A sorting robot

Abstract

The application relates to the technical field of mechanical hand sorting, in particular to a sorting mechanical arm which comprises a fixing frame, a mechanical arm is slidably arranged on the fixing frame in a vertical direction, mounting boxes are integrally formed at the left and right ends of the mechanical arm, the mounting boxes are hollow inside, one end of the two mounting boxes is in an open shape, adjusting plates are rotatably arranged in the mounting boxes, the adjusting plates are arranged in a horizontal direction, first clamps and second clamps are arranged on the left and right sides of the adjusting plates respectively, the first clamps and the second clamps are used for grabbing workpieces of different shapes, and cooling boxes are additionally arranged in the mounting boxes and used for cooling and cooling the driving parts of the first clamps or the second clamps. The application aims to simplify the whole taking and placing process of the workpieces and improve the taking and placing efficiency of the workpieces.

Description

Technical Field

[0001] This application relates to the field of robotic arm sorting technology, and in particular to a sorting robotic arm. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks. In terms of structure and performance, it combines the advantages of both humans and machines. The robotic arm is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize the mechanization and automation of production and is widely used in machinery manufacturing, metallurgy, electronics, and light industry.

[0003] In current technologies, robotic arms typically carry only one type of gripper, making it impossible to grasp workpieces of different shapes. When the gripper on the robotic arm encounters a workpiece whose shape is incompatible, the gripper must be changed. This necessitates repeated gripper changes when feeding workpieces of different shapes, resulting in an extremely cumbersome and inefficient workpiece handling process, which is detrimental to the simultaneous feeding of workpieces of different shapes. Summary of the Invention

[0004] This application provides a sorting robotic arm, the purpose of which is to optimize the grippers on the robotic arm so that the robotic arm can grasp workpieces of different shapes. When workpieces of different shapes are fed at the same time, it is not necessary to repeatedly change the grippers on the robotic arm, which helps to simplify the entire workpiece picking and placing process and improve the efficiency of workpiece picking and placing.

[0005] This application provides a sorting robotic arm, which adopts the following technical solution: A sorting robotic arm includes a fixed frame on which the robotic arm is slidably mounted vertically. Each end of the robotic arm has an integrally formed mounting box, the mounting boxes being hollow inside, with one end of each mounting box being open. An adjusting plate is rotatably mounted inside each mounting box, the adjusting plate being horizontally positioned. A first clamp and a second clamp are respectively mounted on the left and right sides of the adjusting plate, the first clamp and the second clamp being used to grip workpieces of different shapes. A cooling box is also provided inside the mounting box, the cooling box being used to cool the driving parts of the first clamp or the second clamp.

[0006] By adopting the above technical solution, a first clamp and a second clamp are added to the end of the robotic arm, enabling the robotic arm to grasp both round and square workpieces. When both round and square workpieces are being fed at the same time, it is not necessary to repeatedly change the clamps on the robotic arm, which helps to simplify the entire workpiece handling process and improve the efficiency of workpiece handling.

[0007] Preferably, a first motor is mounted on the top of the fixing frame, with the drive end of the first motor facing vertically downwards. A lead screw is mounted vertically at the drive end of the first motor, and a lifting seat is integrally connected to the back of the robotic arm. The lifting seat is threaded around the lead screw. A second motor is tightly fitted inside the mounting box, with the drive end of the second motor facing vertically upwards. A first rotating shaft is mounted vertically at the drive end of the second motor, and the end of the first rotating shaft away from the second motor is integrally connected to the bottom of the adjusting plate.

[0008] By adopting the above technical solution, when the height of the robotic arm needs to be adjusted, the first motor is turned on. Simultaneously, the first motor drives the lead screw to rotate, and the lifting seat slides vertically, thereby causing the robotic arm to slide vertically. At the same time, guide rods are installed vertically between the left and right ends of the lifting seat and the top of the fixed frame. These guide rods guide the sliding of the lifting seat, improving its stability in the vertical direction. The second motor and the first rotating shaft are used to rotate the adjustment plate within the mounting box.

[0009] Preferably, an adjustment mechanism is provided on the adjustment plate, which is used to adjust the shape and size of the first clamp and the second clamp; the adjustment mechanism includes a first adjustment component and a second adjustment component, a drive gear is rotatably mounted on the top of the adjustment plate, the first adjustment component and the second adjustment component are distributed on the left and right sides of the drive gear, and the drive gear is used to drive the first adjustment component to adjust the size of the first clamp and the second adjustment component to adjust the size of the second clamp; Two support plates are fixed horizontally to the top of the adjusting plate, with the two support plates spaced apart on the top of the adjusting plate. A second rotating shaft is installed horizontally between the two support plates, and the drive gear is integrally sleeved on the second rotating shaft. A knob is installed on the side wall of one of the support plates, and one end of the second rotating shaft is connected to the knob. The knob is used to drive the second rotating shaft and the drive gear to rotate within the mounting box. Half of the drive gear's circumference is toothed, and the other half is smooth.

