Sorting equipment

Abstract

The utility model relates to sorting equipment. The sorting equipment comprises a feeding module, a conveying module and a sorting module; comprising a first conveying mechanism, a second conveying mechanism, a first detecting mechanism and a picking mechanism; the input end of the first conveying mechanism is connected with or close to the feeding module and can bear objects conveyed by the feeding module, the input end of the second conveying mechanism is connected with or close to the first conveying mechanism, and the picking mechanism is used for picking the objects and circulating between the first conveying mechanism and the second conveying mechanism. The first detection mechanism is arranged on the conveying upstream of the first conveying mechanism relative to the picking mechanism; wherein the first detection mechanism is used for at least detecting height information and pick-up information of articles, and the pick-up mechanism is configured to respond to a detection signal of the first detection mechanism to adjust the tail end pose, so that collision with the articles is avoided, smooth article conveying is facilitated, interference and retention are reduced, and the sorting efficiency is improved; the whole process does not need manual participation, and automatic package feeding is facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of logistics sorting, and in particular to a sorting device. Background Art

[0002] In the modern logistics industry, efficiency and accuracy are key factors in achieving effective operations. With the rapid development of e-commerce and retail, the demands on logistics systems are becoming increasingly stringent, particularly in the sorting and processing of packages. As a mature and efficient sorting device, the cross-belt sorter, with its high-speed and high-precision operation, has been widely used in large sorting centers. Using a cross-belt transmission method, this device quickly and accurately distributes packages to different output channels along a predetermined route, significantly improving sorting efficiency.

[0003] Traditional cross-belt sorters rely on manual or semi-automated systems to load and unload packages, which increases labor costs. During the transportation process, items are prone to interference with the sorter, causing delays and affecting the efficiency of sorting operations. Utility Model Content

[0004] Based on this, it is necessary to provide a sorting equipment to address the above technical problems, which can realize automatic packaging and ensure the smoothness of item transportation, thereby improving sorting efficiency.

[0005] The sorting equipment includes a loading module, a conveying module and a sorting module; includes a first conveying mechanism, a second conveying mechanism, a first detection mechanism and a picking mechanism; the input end of the first conveying mechanism is connected to or close to the loading module, and can receive items conveyed by the loading module, the input end of the second conveying mechanism is connected to or close to the first conveying mechanism, the picking mechanism is used to pick up items and transfer them between the first conveying mechanism and the second conveying mechanism, the first detection mechanism is arranged upstream of the first conveying mechanism relative to the picking mechanism; wherein, the first detection mechanism is used to detect at least the height information and pick-up information of the item, and the picking mechanism is configured to adjust the end position in response to the detection signal of the first detection mechanism.

[0006] It is understandable that the loading module can convey the items to the first conveying mechanism. During the conveying process of the first conveying mechanism, the first detection mechanism can detect the height information of the items, and the picking mechanism can adjust the position of the end in time according to the height information of the items to avoid the items in time. At the same time, the first detection mechanism can also detect the information of pickable items. The picking mechanism picks up the items according to the information of pickable items and transfers the items to the second conveying mechanism. The entire process does not require human participation, which is conducive to the realization of automatic packaging, and the picking mechanism can adjust its posture according to the height of the items to avoid collision with the items, which is conducive to the smoothness of item transportation, reducing interference and retention, and improving sorting efficiency.

[0007] In one embodiment, the second conveying mechanism is arranged at an angle to the first conveying mechanism, and the picking mechanism is located on the side where the second conveying mechanism and the first conveying mechanism form an obtuse angle α; or, the picking mechanism is arranged above the first conveying mechanism.

[0008] It is understood that the obtuse angle formed by the first and second conveyor mechanisms provides greater assembly space. If the pickup mechanism's arm length is fixed, positioning the pickup mechanism at the obtuse angle allows the pickup mechanism to place items at or near the input end of the second conveyor mechanism. This allows the second conveyor mechanism to have a relatively short conveying length, thereby reducing space usage and lowering production costs. Positioning the pickup mechanism above the first conveyor mechanism also helps reduce floor space.

[0009] In one embodiment, the conveying module also includes a second detection mechanism provided on the second conveying mechanism, the second detection mechanism is used to detect whether there is information about the existence of an item on the second conveying mechanism and the position information of the item, and the picking mechanism is configured to adjust the picking state in response to the detection signal of the second detection mechanism.

