Grabbing device and sorting equipment

Abstract

The utility model belongs to the technical field of material sorting, and discloses a grabbing device and sorting device.The grabbing device comprises a mounting base and a mounting rack, one end of the mounting rack is hinged to a first driving part and a second driving part, and the output end of the first driving part is provided with a first connecting block; a second connecting block is arranged at the output end of the second driving piece, a through hole is formed in the first connecting block, and a long-strip-shaped hole is formed in the second connecting block. A connecting shaft is arranged in the through hole and the long-strip-shaped hole in a penetrating mode at the same time, and the two ends of the connecting shaft are fixedly connected with the mounting base. A rotating shaft is connected to the other end of the mounting base in a penetrating mode, the two ends of the rotating shaft are rotationally connected with the mounting frame, and a material taking mechanism and a disc taking mechanism are arranged on the other side, away from the rotating shaft, of the mounting base. According to the invention, the working efficiency can be improved while less space is occupied.

Description

Technical Field

[0001] The present application relates to the technical field of material sorting, and more specifically, to a gripping device and sorting equipment. Background Art

[0002] During the manufacturing process of products, it is often necessary to transfer and sort materials such as some electronic devices or components. The transfer of materials often uses a robotic arm to drive a vacuum suction cup or a gripper to grab the materials. Due to its complex structure, the traditional gripper design takes up too much space when grabbing and transferring materials, and may fail to grab tilted materials. At the same time, since materials are often stacked and loaded on pallets, after the materials in the pallet are grabbed, the empty pallet needs additional equipment to pick and place. Adding additional equipment often requires a larger range of motion, which is particularly inconvenient in a compact production line or storage environment, affecting work efficiency. Utility Model Content

[0003] In response to the above technology, the present application provides a gripping device and sorting equipment that can improve work efficiency while occupying less space.

[0004] The present application provides a gripping device and a sorting device that adopt the following technical solutions:

[0005] In a first aspect, the present application provides a gripping device, which adopts the following technical solution:

[0006] A gripping device, comprising:

[0007] A mounting frame, one end of which is hingedly connected to a first driving member and a second driving member, an output end of the first driving member is provided with a first connecting block, an output end of the second driving member is provided with a second connecting block, the first connecting block is provided with a through hole, and the second connecting block is provided with a long hole;

[0008] A connecting shaft is provided through both the through hole and the long hole, and both ends of the connecting shaft are fixedly connected to the mounting seat; a rotating shaft is provided through the other end of the mounting seat, and both ends of the rotating shaft are rotatably connected to the mounting frame, and a material picking mechanism and a tray picking mechanism are provided on the other side of the mounting seat away from the rotating shaft.

[0009] Optionally, the material taking mechanism includes a mounting plate, a buffer plate and a suction nozzle, at least one suction nozzle is provided and is mounted on the mounting plate for sucking materials, the buffer plate is fixedly connected to the mounting seat, and the buffer plate is arranged on a side of the mounting plate away from the materials;

[0010] A buffer assembly is provided between the buffer plate and the mounting plate, one end of the buffer assembly is connected to the buffer plate, and the other end is connected to the mounting plate, and the buffer assembly is pressed against the mounting plate to compress the mounting plate so that the mounting plate moves toward the buffer plate.

[0011] Optionally, the material taking mechanism further comprises a balancing plate and a driving assembly for driving the balancing plate to rise and fall, wherein the balancing plate is arranged on a side of the buffer plate away from the mounting plate;

[0012] The balancing plate is provided with a balancing pin and a pressure spring. The pressure spring is sleeved on the outer peripheral wall of the balancing pin, and one end of the pressure spring is connected to the balancing plate, and the other end is connected to the buffer plate; the balancing pin passes through the buffer plate and the mounting plate for contacting and pressing the material, and the balancing pin is slidably connected to the buffer plate and the mounting plate.

[0013] Optionally, the tray-removing mechanism includes a first clamp, a second clamp and a third driving member that are relatively arranged, the third driving member is fixedly mounted on the mounting base, the first clamp and the second clamp are arranged at the output end of the third driving member, and the third driving member drives the first clamp and the second clamp to move toward each other to clamp the tray, or move away from each other to place the tray.

