Sorting equipment

Abstract

The invention provides a sorting device. The carrier can contain an object, and the identification code of the carrier serves as a mark of the object on the carrier. Objects can be placed in the carrier of the feeding channel, and the carrier is conveyed to the second end from the first end through the feeding channel. The second end of the feeding channel is communicated with the third end of the detection channel of the detection mechanism, a carrier flowing to the detection channel scans a carrier identification code through a first scanner, predetermined parameters of an object on the carrier are detected through a detection device, and the carrier identification code can be bound with object parameter information of the corresponding carrier. The fourth end of the detection channel is communicated with the front section of the sorting channel of the sorting mechanism, and the carrier identification code of the carrier flowing to the sorting channel is scanned by the second scanner to obtain the parameter information of the object on the carrier. According to the object parameter information, the carrier can be selectively switched to one sub-channel at the rear section of the sorting channel through the material shifting assembly, so that the objects falling into different parameter intervals flow to different sub-channels respectively, and high-efficiency lossless sorting of the objects is realized.

Description

Technical Field

[0001] The present application belongs to the technical field of sorting structures, and in particular relates to a sorting device. Background Art

[0002] At present, the sorting of fruits and other objects is usually done manually, and the sorting efficiency is low. How to provide a sorting device that can efficiently sort the predetermined objects is a problem that the industry needs to face. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a sorting device that can efficiently sort predetermined objects.

[0004] The embodiment of the present application provides a sorting device, comprising: a carrier, a feeding channel, a detection mechanism and a sorting mechanism; the carrier is used to accommodate objects, and each of the carriers has an identification code; the feeding channel has a first end and a second end that are relatively distributed, and the feeding channel can transfer the carrier from the first end to the second end; the detection mechanism comprises a detection channel, a detection device and a first scanner; the detection channel has a third end and a fourth end that are relatively distributed, and the detection channel can transfer the carrier from the third end to the fourth end; the detection device is used to detect objects on the carrier of the detection channel, and the detection device is used to detect objects on the carrier of the detection channel. The first scanner is used to scan the identification code of the carrier in the detection channel; the sorting mechanism includes a sorting channel, a second scanner and a material-diverting assembly; the sorting channel has a relatively distributed front section and a rear section, and the sorting channel can transfer the carrier from the front section to the rear section, and the rear section includes a plurality of sub-channels; the front section is connected to the fourth end; the second scanner and the material-diverting assembly are arranged in the front section, and the second scanner is used to scan the identification code of the carrier in the front section; the material-diverting assembly is used to selectively switch the carrier in the front section to the front end of one of the sub-channels.

[0005] The beneficial effect of the sorting device provided by the embodiment of the present application is that the carrier can accommodate objects, and the identification code of the carrier can be used as a mark of the object on the carrier. The carrier of the feeding channel can be placed in the object, and the carrier is transferred from the first end to the second end through the feeding channel. The second end of the feeding channel is connected to the third end of the detection channel of the detection mechanism, and the carrier flowing to the detection channel is scanned by the first scanner for the carrier identification code, and the object on the carrier is detected by the detection device for the predetermined parameters, and the carrier identification code and the object parameter information of the corresponding carrier can be bound. The fourth end of the detection channel is connected to the front section of the sorting channel of the sorting mechanism, and the carrier flowing to the sorting channel is scanned by the second scanner for the carrier identification code to obtain the parameter information of the object on the carrier. According to the object parameter information, the carrier can be selectively switched to one of the sub-channels of the rear section of the sorting channel through the material shifting component, so that objects falling into different parameter intervals flow to different sub-channels respectively, realizing efficient lossless sorting of objects with low labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0007] Figure 1 A three-dimensional assembly diagram of a sorting device provided in an embodiment of the present application;

[0008] Figure 2 for Figure 1 A schematic diagram of a carrier in a sorting device containing objects;

[0009] Figure 3 for Figure 1 A three-dimensional assembly diagram of the feeding channel, the detection channel and the transfer channel in the sorting equipment;

[0010] Figure 4 for Figure 1 A three-dimensional assembly diagram of a sorting mechanism, a first transfer assembly and a part of a recycling channel in a sorting device;

[0011] Figure 5 for Figure 4 A schematic diagram of a sorting mechanism, a first transfer assembly and a portion of a recycling channel after removing some structures;

[0012] Figure 6 for Figure 3 A partial enlarged view of the assembly structure at A;

[0013] Figure 7 for Figure 6A schematic diagram of the structure of the assembly structure after the first pusher is removed;

[0014] Figure 8 for Figure 6 A schematic diagram of the structure of the assembly structure when transmitting an object;

[0015] Fig. 9 for Figure 3 A schematic diagram of the structure of the assembly structure at B after the mounting frame is removed;

[0016] Fig.10 for Fig. 9 A schematic diagram of the structure of the assembly structure after the second pushing member is removed;

[0017] Fig.11 for Fig. 9 A schematic diagram of the structure of the assembly structure when transmitting an object;

[0018] Fig.12 It is a schematic diagram of a feeding channel, a detection channel, a recovery channel, a first transfer component and a second transfer component;

[0019] Fig.13 (a) to (d) are respectively Figure 4 A schematic diagram of the process of transferring the carrier from the sorting channel to the recycling channel on the first transfer component, Fig.13 (c) and (d) omit some structures to show the inclined slide;

[0020] Fig.14 for Figure 1 An assembly diagram of a feeding channel, a detection channel, a sorting channel, a recycling channel, a first transfer component and a second transfer component in a sorting device;

[0021] Fig.15 for Fig.14 A schematic diagram of the assembly of the recovery channel and the second transfer component;

[0022] Fig.16 for Figure 3 A three-dimensional assembly diagram of a sorting channel, a partial recovery channel and a second transfer component;

[0023] Fig.17 for Fig.16 A three-dimensional exploded view of a sorting channel, a partial recovery channel and a second transfer assembly;

[0024] Fig.18 for Fig.17 A three-dimensional assembly diagram of a second transfer assembly;

[0025] Fig.19 (a) and (b) are Fig.18A schematic diagram of the structure when the support member in the second transfer assembly is in the receiving position and the releasing position respectively;

[0026] Fig. 20 for Figure 1 Enlarged view of the sorting mechanism, robot arm and packaging box sorting mechanism;

[0027] Fig.21 for Fig. 20 A three-dimensional assembly diagram of the clamp mechanism, with adjacent clamping jaws at maximum spacing;

[0028] Fig. 22 for Fig.21 Another perspective three-dimensional assembly diagram of the clamp mechanism;

[0029] Fig.23 for Fig.21 A three-dimensional assembly diagram of the clamp mechanism, with adjacent clamping jaws at a minimum spacing;

[0030] Fig.24 for Fig.23 Another perspective three-dimensional assembly diagram of the clamp mechanism;

[0031] Fig.25 for Fig.21 A three-dimensional exploded view of the clamping mechanism;

[0032] Fig.26 for Fig.21 A three-dimensional exploded view of the clamping mechanism;

[0033] Fig. 27 for Fig.26 A three-dimensional assembly drawing of the clamping mechanism;

[0034] Fig.28 for Fig.21 A cross-sectional view of the fixture mechanism along line AA;

[0035] Fig.29 for Fig.25 A cross-sectional view of the clamping mechanism along line BB;

[0036] Fig.30 A three-dimensional assembly diagram of the clamping jaws provided in an embodiment of the present application;

[0037] Fig.31 for Fig.30 A three-dimensional exploded view of the clamping jaws;

[0038] Fig.32 for Fig.31 A further exploded perspective view of the clamping jaws;

[0039] Fig.33 for Fig.31 A schematic diagram of the structure of the clamping jaws when the plurality of movable sections are in a closed position;

[0040] Fig.34 for Fig.33 A cross-sectional view of the clamping jaw along line CC;

[0041] Fig.35 for Fig.33 A schematic diagram of the structure of the clamping jaws when the plurality of movable sections are in an open position;

[0042] Fig.36 for Fig.35 A cross-sectional view of the clamping jaw along line DD;

[0043] Fig.37 For Fig.36 A schematic diagram of a structure in which the movable section in the clamp is in an open position and the clamp moves vertically downward into the carrier;

[0044] Fig.38 For Fig.37 A schematic diagram of a structure in which a movable section in the gripper is switched to a retracted position and the movable section is not in contact with the object;

[0045] Fig.39 For Fig.38 A schematic diagram of the structure in which the gripper moves vertically upward and the movable section contacts the bottom of the object;

[0046] Fig.40 for Figure 2 A three-dimensional exploded view of the vehicle;

[0047] Fig.41 The three-dimensional structure diagram of the packaging box;

[0048] Fig.42 for Figure 1 A three-dimensional assembly diagram of a packaging box sorting mechanism in a sorting device;

[0049] Fig.43 for Fig.42 A schematic diagram of the structure of the loading rack in the packaging box distributing mechanism containing stacked packaging boxes;

[0050] Fig.44 for Fig.42 A three-dimensional assembly diagram of the packaging box dispensing mechanism when the lifting bracket is in the first position;

[0051] Fig.45 for Fig.42 A three-dimensional assembly diagram of the packaging box dispensing mechanism when the lifting bracket is in the second position;

[0052] Fig.46 for Fig.42 A three-dimensional assembly diagram of the packaging box dispensing mechanism from another perspective;

[0053] Fig.47 for Fig.44 A front view of a packaging box dispensing mechanism;

[0054] Fig.48 for Fig.47 A schematic diagram of a loading rack in a packaging box distributing mechanism containing stacked packaging boxes, without showing the second limiting arm;

[0055] Fig.49 for Fig.45 A front view of a packaging box dispensing mechanism;

[0056] Fig.50 for Fig.49 A schematic diagram of a loading rack in a packaging box distributing mechanism containing stacked packaging boxes, without showing the second limiting arm;

[0057] Fig.51 for Fig.43 A schematic diagram of a packaging box is provided in the working area of ​​the packaging box dispensing mechanism;

[0058] Fig.52 for Figure 1 A three-dimensional assembly diagram of a laminating device in a sorting device;

[0059] Fig.53 for Fig.52 A schematic diagram of the structure of the film discharging device when a film roll is installed;

[0060] Fig.54 for Fig.53 A schematic structural diagram of the film discharging device from another perspective;

[0061] Fig.55 (a) to (d) are Fig.53 Schematic diagram of the film discharging process of the film discharging device;

[0062] Fig.56 (a) and (b) are Fig.53 A schematic diagram of the structure of the film discharging device when the movable clamping part and the stationary clamping part are separated and approached;

[0063] Fig.57 for Fig.54 A schematic diagram of the structure in which the film discharging device is clamped by the movable clamping member and drives the free end of the film roll to translate relative to the stationary clamping member to the maximum stroke;

[0064] Fig.58 for Figure 1 A three-dimensional exploded view of a cover closing mechanism in a sorting device;

[0065] Fig.59 (a) and (b) are schematic diagrams of the cover closing mechanism when the pressure plate is opened and pressed down, respectively. DETAILED DESCRIPTION

[0066] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0067] In the description of the embodiments of the present application, it needs to be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0068] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0069] In the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0070] In order to facilitate the description of the position and orientation of the parts of the sorting device, a first direction X, a second direction Y and a third direction Z may be defined, wherein the first direction X and the second direction Y are two different directions on the horizontal plane, and the third direction Z is a vertical direction. The first direction X, the second direction Y and the third direction Z may be perpendicular to each other.

[0071] See also Figure 1 and Figure 2 The present application embodiment provides a sorting device, including a carrier 200, a feeding channel 400, a detection mechanism 600 and a sorting mechanism 700. The carrier 200 is used to accommodate an object 1, and each carrier 200 has an identification code 230. Figure 3The loading channel 400 has a first end 410a and a second end 410b that are relatively distributed, and the loading channel 400 can transfer the carrier 200 from the first end 410a to the second end 410b. The detection mechanism 600 includes a detection channel 610, a detection device 620 and a first scanner 630. The detection channel 610 has a third end 610a and a fourth end 610b that are relatively distributed, and the detection channel 610 can transfer the carrier 200 from the third end 610a to the fourth end 610b. The detection device 620 is used to detect the object 1 of the carrier 200 of the detection channel 610, and the first scanner 630 is used to scan the identification code 230 of the carrier 200 of the detection channel 610. Combined with Figure 4 , Figure 5 , the sorting mechanism 700 includes a sorting channel 710, a second scanner 720 and a material-diverting assembly 730. The sorting channel 710 has a front section 710a and a rear section 710b that are relatively distributed. The sorting channel 710 can transfer the carrier 200 from the front section 710a to the rear section 710b, and the rear section 710b includes a plurality of sub-channels 713. The front section 710a is connected to the fourth end 610b. The second scanner 720 and the material-diverting assembly 730 are arranged at the front section 710a, and the second scanner 720 is used to scan the identification code 230 of the carrier 200 of the front section 710a. The material-diverting assembly 730 is used to selectively switch the carrier 200 of the front section 710a to the front end 713a of one of the sub-channels 713.

[0072] Among them, combined Figure 3 The identification code 230 is used as the unique identification of the carrier 200. The identification codes 230 of different carriers 200 are different. The identification code 230 can be a specific code or symbol such as a one-dimensional code or a two-dimensional code. The first scanner 630 and the second scanner 720 can scan the identification code 230 to identify the unique identification of the carrier 200. The four sides of the carrier 200 can have the identification code 230, which is convenient for the first scanner 630 and the second scanner 720 to scan and identify.

[0073] The object 1 may be an object with a surface that is easily damaged or a hard object, such as a granular, spherical or elliptical fruit. Fruits with a surface that is easily damaged, such as bayberry, cherry, strawberry, etc. Fruits with a hard surface, such as pears, citrus, avocado, etc.

[0074] The detected object 1 is a fruit, which can be sorted according to the size and sugar content of the fruit. The detection device 620 can be a camera lens, a non-destructive infrared sugar meter, etc., which are already available technologies. The camera lens can obtain information such as the diameter of the fruit by taking pictures of the fruit. The non-destructive infrared sugar meter can detect the sugar content of the fruit non-destructively. The fruit diameter and the fruit sugar content can be used as fruit parameters.

[0075] The connection between two positions or two components can be direct or indirect. For example, the front section 710a and the fourth end 610b are directly connected, and the two are aligned, so that the carrier 200 flows directly from the fourth end 610b to the front section 710a. The front section 710a and the fourth end 610b are indirectly connected, and there is a predetermined transmission structure between the two, so that the carrier 200 flows from the fourth end 610b to the predetermined transmission structure first, and then flows to the front section 710a.

[0076] In the sorting device provided in the embodiment of the present application, the carrier 200 can accommodate the object 1, and the identification code 230 of the carrier 200 can be used as a mark of the object 1 on the carrier 200. The carrier 200 of the loading channel 400 can be placed with the object 1, and the carrier 200 is transferred from the first end 410a to the second end 410b through the loading channel 400. The second end 410b of the loading channel 400 is connected to the third end 610a of the detection channel 610 of the detection mechanism 600, and the carrier 200 flowing to the detection channel 610 is scanned by the first scanner 630 for the identification code 230 of the carrier 200, and the object 1 on the carrier 200 is detected by the detection device 620 for predetermined parameters, and the identification code 230 of the carrier 200 and the parameter information of the object 1 of the corresponding carrier 200 can be bound. The fourth end 610b of the detection channel 610 is connected to the front section 710a of the sorting channel 710 of the sorting mechanism 700, and the carrier 200 flowing to the sorting channel 710 is scanned by the second scanner 720 for the identification code of the carrier 200 to obtain the parameter information of the object 1 on the carrier 200. According to the parameter information of the object 1, the carrier 200 can be selectively switched to one of the sub-channels 713 of the rear section 710b of the sorting channel 710 through the material shifting component 730, so that the objects 1 falling into different parameter intervals flow to different sub-channels 713 respectively, so as to realize efficient lossless sorting of the objects 1 with low labor cost.

