Automatic unstacking and arranging conveyor device with double-stroke sorting function

Abstract

The present application relates to a kind of automatic unstacking arrangement conveying device with double-stroke sorting function, mainly including AGV handling conveying module, double-stroke automatic split arrangement mechanism, baffle conveyor, discharge conveying module, output conveyor and foundation etc., material is placed in the top tray of AGV handling conveying module in rotating stack state, AGV transports material to the entrance of double-stroke automatic split arrangement equipment according to preset route, when a group of suction cups in double-stroke automatic split arrangement component grab material, another group of suction cups can complete the stacking work of material synchronously, the material after sorting is transported to discharge conveying module, and discharge conveying module sends out after material alignment is shunted.This application can realize the rapid continuous sorting, stacking and arrangement of material, lay the foundation for subsequent material filling process, can effectively solve a series of problems such as common in the process of material split arrangement, such as unequal distance conveying, low sorting efficiency and material arrangement difficulty, so as to effectively improve production efficiency.

Description

Technical Field

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

[0002] The depalletizing, sorting, and organizing of materials are crucial parts of the packaging and logistics industry, and they directly impact production efficiency and operating costs. Currently, most depalletizing and organizing devices on the market rely heavily on the collaborative work of humans and palletizing robots to complete a series of sorting, palletizing, and organizing tasks. However, this model not only requires high labor costs, but also has relatively limited material handling capabilities, making it difficult to adapt to the palletizing and organizing needs of a wide variety of materials. Furthermore, this approach is not entirely satisfactory in terms of work efficiency, and often struggles to meet the requirements for fast and efficient operations. Furthermore, because the control logic of the palletizing robot is relatively complex, adapting to new products or production processes increases the difficulty of programming and debugging the palletizing robot, further increasing the difficulty of depalletizing and organizing.

[0003] Patent publication number CN220949961U proposes an automatic sorting and conveying mechanism for large bags of industrial salt, which is mainly used for 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 material. However, the invention fails to realize the alignment and equidistant conveying function of the material, which greatly increases the difficulty of sorting and stacking the materials after transportation. 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. Patent publication number CN114560307A provides a palletizing and conveying device for warehousing and logistics, primarily for palletizing and conveying box-type materials. This 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 of the joints and connecting rods. Slight deviations can prevent the end effector from accurately reaching the target position and performing the intended task, increasing the difficulty of control. Furthermore, to ensure stability during the palletizing and sorting process, the palletizing and sorting speed must be appropriately reduced, inevitably leading to a decrease in palletizing and sorting efficiency. Furthermore, the transmission portion of the sorting assembly utilizes a ball screw pair, a structure that places high demands on the cleanliness of the workshop environment. If the equipment is placed in a dusty environment, the ball screw pair is easily contaminated by dust, leading to locking, which not only affects the normal operation of the equipment but also significantly shortens the overall equipment life.

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

[0005] In response to the above problems, the purpose of the present invention is to provide an automatic destacking and sorting conveying device with a dual-stroke sorting function, which is specifically used to handle stacked materials on the production line in the packaging and conveying industry. It aims to achieve accurate and rapid sorting and sorting of materials, laying a solid foundation for subsequent material filling and other processes, and solving 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 in the present invention is as follows:

[0007] The present invention proposes an automatic depalletizing and sorting conveying device with a double-stroke sorting function, which includes an AGV transport and conveying module, a rotary stacking bag pallet, a double-stroke automatic splitting and sorting mechanism, a baffle conveyor belt, a discharge conveying module, an output conveyor belt and a foundation; the double-stroke automatic splitting 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 splitting and sorting mechanism; the front end of the baffle conveyor belt corresponds to the outlet of the double-stroke automatic splitting and sorting mechanism and the bottom is fixedly connected to the foundation; the discharge 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 discharge conveying module.

