Logistics conveying 3d sorting device

Abstract

This invention relates to the field of logistics automation technology and discloses a 3D sorting equipment for logistics conveying. It includes two sets of suction cups arranged symmetrically. Each suction cup has several suction holes at its bottom, and blocking grooves equidistantly spaced along its width, communicating with the inner cavity of the suction holes. A pre-judgment component is located between the two sets of suction cups. The top of the pre-judgment component is fixedly connected to a mechanical head. Controllers for driving the suction cups are fixedly connected to both ends of a support frame. Several blocking plates are equidistantly connected to the drive plate along its width, and the blocking plates are slidably connected to the inner wall of the blocking grooves. A drive component for driving the drive plate is fixedly connected to the top of the suction cup. This invention, by setting up two sets of suction cups, a pre-judgment component, a robotic arm, a mechanical head, a support frame, and controllers, allows the pre-judgment component to pre-judge whether two bagged packages overlap or overlap. The two sets of suction cups separate the overlapping bagged packages, and for overlapping bagged packages, they are detached and separated into smaller packages.

Description

Technical Field

[0001] This invention belongs to the field of logistics automation technology, specifically relating to a 3D sorting device for logistics transportation. Background Technology

[0002] With the rapid development of e-commerce and the express delivery industry, logistics sorting centers are placing increasingly higher demands on the processing capacity, space utilization, and material compatibility of sorting equipment. Mainstream automated sorting equipment includes cross-belt sorters, swing wheel sorters, and sliding block sorters. These devices generally work on similar principles: packages are transported to the sorting area via one or more horizontal conveyor lines, where mechanical structures push or guide the packages into the corresponding sorting slots.

[0003] In the existing technology, packages are mainly divided into boxed packages and bagged packages. When these packages are transported through a conveyor line, they tend to aggregate on the conveyor line and are not easy to sort. Therefore, the current method of sorting packages involves using a detector to initially distinguish between boxed packages and bagged packages, which are then separated and diverted to different conveyor belts, and then sorted by humans or robots in different areas.

[0004] After initial sorting, boxed packages, due to their shape (square, regular solid shape), are typically transported one by one on the conveyor line. A robotic arm picks up the boxed packages, scans the barcode on the top of each package, and then sorts them into the corresponding sorting slots, making them easy to separate. However, bagged packages, due to their flexibility, often shift during transport on the conveyor line, resulting in overlap and stacking between adjacent bags. When using suction cup robots to pick up and sort bagged packages, it's easy to pick up two packages simultaneously, and overlapping or stacked bags can cause problems. Mutual obstruction can hinder the detector from scanning the barcode on the top of the package, leading to misjudgments. This can cause two or more overlapping or stacked packages to be sorted into the same sorting slot, or even affect the sorting accuracy of all packages on the conveyor belt in the sorting area (for example, after the packages are inspected by the detector, the control system marks all the packages in sequence, and the robot sorts the marked packages onto the conveyor belt. However, if an incorrect mark is inserted in the middle of the correctly marked package, all subsequent packages on the conveyor line will be sorted incorrectly). Summary of the Invention

[0005] This invention provides a 3D sorting device for logistics transportation, which solves the technical problem in related technologies where suction cups adsorb two bagged packages and sort them into one sorting slot, leading to sorting errors of bagged packages and all subsequent bagged packages on the conveyor line being sorted incorrectly.

[0006] This invention provides a 3D sorting device for logistics transportation, comprising: A first conveying device, with a second conveying device at its input end, a robotic arm on one side of the first conveying device, a scanner mounted on the first conveying device, a robotic head mounted at the output end of the robotic arm, and a support frame mounted at the bottom end of the robotic head. Two sets of slidable suction cups are arranged symmetrically. Several suction holes are opened at the bottom of the suction cups. The suction cups are provided with blocking grooves that communicate with the inner cavity of the suction holes at equal intervals along the width direction. A prediction component is provided between the two sets of suction cups. The top of the prediction component is fixedly connected to the mechanical head. Controllers for driving the suction cups are fixedly connected to both ends of the support frame. The drive board has several blocking plates fixedly connected at equal intervals along its width. The blocking plates are slidably connected to the inner wall of the blocking groove. A drive assembly for driving the drive board is fixedly connected to the top of the suction cup.

[0007] In a preferred embodiment, the drive assembly includes a cylinder and a control seat. The cylinder is fixedly connected to the top of the suction cup, and a drive plate is fixedly connected to the output end of the cylinder. Two sets of control slots are provided at the bottom of the support frame. The two sets of control slots are symmetrically arranged along the axial section of the support frame. The direction of the control slots is consistent with the length direction of the support frame. The control seat is slidably connected to the support frame through the control slots, and the bottom end of the control seat is fixedly connected to the suction cup.

