CN111776583A

CN111776583A - Bolt letter sorting system

Info

Publication number: CN111776583A
Application number: CN202010670302.5A
Authority: CN
Inventors: 翟大庆; 石磊
Original assignee: Sichuan Guoruan Science & Technology Development Co ltd
Current assignee: Sichuan Guoruan Science & Technology Development Co ltd
Priority date: 2020-07-13
Filing date: 2020-07-13
Publication date: 2020-10-16

Abstract

The invention discloses a bolt sorting system which comprises a stereoscopic warehouse system, a temporary storage system, an accessory feeding system, a tray loading system and a dispensing tray conveying system, wherein the stereoscopic warehouse system comprises a warehouse system, a temporary storage system, a storage tray conveying system and a storage tray conveying system; the storage and taking manipulator of the stereoscopic warehouse system is used for transferring a bolt bin between the goods shelf and the temporary storage table; the sorting manipulator of the accessory feeding system is used for transferring bolts between the temporary storage table and the tooling plate, and the material taking manipulator is used for transferring accessories between the accessory feeding device and the tooling plate; the tray loading system comprises a tray loading manipulator used for tray loading operation between the tooling plate and the tray loading operation platform; and the feeding and discharging manipulator of the batching tray conveying system is used for transferring the batching trays among the feeding conveying line, the tray loading operating platform and the discharging conveying line. Above-mentioned scheme can solve the problem of the human resource waste, the human cost is higher, waste time and energy and influence workshop production efficiency that the manual sorting mode that present bolt letter sorting adopted exists.

Description

Bolt letter sorting system

Technical Field

The invention relates to the technical field of bolt sorting automation, in particular to a bolt sorting system.

Background

To facilitate the use of bolts, it is often necessary to sort out the disordered bolt accessories in order, arrange them in order, and fit them with corresponding washer and nut accessories.

At present, the bolt sorting mainly adopts a manual sorting mode to sort and place required bolt, gasket and nut accessories in a batching tray for tray loading so as to be required by production and manufacturing; however, the manual bolt sorting process not only wastes human resources and increases the labor cost, but also wastes time and labor and affects the production efficiency of a workshop.

Disclosure of Invention

The invention discloses a bolt sorting system, which aims to solve the problems of human resource waste, high labor cost, time and labor waste and influence on workshop production efficiency in a manual sorting mode adopted by the conventional bolt sorting.

In order to solve the problems, the invention adopts the following technical scheme:

a bolt sorting system, comprising:

the stereoscopic warehouse system comprises a shelf and a storing and taking manipulator; the goods shelf is provided with unit grids for placing bolt and bolt work bins;

the temporary storage system comprises a temporary storage table and a sorting manipulator; the storing and taking manipulator is used for transferring the bolt workbin between the storage rack and the temporary storage table;

the accessory feeding system comprises an accessory feeding device, a material taking mechanical arm and a tooling plate; the sorting manipulator is used for transferring bolts between the temporary storage table and the tooling plate, and the material taking manipulator is used for transferring accessories between the accessory feeding device and the tooling plate;

the tray loading system comprises a tray loading mechanical arm and a tray loading operation platform; the tray loading manipulator is used for transferring bolts and accessories between the tooling plate and the tray loading operation table;

batching dish conveying system, batching dish conveying system includes the material loading transfer chain, goes up unloading manipulator and unloading transfer chain, it is used for to go up the unloading manipulator the material loading transfer chain the sabot operation panel with batching dish between the unloading transfer chain shifts.

Optionally, an electronic tag is arranged at a position of the shelf, which is adjacent to the cell, and an electronic tag reader for identifying the electronic tag is arranged at an execution end of the access manipulator.

Optionally, the executing end of the storing and taking manipulator is provided with a distance sensor, and the distance between the executing end of the storing and taking manipulator and the shelf can be monitored through the distance sensor.

Optionally, the unit cell is provided with two opposite first supporting parts, and a gap is arranged between the two first supporting parts; the access manipulator comprises a mechanical arm and a material taking fork mechanism; the material taking fork mechanism comprises a supporting arm, one end of the supporting arm is connected with the mechanical arm, the other end of the supporting arm is a free end deviating from the mechanical arm, and the width of the supporting arm is smaller than the distance between the two first supporting parts.

Optionally, the temporary storage table comprises a material table and at least two second supporting portions arranged on the material table at intervals, the two adjacent second supporting portions are located at opposite positions, and a space for accommodating the supporting arm is formed between the two adjacent supporting portions.

Optionally, the shelves are arranged in an arc shape, and the access manipulator is rotatably arranged on the inner side of the arc-shaped surface where the shelves are located and can rotate and move along the arrangement direction of the shelves.

Optionally, the accessory feeding device comprises a rotating mechanism and a string rod, the string rod is eccentrically arranged on the rotating mechanism, one end of the string rod is connected with the rotating mechanism, the other end of the string rod deviates from the rotating mechanism to form a free end, and the rotating mechanism can rotationally control the string rod to move to a material taking area of the material taking manipulator.

Optionally, the tray loading system further comprises a gripper frame, and a bolt gripper and an accessory rotating hand which are arranged on the gripper frame; the quick-change device is characterized in that a quick-change device main side connector is arranged at an executing end of the tray loading manipulator, a quick-change device auxiliary side connector is respectively arranged on the bolt gripper and the accessory gripper, and the quick-change device auxiliary side connector can be pneumatically connected with the quick-change device main side connector.

Optionally, the tray loading operation table comprises a table top and a positioning device; the positioning device comprises a limiting part, a pushing part and a telescopic driving mechanism; the limiting part and the telescopic driving mechanism are both arranged on the table board, and the limiting part is opposite to the pushing part; the pushing part is connected with the telescopic driving mechanism, and the telescopic driving mechanism can drive the pushing part to move towards or away from the limiting part.

Optionally, the bolt sorting system further comprises a control system comprising a first image capturing element and a second image capturing element; the first image acquisition element is arranged at the position close to the temporary storage table and used for acquiring image data of the bolt bin on the temporary storage table; the second image acquisition element is arranged at a position close to the accessory feeding device and used for acquiring accessory image data of the accessory feeding device; the first image acquisition element and the second image acquisition element are respectively connected with a data input end of the processor, and a control output end of the processor is respectively connected with the sorting manipulator and the material taking manipulator.