[0010] It can be understood that the second detection mechanism detects whether there are items on the second conveying mechanism, so that the picking mechanism can pick up items to the second conveying mechanism in time when there are no items on the second conveying mechanism, and avoid the picking mechanism continuously picking up items and causing stacking of items on the second conveying mechanism.

[0011] In one embodiment, the sorting equipment further includes a sorting module arranged at the output end of the second conveying mechanism; the sorting module includes a sorting conveying mechanism and a plurality of sorting stations, each of the sorting stations is arranged at intervals along the conveying direction of the sorting conveying mechanism, and the sorting conveying mechanism has an input area, which is connected to or close to the second conveying mechanism.

[0012] It can be understood that the second conveying mechanism can convey the items to the input area of ​​the sorting conveying mechanism, and the sorting conveying mechanism can convey the items to the corresponding sorting stations to achieve item classification.

[0013] In one embodiment, the second conveying mechanism is provided with a visual window; the conveying module further includes a first code scanning mechanism, which is installed below the visual window and is used to scan the bottom of the article; the sorting module further includes a second code scanning mechanism assembled on the sorting conveying mechanism, and the second code scanning mechanism is used to scan the surrounding surfaces and top surface of the article; wherein, the sorting conveying mechanism is configured to convey the article to the corresponding sorting station in response to the scanning signal of the first code scanning mechanism and the scanning signal of the second code scanning mechanism.

[0014] It is understood that the visual window provides a visual space for the first scanning mechanism to scan the information on the bottom of the item. The first scanning mechanism and the second scanning mechanism respectively obtain information on the surface of the item, and the sorting and conveying mechanism conveys the item to the corresponding sorting station based on the item information, thereby achieving accurate classification of the items.

[0015] In one embodiment, the sorting and conveying mechanism includes an annular conveyor belt and multiple auxiliary conveyor belts, and the multiple auxiliary conveyor belts are arranged along the conveying direction of the annular conveyor belt. The conveying direction of each auxiliary conveyor belt is set at an angle to the conveying direction of the annular conveyor belt, and the output end of each auxiliary conveyor belt corresponds to one of the sorting stations.

[0016] It can be understood that the annular conveyor belt can transport the auxiliary conveyor belt in a circular direction, so that the auxiliary conveyor belt can reach the position on the annular conveyor belt corresponding to the sorting station. The auxiliary conveyor belt can transport the items to the sorting station, which is conducive to the automatic sorting of items.

[0017] In one embodiment, the loading module includes a loading conveying mechanism and a reversing mechanism. The loading conveying mechanism is provided with a reversing area along its own conveying path. The input ends of the reversing mechanism and the first conveying mechanism are both provided in the reversing area and arranged relative to each other. The reversing mechanism is used to transfer the items on the loading conveying mechanism to the first conveying mechanism.

[0018] It can be understood that by providing a reversing mechanism to achieve line change and transportation of articles, the operation is simple.

[0019] In one embodiment, the output end of the first conveying mechanism is connected to or close to the loading conveying mechanism, and is located downstream along the loading conveying mechanism relative to the reversing area.

[0020] It is understandable that, with such an arrangement, the items that cannot be picked up on the first conveying mechanism can be returned to the feeding conveying mechanism, and the items that cannot be picked up are conveyed to the downstream of the feeding conveying mechanism, no longer participate in the sorting process and are concentratedly output.

[0021] In one embodiment, the reversing mechanism comprises at least a driver and a push arm, one end of the push arm is connected to the driver and has a first axis, and the push arm can swing around the first axis under the action of the driver.

[0022] It can be understood that the driver drives the pushing arm to swing, and the objects are pushed to the first conveying mechanism through the swinging of the pushing arm, which is easy to operate.

[0023] In one embodiment, the input end of the first conveying mechanism is provided with a chute connected to the loading conveying mechanism; along the conveying direction of the first conveying mechanism, the width of the chute is gradually reduced from the loading conveying mechanism toward the first conveying mechanism.

[0024] It is understandable that, with such an arrangement, the chute can form an inclined surface to guide the articles at the edge to completely enter the conveyance of the first conveying mechanism, thereby reducing the falling of the articles. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 A schematic diagram of an embodiment of the sorting equipment provided by this application;

[0027] Figure 2 This is a schematic diagram of another embodiment of the sorting equipment provided in this application.

