Sorting device

Abstract

The utility model provides a kind of sorting device, comprising: gripping device, for gripping goods;Conveying device, one end of the conveying device extends to the working range of the gripping device so that the goods gripped by the gripping device is placed on the conveying device;Classification device, with the other end of the conveying device to classify the goods conveyed by the conveying device;Material receiving device, for the classified goods classified by the classification device are classified and placed.The utility model sets classification device between conveying device and material receiving device, so that the goods conveyed by the conveying device can be classified, and then the classified goods are classified and placed by the material receiving device, realizing the classification and sorting of at least two kinds of goods, improving the overall automation efficiency, and having wide application range.

Description

Technical Field

[0001] This utility model relates to industrial robots, specifically to a sorting device. Background Technology

[0002] An industrial robot is an intelligent device equipped with sensors, lenses, and electro-optical systems that can quickly sort and transport goods.

[0003] More and more visual sensors and force sensors will be used in industrial robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0004] When industrial robots sort and move goods, they need to acquire images of the goods through vision sensors, identify the posture of the goods by recognizing the images, and then the industrial robot picks or moves the goods by using the loaded grippers or suction cups.

[0005] However, existing sorting devices containing industrial robots can only sort and transport one type of goods and cannot classify and sort two or more types of goods, which limits their applicability and makes them unable to meet the classification and sorting needs of multiple types of goods. Utility Model Content

[0006] In view of the deficiencies in the prior art, the purpose of this utility model is to provide a sorting device.

[0007] A sorting device according to the present invention includes: a gripping device for gripping goods; a conveying device, one end of which extends into the working range of the gripping device so that the goods gripped by the gripping device are placed on the conveying device; a sorting device, which is connected to the other end of the conveying device to sort the goods conveyed by the conveying device; and a receiving device for sorting and receiving the goods sorted by the sorting device.

[0008] Preferably, the sorting device includes a conveying structure, a first conveyor and a second conveyor within the operating range of the receiving device, wherein the first conveyor and the second conveyor are both located on one side of the conveying structure, so that the conveying structure sorts and conveys the goods onto the first conveyor and the second conveyor.

[0009] Preferably, the conveying structure includes a first conveyor for conveying the goods in a first direction, a first multi-directional conveyor and a second multi-directional conveyor for conveying the goods in both the first and second directions. The first conveyor, the first multi-directional conveyor and the second multi-directional conveyor are arranged end-to-end in the first direction. The first conveyor is connected to the other end of the conveying device. The first conveyor is positioned to one side of the first multi-directional conveyor in the second direction so that the goods on the first multi-directional conveyor are conveyed to the first conveyor. The second conveyor is positioned to one side of the second multi-directional conveyor in the second direction so that the goods on the second multi-directional conveyor are conveyed to the second conveyor.

[0010] Preferably, the sorting device further includes a second conveyor, which is located on the side of the second multi-directional conveyor away from the first multi-directional conveyor in the first direction, so that the second multi-directional conveyor can convey the goods to the second conveyor along the first direction.

[0011] Preferably, the receiving device includes a sorting robot, a first tray located on one side of the sorting robot in the first direction, and a second tray on the other side. The sorting robot is used to grab goods on the first conveyor and place them on the first tray, or to grab goods on the second conveyor and place them on the second tray.

[0012] Preferably, the receiving device further includes a first fence located on one side of the sorting robot in the first direction and a second fence on the other side.

[0013] Preferably, the receiving device further includes a first safety monitoring sensor located on the side of the sorting robot away from the sorting device in the second direction, the first safety monitoring sensor forming a first safety monitoring area between the first fence and the second fence; and / or, the receiving device further includes a second safety monitoring sensor forming a second safety monitoring area between the first tray and the sorting robot; and / or, the receiving device further includes a third safety monitoring sensor forming a third safety monitoring area between the second tray and the sorting robot.

[0014] Preferably, the sorting device further includes a barcode scanning device, which is disposed on the conveying device and is used to scan the goods on the conveying device to determine whether the goods are transferred to the first conveyor or the second conveyor via the sorting device.

[0015] Preferably, the scanning device includes a support frame and a barcode scanner fixed on the support frame, wherein the barcode scanner is provided with multiple scanners to scan multiple sides of the goods.

[0016] Preferably, the gripping device includes a gripping robot, which is connected to one end of the conveying device.

[0017] Preferably, the gripping device further includes a safety fence that covers the gripping robot and has a safety passage for goods to enter the working range of the gripping robot.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] This invention enables the classification of goods conveyed by the conveying device and the receiving device by setting up a classification device between the conveying device and the receiving device. The receiving device then sorts and collects the classified goods, thereby achieving the classification and sorting of at least two types of goods, improving the overall automation efficiency, and having a wide range of applications. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of this utility model will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0021] Figure 1 This is a perspective view of the sorting device in an embodiment of the present utility model;

[0022] Figure 2 This is a perspective view of the sorting device in an embodiment of the present invention from another angle;

[0023] Figure 3 for Figure 1 The figure shown is a top view of the sorting device in an embodiment of this utility model;

[0024] Figure 4 This is a perspective view of the gripping robot of the sorting device in an embodiment of this utility model;

[0025] Figure 5 for Figure 4 A 3D view of the grasping robot from another angle;

