Automatic unstacking, arranging and conveying device with double-stroke sorting function

Abstract

The invention relates to an automatic unstacking, sorting and conveying device with a double-stroke sorting function, which mainly comprises an AGV carrying and conveying module, a double-stroke automatic unstacking and sorting mechanism, a baffle conveying belt, a discharging and conveying module, an output conveying belt, a foundation and the like, materials are placed in a top tray of the AGV carrying and conveying module in a rotary stacking state, and the AGV carries out sorting according to a preset route. Materials are conveyed to an inlet of the double-stroke automatic splitting and arranging device, when one set of suction cups in the double-stroke automatic splitting and arranging assembly grabs the materials, the other set of suction cups can synchronously complete stacking work of the materials, the sorted materials are conveyed to the discharging conveying module, and the discharging conveying module aligns the materials and then conveys the materials out in a split-flow mode. According to the invention, rapid and continuous sorting, stacking and arrangement of materials can be realized, a foundation is laid for follow-up material filling and other processes, and a series of common problems such as unequal-distance conveying, low sorting efficiency and high material arrangement difficulty in the material splitting and arrangement process can be effectively solved, so that the production efficiency is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of logistics transportation, and in particular to an automatic depalletizing, arranging and conveying device with a double-stroke sorting function. Background Art

[0002] The depalletizing, sorting and arranging of materials is an important part of the packaging and logistics industry, which will directly affect production efficiency and operating costs. At present, most depalletizing and arranging devices on the market mainly rely on the collaborative operation of manual labor and palletizing robotic arms to complete a series of sorting, palletizing and arranging tasks. However, this model not only requires high labor costs, but also has relatively single material handling capabilities, which makes it difficult to adapt to the palletizing and arranging needs of multiple varieties of materials; and this method is not satisfactory in terms of work efficiency, and it is often difficult to meet the requirements of fast and efficient operations. In addition, since the control logic of the palletizing robotic arm is relatively complex, when it is necessary to adapt to new products or production processes, it will increase the difficulty of programming and debugging the palletizing robotic arm, thereby increasing the difficulty of depalletizing and arranging.

[0003] The patent with publication number CN220949961U proposes an automatic sorting and conveying mechanism for large bags of industrial salt, which is mainly aimed at the sorting and conveying of large bags of industrial salt. The device uses a movable plate from the conveyor bed to the conveyor bed to realize the material diverting function, and uses a fixed shaft and rollers to realize the interception function of the accumulated materials. However, the invention fails to realize the alignment and equidistant conveying functions of the materials, which greatly increases the difficulty of sorting and stacking the materials after conveying. In addition, large bags of industrial salt need to be manually transported bag by bag to the starting point of the conveyor line, which fails to effectively reduce labor costs. The patent with publication number CN114560307A provides a palletizing and conveying device for warehousing logistics, which is mainly used for palletizing and conveying box-type materials. The device uses a six-degree-of-freedom multi-joint serial robot arm as a depalletizing robot arm. The accuracy and stability of its end effector are affected by the relative position and posture between the joints and the connecting rods. A slight deviation may cause the end effector to fail to accurately reach the target position and perform the expected task, which increases the difficulty of control. At the same time, in order to ensure the stability during the palletizing and sorting process, it is necessary to appropriately reduce the speed of the palletizing and sorting, which inevitably leads to a decrease in the efficiency of the palletizing and sorting. In addition, the transmission part of the sorting component adopts a ball screw pair. This structure has high requirements for the cleanliness of the workshop environment. If the equipment is placed in a dusty environment, the ball screw pair is very susceptible to dust contamination, and then locking occurs, which not only affects the normal operation of the equipment, but also greatly shortens the service life of the overall equipment.

[0004] Therefore, it is necessary to design an automatic depalletizing and sorting conveyor line with a double-stroke sorting function, which can accurately sort, stack and organize stacked materials, laying a solid foundation for subsequent material filling and other processes, so as to solve a series of common problems in the material transportation process, such as unequal distance transportation, high sorting difficulty, low sorting efficiency, low equipment life and excessively high material sorting costs, thereby significantly improving production efficiency and reducing operating costs. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to provide an automatic depalletizing and sorting conveying device with a dual-stroke sorting function, which is specially used to handle stacked materials on the production line in the packaging and conveying industry, aiming to achieve accurate and fast sorting and sorting of materials, lay a solid foundation for subsequent material filling and other processes, and solve a series of common problems in the material conveying process such as unequal distance conveying, increased sorting difficulty, short equipment life and excessively high material sorting costs.

[0006] The technical solution adopted by the present invention is as follows:

[0007] The present invention proposes an automatic depalletizing and sorting conveying device with a double-stroke sorting function, comprising an AGV transport and conveying module, a rotating stacking bag pallet, a double-stroke automatic disassembly and sorting mechanism, a baffle conveyor belt, a discharging conveying module, an output conveyor belt and a foundation; the double-stroke automatic disassembly and sorting mechanism is fixedly connected to the front side of the upper end face of the foundation; the AGV transport and conveying module is correspondingly arranged at the front side of the double-stroke automatic disassembly and sorting mechanism; the front end of the baffle conveyor belt corresponds to the outlet of the double-stroke automatic disassembly and sorting mechanism and the bottom is fixedly connected to the foundation; the discharging conveying module is arranged directly behind the baffle conveyor belt and the bottom is fixedly connected to the foundation; a group of output conveyor belts are respectively arranged at the rear side and left and right sides of the discharging conveying module.

[0008] Furthermore, the AGV handling and conveying module includes Mecanum wheels, a symmetrical scissor-type lifting module and a vehicle body; the Mecanum wheels are correspondingly arranged around the bottom of the vehicle body; the symmetrical scissor-type lifting module is fixedly connected to the upper end surface of the vehicle body;

[0009] The symmetrical scissor-type lifting module includes a base, a scissor-type connecting rod assembly, a top material tray, a power cylinder, a synchronous guide connecting shaft and a support guide assembly; the scissor-type connecting rod assembly is symmetrically arranged on the front and rear sides above the base, and transverse tracks are installed in the four corner areas above the base; the two ends of the bottom of the scissor-type connecting rod assembly are respectively connected to the corresponding tracks through pulleys; support guide assemblies are symmetrically installed above the middle of the front and rear sides of the base; the middle connecting rods of the scissor-type connecting rod assemblies on both sides are connected through a synchronous guide connecting shaft, and the two ends of the synchronous guide connecting shaft correspond to the inner side surfaces of the support guide assemblies on both sides for vertical sliding engagement; the power cylinder is fixedly arranged on the left and right sides of the upper surface of the base respectively; the head of the power cylinder is engaged with the middle shaft section of the synchronous guide connecting shaft through a joint; the top material tray is arranged between the top ends of the scissor-type connecting rod assemblies on both sides, and the front and rear sides of the top material tray are respectively provided with transverse sliding grooves corresponding to the top ends of the scissor-type connecting rod assemblies, and are slidingly connected to the top ends of the scissor-type connecting rod assemblies through the sliding grooves.

[0010] Furthermore, the double-stroke automatic splitting and sorting mechanism includes a steel support frame, a synchronous transmission module, a swing guide module and a suction cup module;

[0011] The steel support frame includes a steel support platform, a slide rail support channel steel and a linear slide rail; the steel support platform as a whole presents a left-right symmetrical frame structure; the steel support platform is fixedly connected to the front side of the upper end face of the foundation; the slide rail support channel steel is symmetrically arranged on the left and right sides of the middle of the upper end of the steel support platform; the linear slide rails are respectively arranged in parallel on the sides of the slide rail support channel steel.

[0012] The swing guide module is arranged between the left and right sides of the upper end of the steel support platform; the synchronous transmission module is arranged between the mounting surfaces on both sides of the bottom of the swing guide module; the suction cup module is respectively slidably connected to the linear slide rails on both sides, and is connected to the output end of the swing guide module through a connecting shaft.

[0013] Furthermore, the swing guide module includes a steel connection seat, a guide module, a guide block, a chain rocker module and a swing synchronous connecting shaft; the guide module is respectively fixed to the middle of the left and right sides of the upper end of the steel support platform and is symmetrical to each other; the steel connection seat is fixed to the bottom surface of the guide module; the guide blocks are respectively connected to the inner side of the guide module by transverse sliding, and the guide blocks on both sides are symmetrical to each other; chain rocker modules are respectively arranged on the inner sides of the guide modules on both sides; the chain rocker modules on both sides are respectively connected to the guide modules on the corresponding sides by connecting shafts; the ends of the chain rocker modules on both sides are connected by a swing synchronous connecting shaft; the chain rocker modules on both sides are symmetrical to each other.