[0028] Explanation of the accompanying reference numerals: 100, sorting equipment; 10, loading module; 11, loading and conveying mechanism; 12, reversing mechanism; 20, conveying module; 21, first conveying mechanism; 211, chute; 22, second conveying mechanism; 23, first detection mechanism; 24, picking mechanism; 30, sorting module; 31, sorting and conveying mechanism; 32, sorting station; 33, second code scanning mechanism. DETAILED DESCRIPTION

[0029] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0030] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0031] In this document, spatially related terms such as "upper" and "lower" are defined with reference to the accompanying drawings. Therefore, it will be understood that "upper" and "lower" are used interchangeably. It will be understood that when a layer is referred to as being "on" another layer, it can be directly formed on the other layer, or intervening layers may also be present. Therefore, it will be understood that when a layer is referred to as being "directly on" another layer, there are no intervening layers therebetween.

[0032] In the drawings, the dimensions of layers and regions may be exaggerated for clarity. It will be understood that when a layer or element is referred to as being "on" another layer or substrate, the layer or element may be directly on the other layer or substrate, or intervening layers may be present. Additionally, it will be understood that when a layer is referred to as being "between" two layers, the layer may be the only layer between the two layers, or one or more intervening layers may be present. Like reference numerals refer to like elements throughout.

[0033] Hereinafter, although terms such as "first," "second," and the like may be used to describe various components, these components are not limited to the above terms. The above terms are used only to distinguish one component from another. It will also be understood that expressions used in the singular include plural expressions, unless the singular expression has a significantly different meaning in the context. In addition, in the following embodiments, it will also be understood that the terms "including" and / or "having" used herein indicate the presence of the stated features or components, but do not exclude the presence or addition of one or more other features or components.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0035] It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0036] See also Figure 1 and Figure 2 The present application provides a sorting device 100 , which includes a loading module 1 and a conveying module 20 .

[0037] Specifically, the conveying module 20 includes a first conveying mechanism 21, a second conveying mechanism 22, a first detection mechanism 23 and a picking mechanism 24; the input end of the first conveying mechanism 21 is connected to or close to the loading module 10, and can receive items conveyed by the loading module 10; the input end of the second conveying mechanism 22 is connected to or close to the first conveying mechanism 21; the picking mechanism 24 is used to pick up items and circulate between the first conveying mechanism 21 and the second conveying mechanism 22 to transfer the items on the first conveying mechanism 21 to the second conveying mechanism 22.

[0038] Further, such as Figure 1 and Figure 2 As shown, the first detection mechanism 23 is arranged upstream of the first conveying mechanism 21 relative to the picking mechanism 24, that is, along the conveying direction of the first conveying mechanism 21, the article is first conveyed to the first detection mechanism 23, and then conveyed to the picking mechanism 24. The first detection mechanism 23 is used to detect at least the height information and pick-up information of the article, and the picking mechanism 24 is configured to adjust the terminal posture in response to the detection signal of the first detection mechanism 23. The terminal of the picking mechanism 24 refers to the actuator used by the picking mechanism 24 to pick up the article. In this way, the picking mechanism 24 can adjust the terminal posture in time according to the height information of the article, for example, adjust the terminal to a higher height, or rotate the terminal to the outside of the first conveying mechanism 21, so as to avoid the article in time, avoid collision with the article, and cause damage to the terminal and the article to be retained, which is beneficial to protecting the picking mechanism 24 and promoting the smooth transportation of the article. In addition, the first detection mechanism 23 can also detect the pick-up information of the item. If the item meets the pick-up size, the picking mechanism 24 picks up the item and transfers it to the second conveying mechanism 22. Otherwise, if the item does not meet the pick-up size, the picking mechanism 24 does not pick up the item.

[0039] In summary, the entire conveying process does not require human intervention, which is conducive to the automation of item conveying and improves the efficiency of item conveying and sorting. During the item conveying process, the first detection mechanism 23 can timely detect the height information of the item, so that the picking mechanism 24 can adjust the terminal position in time to avoid collision with the item, thereby promoting smooth item conveying.

[0040] First, the loading module 10 is described.

[0041] like Figure 1 and Figure 2 As shown, in an optional embodiment, the loading module 10 includes a loading conveyor mechanism 11 and a reversing mechanism 12. The reversing mechanism 12 is used to transfer articles on the loading conveyor mechanism 11 to the first conveyor mechanism 21. Furthermore, the loading conveyor mechanism 11 is provided with a reversing area along its conveying path. The input ends of the reversing mechanism 12 and the first conveyor mechanism 21 are both located in the reversing area and arranged opposite each other, so that the first conveyor mechanism 21 can receive articles pushed by the reversing mechanism 12.

