Sorting system

Abstract

The utility model discloses a sorting system which comprises a moving device and a grabbing device detachably connected with the moving device, and the moving device can drive the grabbing device to move. The grabbing device comprises a first grabbing device, the first grabbing device comprises a moving assembly and a first grabbing mechanism, the moving assembly is used for driving the first grabbing mechanism to move in the first direction, the first grabbing mechanism comprises a plurality of first clamping jaws, and the first clamping jaws are arranged in the second direction; the moving assembly is further used for driving at least one first clamping jaw to move in the second direction, and the second direction is perpendicular to the first direction. According to the sorting system, when the to-be-sorted objects of the sorting system are changed, or the sorting system sorts different to-be-sorted objects at the same time, the relative positions of all or part of the first clamping jaws are adjusted through the moving assembly, and then sorting can be completed under the condition that the first grabbing device is not replaced. And the replacement frequency of the clamp is reduced, and the sorting efficiency is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of sorting technology, and in particular to a sorting system. Background Technology

[0002] With the rapid development of the power industry and electronic technology, smart meters and other electrical products are also being continuously upgraded and are becoming increasingly diverse. For example, smart meters include single-phase meters, three-phase meters, and terminal meters, among others. In the operation of a smart meter power intelligent warehouse production line, it is often necessary to distinguish meters in different states and store them separately, or to separate defective products from qualified products. Currently, mainstream sorting equipment typically uses multiple different grippers, requiring gripper changes when sorting different meters, resulting in low sorting efficiency. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a sorting system that can improve sorting efficiency.

[0004] The sorting system according to an embodiment of the present invention includes a motion device and a gripping device detachably connected to the motion device. The motion device can drive the gripping device to move. The gripping device includes a first gripping device, which includes a moving component and a first gripping mechanism. The moving component is used to drive the first gripping mechanism to move along a first direction. The first gripping mechanism includes a plurality of first grippers, which are arranged along a second direction. The moving component is also used to drive at least one of the first grippers to move along the second direction, which is perpendicular to the first direction.

[0005] The sorting system according to the embodiments of this utility model has at least the following beneficial effects:

[0006] This utility model discloses a sorting system comprising a motion device and a first gripping device connected to the motion device. The motion device drives the first gripping device to move as a whole. The first gripping device includes a moving component and a first gripping mechanism. The moving component drives the first gripping mechanism to move as a whole along a first direction. The first gripping mechanism includes first grippers arranged along a second direction. The moving component can also drive the first grippers of the first gripping mechanism to move along the second direction. Thus, the first gripping mechanism is driven by both the motion device and the moving component, improving the flexibility of the first gripping mechanism's movement and reducing the arrangement requirements of the objects to be sorted, allowing for better and faster gripping of the objects. Moreover, by incorporating the moving component, the first gripping device can more precisely adjust the position of the first grippers according to the position of the objects to be sorted. When the objects to be sorted in the sorting system change, or when the sorting system sorts different objects simultaneously, the relative positions of all or part of the first grippers can be adjusted by the moving component, allowing sorting to be completed without replacing the first gripping device. Compared to related sorting equipment, this reduces the number of gripper replacements and effectively improves sorting efficiency.

[0007] According to some embodiments of the present invention, the first gripping device includes a first support frame, the first gripping mechanism includes a first mounting plate, and at least one first gripper is movably mounted on the first mounting plate.

[0008] The moving component includes a first moving mechanism and a second moving mechanism. The first moving mechanism is mounted on the first support frame and connected to the first mounting plate. The first moving mechanism drives the first mounting plate to move along the first direction. The second moving mechanism is mounted on the first mounting plate and connected to at least one of the first grippers. The second moving mechanism drives at least one of the first grippers to move along the second direction.

[0009] According to some embodiments of the present invention, the first moving mechanism includes a first guide member, a first sliding member, and a first driving member. The first guide member is fixed to the first support frame and extends along the first direction. The first mounting plate is slidably mounted on the first guide member through the first sliding member. The first driving member is fixed to the first support frame and connected to the first mounting plate to drive the first mounting plate to slide relative to the first guide member.

