Rotating disc type matched needle sorting machine

Abstract

The invention discloses a rotating disc type matched pin sorting machine, and belongs to the technical field of drill pin sorting and matching. The sorting machine comprises a tool magazine, a first mechanical arm, a sorting needle matching module, a second mechanical arm and a third-party material frame. A receiving and sending assembly, a left large disc assembly, a right large disc assembly, a gantry grabbing assembly, a taking and placing module and a double-station module are arranged in the sorting and pin matching module, the left side executes the sorting process, and the right side executes the pin matching process. A plurality of needle boxes can be placed on the large disc assembly and rotate in an indexing mode, and continuous feeding of the needle boxes is achieved; and the double-station module can quickly switch carrier stations, so that shutdown for material replacement is avoided. According to the equipment, through rotating disc type multi-station layout and double-process synchronous operation, the problem of operation interruption caused by replacement of needle boxes or carriers of traditional sorting equipment is solved, and the sorting and needle matching continuity and the overall operation efficiency are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of drill bit batching and sorting technology, specifically to a rotary drill bit batching and sorting machine. Background Technology

[0002] In modern machining, especially in flexible manufacturing environments with diverse product types and small batches, a single machining equipment or production line needs to utilize dozens or even hundreds of different types of cutting tools such as drill bits and milling cutters. Before and after use, these tools must be efficiently and accurately sorted and classified according to their model, size, or wear condition for subsequent grinding, dressing, scheduling, or reuse.

[0003] To address these needs, existing technologies generally employ automated tool sorting and dispensing equipment. This type of equipment typically uses mechanical gripping mechanisms (such as actuators based on a gantry structure) to sort and orderly place miscellaneous or unallocated tools from the supply end into designated tool containers or tool boxes. When processing equipment needs to retrieve tools, operators can directly take out the entire box of sorted tools, thereby improving management standardization and retrieval efficiency.

[0004] However, such automated equipment suffers from a significant efficiency bottleneck in actual continuous operation. Its typical operating mode involves setting up a supply container for the sorting blades and a reserve container for the sorted blades in the equipment's work area. A mechanical gripping mechanism reciprocates between the two, performing gripping and placement operations. When the supply container runs out of blades, or the reserve container is full, the machine must be stopped to wait for a new container of sorting blades to be replaced, or the completed reserve container must be removed. Only after these operations are completed can the equipment continue operating.

[0005] This cyclical "operation-stagnation-change-continue" pattern severely restricts the continuous operation capability and time utilization of the equipment, resulting in low effective output per unit time and failing to meet the demands of high-intensity, uninterrupted production cycles. Therefore, the industry urgently needs an innovative solution to overcome this deficiency, enabling seamless switching and continuous supply of material containers during the sorting and knife-dispensing process, thereby fundamentally improving the overall operating efficiency and automation level of the equipment. Summary of the Invention

[0006] To address the aforementioned technical problems, embodiments of the present invention provide a rotary needle sorting machine, comprising a sorting and needle-dispensing device, which, from front to back, includes: a needle magazine, a first robotic arm, a sorting and needle-dispensing module, a second robotic arm, and a third-party material rack, wherein: The tool magazine is used to store various types of drill bits, categorized by needle box. Drill bits include various types of drills, milling cutters, boring tools, reamers, taps, dies, and other production tools. The first robotic arm is used to transport the needle box from the designated position of the tool magazine to the designated position of the sorting and dispensing module, or to transport the needle box from the designated position of the sorting and dispensing module to the designated position of the tool magazine. The sorting and needle-dispensing module enables the needle-dispensing or sorting of drill bits. Needle-dispensing refers to taking out the sorted drill bits from the tool magazine according to production needs and placing them into the needle box in a certain order. Sorting refers to identifying and classifying the messy or unsorted drill bits from a third-party material rack and placing them into the designated needle box. The second robotic arm is used to transport a carrier loaded with several needle boxes from a designated location on a third-party rack to a designated location on a sorting and dispensing module, or to transport a carrier from a designated location on a sorting and dispensing module to a designated location on a third-party rack. Third-party racks are used to temporarily store carriers that need to be sorted or have already been fitted with needles.

[0007] The sorting and needle distribution module is equipped with receiving and dispatching components, large tray components, gantry gripping components, pick-and-place modules and dual-station modules. The sorting and needle distribution module has two sets of large tray components, pick-and-place modules and dual-station modules arranged in a left-right layout. The sorting process is carried out on the left side and the needle distribution process is carried out on the right side. The transceiver unit is located on the side near the tool magazine and is used for transferring or temporarily storing needle boxes; The large tray assembly is located inside the sorting and needle dispensing module. The needle box can be placed on the outer upper part of the large tray assembly and can be rotated according to the position of the needle box. The gantry gripper is located above the large tray assembly and near the transceiver assembly. It is used to clamp the needle box from the transceiver assembly to the large tray assembly, or to clamp the needle box from the large tray assembly to the transceiver assembly. The pick-and-place module is located on the side above the large disk assembly away from the transceiver assembly. It is used to pick up or place drill bits back and forth in the needle box on the large disk assembly and in the needle box on the carrier of the dual-station module. The dual-station module, located on the side closest to the third-party material rack, is used to quickly switch the positions of the two station carriers, avoiding the need to wait and change carriers during needle fitting or sorting.

[0008] As a preferred embodiment of some embodiments of the present invention, each carrier is equipped with four needle boxes.

[0009] As some embodiments of the present invention, the sorting and needle distribution module is further provided with a feeding module, a cleaning module, and an appearance inspection module; the cleaning module is located on the left side of the left dual-station module and is used to clean the drill bits; the appearance inspection module is located on one side of the cleaning module and is used to inspect the size, wear condition, surface defects, etc. of the drill bits; the feeding module is located on one side of the appearance inspection module and is used to transfer the drill bits from the cleaning module to the appearance inspection module, or to transfer the drill bits from the appearance inspection module to the needle box on the left large plate assembly, or to remove and discard drill bits with appearance defects from the appearance inspection module.

[0010] As some embodiments of the present invention, the sorting and needle distribution module is also provided with a scrap port, a scrap flow channel and a scrap storage box. The scrap port is located on one side of the dual-station module on the left side. The drill bits picked up by the pick-and-place module can be directly dropped into the scrap port. The upper end of the scrap flow channel is connected to the lower end of the scrap port. A scrap storage box is provided at the lower end outlet of the scrap flow channel. The drill bits dropped into the scrap port will enter the scrap storage box along the scrap flow channel.

[0011] As some embodiments of the present invention, the large disk assembly includes a large disk drive component, a large disk connector component, a rotating outer disk, and a fixed core disk, wherein: the fixed core disk is fixedly disposed inside the sorting and needle dispensing module, the rotating outer disk is rotatably connected to the upper outer side of the fixed core disk, the large disk connector component is connected to the lower part of the rotating outer disk, the large disk connector component is driven to rotate by the large disk drive component, which will cause the rotating outer disk to rotate, and the needle box is placed on the rotating outer disk of the large disk assembly.

[0012] As a preferred embodiment of the present invention, in order to prevent the needle box from moving randomly after it is placed on the rotating outer disk, a positioning part is provided at the upper end of the rotating outer disk to fix the position of the needle box.

[0013] As a preferred embodiment of some embodiments of the present invention, the rotating outer disk is provided with thirty-two needle box placement positions.

[0014] As a preferred embodiment of the present invention, in order to make the rotation between the rotating outer disk and the fixed core disk more stable and smooth, a large disk sliding component is also provided between the rotating outer disk and the fixed core disk.

[0015] As a preferred embodiment of the present invention, the large disk assembly further includes a card holder and a pressing device. The card holder is disposed inside the rotating outer disk of the pick-and-place module and includes a card holder driver and a card head. The card holder driver is fixedly disposed on the upper end of the fixed core disk, and the card head is disposed on the output end of the card holder driver. Under the drive of the card holder driver, the card head can lock or release the needle box at the corresponding position. The pressing device is disposed outside the rotating outer disk of the pick-and-place module and can restrict the upward movement of the needle box at the corresponding position of the rotating outer disk.

[0016] As a preferred embodiment of the present invention, the large disk assembly is further provided with a positioning element, one end of which is installed on the rotating outer disk and the other end is installed on the fixed core disk, for resetting the rotating outer disk and monitoring the rotation position.

[0017] As a preferred embodiment of the present invention, the large disc connector is a gear external meshing structure, the large disc drive is a stepper motor or a servo motor; the large disc sliding component is a ball bearing; and the cartridge drive is a cylinder.

[0018] As some embodiments of the present invention, the dual-station module includes a rotary drive, a rotary plate, a support column, and a positioning column, wherein: the rotary drive is fixedly installed inside the sorting needle module, the output end of the rotary drive is connected to the rotary plate, the rotary plate is provided with a support column and a positioning column, the support column is used to support the carrier placed on it, and the positioning column is used to position the carrier placed on it.

[0019] As a preferred embodiment of some embodiments of the present invention, the rotary drive component is a rotary cylinder; each dual-station module is provided with eight support columns, four for each station, arranged in a rectangular pattern; each dual-station module is provided with four positioning columns, two for each station.

[0020] As some embodiments of the present invention, the transceiver component includes a pick-and-place platform, a non-full needle box buffer area and an empty box buffer area, wherein: the pick-and-place platform is used to temporarily store needle boxes that need to be transferred to the large disk component or the tool magazine, and both the first robotic arm and the gantry gripping component can pick up and place needle boxes on the pick-and-place platform. The non-full needle box buffer is used to temporarily store needle boxes that are not full, enabling quick retrieval of needle boxes that are not full. The empty box buffer area is used to temporarily store empty needle boxes, enabling the quick removal of empty needle boxes from the large disk component and their temporary storage in the empty box buffer area, or the quick removal of empty box boxes from the empty box buffer area and their placement in the large disk component for the sorting process.

