Sorting device and warehouse distribution system
Patent Information
- Application Number
- CN202510294321.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-12
- Publication Date
- 2026-09-22
AI Technical Summary
然而，人工将物料放置到弹夹的预设装载位置的效率低下，且错误率较高
Smart Images
Figure CN122789086A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of warehouse management technology, specifically to a sorting device and a warehouse allocation system. Background Technology
[0002] Currently, materials output from storage or processing equipment are typically placed manually into the preset loading positions of the magazine. However, manually placing materials into the preset loading positions of the magazine is inefficient and has a high error rate. Summary of the Invention
[0003] In view of the above, it is necessary to propose a sorting device and a warehouse allocation system to improve the efficiency and accuracy of placing materials into the preset loading positions of the magazine.
[0004] This application provides a sorting device, including a positioning mechanism and a gripping mechanism. The positioning mechanism includes a positioning component, a moving drive component, and a guide. The positioning component has a bearing position for positioning a magazine at the bearing position. The moving drive component is disposed on the positioning component and located on one side of the bearing position. The guide is drivenly connected to the moving drive component and has a guide groove extending toward the positioning component. The moving drive component drives the guide to move above a preset loading position of the magazine. The gripping mechanism is disposed on one side of the positioning component and is used to grip material and move the material into the guide groove, so that the material falls into the preset loading position of the magazine under the guidance of the guide groove.
[0005] The sorting device in this embodiment of the application sets a positioning component to position the magazine, a gripping mechanism to grip the material, and a moving drive component to drive the guide to move above the preset loading position of the magazine. This allows the gripping mechanism to grip the material and guide it into the preset loading position of the magazine under the guidance of the guide channel. This achieves the operation of automatically placing the material into the preset loading position of the magazine, improving the efficiency and accuracy of placing the material into the preset loading position of the magazine.
[0006] In some embodiments, the positioning component includes a positioning seat, a first limiting member, a second limiting member, a first pressing member, and a second pressing member; the positioning seat is disposed on one side of the gripping mechanism, and the bearing position and the moving drive component are both disposed on the positioning seat; the first limiting member is disposed on the positioning seat and located on one side of the bearing position in a first direction, and is used to abut and limit the magazine in the first direction; the second limiting member is disposed on the positioning seat and located on one side of the bearing position in a second direction, and is used to abut and limit the magazine in the second direction, wherein the second direction is perpendicular to the first direction; the first pressing member is disposed on the positioning seat and is disposed opposite to the first limiting member along the first direction, and is used to press the magazine against the first limiting member along the first direction; the second pressing member is disposed on the positioning seat and is disposed opposite to the second limiting member along the second direction, and is used to press the magazine against the second limiting member along the second direction.
[0007] In some embodiments, the sorting device further includes a temporary storage mechanism disposed on one side of the positioning component and the gripping mechanism. The temporary storage mechanism is used to temporarily store the magazine to be loaded and the magazine after loading. The gripping mechanism is also used to grip the magazine to be loaded from the temporary storage mechanism and move the magazine to be loaded to the bearing position, and to grip the magazine after loading from the bearing position and move the magazine after loading to the temporary storage mechanism.
[0008] In some embodiments, the gripping mechanism includes a robotic arm, a first gripping component, and a second gripping component; the robotic arm is disposed between the positioning component and the temporary storage mechanism; the first gripping component is detachably connected to the robotic arm and is used to grip the material under the drive of the robotic arm and move the material into the guide slot; the second gripping component is detachably connected to the robotic arm and is used to grip the magazine to be loaded from the temporary storage mechanism under the drive of the robotic arm and move the magazine to be loaded to the bearing position, and to grip the loaded magazine from the bearing position under the drive of the robotic arm and move the loaded magazine to the temporary storage mechanism.
[0009] In some embodiments, the gripping mechanism further includes a clamping member, a first quick-change disc, and a second quick-change disc; the clamping member is connected to the robotic arm; the first quick-change disc is connected to the first gripping assembly, and the robotic arm clamps or releases the first quick-change disc via the clamping member, so that the robotic arm and the first gripping assembly are detachably connected; the second quick-change disc is connected to the second gripping assembly, and the robotic arm clamps or releases the second quick-change disc via the clamping member, so that the robotic arm and the second gripping assembly are detachably connected.
[0010] In some embodiments, the first gripping assembly includes a fixed gripping arm, a gripping drive, and a movable gripping arm; the first quick-change disc is connected to one end of the fixed gripping arm; the gripping drive is disposed on the fixed gripping arm; the movable gripping arm is drivenly connected to the gripping drive and is used to move closer to or further away from the fixed gripping arm under the drive of the gripping drive to grip or release the material.
[0011] In some embodiments, the second gripping component includes a connector and a plurality of lifting members; the second quick-change disc is connected to one side of the connector; the plurality of lifting members are spaced apart from the connector and extend toward the connector in a direction away from the second quick-change disc, and the plurality of lifting members are used to lift the magazine.
[0012] In some embodiments, the temporary storage mechanism includes a support frame, a lifting drive, and multiple temporary storage components; the support frame is disposed on one side of the positioning component and the gripping mechanism; the lifting drive is disposed on the support frame; the multiple temporary storage components are arranged vertically at intervals and are drivenly connected to the lifting drive, and each of the temporary storage components is used to carry the magazine to be loaded or the magazine after loading.
[0013] In some embodiments, each of the temporary storage components includes a temporary storage rack, a sliding drive unit, and a transfer unit; the temporary storage rack is driven to be connected to the lifting drive component and is used to carry the magazine to be loaded or the magazine after loading; the sliding drive unit is disposed on the temporary storage rack; the transfer unit is slidably disposed on the temporary storage rack in a direction perpendicular to the lifting direction of the temporary storage rack and is driven to be connected to the sliding drive unit, and is used to move the magazine to be loaded or the magazine after loading into or out of the temporary storage rack under the drive of the sliding drive unit.