[0026] Figure 6 This is a perspective view of the barcode scanning device of the sorting device in an embodiment of this utility model;

[0027] Figure 7 for Figure 6 A three-dimensional view of part of the structure of the barcode scanning device shown;

[0028] Figure 8 This is a perspective view of the sorting device and the receiving device in the embodiments of this utility model;

[0029] Figure 9 for Figure 8 The top view of the sorting device and the receiving device shown;

[0030] Figure 10 This is a perspective view of the sorting robot of the sorting device in the embodiment of this utility model;

[0031] Figure 11 for Figure 10 A 3D view of the sorting robot from another angle;

[0032] Figure 12 for Figure 10 The sorting robot shown is a 3D view from another angle;

[0033] Figure 13 This is a perspective view of the first multi-directional conveying component of the sorting device in an embodiment of the present utility model;

[0034] Figure 14 for Figure 13 A perspective view of a portion of the structure of the first multidirectional transmission component;

[0035] Figure 15 for Figure 14 The front view of the first multidirectional transmission component is shown.

[0036] In the picture:

[0037] 100-Sorting device; 10-Gripping device; 11-Gripping robot; 111-First mobile chassis; 112-First robotic arm; 12-Safety fence; 20-Conveying device; 21-First conveyor line; 22-Second conveyor line; 23-Third conveyor line; 30-Scanning device; 301-Outer casing; 302-Support frame; 303-Scanner; 40-Classification device; 41-First conveyor component; 42-First multi-directional conveyor component; 421-Frame; 4211-Rotating shaft; 4212-Camshaft; 422-First direction conveying assembly; 423-Second direction conveying assembly; 4231-Roller; 4232-Support Frame; 43-Second multi-directional conveyor; 44-Second conveyor; 45-First conveyor; 46-Second conveyor; 50-Receiving device; 51-Sorting robot; 511-Second mobile chassis; 512-Second robotic arm; 513-Suction cup assembly; 52-Protective fence; 521-First fence; 522-Second fence; 53-Supporting component; 531-First safety monitoring sensor; 532-Second safety monitoring sensor; 533-Third safety monitoring sensor; 54-First tray; 55-Second tray; 56-First safety monitoring area; 57-Second safety monitoring area; 58-Third safety monitoring area. Detailed Implementation

[0038] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0039] The technical solution of this utility model will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0040] The technical solutions of this utility model and this application solve the above-mentioned technical problems in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this utility model will now be described with reference to the accompanying drawings.

[0041] In one embodiment, the present invention provides a sorting device 100, comprising: a gripping device 10 for gripping goods; a conveying device 20, one end of which extends into the working range of the gripping device 10 so that the goods gripped by the gripping device 10 are placed on the conveying device 20; a sorting device 40, which is connected to the other end of the conveying device 20 to sort the goods conveyed by the conveying device 20; and a receiving device 50 for sorting and receiving the goods sorted by the sorting device 40, such as... Figures 1 to 3 As shown.

[0042] Preferably, the gripping device 10 is positioned around the at least two types of goods that need to be sorted, or the at least two types of goods are transported to the working range of the gripping device 10, so that the goods that need to be sorted can be gripped by the gripping device 10 and placed on the conveyor 20; the gripping device 10 can be a common gripping robot on the market, or other robots or robotic arms that can grip goods, etc., which are existing technologies and will not be described in detail here.

[0043] It should be noted that the aforementioned goods can be at least two types of goods, or goods of other cuboid or other geometric shapes, etc., which can be set as needed and are not specifically limited here. In this embodiment, the aforementioned goods are cuboid-shaped cardboard boxes.

[0044] More preferably, the conveying device 20 is used to transport the goods grasped by the gripping device 10 to the other end to complete the transport of goods; the conveying device 20 can be a conveyor belt, a telescopic roller line, or a combination of various conveying structures such as a conveyor belt and a telescopic roller line, etc., as long as it can transport goods from one end to the other end, and no specific limitation is made here.

[0045] It should be noted that the conveying device 20 can extend in a straight line, or in an arc or other shape, and can be set as needed, without specific limitations here.

[0046] More preferably, one end of the conveying device 20 extends into the working range of the gripping device 10, such as at the front, left, right or rear end of the gripping device 10, so that after the gripping device 10 grips the goods, it is placed above the conveying device 20, and then the conveying device 20 can transport the goods to its other end to complete the purpose of goods transfer.

[0047] Preferably, the sorting device 40 is used to sort at least two types of goods conveyed by the conveying device 20 and place them in the corresponding positions for each type of goods. For example, one type of goods is placed in its corresponding position and another type of goods is placed in its corresponding other position, so as to achieve the sorting purpose of stacking similar goods together and separating different goods. It can be composed of multiple conveyor belts with different conveying directions, or different robots can be used to complete the sorting of goods, etc. It is sufficient to be able to sort at least two types of goods, and no specific limitation is made here.

[0048] More preferably, the other end of the conveying device 20 is connected to the sorting device 40 so that the goods conveyed to the other end of the conveying device 20 can be moved onto the sorting device 40 so that the sorting device 40 sorts them.

[0049] It should be noted that the above-mentioned "connection" can mean that the other end of the conveying device 20 is connected to the cargo input port of the sorting device 40, or that it is within the working range of the sorting device 40, etc., as long as it can transfer the cargo on the conveying device 20 to the sorting device 40, and no specific limitation is made here.

