Panel furniture sorting mechanical arm and using method thereof

Abstract

The invention belongs to the technical field of panel furniture sorting, and discloses a panel furniture sorting mechanical arm and a using method thereof.The panel furniture sorting mechanical arm comprises a motion executing mechanism and a sorting grabbing mechanism, and the sorting grabbing mechanism comprises a mounting frame, suction cups fixed to the bottom of the mounting frame in an array and communicated with the mounting frame and clamping assemblies distributed on the two sides of the mounting frame; and the identification sensor is arranged at the bottom of the mounting frame. According to the furniture plate sorting device, by means of the communicating distribution assembly, the assembling frame, the pushing control part and the linkage assembly, when sorting operation is carried out, furniture plates are clamped firstly, and after clamping, single-side pushing of the bottoms of the clamped plates is completed by controlling a separation push rod to move, so that separation treatment of the adhered plates is achieved, sorting errors caused by the adhered plates are avoided, and the sorting efficiency is improved. And meanwhile, a communicating distribution assembly and an auxiliary blowing frame are matched, dust removal and cleaning can be conducted towards the tops of the plates before suction cup adsorption and fixation, surface dust and impurities are prevented from affecting suction cup adsorption and fixation, the stability and accuracy of plate sorting operation are comprehensively improved, and the using effect is good.

Description

Technical Field

[0001] The present invention belongs to the technical field of panel furniture sorting, and in particular relates to a panel furniture sorting robot arm and a method of using the same. Background Art

[0002] The panel furniture sorting robot arm is an automated equipment specially used in panel furniture production lines. It is mainly used to identify, grab, sort and stack panels (such as particleboard, density board, plywood, etc.) to improve production efficiency, reduce manual intervention and reduce error rate. It usually uses the onboard visual recognition mechanism to achieve the sorting, grabbing and transfer of target panels.

[0003] The panel furniture sorting robot arm in the prior art usually adopts suction cup adsorption or clamping arm clamping to achieve panel grabbing during use. However, in the actual grabbing process, the target panel is adhered to the unnecessary panel, which makes it easy to grab multiple groups of panels at the same time. In particular, it is difficult to separate a single panel during grabbing, and grabbing multiple panels causes confusion in subsequent processes. At the same time, during the grabbing process, due to the presence of burrs and abnormal protrusions on the side of the panel, the clamping surface is uneven, which reduces the stability of grabbing and is prone to grabbing failure or falling midway, resulting in poor overall use effect. Summary of the Invention

[0004] The purpose of the present invention is to provide a panel furniture sorting robot arm and a method of using the same to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a panel furniture sorting robot arm and a method of using the same, comprising a motion actuator and a sorting and grabbing mechanism, the sorting and grabbing mechanism comprising a mounting frame, an array of suction cups fixed to and connected to the bottom of the mounting frame, clamping assemblies distributed on both sides of the mounting frame, and an identification sensor arranged at the bottom of the mounting frame, a distribution type negative pressure assembly is provided on the top of the mounting frame, the distribution type negative pressure assembly fixes the plate by sucking and fixing the plate through the suction cup, the distribution type negative pressure assembly clamps the plate by controlling the clamping assembly, a material distribution mechanism is provided on a single side of the mounting frame, and the material distribution mechanism is fixed on the clamping assembly, The material distribution mechanism includes a connecting and distributing component, an assembly frame, a pushing control part, a linkage component, a separation push rod and an air pump. The air pump inputs pressurized air into the assembly frame through the connecting and distributing component, and pushes the linkage component to drive the separation push rod fixed at the bottom of the linkage component to move downward. The pushing control part drives the linkage component to swing, so that the separation push rod swings and pushes away the sticking sheet at the bottom of the grasped sheet. The sorting and grabbing mechanism grabs the plates, and the motion execution mechanism drives the sorting and grabbing mechanism to move and complete the sorting and transfer of the grabbed plates.

[0006] Preferably, the communication and distribution component includes a communication sleeve, a communication pipe, a control valve II, and a bypass pipe. Two air outlet ends of the control valve II are respectively communicated with the communication sleeve and the bypass pipe. An air inlet end of the control valve II is communicated with an air outlet end of an air supply pump. The communication pipes are symmetrically fixed on both sides of the communication sleeve and are communicated with the communication sleeve.

