A plastic cap brush assembly machine

Abstract

This invention discloses a plastic cap brush assembly machine, relating to the field of automation technology. It includes: a plastic cap feeding mechanism for gripping and transporting plastic caps to a cap feeding position; a brush feeding mechanism for gripping brushes to a heating position for heating, and then transporting the heated brushes to an assembly position; an assembly mechanism for inserting the heated brushes into the plastic cap; and a conveying mechanism with a cap feeding position, an assembly position, and a discharge position. This plastic cap brush assembly machine achieves automatic feeding and assembly of plastic caps and brushes, reducing manual labor intensity and increasing assembly efficiency. The brushes are installed using hot-melt assembly, which, compared to traditional extrusion assembly, offers higher connection reliability and stability, resulting in higher assembly quality.

Description

Technical Field

[0001] This invention relates to the field of automation technology, and more specifically, to a plastic cap brush assembly machine. Background Technology

[0002] The glue has a brush on its plastic cap so that the glue can be applied using the brush when in use.

[0003] Currently, most plastic caps and brushes are assembled manually. The brush is inserted into the brush post of the plastic cap, and then the post is squeezed to clamp and secure the brush. This manual assembly method involves numerous steps, is labor-intensive, has low production efficiency, and results in inconsistent brush installation quality, with brushes easily falling off.

[0004] In conclusion, improving the assembly efficiency and quality of plastic caps and brushes is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a plastic cap and brush assembly machine to improve the assembly efficiency and quality of plastic caps and brushes.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A plastic cap brush assembly machine, comprising: The plastic cap feeding mechanism is used to grab and transfer plastic caps to the cap feeding position; The brush feeding mechanism is used to grab the brush to the heating position for heating, and then transfer the heated brush to the assembly position above it. An assembly mechanism for inserting the heated brush into the plastic cover; The conveying mechanism is provided with the material loading position of the cover, the assembly position and the discharge position.

[0007] Preferably, the plastic cap feeding mechanism includes a centrifugal feeding tray, a first feeding slide, and a first gripping robotic arm. The centrifugal feeding tray is used to centrifugally feed the plastic cap into the feeding position of the first feeding slide, and the first gripping robotic arm is used to clamp the plastic cap and transfer the plastic cap from the first feeding slide to the conveying mechanism.

[0008] Preferably, the brush feeding mechanism includes a second feeding slide, a second gripping robotic arm, and a stacking plate for holding the brushes. The second feeding slide is used to move the stacking plate from the feeding position to the brush gripping position, and the second gripping robotic arm is used to grip and transfer the brushes.

[0009] Preferably, the second gripping robotic arm includes a brush gripping robotic arm and a transverse slide. The brush gripping robotic arm is connected to the slide table of the transverse slide via a rotary motor. The transverse slide is used to drive the brush gripping robotic arm to reciprocate between the heating position and the assembly position.

[0010] Preferably, the assembly mechanism includes a vertical slide table arranged in a vertical direction, the brush gripping robotic arm is connected to the slide table of the vertical slide table, and the vertical slide table is connected to the slide table of the horizontal slide table.

[0011] Preferably, the conveying mechanism includes a conveying turntable, the conveying turntable being uniformly provided with the discharge position and at least one set of the cover loading position along the circumferential direction, and the cover loading position being provided with a positioning element for positioning the plastic cover.

[0012] Preferably, the positioning element includes clamping cylinders arranged in parallel along the radial direction of the conveying turntable, and the number of clamping cylinders in a row is the same as the maximum number of grippers that the plastic cap feeding mechanism can handle.

[0013] Preferably, the discharge position of the conveying mechanism is equipped with a finished product gripping robotic arm, which is used to clamp and transfer the assembled finished product.

[0014] Preferably, it also includes a detection component for detecting whether the finished product is qualified, and the detection component can output a product qualification signal.

[0015] Preferably, the discharge position of the conveying mechanism is provided with a sorting hopper, the sorting hopper including a first chute and a second chute separated by partitions, the sorting hopper being connected to a hopper moving cylinder, the hopper moving cylinder being used to drive the sorting hopper to move relative to the finished product gripping robot arm, so that qualified products and unqualified products fall into the first chute and the second chute respectively.