[0014] Furthermore, the guide module comprises a sprocket fixing steel sheet, a swing guide seat, a transverse slide rail, a bolt roller bearing, a crank, a swing connecting shaft, an idler wheel module and a third sprocket; the transverse slide rail is fixed to the outer side of the upper end surface of the swing guide seat; the swing connecting shaft rotation pair is connected to the middle part below the transverse slide rail, and its inner shaft section is connected to the mounting hole at one end of the crank through a wedge key; a third sprocket is arranged on the outer side below the transverse slide rail, and the third sprocket is coaxially fixedly connected to the outer shaft section of the swing connecting shaft; the bolt roller bearing is connected to the mounting hole at the other end of the crank; the tail of the idler wheel module cooperates with the hole rotation pair at the inner end of the upper end surface of the swing guide seat; a sprocket fixing steel sheet is arranged at the corresponding position between the swing guide seat and the tail of the idler wheel module;

[0015] The idler wheel module comprises an end transparent cover, an idler wheel shaft, a bearing and a double-row sprocket; the bearing is nested in the front and rear sides of the inner hole of the double-row sprocket hub; the end transparent cover is fixedly connected to the two ends of the double-row sprocket; the input shaft section and the output shaft section of the idler wheel shaft respectively form a small interference fit with the inner ring of the bearing;

[0016] The guide block comprises a first guide slider, a guide frame and a second guide slider; the first guide slider and the second guide slider are respectively fixed to the left and right ends of the top of the guide frame and correspondingly slidably cooperate with the transverse slide rail; a mounting groove is opened in the middle of the guide frame; the bolt roller bearing cooperates with the mounting groove of the guide frame;

[0017] The chain swing arm module includes a first swing sprocket, a first swing connecting rod, a first swing chain, a first swing rocker, a front bolt roller bearing, a second swing chain, a second swing rocker, a second swing sprocket, a hinge connecting shaft and a second swing connecting rod; the first swing sprocket is connected to the outer side of one end of the first swing connecting rod through an axis; a bearing is installed in a mounting hole at one end of the first swing rocker, and is coaxially connected to the first swing sprocket and the first swing connecting rod through the bearing; the other end of the first swing connecting rod is connected to the top rotating pair of a group of suction cup modules slidably connected to the linear slide rail; the mounting hole at the other end of the first swing rocker is connected to the output shaft section of the idler shaft through a wedge key; the first swing chain is connected between the first swing sprocket and the inner row sprocket in the double-row sprocket; the mounting hole at one end of the second swing rocker is connected to the inner row sprocket of the double-row sprocket The cam is connected to the input shaft section of the idler shaft; the front bolt roller bearing is installed in the mounting hole of the second swing rocker near the input shaft section of the idler shaft through a nut; the hinge connecting shaft is vertically installed in the mounting hole on the inner side of the other end of the second swing rocker through a shaft end retaining ring, and is supported by a bearing; the second swing sprocket is installed on the outer side of the hinge connecting shaft; the mounting hole at one end of the second swing connecting rod is fixedly connected to the inner side of the hinge connecting shaft; the second swing chain is connected between the outer row sprocket and the second swing sprocket in the double-row sprocket; the front bolt roller bearing is installed in the mounting groove of the guide frame; the inner ends of the hinge connecting shafts in the chain swing arm modules on both sides are connected through a swing synchronous connecting shaft; the mounting holes at the other end of the second swing connecting rod are respectively connected to the top rotating pairs of a group of suction cup modules slidably connected to the linear slide rail;

[0018] Furthermore, the synchronous transmission module includes a first sprocket, a first input shaft, a ball bearing unit, a first coupling, a transmission connecting shaft, a second coupling, a servo motor, a worm gear reducer, a second input shaft and a second sprocket; the servo motor is connected to the worm gear reducer through a flange; the worm gear reducer has a dual-axis output function; the second input shaft is connected to the output end of the worm gear reducer through a flat key, and the outer end of the second input shaft is fixedly connected to the second sprocket; one end of the transmission connecting shaft is connected to the inner end of the second input shaft through the second coupling; the other end of the transmission connecting shaft is connected to the inner end of the first input shaft through the first coupling; the first input shaft is supported by the ball bearing unit; the ball bearing unit and the worm gear reducer are respectively fixedly connected to the steel connecting seats on both sides; the outer end of the first input shaft is fixedly connected to the first sprocket; the first sprocket and the second sprocket are respectively connected to the third sprocket on the corresponding side through a transmission chain.

[0019] Furthermore, the suction cup module includes a sponge suction cup, a suction cup adapter block, a grabbing cylinder, a slider module, a vertical slide rail and a vertical connecting rod; a rolling bearing is installed in the top mounting hole of the vertical connecting rod; the vertical slide rail is fixedly connected to the outer end face of the vertical connecting rod; the inner end of the slider module corresponds to the vertical sliding cooperation with the vertical slide rail, and the outer end corresponds to the horizontal sliding cooperation with the linear slide rail; the grabbing cylinder is vertically arranged on the lower inner side of the vertical connecting rod; the sponge suction cup is connected to the output end of the grabbing cylinder through the suction cup adapter block to form a grabbing module.

[0020] Furthermore, the discharging conveying module includes a chassis assembly, a servo rotating platform, an alignment connecting rod assembly and a counting sensor module;

[0021] The chassis assembly includes a base plate, a power input shaft system, a profile frame, an outer horizontal guide rail, an inner horizontal guide rail, a conveyor belt, a vertical guide rail, a transmission shaft system and a bottom transverse guide rail; the profile frame is fixedly installed on the left and right sides above the base plate; one end of the power input shaft system is fixedly installed in the middle position above the base plate through a motor support, and the other end is connected to the inner side of one side of the profile frame through a flange bearing; the chassis assembly includes a total of three sets of transmission shaft systems, and the transmission shaft systems are all laterally connected to the inner side of the profile frame through bolts; the conveyor belt is connected between each transmission shaft system and the power input shaft system to realize the power transmission and material transportation functions; the outer sides above the profile frames on both sides are respectively connected to the outer horizontal guide rails, and the inner sides above the profile frames on both sides are respectively connected to the inner sides of the horizontal guide rails; the vertical guide rails are respectively installed on the inner sides of the vertical columns of the profile frames on both sides; the bottom transverse guide rail is arranged in the middle of the discharge port of the discharge conveying assembly and is fixedly installed on the upper surface of the base plate;

[0022] The servo rotating platform is fixedly arranged directly below the base plate and the bottom is fixedly connected to the foundation; the alignment connecting rod assemblies are inlaid and arranged in a staggered manner above the chassis assembly; the counting sensor module is fixed on the top of the profile frame on the outlet side of the discharging conveying module, and the axis of the counting sensor assembly is perpendicular to the material movement direction of the discharging conveying module.

[0023] Furthermore, the alignment connecting rod assembly includes an inlet alignment stop rod, an inlet longitudinal slider group, a special-shaped connecting rod, an outer transverse slider group, an inner transverse slider group, a transverse connecting rod, a feed connecting rod, a bolt roller bearing group, an alignment rod, an outlet longitudinal slider group, an outlet alignment stop rod, a bottom transverse slider group, a connecting rod and a power cylinder; the inlet longitudinal slider group is respectively slidably connected to the vertical guide rails on both sides of the inlet end of the chassis assembly; the inner ends of the inlet longitudinal slider groups on both sides are connected by upper and lower end face shafts; the inlet alignment stop rod is symmetrically arranged on the left and right sides of the inlet end of the chassis assembly, and the lower end corresponds to the upper end face between the inlet longitudinal slider groups on both sides. The outer transverse slider groups are respectively slidably connected to the outer horizontal guide rails; the inner transverse slider groups are respectively slidably connected to the inner horizontal guide rails; the inner transverse slider groups on the profile frames on both sides are connected through the front and rear end face shafts; the outer transverse slider group and the top of the inner transverse slider group on the same profile frame are connected through a connecting pin; the transverse connecting rods are respectively arranged in parallel above the profile frames on both sides, and are connected to the connecting pins on the same side; the connection between the inner transverse slider group and the connecting pin is coaxially connected to one end of the special-shaped connecting rod; the other end of the special-shaped connecting rod is connected to the upper end of the entrance alignment baffle through a pin; The front and rear ends of the transverse connecting rod are respectively connected with a feed connecting rod; the end of the feed connecting rod is connected to the alignment rod through a pin shaft; a bolt roller bearing group is arranged below the connection end of the feed connecting rod and the alignment rod, and two pins and one side positioning are formed between the bolt roller bearing group and the top of the profile frame to limit the freedom of the alignment rod; the outlet longitudinal slider group is respectively slidably connected to the vertical guide rails on both sides of the outlet end of the chassis assembly; the inner ends of the outlet longitudinal slider groups on both sides are connected by upper and lower end face shafts; the outlet alignment baffle rod is symmetrically arranged on the left and right sides of the outlet end of the chassis assembly, and the lower end is correspondingly fitted on the end face shaft between the outlet longitudinal slider groups on both sides; The bottom transverse slider group is slidably connected to the bottom transverse guide rail; two connecting rods are provided, and the two ends of one connecting rod are respectively connected to the upper end face axis between the two inlet longitudinal slider groups and the front end face axis between the two inner transverse slider groups, and the two ends of the other connecting rod are respectively connected to the rear end face axis between the two inner transverse slider groups and the top of the bottom transverse slider group; the other side of the top of the bottom transverse slider group is connected to the lower end face axis between the two outlet longitudinal slider groups through a connecting rod; the power cylinder is fixedly connected to the middle part of the lower surface of the inlet end of the bottom plate; the head of the power cylinder is connected to the lower end face axis between the two inlet longitudinal slider groups through a fisheye joint.

