A flipping mechanism and a sorting robot thereof

Abstract

The present invention discloses a flipping mechanism and a sorting robot thereof. The flipping mechanism includes a base, brackets arranged on both sides of the base, a connecting rod mechanism arranged on the base and the bracket, a synchronous belt mechanism arranged on the bracket and used to drive the connecting rod mechanism to flip and move forward, and a driving assembly arranged on the base and used to drive the synchronous belt mechanism to transmit; the connecting rod mechanism includes an active connecting rod, a front connecting rod, a tray fixing connecting rod and an auxiliary connecting rod, one end of the active connecting rod is rotatably connected to the upper end of the bracket, and the other end is slidably connected to the rear end of the tray fixing connecting rod, the lower end of the front connecting rod is rotatably connected to the base, and the upper end is rotatably connected to the front end of the tray fixing connecting rod, and the two ends of the auxiliary connecting rod are rotatably connected to the rod wall of the active connecting rod and the rod wall of the tray fixing connecting rod respectively. The present invention realizes the compound motion of the tray both flipping and moving, optimizes the flipping mechanism, improves the space utilization rate, and makes the sorting robot more miniaturized and lightweight.

Description

Technical Field

[0001] The invention relates to the field of logistics automation, and in particular to a turning mechanism and a sorting robot thereof. Background Art

[0002] The rapid development of warehousing and logistics has brought more and more convenience to people's lives. As a key link in the warehousing and logistics process, the sorting of goods largely determines the overall efficiency of warehousing and logistics. Traditional manual labor and simple mechanical equipment are no longer sufficient to meet the current warehousing and logistics needs.

[0003] In order to solve the above problems, various sorting robots for sorting goods are continuously launched on the market. Among them, the flip-top light-load sorting robot is a commonly used robot at present. Its flip-top mechanism mainly has two forms: one is to use a motor and a reducer to directly connect with the flip-top connecting rod, and the motor directly drives the tray to move around the robot edge. Its structure is simple, but the stability is poor, the cost is high, the efficiency is low, and the volume is large. In addition, for the sorting robot that needs to move the flip-top mechanism upward to place larger goods, because the reducer and motor placed on it are large in volume, they will occupy the storage space of the intermediate goods, and the tipping bucket, reducer and motor are placed on top, the center of gravity of the sorting robot moves upward, and then the robot can only be guaranteed to walk smoothly by reducing the running speed of the robot. The other is to use a motor to drive the ball screw, and then drive the flip-top to flip through the connecting rod mechanism. It changes the layout, separates the drive device and the tray, and reduces the space occupied by the device, but the structure is complex, the processing and installation precision is high, which leads to high cost, low efficiency, short life, and high failure rate.

[0004] The above two solutions also have a common disadvantage, that is, the pallet can only rotate around a fixed axis straight line, and cannot satisfy the compound motion of both flipping and moving; that is, it can only satisfy the change of the tipping bucket posture but cannot change the position of the tipping bucket. Summary of the invention

[0005] The object of the present invention is to provide a flipping mechanism and a sorting robot thereof, aiming to solve the problem of single flipping action of the clamshell sorting robot in the prior art.

[0006] The present invention provides a flipping mechanism, comprising a base, brackets arranged on both sides of the base, a connecting rod mechanism arranged on the base and the brackets, a synchronous belt mechanism arranged on the brackets and used to drive the connecting rod mechanism to flip and move forward, and a driving assembly arranged on the base and used to drive the synchronous belt mechanism to transmit; the connecting rod mechanism comprises an active connecting rod, a front connecting rod, a pallet fixing connecting rod and an auxiliary connecting rod, one end of the active connecting rod is rotatably connected to the upper end of the bracket, and the other end is slidably connected to the rear end of the pallet fixing connecting rod, the lower end of the front connecting rod is rotatably connected to the base, and the upper end is rotatably connected to the front end of the pallet fixing connecting rod, and the two ends of the auxiliary connecting rod are rotatably connected to the rod wall of the active connecting rod and the rod wall of the pallet fixing connecting rod, respectively.

[0007] Furthermore, a linear guide is provided on the rod wall of the tray fixing connecting rod, a slider is slidably mounted on the linear guide, the other end of the active connecting rod is rotatably connected to the slider, and limit blocks are provided at both ends of the linear guide.

