Cold drink production line quality detection and spider hand robot flexible sorting equipment

Abstract

The invention discloses cold drink production line quality detection and spider hand robot flexible sorting equipment, and relates to the technical field of automatic detection and sorting, the equipment comprises a rack, a U-shaped conveying table is fixedly mounted at the lower part in the rack, the rear end of the left end of the U-shaped conveying table is provided with an input port, and the front end of the left end of the U-shaped conveying table is provided with an output port; a detection box is fixedly connected to the right side of the rack, a detection assembly is arranged in the detection box, a spider hand robot is fixedly installed in the rack, a robot control cabinet is arranged on the right side of the rack and the lower side of the U-shaped conveying table, a waste groove is fixedly connected to the side edge of the U-shaped conveying table and below the spider hand robot, and a flow guide plate is fixedly connected to the bottom of the waste groove. A material distributing assembly is fixedly installed above the U-shaped conveying table and at the position of an input port, and a stacking assembly is arranged on the left side of the machine frame and at the position of an output port of the U-shaped conveying table. The system has the advantages that the whole sorting process is highly automatic through combination of image processing and the spider manipulator, and the automation degree of a production line is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated detection and sorting, and in particular to a cold drink production line quality detection and spider-arm robot flexible sorting equipment. Background Art

[0002] Cold drinks are frozen solid beverages made from drinking water, dairy products, sugar, edible oils and other ingredients as the main raw materials, with appropriate amounts of spices, flavors, colorants, thickeners, emulsifiers, sweeteners, etc. added, and the ingredients are sterilized and frozen.

[0003] Traditional detection and sorting methods mostly rely on manual visual judgment, which is not only labor-intensive, but also easily affected by subjective factors, resulting in low sorting accuracy. In recent years, although machine vision and robotic arms have been introduced to assist operations, these solutions have not been widely popularized due to the complexity and high cost of the system. In response to the above problems, a cold drink production line quality detection and spider-arm robot flexible sorting equipment is proposed to solve them. Summary of the invention

[0004] In order to solve the above technical problems, a cold drink production line quality inspection and spider-arm robot flexible sorting equipment is provided, which solves the above-mentioned traditional inspection and sorting methods that mostly rely on manual visual judgment, which is not only labor-intensive, but also easily affected by subjective factors, resulting in low sorting accuracy. In recent years, although machine vision and robot arms have been introduced to assist operations, these solutions have not been widely popularized due to system complexity and high cost.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: a cold drink production line quality inspection and spider-arm robot flexible sorting equipment, including a frame, a U-shaped conveyor platform is fixedly installed at the lower part of the frame, the rear end of the left end of the U-shaped conveyor platform is set as an input port, and the front end of the left end of the U-shaped conveyor platform is set as an output port, a detection box is fixedly connected to the right side of the frame, a detection component is arranged inside the detection box, a spider-arm robot is fixedly installed inside the frame, a robot control cabinet is arranged on the right side of the frame and on the lower side of the U-shaped conveyor platform, a waste trough is fixedly connected to the side of the U-shaped conveyor platform and below the spider-arm robot, a guide plate is fixedly connected to the bottom of the waste trough, a material dividing component is fixedly installed above the U-shaped conveyor platform and at the input port, and a stacking component is arranged on the left side of the frame and at the output port of the U-shaped conveyor platform.

[0006] Preferably, the detection component includes a connecting column, which is fixedly connected to the right side wall inside the detection box, a vertical column is fixedly connected above the connecting column, a cross bar is fixedly connected to the upper end of the vertical column through a fixing piece, and a visual CCD is fixedly installed at the end of the cross bar.

[0007] Preferably, both left and right ends of the front side of the connecting column are fixedly connected with fixing plates, the front sides of the two fixing plates are fixedly connected with the first mounting rod via fixing parts, the lower ends of the two first mounting rods are fixedly connected with the second mounting rod via fixing parts, the outer surfaces of the two second mounting rods are fixedly connected with connecting cards, and the bottoms of the two connecting cards are fixedly connected with lighting sources.