The technical scheme adopted by the invention can achieve the following beneficial effects:

according to the bolt sorting system disclosed by the invention, the bolt feed box can be transferred between the goods shelf and the temporary storage table through the storing and taking manipulator, so that automatic material changing in the sorting process is realized, and the bolt feed box with the required model and specification is transferred to the temporary storage table for the sorting manipulator to sort bolts; the sorted bolts can be placed in hole positions of the tooling plate according to a specified posture through the sorting manipulator, the gasket and/or nut accessories on the accessory feeding device can be assembled on the bolts or placed on the tooling plate through the material taking manipulator, and the bolts, the gasket and/or the nut accessories sorted on the tooling plate can be transferred to a material distribution plate on a material distribution operation table through the material distribution manipulator, so that automatic sorting and material distribution of the bolts, the gasket and/or the nut accessories are realized; the material distribution plate to be subjected to plate loading on the material loading conveying line can be transferred to the plate loading operation table through the material loading and unloading manipulator, and the material distribution plate on the plate loading operation table, which is subjected to rotary plate loading, is transferred to the material unloading conveying line, so that the automatic material loading and unloading of the material distribution plate are realized; therefore, the bolt sorting system disclosed by the embodiment of the invention realizes the automatic operation of bolt sorting, avoids the waste of human resources, reduces the labor cost, saves time and labor and is beneficial to improving the workshop production efficiency.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of a bolt sorting system disclosed in an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a shelf according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a material picking fork mechanism disclosed in an embodiment of the present invention;

FIG. 4 is a schematic view of a material picking fork mechanism according to an embodiment of the present invention in use;

FIG. 5 is a schematic structural diagram of a temporary storage system according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of a driving mechanism according to an embodiment of the disclosure;

FIG. 7 is a schematic structural diagram of a system for loading accessories according to an embodiment of the disclosure;

FIG. 8 is a side view of a fitment loading apparatus according to an embodiment of the disclosure;

FIG. 9 is a schematic structural diagram of a boom according to an embodiment of the present invention;

FIG. 10 is a first schematic view of a bolt grab according to an embodiment of the present invention;

FIG. 11 is a second structural schematic diagram of a bolt gripper according to an embodiment of the present invention

FIG. 12 is a schematic view of an accessory grip according to an embodiment of the present disclosure;

FIG. 13 is a schematic structural diagram of a clip according to an embodiment of the present invention;

FIG. 14 is a schematic structural diagram of a tray loading console disclosed in the embodiment of the present invention;

FIG. 15 is a schematic structural diagram of a box of a tray-loading console according to an embodiment of the present invention;

fig. 16 is a partially enlarged schematic view of a loading and unloading robot disclosed in the embodiment of the present invention;

description of reference numerals:

10-access manipulator, 100-bracket, 101-convex part, 102-mounting beam, 103-wing plate,

11-a goods shelf, 110-a first supporting part, 111-a bolt bin,

20-a temporary storage table, 200-a material table, 201-a second support part, 202-a feeding table, 203-a first driving motor, 204-a gear, 205-a first guide rail, 206-a rack, 207-a first slide block, 208-a first image acquisition element,

21-a sorting manipulator,

30-accessory feeding device, 300-turntable, 301-string rod, 3011-limiting part, 3012-conical curved surface, 302-second driving motor, 303-indexer,

31-material taking manipulator,

40-gripper frame, 410-first base, 420-finger cylinder, 421-first finger part, 422-second finger part, 423-clamping groove, 424-first clamping foot, 4241-wide part, 4242-narrow part, 425-second clamping foot, 430-bolt,

41-tray loading manipulator,

50-a disk loading operation table, 500-a table top, 501-a telescopic driving mechanism, 502-a pushing part, 503-a second guide rail, 504-a second slide block, 505-a circular side enclosing plate, 506-a top plate, 507-a window,

60-feeding and discharging mechanical arm, 600-second base, 601-first clamping part, 602-second clamping part, 603-driving mechanism, 604-third image acquisition element,

70-blanking conveying line, 80-feeding conveying line and 90-batching tray.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 invention.

The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present invention discloses a bolt sorting system, which includes: stereoscopic warehouse system, temporary storage system, accessory feeding system, sabot system and batching dish conveying system.

The stereoscopic warehouse system comprises a shelf 11 and an access manipulator 10, wherein the shelf 11 is provided with cells for placing a bolt and bolt feed box 111; the buffer system comprises a buffer table 20 and a sorting robot 21, the access robot 10 being used for transferring bolt magazines 111 between the racks 11 and the buffer table 20.

The accessory feeding system comprises an accessory feeding device 30, a material taking manipulator 31 and a tooling plate; the sorting robot 21 is used for bolt transfer between the staging platform 20 and the tooling plate, and the picking robot 31 is used for part transfer between the parts feeder 30 and the tooling plate.

The tray loading system comprises a tray loading manipulator 41 and a tray loading operation platform 50, wherein the tray loading manipulator 41 is used for transferring bolts and accessories between a tooling plate and the tray loading operation platform 50; the batching tray conveying system comprises a feeding conveying line 80, a feeding and discharging manipulator 60 and a discharging conveying line 70, wherein the feeding and discharging manipulator 60 is used for transferring the batching trays among the feeding conveying line 80, the tray loading operating platform 50 and the discharging conveying line 70.

In the bolt sorting process, the bolt workbin 111 can be transferred between the goods shelf 11 and the temporary storage table 20 through the storing and taking mechanical arm 10, so that automatic material changing in the sorting process is realized, and the bolt workbin 111 with the required model and specification is transferred to the temporary storage table 20 for the sorting mechanical arm 21 to sort bolts; the sorted bolts can be placed in hole positions of the tooling plate according to a specified posture through the sorting manipulator 21, the gasket and/or nut fittings on the fitting feeding device can be assembled on the bolts or placed on the tooling plate through the material taking manipulator 31, and the bolts, the gasket and/or the nut fittings sorted from the tooling plate can be transferred to a material distribution plate on the material distribution plate operating platform 50 through the material distribution manipulator 41, so that automatic sorting and material distribution of the bolts, the gasket and/or the nut fittings are realized; the batching tray to be palletized on the loading conveyor line 80 can be transferred to the palletizing operation table 50 through the loading and unloading manipulator 60, and the batching tray on the palletizing operation table 50, which is used for completing the turntable 300, is transferred to the unloading conveyor line 70, so that automatic loading and unloading of the batching tray are realized.