[0008] In a preferred embodiment, a guide tube is fixedly connected to the side of the drive plate near the cylinder. One end of the guide tube passes through the drive plate. A fixed seat is fixedly connected to the upper surface of the suction cup. A guide rail is provided on the side of the fixed seat near the guide tube. One end of the guide rail is fixedly connected to the fixed seat, and the other end of the guide rail extends into the interior of the guide tube and forms a sliding guide engagement with the guide tube. The length direction of the guide rail and the length direction of the guide tube are both consistent with the length direction of the support frame.

[0009] In a preferred embodiment, the prediction component includes a limiting platform, a prediction seat, a limiting post, a transmission seat, a prediction protrusion, a prediction rod, a prediction ball, and a prediction element. The top of the limiting platform is fixedly connected to the mechanical head. The limiting platform is hollow inside. The upper end of the limiting post extends into the limiting platform and is slidably connected to it. The lower end of the limiting post is fixedly connected to the transmission seat. The upper end of the prediction rod is fixedly connected to the transmission seat. The lower end of the prediction rod is fixedly connected to the prediction ball. A prediction groove is formed inside the prediction seat, and the prediction ball is located in the prediction groove. The predictor ball is connected to the predictor seat via a predictor groove, forming a ball-hinged engagement. A receiving groove is provided at the bottom of the predictor groove, and a spring is provided inside the receiving groove. The predictor protrusion is located at the top opening of the receiving groove and forms a sliding guide engagement with the receiving groove. The upper end of the spring is fixedly connected to the predictor protrusion, and the lower end is fixedly connected to the groove wall of the receiving groove. A groove corresponding to the receiving groove is provided at the bottom of the predictor ball, and a first predictor is provided at the top of the groove. The top of the predictor protrusion extends into the groove and forms a limiting abutment engagement with the groove.

[0010] In a preferred embodiment, a force-measuring spring is provided inside the limiting platform. The top end of the force-measuring spring is fixedly connected to the limiting platform, and a force-measuring seat is fixedly connected to the bottom end of the force-measuring spring. A second pre-judgment element is provided between the force-measuring spring and the force-measuring seat, and the force-measuring seat is slidably connected to the inner wall of the limiting platform.

[0011] In a preferred embodiment, two sets of limiting heads are fixedly connected to the two side walls of the limiting column, and the two sets of limiting heads are symmetrically arranged along the axial section of the limiting column. Two sets of limiting grooves are opened on the inner wall of the limiting platform along its own height direction. The limiting heads are located inside the limiting grooves, and the inner wall of the limiting grooves is slidably connected to the limiting heads.

[0012] In a preferred embodiment, the first conveying device includes a layered frame, a first conveying mechanism, and a second conveying mechanism. Both the first and second conveying mechanisms are fixed to the layered frame and are arranged sequentially along the height direction of the layered frame. A connecting frame is fixedly connected to the top of the layered frame, and the scanner is fixedly connected to the upper end of the connecting frame.

[0013] In a preferred embodiment, a return plate is fixedly connected to one side of the layered rack near the robotic arm. The return plate has an arc-shaped cross-section, and a flexible pad is fixedly connected to the inner wall of the return plate.

[0014] In a preferred embodiment, the second conveying device includes a third conveying mechanism and a detector, wherein the third conveying mechanism is disposed on one side of the first conveying device and the detector is mounted on the third conveying mechanism.

[0015] In a preferred embodiment, a fourth conveying mechanism is provided between the third conveying mechanism and the layered rack, and a lifting mechanism is provided at the bottom of the fourth conveying mechanism.

[0016] The beneficial effects of this invention are as follows: 1. In this invention, the pre-judgment component first contacts the bagged package. The pre-judgment component can determine whether the bagged package is in a single state or two bagged packages overlapping or stacked. When the pre-judgment component determines that the bagged package is in a single state, the support frame continues to move towards the bagged package with two sets of suction cups. The two sets of suction cups adsorb the bagged package and then correctly sort the bagged package into the sorting slot.

[0017] 2. In this invention, after two sets of suction cups adsorb two overlapping bag packages, the support frame first moves vertically upward with the two sets of suction cups. Then, the controller controls the suction cups to slide along the bottom wall of the support frame. This invention is equipped with two sets of controllers, each set of controllers controls one set of suction cups to slide. The two sets of suction cups adsorb the two overlapping bag packages and move them to the left and right directions, and the two sets of suction cups separate the two overlapping bag packages.

