Rotary material arranging and sorting device

Abstract

The invention discloses a rotary material arranging and sorting device which comprises an equipment mounting table, an operation rack and a sorting device are arranged on the equipment mounting table, a flexible material supply device and a flexible material storage device are arranged in the circumferential direction of the sorting device, and the sorting device comprises a rotary driving motor, a flexible material tray and a circular material frame. The rotary driving motor drives the flexible material tray to rotate in the circular material frame; a material arranging and emptying device is arranged on the circular material frame, a material scattering device is arranged at the bottom of the circular material frame, a display controller, a top image recognition device and a parallel mechanical arm are arranged on the operation rack, and the parallel mechanical arm is used for sorting materials on the flexible material tray to the flexible material storage device. And the interior of the circular material frame is sequentially divided into a material feeding area, a material scattering and turning-over area, a material recognition area and a material grabbing area, and the problems that existing sorting equipment cannot be compatible with various materials, the materials can be blocked in a feeding channel, and continuous sorting cannot be achieved are solved.

Description

Technical Field

[0001] The invention relates to the field of automated sorting equipment, in particular to a rotary material sorting device. Background Art

[0002] In most industrial production lines, the process of industrial production of finished or semi-finished products often involves classifying materials and sorting them to corresponding conveying mechanisms or storage mechanisms. In order to adapt to the scenario of automated production lines, feeding and sorting usually need to be automatically performed by the feeding and sorting devices on the production line. The manipulator is a traditional task execution mechanism in the industrial robot system. When the manipulator is in the process of sorting materials, the shapes and sizes of various materials are different, and they need to be placed in the correct posture.

[0003] For example, a Chinese patent with publication number CN201410294184.7 discloses a device and method for intelligently sorting workpieces by a robot, including a robot, a visual recognition mechanism, and a tray. The visual recognition mechanism includes an industrial camera that captures the workpiece placed on the tray and the image of the tray, and a controller that identifies whether interference occurs in the area surrounding the workpiece in the image. The industrial camera is connected to the controller, which is connected to the robot. The controller controls the robot to grab the workpiece on the tray through a gripper. If there is no interference in the area surrounding the workpiece in the image, the controller controls the robot to grab the workpiece on the tray through a gripper.

[0004] From the contents disclosed in the above patents, it can be known that the traditional vibration material sorting and arrangement method arranges disordered materials into orderly materials according to pre-set material channels through vibration to achieve material sorting, but this material sorting equipment can only sort specific materials and there will be unpredictable blockages such as material congestion, and the material channel is not compatible with many other materials. Moreover, when used in conjunction with a robot, when the vibration plate vibrates and the visual system identifies the material, the robot cannot grab the material, which will reduce the use rhythm of the parallel robot, and there are small materials that are difficult to clean when the production line is changed. Visual inspection can only be inspected from top to bottom and can only scan the upper part of the material, and cannot identify the integrity of the entire material. In addition, there is a lack of a vibration flipping device, and the stacked materials cannot be processed in time. Summary of the invention

[0005] The purpose of the present invention is to provide a rotary material sorting device, which aims to improve the problem that the existing sorting equipment is not compatible with a variety of materials, and the materials will be congested in the feeding channel and cannot be sorted continuously.

[0006] The present invention is implemented as follows: a rotary material sorting device comprises an equipment mounting platform, an operating frame and a sorting device are arranged on the equipment mounting platform, a flexible material feeding device and a flexible material storage device are arranged on the circumference of the sorting device, the sorting device comprises a rotary drive motor, a flexible material tray and a circular material frame, and the rotary drive motor drives the flexible material tray to rotate in the circular material frame;

[0007] The circular material frame is provided with a material sorting and emptying device, the bottom of the circular material frame is provided with a material scattering device, the operating frame is provided with a display controller, a top image recognition device and a parallel robotic arm, and the parallel robotic arm is used to sort the materials on the flexible material tray to the flexible material storage device.

[0008] As one embodiment of the present invention, the circular material frame is divided into a material loading area, a material breaking and turning area, a material identification area and a material grabbing area in sequence. The output port of the flexible feeding device is located at the upper part of the material loading area, and the flexible storage device is located at the front side of the material grabbing area.

