CN109465200B - Automatic article sorting equipment and method - Google Patents
Automatic article sorting equipment and method Download PDFInfo
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- CN109465200B CN109465200B CN201811170890.5A CN201811170890A CN109465200B CN 109465200 B CN109465200 B CN 109465200B CN 201811170890 A CN201811170890 A CN 201811170890A CN 109465200 B CN109465200 B CN 109465200B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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Abstract
The embodiment of the application relates to the technical field of article sorting, and provides automatic article sorting equipment which comprises a first mechanical arm, a second mechanical arm and a third mechanical arm, wherein the first mechanical arm periodically swings around a motion shaft positioned at a shoulder joint and is connected with the second mechanical arm through a connecting shaft positioned at an elbow joint; the second mechanical arm can rotate freely around the connecting shaft of the elbow joint so as to drive the picking device to pick and stack the articles to be sorted; the picking device is used for picking and stacking the articles to be sorted. The automatic article letter sorting equipment of this application embodiment realizes the high efficiency letter sorting operation of article through the periodic swing of arm, and the cooperation conveyer belt is treated letter sorting article and is carried out non-intermittent letter sorting and stacking work. The periodic swing of arm is done in this application embodiment is easily operated and is realized on mechanical structure, sorts efficiently, approaches the physical speed limit with the functioning speed of arm unrestricted, further improves the efficiency of whole automation mechanized operations.
Description
Technical Field
The application relates to the technical field of article sorting, in particular to automatic article sorting equipment and method.
Background
With the popularization of network informatization, online shopping is more and more convenient, which drives the vigorous development of express delivery industry in China, the package quantity is gradually increased, and the destinations are more and more extensive. The logistics sorting work is to rapidly and accurately distinguish the packages concentrated to the distribution center according to destinations so as to facilitate subsequent transportation work.
Most logistics enterprises in the early stage adopt manual sorting operation, but letter sorting efficiency and precision are all not ideal, and violence letter sorting, wrong distribution, missed distribution and the like are very common, especially in recent years's rapid development, the parcel that concentrates on the reposition of redundant personnel center need be sorted out by quick accuracy, otherwise the parcel will be piled up like the mountain very soon. In addition, the parcel sorting work needs to be completed by a large amount of manpower, the workload is very large, the speed is slow, the parcel transfer time is long, and the overstock phenomenon appears endlessly, which seriously restricts the rapid development of the express delivery industry in China.
At present, most logistics enterprises adopt automatic operation, including operation processes of transportation, loading and unloading, packaging, sorting, identification and the like, and make full use of technical means such as automatic identification systems, automatic detection systems, automatic sorting systems, automatic access systems, automatic tracking systems and the like of various machines, transportation equipment, computer systems, comprehensive operation coordination and the like. In the automatic sorting system, the automatic sorting equipment is the core for improving the working efficiency of the whole automatic sorting system, and is also the response to the national policy of replacing people with robots, so that the automatic sorting equipment is the key for sorting by using manpower sparingly and improving the transfer efficiency.
Disclosure of Invention
In view of the above, in order to cooperate with a high-speed running conveyor belt to improve the work efficiency of a sorting system and save labor and time costs, the present application provides an automatic article sorting apparatus and a sorting method, which can realize a sorting efficiency close to a physical limit speed and can be used in cooperation with various types of conveyor belts and automatic operation systems for article distribution and the like.
Based on the above-mentioned purpose, this application provides an automatic article letter sorting equipment, includes:
the first mechanical arm swings periodically around a motion shaft positioned at the shoulder joint and is connected with the second mechanical arm through a connecting shaft positioned at the elbow joint;
the second mechanical arm can rotate freely around the connecting shaft of the elbow joint so as to drive the picking device to pick and stack the articles to be sorted;
the picking device is used for picking and stacking the articles to be sorted.
In some embodiments, the pick-up device is a T-shaped centrifugal force gripper disposed at an end of the second mechanical arm.
