A grabbing and separating device for intelligent sorting of soiled linen

Abstract

The application discloses a kind of for dirty linen intelligent sorting gripping separation device, containing feed conveying group, gripping conveying group, parallel mechanical arm mechanism, gripper mechanism, servo module mechanism, slope conveying group, RFID detection conveying group and discharge circulating conveying group, feed conveying group is horizontally arranged, gripping conveying group is located in the rear position of feed conveying group, parallel mechanical arm mechanism is arranged above gripping conveying group, gripper mechanism is installed on parallel mechanical arm mechanism, servo module mechanism is obliquely arranged in the middle rear side of parallel mechanical arm mechanism, slope conveying group is arranged below servo module mechanism, RFID detection conveying group is installed below slope conveying group, and discharge circulating conveying group is installed below RFID conveying group.The application improves the gripping range and gripping efficiency of linen, improves the gripping accuracy of linen, reduces the linen accumulation area, so as to improve the sorting efficiency of linen.

Description

Technical Field

[0001] This invention relates to a gripping and separating device, and more particularly to a gripping and separating device for intelligent sorting of soiled linens, belonging to the field of intelligent linen sorting technology. Background Technology

[0002] Before washing, linens need to be sorted and washed according to their type. Workers put the mixed linens into different conveyor lines or trolleys, and then send them to the washing area. This process requires a large number of people to sort the linens, which is not only inefficient, but also can easily damage the linens due to the separation and pulling during sorting.

[0003] Currently, most intelligent sorting systems for soiled linens involve workers picking up the linens one by one and placing them on a conveyor line to ensure they are not tangled before using equipment for sorting. This process is time-consuming and labor-intensive. Some companies rely on robotic arms positioned vertically to grasp the linens. While this achieves the desired grasping action, the soft and easily piled-up linens make it difficult for ordinary sensors to identify them, often resulting in the grasping of multiple linens that are difficult to separate later, leading to problems in subsequent sorting. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a gripping and separating device for intelligent sorting of soiled linens, which solves the problems of difficulty in gripping and separating linens and low efficiency in the prior art.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A gripping and separating device for intelligent sorting of soiled linens includes a feeding conveyor group, a gripping conveyor group, a parallel robotic arm mechanism, a gripper mechanism, a servo module mechanism, an inclined conveyor group, an RFID detection conveyor group, and an unloading circulating conveyor group. The feeding conveyor group is horizontally arranged, the gripping conveyor group is located behind the feeding conveyor group, the parallel robotic arm mechanism is arranged above the gripping conveyor group, the gripper mechanism is mounted on the parallel robotic arm mechanism, the servo module mechanism is inclinedly arranged at the middle rear side of the parallel robotic arm mechanism, the inclined conveyor group is arranged below the servo module mechanism, the RFID detection conveyor group is installed below the inclined conveyor group, and the unloading circulating conveyor group is installed below the RFID conveyor group.

[0007] Furthermore, the feeding conveying assembly includes a feeding base, a feeding geared motor, a feeding drive roller, a feeding adjusting roller, a feeding adjusting roller bracket, and a feeding conveyor belt. The feeding drive roller is rotatably mounted on the feeding base and connected to the feeding geared motor, and is driven by the feeding geared motor. The feeding adjusting roller bracket is slidably mounted on the feeding base and its sliding position is limited by bolt adjustment. The feeding adjusting roller is rotatably mounted on the feeding adjusting roller bracket. The feeding conveyor belt is mounted on the feeding drive roller and the feeding adjusting roller.

[0008] Furthermore, the gripping and conveying assembly includes a gripping base, a gripping reduction motor, a first gripping active roller, a first gripping passive roller, a first gripping passive roller bracket, a second gripping active roller, a second gripping passive roller, a second gripping active roller bracket, a first gripping conveyor belt, and a second gripping conveyor belt. The first gripping active roller is rotatably mounted on the gripping base and connected to and driven by the gripping reduction motor. The first gripping passive roller bracket is slidably mounted at the end of the horizontal section of the gripping base, and its sliding position is limited by bolt adjustment. The first gripping passive roller is rotatably mounted on the first gripping passive roller bracket. The first gripping conveyor belt is mounted on the first gripping active roller and the first gripping passive roller. The second gripping active roller bracket is slidably mounted on the upper end of the inclined section of the gripping base and its sliding position is limited by bolt adjustment. The second gripping passive roller is rotatably mounted on the lower end of the inclined section of the gripping base. The second gripping conveyor belt is mounted on the second gripping active roller and the second gripping passive roller. Feed baffles are provided on both sides of the first gripping conveyor belt. A gripping active sprocket is provided at one end of the first gripping active roller and a gripping passive sprocket is provided at one end of the second gripping active roller. The gripping chain is mounted on the gripping active sprocket and the gripping passive sprocket.