[0009] As an embodiment of the present invention, the operating frame includes a robotic arm operating support plate and multiple support frames, the motor base of the parallel robotic arm is fixed at the bottom of the robotic arm operating support plate, the top image recognition device is fixed at the bottom of the robotic arm operating support plate, and the robotic arm operating support plate is above the material identification area.

[0010] As an embodiment of the present invention, the material scattering device is located at the bottom of the material scattering and turning over area, and a material baffle is arranged at the top of the material scattering and turning over area. A plurality of blowing holes are also arranged on the material scattering and turning over area. The material scattering device includes a scattering impact block and a scattering drive cylinder.

[0011] As an embodiment of the present invention, the flexible material tray is made of transparent or opaque PU or polyurethane material with a light transmittance of 70% or more.

[0012] As an embodiment of the present invention, the material sorting and emptying device includes a material emptying mechanism and multiple material guiding mechanisms, the material guiding mechanism includes a material guiding lifting seat and a material guiding plate, the material guiding plate faces the center direction of the circular material frame, the material emptying mechanism includes a lifting material baffle, and the circular material frame is provided with a material emptying port, and the lifting material baffle blocks the material emptying port during sorting.

[0013] As an embodiment of the present invention, the sorting device also includes a material turntable, the flexible material tray is fixed on the material turntable through a flexible material pressure plate, a rotating bearing is arranged at the bottom of the material turntable, and a synchronous belt is arranged between the rotating drive motor and the material turntable.

[0014] As an embodiment of the present invention, a coupling is further provided at the lower end of the material turntable. The coupling 7 is synchronously connected to an encoder. The encoder and the material turntable rotate synchronously and send the rotation data to the processor of the parallel manipulator.

[0015] As an embodiment of the present invention, a bottom image recognition device is further provided on the equipment installation table. The bottom image recognition device is arranged between the flexible material storage device and the material grasping area.

[0016] A rotary material sorting method includes the following steps:

[0017] Material addition: The top image recognition device takes a photo of the materials on the flexible material tray, identifies the quantity of the materials. When the quantity of the materials is lower than the standard quantity, a feeding instruction is sent to make the flexible feeding device open the baffle door for 5 - 10 seconds to add materials to the material feeding area.

[0018] Material dispersion: After the flexible feeding device closes the baffle door, the material dispersion device is started to make the dispersion impact block continuously impact the material dispersion and turning area, so that the materials are dispersed and turned over on both sides. At the same time, the material guide plate gathers the materials at the edge to make the materials move towards the center of the flexible material tray.

[0019] Material identification: The top image recognition device takes a photo of the material state on the material recognition area, identifies the material defect state, and sends the initial coordinates of the materials that are facing up and have no defects on the front to the display controller. When the materials rotate to the material grasping area on the flexible material tray, the display controller combines the initial coordinates with the encoder to convert them into target grasping coordinates and sends them to the parallel manipulator to make it grasp the materials.

[0020] Material sorting: When the parallel manipulator grasps the materials and moves above the flexible material storage device, the bottom image recognition device takes a photo of the bottom of the materials and identifies whether there are defects on the bottom of the materials. If there are no defects, the parallel manipulator places the materials on the finished product collection tray of the flexible material storage device; if there are defects, the parallel manipulator places the materials on the waste collection tray, and repeats the above sorting operation.

[0021] Material cleaning: When the top image recognition device detects that there are too many defective materials in the flexible material tray, or when it is necessary to change the types of sorted materials, the lifting material baffle is opened and the rotation drive motor speed is increased to make the materials discharge from the material emptying port.

[0022] The beneficial effects brought by the present invention are:

[0023] 1. The present invention divides the circular material frame into areas, namely the material loading area, the material scattering and turning area, the material vision recognition area, and the material grasping area, enabling each device to operate independently in each area to complete the entire sorting work. The flexible feeding device pours the materials onto the circular flexible material tray, and the materials can rotate with the flexible material tray. When reaching the material grasping area, the parallel robotic arm sorts and grasps the materials. The materials that are not grasped will continue to repeat the above actions as the device operates, enabling continuous sorting, and the circular rotation occupies a small area.