[0024] Furthermore, the output conveyor belt includes an output conveyor belt support frame, a power cylinder, a flange bearing, a guide wheel and a steel section; the power cylinder is fixedly connected to the bottom of the inlet end of the output conveyor belt support frame; the steel sections are symmetrically arranged on both sides of the inlet end of the output conveyor belt support frame, and a number of rotating shafts are evenly distributed laterally on the steel sections on both sides; the flange bearing is connected between the two ends of the rotating shaft and the steel sections; the power cylinder is connected to the bottom of the steel section through a fisheye joint; the guide wheels are evenly distributed on the outside of each rotating shaft and are fixedly connected to the rotating shaft; the guide wheels on the same rotating shaft are axially positioned by a copper bushing to achieve synchronous rotation of the guide wheels and the shaft.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The symmetrical scissor-type lifting module in the present invention compensates for the limited working space of the double-stroke automatic splitting and sorting mechanism and improves the sorting efficiency; the symmetrical scissor-type lifting module adopts an arrangement of middle support and sliding guides at both ends, which significantly improves the movement stability of the lifting module. This design ensures that the top platform always remains horizontal during the lifting process, thereby avoiding potential problems such as tilting or tipping of the top platform, and greatly improving the reliability of the equipment.

[0027] 2. The present invention stands out for its excellent efficiency. Thanks to the dual-stroke working mechanism of the dual-stroke automatic splitting and sorting mechanism, when the actuator on one side is grabbing materials, the actuator on the other side can stack the materials in parallel, realizing an efficient operation process; compared with the commonly used multi-degree-of-freedom serial robot arm, which can only perform a single picking and stacking operation each time, the dual-stroke automatic stacking and sorting device significantly improves the overall efficiency of stacking and sorting, bringing higher production benefits to the enterprise.

[0028] 3. The present invention can realize efficient and accurate palletizing and sorting for a variety of stacked materials, not limited to traditional materials such as bags or boards. It has a wider applicability and meets the needs of sorting and sorting of diversified materials;

[0029] 4. The synchronous transmission module in the double-stroke automatic disassembly and sorting mechanism of the present invention adopts chain transmission to transmit power. The chain transmission method not only has excellent adaptability and can operate stably in various harsh workshop environments, but also further enhances the overall durability of the equipment, thereby significantly improving the life of the equipment; the swing guide module in the double-stroke automatic disassembly and sorting mechanism can convert the continuous unidirectional rotational motion of the motor into the reciprocating linear motion of the swing guide block. This design avoids the high-frequency forward and reverse motion switching of the motor, significantly prolongs the service life of the motor, and also greatly reduces the overall impact load of the equipment, effectively improves the overall operation stability, thereby realizing the conversion and transmission of mechanical motion and improving the working efficiency of the device; the swing arm module in the double-stroke automatic disassembly and sorting mechanism is connected to the swing arm through a bolt roller bearing and a swing arm The guide blocks are closely connected, and the guide module moves back and forth in a straight line, so that the swing arm module can perform reciprocating swinging planar motion at a preset angle, ensuring the stability and reliability of the device movement; the swing arm module in the double-stroke automatic splitting and sorting mechanism is connected to the fixed sprocket through an idler shaft, and a stable support structure is formed between the idler shaft and the fixed sprocket through bearings. At the same time, the movable driven sprocket connected to the end of the swing arm module can roll smoothly on the chain during the reciprocating swing of the swing arm module, thereby driving the swing connecting rod to complete a fixed angle, reciprocating swinging planar motion, realizing the flexibility and diversity of the device function; the end actuator of the suction cup module in the double-stroke automatic splitting and sorting mechanism can adjust the extension length according to the height of the stacked materials, thereby realizing efficient sorting and sorting of various materials, demonstrating the device's powerful ability in material handling.

[0030] 5. The discharging and conveying module of the present invention has a compact structure and a high degree of integration. The connecting rod mechanism can be driven by a single cylinder power, and the front, back, left and right alignment functions of the material can be realized at the same time, which greatly reduces the cost. The servo rotating platform at the bottom of the discharging and conveying module can rotate the discharging and conveying module to a specified angle, and then the sorted materials can be diverted and conveyed, which makes up for the time gap in the subsequent filling process of the material and greatly improves the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of an automatic depalletizing and sorting conveyor line with a double-stroke sorting function proposed by the present invention;

[0032] Figure 2 It is a structural schematic diagram of the AGV handling and conveying module in the present invention;

[0033] Figure 3 It is a structural schematic diagram of the symmetrical scissor-type lifting module in the present invention;

[0034] Figure 4 It is a structural schematic diagram of the double-stroke automatic splitting and sorting mechanism of the present invention;

[0035] Figure 5 The structural diagram of the medium-sized steel support frame of the present invention is

[0036] Figure 6 It is a structural schematic diagram of the synchronous transmission module in the present invention;

[0037] Figure 7 It is a structural schematic diagram of the swing guide module in the present invention;

[0038] Figure 8 It is a structural schematic diagram of the suction cup module in the present invention;

[0039] Fig. 9 It is a structural schematic diagram of the guide module in the present invention;

[0040] Fig.10 It is a structural schematic diagram of the idler wheel module in the present invention;

[0041] Fig.11 It is a structural schematic diagram of the first guide module in the present invention;

[0042] Fig.12 It is a structural schematic diagram of the first chain swing arm module in the present invention;

[0043] Fig.13 It is a schematic diagram of the overall structure of the discharging and conveying module of the present invention;

[0044] Fig.14 It is a structural schematic diagram of the chassis assembly in the present invention;

[0045] Fig.15 It is a structural schematic diagram of the alignment connecting rod assembly in the present invention;

[0046] Fig.16 It is a schematic structural diagram of the third output conveyor belt in the present invention. DETAILED DESCRIPTION

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] It should be noted that, in the description of the present invention, the orientations or positional relationships indicated by terms such as “upper”, “lower”, “top”, “bottom”, “one side”, “the other side”, “left” and “right” are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not mean that components or elements must have a specific orientation, be constructed and operated in a specific orientation.

[0049] See attached Figure 1-16 , a specific structure of an embodiment of an automatic depalletizing and sorting conveying device with a double-stroke sorting function proposed by the present invention is given. In this embodiment, the device includes an AGV transport and conveying module 1, a double-stroke automatic splitting and sorting mechanism 3, a baffle conveyor belt 4, a discharging conveying module 5, an output conveyor belt and a foundation 9; the double-stroke automatic splitting and sorting mechanism 3 is fixedly connected to the front side of the upper end face of the foundation 9; the AGV transport and conveying module 1 is correspondingly arranged at the front side of the double-stroke automatic splitting and sorting mechanism 3; the front end of the baffle conveyor belt 4 corresponds to the outlet of the double-stroke automatic splitting and sorting mechanism 3 and the bottom is fixedly connected to the foundation 9; the discharging conveying module 5 is arranged directly behind the baffle conveyor belt 4 and the bottom is fixedly connected to the foundation 9; the first output conveyor belt 6 is correspondingly arranged on the left side of the discharging conveying module 5, the third output conveyor belt 8 is correspondingly arranged on the right side, and the second output conveyor belt 7 is correspondingly arranged on the rear side.

[0050] The discharging conveying module 5 can perform fixed-axis rotational motion, and the conveying outlet direction of the discharging conveying module 5 can be aligned to the entrances of the first output conveyor belt 6, the second output conveyor belt 7, and the third output conveyor belt 8, respectively, to realize the diversion and guiding function of the material.

[0051] like Figure 2-3 As shown, the AGV handling and conveying module 1 includes a Mecanum wheel 11, a symmetrical scissor-type lifting module 12 and a vehicle body 13; a variety of sensors are integrated and installed inside the vehicle body 13; the Mecanum wheels 11 are correspondingly arranged at four bottom portions of the vehicle body 13 and are connected to the output shaft of the vehicle body 13; the symmetrical scissor-type lifting module 12 is fixedly connected to the upper end surface of the vehicle body 13.

