Automatic processing device for article classification

Abstract

The invention relates to an article classification device, in particular to an automatic processing device for article classification, which comprises an object carrying platform, a conveying unit and a grabbing unit are arranged on the object carrying platform, and the grabbing unit is used for placing articles on the object carrying platform onto the conveying unit; the grabbing unit comprises a first supporting piece, a second supporting piece, a third supporting piece, a first sepal, a second sepal and a third sepal, the upper end of the first supporting piece and the upper end of the first sepal are hinged to the guide sliding block, one end of the second supporting piece is hinged to the first supporting piece, and the other end of the second supporting piece is hinged to the first sepal; the first sepal is hinged to the second sepal, the second sepal is hinged to the third sepal, and torsional springs are arranged at the hinged position of the first sepal and the second sepal and the hinged position of the second sepal and the third sepal; one end of the third supporting piece is hinged to the first supporting piece, and the other end of the third supporting piece is hinged to the second sepal and the third sepal; a suction nozzle is arranged on the third sepal and is connected with an air path.

Description

Technical Field

[0001] This invention relates to an item sorting device, specifically an automatic item sorting processing device. Background Technology

[0002] Currently, medical waste in my country is classified into five categories: infectious waste, sharps waste, pathological waste, pharmaceutical waste, and chemical waste. However, waste that poses a risk of spreading infectious diseases cannot be collected together. Medical waste sorting in my country mainly relies on manual labor, performed by hospital medical staff and related personnel. This method suffers from low efficiency, a high risk of viral infection for medical staff, and a high likelihood of omissions or misclassifications. Summary of the Invention

[0003] This invention provides an automatic processing device for sorting items, which can place different types of items on a platform onto different conveyor lines for sorting, thus preventing medical staff from directly contacting infectious waste.

[0004] Compared with the prior art, the present invention has the following advantages and beneficial effects: An automatic processing device for sorting items includes a loading platform, on which a conveying unit and a gripping unit are configured, the gripping unit placing items on the loading platform onto the conveying unit; The gripping unit includes two shovel-shaped claws. Each claw includes a first support member, a second support member, a third support member, a first sepal, a second sepal, and a third sepal. The upper ends of the first support member and the first sepal are hinged to the guide slider. One end of the second support member is hinged to the first support member, and the other end is hinged to the first sepal. The first sepal is hinged to the second sepal, and the second sepal is hinged to the third sepal. Torsion springs are provided at the hinge points of the first and second sepals and the second and third sepals. One end of the third support member is hinged to the first support member, and the other end is hinged to the second and third sepals. A suction nozzle is provided on the third sepal, and the suction nozzle is connected to an air passage.

[0005] Furthermore, the loading platform is equipped with a loading tray, a disposal port, and a waste storage bin. The loading tray is placed on the platform surface, and the outer side of the loading tray is tilted upwards. Under the action of its own gravity, the items move from the loading tray to the disposal port. The discarded items in the disposal port are placed into the waste storage bin by a gripping unit.

[0006] Furthermore, the conveying unit includes multiple conveyor lines, each of which is configured on the loading platform. The gripping unit places different types of items on the loading platform onto the corresponding conveyor lines.

[0007] Furthermore, the platform is equipped with a support frame. Two first transmission rods arranged in a front-to-back direction and two second transmission rods arranged in a left-to-right direction are mounted on the columns of the support frame. Both ends of each first transmission rod are connected to the first surface of the column via a first support block. Both ends of each second transmission rod are connected to a second surface adjacent to the first surface of the column via a second support block. Synchronous pulleys are mounted on the first transmission rods, and the synchronous pulleys on the two first transmission rods are connected by a first synchronous belt, which is arranged in a left-to-right direction. A bearing slider is mounted on one of the second transmission rods, and a motor slider is mounted on the other second transmission rod. Both the bearing slider and the motor slider are connected to the first synchronous belt. Linear bearings are mounted on the bearing slider and the motor slider, respectively. The linear bearings are slidably connected to the second transmission rods. A light rod is mounted on the bearing slider, and a synchronous pulley is mounted on the light rod. A second drive motor is mounted on the motor slider, and a synchronous pulley is mounted on the output shaft of the second drive motor. A second synchronous belt is fitted onto both synchronous pulleys.

