Automatic sorting, conveying and counting device for bagged goods and automatic sorting control method

Abstract

The invention relates to an automatic sorting, conveying and counting device for bagged goods and an automatic sorting control method.The automatic sorting, conveying and counting device comprises a plurality of vibration conveying joints arranged in sequence, and each vibration conveying joint comprises a carrying plate, a vibration supporting piece obliquely connected to the carrying plate and used for supporting the carrying plate, a vibration exciter used for driving the vibration supporting piece to vibrate and a base; the vibration supporting piece is connected to the base, the end, connected with the carrying plate, of the vibration supporting piece inclines in the reverse direction of the conveying direction, the controller is used for controlling starting and stopping of all the vibration conveying sections, and any vibration conveying section is provided with a bag sensor used for detecting whether bagged goods exist on the vibration conveying section or not. Each bag sensor is electrically connected with the controller and sends a detection result to the controller, and the controller controls the start-stop state of each vibration conveying section in the two adjacent vibration conveying sections according to the detection result of the bag sensor corresponding to the two adjacent vibration conveying sections. The function of automatic sorting and conveying of bagged goods is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of goods conveying, and in particular relates to an automatic sorting, conveying and counting device for bagged goods and an automatic sorting control method. Background Art

[0002] In the distribution center of e-commerce, picking is the core of its operation system. The so-called picking is to find the required goods one by one in the vast sea of ​​goods and deliver them to customers according to customer orders. At present, many distribution centers are still labor-intensive industries, among which the manpower directly related to picking accounts for more than 50%, and the operation time of picking accounts for 30%~40% of the entire distribution center. In such an operation system, the labor intensity of pickers is very high, the efficiency is very low and it is easy to make mistakes, especially the picking of single small goods (the smallest packaging unit required by customers, such as a bag of tea, a bag of snacks, etc.) for splitting and matching orders. According to the data, in the operating costs of the distribution center, the cost of picking operations is about 40-60%. Obviously, automatic picking is very necessary, and the only mature and applicable automatic picking equipment is the A-frame, but it is only suitable for goods that can be neatly stacked, such as boxes, cans, bottles, etc. with regular shapes and certain rigidity, and the scope of application is limited. Moreover, even if the A-frame is used, its replenishment operation still depends on manual replenishment one by one. However, manual replenishment is also very labor-intensive, inefficient, and costly, so it is still impossible to achieve fully automated picking.

[0003] A large proportion of goods in the picking operation are bagged goods packaged in paper bags or plastic bags. They are non-rigid, irregular in shape and inaccurate in size, unstable in stacking, and cannot be neatly stacked on an A-shaped rack. Therefore, there is currently no practical automatic picking equipment for bagged goods. If a bag-by-bag counting device for randomly piled bagged goods can be provided, it can be used to automatically count and remove small pieces of bagged goods from the warehouse without the need for manual replenishment, and automatic picking may be possible, which will have positive significance for the picking operation of e-commerce distribution. Summary of the invention

[0004] The first technical problem to be solved by the present invention is to provide an automatic sorting, conveying and counting device for bagged goods, so as to solve the technical problem that traditional conveying devices cannot automatically sort the bagged goods they convey, resulting in difficulty in subsequently realizing accurate automatic counting of the number of goods conveyed.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic sorting, conveying and counting device for bagged goods, comprising a plurality of vibrating conveying sections arranged in sequence, each vibrating conveying section comprising a carrier plate, a vibrating support member obliquely connected to the carrier plate and used to support the carrier plate, an exciter M for driving the vibrating support member to vibrate, and a base, the vibrating support member is connected to the base, and one end of the vibrating support member connected to the carrier plate is inclined in the opposite direction of the conveying direction, and also comprises a controller for controlling the start and stop of each vibrating conveying section, any vibrating conveying section is equipped with a bag sensor for detecting whether there are bagged goods on the vibrating conveying section, each bag sensor is electrically connected to the controller respectively, and sends the detection result to the controller, and the controller controls the start and stop state of each vibrating conveying section in the two adjacent vibrating conveying sections according to the detection results of the bag sensors corresponding to the two adjacent vibrating conveying sections, the end face of the carrier plate perpendicular to its conveying direction is an arc or polygon with a concave middle part, and a counting mechanism is arranged on the downstream side of the downstream end vibrating conveying section.

[0006] As a preferred solution, any of the vibration conveying sections has two vibration supports, which are arranged along the upstream and downstream directions of the conveying, one end of the vibration support is connected to the bottom surface of the carrier plate, and the other end extends horizontally or vertically to the base and is fixedly connected to the base, and the exciter M is an electromagnetic armature pulse mechanism or a motor-driven crank pin plucking mechanism, and the exciter M directly acts on the vibration support or the ear plate connected to the bottom surface of the carrier plate.

[0007] As a preferred solution, the control circuit of the controller controlling each exciter M is: any exciter M located in the middle （n） A single-pole double-throw relay Q is set accordingly （n） , a normally open relay P （n） and a normally closed relay W （n） , the SPDT relay Q （n） The common terminal is the same as the normally closed relay W （n） One end is connected to the corresponding exciter M （n） One end of the exciter M （n） The other end is connected to one pole of the power supply, and the normally closed relay W （n） The other end is connected to the upstream adjacent single-pole double-throw relay Q （n-1） Normally open, single-pole double-throw relay Q （n） The normally open terminal of the downstream adjacent exciter M （n+1） Corresponding normally closed relay W （n+1） Connection, SPDT relay Q （n） The normally closed terminal of the power supply is connected in series with the upstream adjacent exciter M （n-1） Corresponding normally open relay P （n-1） , the normally open relay P （n） Connected in series with the downstream adjacent exciter M（n+1） Corresponding single-pole double-throw relay Q （n+1） between the normally closed terminal of the vibrator and the other pole of the power supply; compared with the middle vibrator, the vibrator M at the upstream end omits a single-pole double-throw relay Q and a normally closed relay W, and retains a normally open relay P. One end of the vibrator M is connected to the normally closed relay W corresponding to the adjacent downstream vibrator M, and the other end is connected to one pole of the power supply; compared with the middle vibrator, the vibrator M at the downstream end （t） Omit a normally open relay P and keep a single-pole double-throw relay Q （t） and a normally closed relay W （t） ; t>n>1; The control end of the single-pole double-throw relay Q, the control end of the normally open relay P and the control end of the normally closed relay W corresponding to the same exciter M are connected in parallel and electrically connected to the controller.

[0008] As a preferred embodiment, the bag sensor is a through-beam photoelectric switch, including a light projector and a light receiver, which are arranged on both sides of the conveying direction of the carrier plate. The light projector is tilted toward the upper surface of the carrier plate so that the light beam emitted by the light projector enters the light receiver after being reflected by the carrier plate.

[0009] As a preferred solution, an additional bag sensor is provided between every two bag sensors of several vibrating conveying sections located downstream, and the additional bag sensor is connected in parallel with the original bag sensor corresponding to the adjacent vibrating conveying section upstream.

[0010] As a preferred solution, multiple vibrating conveying sections are arranged from top to bottom in multiple layers, and each layer has multiple vibrating conveying sections arranged in sequence. The conveying directions of the vibrating conveying sections of two adjacent layers are opposite, and a side slide is provided at the downstream end of each layer except the bottom layer. The side slide is inclined toward the vibrating conveying section at the upstream end of the adjacent lower layer, and any side slide is located above and to the side of the vibrating conveying section at the upstream end of the lower layer, and the side slide extends downwardly from the side edge of the vibrating conveying section at the downstream end of the same layer.

[0011] As a preferred solution, the width of the multiple vibration conveying nodes in the uppermost layer is greater than that of the vibration conveying nodes in the lower layers, and except for the vibration conveying nodes in the uppermost layer, the vibration conveying nodes in the remaining layers are arranged in an offset manner in the width direction.

[0012] As a preferred solution, among two adjacent carriers in the same layer, the upstream end of the carrier located downstream is bent downward to form a folded edge portion, and the two adjacent carriers are opposed to each other up and down at the folded edge portion.

[0013] As a preferred solution, the counting mechanism includes multiple rows of horizontal conveying rollers arranged in parallel along the conveying direction, counting sensors and drive motors. The drive motors drive the horizontal conveying rollers to rotate to drive the bagged goods thereon to move downstream. The counting sensors are arranged on the downstream side of all horizontal conveying rollers to count the bagged goods passing over the technical sensors.

[0014] As a preferred solution, the counting mechanism is composed of a movable slide that can swing in a controlled manner, a bag sensor and a base. The movable slide is connected to the carrier plate of the adjacent vibrating conveying section to guide the bagged goods that have separated from the carrier plate to slide to a designated position. The bag sensor is used to detect the bagged goods that slide over the movable slide.

[0015] As a preferred solution, a single-pole double-throw relay Q （n） The normally closed terminal and the normally open relay P （n-1） A normally closed relay V （n+1） , normally closed relay V （n+1） With normally closed relay W （n+1） Synchronous actions.

[0016] A further technical problem to be solved by the present invention is to provide an automatic sorting control method based on the above-mentioned automatic sorting, conveying and counting device for bagged goods, so as to solve the technical problem of continuous and reliable sorting of the automatic sorting and conveying device.