[0008] Furthermore, the synchronous belt mechanism includes a driving wheel arranged at the lower end of the bracket, a driven wheel arranged at the upper end of the bracket, a synchronous belt sleeved between the driving wheel and the driven wheel, and a tensioning adjustment member arranged on the side wall of the bracket and used to adjust the tension of the synchronous belt; the drive assembly shaft is linked to the driving wheel, and one end of the driving connecting rod is connected to the driven wheel.

[0009] Furthermore, the tensioning adjustment member includes a fixed block fixed on the bracket, an adjusting screw arranged on the fixed block, a tensioning wheel mounting frame connected to the adjusting screw and horizontally sliding on the bracket, and a tensioning wheel rotatably connected to the tensioning wheel mounting frame, and the tensioning wheel is supported against the inner side of the synchronous belt.

[0010] Furthermore, a bearing seat is provided on the base, an input shaft connected to the driving wheel is provided on the bearing seat, the driving assembly includes a motor and a reducer connected to the motor, and the reducer is connected to the input shaft via a rigid coupling.

[0011] Furthermore, a pallet in-place detection component is provided on the base, and the pallet in-place detection component includes a sensor bracket fixed on the base, a reset sensor and an in-place sensor arranged on the sensor bracket and respectively located on both sides of the input shaft, and an induction sheet is provided on the input shaft between the reset sensor and the in-place sensor.

[0012] Furthermore, the connecting rod mechanism is provided on the relative inner sides of the brackets on both sides.

[0013] Furthermore, a first connecting shaft and a second connecting shaft are provided between the connecting rod mechanisms on the brackets on both sides, the two ends of the first connecting shaft are respectively connected to the upper ends of the front connecting rods on both sides, and the two ends of the second connecting shaft are respectively connected to the sliders on both sides.

[0014] Furthermore, the pallet fixing link is a crank arm link, a pallet is mounted on the pallet fixing link, and the shape of the pallet is adapted to the shape of the pallet fixing link.

[0015] An embodiment of the present invention further provides a sorting robot, which includes the flipping mechanism as described above.

[0016] The embodiment of the present invention discloses a flipping mechanism and a sorting robot thereof. The flipping mechanism includes a base, brackets arranged on both sides of the base, a connecting rod mechanism arranged on the base and the bracket, a synchronous belt mechanism arranged on the bracket and used to drive the connecting rod mechanism to flip and move forward, and a driving assembly arranged on the base and used to drive the synchronous belt mechanism to transmit; the connecting rod mechanism includes an active connecting rod, a front connecting rod, a tray fixing connecting rod and an auxiliary connecting rod, one end of the active connecting rod is rotatably connected to the upper end of the bracket, and the other end is slidably connected to the rear end of the tray fixing connecting rod, the lower end of the front connecting rod is rotatably connected to the base, and the upper end is rotatably connected to the front end of the tray fixing connecting rod, and the two ends of the auxiliary connecting rod are rotatably connected to the rod wall of the active connecting rod and the rod wall of the tray fixing connecting rod respectively. The embodiment of the present invention realizes the compound movement of the tray both flipping and moving forward, optimizes the flipping mechanism, improves the space utilization rate, and makes the sorting robot more compact and lightweight. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0018] Figure 1 A schematic diagram of the structure of the flip mechanism in the initial state provided by an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the structure of the flipping mechanism after flipping and moving provided by an embodiment of the present invention;

[0020] Figure 3 A simplified schematic diagram of the structural principle of the flip mechanism provided by an embodiment of the present invention in the initial state;

[0021] Figure 4 A simplified schematic diagram of the structural principle of the flipping mechanism after flipping and moving provided by an embodiment of the present invention;

[0022] Figure 5 A bottom-up structural schematic diagram of a flip mechanism provided in an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of a partial structure of a flipping mechanism provided in an embodiment of the present invention;

[0024] Figure 7 for Figure 1 A schematic diagram of the enlarged structure of the local A in the middle;

[0025] Figure 8 A schematic diagram of a chassis structure provided by an embodiment of the present invention;

[0026] Fig. 9 A schematic structural diagram of a connecting rod mechanism provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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 creative work are within the scope of protection of the present invention.

