Ball sorting device capable of achieving color recognition

Abstract

The utility model discloses a ball sorting device capable of achieving color recognition. The ball sorting device comprises a frame, and a rotating disc type sorting mechanism and a feeding mechanism are sequentially installed on the frame from top to bottom. The rotating disc type sorting mechanism is used for conducting color recognition on the received balls one by one and discharging the balls to the feeding mechanism one by one. And the feeding mechanism is used for selectively feeding the recognized balls from two preset feeding directions. The intelligent ball delivery device is small in size, and intelligent delivery of balls meeting or not meeting recognition requirements is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of sorting and delivering equipment, in particular to a ball sorting device for realizing color recognition. Background Art

[0002] Smart logistics refers to a modern logistics model that uses intelligent technologies such as smart software and hardware, the Internet of Things, and big data to achieve refined, dynamic, and visual management of all aspects of logistics, improve the logistics system's intelligent analysis and decision-making and automated operation execution capabilities, and enhance logistics operation efficiency.

[0003] Therefore, it is extremely important to automate the logistics transportation process. Otherwise, the manual participation rate in each link will be greatly increased, resulting in labor costs and unstable logistics transportation volume, requiring workers to pick up and sort.

[0004] For example, Chinese patent CN214107907U discloses a pearl color sorting device, which uses a belt conveyor, cooperates with motor A and a speed regulator to control the transmission speed of the conveyor belt, places each pearl at intervals, realizes visual identification of a single pearl, and finally sorts pearls of different colors at the exit of the moving track and the channel interface of the pearl classifier. In this utility model, the space required for the belt conveyor is large, and the spatial advantage of the sphere is not fully utilized; the sorting device needs to be equipped with a single ball outlet device before this process, which creates a large technical barrier to implementation.

[0005] For example, Chinese patent CN215390918U discloses a visual inspection device for color sorting and identification, which is connected by a rotating device between a sliding slot and a moving mechanism, a planetary gear is installed on the moving mechanism, and an external rack is installed on the sliding slot, which meshes and moves laterally, and the camera is installed on the moving mechanism to realize the identification of objects of different colors. In the present invention, the visual inspection device is constantly moving and cannot sort the identified objects according to a certain logical relationship. Utility Model Content

[0006] In order to solve the technical problems existing in the background technology, the utility model proposes a ball sorting device that realizes color recognition.

[0007] The utility model provides a ball sorting device for realizing color recognition, comprising a frame, a turntable sorting mechanism and a feeding mechanism;

[0008] The turntable sorting mechanism is installed on the frame, and is used to identify the colors of the received balls one by one and discharge them one by one to the feeding mechanism;

[0009] The feeding mechanism is installed on the frame below the sorting module, and is used to selectively deliver the identified balls from two predetermined delivery directions.

[0010] Preferably, the turntable sorting mechanism comprises a cylinder with an open top, a circular partition, a turntable, a first drive assembly, and a second drive assembly;

[0011] The circular partition is horizontally fixed in the cylinder and divides the cylinder into a first chamber and a second chamber arranged in sequence from top to bottom; a plurality of first through holes for passing the single sphere are evenly opened along the circumferential direction on the outer edge of the circular partition;

[0012] The turntable is located in the second chamber, and the first drive assembly is installed in the middle of the top surface of the circular partition, and the axis of the first drive assembly passes through the circular partition and is coaxially fixed to the top of the turntable; a plurality of C-shaped grooves are opened along the circumferential direction on the outer edge of the turntable, and a receiving cavity for accommodating a single sphere falling into from the first through hole is formed between each C-shaped groove, the inner side of the peripheral wall of the cylinder, the inner side of the bottom wall of the cylinder and the bottom side of the circular partition; an identification sensor for identifying the sphere located in the receiving cavity is provided on the cylinder; a ball drop hole for discharging a single sphere in the receiving cavity downward is provided on the bottom wall of the cylinder; a discharge baffle for fully exposing the ball drop hole or fully covering the ball drop hole is provided on the outer side of the bottom wall of the cylinder, and the second drive assembly is installed on the cylinder, and the second drive assembly is connected to the discharge baffle driving, and the second drive assembly is used to drive the discharge baffle to move to fully expose the ball drop hole or fully cover the ball drop hole.

[0013] Preferably, the recognition sensor comprises a color recognition sensor, the color recognition sensor is electrically connected to the controller, the color recognition sensor is mounted on the peripheral wall of the cylinder, and the color recognition sensor is used to recognize the color of the ball located in the accommodating cavity;

[0014] Alternatively, the identification sensor includes a weight sensor, the weight sensor is electrically connected to the controller, the weight sensor is mounted on the bottom wall of the cylinder, and the weight sensor is used to weigh the weight of the ball located in the accommodating cavity;

[0015] Alternatively, the recognition sensor includes a color recognition sensor and a weight sensor, the color recognition sensor and the weight sensor are electrically connected to the controller, the color recognition sensor is installed on the peripheral wall of the cylinder, and the weight sensor is installed on the bottom wall of the cylinder corresponding to the color recognition sensor. The color recognition sensor is used to identify the color of the sphere located in the accommodating cavity, and the weight sensor is used to weigh the weight of the sphere located in the same accommodating cavity.

[0016] Preferably, it also includes a conical cover, which is irradiated on the first driving component.

[0017] Preferably, the cylinder comprises a first cylinder and a second cylinder which are detachably fixed in sequence from top to bottom, and the circular partition is the bottom wall of the first cylinder.

