阅读说明：本技术 物件分拣系统、方法及存储介质 (Article sorting system, method and storage medium ) 是由 吴登禄 唐靖华 申静朝 郭燃 于 2019-10-12 设计创作，主要内容包括：本申请实施例公开了一种物件分拣系统、方法及存储介质,该物件分拣系统包括多层分拣框架、上件设备以及分拣设备,多层分拣框架至少包括下层框架、中层框架以及上层框架,下层框架、中层框架以及上层框架从下往上依次排布；上件设备设置于上层框架,上件设备对物件进行初次分拣,并将初次分拣后的物件移动至中层框架；分拣设备设置于中层框架,分拣设备对落入中层框架的物件进行二次分拣,并将二次分拣后的物件移动至下层框架；下层框架设置有取货设备停留位,取货设备停留位用于停留取货设备,以使取货设备获取落入下层框架的物件。本申请能够显著减小物件分拣系统的占地面积。(The embodiment of the application discloses an object sorting system, a method and a storage medium, wherein the object sorting system comprises a multilayer sorting frame, an upper piece device and a sorting device, the multilayer sorting frame at least comprises a lower layer frame, a middle layer frame and an upper layer frame, and the lower layer frame, the middle layer frame and the upper layer frame are sequentially arranged from bottom to top; the workpiece loading equipment is arranged on the upper layer frame, and is used for primarily sorting the objects and moving the primarily sorted objects to the middle layer frame; the sorting equipment is arranged on the middle layer frame, and is used for secondarily sorting the objects falling into the middle layer frame and moving the secondarily sorted objects to the lower layer frame; the lower layer frame is provided with a goods taking equipment stop position which is used for stopping the goods taking equipment so that the goods taking equipment can obtain the objects falling into the lower layer frame. The system and the method can obviously reduce the occupied area of the article sorting system.)

1. The object sorting system is characterized by comprising a multilayer sorting frame, upper piece equipment, control equipment and sorting equipment, wherein the multilayer sorting frame at least comprises a lower layer frame, a middle layer frame and an upper layer frame, and the lower layer frame, the middle layer frame and the upper layer frame are sequentially arranged from bottom to top;

the control equipment is used for controlling the loading equipment to carry out primary sorting on the objects and moving the objects after primary sorting to the middle-layer frame;

the sorting equipment is arranged on the middle-layer frame, and the control equipment is used for controlling the sorting equipment to carry out secondary sorting on the objects falling into the middle-layer frame and move the objects subjected to secondary sorting to the lower-layer frame;

the lower layer frame is provided with a goods taking device stop position which is used for stopping the goods taking device so that the goods taking device can obtain the objects falling into the lower layer frame.

2. The article sorting system according to claim 1, wherein the feeding apparatus includes a first wobbler device, a feeding gate, and at least two first chutes,

a first conveying belt is arranged between the feeding port and the first balance wheel device and used for moving the objects on the feeding port to the first balance wheel device;

the inlet of the first sliding chute is close to the first balance wheel device, the outlet of the first sliding chute faces the lower layer frame, and the control device is used for acquiring object information of an object and controlling the first balance wheel device to move the object into the corresponding first sliding chute.

3. The article sorting system according to claim 2, wherein the feeding apparatus further comprises a second wobbler device and at least two second chutes,

a second conveyor belt is arranged between the first balance wheel device and the second balance wheel device, the control equipment is used for acquiring article information of the articles and controlling the first balance wheel device to move the articles to the corresponding first chute or the second conveyor belt, and the second conveyor belt is used for moving the articles carried by the second conveyor belt to the second balance wheel device;

the inlet of the second chute is close to the second balance wheel device, the outlet of the second chute faces the lower layer frame, and the control device is used for acquiring the article information of the article and controlling the second balance wheel device to move the article into the corresponding second chute.

4. The article sorting system according to claim 2, wherein a buffer conveyor is disposed between the first wobbler device and the outlet of the first chute, the buffer conveyor is configured to carry the articles moving toward the first chute by the first wobbler device, and the control device is configured to obtain sorting information of the sorting device and control the buffer conveyor to move the articles carried by the buffer conveyor to the first chute based on the sorting information of the sorting device.

5. The system for sorting objects according to any one of claims 2 to 4, wherein the first conveyor is a climbing conveyor, the upper mouth is located at the lower frame, a lower end of the first conveyor is close to the upper mouth, and a higher end of the first conveyor is close to the first wobbler device.

6. The system for sorting objects according to any one of claims 2 to 4, wherein the sorting device comprises a sorting robot and at least two sorting compartments, the at least two sorting compartments are arranged around the sorting robot, the sorting compartments are located right above the stop positions of the picking device, the sorting robot comprises a mechanical arm and a mechanical arm sorting end effector, a base of the mechanical arm is fixed on the middle layer frame, an end of the mechanical arm is connected with the mechanical arm sorting end effector, and the control device is configured to control the mechanical arm to drive the mechanical arm sorting end effector to move below an outlet of the chute and move the objects into the corresponding sorting compartments after the objects are acquired from the chute.

7. The system for sorting objects according to claim 6, wherein the robotic arm sorting end effector comprises a support plate, wherein a first baffle, a second baffle and a third baffle are respectively disposed on two sides and a back surface of the support plate, the first baffle, the second baffle and the third baffle are disposed around the support plate from three sides to form an accommodating space at least provided with a side opening, a push rod is movably disposed on the support plate, and the push rod can move from inside to outside or from outside to inside in the accommodating space relative to the side opening to complete sorting and pushing out of the goods.

8. The article sorting system according to claim 7, wherein the pallet has at least one chute formed thereon such that the pallet is fork-shaped, and the pusher is upwardly disposed relative to the pallet and nestingly and slidably disposed within the chute.

9. The system for sorting objects according to claim 6, wherein the sorting compartments include a bottom plate, a box, and a lifting device, the bottom surface of the box is provided with a bottom opening, the bottom plate blocks the bottom opening, the lifting device is disposed on a side wall of the box, the bottom plate is fixed on the lifting device, and the lifting device drives the bottom plate to ascend or descend.

10. The system for sorting objects according to claim 9, wherein the side wall of the box body is provided with a sliding slot, the lifting device is located on the outer side wall surface of the box body, one end of the lifting device penetrates through the sliding slot, extends to the inner side wall surface of the box body, and is connected with the bottom plate, and the lifting device drives the bottom plate to ascend or descend along the sliding slot.

11. The system for sorting objects according to claim 1, wherein the number of the upper equipment is at least two, and at least two upper equipment are fixed on the upper frame and are arranged in sequence in a vertical direction.

12. An article sorting method applied to an article sorting system according to any one of claims 1 to 11, the article sorting method being performed by the control apparatus, the article sorting method comprising:

controlling the piece loading equipment to carry out primary sorting on the articles, and moving the articles subjected to primary sorting to the middle layer frame;

controlling the sorting equipment to perform secondary sorting on the articles falling into the middle-layer frame, and moving the articles subjected to secondary sorting to the lower-layer frame;

and controlling the goods taking equipment to move to the goods taking equipment stop position of the lower layer frame so as to receive the secondarily sorted articles.

13. The method of sorting articles as claimed in claim 12, wherein said controlling the loading apparatus to perform the primary sorting of the articles and to move the primarily sorted articles to the middle layer frame comprises:

controlling the first conveyor belt to move the article at the feeding port to the first balance wheel device;

acquiring object information of an object;

and controlling the first balance wheel device to move the object to the corresponding first sliding groove based on the object information so that the object falls into the middle layer frame.

14. The method of sorting articles as claimed in claim 13, wherein controlling the sorting apparatus to secondarily sort the articles falling into the middle frame and move the secondarily sorted articles to the lower frame comprises:

controlling the mechanical arm to move, and moving the mechanical arm sorting end effector to be right below the sliding chute to obtain the object falling from the sliding chute;

controlling a robot arm motion based on the article information to move the article in the robot arm sorting end effector to a target sorting bay;

and controlling a bottom plate on the target sorting grid to be opened so that the objects in the target sorting grid fall to the lower-layer frame.

15. The method of sorting articles of claim 14, wherein said controlling movement of a robotic arm to move an article in the robotic arm sorting end effector to a target sorting bay based on the article information comprises:

controlling the mechanical arm to move based on the object information, and moving the object in the mechanical arm sorting end effector to the position above a target sorting grid;

controlling the mechanical arm to move so that the mechanical arm sorts the object in the end effector into the target sorting grid.

16. A computer-readable storage medium, in which a computer program is stored which is adapted to be loaded by a processor for performing the method of sorting objects according to any one of claims 12 to 15.

Technical Field

The application relates to the technical field of article sorting, in particular to an article sorting system, method and storage medium.