[0077] Among them, the identification code 230 of the carrier 200 obtained by the first scanner 630 and the predetermined parameters of the object 1 obtained by the detection device 620, this information can be stored in the controller or server. According to the identification code 230 of the carrier 200 obtained by the second scanner 720, the parameters of the object 1 corresponding to the carrier 200 are obtained. The controller determines that the parameters of the object 1 on the carrier 200 fall into a certain parameter interval (a certain level), and the multiple sub-channels 713 correspond one by one to multiple parameter intervals (multiple levels). The carrier 200 is moved to the sub-channel 713 of the corresponding parameter interval through the material transfer component 730, and the object 1 is sorted according to the parameters of the object 1. The controller is respectively connected to the detection device 620, the first scanner 630, and the second scanner 720 to realize the sorting process of the object 1.

[0078] Exemplarily, the object 1 placed on the carrier 200 can be red bayberry, which is divided into Class A, Class B and Class C according to the diameter of the red bayberry fruit. The diameter of the A-class red bayberry fruit is above 28 mm, the diameter of the B-class red bayberry fruit is between 25 and 28 mm, and the diameter of the C-class red bayberry fruit is between 22 and 25 mm. The three sub-channels 713 in the sorting channel 710 correspond to three grades of red bayberry, wherein the sub-channel 713 on one side corresponds to Class A red bayberry, the sub-channel 713 on the other side corresponds to Class B red bayberry, and the middle sub-channel 713 corresponds to Class C red bayberry. For example, the controller determines that the red bayberry on the carrier 200 falls into Class A, and moves the carrier 200 to the sub-channel 713 corresponding to Class A red bayberry. Other situations are similar. It can be understood that the fruits on the carrier 200 can also be divided into more than four grades, and the grades can also be divided based on the sweetness and diameter of the fruit.

[0079] In some embodiments, see Figure 4 , Figure 5 The sorting channel 710 includes a first conveyor belt 711 and a first driving component, the first driving component is connected to the first conveyor belt 711, and the first driving component is used to drive the first conveyor belt 711 to move. The first conveyor belt 711 and the first driving component are combined to realize the transmission of the carrier 200 in the sorting channel 710.

[0080] Exemplarily, the first driving component may include a motor and a gear set. Conveyor pulleys are respectively provided at both ends of the first transmission belt 711, and the first transmission belt 711 is wound around the conveyor pulleys. The output shaft of the motor is connected to a gear of the gear set, and another gear of the gear set and one of the conveyor pulleys are fixed to the same transmission rod. When working, the motor drives the gear set, and the gear set drives a conveyor pulley to rotate, thereby driving the first transmission belt 711 to move.

[0081] In some embodiments, see Figure 4 , Figure 5 , further comprising a material-digging sensor 716 for detecting the presence of a carrier 200 at the material-digging component 730, the material-digging sensor 716 and the material-digging component 730 are arranged adjacent to each other. When the material-digging sensor 716 detects that the carrier 200 flows to the material-digging component 730, the material-digging component 730 works to selectively switch the carrier 200 to the front end 713a of one of the sub-channels 713. The material-digging sensor 716 can be a photoelectric sensor or the like.

[0082] In some embodiments, see Figure 4 , Figure 5, multiple sub-channels 713 extend along the first direction X and are arranged side by side along the second direction Y, and a predetermined angle is formed between the first direction X and the second direction Y. The material-digging assembly 730 includes a material-digging driving member 731 and a material-digging structure 732, and the material-digging driving member 731 and the material-digging structure 732 are connected. The material-digging driving member 731 is used to drive the material-digging structure 732 to move, so that the material-digging structure 732 pushes the carrier 200 of the front section 710a to the front end 713a of one of the sub-channels 713. The material-digging driving member 731 drives the material-digging structure 732 to move, and according to the parameter interval into which the parameters of the object 1 on the carrier 200 fall, the carrier 200 is switched to the sub-channel 713 of the corresponding parameter interval to achieve object 1 sorting.

[0083] For example, see Figure 4 , Figure 5 The material-digging driving member 731 may be a control motor, and the material-digging structure 732 includes a connecting shaft 7321 and a plurality of material-digging parts 7322, and the plurality of material-digging parts 7322 are connected to the connecting shaft 7321 along the circumference of the connecting shaft 7321. The output shaft of the control motor is connected to the connecting shaft 7321, and the material-digging part 7322 can push the carrier 200 to move along the second direction Y, so that the carrier 200 switches to one of the sub-channels 713. The material-digging part 7322 may be T-shaped or rod-shaped.

[0084] Exemplarily, the material shifting driving member 731 may be a linear slide, such as a combination of a motor and a lead screw slider mechanism. The linear slide can drive the material shifting structure 732 to move along the second direction Y, so that the carrier 200 switches to one of the sub-channels 713 .

[0085] In some embodiments, see Figure 4 , Figure 5 Each sub-channel 713 is provided with a movable blocking unit 717, which is used to block the carrier 200 from entering the rear end 713b of the sub-channel 713, so as to limit the number of carriers 200 entering the rear end 713b of the sub-channel 713. The movable blocking unit 717 may include a vertically arranged cylinder and a block connected to the cylinder. When the cylinder drives the block to extend, it can block the carrier 200. When the cylinder drives the block to retract, the carrier 200 can flow to the rear end 713b on the sub-channel 713.

[0086] In some embodiments, see Figure 1 , Figure 4 , Figure 5 , the plurality of sorting mechanisms 700 are arranged along the first direction X. The number of sub-channels 713 in each sorting mechanism 700 is two, and the rear section 710b further includes an intermediate channel 714 located between the two sub-channels 713, and the intermediate channel 714 is directly opposite to the front section 710a. The plurality of sub-channels 713 and the intermediate channel 714 extend along the first direction X and are arranged side by side along the second direction Y, and the first direction X and the second direction Y form a predetermined angle.

[0087] In two adjacent sorting mechanisms 700, the middle channel 714 of the sorting mechanism 700 located in the front is connected to the front section 710a of the sorting mechanism 700 located in the rear. The front and rear are two positions that the carrier 200 passes through successively in the flow direction. The front sorting mechanism 700 sorts out the objects 1 and carriers 200 that fall into two different parameter intervals, and the remaining carriers 200 flow from the middle channel 714 of the front sorting mechanism 700 to the front section 710a of the rear sorting mechanism 700, and the rear sorting mechanism 700 sorts out the objects 1 and carriers 200 in one or two parameter intervals. The combination of multiple sorting mechanisms 700 facilitates the sorting of objects 1 on the carrier 200 according to more parameter intervals (levels).

[0088] Exemplarily, in the front sorting mechanism 700, one of the sub-channels 713 corresponds to grade A, and the other sub-channel 713 corresponds to grade B. When the controller determines that the fruit is grade A or grade B, the material shifting component 730 pushes the carrier 200 containing grade A or grade B fruit to the corresponding sub-channel 713. When the controller determines that the fruit is grade C, the material shifting component 730 does not work, the middle channel 714 and the front section 710a are opposite, and the carrier 200 of the front section 710a flows to the rear sorting mechanism 700 through the middle channel 714. One of the sub-channels 713 of the rear sorting mechanism 700 corresponds to grade C fruit, and the material shifting component 730 of the rear sorting mechanism 700 pushes the carrier 200 of grade C fruit to the corresponding sub-channel 713.

[0089] In some embodiments, see Figure 4 , Figure 5 , multiple sub-channels 713 and intermediate channels 714 in the same sorting mechanism 700 can share the first conveyor belt 711 and the first driving component. A barrier wall 715 is provided between adjacent sub-channels 713 and intermediate channels 714, and the barrier wall 715 is provided stationary relative to the first conveyor belt 711 to achieve isolation of the sub-channels 713 and the intermediate channels 714.

[0090] In some embodiments, see Figures 6 to 8, further comprising at least one first conversion assembly 430, a plurality of feeding channels 400 are arranged side by side along a first direction X, and the number of feeding channels 400 is greater than the number of detection channels 610. The first conversion assembly 430 is arranged correspondingly to the plurality of feeding channels 400 and one detection channel 610. The first conversion assembly 430 comprises a plurality of transition channels 431, a confluence channel 432 and a first pusher 433. The second ends 410b of the plurality of feeding channels 400 are connected to the plurality of transition channels 431 in the first conversion assembly 430 corresponding to the plurality of feeding channels 400 in a one-to-one correspondence, the plurality of transition channels 431 are connected to the confluence channel 432, and the third end 610a of the detection channel 610 is connected to the confluence channel 432 in the first conversion assembly 430 corresponding to the detection channel 610. The first pusher 433 is used to move the carrier 200 located at the confluence channel 432 to the third end 610a of the detection channel 610.

[0091] During the transmission of the carrier 200, the loading channel 400 transfers the carrier 200 from the first end 410a to the second end 410b, and the carrier 200 at the second end 410b of the loading channel 400 is transferred to the corresponding transition channel 431. The carrier 200 on the transition channel 431 is pushed forward by the subsequent carrier 200 to enter the confluence channel 432. The confluence channel 432 has carriers 200 at positions corresponding to multiple transition channels 431, and the first pusher 433 moves the carrier 200 on the confluence channel 432 to the third end 610a of the detection channel 610. The detection channel 610 transfers the carrier 200 from the third end 610a to the fourth end 610b. The number of loading channels 400 is greater than the number of detection channels 610. The carrier 200 in the loading channel 400 can be manually placed in the object 1, and the loading channel 400 has a compact structure. The carrier 200 flowing to the detection channel 610 detects the parameters of the object 1 by the detection device 620. The first conversion component 430 can realize the conversion of the carrier 200 from multiple channels to fewer channels or a single channel, and has better transmission stability.

[0092] For example, see Figure 6 , Figure 7 The loading channel 400 and the transition channel 431 both extend along the second direction Y, so that the carrier 200 at the second end 410b of the loading channel 400 is transferred to the corresponding transition channel 431. The merging channel 432 and the detection channel 610 both extend along the first direction X, so that the first pusher 433 can move multiple carriers 200 at the merging channel 432 to the third end 610a of the detection channel 610.

[0093] In some embodiments, see Figure 7The first conversion assembly 430 includes a first support plate 435, a plurality of first retaining walls 436, and a second retaining wall 437. The plurality of first retaining walls 436 extend along the second direction Y and are arranged at intervals on the top surface of the first support plate 435 along the first direction X. The top surface of the first support plate 435 forms a transition channel 431 between two adjacent first retaining walls 436. The second retaining walls 437 extend along the first direction X. The pairs of second retaining walls 437 are arranged at intervals on the top surface of the first support plate 435. The top surface of the first support plate 435 forms a converging channel 432 between the pairs of second retaining walls 437.

[0094] When setting the number of feeding channels 400, detection channels 610, transition channels 431 and confluence channels 432, the feeding channels 400 and transition channels 431 are set in one-to-one correspondence, and the transition channels 431 and confluence channels 432 are set in one-to-one correspondence. Multiple transition channels 431 and one confluence channel 432 are set in correspondence. The detection channels 610 and the detection devices 620 are in one-to-one correspondence, and each detection device 620 detects the object 1 of the carrier 200 on one detection channel 610. The multiple detection channels 610 extend along the first direction X and are arranged along the second direction Y, and the multiple detection devices 620 are arranged along the first direction X.

[0095] For example, see Figure 7 , the number of feeding channels 400 is 12, and the number of detection channels 610 is 4. The number of transition channels 431 is 12, and the number of confluence channels 432 is 4. Three feeding channels 400, three transition channels 431, one confluence channel 432, and one detection channel 610 are correspondingly arranged. After the carriers 200 on the 12 feeding channels 400 enter the 12 transition channels 431 correspondingly, the carriers 200 on every three adjacent transition channels 431 enter the same confluence channel 432 and then enter the same detection channel 610. The carriers 200 on the 12 feeding channels 400 are distributed to the four detection channels 610.

[0096] In some embodiments, see Figure 6 , Figure 8 The first pushing member 433 includes a first driving portion 4331, a second driving portion 4332 and a first pushing portion 4333; the second driving portion 4332 is installed on the first driving portion 4331, and the first driving portion 4331 can drive the second driving portion 4332 to move along the first direction X; the first pushing portion 4333 is installed on the second driving portion 4332, and the second driving portion 4332 can drive the first pushing portion 4333 to move along the third direction Z, and the third direction Z is perpendicular to the first direction X and the second direction Y respectively.

[0097] The first driving part 4331 and the second driving part 4332 are combined to realize the movement of the first pushing part 4333 on the plane formed by the first direction X and the third direction Z, and adjust the position of the first pushing part 4333. In the case where there are carriers 200 at the positions of the merging channel 432 corresponding to the plurality of transition channels 431, the second driving part 4332 can drive the first pushing part 4333 to rise to avoid the carrier 200, and then the first driving part 4331 drives the second driving part 4332 and the first pushing part 4333 to move backward ( Figure 6 , Figure 8 Then the second driving part 4332 drives the first pushing part 4333 to descend to the material-push position, and finally the first driving part 4331 drives the second driving part 4332 and the first pushing part 4333 to move forward ( Figure 6 , Figure 8 The detection channel 610 moves to the left in the center of the detection channel 610 to push all the carriers 200 on the merging channel 432 to the third end 610a.

[0098] For example, the first driving part 4331 can be a linear slide, such as a combination of a motor and a lead screw slider mechanism, which can output a movement of a predetermined displacement. The second driving part 4332 can include a cylinder and a linear slide, and the output shaft of the cylinder is fixed on the slider of the linear slide for easy control.

[0099] In some embodiments, see Figure 7 , further comprising a first conveyor belt 411, a first driving device 412 and a plurality of first retaining ribs 413; the first conveyor belt 411 extends along the second direction Y, and the first driving device 412 is used to drive the first conveyor belt 411 to move; a plurality of first retaining ribs 413 are arranged at intervals along the first direction X and extend along the second direction Y, and the plurality of first retaining ribs 413 are located above the first conveyor belt 411; a loading channel 400 is formed on the top surface of the first conveyor belt 411 and between two adjacent first retaining ribs 413. A plurality of parallel loading channels 400 can be formed. The first conveyor belt 411 driven by the first driving device 412 is a moving component, and the first retaining rib 413 is a stationary component and is used to guide the carrier 200 to move along a predetermined route. The first retaining rib 413 can be arranged above the first conveyor belt 411 through a first bracket 414, so that the first retaining rib 413 and the first conveyor belt 411 are spaced apart and do not contact each other.

[0100] Exemplarily, the first driving device 412 may include a motor and a gear set. Conveyor pulleys are respectively provided at both ends of the first conveyor belt 411, the output shaft of the motor is connected to a gear of the gear set, and another gear of the gear set and one of the conveyor pulleys are fixed to the same transmission rod. During operation, the motor drives the gear set, and the gear set drives a conveyor pulley to rotate, thereby driving the first conveyor belt 411 to move.

[0101] In some embodiments, see Figure 3 The feeding channel 400 is provided with a movable blocking module 415 for blocking the carrier 200 from flowing on the feeding channel 400. The movable blocking module 415 may include a vertically arranged cylinder and a block connected to the cylinder. When the cylinder drives the block to extend, the carrier 200 can be blocked. When the cylinder drives the block to retract, the carrier 200 can flow on the feeding channel 400.