[0050] Furthermore, the receiving device 50 is used to receive the goods sorted by the sorting device 40 to complete the receiving purpose, such as placing one type of goods sorted by the sorting device on its left and another type of goods sorted by the sorting device on its right, so as to complete the purpose of sorting and receiving; the sorting device 40 is within the working range of the receiving device 50 so as to sort and receive the goods sorted by the sorting device 40 in the corresponding positions, thereby achieving the purpose of sorting at least two types of goods.

[0051] In one embodiment, the sorting device 40 includes a conveying structure, a first conveyor 45 and a second conveyor 46 located within the operating range of the receiving device 50. Both the first conveyor 45 and the second conveyor 46 are located on one side of the conveying structure, such that the conveying structure sorts and conveys the goods onto the first conveyor 45 and the second conveyor 46. Figures 1 to 3 As shown.

[0052] Preferably, the conveying structure can be a conveyor belt, a telescopic roller conveyor, or a combination of a conveyor belt and a telescopic roller conveyor, etc., which can be set as needed and are not specifically limited here.

[0053] More preferably, one end of the conveying structure is connected to the other end of the conveying device 20 so that the goods on the other end of the conveying device 20 can be conveyed to the conveying structure to complete the purpose of conveying the goods; the conveying structure and the conveying device 20 can be on the same straight line or intersecting, which is not specifically limited here. In this embodiment, the conveying structure and the conveying device 20 are on the same straight line and both extend along the first direction x.

[0054] More preferably, the first conveyor 45 is located on one side of the conveying structure, for example, on one side of the conveying structure in the second direction y, so as to convey a sorted type of goods to the first conveyor 45; the first conveyor 45 can be a placement platform, or a conveyor belt, a telescopic roller conveyor, or a combination of the above structures, etc., without specific limitation. When the first conveyor 45 is a conveyor belt or a telescopic roller conveyor, its conveying direction is preferably the second direction y, so as to convey it to the working range of the receiving device 50; the goods input end of the first conveyor 45 is connected to the conveying structure so that the conveying structure conveys a sorted type of goods to the first conveyor 45.

[0055] Preferably, the second conveyor 46 is located on one side of the conveying structure, for example, on one side of the conveying structure in the second direction y, so as to convey the sorted other goods to the second output 46; the second conveyor 46 can be a placement platform, or a conveyor belt, a telescopic roller conveyor, or a combination of the above structures, etc., without specific limitation. When the second conveyor 46 is a conveyor belt or a telescopic roller conveyor, its conveying direction is preferably the second direction y, so as to convey it to the working range of the receiving device 50; the goods input end of the second conveyor 46 is connected to the conveying structure so that the conveying structure conveys the sorted other goods to the second conveyor 46.

[0056] It should be noted that the first conveyor 45 and the second conveyor 46 are located on one side of the conveying structure in the second direction y, and are located between the receiving device 50 and the conveying structure, so as to realize the purpose of conveying the sorted goods to the operating range of the receiving device 50 and temporarily storing them.

[0057] It should be further noted that the first direction x is the conveying direction of the conveying device 20, and the second direction y is perpendicular to the first direction x. In other embodiments, the first direction x and the second direction y may not be perpendicular, etc., and can be set as needed. No specific limitation is made here.

[0058] More preferably, the first conveyor 45 is an inclined conveyor roller to convey the goods toward the receiving device 50, so that the receiving device 50 can collect the goods.

[0059] Furthermore, the second conveyor 46 is an inclined conveyor roller to transport goods toward the receiving device 50, facilitating the receiving device 50 to collect the goods.

[0060] It should be noted that the first conveyor 45 and the second conveyor 46 can also be other conveying devices, and the user can set them according to their needs. No specific limitations are made here.

[0061] Furthermore, the first conveyor 45 and the second conveyor 46 are arranged in parallel and abut against each other to enable different goods to be conveyed to the receiving device 50 for receiving, reducing the volume occupied, and both can be conveyed to the working range of the receiving device 50.

[0062] In one embodiment, the conveying structure includes a first conveyor 41 for conveying goods in a first direction x, a first multi-directional conveyor 42 and a second multi-directional conveyor 43 capable of conveying goods in both the first direction x and a second direction y. The first conveyor 41, the first multi-directional conveyor 42, and the second multi-directional conveyor 43 are arranged sequentially end-to-end in the first direction x. The first conveyor 41 is connected to the other end of the conveying device 20. A first conveyor 45 is positioned to one side of the first multi-directional conveyor 42 in the second direction y so that goods on the first multi-directional conveyor 42 are conveyed to the first conveyor 45. A second conveyor 46 is positioned to one side of the second multi-directional conveyor 43 in the second direction y so that goods on the second multi-directional conveyor 43 are conveyed to the second conveyor 46. Figures 1 to 3 As shown.

[0063] Preferably, the first conveyor 41 can be a conveyor belt, a telescopic roller conveyor, or a combination of a conveyor belt and a telescopic roller conveyor. Users can set it according to their needs, and there is no specific limitation here. It just needs to be able to transfer goods to the first multi-directional conveyor 42.