[0010] And / or, the second moving mechanism includes a second guide, a second slider and at least one second drive member, the second guide is fixed to the first mounting plate and extends along the second direction, at least one first gripper is slidably mounted on the second guide via the second slider, and each second drive member is connected to one first gripper to drive the first gripper to slide relative to the second guide.

[0011] According to some embodiments of the present utility model, the first guide member is a guide sleeve, the first sliding member is a slide rod, the slide rod is connected to the first mounting plate and passes through the guide sleeve, each of the first moving mechanisms is also equipped with a first limiting member, in each of the first moving mechanisms, the first limiting member is connected to the end of the slide rod away from the first mounting plate;

[0012] And / or, each of the second driving members includes a first push arm connected to the first gripper, and each of the second moving mechanisms is further configured with a second limiting member, wherein in each of the second moving mechanisms, the second limiting member is connected to the first support plate and is disposed on the side of the first push arm opposite to the second driving member.

[0013] According to some embodiments of the present invention, the first gripping device further includes a third moving mechanism and a second gripping mechanism, the second gripping mechanism and the first gripping mechanism are arranged along a third direction, the third direction is perpendicular to the second direction, and the third moving mechanism is connected to the second gripping mechanism;

[0014] The third moving mechanism is used to drive the second grasping mechanism to move along the first direction, or the third moving mechanism is used to drive the second grasping mechanism to move along the third direction.

[0015] According to some embodiments of the present invention, the gripping device further includes a second gripping device, which includes a fourth moving mechanism and a plurality of third gripping mechanisms. The plurality of third gripping mechanisms are arranged along a third direction. The fourth moving mechanism is connected to at least one of the third gripping mechanisms. The fourth moving mechanism drives at least one of the third gripping mechanisms to move along the third direction, which is perpendicular to the second direction.

[0016] According to some embodiments of the present invention, the second gripping device includes a second support frame, the fourth moving mechanism includes a third guide member, a third sliding member and at least one third driving member, the third guide member is fixed to the second support frame and extends along the third direction, at least one of the third gripping mechanisms is slidably mounted on the third guide member through the third sliding member, and each of the third driving members is connected to one of the third gripping mechanisms to drive the third gripping mechanism to slide relative to the third guide member.

[0017] According to some embodiments of the present invention, the sorting system further includes a platform, each of the gripping devices includes a support structure, the platform is provided with a top support structure, and when the gripping device separates from the moving device, the top support structure supports the support structure so that the gripping device and the surface of the platform are spaced apart.

[0018] According to some embodiments of the present invention, the top support structure includes a plurality of top rods connected to the surface of the platform. At least a portion of the top rods is provided with a first positioning part at the end away from the platform. The support structure includes a plurality of abutment plates. At least a portion of the abutment plates is provided with a second positioning part. The plurality of top rods abut against the plurality of abutment plates one-to-one, and at least a portion of the top rods are positioned and engaged with the abutment plates through the first positioning part and the second positioning part.

[0019] According to some embodiments of the present invention, the first positioning part includes one of a positioning sleeve and a positioning post, and the second positioning part includes the other of the positioning sleeve and the positioning post, wherein the positioning post is inserted into the positioning sleeve.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 This is a schematic diagram of the sorting system according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the gripping device supported on the platform according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the first gripping device according to an embodiment of the present utility model;

[0025] Figure 4 This is a left view of the first gripping device according to an embodiment of the present invention;

[0026] Figure 5 for Figure 4 A cross-sectional view of the first gripping device along section AA;

[0027] Figure 6 This is a schematic diagram of the structure of the second gripping device according to an embodiment of the present invention;

[0028] Figure 7 This is a front view of the second gripping device according to an embodiment of the present invention.