[0010] By adopting the above technical solution, the first and second clamps can be adapted to workpieces of different specifications and models, which helps to improve the overall adaptability of the robotic arm. When facing workpieces of different specifications and models, it is not necessary to replace the first or second clamps, which further improves the efficiency of the robotic arm in grasping workpieces.

[0011] Preferably, the first adjustment assembly includes a first rack, a first adapter plate, a first drive block, and two connecting plates; the first rack is mounted horizontally on the top of the adjustment plate and meshes with the drive gear; the first adapter plate is mounted vertically on the adjustment plate, the sidewall of the first adapter plate is integrally connected to the first rack, and the side of the first adapter plate away from the first rack is integrally connected to the first drive block; the left and right ends of the first drive block are wedge-shaped; the two connecting plates are distributed at the left and right ends of the first drive block, and the two connecting plates respectively engage with the left and right ends of the first drive block in a wedge shape; one end of the connecting plate is wedge-shaped and engages with the corresponding end of the first drive block in a wedge shape; the other end of the connecting plate is integrally connected to the first clamp.

[0012] By adopting the above technical solution, specifically when adjusting the size of the first clamp, the operator reaches into the mounting box and rotates the knob to drive the drive gear to rotate. In this state, the teeth on the drive gear face downwards. During the rotation, the drive gear meshes with the first rack, driving the first rack to slide on the adjustment plate towards or away from the first clamp.

[0013] When the first rack slides towards the first clamp, it simultaneously drives the first adapter plate and the first drive block to slide towards the first clamp. When the first drive block slides towards the first clamp, its left and right ends engage with the two connecting blocks in a wedge shape. At this time, the two connecting plates slide away from each other, which in turn drives the two clamping plates of the first clamp to slide away from each other. At this time, the size of the first clamp increases, enabling it to clamp and grasp larger square workpieces.

[0014] Conversely, when the first rack slides away from the first clamp, the size of the first clamp becomes smaller, enabling it to clamp and grasp smaller square workpieces.

[0015] Preferably, support boxes are fixed at both ends of the top of the adjusting plate, and the ends of the two support plates are respectively fixed to the outer wall between the two support boxes. A fixing box is provided inside the support box, and the two connecting plates are located inside the fixing box. A first return spring is installed horizontally between the side of the two connecting plates that is far away from each other and the inner wall of the fixing box. A receiving plate is sleeved between the two connecting plates. The receiving plate is located at the end of the fixing box. Sliding grooves for the two connecting plates to slide are opened on the left and right sides of the receiving plate. A second return spring is installed between the side wall of the first driving block and the receiving plate.

[0016] By adopting the above technical solution, the first return spring provides stable support to the connecting plate while assisting the connecting plate in effective reset. The second return spring provides stable support to the first driving block while assisting the first driving block in effective reset.

[0017] Preferably, the second adjustment assembly includes a second rack, a second adapter plate, a second drive block, and two drive plates; the second rack is horizontally arranged and located above the first rack, and the second rack is meshed with the drive gear; the second adapter plate is mounted vertically on the adjustment plate, the side wall of the second adapter plate is integrally connected to the second rack, and the side of the second adapter plate away from the second rack is integrally connected to the second drive block; the left and right ends of the second drive block are wedge-shaped, and the two drive plates are distributed at the left and right ends of the second drive block, respectively engaging with the wedge-shaped left and right ends of the second drive block; The drive plate includes a first plate and a second plate. The first plate is hollow inside, and the second plate extends into the first plate. The end of the first plate away from the second plate is wedge-shaped and engages with one end of the second drive block. One end of the second plate extends into the first plate, and the other end of the second plate abuts against the second clamp. A drive spring is installed inside the first plate. One end of the drive spring is connected to the inner wall of the first plate, and the other end of the drive spring is integrally connected to the second plate. The drive spring is used to drive the second plate to extend and retract within the first plate.

[0018] By adopting the above technical solution, when the second rack slides towards the direction of the second clamp, the second rack simultaneously drives the second adapter plate and the second drive block to slide towards the direction of the second clamp. When the second drive block slides towards the direction of the second clamp, the left and right ends of the second drive block respectively engage with the two first plates in a wedge shape. At this time, the two first plates slide away from each other, and then drive the corresponding two second plates to slide away from each other through the two first plates.

[0019] Because the second clamp is arc-shaped, when the two second plates slide away from each other, that is, they slide towards both ends of the second clamp. During this process, due to the arc shape of the second clamp, as the second plates slide towards the ends of the second clamp, the drive spring gradually releases its elastic force, pushing the second plates away from the first plate. As the second plates slide away from the first plate, they press down on the second clamp, thereby adjusting the overall curvature of the second clamp. This increases the curvature of the second clamp, enabling it to grip workpieces with smaller diameters.

