embodiment 1 is that the side of the clamping jaw (56) is provided with a flexible gasket (57), and the flexible gasket (57) is in one-to-one correspondence with the clamping jaw (56). In use, the flexible gasket (42) can increase the friction between the clamping jaw (56) and the express package, reduce the sliding of the clamping jaw (56) when clamping the express package to move into the collection barrel (24), and cause the express package to tilt or fall, and can also protect the express package and reduce damage to the express package caused by the clamping jaw (56) piercing the express package. Embodiment 3

[0126] The difference between this embodiment and embodiment 1 is that the clamping jaw (56) is replaced by an arc-shaped hook claw (58), and the other end of the third clamping jaw arm (50) is correspondingly arranged at one end of the arc-shaped hook claw (58). The extension lines of the other ends of the two arc-shaped hook claws (58) and the extension line of the other end of the fifth telescopic rod (54) coincide. In use, the contact area between the arc-shaped hook claw (58) and the express package is larger, the clamping effect on the express package is better, the express package is less likely to tilt or fall due to sliding when moving into the collection barrel (24), and the sorting efficiency is higher.

[0127] One end of the fourth telescopic rod (45) is detachably arranged on the side of the fixed disc (44), and one end of the sliding connection plate (47) is detachably arranged on the side of the connecting disc (53). The design can facilitate disassembly or installation of the clamping assembly, facilitate installation of different numbers of clamping assemblies according to the size and shape of the express package, and have higher flexibility. After the sorting is completed, the clamping assembly is more convenient to store and store.

[0128] The fourth telescopic rod (45) and the fifth telescopic rod (54) are cooperatively designed. The fourth telescopic rod (45) can provide power for the T-shaped sliding block (46), so that the T-shaped sliding block (46) drives the fifth telescopic rod (54) and the clamping jaw (56) to slide along the sliding groove (52), reaches the position directly above the position suitable for the clamping jaw (56) to clamp the express package, and the fifth telescopic rod (54) can clamp or release the express package. The express package that cannot recognize the barcode information is put into the collection barrel (24).

[0129] The purpose is to be able to clamp different positions of the express package by multiple clamping assemblies at the same time, put different sizes of express packages into the collection barrel (24), and reduce the falling of the express package during movement.

[0130] It should be noted that the multi-directional clamping assembly clamping jaw (56) is only applicable to the following intelligent sorting device.

[0131] The application discloses an intelligent sorting device, which is composed of a supporting mechanism, a clamping mechanism, a rotating mechanism, a sorting mechanism and a conveying mechanism,

[0132] The supporting mechanism is composed of a support (1), a camera (6), a first sliding block (7), a base (15), a first sliding groove (20) and a second telescopic rod (21),

[0133] The support (1) comprises a plurality of support assemblies arranged at equal angles, wherein each support assembly comprises a support horizontal rod and a support vertical rod, one end of the support vertical rod is arranged on the base (15), one end of the support horizontal rod is arranged vertically on the side surface of the other end of the support vertical rod, and the other ends of the plurality of support horizontal rods are connected,

[0134] The bottom surface of the support horizontal rod is arranged with the camera (6) correspondingly, and the camera (6) is arranged close to one end of the support horizontal rod,

[0135] The bottom surface of the support horizontal rod is provided with the first sliding groove (20),

[0136] The second telescopic rod (21) is arranged in the first sliding groove (20) in a slidable manner, and one end of the second telescopic rod (21) is arranged close to the other end of the support horizontal rod,

[0137] The side surface of the first sliding block (7) is arranged on the other end of the second telescopic rod (21), and the first sliding block (7) is arranged correspondingly to the first sliding groove (20),

[0138] The clamping mechanism is composed of a first connecting arm (2), a second connecting arm (3), a third telescopic rod (4), a third connecting arm (5), a fourth connecting arm (8), a fifth connecting arm (39), a first telescopic rod (9), a first clamping jaw (34), a fixing piece (35), a first connecting piece (36), a connecting shaft (37) and a second connecting piece (38),

