A bolt sorting system

Abstract

The present invention discloses a bolt sorting system, including a stereoscopic warehouse system, a temporary storage system, an accessory loading system, a tray loading system and a batching tray conveying system; wherein the storage and retrieval manipulator of the stereoscopic warehouse system is used for transferring bolt boxes between shelves and temporary storage platforms; the sorting manipulator of the accessory loading system is used for transferring bolts between the temporary storage platform and the tooling board, and the material retrieval manipulator is used for transferring accessories between the accessory loading device and the tooling board; the tray loading manipulator included in the tray loading system is used for tray loading operations between the tooling board and the tray loading operation table; the loading and unloading manipulators of the batching tray conveying system are used for transferring batching trays between the loading conveying line, the tray loading operation table and the unloading conveying line. The above scheme can solve the problems of the current manual sorting method used for bolt sorting, such as waste of human resources, high labor costs, time and labor consumption, and impact on workshop production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of bolt sorting automation, and in particular to a bolt sorting system. Background Art

[0002] In order to facilitate the use of bolts, it is usually necessary to sort the disordered bolt accessories in an orderly manner, arrange them in an orderly manner, and match them with corresponding gaskets and nut accessories.

[0003] At present, bolt sorting mainly adopts the method of manual sorting to sort the required bolts, washers and nut accessories and place them in the material tray for production and manufacturing; however, manual sorting of bolts not only leads to waste of human resources and increases labor costs, but also is time-consuming and labor-intensive, affecting workshop production efficiency. Summary of the invention

[0004] The invention discloses a bolt sorting system to solve the problems of waste of human resources, high labor cost, time and labor consumption and influence on workshop production efficiency in the manual sorting method currently used for bolt sorting.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions:

[0006] A bolt sorting system, comprising:

[0007] A three-dimensional warehouse system, the three-dimensional warehouse system comprising shelves and a storage and retrieval robot; the shelves are provided with cells for placing bolts and bolt boxes;

[0008] A temporary storage system, the temporary storage system comprising a temporary storage table and a sorting robot; the storage and retrieval robot is used to transfer the bolt material box between the shelf and the temporary storage table;

[0009] The accessory loading system includes an accessory loading device, a material taking manipulator 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 loading device and the tooling plate;

[0010] A loading system, the loading system comprising a loading robot and a loading operation table; the loading robot is used to transfer bolts and accessories between the tooling plate and the loading operation table;

[0011] The ingredient tray conveying system includes a loading conveying line, a loading and unloading robot and a unloading conveying line. The loading and unloading robot is used for transferring the ingredient trays between the loading conveying line, the tray loading operating table and the unloading conveying line.

[0012] Optionally, an electronic tag is provided at a position of the shelf adjacent to the cell, and an execution end of the storage and retrieval robot is provided with an electronic tag reader for identifying the electronic tag.

[0013] Optionally, the executing end of the storage and retrieval robot is provided with a distance sensor, and the distance between the executing end of the storage and retrieval robot and the shelf can be monitored by the distance sensor.

[0014] Optionally, the cell is provided with two opposite first supporting parts, and a spacing is provided between the two first supporting parts; the storage and retrieval robot includes a robot arm and a material picking fork mechanism; the material picking fork mechanism includes a supporting arm, one end of the supporting arm is connected to the robot arm, the other end of the supported arm is a free end away from the robot arm, and the width of the supporting arm is smaller than the spacing between the two first supporting parts.

[0015] Optionally, the temporary storage table includes a material table and at least two second support portions spaced apart on the material table, and two adjacent second support portions are located at opposite positions, and a space for accommodating the support arm is formed between the two adjacent support portions.

[0016] Optionally, the shelves are arranged in an arc shape, and the storage and retrieval robot is rotatably disposed on the inner side of the arc surface where the shelves are located, and can rotate and move along the arrangement direction of the shelves.

[0017] Optionally, the accessory loading device includes a rotating mechanism and a string rod, the string rod is eccentrically arranged on the rotating mechanism, and one end of the string rod is connected to the rotating mechanism, and the other end of the string rod is away from the rotating mechanism to form a free end, and the rotating mechanism can rotate to control the string rod to move to the material picking area of ​​the material picking robot.

[0018] Optionally, the loading system also includes a gripper frame and a bolt gripper and an accessory hand arranged on the gripper frame; the execution end of the loading robot is provided with a quick-change device main side joint, and the bolt gripper and the accessory gripper are respectively provided with a quick-change device secondary side joint, and the quick-change device secondary side joint can be pneumatically connected to the quick-change device main side joint.

[0019] Optionally, the loading platform includes a table top and a positioning device; the positioning device includes a limiting portion, a pushing portion and a telescopic driving mechanism; the limiting portion and the telescopic driving mechanism are both arranged on the table top, and the limiting portion is opposite to the pushing portion; the pushing portion is connected to the telescopic driving mechanism, and the telescopic driving mechanism can drive the pushing portion to move toward / opposite to the limiting portion.

[0020] Optionally, the bolt sorting system also includes a control system, which includes a first image acquisition element and a second image acquisition element; the first image acquisition element is arranged at a position adjacent to the temporary storage table, and is used to acquire image data of the bolt material box on the temporary storage table; the second image acquisition element is arranged at a position adjacent to the accessory loading device, and is used to acquire accessory image data of the accessory loading device; the first image acquisition element and the second image acquisition element are respectively connected to the data input end of the processor, and the control output end of the processor is respectively connected to the sorting robot and the material picking robot.