[0018] 3. In this invention, two sets of suction cups adhere to both sides of a large bag package through suction holes. When the suction holes of one set of suction cups are completely blocked by a baffle plate, the suction cups fail to adhere to the large bag package. Due to the lack of suction from the suction cups, the large bag package will fall off due to its own weight. Meanwhile, the small bag package, lacking the support of the large bag package, will fall off from the large bag package and then fall onto the first conveying device. The suction cups then sort the large bag package into the sorting slot. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the robotic arm structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the overall structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the recirculation plate structure of the present invention.

[0022] Figure 4 This is a schematic diagram of the robotic arm structure of the present invention.

[0023] Figure 5 This is a schematic diagram of the mechanical head structure of the present invention.

[0024] Figure 6 This is a schematic diagram of the support frame structure of the present invention.

[0025] Figure 7 This is a top view of the support frame structure of the present invention.

[0026] Figure 8 For the present invention Figure 6 A cross-sectional view of the support frame structure.

[0027] Figure 9For the present invention Figure 6 BB sectional view of the support frame structure.

[0028] Figure 10 This is a schematic diagram of the suction cup structure of the present invention.

[0029] Figure 11 This is a front view of the predictive component structure of the present invention.

[0030] Figure 12 For the present invention Figure 10 CC cross-sectional view of the predicted component structure.

[0031] Figure 13 This is a schematic diagram of the limiting post structure of the present invention.

[0032] In the diagram: 11. Third conveying mechanism; 12. Detector; 13. Fourth conveying mechanism; 14. Lifting mechanism; 15. Transfer frame; 21. Layered frame; 22. First conveying mechanism; 23. Second conveying mechanism; 24. Return plate; 27. Connecting frame; 28. Scanner; 29. ​​Flexible pad; 31. Robotic arm; 32. Robotic head; 33. Support frame; 34. Support column; 35. Controller; 36. Control slot; 37. Control base; 41. Suction cup; 42. Suction hole; 43. Blocking groove; 51. Limiting platform; 52. Predictive seat; 531. Limiting post; 532. Limiting head; 533. Limiting groove; 54. Transmission seat; 55. Predictive protrusion; 56. Predictive rod; 57. Predictive ball; 58. Predictive groove; 591. Force measuring seat; 592. Force measuring spring; 61. Cylinder; 62. Fixed seat; 63. Blocking plate; 64. Drive plate; 65. Guide tube; 66. Guide rail. Detailed Implementation

[0033] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0034] Refer to the instruction manual appendix Figures 1-13 The aim is to solve the technical problem in the existing technology where suction cups adsorb two bagged packages and sort them into one sorting slot, leading to sorting errors of bagged packages and all subsequent bagged packages on the conveyor line being sorted incorrectly.

[0035] This invention provides a 3D sorting equipment for logistics transportation, comprising: a first conveying device, suction cups 41, and a drive plate 64. A second conveying device is provided at the input end of the first conveying device. A robotic arm 31 is provided on one side of the first conveying device. A scanner 28 is mounted on the first conveying device. A robotic head 32 is mounted at the output end of the robotic arm 31. A support frame 33 is mounted at the bottom end of the robotic head 32. Two sets of suction cups 41 are symmetrically arranged. Several suction holes 42 are opened at the bottom of each suction cup 41. Obstruction grooves 43, communicating with the inner cavity of the suction holes 42, are equidistantly opened along the width direction inside each suction cup 41. A pre-judgment component is provided between the two sets of suction cups 41. The top end of the pre-judgment component is fixedly connected to the robotic head 32. Controllers 35 for driving the suction cups 41 are fixedly connected to both ends of the support frame 33. Several obstruction plates 63 are fixedly connected equidistantly along the width direction of the drive plate 64. The obstruction plates 63 are slidably connected to the inner wall of the obstruction grooves 43. A drive component for driving the drive plate 64 is fixedly connected to the top end of each suction cup 41.

[0036] Boxed packages and bagged packages are separated by a second conveyor. The separated boxes and bags are then transported by a first conveyor. When a bagged package is transported to the robotic arm 31, the robotic arm 31 controls the robotic head 32 to move. The robotic head 32, via a support column 34 and a support frame 33, moves to the top of the bagged package. Simultaneously, the robotic head 32 moves with a pre-judgment component. Then, the robotic head 32 moves vertically downwards towards the bagged package. The pre-judgment component first contacts the bagged package, determining whether it is a single package or two packages overlapping or stacked. When the pre-judgment component determines it is a single package, the support frame 33, carrying two sets of suction cups 41, continues to move towards the bagged package. The two sets of suction cups 41 adhere to the bagged package, correctly sorting it into the sorting slot.