[0029] Icon labels:

[0030] 10. Sorting system;

[0031] 100. Platform; 110. Workbench; 120. Storage table;

[0032] 130. Top support structure; 131. Top rod; 1311. First positioning part;

[0033] 200. Motion device; 210. Robotic arm;

[0034] 300. First gripping device; 310. First support frame;

[0035] 311. First support plate; 312. Second support plate;

[0036] 320. First gripping mechanism; 321. First mounting plate; 322. First gripper;

[0037] 330. First moving mechanism; 331. First guide member; 332. First sliding member; 333. First driving member;

[0038] 340. Second moving mechanism; 341. Second guide member; 342. Second sliding member; 343. Second driving member; 3431. First push arm;

[0039] 350. Second gripping mechanism; 351. Second gripper; 360. Third moving mechanism;

[0040] 371. First limiting component; 372. Second limiting component;

[0041] 400. Second gripping device; 410. Second support frame;

[0042] 420. Third gripping mechanism; 421. Second mounting plate; 422. Third gripper;

[0043] 430. Fourth moving mechanism; 431. Third guide member; 432. Third sliding member; 433. Third driving member;

[0044] 500. Abutment plate; 510. Second positioning part;

[0045] 600. Quick-release mechanism; 610. First pneumatic disc; 620. Second pneumatic disc. Detailed Implementation

[0046] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0047] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0048] In the description of this utility model, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, the number of technical features indicated, or the order in which the technical features are indicated.

[0049] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0050] This utility model provides a sorting system. In practical applications, the sorting system provided by this application can be used to sort various types of electricity meters, including single-phase meters, three-phase meters, terminal meters, metering modules, etc.

[0051] Please refer to Figure 1 and Figure 2 The sorting system 10 includes a platform 100, a motion device 200, and a gripping device detachably connected to the motion device 200. The gripping device may include multiple grippers, and depending on different sorting requirements, the gripping device can grip multiple identical or different meters using multiple grippers. The motion device 200 is used to drive the gripping device to move. For example, the motion device 200 can drive the gripping device to the picking station, so that the gripping device can grab the meters at the picking station. The motion device 200 can also drive the gripping device to the unloading station, so that the gripping device can release the grabbed meters at the target position. The motion device 200 can be a robotic arm 210 or a multi-axis motion module.

[0052] The gripping device is detachably connected to the motion device 200, meaning that the gripping device can be detached from the motion device 200 so that different gripping devices can be installed on the motion device 200 according to different usage requirements.

[0053] The motion device 200 is mounted on the platform 100 and can drive the gripping device to move relative to the platform 100. In some embodiments, the platform 100 may include a workbench 110 and a storage table 120. The motion device 200 may be mounted on the workbench 110, and the gripping device that is not mounted or is removed from the motion device 200 may be placed on the storage table 120.

[0054] In related technologies, the mainstream sorting equipment is usually equipped with multiple different clamps to sort different meters. When the sorting equipment needs to sort different meters, the clamps need to be changed, resulting in low sorting efficiency.

[0055] In this embodiment of the application, please refer to Figures 3 to 5 The gripping device includes a first gripping device 300, which includes a moving component and a first gripping mechanism 320. The moving component is used to drive the first gripping mechanism 320 to move along a first direction. The first gripping mechanism 320 includes a plurality of first grippers 322, which are arranged along a second direction. The moving component is also used to drive at least one first gripper 322 to move along the second direction, which is perpendicular to the first direction.

[0056] In one embodiment, the first direction is the vertical direction. For ease of explanation, the first direction is defined as the Z-axis direction and the second direction is the X-axis direction. The moving component can drive the first gripping mechanism 320 to move up and down along the Z-axis direction and can drive the first gripper 322 to move horizontally along the X-axis direction, which is beneficial for the first gripping mechanism 320 to grip the required electricity meter more flexibly and easily.