[0042] like Figure 1 and Figure 2 As shown, in some embodiments, the reversing mechanism 12 includes at least a driver and a push arm. One end of the push arm is connected to the driver and has a first axis. The push arm can swing about the first axis under the action of the driver. The reciprocating swing of the push arm can push the items on the loading conveyor mechanism 11 to the first conveyor mechanism 21, which is simple to operate. In other embodiments, a lifting transplanter, an inclined pendulum wheel, etc. can be used to transfer materials from the loading conveyor mechanism 11 to the first conveyor mechanism 21, thereby achieving reversing material conveying.

[0043] In a further embodiment, the push arm swings once every t1, and each swing takes time t2, t1=t2, so as to achieve continuous swinging of the push arm. In a specific embodiment, 4s≤t1≤8s. If the interval is too long, it will cause items to be missed. If the interval is too short, there will be empty swings, that is, no items are touched during the swing process, resulting in waste. Therefore, by limiting the interval time, it is ensured that the push arm swings continuously to push items and ensure that all items can be effectively pushed to the first conveying mechanism 21. Exemplary, t1=4s, 6s or 8s.

[0044] like Figure 1 and Figure 2As shown, in a further embodiment, a chute 211 connected to the loading conveyor mechanism is provided at the input end of the first conveyor mechanism 21. Along the conveying direction of the first conveyor mechanism 21, the width of the chute 211 gradually decreases from the loading conveyor mechanism 11 toward the first conveyor mechanism 21. This allows the chute 211 to form a larger opening on the side closest to the loading conveyor mechanism 11, facilitating the entry of articles into the chute 211 through this opening. Furthermore, the chute 211 forms inclined walls on both sides of the width of the first conveyor mechanism 21 to guide articles along the inclined walls, ensuring stable entry and delivery of articles to the first conveyor mechanism 21.

[0045] In a specific embodiment, the bottom of the chute 211 has an inclination angle β relative to the surface of the first conveying mechanism 21, and the angle ranges from 45°≤β≤75°. This configuration can reduce the obstruction to the movement of items, allowing the items to slide along the bottom of the chute 211 to the first conveying mechanism 21 under the action of gravity. For example, β = 45°, 60°, or 75°.

[0046] In a further embodiment, the height information of the object detected by the first detection mechanism 23 is h, and the height of the end of the pickup mechanism 24 is H. The pickup mechanism 24 is configured to raise the height of the end or rotate the end outside the first conveying mechanism 21 in response to a signal that h ≥ H. In this way, by digitizing the height information of the object and the height information of the end of the pickup mechanism 24, it is easy to intuitively compare the two, so that the end position can be adjusted in a timely manner based on the comparison result.

[0047] In some embodiments, the first detection mechanism 23 includes a depth camera. The depth camera is located above the first conveying mechanism 21 along the height direction of the first conveying mechanism 21. The depth camera has an identification area. After the object enters the identification area, the depth camera collects the color image and depth image of the object at the current time point, and records the encoder value ε1 at this time. The height size of the object can be obtained based on the information in the depth image.

[0048] In some embodiments, the conveying module 20 further includes a controller connected between the depth camera and the pickup mechanism 24. The controller is capable of receiving the object information detected by the depth camera and performing calculations and judgments. Specifically, the controller is capable of determining the difference between the height h of the object and the height H of the end of the pickup mechanism 24, and controlling the action of the pickup mechanism 24 based on the determination result. When h ≥ H, the controller controls the pickup mechanism 24 to raise the height of the end or rotate the end outside the first conveying mechanism 21. When h < H, the controller controls the end of the pickup mechanism 24 to not take action based on the object height information.

[0049] In a specific embodiment, the picking mechanism 24 is configured as a sorting robot, and the sorting robot is provided with a vacuum suction cup to absorb the items without causing physical damage to the surface of the items, which is beneficial to protecting the items.