In some embodiments, the T-shaped centrifugal force gripper comprises: the sucking disc panel is connected with the tail end of the second mechanical arm and is used for sucking the articles to be sorted; and the baffle is perpendicular to the sucker panel and used for preventing the objects to be sorted from scattering in the adsorption process.
In some embodiments, the T-shaped centrifugal force gripper adsorbs the item to be sorted through the suction cup panel at the point of maximum angular velocity of the periodic oscillation.
In some embodiments, the periodic oscillation drives the first and second robotic arms at a predetermined frequency.
In some embodiments, the suction cup panel generates suction force to the article to be sorted by a vacuum pump.
In some embodiments, the automated item sorting apparatus further comprises:
the control system is used for receiving the destination information of the articles and controlling the first mechanical arm and the second mechanical arm to place the articles into corresponding containers according to the destinations of the articles.
In some embodiments, the control system controls a rotation angle at which the second robot arm is freely rotated about the connecting axis of the elbow joint, based on the destination information of the article, so as to place the article into the corresponding container according to the destination of the article.
The application also provides an automatic article sorting method, which comprises the following steps:
an article picking step, wherein a first mechanical arm drives a second mechanical arm connected with the tail end of the first mechanical arm to periodically swing, and when the first mechanical arm is at the maximum angular velocity point of the periodic swing, a picking device arranged at the tail end of the second mechanical arm adsorbs an article, and the second mechanical arm can also freely rotate so as to adjust the contact position of the picking device and the article;
and an article stacking step, wherein after the articles are picked up, the control system controls the first mechanical arm and the second mechanical arm to place the articles into the corresponding containers according to the destinations of the articles to be sorted.
In some embodiments, in the article stacking step, the control system controls a rotation angle at which the second robot arm is freely rotated about the connecting axis of the elbow joint, based on the destination information of the article, so as to place the article into the corresponding container according to the destination of the article.
The embodiment of the application provides automatic article sorting equipment and a sorting method, wherein a first mechanical arm swings periodically around a motion shaft positioned at a shoulder joint and is connected with a second mechanical arm through a connecting shaft positioned at an elbow joint; the second mechanical arm can rotate freely around the connecting shaft of the elbow joint so as to drive the picking device to pick and stack the articles to be sorted; the picking device is used for picking and stacking the articles to be sorted.
The automatic article sorting method comprises an article picking step, wherein a first mechanical arm swings periodically and drives a second mechanical arm connected with the tail end of the first mechanical arm to adsorb articles to be sorted; the second mechanical arm adsorbs the articles to be sorted through a picking device arranged at the tail end of the second mechanical arm, and the second mechanical arm can rotate freely to adjust the contact position of the picking device and the articles to be sorted; and an article stacking step, wherein after the articles are picked up, the control system controls the first mechanical arm and the second mechanical arm to place the articles into the corresponding containers according to the destinations of the articles to be sorted.
In the automated article sorting apparatus provided by the embodiments of the present application, the first robot arm is connected to the second robot arm at an elbow joint, and the end of the second robot arm is connected to the T-shaped centrifugal force gripper. The first mechanical arm swings around the shoulder joint periodically, and the second mechanical arm can rotate around the elbow joint freely. Namely, the second mechanical arm is driven by the first mechanical arm to periodically swing, so that the T-shaped centrifugal force gripper is close to the articles to be sorted. In the process that the T-shaped centrifugal force clamp holder adsorbs the objects to be sorted, the second mechanical arm can rotate freely around the elbow joint to finely adjust the contact position of the T-shaped centrifugal force clamp holder and the objects to be sorted so as to improve the success rate of the adsorption of the objects. The periodic swing can realize the non-intermittent sorting of the articles, and the T-shaped centrifugal force clamp holder can prevent the articles from scattering in the adsorption process.