[0037] When the predictive component detects that two bags are overlapping, the support frame 33, carrying two sets of suction cups 41, adsorbs the two overlapping bags. For the two overlapping bags, the bag on top will fully contact the suction cup 41, while the other bag, obstructed by the bag on top, cannot fully contact the other set of suction cups 41. Therefore, after the two sets of suction cups 41 adsorb the two overlapping bags, the support frame 33 first moves vertically upwards with the two sets of suction cups 41. Then, the controller 35 controls the suction cups 41 to slide along the bottom wall of the support frame 33. This invention uses two sets of controllers 35, each controlling one set of suction cups 41 to slide. The two sets of suction cups 41 adsorb the two overlapping bags... Moving in both left and right directions, the two sets of suction cups 41 separate the two overlapping bag packages. Then, the two sets of suction cups 41 move the two separated bag packages to the scanner 28. The scanner 28 scans the barcodes on the two bag packages. If the two bag packages belong to the same region, the two sets of suction cups 41 sort the two bag packages into the sorting slot. If only one of the two bag packages matches the sorting slot for a specific region, the suction cup 41 sorts the corresponding bag package into the sorting slot, while the other suction cup 41 keeps adsorbing the incorrect bag package. When the suction cup 41 moves to the top of the first conveyor, the incorrect bag package is then placed on the first conveyor to avoid incorrectly assigning the bag package to the sorting slot, which would affect the normal sorting of subsequent bag packages.

[0038] When the predictive component contacts the package and determines that two packages are overlapping, the overlapping packages are classified into two types: In the first scenario, a smaller package is located at the bottom of a larger package. The smaller package will block the barcode affixed to the bottom of the larger package. When the suction cup 41 performs adsorption, it is based on the detection instrument of the first conveying device judging the barcode affixed to the smaller package. Therefore, in this invention, when the two sets of suction cups 41 perform adsorption, they will only adsorb the larger package. The two sets of suction cups 41 move the package to the scanner 28 to scan the barcode to determine if it matches the region. If the package belongs to the correct region, the two sets of suction cups 41 directly sort the package, and then reset to directly sort the smaller package.

[0039] In the second scenario, a smaller package is positioned on top of a larger package. When the two sets of suction cups 41 adhere to the larger package, the larger package carries the smaller package along with it. Therefore, in this invention, when the two sets of suction cups 41 move vertically upwards while adsorbing the larger package, causing it to detach from the first conveying device, the support frame 33 stops moving along with the two sets of suction cups 41. At this time, the drive assembly on one set of suction cups 41 operates, pulling the drive plate 64. The drive plate 64, carrying the blocking plate 63, slides along the inner wall of the blocking groove 43. As the blocking plate 63 gradually retracts into the blocking groove 43... The baffle plate 63 gradually blocks the suction hole 42. In this invention, two sets of suction cups 41 adsorb the large bag package on both sides through the suction hole 42. When the suction hole 42 of one set of suction cups 41 is completely blocked by the baffle plate 63, the suction of the large bag package by one set of suction cups 41 fails. Due to the lack of adsorption by one set of suction cups 41, the large bag package will fall off due to its own weight. The small bag package lacks the support of the large bag package and falls off from the large bag package and then falls onto the first conveying device. The suction cups 41 sort the large bag package into the sorting slot.

[0040] It should be noted that when the bagged package is conveyed by the first conveying device, a barcode has already been affixed to the surface of the package. When the side of the package with the barcode affixed is placed vertically upwards, the flexible and uneven surface of the package will cause the barcode to be uneven, which will affect the normal scanning of the barcode by the detector. Therefore, in this invention, the side of the package with the barcode affixed is in contact with the first conveying device, that is, the side of the package with the barcode affixed is placed vertically downwards. The first conveying device limits the position of the barcode affixed to the package, so that the barcode affixed to the package is in a flat state, which facilitates the detector to scan the barcode affixed to the package.

[0041] The movement of the two sets of suction cups 41 carrying the bagged packages is supported by the robotic arm 31, the robotic head 32, the support frame 33, and the support column 34. The bagged packages are transported by the second conveying mechanism 23, which is always running. When the robotic arm 31 controls the robotic head 32 to move, the robotic head 32 moves at the same speed as the bagged packages in the horizontal direction. The second conveying mechanism 23 can be a belt conveyor.

[0042] It should be further explained that the support frame 33 has two sets of control grooves 36 at the bottom. The two sets of control grooves 36 are symmetrically arranged along the axial section of the support frame 33. A control seat 37 is slidably connected to the inner wall of the control groove 36. The bottom end of the control seat 37 is fixedly connected to the suction cup 41. When the controller 35 drives the suction cup 41 to slide along the bottom wall of the support frame 33, the suction cup 41 carries the control seat 37 to slide along the control groove 36. The control seat 37 provides a limiting support for the suction cup 41 by resisting the inner wall of the control groove 36.

