Container lock handle sorting machine

Abstract

The application discloses a container lock knob sorting machine, which comprises a material taking mechanism for grabbing lock knobs, a three-axis transfer mechanism arranged above a lock knob box for placing a plurality of lock knobs and used for mounting the material taking mechanism, a vibrating device arranged in the three-dimensional movement range of the material taking mechanism, a conveying line connected with the outlet of the vibrating device, a pushing mechanism arranged above the conveying line and used for pushing the lock knobs at the outlet of the material taking disc to the conveying line, a multi-axis mechanical arm arranged on one side of the conveying path of the conveying line, an electric clamp arranged on the execution end of the multi-axis mechanical arm, and a discharging visual mechanism arranged on one side of the conveying line and located upstream of the multi-axis mechanical arm or on the opposite side. The application can realize the function of automatically sorting lock knobs, save labor cost, and obviously improve the sorting speed and the accuracy of identifying the types of the sorted lock knobs, thereby achieving remarkable economic benefits.

Description

Technical Field

[0001] This invention relates to the field of container terminal equipment, and more specifically to a container lock sorting machine. Background Technology

[0002] Currently, after cargo ships dock at the pier, the locks on the containers are usually manually removed and stacked during unloading. Figure 1 As shown in the lock box 1, on the land side of the port, manual sorting of the locks 2, which have been disassembled and piled up on the cargo ship, is required before they are loaded onto trucks for transfer. With the introduction of automated lock disassembly and assembly equipment in ports, and the continuous rise in labor costs at the docks, the demand for automated lock sorting equipment in ports is becoming increasingly strong. Summary of the Invention

[0003] The purpose of this invention is to provide a container lock and button sorting machine to solve the above-mentioned problems. It can realize the function of fully automatic sorting of locks and buttons, save labor costs, and the sorting speed is significantly higher than the current conventional manual sorting. It also improves the accuracy of lock and button type identification and has significant economic benefits. In addition, this invention has strong versatility. The loading and unloading points can be connected to automated warehousing equipment, which is conducive to realizing full automation.

[0004] The objective of this invention is achieved as follows:

[0005] A container lock sorting machine of the present invention includes:

[0006] A material-grabbing mechanism for gripping lock buttons;

[0007] A three-axis transfer mechanism is mounted on top of a button box for holding a number of buttons and on which a picking mechanism is installed. The picking mechanism is driven by the three-axis transfer mechanism to move in three dimensions and pick up the buttons located in the button box. The three-axis transfer mechanism includes a vertical axis assembly, a longitudinal axis assembly and a transverse axis assembly. The picking mechanism is installed at the lower part of the vertical axis assembly.

[0008] A vibration device is set within the movement range of the material handling mechanism. The vibration device includes a receiving tray and a vibration motor for driving the vibration of the receiving tray. The inlet to outlet of the receiving tray is a smoothly narrowed and downwardly inclined wedge shape, so that the transmission of the vibration motor causes multiple locking buttons in the receiving tray to discharge material from the receiving tray in a single layer without stacking.

[0009] A conveyor line at the outlet of the receiving tray of a vibrating device;

[0010] A pusher mechanism mounted above the conveyor line to push the locking button located at the outlet of the receiving tray onto the conveyor line;

[0011] A multi-axis robotic arm installed on the side of the conveyor path of a conveyor line;

[0012] An electric gripper is mounted on the actuator end of a multi-axis robotic arm; and

[0013] A discharge vision mechanism installed on the side of the conveyor line and on the opposite side of the multi-axis robotic arm installation position or upstream of the multi-axis robotic arm.

[0014] The material handling mechanism in the aforementioned container lock sorting machine includes:

[0015] An electromagnet mounting plate installed below the vertical axis assembly;

[0016] A connecting corner piece installed on the top surface of the electromagnet mounting plate and an electromagnetic gripper installed on the bottom surface of the electromagnet mounting plate.

