Sorting device

Abstract

The utility model provides a kind of sorting device, comprising: sorting robot;Tray assembly, including first tray and second tray;Conveying assembly, in the second direction, one side of sorting robot, sorting robot is used to sort goods on conveying assembly to first tray or second tray;Safety monitoring component, including first monitor for forming first monitoring area between sorting robot and first tray, second monitor for forming second monitoring area between sorting robot and second tray, third monitor for forming third monitoring area in the second direction, other side of sorting robot.The utility model can sort goods on conveying assembly to first tray or second tray by sorting robot, and the first monitoring area, second monitoring area, third monitoring area are monitored in real time around sorting robot, prevent misentry to the work area of sorting robot and be threatened by safety.

Description

Technical Field

[0001] This utility model relates to the field of sorting technology, specifically to a sorting device. Background Technology

[0002] With the rapid development of the warehousing and logistics industry, the demand for warehousing cargo sorting is also gradually increasing. At present, cargo sorting mainly relies on manual labor, which is simple and repetitive, consuming a lot of manpower and being labor-intensive.

[0003] To improve the efficiency and automation of warehouse goods sorting, sorting robots have been introduced into the market. These robots use robotic arms to grab goods from conveyor belts and place them on one or more pallets to achieve the purpose of sorting goods. However, once the pallets are full, the sorting robot needs to be shut down to safely remove the pallets and their contents. This operation not only increases the workload but also seriously affects the efficiency of goods sorting, failing to meet current sorting needs. Furthermore, if workers enter the working area of ​​the sorting robot to remove the pallets and their contents while it is still running, it will endanger their safety and cause accidents. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of this utility model is to provide a sorting device.

[0005] A sorting device according to the present invention includes: a sorting robot; a tray assembly including a first tray located on one side of the sorting robot in a first direction and a second tray on the other side; a conveying assembly located on one side of the sorting robot in a second direction, wherein the sorting robot is used to sort goods on the conveying assembly onto the first tray or the second tray; and a safety monitoring assembly including a first monitor for forming a first monitoring area between the sorting robot and the first tray, a second monitor for forming a second monitoring area between the sorting robot and the second tray, and a third monitor for forming a third monitoring area on the other side of the sorting robot in the second direction.

[0006] Preferably, the first monitor is a two-dimensional lidar; and / or, the second monitor is a two-dimensional lidar; and / or, the third monitor is a two-dimensional lidar.

[0007] Preferably, the conveying component is a conveyor belt or a telescopic roller conveyor.

[0008] Preferably, the sorting device further includes a first fence, which is located on the side of the first tray away from the sorting robot in the first direction.

[0009] Preferably, the sorting device further includes a second fence, which is located on the side of the second tray away from the sorting robot in the first direction, and the third monitoring area is located between the first fence and the second fence.

[0010] Preferably, the sorting device further includes a third fence located in the second direction on the side of the conveying assembly away from the sorting robot.

[0011] Preferably, the sorting device further includes a support member, and the first monitor, the second monitor and the third monitor are fixed on the support member.

[0012] Preferably, the support member is a fence.

[0013] Preferably, the support member is fixedly connected to the sorting robot.

[0014] Preferably, the sorting device further includes a reset button for resetting the first monitor, the second monitor and the third monitor, the reset button being fixed to the support member.

[0015] Preferably, the sorting robot includes a mobile chassis, a robotic arm mounted on the mobile chassis, and a suction cup assembly disposed at the end of the robotic arm. The mobile chassis is used to drive the robotic arm to move, and the suction cup assembly includes multiple suction nozzles.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The sorting device of this invention can sort goods from the conveyor assembly onto the first or second tray using a sorting robot. It also monitors the area around the sorting robot in real time through a first, second, and third monitoring area to prevent accidental entry into the robot's working area and ensure the safety of surrounding personnel. Furthermore, when an object is detected passing through the third monitoring area to retrieve the first or second tray, the sorting robot can operate outside the first or second monitoring area. This allows workers to successfully retrieve the first or second tray while the sorting robot continues its sorting operation, significantly improving sorting efficiency and saving time. Attached Figure Description

[0018] 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:

[0019] Figure 1 This is a perspective view of the sorting device in an embodiment of the present utility model;

[0020] Figure 2 This is a perspective view of the sorting device in an embodiment of the present invention from another angle;

[0021] Figure 3 This is a right view of the sorting device in an embodiment of the present invention;

[0022] Figure 4 This is a top view of the sorting device in an embodiment of the present invention;

[0023] Figure 5 for Figure 4 A perspective view of the sorting robot in the embodiment of this utility model;

[0024] Figure 6 for Figure 5 A 3D view of the sorting robot from another angle;

[0025] Figure 7 for Figure 5 The right view of the sorting robot shown;

[0026] Figure 8 for Figure 5 The image shows the front view of the sorting robot.

[0027] Figure 9 for Figure 6 The image shown is a 3D view of the sorting robot from another angle.