[0008] Furthermore, the AGV transport and delivery module includes Mecanum wheels, a symmetrical scissor lift module and a vehicle body; the Mecanum wheels are correspondingly arranged around the bottom of the vehicle body; the symmetrical scissor lift module is fixedly connected to the upper end surface of the vehicle body;

[0009] The symmetrical scissor lifting module comprises a base, a scissor linkage assembly, a top material tray, a power cylinder, a synchronous guide connecting shaft and a support guide assembly; the scissor linkage assembly is symmetrically arranged on the front and rear sides above the base, and horizontal rails are mounted on the four corner regions above the base; the two ends of the bottom of the scissor linkage assembly are connected in the corresponding rails through pulleys; the support guide assemblies are symmetrically mounted on the upper middle parts of the front and rear sides of the base; the intermediate connecting rods of the two scissor linkage assemblies are connected through the synchronous guide connecting shaft, and the two ends of the synchronous guide connecting shaft are respectively vertically sleeved with the inner sides of the two support guide assemblies; the power cylinders are fixedly arranged on the upper surface of the base on the left and right sides; the heads of the power cylinders are sleeved with the middle shaft sections of the synchronous guide connecting shaft through joints; the top material tray is arranged between the top ends of the two scissor linkage assemblies, and horizontal sliding grooves corresponding to the top ends of the scissor linkage assemblies are formed in the front and rear sides of the top material tray, and the top material tray is slidably connected with the top ends of the scissor linkage assemblies through the sliding grooves.

[0010] Further, the double-stroke automatic splitting and arranging mechanism comprises a profile steel support frame, a synchronous transmission module, a swing guide module and a suction disc module.

[0011] The profile steel support frame comprises a profile steel support table, a sliding rail support channel steel and a linear sliding rail; the profile steel support table is in a left-right symmetrical frame structure as a whole; the profile steel support table is fixedly connected to the upper end surface of the front side of the foundation; the sliding rail support channel steels are symmetrically arranged on the left and right sides of the middle part of the upper end of the profile steel support table; and the linear sliding rails are respectively arranged in parallel on the side surfaces of the sliding rail support channel steels.

[0012] The swing guide module is arranged between the left and right sides of the upper end of the profile steel support table; the synchronous transmission module is arranged between the mounting surfaces on the bottom of the swing guide module; and the suction disc modules are slidably connected to the linear sliding rails on the left and right sides and connected to the output ends of the swing guide module through connecting shafts.

[0013] Further, the swing guide module comprises a profile steel connecting seat, a guide module, a guide block, a chain swing lever module and a swing synchronous connecting shaft; the guide modules are fixedly arranged in the middle parts of the left and right sides of the upper end of the profile steel support table and symmetrically with each other; the profile steel connecting seat is fixed to the bottom surface of the guide module; the guide blocks are slidably connected to the inner sides of the guide modules in a transverse direction, and the guide blocks on the left and right sides are symmetrically with each other; the chain swing lever modules are arranged on the inner sides of the two guide modules; the chain swing lever modules on the left and right sides are connected to the corresponding guide modules through connecting shafts; the swing synchronous connecting shaft is connected between the ends of the chain swing lever modules on the left and right sides; and the chain swing lever modules on the left and right sides are symmetrically with each other.

[0014] Furthermore, 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 provided on the outer side of the lower part of 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 provided at the corresponding positions of the swing guide seat and the tail of the idler wheel module;

[0015] The idler module includes an end cover, an idler 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 cover is fixedly connected to both ends of the double-row sprocket; the input shaft section and the output shaft section of the idler shaft respectively form a small interference fit with the inner ring of the bearing;

[0016] The guide block includes 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 slide in correspondence with the transverse slide rail; a mounting groove is formed in the middle of the guide frame; the bolt roller bearing is engaged with the mounting groove of the guide frame;

[0017] The chain rocker module includes a first swing sprocket, a first swing link, 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 link; the first swing sprocket is connected to the outside of one end of the first swing link 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 link through the bearing; the other end of the first swing link 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 of the double-row sprocket; the mounting hole at one end of the second swing rocker is connected by a wedge key 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 the shaft end retaining ring, and is supported by the 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 respectively correspond 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 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.

