Sorting type suction nozzle and material taking mechanism

Abstract

The sorting type suction nozzle comprises a barrel and a core rod, an air cavity is formed in the barrel, an air guide end and a connecting end are installed at the two ends of the barrel respectively, an air guide hole communicated with the air cavity is formed in the air guide end, the head end of the core rod is arranged in the connecting end, a nozzle head is installed at the tail end of the core rod, and the nozzle head is connected with the connecting end. A sleeve cavity with an arc-shaped inner surface is concavely designed at the bottom of the nozzle head; an air channel communicated with the air cavity and the sleeve cavity is formed in the core rod; by means of the structural design, the sorting type suction nozzle can only suck the parts which are provided with the protruding parts and can be matched with the sleeve cavities in an adaptive mode, all the defective parts are removed, and the function of targeted sorting and material taking is achieved; the material taking mechanism comprises a feeding part, a driving part and the sorting type suction nozzle, the feeding part is used for conveying parts, the sorting type suction nozzle is installed on the driving part, and the driving part is used for driving nozzle heads of the sorting type suction nozzle to be close to the feeding part so as to suck the parts meeting the requirements one by one.

Description

Technical Field

[0001] This utility model belongs to the field of automated material handling technology, and in particular relates to a sorting nozzle and material handling mechanism. Background Technology

[0002] Material handling is a common process in automated equipment. For example, the handling of various parts, finished products or semi-finished products requires the use of corresponding material handling mechanisms. Therefore, this type of technology is widely used in industrial production.

[0003] Traditional material handling mechanisms mainly consist of a feeding section, a drive section, and a suction nozzle. The feeding section transports parts to a specific workstation, and the drive section controls the suction nozzle to pick up the parts at the workstation, which is relatively convenient to use. However, in actual use, it has been found that the suction nozzle of this type of material handling mechanism can only pick up parts with flat surfaces. It cannot properly pick up parts with raised or arc-shaped surfaces. At the same time, during the process of picking up parts, defective products are also picked up, and it does not have the corresponding sorting capability. Utility Model Content

[0004] Technical problems to be solved

[0005] This utility model provides a sorting nozzle and material handling mechanism that can pick up parts with arc-shaped protrusions on their surfaces and sort them in a targeted manner to ensure that the picked-up parts meet the usage requirements.

[0006] Technical solution

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A sorting nozzle is used to pick up parts with protrusions and arc-shaped surfaces. It includes a cylindrical body and a core rod. The cylindrical body has an internal air chamber, and an air guide end and a connecting end are respectively installed at both ends of the cylindrical body. The air guide end has an air guide hole communicating with the air chamber. The first end of the core rod is disposed within the connecting end, and the last end of the core rod is fitted with a nozzle. The bottom of the nozzle has a recessed design with an arc-shaped inner cavity, which is used to adaptably fit the protrusions of the parts. The core rod has an internal air passage communicating with the air chamber and the cavity.

[0009] Preferably, the opening edge of the sleeve cavity is provided with an annular sealing groove for installing a sealing ring, and when the sleeve cavity is fitted with the protrusion of the part, the part abuts against the sealing ring.

[0010] Preferably, it further includes an elastic element, the connecting end has an internal mounting hole communicating with the air cavity, and the first end of the core rod is slidably disposed in the mounting hole so that the air passage communicates with the air cavity; the elastic element is sleeved on the core rod, and the two ends of the elastic element respectively abut against the connecting end and the nozzle.

[0011] Preferably, the outer wall of the core rod is provided with a vertically designed sliding groove, a fastening bolt is installed on the connecting end, and a limiting post is provided at the end of the fastening bolt. The limiting post extends into the mounting hole and slides in cooperation with the sliding groove, so that the core rod can move up and down along the axis of the mounting hole within a specific position range.

[0012] Preferably, the core rod has notches on the left and right sides of the slide groove, and the limiting post can move within the two notches so that the core rod can rotate left and right around the axis of the mounting hole within a specific angle range.

[0013] A material handling mechanism includes a feeding section, a driving section, and a sorting nozzle; the feeding section is used to transport the parts, the sorting nozzle is mounted on the driving section, and the driving section is used to drive the nozzle tip of the sorting nozzle to approach the feeding section and pick up the corresponding parts one by one.