[0020] Preferably, the cooling box is vertically fastened to the top of the adjusting plate, the cooling box is located on the same side of the first rack and the second rack, the cooling box is filled with corresponding cooling gas, the top of the cooling box has a corresponding gas inlet, the upper and lower ends of the cooling box near the first rack and the second rack are provided with first vent holes, the first rack and the second rack are provided with second vent holes, and the cooling box is connected to the first rack and the second rack through the first vent holes and the second vent holes.

[0021] By adopting the above technical solution, after the cooling box is connected to the first and second racks, the cold air in the cooling box flows into the corresponding first or second rack. At the same time, multiple through holes are opened in the tooth grooves of the first and second racks. The cold air flowing into the first and second racks is kept in communication with the teeth of the drive gear through these through holes. Thus, the teeth of the drive gear effectively cool down the drive gear, the first rack, and the second rack during the meshing process between them.

[0022] Preferably, a driven rack is integrally formed on the top of the second rack along its length direction. A third rotating shaft is inserted horizontally on the side of the cooling box near the second rack. One end of the third rotating shaft extends out of the cooling box, and the other end is located inside the cooling box. A driven gear is integrally fitted on the third rotating shaft. The driven gear is vertically arranged and meshes with the driven rack. A fan blade is integrally fitted at the end of the third rotating shaft located in the cooling box. The fan blade is located at the air inlet of the cooling box.

[0023] The purpose of adopting the above technical solution is that the air temperature inside the cooling box, especially in the area near the cooling inlet, is lower than in other areas. If the air in these areas does not circulate, it forms so-called "low-temperature static air," which makes it easier for water vapor in the air to reach the dew point temperature and condense into water droplets. By adding fan blades to the air inlet of the cooling box, the rotating blades can agitate the cold air at the air inlet, effectively promoting airflow and reducing the presence of low-temperature static air. At the same time, agitation promotes airflow within the cooling box, helping to mix the cooler air near the cooling system with the warmer air inside the box, thereby improving the temperature uniformity of the entire space. Furthermore, agitation accelerates the diffusion of water vapor within the cooling space, reducing the water vapor concentration in specific areas and thus lowering the likelihood of condensation.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. The first and second clamps can be adapted to workpieces of different specifications and models, which helps to improve the overall adaptability of the robotic arm. When facing workpieces of different specifications and models, there is no need to replace the first or second clamp, which further improves the efficiency of the robotic arm in grasping workpieces. 2. After the cooling box is connected to the first and second racks, the cold air in the cooling box flows into the corresponding first or second rack. At the same time, multiple through holes are opened in the tooth grooves of the first and second racks. The cold air flowing into the first and second racks is connected to the teeth of the drive gear through these through holes. Thus, the teeth of the drive gear effectively cool down the drive gear, the first rack, and the second rack during the meshing process between them. 3. By adding fan blades to the air inlet of the cooling box, the rotating blades agitate the cold air at the air inlet, effectively promoting airflow and reducing the presence of low-temperature static air. Simultaneously, the agitation promotes airflow within the cooling box, helping to mix the cooler air near the cooling system with the warmer air inside the box, thereby improving temperature uniformity throughout the space. Furthermore, agitation accelerates the diffusion of water vapor within the cooling space, reducing the concentration of water vapor in specific areas and thus lowering the likelihood of condensation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 This is a schematic diagram illustrating the structural relationship between the adjustment plate, the first clamp, the second clamp, the cooling box, the second motor, the first rotating shaft, the drive gear, the support plate, and the second rotating shaft in a specific embodiment of this application. Figure 3This is a structural schematic diagram illustrating the positional relationship between the driven rack, the third rotating shaft, and the driven gear in this embodiment of the application. Figure 4 This is a structural schematic diagram illustrating the positional relationship between the first reset spring, the second adapter plate, and the second drive block in a specific embodiment of this application; Figure 5 This is a structural schematic diagram illustrating the positional relationship between the first plate, the second plate, and the drive spring in a specific embodiment of this application; Figure 6 This is a structural schematic diagram illustrating the positional relationship between the third rotating shaft and the driven gear in a specific embodiment of this application; Figure 7 This is a structural schematic diagram illustrating the positional relationship between the first vent hole and the fan blade in a specific embodiment of this application.

[0026] Reference numerals: 1. Fixture; 2. Robotic arm; 3. Mounting box; 4. Adjustment plate; 5. First clamp; 6. Second clamp; 7. Cooling box; 8. First motor; 9. Lead screw; 10. Lifting seat; 11. Second motor; 12. First rotating shaft; 13. Drive gear; 14. Support plate; 15. Second rotating shaft; 16. Knob; 17. First rack; 18. First adapter plate; 19. First drive block; 20. Connecting plate; 21. 21. Support box; 22. Fixing box; 23. First return spring; 24. Receiving plate; 25. Slide groove; 26. Second return spring; 27. Second rack; 28. Second adapter plate; 29. ​​Second drive block; 30. Drive plate; 301. First plate; 302. Second plate; 31. Drive spring; 32. First vent hole; 33. Second vent hole; 34. Driven rack; 35. Third rotating shaft; 36. Driven gear; 37. Fan blade. Detailed Implementation

[0027] The following is in conjunction with the appendix Figure 1 - Appendix Figure 7 This application will be described in further detail below.

