CN111169996B

CN111169996B - Sorting device

Info

Publication number: CN111169996B
Application number: CN202010000251.5A
Authority: CN
Inventors: 罗文成; 刘思文; 苏鑫; 李林; 梁瑞豪
Original assignee: Foshan Longshen Robot Co Ltd
Current assignee: Foshan Longshen Robot Co Ltd
Priority date: 2020-01-02
Filing date: 2020-01-02
Publication date: 2021-12-24
Anticipated expiration: 2040-01-02
Also published as: CN111169996A

Abstract

The invention relates to the technical field of robots, and provides a sorting device which is arranged at the side part of a conveying belt and comprises a fixed frame, a driving device, a rotating shaft and a fan, wherein the fixed frame is provided with a tray for mounting superposed workpieces, the rotating shaft is provided with a mechanical arm aligned with the tray on the fixed frame, and the mechanical arm is provided with a suction head for sucking and placing the workpieces; the driving device drives the rotating shaft to rotate so as to enable the mechanical arm to move to the tray to suck the workpiece; the fixing frame is further provided with a plurality of limiting pipes which are uniformly distributed on the periphery of the tray, the limiting pipes are connected with the fan, the limiting pipes are provided with air jet holes towards the direction of the tray, and the air jet holes are used for ejecting air flow generated by the fan towards the tray so as to separate the workpiece on the top layer for the mechanical arm to suck. The sorting device has the function of separating superposed workpieces in the workpiece taking process, so that the workpiece superposition rate is effectively reduced, and the processing efficiency is improved.

Description

Sorting device

Technical Field

The invention relates to the technical field of robots, in particular to a sorting device.

Background

With the increasing development of science and technology, in the production and processing operation, the manual assembly line operation originally adopted has been gradually replaced by the full mechanical automation production line, so as to effectively save the labor cost, in particular to the standardized industrial production environment, the high-tech industrial robot equipment has been adopted as the processing node on the production line, the manual operation is replaced, the modern production and processing are carried out by utilizing the advantages of high stability, large bearing capacity, accurate operation and the like of the industrial robot, and the industrial robot has been gradually popularized to various large full mechanical automation production lines.

The processed workpieces are various in types, in order to save storage space, some workpieces are in a superposed state when stored, and the workpieces in the superposed state are sorted out to form a single individual body during actual processing so as to be processed in the next step. For example: in the plastic plates of the common fast food tableware, the plastic plates are stacked and need to be sorted one by one in the sorting process. If the tray is manually handled, a large amount of operation time is consumed, and the adjacent trays in the stacking state have viscosity, so that the trays are difficult to effectively separate, and need to be carefully lifted one by one, thereby further improving the processing difficulty and time consumption and having low operation efficiency. Therefore, a device specially used for sorting overlapped workpieces has been proposed in the prior art, the device is in a turntable structure, a suction rod with a suction function and a discharge function is arranged on the turntable, the overlapped workpieces are separated and extracted in the rotation process of the turntable, and then the position of the overlapped workpieces is transferred along with the rotation of the turntable, so that the manual operation is effectively replaced, and the processing efficiency is improved.

The prior art pick-up device has single function, and only picks up and transfers the workpiece in the rotation process of the turntable, but because a certain viscosity exists between adjacent workpieces in a superposed state, each workpiece is difficult to be completely separated in the pick-up process, so that the sucked workpieces are easy to overlap. Therefore, the prior art pickup device has the defects, and is a research problem of the current manufacturers.

Disclosure of Invention

The invention aims to provide a sorting device, aiming at the problem that the workpiece taking device in the prior art is difficult to effectively separate workpieces in a stacked state, the structure of the sorting device is improved, so that the sorting device has the function of separating stacked workpieces in the workpiece taking process, the stacking rate of the workpieces is effectively reduced, and the processing efficiency is improved.

In order to achieve the purpose, the invention adopts the technical scheme that:

a sorting device is arranged at the side part of a conveying belt and comprises a fixed frame, a driving device, a rotating shaft and a fan, wherein a tray for mounting superposed workpieces is arranged on the fixed frame, a mechanical arm which is aligned with the tray on the fixed frame is arranged on the rotating shaft, and a suction head for sucking and placing the workpieces is arranged on the mechanical arm; the driving device drives the rotating shaft to rotate so as to enable the mechanical arm to move to the tray to suck the workpiece; the fixing frame is further provided with a plurality of limiting pipes which are uniformly distributed on the periphery of the tray, the limiting pipes are connected with the fan, the limiting pipes are provided with air jet holes towards the direction of the tray, and the air jet holes are used for ejecting air flow generated by the fan towards the tray so as to separate the workpiece on the top layer for the mechanical arm to suck.