[0014] In some embodiments, the transfer unit includes a sliding seat, a guide, a toggle member, a pressing drive member, a pressing member, and a reset elastic member; the sliding seat is slidably disposed on the temporary storage rack in a direction perpendicular to the lifting direction of the temporary storage rack and is drivenly connected to the sliding drive unit; the guide member is disposed on the sliding seat; the toggle member is slidably inserted into the guide member in the lifting direction of the temporary storage rack, and one end of the toggle member inserted into the guide member has a first pressing slope; the pressing drive member is disposed on the sliding seat and located on one side of the guide member; the pressing member is drivenly connected to the pressing drive member and slidably inserted into the guide member. The actuating member is provided with a second extrusion slope that is directly opposite to the first extrusion slope at one end of the end of the extrusion member inserted into the guide member. The extrusion member is used to extrude the first extrusion slope through the second extrusion slope under the drive of the extrusion drive member, so that the actuating member is raised and inserted into the spring clip to be loaded or the spring clip after loading. A reset elastic member is provided inside the guide member, and the two ends of the reset elastic member are respectively connected to the guide member and the actuating member. The reset elastic member is used to drive the actuating member back to its original position when the extrusion member moves away from the guide member.
[0015] This application also provides a warehousing and distribution system, including a storage device and a sorting device; the storage device is used to store materials; the sorting device is located adjacent to one end of the storage device, and the gripping mechanism is used to grip the materials from the storage device and move the materials into the guide channel.
[0016] The warehousing and distribution system of this application improves the efficiency and accuracy of placing materials into the preset loading position of the magazine by setting up a sorting device. By setting up a storage device, it improves the efficiency and accuracy of inventory management and material supply to the sorting device. Thus, the warehousing and distribution system of this application improves the efficiency and accuracy of material allocation.
[0017] In some embodiments, the storage device includes a storage cabinet, a loading mechanism, a picking and placing mechanism, and a conveying mechanism; the storage cabinet has a loading end, a unloading end, and multiple storage positions for storing the materials; the loading end and the unloading end each have an inbound position and an outbound position; the gripping mechanism is disposed adjacent to the unloading end; the loading mechanism is disposed at the loading end and is used to move the materials to be loaded to the inbound position; the picking and placing mechanism is disposed in the storage cabinet and located between the loading end and the unloading end, and is used to load the materials to be loaded from the inbound position to a storage position; the conveying mechanism is disposed in the storage cabinet and located between the loading end and the unloading end, and the picking and placing mechanism is also used to move the materials to be unloaded from the corresponding storage position to the conveying mechanism, and the conveying mechanism is used to move the materials to be unloaded to the outbound position.
[0018] In some embodiments, the feeding mechanism includes a positioning frame, a lifting component, a picking component, and a conveying component; the positioning frame is used to position a transport vehicle carrying the material to be fed, and the positioning frame has a turnover position; the lifting component is disposed on the positioning frame and is used to lift the material to be fed carried by the transport vehicle; the picking component is disposed on the positioning frame and is used to pick up the material to be fed from the transport vehicle and move the material to be fed to the turnover position; the conveying component is disposed on the positioning frame and located on one side of the picking component, and is used to pick up the material to be fed from the turnover position and move the material to be fed to the storage position.
[0019] In some embodiments, the picking and placing mechanism includes a first motion drive assembly, a second motion drive assembly, an assembly, a rotary drive component, a third motion drive assembly, a first clamping component, a clamping drive component, and a second clamping component; the first motion drive assembly is disposed in the storage cabinet and extends from the loading end to the unloading end; the second motion drive assembly is drivenly connected to the first motion drive assembly to move between the loading end and the unloading end under the drive of the first motion drive assembly; the assembly is drivenly connected to the second motion drive assembly to rise and fall under the drive of the second motion drive assembly; the rotary drive component is disposed in the assembly; the third motion drive assembly is drivenly connected to the rotary drive component; the first clamping component is drivenly connected to the third motion drive assembly; the clamping drive component is drivenly connected to the third motion drive assembly and is located on one side of the first clamping component; the second clamping component is drivenly connected to the clamping drive component and is vertically opposite to the first clamping component, for moving closer to or away from the first clamping component under the drive of the clamping drive component to clamp or release the material. Attached Figure Description
[0020] Figure 1 This is a three-dimensional structural diagram of the sorting device provided in the embodiments of this application.
[0021] Figure 2 for Figure 1 The diagram shows a three-dimensional structure of the sorting device in which the positioning component, the first gripping component, and the second gripping component work together.
[0022] Figure 3 for Figure 1 A three-dimensional structural diagram of the first gripping component in the sorting device shown.
[0023] Figure 4 for Figure 1 A three-dimensional structural diagram of the second gripping component in the sorting device shown.
[0024] Figure 5 for Figure 1 A three-dimensional structural diagram of the temporary storage mechanism in the sorting device is shown.
[0025] Figure 6 for Figure 5 The diagram shows a three-dimensional structure of multiple temporary storage components in the temporary storage mechanism, which are matched with the appropriate magazine and materials.
[0026] Figure 7 for Figure 6 The diagram shows the exploded structure of the temporary storage component.
[0027] Figure 8 for Figure 7 The exploded structural diagram of the guide, actuating, pressing, and reset elastic components in the temporary storage assembly is shown from another angle.
[0028] Figure 9 A three-dimensional structural diagram of the warehousing and distribution system provided in the embodiments of this application.
[0029] Figure 10 for Figure 9 A partial structural diagram of the aforementioned warehousing and distribution system.
[0030] Figure 11 for Figure 9 The diagram shows a three-dimensional structure of the picking and placing mechanism in the warehouse distribution system.