[0043] Further explanation is needed, such as Figure 6 and Figure 7 As shown, the drive assembly includes a cylinder 61 and a control base 37. The cylinder 61 is fixedly connected to the top of the suction cup 41. The output end of the cylinder 61 is fixedly connected to a drive plate 64. The bottom of the support frame 33 has two sets of control slots 36, which are symmetrically arranged along the axial section of the support frame 33. The slot direction of the control slots 36 is consistent with the length direction of the support frame 33. The control base 37 is slidably connected to the support frame 33 through the control slots 36. The bottom end of the control base 37 is fixedly connected to the suction cup 41. A guide tube 65 is fixedly connected to the side of the drive plate 64 near the cylinder 61. One end of the guide tube 65 passes through the drive plate 64. A fixed seat 62 is fixedly connected to the upper surface of the suction cup 41. A guide rail 66 is provided on the side of the fixed seat 62 near the guide tube 65. One end of the guide rail 66 is fixedly connected to the fixed seat 62, and the other end of the guide rail 66 extends into the guide tube 65 and forms a sliding guide engagement with the guide tube 65. The length direction of the guide rail 66 and the length direction of the guide tube 65 are consistent with the length direction of the support frame 33.

[0044] When the baffle plate 63 needs to retract into the inner cavity of the baffle groove 43 to block the suction hole 42, the cylinder 61 operates. The output end of the cylinder 61 drives the baffle plate 63 to move. The baffle plate 63 slides along the inner wall of the baffle groove 43. At the same time, the drive plate 64 drives the guide tube 65 to slide along the outer wall of the guide rail 66. Since the drive plate 64 is moved by the pulling force of the output end of the cylinder 61, the force on the drive plate 64 is uneven. The guide rail 66 of the present invention provides a limiting and guiding function for the other end of the drive plate 64, so that the force on both ends of the drive plate 64 is symmetrical and uniform, and thus the drive plate 64 has stability when moving with the baffle plate 63.

[0045] In optional embodiments, such as Figure 5 , Figure 11 , Figure 12 and Figure 13As shown, the prediction component includes a limiting platform 51, a prediction seat 52, a limiting post 531, a transmission seat 54, a prediction protrusion 55, a prediction rod 56, a prediction ball 57, and a prediction element. The top of the limiting platform 51 is fixedly connected to the mechanical head 32. The limiting platform 51 is hollow inside. The upper end of the limiting post 531 extends into the limiting platform 51 and is slidably connected to the limiting platform 51. The lower end of the limiting post 531 is fixedly connected to the transmission seat 54. The upper end of the prediction rod 56 is fixedly connected to the transmission seat 54, and the lower end of the prediction rod 56 is fixedly connected to the prediction ball 57. A prediction groove 58 is opened inside the prediction seat 52. The judging ball 57 is located inside the judging groove 58. The judging ball 57 and the judging seat 52 are connected by a ball joint through the judging groove 58. The bottom of the judging groove 58 is provided with a receiving groove. A spring is provided inside the receiving groove. The judging protrusion 55 is located at the top opening of the receiving groove and is connected to the receiving groove in a sliding guide manner. The upper end of the spring is fixedly connected to the judging protrusion 55 and the lower end is fixedly connected to the groove wall of the receiving groove. The bottom of the judging ball 57 is provided with a groove corresponding to the receiving groove. The top of the groove is provided with a first judging element. The top of the judging protrusion 55 extends into the groove and is connected to the groove in a limiting and abutting manner.

[0046] In this invention, when the suction cup 41 adsorbs the bagged package, it is necessary to determine in advance whether the bagged package is in a single state or two bagged packages overlapping or merging. Therefore, in this invention, when the suction cup 41 adsorbs the bagged package, the state of the bagged package is determined in advance by a prediction component. When the mechanical head 32 moves with the suction cup 41 to the top of the bagged package, the horizontal height of the bottom end of the prediction seat 52 is lower than the horizontal height of the bottom end of the suction cup 41. When the mechanical head 32 moves towards the bagged package, the prediction seat 52 first contacts the bagged package. At this time, the mechanical head 32 continues to move downward with the suction cup 41, and the prediction seat 52 is supported by the bagged package. The prediction seat 52 moves upward relative to the mechanical head 32, and the prediction seat 52 passes through the prediction groove 5. The inner wall of the 8th and the prediction ball 57 abut against each other, causing the prediction rod 56 to move upward. The prediction rod 56 slides upward along the inner wall of the limiting platform 51 through the transfer seat 54, causing the limiting post 531 to slide upward. When the suction cup 41 adsorbs the bagged package, the prediction seat 52 stops moving relative to the mechanical head 32. The inner wall of the limiting platform 51 abuts against the limiting post 531 to provide a limiting function for the transfer seat 54. The transfer seat 54 provides a limiting function for the prediction ball 57 through the prediction rod 56. When the prediction seat 52 stops moving, the prediction seat 52 does not change in the horizontal direction. The limiting post 531 and the force measuring seat 591 are in contact and abut against each other. The elastic force of the force measuring seat 591 from the force measuring spring 592 is within the set range, indicating that the bagged package is in a single state.