[0028] Explanation of icon numbers:

[0029] 100-Sorting device; 1-Sorting robot; 11-Mobile chassis; 12-Robotic arm; 13-Suction cup assembly; 21-First tray; 22-Second tray; 3-Transfer assembly; 31-First conveyor belt; 32-Second conveyor belt; 41-First monitor; 42-Second monitor; 43-Third monitor; 5-Supporting component; 6-Reset button; 7-First fence; 8-Second fence; 9-Third fence. Detailed Implementation

[0030] 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.

[0031] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the utility model described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] 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.

[0033] The technical solutions of this utility model and this application will be described in detail below with specific embodiments to illustrate how they solve the above-mentioned technical problems. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this utility model will now be described with reference to the accompanying drawings.

[0034] In one embodiment, a sorting device 100 includes: a sorting robot 1; a tray assembly including a first tray 21 located on one side of the sorting robot 1 in a first direction x and a second tray 22 on the other side; a conveying assembly 3 located on one side of the sorting robot 1 in a second direction y, wherein the sorting robot 1 is used to sort goods on the conveying assembly 3 onto the first tray 21 or the second tray 22; and a safety monitoring assembly 4 including a first monitor 41 for forming a first monitoring area A between the sorting robot 1 and the first tray 21, a second monitor 42 for forming a second monitoring area B between the sorting robot 1 and the second tray 22, and a third monitor 43 for forming a third monitoring area C on the other side of the sorting robot 1 in the second direction y. Figures 1 to 9 As shown.

[0035] Preferably, the sorting robot 1 is mainly used for sorting goods, that is, grabbing the goods from the stacking position and placing them in the target position. Therefore, the sorting robot 1 has a grasping structure, such as a gripper and a suction nozzle, and a moving grasping structure, such as a robotic arm, so as to achieve the purpose of sorting goods.

[0036] It should be noted that the aforementioned goods can be containers or similar items, as long as they can be grasped by the gripping structure; no specific limitation is made here. In this embodiment, the goods are containers.

[0037] More preferably, the tray assembly is located around the sorting robot 1, so that the sorting robot 1 can place goods on the tray assembly to achieve the purpose of picking up and putting away goods; the tray assembly can be a box structure for placing goods, or a tray structure such as a pallet, etc., which can be set by the user as needed, and no specific limitation is made here; the tray assembly is provided with at least two trays, so as to meet the needs of multiple placement positions and improve sorting efficiency.

[0038] It should be noted that the first direction x refers to the left-right direction or the front-back direction of the sorting robot 1, etc., which can be set as needed and is not specifically limited here. In this embodiment, the first direction x refers to the left-right direction of the sorting robot.

[0039] Preferably, the first tray 21 and the second tray 22 are located on opposite sides of the sorting robot 1 in the first direction x, so that the sorting robot 1 can quickly place the grabbed goods on the first tray 21 and the second tray 22; the distance between the first tray 21 or the second tray 22 and the sorting robot 1 can be set as needed, and a smaller distance can greatly improve the sorting efficiency of the sorting robot 1 and save time; the first tray 21 and the second tray 22 can be the same or different, and no specific limitation is made here.

[0040] Preferably, the conveying component 3 is located on one side of the sorting robot 1 in the second direction y, and is used to convey goods to the vicinity of the sorting robot 1 for the sorting robot 1 to grasp; the conveying component 3 preferably extends along the first direction x, and can also extend along the second direction y, which can be set by the user as needed. In this embodiment, the conveying component 3 extends along the second direction y; the distance between the conveying component 3 and the sorting robot 1 is sufficient for the sorting robot 1 to grasp the goods on the conveying component 3, and is not specifically limited here; furthermore, the sorting robot 1 is used to grasp the goods on the conveying component 3 and place the goods on the first tray 21 or the second tray 22 to achieve the purpose of sorting the goods.

[0041] More preferably, a safety monitoring component is disposed around the sorting robot 1 to monitor personnel or objects around the sorting robot 1 and prevent the sorting robot 1 from causing injury to personnel or damage to objects that accidentally enter the area.

[0042] It should be noted that the above-mentioned safety monitoring components can be lidar or other sensors that can monitor the surrounding environment. Users can set them according to their needs, and no specific limitations are made here.

[0043] Furthermore, the first monitor 41 is used to form a first monitoring area A. The first monitoring area A can be a planar area or a three-dimensional area, etc., and the user can set it according to needs. No specific limitation is made here. In this embodiment, the first monitoring area A is a planar area. The first monitoring area A is set vertically so as to effectively monitor whether there are objects passing through its sides. The first monitoring area A is located between the first tray 21 and the sorting robot 1, so as to prevent the first tray 21 from getting close to the sorting robot 1 and causing unnecessary damage. The first monitoring area A extends along the second direction y, so as to effectively completely separate the first tray 21 from the sorting robot 1.