[0052] Among them, the symmetrical scissor-type lifting module 12 includes a base 121, a scissor-type connecting rod assembly 122, a top material tray 123, a power cylinder 124, a synchronous guide connecting shaft 125 and a support guide assembly 126; the scissor-type connecting rod assembly 122 is symmetrically arranged on the front and rear sides above the base 121, and transverse tracks are installed in the four corners above the base 121; the two ends of the bottom of the scissor-type connecting rod assembly 122 are respectively connected to the corresponding transverse tracks through pulleys, and the transverse tracks provide guiding support for the pulleys at the bottom of the scissor-type connecting rod assembly 122; the support guide assembly 126 is symmetrically installed above the middle of the front and rear sides of the base 121; the middle connecting rods of the scissor-type connecting rod assemblies 122 on both sides are connected by a synchronous guide connecting shaft 125 is connected, and the two ends of the synchronous guide connecting shaft 125 correspond to the inner side surfaces of the supporting guide assemblies 126 on both sides and slide vertically, thereby providing vertical movement support for the scissor-type link assembly 122; the power cylinder 124 is respectively fixed on the left and right sides of the upper surface of the base 121; the head of the power cylinder 124 is fitted with the middle shaft section of the synchronous guide connecting shaft 125 through a joint, so as to provide power for the scissor-type link assembly 122; the top material tray 123 is arranged between the top ends of the scissor-type link assemblies 122 on both sides, and the front and rear sides of the top material tray 123 are respectively provided with transverse sliding grooves corresponding to the two ends of the top of the scissor-type link assembly 122, and the top of the scissor-type link assembly 122 is slidably matched with the top of the scissor-type link assembly 122 through the transverse sliding grooves.

[0053] like Figure 4 As shown, the double-stroke automatic splitting and sorting mechanism 3 includes a steel support frame 31, a synchronous transmission module 32, a swing guide module 33 and a suction cup module 34;

[0054] Among them, Figure 5 As shown, the steel support frame 31 includes a steel support platform 311, a slide rail support channel steel 312 and a linear slide rail 313; the steel support platform 311 is formed by connecting H-shaped steel and channel steel by bolts, and the overall structure is a bilaterally symmetrical frame structure; the steel support platform 311 is fixedly connected to the front side of the upper end face of the foundation 9, and is fixed to the sorting station of the conveyor line by anchor bolts; the slide rail support channel steel 312 is symmetrically arranged on the left and right sides of the middle of the upper end of the steel support platform 311 and is parallel to the bag stack conveying direction; the linear slide rails 313 are respectively and parallelly fixed to the sides of the slide rail support channel steel 312;

[0055] The swing guide module 33 is fixedly connected between the left and right sides of the upper end of the steel support platform 311 by bolts; the synchronous transmission module 32 is installed between the mounting surfaces on both sides of the bottom of the swing guide module 33 by bolts and butterfly spring washers; in this embodiment, the suction cup modules 34 are provided with four groups, that is, each linear slide rail 313 is slidably connected with a group of suction cup modules 34 on both sides, and the tops of the four groups of suction cup modules 34 are respectively connected to the output end of the swing guide module 33 through connecting shafts.

[0056] like Figure 7 As shown, the swing guide module 33 includes a steel connection seat 331, a guide module 332, a guide block 333, a chain swing arm module 334 and a swing synchronous connection shaft 335; the guide module 332 is respectively fixed to the middle of the left and right sides of the upper end of the steel support platform 311 and is symmetrical to each other; the steel connection seat 331 is fixed to the bottom surface of the guide module 332; the guide blocks 333 are respectively connected to the inner side of the guide module 332 in a transverse sliding manner, and the guide blocks 333 on both sides are symmetrical to each other; the inner sides of the guide modules 332 on both sides are respectively provided with chain swing arm modules 334; The chain rocker modules 334 on both sides are connected to the guide modules 332 on the corresponding sides through connecting shafts respectively; the ends of the chain rocker modules 334 on both sides are connected through a swing synchronization connecting shaft 335; the chain rocker modules 334 on both sides are symmetrical to each other; the reciprocating linear motion of the guide block 333 can be converted into the reciprocating swing motion of the chain rocker module 334, and the swing guide module 33 as a whole presents a mirror-image left-right symmetrical structure, and uses a swing synchronization connecting shaft 335 to connect the ends of the chain rocker modules 334 on both sides, so that the swing guide module 33 can symmetrically complete the swing guide motion.

[0057] like Fig. 9 As shown, the guide module 332 includes a sprocket fixing steel sheet 3321, a swing guide seat 3322, a transverse slide rail 3323, a bolt roller bearing 3324, a crank 3325, a swing connecting shaft 3326, an idler wheel module 3327 and a third sprocket 3328; the transverse slide rail 3323 is fixed to the outer side of the upper end surface of the swing guide seat 3322; the swing connecting shaft 3326 is swivel-connected to the middle part below the transverse slide rail 3323, and its inner shaft section is connected to the mounting hole at one end of the crank 3325 through a wedge key; A third sprocket 3328 is arranged on the outer side below the transverse slide rail 3323, and the third sprocket 3328 is coaxially fixedly connected with the outer shaft section of the swing connecting shaft 3326; the bolt roller bearing 3324 is connected with the mounting hole at the other end of the crank 3325; the tail of the idler module 3327 is matched with the hole rotation pair at the inner end of the upper end surface of the swing guide seat 3322; a sprocket fixing steel sheet 3321 is arranged at the corresponding position between the swing guide seat 3322 and the tail of the idler module 3327, which is used to limit the overall rotation of the idler module 3327.

[0058] like Fig.10As shown, the idler module 3327 includes an end cover 33271, an idler shaft 33272, a bearing 33273 and a double-row sprocket 33274; the bearing 33273 is nested in the front and rear sides of the inner hole of the double-row sprocket 33274 hub; the end cover 33271 is fixedly connected to the two ends of the double-row sprocket 33274 by bolts; the input shaft section and the output shaft section of the idler shaft 33272 respectively form a small interference fit with the inner ring of the bearing 33273; the rotational movement of the idler shaft 33272 does not conflict with the fixed state of the double-row sprocket 33274;

[0059] like Fig.11 As shown, the guide block 333 includes a first guide slider 3331, a guide frame 3332 and a second guide slider 3333; the first guide slider 3331 and the second guide slider 3333 are respectively fixed to the left and right ends of the outer top of the guide frame 3332 and correspond to the sliding fit of the transverse slide rail 3323; a mounting groove is opened in the middle of the guide frame 3332; the bolt roller bearing 3324 cooperates with the mounting groove of the guide frame 3332.

[0060] like Fig.12As shown, the chain rocker module 334 includes a first swing sprocket 3341, a first swing link 3342, a first swing chain 3343, a first swing rocker 3344, a front bolt roller bearing 3345, a second swing chain 3346, a second swing rocker 3347, a second swing sprocket 3348, a hinge shaft 3349 and a second swing link 33410; the first swing sprocket 3341 is connected to the outer side of one end of the first swing link 3342 through an axis, the first swing sprocket 3341 is connected to the axis through a C-shaped flat key, and the first swing link 3342 is connected to the axis through a wedge key. At this time, the first swing sprocket 3341 and the first swing link 3342 can rotate synchronously.A bearing is installed in the mounting hole at one end of the first swing rocker 3344, and is coaxially connected to the connecting shaft of the first swing sprocket 3341 and the first swing link 3342 through the bearing; the other end of the first swing link 3342 is connected to the top rotating pair of a group of suction cup modules 34 that are slidably connected to the front side of the linear slide rail 313 on the corresponding side; the mounting hole at the other end of the first swing rocker 3344 is connected to the output shaft section of the idler shaft 33272 through a wedge key; the first swing chain 3343 is connected between the first swing sprocket 3341 and the inner row sprocket of the double-row sprocket 33274; The mounting hole at one end of the second swing rocker 3347 is connected to the input shaft section of the idler shaft 33272 through a wedge key; the front bolt roller bearing 3345 is installed in the mounting hole of the second swing rocker 3347 on the side close to the input shaft section of the idler shaft 33272 through a nut; the hinge connecting shaft 3349 is vertically installed in the mounting hole on the inner side of the other end of the second swing rocker 3347 through a shaft end retaining ring, and is supported by a bearing; the second swing sprocket 3348 is installed on the outer side of the hinge connecting shaft 3349; the mounting hole at one end of the second swing connecting rod 33410 is connected to the second swing connecting rod 33410 through a set screw and a flat key. The inner side of the hinge connecting shaft 3349 is fixedly connected; so that the second swing sprocket 3348 can move synchronously with the hinge connecting shaft 3349 and the second swing connecting rod 33410; the second swing chain 3346 is connected between the outer row sprocket in the double-row sprocket 33274 and the second swing sprocket 3348; the front bolt roller bearing 3345 is installed in the mounting groove of the guide frame 3332; the inner ends of the hinge connecting shafts 3349 in the chain swing arm modules 334 on both sides are connected through the swing synchronous connecting shaft 335; the mounting holes at the other end of the second swing connecting rod 33410 are respectively connected to the corresponding side sliding connection A top rotating pair is connected to a group of suction cup modules 34 connected to the rear side of the linear slide rail 313; with the reciprocating linear motion of the guide frame 3332, the first swing rocker 3344 and the second swing rocker 3347 perform reciprocating swing motion, and at the same time, the first swing sprocket 3341 and the second swing sprocket 3348 roll on the first swing chain 3343 and the second swing chain 3346, limiting and amplifying the swing angle and swing direction of the first swing rocker 3344 and the second swing rocker 3347, thereby enabling the first chain swing arm module 334 to complete the reciprocating swing motion within the specified angle range;.