[0102] In some embodiments, see Figure 7 , further comprising at least one second conveyor belt 611, a second driving device 612 and a plurality of second retaining ribs 613, the second conveyor belt 611 extending along the first direction X, the second driving device 612 being used to drive the second conveyor belt 611 to move; second retaining ribs 613 are respectively provided on both sides of the second conveyor belt 611, the second retaining ribs 613 extending along the first direction X; a detection channel 610 is formed on the top surface of the second conveyor belt 611 and between the two second retaining ribs 613. The second conveyor belt 611 driven by the second driving device 612 is a moving component, and the second retaining ribs 613 are stationary components and are used to guide the carrier 200 to move along a predetermined route. The second retaining ribs 613 can be arranged above the second conveyor belt 611 through a second bracket 614, so that the second retaining ribs 613 and the second conveyor belt 611 are spaced apart and do not contact each other.

[0103] Exemplarily, the second driving device 612 can be a combination of a motor and a synchronous pulley mechanism. Conveyor pulleys are respectively provided at both ends of the second conveyor belt 611, and one of the conveyor pulleys is fixed to the output shaft of the synchronous pulley mechanism. During operation, the motor drives the synchronous pulley mechanism to move, so that the output shaft of the synchronous pulley mechanism drives a conveyor pulley to rotate, thereby driving the second conveyor belt 611 to move.

[0104] In some embodiments, see Figures 6 to 8The outer circumference of the second conveyor belt 611 is provided with a plurality of limiting ribs 6111 along the first direction X, and a placement position 6112 for limiting a carrier 200 is formed between two adjacent limiting ribs 6111. In the process of the first pusher 433 moving the carrier 200 on the confluence path 432 to the third end 610a of the detection channel 610, the first pusher 433 can push a carrier 200 on the confluence path 432 to a placement position 6112 of the detection channel 610 each time, and the detection channel 610 moves forward to vacate a placement position 6112, and the first pusher 433 pushes a carrier 200 on the next confluence path 432 to the next placement position 6112 of the detection channel 610, so that one placement position 6112 of every two placement positions 6112 on the detection channel 610 has a carrier 200, that is, two adjacent carriers 200 are separated by a distance of one placement position 6112. Thus, the distance between two adjacent carriers 200 on the detection channel 610 is pulled apart, so that the detection device 620 can be arranged in the extension direction of the detection channel 610 to detect the carrier 200. According to the moving speed of the second conveyor belt 611 and the detection time of the detection device 620, the first pusher 433 pushes a carrier 200 of the merging channel 432 to the third end 610a of the detection channel 610 and locates it at the placement position 6112 at every predetermined time interval.

[0105] In some embodiments, see Figures 6 to 8 , the confluence channel 432 is provided with confluence channel sensors 434 at the positions corresponding to the multiple transition channels 431, respectively, for detecting the presence of the carrier 200 at the confluence channel 432. The confluence channel sensors 434 are used to detect whether the carrier 200 is present at the confluence channel 432. When there are carriers 200 at positions corresponding to the transition channels 431 on the confluence channel 432, the first material pusher 433 is moved to the material pushing position to prepare for pushing the carrier 200. The confluence channel sensor 434 may be a proximity sensor.

[0106] In some embodiments, see Figures 7 to 9 , further comprising a transfer channel 440 and a second conversion component 450; the number of the detection channels 610 is greater than the number of the transfer channels 440; the transfer channel 440 has a fifth end 440a and a sixth end 440b that are relatively distributed along the first direction X, and the transfer channel 440 can transfer the carrier 200 from the fifth end 440a to the sixth end 440b; combined Figure 4 , Figure 5, the sixth end 440b is connected to the front section 710a of one of the sorting channels 710; the second conversion assembly 450 includes a plurality of conversion lanes 451 and a plurality of second pushers 452; the fourth ends 610b of the plurality of detection channels 610 are connected to the plurality of conversion lanes 451 in one-to-one correspondence, and the conversion lanes 451 are connected to the fifth end 440a of the transfer channel 440; the plurality of second pushers 452 are arranged in one-to-one correspondence with the plurality of conversion lanes 451, and the second pushers 452 are used to move the carrier 200 located at the conversion lane 451 to the fifth end 440a of the transfer channel 440. The fifth end 440a of the transfer channel 440 is an area where a plurality of carriers 200 can be placed. During the transmission of the carrier 200, the detection channel 610 transmits the carrier 200 from the third end 610a to the fourth end 610b, the second pusher 452 moves the carrier 200 located at the conversion path 451 to the fifth end 440a of the transfer channel 440, and the transfer channel 440 transmits the carrier 200 from the fifth end 440a to the sixth end 440b. The carrier 200 can be converted from a multi-channel to a single channel, and has good transmission stability. The conversion path 451 can extend along the second direction Y. The second pusher 452 can be installed on the mounting frame 452a, so that the second pusher 452 is located above the conversion path 451.

[0107] In some embodiments, see Fig.10 The second conversion assembly 450 includes a second support plate 454 and a plurality of third retaining walls 455 . The plurality of third retaining walls 455 extend along the second direction Y and are arranged at intervals on the top surface of the second support plate 454 along the first direction X. The top surface of the second support plate 454 forms a conversion path 451 between two adjacent third retaining walls 455 .

[0108] In some embodiments, see Fig. 9 , Fig.11The second pusher 452 includes a third driving part 4521, a fourth driving part 4522 and a second pusher 4523; the fourth driving part 4522 is mounted on the third driving part 4521, and the third driving part 4521 can drive the fourth driving part 4522 to move along the second direction Y; the second pusher 4523 is mounted on the fourth driving part 4522, and the fourth driving part 4522 can drive the second pusher 4523 to move along the third direction Z, and the third direction Z is respectively perpendicular to the first direction X and the second direction Y. The second pusher 4523 can move on the plane formed by the second direction Y and the third direction Z, and the position of the second pusher 4523 can be adjusted. In the case where there is a carrier 200 at the fourth end 610b of the detection channel 610, the fourth driving part 4522 can drive the second pushing part 4523 to rise to avoid the carrier 200, and then the third driving part 4521 drives the fourth driving part 4522 and the second pushing part 4523 to move backward, and then the fourth driving part 4522 drives the second pushing part 4523 to descend to the material-push position, and finally the third driving part 4521 drives the fourth driving part 4522 and the second pushing part 4523 to move forward to push the carrier 200 on the switching path 451 to the fifth end 440a of the transfer channel 440. The third driving part 4521 and the fourth driving part 4522 can both be cylinders, which are easy to control.

[0109] In some embodiments, see Fig.10 , further comprising a third conveyor belt 441, a third driving device 442 and two third retaining ribs 443, the third conveyor belt 441 extending along the first direction X, the third driving device 442 being used to drive the third conveyor belt 441 to move; third retaining ribs 443 are respectively provided on both sides of the third conveyor belt 441, and the third retaining ribs 443 extend along the first direction X; a transfer channel 440 is formed on the top surface of the third conveyor belt 441 and between the two third retaining ribs 443. The third conveyor belt 441 driven by the third driving device 442 is a moving component, and the third retaining ribs 443 are stationary components and are used to guide the carrier 200 to move along a predetermined route. The structure of the third driving device 442 can refer to the first driving device 412.

[0110] In some embodiments, see Fig. 9 , Fig.10 , the fourth ends 610b of the plurality of detection channels 610 are respectively provided with detection channel sensors 453 for detecting the presence of the carrier 200 at the fourth end 610b. The detection channel sensors 453 are used to detect whether the carrier 200 exists at the fourth end 610b of the detection channel 610. When the carrier 200 exists at the fourth end 610b of the detection channel 610, the second material pushing member 452 is moved to the material pushing position to prepare for pushing the carrier 200. The detection channel sensor 453 may be a photoelectric sensor or the like.

[0111] In other embodiments, the number of the feeding channel 400, the detection channel 610 and the sorting channel 710 is equal, the feeding channel 400 and the detection channel 610 are connected, and the detection channel 610 and the sorting channel 710 are connected. The object 1 is manually placed on the carrier 200 through the feeding channel 400, and the object 1 on the carrier 200 flowing to the detection channel 610 is detected by the detection device 620, and the carrier 200 flowing to the sorting channel 710 realizes the sorting of the object 1. This method does not require the first conversion component 430, the transfer channel 440 and the second conversion component 450. The feeding channel 400, the detection channel 610 and the sorting channel 710 can extend in the same direction. The feeding channel 400 and the detection channel 610 can extend in different directions, and the two are connected by a turning conveyor. The detection channel 610 and the sorting channel 710 can extend in different directions, and the two are connected by a turning conveyor.

[0112] In some embodiments, see Fig.12 , further comprising a recovery channel 470, a first transfer assembly 480 and a second transfer assembly 490; combined Figure 4 , Figure 5 , the first transfer assembly 480 is arranged at the rear end 713b of the sub-channel 713 in a one-to-one correspondence, and the recovery channel 470 is located below the feeding channel 400, the detection channel 610 and the sorting channel 710; the first transfer assembly 480 is used to transfer the carrier 200 at the rear end 713b of the sub-channel 713 to the recovery channel 470; the second transfer assembly is used to transfer the carrier 200 in the recovery channel 470 to the feeding channel 400. The recovery channel 470 has a front end 470a and a rear end 470b, and the recovery channel 470 can transport the carrier 200 from the front end 470a to the rear end 470b. The first transfer assembly 480 is arranged near the front end 470a, and the second transfer assembly 490 is arranged near the rear end 470b. The object 1 of the carrier 200 at the first transfer assembly 480 can be transferred from the carrier 200 to the working area by the transfer mechanism mentioned below or manually. The empty carrier 200 can return to the loading channel 400 again through the first transfer assembly 480, the recovery channel 470 and the second transfer assembly 490. The object 1 is manually loaded into the empty carrier 200 of the loading channel 400. The carrier 200 can be cyclically transferred and recycled, and the occupied area is small.

[0113] In some embodiments, see Figure 4 , Figure 5The first transfer component 480 includes a positioning channel 481, an inclined slide 482, a first pusher 483 and a second pusher 484; the positioning channel 481 is connected to the rear end 713b of the sub-channel 713; the inclined slide 482 is located above the recovery channel 470, the upper end 482a of the inclined slide 482 is connected to the positioning channel 481, and the lower end 482b of the inclined slide 482 is arranged toward the recovery channel 470; the first pusher 483 is used to move the carrier 200 at the rear end 713b of the sub-channel 713 to the positioning channel 481; the second pusher 484 is used to move the carrier 200 of the positioning channel 481 to the upper end 482a of the inclined slide 482.

[0114] The rear end 713b of the sub-channel 713 may be an area where a plurality of carriers 200 may be placed. When the plurality of carriers 200 are located at the rear end 713b of the sub-channel 713, the first pusher 483 pushes the plurality of carriers 200 at the rear end 713b of the sub-channel 713 toward the positioning channel 481 and close to the inclined slide 482, and then the second pusher 484 pushes the plurality of carriers 200 at the positioning channel 481 toward the inclined slide 482, so that the plurality of carriers 200 slide on the inclined slide 482 under the action of gravity and then fall into the recovery channel 470.

[0115] For example, Fig.13 As shown in (a) of FIG. 1 , the sorting channel 710 extends along the first direction X, and the recycling channel 470 at least partially extends along the first direction X. Fig.13 As shown in (b) of FIG. 1 , the first pusher 483 can push the plurality of carriers 200 to move along the second direction Y. Fig.13 As shown in (c) of FIG. 1 , the second pusher 484 can push the plurality of carriers 200 to move along the first direction X. The first pusher 483 may include a cylinder 4831 and a push plate 4832, wherein the cylinder 4831 is horizontally arranged along the second direction Y, and the push plate 4832 is connected to the output shaft of the cylinder 4831. The second pusher 484 may include a cylinder 4841 and a push plate 4842, wherein the cylinder 4841 is horizontally arranged along the first direction X, and the push plate 4842 is connected to the output shaft of the cylinder 4841.

[0116] In some embodiments, see Fig.13In (a), the first movable blocking member 485 is provided near the inclined slide 482 of the positioning channel 481, which is used to block the carrier 200 in the positioning channel 481 from entering the inclined slide 482. Before the first pusher 483 pushes the multiple carriers 200, the output shaft of the first movable blocking member 485 extends to prevent the carriers 200 on the positioning channel 481 from entering the inclined slide 482. When the first pusher 483 pushes the multiple carriers 200 to the position of the positioning channel 481 close to the inclined slide 482 and the second pusher 484 is ready to push the multiple carriers 200 to the inclined slide 482, the output shaft of the first movable blocking member 485 retracts, so that the second pusher 484 can push the multiple carriers 200 into the inclined slide 482.

[0117] Exemplarily, the first movable blocking member 485 may be a cylinder arranged along the third direction Z, and the cylinder may be arranged at the bottom of the positioning channel 481. The output shaft of the cylinder passes through the positioning channel 481, and the output shaft of the cylinder moves up and down.

[0118] In some embodiments, see Fig.13 The lower end 482b of the inclined slide 482 is provided with a second movable blocking member 486, which can realize the on-off switching of the lower end 482b of the inclined slide 482. The second movable blocking member 486 has a blocking portion 4861 and a slope portion 4862, and the second movable blocking member 486 can switch between the open position and the blocking position. Fig.13 As shown in (c) of FIG. 4 , when the second movable blocking member 486 is in the blocking position, the blocking portion 4861 and the lower end 482b of the inclined slide 482 are arranged relative to each other, so that the carrier 200 on the inclined slide 482 cannot fall into the recovery channel 470 under the action of gravity. Fig.13 As shown in (d) in the figure, when the second movable blocking member 486 is in the open position, the lower end 482b of the inclined slide 482 is aligned with the slope portion 4862, so that the carrier 200 on the inclined slide 482 can fall into the recovery channel 470 under the action of gravity. The second movable blocking member 486 can be driven by a third cylinder disposed in the Z direction, and the output shaft of the cylinder is connected to the blocking portion 4861 and the slope portion 4862.

[0119] In some embodiments, see Fig.13 A recovery channel sensor 487 is provided near the second movable blocking member 486 of the recovery channel 470 for detecting the presence of the carrier 200 behind the lower end 482b of the inclined slide 482 corresponding to the recovery channel 470. The rear of the lower end 482b of the inclined slide 482 corresponding to the recovery channel 470 refers to the rear of the lower end 482b of the inclined slide 482 in the forward direction of the recovery channel 470.

[0120] like Fig.13As shown in (c), when there is a carrier 200 on the recovery channel 470 and behind the lower end 482b of the inclined slide 482, the recovery channel sensor 487 detects the carrier 200 and switches the second movable blocking member 486 to the blocking position, so that the carrier 200 on the inclined slide 482 cannot fall into the recovery channel 470 under the action of gravity. At this time, the carrier 200 behind the lower end 482b of the inclined slide 482 can be transported forward on the recovery channel 470, achieving smooth transportation of the carrier 200 behind the lower end 482b of the inclined slide 482.

[0121] like Fig.13 As shown in (d), when there is no carrier 200 on the recovery channel 470 and behind the lower end 482b of the inclined slide 482, the recovery channel sensor 487 detects that there is no carrier 200, and the second movable blocking member 486 can be switched to the open position, so that the carrier 200 on the inclined slide 482 can fall into the recovery channel 470 under the action of gravity. The recovery channel sensor 487 can be a photoelectric sensor or the like.

