CN210214046U - Two-degree-of-freedom workpiece sorting and carrying robot - Google Patents

Abstract

The utility model discloses a two degree of freedom work piece letter sorting transfer robots, sideslip mechanism sliding connection is on the base, can follow the slide rail sideslip motion of base, every single move mechanism is fixed in sideslip mechanism top, along with the synchronous sideslip of sideslip mechanism, work piece transport mechanism places in every single move mechanism the place ahead, electronic claw is installed on every single move mechanism, be close to work piece transport mechanism, install torque sensor on the electronic claw, be used for the tight stop of the electronic claw clamp of feedback control, every single move mechanism drives electronic claw through the arm and pitch or bow down, thereby electronic claw cooperation sideslip mechanism and every single move mechanism will not unidimensional work piece letter sorting to work piece transport mechanism's different conveyer belt on. The utility model discloses a torque sensor control step motor stall judges the work piece size according to step motor turned angle again, through sideslip mechanism and pitching mechanism drive electronic hand claw sideslip and pitching motion, can sort not unidimensional work piece to different conveyer belts on, easy operation, control is convenient.

Description

Two-degree-of-freedom workpiece sorting and carrying robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to two degree of freedom work piece letter sorting transfer robots.

Background

Along with market economy rapid development, people are increasingly diversified to the demand of product, the demand of society is to small batch, many size directions development, this makes the letter sorting operation more and more important, the work efficiency of distribution center overall operation will greatly be improved to high-efficient quick letter sorting work, current sorting device will be in the letter sorting state of a degree of freedom, still need consume the manpower and materials of a large amount of transportation conveying work pieces, or need rely on pneumatic or hydraulic means drive arm to remove, and is with high costs, and control is complicated, whole process is consuming time and is hard. Therefore, a workpiece sorting and transporting robot which is convenient to sort and move, is automatically controlled, is efficient and quick and has high working efficiency is needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that not enough to above-mentioned prior art provides a two degree of freedom work piece letter sorting transfer robot, and this letter sorting transfer robot passes through torque sensor and judges the work piece size, through sideslip mechanism and every single move mechanism, can realize that the arm moves the electronic hand claw sideslip of drive and every single move motion, and then grabs the work piece of not unidimensional and put to different conveyer belts on, realizes the letter sorting operation, easy operation, and control is convenient.

In order to realize the technical purpose, the utility model discloses the technical scheme who takes does: a two-degree-of-freedom workpiece sorting and carrying robot comprises a base, a transverse moving mechanism, a pitching mechanism, an electric claw and a workpiece conveying mechanism, wherein the transverse moving mechanism is connected to the base in a sliding mode, the pitching mechanism is fixed above the transverse moving mechanism and is installed on the pitching mechanism, the pitching mechanism drives the electric claw to tilt up or tilt down through a mechanical arm, the workpiece conveying mechanism is placed on the side close to the base on the side of the electric claw and is used for conveying workpieces to be sorted, a torque sensor is installed on the electric claw and is used for feedback control of clamping stop of the electric claw and indirect judgment of the size of the workpieces, the workpiece conveying mechanism comprises a plurality of conveying devices which are arranged in parallel at intervals, the arrangement direction of each conveying device is consistent with the translation direction of the transverse moving mechanism, and the electric claw is matched with the pitching mechanism to clamp and tilt up to move out the workpieces conveyed on one conveying device, according to the workpiece size indirectly judged by the torque sensor, the electric paw is matched with the transverse moving mechanism to transversely move to other conveying devices for conveying workpieces with the same size, and then matched with the pitching mechanism to downwards pitch and release the workpieces to be placed on the conveying devices, so that the workpieces with different sizes are sorted and conveyed to the different conveying devices.

Furthermore, a transverse moving slide rail and a transverse moving groove are arranged on the base, the transverse moving groove is arranged in the middle of the upper plate surface of the base and perpendicular to the front side and the rear side of the base, and the transverse moving slide rail is symmetrically arranged on two sides of the transverse moving groove and is parallel to the transverse moving groove.