[0139] One end of the first connecting arm (2) is arranged on the bottom surface of the first sliding block (7), one end of the second connecting arm (3) is arranged vertically on the side surface of the other end of the first connecting arm (2), one end of the third telescopic rod (4) is arranged vertically on the side surface of the other end of the second connecting arm (3), and the height of the third telescopic rod (4) gradually decreases from one end to the other end,

[0140] The other end of the third telescopic rod (4) is arranged vertically on the side surface of one end of the third connecting arm (5), the other end of the third connecting arm (5) is arranged vertically on the side surface of one end of the fifth connecting arm (39), and the height of the third connecting arm (5) remains unchanged from one end to the other end,

[0141] The other end of the fifth connecting arm (39) is vertically arranged on one side of the other end of the fourth connecting arm (8), the height of the fifth connecting arm (39) is constant from one end to the other end, and the height of the fourth connecting arm (8) gradually decreases from one end to the other end,

[0142] One end of the first telescopic rod (9) is arranged on the other end of the fourth connecting arm (8), and the other end of the first telescopic rod (9) is provided with a fixing piece (35),

[0143] The first connecting piece (36) and the second connecting piece (38) are respectively arranged on the telescopic joint of the first telescopic rod (9) through the through holes opened in the middle, the distance from the first connecting piece (36) to the fixing piece (35) is less than the distance from the second connecting piece (38) to the fixing piece (35), and the length of the first connecting piece (36) is greater than the length of the second connecting piece (38),

[0144] The two ends of the second connecting piece (38) are respectively correspondingly hingedly provided with one end of the first clamping jaw (34), and the two ends of the first connecting piece (36) are respectively correspondingly hingedly provided with one end of the connecting shaft (37), and the other end of the connecting shaft (37) is correspondingly hingedly arranged at one third of the first clamping jaw (34),

[0145] The extension lines of the other ends of the two first clamping jaws (34) and the extension line of the other end of the first telescopic rod (9) coincide,

[0146] The rotating structure is composed of a bottom plate (13), a motor fixing shell (14), a driven turntable (23), a collection barrel (24), a rotating shaft (25), a driving turntable (26), a support rod (28), a U-shaped support arm (30), a connecting disc (31), a second sliding groove (32), and a second sliding block (33),

[0147] The bottom plate (13) is located in the middle of the plurality of bases (15),

[0148] A second sliding groove (32) is opened in the top surface of the bottom plate (13), the second sliding groove (32) is a circular ring structure, and the center of the second sliding groove (32) coincides with the center of the bottom plate (13),

[0149] Second sliding blocks (33) are correspondingly arranged on the bottom surfaces of the two sides of the U-shaped support arm (30), the second sliding blocks (33) correspond to the second sliding groove (32), and the second sliding blocks (33) and the second sliding groove (32) are fixed through fastening bolts,

[0150] The U-shaped support arm (30) has two, and the bottom surfaces of the two U-shaped support arms (30) are cross-connected in a cross shape,

[0151] One end of the rotating shaft (29) is placed in the center of the top surface of the bottom plate (13) through a bearing, and the other end of the rotating shaft (29) is placed at the cross intersection of the bottom surfaces of the two U-shaped support arms (30),

[0152] The collecting barrel (24) is placed on the inner bottom surface of the two U-shaped support arms (30), and the collecting barrel (24) is a cylindrical structure with an open top surface,

[0153] The two ends of the U-shaped support arm (30) are respectively placed on the bottom surface of the driven turntable (23), and the driven turntable (23) is a circular ring structure,

[0154] The top surface edge of the bottom plate (13) is provided with a motor fixing shell (14), and the driving motor is placed in the motor fixing shell (14),

[0155] One end of the rotating shaft (25) is connected with the motor shaft of the driving motor through the through hole opened on the top surface of the motor fixing shell (14), and the other end of the rotating shaft (25) is placed on the bottom surface of the driving turntable (26), and the driving turntable (26) is engaged with the driven turntable (23),