[0028] Example: This application discloses a sorting robotic arm, referring to... Figure 1 and Figure 2 The system includes a fixed frame 1, which has a square frame structure. A robotic arm 2 is vertically mounted on the fixed frame 1. Mounting boxes 3 are integrally formed at both ends of the robotic arm 2. The mounting boxes 3 are hollow inside, with one end of each mounting box 3 being open. An adjusting plate 4 is rotatably mounted inside the mounting box 3. The adjusting plate 4 is horizontally oriented and can rotate in the horizontal direction. A first clamp 5 and a second clamp 6 are respectively mounted on the left and right sides of the adjusting plate 4. The first clamp 5 is used to grip square workpieces, and the second clamp 6 is used to grip round workpieces.

[0029] When a square workpiece needs to be gripped, the adjusting plate 4 is rotated inside the mounting box 3 so that the first clamp 5 faces the opening of the mounting box 3, and then the square workpiece is gripped by the two first clamps 5. When a round workpiece needs to be gripped, the adjusting plate 4 is rotated inside the mounting box 3 so that the second clamp 6 faces the opening of the mounting box 3, and then the round workpiece is gripped by the two second clamps 6.

[0030] At the same time, refer to Figure 1 , Figure 2 as well as Figure 3 The mounting box 3 is also equipped with a cooling box 7. When the first clamp 5 or the second clamp 6 grips the corresponding workpiece, the cooling box 7 is used to cool down the driving part of the first clamp 5 or the second clamp 6, thereby effectively avoiding the adverse effect of the high temperature of the driving part of the first clamp 5 or the second clamp 6 on the gripping of the workpiece during long-term driving.

[0031] This configuration, by adding a first clamp 5 and a second clamp 6 to the end of the robotic arm 2, enables the robotic arm 2 to grasp both round and square workpieces. Thus, when both round and square workpieces are being fed simultaneously, it is not necessary to repeatedly change the clamps on the robotic arm 2, thereby simplifying the entire workpiece handling process and improving the efficiency of workpiece handling.

[0032] Specifically, during assembly, when the first clamp 5 or the second clamp 6 rotates to the opening of the mounting box 3, the ends of the first clamp 5 or the second clamp 6 extend out of the mounting box 3. This is done to effectively prevent the ends of the mounting box 3 from interfering with the first clamp 5 or the second clamp 6 when gripping the workpiece, thereby ensuring that the first clamp 5 or the second clamp 6 can smoothly grip the corresponding workpiece.

[0033] Specifically, refer to Figure 1 A first motor 8 is mounted on the top of the fixed frame 1, with its drive end pointing vertically downwards. A lead screw 9 is vertically mounted on the drive end of the first motor 8. A lifting seat 10 is integrally connected to the back of the robotic arm 2, and the lifting seat 10 is threaded around the lead screw 9. When the height of the robotic arm 2 needs to be adjusted, the first motor 8 is turned on. Simultaneously, the first motor 8 drives the lead screw 9 to rotate, and the lifting seat 10 slides vertically, thereby driving the robotic arm 2 to slide vertically. At the same time, guide rods are vertically mounted between the left and right ends of the lifting seat 10 and the top of the fixed frame 1. These guide rods guide the sliding of the lifting seat 10, improving its stability in the vertical direction.

[0034] Specifically, refer to Figure 1 and Figure 2 A second motor 11 is secured inside the mounting box 3 by fastening bolts. The drive end of the second motor 11 faces vertically upwards, and a first rotating shaft 12 is mounted vertically at the drive end of the second motor 11. The end of the first rotating shaft 12 away from the second motor 11 is integrally connected to the bottom of the adjusting plate 4. The second motor 11 and the first rotating shaft 12 are used to achieve the rotation of the adjusting plate 4 within the mounting box 3.

[0035] Furthermore, an adjustment mechanism is added to the adjustment plate 4. The adjustment mechanism is used to adjust the shape and size of the first clamp 5 and the second clamp 6 so that the first clamp 5 and the second clamp 6 can adapt to workpieces of different specifications and models. This helps to improve the overall adaptability of the robotic arm 2. When facing workpieces of different specifications and models, it is not necessary to replace the first clamp 5 or the second clamp 6, which further improves the efficiency of the robotic arm 2 in grasping workpieces.