[0021] The technical solution adopted by the present invention can achieve the following beneficial effects:

[0022] The bolt sorting system disclosed in the present invention can transfer bolt material boxes between the shelf and the temporary storage table through the storage and retrieval robot, thereby realizing automatic material replacement in the sorting process, and transferring the bolt material boxes of required models and specifications to the temporary storage table for the sorting robot to sort the bolts; the sorting robot can place the sorted bolts in the holes of the tooling plate according to the specified posture, and the material taking robot can assemble the gaskets and / or nut accessories on the accessory feeding device on the bolts or place them on the tooling plate, and the bolts, gaskets and / or nuts sorted out on the tooling plate can be placed on the plate by the loading robot The accessories are transferred to the ingredient tray on the loading platform, thereby realizing the automatic sorting and loading of bolts, gaskets and / or nut accessories; the ingredient tray to be loaded on the loading conveyor line can be transferred to the loading platform by the loading and unloading robot, and the ingredient tray on the loading platform that has completed the turntable is transferred to the unloading conveyor line, thereby realizing automatic loading and unloading of the ingredient tray; therefore, the bolt sorting system disclosed in the embodiment of the present invention realizes the automated operation of bolt sorting, which not only avoids the waste of human resources and reduces labor costs, but also saves time and labor, and is conducive to improving the production efficiency of the workshop. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 It is a structural schematic diagram of a bolt sorting system disclosed in an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of a shelf disclosed in an embodiment of the present invention;

[0026] Figure 3 It is a structural schematic diagram of a material taking fork mechanism disclosed in an embodiment of the present invention;

[0027] Figure 4A schematic diagram of the use state of the material picking fork mechanism disclosed in the embodiment of the present invention;

[0028] Figure 5 A schematic diagram of the structure of a temporary storage system disclosed in an embodiment of the present invention;

[0029] Figure 6 A schematic diagram of the structure of a driving mechanism disclosed in an embodiment of the present invention;

[0030] Figure 7 It is a structural schematic diagram of the accessories feeding system disclosed in an embodiment of the present invention;

[0031] Figure 8 It is a side view of the accessory loading device disclosed in the embodiment of the present invention;

[0032] Fig. 9 It is a schematic diagram of the structure of the string rod disclosed in the embodiment of the present invention;

[0033] Fig.10 This is a schematic diagram of the first structure of the bolt gripper disclosed in an embodiment of the present invention;

[0034] Fig.11 A second structural schematic diagram of the bolt gripper disclosed in an embodiment of the present invention

[0035] Fig.12 It is a structural schematic diagram of an accessory gripper disclosed in an embodiment of the present invention;

[0036] Fig.13 A schematic diagram of the structure of a clamping foot disclosed in an embodiment of the present invention;

[0037] Fig.14 It is a structural schematic diagram of a tray loading operation table disclosed in an embodiment of the present invention;

[0038] Fig.15 It is a schematic diagram of the box structure of the tray loading operation table disclosed in the embodiment of the present invention;

[0039] Fig.16 It is a partially enlarged schematic diagram of a loading and unloading robot disclosed in an embodiment of the present invention;

[0040] Description of reference numerals:

[0041] 10-storage and retrieval manipulator, 100-support arm, 101-convex part, 102-mounting beam, 103-wing plate,

[0042] 11-shelf, 110-first support part, 111-bolt box,

[0043] 20-temporary storage table, 200-material table, 201-second support part, 202-feeding table, 203-first driving motor, 204-gear, 205-first guide rail, 206-rack, 207-first slider, 208-first image acquisition element,

[0044] 21- Sorting robot,

[0045] 30-accessory feeding device, 300-turntable, 301-string rod, 3011-limiting part, 3012-conical surface, 302-second driving motor, 303-indexer,

[0046] 31- Material taking manipulator,

[0047] 40-grip frame, 410-first base, 420-finger cylinder, 421-first finger portion, 422-second finger portion, 423-slot, 424-first foot, 4241-wide portion, 4242-narrow portion, 425-second foot, 430-bolt,

[0048] 41-Packing robot,

[0049] 50- loading operation table, 500- table top, 501- telescopic driving mechanism, 502- pushing part, 503- second guide rail, 504- second slider, 505- annular side panel, 506- top panel, 507- window,

[0050] 60-loading and unloading manipulator, 600-second base, 601-first clamping part, 602-second clamping part, 603-driving mechanism, 604-third image acquisition element,

[0051] 70- unloading conveyor line, 80- loading conveyor line, 90- batching tray. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0053] The technical solutions disclosed in various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0054] Please refer to Figure 1 As shown, an embodiment of the present invention discloses a bolt sorting system, and the disclosed bolt sorting system includes: a three-dimensional warehouse system, a temporary storage system, an accessory loading system, a tray loading system and a material tray conveying system.

[0055] Among them, the three-dimensional warehouse system includes a shelf 11 and an access robot 10, and the shelf 11 is provided with cells for placing bolts and bolt boxes 111; the temporary storage system includes a temporary storage table 20 and a sorting robot 21, and the access robot 10 is used to transfer the bolt boxes 111 between the shelf 11 and the temporary storage table 20.

[0056] The accessory loading system includes an accessory loading device 30, a material picking robot 31 and a tooling plate; the sorting robot 21 is used for transferring bolts between the temporary storage table 20 and the tooling plate, and the material picking robot 31 is used for transferring accessories between the accessory loading device 30 and the tooling plate.

[0057] The loading and unloading system includes a loading and unloading robot 41 and a loading and unloading operation table 50. The loading and unloading robot 41 is used to transfer bolts and accessories between the tooling plate and the loading and unloading operation table 50. The ingredient tray conveying system includes a loading conveyor line 80, an unloading and unloading robot 60 and a unloading conveyor line 70. The unloading and unloading robot 60 is used to transfer ingredient trays between the loading conveyor line 80, the loading and unloading operation table 50 and the unloading conveyor line 70.

[0058] In the process of bolt sorting, the bolt material box 111 can be transferred between the shelf 11 and the temporary storage table 20 by the storage and retrieval robot 10, so as to realize automatic material change in the sorting process, and the bolt material box 111 of the required model and specification can be transferred to the temporary storage table 20 for the sorting robot 21 to sort the bolts; the sorting robot 21 can place the sorted bolts in the holes of the tooling plate according to the specified posture, and the material taking robot 31 can be used to sort the bolts. The gaskets and / or nut accessories on the accessory feeding device can be assembled on the bolts or placed on the tooling plate, and the bolts, gaskets and / or nut accessories sorted out on the tooling plate can be transferred to the ingredient tray on the loading platform 50 by the loading robot 41, thereby realizing the automatic sorting and loading of the bolts, gaskets and / or nut accessories; the ingredient tray to be loaded on the loading conveyor line 80 can be transferred to the loading platform 50 by the loading and unloading robot 60, and the ingredient tray on the completed turntable 300 on the loading platform 50 can be transferred to the unloading conveyor line 70, thereby realizing the automatic loading and unloading of the ingredient tray.