[0014] Preferably, the device further includes a 3D industrial camera; the feeding unit is a vibratory feeder; the driving unit is a robotic arm; the arm of the robotic arm is fixedly connected to the cylinder of the sorting nozzle; a conduit connected to the air duct is installed at the air guide end of the cylinder; the conduit extends through the arm of the robotic arm to connect to the pneumatic system; the vibratory feeder is used to transport and disperse parts; the 3D industrial camera is positioned directly above the vibratory feeder and is signal-connected to the robotic arm; wherein, the 3D industrial camera is used to capture the distribution position of the parts on the vibratory feeder and feeds the signal back to the robotic arm, so that the robotic arm can precisely control the nozzle of the sorting nozzle to move to each part for suction.

[0015] Preferably, the vibratory feeder includes a base, a vibrator, a hopper, and a carrier plate; the vibrator is installed inside the base, the hopper is positioned above the base and connected to the vibrator; the carrier plate is positioned above the base and beside the hopper, and the base supports the carrier plate by multiple spring feet; the 3D industrial camera is positioned directly above the carrier plate; wherein, when the vibrator drives the hopper to vibrate, the parts located in the hopper fall into the carrier plate and scatter, the 3D industrial camera captures the distribution position of the parts on the carrier plate and feeds the signal back to the robotic arm, so that the robotic arm drives the nozzle to pick up the parts in the carrier plate one by one.

[0016] (III) Beneficial Effects

[0017] This utility model provides a sorting nozzle and a material handling mechanism. The sorting nozzle has an arc-shaped inner cavity designed on the nozzle tip of the core rod to accommodate the protrusions of parts, allowing the nozzle to selectively pick up parts with arc-shaped protrusions. Simultaneously, the adaptive fit between the nozzle cavity and the protrusions of the parts enables the nozzle to selectively sort the parts, eliminating defective parts and ensuring that the picked-up parts meet usage requirements. This facilitates the parts' direct entry into the next processing step, improving work efficiency. The material handling mechanism is designed with a feeding section to transport parts and a driving section to drive the nozzle tip to approach the feeding section and pick up parts that meet the requirements one by one. Because it incorporates a sorting nozzle, it essentially fulfills the corresponding functions. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 This diagram illustrates the structure of the sorting nozzle of this utility model. Figure 1 ;

[0020] Figure 2 This diagram illustrates the structure of the sorting nozzle of this utility model. Figure 2 ;

[0021] Figure 3 It shows Figure 2 The main view;

[0022] Figure 4 It shows Figure 3 AA section view;

[0023] Figure 5 It shows Figure 3 A schematic diagram of the decomposition process;

[0024] Figure 6 A schematic diagram of the core rod of this utility model is shown;

[0025] Figure 7 It shows Figure 6 BB section view;

[0026] Figure 8 A schematic diagram of the structure of the part of this utility model is shown;

[0027] Figure 9 A schematic diagram of the material handling mechanism of this utility model is shown. Figure 1 ;

[0028] Figure 10A schematic diagram of the material handling mechanism of this utility model is shown. Figure 2 ;

[0029] Figure 11 A schematic diagram of the feeding section of this utility model is shown;

[0030] Figure 12 A schematic diagram of the drive unit of this utility model is shown.

[0031] In the diagram: 1. Part; 10. Protrusion; 2. Cylinder; 20. Air Chamber; 21. Air Guide End; 210. Air Guide Hole; 211. Guide Pipe; 22. Connecting End; 220. Mounting Hole; 23. Fastening Bolt; 230. Limiting Post; 3. Core Rod; 30. Air Channel; 31. Nozzle; 310. Sleeve; 311. Sealing Groove; 32. Slide Groove; 33. Notch; 4. Elastic Component; 5. Feeding Section; 50. Vibratory Feeder; 51. Base; 510. Spring Foot Pad; 52. Vibrator; 53. Hopper; 54. Carrier Plate.

[0032] 6 drive units, 60 robotic arms, 600 booms, and 73D industrial cameras. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this application. It is understood that the accompanying drawings are provided for reference and illustration only, and are not intended to limit this application. The connection relationships shown in the accompanying drawings are only for clear description and do not limit the connection method.

