Accessory sorting device

Abstract

The utility model provides an accessory sorting device. The accessory sorting device comprises a frame, an empty disc placing area, an empty disc conveying module, a full disc placing area, a full disc conveying module, a material conveying module, a material disc conveying module, a visual detection module and a robot material taking module, the empty tray placing area is arranged on one side of the lower area of the frame, and the full tray placing area is arranged on the other side of the lower area of the frame; an empty tray taking position is arranged on the upper portion of the empty tray placing area, and the empty tray conveying module is used for lifting empty trays in the empty tray placing area to the empty tray taking position; the tray conveying module is arranged corresponding to the empty tray taking position and used for transferring the empty trays to the robot discharging position, and the robot discharging position is arranged on the upper portion of the full tray containing area. A material taking position is arranged at the tail end of the material conveying module, and the visual detection module is arranged corresponding to the material taking position; the robot material taking module is arranged close to the robot material placing position and the material taking position and used for grabbing materials from the material taking position and placing the materials into a material disc on the robot material placing position.

Description

Technical Field

[0001] The utility model relates to the field of mechanical equipment, in particular to a parts sorting device. Background Art

[0002] Wall switches and sockets generally contain multiple plastic parts, which need to be sorted, packaged, and transported before assembly.

[0003] The existing process is to sort products manually, classify product accessories, identify defective products, and load them onto trays. This manual sorting method has low labor productivity. As production increases year by year, the efficiency of manual operation cannot keep up, which leads to an increase in personnel demand as production increases. Personnel recruitment and management are difficult, and labor costs also increase. With reduced efficiency and increased costs, the pressure of product market competition increases, and this problem needs to be solved urgently. Utility Model Content

[0004] The utility model aims to overcome the defects of the prior art and provide a accessories sorting device.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A parts sorting device comprises: a frame, an empty tray placement area, an empty tray conveying module, a full tray placement area, a full tray conveying module, a material conveying module, a tray conveying module, a visual inspection module, and a robot material picking module;

[0007] The empty tray placement area is arranged at one side of the lower area of ​​the frame, and the full tray placement area is arranged at the other side of the lower area of ​​the frame;

[0008] An empty tray taking position is arranged on the upper part of the empty tray placement area, and the empty tray conveying module is used to lift the empty trays in the empty tray placement area to the empty tray taking position;

[0009] The tray conveying module is arranged corresponding to the empty tray taking position, and is used to transfer the empty tray to the robot placing position, and the robot placing position is arranged above the full tray placing area;

[0010] A material fetching position is arranged at the end of the material conveying module, and the visual inspection module is arranged corresponding to the material fetching position;

[0011] The robot material picking module is arranged adjacent to the robot material discharging position and the material picking position, and is used for grabbing materials from the material picking position and placing them into a material tray on the robot material discharging position.

[0012] Preferably, the material conveying module is arranged above the empty tray picking position, and the material conveying module includes: a pulley mechanism, a belt driving mechanism transmission-connected to the pulley mechanism, and a material position detection component, and the material position detection component is signal-connected to the visual detection module for detecting the position of the material and feeding back to the visual detection module.

[0013] Preferably, the material position detection component is a photoelectric detection component, which includes: a first photoelectric emission module arranged on one side of the pulley mechanism and corresponding to the material taking position, and a first reflection plate arranged on the other side of the pulley mechanism.

[0014] Preferably, the material position detection component further includes: a second photoelectric emission module arranged on one side of the pulley mechanism and corresponding to the material feeding position, and a second reflection plate arranged on the other side of the pulley mechanism and corresponding to the material feeding position.

[0015] Preferably, the tray conveying module includes: a first linear drive mechanism, a mounting plate assembly transmission-connected to the first linear drive mechanism, and a first clamping mechanism fixedly connected to the mounting plate assembly.