[0017] The vertical shaft assembly in the three-axis transfer mechanism of the aforementioned container lock sorting machine includes:

[0018] A linear electric cylinder, which is driven by a first servo motor mounted on its upper end;

[0019] A vertical shaft mounting base is fixedly connected to the lower end of a linear electric cylinder, and the output shaft of the linear electric cylinder passes through the vertical shaft mounting base and is connected to the material handling mechanism;

[0020] The longitudinal axis assembly includes:

[0021] One longitudinal axis lead screw;

[0022] A vertical axis slider driven by a vertical axis lead screw;

[0023] At least one second optical axis is set parallel to the longitudinal axis lead screw, and a second linear bearing is fitted on each second optical axis. The second linear bearing is rigidly connected to the longitudinal axis slider.

[0024] A longitudinal axis mounting plate includes a back plate and two end plates respectively vertically mounted at both ends of the back plate. The two ends of a longitudinal axis lead screw are respectively mounted between the two end plates via rolling bearings. Two second optical shafts are also mounted between the two end plates.

[0025] A second servo motor is mounted on the longitudinal axis mounting plate, with its output shaft connected to the longitudinal axis lead screw to drive the longitudinal axis lead screw.

[0026] The horizontal axis assembly includes:

[0027] Two horizontal shaft brackets are respectively set on both sides of the lock box. Each horizontal shaft bracket has a wheel axle bracket installed at both ends, and at least a third optical shaft is clamped between the two wheel axle brackets installed on the same horizontal shaft bracket.

[0028] Four axles, each axle is rotatably mounted on its corresponding axle bracket at both ends via a bearing, and the axle axis is perpendicular to the length direction of the transverse axle bracket;

[0029] Four timing pulleys are respectively mounted on their respective axles, and a timing belt is mounted on two timing pulleys on the same horizontal axis bracket;

[0030] Several horizontal axis sliders are respectively matched and installed on each of the third optical axes, and each horizontal axis slider is connected to a synchronous belt installed on the same side; and

[0031] A third servo motor drives two synchronous pulleys to move two synchronous belts.

[0032] In the three-axis transfer mechanism of the aforementioned container lock sorting machine, the first servo motor and the linear electric cylinder are connected through a first adapter plate.

[0033] In the aforementioned container lock sorting machine, a first optical axis is set on each side of the linear electric cylinder. Two first linear bearings are installed on the vertical shaft mounting base for the two first optical axes to pass through. The electromagnet mounting plate is fixedly connected to the lower ends of the two first optical axes.

[0034] In the aforementioned container lock sorting machine, a spherical bearing is installed at the lower end of the output shaft of the linear electric cylinder. The circular hole of the spherical bearing is hinged to the connecting corner piece. And / or, the material handling mechanism also includes a three-dimensional vision camera, which is fixedly connected to one side of the vertical shaft mounting base via a right-angle adapter. And / or,

[0035] At least two synchronous pulleys, arranged coaxially, are mounted on a drive shaft, and a third servo motor is connected to the drive shaft via a second coupling.

[0036] In the aforementioned container lock sorting machine, the second servo motor is connected to the longitudinal lead screw via a first coupling; the second servo motor is fixedly connected to a second adapter plate, the output shaft of the second servo motor passes through the second adapter plate and is connected to the first coupling, and the second adapter plate is fixedly connected to the longitudinal mounting plate.

[0037] The vibration device in the aforementioned container lock sorting machine includes:

[0038] A vibrating base with a receiving tray mounted on top;

[0039] Four guide pillars, each threadedly fixed to the bottom of the receiving tray, each with a spring mounted on it, and each guide pillar's lower end passing through a linear bearing mounted on the top surface of the vibrating base before connecting to a limiting block; and

[0040] A vibrating motor connected to the bottom of the receiving tray can cause the receiving tray to vibrate.

[0041] The pushing mechanism in the aforementioned container lock sorting machine includes:

[0042] Two vertically arranged support frames are fixedly connected to both sides of the conveyor frame;

[0043] A bearing plate is longitudinally positioned above the conveyor line, with its two ends fixedly connected to the upper ends of two support frames, respectively.

[0044] A push plate that is set parallel to the bearing plate;

[0045] Two linear guide rods are horizontally positioned between the bearing plate and the push plate. One end of each linear guide rod passes through a snap ring and is mounted on the fourth linear bearing on the bearing plate. The push plate is located at the outlet of the receiving tray, and both ends of the push plate are fixedly connected to the two linear guide rods respectively.