[0009] Furthermore, the parallel robotic arm mechanism comprises three sets of robotic arms, three sets of lead screws, and gripper bases. Each set of robotic arms includes a robotic arm frame, a robotic arm active synchronous pulley, a robotic arm passive synchronous pulley, a robotic arm synchronous belt, a robotic arm slide rail, a robotic arm slider, a robotic arm geared motor, and a robotic arm geared motor bracket. The robotic arm geared motor bracket is slidably mounted on the upper end of the robotic arm frame and its sliding setting is limited by bolts. The robotic arm active synchronous pulley is rotatably mounted on the robotic arm geared motor bracket and connected to the robotic arm geared motor, which drives it. The robotic arm passive synchronous pulley is rotatably mounted on the lower end of the robotic arm frame. The robotic arm synchronous belt is mounted on the robotic arm active and passive synchronous pulleys. The robotic arm slide rail is fixed vertically on the robotic arm frame. The robotic arm slider is slidably mounted on the robotic arm slide rail and connected to the robotic arm synchronous belt. One end of each of the three sets of lead screws is hinged to the slider of the three sets of robotic arms, and the other end of each set of lead screws is hinged to the gripper base. A 3D camera is mounted on the lower end of the robotic arm frame.

[0010] Furthermore, the gripper mechanism includes a gripper bracket, a gripper stepper motor, a drive gear, a driven gear, a drive roller, a driven roller, a driven roller rotating plate, and a gripper cylinder. The gripper stepper motor is fixed on the gripper bracket, the drive gear is mounted on the gripper stepper motor and driven by the gripper stepper motor, the drive roller is rotatably mounted on the gripper bracket, the driven gear is fixed to one end of the drive roller and meshes with the drive gear, the driven roller is rotatably mounted at one end of the driven roller rotating plate, the driven roller rotating plate is hinged to the gripper bracket, and the other end of the driven roller rotating plate is connected to the gripper cylinder and driven by the gripper cylinder, the gripper cylinder is hinged to the gripper bracket.

[0011] Furthermore, the servo module mechanism includes a servo module frame, a servo module geared motor, a servo module motor bracket, a servo module active synchronous pulley, a servo module passive synchronous pulley, a servo module synchronous belt, a servo module slide rail, a servo module slider, and an extension bracket. The servo module motor bracket is slidably mounted at one end of the servo module frame and its sliding position is limited by bolts. The servo module active synchronous pulley is rotatably mounted on the servo module motor bracket and connected to the servo module geared motor, driven by the servo module geared motor. The servo module passive synchronous pulley is rotatably mounted at the other end of the servo module frame. The servo module synchronous belt is mounted on the servo module active synchronous pulley and the servo module passive synchronous pulley. The servo module slide rail is fixed to the servo module frame. The servo module slider is slidably mounted on the servo module slide rail and connected to the servo module synchronous belt. The extension bracket is fixed to the servo module slider.

[0012] Furthermore, the inclined conveyor assembly includes an inclined support, an inclined motor, a first inclined active roller, a second inclined active roller, a first inclined passive roller, a second inclined passive roller, a compression spring support, an inclined adjusting roller support, and a linen baffle. The first inclined active roller is rotatably mounted on the inclined support, and one end of the first inclined active roller is connected to the inclined motor and driven by the inclined motor. The other end of the first inclined active roller is provided with a first inclined active sprocket. The second inclined active roller is rotatably mounted on the inclined support, and one end of the second inclined active roller is provided with a second inclined active sprocket. The first and second passive sprockets are rotatably mounted on the inclined support. The inclined drive chain is provided between the first inclined active sprocket, the second inclined active sprocket, and the first inclined passive sprocket. The first and second inclined passive sprockets are located on the inner side of the inclined drive chain, while the second inclined drive sprocket is located on the outer side of the inclined drive chain. A spring bracket is slidably mounted on the lower end of the inclined support and connected to the inclined support via a spring. The first inclined passive roller is rotatably mounted on the spring bracket. The first inclined conveyor belt is mounted on the first inclined drive roller and the first inclined passive roller. A inclined adjusting roller bracket is slidably mounted on the upper end of the inclined support and its sliding position is limited by bolt adjustment. The second inclined passive roller is rotatably mounted on the inclined adjusting roller bracket. The second inclined conveyor belt is mounted on the second inclined drive roller and the second inclined passive roller. A linen baffle is located below the second inclined conveyor belt.

[0013] Furthermore, the RFID detection conveyor assembly includes an RFID detection bracket, an RFID detection geared motor, an RFID detection active roller, an RFID detection passive roller, an RFID detection conveyor belt, and an RFID reader / writer. The RFID detection active roller and the RFID detection passive roller are rotatably mounted at both ends of the RFID detection bracket. One end of the RFID detection active roller is connected to and driven by the RFID detection geared motor. The RFID detection conveyor belt is mounted on the RFID detection active roller and the RFID detection passive roller, and the RFID reader / writer is mounted above the RFID detection conveyor belt.

