Automatic sorting system for feeding a nail shooting cartridge

Abstract

The application discloses a kind of shot nail bullet shell loading automatic sequencing systems, including rocking plate conveying mechanism, empty rocking plate moving mechanism, bullet shell loading mechanism and full rocking plate moving mechanism, rocking plate conveying mechanism is used to grab rocking plate overturning movement to empty rocking plate moving mechanism after being positioned and falling;The liftable support of empty rocking plate moving mechanism can drive one end of rocking plate to descend, so that rocking plate is adjusted from horizontal state to the inclined state of falling on the upper portion of moving main frame, and rocking plate moving drive part is used to push rocking plate;The inclination direction and inclination angle of rocking plate mounting bracket are consistent with moving main frame one, for receiving the rocking plate pushed by empty rocking plate moving mechanism, the feeding end and the discharge end of rocking plate mounting bracket are respectively provided with passive limiting elastic element, so that each rocking plate continuously passes through rocking plate mounting bracket in a single direction;Full rocking plate moving mechanism is used to receive and transport the rocking plate after filling is completed, and the application has the characteristics of high bullet shell utilization rate, rocking plate moving smoothly, and simplified rocking plate limiting structure.

Description

Technical Field

[0001] This invention relates to the field of nail gun cartridge case feeding technology, and more specifically to an automatic sorting system for nail gun cartridge cases. Background Technology

[0002] During the production process, cartridge cases are usually transported in an orderly manner using a rocker plate. The rocker plate has several cartridge case placement holes. During loading, the cartridge cases must fall into the cartridge case placement holes one by one and maintain a consistent posture so that subsequent workstations can pick up or process the cartridge cases in batches.

[0003] In the prior art, Chinese invention patent application with publication number CN120348686A discloses a circulating transmission device based on a rocker plate in the transmission of nail gun cartridge cases. Its alignment mechanism drives the vibrating truss and rocker plate to slide back and forth through an eccentric drive unit, so that the cartridge cases falling on the rocker plate gradually fall into the holes of the rocker plate under the action of vibration and gravity. The intermittent feeding of cartridge cases is achieved by the cooperation of lifting feeder and automatic feeder switch.

[0004] Although the above-mentioned device automates cartridge case loading, it still has the following shortcomings: First, in order to match the feeding amount with the number of cartridge case mounting holes on the sway plate, the device needs to precisely control the intermittent feeding of cartridge cases through the linkage of the lifting feeding frame, automatic feeding switch and limit block. The feeding and metering mechanism is complex, and once the feeding amount is mismatched with the loading requirements, there will be situations where the cartridge cases are not fully loaded or remain on the sway plate. The device does not have the ability to collect and reuse excess cartridge cases, and excess cartridge cases cannot be directly transferred to the loading area of ​​the next sway plate within the loading station for use. Second, when the sway plate is transferred between the row station and its upstream and downstream mechanisms, due to the inconsistent inclination of the bearing surface of each station, an additional attitude conversion structure is required to flip or adjust the angle of the sway plate. The number of mechanisms is large and the action cycle is long. The sway plate is also prone to collision with adjacent mechanisms during transition. Third, the entry and exit of the sway plate into and from the row area both require the active intervention of external actuators in sequence. In existing aligning equipment, before the rocker plate enters the aligning area, a cylinder must drive a limiting side plate located on the feed side of the aligning area to descend and make way, allowing the rocker plate to be pushed into the aligning area. After the rocker plate completes the alignment, a shifting plate structure must actively push the rocker plate out of the aligning area before it can enter the downstream process. Neither the feed inlet nor the discharge outlet of the aligning area is equipped with a passive limiting structure that can automatically make way as the rocker plate moves in one direction and resist it when the rocker plate moves in the opposite direction. As a result, the rocker plate cannot continuously enter and exit the aligning area using the pushing force transmitted by adjacent rocker plates. The entry, residence, and departure of each rocker plate depend on the active action of the actuators and their timing coordination. Maintaining the position of the rocker plate during the loading process also requires the intervention of active limiting components. The aligning process requires a large number of actuators and complex control logic, which is not conducive to continuous and high-cycle conveying of the rocker plate. Summary of the Invention

[0005] The present invention aims to provide an automatic sorting system for feeding nail gun cartridge cases, which solves the problems in the prior art where excess cartridge cases after loading cannot be collected in the loading station and directly used for the next swashplate, the feeding amount needs to be precisely matched with the loading requirements, a special attitude conversion structure is required when the swashplate moves between tilting stations, and the swashplate's entry into and exit from the loading area and its stay rely on the active intervention of external actuators and their time-sequential coordination.

[0006] Therefore, the technical solution adopted by the present invention is as follows: an automatic sorting system for feeding and sorting nail gun cartridge cases, including a rocking plate conveying mechanism, an empty rocking plate transporting mechanism, a cartridge case feeding mechanism, and a fully loaded rocking plate transporting mechanism. The cartridge case feeding mechanism includes a rocking plate mounting frame, an eccentric vibrator, and a feeding hopper. The feeding hopper is used to supply cartridge cases to the rocking plate mounting frame, and the eccentric vibrator is used to drive the rocking plate on the rocking plate mounting frame to vibrate, so that the cartridge cases fall into the cartridge case mounting holes of the rocking plate.

[0007] The rocker conveyor mechanism is used to grab the rocker, flip it, move it into place, and then place it onto the empty rocker transport mechanism.

[0008] The idle rocker plate moving mechanism includes a main moving frame, a liftable support, and a rocker plate moving drive. The upper part of the main moving frame is inclined to form a receiving end at a low position and a pushing end at a high position. The liftable support is installed on the receiving end of the main moving frame and is used to lift and receive one end of the rocker plate which is in a horizontal state. The liftable support can drive one end of the rocker plate to descend, so that the rocker plate is adjusted from a horizontal state to an inclined state that falls on the upper part of the main moving frame. The rocker plate moving drive is used to push the rocker plate that falls on the main moving frame to the cartridge case feeding mechanism along the direction from the receiving end to the pushing end.

[0009] The tilt direction and tilt angle of the rocker plate mounting frame are consistent with those of the main transport frame. It is used to receive the rocker plates pushed by the empty rocker plate transport mechanism. The inlet and outlet ends of the rocker plate mounting frame are respectively provided with passive limiting elastic elements. When there is no pushing force, the rocker plate is limited to the rocker plate mounting frame by the elastic resistance of its end face by the passive limiting elastic elements. When the pushing force transmitted by the adjacent rocker plate is greater than the resistance applied by the passive limiting elastic elements, the passive limiting elastic elements elastically yield with the passing direction of the rocker plate, so that the rocker plate located behind can continuously enter the rocker plate mounting frame and push the rocker plate located in front out of the outlet end, so that each rocker plate continuously passes through the rocker plate mounting frame in a single direction.

[0010] The fully loaded rocker transport mechanism is used to receive and transport the rocker after it has been filled.

[0011] As a preferred embodiment of the above scheme, the fully loaded rocking plate transport mechanism includes a second transport main frame, a rocking plate conveying assembly, an angle adjustment drive, and a rocking plate horizontal push assembly. The rocking plate conveying assembly is installed on the second transport main frame and is used to receive and assist in the loading of the rocking plate as it leaves the rocking plate mounting frame. The angle adjustment drive is used to adjust the tilt angle of the rocking plate conveying assembly so that the rocking plate changes from an tilted state when it is received to a horizontal state. The rocking plate horizontal push assembly is used to push the horizontally positioned rocking plate out of the fully loaded rocking plate transport mechanism.