[0047] When the pre-judgment seat 52 comes into contact with the bagged package, the pre-judgment seat 52 begins to move upward relative to the mechanical head 32. At this time, the pre-judgment seat 52 is offset and rotated in the horizontal direction, and the pre-judgment ball 57, along with the pre-judgment protrusion 55, is offset and rotated relative to the pre-judgment seat 52. At this time, the inner wall of the pre-judgment groove 58 opened in the pre-judgment seat 52 moves along the pre-judgment ball 57. At this time, the contact between the first pre-judgment component and the pre-judgment protrusion 55 fails. At this time, the pre-judgment protrusion 55 loses the abutting contact of the first pre-judgment component. The pre-judgment protrusion 55 transmits the detected signal to the control system. The control system transmits the signal to the operating mechanism of the suction cup 41, and it can be known that two bagged packages are overlapped together.

[0048] Specifically, the limiting platform 51 is equipped with a force measuring spring 592. The top end of the force measuring spring 592 is fixedly connected to the limiting platform 51, and the bottom end of the force measuring spring 592 is fixedly connected to a force measuring seat 591. A second pre-judgment element is provided between the force measuring spring 592 and the force measuring seat 591. The force measuring seat 591 is slidably connected to the inner wall of the limiting platform 51.

[0049] When the pre-judgment seat 52 comes into contact with the packaged item, the pre-judgment seat 52 begins to move upward relative to the mechanical head 32. At this time, the pre-judgment seat 52 does not change in the horizontal direction. When the suction cup 41 adsorbs the packaged item, if two packages are overlapping, the two overlapping packages will bulge in the center. The distance that the pre-judgment seat 52 moves upward relative to the mechanical head 32 exceeds the distance of a single package. The pre-judgment seat 52 drives the limiting post 531 to move upward beyond the distance of a single package through the pre-judgment ball 57, the pre-judgment rod 56 and the transfer seat 54. The limiting post 531 increases the distance between itself and the force measuring seat 591 against the compression force measuring spring 592. This causes the second pre-judgment component installed on the force measuring seat 591 to detect that the elastic force of the force measuring spring 592 exceeds the set range, thus indicating that two packages are overlapping.

[0050] To further clarify, two sets of limiting heads 532 are fixedly connected to the two side walls of the limiting post 531, and the two sets of limiting heads 532 are symmetrically arranged along the axial section of the limiting post 531. The inner wall of the limiting platform 51 has two sets of limiting grooves 533 along its own height direction. The limiting heads 532 are located inside the limiting grooves 533, and the inner wall of the limiting grooves 533 is slidably connected to the limiting heads 532. When the pre-judgment seat 52 and the bagged package are not in contact, the pre-judgment seat 52 is subjected to its own weight. The present invention generates a limiting effect by the limiting heads 532 and the bottom wall of the limiting grooves 533. This effect is transmitted to the pre-judgment seat 52 in sequence through the limiting post 531, the transfer seat 54, the pre-judgment rod 56, and the pre-judgment ball 57, thus preventing the pre-judgment seat 52 from falling off the bottom of the limiting platform 51.

[0051] In optional embodiments, such as Figure 1 and Figure 2As shown, the first conveying device includes a layering frame 21, a first conveying mechanism 22, and a second conveying mechanism 23. Both the first and second conveying mechanisms 22 and 23 are fixed to the layering frame 21 and are arranged sequentially along the height of the layering frame 21. The bottom end of a connecting frame 27 is fixedly connected to the layering frame 21, and the scanner 28 is fixedly connected to the upper end of the connecting frame 27. The second conveying mechanism 23 can be a plate chain conveyor, a belt conveyor, etc., which is existing technology and will not be described in detail. The connecting frame 27 is arranged vertically, and the first and second conveying mechanisms 22 and 23 are parallel to each other. A return plate 24 is fixedly connected to one side of the layering frame 21 near the robotic arm 31. The return plate 24 has an arc-shaped cross-section, and a flexible pad 29 is fixedly connected to the inner wall of the return plate 24.