[0017] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic sorting control method, based on the above bagged goods automatic sorting conveying counting device, the controller controls the exciter of any vibrating conveying section according to the following three situations: a) When there is a bag in the current vibration conveying section and there is no bag in the adjacent downstream vibration conveying section, the controller controls the current vibration conveying section and the adjacent downstream vibration conveying section to vibrate at the same time, until the adjacent downstream vibration conveying section senses that there is a bag and / or the current vibration conveying section senses that there is no bag, then the current vibration conveying section stops vibrating.

[0018] b) When there are no bags in the current vibrating conveying section and the adjacent upstream vibrating conveying section, the controller controls the current vibrating conveying section not to vibrate.

[0019] c) Both the current vibrating conveying section and the adjacent downstream vibrating conveying section have bags, and the controller controls the current vibrating conveying section not to vibrate.

[0020] As a preferred solution, the control circuit of the controller controlling each exciter M is: any exciter M located in the middle （n） A single-pole double-throw relay Q is set accordingly （n） , a normally open relay P （n） and a normally closed relay W （n） , the SPDT relay Q （n）The common terminal is the same as the normally closed relay W （n） One end is connected to the corresponding exciter M （n） One end of the exciter M （n） The other end is connected to one pole of the power supply, and the normally closed relay W （n） The other end is connected to the upstream adjacent single-pole double-throw relay Q （n-1） Normally open, single-pole double-throw relay Q （n） The normally open terminal of the downstream adjacent exciter M （n+1） Corresponding normally closed relay W （n+1） Connection, SPDT relay Q （n） The normally closed terminal of the power supply is connected in series with the upstream adjacent exciter M （n-1） Corresponding normally open relay P （n-1） , the normally open relay P （n） Connected in series with the downstream adjacent exciter M （n+1） Corresponding single-pole double-throw relay Q （n+1） Between the normally closed terminal of the power supply and the other pole of the power supply.

[0021] Compared with the middle vibrator, the vibrator M at the upstream end （1） Omit a single-pole double-throw relay Q and a normally closed relay W, and keep a normally open relay P （1） , the exciter M （1） One end is connected to the adjacent downstream exciter M （2） Corresponding normally closed relay W （2） Connect the other end to one pole of the power supply.

[0022] Compared with the middle exciter, the downstream exciter M （t） Omit a normally open relay P and keep a single-pole double-throw relay Q （t） and a normally closed relay W （t） ;t>n>1.

[0023] The control end of the single-pole double-throw relay Q, the control end of the normally-open relay P and the control end of the normally-closed relay W corresponding to the same exciter M are connected in parallel and electrically connected to the controller (5).

[0024] As a preferred solution, a single-pole double-throw relay Q （n） The normally closed terminal and the normally open relay P （n-1） A normally closed relay V （n+1） , normally closed relay V （n+1） With normally closed relay W （n+1） Synchronous actions.

[0025] As a preferred solution, an additional bag sensor is provided between every two bag sensors of several vibrating conveying sections located downstream, and the additional bag sensor is connected in parallel with the original bag sensor corresponding to the adjacent vibrating conveying section upstream.

[0026] A further technical problem to be solved by the present invention is to provide an automatic picking machine for bagged goods to solve the technical problems of high labor costs and low picking efficiency caused by manual picking of bagged goods.

[0027] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic sorting machine for bagged goods based on the above-mentioned automatic sorting, conveying and counting device for bagged goods comprises a frame, a plurality of horizontal installation grids arranged in a matrix are arranged at the front of the frame, and oblique installation grids corresponding to the horizontal installation grids and interconnected are arranged at the rear of the frame, the oblique installation grids extend obliquely backward and upward from the tails of the horizontal installation grids, the automatic sorting, conveying and counting device for bagged goods according to claim 8 is installed in the horizontal installation grids, and a random stacking storage bin is installed in the oblique installation grids. The storage bin discharge port at the lower end of the random stack storage bin corresponds to the upper part of the vibrating conveying section at the upstream end of the automatic sorting, conveying and counting device for bagged goods. A baffle is connected to the base at the downstream end of the automatic sorting, conveying and counting device for bagged goods. A bag drop port is formed between the baffle and the counting mechanism of the automatic sorting, conveying and counting device for bagged goods. The bag drop ports of multiple layers of automatic sorting, conveying and counting devices for bagged goods in the same row on the frame overlap to form a row of bag drop channels that run through from top to bottom. A collecting device is arranged under each row of bag drop channels, and the collecting device is a combination of one or more of a conveyor, a chute, a pusher and a collecting hopper.

[0028] The beneficial effect of the present invention is that the automatic sorting, conveying and counting device for bagged goods and the control method thereof described in the present invention can be used to disperse, sort and convey disorderly stacked bagged goods in a vibration throwing manner, so that the bagged goods are in a single-row, single-bag queue state with approximately equal spacing and are accurately counted one by one through the counting sensor in sequence.

[0029] The automatic picking machine for bagged goods described in the present invention constructs a matrix multi-SKU automatic picking system by applying the above-mentioned automatic sorting, conveying and counting device for bagged goods, thereby realizing automatic on-demand picking of various types of bagged goods, with fast picking speed and high precision, and is also convenient for dumping random bags into the warehouse for replenishment, effectively solving the technical problems of high personnel costs and low picking efficiency caused by the current manual picking of bagged goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein: Figure 1 It is a structural schematic diagram of the automatic sorting, conveying and counting device for bagged goods described in Example 1; Figure 2 yes Figure 1 A schematic diagram of the specific structure of a vibrating conveying section; Figure 3 yes Figure 1 A schematic diagram of a conveying state of a vibrating conveying section; Figure 4 This is a state diagram of the hook edge and sinking seam of bagged goods during vibration conveyance of a conventional carrier plate without a folding portion; Figure 5 This is a state diagram of a conventional carrier plate without a folding portion, in which two adjacent carrier plates clamp the hook edge during vibration conveyance, resulting in loss of vibration; Figure 6 This is a state diagram of the automatic sorting, conveying and counting device for bagged goods described in Example 1 when pushing the front hook edge of the bagged goods; Figure 7 This is a state diagram of the automatic sorting, conveying and counting device for bagged goods described in Example 1 when pushing the rear hook edge of the bagged goods; Figure 8 The vibration control circuit of the automatic sorting, conveying and counting device for bagged goods described in Example 1; Fig. 9 is a structural schematic diagram of the counting mechanism in non-working state described in Example 1; Fig.10 yes Fig. 9 Left view of Fig.11 It is a structural schematic diagram of the working state of the counting mechanism described in Example 1; Fig.12 yes Fig.11 Left view of Fig.13 This is a schematic diagram of the overall structure of the automatic sorting, conveying and counting device for bagged goods described in Example 1, which is provided with a counting mechanism and a random stacking storage bin; Fig.14 It is a schematic structural diagram of a multi-layer folding arrangement of the automatic sorting, conveying and counting device for bagged goods described in Example 2; Fig.15 yes Fig.14 Schematic diagram of the three-dimensional structure; Fig.16 It is a schematic diagram of the specific structure and installation method of the vibration support and the exciter described in Example 2; Fig.17 yes Fig.16 The process diagram of the vibration exciter driving the vibration support member to vibrate; Fig.18 is a schematic diagram of another installation method of the vibration support and the exciter described in Example 2; Fig.19 It is a schematic diagram of the light path of the bag sensors on both sides of the carrier plate with an arc-shaped cross section; Fig. 20It is a schematic diagram of the light path of the bag sensors on both sides of the carrier plate with a trapezoidal cross section; Fig.21 This is a schematic diagram of the three-dimensional structure of the automatic sorting, conveying and counting device for bagged goods in Example 2, in which a bag sensor 6 is added; Fig. 22 yes Fig.21 Left end view of the Fig.23 is a structural perspective view of the automatic sorting machine for bagged goods described in Example 3; Fig.24 This is a front oblique stereoscopic view of the automatic sorting machine for bagged goods described in Example 3; Fig.25 This is a rear oblique stereoscopic view of the automatic sorting machine for bagged goods described in Example 3; Fig.26 It is the vibration control circuit of the automatic sorting, conveying and counting device for bagged goods described in Example 2; Fig. 27 It is the vibration control circuit and counting control circuit of the automatic sorting, conveying and counting device for bagged goods described in Example 2.