In actual logistics system, the automatic article sorting equipment provided by the application can be matched with the high-speed running conveyor belt to perform non-intermittent sorting and stacking work on articles to be sorted, and the efficiency of logistics automation operation is improved. The periodic swing is easy to operate and realize on a mechanical structure, the sorting efficiency is high, the operation speed of the mechanical arm is infinitely close to the physical speed limit, and the efficiency of the whole automatic operation is further improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a block diagram of an automated article sorting apparatus according to a first embodiment of the present application;
fig. 2 is a schematic structural view (left side view) of an automated article sorting apparatus according to a first embodiment of the present application;
FIG. 3 is a schematic diagram of a periodic wobble according to an embodiment of the present application
FIG. 4 is a schematic structural view of a T-shaped centrifugal force clamp of an embodiment of the present application;
fig. 5 is a schematic structural view (top view) of an automated article sorting apparatus and method according to a second embodiment of the present application;
fig. 6 is a schematic structural diagram (top view) of an automated article sorting apparatus and method according to a third embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
Fig. 1 is a block diagram of an automated article sorting apparatus according to a first embodiment of the present application. The embodiment one provides an automatic article sorting device, which comprises a first mechanical arm 1, a second mechanical arm 2, a first conveying device and a second conveying device, wherein the first mechanical arm 1 is periodically swung around a movement shaft positioned at a shoulder joint 5 (shown in figure 3), and is connected with the second mechanical arm 2 through a connecting shaft positioned at an elbow joint; the second mechanical arm 2 is connected with the first mechanical arm 1 through the connecting shaft of the elbow joint 6 and can freely rotate around the connecting shaft so as to drive the picking device 3 to pick and stack the articles to be sorted; the picking device 3 is used for picking and stacking the articles to be sorted; and the control system 4 is used for receiving the destination information of the articles and controlling the first mechanical arm 1 and the second mechanical arm 2 to place the articles into corresponding containers according to the destinations of the articles.
The first mechanical arm 1 swings periodically and drives the second mechanical arm 2 connected with the tail end of the first mechanical arm to adsorb an article to be sorted through the picking device 3 arranged at the tail end of the second mechanical arm 2, and in the process, the second mechanical arm 2 can rotate freely to adjust the contact position of the picking device 3 and the article to be sorted; and an article stacking step, wherein after the articles are picked up, the control system 4 controls the first mechanical arm 1 and the second mechanical arm 2 to place the articles into the corresponding containers according to the destinations of the articles to be sorted.
As shown in fig. 2, the first robot arm 1, the second robot arm 2, and the pickup device 3 are connected in this order. The first mechanical arm 1 swings periodically around the movement axis of the shoulder joint 5, such as the periodic swing curve shown in fig. 3, wherein the horizontal axis X represents the time axis t, and the vertical axis Y represents the angle α of the arm direction of the first mechanical arm with respect to the horizontal reference line, so that the second mechanical arm 2 and the pickup device 3 swing periodically along with the first mechanical arm 1 and thereby approach the article to be sorted for adsorption. Wherein said pick-up means 3 is a T-shaped centrifugal gripper, as shown in fig. 4, comprising a suction cup panel 31 directly connected to the end of said second mechanical arm, for sucking said item, operated by a vacuum pump; and the baffle 32 is vertical to the sucker panel and is used for preventing the objects from scattering in the process of being adsorbed, so that the adsorption efficiency of the objects is improved. In addition, the second mechanical arm 2 can rotate freely around the elbow joint 6, so that the contact position of the pickup device 3 and the article to be sorted can be flexibly fine-adjusted, and the pickup device 3 can efficiently and accurately adsorb the article to be sorted.
The T-shaped centrifugal force gripper 3 sucks the article through the suction cup panel 31 at the highest point of the angular velocity of the periodic oscillation. In the process of adsorption, the second mechanical arm 2 can enable the 'I' formed by the suction cup panel 31 and the baffle 32 to cover two surfaces of the article through free rotation movement, which not only can improve the success rate of article adsorption, but also can prevent the article to be sorted from scattering in the adsorption process. Meanwhile, the control system 4 receives destination information of the to-be-sorted articles, and after the pickup device 3 adsorbs the to-be-sorted articles, the control system 4 controls the first mechanical arm 1 and the second mechanical arm 2 to place the to-be-sorted articles into corresponding containers.