[0014] In a second aspect, the present application provides a sorting device, which adopts the following technical solution:

[0015] A sorting device comprises the above-mentioned grasping device, a robotic arm, a sorting device and a machine platform, wherein the robotic arm and the sorting device are both arranged on the machine platform, and the grasping device is arranged at the output end of the robotic arm and moves by being driven by the robotic arm.

[0016] Optionally, the robotic arm is configured as a three-axis robotic arm or a multi-axis robotic arm, and an output end of the robotic arm is connected to the mounting bracket.

[0017] Optionally, the sorting device includes a code scanning mechanism, a first assembly line, a second assembly line, a carrying plate and a turning mechanism;

[0018] The carrying plate is arranged between the first assembly line and the second assembly line. The code scanning mechanism is arranged corresponding to the carrying plate to identify the type of material on the carrying plate, and controls the flipping mechanism to drive the carrying plate to flip according to the material type, so that the material is flipped to the first assembly line or the second assembly line.

[0019] Optionally, the flipping mechanism includes a bearing platform, a connecting rod assembly, a driving motor, a limiting member and a limiting cylinder;

[0020] The supporting plate is arranged on the supporting platform and rotates with the supporting platform. The limiting cylinder drives the limiting part to slide and cooperate with the supporting platform to stagger the two ends of the supporting plate. The driving motor drives the connecting rod assembly to lift the supporting plate and flip it with the limited end of the supporting plate as the rotation center.

[0021] Optionally, the limiting member includes a first positioning end and a second positioning end, and the two ends of the carrying plate close to the first assembly line and the second assembly line are respectively provided with a first connecting rod and a second connecting rod;

[0022] The first positioning end is located at the end of the supporting plate close to the first assembly line and is used to clamp the first connecting rod, and the second positioning end is located at the end of the supporting plate close to the second assembly line and is used to clamp the second connecting rod; the limiting cylinder drives the limiting member to slide and cooperate with the supporting platform to stagger the first connecting rod and the second connecting rod.

[0023] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0024] When it is necessary to pick up material, the first driving member is started, so that the first driving member drives the inner wall of the through hole of the first connecting block to press against the connecting shaft, thereby applying a force to one end of the mounting seat, and the mounting seat rotates around the rotating shaft to drive the material picking mechanism to pick up material; when it is necessary to pick up the plate, the second driving member is started, so that the second driving member drives the inner wall of the long hole of the second connecting block to press against the connecting shaft, thereby applying a force to one end of the mounting seat, and the mounting seat rotates around the rotating shaft to drive the plate picking mechanism to pick up the plate; the material picking mechanism and the plate picking mechanism are integrated into the mounting seat, which saves the space occupied by the grasping device and improves the integration and versatility of the grasping device; at the same time, the start-up of the first driving member and the second driving member does not interfere with each other, and the mounting seat can be rotated at different degrees under the premise of occupying less space. The material picking and placing and the pallet picking and placing are quickly completed through the optimized action sequence of the first driving member and the second driving member, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0026] Figure 1 This is a schematic diagram of the overall structure of a sorting device disclosed in an embodiment of the present application;

[0027] Figure 2This is a structural schematic diagram of a sorting device disclosed in an embodiment of the present application, highlighting a gripping device and a sorting device;

[0028] Figure 3 A schematic structural diagram of a gripping device disclosed in an embodiment of the present application;

[0029] Figure 4 This is a structural diagram of the gripping device disclosed in an embodiment of the present application, highlighting the mounting base, the material taking mechanism, and the tray taking mechanism;

[0030] Figure 5 This is a structural diagram highlighting the first driving member and the second driving member of the gripping device disclosed in an embodiment of the present application;

[0031] Figure 6 This is a structural schematic diagram of the gripping device disclosed in an embodiment of the present application, highlighting the material taking mechanism and the tray taking mechanism from another perspective;

[0032] Figure 7 This is a schematic structural diagram of the sorting device disclosed in an embodiment of the present application;

[0033] Figure 8 This is a structural schematic diagram of the sorting device disclosed in an embodiment of the present application, highlighting the flipping mechanism.