[0021] As some embodiments of the present invention, the gantry gripping assembly includes a gantry horizontal moving member, a gantry vertical moving member, a gantry vertical moving member, a gantry gripper, and a gantry base, wherein: the gantry base is fixedly installed inside the sorting and dispensing needle module, the gantry horizontal moving member is fixedly installed on the gantry base and is used to drive the gantry vertical moving member to move horizontally, the gantry vertical moving member is used to drive the gantry vertical moving member to move vertically, the gantry vertical moving member is used to drive the gantry gripper to move vertically, and the gantry gripper is used to grip the needle box.

[0022] As a preferred embodiment of some embodiments of the present invention, the gantry traversing component includes a gantry traversing drive, a gantry traversing block, and a gantry traversing slider. The gantry traversing drive drives the gantry traversing block to move laterally, and the gantry traversing slider is used for guiding and stabilizing the sliding of the gantry traversing block. The gantry traversing block includes a gantry traversing timing belt and a gantry clamping traversing plate. The gantry traversing timing belt is connected to the output end of the gantry traversing drive and drives the gantry clamping traversing plate to slide on the gantry traversing slider.

[0023] As a preferred embodiment of some embodiments of the present invention, the gantry longitudinal moving member is fixedly installed on the gantry clamp transverse moving plate, and includes a gantry longitudinal moving drive member, a gantry longitudinal moving block and a gantry longitudinal moving sliding member. The gantry longitudinal moving drive member drives the gantry longitudinal moving block to move longitudinally, and the gantry longitudinal moving sliding member is used for guiding and stabilizing the sliding of the gantry longitudinal moving block.

[0024] As a preferred embodiment of some embodiments of the present invention, the gantry vertical moving component is fixedly installed on the gantry longitudinal moving block, including a gantry vertical moving drive component, a gantry vertical moving block and a gantry vertical moving sliding component. The gantry vertical moving drive component drives the gantry vertical moving block to move vertically, and the gantry vertical moving sliding component is used for guiding and stabilizing the sliding of the gantry vertical moving block.

[0025] As a preferred embodiment of some embodiments of the present invention, the gantry gripper is fixedly mounted on the gantry vertical moving block.

[0026] As a preferred embodiment of the present invention, the gantry horizontal movement drive is a motor, and the gantry longitudinal movement drive and the gantry vertical movement drive are cylinders; the gantry horizontal movement slider and the gantry longitudinal movement slider are slide rail slider assemblies, and the gantry vertical movement slider is a slide rod and slide sleeve assembly; the gantry gripper is driven by a cylinder.

[0027] As some embodiments of the present invention, the pick-and-place module includes a pick-and-place horizontal moving member, a pick-and-place vertical moving member, a pick-and-place vertical moving member, and pick-and-place grippers. The pick-and-place horizontal moving member is used to drive the pick-and-place vertical moving member to move horizontally, the pick-and-place vertical moving member is used to drive the pick-and-place vertical moving member to move vertically, and the pick-and-place vertical moving member is provided with several sets to drive several sets of pick-and-place grippers to move vertically. The pick-and-place grippers are used to grip the drill bit.

[0028] As a preferred embodiment of the present invention, the pick-and-place lateral movement component is fixedly installed inside the sorting needle module by a bracket, and includes a pick-and-place lateral movement drive, a pick-and-place lateral movement block, and a pick-and-place lateral movement slider; the pick-and-place lateral movement drive drives the pick-and-place lateral movement block to move laterally, and the pick-and-place lateral movement slider is used for guiding and stabilizing the sliding of the pick-and-place lateral movement block; the pick-and-place lateral movement block includes a pick-and-place lateral movement timing belt and a pick-and-place clamping lateral movement plate, the pick-and-place lateral movement timing belt is connected to the output end of the pick-and-place lateral movement drive and drives the pick-and-place clamping lateral movement plate to slide on the pick-and-place lateral movement slider.

[0029] As a preferred embodiment of the present invention, the pick-and-place longitudinal movement component is fixedly mounted on the pick-and-place clamping transverse movement plate, and includes a pick-and-place longitudinal movement drive component, a pick-and-place longitudinal movement block, and a pick-and-place longitudinal movement slider component; the pick-and-place longitudinal movement drive component drives the pick-and-place longitudinal movement block to move longitudinally, and the pick-and-place longitudinal movement slider component is used for guiding and stabilizing the sliding of the pick-and-place longitudinal movement block; the pick-and-place longitudinal movement block includes a pick-and-place longitudinal movement timing belt and a pick-and-place clamping longitudinal movement plate, the pick-and-place longitudinal movement timing belt is connected to the output end of the pick-and-place longitudinal movement drive component, and drives the pick-and-place clamping longitudinal movement plate to slide on the pick-and-place longitudinal movement slider component.

[0030] As a preferred embodiment of the present invention, the pick-and-place vertical moving member is fixedly installed on the pick-and-place clamping longitudinal moving plate, and includes a pick-and-place vertical moving drive member and a pick-and-place vertical moving slider, wherein the pick-and-place vertical moving drive member drives the pick-and-place vertical moving slider to slide.

[0031] As a preferred embodiment of some embodiments of the present invention, the pick-and-place gripper is fixedly mounted on the pick-and-place vertical sliding block.

[0032] As a preferred embodiment of some embodiments of the present invention, each pick-and-place module is provided with five sets of pick-and-place vertical moving parts and pick-and-place grippers; the pick-and-place horizontal moving drive and the pick-and-place vertical moving drive are motors; the pick-and-place horizontal moving sliding part is a slide rail slider assembly; the pick-and-place vertical moving part is a slide rod slide sleeve assembly; the pick-and-place vertical moving part is a slider cylinder; the pick-and-place vertical moving drive is the cylinder part of the slider cylinder; the pick-and-place vertical moving slider is the slider part of the slider cylinder; and the pick-and-place grippers are driven by cylinders.

[0033] As a preferred embodiment of the present invention, in order to detect whether the pick-and-place chuck has gripped the drill bit, the pick-and-place module is also provided with a pick-and-place detection head. The number of pick-and-place detection heads is the same as the number of pick-and-place chucks, and the pick-and-place chucks are fixedly installed on the pick-and-place clamping longitudinal transfer plate.

[0034] As some embodiments of the present invention, the feeding module includes a feeding base, a feeding rotary table, a feeding horizontal moving part, a feeding vertical moving part, and feeding grippers. The feeding base is fixedly installed inside the sorting and dispensing needle module. The feeding rotary table is installed on the upper end of the feeding base and is used to drive the feeding horizontal moving part to rotate. The feeding horizontal moving part is used to drive the feeding vertical moving part to move horizontally. The feeding vertical moving part is used to drive the feeding grippers to move vertically.

[0035] As a preferred embodiment of some embodiments of the present invention, the feeding rotary table includes a feeding rotary table driving component and a feeding turntable. The feeding rotary table driving component is fixedly installed on the lower side of the upper end of the feeding base, and the feeding base is rotatably installed on the upper end of the feeding base. The feeding rotary table driving component is used to drive the feeding turntable to rotate. The feeding transverse movement component is fixedly installed on the feeding turntable and includes a feeding transverse movement drive, a feeding transverse movement block, and a feeding transverse movement slider. The feeding transverse movement drive drives the feeding transverse movement block to move laterally, and the feeding transverse movement slider is used to guide and stabilize the sliding of the feeding transverse movement block. The feeding transverse movement block includes a feeding transverse movement timing belt and a feeding clamping transverse movement plate. The feeding transverse movement timing belt is connected to the output end of the feeding transverse movement drive and drives the feeding clamping transverse movement plate to slide on the feeding transverse movement slider.

[0036] As a preferred embodiment of the present invention, the feeding vertical movement component is provided in several groups and is fixedly installed on the feeding clamp transverse movement plate. It includes a feeding vertical movement drive component, a feeding vertical movement block and a feeding vertical movement sliding component. The feeding vertical movement drive component drives the feeding vertical movement block to move vertically, and the feeding vertical movement sliding component is used to guide and stabilize the feeding vertical movement block.

[0037] As a preferred embodiment of the present invention, the number of feeding grippers is the same as that of the feeding vertical moving parts, and they are fixedly installed on the feeding vertical moving block; each set of feeding vertical moving parts and each set of feeding grippers are controlled separately.

[0038] As a preferred embodiment of the present invention, the vertical feeding component and the feeding gripper are provided in two sets; the feeding rotary table drive component and the feeding transverse drive component are motors, the feeding vertical driving component is a cylinder, and the feeding transverse sliding component and the feeding vertical sliding component are sliding rod and sliding sleeve assemblies; the feeding gripper is driven by a cylinder.

[0039] As some embodiments of the present invention, the cleaning module includes a cleaning base, a cleaning rotary table, a cleaning vertical mover, and a cleaning component, wherein: the cleaning base is fixedly installed inside the sorting and needle dispensing module, the cleaning rotary table is installed on the upper end of the cleaning base, the cleaning vertical mover is installed on one side of the cleaning base, the cleaning component is installed on the cleaning vertical mover, and the cleaning rotary table is used to clamp the drill bit so that the cleaning component can clean the drill bit.

[0040] As a preferred embodiment of some embodiments of the present invention, the cleaning rotary table includes a cleaning rotary table driver, a cleaning turntable, and cleaning stations. The cleaning rotary table driver is fixedly installed on the lower side of the upper end of the cleaning base, and the cleaning turntable is rotatably installed on the upper end of the cleaning base. The cleaning rotary table driver is used to drive the cleaning turntable to rotate, and a plurality of cleaning stations for clamping drill bits are evenly distributed on the outer periphery of the cleaning turntable.

[0041] As a preferred embodiment of some embodiments of the present invention, the cleaning vertical movement component includes a cleaning vertical movement drive, a cleaning vertical movement block, and a cleaning vertical movement slider. The cleaning vertical movement drive is used to drive the cleaning vertical movement block to move up and down, and the cleaning vertical movement slider is used to guide and stabilize the sliding of the cleaning vertical movement block.