[0031] Key component symbols: Warehouse allocation system 1000, sorting device 100, positioning mechanism 10, positioning assembly 11, positioning seat 111, bearing position 1111, first limiting member 112, second limiting member 113, first clamping member 114, second clamping member 115, first bearing member 116, second bearing member 117, movement drive assembly 12, first linear slide 121, second linear slide 122, guide member 13, guide slot 131, gripping mechanism 20, robotic arm 21, first gripping assembly 22, fixed clamping arm 221. Clamping drive component 222, movable clamping arm 223, second gripping assembly 23, connecting component 231, lifting component 232, clamping component 24, first quick-change disc 25, second quick-change disc 26, temporary storage mechanism 30, support frame 31, lifting drive component 32, temporary storage assembly 33, temporary storage rack 331, sliding drive unit 332, sliding drive component 3321, transmission wheel 3322, transmission belt 3323, transfer unit 333, sliding seat 3331, guide component 3332, slide groove 3332a, stop groove 3332b, actuating component 3333, first Extrusion ramp 3333a, abutment part 3333b, extrusion drive component 3334, extrusion component 3335, second extrusion ramp 3335a, reset elastic component 3336, partition 40, collection assembly 50, collection box 51, guide plate 52, magazine 60, storage slot 61, material 70, storage device 200, storage cabinet 210, loading end 2101, inbound position 2101a, unloading end 2102, outbound position 2102a, storage position 2103, loading mechanism 220, positioning frame 2201, turnover position 2201a, lifting assembly Component 2202, material handling assembly 2203, gantry carriage 2203a, first gripper 2203b, handling assembly 2204, linear drive component 2204a, second gripper 2204b, transport vehicle 2205, support platform 2205a, pick-and-place mechanism 230, first motion drive component 2301, second motion drive component 2302, assembly component 2303, rotary drive component 2304, third motion drive component 2305, first clamping component 2306, clamping drive component 2307, second clamping component 2308, conveying mechanism 240. Detailed Implementation
[0032] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0033] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Similarly, the terms "upper" and "lower" are used for descriptive purposes only, or to describe the state as shown in the accompanying drawings, and should not be construed as indicating or implying the actual direction of the technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "multiple" means two or more, unless otherwise explicitly specified.
[0034] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0035] The following will describe some embodiments of this application in detail with reference to the accompanying drawings.
[0036] Please see Figure 1 , Figure 6 and Figure 9 This application provides a sorting device 100 for placing materials 70 into preset loading positions of a magazine 60. The materials 70 can be trays output from a storage device 200, or workpieces or products output from a processing device (not shown). For ease of understanding and explanation, this application uses the example of materials 70 being trays output from a storage device 200, and the preset loading positions of the magazine 60 being multiple storage slots 61 formed on the magazine 60. The example illustrates the process of storing trays in corresponding storage slots 61 to facilitate feeding to a pick-and-place machine (not shown), and defines the first direction as... Figure 1 and Figure 2 The X-axis direction is shown, and the second direction is... Figure 1 and Figure 2 The Y-axis direction shown is the third direction. Figure 1 and Figure 2 The Z-axis direction shown is perpendicular to each other in the first direction, the second direction, and the third direction. Obviously, this is not a limitation on the embodiments of this application.
[0037] Please refer to the following: Figure 1 and Figure 2 In this embodiment of the application, the sorting device 100 includes a positioning mechanism 10 and a gripping mechanism 20.
[0038] The positioning mechanism 10 includes a positioning component 11, a movement drive component 12, and a guide 13. The positioning component 11 has a bearing position 1111, which positions the magazine 60 within the bearing position 1111. The movement drive component 12 is disposed on the positioning component 11 and located to one side of the bearing position 1111. The guide 13 is driven to the movement drive component 12, and has a guide slot 131 extending toward the positioning component 11. The movement drive component 12 drives the guide 13 to move above a preset loading position of the magazine 60.
[0039] The gripping mechanism 20 is located on one side of the positioning component 11. The gripping mechanism 20 is used to grip the material 70 and move the material 70 into the guide channel 131 so that the material 70 falls into the preset loading position of the magazine 60 under the guidance of the guide channel 131.
[0040] When the sorting device 100 of this embodiment places material 70 into the preset loading position of the magazine 60, it first positions the magazine 60 on the positioning component 11, then the moving drive component 12 drives the guide 13 to move above the preset loading position of the magazine 60. Afterwards, the gripping mechanism 20 grips the material 70 and moves it into the guide slot 131 on the guide 13. Guided by the guide slot 131, the material 70 falls into the preset loading position of the magazine 60. Thus, the sorting device 100 of this embodiment automatically places material 70 into the preset loading position of the magazine 60, improving the efficiency and accuracy of placing material 70 into the preset loading position of the magazine 60. In addition, during the process of the sorting device 100 of this application placing the material 70 into the preset loading position of the magazine 60, the positioning component 11 positions the magazine 60, and the guide 13 accurately guides the material 70 to the preset loading position of the magazine 60, thereby further improving the accuracy of placing the material 70 into the preset loading position of the magazine 60.
[0041] In this embodiment, the positioning component 11 includes a positioning base 111, a first limiting member 112, a second limiting member 113, a first pressing member 114, and a second pressing member 115. The positioning base 111 is located on one side of the gripping mechanism 20, and the bearing position 1111 and the moving drive component 12 are both located on the positioning base 111. The first limiting member 112 is located on the positioning base 111 and on one side of the bearing position 1111 in a first direction, and is used to abut and limit the magazine 60 in the first direction. The second limiting member 113 is located on the positioning base 111 and on one side of the bearing position 1111 in a second direction, and is used to abut and limit the magazine 60 in the second direction. The first pressing member 114 is located on the positioning base 111 and is disposed opposite to the first limiting member 112 in a first direction, and is used to press the magazine 60 against the first limiting member 112 in a first direction. The second clamping member 115 is disposed on the positioning seat 111 and is disposed opposite to the second limiting member 113 in the second direction. The second clamping member 115 is used to press the magazine 60 against the second limiting member 113 in the second direction.
[0042] When the positioning assembly 11 positions the magazine 60, the positioning seat 111 abuts against and limits the magazine 60 in a third direction. The first limiting member 112 and the first pressing member 114 cooperate to press and limit the magazine 60 in the first direction, and the second limiting member 113 and the second pressing member 115 cooperate to press and limit the magazine 60 in the second direction. In this way, the positioning assembly 11 positions the magazine 60 in three mutually perpendicular directions, thereby improving the accuracy of positioning the magazine 60.