[0036] Specifically, refer to Figure 2 , Figure 3 as well as Figure 4 The adjustment mechanism includes a first adjustment component and a second adjustment component. A drive gear 13 is rotatably mounted on the top of the adjustment plate 4. The first and second adjustment components are distributed on the left and right sides of the drive gear 13. The drive gear 13 drives the first adjustment component to adjust the size of the first clamp 5 and the second adjustment component to adjust the size of the second clamp 6.

[0037] Specifically, refer to Figure 2 , Figure 3 as well as Figure 4 Two support plates 14 are welded horizontally to the top of the adjusting plate 4. The two support plates 14 are spaced apart on the top of the adjusting plate 4. A second rotating shaft 15 is installed horizontally between the two support plates 14. A drive gear 13 is integrally sleeved on the second rotating shaft 15. At the same time, a knob 16 is installed on the side wall of one of the support plates 14. One end of the second rotating shaft 15 is connected to the knob 16. By rotating the knob 16, the second rotating shaft 15 and the drive gear 13 are driven to rotate within the mounting box 3.

[0038] The drive gear 13 has one half of its circumference toothed and the other half smooth.

[0039] Reference Figure 2 , Figure 3 as well as Figure 4The first adjustment assembly includes a first rack 17, a first adapter plate 18, a first drive block 19, and two connecting plates 20. The first rack 17 is horizontally mounted on the top of the adjustment plate 4 and meshes with a drive gear 13. The first adapter plate 18 is vertically mounted on the adjustment plate 4, and its sidewall is integrally connected to the first rack 17. The side of the first adapter plate 18 away from the first rack 17 is integrally connected to the first drive block 19. The left and right ends of the first drive block 19 are wedge-shaped. The two connecting plates 20 are distributed at the left and right ends of the first drive block 19, and each connecting plate 20 wedges with the left and right ends of the first drive block 19. One end of each connecting plate 20 is wedge-shaped and wedges with the corresponding end of the first drive block 19; the other end of each connecting plate 20 is integrally connected to the first clamp 5.

[0040] The first clamp 5 consists of two L-shaped clamps, and the ends of the two connecting plates 20 that are away from the first driving block 19 are integrally connected to the two clamps.

[0041] Specifically, when adjusting the size of the first clamp 5, the operator reaches into the mounting box 3 and rotates the knob 16 to drive the drive gear 13 to rotate. In this state, the teeth on the drive gear 13 face downwards. During the rotation, the drive gear 13 meshes with the first rack 17, and the drive gear 13 drives the first rack 17 to slide on the adjusting plate 4 in a direction closer to or away from the first clamp 5.

[0042] When the first rack 17 slides toward the first clamp 5, the first rack 17 simultaneously drives the first adapter plate 18 and the first drive block 19 to slide toward the first clamp 5. When the first drive block 19 slides toward the first clamp 5, the left and right ends of the first drive block 19 respectively engage with the two connecting blocks in a wedge shape. At this time, the two connecting plates 20 slide toward each other, thereby driving the two clamping plates of the first clamp 5 to slide toward each other through the two connecting plates 20. At this time, the size of the first clamp 5 becomes larger, enabling it to clamp and grasp larger square workpieces.

[0043] Conversely, when the first rack 17 slides away from the first clamp 5, the size of the first clamp 5 becomes smaller, enabling it to clamp and grasp smaller square workpieces.

[0044] Furthermore, referring to Figure 2 , Figure 3 as well as Figure 4Support boxes 21 are welded to both ends of the top of the adjusting plate 4, and the ends of the two support plates 14 are welded to the outer wall between the two support boxes 21. A fixing box 22 is welded inside the support box 21, and the two connecting plates 20 are located inside the fixing box 22. A first return spring 23 is installed horizontally between the side of the two connecting plates 20 that is away from each other and the inner wall of the fixing box 22. The first return spring 23 provides stable support for the connecting plate 20 and assists the connecting plate 20 in effectively resetting.

[0045] At the same time, refer to Figure 2 , Figure 3 as well as Figure 4 A receiving plate 24 is sleeved between the two connecting plates 20 and welded to the end of the fixing box 22. Sliding grooves 25 are provided on the left and right sides of the receiving plate 24 for the two connecting plates 20 to slide within the two sliding grooves 25. A second return spring 26 is installed between the side wall of the first driving block 19 and the receiving plate 24. The second return spring 26 provides stable support to the first driving block 19 while assisting the first driving block 19 in effective reset.

[0046] Specifically, refer to Figure 3 , Figure 4 as well as Figure 5 The second adjustment assembly includes a second rack 27, a second adapter plate 28, a second drive block 29, and two drive plates 30. The second rack 27 is horizontally positioned above the first rack 17 and meshes with the drive gear 13. The second adapter plate 28 is vertically mounted on the adjustment plate 4, and its sidewall is integrally connected to the second rack 27. The side of the second adapter plate 28 furthest from the second rack 27 is integrally connected to the second drive block 29. The left and right ends of the second drive block 29 are wedge-shaped. The two drive plates 30 are distributed at the left and right ends of the second drive block 29, respectively engaging with the wedge-shaped ends of the second drive block 29.