[0042] As a preferred embodiment of the present invention, the cleaning component includes a cleaning drive, a cleaning transmission box, and a cleaning section. The cleaning transmission box is fixedly mounted on the cleaning vertical moving block. The cleaning drive is provided on one side of the cleaning transmission box and the cleaning section is provided on the other side. The cleaning drive drives the cleaning transmission box to move. The cleaning transmission box converts the single-axis rotation of the cleaning drive into a double-axis rotation of opposing rolling and transmits it to the cleaning section, so that the two cleaning blocks of the cleaning section roll against each other to clean the drill bit.

[0043] As a preferred embodiment of the present invention, in order to ensure that the dirt cleaned by the cleaning unit does not pollute the environment, the cleaning unit also includes a dirt treatment unit, which is fixedly installed on the cleaning vertical moving block and is used to collect and treat the dirt cleaned by the cleaning unit.

[0044] As a preferred embodiment of the present invention, in order to make full use of the cleaning section, the cleaning module further includes a cleaning shifting component. The cleaning shifting component is fixedly installed inside the sorting needle dispensing module and located on one side of the cleaning base. It includes a cleaning shifting drive component, a cleaning shifting transmission rod, a cleaning shifting guide plate, a cleaning shifting guide rod, and a cleaning shifting seat plate. The cleaning shifting drive component drives the cleaning shifting transmission rod to rotate. The rotation of the cleaning shifting transmission rod causes the cleaning shifting guide plate to move linearly. The cleaning shifting transmission rod is arranged parallel to the cleaning section. The two sides of the cleaning shifting guide plate are slidably arranged on the cleaning shifting guide rod. The cleaning shifting seat plate is fixedly installed on the upper end of the cleaning shifting guide plate and moves together with the cleaning shifting guide plate. The cleaning vertical movement component is fixedly installed on the cleaning shifting seat plate.

[0045] As a preferred embodiment of the present invention, the cleaning rotary seat drive, the cleaning position drive, the cleaning vertical movement drive, and the cleaning drive are all motors, the cleaning vertical movement sliding component is a sliding rod and sliding sleeve assembly, a bearing is provided between the cleaning base and the cleaning turntable for rotational connection, the cleaning rotary seat drive drives the cleaning turntable to rotate through gear meshing, and the cleaning position transmission rod and the cleaning position guide plate achieve motion conversion through a ball screw pair.

[0046] As some embodiments of the present invention, the appearance inspection module includes an appearance inspection platform and an appearance inspection device. The appearance inspection platform is used to place the drill bit and rotate it, and the appearance inspection device is used to perform appearance inspection on the drill bit on the appearance inspection platform.

[0047] As a preferred embodiment of the present invention, in order to better handle drill bits with poor appearance, the appearance inspection module further includes a defective appearance flow channel and a defective appearance storage tank. The inlet of the defective appearance flow channel is located near the appearance inspection table to shorten the travel distance when the feeding module discards the drill bit and improve efficiency. The outlet of the defective appearance flow channel is located at the upper end of the defective appearance storage tank, which is used to temporarily store drill bits with poor appearance.

[0048] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Achieve continuous and efficient operation: Through the independently set large tray components, pick-and-place modules and dual-station modules on the left and right sides, the sorting and needle distribution processes are operated in parallel and synchronously, avoiding the operation interruption caused by a single station in traditional equipment, and greatly improving equipment utilization and production efficiency.

[0049] 2. Rotary multi-needle box supply system: The large disc assembly adopts an indexable rotating outer disc, which can carry multiple needle boxes at one time and quickly switch the position of the needle boxes during operation by rotating. In conjunction with the gantry gripping assembly, it realizes continuous replenishment and recycling of needle boxes, effectively solving the problem of downtime waiting caused by needle box replacement.

[0050] 3. Seamless switching between two workstations: The dual-workstation module can quickly switch between two workstations by rotating, allowing fully loaded or empty workstations to be changed on the outside while the inside continues to work. This enables online workstation changes and continuous process operation, further ensuring operational continuity.

[0051] 4. Functional integration and process optimization: The integrated cleaning module, appearance inspection module and feeding module can automatically complete the cleaning, inspection and classification of drill bits during the sorting process, improve the quality of drill bit management and sorting accuracy. At the same time, the design of the buffer area in the receiving and sending components optimizes the needle box scheduling and temporary storage logic, shortens the robot arm's stroke and improves the overall response speed.

[0052] 5. Compact structure and high degree of automation: The modules are rationally laid out and operate in coordination. Within a limited space, the entire process of drill bit processing, from warehousing, sorting, cleaning, testing to outgoing, is automated, reducing manual intervention and improving system reliability and intelligence. Attached Figure Description

[0053] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a three-dimensional structural diagram of a rotary needle sorting machine according to an embodiment of the present invention; Figure 2 This is a three-dimensional structural diagram of the sorting needle module according to an embodiment of the present invention; Figure 3 This is a three-dimensional structural diagram of the internal structure of the sorting needle module according to an embodiment of the present invention; Figure 4 This is a three-dimensional structural diagram of the sorting needle module from another direction in an embodiment of the present invention; Figure 5 This is a three-dimensional structural diagram of the large disk assembly and the gantry gripping assembly according to an embodiment of the present invention; Figure 6 This is a partial structural diagram of the gantry gripping component according to an embodiment of the present invention; Figure 7 This is a three-dimensional structural diagram of the large disk assembly, the pick-and-place module, and the dual-station module according to an embodiment of the present invention; Figure 8 This is a three-dimensional structural diagram of the large disk component according to an embodiment of the present invention; Figure 9 This is a three-dimensional structural diagram of the large disk assembly from another perspective of an embodiment of the present invention; Figure 10 This is a three-dimensional structural diagram of the pick-and-place module and the dual-station module according to an embodiment of the present invention; Figure 11 This is a three-dimensional structural diagram of the vehicle according to an embodiment of the present invention; Figure 12 This is a three-dimensional structural diagram of the needle box according to an embodiment of the present invention; Figure 13 This is a three-dimensional structural diagram of the interior of the pick-and-place module and the interior of the dual-station module according to an embodiment of the present invention; Figure 14 This is a three-dimensional structural diagram of the cleaning module and the appearance inspection module according to an embodiment of the present invention; Figure 15 This is a three-dimensional structural diagram of the feeding module according to an embodiment of the present invention; Figure 16 This is a three-dimensional structural diagram of the cleaning module according to an embodiment of the present invention.

[0055] The labels in the attached diagram are as follows: 1. Sorting and needle dispensing device; 11. Knife magazine; 12. First robotic arm; 13. Sorting and needle dispensing module; 131. Frame; 132. Control module; 133. Status display module; 14. Second robotic arm; 15. Third-party material rack; 16. Scrap outlet; 17. Scrap flow channel; 18. Scrap storage box; 2. Receiving and dispatching assembly; 21. Picking and placing platform; 22. Non-full needle box buffer area; 23. Empty box buffer area; 3. Large tray assembly; 31. Large tray drive component; 32. Large tray connector; 33. Rotating outer tray; 331. Positioning part; 34. Fixed core tray; 35. Large tray sliding component; 36. Card box component; 361. Card box drive component; 362. Card head; 37. Card pressing component; 38. Positioning component; 4. Gantry gripping assembly. Components; 41. Gantry lateral movement component; 411. Gantry lateral movement drive component; 412. Gantry lateral movement block; 4121. Gantry lateral movement timing belt; 4122. Gantry clamping belt lateral movement plate; 413. Gantry lateral movement sliding component; 42. Gantry longitudinal movement component; 421. Gantry longitudinal movement drive component; 422. Gantry longitudinal movement block; 423. Gantry longitudinal movement sliding component; 43. Gantry vertical movement component; 431. Gantry vertical movement drive component; 432. Gantry vertical movement block; 433. Gantry vertical movement sliding component; 44. Gantry gripper; 45. Gantry base; 5. Pick-up and placement module; 51. Pick-up and placement lateral movement component; 511. Pick-up and placement lateral movement drive component; 512. Pick-up and placement lateral movement block; 5121. Pick-up and placement lateral movement timing belt; 5122. Pick-up and placement clamping belt lateral movement plate; 513. Pick-up and placement lateral movement sliding component; 52. Pick up and place longitudinal moving parts; 521. Pick up and place longitudinal moving drive parts; 522. Pick up and place longitudinal moving blocks; 5221. Pick up and place longitudinal moving synchronous belts; 5222. Pick up and place clamping longitudinal moving plates; 523. Pick up and place longitudinal moving sliding parts; 53. Pick up and place vertical moving parts; 531. Pick up and place vertical moving drive parts; 532. Pick up and place vertical moving sliders; 54. Pick up and place grippers; 55. Pick up and place detection heads; 6. Dual-station module; 61. Rotary drive parts; 62. Rotary plate; 63. Support column; 64. Positioning column; 7. Loading module; 71. Loading base; 72. Loading rotary table; 721. Loading rotary table drive parts; 722. Loading turntable; 73. Loading transverse moving parts; 731. Loading transverse moving drive parts; 732. Loading transverse moving blocks; 7321. Loading transverse moving synchronous belts; 7322. 733. Loading clamp with horizontal sliding plate; 74. Loading horizontal sliding component; 741. Loading vertical sliding component; 742. Loading vertical sliding drive component; 743. Loading vertical sliding block; 75. Loading gripper; 8. Cleaning module; 81. Cleaning base; 82. Cleaning rotary table; 821. Cleaning rotary table drive component; 822. Cleaning turntable; 823. Cleaning station; 83. Cleaning shifting component; 831. Cleaning shifting drive component; 832. Cleaning shifting transmission rod; 833. Cleaning shifting guide plate; 834. Cleaning shifting guide rod; 835. Cleaning shifting seat plate; 84. Cleaning vertical sliding component; 841. Cleaning vertical sliding drive component; 842. Cleaning vertical sliding block; 843. Cleaning component; 851. Cleaning drive component;852. Cleaning transmission box; 853. Cleaning section; 854. Dirt handling component; 9. Appearance inspection module; 91. Appearance inspection table; 92. Appearance inspection device; 93. Appearance defect flow channel; 94. Appearance defect storage tank; 10. Needle box; 101. Needle box fixing slot; 102. Needle box positioning hole; 10a. Carrier; 10a1. Snap-fit ​​spring; 10a2. Carrier positioning post; 10b. Drill bit. Detailed Implementation

[0056] To make the technical means, creative features, objectives and effects of this invention easier to understand, the technical solutions in the specific embodiments of this invention are described clearly and completely below to further illustrate this invention. Obviously, the specific embodiments described are only a part of the embodiments of this invention, and not all of them.