[0064] More preferably, one end of the first conveyor 41 is connected to the other end of the conveying device 20, such as by abutment or fixed connection, so that the goods on the conveying device 20 can be conveyed to the first conveyor 41; the other end of the first conveyor 41 is connected to one end of the first multi-directional conveyor 42 so as to convey the goods to the first multi-directional conveyor 42.

[0065] It should be noted that the first conveyor 41 is not only able to transfer goods from the conveying device 20 to the first multi-directional conveyor 42, but also to temporarily store goods. That is, when there are goods on the first multi-directional conveyor 42 and they have not been transferred to the first conveyor 45, the first conveyor 41 stops operating to temporarily store the goods until the goods on the first multi-directional conveyor 42 move to the next process, at which point the first conveyor 41 will transfer the goods to the first multi-directional conveyor 42.

[0066] It should also be noted that: the first multi-directional conveyor 42 and the first conveyor 41 can both extend and be arranged along the first direction x. In other embodiments, the first multi-directional conveyor 42 and the first conveyor 41 can also be arranged to intersect, which is not specifically limited here.

[0067] Preferably, the first multi-directional conveyor 42 is located between the first conveyor 41 and the second multi-directional conveyor 43. The first multi-directional conveyor 42 can convey the goods conveyed thereto to the second multi-directional conveyor 43 along the first direction x, or it can convey the goods to the first conveyor 45 along the second direction y. It can select according to the type of goods. For example, it can convey the same type of goods to the first conveyor 45, and then convey another type of goods to the second multi-directional conveyor 43, and then convey them to the second conveyor 46 through the second multi-directional conveyor 43, thereby realizing the classification of goods.

[0068] It should be noted that the first multi-directional conveyor 42 is preferably a lifting and transfer machine or the like, which is existing technology and is not specifically limited here.

[0069] The following description uses a specific embodiment of the first multidirectional transmitter 42 as an example: Figures 13 to 15 As shown, the first multi-directional conveying component 42 includes a frame 421, a first-direction conveying component 422 for conveying goods along a first direction x, and a second-direction conveying component 423 for conveying goods along a second direction. The first-direction conveying component 422 is fixed to the frame 421, and the second-direction conveying component 423 is vertically and vertically mounted on the frame 421. When the first-direction conveying component 422 conveys goods along the first direction x, the second-direction conveying component 423 is below the first-direction conveying component 422 and does not contact the goods. When it is necessary to convey goods along the second direction y, the second-direction conveying component 423 moves upward and is higher than the first-direction conveying component 422 to contact the goods, thereby conveying the goods along the second direction y to the first conveying component 45, thus realizing multi-directional conveying of goods.

[0070] It should be noted that the first direction conveying component 422 is preferably a conveying roller line, and the second direction conveying component 423 can be composed of multiple conveyor belts, which is the prior art and will not be described in detail here.

[0071] More specifically: such as Figure 15As shown, the frame 421 is provided with at least two rotating shafts 4211, which are arranged sequentially in the second direction y. The at least two rotating shafts 4211 are rotatably mounted on the frame 421 and connected to a drive structure (not shown), such as a motor, to achieve rotation of the rotating shafts 4211. A camshaft 4212 is provided on each rotating shaft 4211, and the rotating shaft 4211 passes through and is fixedly connected to the camshaft 4212 to drive the camshaft 4212 to rotate. A bracket 4232 is fixed below the second direction conveying component 423. The bracket 4232 is equipped with a roller 4231 opposite to the camshaft 4212. The roller 4231 abuts against the camshaft 4212, thereby driving the camshaft 4212 to rotate through the rotating shaft 4211, which in turn drives the roller 4231 and the bracket 4232 to move upward or downward, thereby driving the second direction conveying component 423 to move upward or downward, completing the lifting and lowering operation of the second direction conveying component 423.

[0072] Preferably, the first conveyor 45 is located on one side of the first multi-directional conveyor 42 in the second direction y, and one end of the first conveyor 45 abuts against the first multi-directional conveyor 42, so that the goods on the first multi-directional conveyor 42 can be conveyed to the first conveyor 45 along the second direction y, thereby completing the purpose of classifying and conveying the goods.

[0073] More preferably, one end of the second multi-directional conveyor 43 abuts against one end of the first multi-directional conveyor 42 away from the first conveyor 41, so that the goods on the first multi-directional conveyor 42 can be conveyed to the second multi-directional conveyor 43 along the first direction x.

[0074] It should be noted that the second multi-directional conveyor 43 can also convey goods along the first direction x and along the second direction y to the second conveyor 46, thereby realizing multi-directional conveying of goods. Its function is the same as that of the first multi-directional conveyor 42. Therefore, the structure of the second multi-directional conveyor 43 can refer to the structure of the first multi-directional conveyor 42, and will not be described again here.

[0075] Furthermore, the second output component 46 is located on one side of the second multi-directional conveyor 43 in the second direction y, and one end of the second conveyor 46 abuts against the second multi-directional conveyor 43, so that the goods on the second multi-directional conveyor 43 can be conveyed to the second conveyor 46 along the second direction y, thereby completing the purpose of classifying and conveying the goods.