The transverse moving mechanism comprises a transverse moving feeding system and a transverse moving base, the transverse moving feeding system comprises a transverse moving servo motor and a transverse moving ball screw, the transverse moving servo motor is installed at the rear end of a transverse moving groove, an output shaft of the transverse moving servo motor is connected with the transverse moving ball screw through an YL3 type flange coupler, the front end and the rear end of the transverse moving ball screw are installed on a front base and a rear base respectively through first bearings, the front base and the rear base are installed at the front part and the rear part of the transverse moving groove respectively, a transverse moving screw nut of the transverse moving ball screw is fixedly connected to the bottom of the transverse moving base through a transverse moving fixing block, transverse moving sliding blocks are symmetrically fixed to the bottoms of the transverse moving base on the left side and the right side of the transverse moving.

Furthermore, the pitching mechanism comprises a mechanical arm, a pitching base and a pitching driving mechanism, the pitching base is installed on the transverse moving base and moves along with the transverse moving base in a transverse moving mode, the pitching driving mechanism is installed on the pitching base, the pitching driving mechanism comprises a pitching servo motor and a harmonic transmission reducer, a wave generator of the harmonic transmission reducer is installed on an output shaft of the pitching servo motor, the mechanical arm is installed on a rigid gear of the harmonic transmission reducer, the pitching servo motor drives the wave generator to rotate, the wave generator further drives the rigid gear to rotate in a reverse direction, and the rigid gear drives the mechanical arm to rotate longitudinally.

Furthermore, the electric paw is arranged at the front end of the mechanical arm and moves downwards, downwards or upwards along with the longitudinal rotation of the mechanical arm, the electric paw comprises a torque sensor, a stepping motor, a paw transmission mechanism, a chute lever type paw and a paw seat, the rear end of the paw seat is fixedly connected with the front end of the mechanical arm, the stepping motor is arranged on the paw seat, the paw transmission mechanism comprises a lead screw, the rear end of the lead screw is connected with an output shaft of the stepping motor through a shaft coupler, both ends of the lead screw are arranged on the paw seat through a second bearing, a lead screw nut is arranged on the lead screw, the lead screw nut is arranged on a nut seat, the nut seat is sleeved on a pull rod, the pull rod is arranged on the paw seat through a guide sleeve, the lever type nut is parallel to the central line of the lead screw, the chute paw is arranged at the front end of the pull rod, the torque sensor is arranged on the lead screw, the torque sensor controls the sliding chute lever type paw to clamp and stop by feeding back the rotation stop of the stepping motor, and the size of the workpiece can be indirectly judged by the rotation angle of the stepping motor.

Further, the workpiece conveying mechanism comprises a first conveying device, a second conveying device and a third conveying device, the first conveying device, the second conveying device and the third conveying device are distributed in a left-right parallel spaced mode, the conveying direction of each conveying device is parallel to the front side edge and the rear side edge of the base, and workpieces are conveyed through the conveying devices.

The utility model discloses following beneficial effect has: the utility model provides a two degree of freedom work piece letter sorting transfer robots, when tight work piece is pressed from both sides to electronic hand claw, torque sensor control step motor stall, can judge the work piece size according to step motor's turned angle, sideslip mechanism and every single move mechanism can drive electronic hand claw sideslip and luffing motion, the work piece size according to the indirect judgement of torque sensor, electronic hand claw cooperation sideslip mechanism and every single move mechanism can sort not unidimensional work piece to different conveyer belts, corner and harmonic reduction gear ratio through control every single move mechanism, can ensure that the motion is accurate, and the operation is simple, easy control, therefore, the clothes hanger is strong in practicability.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is an enlarged view of the pitch mechanism of FIG. 2;

FIG. 4 is a schematic view of the cross feed system of the present invention;

fig. 5 is a schematic view of the electric gripper of fig. 1.