[0024] 2. The material scattering device can strike the flexible material tray to scatter the materials and distinguish the front and back sides of the materials, preventing material stacking. Moreover, through the vibration of the front and back sides, some materials can be kept facing upwards for convenient picking.

[0025] 3. The present invention is provided with a top image recognition device and a bottom image recognition device to conduct a full - range defect detection on the materials, preventing defective materials from being placed on the flexible storage device. The top image recognition device calculates the quantity of the materials to achieve automatic feeding in case of material shortage. After the parallel robotic arm grasps the materials, the bottom image recognition device can conduct defect detection or secondary positioning of the materials, further improving the accuracy of the material sorting device and the handling of unqualified materials.

[0026] 4. The present invention is provided with a material guiding mechanism to push the materials towards the center as much as possible for convenient picking by the parallel robotic arm, and a material emptying mechanism to discharge the waste materials at one time. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, making other features, objectives, and characteristics of the present invention more obvious. The schematic embodiments and descriptions of the drawings of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0028] Figure 1 is the overall structural schematic diagram of the present invention;

[0029] Figure 2 is the rear view of the overall structure of the present invention;

[0030] Figure 3 is the structural diagram of the sorting device of the present invention;

[0031] Figure 4 is the top view of the sorting device of the present invention;

[0032] Figure 5 is the side view of the sorting device of the present invention;

[0033] Figure 6 is the cross - sectional view of the sorting device of the present invention;

[0034] Figure 7 It is the structural diagram of the material dispersion device of the present invention;

[0035] In the figure: equipment installation platform 1; operation frame 2: display controller 3: top image recognition device 4: parallel robotic arm 5: sorting device 6: rotary drive motor 61: synchronous belt 611: flexible material tray 62: flexible material pressing plate 621: circular material frame 63: material emptying port 630: material feeding area 631: material dispersion and turning area 632: air blowing hole 6320: material baffle 6321: material recognition area 633: material grasping area 634: material sorting and emptying device 64: material guiding mechanism 641: material guiding lifting seat 6411: material emptying mechanism 642: lifting material baffle 6421: material dispersion device 65: dispersion impact block 651: dispersion drive cylinder 652: material turntable 66: rotary bearing 661: coupling 67: encoder 68: flexible feeding device 7: grid door 71; flexible storage device 8: bottom image recognition device 9. Specific embodiments

[0036] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0037] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0038] Embodiment 1

[0039] As Figures 1-7 shown, the present invention provides a rotary sorting and feeding device. The rotary sorting and feeding device of this embodiment includes an equipment installation platform 1, and an operation frame 2 and a sorting device 6 are arranged on the equipment installation platform 1. The sorting device 6 is the core component for realizing material sorting.

[0040] A flexible feeding device 7 and a flexible storage device 8 are respectively arranged on the circumference of the sorting device 6. The flexible feeding device 7 is responsible for conveying the materials to be sorted to the sorting device 6 in an orderly manner, while the flexible storage device 8 is used to receive the sorted materials. The flexible storage device 8 is a material support that protects the materials. The flexible storage device 8 can also have an anti-static function and is suitable for the production environment of electronic products that require anti-static treatment. The flexible storage device 8 includes a finished product collection tray and a waste collection tray.

[0041] The specific structure of the sorting device 6 includes a rotary drive motor 61, a flexible material tray 62 and a circular material frame 63. The rotary drive motor 61 drives the flexible material tray 62 to rotate at a constant speed in the circular material frame 63. The uncaught materials are continuously repeated according to the above-mentioned actions as the device runs, so that sorting can be carried out continuously, and the cyclic rotation occupies a small area.

[0042] The flexible material tray 62 can be made of transparent or opaque PU or polyurethane material. The transparent PU or polyurethane material is used in the present invention, mainly for light transmission, to increase the brightness of the photos taken by the top image recognition device 4, and to improve the recognition accuracy. The light transmittance is 70% or more. At the same time, it is ensured that there is a stable friction force between the material and the flexible material tray 62, and there will be no relative movement. Secondly, it is ensured that the bottom light source can pass through the flexible material tray. The choice of this material not only ensures the flexibility and durability of the tray, but also facilitates the top image recognition device 4 to accurately recognize the material.