[0043] In this embodiment, both the first clamping member 114 and the second clamping member 115 can be telescopic cylinders equipped with pressure heads (not shown).
[0044] In this embodiment, the motion drive assembly 12 includes a first linear slide 121 and a second linear slide 122. The first linear slide 121 is disposed on the positioning seat 111 and located on one side of the bearing position 1111. The second linear slide 122 is drivenly connected to the first linear slide 121 to move along a first direction under the drive of the first linear slide 121. The guide 13 is drivenly connected to the second linear slide 122 to rise and fall along a third direction under the drive of the second linear slide 122. Thus, the motion drive assembly 12 has a simple structure and improves the accuracy of driving the guide 13 to move.
[0045] In this embodiment, the sorting device 100 further includes a temporary storage mechanism 30, which is located on one side of the positioning component 11 and the gripping mechanism 20. The temporary storage mechanism 30 is used to temporarily store the magazines 60 to be loaded and the magazines 60 after loading. The gripping mechanism 20 is also used to grip the magazines 60 to be loaded from the temporary storage mechanism 30 and move the magazines 60 to be loaded to the bearing position 1111, and to grip the magazines 60 after loading from the bearing position 1111 and move the magazines 60 after loading to the temporary storage mechanism 30. Thus, by setting up a temporary storage mechanism 30 to temporarily store the magazine 60 to be loaded and the magazine 60 after loading, and setting up a gripping mechanism 20 to transfer the magazine 60, the functions of temporary storage and transfer of magazine 60 are realized. This facilitates the automatic transport of the magazine 60 after loading by a transport mechanism such as an AGV (not shown in the figure), and can reduce the time that the sorting device 100 waits to place the magazine 60, thereby improving the efficiency of placing the material 70 onto the magazine 60.
[0046] Please refer to the following: Figure 3 and Figure 4 In this embodiment, the gripping mechanism 20 includes a robotic arm 21, a first gripping component 22, and a second gripping component 23. The robotic arm 21 is disposed between the positioning component 11 and the temporary storage mechanism 30. The first gripping component 22 is detachably connected to the robotic arm 21 and is used to grip material 70 under the drive of the robotic arm 21 and move material 70 into the guide channel 131. The second gripping component 23 is detachably connected to the robotic arm 21 and is used to grip a magazine 60 to be loaded from the temporary storage mechanism 30 under the drive of the robotic arm 21 and move the magazine 60 to be loaded to the bearing position 1111, and to grip a loaded magazine 60 from the bearing position 1111 under the drive of the robotic arm 21 and move the loaded magazine 60 to the temporary storage mechanism 30.
[0047] Specifically, when the gripping mechanism 20 grips the material 70, the robotic arm 21 places the second gripping component 23 onto the positioning component 11 and separates from the second gripping component 23. When the gripping mechanism 20 grips the magazine 60, the robotic arm 21 places the first gripping component 22 onto the positioning component 11 and separates from the first gripping component 22. By setting the robotic arm 21 to drive the first gripping component 22 and the second gripping component 23 to grip the material 70 and the magazine 60 respectively, the accuracy of the gripping mechanism 20 in gripping the material 70 and the magazine 60 is improved.
[0048] In this embodiment, the positioning component 11 further includes a first support member 116 and a second support member 117. The first support member 116 and the second support member 117 are spaced apart on one side of the positioning base 111. The first support member 116 is used to support and position the first gripping component 22, which is separated from the robotic arm 21, and the second support member 117 is used to support and position the second gripping component 23, which is separated from the robotic arm 21. This helps to improve the accuracy of the assembly of the robotic arm 21 with the first gripping component 22 and the second gripping component 23.
[0049] In this embodiment, the gripping mechanism 20 further includes a clamping member 24, a first quick-change disc 25, and a second quick-change disc 26. The clamping member 24 is connected to the robotic arm 21. The first quick-change disc 25 is connected to the first gripping assembly 22. The robotic arm 21 clamps or releases the first quick-change disc 25 via the clamping member 24, allowing the robotic arm 21 to be detachably connected to the first gripping assembly 22. The second quick-change disc 26 is connected to the second gripping assembly 23. The robotic arm 21 clamps or releases the second quick-change disc 26 via the clamping member 24, allowing the robotic arm 21 to be detachably connected to the second gripping assembly 23. Thus, the robotic arm 21 can automatically detach from and assemble with the first gripping assembly 22 and the second gripping assembly 23, improving the efficiency of detaching and assembling the robotic arm 21 from the first gripping assembly 22 and the second gripping assembly 23.
[0050] In this embodiment, the first gripping assembly 22 includes a fixed gripping arm 221, a gripping drive 222, and a movable gripping arm 223. A first quick-change disc 25 is connected to one end of the fixed gripping arm 221. The gripping drive 222 can be a telescopic cylinder, and it is located on the fixed gripping arm 221. The movable gripping arm 223 is driven by the gripping drive 222 and is used to move closer to or further away from the fixed gripping arm 221 under the drive of the gripping drive 222 to grip or release the material 70. Thus, the first gripping assembly 22 has a simple structure and improves the accuracy of moving the material 70.
[0051] In this embodiment, the second gripping assembly 23 includes a connector 231 and a plurality of lifting members 232. A second quick-change disc 26 is connected to one side of the connector 231. The plurality of lifting members 232 are spaced apart from the connector 231 and extend in a direction away from the second quick-change disc 26, and are used to lift the magazine 60. Thus, the second gripping assembly 23 has a simple structure and improves the accuracy of moving the magazine 60.
[0052] Please refer to the following: Figure 5 and Figure 6In this embodiment, the temporary storage mechanism 30 includes a support frame 31, a lifting drive component 32, and multiple temporary storage components 33. The support frame 31 is located on one side of the positioning component 11 and the gripping mechanism 20. The lifting drive component 32 is located on the support frame 31 and can be a linear module. The multiple temporary storage components 33 are arranged vertically at intervals and are drivenly connected to the lifting drive component 32. Each temporary storage component 33 is used to carry the magazine 60 to be loaded or the magazine 60 after loading.