[0057] Example 1: This example discloses a rotary needle sorting machine, such as... Figures 1-4 , Figure 11 and Figure 12 As shown, the sorting and needle-dispensing device 1 comprises, from front to back: a needle magazine 11, a first robotic arm 12, a sorting and needle-dispensing module 13, a second robotic arm 14, and a third-party material rack 15, wherein: The tool magazine 11 is used to store various types of drill bits 10b classified by the needle box 10. Here, drill bits 10b refers to various types of drills, milling cutters, boring tools, reamers, taps, dies and other cutting tools used in industrial production. The first robotic arm 12 is used to transport the needle box 10 from the designated position of the tool magazine 11 to the designated position of the sorting and dispensing module 13, or to transport the needle box 10 from the designated position of the sorting and dispensing module 13 to the designated position of the tool magazine 11. The sorting and needle-dispensing module 13 realizes the needle-dispensing or sorting operation of drill bits 10b; needle-dispensing refers to taking out the sorted drill bits 10b from the tool magazine 11 according to production needs and placing them into the needle box 10 in a certain order; while sorting refers to identifying and classifying the messy or unsorted drill bits 10b from the third-party material rack 15 and placing them into the designated needle box 10. The second robotic arm 14 is used to transport a carrier 10a loaded with a number of needle boxes 10 from a designated position on a third-party rack 15 to a designated position on a sorting and dispensing module 13 or to transport the carrier 10a from a designated position on a sorting and dispensing module 13 to a designated position on a third-party rack 15. In this embodiment, one carrier 10a can carry four needle boxes 10. A third-party rack 15 is used to temporarily store carriers 10a that need to be sorted or have already been fitted with needles.

[0058] The sorting and needle-dispensing module 13 includes a receiving and dispatching component 2, a large tray component 3, a gantry gripping component 4, a pick-and-place module 5, and a dual-station module 6, among which: The transceiver assembly 2 is located on the side near the tool magazine 11 and is used for transferring or temporarily storing the needle box 10; The large tray assembly 3 is located inside the sorting and needle dispensing module 13. The needle box 10 can be placed on the outer side of the upper end of the large tray assembly 3 and can be rotated according to the position of the needle box 10. The gantry gripping component 4 is located above the large tray component 3 and close to the transceiver component 2. It is used to clamp the needle box 10 from the transceiver component 2 to the large tray component 3, or to clamp the needle box 10 from the large tray component 3 to the transceiver component 2. The pick-and-place module 5 is located above the large disk assembly 3 on the side away from the transceiver assembly 2. It is used to pick up or place the drill bit 10b back and forth in the needle box 10 on the large disk assembly 3 and in the needle box 10 on the carrier 10a on the dual-station module 6. The dual-station module 6 is located on the side closest to the third-party material rack 15. It is used to quickly switch the positions of the two station carriers 10a to avoid the need to wait to change carriers 10a when matching needles or sorting.

[0059] In order to allow needle distribution and sorting to be carried out simultaneously, in this embodiment, the sorting and needle distribution module 13 is arranged in a left-right layout with two sets of large tray components 3, pick-and-place modules 5 and dual-station modules 6. The sorting process is carried out on the left side and the needle distribution process is carried out on the right side.

[0060] When needle matching is required, the system inputs the required drill bit 10b information into the sorting and matching device 1. The first robotic arm 12 of the sorting and matching device 1 retrieves the corresponding needle box 10 from the tool magazine 11 and places it to the right side of the receiving and dispatching component 2. Then, the gantry gripping component 4 places them one by one onto the large tray component 3 on the right side. The large tray component 3 rotates at indexing points, and the right pick-and-place module 5 sequentially retrieves the required drill bits 10b from the corresponding needle boxes 10 on the large tray component 3 and places them into the corresponding positions of the needle boxes 10 on the carrier 10a of the dual-station module 6 until the needle matching is completed. The empty needle boxes 10 and the remaining needle boxes 10 that are not full of needles are then removed from the large tray component 3. The needles are then transferred from the gantry gripping component 4 to the receiving and dispatching component 2 for temporary storage or to the large tray component 3 on the left. The needle boxes 10 with incomplete needles temporarily stored on the receiving and dispatching component 2 can wait for the next needle distribution as needed, or they can be transferred back to the tool magazine 11 by the first robot arm 12. The dual-station module 6 rotates and switches stations, moving the needle-distributed carrier 10a to the outer station, while the carrier 10a of the other station with empty needle boxes 10 is moved to the inner station to wait for the next needle distribution. The second robot arm 14 moves the needle-distributed carrier 10a from the right dual-station module 6 to the third-party material rack 15, and then it is transferred to the production equipment by manual labor or AGV.

[0061] When sorting is required, a person or an AGV trolley places the needle box 10 and corresponding carrier 10a of the drill bits 10b to be sorted onto the third-party material rack 15 (or places the needle box 10 of the drill bits 10b to be sorted onto the carrier 10a on the third-party material rack 15). The second robotic arm 14 moves the carrier 10a to be sorted to the outer station of the left dual-station module 6. After the dual-station module 6 rotates and switches stations, the pick-and-place module 5 retrieves the drill bits from the dual-station module 6. The drill bit 10b is picked up, and qualified drill bits 10b are placed back into the corresponding needle box 10 on the left large plate assembly 3 according to their model. Scrap drill bits 10b are discarded. After sorting, as needed, the full needle box 10 and some partially unfilled needle boxes 10 on the left large plate assembly 3 are picked up by the gantry gripping assembly 4 and placed into the receiving and dispatching assembly 2 for temporary storage. The first robotic arm 12 puts the full needle box 10 and some partially unfilled needle boxes 10 into the tool magazine 11 as needed.

[0062] As is well known, in the two processes mentioned above, all drill bits 10b, needle boxes 10, and carriers 10a are read back and stored in the control system of the sorting and dispensing device 1. The system records and registers the status of each drill bit 10b, needle box 10, and carrier 10a, as well as the position and status of the drill bit 10b, thereby ensuring the stable and continuous operation of the entire system. This is existing technology and will not be elaborated on here.

[0063] Example 2: This example, based on Example 1, discloses a rotary needle sorting machine that also includes a feeding module 7, a cleaning module 8, and an appearance inspection module 9. Figures 1-4 , Figure 11 , Figure 12 and Figure 14 As shown, where: The sorting and needle-dispensing module 13 is also provided with a scrap port 16, a scrap flow channel 17, and a scrap storage box 18. The scrap port 16 is located on one side of the dual-station module 6 on the left. The drill bit 10b picked up by the pick-and-place module 5 can be directly dropped into the scrap port 16. The upper end of the scrap flow channel 17 is connected to the lower end of the scrap port 16. The scrap storage box 18 is provided at the lower outlet of the scrap flow channel 17. The drill bit 10b dropped into the scrap port 16 will enter the scrap storage box 18 along the scrap flow channel 17. In this embodiment, the scrap storage box 18 is placed on one side of the sorting and needle-dispensing module 13 for easy transfer and cleaning. The cleaning module 8 is located on the left side of the left dual-station module 6 and is used to clean the drill bit 10b. The appearance inspection module 9 is located on one side of the cleaning module 8 and is used to inspect the size, wear condition, surface defects, etc. of the drill bit 10b; The feeding module 7 is located on one side of the appearance inspection module 9. It is used to transfer the drill bit 10b from the cleaning module 8 to the appearance inspection module 9, or to transfer the drill bit 10b from the appearance inspection module 9 to the needle box 10 on the large plate assembly 3 on the left, or to remove and discard the drill bit 10b with poor appearance from the appearance inspection module 9. In this embodiment, when sorting drill bits 10b, the pick-and-place module 5 picks up qualified drill bits 10b from the dual-station module 6 and places them into the cleaning module 8. After being cleaned by the cleaning module 8, they are transferred to the appearance inspection module 9 through the feeding module 7. Drill bits 10b that pass the appearance inspection are then placed back into the corresponding needle box 10 on the left large plate assembly 3 by the feeding module 7 according to their model. Drill bits 10b that fail the appearance inspection are discarded by the feeding module 7.

[0064] Example 3: Based on Example 2, this example discloses a feasible specific structure for the large disc assembly 3 and the dual-station module 6 in a rotary needle sorting machine: like Figure 7 , Figure 8 , Figure 9 As shown, the large disk assembly 3 includes a large disk drive component 31, a large disk connector 32, a rotating outer disk 33, and a fixed core disk 34, wherein: The fixed core disk 34 is fixedly installed inside the sorting and needle dispensing module 13. The upper outer side of the fixed core disk 34 is rotatably connected to the rotating outer disk 33. The large disk connector 32 is connected to the lower side of the rotating outer disk 33. The large disk connector 32 is driven to rotate by the large disk drive component 31, which will drive the rotating outer disk 33 to rotate. The needle box 10 is placed on the rotating outer disk 33 of the large disk assembly 3.