[0018] Preferably, a plurality of slots are evenly arranged at the top of the peripheral wall of the second cylinder along the circumferential direction, and plug plates for plugging into the slots are arranged at the bottom wall of the first cylinder corresponding to the slots, and threaded holes for vertically connecting with the slots are arranged at the outer side of the peripheral wall of the second cylinder corresponding to each slot, and locking bolts for pressing the plug plates in the slots are threadedly connected in the threaded holes.

[0019] Preferably, the feeding mechanism comprises: a discharge guide trough, a bidirectional guide plate and two feeding guide troughs;

[0020] The discharge guide groove is obliquely installed on the frame below the cylinder body, and the discharge guide groove is used for the balls discharged from the ball drop hole to roll along the discharge guide groove under the action of their own weight;

[0021] The middle part of the bidirectional guide plate is rotatably mounted on a frame at the discharge port of the discharge guide groove, and the bidirectional guide plate can rotate relative to the frame in a first vertical plane; the bidirectional guide plate has a material receiving station, a first material discharging station, and a second material discharging station; on the first flipping drive mechanism frame, the first flipping drive mechanism is drivingly connected to the bidirectional guide plate, and the first flipping drive mechanism is used to drive the bidirectional guide plate to switch between the material receiving station, the first material discharging station, and the second material discharging station;

[0022] The two feeding guide grooves are rotatably mounted on the frame at the first end and the second end of the two-way guide plate, and each feeding guide groove can rotate relative to the frame in a first vertical plane; the feeding guide groove has a storage station and a third discharging station; the two second flipping drive mechanisms are respectively driven and connected to the two feeding guide grooves one by one, and the second flipping drive mechanisms are used to drive the corresponding feeding guide grooves to switch between the storage station and the third discharging station.

[0023] Preferably, when the bidirectional guide plate is at the material receiving station, the first end and the second end of the bidirectional guide plate are flush;

[0024] When the bidirectional guide plate is at the first discharging station, the first end of the bidirectional guide plate is lower than the second end;

[0025] When the bidirectional guide plate is at the second discharging station, the second end of the bidirectional guide plate is lower than the first end.

[0026] Preferably, when the feeding guide groove is in the receiving position, the free end of the feeding guide groove is higher than the rotating connection end of the feeding guide groove;

[0027] When the feeding guide groove is at the third discharging position, the free end of the feeding guide groove is lower than the rotating connection end of the feeding guide groove.

[0028] Preferably, there are two color recognition sensors, which are symmetrically arranged on the peripheral wall of the cylinder; there are two weight sensors, which are symmetrically arranged on the bottom of the cylinder; there are two ball dropping holes, and the straight line where the two ball dropping holes are located is perpendicular to the straight line where the two color recognition sensors are located; there are two discharge guide grooves, which are located one by one below the two ball dropping holes and are symmetrically arranged on both sides of the two-way guide plate; there are two discharge baffles, which are used to fully expose or fully cover the two ball dropping holes.

[0029] Preferably, the bottom wall of the discharge guide groove gradually slopes downward from outside to inside along the radial direction of the cylinder.

[0030] Preferably, an elastic cloth, an elastic net or a plurality of elastic ropes are connected between the bottom wall of the discharge port of the discharge guide groove and the bidirectional guide plate.

[0031] In the utility model, the ball sorting device for realizing color recognition is small in size, can perform color recognition on the received balls one by one and discharge them one by one to the feeding mechanism, and the feeding mechanism intelligently delivers the balls that meet the recognition requirements or do not meet the recognition requirements, that is, selectively delivers them from two predetermined delivery directions, does not require manual sorting, effectively improves the sorting efficiency, and greatly reduces the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a three-dimensional schematic diagram of a ball sorting device for realizing color recognition in one embodiment of the utility model.

[0033] Figure 2 It is an exploded schematic diagram of a turntable sorting mechanism in one embodiment of the present invention.

[0034] Figure 3 The figure is a schematic structural diagram of a feeding mechanism in one embodiment of the present invention.

[0035] Figure 4 The figure is a three-dimensional schematic diagram of a ball sorting and delivering robot in one embodiment of the present invention.

[0036] Figure 5 The figure is a front view schematic diagram of a ball sorting and delivering robot in one embodiment of the present invention.

[0037] Figure 6 It is a structural schematic diagram of a carrying platform and a frame in an embodiment of the utility model. DETAILED DESCRIPTION

[0038] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] Reference Figure 1-3 The utility model proposes a ball sorting device for realizing color recognition, comprising: a frame 3, a turntable sorting mechanism 4 and a feeding mechanism 5;

[0040] The turntable sorting mechanism 4 is installed on the frame 3, and is used to identify the colors of the received balls one by one and discharge them one by one to the feeding mechanism 5;

[0041] The feeding mechanism 5 is installed on the frame 3 below the sorting module, and the feeding mechanism 5 is used to selectively feed the identified balls from two predetermined feeding directions.

[0042] The ball sorting device for realizing color recognition formed by the frame 3, the turntable sorting mechanism 4 and the feeding mechanism 5 in the utility model is small in size, can perform color recognition on the received balls one by one and discharge them one by one to the feeding mechanism, and the feeding mechanism intelligently delivers the balls that meet the recognition requirements or do not meet the recognition requirements, that is, selectively delivers them from two predetermined delivery directions, effectively improving the sorting efficiency and reducing the labor intensity of workers.

[0043] It should be noted that the sphere in this embodiment not only refers to various balls, but also refers to spherical materials.