[0016] Preferably, the first clamping mechanism includes: a bidirectional cylinder fixed on the mounting plate assembly, two connecting plates connected to the cylinder rods at both ends of the bidirectional cylinder, and two first clamping bodies connected to the two connecting plates, the two first clamping bodies are arranged opposite to each other, and the two first clamping bodies are also provided with positioning blocks, and the material tray is provided with a positioning structure adapted to the position and shape of the positioning block.

[0017] Preferably, the robot material picking module includes: a multi-axis motion mechanism, and a grabbing mechanism connected to the output end of the multi-axis motion mechanism, the grabbing mechanism includes: a mounting seat and a plurality of grabbing components detachably connected to the mounting seat, wherein the plurality of grabbing components are selectively installed according to different accessories so as to grab the corresponding accessories.

[0018] Preferably, the plurality of grabbing components include: a first grabbing component, and / or a second grabbing component, the first grabbing component is a vacuum suction cup component, and the second grabbing component is a clamping claw component.

[0019] Preferably, the empty tray conveying module comprises: a first lifting mechanism disposed at one side of the empty tray placement area, and a second clamping claw mechanism transmission-connected to the first lifting mechanism;

[0020] The full tray conveying module includes: a second lifting mechanism arranged at one side of the full tray placement area, and a third clamping claw mechanism transmission-connected to the second lifting mechanism.

[0021] Preferably, the empty tray placement area is provided with a first stopping mechanism corresponding to the motion trajectory of the first lifting mechanism to limit the stroke of the first lifting mechanism; the full tray placement area is provided with a second stopping mechanism corresponding to the motion trajectory of the second lifting mechanism to limit the stroke of the second lifting mechanism.

[0022] The accessory sorting device of the utility model realizes automation in the processes of tray conveying, material sorting, etc., thereby reducing labor costs and improving production efficiency.

[0023] In addition, the layout of the empty tray placement area, empty tray conveying module, full tray placement area, full tray conveying module, material conveying module, material tray conveying module, visual inspection module, and robot material picking module is reasonable, and the overall structure of the accessories sorting device is compact and occupies little space. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the sorting device of the utility model;

[0025] Figure 2 It is a structural schematic diagram of the empty tray conveying module of the utility model;

[0026] Figure 3 It is a structural schematic diagram of the second clamping jaw mechanism of the utility model;

[0027] Figure 4 It is a structural schematic diagram of the material conveying module of the utility model;

[0028] Figure 5 It is a structural schematic diagram of the tray conveying module of the utility model;

[0029] Figure 6a It is a structural schematic diagram of the material grabbing module of the utility model robot (the first material grabbing component);

[0030] Figure 6b It is a structural schematic diagram of the second material grabbing assembly of the utility model;

[0031] Figure 6c It is a structural schematic diagram of the third material grabbing assembly of the utility model;

[0032] Figure 7 It is a structural schematic diagram of the visual detection module of the utility model;

[0033] Figure 8 It is a structural schematic diagram of the first material tray of the utility model;

[0034] Fig. 9 It is a structural schematic diagram of the second material tray of the utility model;

[0035] Fig.10It is a structural schematic diagram of the third material tray of the utility model.

[0036] Figure 1-10 The accompanying drawings are denoted as follows:

[0037] Frame 110, empty tray placement area 120, empty tray conveying module 130, full tray placement area 140, full tray conveying module 150, material conveying module 160, tray conveying module 170, visual inspection module 180, robot material picking module 190, first support frame 111, second support frame 112, third support frame 113, fourth support frame 114, first lifting mechanism 131, second clamping claw mechanism 132, screw rod 1311, transmission chain assembly 1312, screw rod connecting block 1313, drive motor 1314, base 1315, second connecting plate 1320, second bidirectional cylinder 1321, second connecting block 1322, second clamping claw 1323, second positioning block 1324, second lifting mechanism 151, third clamping claw mechanism 152, pulley mechanism 161, belt drive mechanism 162, material position detection assembly 1 63. The first photoelectric emission module 1631. The first reflecting plate 1632. The second photoelectric emission module 1633. The first linear drive mechanism 171. The mounting plate assembly 172. The first clamping mechanism 173. The linear drive motor 1711. The linear drive screw rod 1712. The nut 1713. The first bidirectional cylinder 1731. The first connecting plate 1732. The first clamping body 1733. The first positioning block 1734. The mounting bracket 181. The camera 182. The image taking frame 183. The multi-axis motion mechanism 191. The material grabbing mechanism 192. The mounting seat 1921. The first material grabbing assembly 1922. The second material grabbing assembly 1923. The third material grabbing assembly 1924. The clamping cylinder 1925. The cylinder connector 1926. The suction cup connector 1927. The empty tray 201. The full tray 202. The slot 217. The guide surface 218. The accessories 300. DETAILED DESCRIPTION

[0038] The following is a further description of the specific implementation of the accessory sorting device of the present utility model with reference to the embodiments given in the accompanying drawings. The accessory sorting device of the present utility model is not limited to the description of the following embodiments.

[0039] like Figure 1 As shown, the utility model provides an accessory sorting device, including: a frame 110, an empty tray placement area 120, an empty tray conveying module 130, a full tray placement area 140, a full tray conveying module 150, a material conveying module 160, a material tray conveying module 170, a visual inspection module 180, and a robot material picking module 190.

[0040] Specifically, the empty tray placement area 120 is arranged on one side of the lower area of ​​the frame 110, and is surrounded by a first support frame 111 arranged at the bottom, a second support frame 112 erected on the first support frame 111, and a third support frame 113 arranged parallel to the setting plane of the first support frame 111, forming a rectangular frame area. The transmission line in the production line (such as a roller transport line) can be directly connected to the empty tray placement area 120, so that the transmission line can realize the transmission of the empty material tray 201 to the empty tray placement area 120.

[0041] In this embodiment, the full tray placement area 140 is arranged on the other side of the lower area of ​​the frame 110, adjacent to the empty tray placement area 120, and is also surrounded by a first support frame 111 arranged at the bottom, a second support frame 112 erected on the first support frame 111, and a third support frame 113 arranged parallel to the setting plane of the first support frame 111, forming a rectangular frame area. The transmission line in the production line (such as a roller transport line) can be directly connected to the full tray placement area 140, so that the transmission line can transport the full material tray 202 out of the full tray placement area 140.

[0042] In this embodiment, an empty tray picking position is set on the upper part of the empty tray placement area 120, and the empty tray conveying module 130 is used to lift the empty trays in the empty tray placement area 130 to the empty tray picking position, so that the tray conveying module 170 can convey the empty trays to the robot placing position.

[0043] In this embodiment, the tray conveying module 170 is arranged corresponding to the empty tray picking position, and is used to transfer the empty tray to the robot placing position, and the robot placing position is arranged on the upper part of the full tray placement area 140.

[0044] In this embodiment, the material conveying module 160 is arranged above the empty tray picking position, and is used to convey the material to be placed in the tray. A material picking position is set at the end of the material conveying module 160, and the visual inspection module 180 is set corresponding to the material picking position; the robot picking module 190 is set adjacent to the robot discharge position and the material picking position, and is used to grab the material from the material picking position and place it in the tray on the robot discharge position.

[0045] The accessory sorting device of the present embodiment has a reasonable layout of the empty tray placement area 120, the empty tray conveying module 130, the full tray placement area 140, the full tray conveying module 150, the material conveying module 160, the material tray conveying module 170, the visual inspection module 180, and the robot material picking module 190. The overall structure of the accessory sorting device is compact and occupies little space.