[0008] Furthermore, a central slider is connected to the second synchronous belt, and a rotating motor is mounted on the central slider. At the bottom of the central slider are coaxially arranged an upper inner ring slider, an upper outer ring slider, a bearing, a lower inner ring slider, and a lower outer ring slider. The upper inner ring slider is connected to the lower inner ring slider, and the upper outer ring slider is connected to the lower outer ring slider. The inner ring of the bearing is transition-fitted with the upper inner ring slider, and the outer ring of the bearing is transition-fitted with the upper outer ring slider. The output shaft of the rotating motor is connected to the upper inner ring slider.

[0009] Furthermore, a track platform is provided on the lower inner ring slider, and synchronous pulleys are respectively provided at the upper and lower ends of the track platform. A third synchronous belt is sleeved on the two synchronous pulleys, and the upper synchronous pulley is connected to the first servo motor. A track is provided on the track platform, and a connecting seat is provided on the track. A sliding block adapted to the track is provided on the connecting seat.

[0010] Furthermore, the gripping unit is connected to the connecting seat; the gripping unit includes a second servo motor, a gear, and a rack, the gear is connected to the output shaft of the second servo motor, and the rack meshes with the gear; the rack is connected to the guide slider, and the second servo motor drives the gear to rotate, which in turn drives the guide slider to move through the rack.

[0011] Furthermore, an identification component including a camera and a controller is provided above the loading platform, and the controller is connected to the camera; the camera is used to acquire images of items on the loading platform, the controller is used to classify the images, and the corresponding items are grasped by the grasping unit.

[0012] Furthermore, the first support member includes a straight plate, a curved plate, and a tongue plate, and each of the straight plate, curved plate, and tongue plate has a slot to facilitate the passage of the second support member; the upper end of the straight plate is hinged to the guide slider, the lower end of the curved plate is hinged to the lower end of the second support member, and the tongue plate is hinged to the upper end of the third support plate.

[0013] Furthermore, the second support plate includes a vertical plate and arc plates disposed at both ends of the vertical plate. The upper arc plate is hinged to the first sepal, and the lower arc plate is hinged to the first support member.

[0014] Compared with the prior art, the present invention has the following advantages and beneficial effects: This invention uses a gripping unit to separately pick up different items located on a carrying platform and place them on corresponding conveyor lines, achieving the purpose of classifying different types of items. Furthermore, the gripping unit is configured as a shovel-like claw composed of multiple sepals, which has excellent adaptability to items of different shapes. The shovel-like claw can wrap around the object and apply suction force through a nozzle, significantly reducing the accuracy requirements of the preset gripping posture and improving the success rate of gripping complex and irregular waste products. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of an automated processing device for sorting items.

[0016] Figure 2 This is a schematic diagram showing the connection between the cargo pallet and the cargo platform.

[0017] Figure 3 This is a schematic diagram showing the connection between the drive optical rod and the gripping unit.

[0018] Figure 4 This is a schematic diagram showing the positions of the first and second transmission optical rods.

[0019] Figure 5 This is a schematic diagram of the connector.

[0020] Figure 6 This is a schematic diagram of the third synchronous belt.

[0021] Figure 7 This is a schematic diagram of the capture unit.

[0022] Figure 8 This is a schematic diagram showing the connection between the shovel jaws and the rack.

[0023] Figure 9 This is a schematic diagram of the shovel gripper.

[0024] In the diagram: 1. Loading platform; 2. Conveyor line; 3. Loading tray; 4. Discharge port; 5. Waste storage bin; 6. Support frame; 7. First transmission guide rod; 8. Second transmission guide rod; 9. First support block; 10. Second support block; 11. First synchronous belt; 12. Bearing slider; 13. Motor slider; 14. Second synchronous belt; 15. Second drive motor; 16. Guide rod; 17. Center slider; 21. Track platform; 22. Third synchronous belt; 23. First servo motor; 24. Track; 25. Connecting seat; 26. Sliding block; 31. Second servo motor; 33. Rack; 34. Shovel gripper; 341. First support member; 342. Second support member; 343. Third support member; 344. First sepal; 345. Second sepal; 346. Third sepal; 347. Guide slider; 348. Suction nozzle; 349. Torsion spring. Detailed Implementation