[0047] Reference Figure 3 , Figure 4 as well as Figure 5The drive plate 30 includes a first plate 301 and a second plate 302. The first plate 301 is hollow, and the second plate 302 extends into the first plate 301. The end of the first plate 301 furthest from the second plate 302 is wedge-shaped and engages with one end of the second drive block 29. One end of the second plate 302 extends into the first plate 301, and the other end abuts against the second clamp 6. A drive spring 31 is installed inside the first plate 301. One end of the drive spring 31 is connected to the inner wall of the first plate 301, and the other end is integrally connected to the second plate 302. The drive spring 31 is used to drive the second plate 302 to extend and retract within the first plate 301. When the second plate 302 abuts against the second clamp 6, the drive spring 31 is compressed.

[0048] The second clamp 6 is generally curved, and the two drive plates 30 are used to adjust the curvature of the second clamp 6. The second clamp 6 is connected to the corresponding support plate 24 on one side by a connecting rod, and the connecting rod on the support plate 24 provides stable support for the second clamp 6.

[0049] Specifically, when adjusting the curvature of the second clamp 6, the knob 16 is turned to drive the drive gear 13 to rotate. In this state, the teeth on the drive gear 13 face upwards. During the rotation, the drive gear 13 meshes with the second rack 27, driving the second rack 27 to slide towards or away from the second clamp 6.

[0050] When the second rack 27 slides toward the direction of the second clamp 6, the second rack 27 simultaneously drives the second adapter plate 28 and the second drive block 29 to slide toward the direction of the second clamp 6. When the second drive block 29 slides toward the direction of the second clamp 6, the left and right ends of the second drive block 29 respectively engage with the two first plates 301 in a wedge shape. At this time, the two first plates 301 slide toward the direction of mutual distance, and then drive the corresponding two second plates 302 to slide toward the direction of mutual distance through the two first plates 301.

[0051] Because the second clamp 6 is arc-shaped, when the two second plates 302 slide away from each other, that is, when the two second plates 302 slide towards the ends of the second clamp 6, the drive spring 31 gradually releases its elastic force as the second plates 302 slide towards the ends of the second clamp 6. During this process, the drive spring 31 pushes the second plates 302 to slide away from the first plate 301. When the second plates 302 slide away from the first plate 301, they press down on the second clamp 6, thereby adjusting the overall curvature of the second clamp 6 through the pressure of the second plates 302. During this process, the curvature of the second clamp 6 increases, enabling it to grip workpieces with smaller diameters.

[0052] Conversely, when the second rack 27 slides away from the second clamp 6, the curvature of the second clamp 6 decreases, enabling it to grip workpieces with larger diameters.

[0053] In this embodiment, the second clamp 6 is made of rubber. Rubber is soft and elastic. When the second plate 302 presses down on the second clamp 6, the second clamp 6 is more likely to deform, which makes it easier to adjust the size of the second clamp 6.

[0054] Fixing boxes 22 are also installed at the two first plates 301, and first return springs 23 are also installed between the side walls of the two first plates 301 and the fixing boxes 22.

[0055] Specifically, refer to Figure 2 , Figure 3 as well as Figure 6 The cooling box 7 is vertically secured to the top of the adjusting plate 4 by fastening bolts. The cooling box 7 is located on the same side of the first rack 17 and the second rack 27. The cooling box 7 is filled with corresponding cooling gas, and the top of the cooling box 7 has a corresponding air inlet. The cooling box 7 has first vent holes 32 at both the top and bottom ends near the first rack 17 and the second rack 27, and second vent holes 33 at the sides of the first rack 17 and the second rack 27 near the cooling box 7. The cooling box 7 is connected to the first rack 17 and the second rack 27 through the first vent holes 32 and the second vent holes 33. After the cooling box 7 is connected to the first rack 17 and the second rack 27, the cold air in the cooling box 7 flows into the corresponding first rack 17 or second rack 27. Meanwhile, multiple through holes are provided in the tooth grooves of the first rack 17 and the second rack 27. The cold air flowing into the first rack 17 and the second rack 27 is kept in communication with the teeth of the drive gear 13 through these through holes. Thus, the teeth on the drive gear 13 effectively cool down the drive gear 13, the first rack 17 and the second rack 27 during the meshing process between them.

[0056] Furthermore, referring to Figure 6 and Figure 7 A driven rack 34 is integrally formed on the top of the second rack 27 along its length. A third rotating shaft 35 is horizontally inserted into the cooling box 7 near the side of the second rack 27. One end of the third rotating shaft 35 extends out of the cooling box 7, and the other end is located inside the cooling box 7. A driven gear 36 is integrally fitted on the third rotating shaft 35. The driven gear 36 is vertically arranged and meshes with the driven rack 34. At the same time, a fan blade 37 is integrally fitted at the end of the third rotating shaft 35 in the cooling box 7, and the fan blade 37 is located at the air inlet of the cooling box 7.