[0014] Furthermore, the discharge circulation conveyor assembly includes a discharge circulation support, a discharge circulation geared motor, a discharge circulation active roller, a discharge circulation passive roller, a discharge circulation passive roller support, a discharge circulation conveyor belt, and circulation baffles. The discharge circulation active roller is rotatably mounted on the discharge circulation support, and one end of the discharge circulation active roller is connected to the discharge circulation geared motor and driven by the discharge circulation geared motor. The discharge circulation passive roller support is slidably mounted on one end of the discharge circulation support, and its sliding position is limited by bolt adjustment. The discharge circulation passive roller is rotatably mounted on the discharge circulation passive roller support. The discharge circulation conveyor belt is mounted on the discharge circulation passive roller and the discharge circulation passive roller. Circulation baffles are mounted on both sides of the front end of the discharge circulation conveyor belt.

[0015] Furthermore, it also includes a photoelectric sensor group, which includes a first photoelectric sensor, a second photoelectric sensor, a third photoelectric sensor, a fourth photoelectric sensor, a fifth photoelectric sensor, a sixth photoelectric sensor, and a seventh photoelectric sensor. The first photoelectric sensor is located at the front end of the feeding conveyor group, the second photoelectric sensor is located at the rear end of the feeding conveyor group, the third photoelectric sensor is located at the front end of the inclined conveyor group, the fourth photoelectric sensor is located at the middle position of the inclined conveyor group, the fifth photoelectric sensor is located at the front end of the RFID detection conveyor group, the sixth photoelectric sensor is located at the front end of the discharge circulation conveyor group, and the seventh photoelectric sensor is located at the rear end of the discharge circulation conveyor group.

[0016] Compared with the prior art, the present invention has the following advantages and effects: by adding a parallel robotic arm mechanism, adding a 3D camera, designing a new type of gripper, adding pressure rollers to the inclined conveyor group, adding an RFID detection conveyor group, and a discharge circulation conveyor group, the present invention improves the gripping range and gripping efficiency of linens, improves the gripping accuracy of linens, and reduces the linen accumulation area, thereby improving the linen sorting efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a gripping and separating device for intelligent sorting of soiled linens according to the present invention.

[0018] Figure 2 This is a schematic diagram of the feeding conveyor assembly of the present invention.

[0019] Figure 3 This is a schematic diagram of the gripping and conveying assembly of the present invention.

[0020] Figure 4 This is a schematic diagram of the parallel robotic arm mechanism of the present invention.

[0021] Figure 5 This is a schematic diagram of the gripper mechanism of the present invention.

[0022] Figure 6 This is a schematic diagram of the servo module mechanism of the present invention.

[0023] Figure 7 This is a schematic diagram of the inclined conveyor assembly of the present invention.

[0024] Figure 8 This is a schematic diagram of the RFID detection and delivery assembly of the present invention.

[0025] Figure 9 This is a schematic diagram of the discharge circulation conveyor group of the present invention. Detailed Implementation

[0026] To illustrate in detail the technical solutions adopted by the present invention to achieve the intended technical objectives, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Furthermore, the technical means or technical features in the embodiments of the present invention can be replaced without creative effort. The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0027] like Figure 1 The present invention provides a gripping and separating device for intelligent sorting of soiled linens, comprising a feeding conveyor group 1, a gripping conveyor group 3, a parallel robotic arm mechanism 4, a gripper mechanism 5, a servo module mechanism 6, a ramp conveyor group 7, an RFID detection conveyor group 8, and a discharge circulation conveyor group 9. The feeding conveyor group 1 is horizontally arranged, the gripping conveyor group 3 is located behind the feeding conveyor group 1, the parallel robotic arm mechanism 4 is arranged above the gripping conveyor group 3, the gripper mechanism 5 is mounted on the parallel robotic arm mechanism 4, the servo module mechanism 6 is inclinedly arranged on the middle rear side of the parallel robotic arm mechanism 4, the ramp conveyor group 7 is arranged below the servo module mechanism 6, the RFID detection conveyor group 8 is installed below the ramp conveyor group 7, and the discharge circulation conveyor group 9 is installed below the RFID conveyor group 8.

[0028] like Figure 2 As shown, the feeding conveyor group 1 includes a feeding base 101, a feeding reduction motor 102, a feeding drive roller 103, a feeding adjusting roller 104, a feeding adjusting roller bracket 105, and a feeding conveyor belt 106. The feeding drive roller 103 is rotatably mounted on the feeding base 101 and connected to the feeding reduction motor 102, and is driven by the feeding reduction motor 102. The feeding adjusting roller bracket 105 is slidably mounted on the feeding base 101, and its sliding position is limited by bolts. The bolts adjust the position of the adjusting roller to adjust the tension of the conveyor belt. This structure is existing technology, and its specific structural configuration will not be described in detail. The feeding adjusting roller 104 is rotatably mounted on the feeding adjusting roller bracket 105, and the feeding conveyor belt 106 is mounted on the feeding drive roller 103 and the feeding adjusting roller 104.