[0025] like Figure 1 As shown, an automatic processing device for sorting items includes a loading platform 1 and an identification component. The camera of the identification component is connected to a controller. The camera can acquire images of items on the loading platform 1. The controller can classify the images and then transmit signals to the gripping unit configured on the loading platform 1. After the gripping unit grabs the target item, it places the item on the conveyor line 2 configured on the loading platform 1. There are multiple conveyor lines 2, each corresponding to a different type of item. The conveyor unit transports the item to a designated location. like Figure 2 As shown, the loading platform 1 is equipped with a loading tray 3, a disposal port 4, and a waste storage bin 5. Medical personnel place items onto the loading tray 3, which is located on the platform 1. Since the loading tray 3 is tilted from the inside out and from bottom to top, the items placed on the loading tray 3 will move from the loading tray 3 to the disposal port 4 under their own weight. The disposal port 4 is recessed, and its upper surface is lower than the platform 1. After the identification component detects the waste, the grasping unit will grasp the waste and place it into the waste storage bin 5.

[0026] like Figure 3 and Figure 4As shown, a support frame 6 is provided on the loading platform 1. Two first transmission rods 7 arranged in the front-to-back direction and two second transmission rods 8 arranged in the left-to-right direction are provided on the columns of the support frame 6. The two ends of each first transmission rod 7 are connected to the first surface of the column via first support blocks 9; the two ends of each second transmission rod 8 are connected to the second surface adjacent to the first surface of the column via second support blocks 10. The first transmission rods 7 are located below the second transmission rods 8. Synchronous pulleys are provided on the first transmission rods 7, and the synchronous pulleys on the two first transmission rods 7 are connected by a first synchronous belt 11, which is arranged in the left-to-right direction. One of the first transmission rods 7 is connected to a... The first drive motor, upon startup, causes the synchronous pulley connected to the first transmission rod 7 to rotate. This rotating synchronous pulley, via the first synchronous belt 11, drives the synchronous pulley on another first transmission rod 7 to rotate, thereby enabling the gripping unit to move in the left-right direction. One of the second transmission rods 8 is equipped with a bearing slider 12, and the other with a motor slider 13. Both the bearing slider 12 and the motor slider 13 are connected to the first synchronous belt 11. The bearing slider 12 has a guide rod, and a synchronous pulley is mounted on the guide rod. The motor slider 13 has a second drive motor 15, and a synchronous pulley is mounted on the output shaft of the second drive motor 15. A second synchronous belt 14 is fitted onto both synchronous pulleys. When the second drive motor 15 starts, it causes the synchronous pulley connected to it to rotate, which in turn causes the second synchronous belt 14 connected to the synchronous pulley to move. The second synchronous belt 14 ultimately drives the gripping unit to move in the forward-backward direction.

[0027] A central slider 17 is connected to the second synchronous belt 14. A guide rod 16 is provided between the motor slider 13 and the bearing slider 12. The central slider 17 is provided with a guide hole adapted to the guide rod 16, and a linear bearing is provided in the guide hole. When the second synchronous belt 14 drives the central slider 17 to move, the connection between the guide rod 16 and the guide hole will cause the central slider 17 to move linearly. A rotary motor is provided inside the central slider 17. The bottom of the central slider 17 is provided with an upper inner ring slider, an upper outer ring slider, a bearing, a lower inner ring slider, and a lower outer ring slider arranged coaxially. The upper inner ring slider is connected to the lower inner ring slider, and the upper outer ring slider is connected to the lower outer ring slider. The inner ring of the bearing is transition-fitted with the upper inner ring slider, and the outer ring of the bearing is transition-fitted with the upper outer ring slider. The output shaft of the rotary motor is connected to the upper inner ring slider. The upper inner ring slider and the components connected thereto can rotate relative to the outer ring assembly composed of the upper outer ring slider and the lower outer ring slider. The rotary motor can drive the lower inner ring slider and the upper inner ring slider connected thereto to rotate.

[0028] like Figure 5 and Figure 6 As shown, a track platform 21 is provided on the lower inner ring slider. Synchronous pulleys are respectively provided at the upper and lower ends of the track platform 21. A third synchronous belt 22 is fitted onto the two synchronous pulleys. The upper synchronous pulley is connected to a first servo motor 23. A track 24 is provided on the track platform 21, and a connecting seat 25 is provided on the track 24. A sliding block 26 adapted to the track 24 is provided on the connecting seat 25. When the first servo motor 23 is activated, it causes the third synchronous belt 22 to move, which in turn drives the connecting seat 25 to move vertically, ultimately achieving the purpose of moving the gripping unit vertically.