[0043] The circular material frame 63 is provided with a material sorting and emptying device 64, the bottom of the circular material frame 63 is provided with a material scattering device 65, the operating frame 2 is provided with a display controller 3, a top image recognition device 4 and a parallel mechanical arm 5, and the parallel mechanical arm 5 is used to sort the materials on the flexible material tray 62 to the flexible material storage device 8. A suction cup or a gripper can be provided at the lower end of the parallel mechanical arm 5 for gripping materials.

[0044] like Figure 2 As shown, the operating frame 2 includes a robot arm operating support plate 21 and two support frames 22, the motor base of the parallel robot arm 5 is fixed at the bottom of the robot arm operating support plate 21, the top image recognition device 4 is fixed at the bottom of the robot arm operating support plate 21, and the robot arm operating support plate 21 is above the material identification area 633, which is convenient for accurate image recognition of the material.

[0045] The operating frame 2 is integrated with a display controller 3, a top image recognition device 4 and a parallel mechanical arm 5. The display controller 3 is used to display various information during the sorting process, which is convenient for the operator to monitor and adjust. The display controller 3 has a one-button start and stop function.

[0046] The top image recognition device 4 recognizes various features on the material by taking pictures, providing accurate information for sorting. Specifically, the top image recognition device 4 is equipped with an industrial camera and a light source, and its control can be directly controlled through the parallel manipulator 5 controller. It has built-in control vision software and does not require additional external software or industrial computer. The light sources equipped for vision include a front light source and a back light source, which can be selected and configured according to the material.

[0047] The top image recognition device 4 takes pictures of the material in cooperation with the light source and transmits the coordinates of the captured material to the display controller 3. The display controller 3 accurately grasps the material by the parallel manipulator 5 by tracking the value of the encoder 68 at the bottom of the flexible material pallet 62.

[0048] The parallel manipulator 5 accurately sorts the material on the flexible material tray 62 onto the flexible storage device 8 according to the information provided by the top image recognition device 4. The parallel manipulator 5 includes a motor base and three independent branch chains, and each branch chain is equipped with an independent driver (such as a motor) to control the pose of the moving platform through coordinated movement.

[0049] Such as Figure 3 and Figure 5 As shown in

[0050] The material guiding mechanism 641 consists of a material guiding lifting seat 6411 and a material guiding plate 6212, and is used to guide the material to move to the middle of the flexible material tray 62, facilitating the parallel manipulator 5 to pick it up.

[0051] To solve the problem of quickly discharging defective waste materials, a material emptying mechanism 642 is provided. The material emptying mechanism 642 includes a lifting material baffle 6421. The bottom of the lifting material baffle 6421 is connected with a cylinder or a control motor, which can move the lifting material baffle 6421 up and down. A material emptying port 630 is provided on the circular material frame 63. The lifting material baffle 6421 blocks the material emptying port 630 during sorting to prevent the material from falling. When it is necessary to empty the material, the lifting material baffle 6421 will rise or fall, and the material can be quickly emptied from the material emptying port 630 under the action of rotational centrifugal force. At the same time, a collection device can be connected to the part of the material emptying port 630 to collect defective waste materials uniformly.

[0052] Such as Figures 3-4As shown, the circular material frame 63 is divided into a material loading area 631, a material breaking and turning area 632, a material identification area 633 and a material grabbing area 634 in sequence. The output port of the flexible feeding device 7 is located at the upper part of the material loading area 631, and the flexible storage device 8 is located at the front side of the material grabbing area 634.

[0053] The circular material frame 63 is divided into a material loading area 631, a material breaking and turning area 632, a material identification area 633 and a material grabbing area 634. The output port of the flexible feeding device 7 is located just above the material loading area 631 to ensure that the material can smoothly enter the sorting process. The flexible storage device 8 is located in front of the material grabbing area 634 to facilitate the parallel robot arm 5 to perform sorting operations.

[0054] Embodiment 2: Based on embodiment 1, Figures 5-7 As shown: In order to solve the problem that materials are stacked or face down and are inconvenient to sort, and to increase the speed of sorting, the present invention is provided with a material scattering device 65, the material scattering device 65 is located at the bottom of the material scattering turning area 632, and a material baffle 6321 is provided at the top of the material scattering turning area 632, the material scattering device 65 includes a scattering impact block 651 and a scattering drive cylinder 652.