[0007] Preferably, the pushing control part includes an electric push rod, a toothed plate, and a gear. A movable end of the electric push rod is fixedly connected to the toothed plate. The toothed plate is meshed with the gear. The assembly frame is communicated with the communication pipe.

[0008] Preferably, the linkage component includes a sleeve shaft, a connecting shaft, an adaptation cavity, a clamping plate, and a spring II. The sleeve shaft is movably sleeved inside the assembly frame. A lower end of the sleeve shaft movably passes through the assembly frame and is fixedly connected to a separation push rod. The adaptation cavity is opened at the top of the sleeve shaft. The connecting shaft is sleeved in the adaptation cavity with the clamping plate fixedly arranged on the outer side. The spring II is fixed at the top of the sleeve shaft, and the other end of the spring II is fixed in the assembly frame. An upper end of the connecting shaft movably passes through the top of the assembly frame and is fixedly sleeved with the gear.

[0009] Preferably, one end of the bypass pipe is fixedly communicated with an auxiliary purging frame. The front surface of the auxiliary purging frame is provided with purging holes distributed in an array. The purging holes are inclined towards the top of the to-be-clamped plate.

[0010] Preferably, the distributed negative pressure component includes a vacuum pump, a control valve I, a suction pipe, and an intermediate pipe. A suction end of the vacuum pump is communicated with an air outlet end of the control valve I. The control valve I has two suction ends, and the two suction ends are respectively communicated with the suction pipe and the intermediate pipe. The vacuum pump sucks air in the suction disc through the suction pipe, and the vacuum pump sucks air in the clamping component through the intermediate pipe.

[0011] Preferably, the clamping component includes an installation sleeve, an intermediate frame, clamping arms, a spring I, and a through hole. The installation sleeve is fixed on the top of the installation frame. The clamping arms are movably sleeved on both sides of the installation sleeve. The intermediate frame is fixed in the installation sleeve. One end of the spring I is fixed in the intermediate frame, and the other end is fixedly connected to the clamping arm. The through hole is opened on the side surface of the installation sleeve and is communicated with the inside of the installation sleeve.

[0012] Preferably, an end surface treatment part is fixedly arranged at an end of the clamping component. The end surface treatment part includes a motor, a grinding disc, an elastic grinding sheet, and a connecting column. The motor is nested in the clamping arm. The connecting column is fixedly connected to an output shaft of the motor, and the other end of the connecting column is fixedly connected to the grinding disc. The elastic grinding sheet is fixedly arranged around the outer side of the grinding disc.

[0013] The using method of the panel furniture sorting robotic arm includes the following steps: Step 1: The motion execution mechanism drives the sorting and grasping mechanism to deflect onto the conveying platform. The recognition sensor identifies the furniture board to be sorted, and causes the mounting frame to move downward, so that the suction cups are attached to the top of the board. The distributed negative pressure assembly is activated to make the suction cups adsorb and fix the board. Step 2: The distributed negative pressure assembly acts again, switches the air suction direction, and pumps the gas in the clamping assembly, so that the clamping assembly approaches both sides of the board. Step 3: The end face treatment part is started synchronously, so that the end face treatment part approaches the side of the board and performs friction cleaning. Step 4: After grinding treatment, the board clamping is completed. Step 5: Subsequently, the air pump is started. The pressurized air is input into the assembly frame through the connecting and distributing assembly, pushing the lower part of the linkage assembly to descend, driving the separation push rod to move downward, and cooperating with the pushing control part to control the deflection of the lower part of the linkage assembly, and making the separation push rod rotate and push along the lower part of the clamped board, so that the board adhered to the bottom of the clamped board falls off. The beneficial effects of the present invention are as follows: (1) By using the connecting and distributing assembly, the assembly frame, the pushing control part and the linkage assembly, when sorting operations are carried out, the furniture board is first clamped, and after clamping, by controlling the movement of the separation push rod, the unilateral pushing of the bottom of the clamped board is completed, realizing the separation treatment of the adhered boards, avoiding sorting errors caused by adhered boards. At the same time, in cooperation with the connecting and distributing assembly and the auxiliary blowing frame, before the suction cups adsorb and fix, dust cleaning can be carried out towards the top of the board, avoiding surface dust and impurities from affecting the adsorption and fixation of the suction cups, comprehensively improving the stability and accuracy of the board sorting operation, and having good use effects.