Compared with the prior art, the sorting device changes the traditional rotary disc type workpiece taking structure, a fixing frame is arranged on the side part of the conveying belt, a tray for mounting workpieces is arranged on the fixing frame, and a plurality of limiting pipes for preventing the workpieces from falling off are uniformly distributed on the periphery of the tray. The rotating shaft is provided with a mechanical arm with a suction head, the mechanical arm is matched with the position of the tray on the fixing frame, and the mechanical arm moves to the tray to suck workpieces under the rotation of the driving device driving the rotating shaft, so that the workpiece taking operation is realized.

In order to effectively separate the superposed workpieces, the fan is connected with each limiting pipe through a pipeline, and each limiting pipe is provided with an air jet hole which jets the airflow generated by the fan to the workpieces on the tray. The air injection holes can be preferably arranged at the top end of the limiting pipe so as to correspond to the position of a top layer workpiece of stacked workpieces arranged on the tray and blow up the top layer workpiece, so that the top layer workpiece is separated from the stacked workpieces, the suction head of the mechanical arm can directly suck the top layer workpiece, and the stacking rate of the workpieces is effectively reduced.

In addition, in the process of spraying air to the workpiece, impurities or dust particles on the workpiece are simultaneously removed, and the workpiece is not required to be pretreated by an additional dust removal device, so that the structure and the operation procedure of the whole machine are effectively simplified, the stability of workpiece taking operation is ensured, and the processing efficiency is improved.

Furthermore, a plurality of stations are arranged on the fixing frame, and the tray and the limiting pipe are arranged on each station; the rotating shaft is provided with a plurality of mechanical arms which are aligned with the tray; the top end of the limiting pipe is provided with a limiting blocking piece extending to the tray, and the limiting blocking piece is an elastic piece. On the one hand, compare with the carousel formula of prior art and get a device, a carousel on the carousel formula is got a device and is got a work piece of delivering every round, and the rotational speed of carousel has limited the speed of getting a piece, also can only accomplish the letter sorting work of a pile of work piece at every turn moreover, and machining efficiency is low, and the activity duration is long. According to the sorting device, a plurality of trays for mounting workpieces are arranged on the fixed frame according to the actual application requirements and the capacity of the device, and the corresponding number of mechanical arms are arranged on the rotating shaft and aligned with the trays, so that the sorting and feeding operation in batches is effectively realized, and the workpiece taking speed is improved. On the other hand, aiming at the problem that the workpiece on the top layer is easy to separate after being blown, the top end of the limiting pipe is provided with the limiting blocking piece, the limiting pipe arranged in a plurality of directions on the peripheral side of the tray is combined to limit the position of the workpiece, the workpiece on the top layer is suspended at the top position of the fixing frame after being blown by the air injection holes, and the suction head of the mechanical arm can be directly sucked in place. The limiting blocking piece is preferably an elastic piece, so that the limiting blocking piece can play a role in blocking the workpiece from coming off, and can deform under stress to give way out of the extraction channel when the suction head of the mechanical arm extracts the workpiece, and the performance and the processing quality of the whole machine are further improved.

It is further right the structure of mount is improved, still be equipped with on the mount with a plurality of jacking motors of tray counterpoint, the bottom of tray be equipped with the drive shaft that jacking motor is connected, jacking motor drive the drive shaft is in order to adjust the height of tray. The workpiece taking position of the mechanical arm which moves to the tray due to the rotation of the rotating shaft is fixed, but the height of the workpieces on the tray is gradually reduced along with the gradual reduction of the sucked quantity of the workpieces, so that the suction head of the mechanical arm is difficult to suck the workpieces. Therefore, the jacking motor is arranged at the bottom of the fixing frame and connected with the tray through the driving shaft, so that the height of the tray is adjusted, the suction head of the mechanical arm can accurately suck the workpiece, and the missing rate of the workpiece is effectively reduced.

On the basis, the limiting pipe is provided with a sensor for detecting the position of a workpiece, and the sensor is arranged at the top end of the limiting pipe. The jacking motor can be connected with the sensor through a circuit, and the height of the tray can be adjusted according to a detection signal of the sensor, so that a workpiece is kept at the top position of the fixing frame, and a suction head of the mechanical arm can suck the workpiece.