[0008] Preferably, the material distribution assembly includes four fixed columns, the bottoms of the four fixed columns are fixedly connected to the top of the U-shaped conveying platform, a mounting plate is fixedly connected to the top of the four fixed columns, limit strips are fixedly connected to the front and rear sides of the bottom of the mounting plate, a wedge block is slidably connected between the two groups of limit strips, the bottom of the wedge block is an inverted "V" shape, an electric telescopic rod is fixedly installed on the top of the mounting plate, and the output end of the electric telescopic rod is fixedly connected to the top of the sliding plate through a fixing pin.

[0009] Preferably, at least four connecting strips are fixedly connected to the bottom of the mounting plate, the bottoms of the four connecting strips are fixedly connected to a fixing plate, the left and right sides of the fixing plate are slidably connected to sliding columns, guide wheels are installed on the tops of the two sliding columns, return springs are sleeved on the surfaces of the two sliding columns, one end of the return spring is fixedly connected to the upper surface of the fixing plate, and the other end of the return spring is fixedly connected to the bottom of the guide wheel, the bottoms of the two sliding columns are fixedly connected to connecting blocks, and the bottoms of the two connecting blocks are fixedly connected to a plurality of baffles.

[0010] Preferably, the stacking assembly includes a supporting leg, a driving box is fixedly connected to the top of the supporting leg, a worm gear is rotatably connected to the middle position inside the driving box, a worm is rotatably connected to one side of the driving box, the worm is meshed with the worm wheel, a first motor is fixedly mounted on one side of the driving box, and the output end of the first motor passes through the side wall of the driving box and is fixedly connected to one end of the worm.

[0011] Preferably, a transmission column is fixedly connected to the top of the worm gear, a rotating plate is fixedly connected to the top of the transmission column, mounting columns are fixedly connected at the four corners above the rotating plate, the front sides of the two front mounting columns are fixedly connected to the first slide rails, the two first slide rails are slidably connected to the first movable plate via a slider, two mounting bars are fixedly connected above the mounting columns on the front and rear sides, the two mounting bars are fixedly connected to the second slide rails, and the two second slide rails are slidably connected to the second movable plate via a slider.

[0012] Preferably, the right side of the upper surface of the rotating plate is rotatably connected to the first threaded rod, the outer surface of the first threaded rod is threadedly connected to the rear side of the first movable plate, the lower end of the outer surface of the first threaded rod is fixedly connected to the first driven wheel, the left side of the upper surface of the rotating plate is fixedly connected to the motor bracket, the top of the motor bracket is fixedly connected to the second motor, the output end of the second motor passes through the top of the motor bracket and is fixedly connected to the first driving wheel, the first driving wheel is driven by the first driven wheel through a synchronous belt, a connecting plate is fixedly connected between the two mounting columns on the rear side, the right side of the connecting plate is rotatably connected to the second threaded rod, the outer surface of the second threaded rod is threadedly connected to the bottom of the second movable plate, the rear end of the second threaded rod passes through the connecting plate and is fixedly connected to the second driven wheel, the left side of the connecting plate is fixedly connected to the third motor, the output end of the third motor passes through the connecting plate and is fixedly connected to the second driving wheel, and the second driving wheel is driven by the second driven wheel through a synchronous belt.

[0013] Preferably, the first movable plate is rotatably connected to the first rocker arm at the rear side, the second movable plate is rotatably connected to the second rocker arm above, a synchronization rod is provided on the front sides of the first rocker arm and the second rocker arm, one end of the synchronization rod is rotatably connected to the first rocker arm through a pin shaft, the other end of the synchronization rod is rotatably connected to the second rocker arm through a pin shaft, a connecting arm is rotatably connected to the top of the first rocker arm and the second rocker arm, and the end of the connecting arm is rotatably connected to an adjustment seat.

[0014] Preferably, a support plate is fixedly connected to the bottom of the adjustment seat, a fourth motor is fixedly connected to the upper surface of the support plate, an output end of the fourth motor passes through the top of the support plate and is fixedly connected to a pneumatic clamp, an adjustment servo is fixedly connected to one side of the adjustment seat, and the output end of the adjustment servo passes through one side of the adjustment seat and is fixedly connected to the connecting arm.