[0046] Further, such as Figure 2As shown, in this embodiment, the empty tray conveying module 130 includes: a first lifting mechanism 131 arranged on one side of the empty tray placement area 120, and a second clamping mechanism 132 transmission connected to the first lifting mechanism 131, the first lifting mechanism 131 is used to drive the second clamping mechanism 132 to move up and down, and the second clamping mechanism 132 is used to clamp and release the tray.

[0047] Specifically, the first lifting mechanism 131 includes: a base 1315, a driving motor 1314 arranged on the base 1315, a screw rod 1311 transmission-connected to the power-taking motor 1314, a screw rod connecting block 1313 arranged on the screw rod 1311, and a transmission chain assembly 1312, and the second clamping mechanism 132 is transmission-connected to the transmission chain assembly and the screw rod connecting block 1313.

[0048] like Figure 2-3 As shown, the second clamping mechanism 132 includes: a second connecting plate 1320, a second bidirectional cylinder 1321, two second connecting blocks 1322 connected to the cylinder rods at both ends of the second bidirectional cylinder 1321, and two second clamping jaws 1323 respectively connected to the two second connecting blocks 1322, and at least one second positioning block 1324 is also provided on the opposite sides of the two second clamping jaws 1323, corresponding to the bottom of the material tray, to position the bottom of the material tray and keep the material tray in a balanced state.

[0049] Based on the above, the empty tray conveying module 130 of this embodiment drives the screw connecting block 1313 connected to the screw 1311 to move up and down through the driving motor 1314, thereby driving the second clamping jaw mechanism 131 to complete the rising and falling action on the slide rail, and reach the material taking position from the initial position. Through the action of the second bidirectional cylinder 1321, the two second clamping jaws can complete the action of clamping and releasing, and the second positioning block 1324 cooperates with the positioning structure of the tray to complete the grasping and positioning of the tray, and finally the driving motor 1314 is used to drive the second clamping jaw mechanism 131 to complete the rising (descending) work and reach the material discharging position.

[0050] In this embodiment, reference Figure 1 and Figure 2 As shown, the full tray conveying module 150 includes: a second lifting mechanism 151 disposed at one side of the full tray placement area 140, and a third clamping mechanism 152 transmission-connected to the second lifting mechanism 151. The structure of the second lifting mechanism 151 is the same as that of the first lifting mechanism 131, but the movement logic is different. Similarly, the structure of the third clamping mechanism 152 is the same as that of the second clamping mechanism 132.

[0051] Preferably, the empty tray placement area 120 is provided with a first stop mechanism 133 ( Figure 1) to limit the stroke of the first lifting mechanism 131; the full tray placement area 140 is provided with a second stopping mechanism (not shown in the figure) corresponding to the motion trajectory of the second lifting mechanism 151 to limit the stroke of the second lifting mechanism 151.

[0052] In this embodiment, combined with Figure 1 and Figure 4 As shown, the material conveying module 160 is arranged above the empty tray picking position, and the material conveying module includes: a pulley mechanism 161, a belt driving mechanism 162 drivingly connected to the pulley mechanism 161, and a material position detection component 163. The material position detection component 163 is connected to the visual inspection module 180 signal, and is used to detect the position of the material and feed back to the visual inspection module 180. When the material position detection component 163 detects that the material has arrived at the material picking position, it feeds back a signal to the visual inspection module 180. The visual inspection module 180 performs visual inspection on the material type and material quality, and then feeds back the detection result to the robot picking module 190, so that the robot picking module 190 can pick up the material according to the feedback signal.

[0053] Specifically, the pulley mechanism 161 may include a transmission belt, a driving wheel and a driven wheel arranged at both ends, and the driving wheel is driven by a belt drive mechanism 162, wherein the belt drive mechanism 162 is generally a motor, which drives the driving wheel to rotate through gears or belts. The material 300 is placed on the transmission belt through the feed end, and the material 300 is transmitted to the material fetching position by the rolling of the transmission belt. Of course, the material conveying module 160 may also be driven by a chain instead of a belt, or by a motor and a screw.