[0050] In a further embodiment, the first detection mechanism 23 is capable of identifying and segmenting objects in the color image. Object types include bubble wrap, snakeskin wrapping, cardboard boxes, thin plastic bags, irregularly shaped items, and envelopes. Each individual object is considered an object, and multiple objects may exist in a single color image. The first detection mechanism 23 transmits object information from the color image to a controller, which analyzes and determines the object's length and width, as well as its tilt angle relative to the plane supporting the first detection mechanism 23. The controller compares the object's dimensions with a preset grasping dimension range x×y (where x represents the preset length dimension and y represents the preset width dimension), and compares the object's tilt angle with a preset angle γ to determine whether the grasping condition is met. If the object's length and width are less than or equal to the preset grasping dimension range x×y, and the tilt angle is less than γ, the object is considered graspable. If the object's dimensions are greater than the preset grasping dimension range x×y, or the tilt angle is greater than γ, the object is considered ungraspable. For example, x = 200mm, 250mm, or 300mm, y = 200mm, 250mm, or 300mm, and γ = 30°, 40°, or 50°. This setting is because: if the object is too large, there is a high probability of overloading, and the object is likely to fall, or collide during the grasping process; and if the tilt angle of the object is too large, it is easy to cause collision with other objects during the grasping process, and it is also easy to cause secondary damage to the object currently being grasped.

[0051] In a further embodiment, if the object meets the graspable condition, the depth camera can obtain the center point coordinates and rotation angles corresponding to each complete target object in the current depth map and send them to the controller. For example, the center point coordinates of a complete target object are (x n y n z n ), the rotation angle is α n The controller stores the received center point coordinates and angle data in the list of target data to be grasped. As the object moves, the controller will also calculate the current difference Δε=ε2-ε1 based on the current time encoder value ε2 and the encoder value ε1 of the object in the list to be grasped at the time of image acquisition, and then update the current center point coordinates of the target to be grasped (x' n y' n z' n ), assuming that the positive direction of the x-axis is consistent with the direction of motion of the conveyor mechanism, the updated coordinates of the center point of the target object are calculated according to the following formula: The subscript n is the sequence number in the list of target data to be captured.

[0052] Furthermore, the controller determines whether the updated coordinates of the center point of the target object are within the grasping range of the sorting robot [x min , x max ]、[y min ,y max ] and [z min , z max ] within the range, if it is within the grasping range, the sorting robot is controlled to grasp the target item, and the sorting robot can dynamically track the target item according to the real-time pulse signal of the encoder until the target item moves to the second conveying mechanism 22, and sends a completion signal to the second conveying mechanism 22; if it is not within the grasping range, the controller continues to determine whether the center point coordinates of the next target item in the target data list to be grasped meet the requirements.

[0053] In an optional embodiment, the conveying module 20 further includes a second detection mechanism provided on the second conveying mechanism 22. The second detection mechanism is used to detect whether there is information about the presence of an item on the second conveying mechanism 22 and the location of the item. The picking mechanism 24 is configured to adjust the picking state in response to the detection signal of the second detection mechanism. In this way, the second detection mechanism can transmit the information about whether there is an item on the second conveying mechanism 22 to the controller, which judges the information and further controls the action of the picking mechanism 24. Specifically, when the second detection mechanism detects that there is no item on the second conveying mechanism 22, the controller controls the picking mechanism 24 to continue picking up items from the first conveying mechanism 21; when the second detection mechanism detects that there is an item on the second conveying mechanism 22, the controller controls the picking mechanism 24 to stop picking up items from the first conveying mechanism 21.

[0054] In a specific embodiment, the second detection mechanism can employ a weighing sensor. By sensing the weight of an item on the second conveying mechanism 22, the second detection mechanism can determine whether an item is present on the second conveying mechanism 22 and record the weight of the corresponding item, resulting in simple and intuitive operation. In other embodiments, the second detection mechanism can also employ a measuring light curtain sensor. The measuring light curtain sensor can emit light to form one or more light arrays. When an object passes through these light beams, the measuring light curtain sensor detects the obstruction of the light, thereby determining the presence of an item and obtaining information such as the item's location and size.

