A disk sorting machine

Abstract

The present invention relates to a tray sorting machine for continuous loading and unloading of an automated production line, comprising a frame, the frame comprising a bottom frame and an upper frame, the bottom frame and the upper frame are divided into a front section, a middle section and a rear section and are supported by a number of columns respectively, the front section and the rear section are respectively provided with a lifting mechanism for lifting and lowering the tray, the lifting mechanism is respectively used to lift and lower the stacked trays layer by layer, the middle section corresponding to the upper frame is provided with a supporting roller wheel for translating the tray of the uppermost layer of the two lifting mechanisms, the upper side of the supporting roller wheel is provided with a manipulator for translating the tray, the front side of the front section of the frame and the rear side of the rear section are provided with an entrance and exit for facilitating the entry and exit of the tray transport vehicle. The tray sorting mechanism of the present invention arranges the functional components of each section in sections, and the mechanized loading, translation and unloading of the parts tray is realized through the coordinated actions of the components of each section, thereby ensuring the compactness of the production rhythm and improving the production efficiency and the level of automation and mechanization.

Description

Technical Field

[0001] The invention relates to the technical field of loading and unloading equipment of an automatic assembly line, and in particular to a tray sorting machine for automatic continuous loading and unloading. Background Art

[0002] In the automated production line of toothbrushes, the trays for placing toothbrushes or toothbrush plates need to be transferred between processes. In the same process, empty trays also need to be automatically loaded, and then the fully loaded trays are transferred to the unloading area for centralized unloading. In the prior art, such loading and unloading operations of trays require high reliance on manual labor, which affects the continuity of production rhythm and has low production efficiency. Summary of the invention

[0003] Aiming at the demand for conveying trays on and off the line in an automated toothbrush production line in the prior art, the present invention provides a tray sorting machine to realize automated loading and unloading of trays, thereby improving the efficiency of the production line and reducing labor costs.

[0004] The objective of the present invention is achieved in this way. A tray sorting machine comprises a frame, wherein the frame comprises a bottom frame and an upper frame, the bottom frame and the upper frame are divided into a front section, a middle section and a rear section and are supported by a plurality of columns respectively, the front section and the rear section are respectively provided with a lifting mechanism for lifting and lowering the tray, a plurality of layers of trays are stacked in the lifting mechanism respectively, the middle section corresponding to the upper frame is provided with supporting rollers for facilitating the translation of the uppermost tray of the two lifting mechanisms, a manipulator for translating the tray is provided on the upper side of the supporting rollers, and an entrance and exit are provided on the front side of the front section and the rear side of the rear section of the frame for facilitating the entry and exit of tray transport vehicles.

[0005] In the tray sorting machine structure of the present invention, the front section, the middle section and the rear section are respectively arranged for loading trays, and the single tray after full cutting is translated to the unloading section through the middle section; specifically: the lifting mechanisms of the front section and the rear section are respectively used for lifting the stacked empty trays to the specified height layer by layer and lowering the stacked fully loaded trays layer by layer, and the manipulator is used to level the fully loaded trays from the loading section to the unloading section one by one, and the stacked trays are concentratedly entered and exited by the corresponding lifting mechanisms through the inlet and outlet to realize the overall loading and unloading of the stacked trays. The tray sorting mechanism of the present invention has functional components of each section arranged in sections, and the mechanized loading, translation and unloading of the parts trays are realized through the coordinated actions of the components of each section, thereby meeting the tray loading and unloading requirements of the toothbrush automated production line, ensuring the compactness of the production rhythm, and improving the production efficiency and the level of automation and mechanization.

[0006] Each lifting mechanism of the present invention comprises: two synchronously lifting lifting seats arranged on the two parallel outer sides of the pallet, the inner sides of the lifting seats facing each other are respectively connected to the supporting bottom frames for supporting the two sides of the pallet on the bottom layer, the outer sides of the lifting seats are respectively fixed with slider guide mechanisms, each set of slider guide mechanisms are respectively driven by a chain lifting mechanism, and the two sets of chain lifting mechanisms are respectively driven by a synchronous sprocket mechanism to achieve synchronous lifting; the frames on the top and bottom sides of the lifting mechanism are respectively provided with position sensors for detecting the upper and lower limit positions of the pallet. In the lifting mechanism of the present invention, the two lifting seats are connected to the synchronously lifting supporting bottom frames for supporting the two sides of the bottom of the multi-layer stacked pallets, and the two lifting seats are driven by the chain lifting mechanism to achieve synchronous lifting, so as to lift or lower the height of the pallet layer by layer, so that the pallet on the top layer of the material receiving area is located at the material receiving height for receiving the material, and after receiving the material, it is translated to another lifting mechanism by the manipulator to be stacked and lowered layer by layer.