[0015] Compared with the prior art, the advantages of the present invention are: the present invention separates the materials one by one by setting up a material separation component and then transports them to the bottom of the detection component through a U-shaped conveyor table, thereby improving the accuracy of defective product identification; the detection component photographs the materials through a visual CCD and uses image processing to distinguish between defective products and qualified products, and can quickly and automatically process a large number of products; through image recognition and analysis, no human intervention is required, and real-time detection can be performed on the production line, thereby greatly improving production efficiency; through image processing automated detection, it can reduce manual inspection costs, and reduce product rework and waste, thereby reducing production costs; the distinguished materials are sorted by a spider manipulator, which usually has high precision and flexibility, and can accurately grasp and sort according to the real-time information provided by the image processing system (such as the location, size, shape, etc. of the defective products). Compared with traditional manual sorting, robots can avoid errors in manual operations and ensure that each product is accurately classified. Qualified products can be clamped by the palletizing components and stacked on pallets in an orderly manner, minimizing the gaps between items and making full use of space. More materials can be stored in limited storage space, increasing the storage capacity of warehouses or production lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of another viewing angle in the present invention; Figure 3 It is a schematic diagram of the internal structure of the rack in the present invention; Figure 4 It is a schematic diagram of the structure of the detection component in the present invention; Figure 5 It is a schematic diagram of the structure of the material distribution component in the present invention; Figure 6 It is a partial structural schematic diagram of the material distribution component in the present invention; Figure 7 It is a schematic diagram of the structure of the palletizing assembly in the present invention; Figure 8 It is a structural schematic diagram of the palletizing assembly in the present invention from another viewing angle; Fig. 9 It is a schematic diagram of the internal structure of the drive box in the present invention; Fig.10 for Figure 7 A partial enlarged view of the middle A; Fig.11 for Figure 8 A partial enlarged view of point B in the middle.

[0017] The numbers in the figure are: 1. Frame; 2. U-shaped conveyor table; 3. Inspection box; 4. Detection assembly; 401. Connecting column; 402. Vertical column; 403. Crossbar; 404. Visual CCD; 405. Fixing plate; 406. First mounting rod; 407. Second mounting rod; 408. Connecting card; 409. Light source; 5. Spider-arm robot; 6. Robot control cabinet; 7. Waste trough; 8. Guide plate; 9. Material dividing assembly; 901. Fixed column; 902. Mounting plate; 903. Electric telescopic rod; 904. Limiting strip; 905. Sliding plate; 906. Wedge block; 907. Fixed pin; 908. Connecting strip; 909. Fixed plate; 910. Sliding column; 911. Guide wheel; 912. Return spring; 913. Connecting block; 914. Stop strip; 10. Palletizing assembly; 1001. Support leg; 1002. Drive box; 1003. Worm gear; 1004. Worm; 1005. First motor; 1006. Transmission column; 1007. Rotating plate; 1008. Mounting column; 1009. First slide rail; 1010. First moving plate; 1011. First threaded rod; 1012. First driven wheel; 1013. Motor bracket; 1014. Second motor; 1015. First driving wheel; 1016. Connector Plate; 1017, second threaded rod; 1018, second driven wheel; 1019, third motor; 1020, second driving wheel; 1021, second slide rail; 1022, second movable plate; 1023, first rocker arm; 1024, second rocker arm; 1025, connecting arm; 1026, synchronization rod; 1027, adjustment seat; 1028, support plate; 1029, adjustment servo; 1030, fourth motor; 1031, pneumatic clamp; 1032, mounting strip. DETAILED DESCRIPTION