[0031] Figure 1 to Figure 27 In: 1, loading plate; 101, folding edge; 2, vibration support; 301, electromagnet; 302, electromagnetic armature; 4, base; 5, controller; 6, bag sensor; 601, light projector; 602, light receiver; 7, ear plate; 8, side slide plate; 9, counting mechanism; 901, horizontal conveying roller; 902, counting sensor; 903, driving motor; 904, movable slide plate; 905, hinge support shaft; 906, Tension spring; 907, push pin; 908, crank; 909, detection port; 10, frame; 11, horizontal installation grid; 12, oblique installation grid; 13, random storage bin; 14, storage bin discharge port; 15, bag drop port; 16, enclosure; 17, conveyor; 18, bagged goods; 19, groove; 20, elastic pad; 100, vibration conveying section; 200, automatic sorting, conveying and counting device for bagged goods, M, exciter. DETAILED DESCRIPTION

[0032] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Example 1

[0033] like Figure 1The device for automatically sorting, conveying and counting bagged goods shown in the figure comprises a plurality of vibrating conveying sections 100 arranged in sequence, each vibrating conveying section 100 comprises a loading plate 1, a vibrating support member 2 obliquely connected to the loading plate 1 and used to support the loading plate 1, an exciter M for driving the vibrating support member 2 to vibrate, and a base 4, wherein the vibrating support member 2 is connected to the base 4, and one end of the vibrating support member 2 connected to the loading plate 1 is inclined in the opposite direction of the conveying direction, and further comprises a controller 5 for controlling the start and stop of each vibrating conveying section 100, and any vibrating conveying section 100 is provided with a controller for detecting the vibrating support member 2. Whether there is a bag sensor 6 for bagged goods 18 on the vibrating conveying section 100, each bag sensor 6 is electrically connected to the controller 5, and the detection result is sent to the controller 5. The controller 5 controls the start and stop state of each vibrating conveying section 100 in the two adjacent vibrating conveying sections 100 according to the detection result of the bag sensor 6 corresponding to the two adjacent vibrating conveying sections 100. The end face of the carrier plate 1 perpendicular to its conveying direction is an arc or polygon with a concave middle part. In this embodiment, the end face of the carrier plate 1 perpendicular to its conveying direction is preferably an inverted trapezoidal polygon, thereby forming a groove 19.

[0034] For the convenience of description, the bagged goods 18 are referred to as bags below. The length, width and depth of the groove 19 are set according to the size ratio of the conveyed bag. Generally, the length can be 0.5 to 2 times the diagonal length of the bag, the width can be 1 to 2 times the diagonal length of the bag, and the depth can be 0.5 to 2 times the thickness of the bag. The value is larger for small bags and smaller for large bags, so that a groove 1 of one size can be used to accommodate bags of several sizes.

[0035] like Figure 2 and Figure 3 As shown, in this embodiment, at least one vibration support member 2 is respectively provided at the upstream and downstream ends of the carrier plate 1, and the two vibration support members 2 are parallel to each other, one end of the vibration support member 2 is connected to the bottom surface of the carrier plate 1, and the other end extends downward and is fixed on the base 4. For the horizontally arranged carrier plate 1, the angle α between the plane normal of the vibration support member 2 and the bottom surface of the carrier plate 1 is the casting angle. In this embodiment, α is set to 20°. In practical applications, the casting angle α can be adjusted according to the casting height. In this embodiment, the vibration support member 2 is preferably a spring sheet. In practical applications, the vibration support member 2 can also be a rod member, and the two ends of the rod member are respectively hinged on the base 4 and the carrier plate 1.

[0036] The vibrator M can be a common electromagnetic type, that is, an electromagnetic armature pulse mechanism. The electromagnet 301 of the vibrator M is fixed to the base 4 via a bracket, and the electromagnetic armature 302 is tightly connected to the vibration support 2. When a pulse power supply is provided to the electromagnet 301, the electromagnetic armature 302 is driven by the electromagnet 301 to drive the vibration support 2 to vibrate. The end of the vibration support 2 connected to the carrier plate 1 has the largest amplitude, and its vibration trajectory can be regarded as a straight line with an elevation angle close to the casting angle, such as Figure 3As shown by the dotted arrow, the length of the arrow is the amplitude of the top of the vibration support 2. The vibration support 2 at the upstream and downstream ends of the carrier 1 vibrates synchronously with equal amplitude, driving the carrier 1 to also perform a 20° upward and downward translation according to the dotted arrow. The bagged goods 18 are thrown upward by the carrier 1 for a short distance and then fall down. After touching the carrier 1, they are thrown up again obliquely. In this way, the continuous jumping movement is continuously transported downstream. The overlapping bags are separated in this process, and the parallel bags are also separated in this process. For bags that are more difficult to separate, the throwing angle α can be increased (that is, the vibration support 2 increases the upward angle), and the bagged goods 18 can be thrown higher to increase the probability of vibration separation.

[0037] The purpose of making the loading plate 1 into a groove shape is that the translational throwing effect of the bottom is stronger and is mainly used for transportation, while the throwing effect of the two sides is slightly weaker and is mainly used for restraint, so that the bagged goods 18 naturally slide down to the middle of the groove 19 while being vibrated and conveyed, thereby restraining the bagged goods 18 in the middle of the groove 18 during the continuous jumping process.

[0038] The bag sensor 6 in this embodiment is a reflective photoelectric switch 8, so as to sense whether there is a bagged product 18 in the groove 19 monitored by each of them, see Figure 1 For the sake of simplicity and ease of observation, the bag sensor mounting bracket and fasteners at various locations of the device are omitted. The same is true for other drawings, and various other mounting brackets, fasteners, etc. will be omitted and will not be described one by one.

[0039] In this embodiment, the upstream end of the downstream carrier plate 1 of two adjacent carrier plates 1 in the same layer is preferably bent downward to form a folded edge portion 101. The two adjacent carrier plates 1 are opposed to each other up and down at the folded edge portion 101. In this embodiment, the inclination angle of the folded edge portion 101 is the same as or slightly larger than the casting angle α, preferably the same. The inclination angle of the folded edge portion 101 is based on the standard of not interfering with the vibration of the upstream adjacent carrier plate 1.

[0040] The purpose of setting the folding portion 101 is that many bagged goods 18 have the edge or corner of the packaging bag bent or even hooked. If there is no folding portion 101, once the hook edge of the bagged goods 18 is Figure 4 As shown in FIG. 1 , the substrate 1 is sunk into the gap between two adjacent substrates 1. When the two substrates 1 are close to each other, Figure 5 The two carrier plates 1 are usually squeezed and clamped, resulting in the two carrier plates 1 being stuck, reducing or losing the vibration function. When the two carrier plates 1 are separated again, the hook edge of the bagged goods 18 is still as Figure 4 As shown in the figure, the particles are trapped in the gap and are difficult to be ejected, so the conveying process will be interrupted. Figure 4 , Figure 5The hook edge failure at the front end of the bagged goods 18 is shown, and the hook edge at the rear end of the bagged goods 18 also has the same problem, which is not shown separately. The downward folded edge portion 101 at the rear end of the carrier plate 1 not only supports the hook edge of the bagged goods 18 under the gap between the carrier plates 1, but also can continuously complete the throwing and conveying by directly pushing the hook edge of the bagged goods 18 with the help of the front edge of the adjacent upstream carrier plate 1, thereby eliminating the hook edge failure. Figure 6 , Figure 7 The front and rear hook edges of the bagged goods 18 are shown being pushed, respectively. Figure 6 The figure shows a situation where the front hook edge of the bagged goods 18 is pushed away from the joint when the carrier plate 1 of the present vibrating conveying section is at the lowest vibration position and the carrier plate 1 of the adjacent upstream vibrating conveying section is at the highest vibration position. Figure 7 The display shows that when the carrier plate 1 of the present vibrating conveying section is at the highest vibration position and the carrier plate 1 of the adjacent upstream vibrating conveying section is at the lowest vibration position, the rear end hooking of the bagged goods 18 begins to be pushed. In practical applications, the problem of hooking and sinking seams can also be solved by setting the carrier plates 1 of each vibrating conveying section so that the upstream section is higher and the downstream section is lower, and the upstream carrier plate and the downstream carrier plate overlap in a step-by-step manner, or by setting the carrier plate 1 so that the front is higher and the back is lower, and the upstream carrier plate and the downstream carrier plate overlap in a way that the head is tilted and the tail is sunken, without setting a folding part. These two conventional overlapping conveying methods either increase the conveying space occupied, cannot achieve the same height conveying, and cannot adapt to some scenes with narrow conveying space, but the structure is relatively simple; or the conveying speed and efficiency are reduced but it is more conducive to vibration separation, both of which should be selected according to the use scenario.

[0041] The control method of the above-mentioned automatic sorting, conveying and counting device for bagged goods is as follows: a) if there is a bag in the current vibrating conveying section and there is no bag in the adjacent downstream section, the two sections start vibrating at the same time until the adjacent downstream section senses that there is a bag and / or the current section senses that there is no bag, then the current vibrating conveying section stops vibrating; b) if there are no bags in the current vibrating conveying section and the adjacent upstream section, the current section does not vibrate; c) if there are bags in the current section and the adjacent downstream section, the current section does not vibrate.

[0042] The sorting and conveying control circuit according to the automatic sorting control method is as follows: Figure 8 As shown, any exciter M located in the middle （n） A single-pole double-throw relay Q is set accordingly （n） , a normally open relay P （n） and a normally closed relay W （n） , the SPDT relay Q （n） The common terminal is the same as the normally closed relay W （n） One end is connected to the corresponding exciter M （n） One end of the exciter M （n） The other end is connected to one pole of the power supply, and the normally closed relay W （n） The other end is connected to the upstream adjacent single-pole double-throw relay Q（n-1） Normally open, single-pole double-throw relay Q （n） The normally open terminal of the downstream adjacent exciter M （n+1） Corresponding normally closed relay W （n+1） Connection, SPDT relay Q （n） The normally closed terminal of the power supply is connected in series with the upstream adjacent exciter M （n-1） Corresponding normally open relay P （n-1） , the normally open relay P （n） Connected in series with the downstream adjacent exciter M （n+1） Corresponding single-pole double-throw relay Q （n+1） Between the normally closed terminal of the power supply and the other pole of the power supply.