[0014] (2) By using the distributed negative pressure assembly to alternately adsorb and control the suction cups and the clamping assembly, the power supply for the suction cups to adsorb and fix and the auxiliary clamping and fixing can be realized respectively. On the one hand, the stability of the furniture board sorting and clamping is improved. On the other hand, the repeated setting of power equipment is avoided, the operation is simple, and the two-way control of adsorption fixation and clamping fixation can be realized by switching the air ventilation direction, and the use effect is good.

[0015] (3) By using the end face treatment part at the end of the clamping assembly, during the process of moving closer and completing the auxiliary clamping of the side of the board, by using the activated end face treatment part, the side of the board to be clamped is rotationally ground to remove burrs and protrusions, ensuring the stability of the clamping surface, avoiding burrs and protrusions from affecting the clamping and fixing effect, and while cooperating with the elastic grinding sheet to expand the grinding range, ensuring that the elastic grinding sheet can be compressed and deformed and adapting to the clamping operation, avoiding the situation that the board cannot be balanced and fully processed and clamped on the side, and having good use effects. Description of the Drawings

[0016] Figure 1 is the structural schematic diagram of the present invention; Figure 2 Schematic diagram of the connection between the clamping component and the mounting frame of the present invention; Figure 3 Bottom schematic diagram of the mounting frame of the present invention; Figure 4 Cross-sectional schematic diagram of the mounting frame of the present invention; Figure 5 Schematic diagram of the distributed negative pressure component of the present invention; Figure 6 Cross-sectional schematic diagram of the clamping component of the present invention; Figure 7 Schematic diagram of the end face treatment component of the present invention; Figure 8 Schematic diagram of the connection between the communication distribution component and the assembly frame of the present invention; Figure 9 Cross-sectional schematic diagram of the assembly frame and the linkage component of the present invention; Figure 10 Explosion schematic diagram of the linkage component of the present invention; Figure 11 Schematic diagram of the auxiliary purging frame of the present invention.

[0017] In the figure: 1. Motion execution mechanism; 2. Mounting frame; 3. Suction cup; 4. Distributed negative pressure component; 41. Vacuum pump; 42. Control valve I; 43. Suction pipe; 44. Intermediate pipe; 5. Clamping component; 51. Mounting sleeve; 52. Intermediate frame; 53. Clamping arm; 54. Spring I; 55. Through hole; 6. End face treatment part; 61. Motor; 62. Grinding disc; 63. Elastic grinding sheet; 64. Connecting column; 7. Communication distribution component; 71. Communication sleeve; 72. Communication pipe; 73. Control valve II; 74. Bypass pipe; 8. Assembly frame; 9. Pushing control part; 91. Electric push rod; 92. Rack; 93. Gear; 10. Linkage component; 101. Sleeve shaft; 102. Connecting shaft; 103. Adaptation cavity; 104. Clamping plate; 105. Spring II; 11. Separation push rod; 12. Auxiliary purging frame; 13. Air pump. Detailed implementation manners

[0018] 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 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.

[0019] Such as Figures 1 to 11As shown in the figure, an embodiment of the present invention provides a sorting robotic arm for panel furniture and its usage method, including a motion execution mechanism and a sorting and grasping mechanism. The sorting and grasping mechanism includes a mounting frame 2, suction cups 3 that are fixedly arranged in an array at the bottom of the mounting frame 2 and are connected, clamping assemblies 5 distributed on both sides of the mounting frame 2, and an identification sensor arranged at the bottom of the mounting frame 2. A distributed negative pressure assembly 4 is provided at the top of the mounting frame 2. The distributed negative pressure assembly 4 adsorbs and fixes the board through the suction cups 3, and the distributed negative pressure assembly 4 controls the clamping assemblies 5 to clamp the board. A material separation mechanism is provided on a single side of the mounting frame 2, and the material separation mechanism is fixed on the clamping assembly 5. The material separation mechanism includes a communication distribution assembly 7, an assembly frame 8, a pushing control part 9, a linkage assembly 10, a separation push rod 11, and an air pump 13. The air pump 13 inputs pressurized air into the assembly frame 8 through the communication distribution assembly 7, and pushes the linkage assembly 10 to drive the separation push rod 11 fixed at the bottom of the linkage assembly 10 to move downward. The pushing control part 9 drives the linkage assembly 10 to swing, so that the separation push rod 11 swings and pushes away the adhered board at the bottom of the grasped board. The sorting and grasping mechanism grasps the board, and the motion execution mechanism 1 drives the sorting and grasping mechanism to move and complete the sorting and transfer of the grasped board.