[0018] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0019] Embodiment 1 Reference Figure 1-11As shown, a cold drink production line quality inspection and spider-hand robot flexible sorting equipment includes a frame 1, a U-shaped conveyor platform 2 is fixedly installed at the lower part of the frame 1, the rear end of the left end of the U-shaped conveyor platform 2 is set as an input port, and the front end of the left end of the U-shaped conveyor platform 2 is set as an output port, a detection box 3 is fixedly connected to the right side of the frame 1, and a detection component 4 is arranged inside the detection box 3, a spider-hand robot 5 is fixedly installed inside the frame 1, and a robot control cabinet 6 is arranged on the right side of the frame 1 and on the lower side of the U-shaped conveyor platform 2. The robot control cabinet 6 serves as the control center of the entire system and can receive and respond to detection information in real time. Its intelligent control system makes the entire sorting process more efficient and accurate, reduces labor costs and error rates, a waste trough 7 is fixedly connected to the side of the U-shaped conveyor platform 2 and below the spider-hand robot 5, and a guide plate 8 is fixedly connected to the bottom of the waste trough 7, a material dividing component 9 is fixedly installed above the U-shaped conveyor platform 2 and at the input port position, and a stacking component 10 is arranged on the left side of the frame 1 and at the output port position of the U-shaped conveyor platform 2.

[0020] Specifically, the detection component 4 includes a connecting column 401, which is fixedly connected to the right side wall inside the detection box 3. A column 402 is fixedly connected above the connecting column 401. A cross bar 403 is fixedly connected to the upper end of the column 402 through a fixing part. A visual CCD 404 is fixedly installed at the end of the cross bar 403. The model of the visual CCD 404 is CV-X.

[0021] Specifically, fixing plates 405 are fixedly connected to the left and right ends of the front side of the connecting column 401, the front sides of the two fixing plates 405 are fixedly connected to the first mounting rod 406 through fixing parts, the lower ends of the two first mounting rods 406 are fixedly connected to the second mounting rod 407 through fixing parts, the outer surfaces of the two second mounting rods 407 are fixedly connected to connecting cards 408, and the bottoms of the two connecting cards 408 are fixedly connected to lighting sources 409. Through the visual CCD404 for photo detection, accurate quality detection of cold drink products can be achieved, the fill light effect of the lighting source 409 ensures the clarity and accuracy of the photo, and the real-time transmission of detection information enables the robot control cabinet 6 to respond quickly, thereby improving the efficiency and accuracy of sorting.

[0022] In this embodiment, the working principle and workflow of the device are as follows: first, the cold drink products to be sorted enter from the input port of the U-shaped conveyor table 2, and enter the dividing component 9 under the conveyance of the U-shaped conveyor table 2. The dividing component 9 divides the stacked cold drink products into individual ones and then conveys them to the bottom of the detection component 4 through the U-shaped conveyor table 2. The cold drink products below are supplemented with light by the lighting source 409, and then the visual CCD404 is used for photo detection, and then the detection information is transmitted to the robot control cabinet 6 through the wire. The robot control cabinet 6 determines whether the cold drink product is a defective product based on the photo information. If it is a defective product, the spider hand robot 5 is controlled to grab the defective product into the waste trough 7 and discharge it through the guide plate 8 at the bottom thereof. If it is a qualified product, the spider hand robot 5 does not work and is transported to the position of the stacking component 10 through the U-shaped conveyor table 2, and then the qualified cold drink products are neatly stacked by the stacking component 10.

[0023] Embodiment 2 Specifically, the material dividing assembly 9 includes four fixed columns 901, the bottoms of the four fixed columns 901 are fixedly connected to the top of the U-shaped conveying platform 2, a mounting plate 902 is fixedly connected to the top of the four fixed columns 901, limit strips 904 are fixedly connected to the front and rear sides of the bottom of the mounting plate 902, a wedge block 906 is slidably connected between the two groups of limit strips 904, and the bottom of the wedge block 906 is an inverted "V" shape, an electric telescopic rod 903 is fixedly installed on the top of the mounting plate 902, and the output end of the electric telescopic rod 903 is fixedly connected to the top of the sliding plate 905 through a fixing pin 907.