The driving device is further improved, the rotating shaft is arranged between the fixed frame and the conveying belt, and the driving device drives the rotating shaft to rotate in a forward direction and a reverse direction alternately so as to enable the mechanical arm to do reciprocating swing motion between the fixed frame and the conveying belt; the driving device comprises a rotating motor, an eccentric wheel, a connecting rod, a driven gear and a connecting frame, wherein the rotating motor is connected with the eccentric wheel and drives the eccentric wheel to rotate in a single direction; a first connecting shaft is arranged on the eccentric wheel, a lantern ring sleeved with the first connecting shaft is arranged at one end of the connecting rod, and the other end of the connecting rod is supported on the connecting frame; the connecting frame is provided with a sleeve hole which is connected with the rotating shaft in a penetrating way, so that the end part of the rotating shaft penetrates out of the sleeve hole of the connecting frame; the connecting rod is provided with convex teeth, and the driven gear is sleeved on the end part of the rotating shaft and meshed with the convex teeth on the connecting rod. The sorting device drives the rotating shaft to rotate forward and reversely alternately through the driving device, so that the mechanical arm fixed on the rotating shaft reciprocates between the tray and the conveyor belt in a swinging mode. The mechanical arm needs to realize reciprocating and swinging motion, so that the rotating shaft needs to rotate in a forward direction and a reverse direction alternately to provide driving force, the rotating shaft is generally driven to rotate in the forward direction and the reverse direction by controlling the switching of the forward rotation and the reverse rotation of the motor in the prior art, but the switching operation is delayed in the process from starting to stopping and from stopping to starting in the switching operation of the forward rotation and the reverse rotation, so that the reciprocating frequency of the mechanical arm is reduced, and the conveying speed is seriously influenced. For this purpose, the driving device of the invention is provided with a combination of an eccentric wheel, a connecting rod and a driven gear between the rotating motor and the rotating shaft, wherein the connecting rod is provided with convex teeth and is meshed with the driven gear fixed at the end part of the rotating shaft. The rotating motor can drive the eccentric wheel to rotate in a unidirectional rotation mode so as to drive the connecting rod to be meshed with the driven gear fixed on the rotating shaft on the connecting frame and to reciprocate, and therefore the rotating shaft is driven to rotate in a forward direction and a reverse direction alternately. The continuity of the reciprocating motion of the connecting rod can be ensured through the unidirectional rotation of the single rotary machine, the problem of delay of forward and reverse rotation switching of the motor is effectively solved, the reciprocating frequency of the mechanical arm is improved, the workpiece conveying speed of the mechanical arm is increased, and the driving performance of the driving device is improved.

On the basis, the connecting frame is further provided with a guide rail, and the connecting rod is provided with a guide edge embedded with the guide rail. On one hand, the convex teeth on the periphery of the connecting rod are meshed with the driven gear on the rotating shaft; on the other hand, the guide edge on the connecting rod is embedded and fixed with the guide rail on the connecting frame, so that the reciprocating track of the connecting rod is effectively limited, and the stability of the forward and reverse rotation switching operation of the rotating shaft is improved.

It is further right the control structure of arm makes the improvement, the pivot is the cavity siphunculus, the tip of pivot is equipped with the input head that is used for inputing external gas, just be equipped with in the pivot with a plurality of output tubes of arm counterpoint, the output tube with be connected with the air-feed pipe between the suction head. The pneumatic gas for sucking the workpiece is communicated with the suction heads on the mechanical arms through the rotating shaft, so that an additional air duct is avoided, the connecting structure of the device is simplified, the fault of blocking or breaking of the duct is avoided, and the quality of the whole machine is effectively improved.

Furthermore, the rotating shaft is provided with an induction strip which rotates along with the swinging of the mechanical arm, the rotating shaft is provided with a first position at which the mechanical arm absorbs the workpiece, a second position at which the mechanical arm releases the workpiece and a third position at which the mechanical arm is accommodated and reset, and the first position, the second position and the third position are respectively provided with an induction head which is aligned with the induction strip; the rotating shaft is further connected with an electric control valve for opening and closing input gas, the electric control valve is connected with the induction head, and the input of the gas is opened and closed through alignment detection of the induction head and the induction strip. The sorting device of the system provided by the invention performs suction and release operations on the workpiece in the reciprocating swinging process of the mechanical arm, so that a corresponding control mechanism is arranged aiming at the suction and release control of the mechanical arm, the three positions of the mechanical arm for sucking, releasing the workpiece and accommodating and resetting are provided with the induction heads, the rotating shaft is provided with the induction strip which rotates along with the rotating shaft and is aligned with the induction heads, the electric control valve is arranged to be connected with the induction heads at all the positions, and the gas input is started and stopped according to the alignment detection of the induction heads and the induction strips, so that the suction head of the mechanical arm is controlled to perform suction and release operations, the suction and release functions of the sorting device are effectively ensured, and the workpiece taking efficiency is improved.

Furthermore, the mechanical arm is provided with an adapter and a fixing hole, and the adapter is arranged on the fixing hole; the air supply pipe is connected with the adaptor and is connected with the suction head through the fixing hole. In the operation process of the sorting device, the air supply pipe connected between the rotating shaft and the suction head is easy to wind on the mechanical arm and is clamped and damaged, or the clamping accident is caused. Therefore, the fixing structure of the air supply pipe is arranged on the mechanical arm and comprises an adapter and a fixing hole, the air supply pipe is fixed on the mechanical arm and connected with the suction head, the wiring position of the air supply pipe is effectively limited, the air supply pipe is prevented from being easily broken by clamping and damaged, and the blocking fault is eliminated.