[0043] Compared with the middle exciter M （n） , the vibrator M located at the upstream end （1） Omit a single-pole double-throw relay Q and a normally closed relay W, and keep a normally open relay P （1） , the exciter M （1） One end is connected to the adjacent downstream exciter M （2） Corresponding normally closed relay W （2） Connect the other end to one pole of the power supply.

[0044] Compared with the middle exciter M （n） , the vibrator M at the downstream end （t） Omit a normally open relay P and keep a single-pole double-throw relay Q （t） and a normally closed relay W （t） . n is a positive integer greater than 1 and less than t.

[0045] The control end of the single-pole double-throw relay Q, the control end of the normally-open relay P and the control end of the normally-closed relay W corresponding to the same exciter M are connected in parallel and electrically connected to the controller (5).

[0046] When situation a) occurs between any two adjacent vibration conveying sections (100), the controller (5) controls the vibration exciter M of the vibration conveying section. （n） Corresponding single-pole double-throw relay Q （n） The normally open terminal No is connected to the common terminal Com, and the normally closed relay W （n） Disconnect, normally open relay P （n） Closed, the adjacent downstream section vibrates the exciter M of the conveying section (100) （n+1） Corresponding single-pole double-throw relay Q （n+1） The normally closed terminal Nc is connected to the common terminal Com, and the normally closed relay W （n+1） Closed, the exciter M of two adjacent vibrating conveyor sections （n） and exciter M （n+1）At the same time, the vibration is started until the downstream vibration conveying section adjacent to the vibration conveying section senses that there is a bag and / or the vibration conveying section senses that there is no bag, and the exciter M of the vibration conveying section （n） Stop vibration.

[0047] When situation b) occurs between any two adjacent vibrating conveying sections (100), the controller (5) controls the vibration exciter M of the vibrating conveying section (100) （n） Corresponding single-pole double-throw relay Q （n） The common terminal Com is connected to the normally closed terminal Nc, and the normally closed relay W （n） Closed, adjacent upstream exciter M （n-1） Corresponding normally open relay P （n-1） When disconnected, the vibration conveying section (100) does not vibrate.

[0048] When situation c) occurs between any two adjacent vibrating conveying sections (100), the controller (5) controls the vibration exciter M of the vibrating conveying section (100) （n） Corresponding single-pole double-throw relay Q （n） The normally open terminal No is connected to the common terminal Com, and the normally closed relay W （n） Disconnect, normally open relay P （n） Closed; the vibrator M of the adjacent downstream vibrating conveying section (100) （n+1） The corresponding single-pole double-throw relay Q （n+1） The normally closed terminal Nc is disconnected from the common terminal Com, and the normally closed relay W （n+1） When disconnected, the vibration conveying section (100) does not vibrate.

[0049] In the above circuit, take the n-1, n and n+1 vibration transmission sections at random for illustration, see Figure 8 In the figure, Q （n） The nth vibration conveying section 100 corresponds to the vibration exciter M （n） The single-pole double-throw relay is a switch that can switch between the normally open and normally closed paths. When the power supply of the action coil is not connected, the single-pole double-throw relay Q （n） The common terminal com and the normally closed terminal Nc are connected. When the action coil is energized, the single-pole double-throw relay Q （n） Connect the common terminal com and the normally open terminal No. W （n） The nth vibration conveying section 100 corresponds to the vibration exciter M （n） Normally closed relay, P （n） The nth vibration conveying section 100 corresponds to the vibration exciter M （n） Normally open relay, normally closed relay W （n） , Normally open relay P （n） The action coils are connected to the single-pole double-throw relay Q （n）The action coils of the first section are connected in parallel, and the rest of the sections are connected by analogy.

[0050] When the bag sensor 6 of the nth vibration conveyor section 100 triggers a bag signal, the controller 5 turns on the actuating coil power supply of all relays corresponding to the vibration conveyor section 100, thereby turning on the corresponding single-pole double-throw relay Q （n） The common terminal com and the normally open terminal No are connected, closing the normally open relay P （n） , and disconnect the normally closed relay W （n） On the contrary, when the bag signal of the bag sensor 6 of any vibration conveying section 100 disappears, the relays corresponding to the vibration conveying section 100 are reset.

[0051] So, Figure 8 The relays connected by the circuit shown in the figure can start and stop the vibration of each vibration conveying section 100 according to the signal of the bag sensor 6. Take the nth vibration conveying section 100 as an example: when there is a bag in this section, the single-pole double-throw relay Q （n） The normally open terminal No is connected to the common terminal com, and the normally closed relay W （n） Disconnect, normally open relay P （n） If the downstream n+1 vibration conveying section 100 has no bag, the single-pole double-throw relay Q corresponding to the n+1 vibration conveying section 100 will be turned on. （n+1） The normally closed terminal Nc is connected to the common terminal com, and the normally closed relay W （n+1） Conducting, and SPDT relay Q （n）、 SPDT relay Q （n+1） Two connected exciters M （n）、 M （n+1） All of them start to vibrate from DC+ until the bagged goods 18 arrive at the n+1th vibration conveying section 100, triggering the bag sensor 6 of the n+1th vibration conveying section 100 to output a bag signal, causing its single-pole double-throw relay Q （n+1） The normally closed terminal Nc is disconnected from the common terminal com, and the normally closed relay W （n+1） Disconnect, thereby cutting off the vibration exciter M corresponding to the nth vibration conveying section 100 （n） If the bagged goods are large enough to make the bag sensors 6 of the adjacent nth vibration conveyor section 100 and the n+1th vibration conveyor section 100 both maintain bagged signals, then the nth vibration conveyor section 100 is still in the bagged state, and the exciter M corresponding to the nth vibration conveyor section 100 is （n） If the bag is small, only the bag sensor 6 of one vibration conveying section 100 can maintain the bag signal. At this time, the nth vibration conveying section is in the bag-free state. If the n-1th vibration conveying section 100 also has no bag, then its corresponding normally open relay P （n-1） Keep disconnected, the exciter M corresponding to the nth vibration conveying section（n） If the n-1th vibration conveying section 100 has a bag, the action process between the two adjacent vibration conveying sections 100 is exactly the same as that between the nth section and the n+1th section. The rest of the vibration conveying sections 100 are similarly deduced and will not be described in detail.

[0052] To make the fonts on the drawing clearly visible, Figure 8 In the figure, ellipsis is used to replace the circuits corresponding to the intermediate vibration conveying sections 100. （t） Section SPDT relay Q （t） The normally open end is connected to the counting mechanism control circuit.

[0053] Due to the vibration throwing and motion restraint of the above-mentioned grooved loading plate 1, the bagged goods 18 converge to the center of the loading plate 1 while jumping and moving, while constantly eliminating overlap and parallelism. Also, due to the sensor monitoring and orderly start-stop control of the above-mentioned circuit, the disorderly bagged goods 18 are gradually automatically sorted on the way forward, and the rear bag always follows behind, forming a single-row single-bag longitudinal queue that continues to move forward for transportation.

[0054] If you need to enhance the reliability and durability of the control circuit, you can replace the ordinary relays in the above circuit with solid-state relays.

[0055] like Fig. 9 As shown, in this embodiment, a counting mechanism 9 is further provided on the downstream side of the downstream end vibrating conveying section 100, and a random stacking storage bin 13 is provided on the upstream side of the upstream end vibrating conveying section 100. The counting mechanism 9 is connected to the controller 5, and the counting control circuit of the controller 5 is connected to the sorting conveying control circuit to count the sorting conveying one by one. The counting control circuit can adopt various conventional circuits according to the structural principles and action processes of different counting mechanisms, which will not be elaborated here.

[0056] In this embodiment, the counting mechanism 9 is composed of a movable slide 904, a counting sensor 902 and a base 4. Fig. 9 The movable slide plate 904 is a flat plate, the rear edge of the movable slide plate 904 is placed below the front edge of the front loading plate 1, and is hinged on the base 4 through a hinge shaft 905. A tension spring 906 is arranged between the movable slide plate 904 and the base 4, so that the movable slide plate 904 keeps in contact with a pin 907 arranged parallel to the bottom; the pin 907 is connected to one end of a crank 908, and the other end of the crank 908 is connected to a driving motor 903. The driving motor 903 drives the crank 908 to rotate, driving the pin 14 to move the movable slide plate 904 up and down, and a counting sensor 902 is arranged on the base 4 corresponding to the lowered position of the front edge of the movable slide plate 904.

[0057] See also Fig. 9The working state of the counting mechanism 9 is shown as follows: when no counting output is needed, the pin 907 is at a high point, lifting the movable slide 9 so that its front edge is higher than the rear edge and is in a raised position. The counting sensor 15 cannot sense the bagged goods 18, and this is the ready-to-ship state. Fig.10 for Fig. 9 Left view of .