[0057] Generally, in related technologies, a single gripper can only be used to grip one type of electricity meter. However, the first gripper 322 of this invention can grip multiple types of electricity meters. Specifically, when the type of electricity meter to be sorted changes, for example, from a three-phase meter to a terminal meter, the thickness and spacing of the meters will change. The first gripping device 300 of this invention, by setting a moving component, can drive the first gripping mechanism 320 to move along the Z-axis and the first gripper 322 to move along the X-axis. Therefore, the height of the first gripper 322 or the distance between adjacent first grippers 322 can be adjusted according to the thickness and spacing of the meters, so that the first gripper 322 can meet the gripping requirements of the terminal meters after adjustment. Alternatively, when the meters to be sorted include different types of meters, such as both three-phase meters and terminal meters, the moving component can drive some of the first grippers 322 to move, so that some of the first grippers 322 can grip one type of meter and some of the first grippers 322 can grip another type of meter, thereby enabling the first gripping device 300 to grip different meters simultaneously.

[0058] The sorting system 10 of this utility model includes a motion device 200 and a first gripping device 300 connected to the motion device 200. The motion device 200 can drive the first gripping device 300 to move as a whole. The first gripping device 300 includes a moving component and a first gripping mechanism 320. The moving component can drive the first gripping mechanism 320 to move as a whole along a first direction. The first gripping mechanism 320 includes a first gripper 322 arranged along a second direction. The moving component can also drive the first gripper 322 of the first gripping mechanism 320 to move along the second direction. Thus, the first gripping mechanism 320 is driven by the motion device 200 and the moving component, which improves the flexibility of the movement of the first gripping mechanism 320 and reduces the arrangement requirements of the objects to be sorted, so as to better and faster grasp the objects to be sorted. Furthermore, by incorporating a moving component, the first gripping device 300 can more precisely adjust the position of the first gripper 322 based on the location of the object to be sorted. When the object to be sorted in the sorting system 10 changes, or when the sorting system 10 sorts different objects simultaneously, the relative positions of all or part of the first gripper 322 can be adjusted by the moving component, thus completing the sorting without replacing the first gripping device 300. Compared to sorting equipment in related technologies, this reduces the number of gripper replacements and effectively improves sorting efficiency.

[0059] The first gripping device 300 includes a first support frame 310, and the first gripping mechanism 320 includes a first mounting plate 321, with a first gripper 322 movably mounted on the first mounting plate 321. Please refer again. Figures 3 to 5 In some embodiments, the moving component includes a first moving mechanism 330 and a second moving mechanism 340. The first moving mechanism 330 is mounted on the first support frame 310 and connected to the first mounting plate 321. The first moving mechanism 330 drives the first mounting plate 321 to move along a first direction, thereby driving the first gripping mechanism 320 to move as a whole along the first direction. The second moving mechanism 340 is mounted on the first mounting plate 321 and connected to at least one first gripper 322. The second moving mechanism 340 drives at least one first gripper 322 to move along a second direction.

[0060] Please refer to Figure 3 The first moving mechanism 330 includes a first guide member 331, a first sliding member 332, and a first driving member 333. The first guide member 331 and the first driving member 333 are fixed to the first support frame 310. The first guide member 331 extends along a first direction. The first mounting plate 321 is slidably mounted on the first guide member 331 through the first sliding member 332. The first driving member 333 is connected to the first mounting plate 321. The first driving member 333 drives the first mounting plate 321 to slide relative to the first guide member 331, thereby driving the first gripping mechanism 320 to move up and down along the first direction.

[0061] The specific sliding structures of the first guide member 331 and the first sliding member 332 can be varied, such as a slide rail slider structure or a lead screw slider structure. In one embodiment, the first guide member 331 is a guide sleeve, and the first sliding member 332 is a sliding rod. Both the guide sleeve and the sliding rod extend along a first direction, with the sliding rod passing through the guide sleeve. The cooperation between the guide sleeve and the sliding rod constrains the movement direction of the first mounting plate 321, allowing the first drive member 333 to better drive the first mounting plate 321 to move up and down along the Z-axis. In one embodiment, the first support frame 310 includes a first support plate 311 and a second support plate 312 spanning the first support plate 311. The first drive member 333 and the guide sleeve are fixed to the side of the second support plate 312 opposite to the first support plate 311. The second support plate 312 has a first through hole and a second through hole. The first through hole communicates with the guide sleeve, the sliding rod passes through the first through hole, and the output shaft of the first drive member 333 passes through the second through hole and connects to the first mounting plate 321. The first support plate 311 is provided with a first clearance hole to avoid the first mounting plate 321 during its lifting and lowering along the Z-axis.