[0052] Boxed packages and bagged packages are separated by a second conveyor. Boxed packages are conveyed at the first conveyor 22 and can be sorted using existing sorting devices. Bagged packages are conveyed at the second conveyor 23. The first conveyor 22 and the second conveyor 23 are installed vertically via a layered frame 21. Compared to the horizontal arrangement of the first conveyor 22 and the second conveyor 23, this reduces the area used on the horizontal plane and increases the use of space. The first conveyor 22 and the second conveyor 23 can be existing belt conveyors.

[0053] When the two sets of suction cups 41 sort overlapping bagged packages, the suction cups 41 carry the bagged packages through the scanner 28 for barcode scanning. If the scanner in front of the second conveyor 23 does not detect the bagged package and the bagged package does not meet the sorting grid area, the suction cups 41 place the bagged package at the return plate 24 to prevent the bagged package from being placed back on the second conveyor 23 and affecting the subsequent sorting of bagged packages.

[0054] When the suction cup 41 places the bagged package on the return plate 24, the return plate 24 in the prior art is generally set at an angle. When the bagged package falls onto the surface of the return plate 24, there is an angle difference. Since the bagged package is flexible, it will bend when it falls onto the surface of the return plate 24. When the bagged package bends and slides along the surface of the return plate 24, it may be damaged. In order to avoid the bagged package bending, the shape of the return plate 24 of the present invention can reduce the angle difference between the return plate 24 and the bagged package. When the bagged package falls onto the surface of the return plate 24, it will stick to the surface of the return plate 24 due to its own flexibility, thus avoiding the bending of the bagged package and thus avoiding damage to the bagged package. In addition, the flexible pad 29 fixed on the inner wall of the return plate 24 of the present invention has a flexible surface, and the flexible pad 29 protects the bagged package.

[0055] It should be noted that the second conveying device includes a third conveying mechanism 11 and a detector 12. The third conveying mechanism 11 is located on one side of the first conveying device, and the detector 12 is installed on the third conveying mechanism 11. A fourth conveying mechanism 13 is provided between the third conveying mechanism 11 and the layered frame 21. A lifting mechanism 14 is provided at the bottom of the fourth conveying mechanism 13. The lifting mechanism 14 can be a vertical lift.

[0056] When boxed packages and bagged packages need to be placed together for conveying, they are first placed on the third conveyor 11 in sequence. The boxed packages and bagged packages are detected by the detector 12, which distinguishes between boxed packages and bagged packages. Then the packages are moved to the fourth conveyor 13. If they are boxed packages, they are directly conveyed to the layer rack 21 via the fourth conveyor 13. If they are bagged packages, the lifting mechanism 14 drives the transfer rack 15 to move vertically upward. The bagged packages on the fourth conveyor 13 are moved to the second conveyor 23. Then, the lifting mechanism 14 drives the transfer rack 15 to reset. It should be noted that the third conveyor 11 and the fourth conveyor 13 can be existing belt conveyors.

[0057] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A 3D sorting equipment for logistics transportation, characterized in that, include: A first conveying device is provided at the input end of the first conveying device, a second conveying device is provided at one side of the first conveying device, a robotic arm (31) is provided on one side of the first conveying device, a scanner (28) is installed on the first conveying device, a robotic head (32) is installed at the output end of the robotic arm (31), and a support frame (33) is installed at the bottom end of the robotic head (32). Two sets of slidable suction cups (41) are arranged symmetrically. Several suction holes (42) are opened at the bottom of the suction cups (41). The suction cups (41) are provided with blocking grooves (43) that communicate with the inner cavity of the suction holes (42) at equal intervals along the width direction. A prediction component is provided between the two sets of suction cups (41). The top of the prediction component is fixedly connected to the mechanical head (32). The two ends of the support frame (33) are respectively fixedly connected to the controller (35) for driving the suction cups (41). A drive plate (64) is fixedly connected with a plurality of blocking plates (63) at equal intervals along the width direction. The blocking plates (63) are slidably connected to the inner wall of the blocking groove (43). The top of the suction cup (41) is fixedly connected with a drive assembly for driving the drive plate (64).

2. The 3D sorting equipment for logistics conveying according to claim 1, characterized in that, The drive assembly includes a cylinder (61) and a control seat (37). The cylinder (61) is fixedly connected to the top of the suction cup (41). The output end of the cylinder (61) is fixedly connected to a drive plate (64). The bottom of the support frame (33) is provided with two sets of control slots (36). The two sets of control slots (36) are symmetrically arranged along the axial section of the support frame (33). The slot direction of the control slot is consistent with the length direction of the support frame (33). The control seat (37) is slidably connected to the support frame (33) through the control slots (36). The bottom end of the control seat (37) is fixedly connected to the suction cup (41).