[0024] Specifically, at least four connecting bars 908 are fixedly connected to the bottom of the mounting plate 902, a fixed plate 909 is fixedly connected to the bottom of the four connecting bars 908, sliding columns 910 are slidably connected to the left and right sides of the fixed plate 909, guide wheels 911 are installed on the top of the two sliding columns 910, and return springs 912 are sleeved on the surfaces of the two sliding columns 910, one end of the return spring 912 is fixedly connected to the upper surface of the fixed plate 909, and the other end of the return spring 912 is fixedly connected to the bottom of the guide wheel 911, the bottoms of the two sliding columns 910 are fixedly connected to connecting blocks 913, and the bottoms of the two connecting blocks 913 are fixedly connected to a plurality of baffles 914.

[0025] In this embodiment, the working principle and workflow of the material dividing component 9 are as follows: first, the material is blocked by the leftmost baffle 914 while being transported through the U-shaped conveyor platform 2. When dividing the material, the output end of the electric telescopic rod 903 pushes the sliding plate 905 through the fixed pin 907 to drive the wedge block 906 to move to the left. Since the return spring 912 provides elastic force, the guide wheel 911 is close to the bottom of the wedge block 906. Since the bottom of the wedge block 906 is set in an inverted "V" shape, the guide wheel 911 at the lowest point during movement will gradually move to the highest point, and the guide wheel 911 at the highest point will move to the lowest point. At this time, the baffle 914 on the right side will move downward, and the baffle 914 on the left side will move upward. At this time, the material will enter between the baffles 914 on both sides, and then the output end of the electric telescopic rod 903 will shrink, causing the baffles 914 on both sides to return to Figure 5 In the position shown, the material between the two side baffles 914 will be transported away by the U-shaped conveyor platform 2, while the material located at the left baffle 914 will be blocked, so that the materials are transported one by one to the bottom of the detection component 4 to improve the detection accuracy of the materials.

[0026] Embodiment 3 Specifically, the stacking assembly 10 includes a supporting leg 1001, a driving box 1002 is fixedly connected to the top of the supporting leg 1001, a worm gear 1003 is rotatably connected to the middle position inside the driving box 1002, a worm 1004 is rotatably connected to one side of the driving box 1002, the worm 1004 is meshed with the worm gear 1003, a first motor 1005 is fixedly installed on one side of the driving box 1002, and the output end of the first motor 1005 passes through the side wall of the driving box 1002 and is fixedly connected to one end of the worm 1004.

[0027] Specifically, a transmission column 1006 is fixedly connected to the top of the worm gear 1003, a rotating plate 1007 is fixedly connected to the top of the transmission column 1006, mounting columns 1008 are fixedly connected at the four corners above the rotating plate 1007, the front sides of the two front mounting columns 1008 are fixedly connected to the first slide rails 1009, a first movable plate 1010 is slidably connected between the two first slide rails 1009 via a slider, two mounting bars 1032 are fixedly connected above the front and rear mounting columns 1008, second slide rails 1021 are fixedly connected above the two mounting bars 1032, and second movable plates 1022 are slidably connected above the two second slide rails 1021 via a slider.

[0028] Specifically, the first threaded rod 1011 is rotatably connected to the right side of the upper surface of the rotating plate 1007, the outer surface of the first threaded rod 1011 is threadedly connected to the rear side of the first movable plate 1010, the lower end of the outer surface of the first threaded rod 1011 is fixedly connected to the first driven wheel 1012, the left side of the upper surface of the rotating plate 1007 is fixedly connected to the motor bracket 1013, the upper part of the motor bracket 1013 is fixedly connected to the second motor 1014, the output end of the second motor 1014 passes through the upper part of the motor bracket 1013 and is fixedly connected to the first driving wheel 1015, and the first driving wheel 1015 is driven by the first driven wheel 1012 through a synchronous belt A connecting plate 1016 is fixedly connected between the two rear mounting columns 1008, a second threaded rod 1017 is rotatably connected to the right side of the connecting plate 1016, an outer surface of the second threaded rod 1017 is threadedly connected to the bottom of the second movable plate 1022, a rear end of the second threaded rod 1017 passes through the connecting plate 1016 and is fixedly connected to a second driven wheel 1018, a third motor 1019 is fixedly connected to the left side of the connecting plate 1016, an output end of the third motor 1019 passes through the connecting plate 1016 and is fixedly connected to a second driving wheel 1020, and the second driving wheel 1020 is transmission-connected to the second driven wheel 1018 via a synchronous belt.