Wherein the reference numerals are: the device comprises a base 1, a traverse slide rail 1-1, a traverse groove 1-2, a supporting foot 1-3, a fastening piece 1-4, a traverse mechanism 2, a traverse feeding system 2-1, a traverse servo motor 2-11, a traverse ball screw 2-12, an YL3 type flange coupling 2-13, a first bearing 2-14, a front base 2-15, a rear base 2-16, a traverse screw nut 2-17, a sleeve 2-18, an end cover 2-19, an adjusting nut 2-20, a locking nut 9-21, a traverse base 2-2, a traverse fixed block 2-3, a traverse sliding block 2-4, a pitching mechanism 3, a mechanical arm 3-1, a pitching base 3-2, a pitching driving mechanism 3-3, a pitching servo motor 3-31, a harmonic transmission reducer 3-32, a harmonic transmission reducer 3-3, The device comprises rigid gears 3-32a, flexible gears 3-3b, brakes 3-33, fixing frames 3-4, electric paws 4, torque sensors 4-1, stepping motors 4-2, chute lever type paws 4-3, paw seats 4-4, lead screws 4-51, shaft couplers 4-52, second bearings 4-53, lead screw nuts 4-54, nut seats 4-55, pull rods 4-56, guide sleeves 4-57, a workpiece conveying mechanism 5, a first conveying device 5-1, a second conveying device 5-2 and a third conveying device 5-3.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

As shown in figures 1-5, the utility model relates to a two-degree-of-freedom workpiece sorting and transporting robot, which comprises a base 1, a traversing mechanism 2, a pitching mechanism 3, an electric paw 4 and a workpiece conveying mechanism 5, wherein the traversing mechanism 2 is slidably connected to the base 1, the pitching mechanism 3 is fixed above the traversing mechanism 2, the electric paw 4 is installed on the pitching mechanism 3, the pitching mechanism 3 drives the electric paw 4 to tilt up or tilt down through a mechanical arm 3-1, the workpiece conveying mechanism 5 is arranged at the side of the base 1 near the electric paw 4 for conveying a workpiece to be sorted, the electric paw 4 is provided with a torque sensor 4-1, the torque sensor 4-1 is used for feedback control of the clamping stop of the electric paw 4 and indirect judgment of the size of the workpiece, the workpiece conveying mechanism 5 comprises a plurality of conveying devices which are arranged in parallel at intervals, the arrangement direction of each conveying device is consistent with the translation direction of the traversing mechanism 2, the electric paw 4 is matched with the pitching mechanism 3 to pitch downwards to clamp and pitch upwards to move out a workpiece conveyed on a conveying device, the size of the workpiece is indirectly judged through the torque sensor 4-1, the electric paw 4 is matched with the transverse moving mechanism 2 to transversely move to other conveying devices for conveying workpieces with the same size, and then the pitching mechanism 3 is matched to pitch downwards to release the workpiece to be placed on the conveying devices, so that the workpieces with different sizes are sorted and conveyed to different conveying devices.

As shown in figure 1, a base 1 is provided with a transverse moving slide rail 1-1 and a transverse moving groove 1-2, the transverse moving groove 1-2 is arranged in the middle of the upper plate surface of the base 1 and is vertical to the front side and the rear side of the base 1, and the transverse moving slide rail 1-1 is symmetrically arranged at the two sides of the transverse moving groove 1-2 and is parallel to the transverse moving groove 1-2.

Furthermore, two supporting legs 1-3 are respectively fixed at the front and the back at intervals at the bottom of the base 1 under the transverse moving groove 1-2 and the transverse moving slide rail 1-1, the supporting legs 1-3 are fixed at the bottom of the base 1 through fasteners 1-4, and the fasteners 1-4 are stud and nut assemblies.