[0046] A geared motor, which is mounted on a bearing plate via a motor mounting plate;

[0047] A horizontally arranged chain passes through a drive sprocket, an idler wheel, and a tensioner wheel. The drive sprocket is mounted on the output shaft of a geared motor. The chain is fixedly connected to a push plate via a connecting shaft. The rotation of the chain causes the push plate to reciprocate laterally. This reciprocating motion of the push plate allows the material discharge lock in the receiving tray to enter the conveyor line.

[0048] The aforementioned container lock sorting machine also includes a device base plate, on which the three-axis transfer mechanism, vibration device, conveyor line and multi-axis robotic arm are all mounted;

[0049] The discharge vision mechanism is a discharge vision camera, which is mounted on a camera bracket, and the camera bracket is threadedly connected to the frame of the conveyor line.

[0050] And / or, the multi-axis robotic arm is a six-axis robotic arm;

[0051] And / or, the conveyor line is a plate chain conveyor line with a fixed frame.

[0052] This invention realizes a fully automatic sorting and locking function, saving labor costs, with a sorting speed significantly higher than manual sorting, and improving the accuracy of sorting category identification, resulting in significant economic benefits. This equipment is highly versatile, and the loading and unloading points can be connected to automated warehousing equipment, which is conducive to the realization of full automation. Attached Figure Description

[0053] Figure 1 This is a three-dimensional structural view of the container lock sorting machine of the present invention;

[0054] Figure 2 This is a three-dimensional structural view of the container lock sorting machine of the present invention (excluding the device cover);

[0055] Figure 3 This is a perspective view of the installation state of the triaxial transfer mechanism and the material handling mechanism in this invention;

[0056] Figure 4 yes Figure 3 Top view;

[0057] Figure 5 This is a three-dimensional structural view of the vibration device in this invention;

[0058] Figure 6 This is a three-dimensional structural view of the feeding mechanism in this invention;

[0059] Figure 7 This is a diagram showing the state of the lock button positioning and storage fixture when the lock buttons are fully loaded. Detailed Implementation

[0060] The invention will now be further described with reference to the accompanying drawings.

[0061] Please see Figures 1 to 6 The container lock sorting machine of the present invention includes:

[0062] A material-grabbing mechanism 3 capable of grasping the lock button 2 in three dimensions;

[0063] A three-axis transfer mechanism 4 is mounted above the lock box 1 and on which the material handling mechanism 3 is installed to drive the material handling mechanism 3 to move in three dimensions. The three-axis transfer mechanism 4 includes: a vertical axis assembly 41, a longitudinal axis assembly 42 (not referred to as "42" in the attached drawing) and a transverse axis assembly 43 (not referred to as "43" in the attached drawing), wherein the material handling mechanism 3 is installed at the lower part of the vertical axis assembly 41.

[0064] A vibration device 5, which includes a receiving tray 51 located within the movement range of the material handling mechanism 3;

[0065] A conveyor line 6 whose starting end is connected to the discharge port of the vibrating device 5;

[0066] A pusher mechanism 7, mounted above the conveyor line 6, is used to push the locking button 2 located at the discharge port of the vibrating device 5 onto the conveyor line 6.

[0067] A multi-axis robotic arm 8 is installed on the side of the travel path of the conveyor line 6, and an electric gripper 81 is provided on the execution end of the multi-axis robotic arm 8.

[0068] A discharge vision camera 9 is set above the conveyor line 6 and located upstream of or on the opposite side of the multi-axis robotic arm 8;

[0069] A device base plate 10; and

[0070] A device housing 11 is installed above and connected to the device base plate 10;

[0071] Among them, the three-axis transfer mechanism 4, the vibration device 5, the conveyor line 6 and the multi-axis robotic arm 8 are all installed on the device base plate 10.

[0072] In this embodiment,

[0073] Material handling mechanism 3 includes:

[0074] An electromagnet mounting plate 31 is installed below the vertical axis assembly 41;

[0075] A connecting corner piece 32 is installed on the top surface of the electromagnet mounting plate 31;

[0076] An electromagnetic gripper 33 is installed on the bottom surface of the electromagnet mounting plate 31; and

[0077] A three-dimensional vision camera 34 is connected to the vertical axis assembly 41 via a right-angle adapter 35.

