Material sorting and stacking integrated robot

Abstract

The invention discloses a material sorting and stacking integrated robot, and belongs to the technical field of industrial robots, the material sorting and stacking integrated robot comprises a sorting table, a conveying mechanism, a rotating table and a stacking mechanical arm, a sorting area is formed in the center of the top of the sorting table, the sorting area is provided with at least two sorting channels extending outwards, and the top of the sorting table is movably connected with a plurality of conveying balls; the conveying mechanism is located below the sorting table and comprises a main conveying belt, a driving motor and an auxiliary conveying belt, the main conveying belt abuts against the bottoms of the conveying balls located in the sorting area, the driving motor is provided with a driving mechanism enabling the main conveying belt to rotate, and the auxiliary conveying belt abuts against the bottoms of the conveying balls located in the sorting channel. The auxiliary conveying belt is provided with a transmission mechanism matched with the driving mechanism; a rotary area is arranged at the top of the rotary worktable and is fixedly connected with the driving motor; the stacking mechanical arm is arranged above the sorting table, extends outwards and is provided with a stacking suction cup. The working efficiency of the robot can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a material sorting and palletizing integrated robot. Background Art

[0002] With the development of science and technology, automated robots are gradually being used in industrial production to replace manual labor to handle simple repetitive tasks. Since automated robots work based on specific control programs, the accuracy and efficiency of their work are usually higher than manual operations, especially for the sorting and palletizing of materials with specific identifications such as express parcels and industrial production materials. At present, most of the operations such as material sorting and palletizing have been replaced by automated robots instead of manual labor, effectively promoting the efficiency of the express industry and industrial production; however, at present, some automated robots can usually only perform material sorting, palletizing and other operations on the same material online. If multiple materials need to be sorted, multiple robots are set up accordingly, and each robot sorts one material separately, which requires a large number of robots to be arranged in the workshop, resulting in low robot utilization efficiency.

[0003] Based on the above situation, a Chinese patent with a publication (announcement) number of CN117622908B discloses an intelligent sorting and palletizing industrial robot workstation, including a function box, a steering seat is arranged above the function box, an adjustment arm is arranged above the steering seat, and a suction cup is arranged outside the adjustment arm, a plurality of equally spaced driving wheels are fixedly connected to the bottom of the function box, and a quick deployment component is arranged inside the function box, the quick deployment component is located below the adjustment arm, and an extension block is arranged in the quick deployment component, and a center of gravity compensation component is arranged inside the extension block; the quick deployment component includes a receiving groove, the receiving groove is located in the function box, a motor is fixedly connected to the top inner wall of the receiving groove, and a lead screw is connected to the output end of the motor through a coupling, a receiving groove is opened at the bottom of the function box, a support is slidably connected in the receiving groove, a square groove is opened on the upper side of the support, a fixed platform is fixedly connected to the bottom inner wall of the square groove, and a collar is arranged outside the lead screw, and a plurality of circumferentially equally spaced fixed rods are fixedly connected to the outside of the collar.

[0004] The above patent document discloses a sorting and palletizing robot that can be quickly transferred and deployed. The robot can be quickly transferred to a designated position for deployment through a quick deployment component, so that the robot can be flexibly deployed between production lines in the workshop. The robot can reduce the number of idle robots when there is a production line shutdown in the production workshop. However, the number of robots required in the production workshop when all production lines are running is basically fixed. If a production line shutdown occurs, the robots will inevitably be idle. If the above-mentioned robots that can be quickly transferred and deployed are used to reduce the number of robots in the production workshop, when all production lines in the production workshop are running, there will be a problem of robot shortage. Even if the robots can be quickly transferred and deployed, it is difficult to solve the insufficient productivity caused by the shortage of robots. Improving the working efficiency of robots is an effective means to ensure productivity and reduce the number of robots deployed. Summary of the invention