[0044] In this embodiment, the turntable sorting mechanism 4 includes a cylinder with an open top, a circular partition, a turntable 420, a first drive assembly 430, and a second drive assembly 460;

[0045] The circular partition is fixed horizontally in the cylinder, and divides the cylinder into a first chamber and a second chamber arranged in sequence from top to bottom; a plurality of first through holes 411 for passing a single sphere are evenly opened along the circumferential direction on the outer edge of the circular partition;

[0046] The turntable 420 is located in the second chamber, and the first drive assembly 430 is installed in the middle of the top surface of the circular partition. The axis of the first drive assembly 430 passes through the circular partition and is coaxially fixed to the top of the turntable 420; the outer edge of the turntable 420 is provided with a plurality of C-shaped grooves along the circumferential direction, and each C-shaped groove, the inner side of the peripheral wall of the cylinder, the inner side of the bottom wall of the cylinder and the bottom side of the circular partition form a receiving cavity for accommodating a single ball falling through the first through hole 411; the cylinder is provided with a ball for identifying the ball located in the receiving cavity. An identification sensor; a ball drop hole 441 for a single ball in the accommodating cavity to be discharged downward is provided on the bottom wall of the cylinder; a discharge baffle 450 for completely exposing the ball drop hole 441 or completely covering the ball drop hole 441 is provided on the outer side of the bottom wall of the cylinder; a second drive assembly 460 is mounted on the cylinder, and the second drive assembly 460 is drivingly connected to the discharge baffle 450, and the second drive assembly 460 is used to drive the discharge baffle 450 to move to completely expose the ball drop hole 441 or completely cover the ball drop hole 441.

[0047] This embodiment enables each accommodating cavity to form a black box structure, so that the identification sensor in a fixed state can perform color recognition on the spheres in the corresponding accommodating cavity, thereby improving the recognition accuracy, which is conducive to the subsequent sorting of the identified spheres according to attributes such as color or weight.

[0048] In this embodiment, the recognition sensor includes a color recognition sensor, which is mounted on the peripheral wall of the cylinder and is used to recognize the color of the ball in the accommodating cavity.

[0049] In this embodiment, a conical cover 413 is further included, and the conical cover 413 is irradiated on the first driving component 430 .

[0050] With such arrangement, when spheres or spherical materials are randomly poured into the first chamber, the spheres or spherical materials will flow into the first through holes 411 on the circular partition along the inclined surface of the conical cover 413, thereby preventing the materials from piling up.

[0051] Specifically, the first driving assembly includes a first driving steering gear.

[0052] In order to facilitate the assembly of the turntable sorting mechanism 4 , in this embodiment, the cylinder includes a first cylinder 410 and a second cylinder 440 which are detachably fixed from top to bottom, and the circular partition is the bottom wall of the first cylinder 410 .

[0053] In a further embodiment, a plurality of slots 442 are uniformly provided at the top of the peripheral wall of the second cylinder 440 along the circumferential direction, a plug plate 412 for plugging into the slot 442 is provided at the bottom wall of the first cylinder 410 corresponding to the slot 442, a threaded hole for vertically connecting with the slot 442 is provided at the outer side of the peripheral wall of the second cylinder 440 corresponding to each slot 442, and a locking bolt for pressing against the plug plate 412 in the slot 442 is threadedly connected in the threaded hole to ensure the coaxiality of the first cylinder 410 and the second cylinder 440 and the stability of the connection.

[0054] In this embodiment, the feeding mechanism 5 includes: a discharge guide groove 510, a bidirectional guide plate 520, and two feeding guide grooves 530;

[0055] The discharge guide groove 510 is obliquely installed on the frame 3 below the cylinder, and the discharge guide groove 510 is used for the balls discharged from the ball drop hole 441 to roll along the discharge guide groove 510 under the action of their own weight;

[0056] The middle part of the bidirectional guide plate 520 is rotatably mounted on the frame 3 at the discharge port of the discharge guide groove 510, and the bidirectional guide plate 520 can rotate relative to the frame 3 in the first vertical plane; the bidirectional guide plate 520 has a material receiving station, a first material discharging station, and a second material discharging station; on the first flipping drive mechanism frame 3, the first flipping drive mechanism is drivingly connected to the bidirectional guide plate 520, and the first flipping drive mechanism is used to drive the bidirectional guide plate 520 to switch between the material receiving station, the first material discharging station, and the second material discharging station;

[0057] The two feeding guide grooves 530 are rotatably mounted on the frame 3 at the first end and the second end of the two-way guide plate 520, respectively, and each feeding guide groove 530 can rotate in a first vertical plane relative to the frame 3; the feeding guide groove 530 has a storage station and a third discharging station; the two second flipping drive mechanisms are respectively driven and connected to the two feeding guide grooves 530 in a one-to-one correspondence, and the second flipping drive mechanisms are used to drive the corresponding feeding guide grooves 530 to switch between the storage station and the third discharging station.

[0058] In a specific implementation, when the identified ball is discharged from the ball drop hole 441 of the turntable sorting mechanism 4, it falls onto the discharge guide groove 510, and rolls along the discharge guide groove 510 under the action of its own weight to the bidirectional guide plate 520 at the receiving station;

[0059] According to the detection result of the sensor mechanism and the identification result of the turntable sorting mechanism 4, the first flip driving mechanism is controlled to switch the bidirectional guide plate 520 from the material receiving station to the first material discharging station or the second material discharging station;

[0060] When the bidirectional guide plate 520 is at the first discharging station or the second discharging station, the ball rolls along the bidirectional guide plate 520 under its own weight until it is blocked by the corresponding feeding guide groove 530 at the receiving station and enters the feeding guide groove 530;

[0061] The corresponding second flip driving mechanism is controlled to switch the feeding guide groove 530 from the storage station to the third discharging station; when the feeding guide groove 530 is at the third discharging station, the ball rolls along the feeding guide groove 530 under the action of its own weight to feed.