[0057] Specifically, as the second rack 27 slides horizontally, it simultaneously drives the driven rack 34 to slide as well. During this sliding process, the driven rack 34 meshes with the driven gear 36, thereby driving the third rotating shaft 35 to rotate. The third rotating shaft 35, in turn, drives the fan blade 37 to rotate. After cold air is added to the cooling box 7 through the air inlet, the rotating fan blade 37 agitates the cold air at the air inlet.

[0058] The purpose of this is that the air temperature inside the cooling box 7, especially in the area near the cooling inlet, is lower than in other areas. If the air in these areas does not circulate, it forms so-called "low-temperature static air," which makes it easier for water vapor in the air to reach the dew point temperature and condense into water droplets. By adding a fan blade 37 to the air inlet of the cooling box 7, the rotating fan blade 37 can stir the cold air at the air inlet of the cooling box 7, effectively promoting airflow and reducing the presence of low-temperature static air. At the same time, stirring makes the air inside the cooling box 7 circulate, which helps to mix the cooler air near the cooling system with the warmer air inside the box, thereby improving the temperature uniformity of the entire space. Furthermore, stirring can accelerate the diffusion of water vapor in the cooling space, reducing the water vapor concentration in specific areas and thus reducing the possibility of condensation.

[0059] The implementation principle of a sorting robotic arm in this application embodiment is as follows: When a square workpiece needs to be gripped, the adjusting plate 4 is rotated inside the mounting box 3 so that the first clamp 5 faces the opening of the mounting box 3, and then the square workpiece is gripped by the two first clamps 5. When a round workpiece needs to be gripped, the adjusting plate 4 is rotated inside the mounting box 3 so that the second clamp 6 faces the opening of the mounting box 3, and then the round workpiece is gripped by the two second clamps 6.

[0060] Meanwhile, a cooling box 7 is also provided inside the mounting box 3. When the first clamp 5 or the second clamp 6 grips the corresponding workpiece, the cooling box 7 is used to cool down the driving part of the first clamp 5 or the second clamp 6, thereby effectively avoiding the adverse effect of the high temperature of the driving part of the first clamp 5 or the second clamp 6 on the gripping of the workpiece during long-term driving.

[0061] This configuration, by adding a first clamp 5 and a second clamp 6 to the end of the robotic arm 2, enables the robotic arm 2 to grasp both round and square workpieces. Thus, when both round and square workpieces are being fed simultaneously, it is not necessary to repeatedly change the clamps on the robotic arm 2, thereby simplifying the entire workpiece handling process and improving the efficiency of workpiece handling.

[0062] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A sorting robotic arm, characterized in that: The device includes a fixed frame (1), on which a robotic arm (2) is slidably mounted in the vertical direction. The robotic arm (2) has an integrally formed mounting box (3) at both ends. The mounting box (3) is hollow inside, and the two mounting boxes (3) are open at the ends that are close to each other. An adjusting plate (4) is rotatably mounted inside the mounting box (3). The adjusting plate (4) is set in the horizontal direction. A first clamp (5) and a second clamp (6) are respectively mounted on the left and right sides of the adjusting plate (4). The first clamp (5) and the second clamp (6) are used to grip workpieces of different shapes. A cooling box (7) is also added inside the mounting box (3). The cooling box (7) is used to cool down the driving part of the first clamp (5) or the second clamp (6).

2. A sorting robotic arm according to claim 1, characterized in that: A first motor (8) is installed on the top of the fixed frame (1). The driving end of the first motor (8) is vertically downward. A lead screw (9) is installed vertically at the driving end of the first motor (8). A lifting seat (10) is integrally connected to the back of the robotic arm (2). The lifting seat (10) is threaded around the lead screw (9). A second motor (11) is tightly fitted inside the mounting box (3). The driving end of the second motor (11) is vertically upward. A first rotating shaft (12) is installed vertically at the driving end of the second motor (11). The end of the first rotating shaft (12) away from the second motor (11) is integrally connected to the bottom of the adjusting plate (4).

3. A sorting robotic arm according to claim 2, characterized in that: An adjustment mechanism is provided on the adjustment plate (4). The adjustment mechanism is used to adjust the shape and size of the first clamp (5) and the second clamp (6). The adjustment mechanism includes a first adjustment component and a second adjustment component. A drive gear (13) is rotatably mounted on the top of the adjustment plate (4). The first adjustment component and the second adjustment component are distributed on the left and right sides of the drive gear (13). The drive gear (13) is used to drive the first adjustment component to adjust the size of the first clamp (5) and the second adjustment component to adjust the size of the second clamp (6). Two support plates (14) are fixed horizontally on the top of the adjustment plate (4). The two support plates (14) are spaced apart on the top of the adjustment plate (4). A second rotating shaft (15) is installed horizontally between the two support plates (14). The drive gear (13) is integrally sleeved on the second rotating shaft (15). At the same time, a knob (16) is installed on the side wall of one of the support plates (14). One end of the second rotating shaft (15) is connected to the knob (16). The knob (16) is used to drive the second rotating shaft (15) and the drive gear (13) to rotate in the mounting box (3). Half of the circumference of the drive gear (13) is toothed, and the other half is smooth.