[0078] In this process, after the button box 1 is parked in the working area, the three-dimensional vision camera 34 is moved to the top of the button box 1 by the three-axis transfer mechanism 4 to identify the posture of the first layer of buttons 2 in the button box 1. The electromagnetic gripper 33 is then moved into the button box 1 by the three-axis transfer mechanism 4, so that the electromagnetic gripper 33 can be used to pick up the upper layer of buttons 2. Due to the transmissibility of magnetic force and the selection of the adsorption position, one or two buttons 2 may be picked up at a time.

[0079] The vertical axis assembly 41 in the triaxial transfer mechanism 4 includes:

[0080] Linear electric cylinder 41a;

[0081] A first servo motor 41b is installed on the upper end of the linear electric cylinder 41a and drives the linear electric cylinder 41a. A first adapter plate 41c is installed between the first servo motor 41b and the linear electric cylinder 41a.

[0082] A vertical shaft mounting base 41d is fixedly connected to the lower end of a linear electric cylinder 41a, and the output shaft of the linear electric cylinder 41a passes through the vertical shaft mounting base 41d; a right-angle adapter 35 is rigidly connected to one side of the vertical shaft mounting base 41d by screws.

[0083] Two first optical shafts 41e are symmetrically arranged on both sides of the linear electric cylinder 41a. Two first linear bearings 41f, each for the first optical shafts 41e to pass through, are fixedly installed on the vertical shaft mounting base 41d. Furthermore, the first optical shafts 41e are threadedly connected to the vertical mounting base 41d, and the electromagnet mounting plate 31 is fixedly connected to the lower ends of the two first optical shafts 41e.

[0084] A spherical bearing 41g is installed at the lower end of the output shaft of the linear electric cylinder 41a. The spherical bearing 41g is adapted to the connecting angle piece 32. Furthermore, the spherical bearing 41g is hinged to the connecting angle piece 32 by a pin. The lower end of the output shaft of the linear electric cylinder 41a is threadedly connected to the spherical bearing 41g.

[0085] The longitudinal axis assembly 42 includes:

[0086] 42a longitudinal lead screw;

[0087] A longitudinal slider 42b driven by a longitudinal lead screw 42a;

[0088] Two second optical axes 42c are symmetrically arranged on both sides of the longitudinal lead screw 42a;

[0089] Two second linear bearings 42d are respectively mounted on two second optical axes 42c, and the second linear bearings 42d are rigidly connected to the longitudinal axis slider 42b by bolts;

[0090] A longitudinal axis mounting plate 42e includes a back plate and two end plates respectively vertically mounted at both ends of the back plate. A longitudinal axis lead screw 42a is mounted at both ends of the longitudinal axis mounting plate 42e, and the two ends of the lead screw 42a are respectively mounted between the two end plates via rolling bearings 42f. Two second optical shafts 42c are also mounted between the two end plates.

[0091] A second servo motor 42g is mounted on a longitudinal axis mounting plate 42e. The second servo motor 42g is connected to one end of the longitudinal axis lead screw 42a via a first coupling 42h. A second adapter plate 42i is provided between the first coupling 42h and the second servo motor 42g. The second adapter plate 42i is fixedly connected to the longitudinal axis mounting plate 42e.

[0092] The horizontal axis assembly 43 includes:

[0093] Two horizontal shaft brackets 43a are respectively set on both sides of the lock box 1. Each horizontal shaft bracket 43a has a wheel axle bracket 43b installed at both ends. At least one third optical shaft 43f is clamped between the two wheel axle brackets 43b installed on the same horizontal shaft bracket 43a.