[0076] It should be noted that the first multi-directional conveyor 42 and the second multi-directional conveyor 43, arranged sequentially along the first direction x, are what accomplish the purpose of classifying goods. That is, the first multi-directional conveyor 42 can convey the first type of goods to the first conveyor 45, and at the same time, the first multi-directional conveyor 42 can convey the second type of goods to the second multi-directional conveyor 43. Then, the second multi-directional conveyor 43 can convey the second type of goods to the second conveyor 46, thus achieving the classification purpose of concentrating the first type of goods on the first conveyor 45 and the second type of goods on the second conveyor 46, thereby facilitating subsequent classification and handling.

[0077] In one embodiment, the sorting device 40 further includes a second conveyor 44, which is positioned on the side of the second multi-directional conveyor 43 opposite to the first multi-directional conveyor 42 in the first direction x, such that the second multi-directional conveyor 43 can convey goods along the first direction x onto the second conveyor 44. Figure 3 As shown.

[0078] Preferably, the second conveyor 44 can be an existing conveying structure such as a conveyor or a telescopic roller conveyor, which is prior art and will not be described in detail here.

[0079] More preferably, the second conveyor 44 may extend along the first direction x and convey goods, or it may extend along the second direction y and convey goods, or it may be a multi-directional conveying device, such as a lifting transfer machine, which can be set as needed and is not specifically limited here. In this embodiment, the second conveyor 44 extends along the first direction x and conveys goods.

[0080] More preferably, in the first direction x, the first conveyor 41, the first multi-directional conveyor 42, the second multi-directional conveyor 43 and the second conveyor 44 are arranged in sequence to realize the classification and conveying of goods. One end of the second conveyor 44 abuts against the end of the second multi-directional conveyor 43 away from the first multi-directional conveyor 42, so that the third type of goods on the second multi-directional conveyor 43 are conveyed to the second conveyor 44 along the first direction x.

[0081] It should be noted that in this embodiment, the goods conveyed to the second conveyor 44 can be other goods, such as abnormal goods, that is, goods that are not placed on the first conveyor 45 and the second conveyor 46, so that the entire sorting operation can continue to run and prevent abnormal goods from having nowhere to be placed, thus affecting the operation of the entire sorting operation.

[0082] In one embodiment, the receiving device 50 includes a sorting robot 51, a first tray 54 located on one side of the sorting robot 51 in the first direction x, and a second tray 55 on the other side. The sorting robot 51 is used to grab goods from the first conveyor 45 and place them on the first tray 54, or grab goods from the second conveyor 46 and place them on the second tray 55. Figures 1 to 3 As shown.

[0083] Preferably, the sorting robot 51 is used to sort the goods on the first conveyor 45 and the second conveyor 46, that is, to grab the goods on the first conveyor 45 and the second conveyor 46 and place them in the corresponding positions.

[0084] It should be noted that the sorting robot 51 can take many forms; the following description uses a specific embodiment as an example: Figures 10 to 12 As shown, the sorting robot 51 includes a second mobile chassis 511, a second robotic arm 512, and a suction cup assembly 513. The second mobile chassis 511 can move on the ground and move the sorting robot 51 to the required position, which is prior art and will not be described in detail here. The bottom end of the second robotic arm 512 is set on the second mobile chassis 511 so that the second robotic arm 512 can be moved by the second mobile chassis 511. The end of the second robotic arm 512 is provided with a suction cup assembly 513, which is used to pick up goods in order to achieve sorting and loading / unloading of goods. The suction cup assembly 513 includes multiple suction nozzles, which can be arranged in a straight line or in a matrix, etc., as needed, and will not be described in detail here.

[0085] More preferably, the first tray 54 is located on one side of the sorting robot 51, preferably on one side of the sorting robot 51 in the first direction x, so that the sorting robot 51 can pick up the goods on the first conveyor 45 and place them on the first tray 54. Therefore, both the first tray 54 and the first conveyor 45 are within the working range of the sorting robot 51.

[0086] More preferably, the first tray 54 and the first conveyor 45 are on the same side of the sorting robot 51 in the first direction x. The second robotic arm 512 only needs to be on this side to grab the goods on the first conveyor 45 and place them on the first tray 54, so as to reduce the rotation angle of the second robotic arm 512 and make its unloading efficiency higher.

[0087] More preferably, the second tray 55 is located on the other side of the sorting robot 51, preferably on the other side of the sorting robot 51 in the first direction x, so that the sorting robot 51 can pick up the goods on the second conveyor 46 and place them on the second tray 55. Therefore, both the second tray 55 and the second conveyor 46 are within the working range of the sorting robot 51.

[0088] Preferably, the second tray 55 and the second conveyor 46 are located on the same side of the sorting robot 51 in the first direction x. The second robotic arm 512 only needs to be on this side to grab the goods on the second conveyor 46 and place them on the second tray 55, so as to reduce the rotation angle of the second robotic arm 512 and make its unloading efficiency higher.

[0089] It should be noted that the first tray 54 and the second tray 55 are located on both sides of the sorting robot 51 in the first direction x, which facilitates the sorting robot 51 to classify and sort the goods from both sides.

[0090] In one embodiment, the receiving device 50 further includes a first fence 521 located on one side of the sorting robot 51 in the first direction x and a second fence 522 on the other side, such as... Figure 9 As shown.

[0091] Preferably, the first fence 521 and the second fence 522 constitute a protective fence 52 around the sorting robot 51, thereby achieving safety protection for the sorting robot 51 and preventing people from entering and causing safety accidents.