[0005] In view of the technical defects existing in the background technology, the present invention proposes a material sorting and palletizing integrated robot, which solves the above technical problems and meets the actual needs. The specific technical solution is as follows: A material sorting and palletizing integrated robot comprises a sorting platform, a conveying mechanism, a rotary worktable, and a palletizing mechanical arm, wherein a sorting area is formed in the center of the top of the sorting platform, and the sorting area is provided with at least two sorting channels extending outward, and a plurality of conveying balls are movably connected to the top of the sorting platform, and the top of the conveying balls protrudes upward from the upper surface of the sorting platform and the bottom protrudes from the lower surface of the sorting platform; The conveying mechanism is located below the sorting platform, and includes the following structures: a main conveying belt, the upper surface of which abuts against the bottom of the conveying ball located in the sorting area, a driving motor is provided below the main conveying belt, and the output end of the driving motor is provided with a driving mechanism for rotating the main conveying belt, at least two auxiliary conveying belts, the auxiliary conveying belts are matched with the sorting channels one by one, the upper surface of the auxiliary conveying belt abuts against the bottom of the conveying ball located in the sorting channel, and a transmission mechanism for rotating the auxiliary conveying belt and matching the driving mechanism is provided on one side of the auxiliary conveying belt; The top of the rotary table is provided with a rotary area which rotates horizontally along the center of the top of the rotary table, the rotary area is fixedly connected to the driving motor, and the main conveyor belt is movably connected to the rotary area through a plurality of support rods; The stacking robot arm is arranged above the sorting table and extends outwards, and a stacking suction cup is arranged at the extended end of the stacking robot arm.

[0006] As a further technical solution of the present invention, the driving mechanism includes the following structure: a main driving roller, main driving gears are provided at both ends of the main driving roller, a main driving gear is provided below the main driving gear, a main driving belt is wound around the main driving gear and the surface of the main driving gear, a driving worm gear is passed through the shaft between the two main driving gears, and a driving worm matching the driving worm gear is provided at the output end of the driving motor; One end of the inner side of the main conveyor belt is wound around the surface of the main driving roller, and the other end is wound around the main transmission roller.

[0007] As a further technical solution of the present invention, the transmission mechanism includes the following structure: a secondary driving roller, both ends of the secondary driving roller are provided with secondary driving gears, a secondary driving gear is provided below the secondary driving gear, a secondary driving belt is wound around the secondary driving gear and the surface of the secondary driving gear, and a driving worm gear matching the driving worm is passed through the shaft between the two secondary driving gears; One end of the inner side of the auxiliary conveyor belt is wound around the surface of the auxiliary driving roller, and the other end is wound around the auxiliary transmission roller.

[0008] As a further technical solution of the present invention, a lifting push rod is provided between the bottom of the driving motor and the rotating area, the movable end of the lifting push rod is fixedly connected to the driving motor, and the movable end of the lifting push rod is fixedly connected to the rotating area.

[0009] As a further technical solution of the present invention, a guide baffle extending from the sorting area to the sorting channel is provided on the top edge of the sorting platform, and a material stop plate is provided at one end of the sorting channel away from the sorting area.

[0010] As a further technical solution of the present invention, a material detection element is provided on one side of the sorting channel close to the material stop plate, and the material detection element is fixedly connected to the guide baffle.

[0011] As a further technical solution of the present invention, the edge of the guide baffle on one side of the sorting area forms a material inlet, and the material inlet is provided with a material introduction plate extending outward, and the material introduction plate extends obliquely upward.

[0012] As a further technical solution of the present invention, the surface of the sorting table is penetrated by a plurality of through holes matching the conveying balls, the inner diameter of the through holes gradually decreases from the middle to the upper and lower ends, and a gap is provided between the through holes and the conveying balls to allow the conveying balls to rotate.

[0013] As a further technical solution of the present invention, a support platform is provided between the sorting platform and the palletizing robot arm, the edge of the support platform is fixedly connected to the sorting platform through a plurality of support rods, and a turntable bearing is provided between the top of the support platform and the palletizing robot arm.