[0122] In some embodiments, see Fig.14 , Fig.15 , the recycling channel 470 includes a first channel 471, a second channel 472 and a plurality of third channels 473, the first channel 471 is located below the sorting channel 710, the second channel 472 is located below the detection channel 610, and the third channel 473 is located below the loading channel 400. The first transfer component 480 is arranged close to the first channel 471; the first channel 471 and the second channel 472 are connected; the sorting device also includes a distribution component 474, which is used to distribute the carrier 200 of the second channel 472 to the plurality of third channels 473; the second transfer component 490 is arranged close to the third channel 473. The first channel 471 has a front end 471a and a rear end 472b opposite to each other. The second channel 472 has a front end 472a and a rear end 472b opposite to each other. The third channel 473 has a front end 473a and a rear end 473b opposite to each other. The front end 470a of the recycling channel 470 is the front end 471a of the first channel 471, close to the first transfer component 480. The rear end 470 b of the recovery channel 470 is the rear end 473 b of the third channel 473 , close to the second transfer assembly 490 .

[0123] The first transfer assembly 480 transfers the empty carrier 200 to the first channel 471, and the carrier 200 passes through the first channel 471 and the second channel 472 in sequence, and the carrier 200 is distributed to multiple third channels 473 through the distribution assembly 474, and the multiple third channels 473 respectively transfer the carrier 200 to the second transfer assembly 490. The arrayed carriers 200 are transferred to the first end 410a of the multiple feeding channels 400 through the second transfer assembly 490. The recycling channel 470 is arranged below the sorting channel 710, the detection channel 610 and the feeding channel 400, making full use of the space below to make the overall structure compact. The first channel 471, the second channel 472, and the third channel 473 can all be in the form of conveyor belts, roughly on the same plane.

[0124] Exemplarily, the distribution assembly 474 may include a plurality of linear driving members, and the plurality of linear driving members and the plurality of third channels 473 are arranged one by one, and the linear driving member can output movement along the second direction Y to push the carrier 200 at the rear end 472b of the second channel 472 into the front end 473a of the third channel 473. The linear driving member may include a cylinder and a pushing part, and the pushing part is connected to the output shaft of the cylinder. The rear end 472b of the second channel 472 is an area where a plurality of carriers 200 can be placed.

[0125] In some embodiments, see Figure 4 , Figure 5 The rear ends 713b of the two sub-channels 713 of the sorting mechanism 700 are respectively provided with first transfer assemblies 480. The inclined slideways 482 in the first transfer assemblies 480 correspond to a first channel 471 respectively, and the empty carriers 200 of the first transfer assemblies 480 fall into the corresponding first channel 471. Fig.14 , Fig.15 , the two first channels 471 extend along the first direction X and are arranged along the second direction Y, wherein one of the first channels 471 ( Fig.15 The rear end 471b of the first channel 471 above is directly connected to the front end 472a of the second channel 472, and the carrier 200 in the first channel 471 flows directly into the second channel 472. Fig.15 The rear end 471b of the first channel 471 below is provided with a translation assembly 475, which is used to push the carrier 200 at the rear end 471b of the first channel 471 to the rear end 471b of the first channel 471 directly connected to the second channel 472. The rear end 471b of the first channel 471 is an area where multiple carriers 200 can be placed. The translation assembly can be in the form of a linear drive member (such as a cylinder) driving a push plate.

[0126] In some embodiments, see Figures 16 to 19The second transfer assembly 490 includes a support member 491, a third push member 492, a fourth push member 493 and a third movable blocking member 494; Fig.16 , Fig.17 , Fig.19 In (a), when the support member 491 is in the receiving position, the multiple channels of the support member 491 and the rear ends 470b of the multiple recovery channels 470 are aligned one by one; Fig.19 In (b), when the support member 491 is in the release position, the multiple channels of the support member 491 and the first ends 410a of the multiple feeding channels 400 are aligned one by one; the third pusher 492 is used to drive the support member 491 to switch between the receiving position and the release position; the fourth pusher 493 is used to push the carrier 200 on the support member 491 in the release position toward the first end 410a of the feeding channel 400. The third movable blocking member 494 is arranged close to the rear end 470b of the recovery channel 470, and the third movable blocking member 494 is used to block the carrier 200 at the rear end 470b of the recovery channel 470 from moving forward. The receiving position of the support member 491 is lower than the release position.

[0127] When the second transfer assembly 490 needs to receive the carrier 200 at the rear end 470b of the recycling channel 470, the third pusher 492 can move the support member 491 to the receiving position, and the recycling channel 470 can transfer the carrier 200 from the front end 470a to the rear end 470b of the recycling channel 470, and make the carrier 200 enter the support member 491 from the rear end 470b of the recycling channel 470, and the subsequent carrier 200 can continue to push the carrier 200 in front until the same channel of the support member 491 is full of carriers 200, for example, the same channel of the support member 491 is full of three carriers 200. Then the third movable blocking member 494 blocks the carrier 200 at the rear end 470b of the recycling channel 470 from moving forward. The third pushing member 492 moves the supporting member 491 from the receiving position to the releasing position, and then the fourth pushing member 493 pushes the carrier 200 in the releasing position toward the first end 410a of the loading channel 400. The carrier 200 is transferred from the first end 410a of the loading channel 400 through the loading channel 400 and the detection channel 610 to the rear end 713b of the sub-channel 713 of the sorting channel 710.

[0128] For example, see Fig.19 The third pusher 492 may be a cylinder arranged along the third direction Z, and the output shaft of the cylinder is connected to the support member 491 to drive the support member 491 to move up and down. The fourth pusher 493 may include a cylinder 4931 and a push structure 4932, the cylinder 4931 is arranged horizontally, and the push structure 4932 is connected to the output shaft of the cylinder 4931. Fig.18The third movable blocking member 494 may include a cylinder 4941 and a blocking structure 4942. The cylinder 4941 is arranged vertically, and the output shaft of the cylinder 4941 is connected to the blocking structure 4942, which can drive the blocking structure 4942 to move up and down.

[0129] In some embodiments, see Fig.18 , Fig.19 The second transfer assembly 490 further includes a support member sensor 495 . The support member sensor 495 is disposed close to the rear end 470 b of the recycling channel 470 . The support member sensor 495 is used to detect the presence of the support member 491 on the carrier 200 .

[0130] When the support sensor 495 detects the presence of the carrier 200 on the support 491 within a predetermined time, it indicates that the same channel of the support 491 is full of carriers 200. The third movable blocking member 494 blocks the carrier 200 at the rear end 470b of the recycling channel 470 from moving forward. The support sensor 495 may be a photoelectric sensor or the like.

[0131] In some embodiments, see Figure 1 , Figure 2 , Fig. 20 , and also includes a clamp mechanism 100a and a manipulator 100b. The clamp mechanism 100a is installed on the manipulator 100b. The manipulator 100b can move the clamp mechanism 100a between the first transfer component 480 and the working area 360a. The clamp mechanism 100a has a plurality of clamps 100 arranged in a column, and the clamps 100 can grasp the object 1 on the carrier 200.

[0132] After the objects 1 on the carrier 200 are classified by grade, the clamp mechanism 100a and the manipulator 100b are combined to load the objects 1 on the carrier 200 into the packaging box 2 to realize the packaging of the objects 1. When there are multiple carriers 200 with objects 1 in the first transfer component 480, the manipulator 100b drives the clamp mechanism 100a to move to the first transfer component 480, and multiple clamps 100 grab a row of objects 1 on the carrier 200, and then move to the packaging box 2 in the working area 360a. The clamp mechanism 100a releases the objects 1 so that the objects 1 are loaded into the packaging box 2, and the transfer efficiency is high. The number of clamps 100 is set according to the number of objects 1 in a row of the packaging box 2, for example, the number of clamps 100 is four or five. The manipulator 100b has multiple degrees of freedom of movement to drive the clamp mechanism 100a to move, so as to avoid collision between the moving clamp mechanism 100a and surrounding parts.

[0133] In some embodiments, see Figure 21 to Figure 24The clamp mechanism 100a includes a mounting seat 150, a plurality of connecting seats 160, at least one stopper 170 and a first driving assembly 180. At least one connecting seat 160 is fixed to the mounting seat 150, and the other connecting seats 160 are slidably mounted on the mounting seat 150 along a predetermined direction. Alternatively, all connecting seats 160 are slidably mounted on the mounting seat 150 along a predetermined direction. The clamping jaws 100 are mounted on the connecting seats 160 one by one. Each two adjacent connecting seats 160 are connected by a stopper 170, and the stopper 170 is used to limit the maximum distance between two adjacent connecting seats 160. The first driving assembly 180 is used to drive the connecting seats 160 at both ends to move closer or farther. Among them, the number of stoppers 170 can be set according to the number of connecting seats 160, and the number of stoppers 170 is one less than the number of connecting seats 160. For example, if there are 5 connecting seats 160, 4 stoppers 170 are required, and each two adjacent connecting seats 160 are connected by a stopper 170. The first driving assembly 180 drives the connecting seats 160 at both ends to move closer or farther away. The connecting seats 160 at both ends may move, or the connecting seat 160 at one end may move while the connecting seat 160 at the other end remains stationary.

[0134] Combination Figure 2 , Fig. 20 , the clamp mechanism 100a clamps multiple objects 1 from the carrier 200 of the positioning channel 481, and transfers the multiple objects 1 to the packaging box 2 at the working area 360a. The distance between two adjacent objects 1 in the positioning channel 481 is large, and the distance between two adjacent objects 1 in the working area 360a is small. Figure 1 , Figure 2 As shown, when the positioning channel 481 is in operation, the first driving assembly 180 drives the two end connecting seats 160 to move away from each other, thereby increasing the distance between two adjacent connecting seats 160, that is, increasing the distance between two adjacent clamping jaws 100. Figure 3 , Figure 4 As shown, in the working area 360a, when the first driving assembly 180 drives the two end connecting seats 160 to move closer, the distance between two adjacent connecting seats 160 can be reduced, that is, the distance between two adjacent clamping jaws 100 can be reduced. The clamping mechanism 100a can change the distance between two adjacent clamping jaws 100 as needed.

[0135] In some embodiments, see Fig. 22 , Fig.24 The first driving assembly 180 has a fixed portion 181 and an output shaft 182. The output shaft 182 can move telescopically relative to the fixed portion 181. The fixed portion 181 and the output shaft 182 are connected to the connecting seats 160 at both ends in a one-to-one correspondence. Fig.21 , Fig. 22When the output shaft 182 extends to the maximum stroke relative to the fixed portion 181, the fixed portion 181 and the output shaft 182 can drive the connecting seats 160 at both ends to move away from each other, thereby increasing the distance between the connecting seats 160 at both ends. When the number of connecting seats 160 is greater than or equal to four, the output shaft 182 extends and moves, and the fixed portion 181 and the output shaft 182 can drive the connecting seats 160 at both ends to move, and some of the limiting members 170 also play a role in pulling the corresponding connecting seats 160 to move, thereby increasing the distance between each two adjacent connecting seats 160. Fig.23 , Fig.24 In the process of the output shaft 182 retracting relative to the fixed part 181, the fixed part 181 and the output shaft 182 can drive the connecting seats 160 at both ends to move closer, reducing the distance between the connecting seats 160 at both ends until the two adjacent connecting seats 160 are in contact. The first driving assembly 180 can be a first cylinder, and the fixed part 181 and the output shaft 182 are a cylinder and a piston respectively.

[0136] In some embodiments, see Figure 21 to Figure 24 The end of the fixing part 181 away from the output shaft 182 is fixed to one end of the connection seat 160 through the first connection plate 183, and the end of the output shaft 182 away from the fixing part 181 is fixed to the other end of the connection seat 160 through the second connection plate 184. It is convenient to install the first driving assembly 180 on the connection seats 160 at both ends.

[0137] In some embodiments, see Fig.21 , Fig.23 Each connection seat 160 is provided with a pin 171, and the stopper 170 has a strip groove 172 extending in a predetermined direction, and the pin 171 is inserted into the strip groove 172. When the first driving assembly 180 drives the connection seats 160 at both ends to move, the pin 171 and the strip groove 172 are slidably matched. When the pin 171 is against the inner wall of the end of the strip groove 172, the maximum distance between two adjacent connection seats 160 can be limited.

[0138] In some embodiments, see Fig.21 , Figure 25 to Figure 27 The mounting seat 150 includes a main body 151, a first mounting portion 152 and a second mounting portion 153. The first mounting seat 150 and the second mounting portion 153 are respectively provided with different numbers and / or different sizes of clamping jaws 100. The first mounting portion 152 and the second mounting portion 153 can be selectively and detachably mounted on the main body 151. The modular design is adopted, so that the user can select the first mounting portion 152 or the second mounting portion 153 as needed, realize the rapid replacement of the number and / or size of the clamping jaws 100, and enable the clamp mechanism 100a to quickly adapt to different usage scenarios.

[0139] In some embodiments, see Fig.25 , Fig.28 , Fig.29 The first driving assembly 180 is a first cylinder, and the main body 151 has a first air passage 1511. A first positioning pin 1512 is provided at one end of the first air passage 1511, and the first positioning pin 1512 has a first flow passage 1512a. The first positioning pin 1512 serves to position the first mounting portion 152 or the second mounting portion 153 on the main body 151, and also serves to connect different air passages to form an air flow channel. Fig.25 , Fig.28 , Fig.29 The first mounting portion 152 has a second air passage 1521, and the second air passage 1521 is used to connect with the first cylinder to allow air to flow in and out of the first cylinder. Fig. 27 The second mounting portion 153 has a third air passage 1531, and the third air passage 1531 is used to connect with the first cylinder to allow air to flow in and out of the first cylinder. Fig.28 When the first mounting portion 152 is mounted on the main body 151 and the first positioning pin 1512 is inserted into the second air channel 1521, the first air channel 1511 and the second air channel 1521 are connected through the first flow channel 1512a. The first mounting portion 152 is positioned to the main body 151 by the first positioning pin 1512, so as to prepare for the fixed connection between the first mounting portion 152 and the main body 151. The first flow channel 1512a of the first positioning pin 1512 realizes the connection between the first air channel 1511 and the second air channel 1521. Fig.26 , Fig. 27 When the second mounting portion 153 is mounted on the main body 151 and the first positioning pin 1512 is inserted into the third air channel 1531, the first air channel 1511 and the third air channel 1531 are connected through the first flow channel 1512a. The second mounting portion 153 is positioned to the main body 151 through the second positioning pin, so as to prepare for the fixed connection between the second mounting portion 153 and the main body 151. The first flow channel 1512a of the first positioning pin 1512 realizes the connection between the first air channel 1511 and the third air channel 1531.

[0140] In some embodiments, see Fig.21 , Fig. 22 The first air channel 1511 has a first air nozzle 1513 at its port. The second air channel 1521 has a second air nozzle 1522 at its port, and the second air nozzle 1522 and the first cylinder corresponding to the first mounting portion 152 can be connected via an air pipe. The third air channel 1531 has a third air nozzle at its port, and the third air nozzle and the first cylinder corresponding to the second mounting portion 153 can be connected via an air pipe. Fig.25 , Fig.28 , Fig.29The main body 151 has two first air passages 1511, and each first air passage 1511 is provided with a first positioning pin 1512. Correspondingly, the first mounting portion 152 has two second air passages 1521, and the second mounting portion 153 has two third air passages 1531. When the first mounting portion 152 or the second mounting portion 153 is mounted on the main body 151, the two groups of air passages are connected through the two first positioning pins 1512, so as to realize the intake and exhaust of the first cylinder.

[0141] In some embodiments, see Fig.28 , Fig.29 , the first locating pin 1512 is threadedly connected to the main body 151. It is convenient for the first locating pin 1512 to be reliably connected to the main body 151. A gasket 1514 is sandwiched between the first locating pin 1512 and the main body 151. The gasket 1514 can achieve a seal between the first locating pin 1512 and the main body 151 to prevent air leakage. A sealing ring 1515 is sleeved on one end of the first locating pin 1512 extending out of the main body 151. The sealing ring 1515 can achieve a seal between the first locating pin 1512 and the first mounting portion 152 (or the second mounting portion 153) to prevent air leakage.

