Sorting fixture, sorting robot and sorting method

Abstract

The present invention provides a sorting fixture, a sorting robot and a sorting method, which relate to the technical field of spicy strip production equipment, and solve the technical problems of high labor intensity and low efficiency of manual sorting. The sorting fixture is suspended at the end of the sorting robot, and includes a top plate for connecting with the sorting robot; a fixed clamping mechanism is arranged on the top plate to clamp the spicy strips; a movable clamping mechanism is symmetrically arranged on both sides of the fixed clamping mechanism to clamp the spicy strips; a reversing mechanism is connected to the movable clamping mechanism in a transmission manner, and can drive the movable clamping mechanism to move, so as to switch between the longitudinal straight line arrangement and the horizontal straight line arrangement position with the fixed clamping mechanism. The present invention can realize the conversion of the longitudinal arrangement of spicy strips into the transverse arrangement, and is accompanied by the change of the spacing size between two adjacent groups, so as to complete the packaging operation requirements of the spicy strips, and also has the characteristics of lower production cost and maintenance cost; the overall structure realizes the whole action very directly, and the work efficiency is high.

Description

Technical Field

[0001] The present invention relates to the technical field of spicy strip production equipment, and in particular to a sorting fixture, a sorting robot and a sorting method. Background Art

[0002] For the spicy strip packaging process, according to the packaging requirements of 4 strips per group, most of them are currently sorted and sorted manually, and then manually rotated 90 degrees and stacked into the fork trough of the pillow packaging machine, which takes up a lot of manpower and costs. In addition, due to the influence of production capacity and packaging machine output speed, the labor intensity is extremely high. At present, there is no completely corresponding equipment that can match this packaging process well.

[0003] The existing solution is to manually code the spicy strips for later use. During the packaging operation, the spicy strips are quickly turned and placed in the fork trough of the pillow packaging machine according to the requirement of 4 strips in a group, and the operation is repeated according to the fixed fork interval.

[0004] The existing fixtures on the market do not fully match the requirements of this link. Most of the existing fixtures are multi-grip X one-way variable distance or multi-grip XY two-way variable distance, which cannot meet the automated sorting requirements of this link. Summary of the invention

[0005] The object of the present invention is to provide a sorting fixture, a sorting robot and a sorting method to solve the technical problems of high labor intensity and low efficiency of manual sorting in the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a sorting fixture, which is suspended at the end of a sorting robot and comprises:

[0008] A top plate, used for connection with a sorting robot;

[0009] A fixed clamp mechanism is arranged on the top plate and is used to clamp the spicy strips;

[0010] The movable clamping mechanism is symmetrically arranged on both sides of the fixed clamping mechanism to clamp the spicy strips;

[0011] The reversing mechanism is connected to the movable clamping member mechanism in a transmission manner and can drive the movable clamping member mechanism to move so as to switch between a longitudinal straight line arrangement and a transverse straight line arrangement with the fixed clamping member mechanism.

[0012] As a further improvement of the present invention, the top plate is a Z-shaped structure, and a connecting ring is arranged in the middle of the top for connecting to the sorting robot; the fixed clamp mechanism is arranged in the center of the bottom of the top plate; the movable clamp mechanism is an even number, and is divided into two groups and arranged on both sides of the fixed clamp mechanism; when the fixed clamp mechanism and the movable clamp mechanism are arranged in a vertical straight line along the width direction of the top plate, they are fitted together with a minimum distance between them; when the fixed clamp mechanism and the movable clamp mechanism are arranged in a horizontal straight line along the length direction of the top plate, they are spaced apart from each other.

[0013] As a further improvement of the present invention, the reversing mechanism includes a rotating shaft, a rotating limit plate, and a guide groove. The rotating shaft is rotatably arranged in the center of the top plate and is located at the center position of the connecting ring; the guide groove is L-shaped and opened along the length direction of the top plate, and the number is an even number, which is divided into two groups and symmetrically arranged on both sides of the rotating shaft, and the bending directions of the two groups of guide grooves are clockwise; the rotating limit plate is placed above the top plate and fixedly connected to the rotating shaft, and sliding grooves are symmetrically opened on both sides of the rotating limit plate; the top of the movable clamping mechanism is sequentially clamped in the guide groove and the sliding groove, and when the rotating limit plate rotates, it can drive the movable clamping mechanism to move along the guide groove.