[0055] The material scattering device 65 can also be an electric or other mechanical transmission method to drive the scattering impact block 651 to hit the flexible material tray 62 of the material scattering turning area 632 to disperse the material for easy identification by the visual system. The frequency and strength of the hitting can be quickly and conveniently adjusted.

[0056] The materials are effectively broken up and turned over by the cooperation of the breaking up impact block 651 and the breaking up driving cylinder 652. A material baffle 6321 is provided on the top of the material breaking up and turning over area 632 to prevent the materials from flying out during the breaking up and blowing process.

[0057] At the same time, a plurality of blowing holes 6320 are provided on the material breaking up and turning over area 632, which can break up the accumulated materials or blow the tiny materials within a certain range through compressed air.

[0058] like Figures 3-6 As shown, the sorting device 6 also includes a material turntable 66, and the flexible material tray 62 is fixed on the material turntable 66 through a flexible material pressure plate 621. Specifically, four screws are arranged on the flexible material pressure plate 621 to lock the flexible material tray 62, and at the same time, it is convenient and quick to disassemble and replace the flexible material tray 62 of different materials to match different material sorting requirements.

[0059] A rotary bearing 661 is provided at the bottom of the material turntable 66. A synchronous belt 611 is provided between the rotary drive motor 61 and the material turntable 66. The rotary drive motor 61 rotates the material turntable 66 through the synchronous belt 611 and...

[0060] For existing other devices, the entire material tray is vibrated, then photographed to identify integrity and position, and then grasped. In order to improve the sorting efficiency and maintain continuous sorting, therefore, a coupling 67 is further provided at the lower end of the material turntable 66. The coupling 67 is synchronously connected to an encoder 68. The encoder 68 rotates synchronously with the material turntable 66 and sends the rotation data to the processor of the parallel robotic arm 5. The encoder 68 rotates synchronously with the material turntable 66 and sends the rotation data to the processor of the parallel robotic arm 5 in real time. The processor of the parallel robotic arm 5 combines the initial coordinates of the flawless materials photographed by the top image recognition device 4, and then combines the data of the encoder 68 to convert them into the final target grasping coordinates, and then makes the parallel robotic arm 5 grasp the materials through it.

[0061] In addition, in order to further improve the sorting accuracy, a bottom image recognition device 9 is also provided on the equipment installation table 1. The structure and function of the bottom image recognition device 9 are basically the same as those of the top image recognition device 4, except that the shooting angles are different. The bottom image recognition device 9 is provided between the flexible material storage device 8 and the material grasping area 634.

[0062] The operation method of the present invention: A rotary sorting method includes the following steps:

[0063] Material addition: The top image recognition device 4 takes pictures of the materials on the flexible material tray 62 to identify the quantity of the materials. When the quantity of the materials is lower than the standard quantity, a feeding instruction is sent to make the flexible feeding device 7 open the baffle door 71 for 5 - 10 seconds to add materials to the material feeding area 631;

[0064] Material dispersion: After the flexible feeding device 7 closes the baffle door 71, the material dispersion device 65 is started to make the dispersion impact block 651 continuously impact the material dispersion and turning area 632 to disperse the materials and turn them over on both sides. At the same time, the material guide plate 6212 gathers the materials at the edge to make the materials move towards the center of the flexible material tray 62;

[0065] Material recognition: The top image recognition device 4 takes pictures of the material state diagram on the material recognition area 633 to identify the defective state of the materials, and sends the initial coordinates of the materials that are positive and free of defects to the processor of the parallel robotic arm 5. When the materials rotate to the material grasping area 634 on the flexible material tray 62, the processor of the parallel robotic arm 5 combines the initial coordinates with the encoder 68 to convert them into the target grasping coordinates and sends them to the parallel robotic arm 5 to make it grasp the materials;

[0066] Material sorting: When the parallel robot arm 5 grabs the material and moves it to the top of the flexible storage device 8, the bottom image recognition device 9 takes a photo of the bottom of the material and identifies whether there are defects on the bottom of the material. If there are no defects, the parallel robot arm 5 places the material on the finished product collection tray of the flexible storage device 8; if there are defects, the parallel robot arm 5 places the material on the waste collection tray and repeats the above sorting operation; the flexible storage device 8 includes a material collection tray, a waste collection tray