[0065] In order to prevent the needle box 10 from moving randomly after being placed on the rotating outer disk 33, a positioning part 331 is provided at the upper end of the rotating outer disk 33 to fix the position of the needle box 10. In this embodiment, the rotating outer disk 33 is provided with thirty-two needle box 10 placement positions. In other embodiments of this application, other numbers of needle box 10 placement positions can be set according to the size of the needle box 10 and the rotating outer disk 33.

[0066] To make the rotation between the rotating outer disk 33 and the fixed core disk 34 smoother, a large disk sliding component 35 is also provided between the rotating outer disk 33 and the fixed core disk 34.

[0067] like Figure 8As shown, in order to prevent the needle box 10 from being lifted when the pick-and-place module 5 grabs the drill bit 10b in the needle box 10 on the large disk assembly 3, the large disk assembly 3 also includes a card holder 36 and a pressing member 37. The card holder 36 is located inside the rotating outer disk 33 at the gripping position of the pick-and-place module 5, and includes a card holder drive 361 and a card holder head 362. The card holder drive 361 is fixedly located on the upper end of the fixed core disk 34, and the card holder head 362 is located at the output end of the card holder drive 361. Under the drive of the card holder drive 361, the card holder head 362 can lock or release the needle box 10 at the corresponding position. The pressing member 37 is located outside the rotating outer disk 33 at the gripping position of the pick-and-place module 5, and it can restrict the needle box 10 at the corresponding position of the rotating outer disk 33 from moving upward.

[0068] The large disk assembly 3 is also equipped with a positioning component 38. One end of the positioning component 38 is installed on the rotating outer disk 33, and the other end is installed on the fixed core disk 34. It is used for resetting the rotating outer disk 33 and monitoring its rotation position.

[0069] In this embodiment, the large disc connector 32 is a gear external meshing structure. In other embodiments of this application, the large disc connector 32 can also be a belt, synchronous belt, chain, or other structure that can convert and transmit the power of the large disc drive 31 into the rotation of the large disc connector 32. The large disc drive 31 is a stepper motor or a servo motor. The large disc slide 35 is a ball bearing. The cartridge drive 361 is a cylinder.

[0070] Since multiple needle boxes 10 can be placed on the large disk assembly 3 at one time, the position of the needle box 10 can be quickly switched by rotating the outer disk 33. This avoids the problem of reduced efficiency caused by stopping the machine to wait for a new needle box 10 when the drill bits 10b of a certain needle box 10 are exhausted or fully loaded. During the period from picking up to placing by the pick-up and drop module 5, the large disk assembly 3 can switch the needle box 10 synchronously by rotating. The gantry pick-up and drop assembly 4 can also pick up or place the needle box 10 onto the large disk assembly 3 synchronously, so as to work continuously and avoid stopping in the middle to wait for reduced efficiency.

[0071] like Figure 10 , Figure 13 As shown, the dual-station module 6 includes a rotary drive component 61, a rotary plate 62, a support column 63, and a positioning column 64, wherein: The rotary drive unit 61 is fixedly installed inside the sorting needle module 13. The output end of the rotary drive unit 61 is connected to the rotary plate 62. The rotary plate 62 is provided with a support column 63 and a positioning column 64. The support column 63 is used to support the carrier 10a placed on it, and the positioning column 64 is used to position the carrier 10a placed on it.

[0072] In this embodiment, the rotary drive component 61 is a rotary cylinder; each dual-station module 6 is provided with eight support columns 63, four for each station, arranged in a rectangular pattern; each dual-station module 6 is provided with four positioning columns 64, two for each station.

[0073] The dual-station module 6 allows for rapid switching of needle boxes 10 after a station is fully loaded or empty, enabling continuous needle distribution and sorting without standby. This improves work efficiency.

[0074] Example 4: This example, based on Example 3, discloses a feasible specific structure for the receiving and dispatching component 2 in a rotary needle sorting machine, such as... Figure 3 , Figure 4 , Figure 5 As shown, the transceiver component 2 includes a pick-and-place platform 21, a non-full needle box buffer 22, and an empty box buffer 23, wherein: The pick-and-place platform 21 is used to temporarily store the needle box 10 that needs to be transferred to the large disk component 3 or the tool magazine 11. The first robotic arm 12 and the gantry gripping component 4 can both pick up and place the needle box 10 on the pick-and-place platform 21. The non-full needle box buffer 22 is used to temporarily store needle boxes 10 that are not full of needles, so as to enable fast retrieval of needle boxes 10 that are not full of needles; The empty box buffer area 23 is used to temporarily store empty needle boxes 10, enabling the empty needle boxes 10 to be quickly taken out from the large tray component 3 and temporarily stored in the empty box buffer area 23, or quickly taken out from the empty box buffer area 23 and placed in the large tray component 3 for the sorting process.

[0075] Based on the fact that the large plate component 3 can quickly switch needle boxes 10 by rotation, and with the addition of the non-full needle box buffer area 22 and the empty box buffer area 23, the stroke of the first robotic arm 12 and the gantry gripping component 4 in picking up and placing the required needle boxes 10 can be greatly reduced, so that the sorting and needle matching device 1 can work continuously, thereby improving the needle matching and sorting efficiency.

[0076] Example 5: Based on Example 4, this example discloses a feasible specific structure for the gantry gripping component 4, the pick-and-place module 5, and the feeding module 7 in a rotary needle sorting machine: like Figure 5 , Figure 6 As shown, the gantry gripping assembly 4 includes a gantry horizontal moving component 41, a gantry vertical moving component 42, a gantry vertical moving component 43, a gantry gripper 44, and a gantry base 45, wherein: The gantry base 45 is fixedly installed inside the sorting and needle dispensing module 13. The gantry horizontal moving part 41 is fixedly installed on the gantry base 45 and is used to drive the gantry vertical moving part 42 to move horizontally. The gantry vertical moving part 42 is used to drive the gantry vertical moving part 43 to move vertically. The gantry vertical moving part 43 is used to drive the gantry gripper 44 to move vertically. The gantry gripper 44 is used to grip the needle box 10.

[0077] The gantry lateral movement component 41 includes a gantry lateral movement drive component 411, a gantry lateral movement block 412, and a gantry lateral movement slider 413. The gantry lateral movement drive component 411 drives the gantry lateral movement block 412 to move laterally, and the gantry lateral movement slider 413 is used for guiding and stabilizing the sliding of the gantry lateral movement block 412. The gantry lateral movement block 412 includes a gantry lateral movement timing belt 4121 and a gantry clamping lateral movement plate 4122. The gantry lateral movement timing belt 4121 is connected to the output end of the gantry lateral movement drive component 411 and drives the gantry clamping lateral movement plate 4122 to slide on the gantry lateral movement slider 413. The gantry longitudinal moving component 42 is fixedly installed on the gantry clamp transverse moving plate 4122, and includes a gantry longitudinal moving drive component 421, a gantry longitudinal moving block 422 and a gantry longitudinal moving sliding component 423. The gantry longitudinal moving drive component 421 drives the gantry longitudinal moving block 422 to move longitudinally, and the gantry longitudinal moving sliding component 423 is used for guiding and stabilizing the sliding of the gantry longitudinal moving block 422. The gantry vertical moving component 43 is fixedly installed on the gantry longitudinal moving block 422, and includes a gantry vertical moving drive component 431, a gantry vertical moving block 432, and a gantry vertical moving sliding component 433. The gantry vertical moving drive component 431 drives the gantry vertical moving block 432 to move vertically, and the gantry vertical moving sliding component 433 is used for guiding and stabilizing the sliding of the gantry vertical moving block 432. The gantry gripper 44 is fixedly installed on the gantry vertical moving block 432.

[0078] In this embodiment, the gantry horizontal movement drive 411 is a motor, the gantry vertical movement drive 421 and the gantry vertical movement drive 431 are cylinders; the gantry horizontal movement slider 413 and the gantry vertical movement slider 423 are slide rail slider assemblies, the gantry vertical movement slider 433 is a slide rod and slide sleeve assembly; the gantry gripper 44 is driven by a cylinder.

[0079] like Figure 10 , Figure 13 As shown, the pick-and-place module 5 includes a pick-and-place horizontal moving part 51, a pick-and-place vertical moving part 52, a pick-and-place vertical moving part 53, and pick-and-place grippers 54. The pick-and-place horizontal moving part 51 is used to drive the pick-and-place vertical moving part 52 to move horizontally, the pick-and-place vertical moving part 52 is used to drive the pick-and-place vertical moving part 53 to move vertically, and the pick-and-place vertical moving part 53 is provided with several sets to drive several sets of pick-and-place grippers 54 to move vertically. The pick-and-place grippers 54 are used to grip the drill bit 10b.

[0080] The pick-and-place lateral movement component 51 is fixedly installed inside the sorting needle module 13 by a bracket, and includes a pick-and-place lateral movement drive component 511, a pick-and-place lateral movement block 512, and a pick-and-place lateral movement slider 513. The pick-and-place lateral movement drive component 511 drives the pick-and-place lateral movement block 512 to move laterally, and the pick-and-place lateral movement slider 513 is used to guide and stabilize the sliding of the pick-and-place lateral movement block 512. The pick-and-place lateral movement block 512 includes a pick-and-place lateral movement timing belt 5121 and a pick-and-place clamping lateral movement plate 5122. The pick-and-place lateral movement timing belt 5121 is connected to the output end of the pick-and-place lateral movement drive component 511 and drives the pick-and-place clamping lateral movement plate 5122 to slide on the pick-and-place lateral movement slider 513. The pick-and-place longitudinal movement component 52 is fixedly installed on the pick-and-place clamping transverse movement plate 5122, and includes a pick-and-place longitudinal movement drive component 521, a pick-and-place longitudinal movement block 522, and a pick-and-place longitudinal movement slider 523; the pick-and-place longitudinal movement drive component 521 drives the pick-and-place longitudinal movement block 522 to move longitudinally, and the pick-and-place longitudinal movement slider 523 is used for guiding and stabilizing the sliding of the pick-and-place longitudinal movement block 522; the pick-and-place longitudinal movement block 522 includes a pick-and-place longitudinal movement timing belt 5221 and a pick-and-place clamping longitudinal movement plate 5222, the pick-and-place longitudinal movement timing belt 5221 is connected to the output end of the pick-and-place longitudinal movement drive component 521, and drives the pick-and-place clamping longitudinal movement plate 5222 to slide on the pick-and-place longitudinal movement slider 523; The vertical moving component 53 is fixedly installed on the vertical moving plate 5222 of the pick-up and place clamp, and includes a vertical moving drive component 531 and a vertical moving slider 532. The vertical moving drive component 531 drives the vertical moving slider 532 to slide. The pick-and-place gripper 54 is fixedly mounted on the pick-and-place vertical sliding block 532.