[0029] like Figure 3As shown, the gripping and conveying assembly 3 includes a gripping base 301, a gripping reduction motor 302, a first gripping active roller 303, a first gripping passive roller 304, a first gripping passive roller bracket 305, a second gripping active roller 306, a second gripping passive roller 307, a second gripping active roller bracket 308, a first gripping conveyor belt 309, and a second gripping conveyor belt 310. The first gripping active roller 303 is rotatably mounted on the gripping base 301 and connected to the gripping reduction motor 302, and driven by the gripping reduction motor 302. The first gripping passive roller bracket 305 is slidably mounted on the horizontal end of the gripping base 301, and its sliding position is limited by bolt adjustment. The first gripping passive roller 304 is rotatably mounted on the first gripping passive roller bracket 305. The first gripping active roller 309 is mounted on the first gripping active roller 303 and the first gripping passive roller 304. The second gripping active roller bracket 308 is slidably mounted on the upper end of the inclined section of the gripping base 301 and its sliding position is limited by bolt adjustment. The second gripping passive roller 307 is rotatably mounted on the lower end of the inclined section of the gripping base 301. The second gripping conveyor belt 310 is mounted on the second gripping active roller 306 and the second gripping passive roller 307. Feed baffles 311 are provided on both sides of the first gripping conveyor belt 310. A gripping active sprocket 312 is provided at one end of the first gripping active roller 303 and a gripping passive sprocket 313 is provided at one end of the second gripping active roller 306. The gripping chain 314 is mounted on the gripping active sprocket 312 and the gripping passive sprocket 313.

[0030] like Figure 4 As shown, the parallel robotic arm mechanism 4 includes three sets of robotic arms, three sets of lead screws 401, and gripper bases 402. Each set of robotic arms includes a robotic arm frame 403, a robotic arm active synchronous pulley 404, a robotic arm passive synchronous pulley 405, a robotic arm synchronous belt 406, a robotic arm slide rail 407, a robotic arm slider 408, a robotic arm geared motor 409, and a robotic arm geared motor bracket 410. The robotic arm geared motor bracket 410 is slidably mounted on the upper end of the robotic arm frame 403 and its sliding setting is limited by bolts. The robotic arm active synchronous pulley 404 is rotatably mounted on the robotic arm geared motor bracket 410 and is connected to the robotic arm geared motor 409. The connection is driven by the robotic arm reduction motor 409. The robotic arm passive synchronous pulley 405 is rotatably mounted at the lower end of the robotic arm frame 403. The robotic arm synchronous belt 406 is mounted on the robotic arm active synchronous pulley 404 and the robotic arm passive synchronous pulley 405. The robotic arm slide rail 407 is fixed vertically on the robotic arm frame 403. The robotic arm slider 408 is slidably mounted on the robotic arm slide rail 407 and connected to the robotic arm synchronous belt 406. One end of the three sets of lead screws 401 is respectively hinged to the sliders of the three sets of robotic arms. The other end of the three sets of lead screws 401 is hinged to the gripper base 402. A 3D camera 411 is mounted at the lower end of the robotic arm frame 403.

[0031] like Figure 5 As shown, the gripper mechanism 5 includes a gripper bracket 501, a gripper stepper motor 502, a drive gear 503, a driven gear 504, a drive roller 505, a driven roller 506, a driven roller rotating plate 507, and a gripper cylinder 508. The gripper stepper motor 502 is fixed on the gripper bracket 501. The drive gear 503 is mounted on the gripper stepper motor 502 and driven by the gripper stepper motor 502. The drive roller 505 is rotatably mounted on the gripper bracket 501. The driven gear 504 is fixed to one end of the drive roller 505 and meshes with the drive gear 503. The driven roller 506 is rotatably mounted at one end of the driven roller rotating plate 507. The driven roller rotating plate 507 is hinged to the gripper bracket 501. The other end of the driven roller rotating plate 507 is connected to the gripper cylinder 508 and driven by the gripper cylinder 508. The gripper cylinder 508 is hinged to the gripper bracket 501.

[0032] like Figure 6 As shown, the servo module mechanism 6 includes a servo module frame 601, a servo module geared motor 602, a servo module motor bracket 603, a servo module active synchronous pulley 604, a servo module passive synchronous pulley 605, a servo module synchronous belt 606, a servo module slide rail 607, a servo module slider 608, and an extension bracket 609. The servo module motor bracket 603 is slidably mounted on one end of the servo module frame 601 and its sliding position is limited by bolts. The servo module active synchronous pulley 604 is rotatably mounted on the servo module motor bracket 603 and is connected to the servo module geared motor. The servo module 602 is driven by the servo module geared motor 602. The servo module passive synchronous pulley 605 is rotatably mounted at the other end of the servo module frame 601. The servo module synchronous belt 606 is mounted on the servo module active synchronous pulley 604 and the servo module passive synchronous pulley 605. The servo module slide rail 607 is fixed on the servo module frame 601. The servo module slider 608 is slidably mounted on the servo module slide rail 607 and connected to the servo module synchronous belt 606. The extension bracket 609 is fixed on the servo module slider 608 and is used to fix the gripper mechanism 5.