Background

At present, the logistics industry develops rapidly, and an automatic sorting mode starts to gradually replace the traditional manual sorting mode. In the existing automatic sorting scheme, the arrangement of each device of the automatic sorting system is usually simple planar arrangement, and the occupied area is large.

That is, in the article sorting system in the prior art, the arrangement of each device is unreasonable, and the occupied area is large.

Disclosure of Invention

The embodiment of the application provides a sorting grid, a sorting cabinet, an object sorting method, an object sorting system and a storage medium, which can enable all devices of the object sorting system to be reasonably arranged and reduce the occupied area of the object sorting system.

In a first aspect, the present application provides an article sorting system, which includes a multilayer sorting frame, an upper apparatus, a control apparatus, and a sorting apparatus, wherein the multilayer sorting frame at least includes a lower frame, a middle frame, and an upper frame, and the lower frame, the middle frame, and the upper frame are sequentially arranged from bottom to top;

the control equipment is used for controlling the loading equipment to carry out primary sorting on the objects and moving the objects after primary sorting to the middle-layer frame;

the sorting equipment is arranged on the middle-layer frame, and the control equipment is used for controlling the sorting equipment to carry out secondary sorting on the objects falling into the middle-layer frame and move the objects subjected to secondary sorting to the lower-layer frame;

the lower layer frame is provided with a goods taking device stop position which is used for stopping the goods taking device so that the goods taking device can obtain the objects falling into the lower layer frame.

Wherein the piece feeding device comprises a first balance wheel device, a piece feeding port and at least two first sliding grooves,

a first conveying belt is arranged between the feeding port and the first balance wheel device and used for moving the objects on the feeding port to the first balance wheel device;

the inlet of the first sliding chute is close to the first balance wheel device, the outlet of the first sliding chute faces the lower layer frame, and the control device is used for acquiring object information of an object and controlling the first balance wheel device to move the object into the corresponding first sliding chute.

Wherein the piece feeding device further comprises a second balance wheel device and at least two second sliding grooves,

a second conveyor belt is arranged between the first balance wheel device and the second balance wheel device, the control equipment is used for acquiring article information of the articles and controlling the first balance wheel device to move the articles to the corresponding first chute or the second conveyor belt, and the second conveyor belt is used for moving the articles carried by the second conveyor belt to the second balance wheel device;

the inlet of the second chute is close to the second balance wheel device, the outlet of the second chute faces the lower layer frame, and the control device is used for acquiring the article information of the article and controlling the second balance wheel device to move the article into the corresponding second chute.

The control device is used for acquiring sorting information of the sorting equipment and controlling the cache conveyor belt to move the carried objects to the first chute based on the sorting information of the sorting equipment.

The first conveying belt is a climbing conveying belt, the upper piece opening is located at the lower layer frame, the lower end of the first conveying belt is close to the upper piece opening, and the higher end of the first conveying belt is close to the first balance wheel device.

The sorting equipment comprises a sorting robot and at least two sorting grids, the at least two sorting grids are arranged around the sorting robot, the sorting grids are located right above a stop position of the goods taking equipment, the sorting robot comprises a mechanical arm and a mechanical arm sorting end effector, a base of the mechanical arm is fixed on the middle-layer frame, the tail end of the mechanical arm is connected with the mechanical arm sorting end effector, and the control equipment is used for controlling the mechanical arm to drive the mechanical arm sorting end effector to move to the position below an outlet of the chute and move the objects to the corresponding sorting grids after the objects are obtained from the chute.

The mechanical arm sorting end effector comprises a supporting plate, wherein a first baffle, a second baffle and a third baffle are arranged on two sides and the back of the supporting plate respectively, the first baffle, the second baffle and the third baffle are arranged around the periphery of the supporting plate from three sides to form an accommodating space at least provided with a side opening, a push rod is movably arranged on the supporting plate and can move from inside to outside or from outside to inside relative to the side opening in the accommodating space to complete sorting and pushing of goods.

The supporting plate is provided with at least one slide way, so that the supporting plate is in a fork shape, and the push rod is arranged upwards relative to the supporting plate and is nested and slidably arranged in the slide way.

The sorting grid comprises a bottom plate, a box body and a lifting device, wherein a bottom opening is formed in the bottom surface of the box body, the bottom plate is plugged into the bottom opening, the lifting device is arranged on the side wall of the box body, the bottom plate is fixed on the lifting device, and the lifting device drives the bottom plate to ascend or descend.

The side wall of the box body is provided with a sliding groove, the lifting device is positioned on the surface of the outer side wall of the box body, one end of the lifting device penetrates through the sliding groove, extends to the surface of the inner side wall of the box body and is connected with the bottom plate, and the lifting device drives the bottom plate to ascend or descend along the sliding groove.

The number of the piece feeding devices is at least two, and the piece feeding devices are fixed on the upper-layer frame and are sequentially arranged along the vertical direction.

In a second aspect, the present application provides an article sorting method applied to an article sorting system, where the article sorting system is the article sorting system of the first aspect, and the control device is the main execution subject of the article sorting method, and the article sorting method includes:

controlling the piece loading equipment to carry out primary sorting on the articles, and moving the articles subjected to primary sorting to the middle layer frame;

controlling the sorting equipment to perform secondary sorting on the articles falling into the middle-layer frame, and moving the articles subjected to secondary sorting to the lower-layer frame;

and controlling the goods taking equipment to move to the goods taking equipment stop position of the lower layer frame so as to receive the secondarily sorted articles.

Wherein, control the equipment of going up carries out first letter sorting to the article to article after will first letter sorting move to middle level frame, include:

controlling the first conveyor belt to move the article at the feeding port to the first balance wheel device;

acquiring object information of an object;

and controlling the first balance wheel device to move the object to the corresponding first sliding groove based on the object information so that the object falls into the middle layer frame.

Wherein, control sorting equipment carries out the secondary sorting to falling into the article of middle level frame to remove the article after the secondary sorting to lower floor's frame, include:

controlling the mechanical arm to move, and moving the mechanical arm sorting end effector to be right below the sliding chute to obtain the object falling from the sliding chute;

controlling a robot arm motion based on the article information to move the article in the robot arm sorting end effector to a target sorting bay;

and controlling a bottom plate on the target sorting grid to be opened so that the objects in the target sorting grid fall to the lower-layer frame.

Wherein said controlling motion of a robotic arm based on said article information to move an article in said robotic arm sorting end effector to a target sorting bay comprises:

controlling the mechanical arm to move based on the object information, and moving the object in the mechanical arm sorting end effector to the position above a target sorting grid;

and controlling the mechanical arm to move, and turning over the mechanical arm sorting end effector so that the object in the mechanical arm sorting end effector falls into the target sorting grid.

In a third aspect, the present application further provides a computer readable storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor to perform the steps of the method for sorting articles according to any of the second aspects.

The beneficial effect of this application is: the application provides an object sorting system, which comprises a multilayer sorting frame, upper piece equipment and sorting equipment, wherein the multilayer sorting frame at least comprises a lower layer frame, a middle layer frame and an upper layer frame, and the lower layer frame, the middle layer frame and the upper layer frame are sequentially arranged from bottom to top; the workpiece loading equipment is arranged on the upper layer frame, and is used for primarily sorting the objects and moving the primarily sorted objects to the middle layer frame; the sorting equipment is arranged on the middle layer frame, and is used for secondarily sorting the objects falling into the middle layer frame and moving the secondarily sorted objects to the lower layer frame; the lower layer frame is provided with a goods taking equipment stop position which is used for stopping the goods taking equipment so that the goods taking equipment can obtain the objects falling into the lower layer frame. According to the method, the devices of the object sorting system are unreasonably arranged in the prior art, and under the condition of large occupied area, the frame type object sorting system with the vertically arranged devices is creatively provided, the multilayer sorting frame of the object sorting system is divided into multiple layers, the upper device, the sorting device and the goods taking device stop positions are respectively arranged from top to bottom, the occupied area of the object sorting system depends on the device with the largest occupied area in each device, but not the sum of the occupied areas of the devices, and the occupied area of the object sorting system can be remarkably reduced.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of an article sorting system according to an embodiment of the present application;

FIG. 2 is a schematic diagram of one embodiment of the article sorting system of FIG. 1;

FIG. 3 is a schematic top view of the article sorting system of FIG. 2;

FIG. 4 is a schematic view of a first chute of the article sorting system of FIG. 2;

FIG. 5 is a schematic view of the construction of the lower and middle frames of the article sorting system of FIG. 2;

FIG. 6 is a schematic diagram of the construction of one embodiment of the robot of FIG. 5;

FIG. 7 is a schematic diagram of another embodiment of the robotic arm sorting end effector of FIG. 6;

FIG. 8 is a schematic diagram of a further embodiment of the robotic arm sorting end effector of FIG. 6;

FIG. 9 is a side view of the robotic arm sorting end effector of FIG. 8;

FIG. 10 is a schematic view of the suction cup and first through hole of the robotic arm sorting end effector of FIG. 8;

FIG. 11 is a schematic diagram of one embodiment of the sorting grid of FIG. 5;

FIG. 12 is a schematic side view of the sorting cell of FIG. 11;

FIG. 13 is a schematic diagram of another embodiment of the article sorting system of FIG. 1;

FIG. 14 is a schematic diagram of a partial perspective view of the article sorting system of FIG. 13;

FIG. 15 is a schematic top view of the article sorting system of FIG. 13;

FIG. 16 is a schematic side view of the article sorting system of FIG. 13;

FIG. 17 is a flow chart illustrating an embodiment of a method for sorting articles provided in embodiments of the present application;

fig. 18 is a schematic structural diagram of an embodiment of the control device provided in the embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the application. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. In other instances, well-known structures and processes are not set forth in detail in order to avoid obscuring the description of the present application with unnecessary detail. Thus, the present application is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

The embodiment of the application provides an object sorting system, an object sorting method and a storage medium.