As shown in figures 1 and 4, the transverse moving mechanism 2 comprises a transverse moving feeding system 2-1 and a transverse moving base 2-2, the transverse moving feeding system 2-1 comprises a transverse moving servo motor 2-11 and a transverse moving ball screw 2-12, the transverse moving servo motor 2-11 is arranged at the rear end of a transverse moving groove 1-2, an output shaft of the transverse moving servo motor 2-11 is connected with the transverse moving ball screw 2-12 through an YL3 type flange coupler 2-13, the front end and the rear end of the transverse moving ball screw 2-12 are respectively arranged on a front base 2-15 and a rear base 2-16 through a first bearing 2-14, a sleeve 2-18 and an end cap 2-19 are sleeved on the first bearing 2-14, the end cap 2-19 is fixed on the front base and the rear base, an adjusting nut 2-20 and a locking nut 9-21 are sequentially fastened at the front end and the rear end of the transverse moving, front bases 2-15 and rear bases 2-16 are respectively arranged at the front and rear parts of the transverse moving groove 1-2, transverse moving screw nuts 2-17 of a transverse moving ball screw 2-12 are fixedly connected to the bottom of the transverse moving base 2-2 through transverse moving fixing blocks 2-3, transverse moving sliders 2-4 are symmetrically fixed to the bottoms of the transverse moving bases 2-2 on the left and right sides of the transverse moving fixing blocks 2-3, and linear rolling guide rail pairs are connected between the transverse moving sliders 2-4 and the transverse moving slide rails 1-1.

As shown in the figures 1-3, the pitching mechanism 3 comprises a mechanical arm 3-1, a pitching base 3-2 and a pitching driving mechanism 3-3, the pitching base 3-2 is arranged on the traversing base 2-2 and moves with the traversing base 2-2, the pitching driving mechanism 3-3 is arranged on the pitching base 3-2, the pitching driving mechanism 3-3 comprises a pitching servo motor 3-31 and a harmonic drive reducer 3-32, the pitching servo motor 3-31 is a servo motor with a brake 3-33, a wave generator of the harmonic drive reducer 3-32 is arranged on an output shaft of the pitching servo motor 3-31, the mechanical arm 3-1 is arranged on a rigid gear 3-32a of the harmonic drive reducer 3-32, and the pitching servo motor 3-31 drives the wave generator to rotate, the wave generator further drives the rigid gear 3-32a to rotate reversely, and the rigid gear 3-32a drives the mechanical arm 3-1 to rotate longitudinally.

Further, the pitching mechanism 3 further comprises a fixing frame 3-34, the fixing frame 3-4 is fixed inside the pitching base 3-2, the pitching servo motor 3-31 is installed on the fixing frame 3-4, a flexible gear 3-3b of the harmonic drive reducer 3-32 is fixed on the fixing frame 3-4 through a screw, the flexible gear 3-3b is meshed with a rigid gear 3-32a, the rigid gear 3-32a is installed on the wave generator, and the mechanical arm 3-1 is fixed on the rigid gear 3-32a through a screw and synchronously rotates along with the rigid gear 3-32 a.

As shown in fig. 1, 2 and 5, an electric paw 4 is mounted at the front end of a mechanical arm 3-1, and moves downwards, downwards or upwards along with the longitudinal rotation of the mechanical arm 3-1, the electric paw 4 comprises a torque sensor 4-1, a stepping motor 4-2, a paw transmission mechanism, a chute lever type paw 4-3 and a paw seat 4-4, the rear end of the paw seat 4-4 is fixedly connected with the front end of the mechanical arm 3-1, a stepping motor 4-2 is mounted on the paw seat 4-4, the paw transmission mechanism comprises a lead screw 4-51, the rear end of the lead screw 4-51 is connected with an output shaft of the stepping motor 4-2 through a coupling 4-52, two ends of the lead screw 4-51 are mounted on the paw seat 4-4 through second bearings 4-53, a lead screw nut 4-54 is mounted on the lead screw 4-51, the lead screw nut 4-54 is installed on the nut seat 4-55, the nut seat 4-55 is sleeved on the pull rod 4-56, the pull rod 4-56 is installed on the claw seat 4-4 through the guide sleeve 4-57, the lead screw nut 4-54 is parallel to the central line of the lead screw 4-51, the chute lever type claw 4-3 is installed at the front end of the pull rod 4-56, the torque sensor 4-1 is installed on the lead screw 4-51, the torque sensor 4-1 controls the chute lever type claw 4-3 to stop clamping through feeding back the rotation stop of the stepping motor 4-2, and then the size of the workpiece can be indirectly judged through the rotation angle of the stepping motor 4-2.