[0034] Description of reference numerals:

[0035] 1. Machine;

[0036] 2. Grabbing device; 21. Mounting frame; 22. Retrieving mechanism; 221. Mounting plate; 222. Buffer plate; 223. Suction nozzle; 224. Buffer assembly; 225. Balance plate; 2251. Balance ejector pin; 2252. Pressure spring; 226. Drive assembly; 23. Retrieving mechanism; 231. First clamping jaw; 232. Second clamping jaw; 233. Third driving member; 24. Mounting base; 241. Rotating shaft; 242. Connecting shaft; 25. First driving member; 251. First connecting block; 252. Through hole; 26. Second driving member; 261. Second connecting block; 262. Long hole;

[0037] 3. Sorting device; 31. Scanning mechanism; 32. First assembly line; 33. Second assembly line; 34. Carrying plate; 341. First connecting rod; 342. Second connecting rod; 343. Product suction cup; 35. Flipping mechanism; 351. Carrying platform; 352. Connecting rod assembly; 353. Drive motor; 354. Limiting member; 3541. First positioning end; 3542. Second positioning end; 355. Limiting cylinder;

[0038] 4. Robotic arm. DETAILED DESCRIPTION

[0039] The present application is further described in detail below with reference to the accompanying drawings.

[0040] The embodiments of the present application provide a gripping device and sorting equipment, focusing on solving the equipment requirements for miniaturization and high efficiency of material handling and sorting.

[0041] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0042] The terms "first," "second," "third," "fourth," and the like in the specification and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0043] See also Figure 1 and Figure 2 , is an embodiment of a sorting device in the embodiments of the present application, the sorting device includes a gripping device 2, a sorting device 3, a machine platform 1, a robotic arm 4, and a hood. The gripping device 2, the sorting device 3, and the robotic arm 4 are all arranged on the machine platform 1. The hood is arranged outside the gripping device 2, the sorting device 3, and the robotic arm 4 to protect the internal structures of the gripping device 2, the sorting device 3, and the robotic arm 4, isolating dust and improving safety performance. The gripping device 2 is used to grab materials and trays; the robotic arm 4 is used to transfer the gripping device 2 and the grabbed materials to the sorting device 3. The sorting device 3 is used to classify the materials grabbed by the gripping device 2.

[0044] See also Figure 3The robotic arm 4 is fixedly mounted on the machine platform 1, and the gripping device 2 is disposed at the end of the robotic arm 4. In this embodiment, the robotic arm 4 is configured as a three-axis robotic arm or a multi-axis robotic arm, including at least one rotation axis to achieve rotation in the XY plane. The XY plane is the plane where the machine platform 1 is located. The robotic arm 4 can rotate in the XY plane so that the robotic arm 4 drives the material grasped by the material retrieving mechanism 22 to move to the sorting device 3.

[0045] See also Figure 1 and Figure 3 , is an embodiment of the gripping device 2 in the embodiments of the present application, and is intended to provide a compact, quick-operation gripping device 2 capable of gripping materials and pallets, significantly reducing space usage. The gripping device 2 includes a mounting frame 21, a material-retrieving mechanism 22, a pallet-retrieving mechanism 23, and a mounting base 24. The mounting frame 21 is mounted at the end of the robotic arm 4, and the mounting base 24 is mounted at the end of the mounting frame 21 away from the robotic arm 4. The material-retrieving mechanism 22 and the pallet-retrieving mechanism 23 are both mounted on the mounting base 24. The material-retrieving mechanism 22 is used to retrieve and place materials, and the pallet-retrieving mechanism 23 is used to retrieve and place pallets.

[0046] See also Figure 4 and Figure 5 The mounting base 24 includes a first side wall and a second side wall that are perpendicular to each other, and two parallel connecting walls. The first side wall and the second side wall are fixedly connected, and the two ends of the connecting wall are fixedly connected to the first side wall and the second side wall, respectively. The material picking mechanism 22 is disposed on the first side wall of the mounting base 24, and the tray picking mechanism 23 is disposed on the second side wall of the mounting base 24. The material picking mechanism 22 and the tray picking mechanism 23 are assembled on different side walls of the mounting base 24. The mounting base 24 rotates, thereby driving the material picking mechanism 22 and the tray picking mechanism 23 to rotate synchronously, so that the material picking mechanism 22 can complete the material picking; or the tray picking mechanism 23 can complete the tray picking.