[0014] As a further improvement of the present invention, the fixed clamp mechanism and the movable clamp mechanism both include a cylinder, a pressure plate, a first clamp and a second clamp, the cylinder and the pressure plate are both suspended on the top plate, the first clamp is arranged at one end of the pressure plate; the second clamp is located at the other end of the pressure plate and is transmission-connected to the cylinder.

[0015] As a further improvement of the present invention, the number of the first clamping jaws is two and they are arranged at intervals; the number of the second clamping jaws is two and they are arranged at intervals; the first clamping jaw and the second clamping jaw on two adjacent movable clamping mechanisms or on adjacent fixed clamping mechanisms and movable clamping mechanisms are staggered.

[0016] As a further improvement of the present invention, the movable clamp mechanism also includes a support frame for suspending the cylinder and the pressure plate, a connecting column is arranged on the top of the support frame, a limiting seat is arranged on the top of the connecting column, and a guide column is arranged on the top of the limiting seat; the width of the connecting column is adapted to the width of the guide groove; the specification of the limiting seat is larger than the specification of the guide groove; the specification of the guide column is adapted to the specification of the slide groove.

[0017] As a further improvement of the present invention, the connecting column is a square column; the limiting seat is a cylindrical shape; and the guide column is a cylindrical shape.

[0018] As a further improvement of the present invention, all the starting ends of the guide grooves are on the same straight line with the central longitudinal axis of the rotating shaft; and all the tail ends of the guide grooves are on the same straight line with the central transverse axis of the rotating shaft.

[0019] As a further improvement of the present invention, the guide groove width is greater than the slide groove width.

[0020] The present invention provides a sorting robot, comprising the sorting clamp.

[0021] A sorting method provided by the present invention, based on the sorting robot, comprises the following steps:

[0022] Step S1, arranging the spicy strips to be sorted and packaged at the grabbing station, and arranging them into an evenly spaced arrangement for delivery according to the minimum spacing size;

[0023] Step S2, automatically sorting by the sorting robot following the grabbing and fixed-point placement, the sorted spicy strips are placed in the placement position, the placement position is required to be placed in the fork slot of the pillow packing machine in the form of a group of 4, and the sorting robot sorts 20 spicy strips each time;

[0024] In step S2, when the sorting robot is grasping, the cylinders in the fixed clamp mechanism and the movable clamp mechanism are opened so that the first clamp and the second clamp are distributed on 20 equally spaced spicy strips, and then the cylinders are contracted to automatically divide the 20 spicy strips into five groups, with 4 strips in each group in a tightly held state;

[0025] In step S2, when the sorting robot places the spicy strips, the sorting robot rotates the rotating shaft, the rotating shaft drives the rotating limit plate to rotate, and the rotating limit plate drives the four groups of movable clamping mechanisms to move along the path in the guide groove of the top plate. When the rotating shaft rotates 90 degrees, the four movable clamping mechanisms move from the previous longitudinal linear arrangement position to the transverse linear arrangement position required for placement, and the cylinder is opened to uniformly place the five groups of spicy strips in the five groups of forks;

[0026] In step S2, after the sorting robot is placed, the shaft rotates counterclockwise, and the cylinder contracts to return to the state before grasping. This cycle is repeated to realize the conversion of the vertical arrangement of the spicy strips into a horizontal arrangement, accompanied by a change in the spacing size between two adjacent groups of spicy strips, thereby completing the packaging operation requirements of the spicy strips.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The sorting clamp provided by the present invention can realize the conversion of the longitudinal arrangement of spicy strips into the transverse arrangement, accompanied by the change of the spacing size between two adjacent groups, so as to complete the packaging operation requirements of the spicy strips, and also has the characteristics of lower production cost and maintenance cost; the overall structure realizes the whole action very directly and has high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a schematic diagram of the three-dimensional structure of the sorting fixture of the present invention;