The method comprises the steps that firstly, the article sorting system comprises a multilayer sorting frame, upper piece equipment, control equipment and sorting equipment, wherein the multilayer sorting frame at least comprises a lower layer frame, a middle layer frame and an upper layer frame, and the lower layer frame, the middle layer frame and the upper layer frame are sequentially arranged from bottom to top; the control equipment is used for controlling the loading equipment to carry out primary sorting on the objects and moving the objects after primary sorting to the middle-layer frame; the sorting equipment is arranged on the middle-layer frame, and the control equipment is used for controlling the sorting equipment to carry out secondary sorting on the objects falling into the middle-layer frame and move the objects subjected to secondary sorting to the lower-layer frame; the lower layer frame is provided with a goods taking equipment stop position which is used for stopping the goods taking equipment so that the goods taking equipment can obtain the objects falling into the lower layer frame. The details will be described below.

Referring to fig. 1-3, fig. 1 is a schematic structural diagram of an embodiment of an article sorting system according to an embodiment of the present disclosure; FIG. 2 is a schematic diagram of one embodiment of the article sorting system of FIG. 1; fig. 3 is a schematic top view of the article sorting system of fig. 2.

Referring to fig. 1-3, in the embodiment of the present application, the article sorting system 10 includes a multi-deck sorting frame 15, an upper apparatus 12, a control apparatus 11, and a sorting apparatus 13. The multi-layer sorting frame 15 at least comprises a lower layer frame 153, a middle layer frame 152 and an upper layer frame 151, wherein the lower layer frame 153, the middle layer frame 152 and the upper layer frame 151 are sequentially arranged from bottom to top. The multi-layer sorting frame 15 may be a steel frame or a reinforced concrete frame, which is not limited in this application. The multi-level sorting frame 15 is a frame structure having good shock resistance and load-carrying capacity, and can resist the vibration of each device in the article sorting system 10 during operation.

The loading device 12 is disposed on the upper layer frame 151, and the control device 11 is configured to control the loading device 12 to perform primary sorting on the articles, and move the primarily sorted articles to the middle layer frame 152. The piece loading equipment is used for carrying out primary sorting on the articles and moving the articles after primary sorting to the sorting device. The sorting device 13 is disposed on the middle layer frame 152, and the control device 11 is configured to control the sorting device 13 to perform secondary sorting on the articles falling into the middle layer frame 152, and move the secondarily sorted articles to the lower layer frame 153. The sorting equipment is used for secondarily sorting the objects moved by the upper piece equipment and moving the secondarily sorted objects to the lower layer frame. The lower layer frame 153 is provided with a pickup device stopping position 14, and the pickup device stopping position 14 is used for stopping the pickup device so that the pickup device can acquire the articles falling into the lower layer frame 153. The goods taking device can be a visual robot, and the goods taking device enters the appointed goods taking device position through automatic navigation. The multi-level sortation frame 15 of the article sorting system 10 is divided into multiple levels, with the upper piece apparatus 12, the sorting apparatus 13, and the pick-up device stop 14 being disposed from top to bottom, and the floor space of the article sorting system 10 being determined by the largest floor space of the individual apparatuses, rather than the sum of the floor spaces of the individual apparatuses in the article sorting system, which significantly reduces the floor space of the article sorting system 10. And the flow direction of the objects is from top to bottom, the objects can flow by the gravity of the objects, and the energy consumption of the object sorting system 10 can be reduced.

In the present embodiment, the piece feeding apparatus 12 includes a first balance 123, a piece feeding port 121, and at least two first chutes 125. The extending direction of the first sliding groove 125 may be an oblique direction or a vertical direction, and may be set according to specific situations. A first conveyor belt 122 is arranged between the feeding port 121 and the first balance 123, and the first conveyor belt 122 is used for moving the objects on the feeding port 121 to the first balance 123. The entrance of the first chute 125 is close to the first wobbler device 123, the exit of the first chute 125 faces the lower frame 153, and the control device 11 is configured to acquire article information of the articles and control the first wobbler device 123 to move the articles into the corresponding first chute 125. Note that the first slide groove 125 and the first balance 123 may not be provided with other devices, and the first slide groove 125 and the second balance 123 may be provided adjacent to each other. The first wobbler 123 moves the articles on the loading port 121 to different first chutes 125 according to the article information of the articles, thereby primarily sorting the articles, which can reduce the workload of the sorting apparatus 13.

In one embodiment, a code scanning device (not shown) is disposed at the workpiece loading opening 121, and the code scanning device is used for scanning a code of the workpiece to obtain the object information of the workpiece. After the code scanning device scans the code of the object, the object information of the object is obtained and sent to the control device 11, and the control device 11 controls the first balance wheel device 123 to move the object to the corresponding first chute 125 according to the object information. In other embodiments, the code scanning device may be disposed above or on one side of the first conveyor belt 122, or may be disposed at other positions, which is not limited in this application. The object information comprises flow information of the object. For example, the at least two first chutes 125 include a chute a, a chute B, and a chute C, wherein the flow direction of the object corresponding to the chute a is a province, the flow direction of the object corresponding to the chute B is B province, and the flow direction of the object corresponding to the chute C is C province. When the article passes through the code scanning device, the code scanning device scans the article to obtain article information as follows: the flow direction of the object is A province. After acquiring the article information, the control device 11 controls the first balance 123 to move the article to the chute a.

In a particular embodiment, first wobbler device 123 includes a base, a synchronous steering controller, and a plurality of transport rollers on the base. The synchronous diverter receives the command sent by the control device 11 to change the rotation direction and the running direction of the conveying rollers, and can move the articles on the conveying rollers to the plurality of first chutes 125. Furthermore, the conveying roller is coated with rubber, so that the damage to the surface of a conveyed object can be effectively avoided.

Referring to fig. 4, fig. 4 is a schematic view illustrating a first chute of the article sorting system of fig. 2.

In one specific embodiment, as shown in fig. 4, the outlet of the first chute 125 is provided with a chute shield 1251, and the chute shield 1251 is hinged to a side wall of the first chute 125. An electronic switch is arranged at the hinged position of the chute baffle 1251 and the chute side wall, and the electronic switch controls the opening and closing of the chute baffle 1251 according to an instruction of the control device 11. Through setting up spout baffle 1251, can play the cushioning effect to the article that falls into first spout 125, on the one hand can be when the sorting equipment 13 letter sorting speed of below is slower, some articles of temporary storage, on the other hand falls to zero through spout baffle 1251 with the speed of article to reduce its initial velocity when dropping from first spout 125, avoid article and sorting equipment 13 collision too acutely and damage. In another embodiment, the first sliding chute 125 is an oblique sliding chute, i.e. the extending direction of the first sliding chute 125 is inclined to the vertical direction, and the oblique sliding chute can prevent the object from freely falling in the first sliding chute 125 to generate a high speed, thereby damaging the object. In another embodiment, the first chute 125 is an inclined chute, and a conveyor belt is disposed at the bottom of the first chute 125, and the conveyor belt at the bottom of the first chute 125 is used to convey the articles, so that the moving speed of the articles can be controlled, and further the speed of feeding the articles from the feeding device 12 to the sorting device 13 can be controlled.

In a particular embodiment, the first conveyor 122 is a climbing conveyor. The upper mouth 121 is located at the lower frame 153, a lower end of the first conveyor belt 122 is close to the upper mouth 121, and a higher end of the first conveyor belt 122 is close to the first wobbler 123. The upper mouth 121 is provided in the lower frame 153 to facilitate the insertion of the article into the upper mouth 121, and then the article is transferred to the first balance 123 by the climbing belt.