[0029] Specifically, the first movable plate 1010 is rotatably connected to the rear side with the first rocker arm 1023, and the second movable plate 1022 is rotatably connected to the top with the second rocker arm 1024. A synchronization rod 1026 is provided on the front side of the first rocker arm 1023 and the second rocker arm 1024. One end of the synchronization rod 1026 is rotatably connected to the first rocker arm 1023 through a pin shaft, and the other end of the synchronization rod 1026 is rotatably connected to the second rocker arm 1024 through a pin shaft. A connecting arm 1025 is rotatably connected to the top of the first rocker arm 1023 and the second rocker arm 1024, and the end of the connecting arm 1025 is rotatably connected to an adjustment seat 1027.

[0030] The bottom of the adjustment seat 1027 is fixedly connected to a support plate 1028, and the upper surface of the support plate 1028 is fixedly connected to a fourth motor 1030. The output end of the fourth motor 1030 passes through the top of the support plate 1028 and is fixedly connected to a pneumatic clamp 1031. One side of the adjustment seat 1027 is fixedly connected to an adjustment steering gear 1029. The model of the adjustment steering gear 1029 is DS-RO26. The output end of the adjustment steering gear 1029 passes through one side of the adjustment seat 1027 and is fixedly connected to the connecting arm 1025. Since the output end of the adjustment steering gear 1029 is The pneumatic gripper 1031 is fixedly connected to the connecting arm 1025, and the adjusting steering gear 1029 is fixed on the adjusting seat 1027, but the adjusting seat 1027 is rotatably connected to the connecting arm 1025, so that the adjusting steering gear 1029 can keep the adjusting seat 1027 in a vertical state by itself when working, that is, it is consistent with the direction of gravity. Through the coordinated work of the second motor 1014 and the third motor 1019, the movement of the first moving plate 1010 and the second moving plate 1022 can be accurately controlled, so as to achieve accurate grasping and stacking of materials. At the same time, the rotation function of the pneumatic gripper 1031 enables it to adapt to materials in different directions, further improving the flexibility and efficiency of stacking, and the design of the adjusting steering gear 1029 ensures that the connecting arm 1025 and the adjusting seat 1027 always maintain a vertical state when grasping materials, improving the stability and accuracy of grasping.

[0031] In this embodiment, the working principle and workflow of the cover palletizing assembly 10 are as follows: first, after the material is divided, the qualified materials will be transported to the working area of ​​the palletizing assembly 10. When the downward pressure grabbing is to be realized, the second motor 1014 drives the first driving wheel 1015 to rotate, and drives the first threaded rod 1011 to rotate through the synchronous belt and the first driven wheel 1012, so that the first movable plate 1010 moves upward under the thread matching relationship, and at the same time, the third motor 1019 drives the second driving wheel 1020 to rotate, and drives the second threaded rod 1017 to rotate through the synchronous belt and the second driven wheel 1018, so that the second movable plate 1022 moves closer to the first movable plate under the thread matching relationship. The plate 1010 moves in the direction of rotation. Through the above-mentioned action, the first rocker arm 1023 and the second rocker arm 1024 are pressed down toward the side close to the U-shaped conveyor platform 2, so that the end of the connecting arm 1025 is pressed down so that the pneumatic clamp 1031 can clamp the material, and the pneumatic clamp 1031 can be rotated through the output end of the fourth motor 1030, so as to adapt to materials in different directions, and the first motor 1005 drives the worm 1004 to rotate, which can drive the worm wheel 1003 to rotate, and the rotation of the worm wheel 1003 can drive the rotating plate 1007 to rotate through the transmission column 1006, so as to grab the material to other positions for stacking.