In particular, in one application, the items to be sorted are placed on a platform having a low friction surface that is at a height above the destination container mouth. If the conveyor belt is coated with Teflon material, the Teflon material is polytetrafluoroethylene, and is a synthetic high polymer material which uses fluorine to replace all hydrogen atoms in polyethylene. The polytetrafluoroethylene has extremely low friction coefficient, and the polytetrafluoroethylene can be used as a coating of a loading platform for articles to be sorted, so that the friction force between the articles and the platform can be greatly reduced, the adsorption success rate of the T-shaped centrifugal force holder is indirectly improved, and the probability of scattering in the process of adsorbing the articles is reduced. In addition, the first robot arm is set to perform a periodic left-right swinging motion at a frequency of 0.5-2Hz, so that the graph of the angle α of the arm direction of the first robot arm with respect to the horizontal reference line is a sine wave a, and referring to fig. 3, the graph of the angular velocity of the first robot arm is a sine wave B. As shown in fig. 3, the angular velocity of the first arm is the maximum when T is 0 seconds, that is, the maximum angular velocity point when T is 0, and the angle α of the arm direction of the first arm with respect to the horizontal reference line is 0 at this time point, and the T-shaped centrifugal force gripper 3 sucks the article through the suction pad panel 31 at this time point.
If the suction force of the suction cup panel to suck the to-be-sorted article is not large enough, the to-be-sorted article may fall off during the process that the robot holds the to-be-sorted article and moves to the destination container (i.e., during the process that the angle of the arm direction of the first robot arm is from α ═ 0 to α ═ 90 degrees with respect to the horizontal reference line). If the first mechanical arm swings left and right in a cycle time of 1Hz, the height of the platform is higher than the destination container mouth, specifically, the distance between the plane of the platform and the destination container mouth is 35cm, even if the adsorption force is insufficient, the article can still fall into the destination container within one quarter cycle, because the free fall distance within t being 0.25s is 30 cm. In the process, the speed of the platform for conveying the articles to be sorted must be accurately synchronized to ensure the efficiency of the mechanical arm for sorting the articles through periodic movement.
In an embodiment of the present application, the first arm is connected to the second arm by a toggle joint, and the end of the second arm is connected to a T-shaped centrifugal force holder. The first mechanical arm swings around the shoulder joint periodically, and the second mechanical arm can rotate around the elbow joint freely. Namely, the second mechanical arm is driven by the first mechanical arm to periodically swing, so that the T-shaped centrifugal force gripper is close to the articles to be sorted. In the process that the T-shaped centrifugal force clamp holder adsorbs the objects to be sorted, the second mechanical arm can rotate freely around the elbow joint to finely adjust the contact position of the T-shaped centrifugal force clamp holder and the objects to be sorted so as to improve the success rate of the adsorption of the objects. The periodic swing can realize the non-intermittent sorting of the articles, and the T-shaped centrifugal force clamp holder can prevent the articles from scattering in the adsorption process. In actual logistics system, the automatic thing article letter sorting equipment that this application provided can cooperate high-speed moving conveyer belt to treat to sort the article and carry out non-intermittent letter sorting and put things in good order work, improves the efficiency of the automatic operation of commodity circulation. The periodic swing is easy to operate and realize on a mechanical structure, the sorting efficiency is high, the operation speed of the mechanical arm is infinitely close to the physical speed limit, and the efficiency of the whole automatic operation is further improved.
Example 2
As shown in fig. 5, the automated article sorting apparatus according to the second embodiment can be applied to a logistics system with an article sorting function. The automatic object sorting equipment comprises a first mechanical arm 1, a second mechanical arm 2 and a third mechanical arm, wherein the first mechanical arm 1 swings periodically around a motion shaft positioned at a shoulder joint 5 (shown in figure 3), and is connected with the second mechanical arm through a connecting shaft positioned at an elbow joint; the second mechanical arm 2 is connected with the first mechanical arm 1 through the connecting shaft of the elbow joint 6 and can freely rotate around the connecting shaft so as to drive the picking device 3 to pick and stack the articles to be sorted; the picking device 3 is used for picking and stacking the articles to be sorted; and the control system 4 is used for receiving the destination information of the articles and controlling the first mechanical arm 1 and the second mechanical arm 2 to place the articles into corresponding containers according to the destinations of the articles.