[0014] As a further technical solution of the present invention, a support base is provided under the sorting table, the bottom of the sorting table is fixedly connected to the support base through a plurality of support rods, the bottom of the rotary worktable is fixedly connected to the support base, and the auxiliary conveyor belt is movably connected to the support base through a plurality of support rods.

[0015] The beneficial effects of the present invention are: The robot of the present invention drives the main conveyor belt and the auxiliary conveyor belt to rotate synchronously through a driving motor, thereby rotating the conveying balls in the sorting area and one of the sorting channels. The conveying balls can be adjusted to rotate along different sorting channels through a rotating worktable, thereby transporting different materials from the sorting area to the corresponding sorting channels to realize material sorting. The main conveyor belt and the auxiliary conveyor belt are driven simultaneously by a driving motor, which is beneficial to improving the synchronization during the working process of the conveying mechanism. In addition, the present invention can realize the sorting and stacking operations of multiple different types of materials through a stacking robot arm, which is beneficial to improving the working efficiency of the stacking robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a material sorting and palletizing integrated robot. Figure 1 .

[0017] Figure 2 This is a schematic diagram of the structure of a material sorting and palletizing integrated robot. Figure 2 .

[0018] Figure 3 This is a schematic diagram of the structure of the conveying mechanism of a material sorting and palletizing integrated robot. Figure 1 .

[0019] Figure 4 This is a schematic diagram of the structure of the conveying mechanism of a material sorting and palletizing integrated robot. Figure 2 .

[0020] Among them: 1- sorting table, 11- sorting area, 12- sorting channel, 13- conveying ball, 14- guide baffle, 15- material stop plate, 16- material detection element 17- material entrance, 18- material introduction plate, 2- conveying mechanism, 21- main conveyor belt, 22- driving motor, 23- auxiliary conveyor belt, 24- lifting push rod, 3- rotary table, 31- rotating area, 4- palletizing robot arm, 41- palletizing suction cup, 42- turntable bearing, 5- driving mechanism, 51- main driving roller, 52- main transmission gear, 53- main driving gear, 54- main transmission belt, 55- driving worm wheel, 56- driving worm, 57- main transmission roller, 6- transmission mechanism, 61- auxiliary driving roller, 62- auxiliary transmission gear, 63- auxiliary driving gear, 64- auxiliary transmission belt, 65- driving worm wheel, 66- auxiliary transmission roller, 7- support table, 8- support base. DETAILED DESCRIPTION

[0021] The implementation modes of the present invention are described below in conjunction with relevant drawings and embodiments. The implementation modes of the present invention are not limited to the following embodiments, and the present invention relates to relevant necessary components in the technical field, which should be regarded as the known technology in the technical field and can be known and mastered by the technical personnel in the technical field.

[0022] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 A material sorting and palletizing integrated robot comprises a sorting platform 1, a conveying mechanism 2, a rotary worktable 3, and a palletizing robot arm 4. A sorting area 11 is formed in the center of the top of the sorting platform 1. The sorting area 11 is provided with at least two sorting channels 12 extending outward. A plurality of conveying balls 13 are movably connected to the top of the sorting platform 1. The top of the conveying ball 13 protrudes upward from the upper surface of the sorting platform 1 and the bottom protrudes from the lower surface of the sorting platform 1. The conveying mechanism 2 is located below the sorting platform 1. The conveying mechanism 2 comprises the following structures: a main conveying belt 21. The upper surface of the main conveying belt 21 abuts against the bottom of the conveying ball 13 located in the sorting area 11. A driving motor 22 is provided below the main conveying belt 21. The output end of the driving motor 22 A driving mechanism 5 for rotating the main conveyor belt 21 and at least two auxiliary conveyor belts 23 are provided. The auxiliary conveyor belts 23 are matched with the sorting channels 12 one by one. The upper surface of the auxiliary conveyor belt 23 abuts against the bottom of the conveying ball 13 located in the sorting channel 12. A transmission mechanism 6 for rotating the auxiliary conveyor belt 23 and matching with the driving mechanism 5 is provided on one side of the auxiliary conveyor belt 23; a rotating area 31 is provided on the top of the rotary table 3 and rotates horizontally along the center of the top of the rotary table 3. The rotating area 31 is fixedly connected to the driving motor 22, and the main conveyor belt 21 is movably connected to the rotating area 31 through a plurality of support rods; a palletizing robot arm 4 is provided above the sorting table 1 and extends outward, and a palletizing suction cup 41 is provided at the extended end of the palletizing robot arm 4.