[0061] like Figure 6As shown, the synchronous transmission module 32 includes a first sprocket 321, a first input shaft 322, a ball bearing unit 323, a first coupling 324, a transmission connecting shaft 325, a second coupling 326, a servo motor 327, a worm gear reducer 328, a second input shaft 329 and a second sprocket 3210; the servo motor 327 is connected to the worm gear reducer 328 through a flange; the worm gear reducer 328 has a dual-axis output function; the second input shaft 329 is connected to the output end of the worm gear reducer 328 through a flat key, and the outer end of the second input shaft 329 is fixedly connected to the second sprocket 3210 through a set screw, a shaft end retaining ring and a C-type flat key; One end of the dynamic connecting shaft 325 is connected to the inner end of the second input shaft 329 through the second coupling 326; the other end of the transmission connecting shaft 325 is connected to the inner end of the first input shaft 322 through the first coupling 324, so as to realize the transmission of power of the servo motor 327; the first input shaft 322 is supported by the ball bearing unit 323; the ball bearing unit 323 and the worm gear reducer 328 are respectively fixedly connected to the steel connection seats 331 on both sides; the outer end of the first input shaft 322 is fixedly connected to the first sprocket 321 through a set screw, a shaft end retaining ring and a C-shaped flat key; the first sprocket 321 and the second sprocket 3210 are respectively connected to the third sprocket 3328 on the corresponding side through a transmission chain.

[0062] like Figure 8 As shown, the suction cup module 34 includes a sponge suction cup 341, a suction cup adapter block 342, a grabbing cylinder 343, a slider module 344, a vertical slide rail 345 and a vertical connecting rod 346; a rolling bearing is installed in the top mounting hole of the vertical connecting rod 346, and a bearing end cover is installed on the vertical connecting rod 346 to ensure the positioning reliability of the bearing, and is connected to the first swing connecting rod 3342 and the second swing connecting rod 33410 through the rolling bearing in the top mounting hole thereof; the vertical slide rail 345 is correspondingly fixedly connected to the outer end face of the vertical connecting rod 346; the inner end of the slider module 344 corresponds to the vertical sliding rail 345 for vertical sliding cooperation, and the outer end corresponds to the linear slide rail 313 for horizontal sliding cooperation; the grabbing cylinder 343 is vertically arranged on the inner side of the lower part of the vertical connecting rod 346; the sponge suction cup 341 is connected to the output end of the grabbing cylinder 343 through the suction cup adapter block 342 to form a grabbing module. In this embodiment, the dual-stroke automatic disassembly and sorting assembly 3 includes four suction cup modules 34 of the same structure.

[0063] like Fig.13 As shown, the discharging conveying module 5 includes a chassis assembly 51, a servo rotating platform 52, an alignment connecting rod assembly 53 and a counting sensor module 54;

[0064] Among them, Fig.14As shown, the chassis assembly 51 includes a base plate 511, a power input shaft system 512, a profile frame 513, an outer horizontal guide rail 514, an inner horizontal guide rail 515, a conveyor belt 516, a vertical guide rail 517, a transmission shaft system 518 and a bottom transverse guide rail 519; the profile frame 513 is fixedly installed on the left and right sides above the base plate 511 by bolts; the middle part of the power input shaft system 512 is fixedly installed in the middle position above the base plate 511 through a motor support, and the two ends are connected to the inner sides of the profile frames 513 on both sides through flange bearings; the chassis assembly 51 includes three sets of transmission shaft systems 518, and the three sets of transmission shaft systems 518 are fixedly installed on the left and right sides above the base plate 511 by bolts. It is horizontally connected between the inner upper parts of the profile frames 513 on both sides; the conveyor belt 516 is connected between each transmission shaft system 518 and the power input shaft system 512 to realize the power transmission and material transportation functions; the outer sides of the upper sides of the profile frames 513 on both sides are respectively connected with the outer horizontal guide rails 514 by bolts, and the inner sides of the upper sides of the profile frames 513 on both sides are respectively connected with the inner horizontal guide rails 515 by bolts; the vertical guide rails 517 are respectively installed on the inner sides of the vertical columns at the front and rear ends of the profile frames 513 on both sides by bolts; the bottom horizontal guide rail 519 is set in the middle of the discharge port of the discharge conveying assembly 5 and fixedly installed on the upper surface of the bottom plate 511;

[0065] The servo rotating platform 52 is fixed by bolts just below the base plate 511 and the bottom is fixedly connected to the foundation 9, so as to drive the chassis assembly 51 to realize fixed-axis rotation movement; the alignment connecting rod assembly 53 makes full use of the space above the chassis 51 and is inlaid and arranged in an interlaced manner above the chassis assembly 51; the counting sensor module 54 is fixed by bolts to the top of the profile frame 513 on the outlet side of the material conveying module 5, and the axis of the counting sensor assembly 54 is perpendicular to the material movement direction of the discharge conveying module 5.

[0066] like Fig.15As shown, the alignment connecting rod assembly 53 includes an inlet alignment stopper 531, an inlet longitudinal slider group 532, a special-shaped connecting rod 533, an outer transverse slider group 534, an inner transverse slider group 535, a transverse connecting rod 536, a feed connecting rod 537, a bolt roller bearing group 538, an alignment rod 539, an outlet longitudinal slider group 5310, an outlet alignment stopper 5311, a bottom transverse slider group 5312, a connecting rod 5313 and a power cylinder 5314; the inlet longitudinal slider group 532 is slidably connected to the vertical guide rails 517 on both sides of the inlet end of the chassis assembly 51; the inner ends of the inlet longitudinal slider groups 532 on both sides are connected by upper and lower end face shafts. The entrance alignment blocking rod 531 is symmetrically arranged on the left and right sides of the entrance end of the chassis assembly 51, and the lower end is correspondingly sleeved on the upper end face axis between the entrance longitudinal slider groups 532 on both sides; the outer transverse slider groups 534 are respectively slidably connected to the outer horizontal guide rail 514; the inner transverse slider groups 535 are respectively slidably connected to the inner horizontal guide rail 515; the inner transverse slider groups 535 located on the profile frames 513 on both sides are connected through the front and rear end face axes; the outer transverse slider groups 534 and the tops of the inner transverse slider groups 535 located on the same profile frame 513 are connected through connecting pins; the transverse connecting rods 536 are respectively parallel to each other. Above the profile frames 513 on both sides, and the middle part is connected to the connecting pin on the same side through a connecting hole; the connection between the inner horizontal slider group 535 and the connecting pin is coaxially connected to one end of the special-shaped connecting rod 533; the other end of the special-shaped connecting rod 533 is connected to the upper end of the entrance alignment block rod 531 through a pin; the front and rear ends of the horizontal connecting rod 536 are respectively connected to the feed connecting rod 537; the end of the feed connecting rod 537 is connected to the alignment rod 539 through a pin; a bolt roller bearing group 538 is provided below the connection end of the feed connecting rod 537 and the alignment rod 539, and the bolt roller bearing group 538 is connected to the right angle track above the profile frame 513. Two pins and one side are formed to position, limit the freedom of the alignment rod 539, and ensure the movement direction of the alignment rod 539; the outlet longitudinal slider group 5310 is slidably connected to the vertical guide rails 517 on both sides of the outlet end of the chassis component 51; the inner ends of the outlet longitudinal slider groups 5310 on both sides are connected by upper and lower end face shafts; the outlet alignment stopper 5311 is symmetrically arranged on the left and right sides of the outlet end of the chassis component 51, and the lower end is correspondingly fitted on the end face shaft between the outlet longitudinal slider groups 5310 on both sides, limiting the rotational freedom of the outlet alignment stopper 5311; the bottom transverse slider group 5312 is slidably connected to the bottom transverse guide rail 519;The connecting rods 5313 are provided with two, the two ends of one connecting rod 5313 are respectively connected to the upper end face axis between the two inlet longitudinal slider groups 532 and the front end face axis between the two inner transverse slider groups 535, and the two ends of the other connecting rod 5313 are respectively connected to the rear end face axis between the two inner transverse slider groups 535 and one side of the hinge support at the top of the bottom transverse slider group 5312; the other side of the top hinge support of the bottom transverse slider group 5312 is connected to the lower end face axis between the two outlet longitudinal slider groups 5310 through a connecting rod; the power cylinder 5314 is fixedly connected to the middle part of the lower surface of the inlet end of the bottom plate 511 by bolts; the head of the power cylinder 5314 is connected to the two inlet ports by a fisheye joint The lower end faces of the longitudinal slider groups 532 are connected by shafts; when the power cylinder 5314 is in motion, the inlet longitudinal slider group 532 is pushed up, thereby driving the inlet alignment stop bar 531 to rise, and at the same time, the outer transverse slider group 534, the inner transverse slider group 535, and the transverse connecting rod 536 are driven to move synchronously through the special-shaped connecting rod 533 and the connecting rod 5313. The feed connecting rod 537 and the bolt roller bearing group 538 are restricted by the right-angle track and can drive the alignment rod 539 to move in a direction perpendicular to the movement of the conveyor belt 516. The connecting rod 5313 drives the bottom transverse slider group 5312 to move, thereby causing the outlet longitudinal slider group 5310 to drive the outlet alignment stop bar 5311 to rise. ;

[0067] The main structures of the first output conveyor belt 6, the second output conveyor belt 7 and the third output conveyor belt 8 are the same, the difference is that the second output conveyor belt 7 is for straight line transmission, and the first output conveyor belt 6 and the third output conveyor belt 8 are for curved transmission.