In this embodiment, we place one on each side of the workspace, assuming two containers are set up to load packages per destination. The logistics system also comprises a conveyor belt 7 used for conveying the articles to be sorted; a container 8 for loading the packages of destination a; a container 9 for loading the package of destination B; a container 10 for loading packages of destination C.
In particular, the conveyor belt 7 is coated with Teflon material, reducing the friction between the items to be sorted and the conveyor belt 7, so as to better attract the items. The conveyor belt 7 is positioned higher than the container mouth of the container. The first mechanical arm 1 drives the second mechanical arm 22 and the T-shaped centrifugal force clamp to periodically swing. When the rotating shaft moves to the highest angular velocity point, namely the angle alpha between the first mechanical arm and the reference line is zero, the T-shaped centrifugal force clamp holder adsorbs the object to be sorted on the conveyor belt 7 through the T-shaped suction disc 31, the second mechanical arm 2 rotates freely through the elbow joint 6, and the contact position of the T-shaped centrifugal force clamp holder and the object can be adjusted, so that the object can be adsorbed more accurately.
After the article is adsorbed, the first mechanical arm drives the adsorbed article to move towards the direction of the destination container, in the process, the angle alpha between the mechanical arm and the reference line is changed from zero degrees to ninety degrees, and if the adsorption force is insufficient, the article may fall off. The present embodiment sets the frequency of the periodic movement to 1Hz and the distance between the plane of the platform and the mouth of the destination container to 35cm, since the free fall distance in t-0.25 s is 30 cm. Thus, even if the suction force is insufficient, the article can still fall into the destination container within a quarter of the cycle. In the process, the speed of the platform for conveying the articles to be sorted must be accurately synchronized to ensure the efficiency of the mechanical arm for sorting the articles through periodic movement.
In particular, if the angular velocity is too high or the weight of the article is small, the article may be displaced during the contact of the suction cup panel 31 with the article to be sorted, and the baffle 32 prevents the article from scattering during the contact. When the T-shaped centrifugal force gripper successfully adsorbs the article to be sorted, the control device 4 controls the first mechanical arm 1 and the second mechanical arm 2 to place the article to be sorted into the corresponding container according to the destination information of the article to be sorted. In the embodiment, no matter what the destination of the article to be sorted is, because the containers of all destinations are arranged on two sides of the working space, the sorting equipment can quickly place the article to be sorted into the container on the adjacent side through periodic swinging, redundant swinging is avoided, and the working efficiency is improved.
In the second embodiment of the present application, the first mechanical arm is connected to the second mechanical arm by an elbow joint, and the end of the second mechanical arm is connected to the T-shaped centrifugal force gripper. The first mechanical arm swings around the shoulder joint periodically, and the second mechanical arm can rotate around the elbow joint freely. Namely, the second mechanical arm is driven by the first mechanical arm to periodically swing, so that the T-shaped centrifugal force gripper is close to the articles to be sorted. In the process that the T-shaped centrifugal force clamp holder adsorbs the objects to be sorted, the second mechanical arm can rotate freely around the elbow joint to finely adjust the contact position of the T-shaped centrifugal force clamp holder and the objects to be sorted so as to improve the success rate of the adsorption of the objects. The periodic swing can realize the non-intermittent sorting of the articles, and the T-shaped centrifugal force clamp holder can prevent the articles from scattering in the adsorption process. The automatic sorting machine is easy to operate and realize in a mechanical structure, high in sorting efficiency, and capable of enabling the operation speed of the mechanical arm to be unlimited close to the physical speed limit, and further improving the efficiency of the whole automatic operation.
Example 3
In a practical logistics system, due to the fact that the number of packages at each destination is different or the sorting task is different, the number of containers used for loading the packages is also different, and therefore the placement of the packages is also different in the working space of the sorting operation.