[0034] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component, or there may be an intervening component. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should also be noted that, unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; or as a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application.

[0035] It should also be noted that in the description of this application, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] See appendix Figure 1 -Appendix Figure 8 A sorting nozzle is used to pick up parts 1 with protrusions 10 and the surface of the protrusions 10 being arc-shaped. It includes a cylinder 2 and a core rod 3. The cylinder 2 has an air chamber 20 inside. An air guide end 21 and a connecting end 22 are respectively installed at both ends of the cylinder 2. The air guide end 21 has an air guide hole 210 that communicates with the air chamber 20. The first end of the core rod 3 is set in the connecting end 22. The tail end of the core rod 3 is equipped with a nozzle 31. The bottom of the nozzle 31 is recessed and has an inner arc-shaped cavity 310. The cavity 310 is used to adaptably fit the protrusions 10 of the parts 1. The core rod 3 has an air passage 30 that communicates with the air chamber 20 and the cavity 310.

[0037] Specifically, before use, connect the air guide end 21 to the pneumatic system (not shown in the diagram); during use, start the pneumatic system to draw air, continuously drawing gas from the sleeve cavity 310 through the air guide hole 210, air chamber 20 and air passage 30, so that a negative pressure is formed inside the sleeve cavity 310; at this time, move the cylinder 2 so that the nozzle 31 approaches the part 1, and under the action of suction, the protrusion 10 of the part 1 will gradually enter the sleeve cavity 310 and fit against the inner surface of the sleeve cavity 310 until the protrusion 10 of the part 1 adaptively fills the sleeve cavity 310 and blocks the air passage 30, at which point the nozzle 31 completely adsorbs the part 1, and the part 1 can be removed by moving the cylinder 2.

[0038] During the operation of the suction nozzle, at least the following situations may occur where part 1 cannot be properly sucked up:

[0039] Firstly, if the surface of the protrusion 10 of part 1 is flat, it cannot fit the inner surface of the sleeve cavity 310 and block the air passage 30, resulting in insufficient suction force to lift part 1.

[0040] Secondly, if the protrusion 10 of part 1 is larger than the cavity 310, it cannot enter the cavity 310, resulting in the nozzle 31 being completely unable to adhere.

[0041] Third, the protrusion 10 of part 1 has a large gap, which causes air leakage even when part 1 blocks the cavity 310, resulting in the air passage 30 always being connected to the outside and unable to adsorb part 1.

[0042] In the above cases, part 1, which cannot be normally picked up, is a defective product and does not meet the usage requirements. This also shows that most of the parts 1 that can be picked up are qualified products, which fully demonstrates the targeted sorting function of this nozzle.

[0043] In summary, this utility model designs an arc-shaped inner cavity 310 on the nozzle 31 of the core rod 3 to accommodate the protrusion 10 of the part 1, allowing the suction nozzle to pick up parts 1 with arc-shaped protrusions on their surfaces, thus achieving the purpose of selectively picking up the corresponding parts 1. At the same time, the adaptive fit between the cavity 310 of the nozzle 31 and the protrusion 10 of the part 1 enables the suction nozzle to perform targeted sorting of the parts 1 to be picked up, so as to exclude defective parts 1, ensuring that the picked-up parts 1 meet the usage requirements, and facilitating the direct entry of parts 1 into the next process for processing, thereby improving work efficiency.

[0044] It should be noted that the sorting nozzle in this utility model is only applicable to parts 1 with specific protrusions 10 and arc-shaped surfaces, such as the metal connectors of earphones in 3C products, which have obvious non-standard attributes. On the other hand, the pneumatic system mentioned generally refers to an air extraction device (air pump), or a combination of an air extraction device and an air supply device (air pump). Since the technology of using a pneumatic system with a nozzle is relatively conventional in this technical field, its specific structure and working principle will not be described in detail in this utility model.

[0045] See appendix Figure 4 -Appendix Figure 8 The opening edge of the sleeve cavity 310 is provided with an annular sealing groove 311 for installing a sealing ring (not shown in the figure). When the sleeve cavity 310 is fitted with the protrusion 10 of the part 1, the part 1 abuts against the sealing ring, thereby ensuring the sealing between the sleeve cavity 310 and the part 1 and improving the suction capacity of the nozzle.