[0156] One end of the support rod (28) is placed on the top surface of the driven turntable (23), and the other end of the support rod (28) is placed on the bottom surface of the connecting disc (31),

[0157] The connecting disc (31) is a circular ring structure, and coincides with the center of the driven turntable (23) and the collecting barrel, the outer diameter of the connecting disc (31) is greater than that of the driven disc, and the edge of the connecting disc (31) is flush with the edge of the bottom plate (13),

[0158] The top surface of the collecting barrel (24) is connected with the inner side edge of the driven turntable (23) and the inner side edge of the connecting disc (31), and the side edge of the collecting barrel (24) is connected with the inner side edge of the driven turntable (23),

[0159] Preferably, the support rod (28) has a plurality of support rods (28), and the plurality of support rods (28) are arranged equidistantly along the top surface of the driven turntable (23),

[0160] Preferably, the collecting barrel (24) is detachably placed on the inner bottom surface of the two U-shaped support arms (30), the top surface of the collecting barrel (24) and the inner side edge of the connecting disc (31) are detachably connected, and the side edge of the collecting barrel (24) and the inner side edge of the driven turntable (23) are detachably connected,

[0161] Preferably, the top surface of the collecting barrel (24) is provided with an ultrasonic distance measuring module,

[0162] The sorting mechanism is composed of a classification barrel (16), a second conveying belt (17), a first meshing gear (18), a second meshing gear (19), a rotating motor, and a U-shaped baffle (27),

[0163] The top surface of the connecting disc (31) is provided with a U-shaped baffle (27), and the opening of the U-shaped baffle (27) is flush with the edge of the connecting disc (31),

[0164] Preferably, the U-shaped baffle has a plurality of U-shaped baffles (27) arranged equidistantly along the circumference of the top surface of the connecting disc (31), and the plurality of U-shaped baffles (27) correspond one-to-one to the plurality of first clamping jaws (34),

[0165] The connecting disc (31) is provided with a plurality of first rotating motors (22), and the plurality of first rotating motors (22) correspond one-to-one to the plurality of U-shaped baffles (27), and the first rotating motor (22) is close to the side surface of the U-shaped baffle (27),

[0166] The inner side surface of the U-shaped baffle (27) is provided with a second meshing gear (19),

[0167] The motor shaft of the first rotating motor (22) is connected to the axle of the second meshing gear (19) through the through hole opened on the side surface of the U-shaped baffle (27),

[0168] The corresponding position of the connecting disc (31) and the U-shaped baffle (27) is a hollow structure, and the two ends of the hollow structure are respectively provided with first rotating rollers, and the two first rotating rollers are connected through a second conveying belt (17), and the two sides of the second conveying belt (17) are respectively provided with first meshing gears (18),

[0169] Preferably, the first meshing gear (18) has a plurality of first meshing gears (18) arranged equidistantly along the length direction of the two sides of the second conveying belt (17), and the gap between the first meshing gear (18) and the two adjacent second meshing gears (19) is meshed,

[0170] The bottom plate (13) and the supporting vertical rod are provided with a classification barrel (16), and the plurality of classification barrels (16) correspond one-to-one to the plurality of second conveying belts (17), and the classification barrel (16) is an open-top structure,

[0171] Preferably, the top surface of the classification barrel is provided with an ultrasonic ranging module,

[0172] The transmission mechanism is composed of a first conveying belt (10), a supporting leg (11), a side baffle (12), a reader (41), and a U-shaped supporting rod (40).