[0081] In this embodiment, each pick-and-place module 5 is provided with five sets of pick-and-place vertical moving parts 53 and pick-and-place grippers 54. The pick-and-place horizontal moving drive 511 and the pick-and-place vertical moving drive 521 are motors; the pick-and-place horizontal moving sliding part 513 is a slide rail slider assembly, and the pick-and-place vertical moving sliding part 523 is a slide rod sleeve assembly; the pick-and-place vertical moving part 53 is a slider cylinder, the pick-and-place vertical moving drive 531 is the cylinder part of the slider cylinder, and the pick-and-place vertical moving slider 532 is the slider part of the slider cylinder; the pick-and-place grippers 54 are driven by cylinders.

[0082] In order to detect whether the pick-and-place chuck 54 has gripped the drill bit 10b, the pick-and-place module 5 is also equipped with a pick-and-place detection head 55. The number of pick-and-place detection heads 55 is the same as the number of pick-and-place chucks 54. The pick-and-place chucks 54 are fixedly installed on the pick-and-place belt longitudinal transfer plate 5222.

[0083] In this embodiment, one drill bit 10b can be picked up at a time, or two, three, four or five drill bits 10b can be picked up at a time, depending on the actual needs. Each set of pick-up and put-down vertical moving parts 53 and pick-up and put-down grippers 54 are controlled separately.

[0084] like Figure 14 , Figure 15As shown, the feeding module 7 includes a feeding base 71, a feeding rotary table 72, a feeding horizontal moving part 73, a feeding vertical moving part 74, and a feeding gripper 75. The feeding base 71 is fixedly installed inside the sorting and dispensing needle module 13. The feeding rotary table 72 is installed on the upper end of the feeding base 71 and is used to drive the feeding horizontal moving part 73 to rotate. The feeding horizontal moving part 73 is used to drive the feeding vertical moving part 74 to move horizontally. The feeding vertical moving part 74 is used to drive the feeding gripper 75 to move vertically. The feeding rotary table 72 includes a feeding rotary table drive 721 and a feeding turntable 722. The feeding rotary table drive 721 is fixedly installed on the lower side of the upper end of the feeding base 71. The feeding base 71 is rotatably installed on the upper end of the feeding base 71. The feeding rotary table drive 721 is used to drive the feeding turntable 722 to rotate. The feeding transverse movement component 73 is fixedly installed on the feeding turntable 722, and includes a feeding transverse movement drive component 731, a feeding transverse movement block 732, and a feeding transverse movement sliding component 733. The feeding transverse movement drive component 731 drives the feeding transverse movement block 732 to move laterally, and the feeding transverse movement sliding component 733 is used to guide and stabilize the sliding of the feeding transverse movement block 732. The feeding transverse movement block 732 includes a feeding transverse movement timing belt 7321 and a feeding clamping transverse movement plate 7322. The feeding transverse movement timing belt 7321 is connected to the output end of the feeding transverse movement drive component 731 and drives the feeding clamping transverse movement plate 7322 to slide on the feeding transverse movement sliding component 733. The feeding vertical movement component 74 is provided in several groups and is fixedly installed on the feeding clamp transverse movement plate 7322. It includes a feeding vertical movement drive component 741, a feeding vertical movement block 742 and a feeding vertical movement sliding component 743. The feeding vertical movement drive component 741 drives the feeding vertical movement block 742 to move vertically, and the feeding vertical movement sliding component 743 is used for guiding and stabilizing the sliding of the feeding vertical movement block 742. The number of feeding grippers 75 is the same as that of feeding vertical moving parts 74, and they are fixedly installed on feeding vertical moving blocks 742; each set of feeding vertical moving parts 74 and each set of feeding grippers 75 are controlled separately. In this embodiment, two sets of feeding vertical movement components 74 and feeding grippers 75 are provided; the feeding rotary table drive component 721 and the feeding horizontal movement drive component 731 are motors, the feeding vertical movement drive component 741 is a cylinder, and the feeding horizontal movement sliding component 733 and the feeding vertical movement sliding component 743 are sliding rod and sliding sleeve assemblies; the feeding grippers 75 are driven by cylinders. Meanwhile, as those skilled in the art will know, the feeding rotary table drive component 721 and the feeding turntable 722 are connected by bearings or the like to ensure smooth rotation, and a positioning device is provided to reset and determine the rotation angle.

[0085] Example 6: This example, based on Example 5, discloses a feasible specific structure for the cleaning module 8 and the appearance inspection module 9 in a rotary needle sorting machine: like Figure 14 , Figure 16As shown, the cleaning module 8 includes a cleaning base 81, a cleaning rotary table 82, a cleaning vertical mover 84, and a cleaning component 85. The cleaning base 81 is fixedly installed inside the sorting and needle dispensing module 13. The cleaning rotary table 82 is installed on the upper end of the cleaning base 81. The cleaning vertical mover 84 is installed on one side of the cleaning base 81. The cleaning component 85 is installed on the cleaning vertical mover 84. The cleaning rotary table 82 is used to clamp the drill bit 10b so that the cleaning component 85 can clean the drill bit 10b. The cleaning rotary table 82 includes a cleaning rotary table drive 821, a cleaning turntable 822, and cleaning stations 823. The cleaning rotary table drive 821 is fixedly installed on the lower side of the upper end of the cleaning base 81. The cleaning turntable 822 is rotatably installed on the upper end of the cleaning base 81. The cleaning rotary table drive 821 is used to drive the cleaning turntable 822 to rotate. A plurality of cleaning stations 823 for clamping the drill bit 10b are evenly distributed on the outer periphery of the cleaning turntable 822. The cleaning vertical movement component 84 includes a cleaning vertical movement drive component 841, a cleaning vertical movement block 842, and a cleaning vertical movement slider 843. The cleaning vertical movement drive component 841 is used to drive the cleaning vertical movement block 842 to move up and down, and the cleaning vertical movement slider 843 is used to guide and stabilize the sliding of the cleaning vertical movement block 842. The cleaning component 85 includes a cleaning drive component 851, a cleaning transmission box 852, and a cleaning section 853. The cleaning transmission box 852 is fixedly mounted on the cleaning vertical moving block 842. The cleaning drive component 851 is located on one side of the cleaning transmission box 852, and the cleaning section 853 is located on the other side. The cleaning drive component 851 drives the cleaning transmission box 852 to move. The cleaning transmission box 852 converts the single-axis rotation of the cleaning drive component 851 into a double-axis rotation of opposing rolling and transmits it to the cleaning section 853, so that the two cleaning blocks of the cleaning section 853 can clean the drill bit 10b by rolling against each other. In order to prevent the dirt cleaned by the cleaning section 853 from polluting the environment, the cleaning component 85 also includes a dirt treatment component 854. The dirt treatment component 854 is fixedly mounted on the cleaning vertical moving block 842 and is used to collect and treat the dirt cleaned by the cleaning section 853.

[0086] To ensure full utilization of the cleaning section 853, the cleaning module 8 also includes a cleaning shifting component 83. The cleaning shifting component 83 is fixedly installed inside the sorting needle module 13 and located on one side of the cleaning base 81. It includes a cleaning shifting drive component 831, a cleaning shifting transmission rod 832, a cleaning shifting guide plate 833, a cleaning shifting guide rod 834, and a cleaning shifting seat plate 835. The cleaning shifting drive component 831 drives the cleaning shifting transmission rod 832 to rotate, and the rotation of the cleaning shifting transmission rod 832 causes the cleaning shifting guide plate 833 to move linearly. The cleaning shifting transmission rod 832 is arranged parallel to the cleaning section 853. The cleaning shift guide plate 833 is slidably mounted on the cleaning shift guide rod 834 on both sides. The cleaning shift seat plate 835 is fixedly mounted on the upper end of the cleaning shift guide plate 833 and moves together with the cleaning shift guide plate 833. The cleaning vertical moving member 84 is fixedly mounted on the cleaning shift seat plate 835. By moving the cleaning shift seat plate 835 in the cleaning shift member 83, the cleaning part 853 can be moved. This allows the cleaning part 853 to change its contact position with the drill bit 10b after the cleaning effect of the cleaning part 853 is reduced in one position, thereby maintaining the cleaning effect and making full use of the cleaning part 853 to avoid waste.

[0087] In this embodiment, the cleaning rotary seat drive 821, the cleaning position drive 831, the cleaning vertical movement drive 841, and the cleaning drive 851 are all motors. The cleaning vertical movement slider 843 is a slider and sleeve assembly. A bearing is provided between the cleaning base 81 and the cleaning turntable 822 for rotational connection. The cleaning rotary seat drive 821 drives the cleaning turntable 822 to rotate through gear meshing. The cleaning position transmission rod 832 and the cleaning position guide plate 833 achieve motion conversion through a ball screw pair.

[0088] like Figure 14 As shown, the appearance inspection module 9 includes an appearance inspection table 91 and an appearance inspection device 92. The appearance inspection table 91 is used to place the drill bit 10b and rotate the drill bit 10b. The appearance inspection device 92 is used to perform appearance inspection on the drill bit 10b on the appearance inspection table 91. To better handle drill bits 10b with defects in appearance inspection, the appearance inspection module 9 also includes a defective flow channel 93 and a defective storage tank 94. The inlet of the defective flow channel 93 is located near the appearance inspection table 91 to shorten the stroke when the feeding module 7 discards the drill bits 10b and improve efficiency. The outlet of the defective flow channel 93 is located at the upper end of the defective storage tank 94, which is used to temporarily store the drill bits 10b with defects in appearance.