[0016] The plastic cap and brush assembly machine provided by this invention realizes automatic feeding of plastic caps and brushes through plastic cap feeding mechanism and brush feeding mechanism, and automatically assembles plastic caps and brushes using assembly mechanism. It has low manual labor intensity and high assembly efficiency. In addition, the brush is heated before assembly, and the connection reliability and stability of hot melt installation are higher than that of traditional extrusion installation. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 A schematic diagram of a specific embodiment of the plastic cap brush assembly machine provided by the present invention; Figure 2 Schematic diagram of the plastic cap loading process; Figure 3 A schematic diagram of the brush feeding process; Figure 4 This is a schematic diagram of the product portfolio process; Figure 5 This is a schematic diagram of the product sorting and unloading process.

[0019] Figures 1-5 middle: 01-Plastic cap; 02-Brush; 03-Stacking plate; 10-Plastic cap feeding mechanism; 11-Elevator; 12-Centrifugal feeding tray; 13-First feeding slide; 14-First gripping robotic arm; 141-Cap gripping robotic arm; 20-Brush feeding mechanism; 21-Second feeding slide; 22-Second gripping robotic arm; 221-Brush gripping robotic arm; 222-Rotary motor; 223-Horizontal slide; 23-High frequency heater; 30-Vertical slide; 40-Conveying turntable; 41-Clamping cylinder; 42-Finished product gripping robotic arm; 43-Detection component; 51-Sorting hopper; 52-Hopper moving cylinder. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The core of this invention is to provide a plastic cap and brush assembly machine, which realizes automatic feeding and assembly of plastic caps and brushes, with high assembly efficiency. Furthermore, the brushes are installed using hot-melt technology, resulting in higher connection reliability and stability, and higher assembly quality.

[0022] The plastic cap brush assembly machine provided by the present invention includes: The plastic cap feeding mechanism 10 is used to grab and transfer the plastic cap 01 to the cap feeding position; The brush feeding mechanism 20 is used to grab the brush 02 to the heating position for heating, and to transfer the heated brush 02 to the assembly position above it. An assembly mechanism for inserting the heated brush 02 into the plastic cover 01; The conveying mechanism is equipped with a material loading position, an assembly position, and a material discharge position.

[0023] The plastic cap feeding mechanism 10 and the brush feeding mechanism 20 are used to automatically feed the plastic cap 01 and the brush 02, respectively. Preferably, the plastic cap feeding mechanism 10 and the brush feeding mechanism 20 are located near the conveying mechanism to shorten the feeding path of the plastic cap 01 and the brush 02.

[0024] The relative positions of the plastic cap feeding mechanism 10, the brush feeding mechanism 20, and the conveying mechanism are determined according to the type of conveying mechanism. When the conveying mechanism is a linear conveying mechanism such as a conveyor belt assembly, the plastic cap feeding mechanism 10 and the brush feeding mechanism 20 can be set on opposite sides of the conveying direction of the conveying mechanism, or they can be set on the same side of the conveying direction of the conveying mechanism. However, the plastic cap feeding mechanism 10 is located upstream of the brush feeding mechanism 20 to ensure accurate positioning of the plastic cap 01 on the conveying mechanism.

[0025] When the conveying mechanism is a rotary conveying mechanism such as a conveying turntable 40, the plastic cover feeding mechanism 10 and the brush feeding mechanism 20 can be set vertically, such as... Figure 1 As shown.

[0026] The assembly mechanism is used to drive the brush 02 down vertically so that the brush 02 can be inserted into the brush post of the plastic cover 01, thereby assembling the plastic cover 01 and the brush 02. Since the brush 02 has been heated in the heating position before assembly, the brush 02 and the plastic cover 01 are not simply plugged in, but heat-fused and fixed, which significantly enhances the stability and reliability of the connection.

[0027] The assembly mechanism can be equipped with linear power mechanisms such as electric push rods, linear motors, cylinders and hydraulic cylinders. The specific types and models are determined according to the load range and stroke control accuracy requirements of the assembly mechanism in actual production.