Therefore, the bolt sorting system disclosed by the embodiment of the invention realizes the automatic operation of bolt sorting, avoids the waste of human resources, reduces the labor cost, saves time and labor and is beneficial to improving the workshop production efficiency.

Specifically, as shown in fig. 1, the shelves 11 may be distributed in an arc arrangement, and each shelf 11 may be respectively provided with a plurality of cells for storing the bolt bins 111; the storing and taking mechanical arm 10 is rotatably arranged on the inner side of the arc-shaped surface where the shelf 11 is located and can rotate and move along the arrangement direction of the shelf 11, so that the storing and taking mechanical arm 10 moves along the arc-shaped track to the front of the shelf 11 where the bolt workbin 111 to be stored and taken is stored automatically to complete the automatic storage operation of the bolt workbin 111, compared with the arrangement mode that the storing and taking mechanical arm 10 moves along the track, the storage space can be effectively utilized, the floor area is saved, the arrangement of components such as the track and the like is avoided, and the structural complexity of the bolt sorting system is favorably reduced.

Preferably, the racks 11 are distributed in an arc arrangement, and the rotation center of the access manipulator 10 is located at the center of the arc surface where the racks 11 are arranged, so that the access radii of the rotation center of the access manipulator 10 to the racks 11 are substantially the same; therefore, the situation that the access manipulator 10 needs to perform additional distance compensation adjustment when the access manipulator 10 performs access operation on different shelves 11 due to the fact that the access radius of the rotation center of the access manipulator 10 from each shelf 11 is different can be avoided, and further the action complexity and the access difficulty of the access manipulator 10 are effectively reduced.

As shown in fig. 2, the unit cell may be provided with two opposite first supporting portions 110, and an interval is provided between the two first supporting portions 110, so that two opposite sides of the bolt work bin 111 may be respectively placed on the two first supporting portions 110, and a gap for inserting the support arm 100 of the material taking fork mechanism is formed below the bolt work bin 111, so that the space may be suitable for the access manipulator 10 with an execution end being a material taking fork structure.

As shown in fig. 3, as one configuration of the accessing robot 10, the accessing robot 10 may include a robot arm and a material pick-up fork mechanism; the material taking fork mechanism comprises a supporting arm 100, one end of the supporting arm 100 is connected with the mechanical arm, the other end of the supporting arm 100 is a free end departing from the mechanical arm, and the width of the supporting arm 100 is smaller than the distance between the two first supporting parts 110.

When the access manipulator 10 takes the bolt feed box 111 from the cells of the shelf 11, the support arm 100 can be inserted into the gap below the bolt feed box 111, so that the lifting movement of the bolt feed box 111 is realized; compare in getting material mode of getting bolt workbin 111 through gripper mechanism clamp, not only can improve the stability that access manipulator 10 got the material better, make access manipulator 10 have simple structure moreover, overhaul and maintain advantages such as convenient.

In order to prevent the bolt feed box 111 from slipping off the support arm 100, the material taking fork mechanism can also comprise a limiting part; the limiting parts are arranged on the end face of the execution end of the mechanical arm and are positioned above the supporting arm 100, and the limiting parts respectively form limiting structures above two sides of the supporting arm 100; as shown in fig. 4, the limiting structure can limit and block two sides above the bolt feed box 111 on the support arm 100, and prevent the bolt feed box 111 from sliding off from two sides of the support arm 100, so that the stability and safety of the taking fork mechanism for lifting and moving the bolt feed box 111 are improved.

As one structure of the stopper portion, it may include a mounting beam 102 and a wing plate 103; the mounting beam 102 is arranged along the extending direction of the supporting arm 100, one end of the mounting beam 102 is connected with the end face of the execution end of the mechanical arm, and the other end of the mounting beam 102 is a free end; the wing plates 103 are arranged on the mounting beam 102, and two ends of the wing plates 103 are respectively positioned at two sides of the mounting beam 102 and are bent towards one side where the bracket arm 100 is positioned to form a baffle structure, so that the baffle structure can block and limit the bolt material box 111 on the bracket arm 100; wherein the number of wing plates 103 can be adjusted adaptively according to the number of the movable bolt bins 111 lifted by the support arm 100.

Meanwhile, in order to avoid the bolt feed box 111 from sliding off the free end of the bracket arm 100 along the extending direction of the bracket arm 100, at least two convex parts 101 can be arranged on the upper surface of the bracket arm 100, and the convex parts 101 are distributed at intervals along the extending direction of the bracket arm 100, so that the bolt feed box 111 on the bracket arm 100 is positioned between the two adjacent convex parts 101, the bolt feed box 111 is limited and fixed by the convex parts 101, and the problem that the bolt feed box 111 slides off along the extending direction of the bracket arm 100 is effectively avoided; the number of the convex portions 101 may be determined according to the number of the bolt magazines 111 lifted and moved on the support arm 100.

It is easy to understand that the bracket arm 100 may be a plate-shaped structural member, and may also be a grid structural member arranged at intervals; the limiting part can also be two strip-shaped guard plates which are respectively and directly connected with the end face of the execution end of the mechanical arm, and the two strip-shaped guard plates are respectively positioned above two sides of the supporting arm 100 and arranged along the extending direction of the supporting arm 100; the embodiment of the present invention does not limit the structures of the bracket arm 100 and the limiting portion.

In order to control the lifting action of the support arm 100 and confirm whether the material taking fork mechanism finishes the storage and the taking of the bolt feed box 111, a weighing sensor or a distance sensor can be arranged on the support arm 100, so that the lifting action of the support arm 100 can be monitored, and the bolt feed box 111 can be ensured to be stored smoothly; if the weight of the load-bearing sensor is reduced or the distance between the load-bearing sensor and the distance sensor is changed in the storage process of the bolt material box 111, the material box is effectively placed on the fixed beam of the cell, and the storage operation is completed; if the weight of the load cell increases or the distance from the load cell does not change during the removal of the bolt magazine 111, it means that the bolt magazine 111 has effectively come into contact with the carrier arm 100 and the removal operation can be performed.