3. The 3D sorting equipment for logistics conveying according to claim 2, characterized in that, A guide tube (65) is fixedly connected to one side of the drive plate (64) near the cylinder (61). One end of the guide tube (65) passes through the drive plate (64). A fixed seat (62) is fixedly connected to the upper surface of the suction cup (41). A guide rail (66) is provided on one side of the fixed seat (62) near the guide tube (65). One end of the guide rail (66) is fixedly connected to the fixed seat (62). The other end of the guide rail (66) extends into the guide tube (65) and forms a sliding guide engagement with the guide tube (65). The length direction of the guide rail (66) and the length direction of the guide tube (65) are both consistent with the length direction of the support frame (33).

4. The 3D sorting equipment for logistics conveying according to claim 1, characterized in that, The prediction component includes a limiting platform (51), a prediction seat (52), a limiting post (531), a transmission seat (54), a prediction protrusion (55), a prediction rod (56), a prediction ball (57), and a prediction element. The top of the limiting platform (51) is fixedly connected to the mechanical head (32). The limiting platform (51) is hollow inside. The upper end of the limiting post (531) extends into the limiting platform (51) and is slidably connected to the limiting platform (51). The lower end of the limiting post (531) is fixedly connected to the transmission seat (54). The upper end of the prediction rod (56) is fixedly connected to the transmission seat (54). The lower end of the prediction rod (56) is fixedly connected to the prediction ball (57). The interior of the prediction seat (52) is hollow. A prediction groove (58) is provided, and a prediction ball (57) is located inside the prediction groove (58). The prediction ball (57) is connected to the prediction seat (52) through the prediction groove (58) to form a ball hinge. A receiving groove is provided at the bottom of the prediction groove (58). A spring is provided inside the receiving groove. A prediction protrusion (55) is located at the top opening of the receiving groove and forms a sliding guide fit with the receiving groove. The upper end of the spring is fixedly connected to the prediction protrusion (55), and the lower end is fixedly connected to the groove wall of the receiving groove. A groove corresponding to the receiving groove is provided at the bottom of the prediction ball (57). A first prediction element is provided at the top of the groove. The top of the prediction protrusion (55) extends into the groove and forms a limiting contact fit with the groove.

5. A 3D sorting equipment for logistics conveying according to claim 4, characterized in that, The limiting platform (51) is equipped with a force measuring spring (592) inside. The top end of the force measuring spring (592) is fixedly connected to the limiting platform (51), and the bottom end of the force measuring spring (592) is fixedly connected to a force measuring seat (591). A second pre-judgment element is provided between the force measuring spring (592) and the force measuring seat (591). The force measuring seat (591) is slidably connected to the inner wall of the limiting platform (51).

6. A 3D sorting equipment for logistics conveying according to claim 4, characterized in that, Two sets of limiting heads (532) are fixedly connected to the two side walls of the limiting post (531). The two sets of limiting heads (532) are symmetrically arranged along the axial section of the limiting post (531). The inner wall of the limiting platform (51) is provided with two sets of limiting grooves (533) along its own height direction. The limiting head (532) is located inside the limiting groove (533). The inner wall of the limiting groove (533) is slidably connected to the limiting head (532).

7. A 3D sorting equipment for logistics conveying according to claim 1, characterized in that, The first conveying device includes a layered frame (21), a first conveying mechanism (22), and a second conveying mechanism (23). The first conveying mechanism (22) and the second conveying mechanism (23) are both fixed on the layered frame (21), and the first conveying mechanism (22) and the second conveying mechanism (23) are arranged sequentially along the height direction of the layered frame (21). A connecting frame (27) is fixedly connected to the top of the layered frame (21), and the scanner (28) is fixedly connected to the upper end of the connecting frame (27).

8. A 3D sorting equipment for logistics conveying according to claim 7, characterized in that, The layered rack (21) is fixedly connected to a reflux plate (24) on one side near the robotic arm (31). The reflux plate (24) has a circular arc cross-section and a flexible pad (29) is fixedly connected to the inner wall of the reflux plate (24).

9. A 3D sorting equipment for logistics conveying according to claim 1, characterized in that, The second conveying device includes a third conveying mechanism (11) and a detector (12). The third conveying mechanism (11) is located on one side of the first conveying device, and the detector (12) is mounted on the third conveying mechanism (11).

10. A 3D sorting equipment for logistics conveying according to claim 9, characterized in that, A fourth conveying mechanism (13) is provided between the third conveying mechanism (11) and the layered frame (21), and a lifting mechanism is provided at the bottom of the fourth conveying mechanism (13).

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