[0028] For example, please refer to Figure 3 The assembly mechanism includes a vertical slide 30 arranged in the vertical direction. The brush gripping robotic arm 221 of the brush feeding mechanism 20 is connected to the slide table of the vertical slide 30. The vertical slide 30 is connected to the slide table of the horizontal slide 223. The structure is simple, easy to assemble, and has high motion adjustment accuracy.

[0029] Because brush 02 is installed using heat fusion, to ensure a stable connection between brush 02 and plastic cover 01 and to prevent brush 02 from falling off during subsequent sorting and transfer, the conveying mechanism typically has a cooling component for rapid product cooling between the assembly and discharge positions. This component often includes cooling nozzles, cooling fans, etc. Figure 4 The cooling nozzle is located in the center of the conveyor turntable 40. Understandably, the airflow direction of the cooling components should not interfere with the subsequent transfer of the finished product.

[0030] In this embodiment, the plastic cover 01 and the brush 02 are automatically fed through the plastic cover feeding mechanism 10 and the brush feeding mechanism 20. The plastic cover 01 and the brush 02 are automatically assembled by the assembly mechanism, which reduces the intensity of manual labor and increases the assembly efficiency. In addition, the brush 02 is heated before assembly, which results in higher connection reliability and stability compared to traditional extrusion installation.

[0031] Based on the above embodiments, the structure of the plastic cap feeding mechanism 10 is defined. The plastic cap feeding mechanism 10 includes a centrifugal feeding tray 12, a first feeding slide 13, and a first gripping robotic arm 14. The centrifugal feeding tray 12 is used to centrifugally feed the plastic cap 01 into the feeding position of the first feeding slide 13. The first gripping robotic arm 14 is used to clamp the plastic cap 01 and transfer the plastic cap 01 from the first feeding slide 13 to the conveying mechanism.

[0032] Please refer to Figure 2 The centrifugal feeding tray 12 is provided with an axially extending inlet and a tangentially extending outlet. The plastic cover 01 can be manually poured into the inlet by the operator, or it can be mechanically transferred into the inlet by the elevator 11 or the loading robot.

[0033] The first feeding slide 13 is set perpendicular to the outlet of the centrifugal feeding tray 12. It is used to receive and integrate the plastic covers 01 entering the slide, so that the plastic covers 01 are aligned in a row and conveyed forward in the slide, so that the first gripping robotic arm 14 can grip the plastic covers 01 in the future.

[0034] The first gripping robotic arm 14 is used to grip and transfer the plastic cap 01, transferring the plastic cap 01 from the discharge position of the first feeding slide 13 to the cap loading position of the conveying mechanism; the first gripping robotic arm 14 includes a cap gripping robotic arm 141 for gripping and holding the plastic cap 01 and a cap transfer assembly for transferring the plastic cap 01, with the cap gripping robotic arm 141 installed on the moving end of the cap transfer assembly.

[0035] The specific type and model of the cover transfer assembly are determined according to the relative position of the discharge position of the first feeding slide 13 and the material loading position of the cover of the conveying mechanism. When the two are collinear, the cover transfer assembly can be set as a linear power mechanism such as an electric push rod, a linear motor, a cylinder, and a hydraulic cylinder. When the two are set perpendicularly, the cover transfer assembly can be set as a rotary power mechanism such as a rotary motor and a hydraulic motor.

[0036] Of course, the first gripping robotic arm 14 can also be configured as a complex robotic arm with multiple degrees of freedom, in which case there is no need to set up a cover transfer component.

[0037] In this embodiment, centrifugal force is used in conjunction with the first feeding slide 13 to align and initially position the plastic cover 01. The structure is simple and the operation is convenient.

[0038] Based on the above embodiments, the structure of the brush feeding mechanism 20 is defined. The brush feeding mechanism 20 includes a second feeding slide 21, a second gripping robotic arm 22, and a stacking plate 03 for holding the brush 02. The second feeding slide 21 is used to drive the stacking plate 03 from the feeding position to the brush gripping position, and the second gripping robotic arm 22 is used to grip and transfer the brush 02.