On the basis, the rotating shaft is also provided with a plurality of fixed seats and fixed wheels which are aligned with the mechanical arm, one end of the mechanical arm is fixedly sleeved with the rotating shaft and clamps the fixed wheels with the fixed seats; the other end of the mechanical arm is provided with a positioning wheel and a second connecting shaft, a limiting belt is connected between the positioning wheel and the fixed wheel, and the suction head is connected with the second connecting shaft and rotates to keep drooping through the sleeving connection of the second connecting shaft and the positioning wheel. In order to reduce the ineffective action of the mechanical arm, a suction head on the mechanical arm needs to keep a downward drooping state so as to accurately perform the operations of sucking and placing workpieces. One end of the mechanical arm is fixedly connected with the rotating shaft and is matched with the fixed seat and the fixed wheel on the rotating shaft, and a limiting belt is connected between the fixed wheel and the positioning wheel on the other end of the mechanical arm, so that the fixed wheel and the positioning wheel are static and do not rotate in the swinging process of the mechanical arm; the other end of the mechanical arm enables the suction head to be in sleeve joint rotation with the positioning wheel on the end part of the mechanical arm through the second connecting shaft, so that the suction head can keep a drooping state under the action of gravity and can move along with the swing of the mechanical arm. The mechanical arm only swings, so that the suction head can move to a position for sucking and placing the workpiece and transferring the workpiece, the structure of the mechanical arm is effectively simplified, ineffective actions are saved, and the workpiece conveying speed and the operation efficiency are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a structural view of a sorting apparatus provided in an embodiment of the present invention installed at one side of a conveyor belt;

fig. 2 is an overall structural view of a sorting apparatus according to an embodiment of the present invention;

FIG. 3 is a partial structural view of a position limiting pipe according to an embodiment of the present invention;

fig. 4 is a first perspective view of a fixing frame according to an embodiment of the present invention;

fig. 5 is a perspective view of a second fixing frame according to an embodiment of the present invention;

fig. 6 is a partial structural view of a sorting apparatus according to an embodiment of the present invention;

FIG. 7 is an exploded view of a drive device according to an embodiment of the present invention;

fig. 8 is a partial structural view of a sorting apparatus according to an embodiment of the present invention;

FIG. 9 is an enlarged view of portion A of FIG. 8;

FIG. 10 is an enlarged view of portion B of FIG. 8;

fig. 11 is a view showing a pickup state of the sorting apparatus according to the embodiment of the present invention;

fig. 12 is a view showing a state where a sorting apparatus according to an embodiment of the present invention is placed.

Reference numerals: 100. a workpiece;

1. a conveyor belt;

2. a fan;

3. a fixed mount; 31. a tray; 32. a limiting pipe; 33. a gas injection hole; 34. a limiting baffle plate; 35. a jacking motor; 36. a drive shaft; 37. an inductor;

4. a drive device; 41. a rotating electric machine; 42. an eccentric wheel; 421. a first connecting shaft; 43. a connecting rod; 431. a collar; 432. a convex tooth; 433. a guide edge; 44. a driven gear; 45. a connecting frame; 451. trepanning; 452. a guide rail;

5. a rotating shaft; 51. an input head; 52. an output pipe; 53. an air supply pipe; 54. an induction strip; 55. an inductive head; 56. an electrically controlled valve; 57. a fixed seat; 58. a fixed wheel;

6. a mechanical arm; 61. a suction head; 62. a second connecting shaft; 63. positioning wheels; 64. a stopper band; 65. an adapter; 66. and (7) fixing holes.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

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 of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 to 3, a sorting apparatus provided in an embodiment of the present invention is disposed on at least one side of a conveyor belt 1, and includes a blower 2, a fixing frame 3, a driving device 4, and a rotating shaft 5, wherein the fixing frame 3 is provided with a plurality of stations, each station is provided with a tray 31 for mounting stacked workpieces 100, the rotating shaft 5 is provided with a plurality of mechanical arms 6 aligned with the tray 31 on the fixing frame 3, and the mechanical arms 6 are provided with suction heads 61 for sucking and releasing the workpieces 100. The rotating shaft 5 is arranged between the fixed frame 3 and the conveyor belt 1, and the driving device 4 drives the rotating shaft 5 to rotate in a forward direction and a reverse direction alternately, so that the mechanical arm 6 performs reciprocating swing motion between the fixed frame 3 and the conveyor belt 1, and the mechanical arm 6 moves to the tray 31 to suck the workpiece 100 and transfer the workpiece to a position. Still be equipped with a plurality of equipartitions on mount 3 in the spacing pipe 32 of tray 31 periphery, spacing pipe 32 with fan 2 is connected, be equipped with on the spacing pipe 32 to the fumarole 33 of tray 31 orientation, fumarole 33 will the air current that fan 2 produced to tray 31 blowout to the work piece 100 that separates the top layer supplies arm 6 to absorb.