[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 edge of one side of the profile frame through a flange bearing; the chassis assembly includes three sets of transmission shaft systems, and the transmission shaft systems are all horizontally connected to the inner side of the profile frame by 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 side of the upper side of the profile frames on both sides are respectively connected to the outer horizontal guide rails, and the inner side of the upper side of the profile frames on both sides are respectively connected to the inner 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 discharging 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 its bottom is fixedly connected to the foundation; the alignment connecting rod assembly is inlaid and arranged in an interlaced 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 block 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 block 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 block 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 between the inlet longitudinal slider groups on both sides. The cam is connected to the upper and lower ends of the cam frame by means of a pin, and the cam frame is connected to the lower end of the cam frame by means of a pin. The cam frame is connected to the lower end of the cam frame by means of a pin. The front and rear ends of the transverse connecting rod are respectively connected to the 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 provided 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 two upper and lower end face shafts; the outlet alignment block 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 bottom plate inlet end; 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 on the steel sections on both sides; the flange bearing is connected between the two ends of the rotating shaft and the steel section; 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 fixed 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. This invention stands out for its outstanding 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 at a 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 achieve efficient and accurate palletizing and sorting for a variety of stacked materials. It is not limited to traditional materials such as bags or boards. Its applicability is wider and meets the needs of sorting and sorting diversified materials.

[0029] 4、The synchronous transmission module in the double-stroke automatic splitting and arranging mechanism adopts a chain transmission mode to transmit power, the chain transmission mode not only has excellent adaptability and can stably operate in various harsh workshop environments, but also further enhances the overall durability of the equipment, thereby significantly improving the service life of the equipment; the swing guide module in the double-stroke automatic splitting and arranging mechanism can convert the continuous unidirectional rotation of the motor into reciprocating linear motion of the swing guide block, which avoids switching of the high-frequency forward and reverse rotation of the motor, significantly prolongs the service life of the motor, greatly reduces the overall impact load of the equipment, effectively improves the overall stability of operation, thereby realizing conversion and transmission of mechanical motion, and improving the working efficiency of the device; the swing rod module in the double-stroke automatic splitting and arranging mechanism is closely connected with the swing guide block through a bolt roller bearing, and the guide module reciprocates linearly, so that the swing rod module can reciprocate in a plane according to a preset angle, ensuring the stability and reliability of the device motion; the swing rod module is connected with the fixed sprocket through an idler shaft, and a stable support structure is formed between the idler shaft and the fixed sprocket, and the movable driven sprocket connected to the end of the swing rod module can smoothly roll on the chain during the reciprocating swing of the swing rod module, thereby driving the swing link to complete the angular reciprocating plane motion, realizing the flexibility and diversity of the device function; the end effector of the suction cup module can adjust the extension length according to the height of the stacked materials, thereby realizing efficient sorting and arranging of various materials and exhibiting the strong capability of the device in material processing.

[0030] 5、The discharge conveying module structure is compact and has high integration degree, can be driven by a single cylinder power link mechanism, simultaneously realizes front, rear, left and right alignment functions of the materials, greatly reduces the cost; the servo rotary platform at the bottom of the discharge conveying module can rotate the discharge conveying module to a specified angle, and then convey the sorted materials, thereby making up for the time gap of subsequent processes such as filling, and greatly improving the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a whole structure schematic diagram of an automatic unstacking and arranging conveying line with double-stroke sorting function according to the present application;

[0032] Figure 2 It is a structure schematic diagram of an AGV carrying conveying module in the present application;

[0033] Figure 3 It is a structure schematic diagram of a symmetrical scissors-type lifting module in the present application;

[0034] Figure 4 It is a structure schematic diagram of a double-stroke automatic splitting and arranging mechanism in the present application;

[0035] Figure 5 This is a schematic diagram of the structure of the medium-sized steel support frame of the present invention.