[0028] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0029] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0030] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0031] See also Figure 1 and Figure 2The embodiment of the present invention provides a flipping mechanism, including a base 1, a bracket 2 arranged on both sides of the base 1, a connecting rod mechanism 3 arranged on the base 1 and the bracket 2, a synchronous belt mechanism 4 arranged on the bracket 2 and used to drive the connecting rod mechanism 3 to flip and move forward, and a driving assembly 5 arranged on the base 1 and used to drive the synchronous belt mechanism 4 to transmit; the connecting rod mechanism 3 includes an active connecting rod 31, a front connecting rod 32, a tray fixing connecting rod 33 and an auxiliary connecting rod 34, one end of the active connecting rod 31 is rotatably connected to the upper end of the bracket 2, and the other end is slidably connected to the rear end of the tray fixing connecting rod 33, the lower end of the front connecting rod 32 is rotatably connected to the base 1, and the upper end is rotatably connected to the front end of the tray fixing connecting rod 33, and the two ends of the auxiliary connecting rod 34 are rotatably connected to the rod wall of the active connecting rod 31 and the rod wall of the tray fixing connecting rod 33 respectively.

[0032] In this embodiment, the operation process of the flipping mechanism is as follows: the driving assembly 5 provides driving force to drive the synchronous belt mechanism 4 to transmit, and the synchronous belt mechanism 4 can drive the connecting rod mechanism 3 to perform a compound movement of flipping and moving forward during transmission.

[0033] Combination Figure 3 and Figure 4 As shown, for the convenience of understanding, the entire process of movement of the connecting rod mechanism 3 is provided. Specifically, the process of flipping and moving forward of the connecting rod mechanism 3 is as follows: the synchronous belt mechanism 4 drives the active connecting rod 31 to swing forward with the upper end of the bracket 2 as the rotation point, and the active connecting rod 31 can slide on the rear end of the rod wall of the pallet fixing connecting rod 33 when swinging forward, and can drive the rear end of the pallet fixing connecting rod 33 to flip upward, and push the pallet fixing connecting rod 33 forward during the sliding process. At the same time, the front end of the pallet fixing connecting rod 33 flips downward, and drives the upper end of the front connecting rod 32 to swing forward, cooperating with the pallet fixing connecting rod 33 to realize the compound action of flipping and moving forward at the same time; the two ends of the auxiliary connecting rod 34 are respectively rotatably connected to the rod wall of the active connecting rod 31 and the rod wall of the pallet fixing connecting rod 33, which can enhance the stability of the connecting rod mechanism 3 during operation.

[0034] A tray 334 is mounted on the tray fixing link 33. By driving the tray fixing link 33 to flip and move forward, the tray 334 can be synchronously driven to flip and move forward, thereby completing the sorting task. Compared with the traditional flipping mechanism that can only realize a single flipping action, this embodiment adds a forward moving action, making the movement form of the flipping mechanism more diverse and optimizing the structure of the flipping mechanism.

[0035] Combination Figure 5As shown, in one embodiment, a linear guide 331 is provided on the rod wall of the tray fixing link 33, a slider 332 is slidably mounted on the linear guide 331, the other end of the active link 31 is rotatably connected to the slider 332, and limit blocks 333 are provided at both ends of the linear guide 331.

[0036] In this embodiment, the linear guide 331 is fixedly arranged at the bottom of the rod wall of the tray fixing link 33. In the initial state, the slider 332 is at the rear end of the linear guide 331, and the other end of the active link 31 (i.e., the swinging end) is rotatably connected to the slider 332. When the active link 31 is driven to swing forward, the other end of the active link 31 swings forward, and the swinging trajectory is an arc, which can drive the slider 332 to slide on the linear guide 331 toward the front end direction of the tray fixing link 33, and link the tray fixing link 33 to move forward, while causing its rear end to flip upward; the limit block 333 is provided with two and is respectively located at the two ends of the linear guide 331, the purpose is to prevent the slider 332 from exceeding the predetermined motion trajectory during the sliding process, causing the mechanism parts to fall off, causing losses and injuries.

[0037] Combination Figure 6 As shown, in one embodiment, the synchronous belt mechanism 4 includes a driving wheel 41 arranged at the lower end of the bracket 2, a driven wheel 42 arranged at the upper end of the bracket 2, a synchronous belt 43 sleeved between the driving wheel 41 and the driven wheel 42, and a tensioning adjustment member 44 arranged on the side wall of the bracket 2 and used to adjust the tension of the synchronous belt 43; the drive assembly 5 is linked to the driving wheel 41, and one end of the active connecting rod 31 is connected to the driven wheel 42.