[0020] Embodiment 1: The motion execution mechanism drives the sorting and grasping mechanism to deflect to the transportation platform. The identification sensor (not shown in the figure) identifies the furniture board to be sorted, and causes the mounting frame 2 to move downward so that the suction cups 3 are attached to the top of the board. The distributed negative pressure assembly 4 is started. The vacuum pump 41 sucks the air inside the mounting frame 2 through the control valve 42 and the suction pipe 43, so that the air in the connected suction cups 3 is pumped out. As the bottom of the board seals the bottom surface of the suction cups 3, a negative pressure is formed inside the suction cups 3, and the board is adsorbed and fixed; then the distributed negative pressure assembly 4 acts again, switches the suction direction, and sucks the gas in the clamping assembly 5 through the control valve 42 and the intermediate pipe 44, so that the air pressure in the clamping assembly 5 decreases. Under the action of the negative pressure, the two clamping arms 53 move closer, compress the spring 54, so that the two clamping arms 53 approach both sides of the board, and complete the stable grasping during the sorting process; then the air pump 13 is started, pressurized air is input into the communication distribution assembly 7, and is input into the connecting pipe 72 through the control valve 73 of the communication distribution assembly 7 and then input into the assembly frame 8. The pressurized air in the assembly frame 8 pushes the sleeve 101 in the linkage assembly 10 to descend. The sleeve 101 moves downward and drives the separation push rod 11 to move downward. And the electric push rod 91 in the pushing control part 9 is started, the push rack 92 moves horizontally, and drives the meshing gear 93 to rotate, so that the connecting shaft 102 connected through the gear 93 rotates, and cooperates with the clamping plate 104 outside the connecting shaft 102 to drive the sleeve 101 to deflect, and makes the separation push rod 11 rotate and push along the bottom of the clamped board, so that the board adhered to the bottom of the clamped board falls off, and the separation process of the adhered board is completed.

[0021] First, by utilizing the connected distribution component 7, the assembly frame 8, the pushing control part 9 and the linkage component 10, during the sorting operation, first clamp the furniture board, and after clamping, control the movement of the separation push rod 11 to complete the unilateral pushing of the bottom of the clamped board, realizing the separation of the adhered boards, avoiding sorting errors caused by adhered boards. At the same time, in cooperation with the connected distribution component 7 and the auxiliary purging frame 12, before the suction cup 3 adsorbs and fixes, dust removal and cleaning can be carried out towards the top of the board to avoid surface dust and impurities affecting the adsorption and fixation of the suction cup 3, comprehensively improving the stability and accuracy of the board sorting operation, and having a good use effect.

[0022] In addition, by utilizing the distributed negative pressure component 4 to alternately control the adsorption of the suction cup 3 and the clamping component 5, the power supply for the adsorption and fixation of the suction cup 3 and the auxiliary clamping and fixation can be respectively realized. On the one hand, the stability of the clamping of the furniture board during sorting is improved, and on the other hand, the repeated setting of power equipment is avoided. The operation is simple, and the two-way control of adsorption and fixation can be realized by switching the air supply direction, and the use effect is good.

[0023] Embodiment 2: When performing the clamping treatment on both sides of the board, as the clamping arm 53 moves closer, the end face treatment part 6 connected to the end is driven to approach the side of the board, and the end face treatment part 6 is synchronously started. The motor 61 in the end face treatment part 6 drives the grinding disc 62 to rotate through the connecting column 64. The grinding disc 62 rotates along the side of the board to complete the grinding, and drives the elastic grinding sheet 63 to expand the grinding range, fully grinding and cleaning the side of the board, removing burrs and protrusions, and then approaching the side of the board and clamping and fixing the board.

[0024] First, by utilizing the end face treatment part 6 at the end of the clamping component 5, during the process of moving closer and completing the auxiliary clamping of the side of the board, the started end face treatment part 6 is used to realize the rotary grinding of the side of the board to be clamped, removing burrs and protrusions, ensuring the stability of the clamping surface, avoiding burrs and protrusions from affecting the clamping and fixing effect, and while cooperating with the elastic grinding sheet 63 to expand the grinding range, ensuring that the elastic grinding sheet 63 can be compressed and deformed and adapting to the clamping operation, avoiding the situation that the board cannot be balanced and fully processed and clamped on the side, and having a good use effect.