[0068] like Fig.16 As shown, taking the third output conveyor belt 8 as an example, the third output conveyor belt 8 includes an output conveyor belt support frame 81, a power cylinder 82, a flange bearing 83, a guide wheel 84 and a steel section 85; the power cylinder 82 is fixedly connected to the bottom of the inlet end of the output conveyor belt support frame 81 by bolts and gaskets; the steel section 85 is symmetrically arranged on both sides of the inlet end of the output conveyor belt support frame 81 and is connected to the rotating pair of the inlet end of the output conveyor belt support frame 81, and three rotating shafts are evenly distributed horizontally and side by side between the steel sections 85 on both sides; the flange bearing 83 is connected between the two ends of the rotating shaft and the steel section 85 by bolts, nuts and gaskets; the power cylinder 82 is connected to the bottom of the steel section 85 by a fisheye joint to provide power for the fixed axis rotation of the whole support plate; the guide wheels 84 are evenly distributed horizontally on the outside of each rotating shaft and are fixedly connected to the rotating shaft by keys; the guide wheels 84 on the same rotating shaft are axially positioned by copper sleeves to realize the synchronous rotation of the guide wheels and the shaft, thereby completing the material conveying task.

[0069] The specific working process of the present invention is as follows:

[0070] The AGV handling and conveying module 1 receives materials from the warehouse. The materials are in a rotating and staggered stacking state and are placed in the top material tray 123 of the AGV handling and conveying module 1. Then, the AGV forms a negative feedback mechanism with the internal sensor of the AGV according to the pre-planned trajectory to transport the bag stack to the bottom of the entrance of the double-stroke automatic disassembly and sorting component 3. During operation, the corresponding size of the top material tray 123 and the way in which the AGV enters the bottom of the double-stroke automatic disassembly and sorting component 3 can be flexibly adjusted according to the size of the materials. The Mecanum wheel 11 can enable the AGV to rotate and translate on the basis of linear motion, greatly improving the movement flexibility of the AGV handling and conveying module 1. A symmetrical scissor-type lifting module 12 is installed on the top of the AGV to support the top material tray 123. As the double-stroke automatic disassembly and sorting component 3 grabs the material, the material height decreases. At this time, the symmetrical scissor-type lifting module 12 can raise the height, thereby improving the grabbing efficiency and compensating for the working space of the double-stroke automatic disassembly and sorting component 3.

[0071] The symmetrical scissor-type lifting module 12 adopts an arrangement of middle support and sliding guides at both ends, which significantly improves the movement stability of the lifting module. This design ensures that the top platform always remains horizontal during the lifting process, thereby avoiding potential problems such as tilting or tipping of the top platform, greatly improving the reliability of the equipment.

[0072] The dual-stroke automatic disassembly and sorting component 3 has extremely high working efficiency. When one set of end effectors grabs materials, the other set of end effectors can perform the material grabbing task. This parallel operation method ensures the maximum utilization of resources and fully meets the system's high standards for efficient and fast operation.

[0073] In the double-stroke automatic disassembly and sorting assembly 3, the main function of the steel support frame 31 is to provide stable and reliable support for the overall device structure. To ensure its effective function, it needs to be accurately installed at the designated position of the production conveyor line and firmly fixed to the production conveyor line frame or the ground by bolting or welding to ensure the stability and safety of the device operation.

[0074] The core function of the synchronous transmission module 32 is to transmit power and ensure the smooth operation of the equipment. It realizes efficient power transmission through the precise connection between the servo motor and the reducer. The output end of the worm gear reducer 328 is cleverly connected to the first input shaft 322, and the first input shaft 322 is tightly combined with the synchronous connection shaft with the help of a coupling, thereby smoothly transmitting power to the second input shaft 329. The second input shaft 329 is firmly supported by the ball bearing unit 323 to ensure that it transmits power stably and synchronously, thereby ensuring the stability and reliability of the entire transmission system.

[0075] As the core component of the device, the swing guide module 33 bears the key responsibility of providing precise guidance and stable support for the motion path of the end effector of the equipment. This module cleverly converts the continuous rotational motion of the motor into the fixed-angle reciprocating swinging motion of the end effector, ensuring that the materials can be sorted continuously, evenly and equidistantly. The power from the synchronous transmission module 32 is accurately transmitted to the input sprocket of the swing guide module 33 through the chain, thereby driving the input shaft to rotate and causing the swing rocker to perform a rotary motion. The slider on the guide block 333 cooperates with the slide rail above the guide module 332. The unidirectional rotational motion of the transmission shaft in the guide module 332 is converted through the guide block 333, realizing the conversion of continuous unidirectional rotational motion into the reciprocating linear motion of the guide block 33. The chain swing arm module 334 is connected to the guide module 332 through the connecting shaft, so that the reciprocating linear motion of the guide block 333 can be converted into the reciprocating swinging motion of the chain swing arm module 334. The swing guide module 33 as a whole presents a mirror-symmetrical structure, and is connected between the ends of the chain swing arm modules 334 on both sides using a swing synchronization connecting shaft 335, so that the swing guide module completes the swing guide movement symmetrically.

[0076] The core function of the suction cup module 34 is to achieve accurate grasping of materials. As the height of the material pile being grasped continues to decrease, the cylinder in the module can flexibly adjust the extension of the push rod to ensure that the material can be grasped completely and firmly. The module cleverly uses the grasping cylinder 343 to connect the sponge suction cup 341, which not only enhances the stability of grasping, but also effectively avoids possible bumps or scratches on the surface of the material during the grasping process. In addition, the slider module on the vertical connecting rod 346 not only provides a precise guiding function, but also provides reliable positioning for the vertical connecting rod 346 installed on the synchronous connecting shaft 335, thereby ensuring the stability and accuracy of the entire module during the grasping process.

[0077] The core function of the guide module (composed of a guide module 332 and a guide block 333) is to accurately convert the continuous rotational motion output by the synchronous transmission module into the reciprocating linear motion of the swing module, thereby laying the foundation for subsequent motion conversion. In terms of structural design, although the structure of the guide module is relatively simple, its role in the entire set of equipment is crucial. The guide frame in the guide module, relying on the mounting groove thereon, can effectively and accurately convert the continuous fixed-axis rotational motion of the motor into the reciprocating linear motion of the guide frame. In this process, the sliders installed on the guide frame play a vital role. They not only provide stable support, but also ensure the precise guidance of the linear motion, thereby providing solid support and guarantee for the subsequent fixed-angle swing motion.

[0078] The core function of the idler module 3327 is to ensure the free rotation of the idler shaft 33272 while achieving the coordinated cooperation of the fixed sprocket and the swing sprocket. According to the transmission principle, when the input angle remains constant, a speed increaser mechanism can be used to effectively amplify the output angle. This mechanism controls the extension distance of the end effector by precisely controlling the rotation angle of the connecting rod hinge, thereby achieving a significant increase in the end effector's workspace.

[0079] The core function of the swing arm module is to accurately convert the linear motion of the guide module into the fixed-angle reciprocating swing motion of the swing arm module. The second swing arm 3347, as the key supporting component of the module, is designed with three mounting holes, which are used to connect the idler shaft 33272, the front bolt roller bearing 3345 and the hinge connecting shaft 3349 respectively; the first swing arm 3344 is connected to the first swing arm 3344 in parallel and reverse, so that the first swing arm 3344 and the second swing arm 3347 swing synchronously; the idler shaft 33272 is tightly connected to the idler module 3327, and the bearing is embedded in the center of the idler to ensure that the idler shaft 33272 can rotate freely in the idler module 3327; the idler module 3327 is connected to the guide frame 3332 through the sprocket fixing steel sheet 3321, so that the 6 degrees of freedom of the idler module 3327 are all restricted. The first and second swing rockers swing synchronously, thereby realizing the double-stroke reciprocating motion function; at the same time, the front bolt roller bearing 3345 is installed in the second mounting hole of the second swing rocker 3347, which docks with the mounting groove of the guide frame 3332, thereby realizing the smooth conversion from linear motion to swing motion, and the third mounting hole carries the hinge connecting shaft 3349 and is equipped with a bearing to ensure smooth rotation; the swing sprocket is connected to the hinge connecting shaft 3349 through a flat key and a set screw, and the swing connecting rod is connected to the hinge connecting shaft 3349 through a flat key and a set screw. The swing sprocket and the idler wheel module 3327 form a chain transmission structure through a chain, so that the swing sprocket rolls stably on the chain. At this time, the swing angle of the hinge connecting shaft 3349 is amplified, and the rotation angle of the swing connecting rod is increased, thereby ensuring the working stroke of the end actuator. In this way, the swing direction and angle of the end of the chain swing rod module 334 can be accurately controlled, thereby ensuring the stability and reliability of the entire system. The chain swing arm module 334 can efficiently and accurately complete the conversion of the linear motion of the guide module to the swing motion, providing strong technical support for various application scenarios.