[0044] It should be noted that the first monitoring area A can extend to the conveying component 3, thereby enabling comprehensive monitoring of the area on that side and effectively preventing personnel from approaching the sorting robot 1 and causing damage. In order to prevent the sorting robot 1 from stopping due to goods on the conveying component 3 passing through the first monitoring area A, a channel can be set on the first monitoring area A for the goods on the conveying component 3 to pass through, so that the goods passing through the channel will not affect the operation of the sorting robot 1, ensuring the efficient operation of the sorting robot 1.

[0045] Furthermore, the second monitor 42 is used to form a second monitoring area B. The second monitoring area B can be a planar area or a three-dimensional area, etc., and the user can set it according to needs. No specific limitation is made here. In this embodiment, the second monitoring area B is a planar area. The second monitoring area B is set vertically so as to effectively monitor whether there are objects or people passing through on both sides. The second monitoring area B is located between the second tray 22 and the sorting robot 1, thereby preventing the second tray 22 from getting close to the sorting robot 1 and causing unnecessary damage. The second monitoring area B extends along the second direction y, thereby effectively separating the second tray 22 from the sorting robot 1.

[0046] It should be noted that the first monitoring area A and the second monitoring area B can be parallel or non-parallel, etc. The user can set them according to their needs, and no specific limitation is made here. In this embodiment, the first monitoring area A and the second monitoring area B are set parallel to each other.

[0047] It should also be noted that the second monitoring area B can extend to the conveyor component 3, thereby enabling comprehensive monitoring of the area on that side and effectively preventing personnel from approaching the sorting robot 1 and causing damage. In order to prevent the sorting robot 1 from stopping due to goods on the conveyor component 3 passing through the second monitoring area B, a channel can be set in the second monitoring area B for goods on the conveyor component 3 to pass through, so that the goods passing through the channel will not affect the operation of the sorting robot 1, ensuring the efficient operation of the sorting robot 1.

[0048] It should also be noted that the channels on the first monitoring area A and the second monitoring area B only need to be set in the software systems of the first monitor 41 and the second monitor 42. They are not actually visible to the naked eye. They only need to be such that no reaction is triggered when an object passes through the channel. The above operation is existing technology and will not be described in detail here.

[0049] Furthermore, the third monitor 43 is used to form a third monitoring area C. This third monitoring area C can be a planar area or a three-dimensional area, etc., and the user can set it according to needs. No specific limitation is made here. In this embodiment, the third monitoring area C is a planar area. The third monitoring area C is set vertically so as to effectively monitor whether there are people or objects passing through its outer side. The third monitoring area C is located on the side of the sorting robot 1 away from the conveying component 3, that is, the sorting robot 1 is located between the conveying component 3 and the third monitoring area C, thereby preventing external personnel from approaching the sorting robot 1 and causing unnecessary harm. The third monitoring area C extends along the first direction x, thereby effectively preventing external personnel from approaching the sorting robot 1.

[0050] It should be noted that the third monitoring area C is set perpendicular to the first monitoring area A or the second monitoring area B, or it may not be set perpendicular to it. Users can set it according to their needs, and there is no specific limitation here. In this embodiment, the third monitoring area C is set perpendicular to the first monitoring area A and the second monitoring area B.

[0051] It should also be noted that the first monitoring area A extends to the third monitoring area C, and the second monitoring area B also extends to the third monitoring area C, thereby ensuring the integrity of monitoring and preventing false triggering.

[0052] Finally, it is precisely the above-mentioned structure that enables separate monitoring of the first tray 21 and the second tray 22, so that even if a person or object is detected to have entered the area of ​​the first tray 21, it can still be ensured that no person or object has entered the area of ​​the second tray 22. This ensures that the sorting robot 1 can perform normal and safe operations in the area of ​​the second tray 22, prevents safety accidents, and ensures sorting efficiency, preventing the sorting operation from stopping due to the entry of personnel or objects.

[0053] In one embodiment, the first monitor 41 is a two-dimensional lidar; and / or, the second monitor 42 is a two-dimensional lidar; and / or, the third monitor 43 is a two-dimensional lidar, such as... Figure 5 As shown.

[0054] Preferably, the first monitor 41 is a two-dimensional lidar. A two-dimensional lidar is a sensor based on laser ranging technology. It measures the distance information of the surrounding environment by emitting a laser beam and receiving the reflected signal, and generates point cloud data in a two-dimensional plane. It is existing technology, so it will not be described in detail here.

[0055] It should be noted that in other embodiments, the first monitor 41 can also be a three-dimensional lidar or other sensor that can detect whether there are people or objects passing through the first monitoring area A. Users can set it as needed, and no specific limitation is made here.

[0056] More preferably, the position of the first monitor 41 can be set as needed, and is not specifically limited here. In this embodiment, the first monitor 41 is located on the side of the sorting robot 1 away from the conveying component 3 in the second direction y, so as not to affect the sorting operation of the sorting robot 1 and ensure its efficient and safe operation.

[0057] Preferably, the second monitor 42 is also a two-dimensional lidar. The second monitor 42 can form a second monitoring area B between the second tray 22 and the sorting robot 1. The position of the second monitor 42 can be set as needed and is not specifically limited here. In this embodiment, the second monitor 42 is located on the side of the sorting robot 1 away from the conveying component 3 in the second direction y, so as not to affect the sorting operation of the sorting robot 1 and ensure its efficient and safe operation.