[0025] Among them, the connected distribution component 7 includes a connecting sleeve 71, a connecting pipe 72, a control valve II 73 and a bypass pipe 74. The two air outlet ends of the control valve II 73 are respectively communicated with the connecting sleeve 71 and the bypass pipe 74, the air inlet end of the control valve II 73 is communicated with the air outlet end of the air supply pump 13, and the connecting pipes 72 are symmetrically fixed on both sides of the connecting sleeve 71 and communicated with the connecting sleeve 71.

[0026] The connected distribution component 7 is used to distribute the output direction of the compressed air, and is respectively input into the assembly frame 8 and the auxiliary purging frame 12 through the control valve II 73 to complete different actions.

[0027] Among them, the pushing control part 9 includes an electric push rod 91, a toothed plate 92 and a gear 93. The movable end of the electric push rod 91 is fixedly connected to the toothed plate 92, and the toothed plate 92 is meshed and connected to the gear 93. The assembly frame 8 is communicated with the connecting pipe 72. The linkage assembly 10 includes a sleeve shaft 101, a connecting shaft 102, an adaptation cavity 103, a clamping plate 104 and a second spring 105. The sleeve shaft 101 is movably sleeved inside the assembly frame 8, and the lower end of the sleeve shaft 101 movably passes through the assembly frame 8 and is fixedly connected to the separating push rod 11. The adaptation cavity 103 is opened at the top of the sleeve shaft 101. The connecting shaft 102 is sleeved in the adaptation cavity 103 in cooperation with the clamping plate 104 fixed on the outside. The second spring 105 is fixed at the top of the sleeve shaft 101, and the other end of the second spring 105 is fixed in the assembly frame 8. The upper end of the connecting shaft 102 movably passes through the top of the assembly frame 8 and is fixedly sleeved with the gear 93.

[0028] The pushing control part 9 controls the linkage assembly 10 to twist and swing, so as to control the twist and swing of the separating push rod 11. While the linkage assembly 10 realizes synchronous rotation through the clamping of the sleeve shaft 101 and the connecting shaft 102, it allows the sleeve shaft 101 to slide along the outside of the connecting shaft 102 to realize the up and down control of the separating push rod 11.

[0029] Among them, one end of the bypass pipe 74 is fixedly communicated with an auxiliary purging frame 12. The front of the auxiliary purging frame 12 is provided with purging holes distributed in an array, and the purging holes are inclined towards the top of the plate to be clamped.

[0030] Through the cooperation of the bypass pipe 74 and the auxiliary purging frame 12, the top of the plate is purged and cleaned. The purging holes are arranged obliquely to improve the cleaning effect and ensure accurate direction.

[0031] Among them, the distributed negative pressure assembly 4 includes a vacuum pump 41, a first control valve 42, a suction pipe 43 and an intermediate pipe 44. The suction end of the vacuum pump 41 is communicated with the air outlet end of the first control valve 42. The first control valve 42 has two suction ends, and the two suction ends are respectively communicated with the suction pipe 43 and the intermediate pipe 44. The vacuum pump 41 sucks the air in the suction cup 3 through the suction pipe 43, and the vacuum pump 41 sucks the air in the clamping assembly 5 through the intermediate pipe 44. The clamping assembly 5 includes a mounting sleeve 51, an intermediate frame 52, clamping arms 53, a first spring 54 and a through hole 55. The mounting sleeve 51 is fixed on the top of the mounting frame 2. The clamping arms 53 are movably sleeved on both sides of the mounting sleeve 51. The intermediate frame 52 is fixed in the mounting sleeve 51. One end of the first spring 54 is fixed in the intermediate frame 52, and the other end is fixedly connected to the clamping arm 53. The through hole 55 is opened on the side of the mounting sleeve 51 and is communicated with the inside of the mounting sleeve 51.

[0032] The distributed negative pressure assembly 4 realizes the adsorption of the suction cup 3 and the clamping action of the clamping assembly 5 respectively through vacuum suction control. The first spring 54 facilitates elastic reset.