[0039] During feeding, the stacking plate 03 containing the brush 02 is placed on the second feeding slide 21 by manual or mechanical means. The second feeding slide 21 drives the stacking plate 03 to slide forward to the brush gripping position. The second gripping robotic arm 22 grips the brush 02 and transfers it to the heating position. The high-frequency heating machine 23 and other heating equipment at the heating position heat the brush 02, so that the end of the brush 02 used to insert into the plastic cover 01 is heated until it turns black. After heating is completed, the second gripping robotic arm 22 drives the heated brush 02 to move above the assembly position.

[0040] During assembly, the assembly mechanism drives the second gripping robotic arm 22 to descend vertically, so that the brush 02 is inserted into the plastic cover 01. After the assembly mechanism moves to the correct position, the second gripping robotic arm 22 releases the brush 02. Then, the assembly mechanism drives the second gripping robotic arm 22 to rise vertically until the second gripping robotic arm 22 is reset.

[0041] The second gripping robotic arm 22 includes a brush gripping robotic arm 221 for gripping and holding the brush 02 and a brush transfer assembly for transferring the brush. The brush gripping robotic arm 221 is installed on the moving end of the brush transfer assembly. The type and model of the brush transfer assembly are determined according to the relative positional relationship between the brush gripping position, the heating position and the assembly position in actual production.

[0042] When the brush gripping position, heating position, and assembly position are collinear, the brush transfer assembly can be configured as a linear power mechanism such as an electric push rod, linear motor, cylinder, or hydraulic cylinder; when the three are located on the same arc, the brush transfer assembly can be configured as a rotary power mechanism such as a rotary motor or hydraulic motor; when the line connecting the brush gripping position and the heating position is perpendicular to the line connecting the heating position and the assembly position, the brush transfer assembly can be configured as a horizontal motion platform with two degrees of freedom.

[0043] For example, please refer to Figure 3 The second gripping robotic arm 22 includes a brush gripping robotic arm 221 and a transverse slide 223. The brush gripping robotic arm 221 is connected to the slide table of the transverse slide 223 via a rotary motor 222. The transverse slide 223 is used to drive the brush gripping robotic arm 221 to reciprocate between the heating position and the assembly position. First, the brush-grabbing robotic arm 221 grasps the brush 02 at the brush-grabbing position. The rotary motor 222 drives the brush-grabbing robotic arm 221 to rotate, so that the arrangement direction of the brush 02 is the same as the movement direction from the heating position to the assembly position. Then, the transverse slide 223 drives the brush-grabbing robotic arm 221 to the heating position to heat the brush 02. After heating is completed, the transverse slide 223 drives the brush-grabbing robotic arm 221 to move above the assembly position, ready for the assembly of the brush 02 and the plastic cover 01.

[0044] In this embodiment, the brush 02 is heated by the heating position, so that the brush 02 and the plastic cover 01 are heat-fused and fixed. Compared with the traditional extrusion fixing, the connection strength and connection stability of the brush 02 and the plastic cover 01 are significantly improved.

[0045] Based on the above embodiments, the structure of the conveying mechanism is defined. The conveying mechanism includes a conveying turntable 40. The conveying turntable 40 is uniformly provided with a discharge position and at least one set of cover loading positions along the circumferential direction. The cover loading positions are provided with positioning elements for positioning the plastic cover 01.

[0046] The positioning component is used to position the plastic cover 01 so that the heated brush 02 can be accurately inserted into the plastic cover 01, thereby improving the assembly qualification rate. The positioning component can be set as a limiting post or a limiting cylinder, etc. The limiting post can abut against the outer peripheral surface of the plastic cover 01 to limit the plastic cover 01 horizontally. The limiting cylinder has an inner hole for installing the plastic cover 01. The inner hole is used to limit the plastic cover 01 horizontally, so that the axis of the plastic cover 01 is aligned with the brush 02 in the horizontal plane.

[0047] Preferably, the positioning component includes clamping cylinders 41, which are arranged in parallel along the radial direction of the conveying turntable 40, and the number of clamping cylinders 41 in a row is the same as the maximum number of grippers that the plastic cap feeding mechanism 10 can handle.