[0058] When counting output is required, the driving motor 903 is started, and the detent pin 907 rotates to the low point with the crank 908 and stops, supporting the movable slide plate 904 which is lowered, so that the front edge of the movable slide plate 904 is lower than the rear end and is in the lowered position. Fig.11 At the same time, the vibrating conveying section 100 at the downstream end starts to vibrate, conveying the bagged goods 18 to the movable slide 904 and quickly sliding down for output. The counting sensor 902 under the movable slide 904 senses the bagged goods 18 and sends a counting signal to the controller 5. This is the sending state. Fig.12 for Fig.11 When the number of bags to be dispatched is reached, the vibrating conveying section 100 at the downstream end stops vibrating and the driving motor 903 is started, the pin 907 rotates to the high point with the crank 908 and stops, and the front edge of the movable slide plate 904 returns to the raised position, and the whole device returns to the ready-to-dispatch state.

[0059] In this embodiment, a detection port 909 adapted to the counting sensor 902 is specially provided at the front end of the movable slide plate 904. When the front end of the movable slide plate 904 is lowered, the counting sensor 902 is just located below the detection port 909. When the bagged goods 18 slide down the movable slide plate 904 and pass through the detection port 909, the counting sensor 902 can detect the bagged goods 18.

[0060] In practical applications, a movable slide plate 904 made of a transparent material may also be used to ensure that the counting sensor 902 can detect the bagged goods 18. The counting sensor 902 is preferably a reflective optical sensor.

[0061] The controller 5 can control the driving motor 903 to rotate a specific angle when the automatic sorting, conveying and counting device for bagged goods is started so that the front edge of the movable slide 904 drops to a preset position, and control the driving motor 903 to reverse a specific angle when the automatic sorting, conveying and counting device for bagged goods is turned off so that the front edge of the movable slide 904 rises and resets.

[0062] Fig.13The automatic sorting, conveying and counting device for bagged goods provided with the above-mentioned counting mechanism and the random stacking storage bin 13 is shown. The random stacking storage bin 13 is arranged above the upstream first section, and the end of the groove of the carrier plate 1 of the first section can be seen in the figure. The bagged goods 18 are poured from the bottom of the random stacking storage bin 13 into the carrier plate 1 of the first section vibration conveying section 100 and are stacked in a disordered state. The load of the vibration conveying section 100 under the random stacking storage bin 13 is greater than that of other vibration conveying sections 100, so the power of the exciter M of the first section vibration conveying section 100 and the width and thickness of the vibration support 2 can be increased accordingly.

[0063] Vibration conveying has always been a suitable conveying method for irregular items, especially under the multi-vibration conveying method of the present embodiment in which each vibration conveying section 100 independently controls vibration. As long as the bagged items are not very flat and thin and difficult to separate and easy to stack, the counting output error rate can be as low as less than one thousandth. Bags that are very irregular, such as those that are kneaded, bulged, shrunken, twisted, etc., have higher accuracy because they are not easy to stack. Example 2

[0064] There are many applications that require equipment to occupy less space, so the structure of the conveying device must be as compact as possible and the volume as small as possible. For example, there are hundreds of varieties of small-bag Chinese herbal medicines. If you want to realize automatic counting and dispensing, you must use hundreds of bagged goods automatic sorting, conveying and counting devices for integrated operation, so a compact design is very necessary.

[0065] To this end, this embodiment is further improved on the basis of embodiment 1: 1) the single-layer in-line arrangement of each vibration conveying section 100 is changed to a multi-layer folding arrangement to shorten the length of the device; 2) the vibration support 2 is changed from a vertical setting to a horizontal inclined setting to reduce the height of the vibration conveying section 100, thereby reducing the total height of the multi-layer folding arrangement; 3) a crank pin plucking mechanism is used as the exciter M instead of the electromagnetic exciter in embodiment 1 to adapt to the compact design of small space, and at the same time, the driving power can also be reduced; 4) the counting mechanism 9 is changed to a roller type to adapt to the compact design of small space; 5) the bag sensor 6 is changed to a counter-type photoelectric switch to adapt to the compact design of small space; 6) the bag sensor 6 is added to obtain higher output accuracy.

[0066] In the present embodiment, the multi-layer folding type arrangement is to divide all the vibration conveying sections 100 into three sections, and then each section is stacked in three layers of upper, middle and lower layers. Each layer still has a plurality of vibration conveying sections 100 arranged in sequence, and the conveying directions of the vibration conveying sections 100 of two adjacent layers are opposite. Except for the bottom layer, a side slide plate 8 is provided at the downstream end of each layer other than the bottom layer. The side slide plate 8 is inclined toward the vibration conveying section 100 at the upstream end of the adjacent lower layer. Any side slide plate 8 is located above and on the side of the vibration conveying section 100 at the upstream end of the lower layer, and the side slide plate 8 extends downward from the side edge of the vibration conveying section 100 at the downstream end of the same layer.

[0067] To improve the conveying efficiency, the width of the multiple vibrating conveying sections 100 in the top layer of this embodiment is greater than that of the vibrating conveying sections 100 in the lower layers. Except for the vibrating conveying sections 100 in the top layer, the vibrating conveying sections 100 in the remaining layers are arranged in an offset manner in the width direction.

[0068] When the bagged goods 18 are conveyed downstream from the vibrating conveying section 100 at the upstream end of the top layer to the downstream end of the layer, they are guided to the vibrating conveying section 100 at the upstream end of the middle layer by the side slide plate 8, and are conveyed downstream in this way in sequence. The conveying directions of the vibrating conveying sections 100 at two adjacent layers are opposite, and the bagged goods 18 are conveyed to the downstream end along the entire conveying device in a back-and-forth path.

[0069] by Fig.14 and Fig.15 Take the automatic sorting, conveying and counting device for bagged goods shown in the figure for conveying bagged goods 18 (small bags of Chinese herbal medicine slices) as an example: the total vibrating conveying section 100 is 13 sections, which are divided into three sections and arranged in three layers: upper, middle and lower. The first section has 5 sections, among which the upper parts of the 1st and 2nd sections correspond to the random stacking storage bin 13, and the second and third sections each have 4 sections, among which the 13th section (the last section) corresponds to the counting mechanism 9. The two folding parts of the upper and middle layers are respectively provided with side slide plates 8 to slide the bags horizontally downward to the first section of the lower layer, thereby forming a parallel and staggered three-layer space structure, see Fig.14 , Fig.15 In order to facilitate observation of the folding situation, only the loading plate 1 and the side slide plate 8 with an arc-shaped cross section are shown in the figure, and the remaining components are omitted.

[0070] The structure and installation method of the transversely inclined vibration support member 2 refer to Fig.16 . Horizontal means that the connection point between the vibration support 2 and the base 4 is on one side of the carrier plate 1, so that the entire vibration support 2 is in a cantilever beam state, and inclined means that the normal of the vibration support 2 and the bottom plane of the carrier plate 1 still form an angle α. The position where the vibration support 2 and the base 4 in Example 1 are connected is directly below the carrier plate 1. Compared with Example 1, the vibration node height of this embodiment is reduced, and the total height of the three layers of the multi-layer folded-back type arrangement is also reduced; because the vibration support 2 in this embodiment still maintains an inclined state, the vibration direction is still in the direction of the angle α between the plane normal of the vibration support 2 and the bottom of the carrier plate 1. The angle α in this embodiment is the same as that in Example 1, so the vibration trajectory of the carrier plate 1 is also the same as that in Example 1, and it also performs a 20° upward and downward translation.

[0071] The crank pin-pulling mechanism as the exciter M in this embodiment has the same structure as the driving device for driving the movable slide plate 904 in Example 1. The crank 908 and the pin 907 are driven by the driving motor 903. The pin 907 corresponds to the ear plate 7 provided on the bottom surface of the carrier plate 1. Fig.16In the figure, the ear plate 7 and the vibration support 2 are made into one piece and are fastened to the carrier plate 1. Fig.17 : During static vibration, the pin 907 touches and starts to poke the ear plate 7 at position a while rotating with the crank 908, and then detaches from the ear plate 7 at position b, thereby generating a plucking effect. After the pin 907 detaches from the ear plate 7, there is no contact between the exciter M and the carrier plate 1. The vibration support 2 after being plucked immediately enters a damped free vibration state, and the carrier plate 1 vibrates accordingly. The dotted arrow in the figure is its vibration trajectory, and the length of the arrow is the maximum amplitude at the end of the carrier plate 1. The crank 908 continues to rotate, and the free vibration of the vibration support 2 is attenuated during the period from the detachment of the pin 907 to the re-contact of the ear plate 7. After the pin 907 is plucked again, the vibration resumes. For small bags of Chinese herbal medicine slices, 2-3 times (i.e., 2-3Hz) of plucking excitation per second is sufficient to maintain the continuous vibration of the carrier plate 1. Since the free vibration frequency of the carrier plate 1 is much higher than 2-3Hz, the position where the pin 907 touches the ear plate 7 again after the vibration is started is not randomly at any point on the vibration trajectory, but close to the front end of the dotted arrow. The process from the touching point at the front end of the dotted arrow to position a is the process of the pin 907 stopping the residual vibration of the carrier plate 1. This process only takes a moment, and the plucking excitation process starts again at the starting plucking point position a. Therefore, position a is both a static stop position and the midpoint of the vibration trajectory, and it is also the starting plucking point for each repeated vibration. The plucking force or amplitude can be adjusted by adjusting the distance between the drive motor 903 and the ear plate 7 or changing the rotation radius of the pin 907, and there is no restriction on the direction of the plucking, as shown in the figure. Fig.16 Fig.17 Clockwise to the rear to disengage, or Fig.18 Increasing the speed of the drive motor 903 and driving it with a low-frequency pulse width modulation power supply can also help to enhance the plucking force. Similarly, a stepper motor can also be used. Fig.17 The position c in the middle is started rapidly, and after being plucked, it stops at the position c in a single cycle positioning start-stop mode, so as to obtain a more ideal effect of rapid start and fast plucking and idle stop, and the frequency of plucking is adjusted as needed. Position c is an empty position that does not interfere with the free vibration of the carrier plate 1.