[0033] Among them, an end face treatment part 6 is fixedly arranged at the end of the clamping assembly 5. The end face treatment part 6 includes a motor 61, a grinding disc 62, an elastic grinding sheet 63 and a connecting column 64. The motor 61 is nested in the clamping arm 53. The connecting column 64 is fixedly connected to the output shaft of the motor 61, and the other end of the connecting column 64 is fixedly connected to the grinding disc 62. The elastic grinding sheet 63 is fixedly arranged around the outer side of the grinding disc 62.

[0034] The end face treatment part 6 realizes the cleaning of the side surface of the board, removes burrs and protrusions, realizes the grinding treatment in cooperation with the rotating grinding disc 62, and the elastic grinding sheet 63 realizes the adaptive grinding treatment.

[0035] The using method of the panel furniture sorting robotic arm includes the following steps: The first step: The motion execution mechanism drives the sorting and grasping mechanism to deflect to the conveying platform. The recognition sensor recognizes the furniture board to be sorted, and makes the mounting frame 2 move downward so that the suction cup 3 fits on the top of the board. The distributed negative pressure assembly 4 is started to make the suction cup 3 adsorb and fix the board. The second step: The distributed negative pressure assembly 4 acts again, switches the air suction direction, and sucks the gas in the clamping assembly 5 to make the clamping assembly 5 approach both sides of the board. The third step: The end face treatment part 6 is synchronously started to make the end face treatment part 6 approach the side surface of the board and perform friction cleaning. The fourth step: After the grinding treatment, the clamping of the board is completed. The fifth step: Then the air pump 13 is started. The pressurized air is input into the assembly frame 8 through the connecting distribution assembly 7, pushes the lower part of the linkage assembly 10 to descend, drives the separation push rod 11 to move downward, and cooperates with the push control part 9 to control the deflection of the lower part of the linkage assembly 10, and makes the separation push rod 11 rotate and push along the lower part of the clamped board, so that the board adhered to the bottom of the clamped board falls off.

[0036] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Panel furniture sorting robotic arm, comprising a motion execution mechanism (1) and a sorting and grasping mechanism. The sorting and grasping mechanism includes a mounting frame (2), suction cups (3) fixedly arranged in an array at the bottom of the mounting frame (2) and communicating with each other, clamping assemblies (5) distributed on both sides of the mounting frame (2), and an identification sensor arranged at the bottom of the mounting frame (2), characterized in that: A dispensing negative pressure assembly (4) is provided at the top of the installation frame (2). The dispensing negative pressure assembly (4) adsorbs and fixes the plate through a suction cup (3), and the dispensing negative pressure assembly (4) clamps the plate through a control clamping assembly (5). A material separating mechanism is provided on a single side of the installation frame (2), and the material separating mechanism is fixed on the clamping assembly (5). The material separating mechanism includes a communication distribution assembly (7), an assembly frame (8), a push control part (9), a linkage assembly (10), a separation push rod (11) and an air pump (13). The air pump (13) inputs pressurized air into the assembly frame (8) through the communication distribution assembly (7), and pushes the linkage assembly (10) to drive the separation push rod (11) fixed at the bottom of the linkage assembly (10) to move downward. The push control part (9) drives the linkage assembly (10) to swing, so that the separation push rod (11) swings and pushes away the adhered plate at the bottom of the grabbed plate. The sorting and grabbing mechanism grabs the plate, and the motion execution mechanism (1) drives the sorting and grabbing mechanism to move and complete the sorting and transfer of the grabbed plate.

2. The panel furniture sorting robotic arm according to claim 1, characterized in that: The communication distribution assembly (7) includes a communication sleeve (71), a communication pipe (72), a control valve II (73) and a bypass pipe (74). The two air outlet ends of the control valve II (73) are respectively communicated with the communication sleeve (71) and the bypass pipe (74), the air inlet end of the control valve II (73) is communicated with the air outlet end of the air supply pump (13), and the communication pipes (72) are symmetrically fixed on both sides of the communication sleeve (71) and communicated with the communication sleeve (71).

3. The panel furniture sorting robotic arm according to claim 2, wherein: The push control part (9) includes an electric push rod (91), a toothed plate (92) and a gear (93). The movable end of the electric push rod (91) is fixedly connected with the toothed plate (92), the toothed plate (92) is meshed with the gear (93), and the assembly frame (8) is communicated with the communication pipe (72).