[0059] Therefore, the bolt sorting system disclosed in the embodiment of the present invention realizes the automated operation of bolt sorting, which not only avoids the waste of human resources and reduces labor costs, but also saves time and labor, and is conducive to improving workshop production efficiency.

[0060] Specifically, Figure 1As shown, the shelves 11 can be arranged in an arc shape, and each shelf 11 can be provided with a plurality of cells for storing bolt boxes 111; the storage and retrieval robot 10 is rotatably arranged on the inner side of the arc surface where the shelf 11 is located, and can be rotated and moved along the arrangement direction of the shelf 11, so that the storage and retrieval robot 10 is moved along the arc track to the shelf 11 where the bolt box 111 to be accessed is located to complete the automated storage operation of the bolt box 111. Compared with the arrangement method of moving the storage and retrieval robot 10 along the track, it can not only make effective use of the warehouse space and save floor space, but also avoid the setting of components such as tracks, which is beneficial to reducing the structural complexity of the bolt sorting system.

[0061] Preferably, the shelves 11 are arranged in an arc shape, and the rotation center of the retrieval robot 10 is located at the center of the arc surface of the shelves 11, so that the rotation center of the retrieval robot 10 is basically the same from the access radius of each shelf 11; therefore, it can be avoided that the retrieval robot 10 needs to perform additional distance compensation adjustment when performing retrieval operations on different shelves 11 due to the different access radius of the rotation center of the retrieval robot 10 from each shelf 11, thereby effectively reducing the movement complexity and access difficulty of the retrieval robot 10.

[0062] like Figure 2 The cell can be provided with two opposite first support parts 110, and a spacing is provided between the two first support parts 110, so that the opposite sides of the bolt material box 111 can be respectively placed on the two first support parts 110, and then a gap is formed under the bolt material box 111 for the support arm 100 of the material picking fork mechanism to be inserted, so that it can be suitable for the storage and retrieval robot 10 with the executing end as the material picking fork structure.

[0063] like Figure 3 As shown, as a structure of the storage and retrieval robot 10, the storage and retrieval robot 10 may include a robot arm and a material picking fork mechanism; the material picking fork mechanism includes a supporting arm 100, one end of the supporting arm 100 is connected to the robot arm, the other end of the supported arm 100 is a free end away from the robot arm, and the width of the supporting arm 100 is less than the distance between the two first support parts 110.

[0064] When the storage and retrieval robot 10 is retrieving materials from the cells of the shelf 11, the support arm 100 can be inserted into the gap below the bolt material box 111, so as to realize the lifting and movement of the bolt material box 111; compared with the material retrieving method of clamping the bolt material box 111 by a clamping claw mechanism, it can not only better improve the stability of the storage and retrieval robot 10 in retrieving materials, but also make the storage and retrieval robot 10 have the advantages of simple structure and convenient inspection and maintenance.

[0065] In order to prevent the bolt material box 111 from sliding off the support arm 100, the material picking fork mechanism may further include a limiting portion; the limiting portion is arranged on the end surface of the execution end of the robot arm and is located above the support arm 100, and the limiting portion forms a limiting structure above both sides of the support arm 100; Figure 4 As shown, the limiting structure can play a limiting and blocking role on the upper sides of the bolt box 111 on the supporting arm 100 to prevent the bolt box 111 from sliding off the two sides of the supporting arm 100, thereby improving the stability and safety of the material fork mechanism lifting and moving the bolt box 111.

[0066] As a structure of a limiting part, it may include a mounting beam 102 and a wing plate 103; the mounting beam 102 is arranged along the extension direction of the support arm 100, and one end of the mounting beam 102 is connected to the end face of the execution end of the robot arm, and the other end of the mounting beam 102 is a free end; the wing plate 103 is arranged on the mounting beam 102, and the two ends of the wing plate 103 are respectively located on both sides of the mounting beam 102, and are bent toward the side where the support arm 100 is located to form a baffle structure, thereby the baffle structure plays a blocking and limiting role on the bolt box 111 on the support arm 100; wherein, the number of wing plates 103 can be adaptively adjusted according to the number of lifted and movable bolt boxes 111 on the support arm 100.

[0067] At the same time, in order to prevent the bolt material box 111 from sliding off the free end of the support arm 100 along the extension direction of the support arm 100, at least two protrusions 101 can be provided on the upper surface of the support arm 100, and the protrusions 101 are spaced apart along the extension direction of the support arm 100, so that the bolt material box 111 on the support arm 100 is located between two adjacent protrusions 101, and the protrusions 101 play a role of limiting and fixing the bolt material box 111, thereby effectively preventing the bolt material box 111 from sliding off along the extension direction of the support arm 100; wherein, the number of protrusions 101 provided can be determined according to the number of bolt material boxes 111 lifted and moved on the support arm 100.

[0068] It is easy to understand that the support arm 100 can be a plate-like structural member or a grid bar structural member arranged at intervals; the limiting portion can also be two strip guard plates directly connected to the end faces of the execution end of the robot arm, and the two strip guard plates are respectively located above the two sides of the support arm 100 and arranged along the extension direction of the support arm 100; the embodiment of the present invention does not limit the structure of the support arm 100 and the limiting portion.

[0069] In order to control the lifting action of the support arm 100 and confirm whether the material fork mechanism has completed the storage and retrieval of the bolt material box 111, a weighing sensor or a distance sensor can be set on the support arm 100, so as to monitor the lifting action of the support arm 100 and ensure the smooth storage of the bolt material box 111; for example, during the storage process of the bolt material box 111, if the weight of the load-bearing sensor decreases or the distance of the distance sensor changes, it means that the material box has been effectively placed on the fixed beam of the unit cell and the storage operation is completed; during the removal process of the bolt material box 111, if the weight of the load-bearing sensor increases or the distance of the distance sensor remains unchanged, it means that the bolt material box 111 has been effectively in contact with the support arm 100 and the removal operation can be carried out.