[0062] In order to discharge the ball from the middle of the slot of the discharge guide groove 510, in a further embodiment, the middle of the bidirectional guide plate 520 is located on the axis of the cylinder, and the bottom wall of the discharge guide groove 510 gradually tilts downward from the outside to the inside along the radial direction of the cylinder. Specifically, the cross-sectional shape of the bottom wall of the discharge guide groove 510 can be rectangular or semicircular, and of course can be other shapes, as long as it satisfies the requirement that the bottom wall of the discharge guide groove 510 gradually tilts downward from the outside to the inside along the radial direction of the cylinder, the ball can be rolled along the feeding guide groove 530 under the action of its own weight to discharge the ball from the middle of the bidirectional guide plate 520.

[0063] When the bidirectional guide plate 520 is at the material receiving station, the first end and the second end of the bidirectional guide plate 520 are flush with each other;

[0064] When the bidirectional guide plate 520 is at the first discharging station, the first end of the bidirectional guide plate 520 is lower than the second end;

[0065] When the bidirectional guide plate 520 is at the second discharging station, the second end of the bidirectional guide plate 520 is lower than the first end;

[0066] When the feeding guide groove 530 is at the receiving position, the free end of the feeding guide groove 530 is higher than the rotating connection end of the feeding guide groove 530;

[0067] When the feeding guide groove 530 is at the third discharging position, the free end of the feeding guide groove 530 is lower than the rotating connection end of the feeding guide groove 530 .

[0068] In order to improve the sorting speed, in a specific embodiment, the number of color recognition sensors is two, and the two color recognition sensors are symmetrically arranged on the peripheral wall of the cylinder; the number of ball dropping holes 441 is two, and the straight line where the two ball dropping holes 441 are located is perpendicular to the straight line where the two color recognition sensors are located; the number of discharge guide grooves 510 is two, and the two discharge guide grooves 510 are located one by one below the two ball dropping holes 441, and are symmetrically arranged on both sides of the two-way guide plate 520; the number of discharge baffles 450 is two, and the two discharge baffles 450 are used to fully expose or completely cover the two ball dropping holes.

[0069] In a further embodiment, an elastic cloth, an elastic net or a plurality of elastic ropes are connected between the bottom wall of the discharge port of the discharge guide groove 510 and the bidirectional guide plate 520 .

[0070] In this embodiment, the frame 3 includes a first support rod, a second support rod 310, a third support rod and a fourth support rod which are respectively fixed vertically, a fifth support rod 320 which is horizontally connected between the top end of the first support rod and the top end of the second support rod 310, a sixth support rod which is horizontally connected between the top end of the third support rod and the top end of the fourth support rod, a seventh support rod 340 which is horizontally connected between the second support rod 310 and the third support rod, an eighth support rod which is horizontally connected between the first support rod and the fourth support rod, and a support plate 330 which is horizontally connected between the seventh support rod 340 and the eighth support rod, the turntable sorting mechanism 4 is fixedly connected between the fifth support rod 320 and the sixth support rod, and the feeding mechanism 5 is installed on the support plate 330.

[0071] The overall structure of the frame 3 of this embodiment is strong and has strong vibration resistance and high rigidity.

[0072] Specifically, a ninth support rod for supporting the support plate 330 is further provided on the support plate 330 to further improve the support strength.

[0073] like Figure 4-6 As shown, the utility model also proposes a ball sorting and delivery robot, comprising: a carrying platform 1, a moving mechanism 2, a frame 3, a turntable sorting mechanism 4, a feeding mechanism 5, a sensor mechanism and a controller;

[0074] The moving mechanism 2 is installed at the bottom of the carrying platform 1, and the moving mechanism 2 is used to drive the carrying platform 1 to move in all directions;

[0075] The sensor mechanism is installed on the peripheral side of the carrying platform 1, and the sensor mechanism is used to obtain whether there are obstacles on the peripheral side of the carrying platform 1 and the distance between the carrying platform 1 and the obstacles on the peripheral side;

[0076] The frame 3 is installed on the top of the carrying platform, and the turntable sorting mechanism 4 is installed on the frame 3. The turntable sorting mechanism 4 is used to identify the colors of the received balls one by one and discharge them one by one to the feeding mechanism 5;

[0077] The feeding mechanism 5 is installed on the frame 3 below the sorting module, and the feeding mechanism 5 is used to selectively deliver the identified balls from two predetermined delivery directions;

[0078] The controller is installed on the supporting platform 1 at the bottom of the frame 3, and is used to control the coordinated actions of the moving mechanism 2 and the feeding mechanism 5 according to the sensor mechanism and the turntable sorting mechanism 4 to realize the intelligent delivery of balls that meet the identification requirements or do not meet the identification requirements.

[0079] The controller in the utility model can obtain whether there are obstacles around the carrying platform 1 and the distance between the carrying platform 1 and the obstacles around the carrying platform 1 through the sensor mechanism, and control the mobile mechanism 2 to autonomously avoid obstacles; and can control the mobile mechanism 2 and the feeding mechanism 5 to coordinate actions according to the sensor mechanism and the turntable sorting mechanism 4 to complete the sorting of balls, and intelligently deliver the balls that meet the identification requirements or do not meet the identification requirements to avoid collisions.

[0080] It should be noted that the sphere in this embodiment not only refers to various balls, but also refers to spherical materials.