[0023] The present invention is mainly used for sorting and stacking materials with specific identification such as express parcels and industrial production materials. The specific identification on the surface of the material usually adopts a QR code. A material conveyor belt for conveying the material to the sorting platform 1 is provided on one side of the sorting platform 1. After the material is conveyed to the sorting platform 1, the QR code on the surface of the material is scanned by a QR code scanning device above the sorting platform 1 or at other positions to determine the type of the material. Then, the material is conveyed to the corresponding sorting channel 12 by the conveying mechanism 2. The sorting platform 1 is provided with at least two sorting channels 12. Then, the stacking robot arm 4 sucks the material through the stacking suction cup 41 at the end. The materials are neatly stacked at the set position; the stacking robot arm 4 is preferably a multi-joint robot arm, which has the characteristics of high precision, high flexibility, high degree of freedom, etc., and can accurately stack the materials. The stacking suction cup 41 is connected to the external vacuum pump through an air pipe. The vacuum pump causes the opening of the stacking suction cup 41 to form a negative pressure to absorb the materials; the number of sorting channels 12 is the number of types of materials that the robot can sort, and each sorting channel 12 can accommodate one type of material, so that one stacking robot arm 4 can sort multiple different types of materials, which is beneficial to improving the efficiency of the stacking robot arm 4 in sorting materials.

[0024] The conveying mechanism 2 and the rotary table 3 of the present invention are important structures for realizing material sorting. The specific working principle of the cooperation between the conveying mechanism 2 and the rotary table 3 is as follows: the driving motor 22 rotates the main driving roller 51 through the driving mechanism 5, thereby driving the main conveyor belt 21 to rotate, and the main conveyor belt 21 rotates the conveying balls 13 in the sorting area 11 through friction. Since the material on the surface of the sorting table 1 is mainly supported by the conveying balls 13, the rotating conveying balls 13 can drive the material to move on the surface of the sorting table 1, and the rotary table 3 rotates the top rotating area 31 through the internal worm and worm gear, and adjusts the direction of the main conveyor belt 21 to change the rotation direction of the conveying balls 13. When the rotary table 3 rotates to the driving mechanism 5 and the transmission mechanism 6 of any auxiliary conveyor belt 23, , the driving motor 22 can simultaneously drive the auxiliary conveyor belt 23 to rotate, and the main conveyor belt 21 and the auxiliary conveyor belt 23 have the same rotation direction. Since the conveying ball 13 rotates in the opposite direction to the conveyor belt, by controlling the upper surface of the main conveyor belt 21 to move in the direction away from the auxiliary conveyor belt 23, the conveying balls 13 of the sorting area 11 and the corresponding sorting channel 12 can be rotated to transport the material from the sorting area 11 to the sorting channel 12. Based on the above operation, when the material type in the sorting area 11 is identified, the rotary table 3 rotates until the driving mechanism 5 matches the transmission mechanism 6 in the sorting channel 12 of the material type, and then the conveying balls 13 of the sorting area 11 and the sorting channel 12 are rotated through the driving motor 22 to allow the material to enter the sorting channel 12, thereby realizing the sorting of the material.