[0053] Specifically, when the gripping mechanism 20 retrieves the magazine 60 to be loaded from the temporary storage mechanism 30, or when the AGV trolley retrieves the loaded magazine 60 from the temporary storage mechanism 30, the lifting drive 32 drives the corresponding temporary storage component 33 to move to a suitable height, thus facilitating the gripping mechanism 20 and the AGV trolley to retrieve the magazine 60 from the temporary storage mechanism 30. When the gripping mechanism 20 places the loaded magazine 60 onto the temporary storage mechanism 30, or when the AGV trolley places the magazine 60 to be loaded onto the temporary storage mechanism 30, the lifting drive 32 drives the corresponding temporary storage component 33 to move to a suitable height, thus facilitating the gripping mechanism 20 and the AGV trolley to place the magazine 60 onto the temporary storage mechanism 30. Furthermore, the design of the lifting drive 32 driving the lifting of multiple temporary storage components 33 helps to increase the number of magazines 60 that the temporary storage mechanism 30 can temporarily store.
[0054] In this embodiment, each temporary storage component 33 includes a temporary storage rack 331, a sliding drive unit 332, and a transfer unit 333. The temporary storage rack 331 is driven and connected to the lifting drive component 32, and is used to carry the magazine 60 to be loaded or the magazine 60 after loading. The sliding drive unit 332 is disposed on the temporary storage rack 331. The transfer unit 333 is slidably disposed on the temporary storage rack 331 in a direction perpendicular to the lifting direction of the temporary storage rack 331 and is driven and connected to the sliding drive unit 332. The transfer unit 333 is used to move the magazine 60 to be loaded or the magazine 60 after loading into or out of the temporary storage rack 331 under the drive of the sliding drive unit 332. This improves the convenience of the gripping mechanism 20 and the AGV trolley in picking up and placing the magazine 60.
[0055] Please refer to further details. Figure 7 and Figure 8In this embodiment, the sliding drive unit 332 includes a sliding drive component 3321, multiple transmission wheels 3322, and a transmission belt 3323. The multiple transmission wheels 3322 are spaced apart on the temporary storage rack 331 along the sliding direction of the transfer unit 333. The sliding drive component 3321 can be a servo motor. The sliding drive component 3321 is located on the temporary storage rack 331 and is driven and connected to one of the transmission wheels 3322. The transmission belt 3323 is sleeved on the multiple transmission wheels 3322 and connected to the transfer unit 333. The sliding drive component 3321 drives the transfer unit 333 to slide through the multiple transmission wheels 3322 and the transmission belt 3323. Thus, the sliding drive unit 332 has a simple structure and improves the accuracy of driving the transfer unit 333 to slide.
[0056] In this embodiment, the transfer unit 333 includes a sliding seat 3331, a guide member 3332, an actuating member 3333, a pressing drive member 3334, a pressing member 3335, and a reset elastic member 3336. The sliding seat 3331 is slidably disposed on the temporary storage rack 331 in a direction perpendicular to the lifting direction of the temporary storage rack 331 and is drivenly connected to the transmission belt 3323 of the sliding drive unit 332. The guide member 3332 is disposed on the sliding seat 3331. The actuating member 3333 is slidably inserted into the guide member 3332 in the lifting direction of the temporary storage rack 331, and one end of the actuating member 3333 inserted into the guide member 3332 has a first pressing inclined surface 3333a. The pressing drive member 3334 can be a telescopic cylinder, and the pressing drive member 3334 is disposed on the sliding seat 3331 and located on one side of the guide member 3332. The extrusion member 3335 is driven and connected to the extrusion drive member 3334 and slidably inserted into the actuating member 3333. One end of the extrusion member 3335 inserted into the guide member 3332 has a second extrusion slope 3335a that is directly opposite to the first extrusion slope 3333a. The extrusion member 3335 is used to extrude the first extrusion slope 3333a through the second extrusion slope 3335a under the drive of the extrusion drive member 3334, so that the actuating member 3333 rises and inserts into the spring clip 60 to be loaded or the spring clip 60 after loading. The reset elastic member 3336 can be a spring. The reset elastic member 3336 is disposed in the guide member 3332, and its two ends are respectively connected to the guide member 3332 and the actuating member 3333. The reset elastic member 3336 is used to drive the actuating member 3333 back to its original position when the extrusion member 3335 moves away from the guide member 3332.
[0057] Specifically, when the magazine 60 is placed on the temporary storage rack 331, the sliding drive unit 332 drives the transfer unit 333 to move below the magazine 60, and the extrusion drive member 3334 drives the extrusion member 3335 to approach the actuating member 3333. The extrusion member 3335 extrudes the first extrusion slope 3333a through the second extrusion slope 3335a, thereby causing the actuating member 3333 to rise and insert into the magazine 60 to be loaded or the magazine 60 after loading. Then, the sliding drive unit 332 drives the transfer unit 333 to return to its original position, and the actuating member 3333 moves the magazine 60 into the temporary storage rack 331. When it is necessary to remove the magazine 60 from the temporary storage assembly 33, the sliding drive unit 332 moves the magazine 60 out of the temporary storage rack 331 via the transfer unit 333. The pressing drive member 3334 drives the pressing member 3335 away from the actuating member 3333, and the reset elastic member 3336 drives the actuating member 3333 back to its original position, thereby disengaging the actuating member 3333 from the magazine 60. In this way, the setting of the transfer unit 333 improves the accuracy of moving the magazine 60 to be loaded or the loaded magazine 60 into or out of the temporary storage rack 331.