Further, the stepping motor 4-2 and the torque sensor 4-1 are electrically connected with the manipulator control box, a torque set value is set in a control system of the control box, and when the torque value fed back by the torque sensor 4-1 received by the control system reaches the torque set value, the control system controls the stepping motor 4-2 to stop.

Further, different torque value ranges are set in the control system, such as 100-120, 121-130 and 131-140, workpieces clamped within the torque value range of 100-120 are set as size A workpieces, workpieces clamped within the torque value range of 121-130 are set as size B workpieces, and workpieces clamped within the torque value range of 131-140 are set as size C workpieces, so that according to the torque value fed back by the torque sensor 4-1, the clamped workpieces to be sorted can be determined as the workpieces corresponding to which size, and the electric claw 4 is matched with the pitching mechanism 3 and the traversing mechanism 2 to sort and convey the workpieces with different sizes to different conveying devices.

As shown in fig. 2, the workpiece conveying mechanism 5 includes a first conveying device 5-1, a second conveying device 5-2 and a third conveying device 5-3, the first conveying device 5-1, the second conveying device 5-2 and the third conveying device 5-3 are distributed in parallel and at intervals, the conveying direction of each conveying device is parallel to the front and rear sides of the base 1, and the workpieces are conveyed by the conveying devices.

The working principle of the utility model is as follows: according to the relative position of the electric gripper 4 and a conveyor belt on which a workpiece to be sorted is positioned, a transverse moving servo motor 2-11 is started to rotate, the transverse moving servo motor 2-11 drives a transverse moving ball screw 2-12 to rotate, the transverse moving ball screw 2-12 rotates to drive a transverse moving screw nut 2-17 to move along the transverse moving ball screw 2-12, the transverse moving screw nut 2-17 drives a transverse moving base 2-2 to transversely move along a transverse moving slide rail 1-1 through a transverse moving fixing block 2-3, the transverse moving motion of the transverse moving mechanism 2 drives a pitching mechanism 3 to synchronously move, when the electric gripper 4 moves to the position above the workpiece to be sorted on a target conveyor belt such as a first conveying device 5-1, a stepping motor 4-2 is started to rotate in the forward direction, the stepping motor 4-2 drives a screw rod 4-51 to rotate, the screw rod 4-51 drives, the screw nut 4-54 pulls the pull rod 4-56 backwards through the nut seat 4-55, so that the chute lever type paw 4-3 is opened, then the pitching servo motor 3-31 is started to rotate, the pitching servo motor 3-31 drives the mechanical arm 3-1 to rotate clockwise through the rigid gear 3-32a of the harmonic transmission reducer 3-32, so that the mechanical arm 3-1 drives the electric paw 4 to bow downwards until a workpiece is inserted into the chute lever type paw 4-3, then the stepping motor 4-2 is controlled to rotate reversely, the stepping motor 4-2 drives the screw nut 4-54 to move forwards through the screw rod 4-51, the screw nut 4-54 pushes the pull rod 4-56 forwards through the nut seat 4-55, so that the chute lever type paw 4-3 clamps the workpiece, the screw rod 4-51 is provided with the torque sensor 4-1, the torque sensor 4-1 feeds back a torque value to the control system, when the control system receives the torque value fed back by the torque sensor 4-1 and reaches a torque set value, the control system controls the stepping motor 4-2 to stop, simultaneously judges the size of a workpiece to be sorted according to the torque value, if the detected size of the workpiece is consistent with the size of the workpiece to be conveyed on the second conveying device 5-2, the transverse moving servo motor 2-11 is controlled to drive the transverse moving screw nut 2-17 to drive the transverse moving mechanism 2 to move backwards to the position above the second conveying device 5-2 through the transverse moving ball screw 2-12, then the stepping motor 4-2 is controlled to drive the screw nut 4-54 to move backwards through the screw 4-51, the screw nut 4-54 pulls the pull rod 4-56 backwards through the nut seat 4-55, the sliding groove lever type gripper 4-3 is enabled to loosen workpieces and place the workpieces on the second conveying device 5-2, if the workpieces to be sorted are detected indirectly through the torque sensor 4-1 to be consistent with the sizes of the workpieces to be conveyed on the third conveying device 5-3, the workpieces are operated as above, the electric gripper 4 is driven to move to the position above the third conveying device 5-3 through the transverse moving mechanism 2, then the workpieces are placed downwards on the third conveying device 5-3 in a pitching mode through the pitching mechanism 3, therefore, the electric gripper 4 is matched with the transverse moving mechanism 2 and the pitching mechanism 3 to achieve transverse moving and pitching movement, the workpieces with different sizes can be sorted onto different conveying belts to be sorted, and accurate movement, simplicity in operation and easiness in control can be guaranteed through control of the rotation angle and the harmonic reducer reduction ratio of the pitching mechanism 3.

Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.

Claims (6)

1. A two-degree-of-freedom workpiece sorting and carrying robot comprises a base (1), a transverse moving mechanism (2), a pitching mechanism (3), an electric paw (4) and a workpiece conveying mechanism (5), and is characterized in that the transverse moving mechanism (2) is slidably connected to the base (1), the pitching mechanism (3) is fixed above the transverse moving mechanism (2), the electric paw (4) is installed on the pitching mechanism (3), the pitching mechanism (3) drives the electric paw (4) to face upwards or downwards through a mechanical arm (3-1), a torque sensor (4-1) is installed on the electric paw (4), the torque sensor (4-1) is used for feedback control of clamping stop of the electric paw (4) and indirect judgment of the size of a workpiece, and the workpiece conveying mechanism (5) comprises a plurality of conveying devices which are arranged in parallel at intervals, the conveying devices are placed on the side of the base (1), the arrangement direction of the conveying devices is consistent with the translation direction of the transverse moving mechanism (2), the conveying devices are used for conveying workpieces with different sizes, the sizes of the workpieces are indirectly judged according to the torque sensor (4-1), and the electric paw (4) is matched with the pitching mechanism (3) and the transverse moving mechanism (2) to sort and convey the workpieces with different sizes to different conveying devices.

2. The two degree-of-freedom workpiece sorting and handling robot of claim 1, wherein: the base (1) is provided with a transverse sliding rail (1-1) and a transverse sliding groove (1-2), the transverse sliding groove (1-2) is arranged in the middle of the upper plate surface of the base (1) and is perpendicular to the front side edge and the rear side edge of the base (1), and the transverse sliding rail (1-1) is symmetrically arranged on two sides of the transverse sliding groove (1-2) and is parallel to the transverse sliding groove (1-2).