[0031] Figure 2 is a schematic diagram of the three-dimensional structure of the sorting fixture of the present invention as viewed from the bottom;

[0032] Figure 3 is a bottom view of the sorting fixture of the present invention;

[0033] Figure 4 is an exploded view of the sorting fixture of the present invention;

[0034] Figure 5 It is a front view of a movable clamping member mechanism in the sorting clamp of the present invention after removing the connecting column;

[0035] Figure 6 This is a front view of the sorting fixture of the present invention for installing the positioning column;

[0036] Figure 7 This is a front view of the sorting fixture of the present invention without the positioning column installed;

[0037] Figure 8 is a schematic diagram of the three-dimensional structure of the sorting fixture of the present invention viewed from the other side;

[0038] Fig. 9 It is a structural schematic diagram of the fixed clamping mechanism and the movable clamping mechanism in the sorting clamp of the present invention when they are arranged in a vertical straight line;

[0039] Fig.10 It is an exploded view of the fixed clamping mechanism and the movable clamping mechanism in the sorting clamp of the present invention;

[0040] Fig.11 It is an exploded view of the fixed clamping mechanism and the movable clamping mechanism in the sorting clamp of the present invention viewed from another perspective;

[0041] Fig.12 It is a motion route diagram of the sorting clamp of the present invention when it is used.

[0042] In the figure, 1, top plate; 2, fixed clamping mechanism; 3, movable clamping mechanism; 31, cylinder; 32, pressure plate; 33, first clamping jaw; 34, second clamping jaw; 35, support frame; 36, connecting column; 37, limit seat; 38, guide column; 4, reversing mechanism; 41, rotating shaft; 42, rotating limit plate; 421, slide groove; 43, guide groove; 5, connecting ring. DETAILED DESCRIPTION

[0043] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0044] Since the spicy strips have edible oil and chili powder on the surface, conventional vacuum adsorption transportation cannot meet the long-term stable and effective use, and only clamping can be considered for sorting and transportation. Figure 1 and Figure 2 As shown, the present invention provides a sorting fixture, which is suspended at the end of the sorting robot, including

[0045] Top plate 1, used for connecting with the sorting robot;

[0046] A fixed clamp mechanism 2 is arranged on the top plate 1 and is used to clamp the spicy strips;

[0047] The movable clamping mechanism 3 is symmetrically arranged on both sides of the fixed clamping mechanism 2 to clamp the spicy strips;

[0048] The reversing mechanism 4 is in transmission connection with the movable clamping member mechanism 3 and can drive the movable clamping member mechanism 3 to move so as to switch between a longitudinal straight line arrangement and a transverse straight line arrangement with the fixed clamping member mechanism 2 .

[0049] That is to say, when the reversing mechanism 4 is started, it can drive the movable clamping mechanism 3 to move, so that the movable clamping mechanism 3 moves to be arranged in a vertical straight line with the fixed clamping mechanism, or moves to be arranged in a horizontal straight line with the fixed clamping mechanism 2. In other words, the clamping mechanism changes from longitudinal to horizontal.

[0050] The sorting clamp provided by the present invention can realize the conversion of the longitudinal arrangement of spicy strips into the transverse arrangement, accompanied by the change of the spacing size between two adjacent groups, so as to complete the packaging operation requirements of the spicy strips, and also has the characteristics of lower production cost and maintenance cost; the overall structure realizes the whole action very directly and has high work efficiency.