[0036] Figure 6 Schematic diagram of the structure of the synchronous transmission module of the present invention;

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

[0038] Figure 8 Schematic diagram of the structure of the suction cup module of the present invention;

[0039] Figure 9 Schematic diagram of the structure of the guide module in the present invention;

[0040] Figure 10 Schematic diagram of the structure of the idler module in the present invention;

[0041] Figure 11 Schematic diagram of the structure of the first guide module in the present invention;

[0042] Figure 12 Schematic diagram of the structure of the first chain swing arm module in the present invention;

[0043] Figure 13 Schematic diagram of the overall structure of the discharge conveying module of the present invention;

[0044] Figure 14 Schematic diagram of the structure of the chassis assembly of the present invention;

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

[0046] Figure 16 This 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0048] It should be noted that, in the description of the present invention, the terms "up", "down", "top", "bottom", "one side", "the other side", "left", "right", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not mean that the components or elements must have a specific orientation, be constructed and operated in a specific orientation.

[0049] See attached Figure 1-16 , gives the specific structure of an embodiment of an automatic depalletizing and sorting conveying device with a two-stroke sorting function proposed by the present invention. In this embodiment, the device includes an AGV transport and conveying module 1, a two-stroke automatic splitting and sorting mechanism 3, a baffle conveyor belt 4, a discharge conveying module 5, an output conveyor belt and a foundation 9; the two-stroke automatic splitting and sorting mechanism 3 is fixedly connected to the front side of the upper end of the foundation 9; the AGV transport and conveying module 1 is correspondingly arranged in front of the two-stroke automatic splitting and sorting mechanism 3; the front end of the baffle conveyor belt 4 corresponds to the outlet of the two-stroke automatic splitting and sorting mechanism 3 and the bottom is fixedly connected to the foundation 9; the discharge 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 discharge 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 discharge conveying module 5 can perform fixed-axis rotation, and the conveying outlet direction of the discharge 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 achieve the diversion and guiding function of the material.

[0051] like Figure 2-3 As shown, the AGV handling and conveying module 1 includes Mecanum wheels 11, a symmetrical scissor lift 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 locations on the bottom of the vehicle body 13 and are connected to the output shaft of the vehicle body 13; the symmetrical scissor lift 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 link 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 link assembly 122 is symmetrically arranged on the front and rear sides above the base 121, and transverse rails are installed in the four corner areas above the base 121; the two ends of the bottom of the scissor-type link assembly 122 are respectively connected to the corresponding transverse rails through pulleys, and the transverse rails provide guiding support for the pulleys at the bottom of the scissor-type link 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 links of the scissor-type link 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 support 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 fixedly arranged 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 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 horizontal sliding grooves corresponding to the two ends of the top of the scissor-type link assembly 122, and slide with the top end of the scissor-type link assembly 122 through the horizontal 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, such as 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 bilaterally symmetrical; the steel support platform 311 is fixed 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 fixed in parallel to the side surfaces 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 module 34 is provided with four groups, that is, each linear slide rail 313 is slidably connected to 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 synchronization connecting shaft 335; the guide modules 332 are respectively fixed to the middle of the left and right sides of the upper end of the steel support platform 311 and are 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; and the inner side of the guide modules 332 on both sides is provided with a chain swing arm module 334; The chain rocker modules 334 on both sides are respectively connected to the guide modules 332 on the corresponding sides through connecting shafts; the ends of the chain rocker modules 334 on both sides are connected by 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 swinging motion of the chain rocker module 334, and the swing guide module 33 as a whole has 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 Figure 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 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 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 provided on the outer side below the transverse slide rail 3323, and the third sprocket 3328 is coaxially fixedly connected to the outer shaft section of the swing connecting shaft 3326; the bolt roller bearing 3324 is connected to 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 provided at the corresponding position of 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 Figure 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 ends of the inner hole of the double-row sprocket 33274 hub; the end cover 33271 is fixed to both 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 Figure 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 slide in cooperation with 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 Figure 12As shown, the chain rocker module 334 includes a first swinging sprocket 3341, a first swinging link 3342, a first swinging chain 3343, a first swinging rocker 3344, a front bolt roller bearing 3345, a second swinging chain 3346, a second swinging rocker 3347, a second swinging sprocket 3348, a hinge connecting shaft 3349 and a second swinging link 33410; the first swinging sprocket 3341 is connected to the outer side of one end of the first swinging link 3342 through an axis, the first swinging sprocket 3341 is connected to the axis through a C-shaped flat key, and the first swinging link 3342 is connected to the axis through a wedge key. At this time, the first swinging sprocket 3341 and the first swinging 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 on the front side of the linear slide rail 313 that is slidably connected to 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 outside 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 link 33410; the second swing chain 3346 is connected between the outer sprocket of 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 synchronization connecting shaft 335; the mounting holes at the other end of the second swing link 33410 are respectively connected to the sliding connection holes on the corresponding side. The top rotating pair of a group of suction cup modules 34 connected to the rear side of the linear slide rail 313 is connected; 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. 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 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 locking 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 link 3342 and the second swing link 33410 through the rolling bearing in its top mounting hole; the vertical slide rail 345 is 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 fit with the vertical slide rail 345 vertically, and the outer end corresponds to the horizontal sliding fit with the linear slide rail 313; 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 with the same structure.