[0081] In this embodiment, the turntable sorting mechanism 4 includes a cylinder with an open top, a circular partition, a turntable 420, a first drive assembly 430, and a second drive assembly 460;

[0082] The circular partition is fixed horizontally in the cylinder, and divides the cylinder into a first chamber and a second chamber arranged in sequence from top to bottom; a plurality of first through holes 411 for passing a single sphere are evenly opened along the circumferential direction on the outer edge of the circular partition;

[0083] The turntable 420 is located in the second chamber, and the first drive assembly 430 is installed in the middle of the top surface of the circular partition. The axis of the first drive assembly 430 passes through the circular partition and is coaxially fixed to the top of the turntable 420; the outer edge of the turntable 420 is provided with a plurality of C-shaped grooves along the circumferential direction, and each C-shaped groove, the inner side of the peripheral wall of the cylinder, the inner side of the bottom wall of the cylinder and the bottom side of the circular partition form a receiving cavity for accommodating a single ball falling through the first through hole 411; the cylinder is provided with a ball for identifying the ball located in the receiving cavity. An identification sensor; a ball drop hole 441 for a single ball in the accommodating cavity to be discharged downward is provided on the bottom wall of the cylinder; a discharge baffle 450 for completely exposing the ball drop hole 441 or completely covering the ball drop hole 441 is provided on the outer side of the bottom wall of the cylinder; a second drive assembly 460 is mounted on the cylinder, and the second drive assembly 460 is drivingly connected to the discharge baffle 450, and the second drive assembly 460 is used to drive the discharge baffle 450 to move to completely expose the ball drop hole 441 or completely cover the ball drop hole 441.

[0084] The first driving assembly 430 , the second driving assembly 460 , and the identification sensor are electrically connected to the controller respectively.

[0085] This embodiment enables each accommodating cavity to form a black box structure, which facilitates the color recognition sensor to perform color recognition on the spheres located in the corresponding accommodating cavity, improves the recognition accuracy, and facilitates the subsequent sorting of the recognized spheres according to a certain logical relationship.

[0086] In this embodiment, the recognition sensor includes a color recognition sensor, the color recognition sensor is electrically connected to the controller, the color recognition sensor is installed on the peripheral wall of the cylinder, and the color recognition sensor is used to recognize the color of the ball located in the accommodating cavity.

[0087] In this embodiment, the identification sensor includes a weight sensor, which is electrically connected to the controller and mounted on the bottom wall of the cylinder. The weight sensor is used to weigh the weight of the ball in the accommodating cavity.

[0088] In a specific embodiment, the recognition sensor includes a color recognition sensor and a weight sensor, which are electrically connected to the controller. The color recognition sensor is installed on the peripheral wall of the cylinder, and the weight sensor is installed on the bottom wall of the cylinder corresponding to the color recognition sensor. The color recognition sensor is used to identify the color of the sphere located in the accommodating cavity, and the weight sensor is used to weigh the weight of the sphere located in the same accommodating cavity.

[0089] In one specific embodiment, the discharge baffle 450 is attached to the outer side of the bottom wall of the cylinder, and the discharge baffle 450 can rotate relative to the cylinder with the axis of the cylinder as the center, and the ball dropping hole 441 is located on the movable stroke of the discharge baffle 450, and the second driving assembly 460 includes a second servo, which is installed on the cylinder, and the second servo is drivingly connected to the discharge baffle 450, and the second servo is used to drive the discharge baffle 450 to rotate with the axis of the cylinder as the center.

[0090] Specifically, the shaft of the second steering gear can be directly fixedly connected to the rotation center of the discharge baffle 450, or can be transmission-connected to the rotation center of the discharge baffle 450 through a transmission assembly. When the shaft of the second steering gear is directly fixedly connected to the rotation center of the discharge baffle 450, the second steering gear can be installed on the outer side of the bottom wall of the cylinder, or can be installed on the inner side of the bottom wall of the cylinder. It should be noted that when the second steering gear is installed on the inner side of the bottom wall of the cylinder, a receiving groove for accommodating the second steering gear is provided at the bottom of the turntable 420.

[0091] In another specific embodiment, the discharge baffle 450 is attached to the outer side of the bottom wall of the cylinder, and the discharge baffle 450 can be slidably connected relative to the cylinder in a linear direction, and the ball dropping hole 441 is located on the movable stroke of the discharge baffle 450, and the second driving assembly 460 includes an electromagnet and a reset spring, the electromagnet is fixed on one end of the sliding direction of the discharge baffle 450, the reset spring is connected between the discharge baffle 450 and the electromagnet, a magnet is provided in the discharge baffle 450, and the electromagnet is electrically connected to the controller; when the electromagnet is energized, the electromagnet generates a magnetic field, and the discharge baffle 450 approaches the electromagnet under the action of the magnetic field to fully expose the ball dropping hole 441; when the electromagnet is de-energized, the discharge baffle 450 moves away from the electromagnet under the action of the reset spring to completely cover the ball dropping hole 441.

[0092] In a further embodiment, a conical cover 413 is further included, and the conical cover 413 is irradiated on the first driving component 430.

[0093] When spheres or spherical materials are randomly poured into the first chamber, the spheres or spherical materials will flow into the first through holes 411 on the circular partition along the inclined surface of the conical cover 413 to avoid material accumulation.

[0094] In a further embodiment, the cylinder includes a first cylinder 410 and a second cylinder 440 which are detachably fixed in sequence from top to bottom, and the circular partition is the bottom wall of the first cylinder 410 .

[0095] In this configuration, the first chamber is the inner cavity of the first cylinder 410 , and the second chamber is the inner cavity of the second cylinder 440 , which facilitates the assembly of the turntable sorting mechanism 4 .

[0096] Of course, during assembly, it is necessary to ensure the size, coaxiality and parallelism of the bottom wall of the first cylinder 410 and the bottom wall of the second cylinder 440 to ensure that the ball will not get stuck due to space problems when falling.