[0092] More preferably, the first fence 521 is located on one side of the sorting robot 51 in the first direction x, and the first tray 54 is located between the first fence 521 and the sorting robot 51, so as to protect the first tray 54.

[0093] More preferably, the second fence 522 is located on the other side of the sorting robot 51 in the first direction x, and the second tray 55 is located between the second fence 522 and the sorting robot 51, so as to protect the second tray 55.

[0094] Preferably, one end of the first fence 521 extends close to the sorting device 40, and one end of the second fence 522 extends close to the sorting device 40, so as to achieve comprehensive safety protection for the sorting robot 51.

[0095] More preferably, the first fence 521 and the second fence 522 can be arranged in parallel or in a non-parallel manner. In this embodiment, the first fence 521 and the second fence 522 are arranged in parallel with each other.

[0096] In one embodiment, the receiving device 50 further includes a first safety monitoring sensor 531 located on the side of the sorting robot 51 away from the sorting device 40 in the second direction y. The first safety monitoring sensor 531 is used to form a first safety monitoring area 56, which is located between the first fence 521 and the second fence 522. Figures 9 to 12 As shown.

[0097] Preferably, the first safety monitoring sensor 531 can be a two-dimensional laser sensor or a three-dimensional laser sensor, etc., which is used to form a safety monitoring barrier to prevent external personnel or objects from entering the working area of ​​the sorting robot 51.

[0098] More preferably, the first safety monitoring sensor 531 is located on the side of the sorting robot 51 away from the sorting device 40 in the second direction y, that is, the sorting robot 51 is located between the first safety monitoring sensor 531 and the sorting device 40, so as to perform safety monitoring on the side of the sorting robot 51 away from the sorting device 40.

[0099] More preferably, the first safety monitoring sensor 531 forms a first safety monitoring area 56, which is planar and located on the side of the sorting robot 51 away from the sorting device 40 in the second direction y, so as to perform safety monitoring on that side.

[0100] Preferably, the first safety monitoring area 56 is located between the first fence 521 and the second fence 522, and its two ends extend to the first fence 521 and the second fence 522 respectively, so as to realize comprehensive safety monitoring of the side of the sorting robot 51 away from the sorting device 40, and prevent moving objects or personnel from entering the working area of ​​the sorting robot 51.

[0101] In a further preferred embodiment, when the first fence 521 and the second fence 522 are parallel to each other, the first security monitoring area 56 is set perpendicular to the first fence 521 and the second fence 522 in order to reduce its area size and reduce energy waste.

[0102] In one embodiment, the receiving device 50 further includes a second safety monitoring sensor 532, which forms a second safety monitoring area 57 located between the first tray 54 and the sorting robot 51. Figures 9 to 12 As shown.

[0103] Preferably, the second safety monitoring sensor 532 can be a two-dimensional laser sensor or a three-dimensional laser sensor, etc., which is used to form a safety monitoring barrier to prevent external personnel or objects from contacting the sorting robot 51.

[0104] More preferably, the second safety monitoring sensor 532 is located on one side of the sorting robot 51 in the first direction x, and is located between the first tray 54 and the sorting robot 51.

[0105] More preferably, the second safety monitoring sensor 532 is used to form a second safety monitoring area 57, which is planar and extends along the second direction y, and is located between the first tray 54 and the sorting robot 51 in the first direction x, so as to achieve a more detailed range of safety monitoring.

[0106] Preferably, one end of the second security monitoring area 57 extends to the sorting device 40 and the other end extends to the first security monitoring area 56, so as to reduce its size and reduce energy waste.

[0107] More preferably, the second security monitoring area 57 is arranged parallel to the first fence 521 to reduce its size and energy waste.

[0108] In one embodiment, the receiving device 50 further includes a third safety monitoring sensor 533, which forms a third safety monitoring area 58 located between the second tray 55 and the sorting robot 51. Figures 9 to 12 As shown.

[0109] Preferably, the third monitoring sensor 533 can be a two-dimensional laser sensor or a three-dimensional laser sensor, etc., which is used to form a safety monitoring barrier to prevent external personnel or objects from contacting the sorting robot 51.

[0110] More preferably, the third safety monitoring sensor 533 is located on the other side of the sorting robot 51 in the first direction x, and is located between the second tray 55 and the sorting robot 51.

[0111] More preferably, the third safety monitoring sensor 533 is used to form a third safety monitoring area 58, which is planar and extends along the second direction y and is located between the second tray 55 and the sorting robot 51 in the first direction x, so as to achieve a more detailed range of safety monitoring.

[0112] Preferably, one end of the third security monitoring area 58 extends to the sorting device 40 and the other end extends to the first security monitoring area 56, so as to reduce its size and reduce energy waste.

[0113] More preferably, the third security monitoring area 58 is arranged parallel to the second fence 522 to reduce its size and energy waste.

[0114] It should be noted that the receiving device 50 also includes a support member 53, which can be fixed to the ground or to the sorting robot 51, such as the second mobile chassis 511. At the same time, the first safety monitoring sensor 531, the second safety monitoring sensor 532 and the third safety monitoring sensor 533 are fixed to the support member 53 to provide support. The support member 53 can be a fence, a support rod or other structure. In this embodiment, the support member 53 is a fence.

