CN216460266U

CN216460266U - Sorting production line

Info

Publication number: CN216460266U
Application number: CN202120898017.9U
Authority: CN
Inventors: 彭鼎; 刘一流; 卢耀辉
Original assignee: Foshan Finger Engine Technology Co ltd
Current assignee: Foshan Finger Engine Technology Co ltd
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2022-05-10
Anticipated expiration: 2031-04-28

Abstract

The utility model provides a sorting production line which comprises a conveying and arranging assembly, sorting manipulators, an image collector, a machine table, a weighing mechanism, a first manipulator, a second manipulator and a control terminal, wherein the conveying and arranging assembly comprises a conveying and arranging assembly, a conveying mechanism, a weighing mechanism, a first manipulator, a second manipulator and a control terminal; the conveying arrangement assembly comprises an input conveying belt, the conveying arrangement assembly is used for arranging conveyed products on the input conveying belt, the machine table is arranged beside the input conveying belt, the image collector is arranged on the sorting mechanical arm, the control terminal is electrically connected with the image collector, the sorting mechanical arm and the weighing mechanism, and the control terminal controls the sorting mechanical arm to transfer the products from the input conveying belt to different transfer boxes on the machine table according to different images collected by the image collector; the first mechanical arm and the second mechanical arm are respectively used for transferring different transfer boxes to the weighing mechanism, and the control terminal can judge whether products in the transfer boxes on the weighing mechanism meet sorting requirements or not according to the weight weighed by the weighing mechanism. Which can sort two products of different shapes mixed together separately.

Description

Sorting production line

Technical Field

The utility model belongs to the field of product sorting, and particularly relates to a sorting production line.

Background

In the prior art, a mechanical arm is often used for sorting products on a conveying belt, an image collector is arranged on the mechanical arm to identify the products, and a weighing mechanism is used for weighing the products to judge whether the products are qualified or not.

For example, publication (bulletin) No. CN109663744A discloses a weighing and positioning sorting control method of an ink cartridge, a weighing sorting machine, comprising: the device comprises a processor and a machine table, wherein a conveying weighing station, an ink box conveying station and a conveying sorting station are sequentially arranged on the machine table; the board still includes: the camera comprises a first support, a camera and a first manipulator matched with a limiting block in position; the first support is positioned in front of the limiting block; the processor is connected with the first manipulator and the camera; the conveying and weighing station comprises a first conveying device and a weighing device for weighing the ink box on the first conveying device; the ink box conveying station comprises a second conveying device, and the second conveying device conveys the ink boxes weighed on the first conveying device to a conveying and sorting station; the conveying and sorting station comprises a third conveying device and a limiting block positioned at the input end of the third conveying device, and the placing direction of each ink box on the third conveying device is limited by the limiting block. Realize automatic weighing, reduce the probability of missing of weighing, adjustment ink horn direction of delivery promotes letter sorting packing efficiency and rate of accuracy.

The problems existing in the prior art are as follows: only one product can be sorted, and two products with different appearances mixed together cannot be sorted respectively.

Therefore, the prior art is in need of improvement.

SUMMERY OF THE UTILITY MODEL

The technical problem to be solved by the utility model is as follows: the utility model provides a sorting production line can sort the product that two kinds of appearances that mix together are different respectively.

In order to achieve the purpose, the specific technical scheme of the utility model is as follows:

a sorting production line comprises a conveying and arranging assembly, sorting manipulators, an image collector, a machine table, a weighing mechanism, a first manipulator, a second manipulator, a transfer box and a control terminal; the conveying and arranging assembly comprises an input conveying belt, the conveying and arranging assembly is used for arranging conveyed products on the input conveying belt, the machine table is arranged beside the input conveying belt, the image collector is arranged on the sorting mechanical arm, the control terminal is electrically connected with the image collector, the sorting mechanical arm, the first mechanical arm, the second mechanical arm and the weighing mechanism, and the control terminal controls the sorting mechanical arm to transfer the products from the input conveying belt to different transfer boxes on the machine table according to different images collected by the image collector; the first mechanical arm and the second mechanical arm are respectively used for transferring different transfer boxes to the weighing mechanism, and the control terminal can judge whether products in the transfer boxes on the weighing mechanism meet sorting requirements or not according to the weight weighed by the weighing mechanism.

In a further preferred embodiment, the weighing system further comprises an output manipulator and an output conveyor belt, wherein the output manipulator is electrically connected with the control terminal, and the output manipulator is used for moving the transfer box on the weighing mechanism to the output conveyor belt.

In some embodiments, the transfer box is used for containing products, a flanging is arranged at the upper part of the transfer box, transfer parts are connected to the first mechanical arm and the second mechanical arm, the transfer parts are in a U shape with a forward opening, and the transfer parts are used for being connected with the flanging; the output mechanical arm is connected with a clamping claw which is used for clamping the flanging; the movable end of the sorting manipulator is provided with an electromagnet, and the electromagnet is used for sucking the product.