[0094] Four axles 43c, each axle 43c having its two ends rotatably mounted on its corresponding axle bracket 43b via a bearing, and the length direction of the axle 43c being perpendicular to the length direction of the transverse axle bracket 43a;

[0095] Four synchronous pulleys 43d are respectively mounted on their respective axles 43c, and a synchronous belt 43e is mounted on two synchronous pulleys 43d located on the same horizontal axis bracket 43a;

[0096] Several horizontal axis sliders 43g are respectively matched and set on each third optical axis 43f, and each horizontal axis slider 43g is connected to the synchronous belt 43e set on the same side;

[0097] A drive shaft 43h passes through two coaxially arranged synchronous pulleys 43d; and

[0098] A third servo motor 43i is provided. The output shaft of the third servo motor 43i is connected to the transmission shaft 43h via a coupling 43j. The third servo motor 43i is fixedly connected to the wheel axle bracket 43b by screws.

[0099] Vibration device 5 includes:

[0100] A vibrating base 52, on the top surface of which a receiving tray 51 is installed;

[0101] Four guide posts 53, the upper ends of which are respectively fixedly connected to the bottom of the receiving tray 51 by threads. Each guide post 53 is fitted with a spring 54. The lower end of each guide post 53 passes through a third linear bearing 55 installed on the top surface of the vibration base 52 and is connected to a limiting block 56; and

[0102] A vibration motor 57 is connected to the bottom of the receiving tray 51. The operation of the vibration motor 57 can make the receiving tray 51 vibrate regularly.

[0103] The receiving tray 51 has an inclined and narrow structure from the inlet to the outlet, which allows the locking buttons 2 in the receiving tray 51 to discharge material in a single layer without stacking.

[0104] Conveyor line 6 is a metal plate chain conveyor line with a fixed frame.

[0105] The feeding mechanism 7 includes:

[0106] Two vertically arranged support frames 71 are fixedly connected to both sides of the fixed frame of the conveyor line 6 by screws;

[0107] A bearing plate 72 is longitudinally arranged above the conveyor line 6, and its two ends are fixedly connected to the upper ends of two support frames 71 respectively.

[0108] A push plate 75 is arranged parallel to the bearing plate 72;

[0109] Two linear guide rods 74 are arranged horizontally between the bearing plate 72 and the push plate 75. One end of each linear guide rod 74 passes through a fourth linear bearing 73 mounted on the bearing plate 72 by a snap ring.

[0110] A geared motor 76 is mounted on a bearing plate 72 via a motor mounting plate 77;

[0111] A horizontally arranged chain 78 passes through a drive sprocket 78a, an idler pulley 78b, and a tensioner pulley 78c. The drive sprocket 78a is mounted on the output shaft of the geared motor 76. The chain 78 is fixedly connected to the push plate 75 via a connecting shaft 78d. The rotation of the chain 78 enables the push plate 75 to reciprocate laterally. The push plate 75 is located at the outlet of the receiving tray 51. Through the lateral reciprocating motion of the push plate 75, the lock button 2, which has been vibrated by the vibration device 5 and placed in a single layer in the receiving tray 51, can enter the conveyor line 6.

[0112] The multi-axis robotic arm 8 is a six-axis robotic arm and is rigidly connected to the device base plate 10 by screws; the electric gripper 81 is rigidly connected to the multi-axis robotic arm 8 through a mounting transition plate 82.

[0113] The discharge vision camera 9 is mounted on a rigid camera bracket 91, which is threadedly connected to the fixed frame of the conveyor line 6.

[0114] The working principle of this invention is as follows:

[0115] When the locking button 2 passes under the discharge vision camera 9 (if the position of the discharge vision camera 9 is within the working range of the multi-axis robotic arm 8, or when the discharge vision camera 9 detects the passing of the locking button 2 and feeds a signal back to a controller, the controller determines the stopping time of the conveyor line 6 in combination with the conveying speed of the conveyor line 6, and through the above operation, the locking button 2 on the conveyor line 6 enters the working range of the multi-axis robotic arm 8), the conveyor line 6 stops moving, the discharge vision camera 9 identifies the posture and type of the locking button 2, and the electric gripper 81 on the execution end of the multi-axis robotic arm 8 is connected to the multi-axis robotic arm 8 by a thread. The electric gripper 81 is guided to a position by the discharge vision camera 9, which can realize the clamping and gripping of the locking button 2 at the clamping position on the outer edge. When the electric gripper 81 holds the outer edge of the lock button 2, the angle of the upper and lower locking tongues in the lock button 2 relative to the electric gripper 81 is not yet determined. At this time, the multi-axis robotic arm 8 drives the electric gripper 81 to rotate until the upper locking tongue is vertically upward, and then moves the locking tongue below the discharge vision camera 9. Through visual image recognition, the angle of the locking tongue is determined, thus completely determining the posture of the lock button 2. The electric gripper 81 of the multi-axis robotic arm 8 then places the lock button 2 into the required posture. Figure 7 In the lock button positioning and storage fixture 21 shown, the lock buttons 2 are sorted. The lock button positioning and storage fixture 21 is stacked on top of each other by several protrusions and grooves on its surface. One lock button positioning and storage fixture 21 is provided with four storage positions or multiples of four storage positions, so as to meet the centralized placement of lock buttons 2 of corner pieces in the same container.