[0115] In one embodiment, the sorting device 100 further includes a barcode scanner 30, which is disposed on the conveying device 20. The barcode scanner 30 is used to scan the goods on the conveying device 20 to determine whether the goods are transferred to the first conveyor 45 or the second conveyor 46 via the sorting device 40. Figures 1 to 3 , Figures 5 to 7 As shown.

[0116] Preferably, the scanning device 30 can scan barcodes, QR codes, graphics or text on goods, which are existing technologies and will not be described in detail here.

[0117] More preferably, the barcode scanning device 30 is disposed on the conveying device 20 to scan the goods conveyed on the conveying device 20 to determine the category of the goods, and then determine whether to convey them to the first conveying member 45 or the second conveying member 46. The specific conveying position can be set in advance or specified in the system later, which is the prior art and will not be described in detail here.

[0118] It should be noted that the conveying device 20 includes a first conveyor line 21, a second conveyor line 22, and a third conveyor line 23 connected end to end in sequence. One end of the first conveyor line 21 extends into the working range of the gripping device 10 so that the gripping robot 11 can grab the goods and place them on the first conveyor line 21. The other end of the first conveyor line 21 is connected to one end of the second conveyor line 22. The other end of the second conveyor line 22 is connected to one end of the third conveyor line 23. The other end of the third conveyor line 23 is connected to the first conveyor component 41. Through the above structure, the goods are conveyed from the first conveyor line 21 to the second conveyor line 22, then from the second conveyor line 22 to the third conveyor line 23, and then to the first conveyor component 41, thus realizing the conveying of the goods.

[0119] It should also be noted that the barcode scanning device 30 is located on the third conveyor line 23, thereby performing barcode scanning and identification on the goods conveyed to the third conveyor line 23. When the barcode scanning device 30 scans the goods, the goods can be stationary or moving on the third conveyor line 23. It can be set as needed and is not specifically limited here.

[0120] It should also be noted that the second conveyor line 22 transports goods at a higher speed than the first conveyor line 21. This ensures that when goods move onto the second conveyor line 22, they are separated from the goods on the first conveyor line 21, allowing them to move onto the third conveyor line 23 for scanning by the barcode scanner 30. This prevents two adjacent goods from being too close, which could affect the scanning result of the barcode scanner 30 and ensures smooth scanning.

[0121] It should also be noted that the second conveyor line 22 and the third conveyor line 23 can be integrated or separate, and can be set as needed, without specific limitations here; the first conveyor line 21, the second conveyor line 22 and the third conveyor line 23 can be conveyor belts, telescopic roller lines, transfer machines, etc., or combinations of the above structures, and can be set as needed, without specific limitations here.

[0122] More preferably, the barcode scanning device 30 is located between the gripping device 10 and the sorting device 40, so as to scan the goods before they are conveyed to the sorting device 40 to determine the goods classification information, i.e. the goods placement location.

[0123] It should be noted that the sorting device 100 also includes a processor (not shown). The barcode scanning device 30 is electrically connected to the processor. When the barcode scanning device 30 scans the goods and determines that the goods are placed on the first conveyor 45, it sends a signal to the processor. After processing the signal, the processor controls the rotating shaft 4211 of the first multi-directional conveyor 42 to rotate, which in turn drives the camshaft 4212 to rotate, causing the roller 4231, the bracket 4232 and the second direction conveying assembly 423 to rise, so that the goods above them that need to be conveyed to the first conveyor 45 can be conveyed to the first conveyor 45. When the barcode scanning device 30 scans the goods and determines that the goods are placed on the second conveyor 46, it sends a signal to the processor. The processor controls the rotating shaft 4211 on the first multi-directional conveyor 42 to stop rotating, and then the goods on the first multi-directional conveyor 42 are conveyed to the second multi-directional conveyor 43. Then the second multi-directional conveyor 43 conveys the goods to the second conveyor 46, thus achieving the purpose of automatic classification of goods.

[0124] In one embodiment, the scanning device 30 includes a support frame 302 and a barcode scanner 303 fixed to the support frame 302. The barcode scanner 303 is provided with multiple scanners to scan multiple sides of the goods, such as... Figure 6 and Figure 7 As shown.

[0125] Preferably, the support frame 302 can be a support composed of rods, or a support composed of plates, or a support composed of rods and plates, etc. In this embodiment, the support frame 302 is a support composed of multiple rods connected to each other.

[0126] More preferably, the barcode scanner 303 is fixed on the support frame 302 and is positioned above the conveying device 20 so as to scan the goods on the conveying device 20.

[0127] More preferably, multiple barcode scanners 303 can be set, such as two, three, four, five, etc., so as to scan multiple sides of the goods, such as the side or top.

[0128] It should be noted that in this embodiment, there are five barcode scanners 303, which scan the goods from the four sides and the top surface respectively, so as to achieve comprehensive barcode scanning of the goods.

[0129] Preferably, the upper end of the support frame 302 is also provided with a housing 301, which covers the upper end of the support frame 302, and the barcode scanner 303 is located inside the housing 301 to reduce the impact on the barcode scanner 303.

[0130] In one embodiment, the gripping device 10 includes a gripping robot 11, which is connected to one end of the conveying device 20, such as... Figures 1 to 5 As shown.