[0007] Furthermore, in the present invention, the chain lifting mechanism includes a vertically arranged chain box, a first sprocket is provided on the bottom side of the chain box, and a second sprocket is provided on the top side of the chain box, a lifting chain parallel to the guide rail is connected between the first sprocket and the first sprocket, and the side wall of the chain box corresponding to the side of the slider guide rail is cooperated with to form a vertical groove, vertical guide rails are respectively provided on both sides of the groove, and the two vertical guide rails are respectively connected to the slider, and a synchronous connecting block is connected between the two sliders, the synchronous connecting block extends into the groove and is fixedly connected to the lifting chain to realize synchronous lifting; the synchronous sprocket mechanism includes a driving motor fixed to the middle section of the bottom frame, and two active sprockets of the same size are connected to the output shaft of the driving motor, each of the active sprockets is respectively connected to a driven sprocket through a synchronous chain transmission, and the other ends of the wheel axles of the two driven sprockets are respectively connected to the first sprocket. In the chain lifting mechanism of the present invention, two driving sprockets of the same size on the output shaft of the driving motor respectively drive two driven sprockets to rotate at the same speed, and the two driving sprockets rotating at the same speed respectively drive their own sprocket lifting mechanisms to achieve synchronous lifting movement to drive the synchronous lifting of the two lifting seats.

[0008] Furthermore, the driving motors of each set of the lifting mechanisms are fixed in parallel to the bottom frame of the middle section of the frame, and the output shafts of the two driving motors are arranged in opposite directions to each other and point to their respective lifting mechanisms.

[0009] In order to facilitate the separation of the top-layer pallet receiving materials from other waiting pallets in the lower layer in the lifting mechanism, a supporting mechanism is provided on both sides of the pallet corresponding to the upper frame, and the supporting mechanism includes a pallet assembly that opens and closes synchronously from the outside of the pallet to the side edge of the pallet, and the side edge of the pallet assembly is clamped with the side edge of the pallet. A clamping cylinder is fixed on the upper frame outside the pallet assembly, and the end of the telescopic rod of the clamping cylinder is fixedly connected to the pallet assembly. The supporting mechanism of the present invention has two synchronously acting cylinders on both sides of the pallet to achieve the synchronous opening and closing of the pallet assembly to clamp and fix the two side edges of the pallet, which is convenient for the separation of the top pallet from other pallets at the bottom, and convenient for the translational transportation of the fully loaded pallet.

[0010] To facilitate clamping the pallet, the pallet assembly includes a horizontally arranged shifting plate, one end of which is connected to the clamping cylinder, and the other end of which is vertically provided with a vertical plate, and a pallet for supporting the bottom side edge of the pallet is fixed to one side of the vertical plate corresponding to the pallet.

[0011] In order to facilitate the pallet supported by the supporting mechanism to be limited and fixed in another horizontal direction, a limit baffle is provided on the upper side of the inlet and outlet of the frame for abutting against the outer wall of the top pallet; a swing pull rod is swingably connected to the upper side of the pallet, and the middle part of the swing pull rod in the vertical direction is swingably connected to the pallet through a supporting shaft, and a small cylinder is connected to the pallet, and the upper end of the swing pull rod is rotatably connected to the telescopic rod of the small cylinder, and the lower end of the swing pull rod cooperates with the pallet to push and push the pallet in the direction of the limit baffle, and a side-opened step notch is provided at the position where the pallet cooperates with the swing pull rod, and the step notch cooperates and abuts against the side end of the limit baffle close to the swing pull rod, and the swing pull rod swings under the push of the small cylinder so that the lower end abuts against the end of the step notch to achieve abutment and positioning of the outer side of the pallet against the limit baffle. In the above structure, after the supporting mechanism holds the tray, in order to prevent the tray from moving in another direction during the process of loading the toothbrush, the telescopic action of the small cylinder drives the swinging rod to swing, and the lower end of the swinging rod cooperates with the notched side end of the tray to push the tray toward the limit baffle side and dock it firmly. The tray with the top layer of loading is stably fixed through the two-way fixing action of the supporting mechanism and the small cylinder swinging mechanism, preventing the tray from moving in the other direction during the loading process, which affects the accurate loading.