[0062] In some embodiments, please refer to Figure 3 Each first moving mechanism 330 is equipped with a first limiting member 371. In each first moving mechanism 330, the first limiting member 371 is connected to the end of the slide rod away from the first mounting plate 321. The first limiting member 371 can limit the movement of the slide rod. Specifically, when the first driving member 333 drives the first mounting plate 321 to move downward, it will cause the slide rod to slide downward synchronously relative to the guide sleeve. When the slide rod moves to the point where its first limiting member 371 abuts against the end of the guide sleeve, the guide sleeve will block the movement of the first limiting member 371, thereby preventing the slide rod and the first mounting plate 321 as a whole from continuing to move downward. In one embodiment, the guide structure is configured as two sets, each including two guide sleeves and two slide rods. The two slide rods are respectively disposed on opposite sides of the first drive member 333. The first limiting member 371 includes a connecting rod, which is connected to the end of the two slide rods away from the first mounting plate 321. By setting the connecting rod to connect the two slide rods, it not only plays a limiting role, but also ensures that the two slide rods move synchronously, avoiding inconsistent movement displacement at both ends of the first mounting plate 321, and improving the overall stability of the first gripping mechanism 320.

[0063] Please refer to Figure 5The second moving mechanism 340 includes a second guide member 341, a second slider 342, and at least one second drive member 343. The second guide member 341 and the second drive member 343 are fixed to the first mounting plate 321. The second guide member 341 extends along a second direction. At least one first gripper 322 is slidably mounted on the second guide member 341 via the second slider 342. Each second drive member 343 is connected to one first gripper 322 to drive the connected first gripper 322 to slide relative to the second guide member 341. In one embodiment, the number of second drive members 343 is the same as the number of first grippers 322, and multiple second drive members 343 are connected one-to-one with multiple first grippers 322. Each second drive member 343 can drive one first gripper 322 to slide along the X-axis direction. In one embodiment, the second guide member 341 is a first guide rail, the second slider 342 is a first slider, and the first gripper 322 is slidably mounted on the first guide rail via the first slider.

[0064] In practical applications, due to the large size of the terminal table, during the process of the first gripping device 300 gripping the terminal table, the first gripper 322 is first moved along the X-axis direction by the second driving member 343 of the second moving mechanism 340, so that the distance between two adjacent first grippers 322 can be adapted to the arrangement spacing of two adjacent terminal tables. Then, the first mounting plate 321 is driven to move downward along the Z-axis direction by the first driving member 333 of the first moving mechanism 330, so that each first gripper 322 moves to both sides of the terminal table. Then, the first gripper 322 is controlled to perform the gripping action to realize the gripping of the terminal table.

[0065] In some embodiments, please refer to Figure 5 Each second drive member 343 includes a first push arm 3431 connected to the first gripper 322. Each second moving mechanism 340 is further equipped with a second limiting member 372. In each second moving mechanism 340, the second limiting member 372 is connected to the first mounting plate 321 and is located on the side of the first push arm 3431 opposite to the second drive member 343. The second limiting member 372 can limit the end point of the stroke of the second drive member 343.