[0131] Preferably, the gripping robot 11 is used to grip the goods and place them on the conveying device 20. It can be a fixed robotic arm, a movable robotic arm, or a loading and unloading robot, etc. It can be set as needed and is not specifically limited here.

[0132] More preferably, one end of the conveying device 20 extends into the working range of the gripping robot 11.

[0133] Preferably, the gripping robot 11 includes a first mobile chassis 111, a first robotic arm 112 mounted on the first mobile chassis 111, and a gripper (not shown) at the end of the first robotic arm 112. The first mobile chassis 111 can move on the ground and move the gripping robot 11 to the required position, which is prior art and will not be described in detail here. The bottom end of the first robotic arm 112 is mounted on the first mobile chassis 111 so that the first robotic arm 112 can be moved by the first mobile chassis 111. A gripper, such as a suction cup, is mounted at the end of the first robotic arm 112. The gripper can pick up or grab goods to achieve sorting or loading and unloading, etc. It can be set as needed and is not specifically limited here.

[0134] In one embodiment, the gripping device 10 further includes a safety fence 12 that covers the gripping robot 11. The safety fence 12 is provided with a safety passage 121 to allow goods to enter the operating range of the gripping robot 11. Figures 1 to 3 As shown.

[0135] Preferably, the safety fence 12 covers the gripping robot 11 to provide safety protection for the gripping robot 11 and prevent external personnel or objects from entering the working area of ​​the gripping robot 11 and causing safety accidents.

[0136] More preferably, the safety fence 12 can be a mesh fence, a pole fence, etc., which can be set as needed, and no specific limitation is made here.

[0137] Preferably, the safety fence 12 can surround the gripping robot 11 from two directions, or from three or four directions, etc., and can be set as needed, without specific limitation here. In this embodiment, the safety fence 12 surrounds the gripping robot 11 from three directions, thereby achieving comprehensive protection for the gripping robot 11.

[0138] Preferably, the safety fence 12 is provided with a safety passage 121 so that goods can be placed from the safety passage 121 into the working range of the gripping robot 11 to achieve the gripping of goods.

Claims

1. A sorting device, characterized in that, include: A gripping device used to grip goods; A conveying device, one end of which extends into the working range of the gripping device so that goods gripped by the gripping device are placed on the conveying device; A sorting device, which is connected to the other end of the conveying device to sort the goods conveyed by the conveying device; A receiving device is used to collect and store goods sorted by the sorting device.

2. The sorting device according to claim 1, characterized in that, The sorting device includes a conveying structure, a first conveyor and a second conveyor within the operating range of the receiving device. The first conveyor and the second conveyor are both located on one side of the conveying structure, so that the conveying structure sorts and conveys the goods onto the first conveyor and the second conveyor.

3. The sorting device according to claim 2, characterized in that, The conveying structure includes a first conveyor that conveys the goods in a first direction, a first multi-directional conveyor and a second multi-directional conveyor that can convey the goods in both the first and second directions. The first conveyor, the first multi-directional conveyor and the second multi-directional conveyor are arranged end to end in the first direction. The first conveyor is connected to the other end of the conveying device. The first conveyor is located on one side of the first multi-directional conveyor in the second direction so that the goods on the first multi-directional conveyor are conveyed to the first conveyor. The second conveyor is located on one side of the second multi-directional conveyor in the second direction so that the goods on the second multi-directional conveyor are conveyed to the second conveyor.

4. The sorting device according to claim 3, characterized in that, The sorting device further includes a second conveyor, which is located on the side of the second multi-directional conveyor away from the first multi-directional conveyor in the first direction, so that the second multi-directional conveyor can convey goods to the second conveyor along the first direction.

5. The sorting device according to claim 4, characterized in that, The receiving device includes a sorting robot, a first tray located on one side of the sorting robot in the first direction, and a second tray on the other side. The sorting robot is used to grab goods on the first conveyor and place them on the first tray, or grab goods on the second conveyor and place them on the second tray.

6. The sorting device according to claim 5, characterized in that, The receiving device also includes a first fence located on one side of the sorting robot in the first direction and a second fence on the other side.

7. The sorting device according to claim 6, characterized in that, The receiving device further includes a first safety monitoring sensor located on the side of the sorting robot away from the sorting device in the second direction. The first safety monitoring sensor is used to form a first safety monitoring area, which is located between the first fence and the second fence. And / or, The receiving device further includes a second safety monitoring sensor, which is used to form a second safety monitoring area, which is located between the first material tray and the sorting robot. And / or, The receiving device also includes a third safety monitoring sensor, which is used to form a third safety monitoring area located between the second material tray and the sorting robot.

8. The sorting device according to claim 2, characterized in that, The sorting device further includes a barcode scanning device, which is disposed on the conveying device. The barcode scanning device is used to scan the goods on the conveying device to determine whether the goods are transferred to the first conveyor or the second conveyor via the sorting device.

9. The sorting device according to claim 8, characterized in that, The scanning device includes a support frame and a barcode scanner fixed on the support frame. The barcode scanner is equipped with multiple scanners to scan multiple sides of the goods.

10. The sorting device according to claim 1, characterized in that, The gripping device includes a gripping robot, which is connected to one end of the conveying device.

11. The sorting device according to claim 10, characterized in that, The gripping device also includes a safety fence that covers the gripping robot and has a safety passage for goods to enter the working range of the gripping robot.

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