[0058] In this embodiment, the guide member 3332 is provided with a connected sliding groove 3332a and a stop groove 3332b. The sliding groove 3332a extends along the lifting direction of the temporary storage rack 331 and passes through the guide member 3332. The stop groove 3332b is provided at one end of the guide member 3332 near the sliding seat 3331. The extending direction of the stop groove 3332b is perpendicular to the extending direction of the sliding groove 3332a. The actuating member 3333 is slidably disposed in the slide groove 3332a, and the end of the actuating member 3333 near the slide seat 3331 is provided with an abutting part 3333b extending into the stop groove 3332b. The first extrusion inclined surface 3333a extends from the side of the actuating member 3333 away from the abutting part 3333b toward the abutting part 3333b. The extruding member 3335 is slidably inserted into the guide member 3332 along the extension direction of the stop groove 3332b and extends into the stop groove 3332b. The second extrusion inclined surface 3335a is disposed at the end of the extruding member 3335 extending into the stop groove 3332b. The two ends of the reset elastic member 3336 abut against the groove wall of the stop groove 3332b away from the slide seat 3331 and the abutting part 3333b, respectively.
[0059] Please refer to the reference again. Figure 1 In this embodiment, the sorting device 100 further includes a plurality of partitions 40 and a collection assembly 50. The partitions 40 are disposed around the positioning mechanism 10 and the gripping mechanism 20, and serve to protect the positioning mechanism 10 and the gripping mechanism 20. The collection assembly 50 passes through one of the partitions 40 and extends toward the gripping mechanism 20. When the material 70 gripped by the gripping mechanism 20 is abnormal, the gripping mechanism 20 places the abnormal material 70 onto the collection assembly 50 for collection.
[0060] In this embodiment, the collection component 50 includes a collection box 51 and a guide plate 52. The collection box 51 is located outside the plurality of partitions 40, and the guide plate 52 passes through the corresponding partition 40 and extends toward the gripping mechanism 20. When the material 70 gripped by the gripping mechanism 20 is abnormal, the gripping mechanism 20 places the abnormal material 70 onto the guide plate 52. The abnormal material 70 slides into the collection box 51 for collection under the guidance of the guide plate 52, thereby improving the accuracy of the collection component 50 in collecting abnormal material 70.
[0061] In summary, the sorting device 100 of this application embodiment, by setting a positioning component 11 to position the magazine 60, setting a gripping mechanism 20 to grip the material 70, and setting a moving drive component 12 to drive the guide 13 to move above the preset loading position of the magazine 60, so that the gripping mechanism 20 grips the material 70 and falls into the preset loading position of the magazine 60 under the guidance of the guide channel 131, realizes the operation of automatically placing the material 70 into the preset loading position of the magazine 60, and improves the efficiency and accuracy of placing the material 70 into the preset loading position of the magazine 60.
[0062] Please refer to the following: Figure 9 This application also provides a warehouse allocation system 1000, which includes a storage device 200 and a sorting device 100 as described above. The sorting device 100 is located at one end adjacent to the storage device 200. The gripping mechanism 20 is used to grip material 70 from the storage device 200 and move the material 70 into the guide channel 131.
[0063] The warehousing and distribution system 1000 of this application improves the efficiency and accuracy of placing materials 70 into the preset loading position of the magazine 60 by setting up a sorting device 100, and improves the efficiency and accuracy of inventory management of materials 70 and feeding materials to the sorting device 100 by setting up a storage device 200. Thus, the warehousing and distribution system 1000 of this application improves the efficiency and accuracy of distributing materials 70.
[0064] Please refer to the following: Figure 10In this embodiment, the storage device 200 includes a storage cabinet 210, a feeding mechanism 220, a picking and placing mechanism 230, and a conveying mechanism 240. The storage cabinet 210 has a feeding end 2101, a discharging end 2102, and multiple storage positions 2103 for storing materials 70. The feeding end 2101 and the discharging end 2102 respectively have an inbound position 2101a and an outbound position 2102a. The gripping mechanism 20 is located adjacent to the discharging end 2102. The feeding mechanism 220 is located at the feeding end 2101 and is used to move the material 70 to be fed to the inbound position 2101a. The picking and placing mechanism 230 is located in the storage cabinet 210 and between the feeding end 2101 and the discharging end 2102. The picking and placing mechanism 230 is used to feed the material 70 to be fed from the inbound position 2101a to a storage position 2103. The conveying mechanism 240 is located in the storage cabinet 210, between the loading end 2101 and the unloading end 2102. The picking and placing mechanism 230 is also used to move the material 70 to be unloaded from the corresponding storage position 2103 to the conveying mechanism 240. The conveying mechanism 240 is used to move the material 70 to the unloading position 2102a. The gripping mechanism 20 grips the material 70 from the unloading position 2102a and moves the material 70 into the guide channel 131. In this way, the storage device 200 realizes automatic inbound and outbound operations, improving the efficiency and accuracy of inventory management.
[0065] In this embodiment, the conveying mechanism 240 is a belt conveyor. In some other embodiments, the conveying mechanism 240 may also be a chain conveyor. This application does not specifically limit this embodiment.
[0066] In this embodiment, the feeding mechanism 220 includes a positioning frame 2201, a lifting component 2202, a material picking component 2203, and a conveying component 2204. The positioning frame 2201 is used to position the transport vehicle 2205 carrying the material 70 to be fed, and the positioning frame 2201 has a turnover position 2201a. The lifting component 2202 is disposed on the positioning frame 2201, and is used to lift the material 70 to be fed carried by the transport vehicle 2205. The material picking component 2203 is disposed on the positioning frame 2201, and is used to pick up the material 70 to be fed from the transport vehicle 2205 and move the material 70 to be fed to the turnover position 2201a. The conveying component 2204 is located on the positioning frame 2201 and on one side of the picking component 2203. The conveying component 2204 is used to pick up the material 70 to be loaded from the turnover position 2201a and move the material 70 to be loaded to the storage position 2101a.
[0067] Specifically, when the storage device 200 is loading materials, the transport vehicle 2205 carrying the materials 70 to be loaded is first moved to the positioning frame 2201 for positioning. Then, the lifting mechanism lifts the materials 70 carried by the transport vehicle 2205. The picking component 2203 picks up the materials 70 from the transport vehicle 2205 and moves them to the turnover position 2201a. The handling component 2204 picks up the materials 70 from the turnover position 2201a and moves them to the storage position 2101a. The picking and placing mechanism 230 picks up the materials 70 from the storage position 2101a and moves them to the corresponding storage position 2103. In this way, the loading mechanism 220 can sequentially load multiple materials 70 carried by the transport vehicle 2205, thereby improving the efficiency and accuracy of loading the materials 70.