[0072] Compared with the electromagnetic vibrator M of the embodiment 1 which is forced to vibrate continuously, the plucked vibrator M of the embodiment which is free to vibrate most of the time is smaller in size, can meet the low-height installation requirements, and has relatively low power consumption. Further, the pin 907 is rotatably arranged on the crank 908, and its outer surface is coated with glue ( Fig.16 , 17 , the pin 907 shown in FIG. 18 is a rubber-coated pin), and an elastic pad 20 is provided at the contact point between the ear plate 7 and the pin 907, so that the pin 907 and the ear plate 7 become in rolling contact, which can reduce noise and extend the working life.

[0073] The counting mechanism 9 described in this embodiment is of a roller type, including multiple rows of horizontal conveying rollers 901 arranged in parallel along the conveying direction, counting sensors 902 and a driving motor 903. The driving motor 903 drives the horizontal conveying rollers 901 to rotate to drive the bagged goods thereon to move downstream. The counting sensors 902 are arranged on the downstream side of all horizontal conveying rollers 901 to count the bagged goods passing over the counting sensors 902.

[0074] The horizontal conveying roller 901 is driven by a driving motor 903 via a belt or gear. Fig.14 The simple drawing in the figure shows the structure of the counting mechanism. When counting output is not required, the horizontal conveying roller 901 is stationary and does not rotate, which is in the ready-to-send state. When counting output is required, the driving motor drives the horizontal conveying roller 901 to rotate. At the same time, the vibrating conveying section 100 at the downstream end, i.e., the 13th section, starts to vibrate, and the bag is sent to the rotating horizontal conveying roller 901, and is immediately output by the horizontal conveying roller 901. The reflective counting sensor 902 under the front horizontal conveying roller 901 senses and sends a counting signal, which is the sending state. When the number of bags to be sent is reached, the horizontal conveying roller 901 stops rotating, and the entire device returns to the ready-to-send state. Compared with the counting mechanism 9 described in Example 1, the installation height required for outputting bagged goods 18 using the horizontal conveying roller 901 is smaller, which can meet the installation requirements of the low section.

[0075] like Fig. 27 The figure shows the control circuit of the counting mechanism 9 and the sorting and conveying control circuit of the present embodiment. The driving motor 903 is connected in parallel to the downstream end exciter M. （t） Downstream, one end of the drive motor 903 is connected to one pole of the power supply, and the other end of the drive motor 903 is connected to the other pole of the power supply through relay P903 to form a loop, and connected to relay Q through relay W903 （t） Normally open terminal No. When the downstream end exciter M （t） If there is a bag on it, controller 5 will control relay Q （t） Connect relay W903 and close relay P903 to make the downstream end exciter M （t） Start, and convey the bagged goods to the counting mechanism 9. At the same time, the driving motor 903 rotates to drive the bagged goods 18 to pass through the counting sensor 902. To ensure that the bagged goods 18 on the technical mechanism 9 are counted and output, the relay P903 can be controlled in a delayed disconnection mode. （t） If there is no bag on the bag, the controller 5 controls the relay 903 to disconnect after a delay of a period of time. In practical applications, the user can also choose to keep the relay P903 closed during the startup phase of the bagged goods automatic sorting, conveying and counting device.

[0076] like Fig.19As shown, the bag sensor 6 described in this embodiment is a through-beam photoelectric switch, including a light projector 601 and a light receiver 602. The light projector 601 and the light receiver 602 are arranged on both sides of the conveying direction of the carrier plate 1. The light projector 601 is tilted toward the upper surface of the carrier plate 1 so that the light beam emitted by the light projector 601 enters the light receiver 602 after being reflected by the carrier plate 1.

[0077] Although the reflective photoelectric switch is easy to install, it is very easy to be disturbed by the light environment inside the device. Especially in a compact device with a small space, the signal certainty is not stable enough and it is not easy to adjust. Therefore, this embodiment uses a pair of photoelectric switches, which are slightly more complicated to install but not disturbed by the light environment inside the device and are easy to adjust. The projector 601 and the light receiver 602 are used in pairs. The photoelectric switch is used to detect bagged goods 18 in the groove of the arc-shaped and trapezoidal cross-section of the carrier plate 1. Especially for bagged goods 18 with thin thickness, if the straight light path installation method of the projector 601 facing the light receiver 602 is adopted, it is often easy to miss the detection. The solution adopted in this embodiment is the multiple reflection method: first, reflective materials are used, that is, the arc-shaped or trapezoidal cross-section carrier plate 1 is made of smooth plastic plates, aluminum plates or stainless steel plates with good reflectivity, and secondly, half a beam of light is put into the groove, that is, half of the light beam of the projector 601 is projected into the groove of the carrier plate 1. Theoretically, the light beam emitted by the projector 601 is a cone with a vertex angle of β, but the corresponding light-receiving lens of the light-receiving lens 602 is just a small dot, so the projected light beam that can enter the light-receiving lens can be approximately considered to exist only in the isosceles triangle area of ​​the plane with a vertex angle of β. The isosceles side of the isosceles triangle is the outermost edge of the light beam, which may be called the projection triangle, and the half beam is the β / 2 half of the projection triangle divided by its center line.

[0078] The actual installation method of the half-beam light entering the groove is: install the projector 601 and the light receiver 602 on both sides of the carrier plate 1 respectively, the projector 601 and the light receiver 602 are symmetrically positioned and both are inclined toward the inner bottom surface of the groove of the carrier plate 1, and only the light beam of the upper half of the light triangle of the projector 601 is projected into the groove, and the outermost edge of the light beam does not cross the center line of the groove. In this way, the light beam emitted by the projector 601 can be as close to the bottom of the groove as possible and enter the light receiving lens of the light receiver 602 after multiple reflections, see Fig.19 , Fig. 20. The figure shows the incident light paths of the bag sensor 6 applied to the arc groove and the trapezoidal groove respectively. Among the projected light beams, only the small narrow beam indicated by the thin solid line reaches the light receiver 602 after two reflections on the bottom surface of the arc groove and three reflections on the bottom surface of the trapezoidal groove. The rest are invalid scattered light and have nothing to do with the detection result. As can be seen from the figure, the effective light path that can reach the light receiver 602 is transmitted almost along the inner surface of the groove of the carrier plate 1. The thinner bag goods 18 can block the incident light path and generate a definite bag signal. Therefore, the ideal incident light path between the projector 601 and the light receiver 602 of the incident photoelectric switch suitable for arc and trapezoidal cross-section grooves is a broken line curved light path that is reflected multiple times along the bottom surface of the groove.

[0079] like Fig.21 , Fig. 22 As shown, as a further improvement to the above technical solution, in this embodiment, a bag sensor 6 can be added between every two bag sensors 6 of at least several downstream vibrating conveying sections 100, and the added bag sensor 6 is connected in parallel with the original bag sensor 6 corresponding to the upstream adjacent vibrating conveying section 100, that is, two bag sensors 6 are correspondingly provided for the upstream adjacent vibrating conveying section 100. Thus, the detection range of the bag sensor 6 corresponding to one vibrating conveying section 100 is extended to the downstream vibrating conveying section 100. In this way, the control result is: a bagged product 18 that has been delivered from the current vibrating conveying section 100 to the downstream conveying section 100 can still be detected by the bag sensor 6 corresponding to the current vibrating conveying section 100, so that the upstream adjacent vibrating conveying section 100 cannot supply bags to the current vibrating conveying section 100 that is actually empty of bags. For example, a bagged product 18 has left the 11th vibrating conveying section 100 and is delivered to the 12th vibrating conveying section 100, but the bag sensor 6 of the 11th vibrating conveying section 100 still feeds back a signal that the bagged product 18 has been detected. Therefore, according to the control mechanism described in Example 1, the 10th vibrating conveying section 100 cannot supply bags to the 11th vibrating conveying section 100 that is actually empty of bags. The queue form of the bagged products 18 becomes an interval queue with one section having bags and the other without bags, which is conducive to maintaining a safe counting bag distance and more reliably ensuring the uniqueness of the bags output by the counting mechanism 9, thereby achieving a higher counting output accuracy, and the counting output error rate can reach one in tens of thousands.