[0173] The transmission mechanism is located between two adjacent bases (15),

[0174] The support legs (11) have two top parts respectively corresponding to the sides of the side plates (12),

[0175] A main second rotating roller and a plurality of slave second rotating rollers are arranged between the two side plates (12), one side of one of the side plates (12) is provided with a second rotating motor, the motor shaft of the second rotating motor is connected to one end of the main second rotating roller through a through hole in the side of the side plate (12), the other end of the main second rotating roller is arranged on the side of the other side plate (12), and the two ends of the plurality of slave second rotating rollers are respectively arranged on the sides of the two side plates (12),

[0176] The main second rotating roller and the plurality of slave second rotating rollers are connected by a first conveying belt (10), one end of the first conveying belt (10) is close to the connecting disc (31), and there is a small gap between the first conveying belt (10) and the second conveying belt (17),

[0177] The two ends of the U-shaped support rod (40) are respectively arranged on the sides of the two side plates (12), the U-shaped support rod (40) is located above the first conveying belt (10) and close to the other end of the first conveying belt (10), and the inner top surface of the U-shaped support rod (40) is provided with a reader (41) in the middle,

[0178] Preferably, the intelligent sorting device further comprises a control system, the control system comprises a signal converter, a data processor and a controller,

[0179] The signal converter is arranged on the support (1), the data processor is arranged on the support (1), and the controller is arranged on the support (1),

[0180] The camera (6) and the reader (41) are connected to the signal converter through data lines,

[0181] The first telescopic rod (9), the second telescopic rod (21), the third telescopic rod (4), the first steering motor, the second steering motor and the driving motor are connected to the controller through data transmission lines,

[0182] The signal converter is connected to the data processor through data transmission lines, and the data processor is connected to the controller through data transmission lines,

[0183] The signal converter can convert the image data collected by the camera (6) and the electrical signal of the bar code data of the express package collected by the reader (41) into a digital signal,

[0184] The controller can be implemented by one or at least two application specific integrated circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components for executing instructions of the data processing device,

[0185] The data processor and the signal converter interact with each other,

[0186] When the control system is executed, the following steps are mainly implemented:

[0187] Before sorting the express package, the control system presets the destination of the express package corresponding to each U-shaped baffle (27), for example, the No. 1 U-shaped baffle (27) corresponds to Jiangsu Province, the No. 2 U-shaped baffle (27) corresponds to Shaanxi Province, the No. 3 U-shaped baffle (27) corresponds to Zhejiang Province, and so on. A plurality of U-shaped baffles (27) and a plurality of classification barrels (16) correspond one by one, for example: the express package on the No. 1 U-shaped baffle (27) is sorted into the No. 1 classification barrel (16), the express package on the No. 2 U-shaped baffle (27) is sorted into the No. 2 classification barrel (16), the express package on the No. 3 U-shaped baffle (27) is sorted into the No. 3 classification barrel (16), and so on. The rotational speed of the driving motor and the rotational speed of the second rotating motor are preset so that when the express package reaches one end of the first conveyor belt (10), the U-shaped baffle (27) corresponding to the express package can rotate to a position corresponding to one end of the first conveyor belt (10), so that the express package can be conveyed from the first conveyor belt (10) to the second conveyor belt (17) of the U-shaped baffle (27). A plurality of U-shaped baffles (27) and a plurality of cameras (6) correspond one by one, for example: the No. 1 U-shaped baffle (27) corresponds to the No. 1 camera (6), the No. 2 U-shaped baffle (27) corresponds to the No. 2 camera (6), and so on.

[0188] In the process of sorting the express package, the express package is placed on the first conveyor belt (10) with a certain interval for conveying, and the reader (41) collects the bar code data on the express package,