[0054] Furthermore, the material position detection component 163 is a photoelectric detection component, which includes: a first photoelectric emission module 1631 arranged on one side of the pulley mechanism 161 and corresponding to the material taking position, and a first reflection plate 1632 arranged on the other side of the pulley mechanism 161.

[0055] Preferably, the material position detection component 163 further includes: a second photoelectric emission module 1633 disposed on one side of the pulley mechanism 161 and corresponding to the material feed position, and a second reflector (not shown in the figure) disposed on the other side of the pulley mechanism 161 and corresponding to the material feed position. The second photoelectric emission module 1633 and the second reflector can detect whether there is material at the feed position, so that the pulley mechanism 161 can be driven to move according to the detection signal.

[0056] In this embodiment, if Figure 5As shown, the tray conveying module 170 includes: a first linear drive mechanism 171 , a mounting plate assembly 172 transmission-connected to the first linear drive mechanism 171 , and a first clamping mechanism 173 fixedly connected to the mounting plate assembly 172 .

[0057] As an optional embodiment, the first linear drive mechanism 171 includes: a linear drive motor 1711, a linear drive screw 1712 transmission-connected to the linear drive motor 1711, and a nut 1713 arranged on the linear drive screw 1712. The mounting plate assembly 172 is fixedly connected to the nut 1713. The nut 1713 performs linear motion under the drive of the linear drive screw, thereby driving the mounting plate assembly 172 to perform linear motion.

[0058] In this embodiment, the first clamping mechanism 173 includes: a first bidirectional cylinder 1731 fixed on the mounting plate assembly 172, two first connecting plates 1732 connected to the cylinder rods at both ends of the first bidirectional cylinder 1731, and two first clamping bodies 1733 connected to the two first connecting plates 1732, the two first clamping bodies 1733 are arranged opposite to each other, and the two first clamping bodies 1733 are also provided with a first positioning block 1734, and the material tray is provided with a positioning structure adapted to the position and shape of the first positioning block 1734, as shown in detail. Figure 8-10 As shown, the material tray corresponds to the two sides of the first clamping jaw body 1733, and is provided with a slot 217 corresponding to the first positioning block 1734. Furthermore, a guide surface 218 is also provided so that the first positioning block 1734 of the first clamping jaw body 1733 can accurately cooperate with the slot 217.

[0059] In this embodiment, if Figure 6a-6c As shown, the robot material picking module 190 includes: a multi-axis motion mechanism 191, and a material grabbing mechanism 192 connected to the output end of the multi-axis motion mechanism 191. In this embodiment, the multi-axis motion mechanism 191 can adopt a four-axis motion mechanism. The material grabbing mechanism 192 includes: a mounting seat 1921 and a plurality of material grabbing components (1922, 1923, 1924) detachably connected to the mounting seat 1921, wherein the plurality of material grabbing components are selectively installed according to different accessories 300 to grab corresponding accessories.

[0060] As an optional specific implementation, the plurality of gripping components include: a first gripping component 1922, and / or a second gripping component 1923, wherein the first gripping component 1922 is a vacuum suction cup component, and the second gripping component 1923 is a clamping claw component, which is driven by a clamping claw cylinder 1925 and connected to the mounting base 1921 through a cylinder connector 1926. The vacuum suction cup component can also optionally adopt a structure of multiple small suction cups (such as the first gripping component 1922) or a structure of a single large suction cup (such as the third gripping component 1924, the suction cup connector 1927 structure used by the third gripping component 1924 is also different due to different structures) according to different specific accessories, so as to adapt to accessories with different structures. Due to the large number of product types, specific sorting equipment needs to be developed for various product accessories to complete the material sorting process. In this case, there are many types of equipment requirements for research and development, high research and development and manufacturing costs, easy mixing of parts and components causing production abnormalities, and great difficulty in production management. Differences in orders for different types of products will also cause some equipment to be idle and low operating efficiency. This embodiment adopts a detachable and selectable multiple material grabbing component structure. Different material grabbing components can be selected for different accessories to grab materials, thereby realizing that one device can be used for sorting multiple accessories, reducing R&D costs and manufacturing costs. Figure 8-10 For different accessories, material trays with the same size but different internal bottom plate support structures can also be applied to the sorting device of this embodiment.