[0046] See appendix Figure 1 -Appendix Figure 7 The present invention also includes an elastic element 4. The connecting end 22 is provided with a mounting hole 220 that communicates with the air chamber 20. The first end of the core rod 3 is slidably disposed in the mounting hole 220 so that the air passage 30 communicates with the air chamber 20. The elastic element 4 is sleeved on the core rod 3, and the two ends of the elastic element 4 respectively abut against the connecting end 22 and the nozzle 31.

[0047] Specifically, during the process of the nozzle 31 picking up part 1, if the nozzle 31 comes into rigid contact with part 1 or other objects, the core rod 3 will be driven to move upward along the mounting hole 220 to avoid damage to the nozzle 31 due to rigid collision. When the core rod 3 moves upward, it will compress and store energy by squeezing the elastic element 4. After the nozzle 31 successfully picks up part 1, the cylinder 2 moves upward. During this process, the elastic element 4 releases energy and recovers, driving the core rod 3 to move downward and reset, which is convenient for picking up the material next time.

[0048] Therefore, the above design enables the nozzle 31 to have adaptive avoidance and reset functions, which can improve the stability of the nozzle in use while extending the service life of the nozzle.

[0049] It should be noted that the elastic element 4 can be a rubber sleeve, spring, etc., and there is no limitation in this utility model. For ease of understanding, the elastic element 4 in this embodiment is a spring.

[0050] See appendix Figure 1 -Appendix Figure 6 The outer wall of the core rod 3 is provided with a vertically designed sliding groove 32, and a fastening bolt 23 is installed on the connecting end 22. The end of the fastening bolt 23 is provided with a limiting post 230, which extends into the mounting hole 220 and slides in cooperation with the sliding groove 32.

[0051] Specifically, the use of the limiting post 230 and the slide groove 32 allows the core rod 3 to move up and down along the axis of the mounting hole 220 within a specific position range, preventing the core rod 3 from moving too high and causing the nozzle 31 to collide and be damaged, and preventing the core rod 3 from moving too low and detaching from the connecting end 22.

[0052] It should be noted that, in addition to the above structure, other structures can also be used to slidably restrict the core rod 3 within the mounting hole 220. Due to the variety of related structures, this utility model does not impose any restrictions on them.

[0053] See appendix Figure 1 -Appendix Figure 6 The core rod 3 has notches 33 on the left and right sides of the slide groove 32, and the limiting post 230 can move within the two notches 33.

[0054] Specifically, in some special cases, such as when it is necessary to adjust the rotation position of part 1 after adsorbing it for correction, part 1 can be slightly driven to rotate by the correction mechanism (not shown in the figure); and the cooperation between the limiting post 230 and the notch 33 allows the core rod 3 to rotate left and right around the axis of the mounting hole 220 within a specific angle range, so that the nozzle can adapt to the operation of the correction mechanism and further improve the overall versatility of the nozzle.

[0055] See appendix Figure 5 -Appendix Figure 12 A material handling mechanism includes a feeding section 5, a driving section 6, and a sorting nozzle; the feeding section 5 is used to transport parts 1, and the sorting nozzle is mounted on the driving section 6. The driving section 6 is used to drive the nozzle 31 of the sorting nozzle to approach the feeding section 5 and pick up the corresponding parts 1 one by one.

[0056] Specifically, during use, the pneumatic system is activated to extract air, continuously drawing gas from the sleeve cavity 310 through the air guide hole 210, air chamber 20, and air passage 30, creating a negative pressure inside the sleeve cavity 310. At this time, the drive unit 6 is activated to move the cylinder 2 so that the nozzle 31 approaches the feeding unit 5 and corresponds to the part 1. After the nozzle 31 picks up the part 1, the drive unit 6 drives the cylinder 2 to move away from the feeding unit 5 to remove the part 1 and transfer it to the next process. Since this material handling mechanism has the sorting nozzle of this utility model, it also has the corresponding function, which can be referred to above and will not be repeated here.