[0116] This invention solves the problem of the need for manual sorting of lock buttons 2 at current container terminals, and realizes the function of fully automatic sorting lock buttons 2, saving port labor costs. Its sorting speed is significantly higher than manual sorting, and it improves the accuracy of sorting type identification, resulting in significant economic benefits. This equipment is highly versatile, and the loading and unloading points can be connected to automated warehousing equipment, which is conducive to the realization of full automation.

[0117] The above embodiments are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various changes or modifications without departing from the spirit and scope of the invention. Therefore, all equivalent technical solutions should also fall within the scope of the invention and should be defined by the claims.

Claims

1. A container lock / button sorting machine, characterized in that, It includes: A material-grabbing mechanism for gripping lock buttons; A three-axis transfer mechanism is mounted above a button box for placing a plurality of the buttons and on which the picking mechanism is installed. The picking mechanism is driven to move in three dimensions and pick up the buttons located in the button box. The three-axis transfer mechanism includes a vertical axis assembly, a longitudinal axis assembly and a transverse axis assembly, and the picking mechanism is installed at the lower part of the vertical axis assembly. A vibration device is provided within the movement range of the material handling mechanism. The vibration device includes a receiving tray and a vibration motor for driving the receiving tray to vibrate. The receiving tray has a smoothly narrowed and downwardly inclined wedge shape from the inlet to the outlet, so that the transmission of the vibration motor causes the multiple locking buttons in the receiving tray to discharge material from the receiving tray in a single layer without stacking. A conveyor line connecting the receiving tray outlet of the vibrating device; A pushing mechanism mounted above the conveyor line to push the locking button located at the outlet of the receiving tray onto the conveyor line; A multi-axis robotic arm installed on one side of the conveying path of the conveyor line; An electric gripper is mounted on the actuator end of the multi-axis robotic arm; and A discharge vision mechanism installed on one side of the conveyor line and on the opposite side of the installation position of the multi-axis robotic arm or upstream of the multi-axis robotic arm; The material handling mechanism includes: An electromagnet mounting plate installed below the vertical axis assembly; A connecting corner piece installed on the top surface of the electromagnet mounting plate and an electromagnetic gripper installed on the bottom surface of the electromagnet mounting plate; The vertical shaft assembly includes a linear electric cylinder, and a joint bearing is mounted on the lower end of the output shaft of the linear electric cylinder. The joint bearing is hinged to the connecting corner piece. The vibration device includes: A vibrating base, on top of which the receiving tray is mounted; Four guide pillars, each threadedly fixed to the bottom of the receiving tray, each with a spring mounted on it, and each guide pillar's lower end passing through a linear bearing mounted on the top surface of the vibration base before connecting to a limiting block; and A vibrating motor connected to the bottom of the receiving tray is used to vibrate the receiving tray.