[0012] In the fully loaded swaying plate transport mechanism, after the swaying plate conveying assembly receives the loaded swaying plate, the angle adjustment drive drives the two main conveyor frames to rotate around the coaxial connection point through the connecting frame. This adjusts the swaying plate conveying assembly from the tilted state at the time of receipt to the horizontal state. Then, the moving pallet of the swaying plate pushing assembly pushes the horizontally positioned swaying plate against the side wall of the swaying plate, pushing the horizontally positioned swaying plate laterally out of the second transport main frame. The fully loaded swaying plate can be continuously output to the downstream workstation in a horizontal posture, which is convenient for connecting with horizontally arranged conveying or pick-and-place equipment. The fully loaded swaying plate transport is stable and the output posture is controllable.

[0013] More preferably, the rocker conveying mechanism includes a main conveying frame, a transversely movable support, a rocker clamp assembly, a clamp lifting drive, and a horizontal pushing drive. The clamp lifting drive is used to drive the rocker clamp assembly to lift and lower, and the horizontal pushing drive is used to drive the transversely movable support to move laterally. The rocker clamp assembly includes a jaw connecting frame and a jaw relative movement drive, a jaw rotation drive, and jaws that are symmetrically mounted on the jaw connecting frame. The jaws can retract inward to clamp or move outward to release the rocker under the drive of the jaw relative movement drive, and the jaws can rotate the rocker under the drive of the jaw rotation drive.

[0014] Because the gripping frame matches the dimensions of the two corners of the end of the rocker plate in the rocker plate clamp assembly and covers the outer side of the end, the open end of the "C"-shaped clamp is fastened to the outer periphery of the gripping frame to fix it. The clamping part fits the shape of the end of the rocker plate, which is stable and not easy to damage the rocker plate. With the cooperation of the relative movement drive of the grippers and the rotation drive of the grippers, the two grippers first close towards each other to clamp the two ends of the rocker plate. Then the rotation drive of the grippers drives the whole to rotate to drive the rocker plate to flip. With the lifting of the clamp lifting drive and the lateral movement of the horizontally movable bracket, the gripping, flipping and transfer of the rocker plate can be completed in one operation.

[0015] The conveying main frame, the first transport main frame, and the second transport main frame are all equipped with adjustable corner supports at the four corners of their bottoms, and the four corner supports of the first transport main frame and the second transport main frame are equipped with detachable triangular reinforcing ribs, thereby increasing the stability of the support.

[0016] Since the bottom four corners of the main conveyor frame, the first transport frame and the second transport frame are equipped with adjustable corner legs, the installation angle and level of the corresponding main frame can be adjusted by each leg, so that the tilt state of the bearing surface of each mechanism can be adjusted and matched with each other, which facilitates the installation and debugging of the whole machine and can adapt to different site and working conditions.

[0017] More preferably, the fixed ends of the two relative moving drive components of the grippers are respectively installed at the left and right bottom ends of the gripper connecting frame, and the fixed ends of the two rotating drive components of the grippers are respectively installed at the movable ends of the relative moving drive components of the grippers through connecting plates. The grippers are installed at the rotating ends of the gripper rotating drive components. The grippers include a "C"-shaped clamp and a clamping frame. The open end of the "C"-shaped clamp extends inward to clamp the fixed clamping frame. The non-open end of the "C"-shaped clamp is fixedly connected to the movable end of the gripper rotating drive component. The clamping frame matches the two corner dimensions of the end of the rocker plate, so as to cover the end of the rocker plate. When the relative moving drive component of the grippers drives the two grippers to move relative to each other, the two clamping frames move inward to clamp the two ends of the rocker plate or move outward to release the rocker plate. The rotating drive component of the grippers can drive the corresponding grippers to rotate around their rotation axis to cause the clamped rocker plate to flip.

[0018] More preferably, the top of the main transport frame is provided with a rocker plate guide support bracket, the liftable bracket is equipped with a lifting drive component, the liftable bracket has a flat-bottomed U-shaped structure, and the bottom is hinged to the movable end of the lifting drive component. The fixed end of the lifting drive component is installed on the main transport frame. The rocker plate guide support bracket has notches corresponding to the two top ends of the liftable bracket, and the two top ends of the liftable bracket respectively protrude from the corresponding notches. The lifting drive component can drive the liftable bracket to rise and fall, so that the two top ends of the liftable bracket extend upward to above the working surface of the rocker plate guide support bracket to receive one end of the rocker plate, or retract downward to below the working surface to place one end of the rocker plate on the rocker plate guide support bracket.

[0019] The lower end of the rocker guide support bracket is provided with an anti-detachment block, which is used to prevent the rocker from sliding off the main transport frame along the tilt direction of the rocker guide support bracket. The movable end of the rocker transport drive component is provided with a baffle, which is used to abut against the lower end of the rocker to push the rocker to move from the lower position to the higher position along the tilt direction of the rocker guide support bracket.

[0020] More preferably, the passive limiting elastic element includes limiting baffles disposed at the feeding end and the discharging end of the rocker plate mounting frame, the limiting baffles having openings matching the cross-sectional shape of the rocker plate; the limiting baffle at the feeding end is provided with limiting elastic element one, and the limiting baffle at the discharging end is provided with limiting elastic element two; when the rocker plate moves in a set direction, the limiting elastic element one and the limiting elastic element two elastically yield, and when the rocker plate moves in the opposite direction, the limiting elastic element one and the limiting elastic element two abut and block, so that the two openings together constitute a one-way passage path for the rocker plate.

[0021] The rocker plate mounting frame is surrounded by raised barriers, and a cartridge case interception plate is horizontally arranged at the high position. The cartridge case interception plate is used to prevent cartridge cases from being carried out of the rocker plate mounting frame as the rocker plate moves.

[0022] Because the cradle mounting frame is surrounded by raised barriers and has a cartridge case interception plate on the right side, the cartridge cases are not likely to fall off the perimeter of the cradle mounting frame during vibration, nor are they likely to be carried out of the cradle mounting frame with the movement of the cradle. This ensures that the cartridge cases are always in the loading area where they can fall into the cartridge case loading hole, reducing the risk of cartridge case damage and scattering.

[0023] More preferably, the feeding hopper is equipped with a cartridge case anti-gravity conveying frame, which is used to convey the cartridge cases at the bottom of the feeding hopper to the rocker plate mounting frame, and the feeding port of the feeding hopper is close to the lower part of the rocker plate mounting frame.

[0024] Because the feeding hopper conveys the cartridge cases from the bottom of the hopper to the rocker plate mounting frame via the anti-gravity conveyor, the cartridge case supply does not depend on gravity drop and can be continuously and quantitatively conveyed. Combined with the low-level stacking area formed after the rocker plate mounting frame is tilted, even if the conveying volume is greater than the current rocker plate filling requirement, the excess cartridge cases are collected in the low-level area for subsequent rocker plate filling. The matching tolerance between material supply and filling is large, and the overall operation stability of the machine is improved.

[0025] Meanwhile, the cartridge cases are placed directly into the low area of ​​the rocker plate mounting frame via the feeding structure, and the cartridge cases will not fall freely due to gravity during vibration.

[0026] Preferably, the second limiting elastic element comprises two sets, each set including a rotating shaft, a rotatable main frame, a rotating component, and a torsion spring. The rotating shaft is horizontally arranged and fixedly installed on the limiting baffle located at the discharge end. The rotatable main frame is fitted onto the rotating shaft, and the extended end of the rotatable main frame is provided with an intercepting part for pressing against the rocker plate passing through the opening. The rotating component is rotatably installed on the end of the intercepting part facing the rocker plate. The torsion spring is fitted onto the rotating shaft, and one end of the torsion spring abuts against the rotatable main frame. The other end abuts against the limiting baffle to apply resistance to the intercepting part against the rocker plate; when the rocker plate is pushed by the adjacent rocker plate, which is greater than the resistance applied by the torsion spring, the flip-up main frame flips outward around the rotating axis to make way, so that the rocker plate can pass through the outlet end; when the previous rocker plate is completely detached from the rocker plate mounting frame, the torsion spring drives the flip-up main frame to automatically reset, so that the rotating part presses against the end face of the next adjacent rocker plate to achieve interception; the rotating part can rotate with the displacement of the rocker plate to avoid hard contact with the rocker plate.