[0012] In order to facilitate the translation of the parts pallet between the two lifting mechanisms of the front and rear sections, the manipulator includes a translation mechanism, and two front and rear guide rod cylinders are provided on the lower side of the translation mechanism. The guide rod cylinder is vertically arranged, and the connecting end of the lower side of the guide rod cylinder is connected to a right-angle push plate. The right-angle push plates on the lower sides of the two guide rod cylinders are symmetrically arranged, and the horizontal plate end of the right-angle push plate is fixedly connected to the connecting end of the lower side of the guide rod cylinder, and the vertical end of the right-angle push plate is used to push and pull the pallet to be translated. The manipulator structure of the present invention translates the right-angle support plate with the lifting action of the guide rod cylinder to the upper side of the pallet to be translated, and when the vertical end moves from top to bottom, it abuts against or hooks a vertical side edge of the front or rear side of the pallet, and then the translation mechanism translates in the other direction, pulling or pushing the pallet to translate along the support roller to the pallet stacking position of the other lifting mechanism, and then returns to the previous lifting mechanism to wait for the next translation action.

[0013] The translation mechanism of the present invention includes two horizontal guide rails arranged at the same installation height, and a synchronous slider is provided on the horizontal guide rail. A connecting plate is fixed to the lower side of the two synchronous sliders, and the connecting plate is used to fix the guide rod cylinder. A pulley transmission mechanism is provided between the two horizontal guide rails, and the pulley transmission mechanism includes a driving gear, a driven gear and a synchronous toothed belt. A follower block fixed to the synchronous toothed belt on one side is fixed on the connecting plate between the synchronous sliders.

[0014] Furthermore, the translation mechanism of the manipulator translates back and forth twice to complete a full translation of the pallet from the front lifting mechanism to the rear lifting mechanism. The vertical end of the front right-angle push plate is located on the front side for the first half of the translation of the pallet, and the vertical end of the rear right-angle push plate is located on the rear side for the second half of the translation of the pallet. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional diagram of the disk sorting machine of the present invention.

[0016] Figure 2 A schematic diagram of the rack distribution is shown in FIG.

[0017] Figure 3 It is a three-dimensional diagram of a single-sided lifting mechanism (the middle section of the frame and related structures on the other side are not shown).

[0018] Figure 4 Schematic diagram of the synchronous sprocket mechanism on the bottom frame.

[0019] Figure 5 It is a schematic diagram of a single-sided chain lifting mechanism.

[0020] Figure 6 This is a schematic diagram of the structure of the supporting mechanism on one side of the upper frame (without the tray).

[0021] Figure 7It is a schematic diagram of the structure of the supporting mechanism on one side of the upper frame (for placing the pallet).

[0022] Figure 8 This is a schematic diagram of the structure of the robot.

[0023] Among them, 1 frame; 101 upper frame; 102 bottom frame; 2 lifting mechanism; 201 lifting seat; 202 supporting bottom frame; 203 vertical guide rail; 204 slider; 205 chain box; 206 slot; 207 driving motor; 208 active sprocket; 209 driven sprocket; 210 first sprocket; 211 follower sprocket; 3 manipulator; 301 guide rod cylinder; 302 right-angle push plate; 303 synchronous toothed belt; 304 horizontal guide rail; 305 synchronous slider; 306 follower block; 307 connecting plate; 4 supporting roller; 5 holding mechanism; 501 clamping cylinder; 502 moving plate; 503 vertical plate; 504 supporting plate; 505 swing pull rod; 506 small cylinder; 507 limit baffle; 6 tray; 7 position sensor. DETAILED DESCRIPTION