The sorting device changes the traditional rotating disc type workpiece taking structure, a fixed frame 3 is arranged at the side part of a conveyor belt 1, a plurality of trays 31 for installing workpieces 100 are arranged on the fixed frame 3, and a plurality of limiting pipes 32 for preventing the workpieces 100 from falling off are uniformly distributed on the periphery of the trays 31. The rotating shaft 5 is provided with a mechanical arm 6 with a suction head 61, the mechanical arm 6 is matched with each tray 31 on the fixed frame 3 in position, and moves to the tray 31 to suck the workpiece 100 under the rotation of the driving device 4 driving the rotating shaft 5, thereby realizing the workpiece taking operation.

Compared with the rotary disc type workpiece taking device in the prior art, the rotary disc on the rotary disc type workpiece taking device takes and sends one workpiece 100 every turn, the rotating speed of the rotary disc limits the workpiece taking speed, sorting work of a stack of workpieces 100 can only be completed at every time, the machining efficiency is low, and the operation time is long. According to the sorting device, a plurality of trays 31 for mounting the workpieces 100 are arranged on the fixed frame 3 and a corresponding number of mechanical arms 6 are arranged on the rotating shaft 5 in an alignment mode with the trays 31 according to actual application requirements and the capacity of the device, so that the sorting and workpiece feeding operation in batches is effectively realized, and the workpiece taking speed is increased.

In order to effectively separate the stacked workpieces 100, the fan 2 is connected to each limiting tube 32 through a pipeline, and each limiting tube 32 is provided with an air injection hole 33, and the air injection hole 33 injects the air flow generated by the fan 2 to the workpieces 100 on the tray 31. In practical applications, the air injection hole 33 may be preferably disposed at the top end of the limiting pipe 32 to correspond to the position of the top-layer workpiece 100 of the stacked workpieces 100 mounted on the tray 31, and blows up the top-layer workpiece 100, thereby separating the top-layer workpiece 100 from the stacked workpieces 100, so that the suction head 61 of the robot arm 6 directly sucks, and the stacking rate of the workpieces 100 is effectively reduced. In addition, in the process of spraying air to the workpiece 100, impurities or dust particles on the workpiece 100 are removed at the same time, and the workpiece 100 is not required to be pretreated by arranging another dust removal device, so that the structure and the operation procedure of the whole machine are effectively simplified, the stability of workpiece taking operation is ensured, and the processing efficiency is improved.

As shown in fig. 3 to 4, the top end of the limiting tube 32 is further provided with a limiting blocking piece 34 extending toward the tray 31, and the limiting tube 32 arranged in a plurality of directions around the tray 31 is used for limiting the position of the workpiece 100, so that the workpiece 100 is blown up by the air injection holes 33 and then suspended on the top of the fixed frame 3, so that the suction head 61 of the robot arm 6 can be directly sucked after being in place. The limiting blocking piece 34 is preferably an elastic piece, so that the limiting blocking piece 34 can play a role in blocking the workpiece 100 from coming off, and can deform under stress to give way out of an extraction channel when the suction head 61 of the mechanical arm 6 extracts the workpiece 100, and the performance and the processing quality of the whole machine are further improved.

Since the robot arm 6 is rotated on the rotary shaft 5 to move to the pickup position on the tray 31 is fixed, but as the number of the work 100 to be sucked is gradually reduced, the height of the work 100 on the tray 31 is also gradually reduced, so that it becomes difficult to suck the work 100 by the suction head 61 of the robot arm 6. For this reason, the structure of the fixing frame 3 is optimized, as shown in fig. 4 to 5, a plurality of jacking motors 35 aligned with the tray 31 are further arranged on the fixing frame 3, a driving shaft 36 connected with the jacking motors 35 is arranged at the bottom of the tray 31, and the jacking motors 35 drive the driving shaft 36 to adjust the height of the tray 31, so that the suction head 61 of the mechanical arm 6 can accurately suck the workpiece 100, and the missing rate of the workpiece 100 is effectively reduced.

Preferably, as shown in fig. 3 to 5, a sensor 37 for detecting the position of the workpiece 100 is disposed on the limiting tube 32, and the sensor 37 is disposed at the top end of the limiting tube 32. The lift motor 35 is connected to the sensor 37 through a wire, and adjusts the height of the tray 31 according to a detection signal of the sensor 37, so that the workpiece 100 is held at the top position of the fixed frame 3 for the suction of the suction head 61 of the robot arm 6.