[0142] In some embodiments, see Fig.28 , the first mounting portion 152 or the second mounting portion 153 can be detachably mounted on the main body 151 by a fastener. The first mounting portion 152 or the second mounting portion 153 can be detachably mounted on the main body 151. The fastener can be a screw. The screw can be inserted into the through hole 1516 of the main body 151 and threadedly connected to the threaded hole 1523 of the first mounting portion 152 (or the second mounting portion 153), so that the first mounting portion 152 (or the second mounting portion 153) is fixed to the main body 151.

[0143] In some embodiments, see Figure 21 to Figure 24 The mounting seat 150 has a slide rail 154 extending in a predetermined direction, and at least one connecting seat 160 is provided with a slider 155, which is slidably mounted on the slide rail 154. The slide rail 154 and the slider 155 are adopted to facilitate the connecting seat 160 to be slidably mounted on the mounting seat 150 in a predetermined direction.

[0144] In some embodiments, see Fig.21, when one of the connection seats 160 is fixed to the mounting seat 150 and the number of the connection seats 160 is at least three, the connection seat 160a fixed to the mounting seat 150 is located in the middle of all the connection seats 160. The connection seat 160a fixed to the mounting seat 150 is set in the middle position instead of the end position. When the first driving component 180 drives the connection seats 160 at both ends to move away from each other, the distance between the two adjacent connection seats 160 increases rapidly. When the first driving component 180 drives the connection seats 160 at both ends to move closer to each other, the distance between the two adjacent connection seats 160 decreases rapidly.

[0145] In some embodiments, see Fig.26 , when all the connection seats 160 are slidably mounted on the mounting seat 150 along a predetermined direction, one of the stoppers 170a is fixed to the mounting seat 150. When the first driving assembly 180 drives the connection seats 160 at both ends to move to the maximum stroke, the stoppers 170a fixed to the mounting seat 150 can limit the position of the connection seats 160, so that each time the first driving assembly 180 drives the connection seats 160 to move, the plurality of connection seats 160 remain at the predetermined position.

[0146] In some embodiments, see Figure 30 to Figure 32 The clamp 100 includes a base 110, a second drive assembly 120 and a plurality of finger assemblies 130; the plurality of finger assemblies 130 are distributed on the base 110 around the first axis 100a; each finger assembly 130 includes a fixed section 131 and a movable section 132. One end 131a of the fixed section 131 is fixed to the base 110, and the movable section 132 is pivotally connected to the other end 131b of the fixed section 131. Fig.30 , Fig.32 , Fig.34 When the multiple movable segments 132 are in the folded position, the free ends 132a of the multiple movable segments 132 are arranged close to the first axis 100a, and a receiving area 130a for receiving the object 1 is formed between the multiple movable segments 132. Fig.35 , Fig.36 When the multiple movable segments 132 are in the open position, the free ends 132a of the multiple movable segments 132 are disposed away from the first axis 100a. The second driving assembly 120 is disposed on the base 110, and is used to drive the multiple movable segments 132 to move so that the multiple movable segments 132 switch between the closed position and the open position.

[0147] When the plurality of movable segments 132 are in the open position, the plurality of movable segments 132 and the first axis 100a can be arranged substantially parallel to each other, and after the relative positions of the clamping jaws 100 and the object 1 are adjusted so that the two are aligned, the clamping jaws 100 and the object 1 are combined. Fig.37 The clamping jaw 100 moves vertically downward so that the plurality of movable segments 132 are located at the periphery of the object 1 , and the movable segments 132 will not cause damage to the object 1 whose surface is easily damaged.

[0148] When the multiple movable segments 132 are in the retracted position, the multiple movable segments 132 can be tilted relative to the first axis 100a, and the free ends 132a of the multiple movable segments 132 are close to the first axis 100a, and a substantially conical accommodating area 130a can be formed between the multiple movable segments 132. When the clamping jaws 100 are moved upward, the object 1 in the accommodating area 130a can contact the inner side surface of the movable segment 132, and the object 1 can be lifted by the bottom supporting method. The object 1 can be automatically positioned in the multiple movable segments 132 in the retracted position.

[0149] When the clamp 100 is used to grasp an object 1 with a surface that is easily damaged (such as a fruit with a surface that is easily damaged), no clamping force is applied to the surface of the object 1, so that the surface of the object 1 is not easily damaged during the grasping and moving process. The movable section 132 and the fixed section 131 can be pivotally connected by a pivot shaft 134 (such as a pin).

[0150] In some embodiments, see Figure 30 to Figure 32 The second driving assembly 120 includes a linear driving member 121, a sliding member 122 and a plurality of transmission segments 123; the output shaft 1211 of the linear driving member 121 is connected to the sliding member 122, and the linear driving member 121 is used to drive the sliding member 122 to move along the direction of the first axis 100a; the plurality of transmission segments 123 and the plurality of finger assemblies 130 are arranged in a one-to-one correspondence, and the transmission segment 123 is slidably installed on the fixed segment 131 along the direction of the first axis 100a, one end of the transmission segment 123 is connected to the sliding member 122, and the other end of the transmission segment 123 is connected to the movable segment 132. The synchronous opening and closing movement of the plurality of movable segments 132 can be realized. The linear driving member 121 drives the sliding member 122 to move linearly, and the sliding member 122 drives the plurality of transmission segments 123 to move synchronously, and the plurality of transmission segments 123 drive the movable segments 132 in the plurality of finger assemblies 130 to swing in a one-to-one correspondence, so that the plurality of movable segments 132 can switch between the open position and the closed position. See. Figure 33 to Figure 36 In the process of extending the output shaft 1211 of the linear drive member 121, the sliding member 122 and the plurality of transmission segments 123 move in the direction of the first axis 100a, and the plurality of movable segments 132 can be switched from the open position to the retracted position. In the process of retracting the output shaft 1211 of the linear drive member 121, the sliding member 122 and the plurality of transmission segments 123 move in the opposite direction in the direction of the first axis 100a, and the plurality of movable segments 132 can be switched from the retracted position to the open position.

[0151] In some embodiments, see Figure 30 to Figure 32 , Fig.34The fixed section 131 is provided with a guide portion 133, which extends along the direction of the first axis 100a. The transmission section 123 has a guide groove 1231 extending along the direction of the first axis 100a. The guide portion 133 is inserted into the guide groove 1231, so that the transmission section 123 is slidably installed on the fixed section 131 along the direction of the first axis 100a. The transmission section 123 is slidably installed on the fixed section 131 along the direction of the first axis 100a, and the transmission section 123 drives the movable section 132 to swing stably, so that the movable section 132 can be stably switched between the open position and the retracted position.

[0152] In some embodiments, a limiting portion 1331 is disposed on the guide portion 133 , and the limiting portion 1331 can block the transmission section 123 to prevent the transmission section 123 from being separated from the fixed section 131 during movement.

[0153] In some embodiments, see Fig.30 , Fig.31 , Fig.34 The transmission section 123 is located on the side of the fixed section 131 away from the first axis 100a, and the connection position 132c between the transmission section 123 and the movable section 132 and the free end 132a of the movable section 132 are respectively located on both sides of the pivot end 132b of the movable section 132. The pivot end 132b of the movable section 132 is the position where the movable section 132 is pivotally connected to the fixed section 131. The sliding member 122 drives the transmission section 123 to move along the direction of the first axis 100a, and the transmission section 123 can drive the movable section 132 to swing relative to the fixed section 131, so that the free end 132a of the movable section 132 approaches or moves away from the first axis 100a, that is, the movable section 132 switches between the retracted position and the open position.

[0154] In some embodiments, see Fig.31 , Fig.32 , Fig.34 , Fig.36 The transmission section 123 has a transmission rod 1232 at one end close to the movable section 132. The movable section 132 has a transmission groove 1321. The transmission rod 1232 is inserted into the transmission groove 1321. The transmission rod 1232 and the wall surface of the transmission groove 1321 are in abutment with each other. When the transmission rod 1232 moves along the direction of the first axis 100a, the transmission rod 1232 of the transmission section 123 pushes the wall surface of the transmission groove 1321 of the movable section 132, so as to drive the movable section 132 to swing. The transmission groove 1321 may have an opening 1321a, so that the transmission rod 1232 can be inserted into the transmission groove 1321 through the opening 1321a, so as to realize the movable connection between the transmission section 123 and the movable section 132.

[0155] In some embodiments, see Figure 30 to Figure 32The sliding member 122 has a plurality of sliding grooves 1221, and the plurality of sliding grooves 1221 are distributed around the first axis 100a, and the plurality of fixed sections 131 are correspondingly arranged in the plurality of sliding grooves 1221. The plurality of fixed sections 131 are correspondingly inserted into the plurality of sliding grooves 1221 of the sliding member 122, which can limit the sliding member 122 to move along the direction of the first axis 100a, so that the sliding member 122 can drive the plurality of transmission sections 123 to move along the direction of the first axis 100a, and then the transmission sections 123 drive the corresponding movable sections 132 to swing, thereby improving the motion stability of the transmission mechanism. There is a port 1221a at one end of the sliding groove 1221, which facilitates the fixed section 131 to be installed into the sliding groove 1221 through the port 1221a.

[0156] In some embodiments, see Figure 30 to Figure 32 One end of the transmission section 123 has a buckling portion 1233, and the sliding member 122 has a buckling groove 1222. The buckling portion 1233 is arranged in the buckling groove 1222, so that the transmission section 123 is connected to the sliding member 122, which is easy to assemble and can drive the transmission section 123 to move along the direction of the first axis 100a through the sliding member 122.

[0157] In some embodiments, see Figure 30 to Figure 32 , Fig.34 , Fig.36 The linear driving member 121 is a cylinder, which can easily realize the extension and retraction movement of the linear output shaft 1211. The output shaft 1211 of the cylinder and the sliding member 122 are connected by a rod 1212. The output shaft 1211 of the cylinder and the sliding member 122 are assembled to keep a predetermined distance between the cylinder and the sliding member 122.

[0158] In some embodiments, see Fig.31 , Fig.32 , Fig.34 The base 110 includes a first seat 111 and a second seat 112. The first seat 111 is roughly cylindrical, and the cylinder can be installed on the first seat 111. The second seat 112 includes a cylindrical portion 1121 and a plate portion 1122. The cylindrical portion 1121 is inserted into the inner hole of the first seat 111, and the first seat 111 and the plate portion 1122 are connected. The rod 1212 can be inserted into the first seat 111 and the second seat 112. A bushing 113 (such as an oil-free bushing) can be provided in the cylindrical portion 1121, so that the rod 1212 is inserted into the bushing 113, so as to guide the rod 1212 and enable the rod 1212 to move smoothly along the direction of the first axis 100a. The fixing section 131 of the plurality of finger assemblies 130 can be fixed on the second seat 112.

[0159] In some embodiments, see Figure 30 to Figure 32 , Fig.34, a first buffer layer 141 is provided on the wall surface of the movable section 132 facing the first axis 100a. The first buffer layer 141 can be made of a flexible material such as rubber. In the process of the movable section 132 contacting the object 1, the first buffer layer 141 can reduce the impact and reduce the damage to the surface of the object 1. A second buffer layer 142 is provided on the wall surface of the fixed section 131 facing the first axis 100a. The second buffer layer 142 can be made of a flexible material such as rubber. In the process of the vertical movement of the jaw 100 relative to the object 1, the second buffer layer 142 can reduce the impact and reduce the damage to the surface of the object 1.

[0160] In some embodiments, see Fig.30 , Fig.31 The base 110 has a plurality of positioning grooves 114, and the plurality of positioning grooves 114 are distributed around the first axis 100a. The plurality of fixing sections 131 are arranged at the plurality of positioning grooves 114 in a one-to-one correspondence. During assembly, the fixing sections 131 can be conveniently and quickly installed in the positioning grooves 114, so that the fixing sections 131 are installed on the base 110. In the case where the base 110 includes a first seat portion 111 and a second seat portion 112, the positioning grooves 114 can be arranged on the second seat portion 112. The fixing sections 131 and the base 110 can be connected by fasteners (such as screws).

[0161] In some embodiments, see Fig.33 , Fig.34 The carrier 200 has a receiving groove 211 for receiving the object 1, and the wall surface of the receiving groove 211 has a plurality of hollow grooves 200a. Fig.37 The multiple movable segments 132 in the open position can be correspondingly arranged in the multiple hollow grooves 200a, combined with Fig. 9 , the movable section 132 located in the hollow groove 200a can be switched from the open position to the closed position. Fig.36 , Fig.37 The object 1 is placed in the inner shell of the receiving groove 211 of the carrier 200. After the relative positions of the clamping jaw 100 and the object 1 are adjusted so that the two are aligned, the clamping jaw 100 moves vertically downward so that the multiple movable segments 132 are inserted into the multiple hollow grooves 200a and are located on the periphery of the object 1.

[0162] In some embodiments, see Fig.34 , Fig.36 , Fig.40 The carrier 200 includes a front shell 210 and a bottom shell 220. The front shell 210 is mounted on the bottom shell 220. The receiving groove 211 is formed in the front shell 210. The area between the front shell 210 and the bottom shell 220 forms a hollow groove 200a. The front shell 210 has a plurality of first grooves 212 connected to the hollow groove 200a. The projection of the first groove 212 on the vertical plane of the first axis 100a extends along a straight line. The first groove 212 is used for the movable section 132 to enter and exit the hollow groove 200a.

[0163] Combination Fig.36 , Fig.37 When the clamping jaw 100 is aligned with the carrier 200, the movable section 132 in the open position can pass through the first slot 212 downward in the vertical direction and enter the hollow slot 200a. Fig.38 The movable section 132 in the hollow groove 200a can be switched from the open position to the closed position, and the movable section 132 will not collide with the face shell 210. The bottom shell 220 can be roughly box-shaped with a top opening 221. The face shell 210 is disposed at the top opening 221 of the bottom shell 220.

[0164] In some embodiments, see Fig.34 , Fig.40 The bottom surface of the bottom shell 220 has a plurality of second grooves 222, and the plurality of second grooves 222 and the plurality of first grooves 212 are arranged correspondingly. The movable section 132 in the open position extends downward into the first groove 212 of the carrier 200, and can continue to extend downward into the second groove 222. The second groove 222 can prevent the movable section 132 moving downward from directly colliding with the bottom shell 220.

[0165] In some embodiments, see Fig.42 , Fig.43 , and also includes a packaging box material separation mechanism 300, which includes: a loading rack 310, a lifting bracket 320, a first support assembly 330, a material separation assembly 340 and a material pushing assembly 350. The loading rack 310 has a receiving area 310a, which can accommodate stacked packaging boxes 2, and the bottom end of the receiving area 310a forms a release position 310b. The lifting bracket 320 is located below the release position 310b, and is combined with Fig.44 , Fig.45 The lifting bracket 320 can support the packaging box 2 and switch between a first position and a second position, wherein the first position is higher than the second position. Fig.44 When the lifting bracket 320 is in the first position, the lifting bracket 320 and the release position 310b are arranged close to each other. The first support assembly 330 is used to support or release the bottom package box 2 of the stacked package boxes 2 in the accommodating area 310a. The material separation assembly 340 is arranged on the lifting bracket 320, and the material separation assembly 340 is used to separate the bottom package box 2 from the stacked package boxes 2. Fig.45 When the lifting bracket 320 is located at the second position, the pushing assembly 350 is used to move the packaging box 2 on the lifting bracket 320 to the working area 360a. Fig.43 The stacked packaging boxes 2 are multiple packaging boxes 2 stacked in the vertical direction. The bottom packaging box 2 in the stacked packaging boxes 2 refers to a packaging box 2 located at the bottom of the stacked packaging boxes 2. The first position and the second position are two relative positions, and the first position is higher than the second position in the vertical direction.