[0024] like Figure 1 — Figure 8 As shown, the tray sorting machine of the present invention comprises a frame 1, and the frame 1 comprises a bottom frame 102 and an upper frame 101. The bottom frame 102 and the upper frame 101 are divided into a front section, a middle section and a rear section and are supported by a plurality of columns respectively. The front section and the rear section are respectively provided with a lifting mechanism for lifting and lowering the tray, and a plurality of layers of trays 6 are stacked in the lifting mechanism, wherein empty trays are stacked in the lifting mechanism on one side, and are lifted layer by layer to the working height of the production line by the lifting mechanism to place the produced toothbrushes or toothbrush plates, and the lifting mechanism on the other side is used to place trays fully loaded with toothbrushes or toothbrush plate workpieces; the middle section corresponding to the upper frame 101 is provided with a supporting roller 4 for translating the tray of the uppermost layer of the two lifting mechanisms, and a manipulator 3 for translating the tray is provided on the upper side of the supporting roller 4, and an entrance and exit are provided on the front side of the front section and the rear side of the rear section of the frame for facilitating the entry and exit of tray transport vehicles, as shown in FIG. Figure 2 The arrows show the direction of entry and exit.

[0025] like Figure 3 As shown, each lifting mechanism in the present invention includes: two synchronously lifting lifting seats 201 are arranged on the two parallel outer sides of the pallet, the inner sides of the lifting seats 201 facing each other are respectively connected to the supporting bottom frames 202 on both sides of the pallet on the lowermost layer, and the outer sides of the lifting seats 201 are respectively fixed with slider guide mechanisms, each set of slider guide mechanisms is driven by a chain lifting mechanism, and the two sets of chain lifting mechanisms are driven by synchronous sprocket mechanisms to achieve synchronous lifting, and the frames on the top and bottom sides of the lifting mechanism are respectively provided with position sensors 7 for detecting the upper limit position and the lower limit position of the pallet.

[0026] In this embodiment, the chain lifting mechanism includes a vertically arranged chain box 205, a first sprocket 210 is provided on the bottom side of the chain box 205, a second sprocket is provided on the top side of the chain box, a lifting chain parallel to the guide rail is connected between the first sprocket 210 and the first sprocket, a vertical slot 206 is provided on the side wall of the chain box 205 corresponding to the slider guide rail, vertical guide rails 203 are provided on both sides of the slot 206, and the two vertical guide rails 203 are respectively connected to the slider 204, and the two sliders 204 A synchronous connection block is connected between the two, which extends into the slot 206 and is fixedly connected to the lifting chain to realize the synchronous lifting of the slider and the chain; the synchronous sprocket mechanism includes a driving motor 207 fixed to the middle section of the bottom frame 102, and two driving sprockets 208 of the same size are connected to the output shaft of the driving motor 207, and each driving sprocket 208 is respectively connected to a driven sprocket 209 through a synchronous chain transmission, and the other ends of the wheel shafts of the two driven sprockets 209 are respectively connected to the first sprocket 210. In the chain lifting mechanism of the present invention, the two driving sprockets 208 of the same size on the output shaft of the driving motor respectively synchronously drive the two driven sprockets 209 to rotate at the same speed, and the two driven sprockets rotating at the same speed respectively drive their respective sprocket lifting mechanisms to realize synchronous lifting movement to drive the synchronous lifting of the two lifting seats. In this embodiment, each of the fixed front sections is provided with a set of lifting mechanisms, and the driving motor of each lifting mechanism includes a driving motor. The two driving motors are fixed in parallel on the bottom frame of the middle section of the frame, and the output shafts are arranged in opposite directions to each other and point to their respective lifting mechanisms. In this way, the distances between the two driven sprockets in the lifting mechanism driven by the output shaft of each driving motor are unequal. Therefore, a follower sprocket 211 is respectively arranged between the driven sprocket and the driving sprocket which are farther away, so as to prevent the problem of large synchronous transmission errors caused by unequal lengths of synchronous chains.