[0068] In this embodiment, the transport vehicle 2205 includes a liftable support platform 2205a, on which multiple materials 70 to be loaded are stacked. The lifting assembly 2202 includes a lifting drive (not shown) and a lifting component (not shown). The lifting drive can be a linear module. The lifting drive is located on the positioning frame 2201. The lifting component is driven by the lifting drive. Under the drive of the lifting drive, the lifting component drives the support platform 2205a to rise and fall, thereby driving the multiple materials 70 to rise and fall, which facilitates the material picking assembly 2203 to sequentially pick up the materials 70 to be loaded from the transport vehicle 2205.
[0069] In this embodiment, the material handling component 2203 includes a gantry slide 2203a and a first gripper 2203b. The gantry slide 2203a is slidably mounted on the positioning frame 2201, and the first gripper 2203b is connected to the gantry slide 2203a. Driven by the gantry slide 2203a, the first gripper 2203b grabs the material 70 to be loaded from the transport vehicle 2205 and moves the material 70 to the turnover position 2201a.
[0070] In this embodiment, the handling component 2204 includes a linear drive 2204a and a second gripper 2204b. The linear drive 2204a is disposed on the positioning frame 2201 and located on one side of the turnover position 2201a and the storage position 2101a. The linear drive 2204a can be a linear module. The second gripper 2204b is connected to the linear drive 2204a. Driven by the linear drive 2204a, the second gripper 2204b picks up the material 70 to be loaded from the turnover position 2201a and moves the material 70 to be loaded to the storage position 2101a.
[0071] In this embodiment, the storage device 200 also includes two visual inspection devices (not shown in the figure). Both visual inspection devices can be CCD cameras. The two visual inspection devices are respectively located at the inbound position 2101a and the outbound position 2102a. The two visual inspection devices scan and inspect the inbound material 70 and the outbound material 70, thereby improving the accuracy of the storage device 200 in performing inbound and outbound operations.
[0072] Please refer to further details. Figure 11 In this embodiment, the pick-and-place mechanism 230 includes a first motion drive assembly 2301, a second motion drive assembly 2302, an assembly 2303, a rotary drive 2304, a third motion drive assembly 2305, a first clamping member 2306, a clamping drive 2307, and a second clamping member 2308. The first motion drive assembly 2301 is disposed on the storage cabinet 210 and extends from the loading end 2101 to the unloading end 2102. The second motion drive assembly 2302 is driven to connect with the first motion drive assembly 2301, so as to move between the loading end 2101 and the unloading end 2102 under the drive of the first motion drive assembly 2301. The assembly 2303 is driven to connect with the second motion drive assembly 2302, so as to rise and fall under the drive of the second motion drive assembly 2302. The rotary drive 2304 is disposed on the assembly 2303, and the rotary drive 2304 can be a servo motor. The third motion drive assembly 2305 is driven to rotate under the drive of the rotary drive member 2304. The first clamping member 2306 is driven to rotate under the drive of the rotary drive member 2304. The clamping drive member 2307 is driven to rotate under the drive of the third motion drive assembly 2305. The clamping drive member 2307 is driven to rotate under the drive of the third motion drive assembly 2305 and is located on one side of the first clamping member 2306. The clamping drive member 2307 can be a telescopic cylinder. The second clamping member 2308 is driven to rotate under the drive of the clamping drive member 2307 and is positioned vertically opposite the first clamping member 2306. The second clamping member 2308 is used to move closer to or further away from the first clamping member 2306 under the drive of the clamping drive member 2307 to clamp or release the material 70. In this way, the pick-and-place mechanism 230 can move in multiple different directions to pick up and place the material 70, thereby improving the accuracy of picking up and placing the material 70.
[0073] In this embodiment, the first motion drive component 2301, the second motion drive component 2302, and the third motion drive component 2305 can all be linear modules, thereby improving the accuracy of moving the first clamping member 2306 and the second clamping member 2308.
[0074] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.
[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.
Claims
1. A sorting device, characterized in that, include: A positioning mechanism includes a positioning component, a movement drive component, and a guide. The positioning component has a bearing position and is used to position a magazine in the bearing position. The movement drive component is disposed on the positioning component and located on one side of the bearing position. The guide is drivenly connected to the movement drive component and has a guide slot extending toward the positioning component. The movement drive component is used to drive the guide to move above a preset loading position of the magazine. A gripping mechanism, located on one side of the positioning component, is used to grip the material and move the material into the guide slot, so that the material falls into the preset loading position of the magazine under the guidance of the guide slot.
2. The sorting device as described in claim 1, characterized in that, The positioning component includes: A positioning seat is provided on one side of the gripping mechanism, and the bearing position and the moving drive component are both provided on the positioning seat; A first limiting member is disposed on the positioning seat and located on one side of the bearing position in the first direction, and is used to abut and limit the magazine in the first direction; The second limiting member is disposed on the positioning seat and located on one side of the bearing position in the second direction, and is used to abut and limit the magazine in the second direction, wherein the second direction is perpendicular to the first direction. A first clamping member is disposed on the positioning seat and is arranged opposite to the first limiting member along the first direction, for pressing the magazine against the first limiting member along the first direction; and The second clamping member is disposed on the positioning seat and is arranged opposite to the second limiting member along the second direction, for pressing the magazine against the second limiting member along the second direction.
3. The sorting device as described in claim 1, characterized in that, The sorting device further includes a temporary storage mechanism, which is located on one side of the positioning component and the gripping mechanism. The temporary storage mechanism is used to temporarily store the magazines to be loaded and the magazines after loading. The gripping mechanism is also used to grip the magazines to be loaded from the temporary storage mechanism and move the magazines to be loaded to the bearing position, and to grip the magazines after loading from the bearing position and move the magazines after loading to the temporary storage mechanism.