[0038] In this embodiment, the transmission process of the synchronous belt mechanism 4 is as follows: the driving assembly 5 provides driving force, and transmits the driving force to the driving wheel 41 through shaft linkage, so that the driving wheel 41 rotates, thereby driving the driven wheel 42 to rotate and driving the synchronous belt 43 to transmit between the driving wheel 41 and the driven wheel 42.

[0039] When the synchronous belt mechanism 4 is transmitting, the active connecting rod 31 connected to the driven wheel 42 can swing forward, thereby realizing the compound movement of the pallet fixing connecting rod 33 flipping and moving forward; the tensioning adjustment member 44 is used to adjust the tensioning degree of the synchronous belt 43, which can prevent the synchronous belt 43 from slipping when it is loose, or excessive wear when it is tightened.

[0040] Combination Figure 7As shown, in one embodiment, the tensioning adjustment member 44 includes a fixed block 441 fixed on the bracket 2, an adjusting screw 442 arranged on the fixed block 441, a tensioning wheel mounting frame 443 connected to the adjusting screw 442 and horizontally sliding on the bracket 2, and a tensioning wheel 444 rotatably connected to the tensioning wheel mounting frame 443, and the tensioning wheel 444 is supported on the inner side of the synchronous belt 43.

[0041] In this embodiment, the bracket 2 is vertically arranged, that is, the synchronous belt 43 is vertically arranged, and the tensioning adjustment member 44 is arranged on the inner wall of the bracket 2 and is located on the inner side of the synchronous belt 43; the tensioning adjustment member 44 can adjust the tension of the synchronous belt 43 on the inner side of the synchronous belt 43.

[0042] Specifically, the tension adjustment member 44 includes a fixed block 441, an adjusting screw 442, a tension wheel mounting frame 443 and a tension wheel 444; the fixed block 441 can be fixed to the bracket 2 by screws, the adjusting screw 442 passes through the fixed block 441 and is rotatably connected to the fixed block 441, the tension wheel mounting frame 443 is horizontally slidably assembled on the inner side wall of the bracket 2, the adjusting screw 442 is threadedly connected to one side of the tension wheel mounting frame 443, the tension wheel 444 is rotatably connected to the other side of the tension wheel mounting frame 443, and the tension wheel 444 is supported against the inner side of the synchronous belt 43. When the adjusting screw 442 is rotated, the tension wheel mounting frame 443 can be driven to slide horizontally on the bracket 2, thereby driving the tension wheel 444 to move horizontally synchronously, thereby adjusting the supporting force between the tension wheel 444 and the inner side of the synchronous belt 43, and adjusting the tension of the synchronous belt 43.

[0043] Combination Figure 6 As shown, in one embodiment, a bearing seat 11 is provided on the base 1, and an input shaft 12 connected to the driving wheel 41 is provided on the bearing seat 11. The driving assembly 5 includes a motor 51 and a reducer 52 connected to the motor 51, and the reducer 52 is connected to the input shaft 12 via a rigid coupling 53.

[0044] In this embodiment, two bearing seats 11 can be fixedly set on the base 1, and an input shaft 12 is set on the bearing seat 11. One end of the input shaft 12 is connected to the driving wheel 41, and the other end is connected to the reducer 52. The motor 51 is started, and the torque force of the motor 51 is transmitted to the rigid coupling 53 through the reducer 52, and then transmitted to the input shaft 12, and then the torque force is transmitted to the driving wheel 41 through the input shaft 12, thereby driving the synchronous belt mechanism 4 to transmit.

[0045] Combination Figure 8 As shown, in one embodiment, the base 1 is provided with a tray in-place detection component 13, and the tray in-place detection component 13 includes a sensor bracket 131 fixed on the base 1, a reset sensor 132 and an in-place sensor 133 arranged on the sensor bracket 131 and respectively located on both sides of the input shaft 12, and the input shaft 12 is provided with an induction sheet 121 located between the reset sensor 132 and the in-place sensor 133.