[0027] Because the limiting elastic element is set in two groups, each group includes a flip-up main frame and a torsion spring mounted on the rotating shaft, when the squeezing force of the rocker plate by the adjacent rocker plate is greater than the resistance applied by the torsion spring, the flip-up main frame flips outward around the rotating shaft to allow passage; when the previous rocker plate completely leaves the rocker plate mounting frame, the torsion spring drives the flip-up main frame to automatically reset and press against the end face of the next rocker plate. The process of allowing passage and resetting is automatically completed by the energy storage and release of the torsion spring, without the need for detection and control signal intervention; at the same time, the rotating component rotates with the displacement of the rocker plate, converting the sliding friction between the end face of the rocker plate and the intercepting part into rolling friction, avoiding scratching wear and jamming caused by hard contact, improving the service life of the limiting element and the smooth passage of the rocker plate.

[0028] Further preferably, a support plate is installed on the top of the second transport frame, and the support plate has a notch for the rocker conveyor assembly to rotate. The rocker conveyor assembly includes a conveyor belt main frame, a conveyor belt, and a drive motor. The conveyor belt is wound around the outer periphery of the conveyor belt main frame and is driven to rotate by the drive motor. There are two conveyor belt main frames and two conveyor belts. The same end of the two conveyor belt main frames is coaxially connected, and the other end is connected to the same connecting frame. The connecting frame is connected to the driving end of the angle adjustment drive. The angle adjustment drive is used to drive the two conveyor belt main frames to rotate around the coaxial connection point through the connecting frame to adjust the tilt angle of the rocker conveyor assembly. The rocker flat pushing assembly includes a flat pushing linear module and a movable tray. The movable tray is installed on the movable end of the flat pushing linear module and its plate surface is perpendicular to the moving direction of the movable end of the flat pushing linear module. When the movable tray moves with the movable end, its plate surface abuts against the side wall of the rocker in a horizontal state to push the rocker to move laterally out of the second transport frame.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] (1) Compared with the situation where excess shells cannot be collected in the loading station and directly used for the next rocker plate, this solution is different because the rocker plate mounting frame is tilted and its tilt direction and tilt angle are consistent with the main transport frame. The feeding port of the feeding funnel is located close to the low position of the rocker plate mounting frame. After the shells enter the rocker plate mounting frame, they tend to gather at the low position due to their own weight and are constrained in the mounting frame. The shells are not easy to scatter to the surroundings during vibration. The excess shells that do not fall into the shell mounting hole accumulate in the low position area of ​​the rocker plate mounting frame due to their own weight. When the next empty rocker plate enters from the feeding end, the excess shells accumulated at the low position can fall directly into the shell mounting hole of the rocker plate, realizing the on-site recycling of excess shells in the loading station. The feeding does not need to be precisely matched with the loading rhythm of the rocker plate, nor does it need to be precisely measured for the feeding amount, thus simplifying the feeding mechanism.

[0031] (2) Compared with the need to set up a special posture conversion structure when the rocker plate is transferred between inclined work stations, this solution is that the rocker plate conveying mechanism flips the rocker plate and moves it into place and places it on the empty rocker plate transport mechanism. The lifting bracket can lift one end of the horizontal rocker plate and drive that end to fall, so that the rocker plate gradually transitions from the horizontal state to the inclined state consistent with the upper part of the transport main frame. Then the rocker plate transport drive component pushes it from the receiving end to the pushing end. Since the rocker plate mounting frame and the transport main frame are in the same inclination direction and inclination angle, the rocker plate is directly pushed into the rocker plate mounting frame from the transport main frame. There is no need to set up a flipping or angle conversion mechanism to achieve a smooth transition between the two work stations. The number of mechanisms is reduced, the action cycle is shortened, and the collision between the rocker plate and the adjacent mechanism can be avoided during the transition.

[0032] (3) Compared to the method where the entry and exit of the sway plate in the filling area and its stationary position both rely on the active intervention of external actuators and coordinated according to the time sequence, this solution has passive limiting elastic elements at the inlet and outlet ends of the sway plate mounting frame. When the sway plate is not subjected to a pushing force, it is limited to the sway plate mounting frame by the elastic resistance of its end face by the passive limiting elastic elements. Therefore, during the vibration filling process of the eccentric vibrator and under the action of the tilting gravity component, the sway plate can remain stationary and will not slip off or move backward along the sway plate mounting frame; when the sway plate is subjected to a pushing force from the rear, it can remain stationary and will not slip off or move backward along the sway plate mounting frame. When the feeding force is greater than the resistance applied by the passive limiting elastic element, the passive limiting elastic element elastically yields along the passage direction, allowing the rear rocker plate to continuously enter the rocker plate mounting frame and push the front rocker plate out from the discharge end. Each rocker plate passes through the rocker plate mounting frame continuously in a single direction with the pushing force transmitted between adjacent rocker plates. The feeding, dwelling and discharge of the rocker plates do not require the intervention of external actuators such as cylinders, and there is no need for position detection and timing control. It can realize the continuous loading of multiple rocker plates in a flow, reducing the number of actuators and simplifying the control logic of the whole machine.

[0033] In summary, the present invention features high cartridge case utilization, smooth rocker movement, and a simplified rocker limiting structure. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention.

[0035] Figure 2 This is a schematic diagram of the rocker conveyor mechanism.

[0036] Figure 3 This is a structural schematic diagram of the rocker clamp assembly.

[0037] Figure 4 This is a schematic diagram of the structure of the idle rocker plate transport mechanism.

[0038] Figure 5 The structural schematic diagram of the main frame is not shown for the unused rocker plate transport mechanism.

[0039] Figure 6 This is a schematic diagram of the cartridge case feeding mechanism.

[0040] Figure 7 for Figure 6 A structural diagram from another perspective.

[0041] Figure 8 for Figure 7 A magnified view of part A.

[0042] Figure 9 This is a schematic diagram of the fully loaded rocker transport mechanism.

[0043] Figure 10 This is a schematic diagram of the rocker conveyor assembly. Detailed Implementation

[0044] The present invention will be further described below with reference to the embodiments and accompanying drawings:

[0045] Combination Figure 1 — Figure 10 As shown, Figure 1 As shown, the automatic sorting system for nail gun cartridge cases of the present invention consists of a rocker plate conveying mechanism 1, an empty rocker plate transport mechanism 2, a cartridge case loading mechanism 3, and a full-load rocker plate transport mechanism 4, which are sequentially connected along the conveying direction of the rocker plate 5. The rocker plate 5 is a plate-shaped workpiece with multiple cartridge case mounting holes arranged in a predetermined array on its upper surface for receiving and fixing the nail gun cartridge cases. During operation, the empty rocker plate 5 is picked up and flipped by the rocker plate conveying mechanism 1 and then transferred to the empty rocker plate transport mechanism 2. After passing through this mechanism, it is transferred to the cartridge case loading mechanism 3. After the cartridge cases are filled in the cartridge case loading mechanism 3, the full-load rocker plate 5 enters the full-load rocker plate transport mechanism 4 and is transported to the downstream station.