[0166] When the lifting bracket 320 is located at the first position, the first support assembly 330 releases the bottom package box 2 in the stacked package boxes 2 onto the lifting bracket 320, and keeps the package boxes 2 above the bottom package box 2 in the accommodating area 310a. In the process of the lifting bracket 320 moving from the first position to the second position, the package box 2 released onto the lifting bracket 320 is separated from other stacked package boxes 2. The pushing assembly 350 moves the package box 2 of the lifting bracket 320 in the second position to the operating area 360a. The package box distributing mechanism 300 can automatically transfer the bottom package box 2 in the stacked package boxes 2 to the operating area 360a, reducing labor costs and achieving high production efficiency.

[0167] Among them, see Fig.41 The packaging box 2 may include a box body 2a, the box body 2a having a plurality of acupuncture points 2b, each acupuncture point 2b may be placed with an object 1, such as fruit. The packaging box 2 may also include a cover 2d, one side of the cover 2d is connected to one side of the box body 2a, so that the cover 2d is connected to the box body 2a in a flip-up form. In the case where the packaging box 2 has a box body 2a and a cover 2d, when the packaging box 2 is in a flattened state, the box body 2a and the cover 2d are relatively opened to form a flattened state. For the packaging box 2 having the box body 2a and the cover 2d, the packaging box 2 is in a flattened state, and the opposite ends of the folded edge between the box body 2a and the cover 2d respectively have concave positions 2e. In a plurality of stacked packaging boxes 2, a predetermined gap is formed between the edges of two adjacent packaging boxes 2 above and below.

[0168] In some embodiments, see Fig. 20 Each set of clamping mechanism 100a and manipulator 100b can be configured with two working areas 360a. The two working areas 360a and the two packaging box dispensing mechanisms 300 are arranged in a one-to-one correspondence, and the packaging box dispensing mechanism 300 provides the packaging box 2 to the corresponding working area 360a. The manipulator 100b drives the clamping mechanism 100a to move between the first transfer component 480 and the packaging box dispensing mechanism 300, and the clamping claw 100 of the clamping mechanism 100a clamps the objects 1 on the multiple carriers 200 of the first transfer component 480, and the manipulator 100b transfers the multiple objects 1 to the two working areas 360a in turn. Improve the utilization rate of the clamping mechanism 100a and the manipulator 100b.

[0169] In some embodiments, see Figure 41 to Figure 43For a packaging box 2 having a box body 2a and a cover body 2d, the packaging box 2 is in a flattened state, and the two opposite ends of the folded edge between the box body 2a and the cover body 2d respectively have recesses 2e. The loading rack 310 includes two vertically extending first limiting arms 311, and the two first limiting arms 311 are respectively used to position and cooperate with the two opposite recesses 2e of the packaging box 2. The stacked packaging boxes 2 are limited and guided. When the lifting bracket 320 is in the first position, the first supporting assembly 330 can accurately release the bottom packaging box 2 in the stacked packaging boxes 2 onto the lifting bracket 320.

[0170] In some embodiments, see Figure 41 to Figure 43 The loading rack 310 includes two second limiting arms 312 extending vertically, and the two second limiting arms 312 are used to limit the two corners 2c of the packaging box 2. The two corners 2c of the packaging box 2 refer to the two corners 2c of the box body 2a in the packaging box 2 away from the cover body 2d. The stacked packaging boxes 2 are limited and guided. When the lifting bracket 320 is located at the first position, the first support assembly 330 can accurately release the bottom packaging box 2 in the stacked packaging boxes 2 onto the lifting bracket 320.

[0171] For example, see Fig.42 , Fig.44 , two first connecting frames 361 are provided on the frame 360, and the frame 360 ​​and the first connecting frames 361 can be connected by rod support. The two first connecting frames 361 are arranged at intervals along the first direction X, and each first connecting frame 361 is respectively provided with a first limiting arm 311 and a second limiting arm 312. The two first limiting arms 311 are distributed at intervals along the first direction X. The two second limiting arms 312 are distributed at intervals along the first direction X. The first limiting arms 311 and the second limiting arms 312 on the same first connecting frame 361 are distributed at intervals along the second direction Y. The loading frame 310 is installed to a predetermined height position through the first connecting frame 361, and a movable space is reserved for the lifting bracket 320 below the loading frame 310.

[0172] In some embodiments, see Fig.45 , Fig.46 The lifting bracket 320 includes a lifting drive assembly 321 and a support portion 322. The lifting drive assembly 321 is used to drive the support portion 322 to move along the vertical direction (Z direction). The support portion 322 is used to support the packaging box 2. The material dividing assembly 340 is disposed on the support portion 322. Fig.44 , Fig.47 , Fig.48 When the lifting bracket 320 is located at the first position, the bottom package box 2 released by the loading rack 310 can fall onto the support portion 322. The other package boxes 2 above the bottom package box 2 are supported by the first support assembly 330. Fig.49 , Fig.50When the lifting bracket 320 switches from the first position to the second position, the material separation component 340 moves downward following the support portion 322 , so that the packaging box 2 falling into the support portion 322 moves following the support portion 322 , thereby achieving material separation of the packaging box 2 .

[0173] In some embodiments, see Figure 42 to Figure 44 The support parts 322 are arranged in pairs and at intervals. The pusher assembly 350 includes a pusher drive member 351 and a pusher member 352. The pusher member 352 is located between the paired support parts 322. The pusher drive member 351 is used to drive the pusher member 352 to translate so as to move the packaging box 2 on the support parts 322 to the working area 360a. The two support parts 322 support the two side edges 2f of the packaging box 2 respectively, and a movable space for the pusher member 352 is reserved between the two support parts 322. The pusher drive member 351 drives the pusher member 352 to translate, and the pusher member 352 applies a thrust to the middle position of one side of the packaging box 2, so that the packaging box 2 can move along a predetermined direction, thereby reducing the deviation of the packaging box 2 from the position. The pusher drive member 351 can be arranged below the frame 360, and the pusher member 352 can be slidably mounted on the frame 360 ​​through a guide rail. The pusher drive member 351 can be a cylinder, which is easy to control.

[0174] In some embodiments, see Fig.46 , Fig.47 The lifting drive assembly 321 includes a lifting drive member 3211, a connecting portion 3212, a sliding rod 3213 and a sliding seat 3214. The lifting drive member 3211 is arranged below the frame 360. The lifting drive member 3211 includes a seat body 3211a and an output shaft 3211b. The output shaft 3211b extends in a vertical direction (Z direction). The output shaft 3211b can move linearly relative to the seat body 3211a. The output shaft 3211b is fixed to the frame 360. The seat body 3211a and the sliding rod 3213 are both fixed to the connecting portion 3212. The sliding seat 3214 is installed on the frame 360. The sliding rod 3213 is slidably installed on the sliding seat 3214. The support portion 322 is fixed to the sliding rod 3213.

[0175] Most of the structures of the lifting drive assembly 321 are arranged below the frame 360, and the lifting drive assembly 321 drives the support part 322 to move up and down, making full use of the space below the frame 360. The output shaft 3211b of the lifting drive member 3211 is a stationary part, fixed below the frame 360. The seat body 3211a of the lifting drive member 3211 is a movable part, and the seat body 3211a can drive the connection part 3212 and the slide rod 3213 to move up and down, thereby driving the support part 322 to move up and down.

[0176] See also Fig.47When the output shaft 3211b of the lifting driving member 3211 retracts, the seat body 3211a moves upward to drive the supporting portion 322 to rise through the connecting portion 3212 and the sliding rod 3213. Fig.49 When the output shaft 3211b of the lifting driving member 3211 extends, the seat body 3211a moves downward to drive the supporting part 322 to descend through the connecting part 3212 and the sliding rod 3213.

[0177] The slide bar 3213 and the slide seat 3214 are slidably matched to guide the slide bar 3213. Each support part 322 is connected with a slide bar 3213, and the same lifting drive member 3211 drives multiple slide bars 3213 to move up and down, thereby achieving synchronous lifting movement of two support parts 322.

[0178] Exemplarily, a second connecting frame 362 is provided at the bottom of the frame 360. The frame 360 ​​and the second connecting frame 362 can be connected by a rod support. The output shaft 3211b of the lifting drive member 3211 is fixed to the second connecting frame 362, and the lifting drive member 3211 is set at a predetermined position at the bottom of the frame 360 ​​through the second connecting frame 362. The pusher drive member 351 in the pusher assembly 350 can be located between the frame 360 ​​and the second connecting frame 362.

[0179] In some embodiments, see Fig.42 , Fig.44 , Fig.47 The first support assembly 330 includes a first support driving member 331 and a first support arm 332. The first support driving member 331 is used to drive the first support arm 332 to translate so that the first support arm 332 enters or exits the release position 310b. Fig.48 When the first support arm 332 enters the release position 310b, the first support arm 332 can block the bottom package box 2 of the stacked packages 2 in the accommodating area 310a, so that the bottom package box 2 can be kept at the release position 310b, thereby keeping all the stacked packages 2 in the accommodating area 310a in the accommodating area 310a. Fig.49 , Fig.50 When the first support arm 332 exits the release position 310b, the bottom package box 2 among the stacked package boxes 2 in the accommodating area 310a can be released from the release position 310b. The bottom package box 2 can be released to the lifting bracket 320 in the first position. When the lifting bracket 320 moves from the first position to the second position, the material separation assembly 340 moves with the lifting bracket 320, so that the package box 2 released to the lifting bracket 320 can be completely separated from the stacked package boxes 2 of the loading rack 310.

[0180] Exemplarily, the frame 360 ​​is provided with a first connecting frame 361, and the first support driving member 331 can be provided on the first connecting frame 361. The first support driving member 331 can drive the first support arm 332 to move along the first direction X. The first support driving member 331 can be a cylinder, which is easy to control.

[0181] In some embodiments, see Figure 42 to Figure 44 , Fig.48 The material distribution assembly 340 includes a material distribution driving member 341 and a material distribution arm 342. The material distribution driving member 341 is used to drive the material distribution arm 342 to translate so that the material distribution arm 342 enters the gap between the edges of the bottom two packaging boxes 2 in the stacked packaging boxes 2 in the accommodating area 310a. The bottom two packaging boxes 2 in the stacked packaging boxes 2 refer to the two packaging boxes 2 located at the bottom of the stacked packaging boxes 2.

[0182] Before the lifting bracket 320 moves from the second position to the first position, the material distribution driving member 341 drives the material distribution arm 342 to retract. Fig.47 , Fig.48 When the lifting bracket 320 is located at the first position, the material distribution arm 342 enters the gap between the edges of the bottom two packaging boxes 2 in the stacked packaging boxes 2 in the accommodating area 310a, and the bottom packaging box 2 is released to the lifting bracket 320 located at the first position. During the movement of the lifting bracket 320 from the first position to the second position, the packaging box 2 located on the lifting bracket 320 is completely separated from the stacked packaging boxes 2 in the loading rack 310. When the lifting bracket 320 moves to the second position, the material distribution drive member 341 can drive the material distribution arm 342 to retract, so that the pushing assembly 350 can move the packaging box 2 on the lifting bracket 320 to the working area 360a. The material distribution drive member 341 can drive the material distribution arm 342 to move along the first direction X. The material distribution drive member 341 can be a cylinder, which is easy to control.

[0183] In some embodiments, see Fig.42 , Fig.43 , Fig.51 , the working area 360a is provided with a pair of second support assemblies 370, the second support assemblies 370 include a second support driving member 371 and a second support arm 372, the second support driving member 371 is used to drive the second support arm 372 to translate to support the side 2f of the packaging box 2 in the positioning area. Before the pushing assembly 350 moves the packaging box 2 on the lifting bracket 320 in the second position to the working area 360a, the second support driving member 371 drives the second support arm 372 to extend and move to the working area 360a. So that the packaging box 2 on the lifting bracket 320 in the second position can be moved to the working area 360a by the pushing assembly 350, the second support arms 372 in the two second support assemblies 370 respectively support the two opposite side edges 2f of the packaging box 2.

[0184] Exemplarily, the second support driving members 371 may be arranged at intervals along the first direction X. The two second support arms 372 are arranged facing each other and are driven to translate by the corresponding second support driving members 371. The second support driving member 371 may be a cylinder, which is easy to control. The second support arm 372 may extend along the first direction X. The cross section of the second support arm 372 may be L-shaped, and the L-shaped second support arm 372 can support the packaging box 2 and limit the packaging box 2 in the first direction X.

[0185] In some embodiments, see Fig.42 , Fig.43 , Fig.51 The operation area 360a is provided with a positioning assembly 380, and the positioning assembly 380 includes a positioning drive 381 and a positioning portion 382. The positioning drive 381 is used to drive the positioning portion 382 to translate so that the positioning portion 382 and the concave position 2e of the packaging box 2 are positioned and matched. After the push assembly 350 moves the packaging box 2 on the lifting bracket 320 in the second position to the operation area 360a, the positioning drive 381 drives the positioning portion 382 to translate, and the positioning portion 382 is clamped in the concave position 2e of the packaging box 2 to achieve the positioning of the packaging box 2. It is convenient to load the predetermined product into the hole 2b of the box body 2a of the packaging box 2. The positioning portion 382 is adapted to the concave position 2e, so that the positioning portion 382 can extend into the concave position 2e. The positioning drive 381 can drive the positioning portion 382 to move along the first direction X. The positioning drive 381 can be a cylinder, which is easy to control.

[0186] In some embodiments, see Fig.42 , Fig.43 , Fig. 20 , Fig.51 , and also includes a material unloading lifting component, which is used to move the packaging box 2 in the working area 360a to the first conveyor line. After the box body 2a and the hole 2b of the packaging box 2 are filled with the predetermined product, the material unloading lifting component receives the packaging box 2, the positioning component 380 and the second support component 370 retract, and the material unloading lifting component moves the packaging box 2 containing the product to the first conveyor line 401. The material unloading lifting component may include a material unloading driving member and a support member. The material unloading driving member is used to drive the support member to move up and down, and the support member can support the packaging box 2. The material unloading lifting component can be a cylinder. The material unloading driving member can be a cylinder. The first conveyor line 401 can transfer the packaging box 2 containing the object 1 to the following laminating device, lid closing mechanism, bundling mechanism and marking mechanism, etc. The first conveyor line 401 can extend along the first direction X.

[0187] In some embodiments, see Figure 1 , Fig.52 , Fig.53, and also includes a laminating device, which includes a film discharging mechanism 500, a lifting component and a film cutting component 560; the film discharging mechanism 500 is used to extract the film material 3b from the film roll 3; the lifting component is located below the film discharging mechanism 500, and is used to make the packaging box 2 rise and fall; the film cutting component 560 is used to cut and separate part of the film material 3b. After the packaging box 2 is filled with objects 1, the packaging box 2 flows to the laminating device through the first conveyor line 401, and the film discharging mechanism 500 can extract a predetermined length of film material 3b from the film roll 3. The lifting component raises the packaging box 2 so that one side of the packaging box 2 is covered with the film material 3b, and then the film cutting component 560 cuts and separates part of the film material 3b, and then the lifting component lowers the packaging box 2 to complete the laminating. The laminating device has high laminating efficiency and stable quality for multiple laminating.