[0058] It should be noted that in other embodiments, the second monitor 42 can also be a three-dimensional lidar or other sensor that can detect whether there are people or objects passing through the second monitoring area B. Users can set it according to their needs, and no specific limitation is made here.

[0059] Preferably, the third monitor 43 is also a two-dimensional lidar. The third monitor 43 can form a third monitoring area C on the side of the sorting robot 1 away from the conveying component 3. The position of the third monitor 43 can be set as needed and is not specifically limited here. In this embodiment, the third monitor 43 is located on the side away from the conveying component 3 in the second direction y, and is located between the first monitor 41 and the second monitor 42 in the first direction x, so as not to affect the sorting operation of the sorting robot 1 and ensure its efficient and safe operation.

[0060] It should be noted that in other embodiments, the third monitor 43 can also be a three-dimensional lidar or other sensor that can detect whether there are people or objects passing through the third monitoring area C. Users can set it as needed, and no specific limitation is made here.

[0061] In one embodiment, the conveying component 3 is a conveyor belt or a telescopic roller conveyor, such as... Figures 1 to 4 As shown.

[0062] Preferably, the conveying component 3 is a conveyor belt, which can transport goods from the stacking area to the position that the sorting robot 1 can grasp, so that the sorting robot 1 can grasp and sort them. There can be one conveyor belt or multiple conveyor belts arranged in sequence, etc. The user can set it according to his or her needs, and no specific limitation is made here.

[0063] It should be noted that in this embodiment, the conveying component 3 includes a first conveyor belt 31 and a second conveyor belt 32, such as... Figure 4 As shown, the first conveyor belt 31 and the second conveyor belt 32 are arranged sequentially along the first direction x. The first conveyor belt 31 transports goods towards the second conveyor belt 32. Goods that need to be placed on the second tray 22 can be transported onto the second conveyor belt 32. At this time, the second conveyor belt 32 can stop or continue running. The sorting robot 1 can pick up the goods on the second conveyor belt 32 and place them on the second tray 22. Goods that need to be placed on the first tray 22 can be transported to the end of the first conveyor belt 31 near the second conveyor belt 32. Then, the sorting robot 1 picks up the goods on the first conveyor belt 31 and places them on the first tray 21, completing the sorting operation. The transport directions of the first conveyor belt 31 and the second conveyor belt 32 can be the same or different, and can be set as needed. No specific limitation is made here.

[0064] More preferably, the conveying component 3 is a telescopic roller conveyor, which can transport goods from the stacking area to the position that the sorting robot 1 can grasp, so that the sorting robot 1 can grasp and sort them. There can be one telescopic roller conveyor or multiple roller conveyors arranged in sequence, etc., which can be set by the user as needed, and no specific limitation is made here.

[0065] Similarly, in this embodiment, there can also be two telescopic roller conveyors arranged sequentially along the first direction x. Their structure and sorting process are the same as those of the conveyor belt described above, so they will not be described again here.

[0066] In one embodiment, the sorting device 100 further includes a first fence 7, which is located on the side of the first tray 21 away from the sorting robot 1 in the first direction x. Figures 1 to 4 As shown.

[0067] Preferably, the first fence 7 is used to prevent people or objects outside from approaching the sorting robot 1, so as to ensure the normal operation of the sorting robot 1 and protect the safety of the surrounding people.

[0068] More preferably, the first fence 7 can be in the form of a railing or a mesh, etc., and the user can set it according to his or her needs, without making any specific limitation here; furthermore, the first fence 7 can be made of metal materials, such as iron, or non-metallic materials, such as wood, without making any specific limitation here; even further, the first fence 7 can be rectangular, circular or other geometric shapes, etc., without making any specific limitation here.

[0069] Preferably, the first fence 7 is located on one side of the sorting robot 1 in the first direction x, thereby obstructing objects and people on that side and preventing safety accidents. The first tray 21 is located between the first fence 7 and the sorting robot 1, so that the sorting robot 1 can smoothly sort the goods onto the first tray 21.

[0070] Preferably, the first fence 7 extends along the second direction y, with one end of the first fence 7 extending close to the conveying component 3 and the other end extending to a predetermined position, so that the first fence 7 can cover the first tray 21 and the sorting robot 1 from its side, providing comprehensive protection and preventing personnel or objects from entering the area.

[0071] In one embodiment, the sorting device 100 further includes a second fence 8, which is located on the side of the second tray 22 away from the sorting robot 1 in the first direction x. The third monitoring area C is located between the first fence 7 and the second fence 8. Figures 1 to 4 As shown.

[0072] Preferably, the second fence 8 is used to prevent people or objects outside from approaching the sorting robot 1, so as to ensure the normal operation of the sorting robot 1 and protect the safety of the surrounding people.