[0047] See also Figure 5 and Figure 6One end of the mounting frame 21 is hingedly connected to a first drive member 25 and a second drive member 26. Both the first and second drive members 25 and 26 are telescopic structures and are arranged side by side. The first and second drive members 25 and 26 move in the same direction. The mounting base 24 is provided with a connecting shaft 241 and a rotating shaft 242. The ends of the connecting shaft 241 are fixedly connected to the mounting base 24, while the ends of the rotating shaft 242 pass through the mounting base 24 and the mounting frame 211 and are rotationally connected to the mounting frame 211. The connecting shaft 241 and the rotating shaft 242 are arranged in parallel and are respectively located at opposite ends of the mounting base 24. The material removal mechanism 22 and the tray removal mechanism 23 are arranged on the side of the mounting base 24 facing away from the rotating shaft 242. The first drive member 25 is used to drive the mounting base 24 to rotate so that the material removal mechanism 22 can align the material. The second drive member 26 is used to drive the mounting base 24 to rotate so that the tray removal mechanism 23 can align the tray. In this embodiment, the first and second drive members 25 and 26 are preferably pneumatic cylinders.

[0048] Specifically, the output end of the first driving member 25 is provided with a first connecting block 251, and the output end of the second driving member 26 is provided with a second connecting block 261. The first driving member 25 can drive the first connecting block 251 to move linearly, and the second driving member 26 can drive the second connecting block 261 to move linearly. The first connecting block 251 is provided with a through hole 252, and the second connecting block 261 is provided with an elongated hole 262. The connecting shaft 241 extends through both the through hole 252 and the elongated hole 262. It is understood that the extension or retraction of the first driving member 25 is intended to drive the through hole 252 of the first connecting block 251 to press against the connecting shaft 241, so that the mounting seat 24 rotates with the mounting frame 21 about the rotating shaft 242, thereby achieving the angle adjustment of the mounting seat 24 so that the material picking mechanism 22 can correspond to the material. Because the tray removal mechanism 23 is located on the second side wall of the mounting base 24, the second driving member 26 can have a greater range of motion than the first driving member 25. The elongated hole 262 can be a waist-shaped hole to provide clearance when the second driving member 26 extends or retracts, thereby preventing the second driving member 26 from interfering with the first driving member 25 during movement. The extension or retraction of the second driving member 26 drives the elongated hole 262 of the second connecting block 261 to press against the connecting shaft 241, thereby causing the mounting base 24 to rotate with the mounting bracket 21 about the rotating shaft 242, thereby adjusting the angle of the mounting base 24 so that the tray removal mechanism 23 corresponds to the tray.

[0049] When it is necessary to pick up materials, the first driving member 25 is started, so that the first driving member 25 drives the inner wall of the through hole 252 of the first connecting block 251 to press against the connecting shaft 241, thereby applying a force to one end of the mounting seat 24, and the mounting seat 24 rotates around the rotating shaft 242 to drive the corresponding material of the picking mechanism 2, and then the material is picked up by the picking mechanism 22; after the picking mechanism 22 completes the picking, the first driving member 25 contracts and drives the picking mechanism 22 to return to its position, and the robotic arm 4 drives the picking mechanism 22 to rotate a certain angle in the XY plane to drive the picking mechanism 22 to move, so that the material is away from the tray to the sorting device 3. When there is no material in the tray, the tray needs to be transferred. When the tray needs to be taken out, the second driving member 26 is started, so that the second driving member 26 drives the inner wall of the long hole 262 of the second connecting block 261 to press the connecting shaft 241, thereby applying a force to one end of the mounting seat 24, and the mounting seat 24 rotates around the rotating shaft 242 to drive the tray-taking mechanism 23 to correspond to the tray, and then the tray is taken out by the tray-taking mechanism 23; after the tray-taking mechanism 23 completes the tray-taking, the robot arm 4 rotates a certain angle in the XY plane to drive the tray-taking mechanism 23 to move, and places the tray in other areas of the machine 1 to complete the transfer of the tray; the second driving member 26 contracts to drive the tray-taking mechanism 23 to return to its position, and when it is necessary to continue to take out materials, the first driving member 25 is started, and the transfer of materials and trays is completed in a reciprocating cycle. The material picking mechanism 22 and the tray picking mechanism 23 are integrated into the mounting base 24, which saves the space occupied by the grasping device 2 and improves the integration and versatility of the grasping device 2; at the same time, the activation of the first driving member 25 and the second driving member 26 do not interfere with each other, and can realize different degrees of angular rotation of the mounting base 24 under the premise of occupying less space. The optimized action sequence of the first driving member 25 and the second driving member 26 can quickly complete the material picking and placing and the tray picking and placing, thereby improving work efficiency.