[0067] Material cleaning: When the top image recognition device 4 detects that there are too many defective materials in the flexible material tray 62, or the type of sorted materials needs to be changed, the lifting material baffle 6421 is opened, and the rotation speed of the rotary drive motor 61 is increased to discharge the materials from the material emptying port 630. The top image recognition device 4 can not only take pictures of the top information of the material, mark the position coordinates of the defect-free materials, but also calculate the total number of materials on the flexible material tray 62 and the qualified rate of the materials. When the defective materials reach a certain ratio, such as 50%, a discharge instruction can be generated, or the batch needs to be cleared as soon as possible. When changing other sorted materials, the flexible material tray 62 can be quickly emptied through the material emptying mechanism 642.

[0068] During the above operation, the material to be sorted always rotates around the central axis of the flexible material tray 62. During the rotation of the material, the top image recognition device 4 identifies the amount of material, and controls the flexible feeding device 7 to open and close the blocking door 71, so as to realize automatic loading of insufficient material. A material scattering device 65 is provided to continuously impact the material scattering and turning over area 632 to prevent serious accumulation of materials. The material scattering device 65 can scatter the material and turn the material over so that some of the material meets the conditions for grabbing the material. The image recognition device 4 at the top of the material identification area 633 provides the material coordinates that meet the requirements to the processor of the parallel robot arm 5. The processor of the parallel robot arm 5 combines the initial coordinates with the encoder 68, so that the parallel robot arm 5 grabs the material for sorting.

[0069] The sorting device 6 is a circular device as a whole. The rotation of the material is a continuous cycle process and can continuously break up the material and continuously identify and locate the material in the visual system identification area. The coordinates of the moving material are sent to the display controller 3. The display controller 3 combines with the parallel robot arm 5 to dynamically track and grasp to realize the sorting of the material. There is no square vibration plate vibrating, and then the visual system takes pictures and locates the material, and then the coordinates of the static material are transmitted to the robot for grasping. When the vibration plate vibrates, the visual system cannot take pictures and the robot cannot grasp the material, which affects the robot's use rhythm.

[0070] After the parallel manipulator 5 grasps the material, the bottom image recognition device 9 can be used to detect the defects of the material or perform secondary positioning, further improving the accuracy of the material sorting device 6 and the processing of unqualified materials.

[0071] The sorting device 6 of the present invention combines the advantages of the parallel manipulator 5, such as fast movement speed and high positioning accuracy, and can meet the needs of the 3C, semiconductor, and medical industries for high precision and high beat. It can greatly improve production efficiency and meet production capacity requirements.

[0072] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0073] The above embodiments merely represent several implementation manners of the present invention, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A rotary material sorting device, comprising an equipment mounting platform (1), characterized in that: An operating frame (2) and a sorting device (6) are arranged on the equipment installation platform (1); a flexible material feeding device (7) and a flexible material storage device (8) are respectively arranged on the circumference of the sorting device (6); the sorting device (6) comprises a rotary drive motor (61), a flexible material tray (62) and a circular material frame (63); the rotary drive motor (61) drives the flexible material tray (62) to rotate in the circular material frame (63); The circular material frame (63) is provided with a material sorting and emptying device (64), the bottom of the circular material frame (63) is provided with a material scattering device (65), the operating frame (2) is provided with a display controller (3), a top image recognition device (4) and a parallel mechanical arm (5), and the parallel mechanical arm (5) is used to sort the materials on the flexible material tray (62) to the flexible material storage device (8).

2. A rotary material sorting device according to claim 1, characterized in that: The circular material frame (63) is divided into a material loading area (631), a material breaking and turning area (632), a material identification area (633) and a material grabbing area (634) in sequence. The output port of the flexible feeding device (7) is located at the upper part of the material loading area (631), and the flexible storage device (8) is located at the front side of the material grabbing area (634). The flexible storage device (8) includes a finished product collection tray and a waste collection tray.