[0063] like Figure 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, such as Figure 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 laterally connected between the upper inner 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 parts of the profile frames 513 on both sides are respectively connected to the outer horizontal guide rails 514 by bolts, and the inner sides of the upper parts of the profile frames 513 on both sides are respectively connected to 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 is fixedly installed on the upper surface of the bottom plate 511;

[0065] The servo rotating platform 52 is fixed by bolts directly below the base plate 511 and the bottom is fixedly connected to the foundation 9, which is used 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 staggered 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 Figure 15As shown, the alignment connecting rod assembly 53 includes an inlet alignment stop rod 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 stop rod 5311, a bottom transverse slider group 5312, a connecting rod 5313 and a power cylinder 5314; the inlet longitudinal slider group 532 is respectively 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 two upper and lower end face shafts. The inlet alignment bars 531 are symmetrically arranged on the left and right sides of the inlet end of the chassis assembly 51, and the lower ends are correspondingly fitted on the upper end face shafts between the inlet longitudinal slider groups 532 on both sides; the outer transverse slider groups 534 are respectively slidably connected to the outer horizontal guide rails 514; the inner transverse slider groups 535 are respectively slidably connected to the inner horizontal guide rails 515; the inner transverse slider groups 535 located on the profile racks 513 on both sides are connected by the front and rear end face shafts; the outer transverse slider groups 534 and the tops of the inner transverse slider groups 535 located on the same profile rack 513 are connected by 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 thereof 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 the alignment rod 539, thereby limiting the freedom of the alignment rod 539 and ensuring 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 assembly 51; the inner ends of the outlet longitudinal slider groups 5310 on both sides are connected by two upper and lower end face shafts; the outlet alignment stop rod 5311 is symmetrically arranged on the left and right sides of the outlet end of the chassis assembly 51, and the lower end is correspondingly fitted on the end face shaft between the outlet longitudinal slider groups 5310 on both sides, thereby limiting the rotational freedom of the outlet alignment stop rod 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 axially connected. When the power cylinder 5314 is actuated, it pushes the inlet longitudinal slider group 532 upward, thereby driving the inlet alignment stop bar 531 upward. Simultaneously, the special-shaped connecting rod 533 and the connecting rod 5313 jointly drive the outer transverse slider group 534, the inner transverse slider group 535, and the transverse connecting rod 536 to move synchronously. The feed connecting rod 537 and the bolt roller bearing group 538, constrained by the right-angle track, drive the alignment rod 539 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 enabling the outlet longitudinal slider group 5310 to drive the outlet alignment stop bar 5311 upward.