[0025] After adopting the above structure, it needs to be further explained that the driving mechanism 5 includes the following structure, a main driving roller 51, main driving gears 52 are provided at both ends of the main driving roller 51, a main driving gear 53 is provided below the main driving gear 52, a main driving belt 54 is wound around the surface of the main driving gear 52 and the main driving gear 53, a driving worm gear 55 is passed through the two main driving gears 53 through an axis rod, and a driving worm 56 matching the driving worm gear 55 is provided at the output end of the driving motor 22; one end of the inner side of the main conveyor belt 21 is wound around the surface of the main driving roller 51, and the other end is wound around the main driving roller 57.

[0026] The main conveyor belt 21 is connected end to end and is wound around the outside of the main driving roller 51 and the main transmission roller 57. The ends of the main driving roller 51 and the main transmission roller 57 are movably connected to the support rod through the shaft rod, the bearing, and the bottom of the support rod extends to be fixedly connected to the top of the rotating area 31, so that the rotary worktable 3 drives the main conveyor belt 21 to rotate; when the driving motor 22 is running, it will rotate the driving worm 56 and make the matching driving worm wheel 55 rotate at the same time, and the driving worm wheel 55 makes the main driving gears 53 at both ends rotate at the same time through the shaft rod, and the rotating main driving gear 53 rotates the main transmission gear 52 and the main driving roller 51 through the main transmission belt 54, thereby driving the main conveyor belt 21 to rotate, and the rotating main conveyor belt 21 rotates the conveying ball 13 in the sorting area 11 through friction, which is one of the processes for transporting the materials in the sorting area 11 to the sorting channel 12.

[0027] After adopting the above structure, it needs to be further explained that the transmission mechanism 6 includes the following structure: an auxiliary driving roller 61, auxiliary driving gears 62 are provided at both ends of the auxiliary driving roller 61, an auxiliary driving gear 63 is provided below the auxiliary driving gear 62, an auxiliary driving belt 64 is wound around the surfaces of the auxiliary driving gear 62 and the auxiliary driving gear 63, and a driving worm gear 65 matching the driving worm 56 is passed through the shaft between the two auxiliary driving gears 63; one end of the inner side of the auxiliary conveyor belt 23 is wound around the surface of the auxiliary driving roller 61, and the other end is wound around the auxiliary driving roller 66.

[0028] The auxiliary conveyor belt 23 is connected end to end and is wound around the outside of the auxiliary driving roller 61 and the auxiliary transmission roller 66. In order to make the conveying ball 13 in the sorting area 11 and one of the sorting channels 12 rotate synchronously, the rotary table 3 rotates and adjusts the driving worm 56 toward one of the sorting channels 12 through the rotating area 31. At this time, the transmission mechanism 6 in the auxiliary conveyor belt 23 below the sorting channel 12 will match the driving worm 56, that is, the driving worm wheel 65 in the transmission mechanism 6 will match the driving worm 56. When the driving motor 22 is running, it will cause the driving worm 56 to rotate and cause the matching driving worm wheel 65 to rotate simultaneously. The driving worm gear 65 rotates, and the auxiliary driving gears 63 at both ends rotate simultaneously through the shaft rod. The rotating auxiliary driving gear 63 rotates the auxiliary driving gear 62 and the auxiliary driving roller 61 through the auxiliary driving belt 64, thereby driving the auxiliary conveyor belt 23 to rotate. Since the driving mechanism 5 and the transmission mechanism 6 adopt similar structures and are both driven by the driving motor 22, the main conveyor belt 21 and the auxiliary conveyor belt 23 can be rotated synchronously and in the same direction, so that the sorting area 11 and the conveying balls 13 in the sorting channel 12 can rotate synchronously and in the same direction, and then the materials in the sorting area 11 can be transported to the sorting channel 12.