[0051] like Figure 3 and Figure 4As shown in the figure, as an optional embodiment of the present invention, the top plate 1 is a Z-shaped structure, and the free arms at both ends are respectively located on both sides of the middle base part. A connecting ring 5 is arranged in the middle of the top of the top plate 1 for connecting with the sorting robot. Specifically, the connecting ring 5 is a circular ring structure, and two connecting rods are arranged opposite to each other at the bottom, and the connecting rods are connected to the top plate 1; the fixing clamp mechanism 2 is arranged at the bottom center of the top plate 1, specifically, it is located on the top plate 1 corresponding to the bottom of the connecting ring 5; Figure 4 , Figure 6 and Figure 7 As shown, a through hole is also provided at the center of the top plate 1, and a positioning column for calibrating the zero point of the sorting robot can be detachably installed in the through hole. After the zero point is calibrated, the positioning column can be directly screwed off the top plate 1. It should be further explained that the through hole for calibration is also located at the center of the fixed clamp mechanism 2, and the positioning column will extend through the fixed clamp mechanism 2 to the outside to facilitate the smooth completion of the calibration action. The number of movable clamp mechanisms 4 is an even number, which is divided into two groups and arranged on both sides of the fixed clamp mechanism 2; when the fixed clamp mechanism 2 and the movable clamp mechanism 3 are arranged along the width direction of the top plate 1, that is, arranged in a vertical straight line, they are kept together with the minimum spacing, so that the spicy strips arranged at equal intervals can be grasped in multiple groups at the same time; when the fixed clamp mechanism 2 and the movable clamp mechanism 3 are arranged along the length direction of the top plate 1, that is, arranged in a horizontal straight line, they are arranged at intervals from each other, thereby forming multiple groups of separated spicy strips, thereby meeting the spacing placement requirements required for the placement position.

[0052] Furthermore, the reversing mechanism 4 includes a rotating shaft 41, a rotating limit plate 42, and a guide groove 43. The rotating shaft 41 is rotatably arranged at the center of the top plate 1 and is located at the center of the connecting ring 5. The top of the rotating shaft 41 is connected to the rotating shaft of the sorting robot, so that it can rotate under the drive of the sorting robot; the guide groove 43 is L-shaped and opened along the length direction of the top plate 1. The number is an even number and is divided into two groups symmetrically arranged on both sides of the rotating shaft 41, and the bending direction of the two groups of guide grooves 43 is clockwise; the rotating limit plate 42 is placed on the top plate 1 At the top and fixedly connected to the rotating shaft 41, sliding grooves 421 are symmetrically opened on both sides of the rotating limit plate 42; the top of the movable clamping mechanism 3 is clamped in the guide groove 43 and the sliding groove 421 in sequence, and when the rotating limit plate 42 rotates, it can drive the movable clamping mechanism 3 to move along the guide groove 43. Considering that the guide groove 43 has a corner, in order to facilitate the smooth passage of the movable clamping mechanism 3, in actual operation, when the movable clamping mechanism 3 is about to reach the corner, the moving speed will be reduced to ensure that it passes through the corner smoothly without being stuck or collided.

[0053] like Figure 5 , Figure 8 , Fig. 9 and Fig.10As shown, as an optional embodiment of the present invention, the fixed clamping mechanism 2 and the movable clamping mechanism 3 both include a cylinder 31, a pressure plate 32, a first clamping jaw 33 and a second clamping jaw 34. The cylinder 31 and the pressure plate 32 are both suspended on the top plate 1. The first clamping jaw 33 is arranged at one end of the pressure plate 32; the second clamping jaw 34 is located at the other end of the pressure plate 32 and is transmission-connected to the cylinder 31. A U-shaped grasping groove is formed by the first clamping jaw 33, the pressure plate 32 and the second clamping jaw 34. The cylinder 31 is used to drive the movement of the second clamping jaw 34, thereby realizing the expansion and contraction of the grasping groove and the grabbing and putting down of the spicy strips.

[0054] like Fig.10 and Fig.11 As shown, further, the number of first clamping jaws 33 is two, which are arranged at intervals; the number of second clamping jaws 34 is two, which are arranged at intervals; the first clamping jaws 33 and the second clamping jaws 34 on two adjacent movable clamping member mechanisms 3 or the adjacent fixed clamping member mechanisms 2 and movable clamping member mechanisms 3 are staggered. Specifically, as Fig.10 As shown in , the fixed plate structures of the second clamping jaws 34 in the two movable clamping member mechanisms 3 in each group are exactly opposite, one is positive L and the other is negative L, so that the first clamping jaws 33 and the second clamping jaws 34 in the two adjacent clamping member mechanisms can be staggered without interference; Fig.11 As shown, it is a schematic diagram viewed from the other side of the clamping mechanism, on which the first clamping jaw 33 can be seen. It can also be seen from this figure that the first clamping jaws 33 in the two movable clamping mechanisms 3 in the same group are also staggered, and the positions of the first clamping jaw 33 and the second clamping jaw 34 in the fixed clamping mechanism 2 need to be staggered with the first clamping jaw 33 and the second clamping jaw 34 in the adjacent movable clamping mechanism 3.