In a specific embodiment, a buffer conveyor belt 124 is arranged between the first balance 123 and the outlet of the first chute 125, and the buffer conveyor belt 124 is used for carrying the objects moved by the first balance 123 towards the first chute 125. The control device 11 is configured to obtain the sorting information of the sorting device 13, and control the buffer conveyor 124 to move the articles carried by the buffer conveyor 124 to the first chute 125 based on the sorting information of the sorting device 13. Because the piece feeding equipment 12 is used for primary sorting, the flow direction of sorted articles is smaller relative to the sorting equipment 13, and therefore the buffer conveyor belt 124 is arranged, when the sorting speed of the sorting equipment 13 cannot keep up with the speed of the piece feeding equipment 12, partial articles can be buffered, and the problem that the articles cannot be processed due to the fact that the sorting equipment 13 is in the sorting peak is avoided.

In the present embodiment, piece-feeding apparatus 12 further includes a second balance 126 and at least two second runners 127. A second conveyor belt 120 is arranged between the first balance 123 and the second balance 126. The control device 11 is configured to acquire item information of the items and control the first balance 123 to move the items to the corresponding first chute 125 or the second conveyor belt 120. The second conveyor 120 is used to move the items it carries to a second balance 126. The entrance of the second chute 127 is close to the second wobbler device 126, the exit of the second chute 127 faces the lower frame 153, and the control device 11 is configured to acquire the article information of the article and control the second wobbler device 126 to move the article into the corresponding second chute 127. In other embodiments, piece-loading device 12 may also include a third balance, a fourth balance, or more balances, which are not limited in this application.

It should be noted that the structure of the second balance 126 is the same as that of the first balance 123, the structure of the second chute 127 is the same as that of the first chute 125, and a buffer transfer belt 124 is also provided between the second balance 126 and the second chute 127, which is not described again here.

Like the first wobbler 123, the second wobbler 126 is also connected to a plurality of second chutes 127 for performing a primary sorting of the articles. The objects are sorted by the plurality of balance wheel devices, overload operation caused by excessive flow direction of the objects of a single balance wheel device can be avoided, the efficiency of primary sorting of the piece feeding equipment 12 is improved, and the flow direction quantity of the primary sorting is improved. For example, the first balance device 123 is used for the flow of objects to the provinces A, B and C, the second balance device 126 is used for the flow of objects to the provinces D, E and F, and when the objects pass through the code scanning device, the code scanning device scans the objects to obtain the information of the objects as follows: when the flow direction of the objects is D province, E province, F province, or the like, the control device 11 acquires the object information, controls the first balance device 123 to move the objects onto the second balance device 126 through the second conveyor belt 120, and sorts the objects by the second balance device 126.

Further, the feeding device 12 further includes a third conveyor 128 and a return port 129. The return opening 129 is located at the lower frame 153. The third conveyor belt 128 is a climbing conveyor belt. Return opening 129 is located at lower frame 153, and the lower end of third conveyor belt 128 is adjacent to return opening 129, and the upper end of third conveyor belt 128 is adjacent to second wobbler device 126. By providing the return opening 129 and the third conveyor 128, unidentifiable objects can be moved to the return opening for one-step processing. The logistics blockage of the feeding equipment 12 caused by the unidentified objects staying in the feeding equipment 12 can be avoided.

In a preferred embodiment, the number of the upper equipment 12 is at least two, and at least two upper equipment 12 are fixed on the upper frame 151 and are arranged in sequence along the vertical direction. A plurality of equipment 12 of putting on can improve the speed that equipment 12 was put on to letter sorting equipment 13 under the condition that does not increase area, and further improve the letter sorting flow direction of equipment 12 of putting on.

Further, referring to FIGS. 5-6, FIG. 5 is a schematic view of the construction of the lower and middle frames of the article sorting system of FIG. 2; fig. 6 is a schematic structural diagram of an embodiment of the robot of fig. 5.

With reference to fig. 5 and 6, in the embodiment of the present application, the sorting device 13 includes a sorting robot 16 and at least two sorting compartments 17, the at least two sorting compartments 17 are disposed around the sorting robot 16, and the sorting compartments 17 are located right above the pickup device stop locations 14. The sorting robot 16 includes a mechanical arm 161 and a mechanical arm sorting end effector 162, a base of the mechanical arm 161 is fixed on the middle layer frame 152, an end of the mechanical arm 161 is connected with the mechanical arm sorting end effector 162, and the control device 11 is configured to control the mechanical arm 161 to drive the mechanical arm sorting end effector 162 to move to a position below an outlet of the chute, and move the object into the corresponding sorting cell 17 after acquiring the object from the chute. The mechanical arm 161 may be a four-axis mechanical arm, a six-axis mechanical arm, or the like, which is not limited in this application. The common six-axis mechanical arm comprises a rotation (S axis), a lower arm (L axis), an upper arm (U axis), a wrist rotation (R axis), a wrist swing (B axis) and a wrist rotation (T axis). Six joints are synthesized to realize six-degree-of-freedom motion of the tail end, so that the mechanical arm sorting end effector 162 can be driven to reach any position in space.

In one embodiment, the number of the sorting robots 16 is at least two, and a plurality of the sorting robots 16 are arranged in a matrix along the horizontal plane on the middle frame 152. Each sorting robot 16 is surrounded by at least two sorting cells 17.

In a particular embodiment, the upper frame is provided with image acquisition means for acquiring information in the sorting cells above the sorting cells. Preferably, the image acquisition device is a depth camera. The image acquisition device can be fixed on the upper-layer frame and can also move on the upper-layer frame, for example, a slideway is arranged on the upper-layer frame, and the image acquisition device moves along the slideway, so that dead angles of shooting are avoided. The depth camera is also called a 3D camera, and as the name implies, the depth distance of the shooting space can be detected by the depth camera, which is also the biggest difference from a common camera. Through data acquired by the depth camera, the distance between each point in the image and the camera can be accurately known, and thus, the (x, y) coordinates of the point in the 2D image are added, so that the three-dimensional space coordinates of each point in the image can be acquired. The types of the depth camera include a structured light depth camera, a binocular vision depth camera and a light flight time method depth camera, and the depth camera can be selected according to specific conditions.

In the embodiment of the present application, the robot arm sorting end effector 162 includes a box body 163 provided with an open top, and a sidewall of the box body 163 is connected to the end of the robot arm 161 through a flange. A flange, also known as a flange collar or flange. The flange is a part for connecting the shafts and is used for connecting pipe ends; there are also flanges on the inlet and outlet of the equipment for the connection between two pieces of equipment, such as reducer flanges. The flange connection is that two pipelines, pipe fittings or equipment are respectively fixed on a flange plate, a flange pad is arranged between the two flange plates and fastened together by bolts, and the connection is completed. The lateral wall of this application box body 163 passes through flange and arm 161's end connection, connects firmly, and can dismantle. The control device 11 controls the rotation of the end of the robot arm 161 to turn the robot arm sorting end effector 162 so as to enable the object in the robot arm sorting end effector 162 to fall from the top opening.

Furthermore, the surface of the box body 163 is provided with a plurality of lightening holes 164, and the shape of the lightening holes 164 may be triangular, circular, rectangular, and other shapes, which is not limited in the present application. The weight of the box 162 can be reduced by providing the lightening holes 164, so that the moving speed of the mechanical arm sorting end effector 162 is increased, and the delivery efficiency is improved. Preferably, the lightening holes 164 have the same area and are arranged in a matrix manner.

Referring to fig. 7, fig. 7 is a schematic diagram of another embodiment of the robotic arm sorting end effector of fig. 6.

In another specific embodiment, as shown in fig. 7, the robotic arm sorting end effector 262 includes a cassette 263, with a flanged connection 266 provided on a sidewall of the cassette 263. The case 263 is provided with a top opening. For receiving an article. Cassette 263 is flanged to the end of arm 161 by a flanged connection 266.

Further, a reinforcing plate 265 is provided on a side wall of the case body 263 provided with the flange connection portion 266. Because the force applied by the mechanical arm 161 acts on a side wall of the box body 263 provided with the flange connection portion 266, a reinforcing plate 265 is arranged on a side wall of the box body 263 provided with the flange connection portion 266, so that the strength of the side wall can be enhanced, and the side wall of the box body 263 is prevented from being damaged when the mechanical arm 161 drives the mechanical arm sorting end effector 262 to move. The reinforcing plate 265 may be provided only on one side wall of the case 263 where the flange connection 266 is provided, and the reinforcing plate 265 may not be provided on the other side wall of the case 263, so that a side effect of the robot arm sorting end effector 262 being excessively heavy due to the reinforcing structure may be prevented. Of course, in other embodiments, the entire cassette 263 may be reinforced by the reinforcing plate 265, which is not limited in this application.