[0188] In some embodiments, see Figure 52 to Figure 54 The film discharging mechanism 500 includes a film placing assembly 510, a film pulling assembly 520 and a tensioning assembly 530. The film placing assembly 510 includes a first driving member 511 and a roller 512. The first driving member 511 and the roller 512 are connected. The first driving member 511 is used to drive the roller 512 to rotate. The roller 512 is used to install the film roll 3. The film pulling assembly 520 includes a stationary clamping member 521 and a movable clamping member 522. The stationary clamping member 521 can clamp the free end 3a of the film roll 3. Fig.55 In (a) to (c), the movable clamping member 522 can clamp the free end 3a of the film roll 3 by the stationary clamping member 521. Fig.55 In (d), when the stationary clamp 521 is in the open state, the movable clamp 522 can translate the free end 3a of the film roll 3 relative to the stationary clamp 521 by a predetermined distance. The tensioning assembly 530 includes a second driving member 531 and a movable rod 532, the second driving member 531 and the movable rod 532 are connected, the movable rod 532 is located on the side of the stationary clamp 521 away from the movable clamp 522, the movable rod 532 is used for winding the film material 3b of the film roll 3, and the second driving member 531 is used to drive the movable rod 532 to move away from the stationary clamp 521. The film roll 3 is wound with the film material 3b. The film material 3b can be a cling film or other types of film materials.

[0189] In the initial state, combined Fig.55 In (a), the stationary clamping member 521 of the film pulling assembly 520 clamps the free end 3a of the film roll 3. The first driving member 511 of the film releasing assembly 510 drives the roller 512 to rotate, so that the film material 3b of the film roll 3 on the roller 512 is released. The second driving member 531 of the tensioning assembly 530 drives the movable rod 532 to move away from the stationary clamping member 521, so that the film material 3b wound around the movable rod 532 is tensioned. Fig.55 (b) in the figure, then the movable clamping member 522 is moved to the stationary clamping member 521, and ... Fig.55(c) and clamp the free end 3a of the film roll 3 from the stationary clamping member 521. Fig.55 In (d), the stationary clamp 521 is opened, and the movable clamp 522 is translated relative to the stationary clamp 521 to pull out a predetermined length of the film material 3b. In the process of the movable clamp 522 being translated to pull out the film material 3b, the second driving member 531 does not drive the movable rod 532, and the movable rod 532 is pulled by the film material 3b to move closer to the stationary clamp 521. After the film material 3b between the movable clamp 522 and the stationary clamp 521 is completed by lamination and cutting, the free end 3a of the film roll 3 is clamped by the stationary clamp 521 again, the film placing assembly 510 places the film, and the tensioning assembly 530 tensions the film material 3b to enter the next cycle. The film discharging mechanism 500 can pull out a predetermined length of the film material 3b from the film roll 3, and the film discharging efficiency is high.

[0190] In some embodiments, see Fig.52 , Fig.53 , Fig.55 In (a), the stationary clamping member 521 includes a first driving portion 5211 and a pair of first clamping portions 5212, and the first driving portion 5211 is used to drive one of the first clamping portions 5212 to move so that the pair of first clamping portions 5212 are opened or closed. The stationary clamping member 521 is in an open state, and the two first clamping portions 5212 are spaced apart. The stationary clamping member 521 is in a closed state, and the two first clamping portions 5212 are close together. The first driving portion 5211 is connected to one of the first clamping portions 5212 to drive the first clamping portion 5212 to move, so as to realize the opening and closing of the stationary clamping member 521.

[0191] The movable clamping member 522 includes a second driving portion 5221 and a pair of second clamping portions 5222, wherein the second driving portion 5221 is used to drive one of the second clamping portions 5222 to move so as to open or close the pair of second clamping portions 5222. The movable clamping member 522 is in an open state, and the two second clamping portions 5222 are spaced apart. The movable clamping member 522 is in a closed state, and the two second clamping portions 5222 are close together. The second driving portion 5221 is connected to one of the second clamping portions 5222 to drive the second clamping portion 5222 to move, so as to realize the opening and closing of the movable clamping member 522. Both the first driving portion 5211 and the second driving portion 5221 can be cylinders, which are easy to control.

[0192] Combination Fig.53 , Fig.56In (a) and (b), the first clamping portion 5212 has a first tooth portion 5212a on the side facing the second clamping portion 5222, and the second clamping portion 5222 has a second tooth portion 5222a on the side facing the first clamping portion 5212, and the first tooth portion 5212a and the second tooth portion 5222a can be interlocked. The first tooth portion 5212a and the second tooth portion 5222a can be interlocked, which means that the first tooth portion 5212a and the second tooth portion 5222a are embedded in each other. A first groove 5212b is formed between adjacent first tooth portions 5212a, and a second groove 5222b is formed between adjacent second tooth portions 5222a. When the first tooth portion 5212a and the second tooth portion 5222a are interlocked, the first tooth portion 5212a is embedded in the second groove 5222b, and the second tooth portion 5222a is embedded in the first groove 5212b.

[0193] In the initial state, see Fig.53 , Fig.56 In (a), the stationary clamping member 521 of the film pulling assembly 520 clamps the free end 3a of the film roll 3, and the two first clamping portions 5212 corresponding to the first grooves 5212b of the film material 3b are exposed. Fig.56 In (b), the movable clamping member 522 is brought close to the stationary clamping member 521, the first tooth portion 5212a and the second tooth portion 5222a are engaged, and the first tooth portion 5212a clamps the exposed portion of the film material 3b. Fig.55 (c) and (d) in Fig.57 When the stationary clamping member 521 is opened, the movable clamping member 522 translates relative to the stationary clamping member 521, so that the film material 3b of a predetermined length can be pulled out.

[0194] For example, see Fig.53 , Fig.56 In (a), the first tooth portion 5212a is trapezoidal in shape, the second tooth portion 5222a is triangular in shape, and the first tooth portion 5212a and the second tooth portion 5222a are interlocked. Alternatively, the first tooth portion 5212a and the second tooth portion 5222a are both rectangular in shape, and the first tooth portion 5212a and the second tooth portion 5222a are interlocked.

[0195] In some embodiments, see Figure 52 to Figure 54 , Fig.57, also includes a linear module 523, the linear module 523 is connected to the movable clamping member 522, and is used to drive the movable clamping member 522 to translate relative to the static clamping member 521. The movable clamping member 522 is driven to translate by the linear module 523 to pull out a predetermined length of film material 3b from the film roll 3. The pulled film material 3b located between the movable clamping member 522 and the static clamping member 521 is used as a packaging material for a predetermined item. The linear module 523 may include a control motor and a screw slider mechanism, and the control motor drives the screw slider mechanism to move and can output a predetermined stroke. The slider of the screw slider mechanism serves as the output end of the movable module. The output end of the movable module and the movable clamping member 522 can be connected through a movable frame 524.

[0196] In some embodiments, see Fig.52 The linear module 523 and the stationary clamping member 521 are mounted on the frame 540, and the movable clamping member 522 is mounted on the linear module 523. The linear module 523 can drive the movable clamping member 522 to reciprocate in the horizontal direction. The stationary clamping member 521 and the movable clamping member 522 are arranged flush with each other. The frame 540 can set the stationary clamping member 521 and the movable clamping member 522 at a certain height.

[0197] In some embodiments, see Fig.54 The first driving member 511 includes a first control motor 5111 and a first transmission group 5112. The first transmission group 5112 is connected between the first control motor 5111 and the roller 512. The first transmission group 5112 is used to convert the output rotation of the first control motor 5111 into the rotation of the roller 512. When it is necessary to release the film from the film roll 3, the first control motor 5111 drives the first transmission group 5112 to drive the roller 512 to rotate in a predetermined direction, so that the film material 3b of the film roll 3 is released.

[0198] In some embodiments, see Fig.52 , Fig.54 The first control motor 5111 and the roller 512 are both arranged on the frame 540. The first control motor 5111 and the roller 512 are installed at a predetermined position, and the first control motor 5111 combined with the first transmission group 5112 can drive the roller 512 to rotate.

[0199] In some embodiments, see Fig.54 , the first transmission group 5112 is a synchronous belt mechanism. The synchronous belt mechanism converts the output rotation of the first control motor 5111 into the rotation of the drum 512. The synchronous belt mechanism may include a first pulley 5112a, a second pulley 5112b and a first synchronous belt 5112c, the first pulley 5112a is connected to the output shaft of the first control motor 5111, the second pulley 5112b is connected to the drum 512, and the first synchronous belt 5112c is wound around the first pulley 5112a and the second pulley 5112b.

[0200] In some embodiments, see Fig.54 , Fig.57 The second driving member 531 includes a second control motor 5311, a second transmission group 5312 and a swing arm 5313. The swing arm 5313 is pivotally connected to the frame 540, and the movable rod 532 is installed at the free end 5313a of the swing arm 5313. The second transmission group 5312 is connected between the second control motor 5311 and the swing arm 5313, and the second transmission group 5312 is used to convert the output rotation of the second control motor 5311 into the rotation of the swing arm 5313. When it is necessary to move the movable rod 532 away from the stationary clamping member 521 to tighten the film material 3b connected to the movable rod 532, the second control motor 5311 combines with the second transmission group 5312 to drive the swing arm 5313 to swing, and the movable rod 532 moves with the swing arm 5313.

[0201] From the side of the swing arm 5313, Fig.57 As shown, after the film 3b between the static clamping member 521 and the movable clamping member 522 is coated and cut, the movable rod 532 is arranged close to the static clamping member 521. The swing arm 5313 is driven by the second control motor 5311 and the second transmission group 5312 to rotate counterclockwise to the position shown in FIG. Fig.54 The movable rod 532 is positioned away from the stationary clamping member 521 to tighten the new film 3b. Fig.55 As shown in (d) in FIG. 5 , the movable rod 532 is close to the stationary clamping member 521. Fig.55 As shown in (a) in FIG. 5 , the movable rod 532 is away from the static clamping member 521 to tighten the new film material 3 b .

[0202] Combination Fig.55 (d) Fig.57 When the stationary clamping member 521 is in the open state and the movable clamping member 522 clamps and drives the free end 3a of the film roll 3 to translate relative to the stationary clamping member 521, the second control motor 5311 is unpowered, and the film material 3b wound around the movable rod 532 can pull the movable rod 532 to move close to the stationary clamping member 521. The movable rod 532 moves with the swing arm 5313, and the second transmission group 5312 moves with the swing arm 5313 until the movable clamping member 522 translates a predetermined distance to pull out a predetermined length of the film material 3b.

[0203] In some embodiments, see Fig.54 , Fig.57 The frame 540 is provided with an origin sensor 533 for detecting that the swing arm 5313 is at the zero position. Fig.54 , Fig.55As shown in (a), when the swing arm 5313 is at the zero position, the movable rod 532 is located away from the static clamping member 521, so that the film material 3b wound around the movable rod 532 is tensioned. When the tensioning assembly 530 is tensioning the film material 3b, the second control motor 5311 drives the second transmission group 5312 and the swing arm 5313 to move, so that the movable rod 532 moves away from the static clamping member 521, and the film material 3b wound around the movable rod 532 is tensioned. When the origin sensor 533 detects that the swing arm 5313 is at the zero position, the second driving member 531 stops driving the movable rod 532 to move.

[0204] Combination Fig.55 In (c) and (d), when the movable clamping member 522 clamps and drives the free end 3a of the film roll 3 to translate relative to the stationary clamping member 521, Fig.55 From (c) to (d), the movable clamping member 522 moves to the left, and the film material 3b connected to the movable rod 532 pulls the movable rod 532 to move closer to the stationary clamping member 521. Fig.57 , the movable rod 532 drives the swing arm 5313 to move, and the origin sensor 533 leaves the zero position.

[0205] For example, see Fig.54 The origin sensor 533 may be a photoelectric sensor, which includes a transmitter and a receiver that are spaced apart. A blocking member 534 is installed at the pivot position 5313b of the swing arm 5313, and the blocking member 534 can rotate with the swing arm 5313. When the swing arm 5313 is at the zero point, the blocking member 534 is located between the transmitter and the receiver of the photoelectric sensor, so that the light from the transmitter cannot irradiate the receiver. Fig.57 When the swing arm 5313 is in other positions, the light from the transmitting end can irradiate the receiving end.

[0206] In some embodiments, see Fig.52 , Fig.54 , Fig.55 The frame 540 has an arc groove 541, the extension route of the arc groove 541 is centered on the pivot axis of the swing arm 5313, and the movable rod 532 is inserted into the arc groove 541. During the swinging process of the swing arm 5313, the movable rod 532 moves along the arc groove 541. The movable rod 532 is arranged on the front side of the frame 540, and the swing arm 5313 and the second transmission group 5312 are arranged on the back side of the frame 540, so that the swing arm 5313 and the second transmission group 5312 can be better protected.

[0207] In some embodiments, see Fig.52The movable rod 532 includes a shaft 5321 and a roller 5322, and the roller 5322 is rotatably mounted on the shaft 5321. The friction between the movable rod 532 and the film material 3b is small, which facilitates the movable clamping member 522 to clamp and drive the free end 3a of the film roll 3 to translate to pull out a predetermined length of the film material 3b.

[0208] In some embodiments, see Fig.54 , Fig.57 , the second transmission group 5312 is a synchronous belt mechanism. The synchronous belt mechanism converts the output rotation of the second control motor 5311 into the swing of the swing arm 5313. The synchronous belt mechanism may include a third pulley 5312a, a fourth pulley 5312b and a second synchronous belt 5312c, the third pulley 5312a is connected to the output shaft of the second control motor 5311, the fourth pulley 5312b is connected to the pivot position of the swing arm 5313, and the second synchronous belt 5312c is wound around the third pulley 5312a and the fourth pulley 5312b.

[0209] In some embodiments, see Fig.52 , Fig.53 , Fig.55 , and further includes one or more rollers 542, which are mounted on the frame 540 and are used for winding the film material 3b. The extension route of the film material 3b and the direction of the free end 3a of the film roll 3 can be adjusted by the rollers 542, and the combination of the rollers 542 and the movable rods 532 can realize the predetermined length limitation of the film material 3b.

[0210] Exemplarily, the frame 540 is provided with three rollers 542, namely, a first roller 542a, a second roller 542b and a third roller 542c, which are arranged below the drum 512 in the up-down direction. The film material 3b coming out of the film roll 3 of the drum 512 is wound around the first roller 542a, the movable rod 532, the second roller 542b and the third roller 542c in sequence. The third roller 542c is arranged flush with the stationary clamping member 521, so that the film material 3b can pass through the stationary clamping member 521 in a predetermined direction.

[0211] In some embodiments, the lifting assembly includes a third driving part and a supporting part, the supporting part is connected to the third driving part, the third driving part is used to drive the supporting part to move up and down, and the supporting part is used to support the packaging box. The third driving part can be a cylinder, which is easy to control.

[0212] In some embodiments, see Fig.57The film cutting assembly 560 includes a fourth driving part 561 and a sliding knife 562. The sliding knife 562 is connected to the fourth driving part 561. The fourth driving part 561 is used to drive the sliding knife 562 to move horizontally. After the lifting assembly raises the packaging box so that one side of the packaging box is covered with the film material 3b, the fourth driving part 561 drives the sliding knife 562 to move horizontally so that part of the film material 3b is cut and separated. The fourth driving part 561 can be a cylinder, which is easy to control.

[0213] In some embodiments, see Figure 1 , Fig.41 , Fig.58 , Fig.59 , and also includes a cover closing mechanism 800, which is used to close the cover of the packaging box 2. The cover closing mechanism 800 is used to close the cover of the packaging box 2, that is, the cover body 2d is covered on the box body 2a.