3. The two degree-of-freedom workpiece sorting and handling robot of claim 2, wherein: the transverse moving mechanism (2) comprises a transverse moving feeding system (2-1) and a transverse moving base (2-2), the transverse moving feeding system (2-1) comprises a transverse moving servo motor (2-11) and a transverse moving ball screw (2-12), the transverse moving servo motor (2-11) is installed at the rear end of a transverse moving groove (1-2), an output shaft of the transverse moving servo motor (2-11) is connected with the transverse moving ball screw (2-12) through an YL3 type flange coupler (2-13), the front end and the rear end of the transverse moving ball screw (2-12) are respectively installed on a front base (2-15) and a rear base (2-16) through first bearings (2-14), the front base (2-15) and the rear base (2-16) are respectively installed at the front part and the rear part of the transverse moving groove (1-2), the transverse moving ball screw (2-12) is characterized in that transverse moving screw nuts (2-17) are fixedly connected to the bottoms of transverse moving bases (2-2) through transverse moving fixing blocks (2-3), transverse moving sliding blocks (2-4) are symmetrically fixed to the bottoms of the transverse moving bases (2-2) on the left side and the right side of each transverse moving fixing block (2-3), and the transverse moving sliding blocks (2-4) are connected with transverse moving sliding rails (1-1) through linear rolling guide rail pairs.

4. The two degree-of-freedom workpiece sorting and handling robot of claim 3, wherein: the pitching mechanism (3) comprises a mechanical arm (3-1), a pitching base (3-2) and a pitching driving mechanism (3-3), the pitching base (3-2) is arranged on the transverse moving base (2-2) and moves along with the transverse moving base (2-2), the pitching driving mechanism (3-3) is arranged on the pitching base (3-2), the pitching driving mechanism (3-3) comprises a pitching servo motor (3-31) and a harmonic transmission reducer (3-32), a wave generator of the harmonic transmission reducer (3-32) is arranged on an output shaft of the pitching servo motor (3-31), the mechanical arm (3-1) is arranged on a rigid gear of the harmonic transmission reducer (3-32), and the pitching servo motor (3-31) drives the wave generator to rotate, the wave generator further drives a rigid gear (3-32 a) to rotate reversely, and the rigid gear drives the mechanical arm (3-1) to rotate longitudinally.

5. The two degree-of-freedom workpiece sorting and handling robot of claim 4, wherein: the electric paw (4) is arranged at the front end of the mechanical arm (3-1) and moves downwards, downwards or upwards along with the longitudinal rotation of the mechanical arm (3-1), the electric paw (4) comprises a torque sensor (4-1), a stepping motor (4-2), a paw transmission mechanism, a chute lever type paw (4-3) and a paw seat (4-4), the rear end of the paw seat (4-4) is fixedly connected with the front end of the mechanical arm (3-1), the stepping motor (4-2) is arranged on the paw seat (4-4), the paw transmission mechanism comprises a lead screw (4-51), the rear end of the lead screw (4-51) is connected with an output shaft of the stepping motor (4-2) through a shaft coupler (4-52), two ends of the lead screw (4-51) are arranged on the paw seat (4-4) through second bearings (4-53), the lead screw (4-51) is provided with a lead screw nut (4-54), the lead screw nut (4-54) is arranged on a nut seat (4-55), the nut seat (4-55) is sleeved on a pull rod (4-56), the pull rod (4-56) is arranged on a claw seat (4-4) through a guide sleeve (4-57), the lead screw nut (4-54) is parallel to the central line of the lead screw (4-51), the chute lever type claw (4-3) is arranged at the front end of the pull rod (4-56), the stepping motor (4-2) drives the chute lever type claw (4-3) to close and lock a workpiece or open and unload the workpiece through a claw transmission mechanism, the torque sensor (4-1) controls the chute lever type claw (4-3) to clamp and stop by feeding back the rotation stop of the stepping motor (4-2), further, the size of the workpiece can be indirectly judged by the rotation angle of the stepping motor (4-2).

6. The two degree-of-freedom workpiece sorting and handling robot of claim 5, wherein: the workpiece conveying mechanism (5) comprises a first conveying device (5-1), a second conveying device (5-2) and a third conveying device (5-3), the first conveying device (5-1), the second conveying device (5-2) and the third conveying device (5-3) are distributed in a left-right parallel spaced mode, the conveying direction of each conveying device is parallel to the front side edge and the rear side edge of the base (1), and workpieces are conveyed through the conveying devices.

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