[0070] At the same time, an electronic tag can be set at a position adjacent to a cell of the shelf 11, and the execution end of the storage and retrieval robot 10 is provided with an electronic tag reader for identifying the electronic tag; thereby, the electronic tag at the corresponding cell is read and identified by the electrical tag reader, and information such as the position of the bolt material box 111 in the cell corresponding to the electronic tag and the size and model of the bolt accessories therein are obtained, so that the storage and retrieval robot 10 can move accurately and quickly to the required cell to perform storage and retrieval operations on the bolt material box 111.

[0071] The execution end of the access robot 10 can also be provided with a distance sensor, and the distance between the execution end of the access robot 10 and the shelf 11 can be monitored by the distance sensor; thus, the distance between the execution end of the access robot 10 and the shelf 11 can be monitored in real time by the distance sensor, so as to avoid the execution end of the access robot 10 from transitioning toward the shelf 11 and colliding with the shelf 11 or affecting the access of the bolt material box 111 due to insufficient moving distance; wherein, the distance sensor can be an infrared distance sensor or an ultrasonic distance sensor, etc.

[0072] In the temporary storage system disclosed in the embodiment of the present invention, the temporary storage table 20 may include a material table 200 and at least two second support portions 201 spaced apart on the material table 200, and two adjacent second support portions 201 are located at opposite positions, and a space for accommodating the support arm 100 is formed between the two adjacent support portions, so that the temporary storage table 20 is compatible with the support arm 100 of the above-mentioned material picking fork mechanism.

[0073] After the support arm 100 of the storage and retrieval robot 10 lifts the bolt material box 111 from the shelf 11 to the location of the material table 200, the fork support arm 100 can be placed between two adjacent second support parts 201, so that the bottom surface of the bolt material box 111 can be stably placed on the two adjacent second support parts 201 on both sides, which is convenient for the removal of the fork support arm 100 and ensures the smooth and stable completion of the unloading work.

[0074] At the same time, if Figure 5 As shown, in order to enable the material table 200 to move back and forth between the storage and retrieval robot 10 of the three-dimensional warehouse system and the sorting robot 21 of the temporary storage system, the temporary storage table 20 may also include a conveying mechanism; the material table 200 is arranged on the conveying mechanism, and the material table 200 can be driven by the conveying mechanism to move along the conveying direction of the conveying mechanism, thereby realizing the control of the reciprocating movement of the material table 200 through the conveying mechanism, which is convenient for the unloading of the storage and retrieval robot 10 and the sorting and picking of the sorting robot 21.

[0075] Among them, the conveying mechanism may include a feeding table 202 and a driving mechanism; the material table 200 is slidably set on the feeding table 202, and the material table 200 is connected to the driving mechanism, and the driving mechanism can drive the material table 200 to reciprocate along the feeding direction of the conveying mechanism; thus, the driving mechanism can be used as a power source for the reciprocating movement of the material table 200, and the drive control of the reciprocating movement of the material table 200 on the feeding table 202 can be realized.

[0076] Specific as Figure 6 As shown, as a structure of a 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 the output shaft of the first driving motor 203, and the gear 204 is meshed with the rack 206; wherein, the first driving motor 203 can be a stepping motor or a servo motor.

[0077] When the first drive motor 203 drives the gear 204 to rotate forward or reversely, the gear 204 can move the rack 206, so that the gear 204 moves forward or backward along the extension direction of the rack 206, thereby driving the material platform 200 to move back and forth along the extension direction of the rack 206, thereby realizing the control of the reciprocating movement of the material platform 200; and compared with conveying mechanisms such as conveyor belts, this driving mechanism also has the advantages of smooth and precise movement control.

[0078] Of course, the driving mechanism can also be a telescopic moving mechanism such as a cylinder, a hydraulic cylinder or an electric rod, so as to control the material platform 200 to move back and forth on the feeding platform 202 through the telescopic movement of the telescopic moving mechanism; the embodiment of the present invention does not limit the type and structure of the conveying mechanism.

[0079] In order to better ensure the stability of the reciprocating movement of the material platform 200 along the feeding platform 202, a first guide rail 205 can be set on the feeding platform 202, and the first guide rail 205 extends along the feeding direction of the conveying mechanism; the material platform 200 is provided with a first slider 207, and the first slider 207 is provided with a slide groove adapted to the first guide rail 205, and the first slider 207 is mounted on the first guide rail 205 through the slide groove, and slides with the first guide rail 205 along the extension direction of the first guide rail 205, so that the first guide rail 205 can guide the reciprocating movement of the material platform 200, thereby avoiding the material platform 200 from deflecting during the reciprocating movement of the material platform 200 along the feeding platform 202, thereby improving the stability of the reciprocating movement of the material platform 200.

[0080] In the accessory loading system disclosed in the embodiment of the present invention, the accessory loading device 30 may include a rotating mechanism and a string rod 301. The string rod 301 is eccentrically arranged on the rotating mechanism, and one end of the string rod 301 is connected to the rotating mechanism, and the other end of the string rod 301 is away from the rotating mechanism to form a free end. The rotating mechanism can rotate to control the string rod 301 to move to the material picking area of ​​the material picking robot 31.

[0081] Therefore, multiple gaskets or nut accessories can be strung on the string rod 301, and the string rod 301 can be rotated and switched to the picking area of ​​the material picking robot 31 by rotating the rotating mechanism, so that the material picking robot 31 can pick up the gaskets or nut accessories on the string rod 301 one by one from top to bottom according to their height position, thereby not only reducing the footprint of the accessory loading device 30, but also helping to improve the loading efficiency of the accessory loading device 30.

[0082] Among them, the number of string rods 301 can be at least two, and gaskets or nut accessories can be strung on all string rods 301; at the same time, the radial dimensions of the string rods 301 can be different, so as to be suitable for the stringing of gaskets or nut accessories of different specifications and sizes, thereby increasing the use scope of the accessory feeding device 30.

[0083] It is easy to understand that in order to make the accessory feeding system meet the feeding and use requirements of gasket and nut accessories at the same time, an accessory feeding device 30 can be set, and gasket accessories are strung on some string rods 301, and nut accessories are strung on some string rods 301; of course, two accessory feeding devices 30 can also be set, one of the accessory feeding devices 30 has gasket accessories strung on the string rod 301, and the other accessory feeding device 30 has nut accessories strung on the string rod 301.