[0080] Partitions are evenly arranged on the upper surface of the baffle conveyor belt 4. The materials sorted by the double-stroke automatic disassembly and sorting component 3 are placed between the partitions above the baffle conveyor belt 4. The partitions above the baffle conveyor belt 4 further ensure that the spacing of the materials in the subsequent transportation process is consistent. After the material is placed once, the baffle conveyor belt moves forward a distance of the material width, and this cycle is repeated until it reaches the end of the baffle conveyor belt. At that time, the material leaves the baffle conveyor belt and falls into the discharge conveying module 5.

[0081] When the material is received in the discharging conveying module 5 each time, the power cylinder 5314 at the bottom thereof is actuated to realize the synchronous alignment function of the front, back, left and right of the material, thereby ensuring the consistency of the material collection position. The counting sensor module 54 located on one side of the outlet of the discharging conveying module 5 can determine the number of materials falling into the discharging conveying module 5 by the number of times the outlet alignment blocking rod 5311 rises. When the number reaches the set value, the power motor is started to send the material out, thereby providing a reliable data basis for the subsequent material processing, and ensuring the accuracy of the material destacking and sorting work. In order to improve the sorting efficiency of the material, the discharging conveying module 5 can be rotated as a whole. After completing the sorting task of a group of materials, the discharging conveying module can rotate to align the running direction of the conveyor belt with the entrance of the first output conveyor belt 6, the second output conveyor belt 7 or the third output conveyor belt 8, thereby realizing the diversion function of the material. This not only optimizes the working frequency of the conveyor line, but also greatly improves the production efficiency. Pallets are installed at the entrances of the first, second and third output conveyor belts respectively. When the discharging conveying module 5 rotates, the pallets are retracted to avoid collision between the discharging conveying module 5 and the pallets. When the discharging conveying module 5 is completely rotated and aligned with the entrance of the discharging conveyor belt, the pallets are extended to compensate for the gap between the discharging conveying module 5 and the conveyor belt. This design significantly improves the material conveying efficiency, avoids collision between the discharging conveying module and the conveyor belt during rotation, and significantly improves the safety of the automatic destacking and sorting equipment.

[0082] The double-stroke automatic stacking and sorting conveyor line for stacked materials disclosed in the present invention can realize accurate sorting and sorting of materials, lay a solid foundation for subsequent material filling and other processes, and solve a series of common problems in the material conveying process such as unequal distance conveying, increased sorting difficulty and excessively high material sorting cost, thereby significantly improving production efficiency and reducing operating costs.

[0083] Matters not covered in the present invention are all known technologies.

[0084] The embodiments described above are merely descriptions of preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An automatic depalletizing and arranging conveying device with a double-stroke sorting function, characterized in that: The device includes an AGV handling and conveying module, a two-stroke automatic splitting and sorting mechanism, a baffle conveyor belt, a discharging conveying module, an output conveyor belt and a foundation; the two-stroke automatic splitting and sorting mechanism is fixedly connected to the front side of the upper end face of the foundation; the AGV handling and conveying module is correspondingly arranged at the front side of the two-stroke automatic splitting and sorting mechanism; the front end of the baffle conveyor belt corresponds to the outlet of the two-stroke automatic splitting and sorting mechanism and the bottom is fixedly connected to the foundation; the discharging conveying module is arranged directly behind the baffle conveyor belt and the bottom is fixedly connected to the foundation; a group of output conveyor belts are respectively arranged at the rear side and the left and right sides of the discharging conveying module.

2. The automatic depalletizing, arranging and conveying device with a double-stroke sorting function according to claim 1, characterized in that: The AGV handling and conveying module includes Mecanum wheels, a symmetrical scissor-type lifting module and a vehicle body; the Mecanum wheels are correspondingly arranged around the bottom of the vehicle body; the symmetrical scissor-type lifting module is fixedly connected to the upper end surface of the vehicle body; The symmetrical scissor-type lifting module includes a base, a scissor-type connecting rod assembly, a top material tray, a power cylinder, a synchronous guide connecting shaft and a support guide assembly; the scissor-type connecting rod assembly is symmetrically arranged on the front and rear sides above the base, and transverse tracks are installed in the four corner areas above the base; the two ends of the bottom of the scissor-type connecting rod assembly are respectively connected to the corresponding tracks through pulleys; support guide assemblies are symmetrically installed above the middle of the front and rear sides of the base; the middle connecting rods of the scissor-type connecting rod assemblies on both sides are connected through a synchronous guide connecting shaft, and the two ends of the synchronous guide connecting shaft correspond to the inner side surfaces of the support guide assemblies on both sides for vertical sliding engagement; the power cylinder is fixedly arranged on the left and right sides of the upper surface of the base respectively; the head of the power cylinder is engaged with the middle shaft section of the synchronous guide connecting shaft through a joint; the top material tray is arranged between the top ends of the scissor-type connecting rod assemblies on both sides, and the front and rear sides of the top material tray are respectively provided with transverse sliding grooves corresponding to the top ends of the scissor-type connecting rod assemblies, and are slidingly connected to the top ends of the scissor-type connecting rod assemblies through the sliding grooves.

3. The automatic depalletizing, arranging and conveying device with a double-stroke sorting function according to claim 1, characterized in that: The double-stroke automatic splitting and sorting mechanism comprises a steel support frame, a synchronous transmission module, a swing guide module and a suction cup module. The steel support frame includes a steel support platform, a slide rail support channel steel and a linear slide rail; the steel support platform as a whole presents a left-right symmetrical frame structure; the steel support platform is fixedly connected to the front side of the upper end face of the foundation; the slide rail support channel steel is symmetrically arranged on the left and right sides of the middle of the upper end of the steel support platform; the linear slide rails are respectively arranged in parallel on the sides of the slide rail support channel steel. The swing guide module is arranged between the left and right sides of the upper end of the steel support platform; the synchronous transmission module is arranged between the mounting surfaces on both sides of the bottom of the swing guide module; the suction cup module is respectively slidably connected to the linear slide rails on both sides, and is connected to the output end of the swing guide module through a connecting shaft.

4. The automatic depalletizing, arranging and conveying device with a double-stroke sorting function according to claim 3, characterized in that: The swing guide module includes a steel connection seat, a guide module, a guide block, a chain swing arm module and a swing synchronous connecting shaft; the guide module is respectively fixed to the middle of the left and right sides of the upper end of the steel support platform and is symmetrical to each other; the steel connection seat is fixed to the bottom surface of the guide module; the guide blocks are respectively connected to the inner side of the guide module by transverse sliding, and the guide blocks on both sides are symmetrical to each other; chain swing arm modules are respectively arranged on the inner sides of the guide modules on both sides; the chain swing arm modules on both sides are respectively connected to the guide modules on the corresponding sides by connecting shafts; the ends of the chain swing arm modules on both sides are connected by a swing synchronous connecting shaft; the chain swing arm modules on both sides are symmetrical to each other.