Meanwhile, an electronic tag can be arranged at the position of the goods shelf 11 adjacent to the cell, and an electronic tag reader for identifying the electronic tag is arranged at the execution end of the access manipulator 10; therefore, the electric tag reader is used for reading and identifying the electronic tag at the corresponding cell, and acquiring information such as the position of the bolt feed box 111 in the cell corresponding to the electronic tag and the size and the model of the bolt accessory in the cell, so that the access manipulator 10 can accurately and quickly move to the required cell to access the bolt feed box 111.

The execution end of the access manipulator 10 can also be provided with a distance sensor, and the distance between the execution end of the access manipulator 10 and the goods shelf 11 can be monitored through the distance sensor; therefore, the distance between the execution end of the storing and taking manipulator 10 and the goods shelf 11 can be monitored in real time through the distance sensor, and the phenomenon that the execution end of the storing and taking manipulator 10 collides with the goods shelf 11 due to transition movement towards the goods shelf 11 or the storing and taking of the bolt material box 111 is influenced due to insufficient moving distance is avoided; the distance sensor may be an infrared distance sensor or an ultrasonic distance sensor.

In the temporary storage system disclosed in the embodiment of the present invention, the temporary storage table 20 may include the material table 200 and at least two second supporting portions 201 disposed on the material table 200 at intervals, and two adjacent second supporting portions 201 are located at opposite positions, and a space for accommodating the support arm 100 is formed between the two adjacent supporting portions, so that the temporary storage table 20 is practical with the support arm 100 of the above-mentioned material taking fork mechanism.

After the bracket arm 100 of the access manipulator 10 lifts and transfers the bolt bin 111 from the goods shelf 11 to the position of the material platform 200, the fork bracket arm 100 can be placed between the two adjacent second supporting parts 201, so that the two opposite sides of the bottom surface of the bolt bin 111 are respectively and stably placed on the two adjacent second supporting parts 201, the fork bracket arm 100 can be conveniently moved out, and the smooth and stable completion of the unloading work is ensured.

Meanwhile, as shown in fig. 5, in order that the material table 200 may be reciprocally moved between the storing and retrieving robot 10 of the stereoscopic warehouse system and the sorting robot 21 of the buffer system, the buffer table 20 may further include a conveying mechanism; the material platform 200 is arranged on the conveying mechanism, and the material platform 200 can be driven by the conveying mechanism to move along the conveying direction of the conveying mechanism, so that the reciprocating movement of the material platform 200 is controlled by the conveying mechanism, and the material storing and taking manipulator 10 can conveniently unload materials and the sorting manipulator 21 can conveniently sort and take materials.

Wherein, the conveying mechanism may include a feeding table 202 and a driving mechanism; the material table 200 is arranged on the feeding table 202 in a sliding mode, the material table 200 is connected with a driving mechanism, and the driving mechanism can drive the material table 200 to move in a reciprocating mode along the feeding direction of the conveying mechanism; therefore, the driving mechanism can be used as a power source for the material table 200 to reciprocate, and the driving control of the material table 200 to reciprocate on the feeding table 202 can be realized.

As shown in fig. 6 in particular, as one structure of the driving mechanism, it may include a first driving motor 203, a gear 204, and a rack 206; the rack 206 is arranged on the feeding table 202 and extends along the feeding direction of the conveying mechanism; the first driving motor 203 is arranged on the material table 200, the gear 204 is arranged on an output shaft of the first driving motor 203, and the gear 204 is meshed with the rack 206; the first driving motor 203 may be a stepping motor or a servo motor.

In the process that the first driving motor 203 drives the gear 204 to rotate forwards or reversely, the gear 204 can stir the rack 206, so that the gear 204 moves forwards or backwards along the extension setting direction of the rack 206, the material platform 200 is driven and controlled to move back and forth along the extension setting direction of the rack 206, and the control of the material platform 200 to move back and forth is realized; in addition, compared with conveying mechanisms such as a conveyor belt, the driving mechanism also has the advantages of stable and accurate movement control.

Of course, the driving mechanism may also be a telescopic moving mechanism such as an air cylinder, a hydraulic cylinder or an electric rod, so that the material table 200 is controlled to reciprocate on the feeding table 202 by the telescopic movement of the telescopic moving mechanism; the embodiment of the invention does not limit the type and structure of the conveying mechanism.

In order to better ensure the stability of the reciprocating movement of the material table 200 along the feeding table 202, a first guide rail 205 may be disposed on the feeding table 202, and the first guide rail 205 extends along the feeding direction of the conveying mechanism; material platform 200 is provided with first slider 207, and first slider 207 offers the spout with first guide rail 205 adaptation, first slider 207 rides through the spout and locates on first guide rail 205, and along the extending direction and the first guide rail 205 sliding fit of first guide rail 205, thereby can play the guide effect to the reciprocating motion of material platform 200 through first guide rail 205, avoid material platform 200 to take place the skew along pay-off platform 202 reciprocating motion in-process, and then improved material platform 200 reciprocating motion's stability.

In the accessory feeding system disclosed in the embodiment of the present invention, the accessory feeding device 30 may include a rotating mechanism and a string rod 301, the string rod 301 is eccentrically disposed on the rotating mechanism, one end of the string rod 301 is connected to the rotating mechanism, the other end of the string rod 301 deviates from the rotating mechanism to form a free end, and the rotating mechanism may rotate to control the string rod 301 to move to the material taking area of the material taking manipulator 31.

Therefore, a plurality of gasket or nut accessories can be strung on the stringing pole 301 through the stringing pole 301, and the stringing pole 301 can be switched to the material taking area of the material taking manipulator 31 through rotating the rotating mechanism, so that the material taking manipulator 31 can take the gasket or nut accessories on the stringing pole 301 one by one from top to bottom according to the height position, and therefore the floor area of the accessory feeding device 30 is reduced, and the feeding efficiency of the accessory feeding device 30 is improved.

The number of the string rods 301 can be at least two, and gaskets or nut fittings can be arranged on all the string rods 301 in a string manner; meanwhile, the radial dimension of the string rod 301 can be different, so that the string rod is suitable for stringing gasket or nut fittings with different specifications and dimensions, and the application range of the fitting feeding device 30 is enlarged.