[0084] As a structure of rotating mechanism, such as Figure 8As shown, the rotating mechanism may include a second drive motor 302 and a turntable 300; the turntable 300 is drivingly connected to the output shaft of the second drive motor 302, and the string rod 301 is eccentrically arranged on the turntable 300, so that the turntable 300 can be driven and controlled to rotate by the second drive motor 302, and the string rod 301 can be driven to rotate together through the turntable 300, so as to realize the switching of the loading station of the string rod 301; the second drive motor 302 can be a stepper motor or a servo motor.

[0085] At the same time, in order to achieve precise rotation and switching of the loading position of the string rod 301, a divider 303 can be set, and the output shaft of the second drive motor 302 is connected to the input end of the divider 303, and the output end of the divider 303 is connected to the turntable 300, so that each dividing position of the divider 303 corresponds to a loading position of a string rod 301; for example, the turntable 300 can be provided with 32 string rods 301 distributed circumferentially along the same circle of the turntable 300, and the divider 303 has 32 dividing positions, each dividing position corresponds to a string rod 301, and each time the divider 303 rotates to a dividing position, the corresponding string rod 301 can be rotated and switched to the material picking area of ​​the material picking robot 31 for loading.

[0086] In order to conveniently string the gasket or nut accessories on the string rod 301, the string rod 301 can be detachably connected to the turntable 300, so that the string rod 301 can be removed when stringing the gasket or nut accessories, which is convenient for the operation of stringing the gasket or nut accessories on the string rod 301; preferably, as Fig. 9 As shown, the free end of the string rod 301 can be set to a conical surface 3012, so that the through hole of the gasket or nut accessory can slide smoothly along the conical surface 3012 to the string rod 301 through the guiding effect of the conical surface 3012, and the gasket or nut accessory can be easily strung on the string rod 301.

[0087] Furthermore, in the process of stringing the gasket or nut accessories, in order to prevent the gasket or nut accessories from slipping off the other end of the string rod 301, a limiting portion 3011 can be set on the outer side of the string rod 301, and the limiting portion 3011 is adjacent to the end of the string rod 301 connected to the turntable 300, so that the gasket or nut accessories strung on the string rod 301 can be limited and blocked by the limiting portion 3011.

[0088] As a detachable connection method between the string rod 301 and the turntable 300, a threaded hole can be opened on the turntable 300, and one end of the string rod 301 connected to the turntable 300 is provided with an external thread that matches the threaded hole, thereby realizing the detachable connection between the string rod 301 and the turntable 300 through the threaded structure; of course, the string rod 301 can also be detachably connected to the turntable 300 by fasteners such as bolts or screws; the embodiment of the present invention does not limit the structure of the detachable connection method between the string rod 301 and the turntable 300.

[0089] In the tray loading system disclosed in the embodiment of the present invention, the tray loading system further includes a gripper frame 40 and a bolt gripper and an accessory hand disposed on the gripper frame 40; the execution end of the tray loading manipulator 41 is provided with a quick-change device primary side joint, the bolt gripper and the accessory gripper are respectively provided with a quick-change device secondary side joint, and the quick-change device secondary side joint can be pneumatically connected to the quick-change device primary side joint,

[0090] When the loading robot 41 is working, the bolt gripper or the accessory gripper can be quickly replaced according to the grasping requirements of the loading robot 41, so that the bolts on the tooling plate can be grasped by the bolt gripper and transferred to the ingredient plate on the loading platform 50, and the gaskets or nut accessories on the tooling plate can be grasped by the accessory gripper and transferred to the ingredient plate on the loading platform 50.

[0091] Among them, the bolt gripper may include a finger cylinder 420, a first finger part 421 and a second finger part 422. The first finger part 421 and the second finger part 422 are respectively connected to the two piston rods of the finger cylinder 420, so that the first finger part 421 and the second finger part 422 move toward / away from each other to achieve the grasping, fixing and loosening of the material by the bolt gripper.

[0092] like Fig.10 As shown, two opposite sides of the first finger portion 421 and the second finger portion 422 may be respectively provided with transverse slots 423, so as to be suitable for grabbing the bolts 430 placed transversely on the tooling plate, so that the screw rods of the transversely placed bolts 430 may be clamped in the transverse slots 423 of the first finger portion 421 and the second finger portion 422, thereby limiting and fixing the transversely placed bolts 430, increasing the clamping contact area, and improving the clamping and fixing effect.

[0093] Or, if Fig.11 As shown, the two opposite sides of the first finger portion 421 and the second finger portion 422 may also be respectively provided with vertical slots 423, so that they can be suitable for grabbing the bolts 430 placed vertically on the tooling plate, so that the screw rod or nut of the vertically placed bolt 430 can be clamped in the vertical slots 423 of the first finger portion 421 and the second finger portion 422, thereby limiting and fixing the vertically placed bolt 430, increasing the clamping contact area, and improving the clamping effect.

[0094] The clamping groove 423 can be a V-shaped groove. Preferably, the cross-sectional shape of the V-shaped groove is an obtuse angle, thereby better increasing the application range of the first finger portion 421 and the second clamping portion 602, and being used for clamping and fixing bolts of various specifications and sizes, and allowing the bolts to be fully clamped in the V-shaped groove; of course, the clamping groove 423 can also be designed as an arc groove; the embodiment of the present invention does not limit the shape of the clamping groove 423.

[0095] like Fig.12 As shown, the accessory gripper may include a finger cylinder 420, a first finger portion 421 and a second finger portion 422; the first finger portion 421 and the second finger portion 422 are respectively connected to the two piston rods of the finger cylinder 420, and the first finger portion 421 is provided with a first clamping foot 424, and the second finger portion 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 clamping foot 424 and the second clamping foot 425 have a first state of being close to each other and a second state of being spread apart from each other.

[0096] When the first clamping foot 424 and the second clamping foot 425 are in a first state close to each other, the first clamping foot 424 and the second clamping foot 425 can extend into the through hole of the gasket or nut accessory; when the first clamping foot 424 and the second clamping foot 425 are in a second state apart from each other, the first clamping foot 424 and the second clamping foot 425 are away from and fit with the inner wall of the through hole of the gasket or nut accessory, thereby relying on friction to achieve the fixing and material removal of the gasket or nut accessory, which is particularly suitable for working conditions where the gasket or nut accessory is placed in a groove.