[0050] See also Figures 3 to 6 The material-taking mechanism 22 includes a mounting plate 221, a buffer plate 222 and a suction nozzle 223 for communicating with an external air source. The external air source can be an air pump. The mounting plate 221 and the buffer plate 222 are arranged in parallel. The distance between the mounting plate 221 and the material is closer than the distance between the buffer plate 222 and the material. There is at least one suction nozzle 223 and it is installed on the mounting plate 221 for sucking the material. The buffer plate 222 is fixedly connected to the mounting seat 24, and the buffer plate 222 is arranged on the side of the mounting plate 221 away from the material; a buffer assembly 224 is provided between the buffer plate 222 and the mounting plate 221, one end of the buffer assembly 224 is connected to the buffer plate 222, and the other end is connected to the mounting plate 221, pressing the mounting plate 221 to compress the buffer assembly 224 so that the mounting plate 221 moves toward the buffer plate 222.

[0051] It is understandable that when it is necessary to pick up the material in the tray, the first drive member 25 drives the mounting seat 24 to rotate so that the picking mechanism 22 corresponds to the material, that is, the mounting plate 221 is located above the material and parallel to the material. In the process of the mounting plate 221 coming into contact with the material, the material presses against the mounting plate 221, causing the mounting plate 221 to compress the buffer assembly 224 and move toward the buffer plate 222. The setting of the buffer assembly 224 reduces the hard contact of the mounting plate 221 with the material, and reduces the probability of damage to the material caused by the mounting plate 221 gradually approaching the material and fitting the material, thereby improving the yield rate of the material. After the mounting plate 221 comes into contact with the material, the suction nozzle 223 generates a vacuum through the air pump, and the suction nozzle 223 sucks the material to achieve material picking, so that the material is separated from the tray. Under the action of the robotic arm 4, the material is transferred to the sorting device 3. In this embodiment, multiple suction nozzles 223 are provided, and the multiple suction nozzles 223 are evenly distributed and mounted on the mounting plate 221 for sucking materials. The multiple suction nozzles 223 can increase the contact area between the suction nozzles 223 and the materials, thereby increasing the suction force on the materials and reducing the probability of the materials detaching from the suction nozzles 223. The buffer assembly 224 is preferably a spring, which acts as a buffer when the mounting plate 221 moves toward the buffer plate 222.

[0052] Furthermore, in order to ensure the stable transfer of materials and reduce the risk of materials escaping from the retrieving mechanism 22 due to the tilting of the materials during the retrieving process, the materials need to be flexibly leveled during the retrieving process. The retrieving mechanism 22 also includes a balancing plate 225 and a drive assembly 226 for driving the balancing plate 225 up and down. The drive assembly 226 is preferably a cylinder. The balancing plate 225 is arranged on the side of the buffer plate 222 away from the mounting plate 221. The balancing plate 225 is provided with a balancing pin 2251 and a pressure spring 2252. The pressure spring 2252 is sleeved on the outer peripheral wall of the balancing pin 2251, and one end of the pressure spring 2252 is connected to the balancing plate 225 and the other end is connected to the buffer plate 222. The balancing pin 2251 penetrates the buffer plate 222 and the mounting plate 221 to contact and press the materials. The balancing pin 2251 is slidably connected to the buffer plate 222 and the mounting plate 221. When taking materials, the materials are flexibly leveled, that is, the driving component 226 drives the balancing plate 225 to descend to move toward the direction where the materials are located, and the balancing plate 225 drives the balancing ejector pin 2251 to move synchronously. The balancing ejector pin 2251 passes through the buffer plate 222 and the mounting plate 221 and gradually approaches the materials and presses the materials to achieve the positioning of the materials; the pressure spring 2252 is gradually compressed during the movement of the balancing ejector pin 2251, which is used to reduce the rigid positioning of the balancing ejector pin 2251 on the materials, thereby achieving the effect of flexible leveling of the materials.