[0033] like Figure 7As shown, the inclined conveyor assembly 7 includes an inclined support 701, an inclined motor 702, a first inclined active roller 703, a second inclined active roller 704, a first inclined passive roller 705, a second inclined passive roller 706, a compression spring support 707, an inclined adjusting roller support 708, and a linen baffle 709. The first inclined active roller 703 is rotatably mounted on the inclined support 701, and one end of the first inclined active roller 703 is connected to the inclined motor 702 and driven by the inclined motor 702. The other end of the first inclined ramp drive roller 703 is provided with a first inclined ramp drive sprocket 710. The second inclined ramp drive roller 704 is rotatably mounted on the inclined ramp support 701, and one end of the second inclined ramp drive roller 704 is provided with a second inclined ramp drive sprocket 711. The first driven sprocket 712 and the second driven sprocket 713 are rotatably mounted on the inclined ramp support 701. The inclined ramp drive chain 714 is arranged on the first inclined ramp drive sprocket 710, the second inclined ramp drive sprocket 711, and the first inclined ramp driven sprocket. The first slope drive sprocket 710, the first slope passive sprocket 712, and the second slope passive sprocket 713 are located inside the slope drive chain 714, and the second slope drive sprocket 711 is located outside the slope drive chain 714. The spring support 707 is slidably mounted on the lower end of the slope support 701 and connected to the slope support 701 through the spring. The first slope passive roller 705 is rotatably mounted on the spring support 707. The first slope conveyor belt 715 is mounted on the first slope drive roller 703 and the first slope passive roller 705. The slope adjusting roller support 708 is slidably mounted on the upper end of the slope support 701 and its sliding position is limited by bolt adjustment. The second slope passive roller 706 is rotatably mounted on the slope adjusting roller support 708. The second slope conveyor belt 716 is mounted on the second slope drive roller 704 and the second slope passive roller 706. The linen baffle 709 is located below the second slope conveyor belt 716.

[0034] like Figure 8 As shown, the RFID detection conveyor group 8 includes an RFID detection bracket 801, an RFID detection geared motor 802, an RFID detection active roller 803, an RFID detection passive roller 804, an RFID detection conveyor belt 805, and an RFID reader / writer 806. The RFID detection active roller 803 and the RFID detection passive roller 804 are rotatably mounted at both ends of the RFID detection bracket 801. One end of the RFID detection active roller 803 is connected to and driven by the RFID detection geared motor 802. The RFID detection conveyor belt 805 is mounted on the RFID detection active roller 803 and the RFID detection passive roller 804. The RFID reader / writer 806 is mounted above the RFID detection conveyor belt 805.

[0035] like Figure 9As shown, the discharge circulation conveyor group 9 includes a discharge circulation bracket 901, a discharge circulation geared motor 902, a discharge circulation active roller 903, a discharge circulation passive roller 904, a discharge circulation passive roller bracket 905, a discharge circulation conveyor belt 906, and a circulation baffle 907. The discharge circulation active roller 903 is rotatably mounted on the discharge circulation bracket 901, and one end of the discharge circulation active roller 903 is connected to the discharge circulation geared motor 902 and driven by the discharge circulation geared motor 902. The discharge circulation passive roller bracket 905 is slidably mounted on one end of the discharge circulation bracket 901, and the sliding position is limited by bolt adjustment. The discharge circulation passive roller 904 is rotatably mounted on the discharge circulation passive roller bracket 905. The discharge circulation conveyor belt 906 is mounted on the discharge circulation passive roller 903 and the discharge circulation passive roller 904. The circulation baffle 907 is mounted on both sides of the front end of the discharge circulation conveyor belt 906.

[0036] The present invention provides a gripping and separating device for intelligent sorting of soiled linens, which further includes a photoelectric sensor group. The photoelectric sensor group includes a first photoelectric sensor 201, a second photoelectric sensor 202, a third photoelectric sensor 203, a fourth photoelectric sensor 204, a fifth photoelectric sensor 205, a sixth photoelectric sensor 206, and a seventh photoelectric sensor 207. The first photoelectric sensor 201 is located at the front end of the feeding conveyor group 1, the second photoelectric sensor 202 is located at the rear end of the feeding conveyor group 1, the third photoelectric sensor 203 is located at the front end of the inclined conveyor group 7, the fourth photoelectric sensor 204 is located at the middle position of the inclined conveyor group 7, the fifth photoelectric sensor 205 is located at the front end of the RFID detection conveyor group 8, the sixth photoelectric sensor 206 is located at the front end of the discharge circulation conveyor group 9, and the seventh photoelectric sensor 207 is located at the rear end of the discharge circulation conveyor group 9.

[0037] The working principle of the gripping and separating device for intelligent sorting of soiled linens according to the present invention is as follows: When a pile of linens falls onto the feeding conveyor belt 106 above the feeding conveyor group 1, the first photoelectric sensor 201 detects a signal, the feeding reduction motor 102 starts, drives the feeding drive roller 103 to rotate, and drives the feeding conveyor belt 106 to rotate. The linens above the feeding conveyor belt 106 move forward with the conveyor belt. When the tail of the linens leaves the second photoelectric sensor 202, the feeding conveyor group 1 stops running.