[0073] More preferably, the second fence 8 can be in the form of railings or mesh, etc., and the user can set it according to needs, without specific limitations here; furthermore, the second fence 8 can be made of metal materials, such as iron, etc., or it can be made of non-metallic materials, such as wood, etc., without specific limitations here; even further, the second fence 8 can be rectangular, circular or other geometric shapes, etc., without specific limitations here.

[0074] Preferably, the second fence 8 is located on the other side of the sorting robot 1 in the first direction x, thereby blocking objects and people on that side to prevent safety accidents, and the second tray 22 is located between the second fence 8 and the sorting robot 1, so that the sorting robot 1 can smoothly sort the goods onto the second tray 22.

[0075] Preferably, the second fence 8 extends along the second direction y, with one end of the second fence 8 extending to the side of the conveying component 3 away from the sorting robot 1. That is, the second fence 8 covers the conveying component 3, the second tray 22 and the sorting robot 1 from this side, thereby providing comprehensive protection for them and preventing personnel or objects from entering the area.

[0076] More preferably, the third monitoring area C extends along the first direction x and is located between the first fence 7 and the second fence 8, thereby playing a safety monitoring role over the opening formed between the first fence 7 and the second fence 8. When a person or object enters through the opening, corresponding measures will be activated to ensure the safety of the person or object. The sorting robot 1 is located between the conveying component 3 and the third monitoring area C, so as to restrict the sorting robot 1 between the first fence 7, the second fence 8, the conveying component 3 and the third monitoring area C, and ensure its safe operation.

[0077] In one embodiment, the sorting device 100 further includes a third fence 9, which is located on the side of the conveying assembly 3 away from the sorting robot 1 in the second direction y, such as... Figures 1 to 4 As shown.

[0078] Preferably, the third fence 9 is used to prevent people or objects outside from approaching the conveying component 3 and the sorting robot 1, so as to ensure the normal sorting function of the sorting robot 1 and protect the safety of the surrounding personnel.

[0079] More preferably, the third fence 9 can be in the form of a railing or a mesh, etc., and the user can set it according to his or her needs, without making any specific limitation here; furthermore, the third fence 9 can be made of metal materials, such as iron, or non-metal materials, such as wood, without making any specific limitation here; even further, the third fence 9 can be rectangular, circular or other geometric shapes, etc., without making any specific limitation here.

[0080] More preferably, the third fence 9 is located on the side of the conveying component 3 facing away from the sorting robot 1 in the second direction y, thereby providing comprehensive protection for the conveying component 3 and the sorting robot 1 from that side and preventing external personnel or objects from approaching the conveying component 3 and the sorting robot 1.

[0081] Preferably, the third fence 9 extends along the first direction x, and one end of the third fence 9 extends to be fixedly connected to the second fence 8, so as to achieve relative fixation between the third fence 9 and the second fence 8, and to provide comprehensive protection for the conveying component 3 and the sorting robot 1 inside.

[0082] In one embodiment, the sorting device 100 further includes a support member 5, to which the first monitor 41, the second monitor 42, and the third monitor 43 are fixed, such as... Figure 5 As shown.

[0083] Preferably, the support member 5 is used to support the first monitor 41, the second monitor 42 and the third monitor 43, so that they can monitor the surrounding environment smoothly.

[0084] More preferably, the support member 5 is located on the side of the sorting robot 1 facing away from the conveying component 3 in the second direction y. The support member 5 can be in the shape of a railing or a mesh, etc. The user can set it according to needs, and no specific limitation is made here. In this embodiment, the support member 5 is a mesh.

[0085] More preferably, the support member 5 can be made of metal, such as iron, or non-metallic material, such as wood, without specific limitations.

[0086] Preferably, the support member 5 is vertically arranged and extends along the first direction x, thereby protecting the sorting robot 1 on the one hand, and allowing the first monitor 41, the second monitor 42 and the third monitor 43 to be placed in the required position to achieve stable support for it on the other hand.

[0087] More preferably, the first monitor 41 and the second monitor 42 are respectively disposed at the top of the support member 5 and at both ends of the support member 5 in the first direction x, thereby supporting the first monitor 41 and the second monitor 42 and successfully generating the first monitoring area A and the second monitoring area B.

[0088] Furthermore, the third monitor 43 is disposed on the surface of the support member 5 away from the sorting robot 1. The third monitor 43 is disposed at the top of the support member 5 and is located between the first monitor 41 and the second monitor 42 in the first direction x. Thus, the support member 5 provides stable support for the third monitor 43 and successfully forms the third monitoring area C, ensuring its normal operation.

[0089] In one embodiment, the support member 5 is a fence, such as... Figures 5 to 9 As shown.

[0090] Preferably, the support 5 is a fence, which can provide partial protection for the sorting robot 1.

[0091] More preferably, the fence can be in the form of railings or mesh, etc., and can be set as needed, without specific limitations here.

[0092] More preferably, the fence can be made of metal materials, such as iron, or it can be made of non-metallic materials, such as wood. Users can set it according to their needs, and no specific limitation is made here.