[0097] Among them, Fig.13 As shown, the first clamping foot 424 and the second clamping foot 425 can respectively 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 the size of the wide portion 4241 to form a stepped structure, thereby better expanding the use range of the first clamping foot 424212 and the second clamping foot 425222.

[0098] When the aperture range of the through hole of the gasket or nut accessory is small, the narrow portion 4242 of the first clip 424 and the second clip 425 can be extended into the through hole of the gasket or nut accessory, so that the gasket or nut accessory can be fixed and taken through the narrow portion 4242; when the aperture range of the through hole of the gasket or nut accessory is large, the wide portion 4241 of the first clip 424 and the second clip 425 can be extended into the through hole of the gasket or nut accessory, so that the gasket or nut accessory can be fixed and taken through the wide portion 4241.

[0099] In order to better improve the tightening and fixing effect of the first clamping foot 424 and the second clamping foot 425 on the gasket or nut accessory, the outer side surface of the first clamping foot 424 away from the second clamping foot 425 is an arc surface, and the outer side surface of the second clamping foot 425 away from the first clamping foot 424 is an arc surface, so that the first clamping foot 424 and the second clamping foot 425 correspond to the through hole of the gasket or nut accessory, increasing their contact area with the inner wall of the through hole; preferably, the arc surface is preferably a circular arc surface.

[0100] In order to facilitate the installation of the finger cylinder 420 and the secondary side joint of the quick-change device, the bolt gripper and the accessory gripper may also include a first base 410, thereby providing a bearing basis for the installation of the finger cylinder 420 and the secondary side joint of the quick-change device through the first base 410; wherein, the first base 410 may be a plate-like structural member, so that the first base 410 has a larger installation area, and the finger cylinder 420 and the secondary side joint of the quick-change device are respectively arranged on the upper plate surface and the lower plate surface of the first base 410.

[0101] In the tray loading system disclosed in the embodiment of the present invention, Fig.14 As shown, the loading platform 50 may include a table top 500 and a positioning device; the positioning device includes a limiting portion, a pushing portion 502 and a telescopic driving mechanism 501; the limiting portion and the telescopic driving mechanism 501 are both arranged on the table top 500, and the limiting portion is opposite to the pushing portion 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 / opposite to the limiting portion.

[0102] After the ingredient tray 90 is placed on the table 500 of the plating operation table 50, the telescopic drive mechanism 501 arranged on the table 500 can drive the pushing portion 502 to move toward the limiting portion, and then the ingredient tray 90 placed on the table 500 is pushed to the position abutting against the limiting portion by the pushing portion 502, thereby realizing the position correction of the ingredient tray 90, so that the position of the ingredient tray 90 is basically the same each time, so that the plating robot 41 can well place the bolts, gaskets and nut accessories in a fixed position in the ingredient tray 90 in a fixed posture, thereby ensuring the plating operation effect of the plating robot 41; after the plating robot 41 completes the plating operation, the telescopic drive mechanism 501 can drive the pushing portion 502 to move away from the limiting portion, so that the pushing portion 502 is reset, so as to facilitate the next operation of the positioning device.

[0103] Among them, the number of positioning devices can be two groups, and the setting directions of the limit parts of the two groups of positioning devices intersect, so that the position of the ingredient tray 90 in the X-axis direction and the Y-axis direction on the table 500 can be adjusted respectively by the two groups of positioning devices, so that the position correction of the ingredient tray 90 is more accurate.

[0104] At the same time, one of the two groups of positioning devices can also include a guiding mechanism, which is arranged on the table 500, and the pushing part 502 of this group of positioning devices is connected to the guiding mechanism and moves along the guiding direction of the guiding mechanism, so that the guiding mechanism can guide the movement of the pushing part 502, which is conducive to the smooth movement of the pushing part 502.

[0105] As a structure of a guiding mechanism, it may include a second guide rail 503 and a second slider 504; the second guide rail 503 is extended on the table 500 along the moving direction of the pushing part 502, and the second slider 504 is provided with a slide groove adapted to the second guide rail 503, and the second slider 504 is mounted on the second guide rail 503 through the slide groove and slides with the second guide rail 503; the pushing part 502 is connected to the second slider 504, so that the pushing part 502 is moved along the guiding direction of the second guide rail 503 by the sliding movement of the second slider 504 along the second guide rail 503.

[0106] Preferably, the second slider 504 is arranged on the lower side of the pushing portion 502, so that after the second slider 504 is slidably arranged on the second guide rail 503, the height of the pushing portion 502 of this group of positioning devices can be raised so that it is located above the pushing portion 502 of the other group of positioning devices, thereby avoiding collision and interference between the pushing portions 502 of the two groups of positioning devices during movement, which is beneficial to ensuring the movement of the pushing portions 502 of the two groups of positioning devices.

[0107] like Fig.15 As shown, the table top 500 can be provided with an annular side panel 505 and a top panel 506, and the annular side panel 505 and the top panel 506 form a box with a cavity inside on the table top 500; the top panel 506 is provided with a window 507 for the movement of the ingredient plate 90, and the positioning device is arranged in the cavity, so that the formed box structure can not only improve the appearance performance of the plating operation table 50, but also the box structure can also serve as a shell to protect the positioning device therein; the side panel surfaces of the annular side panel 505 opposite to the pushing portion 502 respectively form limiting portions, so that the box structure can be fully utilized, which is conducive to the simplification of the structure of the plating operation table 50.

[0108] At the same time, the window 507 provided on the top plate 506 can not only make part of the ingredient tray 90 located in the cavity of the box body to interact with the positioning device, but also the window 507 can play a role in preliminary positioning of the ingredient tray 90 placed on the table 500.

[0109] Typically, the ingredient tray 90 includes a tray body and a bracket; therefore, in order to allow the supporting legs of the bracket to be placed in the cavity of the box body and interact with the positioning device, the number of windows 507 provided on the top plate 506 can correspond to the number of supporting legs; and, in order to be suitable for supporting legs of ingredient trays 90 of different sizes, windows 507 can also be opened at different positions of supporting legs of different ingredient trays 90; the annular side panels 505 are distributed in a ring shape along the four-axis edges of the table top 500, and can be in the shape of a square ring or a circular ring, etc.