[0029] As one of the preferred embodiments of the present invention, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 A lifting push rod 24 is provided between the bottom of the driving motor 22 and the rotating area 31, and the movable end of the lifting push rod 24 is fixedly connected to the driving motor 22, and the movable end of the lifting push rod 24 is fixedly connected to the rotating area 31; the lifting push rod 24 is preferably an electric push rod, and the lifting push rod 24 can adjust the height of the driving motor 22. When the movable end of the lifting push rod 24 moves upward to increase the height of the driving motor 22, the driving worm 56 at the output end of the driving motor 22 can mesh with the driving worm wheel 55 and one of the transmission worm wheels 65. When the rotary worktable 3 rotates to adjust the direction of the driving worm 56, in order to avoid a large friction between the driving worm 56 and the transmission worm wheel 65, the height of the driving worm 56 can be lowered by the lifting push rod 24 to disengage the driving worm 56 from the transmission worm wheel 65. When the rotary worktable 3 completes the adjustment of the direction of the driving worm 56, the height of the driving worm 56 is increased by the lifting push rod 24 to re-engage the driving worm 56 with the transmission worm wheel 65.

[0030] As one of the preferred embodiments of the present invention, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4A guide baffle 14 extending from the sorting area 11 to the sorting channel 12 is provided at the top edge of the sorting platform 1. The guide baffle 14 is used to block the edges of the sorting area 11 and the sorting channel 12 to prevent the material from falling from the edge of the sorting channel 12 to the ground during the sorting and transportation to the sorting channel 12; a material stop plate 15 is provided at one end of the sorting channel 12 away from the sorting area 11. The material stop plate 15 is used to prevent the material from continuing to move out of the sorting channel 12, and can make the material moving to each sorting channel 12 stop at the material stop plate 15, so that the position of each sorted material in the sorting channel 12 can be relatively stable, so that the stacking robot arm 4 can more easily absorb the material and then stack the material.

[0031] As one of the preferred embodiments of the present invention, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 A material detection element 16 is provided on one side of the sorting channel 12 close to the material stop plate 15, and the material detection element 16 is fixedly connected to the guide baffle 14; the material detection element 16 is preferably a group of infrared transmitters and infrared receivers, and the material detection elements 16 are respectively arranged on both sides of the sorting channel 12. When the material is conveyed to the material stop plate 15 at the end of the sorting channel 12, the material will block the infrared rays emitted by the infrared transmitter and make the infrared receiver unable to receive the infrared rays. At this time, the servo system can be notified that the material has reached the set position, the conveying ball 13 can stop rotating, and the stacking robot arm 4 can perform stacking operations on the material.

[0032] As one of the preferred embodiments of the present invention, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 A material inlet 17 is formed at the edge of the guide baffle 14 on one side of the sorting area 11. The material inlet 17 is provided with a material introduction plate 18 extending outward. The material introduction plate 18 extends upwardly at an angle. The material introduction plate 18 extends upwardly at an angle to one end of the material conveyor belt. After the material conveyor belt conveys the material to the end, it will leave the material conveyor belt and slide down along the material introduction plate 18 into the sorting area 11, so that the material is sorted and stacked through the present invention.

[0033] As one of the preferred embodiments of the present invention, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4A plurality of through holes matching the conveying balls 13 are formed on the surface of the sorting platform 1, and the inner diameter of the through holes gradually decreases from the middle to the upper and lower ends. A gap is provided between the through holes and the conveying balls 13 to allow the conveying balls 13 to rotate. The through holes can restrict the conveying balls 13 inside to ensure that the conveying balls 13 rotate inside the through holes, and the top and bottom of the conveying balls 13 protrude from the top and bottom of the sorting platform 1 through the upper and lower ends. The bottom of the conveying balls 13 abuts against the conveyor belt so that the conveyor belt can drive the conveying balls 13 to rotate, and the top of the conveying balls 13 can support the materials and can convey and sort the materials when rotating.