[0032] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A cold drink production line quality inspection and spider-hand robot flexible sorting equipment, characterized by: The invention comprises a frame (1), wherein a U-shaped conveying platform (2) is fixedly installed at the lower part of the frame (1), the rear end of the left end of the U-shaped conveying platform (2) is set as an input port, and the front end of the left end of the U-shaped conveying platform (2) is set as an output port. A detection box (3) is fixedly connected to the right side of the frame (1), and a detection component (4) is arranged inside the detection box (3). A spider hand robot (5) is fixedly installed inside the frame (1), and a robot control cabinet (6) is arranged on the right side of the frame (1) and the lower side of the U-shaped conveying platform (2). A waste trough (7) is fixedly connected to the side of the U-shaped conveying platform (2) and the lower part of the spider hand robot (5), and a guide plate (8) is fixedly connected to the bottom of the waste trough (7). A material dividing component (9) is fixedly installed above the U-shaped conveying platform (2) and at the input port position, and a stacking component (10) is arranged on the left side of the frame (1) and at the output port position of the U-shaped conveying platform (2).

2. According to claim 1, a cold drink production line quality inspection and spider-hand robot flexible sorting equipment is characterized by: The detection assembly (4) comprises a connecting column (401), wherein the connecting column (401) is fixedly connected to the right inner wall of the detection box (3), a vertical column (402) is fixedly connected above the connecting column (401), a horizontal bar (403) is fixedly connected to the upper end of the vertical column (402) via a fixing member, and a visual CCD (404) is fixedly mounted at the end of the horizontal bar (403).

3. According to claim 2, a cold drink production line quality inspection and spider-hand robot flexible sorting equipment is characterized by: The left and right ends of the front side of the connecting column (401) are fixedly connected to fixing plates (405), the front sides of the two fixing plates (405) are fixedly connected to first mounting rods (406) via fixing members, the lower ends of the two first mounting rods (406) are fixedly connected to second mounting rods (407) via fixing members, the outer surfaces of the two second mounting rods (407) are fixedly connected to connecting cards (408), and the bottoms of the two connecting cards (408) are fixedly connected to lighting light sources (409).

4. According to claim 1, a cold drink production line quality inspection and spider-hand robot flexible sorting equipment is characterized by: The material distribution assembly (9) comprises four fixed columns (901), the bottoms of the four fixed columns (901) are fixedly connected to the top of the U-shaped conveying platform (2), a mounting plate (902) is fixedly connected to the top of the four fixed columns (901), the front and rear sides of the bottom of the mounting plate (902) are fixedly connected to limit bars (904), a wedge block (906) is slidably connected between two groups of limit bars (904), the bottom of the wedge block (906) is in an inverted "V" shape, an electric telescopic rod (903) is fixedly installed on the top of the mounting plate (902), and the output end of the electric telescopic rod (903) is fixedly connected to the top of the sliding plate (905) via a fixing pin (907).

5. The cold drink production line quality inspection and spider-hand robot flexible sorting equipment according to claim 4 is characterized by: At least four connecting bars (908) are fixedly connected to the bottom of the mounting plate (902), and the bottoms of the four connecting bars (908) are fixedly connected to a fixing plate (909). The fixing plate (909) is slidably connected to sliding columns (910) on both sides, and guide wheels (911) are installed on the tops of the two sliding columns (910). Return springs (912) are sleeved on the surfaces of the two sliding columns (910), and one end of the return spring (912) is fixedly connected to the upper surface of the fixing plate (909), and the other end of the return spring (912) is fixedly connected to the bottom of the guide wheel (911). The bottoms of the two sliding columns (910) are fixedly connected to connecting blocks (913), and the bottoms of the two connecting blocks (913) are fixedly connected to a plurality of retaining bars (914).