[0046] like Figure 2As shown, the rocker conveyor mechanism 1 consists of a main conveyor frame 11, a horizontally movable support 12, a rocker clamp assembly 13, a clamp lifting drive 14, and a horizontal pushing drive 15. The main conveyor frame 11 forms the basic frame of the mechanism, and its bottom four corners are equipped with adjustable corner legs. The horizontally movable support 12 is horizontally slidably mounted on the top of the main conveyor frame 11. The horizontal pushing drive 15 is connected to the horizontally movable support 12 and is used to drive the horizontally movable support 12 to move horizontally relative to the main conveyor frame 11. The rocker clamp assembly 13 is located below the horizontally movable support 12. The clamp lifting drive 14 is connected between the horizontally movable support 12 and the rocker clamp assembly 13 and is used to drive the rocker clamp assembly 13 to move vertically relative to the horizontally movable support 12. Thus, under the drive of the horizontal push drive 15 and the clamp lifting drive 14, the rocker clamp assembly 13 can adjust its position in both the horizontal and vertical directions to transfer the rocker clamp 5 between the gripping station and the placement station.

[0047] The horizontal pushing drive 15 is preferably a linear module symmetrically mounted on the top of the conveying main frame 11, and the lateral movable bracket 12 is mounted on the movable base of the linear module. The clamp lifting drive 14 is a cylinder, and sliding connecting rods are installed at both ends of the top of the gripper connecting frame 131. The lateral movable bracket 12 is equipped with a sleeve through which the sliding connecting rods pass, thereby increasing the connection stability between the lateral movable bracket 12 and the gripper connecting frame 131.

[0048] like Figure 3 As shown, the rocker clamp assembly 13 consists of a jaw connecting frame 131, and jaw relative movement drive 132, jaw rotation drive 133, and jaws 134, all mirror-symmetrically mounted on the jaw connecting frame 131. Specifically, the jaw relative movement drive 132, jaw rotation drive 133, and jaws 134 are configured as two sets symmetrically arranged. The fixed ends of the two jaw relative movement drive 132 are respectively mounted at the bottom of the left and right ends of the jaw connecting frame 131, and the two jaw relative movement drive 132 are horizontally arranged on both sides above the rocker 5 being clamped. The fixed ends of the two jaw rotation drive 133 are respectively mounted to the movable ends of the corresponding jaw relative movement drive 132 via connecting plates. Each jaw 134 is mounted on the rotating end of the corresponding jaw rotation drive 133.

[0049] The gripper connecting frame 131 has an overall "n" shaped structure.

[0050] The gripper 134 consists of a "C"-shaped clamp 134b and a gripping frame 134a. The gripping frame 134a is located on the outer side of the outer corner of the end of the rocker plate 5, and its outline matches the shape and size of the two corners of the end of the rocker plate 5, used to cover the end of the rocker plate 5. The open end of the "C"-shaped clamp 134b extends inward and engages with the outer periphery of the gripping frame 134a, thereby fixing the gripping frame 134a in the opening of the "C"-shaped clamp 134b. The non-open end of the "C"-shaped clamp 134b is fixedly connected to the rotating end of the corresponding side gripper rotation drive 133. During clamping, the gripping frame 134a covers the outer side of the two corners of the end of the rocker plate 5, and the clamping part fits the shape of the end of the rocker plate 5, ensuring stable clamping and preventing damage to the rocker plate 5.

[0051] The gripping, flipping, and conveying process of the rocker conveyor mechanism 1 is as follows: At the gripping station, the two gripper relative movement drive members 132 drive the corresponding side grippers 134 to move towards each other, and the two "C"-shaped clamps 134b close accordingly, pressing the corresponding gripping frame 134a against the outer sides of the two corners at the end of the rocker 5, thereby clamping both ends of the rocker 5; subsequently, the gripper rotation drive member 133 drives the corresponding side grippers 134 to rotate around their rotation axis, causing the clamped rocker 5 to flip to the next position. In the horizontal state; next, the clamp lifting drive 14 and the horizontal pushing drive 15 cooperate to move the rocker clamp assembly 13 holding the rocker 5 to directly above the receiving end of the empty rocker transport mechanism 2. The clamp lifting drive 14 drives the rocker clamp assembly 13 to descend to the set height. The two jaw relative movement drive 132 moves in opposite directions, driving the two jaws 134 to move away from each other, releasing the rocker 5, so that the rocker 5 falls horizontally onto the empty rocker transport mechanism 2.

[0052] The relative movement drive 132 of the gripper is preferably a pneumatic micro slide, and the rotation drive 133 of the gripper is preferably a rack and pinion type tabletop swing cylinder.

[0053] like Figure 4 — Figure 5 As shown, the idle rocker transport mechanism 2 consists of a transport main frame 21, a liftable support 22, and a rocker transport drive component 23. The transport main frame 21 forms the basic frame of the mechanism, with adjustable corner supports at its four bottom corners. The upper part of the transport main frame 21 is inclined, forming a receiving end at a lower position and a pushing end at a higher position. The receiving end is used to receive the rocker 5 from the rocker conveying mechanism 1, and the pushing end faces the cartridge case feeding mechanism 3. The top of the transport main frame 21 is provided with a rocker guide support bracket 211, which is mirror-symmetrically arranged. The upper surface of the rocker guide support bracket 211 forms an inclined working surface for supporting and guiding the rocker 5. The conveying direction of the rocker 5 in the idle rocker transport mechanism 2 is along this inclined working surface from the lower position to the higher position.

[0054] The liftable support 22 is located at the receiving end of the transport main frame 21. It has a flat-bottomed "U"-shaped structure with a straight bottom and two top ends extending upwards from both ends of the bottom. The bottom of the liftable support 22 is hinged to the movable end of the lifting drive component 24, and the fixed end of the lifting drive component 24 is installed on the transport main frame 21 to drive the liftable support 22 to move up and down. The rocker guide support bracket 211 has notches corresponding to the two top ends of the liftable support 22, and the two top ends of the liftable support 22 protrude from the corresponding notches. When the lifting drive component 24 drives the liftable support 22 to rise, its two top ends extend upwards above the inclined working surface of the rocker guide support bracket 211; when the lifting drive component 24 drives the liftable support 22 to fall, its two top ends retract downwards below the working surface.

[0055] The lifting drive component 24 is preferably a telescopic cylinder.

[0056] The lower end of the rocker guide support bracket 211 is provided with an anti-detachment block 212. The rocker movement drive component 23 is mounted on the main transport frame 21, and its movable end is provided with a baffle 231. The baffle 231 is used to abut against the lower end of the rocker 5 to push the rocker 5 to move from the lower position to the higher position along the inclined working surface. When the rocker 5 is not pushed, it will not slide off the main transport frame 21 along the inclined direction due to the anti-detachment block 212.

[0057] The rocker guide support bracket 211 has limiting protrusions on both sides of the rocker 5, thus forming a movement path for the rocker 5 that can only move from the low position to the high position.

[0058] The attitude transition process of the idle rocker transport mechanism 2 is as follows: When receiving the rocker 5, the lifting drive 24 drives the liftable bracket 22 to rise, so that the two top ends extend above the inclined working surface of the rocker guide support bracket 211; at this time, the rocker transport mechanism 1 releases the horizontal rocker 5 onto the two top ends, with one end of the rocker 5 supported by the two top ends, and this end being higher than the other end; subsequently, the lifting drive 24 drives the liftable bracket 22 to slowly descend, and the supported end of the rocker 5 falls accordingly. The rocker 5 gradually flips and tilts around its other end, and finally, the whole rocker 5 is placed on the inclined working surface of the rocker guide support bracket 211, thus smoothly transitioning from a horizontal state to a state consistent with the inclined state of the upper part of the transport main frame 21. Since this transition is completed through the continuous lifting and lowering of the liftable bracket 22, the height difference between the two ends of the rocker 5 changes gradually, and instantaneous tipping will not occur, thus avoiding hard collisions between the rocker 5 and the rocker guide support bracket 211. Afterwards, the movable end of the rocker plate moving drive 23 moves, and the baffle 231 at its end abuts against the lower end of the rocker plate 5, pushing the rocker plate 5 to move from the lower position to the higher position along the inclined working surface. Finally, the rocker plate 5 leaves the main moving frame 21 and enters the cartridge case feeding mechanism 3.