4. A sorting robotic arm according to claim 3, characterized in that: The first adjustment assembly includes a first rack (17), a first adapter plate (18), a first drive block (19), and two connecting plates (20); the first rack (17) is mounted horizontally on the top of the adjustment plate (4), and the first rack (17) is meshed with the drive gear (13); the first adapter plate (18) is mounted vertically on the adjustment plate (4), and the sidewall of the first adapter plate (18) is integrally connected to the first rack (17); the first adapter plate (18) is located away from the first... One side of the rack (17) is integrally connected to the first drive block (19). The left and right ends of the first drive block (19) are wedge-shaped. The two connecting plates (20) are distributed to the left and right ends of the first drive block (19). The two connecting plates (20) are wedge-shaped and respectively wedge-shaped with the left and right ends of the first drive block (19). One end of the connecting plate (20) is wedge-shaped and wedge-shaped with one end of the corresponding first drive block (19). The other end of the connecting plate (20) is integrally connected to the first clamp (5).

5. A sorting robotic arm according to claim 4, characterized in that: Support boxes (21) are fixed at both ends of the top of the adjusting plate (4). The ends of the two support plates (14) are fixed on the outer wall between the two support boxes (21). A fixing box (22) is provided inside the support box (21). The two connecting plates (20) are located inside the fixing box (22). A first return spring (23) is installed horizontally between the side of the two connecting plates (20) that is far away from each other and the inner wall of the fixing box (22). A receiving plate (24) is sleeved between the two connecting plates (20). The receiving plate (24) is located at the end of the fixing box (22). Sliding grooves (25) for sliding of the two connecting plates (20) are opened on the left and right sides of the receiving plate (24). A second return spring (26) is installed between the side wall of the first driving block (19) and the receiving plate (24).

6. A sorting robotic arm according to claim 5, characterized in that: The second adjustment assembly includes a second rack (27), a second adapter plate (28), a second drive block (29), and two drive plates (30); the second rack (27) is horizontally arranged and located above the first rack (17), and the second rack (27) is meshed with the drive gear (13); the second adapter plate (28) is mounted vertically on the adjustment plate (4); the side wall of the second adapter plate (28) is integrally connected with the second rack (27); the side of the second adapter plate (28) away from the second rack (27) is integrally connected with the second drive block (29); the left and right ends of the second drive block (29) are wedge-shaped; the two drive plates (30) are distributed to the left and right ends of the second drive block (29); the two drive plates (30) respectively engage with the left and right ends of the second drive block (29) in a wedge shape. The drive plate (30) includes a first plate (301) and a second plate (302). The first plate (301) is hollow inside, and the second plate (302) extends into the first plate (301). The end of the first plate (301) away from the second plate (302) is wedge-shaped and wedge-fits with one end of the second drive block (29). One end of the second plate (302) extends into the first plate (301), and the other end of the second plate (302) abuts against the second clamp (6). A drive spring (31) is installed inside the first plate (301). One end of the drive spring (31) is connected to the inner wall of the first plate (301), and the other end of the drive spring (31) is integrally connected to the second plate (302). The drive spring (31) is used to drive the second plate (302) to extend and retract within the first plate (301).

7. A sorting robotic arm according to claim 6, characterized in that: The cooling box (7) is vertically fastened to the top of the adjusting plate (4). The cooling box (7) is located on the same side of the first rack (17) and the second rack (27). The cooling box (7) is filled with corresponding cooling gas. The top of the cooling box (7) is provided with corresponding air inlets. The upper and lower ends of the cooling box (7) near the first rack (17) and the second rack (27) are provided with first vent holes (32). The first rack (17) and the second rack (27) near the cooling box (7) are provided with second vent holes (33). The cooling box (7) is connected to the first rack (17) and the second rack (27) through the first vent holes (32) and the second vent holes (33).

8. A sorting robotic arm according to claim 7, characterized in that: The top of the second rack (27) is integrally formed with a driven rack (34) along its length. A third rotating shaft (35) is inserted horizontally on the side of the cooling box (7) near the second rack (27). One end of the third rotating shaft (35) extends out of the cooling box (7), and the other end of the third rotating shaft (35) is located inside the cooling box (7). A driven gear (36) is integrally fitted on the third rotating shaft (35). The driven gear (36) is vertically arranged, and the driven gear (36) and the driven rack (34) are meshed and connected. A fan blade (37) is integrally fitted at the end of the third rotating shaft (35) located in the cooling box (7). The fan blade (37) is located at the air inlet of the cooling box (7).

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