[0053] In this embodiment, two retrieving mechanisms 22 are provided, both mounted on the first sidewall of the mounting base 24. The two retrieving mechanisms 22 simultaneously retrieve material from the trays, thereby reducing the time required to transfer a tray of material and improving material retrieval efficiency. The trays are stacked in multiple layers and positioned at an angle. After the retrieving mechanism 22 retrieves material from the upper tray, the tray is transferred via the retrieving mechanism 23, and the material in the lower tray continues to be transferred via the retrieving mechanism 22.

[0054] See also Figures 3 to 6 The tray-taking mechanism 23 includes a first clamping jaw 231, a second clamping jaw 232 and a third driving member 233 that are relatively arranged. The third driving member 233 is fixedly installed on the mounting base 24, that is, the third driving member 233 is fixedly connected to the second side wall. The first clamping jaw 231 and the second clamping jaw 232 are arranged at the output end of the third driving member 233, and the third driving member 233 drives the first clamping jaw 231 and the second clamping jaw 232 to move toward each other to clamp the tray, or move away from each other to place the tray. The third driving member 233 is preferably a cylinder. Specifically, the tray-taking mechanism 23 also includes a slide rail, a first slider and a second slider. The length direction of the slide rail is parallel to the clamping part of the tray. The first slider and the second slider are both slidably connected to the slide rail. The slide rail is fixedly installed at the output end of the third driving member 233. Under the action of the third driving member 233, the first slider and the second slider can be driven more smoothly to move toward each other or away from each other along the length direction of the slide rail. The end of the first slider away from the rail is fixedly connected to the first clamping jaw 231, and the end of the second slider away from the rail is fixedly connected to the second clamping jaw 232. Driven by the third driving member 233, the first clamping jaw 231 and the second clamping jaw 232 move toward each other along the length of the rail, thereby reducing the distance between the first clamping jaw 231 and the second clamping jaw 232 to clamp the clamping portion of the tray and perform the tray removal operation. The robot arm 4 drives the tray removal mechanism 23 to the area where the tray is placed to achieve the tray transfer.

[0055] In this embodiment, in order to enhance the clamping stability of the tray, two groups of tray-taking mechanisms 23 are arranged side by side. The two groups of tray-taking mechanisms 23 act simultaneously to clamp different clamping parts of the tray to increase the contact area between the tray-taking assembly and the tray, thereby increasing the force points of the tray-taking mechanism 23 on the tray, and further enhancing the transportation stability of the tray-taking mechanism 23 on the tray.

[0056] See also Figure 2 and Figure 7The sorting device 3 includes a code scanning mechanism 31, a first assembly line 32, a second assembly line 33, a carrying plate 34 and a flipping mechanism 35. The carrying plate 34 is used to carry materials and is arranged parallel to the machine 1. The carrying plate 34 is arranged between the first assembly line 32 and the second assembly line 33. The first assembly line 32 and the second assembly line 33 are used to transport different types of materials. The code scanning mechanism 31 is arranged corresponding to the carrying plate 34 to identify the type of material on the carrying plate 34. The flipping mechanism 35 is controlled according to the type of material to drive the carrying plate 34 to flip, so that the material is flipped to the first assembly line 32 or the second assembly line 33, thereby completing the classification of different types of materials. It can be understood that the robotic arm 4 drives the material grabbed by the picking mechanism 22 to move to the sorting device 3, and the suction nozzle 223 releases the vacuum so that the material is separated from the picking mechanism 22 and is carried by the supporting plate 34. The material on the supporting plate 34 is identified by the scanning mechanism 31. According to the type of the material identified, the flipping mechanism 35 drives the supporting plate 34 to flip toward the first assembly line 32 or the second assembly line 33, so that the material is flipped to the first assembly line 32 or the second assembly line 33 for classification and collection. The materials grabbed by the picking mechanism 22 are all subjected to the above-mentioned sorting process to complete the classification of the materials.