[0059] The rocker movement drive component 23 adopts a linear module, and the baffle 231 is installed on the movable base of the linear module.

[0060] like Figure 6 — Figure 7 As shown, the cartridge case feeding mechanism 3 consists of a rocker plate mounting frame 31, an eccentric vibrator 32, a feeding hopper 33, and a cartridge case anti-gravity conveying frame 34. The rocker plate mounting frame 31 has the same tilt direction and tilt angle as the main transport frame 21, and is used to receive the rocker plate 5 pushed by the empty rocker plate transport mechanism 2. The rocker plate 5 can directly enter the rocker plate mounting frame 31 from the main transport frame 21 without adjusting its posture. The feeding hopper 33 is used to store cartridge cases to be loaded, and its feeding port is set at a low position near the rocker plate mounting frame 31. The cartridge case anti-gravity conveying frame 34 is installed on the feeding hopper 33 and is used to overcome gravity to convey the cartridge cases at the bottom of the feeding hopper 33 from bottom to top into the rocker plate mounting frame 31. In this embodiment, the cartridge case anti-gravity conveying frame 34 can adopt a bucket lifting structure or a lifting and conveying structure with scrapers, etc. The eccentric vibrator 32 is installed at the bottom of the rocker plate mounting frame 31 or on a support structure connected to the rocker plate mounting frame 31. It generates excitation force through the rotation of the eccentric mass, causing the rocker plate mounting frame 31 and the rocker plate 5 placed on it to shake, so that the cartridge case falls into the cartridge case mounting hole of the rocker plate 5.

[0061] The perimeter of the rocker plate mounting frame 31 is provided with raised barriers 314 to prevent cartridge cases from rolling off the perimeter of the rocker plate mounting frame 31; a cartridge case interceptor plate 315 is provided laterally at the high position of the rocker plate mounting frame 31 to intercept cartridge cases and prevent cartridge cases from being carried out of the rocker plate mounting frame 31 as the rocker plate 5 moves.

[0062] The inlet and outlet ends of the rocker plate mounting frame 31 are respectively provided with limiting baffles 311. Each limiting baffle 311 has an opening matching the cross-sectional shape of the rocker plate 5, through which the rocker plate 5 passes. A limiting elastic element 312 is provided on the limiting baffle 311 at the inlet end, and a limiting elastic element 313 is provided on the limiting baffle 311 at the outlet end. In this embodiment, the inlet end is the low end, and the outlet end is the high end. The rocker plate 5 enters the rocker plate mounting frame 31 from the inlet end and exits from the outlet end, achieving a low-in, high-out configuration. Both the limiting elastic element 312 and the limiting elastic element 313 elastically yield to the rocker plate 5 in its direction of travel and resist and block it when the rocker plate 5 moves in the opposite direction, so that the two openings together form a one-way travel path for the rocker plate 5.

[0063] like Figure 8As shown, the limiting elastic element 313 is configured in two sets, and the two sets of limiting elastic elements 313 have the same structure. The following description uses one set as an example to illustrate its structure. The limiting elastic element 313 consists of a rotating shaft 313a, a flip-up main frame 313b, a rotating element 313c, and a torsion spring 313d. A rotating shaft 313a is horizontally set and fixedly installed on a limiting baffle 311 located at the discharge end; a rotatable main frame 313b is fitted onto the rotating shaft 313a and can rotate around the rotating shaft 313a. The extended end of the rotatable main frame 313b is provided with an intercepting part, which extends toward the opening side and is used to press against the rocker plate 5 passing through the opening; a rotating component 313c is rotatably installed on the end of the intercepting part facing the rocker plate 5; a torsion spring 313d is fitted onto the rotating shaft 313a, one end of the torsion spring 313d abuts against the rotatable main frame 313b, and the other end of the torsion spring 313d abuts against the limiting baffle 311, which is used to apply resistance to the intercepting part pressing against the rocker plate 5, so that the intercepting part always has the tendency to press against the rocker plate 5 inside the opening.

[0064] The rotating component 313c uses rollers or bearings.

[0065] The reversible main frame 313b is provided with an extended step 313c for one end of the torsion spring 313d to abut.

[0066] In this embodiment, the limiting elastic element 312 can be composed of a limiting post, a fixing block, and a limiting spring disposed between the two. The free end of the limiting post has an upward-facing wedge surface, and the limiting plate has a through groove along the thickness direction. The limiting post slides in the groove. The limiting post includes a circular post and a square post with a wedge-shaped surface. The groove is composed of interconnected circular grooves and directional grooves, which respectively cooperate with the circular post and the square post. The wedge surface corresponds to the movement direction of the rocker plate 5. The limiting post acts as an interceptor. When the rocker plate 5 passes by, it pushes open the limiting post along the wedge surface and enters the rocker plate mounting frame 31. After the rocker plate 5 is fully inside the rocker plate mounting frame 31, the limiting post falls and abuts against the side wall of the rocker plate 5.

[0067] The first limiting elastic element 312 can also adopt the same structure as the second limiting elastic element 313 and be mirror-installed on the feeding end. Its direction of action is opposite to that of the second limiting elastic element 313, and it is used to prevent the rocker plate 5 from exiting in the opposite direction from the feeding end.

[0068] As an alternative implementation, the limiting elastic element 312 can also adopt a passive elastic limiting structure such as a spring-type or elastic claw-type, which can elastically yield and resist in the opposite direction as the rocker plate 5 moves in one direction.

[0069] The principle of the rocker plate 5's residence and one-way passage within the cartridge case feeding mechanism 3 is as follows. Residence state: When the rocker plate 5 is not subjected to a pushing force, the intercepting parts of the limiting elastic element 312 at the feeding end and the limiting elastic element 313 at the discharging end are pressed against the two end faces of the rocker plate 5 under the preload of the limiting spring or torsion spring 313d, respectively, elastically holding and limiting the rocker plate 5 within the rocker plate mounting frame 31; at this time, even if the eccentric vibrator 32 continues to vibrate, or the rocker plate 5 is subjected to the gravitational component force generated by the inclined mounting frame, the rocker plate 5 will not slip off the opening or move backward. Forward passage state: When the next rocker plate 5 enters the rocker plate mounting frame 31 under the pushing force and squeezes the previous rocker plate 5, the squeezing force on the end face of the previous rocker plate 5 is greater than the resistance applied by the torsion spring 313d at the discharge end. The flip-out main frame 313b at the discharge end flips outward around the rotating shaft 313a to make room, so that the previous rocker plate 5 can pass through the opening at the discharge end. During the process of the previous rocker plate 5 passing through the opening, the rotating part 313c contacts the end face of the rocker plate 5 and rotates with the displacement of the rocker plate 5, converting the sliding friction between the end face of the rocker plate 5 and the intercepting part into rolling friction, avoiding scraping wear and jamming caused by hard contact. When the previous rocker plate 5 completely leaves the rocker plate mounting frame 31, the squeezing force disappears, the torsion spring 313d releases energy and drives the flip-out main frame 313b to automatically reset, so that the rotating part 313c presses against the end face of the next adjacent rocker plate 5 again to intercept the next rocker plate 5. In this way, each rocker plate 5 continuously moves in and out of the rocker plate mounting frame 31 in a single direction by means of the pushing force transmitted between adjacent rocker plates 5. The feeding, dwelling and discharging of the rocker plate 5 does not require the intervention of external actuators such as cylinders, nor does it require position detection and timing control.

[0070] A space is provided between the rocker mounting frame 31 and the transport main frame 41 for the automatic reset of the flip-up main frame 313b.