[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 Figure 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 through a fisheye joint to provide power for the overall fixed-axis rotation of the pallet; the guide wheels 84 are evenly distributed horizontally on the outside of each rotating shaft and are fixed to the rotating shaft by a key; the guide wheels 84 on the same rotating shaft are axially positioned by copper sleeves to achieve 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 the AGV enters the bottom of the double-stroke automatic disassembly and sorting component 3 can be flexibly adjusted according to the material size. The Mecanum wheel 11 enables 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 lift the height, thereby improving the grabbing efficiency while 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, and greatly improving the reliability of the equipment.

[0072] The dual-stroke automatic disassembly and sorting component 3 has extremely high working efficiency. While one set of end effectors is grabbing 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 dual-stroke automatic disassembly and sorting assembly 3, the primary function of the steel support frame 31 is to provide stable and reliable support for the entire device structure. To ensure its effectiveness, it must be precisely installed at the designated location on the production conveyor line and securely fastened to the production conveyor line frame or the ground via bolts or welding to ensure smooth and safe operation.

[0074] The core function of the synchronous transmission module 32 is to transmit power, ensuring smooth equipment operation. It achieves 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, which is tightly coupled to the synchronous connecting shaft via 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, ensuring stable and synchronous power transmission, 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 critical responsibility of providing precise guidance and stable support for the motion path of the device's end effector. This module cleverly converts the motor's continuous rotational motion into fixed-angle reciprocating swinging motion of the end effector, ensuring continuous, uniform, and equidistant sorting of materials. Power from the synchronous transmission module 32 is precisely transmitted via a chain to the input sprocket of the swing guide module 33, which in turn drives the input shaft to rotate, causing the swing rocker to rotate. The slider on the guide block 333 engages the slide rail above the guide module 332. The unidirectional rotational motion of the drive shaft in the guide module 332 is converted by the guide block 333, converting continuous unidirectional rotational motion into reciprocating linear motion of the guide block 333. The chain swing arm module 334 is connected to the guide module 332 via a connecting shaft, converting the reciprocating linear motion of the guide block 333 into 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 precise 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. At the structural design level, 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 slot 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 idler module 3327 is to ensure the free rotation of idler shaft 33272 while achieving coordinated coordination between the fixed and swinging sprockets. According to transmission principles, when the input angle remains constant, a speed increaser mechanism can be used to effectively amplify the output angle. This mechanism precisely controls the rotation angle of the connecting rod hinge, thereby controlling the extension distance of the end effector, thereby significantly increasing the end effector's workspace.

[0079] The core function of the rocker module is to precisely convert the linear motion of the guide module into the module's fixed-angle reciprocating swinging motion. The second rocker 3347, a key supporting component of the module, is designed with three mounting holes for connecting the idler shaft 33272, the front bolt roller bearing 3345, and the hinge shaft 3349. The first rocker 3344 is connected in parallel and opposite directions to the first rocker 3344, allowing the first and second rocker 3347 to swing synchronously. The idler shaft 33272 is tightly connected to the idler module 3327, with a bearing embedded in the center of the idler, ensuring that the idler shaft 33272 can rotate freely within the idler module 3327. The idler module 3327 is connected to the guide frame 3332 via a sprocket fixing steel plate 3321, thus restricting all six degrees of freedom of the idler module 3327. The first and second swing rockers oscillate synchronously, achieving dual-stroke reciprocating motion. A front bolt roller bearing 3345 is installed in the second mounting hole of the second swing rocker 3347, docking with the mounting slot of the guide frame 3332 to achieve a smooth transition from linear motion to swinging motion. The third mounting hole supports a hinge shaft 3349 equipped with a bearing to ensure smooth rotation. The swing sprocket is connected to the hinge shaft 3349 via a flat key and set screws, while the swing connecting rod is also connected to the hinge shaft 3349 via a flat key and set screws. The swing sprocket and idler wheel module 3327 form a chain drive structure, allowing the swing sprocket to roll stably on the chain. This increases the swing angle of the hinge shaft 3349, thereby increasing the rotation angle of the swing connecting rod and ensuring the working stroke of the end effector. This allows the swing direction and angle of the end of the chain swing arm module 334 to be precisely controlled, ensuring the stability and reliability of the entire system. The chain swing arm module 334 can efficiently and accurately complete the conversion of the guide module's linear motion to swing motion, providing strong technical support for various application scenarios.