[0038] The linens enter the first gripping conveyor belt 309 on the gripping conveyor group 3. The gripping reduction motor 302 starts, driving the first gripping drive roller 303 to rotate, which in turn drives the first gripping conveyor belt 309 to rotate. The first gripping drive roller 303 simultaneously drives the second gripping drive roller 306 to rotate, which in turn drives the second gripping conveyor belt 310 to rotate. The linens above the first gripping conveyor belt 309 move forward with the conveyor belt. When the linens move to the position of the second gripping conveyor belt 310, they will be blocked by the second gripping conveyor belt 310 to prevent them from moving further forward and to remain in the current linen area.

[0039] The gripper mechanism 5 is mounted on the gripper base 402 of the parallel robotic arm mechanism 4. Its initial position is above the front end of the first inclined conveyor belt 715 of the inclined conveyor group 7, that is, above and in front of the gripper mechanism of the servo module 6. When the linen enters the gripping area, the 3D camera 411 acquires images of all the linens and performs coordinate transformation. The intelligent system calculates the coordinate position where the gripper mechanism 5 needs to fall when gripping one of the linens. The parallel robotic arm servo motor 409 starts running, driving the robotic arm active synchronous wheel 404 to start rotating, and driving the robotic arm synchronous belt 406 to move. The robotic arm slider 408 on the robotic arm slide rail 407 moves down synchronously. The three sets of sliders move to their respective positions. When the gripper mechanism moves, the gripper stepper motor... Machine 502 starts to rotate, driving the active gear 503 to rotate. The active gear 503 drives the passive gear 504 to rotate, and the passive gear drives the active roller 505 to rotate. The gripper cylinder 508 is in the extended state, so that the passive roller 506 is in the clamping state and rotates together with the active roller. The active roller 505 and passive roller 506 of the gripper mechanism 5 move to the coordinate point given by the 3D camera. The moment the cloth comes into contact with the gripper, it is pulled into the gripper and is clamped by the gripper cylinder 508 to prevent it from falling. When the clamping is detected, the robotic arm servo motor 409 of the parallel robotic arm mechanism starts to reverse, driving the slider to move upward. When it reaches the initial position of the gripper mechanism, it stops. At the same time, the gripper stepper motor 502 on the gripper mechanism reverses, removing the cloth from the gripper.

[0040] Another gripper mechanism is installed on the extension bracket 609 of the servo module 6. When the gripper mechanism on the parallel robotic arm mechanism returns to its initial position, the servo module reduction motor 602 starts running, driving the servo module active synchronous wheel 604 to start rotating, and driving the servo module synchronous belt 606 to move. The servo module slider 608 on the servo module slide rail 607 moves forward synchronously, and the gripper mechanism on the extension bracket 609 moves forward to catch the linen lifted by the gripper mechanism on the parallel robotic arm mechanism. When it is detected that the gripper mechanism on the extension bracket 609 has clamped the linen, the servo module reduction motor 602 of the servo module mechanism reverses, driving the gripper to move to a higher rear position.

[0041] The ramp reducer motor 702 of the ramp conveyor group 7 rotates, driving the first ramp drive roller 703 to rotate, thereby driving the first ramp conveyor belt 715 to move forward. At the same time, the second ramp drive roller 704 is driven to rotate through the sprocket. The second ramp drive roller 704 drives the second ramp conveyor belt 716 to rotate. When the gripper mechanism on the servo module moves to the top of the second ramp conveyor belt 716, the motor of the gripper mechanism on the servo module reverses to remove the linen from the gripper. The linen is clamped behind the first ramp conveyor belt 715 and the second ramp conveyor belt 716. The linen baffle 709 prevents the linen from moving to the wrong position. The third photoelectric sensor 203 is used to detect whether the linen has left the first ramp conveyor belt, and the fourth photoelectric sensor 204 detects whether the linen has left the second ramp conveyor belt. At this time, the motor on the servo module 6 starts to rotate, causing the gripper mechanism on it to return to the initial position.

[0042] The linen falls onto the RFID detection conveyor group 8 due to the obstruction of the linen baffle 709. The RFID detection reduction motor 802 drives the RFID detection active roller 803 to rotate, which in turn drives the RFID detection conveyor belt 805 to rotate. The linen above the RFID detection conveyor belt 805 moves forward with the conveyor belt (in the direction of the reducer). The RFID reader 806 reads the linen information. When the tail of the linen leaves the fifth photoelectric sensor 205, the RFID detection conveyor group stops running.

[0043] When linens fall onto the discharge circulation conveyor group 9, the sixth photoelectric sensor 206 detects the linens. The discharge circulation reduction motor 902 drives the discharge circulation active roller 903 to rotate, which in turn drives the discharge circulation conveyor belt 906 to rotate. If the RFID identifies a piece of linen, the linen above the conveyor belt moves towards the seventh photoelectric sensor 207 and enters the subsequent sorting process. Otherwise, the reducer reverses and moves towards the circulation baffle 907, re-entering the gripping area of ​​the gripping conveyor group 3. When the tail of the linen leaves the sixth photoelectric sensor 206 or the seventh photoelectric sensor 207, the discharge circulation conveyor group stops operating.