[0055] like Figure 4 , Fig.10 and Fig.11 As shown, specifically, the movable clamp mechanism 3 also includes a support frame 35 for suspending the cylinder 31 and the pressure plate 32, a connecting column 36 is arranged on the top of the support frame 35, a limiting seat 37 is arranged on the top of the connecting column 36, and a guide column 38 is arranged on the top of the limiting seat 37; the width of the connecting column 36 is adapted to the width of the guide groove 43; the specification of the limiting seat 37 is larger than the specification of the guide groove 43; the specification of the guide column 38 is adapted to the specification of the slide groove 421.

[0056] Furthermore, the connecting column 36 is a square column; the limiting seat 37 is a cylindrical column; and the guide column 38 is a cylindrical column. Through the above structural arrangement, the movable clamp mechanism 3 will not rotate when moving, and the direction of the spicy strips can be maintained.

[0057] The starting ends of all the guide grooves 43 are on the same straight line with the central longitudinal axis of the rotating shaft 41 ; the tail ends of all the guide grooves 43 are on the same straight line with the central transverse axis of the rotating shaft 41 .

[0058] The width of the guide groove 43 is greater than the width of the sliding groove 421 .

[0059] The present invention provides a sorting robot, comprising the above-mentioned sorting fixture.

[0060] Embodiment 1:

[0061] In this embodiment, a sorting robot with a sorting clamp is provided. The sorting robot is a parallel robot, which is arranged between the grabbing station and the placement station in a follow-up grabbing and fixed-point placement manner. The spicy strips are first arranged in an evenly spaced manner according to the minimum spacing size through material sorting equipment or other methods such as manual labor for transportation.

[0062] In this embodiment, the sorting fixture includes a top plate 1, on which is installed a set of fixed clamping mechanisms 2 and four sets of movable clamping mechanisms 3, that is, a total of five sets of clamping mechanisms. The five sets of clamping mechanisms are all driven by cylinders and are used to gather, shrink and clamp the four spicy strips after sorting and positioning, so as to achieve the single group state required for placement.

[0063] Four of the five clamping mechanisms are movable clamping mechanisms 3, which are constrained on the top plate 1 by the support frame 35 and the connecting column 36, and are limited by the limit seat 37 to prevent the movable clamping mechanism 3 from detaching from the top plate 1 under its own gravity, and are movably connected to the rotating limit plate 42 by the guide column 38 on the top of the limit seat 37. When working, the four movable clamping mechanisms 3 are A, B, D, and E respectively. The four clamping mechanisms can slide in the guide groove 43 on the top plate 1. The fixed clamping mechanism 2, that is, group C, remains in the same position during the whole sorting and handling process, except for the action of its own retracting cylinder 31. The guide grooves 43 of the four mechanisms A, B, D, and E on the top plate 1 are Fig.12 The top plate 1 and the connecting ring 5 are fixed together, and the connecting ring 5 is directly fixed on the moving platform at the end of the parallel robot. When the parallel robot moves, the connecting ring 5 can drive the entire sorting fixture to move in three directions of XYZ.

[0064] The sorting fixture also includes a rotation limit plate 42 arranged on the top of the top plate 1, and the rotation limit plate 42 is connected to the intermediate shaft 41. The intermediate shaft 41 is connected and fixed to the intermediate rotating shaft of the four axes at the end of the parallel robot. In this way, the intermediate rotating shaft of the parallel robot can drive the four groups of clamping mechanisms A, B, D, and E to move along the path in the slide groove 421 of the rotation limit plate 42 through the intermediate rotating shaft 41 and the rotation limit plate 42. In this way, when the intermediate rotating shaft of the parallel robot moves along the path, Figure 1From the position shown in the figure, rotate 90° clockwise to move the four clamping mechanisms A, B, D, and E to the desired state according to the predetermined path. Opening the cylinder 31 can uniformly place the five groups of spicy strips in the five groups of forks.