4. The sorting device as described in claim 3, characterized in that, The grasping mechanism includes: A robotic arm is positioned between the positioning component and the temporary storage mechanism; A first gripping component, detachably connected to the robotic arm, is used to grip the material under the drive of the robotic arm and move the material into the guide channel; and The second gripping component is detachably connected to the robotic arm and is used to grip the magazine to be loaded from the temporary storage mechanism and move the magazine to be loaded to the bearing position under the drive of the robotic arm, and to grip the loaded magazine from the bearing position and move the loaded magazine to the temporary storage mechanism under the drive of the robotic arm.
5. The sorting device as described in claim 4, characterized in that, The grasping mechanism also includes: A clamping element is connected to the robotic arm; A first quick-change disc is connected to the first gripping assembly. The robotic arm clamps or releases the first quick-change disc via the clamping member, thereby making the robotic arm detachably connected to the first gripping assembly. The second quick-change disc is connected to the second gripping assembly. The robotic arm clamps or releases the second quick-change disc via the clamping member, so that the robotic arm and the second gripping assembly are detachably connected.
6. The sorting device as described in claim 5, characterized in that, The first crawling component includes: A fixed clamping arm is provided, and the first quick-change disc is connected to one end of the fixed clamping arm. A clamping drive component is disposed on the fixed clamping arm; and The movable clamping arm is driven to move closer to or further away from the fixed clamping arm under the drive of the clamping drive to clamp or release the material.
7. The sorting device as described in claim 5, characterized in that, The second crawling component includes: A connector, wherein the second quick-change disc is connected to one side of the connector; Multiple lifting members are spaced apart from the connector and extend toward the connector in a direction away from the second quick-change disc. The multiple lifting members are used to lift the magazine.
8. The sorting device as described in claim 3, characterized in that, The temporary storage institution includes: A support frame is provided on one side of the positioning component and the gripping mechanism; A lifting drive component is provided on the support frame; and Multiple temporary storage components are arranged vertically at intervals and driven to be connected to the lifting drive component. Each temporary storage component is used to carry the magazine to be loaded or the magazine after loading.
9. The sorting device as described in claim 8, characterized in that, Each of the aforementioned temporary storage components includes: A temporary storage rack is driven and connected to the lifting drive component, and is used to carry the magazine to be loaded or the magazine after loading. A sliding drive unit is provided on the temporary storage rack; A transfer unit is slidably disposed on the temporary storage rack in a direction perpendicular to the lifting direction of the temporary storage rack and is drivenly connected to the sliding drive unit. It is used to move the magazine to be loaded or the magazine after loading into or out of the temporary storage rack under the drive of the sliding drive unit.
10. The sorting device as claimed in claim 9, characterized in that, The transfer unit includes: A sliding seat is slidably disposed on the temporary storage rack in a direction perpendicular to the lifting direction of the temporary storage rack and is drivenly connected to the sliding drive unit; A guide element is provided on the sliding seat; An actuating element is slidably inserted into the guide element along the lifting direction of the temporary storage rack, and one end of the actuating element inserted into the guide element has a first pressing slope. An extrusion drive is disposed on the sliding seat and located on one side of the guide; An extrusion member, driven and slidably inserted into the actuating member, has a second extrusion slope directly opposite the first extrusion slope at one end inserted into the guide member. The extrusion member, driven by the extrusion drive member, extrudes the first extrusion slope through the second extrusion slope, causing the actuating member to rise and insert into the magazine to be loaded or the magazine after loading; and A reset elastic element is disposed within the guide element, and both ends of the reset elastic element are respectively connected to the guide element and the actuating element. The reset elastic element is used to drive the actuating element back to its original position when the pressing element moves away from the guide element.
11. A warehousing and distribution system, characterized in that, include: Storage facilities used for storing materials; The sorting device according to any one of claims 1-10, wherein the sorting device is disposed at one end adjacent to the storage device, and the gripping mechanism is used to grip the material from the storage device and move the material into the guide channel.
12. The warehousing and distribution system as described in claim 11, characterized in that, The storage facility includes: The storage cabinet has a loading end, a unloading end, and multiple storage positions for storing the material. The loading end and the unloading end each have an inbound position and an outbound position. The gripping mechanism is located adjacent to the unloading end. A feeding mechanism, located at the feeding end, is used to move the material to be fed to the storage position; A loading and unloading mechanism, disposed in the storage cabinet and located between the loading end and the unloading end, is used to load the material to be loaded from the receiving position to a storage position; and A conveying mechanism is provided in the storage cabinet and located between the loading end and the unloading end. The picking and placing mechanism is also used to move the material to be unloaded from the corresponding storage position to the conveying mechanism. The conveying mechanism is used to move the material to be unloaded to the outgoing position.
13. The warehousing and distribution system as described in claim 12, characterized in that, The feeding mechanism includes: A positioning frame is used to position a transport vehicle carrying the materials to be loaded, and the positioning frame has a turnover position; A lifting component, located on the positioning frame, is used to lift the material to be loaded onto the transport vehicle. A material handling component, located on the positioning frame, is used to pick up the material to be loaded from the transport vehicle and move the material to be loaded to the turnover position; A conveying component, disposed on the positioning frame and located on one side of the picking component, is used to pick up the material to be loaded from the turnover position and move the material to be loaded to the storage position.
14. The warehousing and distribution system as described in claim 12, characterized in that, The picking and placing mechanism includes: A first motion drive component is disposed in the storage cabinet and extends from the loading end toward the unloading end; The second motion drive component is driven and connected to the first motion drive component to move between the loading end and the unloading end under the drive of the first motion drive component. The assembly is connected to the second motion drive component to move up and down under the drive of the second motion drive component; A rotary drive component is provided on the assembly; The third motion drive component is driven to connect with the rotary drive component. The first clamping member is driven to be connected to the third motion driving component; A clamping drive component, which is drivenly connected to the third motion drive assembly and located on one side of the first clamping component; and The second clamping member is driven to connect with the clamping drive member and is positioned vertically opposite the first clamping member. It is used to move closer to or away from the first clamping member under the drive of the clamping drive member to clamp or release the material.