As shown in fig. 6, the containers are arranged in sequence on either side of the workspace, assuming that the destination has only one container to load with packages. The third embodiment provides an automatic article sorting apparatus, which includes a first robot arm 1 that swings periodically around a motion axis located at a shoulder joint 5 (as shown in fig. 3), and is connected to a second robot arm 2 through a connecting axis located at an elbow joint; the second mechanical arm 2 is connected with the first mechanical arm 1 through the connecting shaft of the elbow joint 6 and can freely rotate around the connecting shaft so as to drive the picking device 3 to pick and stack the articles to be sorted; the picking device 3 is used for picking and stacking the articles to be sorted; and the control system 4 is used for receiving the destination information of the articles and controlling the first mechanical arm 1 and the second mechanical arm 2 to place the articles into corresponding containers according to the destinations of the articles.
The automatic article sorting equipment provided by the embodiment is applied to a logistics system with an article sorting function, and further comprises a conveyor belt 7 for conveying articles to be sorted; a container 8 for loading the packages of destination a; a container 9 for loading the package of destination B; a container 10 for loading packages of destination C; and a container 11 for loading the package of the destination D.
The first mechanical arm 1 drives the second mechanical arm 2 and the T-shaped centrifugal force clamp holder to periodically swing. As shown in fig. 3, the pattern of the angle α of the first arm with respect to the horizontal reference line is a sine wave a, and the pattern of the angular velocity of the first arm is a sine wave B. When the T-shaped centrifugal force gripper moves to the highest angular velocity point, that is, T is 0, the T-shaped centrifugal force gripper sucks the article to be sorted on the conveyor belt through the suction cup panel 31. The second mechanical arm 2 freely rotates through the elbow joint 6, and the contact position of the T-shaped centrifugal force clamp and the object can be adjusted, so that the object can be more accurately adsorbed. If the angular velocity is too high or the weight of the article is small, the article may be displaced during the contact of the suction cup panel 31 with the article to be sorted, and the baffle 32 prevents the article from falling out during the process. When the T-shaped centrifugal force gripper successfully adsorbs the article to be sorted, the control device 4 controls the first mechanical arm 1 and the second mechanical arm 2 to place the article to be sorted into the corresponding container according to the destination information of the article to be sorted.
In this embodiment, the rapid sorting apparatus can simultaneously suck two articles to be sorted having the same destination and put them together into a container. Before the adsorption, if the control system 4 determines that the adjacent articles on the conveyor belt belong to the same destination, the first mechanical arm 1 and the second mechanical arm 2 are controlled to continue to perform periodic oscillation after completing the adsorption of one article. And when the angular velocity is the highest point again, controlling the T-shaped centrifugal force clamp to adsorb the next article, and after the adsorption is finished, controlling the first mechanical arm 1 and the second mechanical arm 2 by the control system 4 to simultaneously place the article and the article into corresponding containers.
In the third embodiment of the present application, an automated article sorting apparatus is provided, in which a first robot arm is connected to a second robot arm at an elbow joint, and a tip end of the second robot arm is connected to a T-shaped centrifugal force gripper. The first mechanical arm swings around the shoulder joint periodically, and the second mechanical arm can rotate around the elbow joint freely. Namely, the second mechanical arm is driven by the first mechanical arm to periodically swing, so that the T-shaped centrifugal force gripper is close to the articles to be sorted. In the process that the T-shaped centrifugal force clamp holder adsorbs the objects to be sorted, the second mechanical arm can rotate freely around the elbow joint to finely adjust the contact position of the T-shaped centrifugal force clamp holder and the objects to be sorted so as to improve the success rate of the adsorption of the objects. The periodic swing can realize the non-intermittent sorting of the articles, and the T-shaped centrifugal force clamp holder can prevent the articles from scattering in the adsorption process. The automatic sorting machine is easy to operate and realize in a mechanical structure, high in sorting efficiency, and capable of enabling the operation speed of the mechanical arm to be unlimited close to the physical speed limit, and further improving the efficiency of the whole automatic operation.