5. The automatic depalletizing, arranging and conveying device with a double-stroke sorting function according to claim 4, characterized in that: The guide module includes a sprocket fixing steel sheet, a swing guide seat, a transverse slide rail, a bolt roller bearing, a crank, a swing connecting shaft, an idler wheel module and a third sprocket; the transverse slide rail is fixed to the outer side of the upper end surface of the swing guide seat; the swing connecting shaft rotation pair is connected to the middle part of the lower part of the transverse slide rail, and its inner shaft section is connected to the mounting hole at one end of the crank through a wedge key; a third sprocket is arranged on the outer side of the lower part of the transverse slide rail, and the third sprocket is coaxially fixedly connected with the outer shaft section of the swing connecting shaft; the bolt roller bearing is connected to the mounting hole at the other end of the crank; the tail of the idler wheel module cooperates with the hole rotation pair at the inner end of the upper end surface of the swing guide seat; a sprocket fixing steel sheet is arranged at the corresponding position between the swing guide seat and the tail of the idler wheel module. The idler wheel module comprises an end transparent cover, an idler wheel shaft, a bearing and a double-row sprocket; the bearing is nested in the front and rear sides of the inner hole of the double-row sprocket hub; the end transparent cover is fixedly connected to the two ends of the double-row sprocket; the input shaft section and the output shaft section of the idler wheel shaft respectively form a small interference fit with the inner ring of the bearing; The guide block comprises a first guide slider, a guide frame and a second guide slider; the first guide slider and the second guide slider are respectively fixed to the left and right ends of the top of the guide frame and correspondingly slidably cooperate with the transverse slide rail; a mounting groove is opened in the middle of the guide frame; the bolt roller bearing cooperates with the mounting groove of the guide frame; The chain swing arm module includes a first swing sprocket, a first swing connecting rod, a first swing chain, a first swing rocker, a front bolt roller bearing, a second swing chain, a second swing rocker, a second swing sprocket, a hinge connecting shaft and a second swing connecting rod; the first swing sprocket is connected to the outer side of one end of the first swing connecting rod through an axis; a bearing is installed in a mounting hole at one end of the first swing rocker, and is coaxially connected to the first swing sprocket and the first swing connecting rod through the bearing; the other end of the first swing connecting rod is connected to the top rotating pair of a group of suction cup modules slidably connected to the linear slide rail; the mounting hole at the other end of the first swing rocker is connected to the output shaft section of the idler shaft through a wedge key; the first swing chain is connected between the first swing sprocket and the inner row sprocket in the double-row sprocket; the mounting hole at one end of the second swing rocker is connected to the inner row sprocket of the double-row sprocket The cam is connected to the input shaft section of the idler shaft; the front bolt roller bearing is installed in the mounting hole of the second swing rocker near the input shaft section of the idler shaft through a nut; the hinge connecting shaft is vertically installed in the mounting hole on the inner side of the other end of the second swing rocker through a shaft end retaining ring, and is supported by a bearing; the second swing sprocket is installed on the outer side of the hinge connecting shaft; the mounting hole at one end of the second swing connecting rod is fixedly connected to the inner side of the hinge connecting shaft; the second swing chain is connected between the outer row sprocket and the second swing sprocket in the double-row sprocket; the front bolt roller bearing is installed in the mounting groove of the guide frame; the inner ends of the hinge connecting shafts in the chain swing arm modules on both sides are connected through a swing synchronous connecting shaft; the mounting holes at the other end of the second swing connecting rod are respectively connected to the top rotating pairs of a group of suction cup modules slidably connected to the linear slide rail; 6. The automatic depalletizing, arranging and conveying device with a double-stroke sorting function according to claim 5, characterized in that: The synchronous transmission module comprises a first sprocket, a first input shaft, a ball bearing unit, a first coupling, a transmission connecting shaft, a second coupling, a servo motor, a worm gear reducer, a second input shaft and a second sprocket; the servo motor is connected to the worm gear reducer through a flange; the worm gear reducer has a dual-axis output function; the second input shaft is connected to the output end of the worm gear reducer through a flat key, and the outer end of the second input shaft is fixedly connected to a second sprocket; One end of the transmission connecting shaft is connected to the inner end of the second input shaft through the second coupling; the other end of the transmission connecting shaft is connected to the inner end of the first input shaft through the first coupling; the first input shaft is supported by the ball bearing unit; the ball bearing unit and the worm gear reducer are respectively fixedly connected to the steel connection seats on both sides; the outer end of the first input shaft is fixedly connected to the first sprocket; the first sprocket and the second sprocket are respectively connected to the third sprocket on the corresponding side through a transmission chain.

7. The automatic depalletizing, arranging and conveying device with a double-stroke sorting function according to claim 6, characterized in that: The suction cup module includes a sponge suction cup, a suction cup adapter block, a grabbing cylinder, a slider module, a vertical slide rail and a vertical connecting rod; a rolling bearing is installed in the top mounting hole of the vertical connecting rod; the vertical slide rail is fixedly connected to the outer end face of the vertical connecting rod; the inner end of the slider module corresponds to the vertical sliding cooperation with the vertical slide rail, and the outer end corresponds to the horizontal sliding cooperation with the linear slide rail; the grabbing cylinder is vertically arranged on the inner side of the lower part of the vertical connecting rod; the sponge suction cup is connected to the output end of the grabbing cylinder through the suction cup adapter block to form a grabbing module.

8. The automatic depalletizing, arranging and conveying device with a double-stroke sorting function according to claim 1, characterized in that: The discharging conveying module includes a chassis assembly, a servo rotating platform, an alignment connecting rod assembly and a counting sensor module; The chassis assembly includes a base plate, a power input shaft system, a profile frame, an outer horizontal guide rail, an inner horizontal guide rail, a conveyor belt, a vertical guide rail, a transmission shaft system and a bottom transverse guide rail; the profile frame is fixedly installed on the left and right sides above the base plate; one end of the power input shaft system is fixedly installed in the middle position above the base plate through a motor support, and the other end is connected to the inner side of one side of the profile frame through a flange bearing; the chassis assembly includes a total of three sets of transmission shaft systems, and the transmission shaft systems are all laterally connected to the inner side of the profile frame through bolts; the conveyor belt is connected between each transmission shaft system and the power input shaft system to realize the power transmission and material transportation functions; the outer sides above the profile frames on both sides are respectively connected to the outer horizontal guide rails, and the inner sides above the profile frames on both sides are respectively connected to the inner sides of the horizontal guide rails; the vertical guide rails are respectively installed on the inner sides of the vertical columns of the profile frames on both sides; the bottom transverse guide rail is arranged in the middle of the discharge port of the discharge conveying assembly and is fixedly installed on the upper surface of the base plate; The servo rotating platform is fixedly arranged directly below the base plate and the bottom is fixedly connected to the foundation; the alignment connecting rod assemblies are inlaid and arranged in a staggered manner above the chassis assembly; the counting sensor module is fixed on the top of the profile frame on the outlet side of the discharging conveying module, and the axis of the counting sensor assembly is perpendicular to the material movement direction of the discharging conveying module.

9. The automatic depalletizing, arranging and conveying device with a double-stroke sorting function according to claim 8, characterized in that: The alignment connecting rod assembly includes an inlet alignment stop rod, an inlet longitudinal slider group, a special-shaped connecting rod, an outer transverse slider group, an inner transverse slider group, a transverse connecting rod, a feed connecting rod, a bolt roller bearing group, an alignment rod, an outlet longitudinal slider group, an outlet alignment stop rod, a bottom transverse slider group, a connecting rod and a power cylinder; the inlet longitudinal slider group is slidably connected to the vertical guide rails on both sides of the inlet end of the chassis assembly; the inner ends of the inlet longitudinal slider groups on both sides are connected by upper and lower end face shafts; the inlet alignment stop rod is symmetrically arranged on the left and right sides of the inlet end of the chassis assembly, and the lower end is correspondingly fitted on the upper end face shaft between the inlet longitudinal slider groups on both sides; The outer transverse slider groups are slidably connected to the outer horizontal guide rails; the inner transverse slider groups are slidably connected to the inner horizontal guide rails; the inner transverse slider groups on the profile frames on both sides are connected through the front and rear end face shafts; the outer transverse slider group and the top of the inner transverse slider group on the same profile frame are connected through a connecting pin; the transverse connecting rods are respectively arranged in parallel above the profile frames on both sides, and are connected to the connecting pins on the same side; the connection between the inner transverse slider group and the connecting pin is coaxially connected to one end of the special-shaped connecting rod; the other end of the special-shaped connecting rod is connected to the upper end of the entrance alignment baffle through a pin; the transverse The front and rear ends of the connecting rod are respectively connected with a feed connecting rod; the end of the feed connecting rod is connected to the alignment rod through a pin shaft; a bolt roller bearing group is arranged below the connection end of the feed connecting rod and the alignment rod, and two pins and one side positioning are formed between the bolt roller bearing group and the top of the profile frame to limit the freedom of the alignment rod; the outlet longitudinal slider group is respectively slidably connected to the vertical guide rails on both sides of the outlet end of the chassis assembly; the inner ends of the outlet longitudinal slider groups on both sides are connected by upper and lower end face shafts; the outlet alignment baffle rod is symmetrically arranged on the left and right sides of the outlet end of the chassis assembly, and the lower end is correspondingly fitted on the end face shaft between the outlet longitudinal slider groups on both sides; the The bottom transverse slider group is slidably connected to the bottom transverse guide rail; two connecting rods are provided, and the two ends of one connecting rod are respectively connected to the upper end face axis between the two inlet longitudinal slider groups and the front end face axis between the two inner transverse slider groups, and the two ends of the other connecting rod are respectively connected to the rear end face axis between the two inner transverse slider groups and the top of the bottom transverse slider group; the other side of the top of the bottom transverse slider group is connected to the lower end face axis between the two outlet longitudinal slider groups through a connecting rod; the power cylinder is fixedly connected to the middle part of the lower surface of the inlet end of the bottom plate; the head of the power cylinder is connected to the lower end face axis between the two inlet longitudinal slider groups through a fisheye joint.

10. The automatic depalletizing, arranging and conveying device with a double-stroke sorting function according to claim 1, characterized in that: The output conveyor belt includes an output conveyor belt support frame, a power cylinder, a flange bearing, a guide wheel and a steel section; the power cylinder is fixedly connected to the bottom of the inlet end of the output conveyor belt support frame; the steel sections are symmetrically arranged on both sides of the inlet end of the output conveyor belt support frame, and a number of rotating shafts are evenly distributed laterally on the steel sections on both sides; the flange bearing is connected between the two ends of the rotating shaft and the steel sections; the power cylinder is connected to the bottom of the steel section through a fisheye joint; the guide wheels are evenly distributed outside each rotating shaft and are fixedly connected to the rotating shaft; the guide wheels on the same rotating shaft are axially positioned by a copper bushing to achieve synchronous rotation of the guide wheels and the shaft.

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