[0097] In order to ensure the coaxiality and connection stability of the first cylinder 410 and the second cylinder 440, in one specific embodiment, a plurality of slots 442 are evenly arranged at the top of the peripheral wall of the second cylinder 440 along the circumferential direction, and a plug plate 412 for plugging into the slot 442 is arranged at the bottom wall of the first cylinder 410 corresponding to the slot 442, and a threaded hole for vertically connecting with the slot 442 is arranged at the outer side of the peripheral wall of the second cylinder 440 corresponding to each slot 442, and a locking bolt for pressing the plug plate 412 in the slot 442 is threadedly connected in the threaded hole.

[0098] Specifically, the inserting plate 412 and the slot 442 are mortise and tenon structures.

[0099] In a further specific embodiment, when each plug plate 412 is plugged into the corresponding slot 442, there is a gap between the bottom end of the first cylinder 410 and the top end of the peripheral wall of the second cylinder 440, so as to facilitate observation of the falling ball.

[0100] Specifically, abutment plates for abutting against the bottom end of the first cylinder 410 are provided at the peripheral wall of the second cylinder 440 corresponding to the color recognition sensor, so that the corresponding accommodating cavity forms a black box mechanism, which facilitates the color recognition sensor to perform color recognition.

[0101] In a further embodiment, the turntable 420 is connected to the bottom wall of the second chamber via an annular needle roller bearing 443 to reduce the friction resistance of the turntable 420 during rotation.

[0102] In this embodiment, the feeding mechanism 5 includes: a discharge guide groove 510, a bidirectional guide plate 520, and two feeding guide grooves 530;

[0103] The discharge guide groove 510 is obliquely installed on the frame 3 below the cylinder, and the discharge guide groove 510 is used for the balls discharged from the ball drop hole 441 to roll along the discharge guide groove 510 under the action of their own weight;

[0104] The middle part of the bidirectional guide plate 520 is rotatably mounted on the frame 3 at the discharge port of the discharge guide groove 510, and the bidirectional guide plate 520 can rotate relative to the frame 3 in the first vertical plane; the bidirectional guide plate 520 has a material receiving station, a first material discharging station, and a second material discharging station; on the first flipping drive mechanism frame 3, the first flipping drive mechanism is drivingly connected to the bidirectional guide plate 520, and the first flipping drive mechanism is used to drive the bidirectional guide plate 520 to switch between the material receiving station, the first material discharging station, and the second material discharging station;

[0105] The two feeding guide grooves 530 are rotatably mounted on the frame 3 at the first end and the second end of the two-way guide plate 520, respectively, and each feeding guide groove 530 can rotate in a first vertical plane relative to the frame 3; the feeding guide groove 530 has a storage station and a third discharging station; the two second flipping drive mechanisms are respectively driven and connected to the two feeding guide grooves 530 in a one-to-one correspondence, and the second flipping drive mechanisms are used to drive the corresponding feeding guide grooves 530 to switch between the storage station and the third discharging station.

[0106] In a specific implementation, when the identified ball is discharged from the ball drop hole 441 of the turntable sorting mechanism 4, it falls onto the discharge guide groove 510, and rolls along the discharge guide groove 510 under the action of its own weight to the bidirectional guide plate 520 at the receiving station;

[0107] The controller controls the first flip driving mechanism to switch the bidirectional guide plate 520 from the material receiving station to the first material discharging station or the second material discharging station according to the detection result of the sensor mechanism and the recognition result of the turntable sorting mechanism 4;

[0108] When the bidirectional guide plate 520 is at the first discharging station or the second discharging station, the ball rolls along the bidirectional guide plate 520 under its own weight until it is blocked by the corresponding feeding guide groove 530 at the receiving station and enters the feeding guide groove 530;

[0109] The controller controls the corresponding second flip driving mechanism to switch the feeding guide trough 530 from the storage station to the third discharging station;

[0110] When the feeding guide groove 530 is at the third discharging position, the ball rolls along the feeding guide groove 530 under the action of its own weight to feed the material.

[0111] Specifically, when the bidirectional guide plate 520 is at the material receiving station, the first end and the second end of the bidirectional guide plate 520 are flush;

[0112] When the bidirectional guide plate 520 is at the first discharging station, the first end of the bidirectional guide plate 520 is lower than the second end, so that the ball can be discharged from the first end of the bidirectional guide plate 520;

[0113] When the bidirectional guide plate 520 is at the second discharging station, the second end of the bidirectional guide plate 520 is lower than the first end, so that the sphere can be discharged from the second discharging station of the bidirectional guide plate 520 .

[0114] When the feeding guide groove 530 is at the receiving position, the free end of the feeding guide groove 530 is higher than the rotating connection end of the feeding guide groove 530;

[0115] When the feeding guide groove 530 is at the third discharging station, the free end of the feeding guide groove 530 is lower than the rotating connection end of the feeding guide groove 530 so that the ball can roll along the feeding guide groove 530 to discharge the material under the action of its own weight.

[0116] It should be noted that the two ends of the bidirectional guide plate 520 in this embodiment refer to the two ends of the bidirectional guide plate 520 in the length direction, namely the first end and the second end.

[0117] Specifically, the flipping drive mechanism includes a dual-axis servo, which is fixed on the frame 3. The bottom side of the middle part of the bidirectional guide plate 520 is symmetrically provided with ear plates on both sides in its width direction, and the two ear plates are fixedly connected to the two axes of the dual-axis servo respectively.

[0118] In one specific embodiment, the number of the color recognition sensor is 1, the number of the weight sensor is 1, and the number of the ball drop hole 441 is 1.