[0048] Understandably, in order to facilitate the transfer of finished products, the positioning component should not interfere with the transfer of the assembled finished product. Therefore, the end face of the positioning component must be lower than the upper end face of the plastic cover 01 so that the finished product gripping robot arm 42 can clamp and grip the outer peripheral surface of the plastic cover 01.

[0049] In this embodiment, the conveyor turntable 40 rotates to load the plastic cover 01, assemble the product, and unload it. Compared with the linear conveyor mechanism, the assembly machine has a more compact structure and occupies less space overall.

[0050] Based on the above embodiments, the structure of the conveying mechanism is defined, and the discharge position of the conveying mechanism is provided with a finished product gripping robot arm 42, which is used to clamp and transfer the assembled finished product.

[0051] The types and structures of the finished product gripping robotic arm 42 are similar to those of the cover gripping robotic arm 141 and the brush gripping robotic arm 221 mentioned earlier. The finished product gripping robotic arm 42 can directly transfer the finished product to the finished product storage box, or it can transfer it to the conveyor belt assembly for use in the next process.

[0052] Based on the above embodiments, a detection component for detecting whether the finished product is qualified is also included, and the detection component can output a product qualification signal.

[0053] The detection component can be located at the assembly position of the conveying mechanism or at the fixed end of the finished product gripping robot arm 42, such as the top or side of the vertical mounting base of the finished product gripping robot arm 42.

[0054] The detection component can be set as an image acquisition device such as a camera or camera. The image acquisition device can determine whether each finished product is assembled correctly by capturing the image information. Finished products with brush 02 inside the plastic cover 01 exceeding the maximum preset height are unqualified products with loose connections. Finished products without brush 02 inside the plastic cover 01 are unqualified products that are not connected.

[0055] Of course, the detection component can be set as a proximity switch. The lower proximity switch is used to detect whether there is a brush 02 inside the plastic cover 01, and the higher proximity switch is used to detect whether the length of the brush 02 inside the plastic cover 01 exceeds the maximum preset height.

[0056] In this embodiment, the detection component can accurately identify defective finished products, preventing them from entering the next production process.

[0057] Based on the above embodiments, the discharge position of the conveying mechanism can be provided with a sorting hopper 51. The sorting hopper 51 includes a first slide and a second slide that are separated. The sorting hopper 51 is connected to a hopper moving cylinder 52. The hopper moving cylinder 52 is used to drive the sorting hopper 51 to move relative to the finished product gripping robot arm 42 so that qualified products and unqualified products fall into the first slide and the second slide respectively.

[0058] Both the first and second chutes are inclined downwards, with a qualified product storage box and a non-qualified product storage box respectively located below them. To shorten the travel of the hopper moving cylinder 52, preferably, the sorting hopper 51 can be configured in a Y-shape, with the starting ends of the first and second chutes arranged side-by-side, gradually separating and moving away from each other from the middle. Figure 5 As shown.

[0059] The moving direction of the hopper moving cylinder 52 is not parallel to the moving direction of the finished product gripping robot arm 42. It is preferable to set the hopper moving cylinder 52 along the normal direction of the moving direction of the finished product gripping robot arm 42 so as to shorten the moving distance and response time of the sorting hopper 51 when the size of the sorting hopper 51 is fixed.

[0060] The hopper moving cylinder 52 is signal-connected to the detection component and the finished product gripping robot arm 42. When the detection component detects that the finished product is qualified, the hopper moving cylinder 52 does not move, and the finished product gripping robot arm 42 releases the finished product, which falls into the first slide. When the detection component detects that the finished product is unqualified, the hopper moving cylinder 52 drives the sorting hopper 51 to move, so that the second slide falls directly below the finished product gripping robot arm 42. After moving into position, the hopper moving cylinder 52 outputs a release signal to the finished product gripping robot arm 42, and the finished product gripping robot arm 42 releases the finished product, which falls into the second slide. Then, the hopper moving cylinder 52 drives the sorting hopper 51 to move in the opposite direction to the reset position.