Referring to fig. 8-10, fig. 8 is a schematic diagram of a further embodiment of the robotic arm sorting end effector of fig. 6; FIG. 9 is a side view of the robotic arm sorting end effector of FIG. 8; fig. 10 is a schematic view of the suction cup and first through hole of the robotic arm sorting end effector of fig. 8.

Referring to fig. 8 to 10, in the present embodiment, the robot arm sorting end effector 362 includes a pallet 300, and a first barrier 304, a second barrier 305, and a third barrier 306 are disposed on both sides and a rear surface of the pallet 300, respectively. The first baffle 304, the second baffle 305, and the third baffle 306 surround the outer periphery of the pallet 300 from three sides, and form an accommodation space having at least a side opening. The supporting plate 300 is movably provided with a push rod 303, the push rod 303 can be opened at the opposite side part and move from inside to outside or from outside to inside in the accommodating space so as to finish the sorting and pushing out of the goods. The receiving space in the robotic sorting end effector 362 may also be provided with a top opening for entry of articles and a side opening for sorting ejection of articles. Of course, the receiving space in the robotic sorting end effector 362 may also be provided with only side openings for both the entry and sorting ejection of articles. This application is mostly the arm letter sorting end effector that prior art industrial robot arm was equipped with and is sucking disc or anchor clamps type arm letter sorting end effector, causes to deliver under the circumstances that inefficiency and article spoilage are higher, creatively proposes the arm letter sorting end effector of bracket plate formula, through the mode that the article was lifted to the layer board on the arm letter sorting end effector, need not to the position and the gesture of article, generates the difference and snatchs the gesture and deliver the gesture, can improve delivery efficiency. And the force between the object and the supporting plate can ensure that the object does not fall off only by the gravity of the object, and the object is not easy to damage due to small acting force, so that the damage rate of the object can be reduced. In addition, the periphery of the supporting plate is surrounded from three sides through the first baffle, the second baffle and the third baffle, at least an accommodating space with an opening at the side part is formed, the object on the supporting plate is horizontally pushed out of the accommodating space by the push rod, the object can be prevented from vertically falling and being damaged, and the damage rate of the object can be reduced.

In the embodiment of the present application, at least one slide 302 is disposed on the supporting plate 300, so that the supporting plate 300 is in a fork shape, and the push rod 303 is disposed upward relative to the supporting plate 300, and is nested and slidably disposed in the slide 302. Specifically, a first end of the push rod 303 is movably connected to the supporting plate 300, and a second end of the push rod 303 penetrates through the sliding way 302 and is suspended on one surface of the supporting plate 300 for supporting an object.

In a specific embodiment, a groove is formed on a side wall of the slide way 302, two sides of the second end of the push rod 303 are respectively provided with a protrusion, and the push rod 303 is slidably connected with the slide way 302 by embedding the protrusion into the groove, so that the push rod 303 can slide along the slide way. The convex part protrudes out of the surface of the push rod 303, and the groove is sunken towards the inner side of the side wall of the slide way 302, so that the convex part can be embedded into the groove, and the convex part can slide in the groove, so that the push rod 303 can slide in the slide way 302. In another specific embodiment, two sides of the second end of the push rod 303 are respectively provided with a groove, and two side walls of the slide way 302 are embedded into the grooves, so that the push rod 303 is slidably connected with the slide way 302, and the push rod 303 can slide along the slide way. In other embodiments, the push rod 303 and the slide 302 may be movably connected in other manners, which is not limited in this application.

Further, the mechanical arm sorting end effector 362 further includes a driving device (not shown), the driving device is fixed on the supporting plate 300, and an output end of the driving device is connected with the push rod 303, so as to drive the push rod 303 to move along the slide 302. The driving device is any one of a cylinder or a hydraulic cylinder, and the application does not limit the driving device.

In this application implementation, be equipped with the first through-hole 301 that runs through layer board 300 on the layer board 300, be provided with sucking disc 308 in the first through-hole 301. The opening of the suction cup 308 faces the side of the pallet 300 where the baffle is located. The suction cup 308 may be a vacuum cup, and the vacuum cup can maintain the two objects to be attached and not separated, so that any object can be sucked, and the adaptability of the mechanical arm sorting end effector 362 can be improved. The suction cup 308 may be a magnetic suction cup, which is specially used for adsorbing and fixing ferromagnetic substances, and has a higher adsorption force for ferromagnetic objects, thereby improving the adsorption force of the objects. The opening of the suction cup 308 faces the side of the pallet 300 where the object is placed, when the pallet 300 bears the object, the suction cup 308 adsorbs and fixes the object, and the product can be prevented from shaking in the process of moving the mechanical arm sorting end effector 362.

In a preferred embodiment, the number of the suction cups 308 is plural, and the plurality of suction cups 308 are arranged on the pallet 300 in a matrix manner. The suckers 308 are arranged on the supporting plate 300 in a matrix mode, so that objects can be uniformly adsorbed, the phenomenon that local stress is too large due to the fact that the suckers 308 are concentrated is avoided, and the damage rate of the objects is reduced. In addition, the plurality of suction cups 308 are arranged on the supporting plate 300 in a matrix, so that each position on the supporting plate 300 can be covered by the suction cups 308 as much as possible, and the effect on smaller objects can be achieved.

In the embodiment of the present application, the suction cup 308 is fixed on the first through hole 301 by any one of clamping and screwing, and one side of the suction cup 308, which is provided with an opening, protrudes beyond an opening edge of the first through hole 301 or is flush with the opening edge of the first through hole 301. The upper surface of the suction cup 308 needs to be flush with or slightly higher than the upper surface of the first through hole 301, so as to ensure that the suction cup 308 can more stably suck the object.

In the embodiment of the present application, the first baffle 304, the second baffle 305, and the third baffle 306 are respectively disposed on both sides and the back of the supporting plate 300. The first baffle 304, the second baffle 305, and the third baffle 306 surround the outer periphery of the pallet 300 from three sides. The presence of the first baffle 304, the second baffle 305, and the third baffle 306 can further prevent the articles from falling off the pallet 300, wherein the fourth surface (i.e., the surface not surrounded by the baffles) on the periphery of the pallet 300 is used for the entry and exit of the articles.

In a specific embodiment, two sides of the second baffle 305 are respectively connected to the first baffle 304 and the second baffle 305, the second baffle 305 is rectangular, and the first baffle 304 and the third baffle 306 are triangular. The first baffle 304 and the third baffle 306 are triangular, which reduces the area of the baffles, thereby reducing the weight of the robot arm sorting end effector 362 and increasing the moving speed of the robot arm sorting end effector 362.

In the embodiment of the present application, the first baffle 304, the second baffle 305, and the third baffle 306 are provided with second through holes 307, and the second through holes 307 are used to reduce the weight of the baffles. The second through holes 307 are formed in the first baffle 304, the second baffle 305, and the third baffle 306, so that the area of the baffles can be reduced, the weight of the mechanical arm sorting end effector 362 can be reduced, and the moving speed of the mechanical arm sorting end effector 362 can be increased.

In the embodiment of the present application, the bottom plate of the sorting compartment 17 is an openable and closable electric door plate or a pneumatic door plate, and the control device 11 is configured to control the bottom plate to open according to the control instruction, so that the objects in the sorting compartment 17 fall into the lower layer frame 153.

Further, referring to fig. 11 and 12, fig. 11 is a schematic diagram of an embodiment of the sorting gate of fig. 5; fig. 12 is a side view of the sorting cell of fig. 11.

Referring to fig. 11 and 12, in the embodiment of the present application, the sorting compartment 17 includes a bottom plate 33, a box 34, and a lifting device, wherein a bottom surface of the box 34 is provided with a bottom opening, the bottom plate 33 blocks the bottom opening, the lifting device is disposed on a side wall of the box 34, the bottom plate 33 is fixed on the lifting device, and the lifting device drives the bottom plate 33 to ascend or descend. This application letter sorting check 17 in the letter sorting cabinet among the prior art causes the delivery efficiency of article letter sorting system lower, under the higher condition of article spoilage, creatively proposes adjustable letter sorting check 17, letter sorting check 17 rises or descends through elevating gear drive letter sorting check 17's bottom plate 33, can adjust letter sorting check 17's volume for the article that letter sorting check 17 can hold is as much as possible, need not frequently to get the piece, can improve delivery efficiency. The number of the lifting devices can be 1, 2 or more, and the lifting devices can be arranged according to specific situations, and the lifting devices are not limited in the application.