4. The panel furniture sorting robotic arm according to claim 3, characterized in that: The linkage assembly (10) includes a sleeve shaft (101), a connecting shaft (102), an adapter cavity (103), a clamping plate (104) and a second spring (105). The sleeve shaft (101) is movably sleeved inside the assembly frame (8), and the lower end of the sleeve shaft (101) movably passes through the assembly frame (8) and is fixedly connected with the separation push rod (11). The adapter cavity (103) is opened at the top of the sleeve shaft (101). The connecting shaft (102) is sleeved in the adapter cavity (103) in cooperation with the clamping plate (104) fixed on the outside. The second spring (105) is fixed at the top of the sleeve shaft (101), and the other end of the second spring (105) is fixed in the assembly frame (8). The upper end of the connecting shaft (102) movably passes through the top of the assembly frame (8) and is fixedly sleeved with the gear (93).

5. The panel furniture sorting robotic arm according to claim 1, characterized in that: One end of the bypass pipe (74) is fixedly communicated with an auxiliary purging frame (12). The front of the auxiliary purging frame (12) is provided with purge holes distributed in an array, and the purge holes are inclined towards the top of the plate to be clamped.

6. The sorting robotic arm for panel furniture according to claim 1, characterized in that: The distributed negative pressure assembly (4) includes a vacuum pump (41), a first control valve (42), a suction pipe (43) and an intermediate pipe (44). The suction end of the vacuum pump (41) is communicated with the air outlet end of the first control valve (42). The first control valve (42) has two suction ends, which are respectively communicated with the suction pipe (43) and the intermediate pipe (44). The vacuum pump (41) sucks the air in the suction cup (3) through the suction pipe (43), and the vacuum pump (41) sucks the air in the clamping assembly (5) through the intermediate pipe (44).

7. The sorting robotic arm for panel furniture according to claim 1, wherein: The clamping assembly (5) includes a mounting sleeve (51), an intermediate frame (52), clamping arms (53), a first spring (54) and a through hole (55). The mounting sleeve (51) is fixed to the top of the mounting frame (2). The clamping arms (53) are movably sleeved on both sides of the mounting sleeve (51). The intermediate frame (52) is fixed in the mounting sleeve (51). One end of the first spring (54) is fixed in the intermediate frame (52), and the other end is fixedly connected with the clamping arm (53). The through hole (55) is formed in the side surface of the mounting sleeve (51) and communicated with the inside of the mounting sleeve (51).

8. The panel furniture sorting robotic arm according to claim 7, wherein: An end face treatment part (6) is fixedly arranged at the end of the clamping assembly (5). The end face treatment part (6) includes a motor (61), a grinding disc (62), an elastic grinding sheet (63) and a connecting column (64). The motor (61) is nested in the clamping arm (53). The connecting column (64) is fixedly connected with the output shaft of the motor (61), and the other end of the connecting column (64) is fixedly connected with the grinding disc (62). The elastic grinding sheet (63) is fixedly arranged around the outside of the grinding disc (62).

9. The method for using the panel furniture sorting robotic arm according to any one of claims 1-8, characterized in that: Including the following steps: The first step: The motion execution mechanism drives the sorting and grasping mechanism to deflect onto the conveying platform. The recognition sensor recognizes the furniture board to be sorted, and makes the mounting frame (2) move downward so that the suction cup (3) fits on the top of the board. The distributed negative pressure assembly (4) is started to make the suction cup (3) adsorb and fix the board. The second step: The distributed negative pressure assembly (4) acts again, switches the suction direction, and sucks the gas in the clamping assembly (5) so that the clamping assembly (5) approaches both sides of the board. The third step: The end face treatment part (6) is started synchronously so that the end face treatment part (6) approaches the side surface of the board and performs friction cleaning. The fourth step: After the grinding treatment, the clamping of the board is completed. The fifth step: Subsequently, the air pump (13) is started. The compressed air is input into the assembly frame (8) through the connecting distribution assembly (7), pushes the lower part of the linkage assembly (10) to descend, drives the separation push rod (11) to move downward, and cooperates with the push control part (9) to control the lower part of the linkage assembly (10) to deflect, and makes the separation push rod (11) rotate and push along the lower part of the clamped board, so that the board adhered to the bottom of the clamped board falls off.

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