[0046] In this embodiment, the tray in-place detection component 13 is used to monitor the position of the tray 334 in real time so as to control the operation of the tray 334. Specifically, the tray in-place detection component 13 can be arranged between the two bearing seats 11, and the tray in-place detection component 13 includes a sensor bracket 131, a reset sensor 132 and an in-place sensor 133. The sensor bracket 131 is gate-shaped and crosses the input shaft 12. The reset sensor 132 and the in-place sensor 133 are respectively arranged on both sides of the sensor bracket 131 and also on both sides of the input shaft 12. The input shaft 12 is provided with a sensing sheet 121 between the reset sensor 132 and the in-place sensor 133. When the input shaft 12 rotates, the sensing sheet 121 can rotate between the reset sensor 132 and the in-place sensor 133. In this way, the sensing sheet 121 can be sensed by the reset sensor 132 and the in-place sensor 133 to control the rotation angle of the input shaft 12, thereby controlling the operation of the tray 334.

[0047] In one embodiment, the connecting rod mechanism 3 is disposed on the inner sides of the brackets 2 on both sides.

[0048] In this embodiment, by setting two relative connecting rod mechanisms 3, the active connecting rods 31 on both sides swing at the same time, driving the tray fixing connecting rods 33 on both sides to flip and move forward, thereby driving the tray 334 to flip and move forward, which can improve the stability of the flipping mechanism; in order to better drive the tray fixing connecting rod 33 to flip and move forward, the synchronous belt mechanism 4 is provided on the relative inner sides of the bracket 2, which is respectively used to drive the connecting rod mechanisms 3 on both sides; and the reducer 52 can be set as a bidirectional reducer, and the input shaft 12 is also provided with two double shafts respectively connected to the reducer 52, thereby driving the synchronous belt mechanism 4 on both sides at the same time, thereby realizing stable driving of the tray 334 to flip and move forward.

[0049] Furthermore, the connecting rod mechanism 3 adopted in this embodiment is relatively easy to manufacture and is convenient for realizing flipping motion, especially for a compound motion that requires the tray 334 to flip and move forward during the flipping process. A predetermined motion trajectory can be realized through reasonable design; secondly, the connecting rod mechanism 3 occupies a small space and can be made very thin, which is conducive to further reducing the thickness on both sides of the flipping mechanism, thereby freeing up more space in the middle for placing goods; in addition, the linking part of the connecting rod mechanism 3 is equipped with plastic bearings, which can improve the life of the mechanism and the smoothness of its operation.

[0050] Furthermore, the synchronous belt mechanism 4 used in this embodiment is arranged on the bracket 2, which can make the structure of the entire flipping mechanism relatively compact, occupying a small space, and freeing up a large space for the intermediate storage table. Secondly, the synchronous belt 43 is arranged vertically, so that the drive assembly 5 can be moved down to the bottom of the sorting robot, thereby lowering the center of gravity of the flipping mechanism and improving the stability of the movement of the sorting robot; in addition, the synchronous belt 43 does not require high processing and installation accuracy, thereby reducing costs and improving production efficiency, and the synchronous belt 43 is easy to maintain and has high efficiency.

[0051] Combination Fig. 9 As shown, in one embodiment, a first connecting shaft 6 and a second connecting shaft 7 are provided between the connecting rod mechanisms 3 on the brackets 2 on both sides, and both ends of the first connecting shaft 6 are respectively connected to the upper ends of the front connecting rods 32 on both sides, and both ends of the second connecting shaft 7 are respectively connected to the sliders 332 on both sides.

[0052] In this embodiment, the end of the first connecting shaft 6 is rotatably connected to the upper end of the front connecting rod 32 and the front end of the tray fixing connecting rod 33, so that the front connecting rod 32 on both sides and the front ends of the tray fixing connecting rod 33 on both sides can be synchronously flipped and moved forward; the two ends of the second connecting shaft 7 are respectively connected to the sliders 332 on both sides, so that the two sliders 332 can keep synchronization when sliding, so that the rear ends of the tray fixing connecting rods 33 on both sides can be synchronously flipped and moved forward; in this embodiment, the connecting rod mechanism 3 on both sides is connected by the first connecting shaft 6 and the second connecting shaft 7, so that the connecting rod mechanism 3 on both sides forms a whole, thereby improving the stability of the connecting rod mechanism 3 during operation.

[0053] Furthermore, by changing the width of the chassis, the length of the first connecting shaft 6, and the length of the second connecting shaft 7, the width of the intermediate storage part of the flip mechanism can be changed to adapt to various use occasions. By changing the height of the connecting rod mechanism 3 and adjusting the length of each connecting rod, the height of the intermediate storage part of the flip mechanism can be changed, and the motion trajectory of the flip mechanism can also be adjusted to adapt to various use occasions.