[0189] When the bar code data of the express package can be collected by the code reader, the collected bar code data is sent to the signal converter, the signal converter converts the electrical signal of the received bar code data into a digital signal and sends it to the data processor, the data processor processes the digital signal of the received bar code data, identifies the destination of the express package in the bar code data, finds the U-shaped baffle (27) corresponding to the destination, the controller controls the driving motor to rotate, the driving motor controls the driving turntable (26) to rotate, the driving turntable (26) drives the driven turntable (23) to rotate, the driven turntable (23) drives the collecting cylinder, the connecting disc (31) and the plurality of U-shaped baffles (27) to rotate, so that the U-shaped baffle (27) corresponding to the express package rotates close to the first conveyor belt (10), so that the express package is conveyed from the first conveyor belt (10) to the second conveyor belt (17) on the U-shaped baffle (27), when the U-shaped baffle (27) rotates close to the corresponding classification barrel (16), the controller controls the first rotating motor (22) corresponding to the U-shaped baffle (27) to start, the first rotating motor (22) drives the first meshing gear (18) to rotate, the first meshing gear (18) drives the second meshing gear (19) to rotate, the second meshing gear (19) drives the second conveyor belt (17) to rotate, the second conveyor belt (17) conveys the express package into the corresponding classification barrel (16), so the express package whose bar code destination can be recognized by the reader (41) is sorted into the corresponding classification barrel (16),

[0190] When the bar code data of the express package cannot be collected by the code reader, and the control system cannot identify the destination in the bar code data, the controller controls the multiple cameras (6) to start, the express package is conveyed from the first conveying belt (10) to the second conveying belt (17) of any one U-shaped baffle (27), the camera (6) collects the image of the express package on each U-shaped baffle (27), and sends the collected image data signal to the signal converter. The signal converter converts the electric signal of the received image data signal into a digital signal and sends it to the data processor. The data processor processes the digital signal of the received image data, identifies the bar code in the image data, and when the bar code cannot be identified, the controller controls the driving motor to stop rotating, the controller controls the second telescopic rod (21) and the third telescopic rod (4) on the support horizontal rod where the camera (6) is located to start, the second telescopic rod (21) is retracted towards the U-shaped baffle (27), and the third telescopic rod (4) is extended downwards, driving the first telescopic rod (9) and the first clamping jaw (34) to move to the top of the express package. The controller controls the first telescopic rod (9) to start, the first telescopic rod (9) extends downwards, and the two first clamping jaws (34) clamp the express package. Then the controller controls the third telescopic rod (4) to retract upwards, and the second telescopic rod (21) retracts towards the collection barrel (24), driving the first telescopic rod (9) and the first clamping jaw (34) to move above the collection barrel (24). The controller controls the first telescopic rod (9) to retract upwards, and the two first clamping jaws (34) separate to drop the express package into the collection barrel (24). This process is repeated to sort the express packages whose bar code destinations cannot be identified by the reader (41) into the collection barrel (24) for subsequent re-sorting. Embodiment 4

[0191] The difference between this embodiment and embodiment 1 is that the other end side of the first clamping jaw (34) is provided with a flexible sheet (42), and the flexible sheet (42) is provided with anti-skid lines, which include transverse anti-skid lines and vertical anti-skid lines, and the transverse anti-skid lines and the vertical anti-skid lines are staggered. In use, the flexible sheet (42) can increase the friction between the first clamping jaw (34) and the express package, reduce the sliding of the first clamping jaw (34) when clamping the express package to move to the collection barrel (24), and prevent the express package from falling, and can also protect the express package and reduce damage to the express package caused by the first clamping jaw (34) piercing the express package. Embodiment 5

[0192] The difference between this embodiment and embodiment 1 is that the second conveyor belt (17) is provided with rubber pads (43), the rubber pads (43) are in one-to-one correspondence with the second conveyor belts (17); in use, the rubber pads (43) can increase the friction between the second conveyor belt (17) and the express package, reduce the express package from sliding off the second conveyor to the ground or into the non-corresponding collection barrel (24) under the action of the rotating centrifugal force of the rotating mechanism, and cause damage or sorting error of the express package;