6. The cold drink production line quality inspection and spider-hand robot flexible sorting equipment according to claim 1 is characterized by: The stacking assembly (10) comprises a support leg (1001), a drive box (1002) is fixedly connected to the top of the support leg (1001), a worm wheel (1003) is rotatably connected to the middle position of the drive box (1002), a worm (1004) is rotatably connected to one side of the drive box (1002), the worm (1004) is meshed with the worm wheel (1003), a first motor (1005) is fixedly mounted on one side of the drive box (1002), and an output end of the first motor (1005) passes through a side wall of the drive box (1002) and is fixedly connected to one end of the worm (1004).

7. The cold drink production line quality inspection and spider-hand robot flexible sorting equipment according to claim 6 is characterized by: The top of the worm gear (1003) is fixedly connected to a transmission column (1006), the top of the transmission column (1006) is fixedly connected to a rotating plate (1007), the four corners above the rotating plate (1007) are fixedly connected to mounting columns (1008), the front sides of the two front mounting columns (1008) are fixedly connected to first slide rails (1009), the two first slide rails (1009) are slidably connected to a first movable plate (1010) via a slider, the top of the mounting columns (1008) on the front and rear sides are fixedly connected to two mounting bars (1032), the tops of the two mounting bars (1032) are fixedly connected to second slide rails (1021), and the tops of the two second slide rails (1021) are slidably connected to second movable plates (1022) via sliders.

8. The cold drink production line quality inspection and spider-hand robot flexible sorting equipment according to claim 7 is characterized by: A first threaded rod (1011) is rotatably connected to the right side of the upper surface of the rotating plate (1007); the outer surface of the first threaded rod (1011) is threadedly connected to the rear side of the first movable plate (1010); the lower end of the outer surface of the first threaded rod (1011) is fixedly connected to a first driven wheel (1012); a motor bracket (1013) is fixedly connected to the left side of the upper surface of the rotating plate (1007); a second motor (1014) is fixedly connected above the motor bracket (1013); an output end of the second motor (1014) passes through the top of the motor bracket (1013) and is fixedly connected to a first driving wheel (1015); the first driving wheel (1015) is transmission-connected to the first driven wheel (1012) via a synchronous belt; A connecting plate (1016) is fixedly connected between the two mounting columns (1008) at the rear side; a second threaded rod (1017) is rotatably connected to the right side of the connecting plate (1016); an outer surface of the second threaded rod (1017) is threadedly connected to the bottom of the second movable plate (1022); a rear end of the second threaded rod (1017) passes through the connecting plate (1016) and is fixedly connected to a second driven wheel (1018); a third motor (1019) is fixedly connected to the left side of the connecting plate (1016); an output end of the third motor (1019) passes through the connecting plate (1016) and is fixedly connected to a second driving wheel (1020); and the second driving wheel (1020) is transmission-connected to the second driven wheel (1018) via a synchronous belt.

9. The cold drink production line quality inspection and spider-hand robot flexible sorting equipment according to claim 7, characterized in that: The first movable plate (1010) is rotatably connected to a first rocker arm (1023) at the rear side, and the second movable plate (1022) is rotatably connected to a second rocker arm (1024) at the top. A synchronization rod (1026) is provided at the front side of the first rocker arm (1023) and the second rocker arm (1024). One end of the synchronization rod (1026) is rotatably connected to the first rocker arm (1023) via a pin shaft, and the other end of the synchronization rod (1026) is rotatably connected to the second rocker arm (1024) via a pin shaft. A connecting arm (1025) is rotatably connected to the top of the first rocker arm (1023) and the second rocker arm (1024), and an end of the connecting arm (1025) is rotatably connected to an adjustment seat (1027).

10. The cold drink production line quality inspection and spider-hand robot flexible sorting equipment according to claim 9, characterized in that: The bottom of the adjustment seat (1027) is fixedly connected to a support plate (1028), the upper surface of the support plate (1028) is fixedly connected to a fourth motor (1030), the output end of the fourth motor (1030) passes through the top of the support plate (1028) and is fixedly connected to a pneumatic clamp (1031), one side of the adjustment seat (1027) is fixedly connected to an adjustment steering gear (1029), the output end of the adjustment steering gear (1029) passes through one side of the adjustment seat (1027) and is fixedly connected to the connecting arm (1025).

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