It is easy to understand that in order to enable the accessory feeding system to meet the feeding use requirements of the gasket and the nut accessories at the same time, a accessory feeding device 30 can be arranged, and the gasket accessories are arranged on part of the string rods 301 in a stringing manner, and the nut accessories are arranged on part of the string rods 301 in a stringing manner; of course, two accessory feeding devices 30 may be provided, wherein the string rod 301 of one accessory feeding device 30 is respectively provided with a gasket accessory in a string manner, and the string rod 301 of the other accessory feeding device 30 is provided with a nut accessory in a string manner.

As one structure of the rotation mechanism, as shown in fig. 8, the rotation mechanism may include a second driving motor 302 and a turntable 300; the rotating disc 300 is in transmission connection with an output shaft of a second driving motor 302, and the string rod 301 is eccentrically arranged on the rotating disc 300, so that the second driving motor 302 can drive and control the rotating disc 300 to rotate, and the string rod 301 is driven to rotate together through the rotating disc 300, thereby realizing the switching of the feeding stations of the string rod 301; the second drive motor 302 may be a stepper motor or a servo motor.

Meanwhile, in order to realize accurate rotation switching of the feeding stations of the tandem 301, an indexer 303 can be provided, an output shaft of the second driving motor 302 is connected with an input end of the indexer 303, and an output end of the indexer 303 is connected with the turntable 300, so that each indexing position of the indexer 303 corresponds to one feeding station of the tandem 301; for example, the turntable 300 may be provided with 32 string rods 301 distributed circumferentially along the same circumference of the turntable 300, and the indexer 303 has 32 indexing positions, each indexing position corresponds to one string rod 301, and each time the indexer 303 rotates by one indexing position, the indexer 303 can rotate and switch the corresponding one string rod 301 to the material taking area of the material taking manipulator 31 for material loading.

In order to conveniently string the gasket or the nut fitting on the string rod 301, the string rod 301 can be detachably connected with the turntable 300, so that the string rod 301 can be detached when the gasket or the nut fitting is string, and the operation of string the gasket or the nut fitting on the string rod 301 is facilitated; preferably, as shown in fig. 9, the free end of the string rod 301 may be provided with a tapered curved surface 3012, so that the through hole of the gasket or nut fitting can smoothly slide onto the string rod 301 along the tapered curved surface 3012 by the guiding action of the tapered curved surface 3012, and the gasket or nut fitting can be conveniently strung on the string rod 301.

In addition, in the process of stringing the gasket or the nut fitting, in order to avoid the gasket or the nut fitting from sliding off from the other end of the stringing rod 301, a limiting part 3011 may be disposed outside the stringing rod 301, and the limiting part 3011 is adjacent to one end of the stringing rod 301 connected to the turntable 300, so that the limiting part 3011 may play a role in limiting and blocking the gasket or the nut fitting strung on the stringing rod 301.

As a detachable connection mode of the string rod 301 and the rotary disc 300, a threaded hole can be formed in the rotary disc 300, and an external thread matched with the threaded hole is arranged at one end of the string rod 301 connected with the rotary disc 300, so that the string rod 301 and the rotary disc 300 can be detachably connected through a threaded structure; of course, the string rod 301 can be detachably connected with the rotating disc 300 through fasteners such as bolts or screws; the embodiment of the invention does not limit the structure of the mode of detachably connecting the string rod 301 and the turntable 300.

In the disk loading system disclosed by the embodiment of the invention, the disk loading system further comprises a gripper frame 40, and a bolt gripper and an accessory rotating hand which are arranged on the gripper frame 40; the actuating end of the tray-loading manipulator 41 is provided with a primary side joint of a quick-change device, the bolt gripper and the accessory gripper are respectively provided with a secondary side joint of the quick-change device, the secondary side joint of the quick-change device can be pneumatically connected with the primary side joint of the quick-change device,

when the tray loading manipulator 41 works, the bolt grippers or the accessory grippers can be replaced quickly according to the grabbing requirements of the tray loading manipulator 41, so that bolts on a grabbing plate are grabbed by the bolt grippers and transferred to a batching tray on the tray loading operating platform 50, and gaskets or nut accessories on the grabbing plate are grabbed by the accessory grippers and transferred to the batching tray on the tray loading operating platform 50.

Wherein, bolt tongs can include finger cylinder 420, first finger portion 421 and second finger portion 422, and first finger portion 421 and second finger portion 422 are connected with two piston rods of finger cylinder 420 respectively to move along opposite directions/back of the body mutually through first finger portion 421 and second finger portion 422, realize the fixed blowing of snatching of bolt tongs and loosen.

As shown in fig. 10, two opposite side surfaces of the first finger portion 421 and the second finger portion 422 may be respectively provided with a transverse clamping groove 423, so as to be suitable for grabbing the bolt 430 transversely placed on the tooling plate, so that a screw of the transversely placed bolt 430 may be clamped in the transverse clamping groove 423 of the first finger portion 421 and the second finger portion 422, thereby limiting and fixing the transversely placed bolt 430, increasing a clamping contact area, and improving a clamping and fixing effect.

Or, as shown in fig. 11, two opposite side surfaces of the first finger portion 421 and the second finger portion 422 may also be provided with vertical clamping grooves 423, so as to be suitable for grabbing of the bolts 430 vertically placed on the tooling plate, so that the screws or nuts of the bolts 430 vertically placed may be clamped in the vertical clamping grooves 423 of the first finger portion 421 and the second finger portion 422, and further, the bolts 430 vertically placed may be limited and fixed, so that the clamping contact area may be increased, and the clamping effect may be improved.

The locking groove 423 may be a V-shaped groove, and preferably, the cross-sectional shape of the V-shaped groove is an obtuse angle, so as to better increase the applicable range of the first finger portion 421 and the second clamping portion 602, and is used for clamping and fixing bolts of various specifications and sizes, and enabling the bolts to be sufficiently locked in the V-shaped groove; of course, the locking groove 423 can also be designed as an arc-shaped groove; embodiments of the present invention do not limit the shape of the clamping groove 423.

As shown in fig. 12, the accessory grip may include a finger cylinder 420, a first finger portion 421 and a second finger portion 422; the first finger part 421 and the second finger part 422 are respectively connected with two piston rods of the finger cylinder 420, the first finger part 421 is provided with a first clamping foot 424, and the second finger part 422 is provided with a second clamping foot 425; the finger cylinder 420 can drive the first finger portion 421 and the second finger portion 422 to move toward/away from each other, and the first engaging leg 424 and the second engaging leg 425 have a first state of being close to each other and a second state of being spread apart from each other.