[0080] In addition to the above improvements, this embodiment can also be Figure 8 The nth single-pole double-throw relay Q in the circuit shown （n） Normally closed and normally open relay P （n-1） A vibrator M belonging to its adjacent downstream is connected in series （n+1） Normally closed relay V （n+1） , t>n>1, normally closed relay V （n+1） and normally closed relay W （n+1）In this way, a certain vibration conveying section 100 is associated with its adjacent downstream vibration conveying section 100 as the same section in the circuit, so that the bag on the n-1th vibration conveying section 100 can only be powered on and vibrated to supply bags to the nth vibration conveying section 100 when there are no bags on the nth vibration conveying section 100 and the n+1th vibration conveying section 100. The control effect is the same as that of adding a bag sensor 6, and it can also generate an interval queue with one section having bags and the other without bags, such as Fig.26 shown.

[0081] In summary, the compact bagged goods automatic sorting, conveying and counting device improved by the technology of this embodiment can achieve the purpose of small size and high precision. Its design overview is: it is configured with a folded segment, a horizontally placed vibration support 2, a plucked vibration, a roller row counting, a density-enhanced opposite-shooting bag sensor 6 and its MCU controller 5, see Fig.21 , Fig. 22 In actual applications, the occupied width of the random stacking bin 13 is larger than the width of the loading plate 1, and the upper, middle and lower layers of the vibrating conveying sections 100 need to be arranged in a left-right staggered manner. Therefore, in this embodiment, the upper layer of the loading plate 1 is widened to completely cover the middle and lower layers of the vibrating conveying sections 100, while matching the width of the random stacking bin 13.

[0082] The working principle and control process of this embodiment are the same as those of Embodiment 1, and thus will not be described in detail. Example 3

[0083] A plurality of the aforementioned bagged goods automatic sorting devices 200 are stacked vertically and arranged horizontally to form a wall matrix, so as to realize the functions of simultaneously bagging multiple varieties and quickly picking and matching orders. Therefore, based on the bagged goods automatic sorting, conveying and counting device 200 described in the above embodiment 2, this embodiment provides a bagged goods automatic picking machine, such as Figure 23~Figure 25As shown, the automatic sorting machine for bagged goods includes a frame 10, wherein the front portion of the frame 10 is provided with a plurality of horizontal mounting grids 11 arranged in a matrix, the horizontal mounting grids 11 form an opening on the front end surface of the frame 10, and the rear portion of the frame 10 is provided with oblique mounting grids 12 corresponding to the horizontal mounting grids 11 one by one and interconnected with each other, the oblique mounting grids 12 extend obliquely backward and upward from the rear portion of the horizontal mounting grids 11, and the automatic sorting, conveying and counting device 200 for bagged goods described in the above-mentioned embodiment 2 is installed in any horizontal mounting grid 11, and a random stacking storage bin 13 is installed in any oblique mounting grid 11, and the storage bin discharge port 14 at the lower end of the random stacking storage bin 13 is located at the automatic sorting, conveying and counting device 200 for bagged goods described in the above-mentioned embodiment 2 is installed in any horizontal mounting grid 11, and the ... Above the vibrating conveying section 100 at the upstream end of the automatic sorting, conveying and counting device 200, a baffle 16 is connected to the base 4 at the downstream end of the bagged goods automatic sorting, conveying and counting device 200, and a bag drop opening 15 is formed between the baffle 16 and the counting mechanism 9 of the bagged goods automatic sorting, conveying and counting device 200. The bag drop openings 15 of the multiple layers of bagged goods automatic sorting, conveying and counting devices 200 in the same row on the frame overlap to form a bag drop channel that runs through from top to bottom, and a collecting device 17 is provided below the bag drop channel along the arrangement direction of each column of the bag drop channels. The collecting device 17 in this embodiment preferably adopts a conveyor, which is used to collect the bagged goods output by each bagged goods automatic sorting, conveying and counting device 200.

[0084] In practical applications, the collecting device 17 can be a combination of one or more of a conveyor, a chute, a pusher, and a collecting hopper. For example, a chute or a collecting hopper is first used to collect and guide the bagged goods to the collecting device 17, and then output through the collecting device 17. The chute or the collecting hopper can also be used to collect and guide the bagged goods to the packaging bag, or after the bagged goods fall on the platform, the pusher is used to push the bagged goods into the packaging bag or the collecting hopper.

[0085] The occupied height and width of the bagged goods automatic sorting, conveying and counting device 200 are preferably consistent with the occupied height and width of the random stacking storage bin 13 to obtain the highest possible space utilization.

[0086] The working mode and process of the automatic picking machine for bagged goods are as follows: each random stacking storage bin 13 is the minimum stock keeping unit (SKU) for storing a variety, and the controller 5 of the corresponding automatic sorting, conveying and counting device 200 for bagged goods is connected to the communication network of the master control computer. Under the management and control of the master control computer, each relevant controller 5 starts the automatic sorting, conveying and counting device 200 for bagged goods corresponding to the required goods according to the master control order instruction, and counts and outputs each required variety almost at the same time. The bagged goods 18 of the order output fall through the bag drop port 15 where the stack is connected to the high-speed belt conveyor 17 for collection and transportation and packaging. The automatic and rapid picking and matching process of an order is completed within a few seconds, and then the process is repeated for the next order. When replenishing the warehouse, the bagged goods 18 of the required variety can be directly poured into the corresponding random stacking storage bin 13 in a disordered state, or it can be completed by connecting the automatic replenishment system. The collection, transportation and packaging system and the automatic replenishment system are not within the scope of the present invention and will not be described in detail here.

[0087] According to the above embodiments, there are many other implementation schemes of structural transformation and interaction, which are no longer listed and illustrated one by one. The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. On the basis of not departing from the design spirit of the present invention, various deformations and modifications made to the technical solution of the present invention should fall within the protection scope determined by the claims of the present invention.

[0088] At this point, the purpose of the present invention has been achieved. The provided automatic sorting, conveying and counting device for bagged goods can output disordered bagged goods bag by bag and can further realize accurate counting. It can also form a wall matrix to realize simultaneous bagging of multiple varieties and rapid picking and order matching, and also creates the necessary conditions for automatic replenishment.

[0089] The above embodiments are only illustrative of the principles and effects of the invention, as well as some embodiments of its application, and are not intended to limit the invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the invention, and all of these belong to the protection scope of the invention.

Claims

1. An automatic sorting, conveying and counting device for bagged goods, comprising a plurality of vibrating conveying sections (100) arranged in sequence, each vibrating conveying section comprising a carrier plate (1), a vibrating support member (2) obliquely connected to the carrier plate (1) and used to support the carrier plate (1), an exciter M for driving the vibrating support member (2) to vibrate, and a base (4), the vibrating support member (2) being connected to the base (4), and one end of the vibrating support member (2) connected to the carrier plate (1) being inclined in the opposite direction of the conveying direction, characterized in that: The invention also comprises a controller (5) for controlling the start and stop of each vibrating conveying section (100). Each vibrating conveying section (100) is provided with a bag sensor (6) for detecting whether there are bagged goods on the vibrating conveying section (100). Each bag sensor (6) is electrically connected to the controller (5) and sends a detection result to the controller (5). The controller (5) controls the start and stop state of each vibrating conveying section (100) in the two adjacent vibrating conveying sections (100) according to the detection results of the bag sensors (6) corresponding to the two adjacent vibrating conveying sections (100). The end surface of the carrier plate (1) perpendicular to the conveying direction thereof is an arc or polygon with a concave middle portion. A counting mechanism (9) is provided on the downstream side of the downstream end vibrating conveying section (100).

2. The automatic sorting, conveying and counting device for bagged goods according to claim 1 is characterized in that: Any of the vibrating conveying sections (100) has two vibrating support members (2), which are arranged in the upstream and downstream directions of the conveying. One end of the vibrating support member (2) is connected to the bottom surface of the carrier plate (1), and the other end extends horizontally or vertically to the base (4) and is fixedly connected to the base (4). The exciter M is an electromagnetic armature pulse mechanism or a crank pin plucking mechanism driven by a motor. The exciter M directly acts on the vibrating support member (2) or the ear plate (7) connected to the bottom surface of the carrier plate (1).

3. The automatic sorting, conveying and counting device for bagged goods according to claim 1 is characterized in that: The control circuit of the controller (5) to control each exciter M is: Any exciter M located in the middle （n） A single-pole double-throw relay Q is set accordingly （n） , a normally open relay P （n） and a normally closed relay W （n） , the SPDT relay Q （n） The common terminal is the same as the normally closed relay W （n） One end is connected to the corresponding exciter M （n） One end of the exciter M （n） The other end is connected to one pole of the power supply, and the normally closed relay W （n） The other end is connected to the upstream adjacent single-pole double-throw relay Q （n-1） Normally open, single-pole double-throw relay Q （n） The normally open terminal of the downstream adjacent exciter M （n+1） Corresponding normally closed relay W （n+1） Connection, SPDT relay Q （n） The normally closed terminal of the power supply is connected in series with the upstream adjacent exciter M （n-1） Corresponding normally open relay P （n-1） , the normally open relay P （n） Connected in series with the downstream adjacent exciter M （n+1） Corresponding single-pole double-throw relay Q （n+1） Between the normally closed terminal and the other pole of the power supply; Compared with the middle vibrator, the vibrator M at the upstream end （1） ) Omit one single-pole double-throw relay Q and one normally closed relay W, and keep one normally open relay P （1） , the exciter M （1） One end is connected to the adjacent downstream exciter M （2） Corresponding normally closed relay W （2） Connect, and connect the other end to one pole of the power supply; Compared with the middle exciter, the downstream exciter M （t） Omit a normally open relay P and keep a single-pole double-throw relay Q （t） and a normally closed relay W （t） ; t>n>1; The control end of the single-pole double-throw relay Q, the control end of the normally-open relay P and the control end of the normally-closed relay W corresponding to the same exciter M are connected in parallel and electrically connected to the controller (5).