In this embodiment, the lateral wall of box 34 is equipped with box spout 341, and elevating gear is located the lateral wall surface of box 34, and elevating gear's one end runs through box spout 341, extends to the inside wall surface of box 34 to be connected with bottom plate 33, elevating gear drives bottom plate 33 and rises or descends along box spout 341. Fix the base of power supply at the top on the lateral wall surface of box 34, the power supply is located box 34's top on the one hand, can reserve sufficient space sliding space for the sliding plate, avoids the power supply to cause the hindrance to the slip of sliding plate, and the on the other hand power supply is located box 34's outside, does not occupy the inner space of letter sorting bin 17, can avoid its motion or exothermic etc. to cause the destruction to inside article. In another embodiment, the power source is located on the top of the inner side wall of the box 34, the output end of the power source is directly connected with the bottom plate 33, and the power source stretches and retracts to drive the bottom plate 33 to ascend or descend. In other embodiments, the power source may be fixed at other positions of the box 34, which is not limited in this application. Specifically, the extending direction of the box sliding groove 341 is vertical, so that the lifting device drives the bottom plate 33 to ascend or descend along the box sliding groove 341. The lifting device is located outside the box body 34 and extends into the box body 34 through the box body sliding groove 341, so that the damage to the object caused by the lifting device when the lifting device moves inside the box body 34 can be avoided, and the damage rate of the object is reduced.

In the embodiment of the present application, the lifting device includes a power source fixed to the outer sidewall surface of the case 34 and a sliding plate. Wherein, the power supply can be any one in cylinder or the pneumatic cylinder, and the base of power supply is fixed at the top on the lateral wall surface of box 34, and the output and the sliding plate of power supply are connected, and the output of power supply is flexible to drive the sliding plate and rise or descend on the lateral wall surface of box 34. The sliding plate is slidably connected to the box body sliding groove 341, and a connecting end is disposed on a surface of the sliding plate, penetrates through the box body sliding groove 341, extends to a surface of an inner side wall of the box body 34, and is connected to the bottom plate 33. The number of the box chutes 341 may be 1, 2, or more, and the number of the connection plate ends is the same as that of the box chutes 341. The output end of the power source is connected with the sliding plate, and the output end of the power source is retractable to drive the sliding plate and the bottom plate 33 to ascend or descend along the box body sliding groove 341. In other embodiments, the lifting device may also be a device such as a track or a conveyor belt fixed on the box chute 341, and the bottom plate 33 is driven to ascend or descend by the track or the conveyor belt, which is not limited in this application.

In a specific embodiment, the number of the lifting devices is 1, the bottom plate is a whole plate, one side of the bottom plate is hinged with the connecting end of the lifting devices, and an electronic switch is arranged at the hinged position of the bottom plate and the connecting end and used for controlling the rotation of the bottom plate. The power source is used for controlling the lifting of the bottom plate so as to adjust the volume of the sorting grids; the electronic switch is used for controlling the rotation of the bottom plate so as to open or close the bottom plate.

In a specific embodiment, the base plate 33 includes a first base plate 331 and a second base plate 332 which are juxtaposed, and the lifting device includes a first lifting device 31 and a second lifting device 32. The first lifting device 31 and the second lifting device 32 are respectively located on two opposite outer side wall surfaces of the box 34. One end of the first lifting device 31 is hinged to one side of the first bottom plate 331 away from the second bottom plate 332, and one end of the second lifting device 32 is hinged to one side of the second bottom plate 332 away from the first bottom plate 331. The bottom plate 33 is a double-door form, and the bottom plate 33 can be opened rapidly to drop the articles, so that the working efficiency of the sorting grids 17 is improved. And the double-door bottom plate 33 can reduce the space required for the bottom plate 33 to be fully opened, thereby reducing the operating space of the sorting compartments 17.

Specifically, the first lifting device 32 includes a first power source 311, a first sliding plate 312, and a first connection end 313. The base of the first power source 311 is fixed to the top of the outer sidewall surface of the casing 34, and the output end of the first power source 311 is connected to the first sliding plate 312. The first sliding plate 312 is slidably connected to the box body sliding groove 341, the first connection end 313 is fixed to the first sliding plate 312, and the first connection end 313 penetrates through the box body sliding groove 341, extends to the inner side wall surface of the box body 34, and is connected to the first bottom plate 331. The output end of the first power source 311 is connected to the first sliding plate 312, and the output end of the first power source 311 is retractable to drive the first sliding plate 312 and the first bottom plate 331 to ascend or descend along the box sliding groove 341. The second elevating device 33 includes a second power source 321, a second sliding plate 322, and a second connecting end 323. The base of the second power source 321 is fixed to the top of the outer sidewall surface of the casing 34, and the output end of the second power source 321 is connected to the second sliding plate 322. The second sliding plate 322 is slidably connected to the box body sliding groove 341, the second connecting end 323 is fixed to the second sliding plate 322, and the second connecting end 323 penetrates the box body sliding groove 341, extends to the inner side wall surface of the box body 34, and is connected to the second bottom plate 332. The output end of the second power source 321 is connected to the second sliding plate 322, and the output end of the second power source 321 is retractable to drive the second sliding plate 322 and the second bottom plate 332 to ascend or descend along the box sliding groove 341.

In the embodiment of the present application, a first switch is disposed at a hinge joint of the first lifting device 31 and the first base plate 331, and the first switch is used for controlling the rotation of the first base plate 331 relative to the first lifting device 31. A second switch is arranged at the hinge joint of the second lifting device 32 and the second bottom plate 332, and the second switch is used for controlling the rotation of the second bottom plate 332 relative to the output end of the second lifting device 32. The rotation of the lifting device and the bottom plate 33 is controlled by a switch, and the opening and closing of the bottom plate 33 are controlled by the switch, so that the articles can be timely unloaded when the articles in the sorting compartment 17 are full.

In the embodiment of the present application, the lifting surface of the base plate 33 is provided with a pressure sensor 333. The pressure sensor 333 may be a flat diaphragm type pressure sensor 333, a diaphragm pressure sensor 333, or the like. The number of the pressure sensors 333 is multiple, and the multiple pressure sensors 333 are arranged on the bottom plate 33 in a matrix manner, so that each position on the bottom plate 33 can be covered by the pressure sensor 333 as much as possible, and inaccurate measurement of the pressure sensors 333 caused by the fact that small objects do not fall on the pressure sensors 333 is avoided. The weight of the articles in the sorting cell 17 is measured by the pressure sensor 333 so that the bottom plate 33 is opened for article collection when the weight of the articles in the sorting cell 17 reaches a preset weight.

The work flow of the object sorting system is as follows:

at the upper piece of equipment 12: the item is placed in the feeding port 121 and the first conveyor belt 122 moves the item from the feeding port 121 to the first balance 123. During the process that the first conveyor belt 122 moves the item from the feeding port 121 to the first balance 123, the code scanning device scans the item, obtains item information, and uploads the item information to the control device 11. The control device 11 controls the first balance 123 to move the item to the corresponding first chute 125 or second balance 126 according to the item information. If the article moves to the corresponding first chute 125, the article slides down the first chute 125 onto the sorting device 13; if the article moves to the second balance 126, the control device 11 controls the second balance 126 to move the article to the corresponding second chute 127 according to the article information, and the article slides down the second chute 127 to the sorting device 13; if no articles can flow into the corresponding second chute 127, they enter the third conveyor 128, travel through the third conveyor 128 to the return opening 129, and are processed by the operator.

At the sorting device 13: after the first sorting from the piece feeding apparatus 21, the sorting apparatus 13 can sort the articles falling into the sorting apparatus 13 from the first chute 125 or the second chute 125 or other chutes. Specifically, the control device 162 controls the movement of the robot arm 161 according to the object information, and drives the robot arm end effector 162 to move to the lower side of the chute. After the object in the chute falls into the end effector 162 of the mechanical arm, the control device 162 controls the mechanical arm 161 to move according to the object information, drives the end effector 162 of the mechanical arm to move to the target sorting grid, and unloads the object to the target sorting grid.

The lower layer of the frame: the control device 11 obtains loading information of each sorting cell, and when a sorting cell with loading information meeting preset conditions exists, the control device controls the goods taking device to enter a stopping position of the goods taking device corresponding to the sorting cell, and controls the sorting cell to be opened so as to unload the articles to the goods taking device. The goods taking equipment transports after acquiring the objects.