[0110] Of course, if the ingredient tray 90 only includes a tray body, a window 507 for the tray body to move can be opened on the top plate 506; the pushing portion 502 can be a plate-like structure or a rod-like structure arranged along the extension direction of the limiting portion; the limiting portion can also be a baffle or block structure separately arranged on the table 500; the telescopic driving mechanism 501 can be a cylinder or an electric telescopic rod, etc.

[0111] In the ingredient tray 90 conveying system disclosed in the embodiment of the present invention, the loading and unloading robot 60 may include a track, a moving mechanism, a lifting mechanism and a clamping mechanism; the moving mechanism is arranged on the track, and reciprocates along the guide rail between the loading conveyor line 80, the tray loading operating table 50 and the unloading conveyor line 70; the lifting mechanism is arranged on the moving mechanism, and the clamping mechanism is connected to the lifting mechanism, and the lifting mechanism can drive the clamping mechanism to move up and down.

[0112] During the loading process of the ingredient tray 90, the moving mechanism moves along the track to the position of the loading conveyor line 80, so that the clamping mechanism is located above the ingredient tray 90 stacked on the loading conveyor line 80, and then the clamping mechanism is lowered to the height position of the ingredient tray 90 by the lifting mechanism, and the ingredient tray 90 is grabbed by the clamping mechanism; then, the lifting mechanism raises the clamping mechanism, and then moves it along the track to above the loading platform 50 by the moving mechanism, and the clamping mechanism is lowered to the position where the ingredient tray 90 is placed on the loading platform 50 by the lifting mechanism, and the clamping mechanism releases the ingredient tray 90 to complete the loading.

[0113] During the unloading process of the ingredient tray 90, the lifting mechanism lowers the clamping mechanism to the position of the ingredient tray 90 on the loading platform 50, grabs the ingredient tray 90 through the clamping mechanism, and then raises the clamping mechanism through the lifting mechanism; then, it moves along the track to the position of the unloading conveyor line 70 through the moving mechanism, so that the ingredient tray 90 is located above the unloading conveyor line 70, and then the lifting mechanism lowers the clamping mechanism to the discharge height, and the clamping mechanism releases the ingredient tray 90 to complete the unloading.

[0114] During the loading and unloading process of the ingredient trays 90, if a stack of ingredient trays 90 on the loading conveyor line 80 is emptied, the loading conveyor line 80 will work to convey the next stack of ingredient trays 90 to the material picking area of ​​the loading and unloading robot 60 for the loading and unloading robot 60 to continuously pick up materials; if a stack of ingredient trays 90 is fully stacked on the unloading conveyor, the unloading conveyor will work to move the full stack of ingredient trays 90 away to leave space for the loading and unloading robot 60 to stack.

[0115] In order to facilitate the setting of the loading and unloading robot 60, the disclosed ingredient tray 90 conveying system can also include a gantry, and the track is set on the gantry, so that the gantry can not only provide an installation bearing foundation for the setting of the track, but also avoid the track from forming a cantilever structure, which is beneficial to improving the working stability of the loading and unloading robot 60.

[0116] As a structure of the clamping mechanism, such as Fig.16 As shown, 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 arranged 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 the first clamping portion 601 and the second clamping portion 602 can be driven by the driving mechanism 603 to move toward / backward, thereby realizing the clamping and fixing and the loosening and unloading actions of the first clamping portion 601 and the second clamping portion 602.

[0117] It is easy to understand that the driving mechanism 603 can be a mobile driving mechanism 603 such as a cylinder or an electric telescopic rod connected to the first clamping part 601 and the second clamping part 602; the moving mechanism can be a mounting seat structure driven by a cylinder or a driving motor to move along the track, and the mounting seat is arranged on the track, and the lifting mechanism is installed on the sliding seat; the loading conveyor line 80 and the unloading conveyor line 70 can be belt or chain plate conveyors; the embodiment of the present invention does not limit the type and structure of the driving mechanism 603, the moving mechanism and the loading conveyor line 80 and the unloading conveyor line 70.

[0118] The ingredient tray 90 conveying system disclosed in the embodiment of the present invention may also include a control system; wherein, Figure 5 As shown, the control system may include a first image acquisition element and a processor; the first image acquisition element 208 is arranged at a position adjacent to the temporary storage table 20, and is used to collect image data of the bolt material box 111 on the temporary storage table 20; the first image acquisition element 208 is connected to the data input end of the processor, and the control output end of the processor is connected to the sorting robot 21.

[0119] When the first image acquisition element 208 is working, the collected image data of the bolt material box 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 bolts in the bolt material box 111 based on the received image data of the first image acquisition element 208 through the visual processing algorithm program built into the processor, and then the processor controls the sorting robot 21 to move to the grasping position to grasp the corresponding bolts according to the position information, thereby improving the grasping accuracy and work efficiency of the sorting robot 21; wherein, the first image acquisition element 208 can be set on the corresponding bracket, and can also be set on the sorting robot 21.

[0120] At the same time, the control system can also include a second image acquisition element, which is arranged at a position adjacent to the accessory loading device 30 and is used to collect image data of the gasket or nut accessory of the accessory loading device 30; the second image acquisition element is connected to the data input end of the processor, and the control output end of the processor is connected to the material picking robot 31.

[0121] When the second image acquisition element is working, it can collect image data of the string rod 301 of the accessory loading device 30 and transmit the collected image data to the processor; then, the processor identifies the position information of the gasket or nut accessory located at the top of the string rod 301 according to the received image data, and controls the material picking robot 31 to move accurately to the position of the gasket or nut accessory according to the position information, and then removes the gasket or nut accessory from the free end of the string rod 301 through the material picking robot 31, thereby improving the flexibility and accuracy of the material picking work of the material picking robot 31; wherein, the second image acquisition element can be set on the corresponding bracket, or it can be set on the material picking robot 31.

[0122] The control system may also include a third image acquisition element 604; the third image acquisition element 604 is arranged on the loading and unloading robot 60 and is connected to the data input end of the processor; thereby, through the third image acquisition element 604 arranged on the loading and unloading robot 60, the image data of the ingredient tray 90 can be collected during the process of the loading and unloading robot 60 grabbing the ingredient tray 90, and the processor can obtain information such as the model and position of the ingredient tray 90 based on the image data collected by the image acquisition element.