[0119] In order to speed up the sorting speed, in another specific embodiment, the number of color recognition sensors is two, and the two color recognition sensors are symmetrically arranged on the peripheral wall of the cylinder; the number of weight sensors is two, and the two weight sensors are symmetrically arranged on the bottom of the cylinder; the number of ball dropping holes 441 is two, and the straight line where the two ball dropping holes 441 are located is perpendicular to the straight line where the two color recognition sensors are located; the number of discharge guide grooves 510 is two, and the two discharge guide grooves 510 are located one by one below the two ball dropping holes 441, and are symmetrically arranged on both sides of the two-way guide plate 520; the number of discharge baffles 450 is two, and the two discharge baffles 450 are used to fully expose or completely cover the two ball dropping holes.

[0120] Among them, when the groove width of the discharge guide groove 510 is wider, in order to prevent the ball from being discharged from the gap between the groove opening of the discharge guide groove 510 and the two-way guide plate 520, in this embodiment, an elastic cloth, an elastic net or multiple elastic ropes are connected between the bottom wall of the discharge opening of the discharge guide groove 510 and the two-way guide plate 520.

[0121] Of course, when the width of the discharge guide groove 510 is wider, in order to allow the ball to be discharged from the middle of the groove opening of the discharge guide groove 510, in this embodiment, the bottom wall of the discharge guide groove 510 gradually slopes downward from outside to inside along the radial direction of the cylinder.

[0122] In this embodiment, the frame 3 includes a first support rod, a second support rod 310, a third support rod and a fourth support rod respectively vertically fixed on the four corners of the supporting platform 1, a fifth support rod 320 horizontally connected between the top end of the first support rod and the top end of the second support rod 310, a sixth support rod horizontally connected between the top end of the third support rod and the top end of the fourth support rod, a seventh support rod 340 horizontally connected between the second support rod 310 and the third support rod, an eighth support rod horizontally connected between the first support rod and the fourth support rod, and a support plate 330 horizontally connected between the seventh support rod 340 and the eighth support rod, the turntable sorting mechanism 4 is fixedly connected between the fifth support rod 320 and the sixth support rod, and the feeding mechanism 5 is installed on the support plate 330.

[0123] The overall structure of the frame 3 of this embodiment is strong and has strong vibration resistance and high rigidity.

[0124] Specifically, a ninth support rod for supporting the support plate 330 is further provided on the support plate 330 to further improve the support strength.

[0125] In this embodiment, the mobile mechanism 2 includes four Mecca gears and four driving servos. The four Mecca gears are respectively installed at the four corners of the bottom of the supporting platform 1. The four driving servos are driven and connected to the four Mecca gears in a one-to-one correspondence. The four driving servos are respectively electrically connected to the controller, and each driving servo is independently controlled.

[0126] Specifically, the steering gear seat of the driving steering gear is installed on the bearing platform 1, and the steering gear shaft of the driving steering gear is connected to the Meckna mother wheel through a coupling.

[0127] When in use, the Meckna mother wheel can enable the ball sorting device that realizes color recognition to move in all directions, and the position loop is controlled by the preset algorithm on the controller to accurately control the omnidirectional movement of the logistics delivery robot.

[0128] In this embodiment, the sensor mechanism includes a plurality of distance measuring sensors 7, which are evenly and spacedly installed around the supporting platform 1, so as to detect in real time whether there are obstacles around the bearing of the supporting platform 1 and the distance between the supporting platform 1 and the obstacles, thereby realizing autonomous obstacle avoidance.

[0129] In a further embodiment, the sensor mechanism further includes a grayscale sensor, the grayscale sensor is mounted on the carrying platform 1, and the grayscale sensor is electrically connected to the controller.

[0130] The grayscale sensor in this embodiment can work through the optical automatic guidance device when other sensors fail or work poorly, thereby increasing the robustness of the robot's work.

[0131] In a further embodiment, the sensor mechanism further includes a visual sensor 6 , which is mounted on the frame 3 , and the visual sensor 6 is electrically connected to the controller.

[0132] The visual sensor 6 in this embodiment cooperates with the grayscale sensor to provide dual guarantees in position correction and accuracy verification, thereby ensuring the position and current rotation angle of the intelligent delivery robot.

[0133] The visual sensor 6 is installed on the support plate 330 via a visual sensor 6 mounting bracket.

[0134] In this embodiment, the carrying platform 1 is also equipped with an inertial navigation system and an intelligent interactive voice system which are electrically connected to the controller respectively, so as to realize intelligent voice navigation and interaction with higher precision.

[0135] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A ball sorting device for realizing color recognition, characterized in that: include: A frame (3), a turntable sorting mechanism (4) and a feeding mechanism (5); The turntable sorting mechanism (4) is installed on the frame (3), and is used to identify the colors of the received balls one by one and discharge them one by one to the feeding mechanism (5); The feeding mechanism (5) is installed on the frame (3) below the sorting module, and the feeding mechanism (5) is used to selectively deliver the identified balls from two predetermined delivery directions.