[0061] In this embodiment, the sorting hopper 51 is driven to move relative to the finished product gripping robot arm 42 by the hopper moving cylinder 52, so that the released finished products fall into the separated first and second slides respectively, effectively separating qualified products and unqualified products. Compared with manual sorting, the sorting efficiency is significantly improved, and the sorting mechanism has a simple structure, low cost and convenient operation.

[0062] It should be noted that the first feeding slide 13 and the second feeding slide 21, the first gripping robotic arm 14 and the second gripping robotic arm 22 mentioned in this application, as well as the first and second slides, are only used to distinguish different positions and do not contain any limitation on the order.

[0063] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0064] The plastic cap brush assembly machine provided by this invention has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make several improvements and modifications to this invention without departing from the principles of this invention, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A plastic cap brushing assembly machine characterized by, include: A plastic cap feeding mechanism (10) is used to grab and transfer a plastic cap (01) to the cap feeding position; The brush feeding mechanism (20) is used to grab the brush (02) to the heating position for heating, and to transfer the heated brush (02) to the assembly position above; An assembly mechanism for inserting the heated brush (02) into the plastic cover (01); The conveying mechanism is provided with the material loading position of the cover, the assembly position and the discharge position.

2. The plastic cap and brush assembly machine of claim 1, wherein, The plastic cap feeding mechanism (10) includes a centrifugal feeding tray (12), a first feeding slide (13), and a first gripping robotic arm (14). The centrifugal feeding tray (12) is used to centrifugally feed the plastic cap (01) into the feeding position of the first feeding slide (13). The first gripping robotic arm (14) is used to clamp the plastic cap (01) and transfer the plastic cap (01) from the first feeding slide (13) to the conveying mechanism.

3. The plastic cap brush assembly machine according to claim 1, characterized in that, The brush feeding mechanism (20) includes a second feeding slide (21), a second gripping robotic arm (22), and a stacking plate (211) for holding the brushes. The second feeding slide (21) is used to drive the stacking plate (03) from the feeding position to the brush gripping position. The second gripping robotic arm (22) is used to grip and transfer the brushes (02).

4. The plastic cap brush assembly machine according to claim 3, characterized in that, The second gripping robotic arm (22) includes a brush gripping robotic arm (221) and a transverse slide (223). The brush gripping robotic arm (221) is connected to the slide table of the transverse slide (223) via a rotary motor (222). The transverse slide (223) is used to drive the brush gripping robotic arm (221) to reciprocate between the heating position and the assembly position.

5. The plastic cap brush assembly machine according to claim 4, characterized in that, The assembly mechanism includes a vertical slide (30) arranged in the vertical direction, the brush gripping robot arm (221) is connected to the slide table of the vertical slide (30), and the vertical slide (30) is connected to the slide table of the horizontal slide (223).

6. The plastic cap brush assembly machine according to any one of claims 1-5, characterized in that, The conveying mechanism includes a conveying turntable (40), which is uniformly provided with the discharge position and at least one set of the cover loading position along the circumferential direction. The cover loading position is provided with a positioning element for positioning the plastic cover (01).

7. The plastic cap brush assembly machine according to claim 6, characterized in that, The positioning component includes clamping cylinders (41), which are arranged in parallel along the radial direction of the conveying turntable (40). The number of clamping cylinders (41) in a row is the same as the maximum number of grippers that the plastic cap feeding mechanism (10) can handle.

8. The plastic cap brush assembly machine according to any one of claims 1-5, characterized in that, The discharge position of the conveying mechanism is equipped with a finished product gripping robot arm (42), which is used to clamp and transfer the assembled finished product.

9. The plastic cap brush assembly machine according to claim 8, characterized in that, It also includes a detection component (43) for detecting whether the finished product is qualified, the detection component (43) can output a product qualification signal.

10. The plastic cap brush assembly machine according to claim 9, characterized in that, The discharge position of the conveying mechanism is provided with a sorting hopper (51). The sorting hopper (51) includes a first slide and a second slide separated by a partition. The sorting hopper (51) is connected to a hopper moving cylinder (52). The hopper moving cylinder (52) is used to drive the sorting hopper (51) to move relative to the finished product gripping robot arm (42) so that qualified products and unqualified products fall into the first slide and the second slide respectively.

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