[0071] The cartridge case loading and low-level collection principle of the cartridge case feeding mechanism 3 is as follows: During operation, the eccentric vibrator 32 drives the rocker plate mounting frame 31 and the rocker plate 5 on it to vibrate; the cartridge cases in the feeding funnel hopper 33 are conveyed from bottom to top to the rocker plate mounting frame 31 by the cartridge case anti-gravity conveying frame 34. After the cartridge case falls into the mounting frame, it is affected by the combined effect of the inclined mounting frame and the vibration, and rolls and spreads along the surface of the mounting frame towards the lower level; when the cartridge case rolls through the cartridge case mounting hole above the rocker plate 5, it falls into the hole and the loading is completed. Excess cartridge cases that do not fall into the cartridge case placement holes are drawn towards the lower position by their own weight. Due to the inclined setting of the placement frame, the cartridge cases are always constrained by the gravitational component towards the lower position and are not easily scattered in all directions. With the blocking of the raised enclosure 314 and the cartridge case interception plate 315, the excess cartridge cases are constrained within the filling area. The feeding port of the feeding funnel hopper 33 is set close to the lower position, and the newly supplied cartridge cases fall directly into the lower stacking area, participating in the subsequent rolling and spreading and dropping into the holes along with the existing cartridge cases. When the next empty rocker plate 5 enters the rocker plate placement frame 31 from the feeding end, the excess cartridge cases accumulated at the lower position fall directly into the cartridge case placement hole of the rocker plate 5 under the action of vibration and gravity, realizing the on-site recycling of excess cartridge cases in the filling station. As a result, the supply amount does not need to be precisely matched with the filling requirements of a single rocker plate 5. The feeding funnel hopper 33 and the cartridge case anti-gravity conveying frame 34 can continuously and excessively supply materials, simplifying the material supply metering control.

[0072] Since the tilting direction and tilting angle of the rocker plate mounting frame 31 and the transport main frame 21 are the same, the rocker plate 5 pushed by the empty rocker plate transport mechanism 2 can directly enter the rocker plate mounting frame 31 through the feed end opening without flipping or adjusting the angle; similarly, after the filled rocker plate 5 leaves the discharge end opening, it directly enters the receiving surface of the fully loaded rocker plate transport mechanism 4. The rocker plate 5 maintains a consistent bearing posture when transitioning between the mechanisms, achieving a smooth connection.

[0073] like Figure 9 — Figure 10As shown, the fully loaded rocking plate transport mechanism 4 consists of a second transport frame 41, a rocking plate conveying assembly 42, an angle-adjusting drive component 43, and a rocking plate horizontal pushing assembly 44. The second transport frame 41 forms the basic frame of the mechanism, with adjustable angle support legs at its four bottom corners. A support plate 411 is installed on the top of the second transport frame 41, with notches for the rocking plate conveying assembly 42 to rotate. The rocking plate conveying assembly 42 is mounted on the second transport frame 41 and is used to receive the loaded rocking plate 5 and assist it in leaving the rocking plate mounting frame 31. The rocking plate conveying assembly 42 consists of a conveyor belt main frame 421, a conveyor belt 422, and a drive motor 423. The conveyor belt 422 is wound around the outer circumference of the conveyor belt main frame 421, and the drive motor 423 is used to drive the conveyor belt 422 to rotate around the conveyor belt main frame 421. Two conveyor belt main frames 421 and two conveyor belts 422 are provided, and the two sets of conveying components are arranged parallel to each other at intervals along the width direction of the rocker plate 5. The two conveyor belt main frames 421 are coaxially connected at the same end, and the other end is connected to the same connecting frame 424. The connecting frame 424 is connected to the driving end of the angle adjustment drive 43. Because the two conveyor belt main frames 421 are coaxially connected at the same end, the drive motor 423 only needs to drive one conveyor belt 422 to rotate around the corresponding conveyor belt main frame 421 to drive the other conveyor belt 422 to move synchronously.

[0074] When the front end of the rocker 5 is attached to the rocker conveyor assembly 42, the rocker conveyor assembly 42 starts to provide a pulling force through the conveyor belt 422 to continue the rocker 5 moving upward at an angle, so that the rocker 5 can smoothly enter the fully loaded rocker transport mechanism 4 from the rocker mounting frame 31.

[0075] In this embodiment, one end of the two conveyor belt main frames 421 coaxially connected is rotatably mounted on the second transport main frame 41, so that the two conveyor belt main frames 421 can swing synchronously around the coaxial axis; the fixed end of the angle adjustment drive 43 is mounted on the second transport main frame 41, which is used to drive the two conveyor belt main frames 421 to rotate around the coaxial connection point through the connecting frame 424, so as to adjust the overall tilt angle of the rocker conveyor assembly 42, so that the rocker 5 changes from the tilted state when receiving to the horizontal state.

[0076] The angle adjustment drive component 43 is preferably a lifting cylinder.

[0077] The rocker plate horizontal push assembly 44 consists of a horizontal push linear module 441 and a movable support plate 442. The horizontal push linear module 441 is mounted on the second transport frame 41, and its movable end moves horizontally. The movable support plate 442 is mounted on the movable end of the horizontal push linear module 441, and the surface of the movable support plate 442 is perpendicular to the moving direction of the movable end of the horizontal push linear module 441, so that the movable support plate 442 forms a push plate surface facing the side wall of the rocker plate 5. When the movable support plate 442 moves with the movable end, its surface abuts against the side wall of the horizontal rocker plate 5, thereby pushing the rocker plate 5 to move laterally out of the second transport frame 41.

[0078] The working process of the fully loaded rocker plate transport mechanism 4 is as follows: The loaded rocker plate 5, pushed by the rear rocker plate 5, leaves the discharge end of the rocker plate mounting frame 31 and enters the fully loaded rocker plate transport mechanism 4, where it rests on the conveyor belt 422 of the rocker plate conveying assembly 42. At this time, the rocker plate conveying assembly 42 is in a receiving state with the same inclination angle as the rocker plate mounting frame 31. The rocker plate 5 smoothly transitions to the rocker plate conveying assembly 42 in an inclined posture. During the transition, the drive motor 423 can drive the conveyor belt 422 to rotate, assisting in the receiving and alignment of the rocker plate 5; after receiving... After completion, the driving end of the angle-adjusting drive component 43 drives the two main conveyor frames 421 to rotate synchronously around the coaxial connection point via the connecting frame 424, so that the rocker plate conveying assembly 42 is gradually adjusted from the inclined state at the time of receiving to the horizontal state, and the rocker plate 5 on it is also turned to the horizontal state. Subsequently, the movable end of the horizontal pushing linear module 441 drives the moving pallet 442 to move in the horizontal direction. The moving pallet 442 abuts against the side wall of the rocker plate 5 with its plate surface, pushing the fully loaded rocker plate 5 in the horizontal state laterally out of the second transport main frame 41 and into the downstream station. Thus, the fully loaded rocker plate 5 can be continuously output in a horizontal posture, which is convenient for connection with the horizontally arranged downstream conveying or pick-up and drop equipment. The conveying of the fully loaded rocker plate 5 is stable and the output posture is controllable.