[0080] The upper surface of the baffle conveyor belt 4 is uniformly provided with partitions, and the materials sorted by the double-stroke automatic splitting and arranging assembly 3 are placed between the partitions above the baffle conveyor belt 4, and the partitions above the baffle conveyor belt 4 further ensure the uniform spacing of the materials in the subsequent conveying process. When the materials are placed once, the baffle conveyor belt advances by a material width, and this cycle continues until the end of the baffle conveyor belt, at which time the materials are separated from the baffle conveyor belt and fall into the discharging conveying module 5.

[0081] When the discharging conveying module 5 receives materials once, the power cylinder 5314 at the bottom thereof acts to realize the front, rear, left and right synchronous alignment function of the materials, ensuring the consistency of the material collection position. The counting sensor module 54 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 stop bar 5311 rises, and when the number reaches a set value, the power motor starts to send the materials out, thereby providing reliable data basis for the processing of subsequent materials and ensuring the accuracy of the material splitting and arranging work. In order to improve the material arranging efficiency, the discharging conveying module 5 as a whole can be rotated, and when the arranging task of a group of materials is completed, the discharging conveying module can align the conveying direction of the transmission belt to the inlet of the first output conveyor belt 6, the second output conveyor belt 7 or the third output conveyor belt 8 through rotation, thereby realizing the material diversion function. Through this, not only the work frequency of the conveying line is optimized, but also the production efficiency is greatly improved. The first, second and third output conveyor belt inlets are respectively provided with supporting plates, and when the discharging conveying module 5 rotates, the supporting plates are in a retracted state to avoid collision between the discharging conveying module 5 and the supporting plates. When the discharging conveying module 5 is properly aligned with the discharging conveying belt inlet after rotation, the supporting plates are in an extended state to compensate for the gap between the discharging conveying module 5 and the conveying belt. This design significantly improves the conveying efficiency of the materials and avoids collision between the discharging conveying module and the conveying belt during rotation, thereby significantly improving the safety of the automatic splitting and arranging equipment.

[0082] The double-stroke automatic stacking and arranging conveying line disclosed in the present application can realize accurate sorting and arranging of materials, lay a solid foundation for subsequent material filling and other processes, solve a series of problems commonly encountered in material conveying, such as uneven distance conveying, increased sorting difficulty and excessive material arranging cost, thereby significantly improving production efficiency and reducing operating cost.

[0083] The matters not covered in the present application are known technologies.

[0084] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the 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 fall within the scope of protection determined by the claims of the present invention.

Claims

1. An automatic depalletizing and sorting conveying device with a double-stroke sorting function, characterized by: The device includes an AGV transport and conveying module, a two-stroke automatic splitting and sorting mechanism, a baffle conveyor belt, a discharge 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 of the foundation; the AGV transport and conveying module is correspondingly arranged in front 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 discharge 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 on the rear side and left and right sides of the discharge conveying module; The dual-stroke automatic splitting and sorting mechanism includes 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 is a bilaterally 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 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; The swing guide module includes a steel connecting seat, a guide module, a guide block, a chain swing arm module and a swing synchronous connecting shaft; the guide modules are respectively fixed to the middle parts of the left and right sides of the upper end of the steel support platform and are symmetrical to each other; the steel connecting 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 in a transverse sliding manner, and the guide blocks on both sides are symmetrical to each other; chain swing arm modules are respectively provided 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 through connecting shafts; the ends of the chain swing arm modules on both sides are connected through a swing synchronous connecting shaft; the chain swing arm modules on both sides are symmetrical to each other; 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 provided on the outer side of the lower part of 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 end 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 provided at the corresponding positions of the swing guide seat and the tail end of the idler wheel module; The idler module includes an end cover, an idler 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 cover is fixedly connected to both ends of the double-row sprocket; the input shaft section and the output shaft section of the idler shaft respectively form a small interference fit with the inner ring of the bearing; The guide block includes 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 slide in correspondence with the transverse slide rail; a mounting groove is formed in the middle of the guide frame; the bolt roller bearing is engaged with the mounting groove of the guide frame; The chain rocker module includes a first swing sprocket, a first swing link, 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 link; the first swing sprocket is connected to the outside of one end of the first swing link 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 link through the bearing; the other end of the first swing link 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 of the double-row sprocket; the mounting hole at one end of the second swing rocker is connected by a wedge key It 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 the 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 synchronization connecting shaft; the mounting holes at the other end of the second swing connecting rod respectively correspond to the top rotating pairs of a group of suction cup modules slidably connected to the linear slide rail.