[0193] The collection barrel (24) is detachably arranged on the inner bottom surface of the two U-shaped support arms (30), the top surface of the collection barrel (24) and the inner side edge of the connecting disc (31) are detachably connected, the side edge of the collection barrel (24) and the inner side edge of the driven turntable (23) are detachably connected, and the top surface of the collection barrel (24) is provided with an ultrasonic ranging module, which can monitor the internal condition of the collection barrel (24) in real time; when the collection barrel (24) is full, the ultrasonic ranging module sends a signal to the terminal to remind the staff to timely transfer the express package in the collection barrel (24); and the detachable connection mode can facilitate the transfer of the express package in the collection barrel (24);

[0194] One end of the first conveyor belt (10) is close to the connecting disc (31), and there is a small gap between the first conveyor belt (10) and the second conveyor belt (17), which can make the rotating mechanism rotate normally, and at the same time, the express package on the first conveyor belt (10) can be transmitted to the second conveyor belt (17), avoiding the express package from falling off the gap between the two to the ground, causing damage and loss of the express package;

[0195] The design of the U-shaped baffle (27) can make the express package on the second conveyor belt (17) enter different classification barrels (16) under the transmission of the first meshing gear (18) and the second meshing gear (19), realize the classified storage of the express package, and at the same time, the express package on the second conveyor belt (17) can be limited, preventing the express package with identifiable barcode information from entering the collection barrel (24) under the action of the rotating centrifugal force of the rotating mechanism, causing sorting error, reducing the sorting efficiency and accuracy;

[0196] The cooperation of the first telescopic rod (9), the second telescopic rod (21) and the third telescopic rod (4) can provide power for the second telescopic rod (21) to drive the first sliding block (7) to slide along the first sliding groove (20) to the top of the express package or the top of the collecting barrel (24), the third telescopic rod (4) can make the first hook claw close to or away from the express package, and the first telescopic rod (9) can make the first hook claw clamp or release the express package, and the express package that cannot recognize the barcode information is put into the collecting barrel (24);

[0197] The cooperation of the second sliding groove (32), the second sliding block (33) and the rotating shaft (29) can make the collecting barrel (24), the driven turntable (23) and the connecting disc (31) rotate on the top surface of the bottom plate (13) under the support of the two U-shaped support arms (30).

[0198] The cooperation of the sorting mechanism and the clamping mechanism can make the express package that can recognize the barcode be sorted into different classification barrels (16), and the express package that cannot recognize the barcode be sorted into the collecting barrel (24), so as to improve the express sorting efficiency and accuracy.

[0199] The cooperation of the sorting mechanism and the rotating mechanism can make the sorting mechanism rotate to be close to the first conveying belt (10) under the driving of the rotating mechanism, so that the express package that can recognize the barcode on the first conveying belt (10) enters the corresponding U-shaped baffle (27), and at the same time, the sorting mechanism can rotate to be close to the corresponding classification barrel (16), so that the express package that can recognize the barcode enters the corresponding classification barrel (16), thereby realizing the sorting of the express package.

[0200] The purpose is to identify the barcode information of the express package through the transmission mechanism, sort the express package that can recognize the barcode information into the corresponding classification barrel (16) according to the different destinations through the sorting mechanism, and sort the express package that cannot recognize the barcode information into the collecting barrel (24) through the clamping mechanism.

[0201] It should be noted that unless otherwise specified and limited, the terms "placed", "connected", "connected" should be broadly understood, for example, it can be a fixed connection mode such as folding connection, rivet connection, pin connection, adhesive connection and welding connection, or a detachable connection mode such as threaded connection, buckle connection and hinge connection, or integral connection, or electrical connection, or direct connection, or indirect connection through an intermediate medium, or internal communication of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0202] It should be further pointed out that, in the description of the above specific embodiments, only the differences from other embodiments are described for the sake of simplicity and clarity, but those skilled in the art should know that the above specific embodiments are also independent technical solutions themselves.