[0061] like Figure 7 As shown, the visual inspection module 180 of this embodiment is arranged on the fourth support frame 114, located at the upper part of the material taking position, and the visual inspection module 180 mainly includes: a mounting bracket 181, and a camera 182. As a further improvement, a picture taking frame 183 is also arranged at the material taking position to facilitate the camera to take pictures and compare. Through visual recognition by the visual inspection module 180, video guidance can be carried out for different models of products, and the correct material can be grabbed onto the corresponding material tray, thereby avoiding the trouble caused by mixing materials. In addition, the identification of defective products (such as injection molding material shortage) can also be achieved through the visual inspection module 180, and defective products can be filtered out when loading.

[0062] The operation process of the accessories sorting device in this embodiment is as follows:

[0063] S1. A group of trays are transported to the empty tray placement area 120, which can be transported by a transmission line (eg, a roller transmission line) or manually loaded;

[0064] S2. After the empty tray is placed in the empty tray placement area 120, it enters the material taking position. After the empty tray conveying module 130 receives the in-place feedback signal of the tray (detected by a sensor, such as a photoelectric sensor), the empty tray conveying module 130 starts to move from the initial position to the material taking position. The second clamping mechanism 132 completes the fixation with the tray. After receiving the feedback signal that the fixation with the tray is completed, the first lifting mechanism is activated to lift the tray to the empty tray taking position.

[0065] S3. After the tray conveying module 170 receives the arrival signal of the empty tray conveying module 130, the motor works to reach the empty tray fetching position, grabs the top tray of the empty tray group, and after receiving the grab completion signal, transports the tray horizontally to the robot discharge position;

[0066] S4. Place the product (accessory) on the material conveying module 160, and the product is transported to the guide position of the visual inspection module 180 through the material conveying module 160;

[0067] S5. The visual inspection module 180 guides the visual inspection of the product and feeds back the parameters to the robot picking module 190. The robot picking module 190 grabs the product according to the visual guidance;

[0068] S6. The robot picking module 190 puts the grabbed product into an empty tray, fills the tray in turn, and after receiving the full tray completion signal, the horizontal transport module transports the full tray to the top of the full tray conveying module 150;

[0069] S7. The full tray conveying module 150 sequentially extracts the full trays, and after a group of trays are stacked, the full tray group is placed on the transmission line or manually removed to complete the discharge;

[0070] S8. Repeat the above steps in sequence to complete the parts tray packaging.

[0071] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc. indicate directions or positional relationships based on directions or positional relationships shown in the drawings, or directions or positional relationships that are usually placed when in use, and are only for the convenience of description, rather than indicating that the device or element referred to must have a specific direction, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish descriptions, and cannot be understood as indicating relative importance.

[0072] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementations, and the specific implementation of the present invention cannot be considered to be limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A parts sorting device, characterized in that: include: A frame (110), an empty tray placement area (120), an empty tray conveying module (130), a full tray placement area (140), a full tray conveying module (150), a material conveying module (160), a tray conveying module (170), a visual inspection module (180), and a robot material picking module (190); The empty tray placement area (120) is arranged on one side of the lower area of ​​the frame (110), and the full tray placement area (140) is arranged on the other side of the lower area of ​​the frame (110); An empty tray taking position is arranged at the upper part of the empty tray placement area (120), and the empty tray conveying module (130) is used to lift the empty trays in the empty tray placement area (120) to the empty tray taking position; The tray conveying module (170) is arranged corresponding to the empty tray taking position, and is used to transfer the empty tray to the robot placing position, and the robot placing position is arranged at the upper part of the full tray placing area (140); A material taking position is arranged at the end of the material conveying module (160), and the visual inspection module (180) is arranged corresponding to the material taking position; The robot material picking module (190) is arranged adjacent to the robot material discharge position and the material picking position, and is used to grab materials from the material picking position and place them in a material tray on the robot material discharge position.