[0057] See also Figure 8 Furthermore, the upper surface of the carrier plate 34 is provided with product suction cups 343. To enhance the material's suction stability, two product suction cups 343 are provided in this embodiment, and their central axes coincide with the central axes of the first and second assembly lines 32 and 33. The product suction cups 343 are used to absorb the material transferred to the carrier plate 34 by the material-retrieving mechanism 22. The product suction cups 343 are fixed to the carrier plate 34 to prevent the material from sliding during the flipping of the carrier plate 34. This ensures that the material can be accurately flipped to the first or second assembly line 32 or 33, reducing damage caused by the material falling outside the first or second assembly line 32 or 33, thereby improving the sorting efficiency and yield rate of the material.

[0058] See also Figure 7 and Figure 8The flipping mechanism 35 includes a supporting platform 351 fixedly arranged on the machine 1, a connecting rod assembly 352, a driving motor 353, a limiting member 354 and a limiting cylinder 355; the supporting plate 34 is arranged on the supporting platform 351 and rotates with the supporting platform 351, and the limiting cylinder 355 drives the limiting member 354 to slide and cooperate with the supporting platform 351 to stagger the two ends of the supporting plate 34. The driving motor 353 drives the connecting rod assembly 352 to lift the supporting plate 34, and flips it with the limited end of the supporting plate 34 as the rotation center. After the material is identified by the code scanning mechanism 31, the material is flipped to the first assembly line 32 or the second assembly line 33 through the flipping mechanism 35 according to the type of the material; specifically, if the type of the material belongs to the first assembly line 32, the limit cylinder 355 drives the limit member 354 to slide and cooperate with the supporting platform 351, and the limit member 354 limits the end of the supporting plate 34 close to the first assembly line 32, so that the supporting plate 34 rotates with the end close to the first assembly line 32 as the center of rotation; the driving motor 353 drives the connecting rod assembly 352 to gradually lift the supporting plate 34, and the supporting plate 34 flips with the end close to the first assembly line 32 as the center of rotation, so that the material is flipped from the supporting plate 34 to the first assembly line 32 and transmitted via the first assembly line 32.

[0059] The first and second positioning ends 354 and 3542 are respectively provided with a first connecting rod 341 and a second connecting rod 342 at the two ends of the supporting plate 34 close to the first assembly line 32 and the second assembly line 33. The first positioning end 3541 is located at the end of the supporting plate 34 close to the first assembly line 32 for clamping the first connecting rod 341, and the second positioning end 3542 is located at the end of the supporting plate 34 close to the second assembly line 33 for clamping the second connecting rod 342. The limiting cylinder 355 drives the limiting member 354 to slide with the supporting platform 351, so that the first positioning end 3541 clamps and limits the first connecting rod 341, or the second positioning end 3542 clamps and limits the second connecting rod 342, thereby realizing the staggered limitation of the first connecting rod 341 and the second connecting rod 342. According to the type of material, the limiting cylinder 355 drives the limiting member 354 and the supporting platform 351 to slide, so that the first positioning end 3541 of the limiting member 354 is clamped and limited to the first connecting rod 341, and the driving motor 353 drives the connecting rod assembly 352 to lift the supporting plate 34 with the first connecting rod 341 as the rotation center and flip it to the first assembly line 32; or, the second positioning end 3542 of the limiting member 354 is clamped and limited to the second connecting rod 342, and the driving motor 353 drives the connecting rod assembly 352 to lift the supporting plate 34 with the second connecting rod 342 as the rotation center and flip it to the second assembly line 33.

[0060] In this embodiment, the connecting rod assembly 352 includes a first connecting rod and a second connecting rod, the ends of which are hingedly connected. The supporting platform 351 is provided with a first connecting rod 341, which is rotatably engaged with the supporting platform 351. One end of the first connecting rod 341 is fixedly connected to the output end of the drive motor 353, and the other end of the first connecting rod 341 is fixedly connected to the first connecting rod. The supporting plate 34 is provided with a second connecting rod 342, which is rotatably engaged with the supporting platform 351, and the first connecting rod 341 is fixedly connected to the first connecting rod. The drive motor 353 drives the first connecting rod 341 to rotate, and the rotation of the first connecting rod 341 thereby drives the rotation of the first connecting rod. Under the action of the limit member 354, the second connecting rod gradually lifts the side of the supporting plate 34 that is not locked and limited, causing it to flip.