Claims

1. A multi-azimuth gripper for an intelligent sorting device, comprising a fixed component and a gripping component, characterized in that, The clamping assembly is arranged on the side of the fixing assembly, the number of the clamping assembly is greater than 1, a plurality of the clamping assemblies are arranged equidistantly along the side of the fixing assembly, the fixing assembly is composed of a fixing disc and a connecting disc, the fixing disc is arranged in the middle of the connecting disc, the clamping assembly is composed of a fourth telescopic rod, a T-shaped sliding block, a sliding connecting plate, a first clamping jaw arm, a second clamping jaw arm, a third clamping jaw arm, a clamping jaw connecting piece, a sliding groove, a fifth telescopic rod, a sliding connecting block and a clamping jaw, one end of the fourth telescopic rod is arranged on the side of the fixing disc, one end of the sliding connecting plate is arranged on the side of the connecting disc, the sliding groove is arranged on the sliding connecting plate, the other end of the fourth telescopic rod is provided with the T-shaped sliding block, the T-shaped sliding block corresponds to the sliding groove, the other end of the fourth telescopic rod is telescopically arranged on the sliding connecting plate through the T-shaped sliding block matched with the sliding groove, the T-shaped sliding block and the sliding groove are fixed through a fastening bolt, the bottom surface of the T-shaped sliding block is arranged on the top surface of the sliding connecting block, the top surface of the sliding connecting block and the bottom surface of the sliding connecting plate are slidably in contact, one end of the fifth telescopic rod is arranged in the middle of the bottom surface of the sliding connecting block, the other end of the fifth telescopic rod is provided with the clamping jaw connecting piece, the two sides of the bottom surface of the sliding connecting block are respectively correspondingly hingedly provided with one end of the first clamping jaw arm, the other end of the first clamping jaw arm is respectively correspondingly hingedly connected with one end of the second clamping jaw arm, the other end of the second clamping jaw arm is respectively correspondingly hingedly connected with two ends of the clamping jaw connecting piece, one end of the third clamping jaw arm is respectively correspondingly hingedly connected with two ends of the clamping jaw connecting piece, the other end of the third clamping jaw arm is respectively correspondingly arranged on one end of the clamping jaw, the fourth telescopic rod and the fifth telescopic rod are matched, the fourth telescopic rod can provide power for the T-shaped sliding block, so that the T-shaped sliding block drives the fifth telescopic rod and the clamping jaw to slide along the sliding groove to the position above the suitable clamping position of the express package, the fifth telescopic rod can make the clamping jaw clamp or release the express package, and the express package that cannot recognize the barcode information is put into the collecting barrel, one end of the fourth telescopic rod is detachably arranged on the side of the fixing disc, one end of the sliding connecting plate is detachably arranged on the side of the connecting disc, so that the clamping assembly can be conveniently disassembled or assembled, different numbers of clamping assemblies can be conveniently installed according to the size and shape of the express package, different sizes of express packages can be put into the collecting barrel through a plurality of clamping assemblies clamping different positions of the express package at the same time.

2. The multi-directional gripper assembly of claim 1, wherein The side of the clamping jaw is provided with a flexible gasket, the flexible gasket has a plurality of flexible gaskets, and the plurality of flexible gaskets correspond to the plurality of clamping jaws one by one.

3. The multi-directional gripper assembly of claim 1, wherein The clamping jaw is replaced by an arc-shaped hook, the other end of the third clamping jaw arm is respectively arranged on one end of the arc-shaped hook, and the extension line of the other end of the two arc-shaped hooks coincides with the extension line of the other end of the fifth telescopic rod.

4. The multi-directional gripper assembly of claim 1, wherein The outer diameter of the fixing disc is smaller than the outer diameter of the connecting disc.

5. The multi-directional gripper assembly of claim 4, wherein The fixing disc and the connecting disc are both hollow structures.

6. The multi-directional gripper assembly of claim 1, wherein The sliding groove is a structure with closed two ends, and the depth of the sliding groove is equal to the thickness of the sliding connecting plate.

7. The multi-directional gripper assembly of claim 1, wherein One end of the third jaw arm is located below the other end of the second jaw arm, and the height of the third jaw arm gradually decreases from one end to the other end.

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