[0214] In some embodiments, see Fig.58 , Fig.59 The cover closing mechanism 800 includes a base frame 810, a driving structure 820 and a pressing plate 830. The driving structure 820 is disposed on the base frame 810. The driving structure 820 and the pressing plate 830 are connected. The driving structure 820 is used to drive the pressing plate 830 to rotate so that the cover body 2d covers the box body 2a. The driving structure 820 can be implemented in different ways.

[0215] In some embodiments, see Fig.58 , Fig.59 , the base frame 810 has a guide groove 811, and the guide groove 811 includes a first straight segment 811a, an arc segment 811b and a second straight segment 811c that are connected in sequence. The first straight segment 811a can extend vertically, and the second straight segment 811c extends horizontally, and the second straight segment 811c is arranged near the first conveyor line 401. The driving structure 820 may include a linear drive member 821, a transmission part 822, a first transmission shaft 823, a second transmission shaft 824, a first connecting rod 825 and a second connecting rod 826. The linear drive member 821 is installed on the base frame 810. The transmission part 822 is connected to the output shaft of the linear drive member 821, and the first transmission shaft 823 passes through and is pivoted to the transmission part 822. The first connecting rod 825 can be L-shaped or other shapes. One end of the first connecting rod 825 is connected to the pressing plate 830. One end of the first transmission shaft 823 and the first connecting rod 825 are key-connected so that the two are connected to rotate synchronously. The other end of the first transmission shaft 823 is keyed to one end of the second connecting rod 826 so that the two are synchronously rotated. The second transmission shaft 824 is fixed to the other end of the second connecting rod 826 and can move along the guide groove 811.

[0216] like Fig.59As shown in (a) in the figure, in the initial state, the pressing plate 830 is open and away from the first conveyor line 401, and the second transmission shaft 824 is located at the lower end of the first straight segment 811a. When the pressing plate 830 is required to close the cover of the packaging box 2, the linear driving member 821 drives the transmission part 822 to move upward, the first transmission shaft 823 moves with the transmission part 822, and the second connecting rod 826 drives the second transmission shaft 824 to move upward along the first straight segment 811a. Fig.59 As shown in (b), until the second transmission shaft 824 moves to the arc segment 811b and the second straight segment 811c, the first transmission shaft 823 rotates relative to the transmission part 822, the first transmission shaft 823 drives the first connecting rod 825 to rotate, and the first connecting rod 825 drives the pressing plate 830 to turn over and press down toward the first conveyor line 401. When the pressing plate 830 needs to be away from the first conveyor line 401, the linear driving member 821 drives the transmission part 822 to move downward, so that the second transmission shaft 824 moves from the second straight segment 811c to the first straight segment 811a after passing through the arc segment 811b, and the first transmission shaft 823 can drive the pressing plate 830 away from the first conveyor line 401.

[0217] The linear drive member 821 can be a cylinder, which is easy to control. A slide rail 827 and a slider 828 can be arranged between the transmission part 822 and the base frame 810. For example, the slide rail 827 is arranged on the base frame 810, and the slider 828 is arranged on the transmission part 822. The slider 828 is slidably connected to the slide rail 827, so that the transmission part 822 can move stably relative to the base frame 810. A bearing 823a is arranged between the transmission part 822 and the first transmission shaft 823, so that the first transmission shaft 823 can rotate stably relative to the transmission part 822. The part of the second transmission shaft 824 extending into the guide groove 811 can be sleeved with the roller part 824a, so that the roller part 824a and the guide groove 811 have rolling friction, and the friction force is small.

[0218] In other embodiments, the driving structure 820 may also be a rotating driving member, such as a control motor.

[0219] In some embodiments, see Figure 1 The packaging box 2 also includes a bundling mechanism, which is used to bundle the closed packaging box 2. The box body 2a and the cover body 2d in the closed packaging box 2 are fixed together by a tie band. The bundling mechanism is a known technology.

[0220] In some embodiments, see Figure 1 , and also includes a marking mechanism 900, which is used for laser printing on the packaging box 2. The marking mechanism 900 laser prints a label or code on the packaging box 22 to record the information of the object 1 in the packaging box 22 or provide a code linking the information of the object 1. The marking mechanism 900 is a known technology.

[0221] In some embodiments, see Figure 1, the number of sub-channels 713 in each sorting mechanism 700 is two, and the rear end 713b of each sub-channel 713 is correspondingly provided with a first transfer component 480, a clamping mechanism 100a and a manipulator 100b. The manipulator 100b drives the clamping mechanism 100a to move, and transfers the object 1 on the carrier 200 of the first transfer component 480 to the packaging box 2 corresponding to the working area 360a. Each sub-channel 713 corresponds to a first conveyor line 401. Each first conveyor line 401 is respectively provided with a laminating device, a lid closing mechanism 800, a bundling mechanism 800a and a marking mechanism 900.

[0222] In some embodiments, see Figure 1 , further comprising a second conveyor line 402 for allowing the packaging boxes 22 containing the objects 1 to flow to the unloading area. The first conveyor line 401 is connected to the second conveyor line 402. The second conveyor line 402 can extend in a predetermined direction, such as extending along the second direction Y.

[0223] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A sorting device, characterized in that: include: Carriers, feeding channels, detection mechanisms and sorting mechanisms; The carrier is used to hold objects, and each of the carriers has an identification code; The loading channel has a first end and a second end that are relatively distributed, and the loading channel can transfer the carrier from the first end to the second end; The detection mechanism comprises a detection channel, a detection device and a first scanner; the detection channel has a third end and a fourth end that are relatively distributed, and the detection channel can transfer the carrier from the third end to the fourth end; the detection device is used to detect the object of the carrier in the detection channel, and the first scanner is used to scan the identification code of the carrier in the detection channel; The sorting mechanism includes a sorting channel, a second scanner and a material-diverting assembly; the sorting channel has a front section and a rear section that are relatively distributed, and the sorting channel can transfer the carrier from the front section to the rear section, and the rear section includes a plurality of sub-channels; the front section is connected to the fourth end; the second scanner and the material-diverting assembly are arranged in the front section, and the second scanner is used to scan the identification code of the carrier in the front section; the material-diverting assembly is used to selectively switch the carrier in the front section to the front end of one of the sub-channels.

2. The sorting device according to claim 1, characterized in that: It also includes a material-dipping sensor for detecting the presence of the carrier at the material-dipping component, and the material-dipping sensor and the material-dipping component are arranged adjacent to each other.

3. The sorting device according to claim 1, characterized in that: The plurality of sub-channels extend along a first direction and are distributed side by side along a second direction, and a predetermined angle is formed between the first direction and the second direction; the material-pickup assembly includes a material-pickup driving member and a material-pickup structure, the material-pickup driving member is connected to the material-pickup structure, and the material-pickup driving member is used to drive the material-pickup structure to move so that the material-pickup structure pushes the carrier of the front section to the front end of one of the sub-channels.

4. The sorting device according to claim 3, characterized in that: The material-moving driving component is a control motor, and the material-moving structure includes a connecting shaft and a plurality of material-moving parts, wherein the plurality of material-moving parts are connected to the connecting shaft along the circumference of the connecting shaft, and the output shaft of the control motor is connected to the connecting shaft, and the material-moving parts can push the carrier to move along the second direction.

5. The sorting device according to claim 1, characterized in that: Each of the sub-channels is provided with a movable blocking unit for blocking the carrier from entering the rear end of the sub-channel so as to limit the number of the carriers entering the rear end of the sub-channel.

6. The sorting device according to claim 1, characterized in that: The plurality of sorting mechanisms are arranged along the first direction; the number of the sub-channels in each of the sorting mechanisms is two, and the rear section further includes a middle channel located between the two sub-channels, and the middle channel is directly opposite to the front section; The plurality of sub-channels and the intermediate channels extend along the first direction and are distributed side by side along the second direction, and a predetermined angle is formed between the first direction and the second direction; in two adjacent sorting mechanisms, the intermediate channel of the sorting mechanism located in the front is connected to the front section of the sorting mechanism located in the rear.

7. The sorting device according to any one of claims 1 to 6, characterized in that: It also includes at least one first conversion component, and multiple feeding channels are distributed side by side along the first direction, and the number of the feeding channels is greater than the number of the detection channels; the first conversion component is correspondingly arranged with the multiple feeding channels and one detection channel; the first conversion component includes multiple transition channels, a merging channel and a first pushing member; the second ends of the multiple feeding channels and the multiple transition channels in the first conversion component corresponding to the multiple feeding channels are connected one by one, the multiple transition channels and the merging channel are connected, and the third end of the detection channel is connected with the merging channel in the first conversion component corresponding to the detection channel; the first pushing member is used to move the carrier located at the merging channel to the third end of the detection channel.

8. The sorting device according to claim 7, characterized in that: It also includes a transfer channel and a second conversion component; the number of the detection channels is greater than the number of the transfer channels; the transfer channel has a fifth end and a sixth end relatively distributed along the first direction, and the transfer channel can transfer the carrier from the fifth end to the sixth end; the sixth end is connected to the front section of one of the sorting channels; the second conversion component includes multiple conversion lanes and multiple second pushing members; the fourth ends of the multiple detection channels and the multiple conversion lanes are connected one-to-one, and the conversion lanes are connected to the fifth end of the transfer channel; the multiple second pushing members and the multiple conversion lanes are arranged one-to-one, and the second pushing member is used to move the carrier located at the conversion lane to the fifth end of the transfer channel.

9. The sorting device according to any one of claims 1 to 6, characterized in that: It also includes a recycling channel, a first transfer component and a second transfer component; the first transfer component is arranged at the rear end of the sub-channel in a one-to-one correspondence, and the recycling channel is located below the loading channel, the detection channel and the sorting channel; the first transfer component is used to transfer the carrier at the rear end of the sub-channel to the recycling channel; the second transfer component is used to transfer the carrier of the recycling channel to the loading channel.

10. The sorting device according to claim 9, characterized in that: The first transfer component includes a positioning channel, an inclined slide, a first pushing member and a second pushing member; the positioning channel is connected to the rear end of the sub-channel; the inclined slide is located above the recovery channel, the upper end of the inclined slide is connected to the positioning channel, and the lower end of the inclined slide is arranged toward the recovery channel; the first pushing member is used to move the carrier at the rear end of the sub-channel to the positioning channel; the second pushing member is used to move the carrier of the positioning channel to the upper end of the inclined slide.

11. The sorting device according to claim 9, characterized in that: The recycling channel includes a first channel, a second channel and multiple third channels, the first channel is located below the sorting channel, the second channel is located below the detection channel, and the third channel is located below the loading channel; the first transfer component is arranged close to the first channel; the first channel and the second channel are connected; the sorting device also includes a distribution component, which is used to distribute the carrier of the second channel to multiple third channels; the second transfer component is arranged close to the third channel.

12. The sorting device according to any one of claims 9, characterized in that: It also includes a clamping mechanism and a manipulator, wherein the clamping mechanism is installed on the manipulator, and the manipulator can move the clamping mechanism between the first transfer component and the working area, and the clamping mechanism has a plurality of clamping claws arranged in a column, and the clamping claws can grab objects on the carrier.

13. The sorting device according to claim 12, characterized in that: The clamp mechanism also includes a mounting seat, a plurality of connecting seats, at least one limit member and a first drive component; wherein at least one of the connecting seats is fixed to the mounting seat, and the other connecting seats are slidably mounted on the mounting seat along a predetermined direction; or, all of the connecting seats are slidably mounted on the mounting seat along a predetermined direction; the clamping jaws are installed one-to-one on the connecting seats; each adjacent two connecting seats are connected by the limit member, and the limit member is used to limit the maximum distance between the two adjacent connecting seats; the first drive component is used to drive the connecting seats located at both ends to move closer or farther.

14. The sorting device according to claim 12, characterized in that: The clamp includes a base, a second drive assembly and a plurality of finger assemblies; the plurality of finger assemblies are distributed on the base around a first axis; each of the finger assemblies includes a fixed section and a movable section; one end of the fixed section is fixed to the base, and the movable section is pivotally connected to the other end of the fixed section; when the plurality of movable sections are in a retracted position, the free ends of the plurality of movable sections are arranged close to the first axis, and a accommodating area for accommodating objects is formed between the plurality of movable sections; when the plurality of movable sections are in an open position, the free ends of the plurality of movable sections are arranged away from the first axis; the second drive assembly is arranged on the base, and is used to drive the plurality of movable sections to move so that the plurality of movable sections can switch between the retracted position and the open position.

15. The sorting device according to claim 14, characterized in that The second driving component includes a linear driving member, a sliding member and a plurality of transmission segments; the output shaft of the linear driving member is connected to the sliding member, and the linear driving member is used to drive the sliding member to move along the direction of the first axis; the plurality of transmission segments and the plurality of finger assemblies are arranged in a one-to-one correspondence, and the transmission segment is slidably installed on the fixed segment along the direction of the first axis, one end of the transmission segment is connected to the sliding member, and the other end of the transmission segment is connected to the movable segment; during the extension movement of the output shaft of the linear driving member, the sliding member and the plurality of transmission segments move along the direction of the first axis, and the plurality of movable segments can switch from the open position to the retracted position.

16. The sorting device according to claim 14, characterized in that: The carrier has a receiving groove for accommodating objects, and the wall surface of the receiving groove has a plurality of hollow grooves. The plurality of movable segments in the open position can be correspondingly inserted into the plurality of hollow grooves, and the movable segments located in the hollow grooves can be switched from the open position to the retracted position.

17. The sorting device according to claim 12, characterized in that: It also includes a packaging box sorting mechanism, which includes a loading rack, a lifting bracket, a first supporting assembly, a sorting assembly and a pushing assembly; the loading rack has a accommodating area, the accommodating area can accommodate stacked packaging boxes, and the bottom end of the accommodating area forms a release position; the lifting bracket is located below the release position, the lifting bracket can support the packaging box and switch and move between a first position and a second position, the first position is higher than the second position; when the lifting bracket is located at the first position, the lifting bracket and the release position are arranged close to each other; the first supporting assembly is used to support or release the bottom packaging box in the stacked packaging boxes in the accommodating area; the sorting assembly is arranged on the lifting bracket, and the sorting assembly is used to separate the bottom packaging box from the stacked packaging boxes; when the lifting bracket is located at the second position, the pushing assembly is used to move the packaging box on the lifting bracket to the working area.

18. The sorting device according to any one of claims 1 to 6, characterized in that: It also includes a film coating device, which includes a film discharging mechanism, a lifting assembly and a film cutting assembly; the film discharging mechanism is used to draw out film material from a film roll; the lifting assembly is located below the film discharging mechanism and is used to raise and lower the packaging box; the film cutting assembly is used to cut and separate part of the film material.

19. The sorting device according to claim 18, characterized in that The film discharging mechanism comprises a film placing assembly, a film pulling assembly and a tensioning assembly; the film placing assembly comprises a first driving member and a roller, the first driving member is connected to the roller, the first driving member is used to drive the roller to rotate, and the roller is used to install a film roll; the film pulling assembly comprises a stationary clamping member and a movable clamping member, the stationary clamping member can clamp the free end of the film roll; the movable clamping member can clamp the free end of the film roll at the stationary clamping member; when the stationary clamping member is in an open state, the movable clamping member can translate the free end of the film roll relative to the stationary clamping member by a predetermined distance; the tensioning assembly comprises a second driving member and a movable rod, the second driving member is connected to the movable rod, the movable rod is located on a side of the stationary clamping member away from the movable clamping member, the movable rod is used for winding the film material of the film roll, and the second driving member is used to drive the movable rod to move away from the stationary clamping member.

20. The sorting device according to any one of claims 1 to 6, characterized in that: It also includes a cover closing mechanism, which is used to close the cover of the packaging box; And / or, it also includes a marking mechanism, which is used for laser printing on the packaging box.

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