[0034] As one of the preferred embodiments of the present invention, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 A support platform 7 is provided between the sorting platform 1 and the palletizing robot arm 4. The edge of the support platform 7 is fixedly connected to the sorting platform 1 through a plurality of support rods. A turntable bearing 42 is provided between the top of the support platform 7 and the palletizing robot arm 4. The turntable bearing 42 drives the outer ring / inner ring to rotate through a motor-driven gear or a worm. The palletizing robot arm 4 can rotate horizontally at the center of the top of the support platform 7, so that the palletizing suction cup 41 at the end of the palletizing robot arm 4 can move between different sorting channels 12, and perform palletizing operations on different types of materials in different sorting channels 12, so that the robot of the present invention can perform sorting and palletizing operations on a variety of different types of materials, which is beneficial to improving the working efficiency of the robot.

[0035] As one of the preferred embodiments of the present invention, refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 A support base 8 is provided under the sorting platform 1. The bottom of the sorting platform 1 is fixedly connected to the support base 8 through a plurality of support rods. The bottom of the rotary worktable 3 is fixedly connected to the support base 8. The auxiliary conveyor belt 23 is movably connected to the support base 8 through a plurality of support rods. The ends of the auxiliary driving roller 61 and the auxiliary transmission roller 66 are movably connected to the support rods through shafts and bearings, and the bottom of the support rod extends to be fixedly connected to the top of the support base 8, thereby providing support force for the auxiliary conveyor belt 23. The support base 8 serves as a supporting structure for components such as the sorting platform 1, the rotary worktable 3, and the auxiliary conveyor belt 23 in the present invention. The support base 8 provides support force for each component in the robot by contacting the ground at the bottom, and can maintain the stability of the robot.

[0036] In summary, the robot of the present invention drives the main conveyor belt 21 and the auxiliary conveyor belt 23 to rotate synchronously through the driving motor 22, so that the conveying ball 13 in the sorting area 11 and one of the sorting channels 12 rotates, and the conveying ball 13 can be adjusted to rotate along different sorting channels 12 through the rotary worktable 3, so that different materials are transported from the sorting area 11 to the corresponding sorting channels 12 to realize material sorting. The main conveyor belt 21 and the auxiliary conveyor belt 23 are driven simultaneously by a driving motor 22, which is beneficial to improve the synchronization during the working process of the conveying mechanism 2. In addition, the present invention can realize the sorting and stacking operations of various types of materials through a stacking robot arm 4, which is beneficial to improve the working efficiency of the stacking robot arm 4.

[0037] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A material sorting and palletizing integrated robot, comprising a sorting table (1), a conveying mechanism (2), a rotary table (3), and a palletizing robot arm (4), characterized in that: A sorting area (11) is formed in the center of the top of the sorting platform (1), and the sorting area (11) is provided with at least two sorting channels (12) extending outwards. A plurality of conveying balls (13) are movably connected to the top of the sorting platform (1), and the top of the conveying balls (13) protrudes upward from the upper surface of the sorting platform (1) and the bottom protrudes from the lower surface of the sorting platform (1); The conveying mechanism (2) is located below the sorting platform (1), and comprises the following structures: a main conveying belt (21), the upper surface of the main conveying belt (21) abuts against the bottom of a conveying ball (13) located in the sorting area (11), a driving motor (22) is provided below the main conveying belt (21), the output end of the driving motor (22) is provided with a driving mechanism (5) for rotating the main conveying belt (21), at least two auxiliary conveying belts (23), the auxiliary conveying belts (23) are matched with the sorting channels (12) one by one, the upper surface of the auxiliary conveying belt (23) abuts against the bottom of the conveying ball (13) located in the sorting channel (12), and a transmission mechanism (6) for rotating the auxiliary conveying belt (23) and matching the driving mechanism (5) is provided on one side of the auxiliary conveying belt (23); The top of the rotary table (3) is provided with a rotary area (31) which rotates horizontally along the center of the top of the rotary table (3), the rotary area (31) is fixedly connected to the driving motor (22), and the main conveyor belt (21) is movably connected to the rotary area (31) via a plurality of support rods; The palletizing robot arm (4) is arranged above the sorting table (1) and extends outwards, and a palletizing suction cup (41) is provided at the extended end of the palletizing robot arm (4).