When the first clamping leg 424 and the second clamping leg 425 are in a first state of being close to each other, the first clamping leg 424 and the second clamping leg 425 can extend into the through hole of the gasket or the nut fitting; when the first clamping leg 424 and the second clamping leg 425 are in the second state of being mutually propped, the first clamping leg 424 and the second clamping leg 425 are far away from each other and are attached to the inner wall of the through hole of the gasket or the nut fitting, so that the gasket or the nut fitting is fixed and taken by means of friction force, and the gasket or the nut fitting is particularly suitable for the working condition that the gasket or the nut fitting is placed in the groove.

As shown in fig. 13, each of the first locking leg 424 and the second locking leg 425 may include a narrow portion 4242 and a wide portion 4241; the narrow portion 4242 is located at the front end of the wide portion 4241, and the size of the narrow portion 4242 is smaller than that of the wide portion 4241 to form a stepped structure, so that the application range of the first clamping leg 424212 and the second clamping leg 425222 is better expanded.

When the aperture range of the through hole of the gasket or nut fitting is small, the narrow parts 4242 of the first clamping leg 424 and the second clamping leg 425 can extend into the through hole of the gasket or nut fitting, so that the gasket or nut fitting is fixed and taken out through the narrow parts 4242; when the through hole range of the gasket or the nut fitting is large, the wide portions 4241 of the first clamping leg 424 and the second clamping leg 425 can extend into the through hole of the gasket or the nut fitting, so that the gasket or the nut fitting is fixed and taken out through the wide portions 4241.

In order to better improve the supporting and fixing effects of the first clamping leg 424 and the second clamping leg 425 on the gasket or the nut fitting, the outer side surface of the first clamping leg 424, which is away from the second clamping leg 425, is an arc-shaped surface, and the outer side surface of the second clamping leg 425, which is away from the first clamping leg 424, is an arc-shaped surface, so that the first clamping leg 424 and the second clamping leg 425 correspond to the through hole of the gasket or the nut fitting, and the contact area between the first clamping leg 424 and the inner wall of the through hole is increased; preferably, the arc-shaped surface is a circular arc-shaped surface.

In order to facilitate the installation and setting of the finger cylinder 420 and the secondary side joint of the quick-change device, the bolt gripper and the accessory gripper can also respectively comprise a first base 410, so that a bearing foundation is provided for the installation and setting of the finger cylinder 420 and the secondary side joint of the quick-change device through the first base 410; the first base 410 may be a plate-shaped structural member, so that the first base 410 has a large installation area, and the finger cylinder 420 and the secondary side joint of the quick-change device are respectively disposed on the upper plate surface and the lower plate surface of the first base 410.

In the tray loading system disclosed in the embodiment of the present invention, as shown in fig. 14, the tray loading operation table 50 may include a table 500 and a positioning device; the positioning device comprises a limiting part, a pushing part 502 and a telescopic driving mechanism 501; the limiting part and the telescopic driving mechanism 501 are both arranged on the table board 500, and the limiting part is opposite to the pushing part 502; the pushing portion 502 is connected to the telescopic driving mechanism 501, and the telescopic driving mechanism 501 can drive the pushing portion 502 to move toward/away from the limiting portion.

After the batching tray 90 is placed on the table top 500 of the tray loading operating platform 50, the telescopic driving mechanism 501 arranged on the table top 500 can drive the pushing part 502 to move towards the limiting part, and then the batching tray 90 placed on the table top 500 is pushed to the position abutted against the limiting part through the pushing part 502, so that the position deviation correction of the batching tray 90 is realized, the positions of the batching tray 90 placed at each time are basically the same, the tray loading manipulator 41 can well place the accessories of bolts, gaskets and nuts at the fixed positions in the batching tray 90 according to the fixed postures, and the tray loading operation effect of the tray loading manipulator 41 is ensured; after the tray loading operation is completed by the tray loading manipulator 41, the telescopic driving mechanism 501 drives the pushing part 502 to depart from the limiting part to move, so that the pushing part 502 is reset to facilitate the next operation of the positioning device.

Wherein, positioner's the quantity that sets up can be for two sets of, and two sets of positioner's spacing portion set up the direction crossing to can carry out position control to batching dish 90 on X axle direction and Y axle direction on mesa 500 respectively through two sets of positioner, make batching dish 90's position rectify more accurately.

Meanwhile, one of the two sets of positioning devices may further include a guiding mechanism, the guiding mechanism is disposed on the table 500, and the pushing portion 502 of the set of positioning devices is connected with the guiding mechanism and moves along the guiding direction of the guiding mechanism, so that the pushing portion 502 can be guided by the guiding mechanism, and the pushing portion 502 can be moved smoothly.

As a structure of the guide mechanism, it may include a second guide rail 503 and a second slider 504; the second guide rail 503 extends along the moving direction of the pushing part 502 and is arranged on the table top 500, the second slider 504 is provided with a sliding groove matched with the second guide rail 503, and the second slider 504 rides on the second guide rail 503 through the sliding groove and is in sliding fit with the second guide rail 503; the pushing section 502 is connected to the second slider 504, so that the movement of the pushing section 502 in the guiding direction of the second guide rail 503 is achieved by the sliding movement of the second slider 504 along the second guide rail 503.

Preferentially, the second sliding block 504 is arranged on the lower side surface of the pushing portion 502, so that the height of the pushing portion 502 of the group of positioning devices can be raised after the second sliding block 504 is arranged on the second guide rail 503 in a sliding manner, and the pushing portion 502 of the other group of positioning devices is located above the pushing portion 502 of the other group of positioning devices, thereby avoiding collision and interference of the pushing portions 502 of the two groups of positioning devices in the moving process, and being beneficial to ensuring the moving work of the pushing portions 502 of the two groups of positioning devices.

As shown in fig. 15, the table top 500 may be provided with a ring-shaped side enclosing plate 505 and a top plate 506, and the ring-shaped side enclosing plate 505 and the top plate 506 enclose a box body with a cavity inside on the table top 500; the top plate 506 is provided with a window 507 for the movement of the batching tray 90, and the positioning device is arranged in the cavity, so that the appearance performance of the tray-loading operation table 50 can be improved through the formed box body structure, and the box body structure can also be used as a shell to protect the positioning device in the box body structure; the annular side coaming 505 and the relative one side face of propelling movement portion 502 form spacing portion respectively to make full use of is favorable to the simplification of sabot operation panel 50 structure to the box structure.