[0065] After placement, the parallel robot's middle rotating axis rotates 90° counterclockwise, and the cylinder contracts to return to the state before grasping. In this way, the fixture can be used to convert the longitudinal arrangement into the transverse arrangement, and the spacing between the two adjacent groups changes, completing the packaging operation requirements of the spicy strips.

[0066] The present invention provides a sorting method based on a sorting robot, comprising the following steps:

[0067] Step S1, arranging the spicy strips to be sorted and packaged at the grabbing station, and arranging them into an evenly spaced arrangement for delivery according to the minimum spacing size;

[0068] Step S2, sorting is performed automatically by following the grabbing and placing at fixed points by a sorting robot. The sorted spicy strips are placed in the placement position. The placement position is required to be placed in the fork slot of the pillow packaging machine in the form of a group of 4 strips. The sorting robot sorts 20 spicy strips each time; the robot sorts 20 strips each time, sorting 22-25 times per minute, which can meet the packaging speed requirement of 450-500 strips / min of the back-end packaging machine;

[0069] In step S2, when the sorting robot is grasping, the cylinders in the fixed clamp mechanism and the movable clamp mechanism are opened so that the first clamp and the second clamp are distributed on 20 equally spaced spicy strips, and then the cylinders are contracted to automatically divide the 20 spicy strips into five groups, with 4 strips in each group in a tightly held state;

[0070] In step S2, when the sorting robot places the spicy strips, the sorting robot rotates the rotating shaft, the rotating shaft drives the rotating limit plate to rotate, and the rotating limit plate drives the four groups of movable clamping mechanisms to move along the path in the guide groove of the top plate. When the rotating shaft rotates 90 degrees, the four movable clamping mechanisms move from the previous longitudinal linear arrangement position to the transverse linear arrangement position required for placement, and the cylinder is opened to uniformly place the five groups of spicy strips in the five groups of forks;

[0071] In step S2, after the sorting robot is placed, the shaft rotates counterclockwise, and the cylinder contracts to return to the state before grasping. This cycle is repeated to realize the conversion of the vertical arrangement of the spicy strips into a horizontal arrangement, accompanied by a change in the spacing size between two adjacent groups of spicy strips, thereby completing the packaging operation requirements of the spicy strips.

[0072] The state during the grabbing process is the state of the A, B, C, D, and E groups, and the final placement process needs to be adjusted to the state of the A′, B′, C′, D′, and E′ groups. The changes in the entire process include the conversion from vertical arrangement to horizontal arrangement, accompanied by changes in the spacing between two adjacent groups. The green part in the figure is the path that each group walks during the change process.

[0073] First of all, it should be explained here that “inward” refers to the direction toward the center of the accommodating space, and “outward” refers to the direction away from the center of the accommodating space.