[0066] In some embodiments, please refer to Figure 3The first gripping device 300 further includes a third moving mechanism 360 and a second gripping mechanism 350. The second gripping mechanism 350 includes at least one second gripper 351. The second gripping mechanism 350 is arranged along a third direction on one side of the first gripping mechanism 320, and the third direction is perpendicular to the second direction. The third moving mechanism 360 is connected to the second gripping mechanism 350. By setting the second gripping mechanism 350, which includes the second gripper 351, the second gripper 351 can be configured to grip meters different from those gripped by the first gripper 322, further increasing the types of meters that the first gripping device 300 can grip, further reducing the number of replacements, and significantly improving sorting efficiency. The first direction has been defined as the Z-axis direction, the second direction as the X-axis direction, and the third direction as the Y-axis direction.

[0067] In one embodiment, the third moving mechanism 360 is used to drive the second gripping mechanism 350 to move along the first direction, that is, the third moving mechanism 360 also drives the second gripping mechanism 350 to move up and down along the Z-axis. In this embodiment, the third moving mechanism 360 can be configured with the same structure as the first moving mechanism 330. Please refer to the above embodiment for details, which will not be repeated here.

[0068] In another embodiment, the third moving mechanism 360 is used to drive the second gripping mechanism 350 to move along a third direction (this embodiment is not shown in the figure), that is, the third moving mechanism 360 drives the second gripping mechanism 350 to move along the Y-axis. At this time, the third moving mechanism 360 adjusts the distance between the second gripping mechanism 350 and the first gripping mechanism 320 so that the second gripping mechanism 350 and the first gripping mechanism 320 can better grip different meters at the same time.

[0069] In the sorting system 10 provided by this utility model, please refer to Figure 6 and Figure 7 The sorting system 10 also includes a second gripping device 400, which includes a fourth moving mechanism 430 and a plurality of third gripping mechanisms 420. Each third gripping mechanism 420 includes at least one third gripper 422. The plurality of third gripping mechanisms 420 are arranged along a third direction. The fourth moving mechanism 430 is connected to at least one third gripping mechanism 420 and moves at least one third gripping mechanism 420 along a third direction, that is, the fourth moving mechanism 430 is used to drive the third gripping mechanism 420 to move along the Y-axis. In some embodiments, the third gripping mechanism 420 is used to grip various types of metering modules.

[0070] The fourth moving mechanism 430 includes a third guide member 431, a third sliding member 432, and at least one third driving member 433. The second gripping device 400 includes a second support frame 410. The third guide member 431 and the third driving member 433 are fixed to the second support frame 410. The third guide member 431 extends in a third direction. At least one third gripping mechanism 420 is slidably mounted on the third guide member 431 via the third sliding member 432. Each third driving member 433 is connected to a third gripping mechanism 420 to drive the third gripping mechanism 420 to slide relative to the third guide member 431.

[0071] In one embodiment, the third gripping mechanism 420 includes a second mounting plate 421, and a third gripper 422 is mounted on the second mounting plate 421. The third guide member 431 is a second guide rail, and the third slider 432 is a second slider. The second mounting plate 421 can be slidably mounted on the second guide rail via the second slider.

[0072] It should be noted that, firstly, the sorting system 10 provided by this utility model does not limit the types of the first gripper 322, the second gripper 351, and the third gripper 422, as long as the first gripper 322, the second gripper 351, and the third gripper 422 can each grasp the object to be grasped. For example, the first gripper 322, the second gripper 351, and the third gripper 422 can be pneumatic grippers, the first gripper 322, the second gripper 351, and the third gripper 422 can also be electric grippers, or some grippers can be pneumatic grippers and some grippers can be electric grippers.

[0073] Second, the sorting system 10 provided by this utility model does not limit the types of the first driving component 333, the second driving component 343, and the third driving component 433. For example, the first driving component 333, the second driving component 343, and the third driving component 433 can be cylinders, or the first driving component 333, the second driving component 343, and the third driving component 433 can be electric cylinders, or some of the three can be cylinders and the others can be electric cylinders.

[0074] In some embodiments, please refer to Figure 1 and Figure 2 Each gripping device includes a support structure, and the platform 100 is provided with a top support structure 130. When the gripping device separates from the motion device 200, the top support structure 130 supports the support structure, so that the gripping device and the surface of the platform 100 are spaced apart. Taking the first gripping device 300 as an example, the support structure includes the aforementioned first support frame 310.