[0079] A complete working cycle of this system is as follows: The rocker plate clamp assembly 13 of the rocker plate conveying mechanism 1 clamps an empty rocker plate 5 at the gripping station—the relative movement drive 132 of the two grippers drives the two grippers 134 to close towards each other, and the gripping frame 134a clamps both ends of the rocker plate 5; the gripper rotation drive 133 drives the rocker plate 5 to flip to a horizontal state; the clamp lifting drive 14 cooperates with the horizontal pushing drive 15 to move the rocker plate 5 to directly above the receiving end of the transport main frame 21 and lower and release it. Open, one end of the horizontal rocker plate 5 rests on the two top ends of the raised liftable support 22; the lifting drive component 24 drives the liftable support 22 to descend, and one end of the rocker plate 5 falls accordingly. The rocker plate 5 gradually tilts and overlaps the rocker plate guide support bracket 211 on its inclined working surface; the baffle 231 of the rocker plate movement drive component 23 abuts against the lower end of the rocker plate 5, pushing it from the lower end to the higher end, so that the rocker plate 5 enters the rocker plate mounting frame 31 through the opening of the feed end limiting baffle 311, and the feed end limiting baffle 311... After the elastic element 312 is repositioned, it returns to its original position and abuts against the end face of the rocker plate 5 to prevent it from moving backward. The eccentric vibrator 32 drives the rocker plate mounting frame 31 and the rocker plate 5 to vibrate. The shells in the feeding funnel hopper 33 are continuously conveyed to the rocker plate mounting frame 31 by the shell anti-gravity conveyor frame 34 and fall into the shell placement hole of the rocker plate 5. Excess shells accumulate in the low area. When the next empty rocker plate 5 is pushed into the rocker plate mounting frame 31, the rocker plate 5 that has been filled in front is pushed open by the squeezing force of the limiting elastic element 2 at the discharge end. 313, passing through the discharge end opening and leaving the rocker plate mounting frame 31, is attached to the rocker plate conveying assembly 42 of the fully loaded rocker plate transport mechanism 4; the angle adjustment drive 43 drives the two conveyor belt main frames 421 to rotate around the coaxial end via the connecting frame 424, adjusting the rocker plate conveying assembly 42 from an inclined state to a horizontal state, and the rocker plate 5 is then turned horizontal; the horizontal push linear module 441 drives the moving pallet 442 to press its surface against the side wall of the rocker plate 5, pushing the fully loaded rocker plate 5 laterally out of the transport main frame 41 and into the downstream station. The system then repeats the above cycle to realize the continuous loading operation of multiple rocker plates 5.

[0080] In the above work cycle, the entry, dwelling and departure of the rocker plate 5 are all completed by the passive yielding and resisting of the first limit elastic element 312 and the second limit elastic element 313, without the need for external actuators to intervene in sequence, and without the need for position detection and timing control. At the same time, since the inclination angle of each bearing surface of the rocker plate 5 is consistent during the receiving stages of the idle rocker plate moving mechanism 2, the cartridge case feeding mechanism 3 and the full-load rocker plate moving mechanism 4, the rocker plate 5 does not need a special flipping or posture conversion action when it is transferred between the mechanisms. The rocker plate 5 is only adjusted to the horizontal by the angle adjustment drive element 43 before the full-load output. The whole machine has a short action cycle, a small number of actuators and simple control logic.

[0081] In this embodiment, the clamp lifting drive 14, the horizontal pushing drive 15, the rocker plate movement drive 23, the lifting drive 24, and the gripper relative movement drive 132 can all be linear actuators such as cylinders, electric cylinders, or linear modules, for example, a pneumatic slide table with guide rails; the gripper rotation drive 133 and the angle adjustment drive 43 can be rotary actuators such as swing cylinders, rotary cylinders, or motor reduction mechanisms, for example, a rack and pinion swing cylinder, and a buffer and a position detection switch can be selected as needed. The drive motor 423 can be a servo motor or a stepper motor. The above-mentioned drive components are only illustrative examples. Those skilled in the art can select commercially available equivalent actuators according to the load, stroke, and cycle time requirements. This embodiment does not constitute a limitation on the specific type of drive component.

[0082] In this embodiment, the tilt angles of the upper part of the transport main frame 21, the rocker plate mounting frame 31, and the fully loaded rocker plate transport mechanism 4 when receiving the load can be adjusted by the adjustable corner legs at the four corners of the bottom of the transport main frame 11, the transport main frame 21, and the transport main frame 41, so that the tilt states of the bearing surfaces of each mechanism match each other. The specific tilt angle can be determined according to the cartridge case specifications, the arrangement density of the cartridge case mounting holes, and the vibration parameters of the eccentric vibrator 32. For example, it can be set to a certain angle in the range of 5° to 15°, but this embodiment is not limited to this.

Claims

1. An automatic sorting system for feeding and sorting nail gun cartridge cases, comprising a rocker conveyor mechanism (1), an empty rocker transport mechanism (2), a cartridge case feeding mechanism (3), and a full-load rocker transport mechanism (4), wherein the cartridge case feeding mechanism (3) comprises a rocker mounting frame (31), an eccentric vibrator (32), and a feeding hopper (33), wherein the feeding hopper (33) is used to supply cartridge cases into the rocker mounting frame (31), and the eccentric vibrator (32) is used to drive the rocker (5) on the rocker mounting frame (31) to vibrate, so that the cartridge cases fall into the cartridge case mounting holes of the rocker (5), characterized in that: The rocking plate conveying mechanism (1) is used to grab the rocking plate (5), flip it, move it into place, and then place it on the empty rocking plate transport mechanism (2); The empty rocker transport mechanism (2) includes a transport main frame (21), a liftable bracket (22), and a rocker transport drive (23). The upper part of the transport main frame (21) is inclined to form a receiving end at a low position and a pushing end at a high position. The liftable bracket (22) is installed on the receiving end of the transport main frame (21) and is used to lift and receive one end of the rocker (5) which is in a horizontal state. The liftable bracket (22) can drive one end of the rocker (5) to descend, so that the rocker (5) is adjusted from a horizontal state to an inclined state that falls on the upper part of the transport main frame (21). The rocker transport drive (23) is used to push the rocker (5) that falls on the transport main frame (21) to the cartridge loading mechanism (3) along the direction from the receiving end to the pushing end. The tilting direction and tilting angle of the rocker plate mounting frame (31) are consistent with those of the main transport frame (21), and it is used to receive the rocker plate (5) pushed by the empty rocker plate transport mechanism (2). The infeed end and the discharge end of the rocker plate mounting frame (31) are respectively provided with passive limiting elastic members. When there is no pushing force, the rocker plate (5) is limited to the rocker plate mounting frame (31) by the elastic resistance of the end face of the passive limiting elastic member. When the pushing force transmitted by the adjacent rocker plate (5) is greater than the resistance applied by the passive limiting elastic member, the passive limiting elastic member elastically yields with the passage direction of the rocker plate (5), so that the rocker plate (5) located behind can continuously enter the rocker plate mounting frame (31) and push the rocker plate (5) located in front out of the discharge end, so that each rocker plate (5) continuously passes through the rocker plate mounting frame (31) in a single direction. The fully loaded rocker transport mechanism (4) is used to receive and transport the rocker (5) after the filling is completed.

2. The automatic sorting system for feeding and sorting nail gun cartridge cases according to claim 1, characterized in that: The fully loaded rocking plate transport mechanism (4) includes a transport main frame two (41), a rocking plate conveying assembly (42), an angle adjustment drive (43), and a rocking plate horizontal push assembly (44). The rocking plate conveying assembly (42) is installed on the transport main frame two (41) and is used to receive and assist in the loading of the rocking plate (5) as it leaves the rocking plate mounting frame (31). The angle adjustment drive (43) is used to adjust the tilt angle of the rocking plate conveying assembly (42) so that the rocking plate (5) changes from the tilted state when it is received to the horizontal state. The rocking plate horizontal push assembly (44) is used to push the rocking plate (5) in the horizontal state out of the fully loaded rocking plate transport mechanism (4).