[0029] like Figures 7 to 9 As shown, the gripping unit is connected to the connecting seat 25; the gripping unit includes a second servo motor 31, a gear, a rack 33 and two shovel jaws 34. The gear is connected to the output shaft of the second servo motor 31, and the rack 33 meshes with the gear; the rack 33 is connected to the guide slider 347, and the second servo motor 31 drives the gear to rotate, which in turn drives the guide slider 347 to move through the rack 33. The gripping unit includes two shovel claws 34, each of which is connected to a rack 33 via a guide slider 347. Each shovel claw 34 includes a first support member 341, a second support member 342, a third support member 343, a first sepal 344, a second sepal 345, and a third sepal 346. The upper ends of the first support member 341 and the first sepal 344 are hinged to the guide slider 347. The first support member 341 includes a straight plate, a curved plate, and a tongue plate connected sequentially from top to bottom. The straight plate, the curved plate, and the tongue plate are all provided with slots to facilitate the passage of the second support member 342. The upper end of the straight plate is hinged to the guide slider 347, the lower end of the curved plate is hinged to the lower end of the second support member 342, and the tongue plate is hinged to the upper end of the third support plate. The second support member 342 is hinged at one end to the first support member 341 and at the other end to the first sepal 344. The second support plate includes a vertical plate and arc plates at both ends of the vertical plate. The upper arc plate is hinged to the first sepal 344, and the lower arc plate is hinged to the first support member 341. The first sepal 344 is hinged to the second sepal 345, and the second sepal 345 is hinged to the third sepal 346. Torsion springs 349 are provided at the hinge points of the first sepal 344 and the second sepal 345, and the second sepal 345 and the third sepal 346. The third support member 343 is hinged at one end to the first support member 341 and at the other end to the second sepal 345 and the third sepal 346. A suction nozzle is provided on the third sepal 346. The suction nozzle 348 is connected to an air passage and is connected to an air pump assembly through the air passage. The air pump assembly is placed in the inner cavity of the loading platform 1.

[0030] The shovel gripper 34 maintains its initial posture when it is not in contact with or squeezing the object. At this time, the two third sepals 346 are parallel to each other, and the posture of each part remains stable under the horizontal outward force. When the shovel gripper 34 moves downward under the drive of the first servo motor 23, the outer end of the third sepal 346 contacts the surface of the waste or the loading tray 3 and is subjected to an upward reaction force. Starting from the third sepal 346, each part successively overcomes the elastic force of the torsion spring 349 and changes its posture. While raising the tilt angle of the third sepal 346 to form a posture that is conducive to shoveling the object, the posture of each part remains stable under the horizontal outward force, thus adaptively wrapping the waste. At the same time, the suction cup fixedly installed on the inner end of the third sepal 346 contacts the surface of the waste and generates an adsorption force under the action of the vacuum generating unit integrated in the loading platform 1 to assist in gripping. When the second servo motor 31 drives the rack 33 to retract, the constraint between the item and the surface of the tray 3 is released. The restoring force of the torsion spring 349 causes the sepals to gradually open and return to their original posture, increasing the contact area between the sepals and the object, which is beneficial for clamping and thus stabilizing the gripping of waste. When the shovel jaws 34 clamp the object or are fully closed, they are subjected to an upward lifting force. When they are completely separated from the plane, each part automatically returns to its initial posture under the restoring force of the torsion spring 349. By controlling the stroke of the second servo motor 31, the displacement of the rack 33 can be precisely adjusted, thereby achieving the adjustment of the gripping force.

[0031] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An automatic processing device for sorting items, characterized in that, Includes a loading platform (1), on which a conveying unit and a gripping unit are configured, the gripping unit placing items on the loading platform (1) onto the conveying unit; The gripping unit includes two shovel grippers (34), each shovel gripper (34) including a first support member (341), a second support member (342), a third support member (343), a first sepal (344), a second sepal (345), and a third sepal (346). The upper ends of the first support member (341) and the first sepal (344) are both hinged to the guide slider (347). One end of the second support member (342) is hinged to the first support member (341), and the other end is hinged to the first sepal (344). The first sepal (344) The second sepal (345) is hinged to the third sepal (346), and torsion springs (349) are provided at the hinge points of the first sepal (344) and the second sepal (345) and the second sepal (345) and the third sepal (346); one end of the third support member (343) is hinged to the first support member (341), and the other end is hinged to the second sepal (345) and the third sepal (346); a suction nozzle (348) is provided on the third sepal (346), and the suction nozzle (348) is connected to an air passage.