[0057] See appendix Figure 9 -Appendix Figure 12 In traditional material handling mechanisms, the suction nozzle has a fixed position, meaning that part 1 needs to be transported to a specific workstation before being picked up and transferred by the suction nozzle. If part 1 is offset from the workstation during transport, the material handling mechanism cannot pick it up normally. To further solve this problem, this utility model also includes a 3D industrial camera 7, a vibratory feeder 50 for the feeding unit 5, and a robotic arm 60 for the drive unit 6. The arm base 600 of the robotic arm 60 is fixedly connected to the cylinder 2 of the sorting suction nozzle. A conduit 211 connecting to the air guide hole 210 is installed on the air guide end 21 of the cylinder 2. The conduit 211 extends through the arm base 600 of the robotic arm 60 to connect to the pneumatic system. The vibratory feeder 50 is used to transport and disperse part 1. The 3D industrial camera 7 is positioned directly above the vibratory feeder 50 and is signal-connected to the robotic arm 60.

[0058] Specifically, in use, multiple parts 1 are stacked on the vibratory feeder 50, and the vibratory feeder 50 disperses the parts 1. The 3D industrial camera 7 will capture the distribution position of the parts 1 on the vibratory feeder 50 and feed back the relevant position signals to the robot arm 60. After receiving the signals, the robot arm 60 will precisely control the nozzle 31 of the sorting nozzle to move to the position of each part 1 and pick them up one by one. Therefore, the above structural design solves the problem of low work efficiency caused by the fixed picking position of the existing picking mechanism.

[0059] It should be noted that the 3D industrial camera 7 is an existing product, and the technology of scanning, positioning and controlling the operation of the robot arm 60 through the 3D industrial camera 7 is also relatively conventional. Therefore, its specific structure will not be described in detail in this utility model.

[0060] On the other hand, if an adaptation mechanism (not shown in the figure) is required, the robot 60 in this utility model preferably adopts a three-axis robot with a vertical drive unit. The three-axis robot has an a-axis rotation unit (not shown in the figure) and a b-axis rotation unit (not shown in the figure) for driving the arm 600 to move on the horizontal plane, so as to control the stop position of the suction nozzle and reduce the angular offset of part 1 after it is transferred from the feeding part 5 to the correction mechanism. The arm 600 has a c-axis rotation unit (not shown in the figure) for controlling the rotation of the nozzle 31 and a z-axis movement unit (not shown in the figure) for controlling the up and down movement of the nozzle 31, so as to adjust the rotation angle of the nozzle 31 to adapt to the protrusion 10 of part P, and at the same time drive the nozzle 31 to move away from or towards the feeding part 5 in the vertical direction. For details on the four driving directions of the three-axis robot 60 in this embodiment, please refer to the appendix. Figure 12 Of course, in actual use, the rotation axis direction can be reduced or increased according to the needs. Since there are many types of robotic arms 60 and they are existing products, the structure of the present invention will not be described or limited in detail.

[0061] See appendix Figure 10 -Appendix Figure 11 Vibratory feeders 50 come in various types. For ease of understanding, the vibratory feeder 50 in this embodiment includes a base 51, a vibrator 52, a hopper 53, and a carrier plate 54. The vibrator 52 is installed inside the base 51, and the hopper 53 is positioned above the base 51 and connected to the vibrator 52. The carrier plate 54 is positioned above the base 51 and next to the hopper 53, and the base 51 supports the carrier plate 54 through multiple spring feet 510. The 3D industrial camera 7 is located directly above the carrier plate 54. When the vibrator 52 drives the hopper 53 to vibrate, the parts 1 in the hopper 53 fall into the carrier plate 54 and scatter. The 3D industrial camera 7 captures the distribution position of the parts 1 on the carrier plate 54 and feeds the signal back to the robot arm 60, so that the robot arm 60 drives the nozzle 31 to pick up the parts 1 in the carrier plate 54 one by one.