3. The automatic sorting system for feeding nail gun cartridge cases according to claim 1, characterized in that: The rocker conveying mechanism (1) includes a conveying main frame (11), a horizontally movable support (12), a rocker clamp assembly (13), a clamp lifting drive (14), and a horizontal pushing drive (15). The clamp lifting drive (14) is used to drive the rocker clamp assembly (13) to lift. The horizontal pushing drive (15) is used to drive the horizontally movable support (12) to move horizontally. The rocker clamp assembly (13) includes a jaw connecting frame (131) and a jaw relative movement drive (132), a jaw rotation drive (133), and a jaw (134) that are symmetrically mounted on the jaw connecting frame (131). The jaw can retract inward to clamp or move outward to release the rocker (5) under the drive of the jaw relative movement drive (132). The jaw (134) can drive the rocker (5) to flip under the drive of the jaw rotation drive (133). The conveying main frame (11), the first transport main frame (21), and the second transport main frame (41) are all equipped with adjustable corner legs at the four corners of the bottom, and the first transport main frame (21) and the second transport main frame (41) are equipped with detachable triangular reinforcing ribs at the four corner supports of the bottom.

4. The automatic sorting system for feeding nail gun cartridge cases according to claim 1, characterized in that: The fixed ends of the two relative moving drive components (132) of the grippers are respectively installed on the left and right bottom ends of the gripper connecting frame (131). The fixed ends of the two rotating drive components (133) of the grippers are respectively installed on the movable end of the relative moving drive component (132) of the grippers through the connecting plate. The gripper (134) is installed on the rotating end of the rotating drive component (133). The gripper (134) includes a "C" shaped clamp (134b) and a clamping frame (134a). The open end of the "C" shaped clamp (134b) extends inward to fasten the fixed clamping frame (134a). 34b) The non-open end is fixedly connected to the movable end of the gripper rotation drive (133). The size of the two corners of the gripping frame (134a) matches that of the end of the rocker plate (5), so that it can cover the end of the rocker plate (5). When the gripper relative movement drive (132) drives the two grippers (134) to move relative to each other, the two gripping frames (134a) move inward to clamp the two ends of the rocker plate (5) or move outward to release the rocker plate (5). The gripper rotation drive (133) can drive the corresponding gripper (134) to rotate around its rotation axis, so as to drive the gripped rocker plate (5) to flip.

5. The automatic sorting system for feeding and sorting nail gun cartridge cases according to claim 1, characterized in that: The top of the transport main frame (21) is provided with a rocker plate guide support bracket (211), and the liftable bracket (22) is equipped with a lifting drive component (24). The liftable bracket (22) has a flat-bottomed U-shaped structure, and its bottom is hinged to the movable end of the lifting drive component (24). The fixed end of the lifting drive component (24) is installed on the transport main frame (21). The rocker plate guide support bracket (211) has notches corresponding to the two top ends of the liftable bracket (22). The two top ends of the liftable bracket (22) protrude from the corresponding notches respectively. The lifting drive component (24) can drive the liftable bracket (22) to rise and fall, so that the two top ends of the liftable bracket (22) extend upward to above the working surface of the rocker plate guide support bracket (211) to receive one end of the rocker plate (5), or retract downward to below the working surface to place one end of the rocker plate (5) on the rocker plate guide support bracket (211). The lower end of the rocker guide support bracket (211) is provided with an anti-detachment block (212). The anti-detachment block (212) is used to prevent the rocker (5) from sliding off the main transport frame (21) along the tilt direction of the rocker guide support bracket (211). The movable end of the rocker transport drive component (23) is provided with a baffle (231). The baffle (231) is used to abut against the lower end of the rocker (5) to push the rocker (5) to move from the lower position to the higher position along the tilt direction of the rocker guide support bracket (211).

6. The automatic sorting system for feeding nail gun cartridge cases according to claim 1, characterized in that: The passive limiting elastic element includes a limiting baffle (311) provided at the feeding end and the discharging end of the rocker mounting frame (31). The limiting baffle (311) has an opening that matches the cross-sectional shape of the rocker (5). The limiting baffle (311) at the feeding end is provided with a limiting elastic element one (312), and the limiting baffle (311) at the discharging end is provided with a limiting elastic element two (313). When the rocker (5) moves in a set direction, the limiting elastic element one (312) and the limiting elastic element two (313) elastically give way. When the rocker (5) moves in the opposite direction, the limiting elastic element one (312) and the limiting elastic element two (313) resist and block, so that the two openings together constitute a one-way passage path of the rocker (5).

7. The automatic sorting system for feeding nail gun cartridge cases according to claim 6, characterized in that: The rocker mounting frame (31) is surrounded by a raised enclosure (314), and a cartridge interceptor plate (315) is horizontally arranged at the high position. The cartridge interceptor plate (315) is used to prevent the cartridge from being carried out of the rocker mounting frame (31) as the rocker (5) moves.

8. The automatic sorting system for feeding nail gun cartridge cases according to claim 6, characterized in that: The feeding hopper (33) is equipped with a shell anti-gravity conveying frame (34), which is used to convey the shells at the bottom of the feeding hopper (33) to the rocker plate mounting frame (31). The feeding port of the feeding hopper (33) is close to the lower position of the rocker plate mounting frame (31).

9. The automatic sorting system for feeding nail gun cartridge cases according to claim 6, characterized in that: The second limiting elastic element (313) consists of two sets, each including a rotating shaft (313a), a flip-up main frame (313b), a rotating element (313c), and a torsion spring (313d). The rotating shaft (313a) is horizontally positioned and fixedly installed on the limiting baffle (311) located at the discharge end. The flip-up main frame (313b) is fitted onto the rotating shaft (313a). The extended end of the flip-up main frame (313b) is provided with an intercepting part, which is used to press against the rocker plate (5) passing through the opening. The rotating element (313c) is rotatably installed on the end of the intercepting part facing the rocker plate (5). The torsion spring (313d) is fitted onto the rotating shaft (313a), and one end of the torsion spring (313d) abuts against the flip-up main frame (313b). The other end of the torsion spring (313d) abuts against the limiting baffle (311) to apply resistance to the interception part against the rocker plate (5); when the rocker plate (5) is subjected to a squeezing force from the adjacent rocker plate (5) greater than the resistance applied by the torsion spring (313d), the flip-up main frame (313b) flips outward around the rotating shaft (313a) to make room, so that the rocker plate (5) can pass through the outlet end; when the previous rocker plate (5) is completely separated from the rocker plate mounting frame (31), the torsion spring (313d) drives the flip-up main frame (313b) to automatically reset, so that the rotating part (313c) presses against the end face of the next adjacent rocker plate (5) to achieve interception; the rotating part (313c) can rotate with the displacement of the rocker plate (5) to avoid hard contact with the rocker plate (5).

10. The automatic sorting system for feeding nail gun cartridge cases according to claim 2, characterized in that: The top of the second transport frame (41) is equipped with a support plate (411). The support plate (411) has a notch for the rocker conveyor assembly (42) to rotate. The rocker conveyor assembly (42) includes a conveyor belt main frame (421), a conveyor belt (422), and a drive motor (423). The conveyor belt (422) is wrapped around the outer periphery of the conveyor belt main frame (421) and is driven to rotate by the drive motor (423). There are two conveyor belt main frames (421) and two conveyor belts (422). The same end of the two conveyor belt main frames (421) is coaxially connected, and the other end is connected to the same connecting frame (424). The connecting frame (424) is connected to the angle adjustment drive. The driving end of the moving part (43) is connected; the angle-adjusting driving part (43) is used to drive the two conveyor belt main frames (421) to rotate around the coaxial connection through the connecting frame (424) to adjust the tilt angle of the rocker conveyor assembly (42). The rocker flat push assembly (44) includes a flat push linear module (441) and a moving pallet (442). The moving pallet (442) is installed on the moving end of the flat push linear module (441) and its plate surface is perpendicular to the moving direction of the moving end of the flat push linear module (441). When the moving pallet (442) moves with the moving end, its plate surface abuts against the side wall of the rocker (5) in the horizontal state to push the rocker (5) to move laterally out of the second transport main frame (41).

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