The sorting device of the invention drives the rotating shaft 5 to rotate forwards and reversely alternately through the driving device 4, so that the mechanical arm 6 fixed on the rotating shaft 5 performs reciprocating swing motion between the tray 31 and the conveyor belt 1. Since the mechanical arm 6 needs to perform reciprocating and swinging motion, the rotating shaft 5 needs to rotate alternately in the forward direction and the reverse direction to provide driving force, the prior art generally drives the rotating shaft 5 to rotate in the forward direction and the reverse direction by controlling the switching of the forward rotation and the reverse rotation of the motor, but as the switching operation of the motor needs to occur from starting to stopping and from stopping to starting in the switching operation of the forward rotation and the reverse rotation, the switching operation is delayed, so that the reciprocating frequency of the mechanical arm 6 is reduced, and the conveying speed is seriously influenced. For this purpose, the present invention optimizes the driving device 4, as shown in fig. 6 to 7, the driving device 4 includes a rotating motor 41, an eccentric wheel 42, a connecting rod 43, a driven gear 44 and a connecting frame 45, the rotating motor 41 is connected with the eccentric wheel 42 and drives the eccentric wheel 42 to rotate in one direction; a first connecting shaft 421 is arranged on the eccentric wheel 42, a lantern ring 431 sleeved with the first connecting shaft 421 is arranged at one end of the connecting rod 43, and the other end of the connecting rod 43 is supported on the connecting frame 45; the connecting frame 45 is provided with a sleeve hole 451 penetrating through the rotating shaft 5, so that the end part of the rotating shaft 5 penetrates out of the sleeve hole 451 of the connecting frame 45; the connecting rod 43 is provided with a convex tooth 432, and the driven gear 44 is sleeved on the end part of the rotating shaft 5 and meshed with the convex tooth 432 on the connecting rod 43. The rotating motor 41 can drive the eccentric wheel 42 to rotate in a unidirectional rotation manner, so as to drive the connecting rod 43 to be meshed with the driven gear 44 fixed on the rotating shaft 5 on the connecting frame 45 and to reciprocate, and thus the rotating shaft 5 is driven to rotate in a forward direction and a reverse direction alternately. The continuity of the reciprocating motion of the connecting rod 43 can be ensured through the unidirectional rotation of the single rotating machine 41, the delay problem of the switching of the forward rotation and the reverse rotation of the motor is effectively solved, the reciprocating frequency of the mechanical arm 6 is improved, the workpiece conveying speed of the mechanical arm 6 is increased, and the driving performance of the driving device 4 is improved.

In addition, as shown in fig. 7, the connecting frame 45 is further provided with a guide rail 452, and the link 43 is provided with a guide edge 433 engaged with the guide rail 452. On one hand, the convex teeth 432 on the periphery of the connecting rod 43 are meshed with the driven gear 44 on the rotating shaft 5; on the other hand, the guide edge 433 of the link 43 is engaged and fixed with the guide rail 452 of the link bracket 45, so that the reciprocating track of the link 43 is effectively limited, and the stability of the forward and reverse rotation switching operation of the rotating shaft 5 is improved.

In the reciprocating swing process of the mechanical arm 6, the sorting device of the invention performs suction and release operations on the workpiece 100, so that a corresponding control mechanism is arranged for the suction and release control of the mechanical arm 6, as shown in fig. 1, 8 to 9, the rotating shaft 5 is a hollow through pipe, an input head 51 for inputting external gas is arranged at the end part of the rotating shaft 5, a plurality of output pipes 52 aligned with the mechanical arm 6 are arranged on the rotating shaft 5, and an air supply pipe 53 is connected between the output pipes 52 and the suction head 61. The pneumatic gas for sucking the workpiece 100 is communicated with the suction heads 61 on the mechanical arms 6 through the rotating shaft 5, so that an additional air duct is avoided, the connecting structure of the device is simplified, the fault of blocking or breaking of the duct is avoided, and the quality of the whole machine is effectively improved.

As shown in fig. 8 and 10, the rotating shaft 5 is provided with a sensing strip 54 which rotates along with the swinging of the mechanical arm 6, the rotating shaft 5 is provided with a first position at which the mechanical arm 6 sucks the workpiece 100, a second position at which the mechanical arm 6 releases the workpiece 100, and a third position at which the mechanical arm 6 is accommodated and reset, the first position, the second position, and the third position may preferably be two sides and an upper part of the rotating shaft 5 in the axial direction, and the first position, the second position, and the third position are respectively provided with a sensing head 55 which is aligned with the sensing strip 54. The rotating shaft 5 is also connected with an electric control valve 56 for opening and closing input gas, the electric control valve 56 is connected with the induction head 55, and the input of the gas is opened and closed through the alignment detection of the induction head 55 and the induction strip 54, so that the suction head 61 of the mechanical arm 6 is controlled to perform suction and discharge operations, the suction and discharge functions of the sorting device 2 are effectively ensured, and the picking efficiency is improved.