Meanwhile, the window 507 arranged on the top plate 506 not only can enable part of the batching tray 90 to be positioned in the cavity of the box body and act as a positioning device, but also the window 507 can play a role in primarily positioning the position of the batching tray 90 placed on the table top 500.

Generally, the batching tray 90 comprises a tray body and a stand; therefore, in order to make the supporting legs of the bracket capable of being placed in the cavity of the box body to act as the positioning device, the number of the windows 507 arranged on the top plate 506 can correspond to the number of the supporting legs; in addition, in order to be suitable for the supporting legs of the batching trays 90 with different sizes, windows 507 can be formed at different positions of the supporting legs of different batching trays 90; the annular side panels 505 are annularly distributed along the four-axis edges of the tabletop 500, and may be in the shape of a square ring, a circular ring, or the like.

Of course, if the batching tray 90 only includes a tray body, a window 507 for the tray body to move may be provided on the top plate 506; the pushing part 502 may be a plate-shaped structural member or a rod-shaped structural member arranged along the extending direction of the limiting part; the limiting part can also be a baffle or a block structural member which is independently arranged on the table top 500; the telescopic driving mechanism 501 may be a cylinder or an electric telescopic rod.

In the conveying system of the batching tray 90 disclosed in the embodiment of the present invention, the feeding and discharging manipulator 60 may include a rail, a moving mechanism, a lifting mechanism and a clamping mechanism; the moving mechanism is arranged on the track and reciprocates among the feeding conveying line 80, the tray loading operating platform 50 and the discharging conveying line 70 along the guide rail; the lifting mechanism is arranged on the moving mechanism, the clamping mechanism is connected with the lifting mechanism, and the lifting mechanism can drive the clamping mechanism to lift and move.

In the feeding process of the batching tray 90, the moving mechanism moves to the position of the feeding conveying line 80 along the rail, so that the clamping mechanism is positioned above the batching trays 90 stacked on the feeding conveying line 80, the clamping mechanism is lowered to the height position of the batching tray 90 through the lifting mechanism, and the batching tray 90 is grabbed through the clamping mechanism; then, the lifting mechanism lifts the clamping mechanism, the clamping mechanism moves to the position above the tray loading operation table 50 along the track through the moving mechanism, the clamping mechanism is lowered to the position where the batching tray 90 is placed on the tray loading operation table 50 through the lifting mechanism, and the clamping mechanism loosens the batching tray 90 to complete feeding.

In the blanking process of the batching tray 90, the lifting mechanism lowers the clamping mechanism to the position of the batching tray 90 on the tray loading operating platform 50, the batching tray 90 is grabbed by the clamping mechanism, and then the clamping mechanism is lifted by the lifting mechanism; then, the moving mechanism moves to the position of the discharging conveying line 70 along the rail, so that the batching tray 90 is located above the discharging conveying line 70, and after the clamping mechanism is lowered to the discharging height through the lifting mechanism, the clamping mechanism loosens the batching tray 90 to complete discharging.

In the feeding and discharging process of the batching trays 90, after a stack of batching trays 90 on the feeding conveyor line 80 is emptied, the feeding conveyor line 80 works to convey the next stack of batching trays 90 to the material taking area of the feeding and discharging manipulator 60 so as to allow the feeding and discharging manipulator 60 to continuously take materials; if the blanking conveying is carried out for stacking the whole batch pan 90, the blanking conveying is carried out for moving the stack of the whole batch pan 90 away to leave the stacking position of the feeding and blanking manipulator 60.

In order to facilitate the arrangement of the feeding and discharging manipulator 60, the disclosed batching tray 90 conveying system can further comprise a portal frame, and the track is arranged on the portal frame, so that the portal frame can be used for providing a mounting bearing foundation for the arrangement of the track, the track is prevented from forming a cantilever structure, and the stability of the operation of the feeding and discharging manipulator 60 is improved.

As one structure of the clamping mechanism, as shown in fig. 16, it may include a second base 600, a first clamping portion 601, a second clamping portion 602, and a driving mechanism 603; the first clamping portion 601 and the second clamping portion 602 are slidably disposed on the second base 600, and the first clamping portion 601 and the second clamping portion 602 are respectively connected to the driving mechanism 603, and can drive the first clamping portion 601 and the second clamping portion 602 to move toward and away from each other through the driving mechanism 603, so as to clamp and fix the first clamping portion 601 and the second clamping portion 602 and release the discharging operation.

It is easy to understand that the driving mechanism 603 may be a moving driving mechanism 603 such as an air cylinder or an electric telescopic rod connected to the first clamping portion 601 and the second clamping portion 602; the moving mechanism can be an installation seat structure which is driven by an air cylinder or a driving motor to move along the track, the installation seat is arranged on the track, and the lifting mechanism is arranged on the sliding seat; the feeding conveyor line 80 and the discharging conveyor line 70 may be belt type or chain plate type conveyors; the embodiment of the present invention does not limit the types and structures of the driving mechanism 603, the moving mechanism, the feeding conveyor line 80, and the discharging conveyor line 70.

The distribution plate 90 conveying system disclosed by the embodiment of the invention can also comprise a control system; wherein, as shown in fig. 5, the control system may include a first image acquisition element and a processor; a first image pickup element 208 is disposed adjacent to the staging platform 20 for picking up image data of the bolt magazine 111 on the staging platform 20; first image capture element 208 is connected to a data input of the processor, and a control output of the processor is connected to sorting robot 21.

When the first image acquisition element 208 works, the acquired image data of the bolt bin 111 on the temporary storage table 20 can be transmitted to the processor, the processor converts the image data into position information containing the angle and position coordinates of the bolt in the bolt bin 111 through a vision processing algorithm program arranged in the processor according to the received image data of the first image acquisition element 208, so that the processor controls the sorting manipulator 21 to move to the grabbing position according to the position information to grab the corresponding bolt, and the grabbing accuracy and the working efficiency of the sorting manipulator 21 are improved; the first image capturing element 208 may be disposed on a corresponding support, or may be disposed on the sorting robot 21.