[0027] like Figure 6 and Figure 7 As shown, in order to facilitate the separation of the pallet 6 receiving materials on the top layer in the lifting mechanism from the other waiting pallets on the lower layer, a supporting mechanism is provided on both sides of the pallet corresponding to the upper frame 101, and the supporting mechanism includes a pallet assembly that opens and closes synchronously from the outside of the pallet 6 to the side edge of the pallet, and the side edge of the pallet assembly is clamped with the side edge of the pallet 6, and a clamping cylinder 501 is fixed on the upper frame 101 outside the pallet assembly, and the end of the telescopic rod of the clamping cylinder 501 is fixedly connected to the pallet assembly. In order to facilitate the clamping of the pallet, the pallet assembly includes a horizontally arranged moving plate 502, one end of the moving plate 502 is connected to the clamping cylinder 501, and the other end of the moving plate 502 is vertically provided with a vertical plate 503, and a pallet 504 for supporting the bottom side edge of the pallet 6 is fixed on one side of the vertical plate 503 corresponding to the pallet. The supporting mechanism of the present invention has two synchronously acting clamping cylinders 501 on both sides of the pallet 6 to achieve synchronous opening and closing of the pallet assembly to clamp and fix the two side edges of the pallet 6, thereby facilitating the separation of the top pallet from other pallets below and facilitating the translational transportation of the fully loaded pallet.

[0028] In order to facilitate the pallet 6 supported by the supporting mechanism to be limited and fixed in another horizontal direction, a limit baffle 507 is provided on the upper side of the inlet and outlet of the frame 1 for the outer wall of the top pallet to abut against; a swing pull rod 505 is swingably connected to the upper side of the pallet 504, and the middle part of the swing pull rod 505 in the vertical direction is swingably connected to the pallet 504 through a supporting shaft, and a horizontally arranged small cylinder 506 is connected to the pallet 504, and the upper end of the swing pull rod 505 is rotatably connected to the telescopic rod of the small cylinder 506, and the lower end of the swing pull rod 505 cooperates with the pallet 6 to push and push the pallet in the direction of the limit baffle 507, and the part where the pallet 6 cooperates with the swing pull rod 505 is provided with a side-opened step notch, and the step notch cooperates and abuts against the side end of the limit baffle near the swing pull rod, and the swing pull rod 505 swings under the push of the small cylinder 506 so that the lower end abuts against the end of the step notch to realize the abutment and positioning of the outer side of the pallet 6 against the limit baffle 507 to prevent the pallet from moving in the process of loading the workpiece.

[0029] like Figure 8 As shown, in order to facilitate the translation of the part pallet between the two lifting mechanisms at the front and rear sections and the rear section, the manipulator includes a translation mechanism, and two front and rear guide rod cylinders 301 are provided on the lower side of the translation mechanism. The guide rod cylinders 301 are vertically arranged, and the connecting ends at the lower sides of the guide rod cylinders 301 are connected to right-angle push plates 302. The right-angle push plates 302 at the lower sides of the two guide rod cylinders 301 are symmetrically arranged, and the horizontal plate ends of the right-angle push plates 302 are fixedly connected to the connecting ends at the lower sides of the guide rod cylinders 301, and the vertical ends of the right-angle push plates 302 are used to push and pull the pallet to be translated. The translation mechanism in this embodiment includes two horizontal guide rails 304 set at the same installation height, and a synchronous slider 305 is provided on the horizontal guide rails 304. A connecting plate 307 is fixed to the lower side of the two synchronous sliders 305. The connecting plate 307 is used to fix the connecting guide rod cylinder 301. A pulley transmission mechanism is provided between the two horizontal guide rails. The pulley transmission mechanism includes a driving gear, a driven gear and a synchronous toothed belt 306. A follower block 306 fixed to the synchronous toothed belt 306 on one side is fixed on the connecting plate 307 between the synchronous sliders 305.

[0030] The manipulator structure of the present invention translates the right-angle support plate with the lifting action of the guide rod cylinder to the upper side of the pallet to be translated, and when the vertical end moves from top to bottom, it abuts against or hooks a vertical side edge of the front or rear side of the pallet, and then the translation mechanism translates in the other direction, pulling or pushing the pallet along the support roller to translate to the pallet stacking position of another lifting mechanism, and then returns to the previous lifting mechanism to wait for the next translation action. In this way, the manipulator translates back and forth twice to complete the translation of a pallet from the lifting mechanism on the loading side to the lifting mechanism on the unloading side. Each single stroke can translate two single strokes, so that the translation mechanism has a short stroke, high precision, and is easy to control.