In the operation process of the device, the air supply pipe 53 connected between the rotating shaft 5 and the suction head 61 is easy to be wound on the mechanical arm 6 to be clamped and damaged, or cause a blocking accident. For this purpose, as shown in fig. 9, an adaptor 65 and a fixing hole 66 are provided on the mechanical arm 6, and the adaptor 65 is provided on the fixing hole 66; the air supply pipe 53 is connected to the adaptor 65 and connected to the suction head 61 through the fixing hole 66. The fixing structure of the air supply pipe 53 is arranged on the mechanical arm 6, and comprises an adapter 65 and a fixing hole 66, so that the air supply pipe 53 is fixed on the mechanical arm 6 and connected with the suction head 61, the routing position of the air supply pipe 53 is effectively limited, the air supply pipe 53 is prevented from being easily clamped and damaged, and the clamping fault is eliminated.

In order to reduce the ineffective action of the mechanical arm 6, the suction head 61 on the mechanical arm 6 needs to keep a downward-facing sagging state so as to accurately perform the operations of sucking and placing workpieces, when the mechanical arm 6 is controlled to perform the reciprocating swinging motion, and simultaneously, the workpieces 100 are shifted. Therefore, in order to meet the technical requirement, a control structure of the mechanical arm 6 is optimized, as shown in fig. 8 to 9, a plurality of fixing seats 57 and a plurality of fixing wheels 58 aligned with the mechanical arm 6 are arranged on the rotating shaft 5, one end of the mechanical arm 6 is fixedly sleeved with the rotating shaft 5, and the fixing wheels 58 are clamped with the fixing seats 57; the other end of the mechanical arm 6 is provided with a second connecting shaft 62 and a positioning wheel 63, a limit belt 64 is connected between the positioning wheel 63 and the fixed wheel 58, the suction head 61 is connected with the second connecting shaft 62, and the second connecting shaft 62 and the positioning wheel 63 are sleeved and rotated to keep sagging. One end of the mechanical arm 6 is fixedly connected with the rotating shaft 5 and is matched with the fixed seat 57 and the fixed wheel 58 on the rotating shaft 5, and a limit belt 64 is connected between the fixed wheel 58 and the positioning wheel 63 on the other end of the mechanical arm 6, so that the fixed wheel 58 and the positioning wheel 63 are static and do not rotate in the swinging process of the mechanical arm 6; the other end of the mechanical arm 6 is sleeved and rotated by the suction head 61 and a positioning wheel 63 on the end part of the mechanical arm 6 through a second connecting shaft 62, so that the suction head 61 can be displaced along with the swinging of the mechanical arm 6 in a sagging state under the action of gravity. The mechanical arm 6 only swings to move the suction head 61 to the position for sucking and placing the workpiece 100 and transferring the workpiece 100, thereby effectively simplifying the structure of the mechanical arm 6, saving the ineffective action of the mechanical arm 6 and improving the workpiece conveying speed and the operation efficiency.

Referring to fig. 1 to 3 and 11 to 12, the sorting device of the present invention has the following working principle:

1. the workpiece 100 is installed, one side or two sides of a conveyor belt 1 of the device are respectively provided with a fixed frame 3, the fixed frame 3 is provided with a plurality of stations, each station is provided with a tray 31 for installing the workpiece 100, and a worker can firstly load the tray 31 of the fixed frame 3 at one side and install the workpiece 100 on the tray 31 of each station. When the sorting device on the side is started, the tray 31 of the fixed frame 3 on the other side is loaded. The fan 2 in the device can switch the air flow conveying according to the starting condition of the sorting devices on the two sides, so that the device can keep a continuous working state, and the working efficiency is effectively improved.

2. The position of the workpiece 100 is adjusted, the sensor 37 on the limiting pipe 32 in the fixing frame 3 detects the position of the workpiece 100 arranged on the tray 31, the jacking motor 35 below the tray 31 adjusts the height of the tray 31 according to the detection condition of the sensor 37, and the workpiece 100 is kept at the top of the fixing frame 3 and is sucked by the suction head 61 of the mechanical arm 6.

3. The workpieces 100 are sorted, the fan 2 generates airflow and conveys the airflow to the limiting pipe 32 on the fixed frame 3, and the airflow is sprayed out from the air spraying holes 33 of the limiting pipe 32 to the workpieces 100 on the tray 31, so that the workpieces 100 on the top layer are effectively separated. Since the top end of the limiting tube 32 is provided with the limiting baffle 34, the workpiece 100 on the top layer is suspended on the top of the fixing frame 3 after being blown up, so that the suction head 61 of the mechanical arm 6 can suck the workpiece.