In the above embodiment, the number of destinations of the article is not limited to this, and may be three destinations in embodiment two, four destinations in embodiment three, or other numbers as the case may be.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (8)
1. An automated item sorting apparatus, comprising:
the first mechanical arm swings periodically around a motion shaft positioned at the shoulder joint and is connected with the second mechanical arm through a connecting shaft positioned at the elbow joint;
the second mechanical arm can rotate freely around the connecting shaft of the elbow joint so as to drive the picking device to pick and stack the articles to be sorted;
the picking device is used for picking and stacking the articles to be sorted;
wherein the pick-up device is a T-shaped centrifugal force gripper disposed at a distal end of the second robotic arm;
the T-shaped centrifugal force gripper comprises: the sucking disc panel is connected with the tail end of the second mechanical arm and is used for sucking the articles to be sorted; and the baffle is perpendicular to the sucker panel and used for preventing the objects to be sorted from scattering in the adsorption process.
2. An automated sorting device according to claim 1, characterised in that the T-shaped centrifugal force grippers attract the items to be sorted through the suction cup panels at the point of maximum angular velocity of the periodic oscillation.
3. The automated sorting device of claim 2, wherein the periodic oscillation drives the first and second robotic arms at a predetermined frequency.
4. The automated sorting device of claim 3, wherein the suction cup panel generates suction force to the items to be sorted by a vacuum pump.
5. The automated sorting apparatus of claim 1, further comprising a control system for receiving destination information of the items to be sorted and controlling the first and second robotic arms to place the items to be sorted into respective receptacles according to their destinations.
6. An automated sorting device according to claim 5, characterised in that the control system controls the rotation angle of the second robot arm free to rotate about the connecting axis of the elbow joint in accordance with the destination information of the items to be sorted, in order to place them in the respective receptacles according to their destination.
7. An automatic article sorting method is characterized by comprising the following steps:
in the step of picking up the articles, a first mechanical arm drives a second mechanical arm connected with the tail end of the first mechanical arm to periodically swing, and when the first mechanical arm is at the maximum angular velocity point of the periodic swing, a picking device arranged at the tail end of the second mechanical arm adsorbs the articles to be sorted, and the second mechanical arm can also freely rotate so as to adjust the contact position of the picking device and the articles to be sorted; the first mechanical arm is connected with a second mechanical arm through a connecting shaft positioned at an elbow joint, and the second mechanical arm can freely rotate around the connecting shaft of the elbow joint;
an article stacking step, after the articles to be sorted are picked up, a control system controls the first mechanical arm and the second mechanical arm to place the articles to be sorted into corresponding containers according to the destination of the articles to be sorted;
wherein the pick-up device is a T-shaped centrifugal force gripper disposed at a distal end of the second robotic arm;
the T-shaped centrifugal force gripper comprises: the sucking disc panel is connected with the tail end of the second mechanical arm and is used for sucking the articles to be sorted; and the baffle is perpendicular to the sucker panel and used for preventing the objects to be sorted from scattering in the adsorption process.
8. The automated article sorting method according to claim 7, wherein in the article stacking step, the control system controls the rotation angle of the second robot arm to rotate freely about the connecting shaft of the elbow joint based on the destination information of the article to be sorted so as to place the article to be sorted into the corresponding container in accordance with the destination of the article to be sorted.
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| CN206184781U (en) * | 2016-11-10 | 2017-05-24 | 天津农学院 | Mail sorting system |
| CN107008657A (en) * | 2017-05-11 | 2017-08-04 | 东莞市世通国际快件监管中心有限公司 | A kind of logistics sorts platform |
| CN107570432B (en) * | 2017-09-29 | 2018-08-31 | 南京昱晟机器人科技有限公司 | A kind of robot system and its control method |
| CN108529228A (en) * | 2018-05-03 | 2018-09-14 | 南京朝阳玻璃有限公司 | Protection type apparatus for conveying glass |
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