[0089] In this embodiment, the defective appearance storage box 94 is located on the side of the sorting needle module 13. In other embodiments of the present invention, the defective appearance storage box 94 and the scrap storage box 18 may be the same.

[0090] Based on the present invention, the entire process of sorting and dispensing needles in the sorting and dispensing module 13 relies on the control system, such as Figure 2 As shown, this application also identifies a frame 131, a control module 132, and a status display module 133. The frame 131 is used to provide mounting positions and support for other components in the sorting needle dispensing module 13; the control module 132 is used to programmatically control the operation of the entire module; and the status display module 133 is used to indicate the operating status of the sorting needle dispensing module 13.

[0091] To better understand the connection method between the needle box 10 and the carrier 10a in this invention, as follows: Figure 11 , Figure 12 As shown in the diagram, the present invention is marked with a needle box 10 having a needle box fixing groove 101 and a needle box positioning hole 102 on one side. A snap-fit ​​spring piece 10a1 and a carrier positioning post 10a2 are provided on one side of the carrier 10a. The snap-fit ​​spring piece 10a1 engages with the needle box fixing groove 101 to fix the position of the needle box 10. The elasticity of the snap-fit ​​spring piece 10a1 facilitates the loading and unloading of the needle box 10. Simultaneously, the needle box positioning hole 102 and the carrier positioning post 10a2 prevent mistaken loading of the needle box 10. Based on this structure, the loading and unloading of the needle box 10 and the carrier 10a can be automated.

[0092] The main technical features, basic principles, and related advantages of the present invention have been described above. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the concept or basic characteristics of the invention. Therefore, the above-described embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

[0093] Furthermore, it should be understood that although this specification describes various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A rotary needle sorting machine, comprising a sorting and needle-dispensing device (1), which includes, from front to back: The device comprises a tool magazine (11), a first robotic arm (12), a sorting and needle-matching module (13), a second robotic arm (14), and a third-party rack (15). The tool magazine (11) stores drill bits (10b) of various models categorized by needle boxes (10). The first robotic arm (12) transfers needle boxes (10) between the tool magazine (11) and the sorting and needle-matching module (13). The sorting and needle-matching module (13) performs needle-matching or sorting operations on the drill bits (10b). The second robotic arm (14) transfers a carrier (10a) loaded with several needle boxes (10) between the sorting and needle-matching module (13) and the third-party rack (15). The third-party rack (15) temporarily stores carriers (10a) that need to be sorted or have already been matched with needles. Its features include: The sorting and needle distribution module (13) is equipped with a receiving and dispatching component (2), a large tray component (3), a gantry gripping component (4), a pick-and-place module (5), and a dual-station module (6). The sorting and needle distribution module (13) is arranged in a left-right layout with two sets of large tray components (3), pick-and-place modules (5), and dual-station modules (6). The sorting process is carried out on the left side, and the needle distribution process is carried out on the right side. The transceiver assembly (2) is located on the side near the tool magazine (11) and is used for transferring or temporarily storing the needle box (10); The large tray assembly (3) is located inside the sorting and needle dispensing module (13). The needle box (10) can be placed on the outer side of the upper end of the large tray assembly (3) and can be rotated according to the position of the needle box (10). The gantry gripping component (4) is located above the large disk component (3) and close to the transceiver component (2) for transferring the needle box (10) between the transceiver component (2) and the large disk component (3); The pick-and-place module (5) is located on the side above the large disk assembly (3) away from the transceiver assembly (2), and is used to pick up or place the drill bit (10b) back and forth in the needle box (10) on the large disk assembly (3) and in the needle box (10) on the carrier (10a) of the dual station module (6). The dual-station module (6) is located on the side near the third-party material rack (15) and is used to quickly switch the positions of the two station carriers (10a).

2. The rotary needle sorting machine according to claim 1, characterized in that, The sorting and needle-dispensing module (13) is also equipped with a feeding module (7), a cleaning module (8), an appearance inspection module (9), a scrap port (16), a scrap flow channel (17), and a scrap storage box (18); The cleaning module (8) is located on the left side of the left dual-station module (6) and is used to clean the drill bit (10b); The appearance inspection module (9) is located on one side of the cleaning module (8) and is used to inspect the size, wear condition and surface defects of the drill bit (10b); The feeding module (7) is located on one side of the appearance inspection module (9) and is used to transfer the drill bit (10b) from the cleaning module (8) to the appearance inspection module (9), or to transfer the drill bit (10b) from the appearance inspection module (9) to the needle box (10) on the left large plate assembly (3), or to remove and discard the drill bit (10b) with poor appearance from the appearance inspection module (9); The scrap port (16) is located on one side of the dual-station module (6) on the left side. The upper end of the scrap flow channel (17) is connected to the lower end of the scrap port (16). A scrap storage box (18) is provided at the lower end of the scrap flow channel (17).

3. A rotary needle sorting machine according to claim 2, characterized in that, The large disk assembly (3) includes a large disk drive component (31), a large disk connector (32), a rotating outer disk (33), and a fixed core disk (34). The fixed core disk (34) is fixedly installed inside the sorting and dispensing needle module (13). The rotating outer disk (33) is rotatably connected to the upper outer side of the fixed core disk (34). The large disk connector (32) is connected to the lower part of the rotating outer disk (33). The large disk connector (32) is driven to rotate by the large disk drive component (31), which will drive the rotating outer disk (33) to rotate. The needle box (10) is placed on the rotating outer disk (33) of the large disk assembly (3). A positioning part (331) is provided at the upper end of the rotating outer disk (33) for fixing the position of the needle box (10). A large disk sliding component (35) is also provided between the rotating outer disk (33) and the fixed core disk (34). The large disk assembly (3) also includes a card holder (36) and a pressing box (37). The card holder (36) is located inside the rotating outer disk (33) at the gripping position of the pick-and-place module (5), and includes a card holder drive (361) and a card head (362). The card holder drive (361) is fixedly located on the upper end of the fixed core disk (34), and the card head (362) is located at the output end of the card holder drive (361). Under the drive of the card holder drive (361), the card head (362) can clamp or release the needle box (10) at the corresponding position. The pressing box (37) is located outside the rotating outer disk (33) at the gripping position of the pick-and-place module (5), and can restrict the needle box (10) at the corresponding position of the rotating outer disk (33) from moving upward. The large disk assembly (3) is also provided with a positioning component (38), one end of which is installed on the rotating outer disk (33) and the other end is installed on the fixed core disk (34), for resetting the rotating outer disk (33) and monitoring the rotation position.

4. A rotary needle sorting machine according to claim 3, characterized in that, The dual-station module (6) includes a rotary drive (61), a rotating plate (62), a support column (63), and a positioning column (64). The rotary drive (61) is fixedly installed inside the sorting needle module (13). The output end of the rotary drive (61) is connected to the rotating plate (62). The rotating plate (62) is provided with a support column (63) and a positioning column (64). The support column (63) is used to support the carrier (10a) placed on it, and the positioning column (64) is used to position the carrier (10a) placed on it.

5. A rotary needle sorting machine according to claim 4, characterized in that, The receiving and sending component (2) includes a pick-and-place platform (21), a non-full needle box buffer area (22), and an empty box buffer area (23). The pick-and-place platform (21) is used to temporarily store needle boxes (10) that need to be transferred to the large disk component (3) or the tool magazine (11). The first robotic arm (12) and the gantry gripping component (4) can pick up and place needle boxes (10) on the pick-and-place platform (21). The non-full needle box buffer area (22) is used to temporarily store needle boxes (10) that are not full of needles, so as to realize the quick retrieval of needle boxes (10) that are not full of needles. The empty box buffer area (23) is used to temporarily store empty needle boxes (10), so as to realize the quick retrieval of empty needle boxes (10) from the large disk component (3) to the empty box buffer area (23) or the quick retrieval of empty box buffer area (23) to the large disk component (3) for sorting process.

6. A rotary needle sorting machine according to claim 5, characterized in that, The gantry gripping assembly (4) includes a gantry horizontal movement component (41), a gantry vertical movement component (42), a gantry vertical movement component (43), a gantry gripper (44), and a gantry base (45); the gantry base (45) is fixedly installed inside the sorting and needle dispensing module (13), the gantry horizontal movement component (41) is fixedly installed on the gantry base (45) and is used to drive the gantry vertical movement component (42) to move horizontally, the gantry vertical movement component (42) is used to drive the gantry vertical movement component (43) to move vertically, the gantry vertical movement component (43) is used to drive the gantry gripper (44) to move vertically, and the gantry gripper (44) is used to grip the needle box (10); The gantry traverse component (41) includes a gantry traverse drive component (411), a gantry traverse block (412), and a gantry traverse slider component (413). The gantry traverse drive component (411) drives the gantry traverse block (412) to move laterally, and the gantry traverse slider component (413) is used for guiding and stabilizing the sliding of the gantry traverse block (412). The gantry traverse block (412) includes a gantry traverse timing belt (4121) and a gantry clamping traverse plate (4122). The gantry traverse timing belt (4121) is connected to the output end of the gantry traverse drive component (411) and drives the gantry clamping traverse plate (4122) to slide on the gantry traverse slider component (413). The gantry longitudinal moving component (42) is fixedly installed on the gantry clamp transverse moving plate (4122), including the gantry longitudinal moving drive component (421), the gantry longitudinal moving block (422) and the gantry longitudinal moving sliding component (423). The gantry longitudinal moving drive component (421) drives the gantry longitudinal moving block (422) to move longitudinally, and the gantry longitudinal moving sliding component (423) is used for guiding and stabilizing the sliding of the gantry longitudinal moving block (422). The gantry vertical moving component (43) is fixedly installed on the gantry longitudinal moving block (422), including the gantry vertical moving drive component (431), the gantry vertical moving block (432) and the gantry vertical moving sliding component (433). The gantry vertical moving drive component (431) drives the gantry vertical moving block (432) to move vertically, and the gantry vertical moving sliding component (433) is used for guiding and stabilizing the sliding of the gantry vertical moving block (432). The gantry gripper (44) is fixedly installed on the gantry vertical moving block (432).