Different from the prior art, the application provides an article sorting system, which comprises a multilayer sorting frame, upper piece equipment and sorting equipment, wherein the multilayer sorting frame at least comprises a lower layer frame, a middle layer frame and an upper layer frame, and the lower layer frame, the middle layer frame and the upper layer frame are sequentially arranged from bottom to top; the workpiece loading equipment is arranged on the upper layer frame, and is used for primarily sorting the objects and moving the primarily sorted objects to the middle layer frame; the sorting equipment is arranged on the middle layer frame, and is used for secondarily sorting the objects falling into the middle layer frame and moving the secondarily sorted objects to the lower layer frame; the lower layer frame is provided with a goods taking equipment stop position which is used for stopping the goods taking equipment so that the goods taking equipment can obtain the objects falling into the lower layer frame. According to the method, the devices of the object sorting system are unreasonably arranged in the prior art, and under the condition of large occupied area, the frame type object sorting system with the vertically arranged devices is creatively provided, the multilayer sorting frame of the object sorting system is divided into multiple layers, the upper device, the sorting device and the goods taking device stop positions are respectively arranged from top to bottom, the occupied area of the object sorting system depends on the device with the largest occupied area in each device, but not the sum of the occupied areas of the devices, and the occupied area of the object sorting system can be remarkably reduced.

Referring further to fig. 13-16, fig. 13 is a schematic diagram of another embodiment of the article sorting system of fig. 1; FIG. 14 is a schematic diagram of a partial perspective view of the article sorting system of FIG. 13; FIG. 15 is a schematic top view of the article sorting system of FIG. 13; fig. 16 is a side view of the article sorting system of fig. 13.

Referring to fig. 13-16, in an embodiment of the present application, an article sorting system 40 includes a multi-level sorting frame 45, an upper article device, a control device, and a sorting device 43. The multi-layered sorting frame 45 at least includes a lower frame 453, a middle frame 452 and an upper frame 451, and the lower frame 453, the middle frame 452 and the upper frame 451 are sequentially arranged from bottom to top. The multi-layer sorting frame 45 may be a steel frame or a reinforced concrete frame, which is not limited in this application. The multi-level sortation frame 45 is a frame structure having good shock resistance and load bearing capacity, and is capable of resisting vibrations of the various devices of the item sortation system 40 during operation.

In the embodiment of the present application, the number of the upper equipment is two, and the number of the upper equipment is the first upper equipment 41 and the second upper equipment 42. The first feeding device 41 and the second feeding device 42 are fixed on the upper frame 451 and are arranged in sequence along the vertical direction. The control device is used for controlling the first and second upper piece devices 41 and 42 to perform primary sorting on the articles and move the primarily sorted articles to the middle layer frame 452.

In the present embodiment, first loading device 41 includes a first balance 415, a second balance 416, a third balance 417 and a fourth balance 418. Preferably, first balance 415, second balance 416, third balance 417 and fourth balance 418 are arranged in a linear sequence at intervals. First balance 415, second balance 416, third balance 417 and fourth balance 418 are connected in sequence by 3 second conveyor belts. Second upper assembly 42 includes a fifth balance 425, a sixth balance 426, a seventh balance 427, and an eighth balance 428. Preferably, fifth balance 425, sixth balance 426, seventh balance 427 and eighth balance 428 are arranged in succession at intervals along a straight line. Fifth balance 425, sixth balance 426, seventh balance 427, and eighth balance 428 are connected in series by 3 second conveyor belts. The structure and operation of the second conveyor belt are the same as those of the second conveyor belt 120 in the previous embodiment, and are not described again. The workpiece feeding equipment performs primary sorting on the workpieces through 8 balance wheel devices, and compared with the situation that the workpiece feeding equipment performs workpiece sorting through 2 balance wheel devices in the previous embodiment, sorting flow direction of the workpieces is greatly improved, and further subdivision of the workpieces is achieved.

It should be noted that, the structures of first balance 415, second balance 416, third balance 417, fourth balance 418, fifth balance 425, sixth balance 426, seventh balance 427, and eighth balance 428 are the same, and all are connected to the chute through the buffer conveyor belt, and specific structures refer to the structures of first balance 123 and second balance 126 in the above embodiment, and the manner in which first balance 123 and second balance 126 are connected to first chute 125 or second chute 127 through buffer conveyor belt 124, which is not described again.

The first feeding device 41 includes a fourth conveyor belt 412 and a first feeding port 411, and the second feeding device 42 includes a fifth conveyor belt 422 and a second feeding port 421. The fourth conveyor belt 412 and the fifth conveyor belt 422 are both climbing type conveyor belts. The first upper port 411 and the second upper port 421 are located at the lower frame 453. The lower end of the fourth belt 412 is close to the first feeding port 411, and the upper end of the fourth belt 412 is close to the first balance 415. The lower end of the fifth conveyor belt 422 is adjacent to the second feeding port 421, and the upper end of the fifth conveyor belt 422 is adjacent to the fifth balance 425. Two feeding ports of two feeding devices are used for feeding simultaneously, feeding efficiency is improved, and compared with the feeding mode of a single feeding port of a single feeding device in the previous embodiment, feeding efficiency of the object sorting system 40 can be greatly improved, so that sorting efficiency is improved.

It should be noted that the first feeding device 41 and the second sorting device 42 also respectively include a third conveyor belt, a return port, and a code scanning device. The specific structures of the return port, the third conveyor belt and the code scanning device refer to the return port 129, the third conveyor belt 128 and the code scanning device in the previous embodiment, and are not described herein again.

Further, the sorting device 43 is disposed on the middle frame 452, and the control device is configured to control the sorting device 43 to perform secondary sorting on the articles falling into the middle frame 452, and move the secondarily sorted articles to the lower frame 453. The lower frame 453 is provided with a pick-up device parking position 44, and the pick-up device parking position 44 is used for parking the pick-up device so that the pick-up device can pick up the article falling into the lower frame 453.

In particular, the sorting device 43 comprises a sorting robot 46 and at least two sorting compartments 47, the at least two sorting compartments 47 being arranged around the sorting robot 46, the sorting compartments 47 being located directly above the pick-up device stop locations 44. The structure of the sorting robot 46 is referred to as the sorting robot 16 in the previous embodiment, and the structure of the sorting cell 47 is referred to as the sorting cell 17 in the previous embodiment, which will not be described again.

In this embodiment, the number of the sorting robots 46 is 8, and the sorting robots are used for matching the first piece feeding device 41 and the second piece feeding device 42 for double-layer piece feeding, so that the sorting efficiency of the sorting device cannot keep pace with the piece feeding efficiency of the piece feeding device. Compared with the single-layer workpiece feeding and 4 robots in the previous embodiment, the sorting efficiency can be improved in the embodiment.

Referring to fig. 17, fig. 17 is a schematic flow chart illustrating an embodiment of an object sorting method provided in the embodiment of the present application.

As shown in fig. 17, the present application provides an article sorting method applied to the article sorting system in any of the above embodiments, where an execution subject of the article sorting method is a control device, and the article sorting method may be as follows:

s81: and controlling the loading equipment to perform primary sorting on the articles, and moving the articles subjected to primary sorting to the middle-layer frame.

In some embodiments of the present application, controlling the loading device to perform primary sorting on the articles and move the primarily sorted articles to the middle layer frame may include:

(1) and controlling the first conveyor belt to move the article at the feeding port to the first balance wheel device.

Specifically, the object is placed at the feeding port, and the control device controls the first conveyor belt to move the object from the feeding port to the first balance wheel device.

(2) Object information of an object is obtained.

Specifically, the workpiece feeding opening or the first conveyor belt is provided with a code scanning device, and the control equipment controls the code scanning device to scan codes of the workpiece when the workpiece is detected, so that information of the workpiece is acquired.

(3) And controlling the first balance wheel device to move the object to the corresponding first sliding groove based on the object information so that the object falls into the middle layer frame.

In one embodiment, the first sliding slot includes a sliding slot a, a sliding slot B and a sliding slot C, wherein the flow direction of the object corresponding to the sliding slot a is a province, the flow direction of the object corresponding to the sliding slot B is a province B, and the flow direction of the object corresponding to the sliding slot C is a province C. When the article passes through the code scanning device, the code scanning device scans the article to obtain article information as follows: the flow direction of the object is A province. After the control equipment acquires the object information, the control equipment controls the first balance wheel device to move the object to the chute A.

In another specific embodiment, the control device controls the first balance to move the item to the corresponding first chute or second balance based on the item information. The control equipment controls the second balance wheel device to move the object to the corresponding second sliding groove based on the object information, so that the object falls into the middle layer frame.

S82: and controlling the sorting equipment to carry out secondary sorting on the articles falling into the middle-layer frame and move the articles subjected to secondary sorting to the lower-layer frame.

In some embodiments of the present application, controlling the sorting apparatus to secondarily sort the articles falling into the middle layer frame and move the secondarily sorted articles to the lower layer frame includes:

(1) and controlling the mechanical arm to move, and moving the mechanical arm sorting end effector to be right below the sliding chute to obtain the object falling from the sliding chute.