2. The automatic depalletizing, arranging and conveying device with a dual-stroke sorting function according to claim 1, characterized in that: The AGV transport module includes Mecanum wheels, a symmetrical scissor lift module and a vehicle body; the Mecanum wheels are correspondingly arranged around the bottom of the vehicle body; the symmetrical scissor lift 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 link assembly, a top material tray, a power cylinder, a synchronous guide connecting shaft and a support guide assembly; the scissor-type link assembly is symmetrically arranged on the front and rear sides above the base, and horizontal rails are installed in the four corner areas above the base; the two ends of the bottom of the scissor-type link assembly are respectively connected to the corresponding rails through pulleys; the support guide assemblies are symmetrically installed above the middle of the front and rear sides of the base; the middle links of the scissor-type link assemblies on both sides are connected by a synchronous guide connecting shaft, and the two ends of the synchronous guide connecting shaft respectively correspond to the inner side surfaces of the support guide assemblies on both sides for vertical sliding engagement; the power cylinders are respectively fixed on the left and right sides of the upper surface of the base; 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 link assemblies on both sides, and the front and rear sides of the top material tray are respectively provided with horizontal sliding grooves corresponding to the top ends of the scissor-type link assemblies, and are slidingly connected to the top ends of the scissor-type link assemblies through the sliding grooves.

3. The automatic depalletizing, arranging and conveying device with a dual-stroke sorting function according to claim 1, characterized in that: 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 via 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 via 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 a second coupling; the other end of the transmission connecting shaft is connected to the inner end of the first input shaft through a 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 a first sprocket; the first sprocket and the second sprocket are respectively connected to the third sprocket on the corresponding side through a transmission chain.

4. The automatic depalletizing, arranging and conveying device with a dual-stroke sorting function according to claim 3, 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 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.

5. The automatic depalletizing, arranging and conveying device with a dual-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 edge of one side of the profile frame through a flange bearing; the chassis assembly includes three sets of transmission shaft systems, and the transmission shaft systems are all horizontally connected to the inner side of the profile frame by 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 side of the upper side of the profile frames on both sides are respectively connected to the outer horizontal guide rails, and the inner side of the upper side of the profile frames on both sides are respectively connected to the inner 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 discharging 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 its bottom is fixedly connected to the foundation; the alignment connecting rod assembly is inlaid and arranged in an interlaced 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.

6. The automatic depalletizing, arranging and conveying device with a dual-stroke sorting function according to claim 5, 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 horizontal slider groups are respectively slidably connected to the outer horizontal guide rails; the inner horizontal slider groups are respectively slidably connected to the inner horizontal guide rails; the inner horizontal slider groups located on the profile frames on both sides are connected through the front and rear end shafts; the outer horizontal slider group and the top of the inner horizontal slider group located on the same profile frame are connected through a connecting pin; the transverse connecting rods are respectively arranged parallel to the upper parts of the profile frames on both sides, and are connected to the connecting pins on the same side; the connection point of 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 block rod through a pin; the transverse The front and rear ends of the connecting rod are respectively connected to 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 provided 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 two upper and lower end face shafts; the outlet alignment stop 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 bottom plate inlet end; 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.

7. The automatic depalletizing, arranging and conveying device with a dual-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 on the steel sections on both sides; the flange bearing is connected between the two ends of the rotating shaft and the steel section; 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 fixed 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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