2. The ball sorting device for realizing color recognition according to claim 1, characterized in that: The turntable sorting mechanism (4) comprises a cylinder with an open top, a circular partition, a turntable (420), a first drive assembly (430) and a second drive assembly (460); The circular partition is fixed horizontally in the cylinder and divides the cylinder into a first chamber and a second chamber arranged in sequence from top to bottom; a plurality of first through holes (411) for passing a single sphere are evenly opened along the circumferential direction on the outer edge of the circular partition; The turntable (420) is located in the second chamber, the first drive assembly (430) is installed in the middle of the top surface of the circular partition, and the axis of the first drive assembly (430) passes through the circular partition and is coaxially fixed to the top of the turntable (420); a plurality of C-shaped grooves are opened along the circumferential direction on the outer edge of the turntable (420), and a receiving cavity for receiving a single ball falling through the first through hole (411) is formed between each C-shaped groove, the inner side of the peripheral wall of the cylinder, the inner side of the bottom wall of the cylinder and the bottom side of the circular partition; an identification sensor for identifying the ball located in the receiving cavity is provided on the cylinder The cylinder body is provided with a ball drop hole (441) on the bottom wall thereof for discharging a single ball in the accommodating chamber downward; a discharge baffle (450) is provided on the outer side of the bottom wall thereof for completely exposing the ball drop hole (441) or completely covering the ball drop hole (441); a second driving assembly (460) is mounted on the cylinder body; the second driving assembly (460) is drivingly connected to the discharge baffle (450); the second driving assembly (460) is used to drive the discharge baffle (450) to move so as to completely expose the ball drop hole (441) or completely cover the ball drop hole (441).

3. The ball sorting device for realizing color recognition according to claim 2, characterized in that: The identification sensor comprises a color identification sensor which is mounted on the peripheral wall of the cylinder and is used for identifying the color of the ball in the accommodating cavity.

4. The ball sorting device for realizing color recognition according to claim 2, characterized in that: It also includes a cone cover (413), and the cone cover (413) shines on the first drive component (430).

5. The ball sorting device for realizing color recognition according to claim 2, characterized in that: The cylinder comprises a first cylinder (410) and a second cylinder (440) which are detachably fixed in sequence from top to bottom, and the circular partition is the bottom wall of the first cylinder (410).

6. The ball sorting device for realizing color recognition according to claim 5, characterized in that: A plurality of slots (442) are uniformly provided at the top of the peripheral wall of the second cylinder (440) along the circumferential direction, and a plug plate (412) for plugging into the slot (442) is provided at the bottom wall of the first cylinder (410) at a position corresponding to the slot (442), and a threaded hole for vertically communicating with the slot (442) is provided at a position corresponding to each slot (442) on the outer side of the peripheral wall of the second cylinder (440), and a locking bolt for pressing the plug plate (412) in the slot (442) is threadedly connected in the threaded hole.

7. The ball sorting device for realizing color recognition according to claim 2, characterized in that: The feeding mechanism (5) comprises: a discharge guide groove (510), a bidirectional guide plate (520) and two feeding guide grooves (530); The discharge guide groove (510) is obliquely mounted on the frame (3) below the cylinder body, and the discharge guide groove (510) is used for allowing the balls discharged from the ball drop hole (441) to roll along the discharge guide groove (510) under the action of their own weight. The middle part of the bidirectional guide plate (520) is rotatably mounted on the frame (3) at the discharge port of the discharge guide groove (510), and the bidirectional guide plate (520) can rotate relative to the frame (3) in a first vertical plane; the bidirectional guide plate (520) has a material receiving station, a first material discharging station, and a second material discharging station; on the first flipping drive mechanism frame (3), a first flipping drive mechanism is drivably connected to the bidirectional guide plate (520), and the first flipping drive mechanism is used to drive the bidirectional guide plate (520) to switch between the material receiving station, the first material discharging station, and the second material discharging station; The two feeding guide grooves (530) are rotatably mounted on the frame (3) at the first end and the second end of the bidirectional guide plate (520), respectively, and each feeding guide groove (530) can rotate relative to the frame (3) in a first vertical plane; the feeding guide groove (530) has a storage station and a third discharge station; the two second flipping drive mechanisms are respectively connected to the two feeding guide grooves (530) in a one-to-one corresponding driving manner, and the second flipping drive mechanisms are used to drive the corresponding feeding guide grooves (530) to switch between the storage station and the third discharge station.

8. The ball sorting device for realizing color recognition according to claim 7, characterized in that: The middle of the bidirectional guide plate (520) is located on the axis of the cylinder, and the bottom wall of the discharge guide groove (510) gradually slopes downward from the outside to the inside along the radial direction of the cylinder.

9. The ball sorting device for realizing color recognition according to claim 7, characterized in that: When the bidirectional guide plate (520) is at the material receiving station, the first end and the second end of the bidirectional guide plate (520) are flush; When the bidirectional guide plate (520) is at the first discharging station, the first end of the bidirectional guide plate (520) is lower than the second end; When the bidirectional guide plate (520) is at the second discharging station, the second end of the bidirectional guide plate (520) is lower than the first end.

10. The ball sorting device for realizing color recognition according to claim 7, characterized in that: When the feeding guide groove (530) is at the storage position, the free end of the feeding guide groove (530) is higher than the rotating connection end of the feeding guide groove (530); When the feeding guide groove (530) is at the third discharging position, the free end of the feeding guide groove (530) is lower than the rotating connection end of the feeding guide groove (530).

11. The ball sorting device for realizing color recognition according to claim 7, characterized in that: There are two color recognition sensors, which are symmetrically arranged on the peripheral wall of the cylinder; there are two ball-dropping holes (441), and the straight line where the two ball-dropping holes (441) are located is perpendicular to the straight line where the two color recognition sensors are located; there are two discharge guide grooves (510), which are located below the two ball-dropping holes (441) in a one-to-one correspondence and are symmetrically arranged on both sides of the bidirectional guide plate (520); there are two discharge baffles (450), which are used to fully expose or fully cover the two ball-dropping holes.

12. The ball sorting device for realizing color recognition according to claim 11, characterized in that: An elastic cloth, an elastic net or a plurality of elastic ropes are connected between the bottom wall of the discharge port of the discharge guide groove (510) and the bidirectional guide plate (520).

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