[0044] This invention improves the gripping range and efficiency of linens by adding a parallel robotic arm mechanism, a 3D camera, a novel gripper design, pressure rollers to the inclined conveyor group, an RFID detection conveyor group, and a discharge circulation conveyor group. It also increases the accuracy of linen gripping and reduces the linen accumulation area, thereby improving the linen sorting efficiency.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A gripping and separating device for intelligent sorting of soiled linens, characterized in that: It includes a feeding conveyor group, a gripping conveyor group, a parallel robotic arm mechanism, a gripper mechanism, a servo module mechanism, an inclined conveyor group, an RFID detection conveyor group, and a discharge circulation conveyor group. The feeding conveyor group is horizontally positioned, the gripping conveyor group is located behind the feeding conveyor group, the parallel robotic arm mechanism is positioned above the gripping conveyor group, the gripper mechanism is mounted on the parallel robotic arm mechanism, the servo module mechanism is inclinedly positioned at the middle and rear side of the parallel robotic arm mechanism, the inclined conveyor group is positioned below the servo module mechanism, the RFID detection conveyor group is mounted below the inclined conveyor group, and the discharge circulation conveyor group is mounted below the RFID conveyor group.

2. The gripping and separating device for intelligent sorting of soiled linens according to claim 1, characterized in that: The feeding conveying assembly includes a feeding base, a feeding geared motor, a feeding drive roller, a feeding adjusting roller, a feeding adjusting roller bracket, and a feeding conveyor belt. The feeding drive roller is rotatably mounted on the feeding base and connected to the feeding geared motor, and is driven by the feeding geared motor. The feeding adjusting roller bracket is slidably mounted on the feeding base and its sliding position is limited by bolt adjustment. The feeding adjusting roller is rotatably mounted on the feeding adjusting roller bracket. The feeding conveyor belt is mounted on the feeding drive roller and the feeding adjusting roller.

3. The gripping and separating device for intelligent sorting of soiled linens according to claim 1, characterized in that: The gripping and conveying assembly includes a gripping base, a gripping reduction motor, a first gripping active roller, a first gripping passive roller, a first gripping passive roller bracket, a second gripping active roller, a second gripping passive roller, a second gripping active roller bracket, a first gripping conveyor belt, and a second gripping conveyor belt. The first gripping active roller is rotatably mounted on the gripping base and connected to and driven by the gripping reduction motor. The first gripping passive roller bracket is slidably mounted at the end of the horizontal section of the gripping base and its sliding position is limited by bolt adjustment. The first gripping passive roller is rotatably mounted on the first gripping passive roller bracket. The gripping conveyor belt is mounted on the first gripping active roller and the first gripping passive roller. The second gripping active roller bracket is slidably mounted on the upper end of the inclined section of the gripping base and its sliding position is limited by bolt adjustment. The second gripping passive roller is rotatably mounted on the lower end of the inclined section of the gripping base. The second gripping conveyor belt is mounted on the second gripping active roller and the second gripping passive roller. Feed baffles are provided on both sides of the first gripping conveyor belt. A gripping active sprocket is provided at one end of the first gripping active roller and a gripping passive sprocket is provided at one end of the second gripping active roller. The gripping chain is mounted on the gripping active sprocket and the gripping passive sprocket.

4. The gripping and separating device for intelligent sorting of soiled linens according to claim 1, characterized in that: The parallel robotic arm mechanism comprises three sets of robotic arms, three sets of lead screws, and gripper bases. Each set of robotic arms includes a robotic arm frame, a robotic arm active synchronous pulley, a robotic arm passive synchronous pulley, a robotic arm synchronous belt, a robotic arm slide rail, a robotic arm slider, a robotic arm geared motor, and a robotic arm geared motor bracket. The robotic arm geared motor bracket is slidably mounted on the upper end of the robotic arm frame and its sliding position is limited by bolts. The robotic arm active synchronous pulley is rotatably mounted on the robotic arm geared motor bracket and connected to the robotic arm geared motor, which drives it. The robotic arm passive synchronous pulley is rotatably mounted on the lower end of the robotic arm frame. The robotic arm synchronous belt is mounted on the robotic arm active and passive synchronous pulleys. The robotic arm slide rail is fixed vertically to the robotic arm frame. The robotic arm slider is slidably mounted on the robotic arm slide rail and connected to the robotic arm synchronous belt. One end of each of the three sets of lead screws is hinged to the slider of the three sets of robotic arms, and the other end of each set of lead screws is hinged to the gripper base. A 3D camera is mounted on the lower end of the robotic arm frame.

5. The gripping and separating device for intelligent sorting of soiled linens according to claim 1, characterized in that: The gripper mechanism includes a gripper bracket, a gripper stepper motor, a drive gear, a driven gear, a drive roller, a driven roller, a driven roller rotating plate, and a gripper cylinder. The gripper stepper motor is fixed on the gripper bracket. The drive gear is mounted on the gripper stepper motor and driven by the gripper stepper motor. The drive roller is rotatably mounted on the gripper bracket. The driven gear is fixed to one end of the drive roller and meshes with the drive gear. The driven roller is rotatably mounted at one end of the driven roller rotating plate, which is hinged to the gripper bracket. The other end of the driven roller rotating plate is connected to the gripper cylinder and driven by the gripper cylinder, which is hinged to the gripper bracket.