7. A rotary needle sorting machine according to claim 6, characterized in that, The pick-and-place module (5) includes a pick-and-place horizontal moving part (51), a pick-and-place vertical moving part (52), a pick-and-place vertical moving part (53), and pick-and-place grippers (54); the pick-and-place horizontal moving part (51) is used to drive the pick-and-place vertical moving part (52) to move horizontally, the pick-and-place vertical moving part (52) is used to drive the pick-and-place vertical moving part (53) to move vertically, the pick-and-place vertical moving part (53) is provided with several sets, which are used to drive several sets of pick-and-place grippers (54) to move vertically, and the pick-and-place grippers (54) are used to grip the drill bit (10b); The pick-and-place lateral movement component (51) is fixedly installed inside the sorting needle module (13) by a bracket, including a pick-and-place lateral movement drive component (511), a pick-and-place lateral movement block (512), and a pick-and-place lateral movement slider (513); the pick-and-place lateral movement drive component (511) drives the pick-and-place lateral movement block (512) to move laterally, and the pick-and-place lateral movement slider (513) is used to guide and stabilize the sliding of the pick-and-place lateral movement block (512); the pick-and-place lateral movement block (512) includes a pick-and-place lateral movement timing belt (5121) and a pick-and-place clamping lateral movement plate (5122), the pick-and-place lateral movement timing belt (5121) is connected to the output end of the pick-and-place lateral movement drive component (511), and drives the pick-and-place clamping lateral movement plate (5122) to slide on the pick-and-place lateral movement slider (513); The pick-and-place longitudinal shifting component (52) is fixedly installed on the pick-and-place clamping transverse shifting plate (5122), and includes a pick-and-place longitudinal shifting drive component (521), a pick-and-place longitudinal shifting block (522), and a pick-and-place longitudinal shifting sliding component (523); the pick-and-place longitudinal shifting drive component (521) drives the pick-and-place longitudinal shifting block (522) to move longitudinally, and the pick-and-place longitudinal shifting sliding component (523) is used for guiding and stabilizing the sliding of the pick-and-place longitudinal shifting block (522); the pick-and-place longitudinal shifting block (522) includes a pick-and-place longitudinal shifting synchronous belt (5221) and a pick-and-place clamping longitudinal shifting plate (5222), the pick-and-place longitudinal shifting synchronous belt (5221) is connected to the output end of the pick-and-place longitudinal shifting drive component (521), and drives the pick-and-place clamping longitudinal shifting plate (5222) to slide on the pick-and-place longitudinal shifting sliding component (523); The pick-and-place vertical moving component (53) is fixedly installed on the pick-and-place clamping longitudinal moving plate (5222), including the pick-and-place vertical moving drive component (531) and the pick-and-place vertical moving slider (532). The pick-and-place vertical moving drive component (531) drives the pick-and-place vertical moving slider (532) to slide. The pick-and-place gripper (54) is fixedly installed on the pick-and-place vertical sliding block (532); The pick-and-place module (5) is also equipped with a pick-and-place detection head (55). The number of pick-and-place detection heads (55) is the same as the number of pick-and-place grippers (54). The pick-and-place grippers (54) are fixedly installed on the pick-and-place clamping longitudinal transfer plate (5222).

8. A rotary needle sorting machine according to claim 7, characterized in that, The feeding module (7) includes a feeding base (71), a feeding turntable (72), a feeding transverse component (73), a feeding vertical component (74), and a feeding gripper (75); the feeding base (71) is fixedly installed inside the sorting needle module (13), the feeding turntable (72) is installed on the upper end of the feeding base (71) and is used to drive the feeding transverse component (73) to rotate, the feeding transverse component (73) is used to drive the feeding vertical component (74) to move horizontally, and the feeding vertical component (74) is used to drive the feeding gripper (75) to move vertically; The loading rotary table (72) includes a loading rotary table drive (721) and a loading turntable (722). The loading rotary table drive (721) is fixedly installed on the lower side of the upper end of the loading base (71). The loading base (71) is rotatably installed on the upper end of the loading base (71). The loading rotary table drive (721) is used to drive the loading turntable (722) to rotate. The feeding transverse component (73) is fixedly installed on the feeding turntable (722) and includes a feeding transverse drive component (731), a feeding transverse block (732), and a feeding transverse sliding component (733). The feeding transverse drive component (731) drives the feeding transverse block (732) to move laterally, and the feeding transverse sliding component (733) is used to guide and stabilize the sliding of the feeding transverse block (732). The feeding transverse block (732) includes a feeding transverse synchronous belt (7321) and a feeding clamping transverse plate (7322). The feeding transverse synchronous belt (7321) is connected to the output end of the feeding transverse drive component (731) and drives the feeding clamping transverse plate (7322) to slide on the feeding transverse sliding component (733). The feeding vertical movement component (74) is provided in several groups and is fixedly installed on the feeding clamp transverse movement plate (7322). It includes a feeding vertical movement drive component (741), a feeding vertical movement block (742) and a feeding vertical movement sliding component (743). The feeding vertical movement drive component (741) drives the feeding vertical movement block (742) to move vertically, and the feeding vertical movement sliding component (743) is used for guiding and stabilizing the sliding of the feeding vertical movement block (742). The number of feeding grippers (75) is the same as that of the feeding vertical moving parts (74), and they are fixedly installed on the feeding vertical moving block (742); Each set of vertical feeding components (74) and each set of feeding grippers (75) are controlled separately.

9. A rotary needle sorting machine according to claim 8, characterized in that, The cleaning module (8) includes a cleaning base (81), a cleaning rotary table (82), a cleaning vertical mover (84), and a cleaning component (85). The cleaning base (81) is fixedly installed inside the sorting needle module (13). The cleaning rotary table (82) is installed on the upper end of the cleaning base (81). The cleaning vertical mover (84) is installed on one side of the cleaning base (81). The cleaning component (85) is installed on the cleaning vertical mover (84). The cleaning rotary table (82) is used to hold the drill bit (10b) so that the cleaning component (85) can clean the drill bit (10b). The cleaning rotary table (82) includes a cleaning rotary table drive (821), a cleaning turntable (822), and cleaning stations (823). The cleaning rotary table drive (821) is fixedly installed on the lower side of the upper end of the cleaning base (81). The cleaning turntable (822) is rotatably installed on the upper end of the cleaning base (81). The cleaning rotary table drive (821) is used to drive the cleaning turntable (822) to rotate. A number of cleaning stations (823) for clamping drill bits (10b) are evenly distributed on the outer periphery of the cleaning turntable (822). The cleaning vertical movement component (84) includes a cleaning vertical movement drive component (841), a cleaning vertical movement block (842), and a cleaning vertical movement slider component (843). The cleaning vertical movement drive component (841) is used to drive the cleaning vertical movement block (842) to move up and down, and the cleaning vertical movement slider component (843) is used to guide and stabilize the sliding of the cleaning vertical movement block (842). The cleaning component (85) includes a cleaning drive component (851), a cleaning transmission box (852), and a cleaning section (853). The cleaning transmission box (852) is fixedly mounted on the cleaning vertical moving block (842). The cleaning drive component (851) is provided on one side of the cleaning transmission box (852), and the cleaning section (853) is provided on the other side. The cleaning drive component (851) drives the cleaning transmission box (852) to move. The cleaning transmission box (852) converts the single-axis rotation of the cleaning drive component (851) into a double-axis rotation of opposing rolling and transmits it to the cleaning section (853), so that the two cleaning blocks of the cleaning section (853) can achieve cleaning of the drill bit (10b) by rolling against each other. The cleaning component (85) also includes a dirt treatment component (854), which is fixedly mounted on the cleaning vertical moving block (842) and is used to collect and treat the dirt cleaned by the cleaning section (853). The cleaning module (8) also includes a cleaning shifting component (83), which is fixedly installed inside the sorting needle module (13) and located on one side of the cleaning base (81). The cleaning shifting component (83) includes a cleaning shifting drive component (831), a cleaning shifting transmission rod (832), a cleaning shifting guide plate (833), a cleaning shifting guide rod (834), and a cleaning shifting seat plate (835). The cleaning shifting drive component (831) drives the cleaning shifting transmission rod (832) to rotate. The rotating rod (832) drives the cleaning shift guide plate (833) to move linearly. The cleaning shift transmission rod (832) is set parallel to the cleaning part (853). The cleaning shift guide plate (833) is slidably set on the cleaning shift guide rod (834) on both sides. The cleaning shift seat plate (835) is fixedly installed on the upper end of the cleaning shift guide plate (833) and moves together with the cleaning shift guide plate (833). The cleaning vertical moving part (84) is fixedly installed on the cleaning shift seat plate (835).

10. A rotary needle sorting machine according to claim 9, characterized in that, The appearance inspection module (9) includes an appearance inspection table (91) and an appearance inspection device (92). The appearance inspection table (91) is used to place the drill bit (10b) and rotate the drill bit (10b). The appearance inspection device (92) is used to perform appearance inspection on the drill bit (10b) on the appearance inspection table (91). The appearance inspection module (9) also includes an appearance defect flow channel (93) and an appearance defect storage tank (94). The inlet of the appearance defect flow channel (93) is located near the appearance inspection station (91), and the outlet of the appearance defect flow channel (93) is located at the upper end of the appearance defect storage tank (94). The appearance defect storage tank (94) is used to temporarily store the drill bit (10b) with appearance defects.

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