[0055] like Figure 1As shown, in an optional embodiment, the second conveying mechanism 22 is arranged at an angle to the first conveying mechanism 21, and the picking mechanism 24 is located on the side where the second conveying mechanism 22 and the first conveying mechanism 21 form an obtuse angle α. In this way, the obtuse angle side has a larger assembly space to facilitate the flexible operation of the picking mechanism 24, and the picking mechanism 24 can be closer to the first conveying mechanism 21 and the second conveying mechanism 22. The robotic arm in the picking mechanism 24 uses a shorter arm span to meet the needs of transferring items from the first conveying mechanism 21 to the input end of the second conveying mechanism 22. The second conveying mechanism 22 does not need to be set with a longer conveying length, which is conducive to reducing the occupied space and reducing production costs. Exemplarily, the picking mechanism 24 can be set as a multi-axis robotic arm, and the robotic arm flexibly adjusts its posture and grabs items through the end of the robotic arm. As shown Figure 2 As shown, in other embodiments, the picking mechanism 24 is arranged above the first conveying mechanism 21, which can reduce the occupied space, reduce the obstacles to the transfer of items, and improve the efficiency of the transfer of items. Exemplarily, the picking mechanism 24 can be set as a spider-hand parallel robot.

[0056] In a further embodiment, the output end of the first conveyor mechanism 21 is connected to or adjacent to the loading conveyor mechanism 11 and is located downstream of the loading conveyor mechanism 11 relative to the reversal region. That is, along the conveying direction of the loading conveyor mechanism 11, the loading conveyor mechanism 11 first conveys items through the reversal region and then through the output end of the first conveyor mechanism 21. This allows items on the first conveyor mechanism 21 that do not meet the pickup criteria to return to the loading conveyor mechanism 11 and no longer participate in the sorting process of the sorting device 100. Instead, they are transported by the loading conveyor mechanism 11 to other conveyor mechanisms. This eliminates the need for the conveying module 20 to repeat the conveying and detection process, thereby improving sorting and conveying efficiency.

[0057] In an optional embodiment, if Figure 1 and Figure 2 As shown, the sorting device 100 further includes a sorting module 30 provided at the output end of the second conveying mechanism 22 , and the sorting module 30 is capable of sorting items.

[0058] Specifically, the sorting module 30 includes a sorting conveyor mechanism 31 and multiple sorting stations 32, each spaced apart along the conveying direction of the sorting conveyor mechanism 31. The sorting conveyor mechanism 31 has an input area connected to or adjacent to the second conveyor mechanism 22. The second conveyor mechanism 22 delivers items to the sorting conveyor mechanism 31, where they are sorted and then delivered to the corresponding sorting stations 32, achieving precise sorting of items. In a specific embodiment, the sorting stations 32 are each equipped with corresponding slots for collecting dropped items.

[0059] In an optional embodiment, the second conveyor mechanism 22 is provided with a viewing window, and the conveyor module 20 further includes a first code scanning mechanism mounted below the viewing window for scanning the bottom of the item. The sorting conveyor mechanism 31 is configured to convey the item to the corresponding sorting station 32 in response to the scanning signal from the first code scanning mechanism. If the item bottom has sorting information, it is immediately available during conveyance on the second conveyor mechanism 22. When the item enters the sorting conveyor mechanism 31, it is immediately conveyed to the corresponding sorting station 32, achieving high efficiency and speed.

[0060] like Figure 1 and Figure 2 As shown, in a further embodiment, the sorting module 30 further includes a second barcode scanning mechanism 33 mounted on the sorting conveying mechanism 31. The second barcode scanning mechanism 33 is used to scan the four sides and top surface of the item. The sorting conveying mechanism 31 is configured to convey the item to the corresponding sorting station 32 in response to the scanning signal of the second barcode scanning mechanism 33. In this way, when there is no sorting information on the bottom of the item, the second barcode scanning mechanism 33 can be used to further scan the four sides and top surface of the item (i.e., all surfaces except the bottom surface of the item) to obtain the item's sorting information. The sorting conveying mechanism 31 then conveys the item to the corresponding sorting station 32 based on the item's sorting information.

[0061] In a specific embodiment, the sorting and conveying mechanism 31 includes an annular conveyor belt and multiple auxiliary conveyor belts assembled on the annular conveyor belt. The multiple auxiliary conveyor belts are arranged along the conveying direction of the annular conveyor belt. The annular conveyor belt can convey the multiple auxiliary conveyor belts in a circular manner to transport the auxiliary conveyor belts to the corresponding sorting stations 32.

[0062] Furthermore, the conveying direction of each auxiliary conveyor belt is set at an angle to the conveying direction of the endless conveyor belt, and a sorting station 32 is correspondingly provided at the output end of each auxiliary conveyor belt. When the auxiliary conveyor belt reaches the sorting station 32 corresponding to the item, the auxiliary conveyor belt conveys the item toward the sorting station 32, allowing the item to enter the sorting station 32 and thus achieve item sorting.