[0093] In one embodiment, the support member 5 is fixedly connected to the sorting robot 1, such as... Figures 5 to 9 As shown.

[0094] Preferably, the support member 5 is fixedly connected to the sorting robot 1, specifically: the lower end of the support member 5 is fixedly connected to the sorting robot 1.

[0095] More preferably, the support member 5 and the sorting robot 1 can be welded and fixed, or they can be fixedly connected by bolts or the like. The fixing and connection method can be set as needed and is not specifically limited here.

[0096] In one embodiment, the sorting device 100 further includes a reset button 6 for resetting the first monitor 41, the second monitor 42, and the third monitor 43. The reset button 6 is fixed to the support member 5. Figures 5 to 9 As shown.

[0097] Preferably, the reset button 6 is electrically connected to the first monitor 41, the second monitor 42 and the third monitor 43 respectively. The reset button 6 is used to restart or restore the normal operation of the first monitor 41, the second monitor 42 and the third monitor 43, which is the prior art and will not be described in detail here.

[0098] More preferably, the reset button 6 is located on the side of the support 5 away from the sorting robot 1. The reset button 6 is fixedly connected to the support 5, and the height of the reset button 6 can be convenient for staff or forklift operators to operate. Users can set it as needed, and no specific limitation is made here.

[0099] In one embodiment, the sorting robot 100 includes a mobile chassis 11, a robotic arm 12 mounted on the mobile chassis 11, and a suction cup assembly 13 disposed at the end of the robotic arm 12. The mobile chassis 11 is used to drive the robotic arm 12 to move, and the suction cup assembly 13 includes multiple suction nozzles, such as... Figures 5 to 9 As shown.

[0100] Preferably, the sorting robot 100 is used for automatic loading, unloading, and sorting of goods, thereby significantly reducing the intensity of manual labor and saving labor costs.

[0101] More preferably, the mobile chassis 11 can move on the ground and can automatically move to the required position, which is prior art and will not be described in detail here.

[0102] More preferably, the robotic arm 12 can be a six-axis robotic arm, a seven-axis robotic arm, or other types of robotic arms, which are also existing technologies and will not be described in detail here.

[0103] Preferably, the robotic arm 12 is mounted on the mobile chassis 11, so that the mobile chassis 11 can drive the robotic arm 12 to move to one side of the goods, so as to achieve the purpose of loading, unloading or sorting the goods.

[0104] More preferably, the end of the robotic arm 12 is provided with a suction cup assembly 13, which is used to pick up goods in order to realize loading, unloading or sorting of goods.

[0105] Furthermore, the suction cup assembly 13 includes multiple suction nozzles, which are existing technologies, and their specific technical details will not be elaborated here. The multiple suction nozzles can be arranged in a straight line or in a matrix, etc., as needed, and will not be elaborated here.

[0106] In one embodiment, the present invention provides a safety control method for a sorting device, including a sorting device 100 as described above. The third monitoring area C includes a first part area C1 opposite to the first monitor 41 and a second part area C2 opposite to the second monitor 42. The working area of ​​the sorting robot 100 includes a first area W1 and a second area W2. The first area W1 includes the area where the first tray 21 is located, and the second area W2 includes the area where the second tray 22 is located. The method includes the following steps: Step 1: The sorting robot 100 sorts the goods on the conveying component 3 onto the first tray 21 or the second tray 22; Step 2: When the third monitor 43 detects that an object passes through the first part area C1, the sorting robot 100 is restricted to operating only in the area outside the first area W1, or, when the third monitor 43 detects that an object passes through the second part area C2, the sorting robot 100 is restricted to operating only in the area outside the second area W2. Figure 4 As shown.

[0107] Preferably, the third monitoring area C is a plane, such as... Figure 4 As shown, it is located on the side of the sorting robot 100 away from the conveying component 3, so as to perform safety monitoring from the side of the sorting robot 100 away from the conveying component 3, and prevent objects or people from approaching the sorting robot 100, which could lead to safety accidents such as damage.

[0108] More preferably, the third monitoring area C includes the first part area C1 and the second part area C2, such as Figure 4 As shown, the first part area C1 and the first monitor 41 are located on the same side of the sorting robot 100, and the second part area C2 and the second monitor 42 are located on the same side of the sorting robot 100. This allows the first part area C1 to be opposite to the first monitor 41 and cooperate with the first monitoring area A to achieve comprehensive safety monitoring of the sorting robot 100 from one side. Similarly, the second part area C2 is opposite to the second monitor 42 and cooperates with the second monitoring area B to achieve comprehensive safety monitoring of the sorting robot 100 from the other side, thus achieving dual protection.