In one specific embodiment, after the mechanical arm sorting end effector is moved to be right below the chute, the chute baffle on the chute is controlled to be opened, so that the articles cached in the chute fall into the mechanical arm sorting end effector.

(2) And controlling the mechanical arm to move based on the object information so as to move the object in the mechanical arm sorting end effector to the target sorting grid.

In the embodiment of the application, the object information includes position information of a target sorting cell corresponding to the object. Specifically, according to the position information of the target sorting cell, the motion path of the mechanical arm sorting end effector is planned in the grid space, and the motion path of the mechanical arm sorting end effector may be planned in the grid space by using a motion planning algorithm (such as RRT, PRM, artificial potential field algorithm, etc.), which is not described herein in detail.

In one particular embodiment, the robotic sorting end effector is the robotic sorting end effector 162 of fig. 6 and the text describing it. And controlling the motion of the mechanical arm based on the object information, and moving the object in the mechanical arm sorting end effector to the position above the target sorting grid. The robot arm motion is controlled to flip the robot arm sorting end effector 162 so that the article in the robot arm sorting end effector 162 falls into the target sorting cell.

In another specific embodiment, the robotic sorting end effector is the robotic sorting end effector 262 of fig. 7 and the text describing the same. And controlling the motion of the mechanical arm based on the object information, and moving the object in the mechanical arm sorting end effector to the position above the target sorting grid. The robot arm motion is controlled to flip the robot arm sorting end effector 262 so that the article in the robot arm sorting end effector 263 falls into the target sorting cell.

In yet another specific embodiment, the robotic arm sorting end effector is the robotic arm sorting end effector 362 of fig. 8-10 and the description thereof. After the robot sorting end effector 362 acquires the object falling from the chute, the control device controls the suction cup 308 of the robot sorting end effector 362 to suck the object to ensure that the object does not shake while moving. The robot arm is controlled to move based on the article information to move the article in the robot arm sorting end effector 362 to above the target sorting cell. The control device controls the suction cup 308 to release the suction of the object. The control apparatus controls the pusher bar 303 on the robotic arm sorting end effector 362 to move along the slide 302 to push the article in the robotic arm sorting end effector 362 into the target sorting cell.

Further, the target sorting bin is the sorting bin 17 of fig. 11 and 12 and the text therein. The control equipment controls the image acquisition device to acquire images and acquires image information in the target sorting grid. The height of the object in the target sorting cell and the height of the target sorting cell are calculated based on the image information. And controlling the lifting device in the target sorting grid to drive the bottom plate to ascend or descend based on the height of the object in the target sorting grid and the height of the target sorting grid.

Specifically, the difference between the height of the target sorting cell and the height of the object in the target sorting cell is calculated, and whether the difference between the height of the target sorting cell and the height of the object in the target sorting cell exceeds a first preset height is judged. And if the difference between the height of the target sorting grid and the height of the objects in the target sorting grid does not exceed the first preset height, controlling a lifting device in the target sorting grid to drive the bottom plate to descend by a second preset height. The difference between the height of the target sorting grid and the height of the objects in the target sorting grid is not more than a first preset height, which indicates that the height of the objects is higher, the falling height of the objects falling from the upper side of the target sorting grid is lower, the objects can not be damaged when falling into the target sorting grid, the height of the bottom plate in the target sorting grid is reduced, the height of the objects in the target sorting grid can be properly reduced, and the objects can be prevented from falling into the target sorting grid from falling off from the top opening in the target sorting grid. And if the height difference between the height of the target sorting grid and the height of the object in the target sorting grid exceeds a third preset height, controlling a lifting device in the target sorting grid to drive a bottom plate to ascend by a second preset height, wherein the first preset height does not exceed the third preset height. The height difference of the target sorting grid and the height of the objects in the target sorting grid exceed a third preset height, which shows that the height of the objects is lower at the moment, the falling height of the objects falling from the upper side of the target sorting grid is higher, the objects are easily damaged when falling into the target sorting grid, the height of a bottom plate in the target sorting grid is increased, the height of the objects in the target sorting grid can be properly increased, and the objects falling into the target sorting grid and the objects in the target sorting grid are prevented from being too strongly collided and damaged. The specific values of the first preset height, the second preset height and the third preset height are set according to specific situations, and the specific values are not limited in the present application.

(3) And controlling the bottom plate on the target sorting grid to be opened so that the objects in the target sorting grid fall to the lower layer frame.

Specifically, the target sorting bin is the sorting bin 17 depicted in fig. 11 and 12 and the text therein. The control equipment controls the first switch and the second switch on the target sorting grid to be opened so that the objects in the target sorting grid can fall into the lower-layer frame.

S83: and controlling the goods taking equipment to move to the goods taking equipment stop position of the lower layer frame so as to receive the secondarily sorted articles.

Specifically, after the target sorting grid is determined, the goods taking equipment is controlled to move to the position below the target sorting grid. The goods taking device can be a robot with a vision device, and the goods taking device moves to the position below the target sorting grid according to the navigation. The control device controls the goods taking device to move to the position below the target sorting grid, so that the goods taking device receives the secondarily sorted articles falling from the middle layer frame.

Referring to fig. 18, fig. 18 is a schematic structural diagram of an embodiment of the control device provided in the embodiment of the present application.

As shown in fig. 18, an embodiment of the present application further provides a control device, which may be the control device in the article sorting system, or may be a separate control device, where the control device includes:

one or more processors;

a memory; and

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor for performing the steps of the method of sorting items of any of the embodiments of fig. 17 and the text description thereof.

As shown in fig. 18, a schematic structural diagram of a control device according to an embodiment of the present application is shown, specifically:

the control device may include components such as a processor 501 of one or more processing cores, memory 502 of one or more computer-readable storage media, a power supply 503, and an input unit 504. Those skilled in the art will appreciate that the control device configuration shown in fig. 18 does not constitute a limitation of the control device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components. Wherein:

the processor 501 is a control center of the control apparatus, connects various parts of the entire control apparatus by various interfaces and lines, and performs various functions of the control apparatus and processes data by running or executing software programs and/or modules stored in the memory 502 and calling data stored in the memory 502, thereby performing overall monitoring of the control apparatus. Optionally, processor 501 may include one or more processing cores; preferably, the processor 501 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 501.

The memory 502 may be used to store software programs and modules, and the processor 501 executes various functional applications and data processing by operating the software programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data created according to the use of the control apparatus, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 502 may also include a memory controller to provide the processor 501 with access to the memory 502.

The control device further comprises a power supply 503 for supplying power to the various components, and preferably, the power supply 503 may be logically connected to the processor 501 through a power management system, so that functions of managing charging, discharging, power consumption, and the like are realized through the power management system. The power supply 503 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.

The control device may also include an input unit 504, where the input unit 504 may be used to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball information inputs related to user settings and function control.

Although not shown, the control apparatus may further include a display unit and the like, which are not described in detail herein. Specifically, in this embodiment of the present application, the processor 501 in the control device loads the executable file corresponding to the process of one or more application programs into the memory 502 according to the following instructions, and the processor 501 runs the application programs stored in the memory 502, so as to implement various functions as follows:

controlling the loading equipment to perform primary sorting on the objects, and moving the objects subjected to primary sorting to the middle-layer frame;

controlling the sorting equipment to carry out secondary sorting on the articles falling into the middle-layer frame and moving the articles subjected to secondary sorting to the lower-layer frame;

and controlling the goods taking equipment to move to the goods taking equipment stop position of the lower layer frame so as to receive the secondarily sorted articles.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be performed by instructions or by associated hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by a processor.

To this end, an embodiment of the present application provides a computer-readable storage medium, which may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like. The computer readable storage medium has stored therein a plurality of instructions that can be loaded by the processor to perform the steps of any of the article sorting methods provided by the embodiments of the present application. For example, the instructions may perform the steps of:

controlling the loading equipment to perform primary sorting on the objects, and moving the objects subjected to primary sorting to the middle-layer frame;

controlling the sorting equipment to carry out secondary sorting on the articles falling into the middle-layer frame and moving the articles subjected to secondary sorting to the lower-layer frame;

and controlling the goods taking equipment to move to the goods taking equipment stop position of the lower layer frame so as to receive the secondarily sorted articles.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.

In a specific implementation, each unit or structure may be implemented as an independent entity, or may be combined arbitrarily to be implemented as one or several entities, and the specific implementation of each unit or structure may refer to the foregoing method embodiment, which is not described herein again.

The foregoing detailed description is directed to an article sorting system, method and storage medium provided in the embodiments of the present application, and the principles and implementations of the present application are described herein using specific examples, which are provided only to help understand the methods and core ideas of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.