[0063] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A sorting device, characterized in that: include: Feeding module (10); A conveying module (20) comprises a first conveying mechanism (21), a second conveying mechanism (22), a first detection mechanism (23) and a picking mechanism (24); the input end of the first conveying mechanism (21) is connected to or close to the loading module (10) and is capable of receiving articles conveyed by the loading module (10); the input end of the second conveying mechanism (22) is connected to or close to the first conveying mechanism (21); the picking mechanism (24) is used to pick up articles and transfer them between the first conveying mechanism (21) and the second conveying mechanism (22); the first detection mechanism (23) is arranged upstream of the first conveying mechanism (21) relative to the picking mechanism (24); The first detection mechanism (23) is used to detect at least the height information and the pick-up information of the object, and the picking mechanism (24) is configured to adjust the end position in response to the detection signal of the first detection mechanism (23).

2. The sorting device according to claim 1, characterized in that The second conveying mechanism (22) is arranged at an angle to the first conveying mechanism (21), and the picking mechanism (24) is located on the side where the second conveying mechanism (22) and the first conveying mechanism (21) form an obtuse angle α; or, the picking mechanism (24) is arranged above the first conveying mechanism (21).

3. The sorting device according to claim 1, characterized in that The conveying module (20) further includes a second detection mechanism provided on the second conveying mechanism (22), the second detection mechanism being used to detect information on whether an item exists on the second conveying mechanism (22) and location information of the item, and the picking mechanism (24) is configured to adjust a picking state in response to a detection signal from the second detection mechanism.

4. The sorting device according to claim 1, characterized in that The sorting device further comprises a sorting module (30) provided at the output end of the second conveying mechanism (22); The sorting module (30) includes a sorting conveying mechanism (31) and a plurality of sorting stations (32), wherein the sorting stations (32) are arranged at intervals along the conveying direction of the sorting conveying mechanism (31), and the sorting conveying mechanism (31) has an input area, which is connected to or close to the second conveying mechanism (22).

5. The sorting device according to claim 4, characterized in that: The second conveying mechanism (22) is provided with a visual window; The conveying module (20) further includes a first code scanning mechanism, which is installed below the visual window and is used to scan the bottom of the object; The sorting module (30) further includes a second code scanning mechanism (33) assembled on the sorting conveying mechanism (31), wherein the second code scanning mechanism (33) is used to scan the surrounding surfaces and the top surface of the article; The sorting and conveying mechanism (31) is configured to convey the items to the corresponding sorting station (32) in response to the scanning signal of the first code scanning mechanism and the scanning signal of the second code scanning mechanism (33).

6. The sorting device according to claim 4, characterized in that The sorting and conveying mechanism (31) comprises an annular conveyor belt and a plurality of auxiliary conveyor belts, wherein the plurality of auxiliary conveyor belts are arranged along the conveying direction of the annular conveyor belt, the conveying direction of each auxiliary conveyor belt is arranged at an angle to the conveying direction of the annular conveyor belt, and the output end of each auxiliary conveyor belt corresponds to a sorting station (32).

7. The sorting device according to claim 1, characterized in that The loading module (10) comprises a loading conveying mechanism (11) and a reversing mechanism (12); the loading conveying mechanism (11) is provided with a reversing area along its own conveying path; the input ends of the reversing mechanism and the first conveying mechanism (21) are both provided in the reversing area and are arranged relative to each other; the reversing mechanism (12) is used to transfer articles on the loading conveying mechanism (11) to the first conveying mechanism (21).

8. The sorting device according to claim 7, characterized in that: The output end of the first conveying mechanism (21) is connected to or close to the loading conveying mechanism (11), and is located downstream of the loading conveying mechanism (11) relative to the reversing area.

9. The sorting device according to claim 7, characterized in that: The reversing mechanism (12) comprises at least a driver and a push arm, one end of the push arm is connected to the driver and has a first axis, and the push arm can swing around the first axis under the action of the driver.

10. The sorting device according to claim 7, characterized in that: The input end of the first conveying mechanism (21) is provided with a chute (211) connected to the loading conveying mechanism (11); Along the conveying direction of the first conveying mechanism (21), the width of the chute (211) is gradually reduced from the loading conveying mechanism (11) toward the first conveying mechanism (21).

Images