Meanwhile, the control system may further include a second image capturing element disposed at a position adjacent to the accessory feeding device 30, for capturing image data of a gasket or nut accessory of the accessory feeding device 30; the second pattern acquisition element is connected with the data input end of the processor, and the control output end of the processor is connected with the material taking manipulator 31.

When the second image acquisition element works, the image data of the string rod 301 of the accessory feeding device 30 can be acquired, and the acquired image data is transmitted to the processor; then, the processor identifies the position information of the gasket or the nut fitting positioned at the uppermost part of the string rod 301 according to the received image data, controls the material taking manipulator 31 to accurately move to the position of the gasket or the nut fitting according to the position information, and takes out the gasket or the nut fitting from the free end of the string rod 301 through the material taking manipulator 31, so that the flexibility and the material taking accuracy of the material taking manipulator 31 are improved; the second image capturing element may be disposed on a corresponding support, or may be disposed on the material taking manipulator 31.

The control system may further comprise a third image acquisition element 604; the third image acquisition element 604 is arranged on the feeding and discharging manipulator 60 and is connected with the data input end of the processor; therefore, the third image acquisition element 604 arranged on the feeding and discharging manipulator 60 can acquire the image data of the batching tray 90 in the process that the feeding and discharging manipulator 60 captures the batching tray 90, and the processor can acquire the information such as the model and the position of the batching tray 90 according to the image data acquired by the image acquisition element.

Wherein, the control output of treater can be connected with sabot manipulator 41 to make the treater can carry out accurate control to the sabot action of sabot manipulator 41 according to the information that acquires, make sabot manipulator 41 accurately remove to the position department that batching dish 90 was located.

Alternatively, the control output end of the processor may also be connected to the telescopic driving mechanism 501 of the positioning device; if the position of the batching tray 90 on the tray loading operating platform 50 is deviated, the processor can control the positioning device to work to correct the position of the batching tray 90, so that the position of the batching tray 90 is corrected.

Therefore, the tray loading operation of the tray loading manipulator 41 is ensured, so that the tray loading manipulator 41 can well place the bolt, gasket and nut accessories at fixed positions in the batching tray 90 according to a fixed posture; after the tray loading operation is completed by the tray loading robot 41, the third image capturing element 604 may capture image data of the batching tray 90 on the tray loading console 50 again, so as to check whether the batching tray 90 is loaded correctly.

Specifically, as shown in fig. 16, the third image capturing element 604 is disposed on the second base 600 and faces the side where the first clamping portion 601 and the second clamping portion 602 are located, so that the third image capturing element 604 can move together with the clamping mechanism and maintain a state facing the dispensing tray 90, thereby facilitating the image capturing work of the third image capturing element 604.

It is readily understood that first image capture element 208, second image capture element, and third image capture element 604 may be 2D cameras, 3D cameras, or webcams, etc.; meanwhile, the processors of the first image capturing element 208, the second image capturing element and the third image capturing element 604 may be three processors separately arranged, or may be one processor integrally arranged.

In the above embodiments of the present invention, the difference between the embodiments is mainly described, and different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory, and further description is omitted here in view of brevity of the text.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A bolt sorting system, comprising:

2. The bolt sorting system according to claim 1, wherein the shelf is provided with an electronic tag at a position adjacent to the cell, and the execution end of the access manipulator is provided with an electronic tag reader for identifying the electronic tag.

3. The bolt sorting system according to claim 1, wherein the access robot is provided with a distance sensor at its executing end, and the distance between the executing end of the access robot and the shelf is monitored by the distance sensor.

4. The bolt sorting system according to any one of claims 1 to 3, wherein the unit cell is provided with two first supports which are opposed, and a space is provided between the two first supports; the access manipulator comprises a mechanical arm and a material taking fork mechanism; the material taking fork mechanism comprises a supporting arm, one end of the supporting arm is connected with the mechanical arm, the other end of the supporting arm is a free end deviating from the mechanical arm, and the width of the supporting arm is smaller than the distance between the two first supporting parts.

5. The bolt sorting system according to claim 4, wherein the temporary storage table comprises a material table and at least two second supporting portions arranged on the material table at intervals, two adjacent second supporting portions are located at opposite positions, and a space for accommodating the bracket arm is formed between the two adjacent supporting portions.

6. The bolt sorting system according to claim 5, wherein the rack is arranged in an arc shape, and the access manipulator is rotatably arranged at the inner side of the arc-shaped surface where the rack is arranged and can rotate and move along the arrangement direction of the rack.

7. The bolt sorting system according to any one of claims 1 to 3, wherein the accessory feeding device comprises a rotating mechanism and a string rod, the string rod is eccentrically arranged on the rotating mechanism, one end of the string rod is connected with the rotating mechanism, the other end of the string rod forms a free end away from the rotating mechanism, and the rotating mechanism can rotationally control the string rod to move to a material taking area of the material taking manipulator.

8. The bolt sorting system according to any one of claims 1 to 3, wherein the tray loading system further comprises a gripper frame and a bolt gripper and an accessory turner arranged on the gripper frame; the quick-change device is characterized in that a quick-change device main side connector is arranged at an executing end of the tray loading manipulator, a quick-change device auxiliary side connector is respectively arranged on the bolt gripper and the accessory gripper, and the quick-change device auxiliary side connector can be pneumatically connected with the quick-change device main side connector.

9. The bolt sorting system according to any one of claims 1 to 3, wherein the tray-loading station comprises a table top and a positioning device; the positioning device comprises a limiting part, a pushing part and a telescopic driving mechanism; the limiting part and the telescopic driving mechanism are both arranged on the table board, and the limiting part is opposite to the pushing part; the pushing part is connected with the telescopic driving mechanism, and the telescopic driving mechanism can drive the pushing part to move towards or away from the limiting part.

10. The bolt sorting system according to any one of claims 1 to 3, further comprising a control system comprising a first image capturing element and a second image capturing element; the first image acquisition element is arranged at the position close to the temporary storage table and used for acquiring image data of the bolt bin on the temporary storage table; the second image acquisition element is arranged at a position close to the accessory feeding device and used for acquiring accessory image data of the accessory feeding device; the first image acquisition element and the second image acquisition element are respectively connected with a data input end of the processor, and a control output end of the processor is respectively connected with the sorting manipulator and the material taking manipulator.