[0031] When the tray sorting machine of the present invention is working, the empty trays in the lifting mechanism of the front section correspond to the loading side, and the fully loaded trays in the lifting mechanism of the rear section correspond to the unloading side. First, the lifting seat 201 is lowered to the lowest position of the supporting bottom frame 202, and several layers of stacked empty trays are transported to the lifting mechanism on the loading side by a tray transport vehicle. The lifting seat 201 rises to a certain height, and the supporting bottom frames 202 on both sides lift the trays of the bottom layer, while driving the trays of each layer to rise, so that the trays are supported on the lifting seat 201 of the lifting mechanism. Then, the lifting seat 201 is driven by the driving motor 207 to lift the top tray to the set height. In order to facilitate monitoring of the height reached by the top tray, a position sensor pre-set on the upper frame 101 is provided. The sensor can monitor the height reached by the top tray. When the top tray contacts the position sensor, the drive motor 207 stops running and the tray stops rising. At this time, the two clamping cylinders 501 of the holding mechanism are activated to make the support plate 504 hold and clamp the top tray 6 from both sides. The lifting mechanism is activated again to drop to the height of about one tray layer to separate the top tray from the other trays. Then the small cylinder 506 is activated to make the swing pull rod 505 swing to push the tray to abut against the limit baffle 507 and lock it. At this time, the top tray stops smoothly at the receiving position, waiting for the material to be received. The toothbrush workpieces delivered by the production line are received and placed in sequence; when the tray is fully loaded, the robot moves, and the robot translation mechanism moves to the right angle support plate 302 on the front side, just above the side edge of the tray to be translated, and the guide rod cylinder 301 moves downward, so that the right angle support plate hooks the inner edge of the tray, and then the translation mechanism moves halfway along the horizontal guide rail 303 to the lifting mechanism on the other side; at the same time, the lifting mechanism on the feeding side raises the current top tray to the set height again, and lifts, clamps and limit-locks the next tray, so that the current top tray waits for loading; after it is full, the machine The manipulator moves to align the right-angled pallet on the front side with the side edge of the current top-level fully loaded pallet. At this position, the vertical end of the right-angled pallet on the rear side is facing the side edge of the pallet that has been translated halfway in the first half. The two guide rod cylinders descend synchronously and hook onto the corresponding side edges of the front and rear pallets respectively. The translation mechanism moves again to continue to translate the two pallets halfway toward the lifting mechanism on the lower feeding side. After this half-distance translation is completed, the pallet on the rear side is translated to the pallet stacking position of the lifting mechanism on the rear section of the unloading side. At this time, if a certain number of pallets have been stacked before, they will continue to be stacked, and the lifting mechanism will be correspondingly lowered by one layer for each layer stacked. Through the above continuous working process, the lifting mechanism on the feeding side raises the empty pallets layer by layer to receive the materials, and then translates them to the lifting mechanism on the unloading side through the manipulator, stacks and descends them layer by layer, until the lifting mechanism on the unloading side drops to the lowest limit position, and the pallets are stacked to the upper limit height. The fully loaded stacked pallets are transported to other process positions by the transport vehicle.

Claims

1. A disk sorting machine, comprising a frame, wherein the frame comprises a bottom frame and an upper frame, wherein the bottom frame and the upper frame are divided into a front section, a middle section and a rear section and are supported by a plurality of columns respectively, wherein: The front section and the rear section are respectively provided with a lifting mechanism for lifting and lowering the pallet, and the lifting mechanism is respectively used to lift and lower the multiple stacked pallets layer by layer, and the middle section corresponding to the upper frame is provided with supporting rollers for facilitating the translation of the uppermost pallet of the two lifting mechanisms, and the upper side of the supporting rollers is provided with a manipulator for translating the pallet, and the front side of the front section of the frame and the rear side of the rear section are provided with an entrance and exit for facilitating the entry and exit of the pallet transport vehicle; the supporting mechanism is cooperated with on both sides of the pallet corresponding to the upper frame, and the supporting mechanism includes a pallet assembly that opens and closes synchronously from the outer side of the pallet to the side edge of the pallet, and the side edge of the pallet assembly cooperates to clamp the side edge of the pallet, and a clamping cylinder is fixed on the upper frame outside the pallet assembly, and the end of the telescopic rod of the clamping cylinder is fixedly connected to the pallet assembly; the pallet assembly includes a horizontally arranged shifting plate, and the shifting plate The end is connected to the clamping cylinder, and the other end of the moving plate is vertically provided with a vertical plate, and the side of the vertical plate corresponding to the pallet is fixed with a pallet for supporting the bottom side edge of the pallet; the upper side of the inlet and outlet of the frame is provided with a limit baffle for the outer wall of the top pallet to abut against; a swing pull rod is connected to the upper side of the pallet, and the middle part of the swing pull rod in the vertical direction is swingably connected to the pallet through a support shaft, and a small cylinder is connected to the pallet, and the upper end of the swing pull rod is rotatably connected to the telescopic rod of the small cylinder, and the lower end of the swing pull rod cooperates with the pallet to push and push the pallet toward the limit baffle. The part where the pallet cooperates with the swing pull rod is provided with a side-opened step notch, and the side end of the step notch close to the limit baffle cooperates and abuts against the swing pull rod, and the swing pull rod swings under the push of the small cylinder so that the lower end abuts against the end of the step notch to achieve the abutment and positioning of the outer side of the pallet against the limit baffle.