2. The accessory sorting device according to claim 1, characterized in that: The material conveying module (160) is arranged above the empty tray material taking position, and comprises: a pulley mechanism (161), a belt driving mechanism (162) drivingly connected to the pulley mechanism (161), and a material position detection component (163); the material position detection component (163) is connected to the visual detection module (180) by signal, and is used to detect the position of the material and feed back to the visual detection module (180).

3. The accessory sorting device according to claim 2, characterized in that: The material position detection component (163) is a photoelectric detection component, which comprises: a first photoelectric emission module (1631) arranged on one side of the pulley mechanism (161) and corresponding to the material taking position, and a first reflection plate (1632) arranged on the other side of the pulley mechanism (161).

4. The accessory sorting device according to claim 3, characterized in that: The material position detection component (163) also includes: a second photoelectric emission module (1633) arranged on one side of the pulley mechanism (161) and corresponding to the material feeding position, and a second reflection plate arranged on the other side of the pulley mechanism (161) and corresponding to the material feeding position.

5. The accessory sorting device according to claim 1, characterized in that: The tray conveying module (170) comprises: a first linear drive mechanism (171), a mounting plate assembly (172) drivingly connected to the first linear drive mechanism (171), and a first clamping claw mechanism (173) fixedly connected to the mounting plate assembly (172).

6. The accessory sorting device according to claim 5, characterized in that: The first clamping mechanism (173) comprises: a first bidirectional cylinder (1731) fixed on the mounting plate assembly (172), two first connecting plates (1732) connected to the cylinder rods at both ends of the first bidirectional cylinder (1731), and two first clamping bodies (1733) connected to the two first connecting plates (1732), the two first clamping bodies (1733) being arranged opposite to each other, the two first clamping bodies (1733) being further provided with a first positioning block (1734), and the material tray being provided with a positioning structure adapted to the position and shape of the first positioning block (1734).

7. The accessory sorting device according to claim 1, characterized in that: The robot material picking module (190) comprises: a multi-axis motion mechanism (191), and a material grabbing mechanism (192) connected to the output end of the multi-axis motion mechanism (191), the material grabbing mechanism (192) comprises: a mounting seat (1921) and a plurality of material grabbing components (1922, 1923, 1924) detachably connected to the mounting seat (1921), wherein the plurality of material grabbing components are selectively installed according to different accessories so as to grab the corresponding accessories.

8. The accessory sorting device according to claim 7, characterized in that: The multiple grabbing components include: a first grabbing component (1922) and / or a second grabbing component (1923), the first grabbing component (1922) is a vacuum suction cup component, and the second grabbing component is a clamping claw component.

9. The accessory sorting device according to claim 1, characterized in that: The empty tray conveying module (130) comprises: a first lifting mechanism (131) arranged at one side of the empty tray placement area (120), and a second clamping mechanism (132) drivingly connected to the first lifting mechanism (131); The full tray conveying module (150) comprises: a second lifting mechanism (151) arranged on one side of the full tray placement area (140), and a third clamping claw mechanism (152) transmission-connected to the second lifting mechanism (151).

10. The accessory sorting device according to claim 9, characterized in that: The empty tray placement area (120) is provided with a first stop mechanism (133) corresponding to the movement trajectory of the first lifting mechanism (131) for limiting the travel of the first lifting mechanism (131); the full tray placement area (140) is provided with a second stop mechanism corresponding to the movement trajectory of the second lifting mechanism (151) for limiting the travel of the second lifting mechanism (151).

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