[0075] In the above embodiment, by setting a top support structure 130 on the platform 100, the gripping device is spaced apart from the surface of the platform 100 under the support of the top support structure 130. This prevents the gripper structure on the gripping device from contacting the surface of the platform 100, thus preventing the gripper from deforming under force and ensuring the reliability of the gripping device.

[0076] In some embodiments, please refer to the reference Figure 2 , Figure 3 and Figure 6 The top support structure 130 includes a plurality of top rods 131, which are connected to the surface of the platform 100. At least a portion of the top rods 131 has a first positioning part 1311 at the end away from the platform 100. The support structure includes a plurality of abutment plates 500, at least a portion of the abutment plates 500 has a second positioning part 510. The plurality of top rods 131 abut against the plurality of abutment plates 500 one-to-one, and at least a portion of the top rods 131 are positioned and engaged with the abutment plates 500 through the first positioning part 1311 and the second positioning part 510.

[0077] Therefore, through the above-mentioned configuration, the cooperation between the abutment plate 500 and the top rod 131 not only provides support for the gripping device, but also achieves positioning of the two through the first positioning part 1311 and the second positioning part 510, so that the motion device 200 can stably and reliably release the gripping device onto the top cover. At the same time, the position and posture of the gripping device after it separates from the motion device 200 and is supported on the platform 100 are determined each time. In this way, the motion device 200 can connect with the gripping device with the same movement path and posture each time, thereby improving installation efficiency.

[0078] In one embodiment, the first gripping device 300 is provided with three abutment plates 500, two of which are connected to the same side of the first support frame 310, and the third abutment plate 500 is connected to the other side of the first support frame 310. Each abutment plate 500 is provided with a first positioning part 1311. The second gripping device 400 includes four abutment plates 500, with two abutment plates 500 respectively connected to opposite sides of the second support frame 410. One of the abutment plates 500 on each side is provided with a first positioning part 1311.

[0079] In some embodiments, the first positioning part 1311 includes one of a positioning sleeve and a positioning post, and the second positioning part 510 includes the other of a positioning sleeve and a positioning post, with the positioning post inserted into the positioning sleeve. The accompanying drawings of this embodiment illustrate the first positioning part 1311 as a positioning sleeve and the second positioning part 510 as a positioning post, but this should not be construed as a limitation of this application. When the second positioning part 510 is a positioning post, the positioning post can be directly formed from the end of the push rod 131.

[0080] In some embodiments, the sorting system 10 further includes a quick-release mechanism 600, through which each gripping device is connected to the motion device 200. The support frame of the gripping device can be connected to the motion device 200 via the quick-release mechanism 600, thereby facilitating quick replacement of the gripping device and improving the efficiency of the sorting equipment in this application when gripping different types of meters.

[0081] In one embodiment, please refer to Figure 1 The quick-release mechanism 600 includes a first pneumatic disc 610 mounted on the robotic arm 210 and a second pneumatic disc 620 mounted on the gripping device. The first pneumatic disc 610 and the second pneumatic disc 620 can be separated or joined together using compressed air to facilitate the quick installation or removal of the gripping device from the robotic arm 210.

[0082] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A sorting system, characterized in that, The device includes a motion device and a gripping device detachably connected to the motion device, the motion device being capable of driving the gripping device to move; the gripping device includes a first gripping device, the first gripping device including a moving component and a first gripping mechanism, the moving component being used to drive the first gripping mechanism to move along a first direction, the first gripping mechanism including a plurality of first grippers, the plurality of first grippers being arranged along a second direction, the moving component being further used to drive at least one first gripper to move along the second direction, the second direction being perpendicular to the first direction.