[0061] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gripping device, characterized in that: include: A mounting frame, one end of which is hingedly connected to a first driving member and a second driving member, an output end of the first driving member is provided with a first connecting block, an output end of the second driving member is provided with a second connecting block, the first connecting block is provided with a through hole, and the second connecting block is provided with a long hole; A connecting shaft is provided through both the through hole and the long hole, and both ends of the connecting shaft are fixedly connected to the mounting seat; a rotating shaft is provided through the other end of the mounting seat, and both ends of the rotating shaft are rotatably connected to the mounting frame, and a material picking mechanism and a tray picking mechanism are provided on the other side of the mounting seat away from the rotating shaft.

2. A gripping device according to claim 1, characterized in that: The material taking mechanism includes a mounting plate, a buffer plate and a suction nozzle, wherein at least one suction nozzle is provided and is mounted on the mounting plate for sucking materials, the buffer plate is fixedly connected to the mounting seat, and the buffer plate is arranged on a side of the mounting plate away from the materials; A buffer assembly is provided between the buffer plate and the mounting plate, one end of the buffer assembly is connected to the buffer plate, and the other end is connected to the mounting plate, and the buffer assembly is pressed against the mounting plate to compress the mounting plate so that the mounting plate moves toward the buffer plate.

3. A gripping device according to claim 2, characterized in that: The material taking mechanism further includes a balance plate and a driving assembly for driving the balance plate to rise and fall, wherein the balance plate is arranged on a side of the buffer plate away from the mounting plate; The balancing plate is provided with a balancing pin and a pressure spring. The pressure spring is sleeved on the outer peripheral wall of the balancing pin, and one end of the pressure spring is connected to the balancing plate, and the other end is connected to the buffer plate; the balancing pin passes through the buffer plate and the mounting plate for contacting and pressing the material, and the balancing pin is slidably connected to the buffer plate and the mounting plate.

4. A gripping device according to claim 1, characterized in that: The tray-removing mechanism includes a first clamping jaw, a second clamping jaw and a third driving member that are arranged opposite to each other. The third driving member is fixedly installed on the mounting base. The first clamping jaw and the second clamping jaw are arranged at the output end of the third driving member, and the third driving member drives the first clamping jaw and the second clamping jaw to move toward each other to clamp the tray, or move away from each other to place the tray.

5. A sorting device, characterized in that: It comprises the grasping device, robotic arm, sorting device and machine according to any one of claims 1 to 4, wherein the robotic arm and the sorting device are both arranged on the machine, and the grasping device is arranged at the output end of the robotic arm and moves by being driven by the robotic arm.

6. A sorting device according to claim 5, characterized in that: The robotic arm is configured as a three-axis robotic arm or a multi-axis robotic arm, and the output end of the robotic arm is connected to the mounting frame.

7. A sorting device according to claim 6, characterized in that: The sorting device includes a code scanning mechanism, a first assembly line, a second assembly line, a carrying plate and a turning mechanism; The carrying plate is arranged between the first assembly line and the second assembly line. The code scanning mechanism is arranged corresponding to the carrying plate to identify the type of material on the carrying plate, and controls the flipping mechanism to drive the carrying plate to flip according to the material type, so that the material is flipped to the first assembly line or the second assembly line.

8. The sorting device according to claim 7, characterized in that: The turning mechanism includes a bearing platform, a connecting rod assembly, a driving motor, a limiting member and a limiting cylinder; The supporting plate is arranged on the supporting platform and rotates with the supporting platform. The limiting cylinder drives the limiting part to slide and cooperate with the supporting platform to stagger the two ends of the supporting plate. The driving motor drives the connecting rod assembly to lift the supporting plate and flip it with the limited end of the supporting plate as the rotation center.

9. The sorting device according to claim 8, characterized in that: The limiting member includes a first positioning end and a second positioning end, and the two ends of the carrying plate close to the first assembly line and the second assembly line are respectively provided with a first connecting rod and a second connecting rod; The first positioning end is located at the end of the supporting plate close to the first assembly line and is used to clamp the first connecting rod, and the second positioning end is located at the end of the supporting plate close to the second assembly line and is used to clamp the second connecting rod; the limiting cylinder drives the limiting member to slide and cooperate with the supporting platform to stagger the first connecting rod and the second connecting rod.

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