[0109] More preferably, the working area W of the sorting robot 100 is the area accessible to the sorting robot 100, that is, the entire working area of ​​the sorting robot 100, such as... Figure 4 As shown; the first area W1 is the working area where the sorting robot 100 sorts goods onto the first tray 21. The first area W1 includes the area where the first tray 21 is located. In the first direction x, the first area W1 is located on one side of the sorting robot 100 and is part of the working area W of the sorting robot 100. The first monitoring area A passes through the first area W1. Similarly, the second area W2 is the working area where the sorting robot 100 sorts goods onto the second tray 22. The second area W2 includes the area where the second tray 22 is located. In the first direction x, the second area W2 is located on the other side of the sorting robot 100 and is part of the working area of ​​the sorting robot 100. The second monitoring area B passes through the second area W2.

[0110] It should be noted that the working area W, the first area W1, and the second area W2 are areas manually set in the sorting robot 100 system. The operator only needs to set the three-dimensional coordinate range of these three areas; this is existing technology and will not be elaborated upon here. It is precisely the setting of the first area W1 and the second area W2 that allows the sorting robot 100 to perform sorting operations in either the first area W1 or the second area W2, improving sorting efficiency. Furthermore, when the first area C1 or the second area C2 detects an object or person passing through, the sorting robot 100 can be correspondingly restricted from moving within that area. The sorting robot 100 operates outside of either Zone W1 or Zone W2 to prevent injury during tray handling and ensure its normal operation and sorting efficiency. Furthermore, since Zone A passes through Zone W1 and Zone B passes through Zone W2, it provides safe monitoring for workers handling trays. Workers can trigger either Zone A or Zone B when approaching the robot to stop it, ensuring worker safety.

[0111] It should also be noted that the aforementioned cessation of sorting robot 100 operations includes various situations, such as the sorting robot 100 stopping or remaining stationary, thereby preventing the sorting robot 100 from continuing to operate and causing harm to the workers, and ensuring the safety of the operation.

[0112] Preferably, step one is as follows: when the conveying component 3 conveys the goods to a position close to the sorting robot 100, the sorting robot 100 grabs the goods on the conveying component 3 and places them on the first tray 21 or the second tray 22 until the first tray 21 or the second tray 22 is full.

[0113] It should be noted that the sorting robot 100 can place goods on the second tray 22 after the first tray 21 is full, or it can place goods on the first tray 21 after the second tray 22 is full, or it can place some goods on the first tray 21 before placing the goods on the second tray 22, and then place the goods on the first tray 21, etc. The user can set it according to the needs, and no specific limitation is made here.

[0114] More preferably, when the third monitor 43 detects that an object or person is passing through the first part area C1, the sorting robot 100 is restricted to operating only in areas outside the first area W1. Specifically, when an object or person is detected passing through the first part area C1, the person or object enters the first area W1, i.e., the first tray 21 area. At this time, the operator can take away the first tray 21 and the goods on it. In order to ensure the normal operation of the sorting robot 100 and prevent damage to the personnel or objects entering, the sorting robot 100 controls the robotic arm 12 and the suction cup assembly 13 to only perform sorting operations in areas outside the first area W1, that is, to sort the goods on the conveying assembly 3 onto the second tray 22, so as to ensure the smooth progress of the sorting operation.

[0115] Furthermore, when the third monitor 43 detects an object passing through the second part area C2, the sorting robot 100 is restricted to operating only in areas outside the second part area W2. Specifically, when an object is detected passing through the second part area C2, this object may include a worker. At this time, the worker enters the second part area W2, i.e., the second tray 22 area. The operator can then remove the second tray 22 and the goods on it. In order to ensure the normal operation of the sorting robot 100 and prevent injury to the worker entering the area, the sorting robot 100 controls the robotic arm 12 and the suction cup assembly 13 to only perform sorting operations in areas outside the second part area W2, i.e., sorting the goods on the conveyor assembly 3 onto the first tray 21, ensuring the smooth progress of the sorting operation.

[0116] In one embodiment, step two further includes: when the third monitor 43 detects that an object has passed through the first partial area C1 and the first monitor 41 detects that an object has passed through the first monitoring area A, the sorting robot 100 stops working, such as... Figure 4 As shown.

[0117] Preferably, when the third monitor 43 detects that an object passes through the first part area C1, it can be determined that an object has entered the first area W1, that is, the area where the first material tray 21 is located. If the first monitor 41 detects that an object passes through the first monitoring area A, it indicates that the object in the first area W1 is close to the sorting robot 100. In order to prevent damage to the object, the sorting robot 100 needs to stop working.

[0118] It should be noted that the above-mentioned stopping operation means stopping the machine or keeping it stationary. In this embodiment, the sorting robot 100 stops at this time to fully ensure the safety of the objects.

[0119] It should also be noted that after the third monitor 43 and the first monitor 41 detect the signal, they will transmit it to the sorting robot 100, such as the processor of the sorting robot 100. At this time, after receiving the signal, the sorting robot 100 will control the robotic arm 12 and the suction cup assembly 13 to work in the corresponding area, such as the area outside the first area W1. This is existing technology and will not be described in detail here.

[0120] In one embodiment, when the third monitor 43 detects that an object has passed through the second partial area C2 and the second monitor 42 detects that an object has passed through the second monitoring area B, the sorting robot 100 stops working. Figure 4 As shown.