[0074] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0075] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0076] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0078] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0079] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A sorting fixture, characterized in that: Suspended at the end of the sorting robot, including A top plate, used for connection with a sorting robot; A fixed clamp mechanism is arranged on the top plate and is used to clamp the spicy strips; The movable clamping mechanism is symmetrically arranged on both sides of the fixed clamping mechanism to clamp the spicy strips; A reversing mechanism, which is in driving connection with the movable clamping member mechanism and can drive the movable clamping member mechanism to move so as to switch between a longitudinal straight line arrangement and a transverse straight line arrangement with the fixed clamping member mechanism; The top plate is a Z-shaped structure, and a connecting ring is provided in the middle of the top for connecting with the sorting robot; the fixed clamp mechanism is provided at the bottom center of the top plate; the movable clamp mechanism is an even number, and is divided into two groups and provided on both sides of the fixed clamp mechanism; when the fixed clamp mechanism and the movable clamp mechanism are arranged in a vertical straight line along the width direction of the top plate, they are attached together with a minimum spacing; when the fixed clamp mechanism and the movable clamp mechanism are arranged in a horizontal straight line along the length direction of the top plate, they are spaced apart from each other; The reversing mechanism comprises a rotating shaft, a rotating limit plate, and a guide groove, wherein the rotating shaft is rotatably arranged at the center of the top plate and is located at the center of the connecting ring; the guide groove is L-shaped and opened along the length direction of the top plate, and the number is an even number, which is divided into two groups and symmetrically arranged on both sides of the rotating shaft, and the bending directions of the two groups of guide grooves are both clockwise bending; the rotating limit plate is placed above the top plate and fixedly connected to the rotating shaft, and slide grooves are symmetrically opened on both sides of the rotating limit plate; the top of the movable clamping member mechanism is sequentially clamped in the guide groove and the slide groove, and when the rotating limit plate rotates, it can drive the movable clamping member mechanism to move along the guide groove; The fixed clamp mechanism and the movable clamp mechanism both include a cylinder, a pressing plate, a first clamp and a second clamp. The cylinder and the pressing plate are both suspended on the top plate. The first clamp is arranged at one end of the pressing plate. The second clamp is located at the other end of the pressing plate and is drivingly connected to the cylinder. The number of the first clamping jaws is two and they are arranged at intervals; the number of the second clamping jaws is two and they are arranged at intervals; the first clamping jaw and the second clamping jaw on two adjacent movable clamping member mechanisms or on adjacent fixed clamping member mechanisms and movable clamping member mechanisms are arranged in a staggered manner; The movable clamp mechanism also includes a support frame for suspending the cylinder and the pressure plate, a connecting column is arranged on the top of the support frame, a limiting seat is arranged on the top of the connecting column, and a guide column is arranged on the top of the limiting seat; the width of the connecting column is adapted to the width of the guide groove; the specification of the limiting seat is larger than the specification of the guide groove; the specification of the guide column is adapted to the specification of the slide groove.

2. The sorting fixture according to claim 1, characterized in that: The connecting column is a square column; the limiting seat is a cylinder; and the guide column is a cylinder.

3. The sorting fixture according to claim 1, characterized in that: All the guide groove starting ends are on the same straight line with the central longitudinal axis of the rotating shaft; all the guide groove tail ends are on the same straight line with the central transverse axis of the rotating shaft.

4. A sorting robot, characterized in that: Comprising a sorting fixture as described in any one of claims 1-3.

5. A sorting method, characterized in that: Based on the sorting robot as described in claim 4, the method comprises the following steps: Step S1, arranging the spicy strips to be sorted and packaged at the grabbing station, and arranging them into an evenly spaced arrangement for delivery according to the minimum spacing size; Step S2, automatically sorting by the sorting robot following the grabbing and fixed-point placement, the sorted spicy strips are placed in the placement position, the placement position is required to be placed in the fork slot of the pillow packing machine in the form of a group of 4, and the sorting robot sorts 20 spicy strips each time; In step S2, when the sorting robot is grasping, the cylinders in the fixed clamp mechanism and the movable clamp mechanism are opened so that the first clamp and the second clamp are distributed on 20 equally spaced spicy strips, and then the cylinders are contracted to automatically divide the 20 spicy strips into five groups, with 4 strips in each group in a tightly held state; In step S2, when the sorting robot places the spicy strips, the sorting robot rotates the rotating shaft, the rotating shaft drives the rotating limit plate to rotate, and the rotating limit plate drives the four groups of movable clamping mechanisms to move along the path in the guide groove of the top plate. When the rotating shaft rotates 90 degrees, the four movable clamping mechanisms move from the previous longitudinal linear arrangement position to the transverse linear arrangement position required for placement, and the cylinder is opened to uniformly place the five groups of spicy strips in the five groups of forks; In step S2, after the sorting robot is placed, the shaft rotates counterclockwise, and the cylinder contracts to return to the state before grasping. This cycle is repeated to realize the conversion of the vertical arrangement of the spicy strips into a horizontal arrangement, accompanied by a change in the spacing size between two adjacent groups of spicy strips, thereby completing the packaging operation requirements of the spicy strips.

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