2. The automatic processing device for sorting items according to claim 1, characterized in that, The loading platform (1) is provided with a loading tray (3), a delivery port (4) and a waste storage box (5). The loading tray (3) is set on the platform (1) and the outer side of the loading tray (3) is tilted upward. The items move from the loading tray (3) to the delivery port (4) under their own weight. The discarded items in the delivery port (4) are placed into the waste storage box (5) by the grabbing unit.

3. An automatic processing device for sorting items according to claim 1, characterized in that, The conveying unit includes multiple conveying lines (2), each conveying line (2) is configured on the loading platform (1), and the gripping unit places different types of items on the loading platform (1) onto the corresponding conveying line (2).

4. An automatic processing device for sorting items according to claim 1, characterized in that, The loading platform (1) is provided with a support frame (6). The support frame (6) has two first transmission rods (7) arranged in the front-to-back direction and two second transmission rods (8) arranged in the left-to-right direction on its columns. The two ends of each first transmission rod (7) are connected to the first surface of the column through a first support block (9). The two ends of each second transmission rod (8) are connected to the second surface adjacent to the first surface of the column through a second support block (10). The first transmission rod (7) is provided with a synchronous wheel. The two first transmission rods (7) are provided with a synchronous wheel. The synchronous pulleys are connected by a first synchronous belt (11), which is set in the left-right direction; a bearing slider (12) is set on one of the second transmission rods (8), and a motor slider (13) is set on the other second transmission rod (8). The bearing slider (12) and the motor slider (13) are both connected to the first synchronous belt (11); a light rod is set on the bearing slider (12), a synchronous pulley is set on the light rod, a motor is set on the motor slider (13), a synchronous pulley is set on the output shaft of the motor, and a second synchronous belt (14) is sleeved on the two synchronous pulleys.

5. An automatic processing device for sorting items according to claim 4, characterized in that, A central slider (17) is connected to the second synchronous belt (14). A rotating motor is installed on the central slider (17). The bottom of the central slider (17) is provided with an upper inner ring slider, an upper outer ring slider, a bearing, a lower inner ring slider, and a lower outer ring slider arranged coaxially. The upper inner ring slider is connected to the lower inner ring slider, and the upper outer ring slider is connected to the lower outer ring slider. The inner ring of the bearing is transitionally fitted to the upper inner ring slider, and the outer ring of the bearing is transitionally fitted to the upper outer ring slider. The output shaft of the rotating motor is connected to the upper inner ring slider.

6. An automatic processing device for sorting items according to claim 5, characterized in that, The lower inner ring slider is provided with a track platform (21), and the upper and lower ends of the track platform (21) are respectively provided with synchronous wheels. The two synchronous wheels are fitted with a third synchronous belt (22), and the upper synchronous wheel is connected to a first servo motor (23). The track platform (21) is provided with a track (24), and the track (24) is provided with a connecting seat (25). The connecting seat (25) is provided with a sliding block (26) adapted to the track (24).

7. An automatic processing device for sorting items according to claim 1, characterized in that, The gripping unit is connected to the connecting seat (25); the gripping unit includes a second servo motor (31), a gear and a rack (33), the gear is connected to the output shaft of the second servo motor (31), and the rack (33) meshes with the gear; the rack (33) is connected to the guide slider (347), and the second servo motor (31) drives the gear to rotate and drives the guide slider (347) to move through the rack (33).

8. An automatic processing device for sorting items according to claim 1, characterized in that, The platform (1) is equipped with a recognition component including a camera and a controller. The controller is connected to the camera. The camera is used to acquire images of items on the platform (1). The controller is used to classify the images and grab the corresponding items through the grabbing unit.

9. An automatic processing device for sorting items according to claim 1, characterized in that, The first support member (341) includes a straight plate, a curved plate and a tongue plate. The straight plate, the curved plate and the tongue plate are all provided with slots to facilitate the passage of the second support member (342). The upper end of the straight plate is hinged to the guide slider (347), the lower end of the curved plate is hinged to the lower end of the second support member (342), and the tongue plate is hinged to the upper end of the third support plate.

10. An automatic processing device for sorting items according to claim 1, characterized in that, The second support plate includes a vertical plate and arc plates disposed at both ends of the vertical plate. The upper arc plate is hinged to the first sepal (344), and the lower arc plate is hinged to the first support member (341).

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