2. The disk sorting machine according to claim 1, characterized in that: Each set of the lifting mechanism comprises: two synchronous lifting seats arranged on two parallel outer sides of the pallet, the inner sides of the lifting seats facing each other are respectively connected to the supporting bottom frames on both sides of the pallet supporting the lowest layer, the outer sides of the lifting seats are respectively fixed with slider guide rail mechanisms, each set of slider guide rail mechanisms are respectively driven by chain mechanisms, and the two sets of chain mechanisms are respectively driven by synchronous sprocket mechanisms to achieve synchronous lifting; position sensors for detecting the upper limit position and the lower limit position of the pallet are respectively arranged on the frames on the top and bottom sides of the lifting mechanism; the chain mechanism comprises a vertically arranged chain box, the bottom side of the chain box is provided with a first sprocket, the top side of the chain box is provided with a second sprocket, a lifting chain parallel to the guide rail is connected between the first sprocket and the first sprocket, the side wall of the chain box corresponding to one side of the slider guide rail is cooperated with a vertical slot, the two sides of the slot are respectively provided with vertical guide rails, the two vertical guide rails are respectively connected with the slider, a synchronous connection block is connected between the two sliders, the synchronous connection block extends into the slot and is fixedly connected with the lifting chain to achieve synchronous lifting.

3. The disk sorting machine according to claim 2, characterized in that: The synchronous sprocket mechanism includes a driving motor fixed to the middle section of the bottom frame, and two driving sprockets of the same size are connected to the output shaft of the driving motor. Each of the driving sprockets is connected to a driven sprocket through a synchronous chain transmission, and the other ends of the wheel axles of the two driven sprockets are connected to the first sprocket respectively.

4. The disk sorting machine according to claim 3, characterized in that: The driving motors of each set of the lifting mechanism are fixed in parallel on the bottom frame of the middle section of the frame, and the output shafts of the two driving motors are arranged in opposite directions to each other and point to the respective lifting mechanisms.

5. The disk sorting machine according to claim 1, characterized in that: The manipulator includes a translation mechanism, and two front and rear guide rod cylinders are provided on the lower side of the translation mechanism. The guide rod cylinders are vertically arranged, and the connecting ends on the lower sides of the guide rod cylinders are connected to right-angle push plates. The right-angle push plates on the lower sides of the two guide rod cylinders are symmetrically arranged front to back, and the horizontal plate ends of the right-angle push plates are fixedly connected to the connecting ends on the lower sides of the guide rod cylinders, and the vertical ends of the right-angle push plates are used to push and pull the pallets to be translated.

6. The disk sorting machine according to claim 5, characterized in that: The translation mechanism includes two horizontal guide rails arranged at the same installation height, and a synchronous slider is provided on the horizontal guide rail. A connecting plate is fixed to the lower side of the two synchronous sliders, and the connecting plate is used to fix the guide rod cylinder. A pulley transmission mechanism is provided between the two horizontal guide rails, and the pulley transmission mechanism includes a driving gear, a driven gear and a synchronous toothed belt. A follower block fixed to the synchronous toothed belt on one side is fixed on the connecting plate between the synchronous sliders.

7. The disk sorting machine according to claim 6, characterized in that: The translation mechanism of the manipulator translates back and forth twice to complete a full translation of the pallet from the front lifting mechanism to the rear lifting mechanism. The vertical end of the front right-angle push plate is located on the front side for the first half of the translation of the pallet, and the vertical end of the rear right-angle push plate is located on the rear side for the second half of the translation of the pallet.

Images