4. The workpiece 100 is transferred, the driving device 4 drives the rotating shaft 5 to rotate forward and backward alternately, so that the mechanical arm 6 fixed on the rotating shaft 5 performs reciprocating swing motion along with the rotation of the rotating shaft 5, the workpiece 100 is sucked from the fixed frame 3 and transferred onto the conveyor belt 1 through the suction head 61 of the mechanical arm 6, the workpiece 100 is released, and the position transfer operation of the workpiece 100 is effectively realized.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A sorting device is arranged at the side part of a conveying belt and is characterized by comprising a fixed frame, a driving device, a rotating shaft and a fan, wherein a tray for mounting superposed workpieces is arranged on the fixed frame; the driving device drives the rotating shaft to rotate so as to enable the mechanical arm to move to the tray to suck the workpiece; the fixed frame is also provided with a plurality of limiting pipes which are uniformly distributed on the periphery of the tray, the limiting pipes are connected with the fan, the limiting pipes are provided with air injection holes which face the tray, and the air injection holes inject air flow generated by the fan to the tray so as to separate a workpiece on the top layer for the mechanical arm to absorb; the top end of the limiting pipe is provided with a limiting blocking piece extending to the tray, and the limiting blocking piece is an elastic piece.

2. A sorting device according to claim 1, wherein a plurality of stations are provided on the fixed frame, each station being provided with the tray and a limiting tube; the rotating shaft is provided with a plurality of mechanical arms which are aligned with the tray.

3. The sorting device according to claim 2, wherein the fixed frame is further provided with a plurality of jacking motors aligned with the trays, the bottom of the tray is provided with a driving shaft connected with the jacking motors, and the jacking motors drive the driving shaft to adjust the height of the tray.

4. A sorting device according to claim 3, wherein the limiting tube is provided with a sensor for detecting the position of the workpiece, and the sensor is arranged at the top end of the limiting tube.

5. A sorter as in claim 1 wherein the shaft is disposed between the frame and the conveyor, and the drive assembly drives the shaft to rotate alternately in forward and reverse directions to cause the robotic arm to oscillate back and forth between the frame and the conveyor; the driving device comprises a rotating motor, an eccentric wheel, a connecting rod, a driven gear and a connecting frame, wherein the rotating motor is connected with the eccentric wheel and drives the eccentric wheel to rotate in a single direction; a first connecting shaft is arranged on the eccentric wheel, a lantern ring sleeved with the first connecting shaft is arranged at one end of the connecting rod, and the other end of the connecting rod is supported on the connecting frame; the connecting frame is provided with a sleeve hole which is connected with the rotating shaft in a penetrating way, so that the end part of the rotating shaft penetrates out of the sleeve hole of the connecting frame; the connecting rod is provided with convex teeth, and the driven gear is sleeved on the end part of the rotating shaft and meshed with the convex teeth on the connecting rod.

6. A sorting device according to claim 5, characterised in that the connecting frame is further provided with a guide rail, and the connecting rod is provided with a guide edge which is in scarf joint with the guide rail.

7. A sorter as claimed in claim 2 wherein the shaft is a hollow tube, the end of the shaft is provided with an input head for inputting an external gas, the shaft is provided with a plurality of output tubes aligned with the robot arms, and an air supply tube is connected between the output tubes and the suction head.

8. The sorting device according to claim 7, wherein the rotating shaft is provided with a sensing strip which rotates along with the swinging of the mechanical arm, the rotating shaft is provided with a first position at which the mechanical arm sucks the workpiece, a second position at which the mechanical arm releases the workpiece and a third position at which the mechanical arm is accommodated and reset, and the first position, the second position and the third position are respectively provided with a sensing head which is aligned with the sensing strip; the rotating shaft is further connected with an electric control valve for opening and closing input gas, the electric control valve is connected with the induction head, and the input of the gas is opened and closed through alignment detection of the induction head and the induction strip.

9. The sorting device according to claim 7, wherein an adapter and a fixing hole are arranged on the mechanical arm, and the adapter is arranged on the fixing hole; the air supply pipe is connected with the adaptor and is connected with the suction head through the fixing hole.

10. The sorting device according to any one of claims 1 to 9, wherein the rotating shaft is further provided with a plurality of fixing seats and fixing wheels aligned with the mechanical arm, one end of the mechanical arm is fixedly sleeved with the rotating shaft and clamps the fixing wheels with the fixing seats; the other end of the mechanical arm is provided with a positioning wheel and a second connecting shaft, a limiting belt is connected between the positioning wheel and the fixed wheel, and the suction head is connected with the second connecting shaft and rotates to keep drooping through the sleeving connection of the second connecting shaft and the positioning wheel.