4. The automatic sorting, conveying and counting device for bagged goods according to claim 1 is characterized in that: The bag sensor (6) is a beam-type photoelectric switch, comprising a light projector (601) and a light receiver (602). The light projector (601) and the light receiver (602) are arranged on both sides of the conveying direction of the carrier plate (1). The light projector (601) is tilted toward the upper surface of the carrier plate (1), so that the light beam emitted by the light projector (601) enters the light receiver (602) after being reflected by the carrier plate (1).

5. The automatic sorting, conveying and counting device for bagged goods according to claim 4 is characterized in that: A bag sensor (6) is added between every two bag sensors (6) of a plurality of vibrating conveying sections (100) located downstream, and the added bag sensor (6) is connected in parallel with the original bag sensor (6) corresponding to the vibrating conveying section (100) located upstream.

6. The automatic sorting, conveying and counting device for bagged goods according to claim 1 is characterized in that: A plurality of vibrating conveying sections (100) are arranged in multiple layers from top to bottom, each layer having a plurality of vibrating conveying sections (100) arranged in sequence, the conveying directions of two adjacent layers of vibrating conveying sections (100) being opposite, a side slide plate (8) being arranged at the downstream end of each layer except the bottom layer, the side slide plate (8) being inclined toward the vibrating conveying section (100) at the upstream end of the adjacent lower layer, any side slide plate (8) being located above and to the side of the vibrating conveying section (100) at the upstream end of the lower layer, and the side slide plate (8) extending downwardly from the side edge of the vibrating conveying section (100) at the downstream end of the same layer.

7. The automatic sorting, conveying and counting device for bagged goods according to claim 6 is characterized in that: The width of the plurality of vibration conveying sections (100) in the uppermost layer is greater than that of the vibration conveying sections (100) in the lower layers, and except for the vibration conveying sections (100) in the uppermost layer, the vibration conveying sections (100) in the remaining layers are arranged in an alternate and staggered manner in the width direction.

8. The automatic sorting, conveying and counting device for bagged goods according to claim 6 is characterized in that: Of the two adjacent carrier plates (1) located in the same layer, the upstream end of the carrier plate (1) located downstream is bent downward to form a folded edge portion (101), and the two adjacent carrier plates (1) are opposed to each other up and down at the folded edge portion (101).

9. The automatic sorting, conveying and counting device for bagged goods according to claim 1, characterized in that: The counting mechanism (9) comprises a plurality of rows of horizontal conveying rollers (901) arranged in parallel along a conveying direction, a counting sensor (902) and a driving motor (903); the driving motor (903) drives the horizontal conveying rollers (901) to rotate so as to drive the bagged goods thereon to move downstream; the counting sensor (902) is arranged on the downstream side of all the horizontal conveying rollers (901) to count the bagged goods passing above the counting sensor (902).

10. The automatic sorting, conveying and counting device for bagged goods according to claim 1, characterized in that: The counting mechanism (9) is composed of a movable slide plate (904) that can swing in a controlled manner, a counting sensor (902) and a base (4); the movable slide plate (904) is connected to a carrier plate (1) of an adjacent vibrating conveying section (100) to guide bagged goods that have separated from the carrier plate (1) to slide to a specified position; and the counting sensor (902) is used to detect bagged goods that slide over the movable slide plate (904).

11. The automatic sorting, conveying and counting device for bagged goods according to claim 3, characterized in that: In several downstream sections, a single-pole double-throw relay Q （n） The normally closed terminal and the normally open relay P （n-1） A normally closed relay V （n+1） , normally closed relay V （n+1） With normally closed relay W （n+1） Synchronous action.

12. The automatic sorting control method of the automatic sorting, conveying and counting device for bagged goods according to any one of claims 1 to 10, characterized in that: The controller (5) controls the vibration exciter of any vibration conveying section (100) according to the following three situations: a) when the present vibrating conveying section (100) has a bag and the adjacent downstream vibrating conveying section (100) has no bag, the controller (5) controls the present vibrating conveying section (100) and the adjacent downstream vibrating conveying section (100) to start vibrating simultaneously, until the adjacent downstream vibrating conveying section (100) senses that there is a bag and / or the present vibrating conveying section (100) senses that there is no bag, and then the present vibrating conveying section (100) stops vibrating; b) when the current vibrating conveying section (100) and the adjacent upstream vibrating conveying section (100) are both empty of bags, the controller (5) controls the current vibrating conveying section (100) not to vibrate; c) When both the current vibrating conveying section (100) and the adjacent downstream vibrating conveying section (100) have bags, the controller (5) controls the current vibrating conveying section (100) not to vibrate.

13. The automatic sequencing control method according to claim 12, characterized in that: The controller (5) controls the control circuit of each exciter M as follows: any exciter M located in the middle （n） A single-pole double-throw relay Q is set accordingly （n） , a normally open relay P （n） and a normally closed relay W （n） , the SPDT relay Q （n） The common terminal is the same as the normally closed relay W （n） One end is connected to the corresponding exciter M （n） One end of the exciter M （n） The other end is connected to one pole of the power supply, and the normally closed relay W （n） The other end is connected to the upstream adjacent single-pole double-throw relay Q （n-1） Normally open, single-pole double-throw relay Q （n） The normally open terminal of the downstream adjacent exciter M （n+1） Corresponding normally closed relay W （n+1） Connection, SPDT relay Q （n） The normally closed terminal of the power supply is connected in series with the upstream adjacent exciter M （n-1） Corresponding normally open relay P （n-1） , the normally open relay P （n） Connected in series with the downstream adjacent exciter M （n+1） Corresponding single-pole double-throw relay Q （n+1） Between the normally closed terminal and the other pole of the power supply; Compared with the middle vibrator, the vibrator M at the upstream end （1） Omit a single-pole double-throw relay Q and a normally closed relay W, and keep a normally open relay P （1） , the exciter M （1） One end is connected to the adjacent downstream exciter M （2） Corresponding normally closed relay W （2） Connect, and connect the other end to one pole of the power supply; Compared with the middle exciter, the downstream exciter M （t） Omit a normally open relay P and keep a single-pole double-throw relay Q （t） and a normally closed relay W （t） ; t>n>1; The control end of the single-pole double-throw relay Q, the control end of the normally-open relay P and the control end of the normally-closed relay W corresponding to the same exciter M are connected in parallel and electrically connected to the controller (5).

14. The automatic sequencing control method according to claim 13, characterized in that: In several downstream sections, a single-pole double-throw relay Q （n） The normally closed terminal and the normally open relay P （n-1） A normally closed relay V （n+1） , normally closed relay V （n+1） With normally closed relay W （n+1） Synchronous action.

15. The automatic sequencing control method according to claim 13, characterized in that: A bag sensor (6) is added between every two bag sensors (6) of a plurality of vibrating conveying sections (100) located downstream, and the added bag sensor (6) is connected in parallel with the original bag sensor (6) corresponding to the vibrating conveying section (100) located upstream.

16. An automatic bagged goods picking machine based on the bagged goods automatic sorting, conveying and counting device according to any one of claims 1 to 11, comprising a frame (10), characterized in that: The front part of the frame (10) is provided with a plurality of horizontal installation grids (11) arranged in a matrix, and the rear part of the frame (10) is provided with oblique installation grids (12) corresponding to the horizontal installation grids (11) and connected to each other, the oblique installation grids (12) extending obliquely backward and upward from the tail of the horizontal installation grids (11), the automatic sorting, conveying and counting device (200) for bagged goods as claimed in claim 8 is installed in the horizontal installation grids (11), and a random stacking storage bin (13) is installed in the oblique installation grids (12), and the storage bin discharge port (14) at the lower end of the random stacking storage bin (13) corresponds to the automatic sorting, conveying and counting device for bagged goods. Above the upstream end vibrating conveying section (100) of the bagged goods automatic sorting, conveying and counting device (200), a baffle (16) is connected to the downstream end base (4) of the bagged goods automatic sorting, conveying and counting device (200), and a bag drop opening (15) is formed between the baffle (16) and the counting mechanism (9) of the bagged goods automatic sorting, conveying and counting device (200). The bag drop openings (15) of the bagged goods automatic sorting, conveying and counting devices (200) in the same row on the frame overlap to form a row of bag drop channels that are connected from top to bottom. A collecting device (17) is arranged below each row of bag drop channels. The collecting device (17) is a combination of one or more of a conveyor, a chute, a pusher, and a collecting hopper.

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