[0121] Preferably, when the third monitor 43 detects that an object passes through the second part area C2, it can be determined that an object has entered the second area W2. When the object in the second area W2 approaches the sorting robot 100, the sorting robot 100 needs to stop its operation in order to prevent damage to the object.

[0122] It should be noted that the above-mentioned stopping operation means stopping the machine or keeping it stationary. In this embodiment, the sorting robot 100 stops at this time to fully ensure the safety of the objects.

[0123] It should also be noted that after the third monitor 43 and the second monitor 42 detect the signal, they transmit it to the sorting robot 100, such as the processor of the sorting robot 100. At this time, after receiving the signal, the sorting robot 100 controls the robotic arm 12 and the suction cup assembly 13 to work in the corresponding area, such as the area outside the second area W2. This is existing technology and will not be described in detail here.

[0124] In one embodiment, step two further includes: when the third monitor 43 detects that objects have passed through both the first partial area C1 and the second partial area C2, the sorting robot 100 stops working, such as... Figure 4 As shown.

[0125] Preferably, when the third monitor 43 detects that objects have passed through both the first part area C1 and the second part area C2, and objects simultaneously enter the first area W1 and the second area W2, in order to ensure the safety of the objects, the sorting robot 100 controls the robotic arm 12 and the suction cup assembly 13 to stop working, thereby preventing damage to the objects.

[0126] It should be noted that the above-mentioned stopping operation includes stopping or keeping stationary. When the robotic arm 12 and the suction cup assembly 13 are between the first area W1 and the second area W2, in order to simplify the procedure, the sorting robot 100 controls the robotic arm 12 and the suction cup assembly 13 to keep stationary, and can automatically continue to run after the object leaves. When at least part of the robotic arm 12 and the suction cup assembly 13 are in the first area W1 or the second area W2, in order to ensure the safety of the object, the sorting robot 100 stops, and needs to be restarted after the object leaves.

[0127] In one embodiment, step one further includes: when the moving speed of the sorting robot 100 exceeds a predetermined value, the sorting robot 100 is restricted to operating only between the first area W1 and the second area W2, such as... Figure 4 As shown.

[0128] Preferably, when the sorting robot 100 moves and its speed exceeds a predetermined value, in order to ensure its safety, the sorting robot 100 controls the robotic arm 12 and the suction cup assembly 13 to operate between the first area W1 and the second area W2, thereby preventing damage to the objects on both sides and improving safety.

[0129] It should be noted that the above-mentioned predetermined value is 100 mm / s. In other embodiments, it can also be set to other values. Users can set it according to their needs, and no specific limitation is made here.

[0130] More preferably, when at least a portion of the robotic arm 12 and suction cup assembly 13 of the sorting robot 100 extends into the first region W1 or the second region W2, the sorting robot 100 stops to ensure its safety and prevent damage to surrounding objects.

[0131] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0132] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A sorting device, characterized in that, include: Sorting robots; The tray assembly includes a first tray located on one side of the sorting robot in a first direction and a second tray on the other side. A conveying assembly is located on one side of the sorting robot in a second direction, the sorting robot being used to sort goods on the conveying assembly onto the first tray or the second tray; The safety monitoring component includes a first monitor for forming a first monitoring area between the sorting robot and the first tray, a second monitor for forming a second monitoring area between the sorting robot and the second tray, and a third monitor for forming a third monitoring area on the other side of the sorting robot in the second direction.

2. The sorting device according to claim 1, characterized in that, The first monitor is a two-dimensional lidar; and / or, The second monitor is a two-dimensional lidar; and / or, The third monitor is a two-dimensional lidar.

3. The sorting device according to claim 1, characterized in that, The conveying component is a conveyor belt or a telescopic roller conveyor.

4. The sorting device according to claim 1, characterized in that, The sorting device further includes a first fence, which is located on the side of the first tray away from the sorting robot in the first direction.

5. The sorting device according to claim 4, characterized in that, The sorting device further includes a second fence, which is located on the side of the second tray away from the sorting robot in the first direction, and the third monitoring area is located between the first fence and the second fence.

6. The sorting device according to claim 5, characterized in that, The sorting device also includes a third fence located in the second direction on the side of the conveying assembly away from the sorting robot.

7. The sorting device according to claim 6, characterized in that, The sorting device also includes a support member, on which the first monitor, the second monitor, and the third monitor are fixed.

8. The sorting device according to claim 7, characterized in that, The supporting component is a fence.

9. The sorting device according to claim 8, characterized in that, The support component is fixedly connected to the sorting robot.

10. The sorting device according to claim 9, characterized in that, The sorting device also includes a reset button for resetting the first monitor, the second monitor and the third monitor, and the reset button is fixed to the support member.

11. The sorting device according to claim 1, characterized in that, The sorting robot includes a mobile chassis, a robotic arm mounted on the mobile chassis, and a suction cup assembly at the end of the robotic arm. The mobile chassis is used to drive the robotic arm to move, and the suction cup assembly includes multiple suction nozzles.

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