[0123] Among them, the control output end of the processor can be connected to the plating robot 41, so that the processor can accurately control the plating action of the plating robot 41 according to the acquired information, so that the plating robot 41 can be accurately moved to the position of the ingredient tray 90.

[0124] Alternatively, the control output end of the processor can also be connected to the telescopic drive mechanism 501 of the positioning device; if the position of the ingredient tray 90 on the loading platform 50 is skewed, the processor can control the positioning device to correct the position of the ingredient tray 90, thereby correcting the position of the ingredient tray 90.

[0125] Therefore, the loading operation of the loading robot 41 is guaranteed, so that the loading robot 41 can well place the bolts, gaskets and nut accessories in a fixed position in the ingredient tray 90 in a fixed posture; and after the loading robot 41 completes the loading operation, the third image acquisition element 604 can be used to collect image data of the ingredient tray 90 on the loading workbench 50 again, thereby achieving the purpose of re-inspection and confirming whether the ingredient tray 90 is correctly loaded.

[0126] Specifically, Fig.16 As shown, the third image acquisition element 604 is arranged 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 acquisition element 604 can move with the clamping mechanism and maintain a state facing the ingredient tray 90, which is beneficial to the image acquisition work of the third image acquisition element 604.

[0127] It is easy to understand that the first image acquisition element 208, the second image acquisition element and the third image acquisition element 604 can be 2D cameras, 3D cameras or cameras, etc.; at the same time, the processors of the first image acquisition element 208, the second image acquisition element and the third image acquisition element 604 can be three separately set processors, or can be one integrated processor.

[0128] The above embodiments of the present invention focus on the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0129] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, 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, characterized in that: include: A three-dimensional warehouse system, the three-dimensional warehouse system comprising shelves and a storage and retrieval robot; the shelves are provided with cells for placing bolt boxes; A temporary storage system, the temporary storage system comprising a temporary storage table and a sorting robot; the storage and retrieval robot is used to transfer the bolt material box between the shelf and the temporary storage table; The accessory loading system includes an accessory loading device, a material taking manipulator 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 loading device and the tooling plate; A loading system, the loading system comprising a loading robot and a loading operation table; the loading robot is used to transfer bolts and accessories between the tooling plate and the loading operation table; The batching tray conveying system includes a loading conveying line, a loading and unloading manipulator and a unloading conveying line. The loading and unloading manipulator is used to transfer the batching trays between the loading conveying line, the loading and unloading operation table and the unloading conveying line. The access robot comprises a mechanical arm and a material-retrieving fork mechanism; the material-retrieving fork mechanism comprises a supporting arm and a limiting portion, one end of the supporting arm is connected to the mechanical arm, the other end of the supported arm is a free end away from the mechanical arm, and the width of the supporting arm is less than the spacing between the two first supporting portions; The limiting part is arranged on the end surface of the execution end of the mechanical arm and is located above the supporting arm, and the limiting part forms limiting structures above both sides of the supporting arm respectively; The accessory feeding device comprises a rotating mechanism and a string rod, wherein the string rod is eccentrically arranged on the rotating mechanism, and one end of the string rod is connected to the rotating mechanism, and the other end of the string rod is away from the rotating mechanism to form a free end, and the rotating mechanism can rotate to control the string rod to move to the material picking area of ​​the material picking manipulator; The loading system also includes a gripper frame and a bolt gripper and an accessory gripper arranged on the gripper frame; the execution end of the loading robot is provided with a quick-change device main side joint, the bolt gripper and the accessory gripper are respectively provided with a quick-change device secondary side joint, and the quick-change device secondary side joint can be pneumatically connected to the quick-change device main side joint.

2. The bolt sorting system according to claim 1, characterized in that: An electronic tag is arranged at a position of the shelf adjacent to the cell, and an electronic tag reader for identifying the electronic tag is arranged at the execution end of the access robot.

3. The bolt sorting system according to claim 1, characterized in that: The execution end of the storage and retrieval robot is provided with a distance sensor, and the distance between the execution end of the storage and retrieval robot and the shelf can be monitored by the distance sensor.

4. The bolt sorting system according to any one of claims 1 to 3, characterized in that: The cell is provided with two opposite first supporting parts, and a spacing is set between the two first supporting parts; the storage and retrieval robot includes a robot arm and a material picking fork mechanism; the material picking fork mechanism includes a supporting arm, one end of the supporting arm is connected to the robot arm, the other end of the supported arm is a free end away from the robot arm, and the width of the supporting arm is smaller than the spacing between the two first supporting parts.

5. The bolt sorting system according to claim 4, characterized in that: The temporary storage table includes a material table and at least two second support parts spaced apart on the material table, and two adjacent second support parts are located at opposite positions, and a space for accommodating the supporting arm is formed between the two adjacent second support parts.

6. The bolt sorting system according to claim 5, characterized in that: The shelves are arranged in an arc shape, and the storage and retrieval robot is rotatably arranged on the inner side of the arc surface where the shelves are located, and can be rotated and moved along the arrangement direction of the shelves.

7. The bolt sorting system according to any one of claims 1 to 3, characterized in that: The loading platform includes a table top and a positioning device; the positioning device includes a limiting portion, a pushing portion and a telescopic driving mechanism; the limiting portion and the telescopic driving mechanism are both arranged on the table top, and the limiting portion is opposite to the pushing portion; the pushing portion is connected to the telescopic driving mechanism, and the telescopic driving mechanism can drive the pushing portion to move toward / opposite to the limiting portion.

8. The bolt sorting system according to any one of claims 1 to 3, characterized in that: The bolt sorting system also includes a control system, which includes a first image acquisition element, a processor and a second image acquisition element; the first image acquisition element is arranged at a position adjacent to the temporary storage table, and is used to acquire image data of the bolt material box on the temporary storage table; the second image acquisition element is arranged at a position adjacent to the accessory loading device, and is used to acquire accessory image data of the accessory loading device; the first image acquisition element and the second image acquisition element are respectively connected to the data input end of the processor, and the control output end of the processor is respectively connected to the sorting robot and the material picking robot.

Images