6. The gripping and separating device for intelligent sorting of soiled linens according to claim 1, characterized in that: The servo module mechanism includes a servo module frame, a servo module geared motor, a servo module motor bracket, a servo module active synchronous pulley, a servo module passive synchronous pulley, a servo module synchronous belt, a servo module slide rail, a servo module slider, and an extension bracket. The servo module motor bracket is slidably mounted at one end of the servo module frame and its sliding position is limited by bolts. The servo module active synchronous pulley is rotatably mounted on the servo module motor bracket and connected to the servo module geared motor, driven by the servo module geared motor. The servo module passive synchronous pulley is rotatably mounted at the other end of the servo module frame. The servo module synchronous belt is mounted on the servo module active synchronous pulley and the servo module passive synchronous pulley. The servo module slide rail is fixed to the servo module frame. The servo module slider is slidably mounted on the servo module slide rail and connected to the servo module synchronous belt. The extension bracket is fixed to the servo module slider.

7. The gripping and separating device for intelligent sorting of soiled linens according to claim 1, characterized in that: The inclined conveyor assembly includes an inclined support, an inclined motor, a first inclined drive roller, a second inclined drive roller, a first inclined driven roller, a second inclined driven roller, a spring support, an inclined adjusting roller support, and a linen baffle. The first inclined drive roller is rotatably mounted on the inclined support, and one end of the first inclined drive roller is connected to and driven by the inclined motor. The other end of the first inclined drive roller is equipped with a first inclined drive sprocket. The second inclined drive roller is rotatably mounted on the inclined support, and one end of the second inclined drive roller is equipped with a second inclined drive sprocket. The first and second driven sprockets are rotatably mounted on the inclined support. The inclined drive chain is configured around the first inclined drive sprocket, the second inclined drive sprocket, the first inclined driven sprocket, and the second inclined driven sprocket. The two inclined passive sprockets are arranged such that the first inclined driving sprocket, the first inclined passive sprocket, and the second inclined passive sprocket are located inside the inclined drive chain, and the second inclined driving sprocket is located outside the inclined drive chain. A spring bracket is slidably mounted at the lower end of the inclined support and connected to the inclined support via a spring. The first inclined passive roller is rotatably mounted on the spring bracket. The first inclined conveyor belt is mounted on the first inclined driving roller and the first inclined passive roller. A inclined adjusting roller bracket is slidably mounted at the upper end of the inclined support and its sliding position is limited by bolt adjustment. The second inclined passive roller is rotatably mounted on the inclined adjusting roller bracket. The second inclined conveyor belt is mounted on the second inclined driving roller and the second inclined passive roller. A linen baffle is located below the second inclined conveyor belt.

8. The gripping and separating device for intelligent sorting of soiled linens according to claim 1, characterized in that: The RFID detection conveyor assembly includes an RFID detection bracket, an RFID detection geared motor, an RFID detection active roller, an RFID detection passive roller, an RFID detection conveyor belt, and an RFID reader / writer. The RFID detection active roller and the RFID detection passive roller are rotatably mounted at both ends of the RFID detection bracket. One end of the RFID detection active roller is connected to and driven by the RFID detection geared motor. The RFID detection conveyor belt is mounted on the RFID detection active roller and the RFID detection passive roller, and the RFID reader / writer is mounted above the RFID detection conveyor belt.

9. A gripping and separating device for intelligent sorting of soiled linens according to claim 1, characterized in that: The discharge circulation conveyor assembly includes a discharge circulation support, a discharge circulation geared motor, a discharge circulation active roller, a discharge circulation passive roller, a discharge circulation passive roller support, a discharge circulation conveyor belt, and circulation baffles. The discharge circulation active roller is rotatably mounted on the discharge circulation support, and one end of the discharge circulation active roller is connected to and driven by the discharge circulation geared motor. The discharge circulation passive roller support is slidably mounted on one end of the discharge circulation support, and its sliding position is limited by bolt adjustment. The discharge circulation passive roller is rotatably mounted on the discharge circulation passive roller support. The discharge circulation conveyor belt is mounted on the discharge circulation passive roller and the discharge circulation passive roller. Circulation baffles are located on both sides of the front end of the discharge circulation conveyor belt.

10. A gripping and separating device for intelligent sorting of soiled linens according to claim 1, characterized in that: It also includes a photoelectric sensor group, which includes a first photoelectric sensor, a second photoelectric sensor, a third photoelectric sensor, a fourth photoelectric sensor, a fifth photoelectric sensor, a sixth photoelectric sensor, and a seventh photoelectric sensor. The first photoelectric sensor is located at the front end of the feeding conveyor group, the second photoelectric sensor is located at the rear end of the feeding conveyor group, the third photoelectric sensor is located at the front end of the inclined conveyor group, the fourth photoelectric sensor is located in the middle of the inclined conveyor group, the fifth photoelectric sensor is located at the front end of the RFID detection conveyor group, the sixth photoelectric sensor is located at the front end of the discharge circulation conveyor group, and the seventh photoelectric sensor is located at the rear end of the discharge circulation conveyor group.

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