2. The sorting system according to claim 1, characterized in that, The first gripping device includes a first support frame, the first gripping mechanism includes a first mounting plate, and at least one of the first grippers is movably mounted on the first mounting plate; The moving component includes a first moving mechanism and a second moving mechanism. The first moving mechanism is mounted on the first support frame and connected to the first mounting plate. The first moving mechanism drives the first mounting plate to move along the first direction. The second moving mechanism is mounted on the first mounting plate and connected to at least one of the first grippers. The second moving mechanism drives at least one of the first grippers to move along the second direction.

3. The sorting system according to claim 2, characterized in that, The first moving mechanism includes a first guide, a first slider, and a first drive. The first guide is fixed to the first support frame and extends along the first direction. The first mounting plate is slidably mounted on the first guide via the first slider. The first drive is fixed to the first support frame and connected to the first mounting plate to drive the first mounting plate to slide relative to the first guide. And / or, the second moving mechanism includes a second guide, a second slider and at least one second drive member, the second guide is fixed to the first mounting plate and extends along the second direction, at least one first gripper is slidably mounted on the second guide via the second slider, and each second drive member is connected to one first gripper to drive the first gripper to slide relative to the second guide.

4. The sorting system according to claim 3, characterized in that, The first guide member is a guide sleeve, the first sliding member is a slide rod, the slide rod is connected to the first mounting plate and passes through the guide sleeve, each of the first moving mechanisms is also equipped with a first limiting member, in each of the first moving mechanisms, the first limiting member is connected to the end of the slide rod away from the first mounting plate; And / or, each of the second driving members includes a first push arm connected to the first gripper, and each of the second moving mechanisms is further configured with a second limiting member, wherein in each of the second moving mechanisms, the second limiting member is connected to the first mounting plate and is disposed on the side of the first push arm opposite to the second driving member.

5. The sorting system according to any one of claims 1 to 4, characterized in that, The first gripping device further includes a third moving mechanism and a second gripping mechanism. The second gripping mechanism and the first gripping mechanism are arranged along a third direction, which is perpendicular to the second direction. The third moving mechanism is connected to the second gripping mechanism. The third moving mechanism is used to drive the second grasping mechanism to move along the first direction, or the third moving mechanism is used to drive the second grasping mechanism to move along the third direction.

6. The sorting system according to any one of claims 1 to 4, characterized in that, The gripping device further includes a second gripping device, which includes a fourth moving mechanism and a plurality of third gripping mechanisms. The plurality of third gripping mechanisms are arranged along a third direction. The fourth moving mechanism is connected to at least one of the third gripping mechanisms. The fourth moving mechanism drives at least one of the third gripping mechanisms to move along the third direction, which is perpendicular to the second direction.

7. The sorting system according to claim 6, characterized in that, The second gripping device includes a second support frame, and the fourth moving mechanism includes a third guide, a third slider, and at least one third driving member. The third guide is fixed to the second support frame and extends along the third direction. At least one of the third gripping mechanisms is slidably mounted on the third guide via the third slider. Each of the third driving members is connected to one of the third gripping mechanisms to drive the third gripping mechanism to slide relative to the third guide.

8. The sorting system according to any one of claims 1 to 4, characterized in that, The sorting system also includes a platform, each of the gripping devices includes a support structure, and the platform is provided with a top support structure. When the gripping device separates from the moving device, the top support structure supports the support structure so that the gripping device is spaced apart from the surface of the platform.

9. The sorting system according to claim 8, characterized in that, The top support structure includes multiple top rods connected to the surface of the platform. At least a portion of the top rods has a first positioning part at the end away from the platform. The support structure includes multiple abutment plates. At least a portion of the abutment plates has a second positioning part. The multiple top rods abut against the multiple abutment plates one-to-one, and at least a portion of the top rods are positioned and engaged with the abutment plates through the first positioning part and the second positioning part.

10. The sorting system according to claim 9, characterized in that, The first positioning part includes one of a positioning sleeve and a positioning post, and the second positioning part includes the other of the positioning sleeve and the positioning post, wherein the positioning post is inserted into the positioning sleeve.

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