[0062] Some features of the present invention are described in different embodiments for clarity; however, these features may also be described in combination in a single embodiment. Conversely, some features of the present invention are described only in a single embodiment for brevity; however, these features may also be described individually or in any suitable combination in different embodiments.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A sorting nozzle for picking up parts (1) having protrusions (10) and the surface of the protrusions (10) being arc-shaped, characterized in that, include: The cylinder (2) has an air chamber (20) inside. The cylinder (2) has an air guide end (21) and a connecting end (22) installed at both ends. The air guide end (21) has an air guide hole (210) that connects to the air chamber (20). The core rod (3) has its first end located inside the connecting end (22), and its tail end is equipped with a nozzle (31). The nozzle (31) has a recessed design at the bottom with an arc-shaped inner cavity (310). The cavity (310) is used to adaptably fit the protrusion (10) of the part (1). The core rod (3) has an air passage (30) inside that connects the air chamber (20) and the cavity (310).

2. A sorting nozzle according to claim 1, characterized in that, The opening edge of the sleeve cavity (310) is provided with an annular sealing groove (311) for installing a sealing ring. When the sleeve cavity (310) is fitted with the protrusion (10) of the part (1), the part (1) abuts against the sealing ring.

3. A sorting nozzle according to claim 1, characterized in that, It also includes an elastic element (4), the connecting end (22) is provided with a mounting hole (220) that communicates with the air chamber (20), the first end of the core rod (3) is slidably disposed in the mounting hole (220) so that the air passage (30) communicates with the air chamber (20); the elastic element (4) is sleeved on the core rod (3), and the two ends of the elastic element (4) respectively abut against the connecting end (22) and the nozzle (31).

4. A sorting nozzle according to claim 3, characterized in that, The outer wall of the core rod (3) is provided with a vertically designed sliding groove (32), and a fastening bolt (23) is installed on the connecting end (22). The end of the fastening bolt (23) is provided with a limiting post (230). The limiting post (230) extends into the mounting hole (220) and slides in cooperation with the sliding groove (32) so that the core rod (3) can move up and down along the axis of the mounting hole (220) within a specific position range.

5. A sorting nozzle according to claim 4, characterized in that, The core rod (3) has notches (33) on the left and right sides of the slide groove (32), and the limiting post (230) can move within the two notches (33) so that the core rod (3) can rotate left and right around the axis of the mounting hole (220) within a specific angle range.

6. A material handling mechanism, comprising a feeding unit (5) and a driving unit (6), characterized in that, It also includes the sorting nozzle as described in any one of claims 1-5; the feeding part (5) is used to transport the part (1), the sorting nozzle is mounted on the driving part (6), and the driving part (6) is used to drive the nozzle tip (31) of the sorting nozzle to approach the feeding part (5) and pick up the corresponding part (1) one by one.

7. A material handling mechanism according to claim 6, characterized in that, It also includes a 3D industrial camera (7), the feeding unit (5) adopts a vibratory feeder (50), and the driving unit (6) is a robotic arm (60); the arm base (600) of the robotic arm (60) is fixed to the cylinder (2) of the sorting nozzle, and a conduit (211) connecting to the air guide hole (210) is installed on the air guide end (21) of the cylinder (2), and the conduit (211) extends through the arm base (600) of the robotic arm (60) to connect to the pneumatic system; The vibratory feeder (50) is used to transport and disperse parts (1); the 3D industrial camera (7) is positioned directly above the vibratory feeder (50) and is signal-connected to the robot (60); wherein, the 3D industrial camera (7) is used to capture the distribution position of the parts (1) on the vibratory feeder (50) and feed the signal back to the robot (60) so that the robot (60) can precisely control the nozzle (31) of the sorting nozzle to move to each part (1) for suction.

8. A material handling mechanism according to claim 7, characterized in that, The vibratory feeder (50) includes a base (51), a vibrator (52), a hopper (53), and a carrier plate (54); the vibrator (52) is installed inside the base (51), and the hopper (53) is positioned above the base (51) and connected to the vibrator (52); the carrier plate (54) is positioned above the base (51) and beside the hopper (53), and the base (51) supports the carrier plate (54) by multiple spring feet (510); the 3D process The industrial camera (7) is located directly above the carrier plate (54); when the vibrator (52) drives the hopper (53) to shake, the parts (1) in the hopper (53) fall into the carrier plate (54) and scatter. The 3D industrial camera (7) captures the distribution position of the parts (1) on the carrier plate (54) and feeds the signal back to the robot (60), so that the robot (60) drives the nozzle (31) to pick up the parts (1) in the carrier plate (54) one by one.

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