2. The material sorting and palletizing integrated robot according to claim 1, characterized in that: The driving mechanism (5) comprises the following structure: a main driving roller (51), main transmission gears (52) are provided at both ends of the main driving roller (51), a main driving gear (53) is provided below the main transmission gear (52), a main transmission belt (54) is wound around the surfaces of the main transmission gear (52) and the main driving gear (53), a driving worm gear (55) is passed through a shaft between the two main driving gears (53), and a driving worm (56) matching the driving worm gear (55) is provided at the output end of the driving motor (22); One end of the inner side of the main conveyor belt (21) is wound around the surface of the main driving roller (51), and the other end is wound around the main transmission roller (57).

3. The material sorting and palletizing integrated robot according to claim 1, characterized in that: The transmission mechanism (6) comprises the following structure: a secondary drive roller (61), secondary drive gears (62) are provided at both ends of the secondary drive roller (61), a secondary drive gear (63) is provided below the secondary drive gear (62), a secondary drive belt (64) is wound around the surfaces of the secondary drive gear (62) and the secondary drive gear (63), and a drive worm wheel (65) matching the drive worm (56) is provided between the two secondary drive gears (63) via a shaft; One end of the inner side of the auxiliary conveyor belt (23) is wound around the surface of the auxiliary driving roller (61), and the other end is wound around the auxiliary transmission roller (66).

4. The material sorting and palletizing integrated robot according to claim 1, characterized in that: A lifting push rod (24) is provided between the bottom of the driving motor (22) and the rotating area (31), and a movable end of the lifting push rod (24) is fixedly connected to the driving motor (22), and a movable end of the lifting push rod (24) is fixedly connected to the rotating area (31).

5. The material sorting and palletizing integrated robot according to claim 1, characterized in that: A guide baffle (14) extending from the sorting area (11) to the sorting channel (12) is provided at the top edge of the sorting platform (1), and a material stop plate (15) is provided at one end of the sorting channel (12) away from the sorting area (11).

6. The material sorting and palletizing integrated robot according to claim 5, characterized in that: A material detection element (16) is provided on one side of the sorting channel (12) close to the material stop plate (15), and the material detection element (16) is fixedly connected to the guide baffle (14).

7. The material sorting and palletizing integrated robot according to claim 5, characterized in that: The edge of the guide baffle (14) on one side of the sorting area (11) forms a material inlet (17), and the material inlet (17) is provided with a material introduction plate (18) extending outwards, and the material introduction plate (18) extends obliquely upwards.

8. The material sorting and palletizing integrated robot according to claim 1, characterized in that: The surface of the sorting table (1) is penetrated by a plurality of through holes matching the conveying balls (13); the inner diameter of the through holes gradually decreases from the middle to the upper and lower ends; and a gap is provided between the through holes and the conveying balls (13) to allow the conveying balls (13) to rotate.

9. The material sorting and palletizing integrated robot according to claim 1, characterized in that: A support platform (7) is provided between the sorting platform (1) and the palletizing robot arm (4); the edge of the support platform (7) is fixedly connected to the sorting platform (1) via a plurality of support rods; and a turntable bearing (42) is provided between the top of the support platform (7) and the palletizing robot arm (4).

10. The material sorting and palletizing integrated robot according to claim 1, characterized in that: A support base (8) is provided below the sorting platform (1); the bottom of the sorting platform (1) is fixedly connected to the support base (8) via a plurality of support rods; the bottom of the rotary worktable (3) is fixedly connected to the support base (8); and the auxiliary conveyor belt (23) is movably connected to the support base (8) via a plurality of support rods.

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