2. The container lock sorting machine as described in claim 1, characterized in that, The vertical axis assembly in the triaxial transfer mechanism includes: A linear electric cylinder, which is driven by a first servo motor mounted on its upper end; A vertical shaft mounting base is fixedly connected to the lower end of the linear electric cylinder, and the output shaft of the linear electric cylinder passes through the vertical shaft mounting base and is connected to the material handling mechanism; The longitudinal axis assembly includes: One longitudinal axis lead screw; A longitudinal slider driven by the longitudinal lead screw; At least one second optical axis is arranged parallel to the longitudinal axis lead screw, and a second linear bearing is fitted on each second optical axis, which is rigidly connected to the longitudinal axis slider; A longitudinal axis mounting plate includes a back plate and two end plates respectively vertically mounted at both ends of the back plate. The two ends of the longitudinal axis lead screw are respectively mounted between the two end plates via rolling bearings. Two second optical axes are also mounted between the two end plates. A second servo motor is mounted on the longitudinal axis mounting plate, with its output shaft connected to the longitudinal axis lead screw to drive the longitudinal axis lead screw. The horizontal axis assembly includes: Two horizontal shaft brackets are respectively set on both sides of the lock box. Each horizontal shaft bracket has a wheel axle bracket installed at both ends. At least one third optical axis is clamped between the two wheel axle brackets installed on the same horizontal shaft bracket. Four axles, each axle is rotatably mounted on its corresponding axle bracket at both ends via a bearing, and the axle axis is perpendicular to the length direction of the transverse axle bracket; Four timing pulleys are respectively mounted on the corresponding axles, and a timing belt is mounted on two timing pulleys on the same horizontal shaft bracket; Several horizontal axis sliders are respectively matched and installed on each of the third optical axes, and each horizontal axis slider is connected to the synchronous belt arranged on the same side; and A third servo motor drives two synchronous pulleys to move the two synchronous belts.

3. The container lock sorting machine as described in claim 2, characterized in that, In the three-axis transfer mechanism, the first servo motor and the linear electric cylinder are connected by a first adapter plate.

4. The container lock sorting machine as described in claim 2, characterized in that, A first optical axis is provided on each side of the linear electric cylinder. Two first linear bearings are installed on the vertical shaft mounting base for the two first optical axes to pass through. The electromagnet mounting plate is fixedly connected to the lower ends of the two first optical axes.

5. The container lock and button sorting machine as described in claim 2, characterized in that, The material handling mechanism also includes a three-dimensional vision camera, which is fixedly connected to one side of the vertical axis mounting base via a right-angle adapter, and / or, At least two coaxially arranged synchronous pulleys are mounted on a drive shaft, and the third servo motor is connected to the drive shaft via a second coupling.

6. The container lock and button sorting machine as described in claim 2, characterized in that, The second servo motor is connected to the longitudinal lead screw via a first coupling; the second servo motor is fixedly connected to a second adapter plate, the output shaft of the second servo motor passes through the second adapter plate and is connected to the first coupling, and the second adapter plate is fixedly connected to the longitudinal mounting plate.

7. The container lock and button sorting machine as described in claim 1, characterized in that, The pushing mechanism includes: Two vertically arranged support frames are fixedly connected to both sides of the conveyor frame; A bearing plate is longitudinally arranged above the conveyor line, and its two ends are fixedly connected to the upper ends of the two support frames respectively. A push plate arranged parallel to the bearing plate; Two linear guide rods are arranged horizontally between the bearing plate and the push plate. One end of each linear guide rod passes through a fourth linear bearing on the bearing plate and is installed by a snap ring. The push plate is located at the outlet of the receiving tray, and both ends of the push plate are fixedly connected to the two linear guide rods respectively. A geared motor is mounted on the bearing plate via a motor mounting plate; A horizontally arranged chain passes through a drive sprocket, an idler wheel, and a tensioner wheel. The drive sprocket is mounted on the output shaft of the geared motor. The chain is fixedly connected to the push plate via a connecting shaft. The rotation of the chain causes the push plate to reciprocate laterally. This reciprocating motion of the push plate allows the locking button in the receiving tray to enter the conveyor line.

8. The container lock sorting machine as described in claim 1, characterized in that, It also includes a device base plate, on which the three-axis transfer mechanism, vibration device, conveyor line and multi-axis robotic arm are all mounted; The discharge vision mechanism is a discharge vision camera, which is mounted on a camera bracket and the camera bracket is threadedly connected to the frame of the conveyor line. And / or, the multi-axis robotic arm is a six-axis robotic arm; And / or, the conveyor line is a plate chain conveyor line with a fixed frame.

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