[0054] In one embodiment, the tray fixing link 33 is a crank arm link, and a tray 334 is mounted on the tray fixing link 33 . The shape of the tray 334 matches the shape of the tray fixing link 33 .

[0055] In this embodiment, the two sides of the pallet 334 can be respectively fixed on the pallet fixing links 33 on both sides. When the pallet fixing links 33 are driven to flip and move forward, the pallet fixing links 33 can be driven by the synchronous belt 43 to flip and move forward. The pallet fixing links 33 are set as crank links, and the shape of the pallet 334 is adapted to the shape of the pallet fixing links 33, so that the front end of the pallet 334 can form a guide surface for throwing out the goods, so that the goods can be better thrown out.

[0056] An embodiment of the present invention further provides a sorting robot, which includes the flipping mechanism as described above.

[0057] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0058] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive.

[0059] Inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "including a..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A turning mechanism, characterized in that: It includes a base, brackets arranged on both sides of the base, a connecting rod mechanism arranged on the base and the bracket, a synchronous belt mechanism arranged on the bracket and used to drive the connecting rod mechanism to flip and move forward, and a driving assembly arranged on the base and used to drive the synchronous belt mechanism to transmit; the connecting rod mechanism includes an active connecting rod, a front connecting rod, a pallet fixing connecting rod and an auxiliary connecting rod, one end of the active connecting rod is rotatably connected to the upper end of the bracket, and the other end is slidably connected to the rear end of the pallet fixing connecting rod, the lower end of the front connecting rod is rotatably connected to the base, and the upper end is rotatably connected to the front end of the pallet fixing connecting rod, and the two ends of the auxiliary connecting rod are rotatably connected to the rod wall of the active connecting rod and the rod wall of the pallet fixing connecting rod respectively; A linear guide is provided on the rod wall of the tray fixing link, a slider is slidably mounted on the linear guide, the other end of the active link is rotatably connected to the slider, and limit blocks are provided at both ends of the linear guide; the tray fixing link is a crank arm link, a tray is installed on the tray fixing link, and the shape of the tray is adapted to the shape of the tray fixing link.

2. The turning mechanism according to claim 1, characterized in that: The synchronous belt mechanism includes a driving wheel arranged at the lower end of the bracket, a driven wheel arranged at the upper end of the bracket, a synchronous belt sleeved between the driving wheel and the driven wheel, and a tensioning adjustment member arranged on the side wall of the bracket and used to adjust the tension of the synchronous belt; the drive assembly shaft is linked to the driving wheel, and one end of the driving connecting rod is connected to the driven wheel.

3. The turning mechanism according to claim 2, characterized in that: The tensioning adjustment member includes a fixed block fixed on the bracket, an adjusting screw arranged on the fixed block, a tensioning wheel mounting frame connected to the adjusting screw and horizontally sliding on the bracket, and a tensioning wheel rotatably connected to the tensioning wheel mounting frame, wherein the tensioning wheel is supported against the inner side of the synchronous belt.

4. The turning mechanism according to claim 2, characterized in that: A bearing seat is provided on the base, an input shaft connected to the driving wheel is provided on the bearing seat, the driving assembly includes a motor and a reducer connected to the motor, and the reducer is connected to the input shaft via a rigid coupling.

5. The turning mechanism according to claim 4, characterized in that: The base is provided with a pallet in-place detection component, which includes a sensor bracket fixed on the base, a reset sensor and an in-place sensor arranged on the sensor bracket and located on both sides of the input shaft respectively, and the input shaft is provided with an induction sheet between the reset sensor and the in-place sensor.

6. The turning mechanism according to claim 1, characterized in that: The connecting rod mechanisms are arranged on the opposite inner sides of the brackets on both sides.

7. The turning mechanism according to claim 6, characterized in that: A first connecting shaft and a second connecting shaft are provided between the connecting rod mechanisms on the brackets on both sides, the two ends of the first connecting shaft are respectively connected to the upper ends of the front connecting rods on both sides, and the two ends of the second connecting shaft are respectively connected to the sliders on both sides.

8. A sorting robot, characterized in that: It comprises a turning mechanism as described in any one of claims 1 to 7.

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