3. A rotary material sorting device according to claim 2, characterized in that: The operating frame (2) comprises a robot arm operating support plate (21) and a plurality of support frames (22), the motor base of the parallel robot arm (5) is fixed to the bottom of the robot arm operating support plate (21), the top image recognition device (4) is fixed to the bottom of the robot arm operating support plate (21), and the robot arm operating support plate (21) is located above the material recognition area (633).

4. A rotary material sorting device according to claim 3, characterized in that: The material scattering device (65) is located at the bottom of the material scattering and turning over area (632), and a material baffle (6321) is arranged at the top of the material scattering and turning over area (632). A plurality of blowing holes (6320) are also arranged on the material scattering and turning over area (632). The material scattering device (65) includes a scattering impact block (651) and a scattering driving cylinder (652).

5. A rotary material sorting device according to claim 4, characterized in that: The flexible material tray (62) is made of transparent or opaque PU or polyurethane material, and has a light transmittance of 70% or more.

6. A rotary material sorting device according to claim 4, characterized in that: The material sorting and emptying device (64) comprises a material emptying mechanism (642) and a plurality of material guiding mechanisms (641), wherein the material guiding mechanism (641) comprises a material guiding lifting seat (6411) and a material guiding plate (6212), wherein the material guiding plate (6212) faces the center direction of the circular material frame (63), and the material emptying mechanism (642) comprises a lifting material baffle (6421), and a material emptying port (630) is provided on the circular material frame (63), and the lifting material baffle (6421) blocks the material emptying port (630) during sorting.

7. A rotary material sorting device according to claim 6, characterized in that: The sorting device (6) further comprises a material turntable (66), the flexible material tray (62) being fixed on the material turntable (66) via a flexible material pressure plate (621), a rotary bearing (661) being arranged at the bottom of the material turntable (66), and a synchronous belt (611) being arranged between the rotary drive motor (61) and the material turntable (66).

8. The rotary material sorting device according to claim 7, characterized in that: A coupling (67) is also provided at the lower end of the material turntable (66), and the coupling (67) is synchronously connected to an encoder (68). The encoder (68) and the material turntable (66) rotate synchronously, and the rotation data is sent to the processor of the parallel robot arm (5).

9. A rotary material sorting device according to claim 8, characterized in that: The equipment installation platform (1) is also provided with a bottom image recognition device (9), and the bottom image recognition device (9) is arranged between the flexible material storage device (8) and the material grabbing area (634).

10. A rotary material sorting method, using the rotary material sorting device as claimed in claim 9, characterized in that: The steps include: Material adding: The top image recognition device (4) takes a photo of the material on the flexible material tray (62) to identify the quantity of the material. When the material quantity is lower than the standard quantity, a material adding instruction is sent to cause the flexible feeding device (7) to open the blocking door (71) for 5-10 seconds to add the material to the material loading area (631); Material scattering: After the flexible feeding device (7) closes the blocking door (71), the material scattering device (65) is started to make the scattering impact block (651) continuously impact the material scattering turning area (632) to disperse the material and turn it over on the front and back sides. At the same time, the material guide plate (6212) gathers the material at the edge to make the material move toward the center of the flexible material tray (62); Material identification: The top image recognition device (4) captures the material status diagram on the material identification area (633), identifies the material defect status, and sends the initial coordinates of the material facing upward without defects to the display controller (3). When the material rotates on the flexible material tray (62) to the material grabbing area (634), the display controller (3) combines the initial coordinates with the encoder (68), converts them into target grabbing coordinates, and sends them to the parallel robot arm (5) so that it grabs the material; Material sorting: When the parallel robot arm (5) grabs the material and moves it to the top of the flexible storage device (8), the bottom image recognition device (9) takes a photo of the bottom of the material and identifies whether there are defects on the bottom of the material. If there are no defects, the parallel robot arm (5) places the material on the finished product collection tray of the flexible storage device (8); if there are defects, the parallel robot arm (5) places the material on the waste collection tray and repeats the above sorting operation; Material cleaning: When the top image recognition device (4) detects that there are too many defective materials in the flexible material tray (62), or the type of sorted materials needs to be changed, the lifting material baffle (6421) is opened and the rotation speed of the rotary drive motor (61) is increased to discharge the materials from the material emptying port (630).

Images