In a further preferred embodiment, the conveying arrangement assembly comprises an input conveyor belt, a fixed baffle, a movable baffle and a baffle driving mechanism; the conveying direction of the input conveying belt is from left to right, the fixed baffle and the movable baffle are both arranged above the input conveying belt, a tapered area with a small end facing right is formed on the left side of the fixed baffle, and an opening is formed in the bottom of the fixed baffle; baffle actuating mechanism with the mounting bracket of input conveyer belt or with fixed stop connects, baffle actuating mechanism with the adjustable fender transmission is connected and is used for the drive adjustable end of adjustable fender is close to and keeps away from the opening, be equipped with infrared sensor on the input conveyer belt, infrared sensor locates open-ended right-hand, infrared sensor with the control terminal electricity is connected, infrared sensor is used for detecting whether there is the product in the specific position on the input conveyer belt.

In a further preferred embodiment, the front end of the fixed baffle is fixedly connected with the front part of the mounting rack of the input conveying belt, the rear end of the movable baffle is hinged to the rear part of the mounting rack of the input conveying belt, the rear end of the fixed baffle and the front end of the movable baffle are inclined towards the conveying direction of the input conveying belt, the rear end of the opening penetrates through the rear end of the fixed baffle, the front end of the movable baffle is adjacent to the rear end of the opening, and the movable end of the movable baffle is close to and far away from the opening from the rear side.

In a further preferred embodiment, the baffle driving mechanism comprises a bracket, a first power mechanism, a cam and a spring; the bracket is connected with the rear part of the mounting frame of the input conveyor belt, the first power mechanism is connected with the bracket, the cam is in transmission connection with the first power mechanism, the cam is abutted against the movable baffle, and two ends of the spring are respectively connected with the bracket and the movable baffle; in the process that the cam is driven to rotate by the first power mechanism, the end part of the movable baffle can swing around the hinged part of the movable baffle and the support, and the spring is used for drawing the movable baffle close to the cam.

In some embodiments, the conveying and aligning device is used for conveying large nuts and small nuts, the width of the opening is larger than the outer diameter of the large nuts, and the width of the opening is smaller than twice of the outer diameter of the small nuts.

In some embodiments, still include limit baffle, limit baffle locates the top of input conveyer belt, limit baffle locates the open-ended is right-hand, limit baffle's stiff end with input conveyer belt's mounting bracket fixed connection, limit baffle's expansion end is located the top at input conveyer belt's middle part, limit baffle's expansion end inclines to the right.

In some embodiments, the conveying device further comprises a height limiting baffle and a height limiting driving mechanism, wherein the height limiting baffle is arranged above the input conveying belt, the height limiting baffle is arranged at the left side of the tapered area, the height limiting baffle is arranged along the front-back direction, a brush part is arranged at the bottom of the height limiting baffle, a height limiting gap is arranged between the brush part and the input conveying belt, the height limiting baffle is connected with a mounting frame of the input conveying belt in a left-right sliding mode, and the height limiting driving mechanism drives the height limiting baffle to reciprocate left and right; the movement speed of the height limiting baffle is greater than the conveying speed of the input conveyor belt.

In a further preferred embodiment, the conveying and arranging device is used for conveying large nuts and small nuts, the height of the height-limiting gap is greater than the height of the large nuts and the height of the small nuts, and the height of the height-limiting gap is less than twice the height of the large nuts, twice the height of the small nuts and the sum of the height of the large nuts and the height of the small nuts.

The utility model has the beneficial effects that: utilize conveying arrangement subassembly will be carried the product to arrange on the input conveyer belt, the product can be got from same position to the letter sorting manipulator when the operation at every turn, owing to set up image collector and control terminal, the letter sorting manipulator can distinguish different products and with their different transfer case on the board that transfer to, recycle first manipulator and second manipulator and place different products respectively on the weighing machine constructs and weigh to whether the weight of the product in the judgement transfer case is qualified. The utility model has the advantage that two products with different appearances and mixed together can be respectively sorted and quantitatively packaged.

Drawings

FIG. 1 is a top view of a first embodiment of the present invention;

FIG. 2 is a perspective view of a portion of the present invention;

FIG. 3 is a side view of a first embodiment of the present invention;

FIG. 4 is a schematic view of a first robot, transfer unit and transfer box of the present invention;

FIG. 5 is a schematic view of the output robot of the present invention;

FIG. 6 is a top view of a second embodiment of the present invention;

FIG. 7 is an enlarged view of a portion of FIG. 6;

fig. 8 is a side view of a fixed stop according to a second embodiment of the present invention.

In the figure: 1-large nut, 2-small nut, 3-input conveyor belt, 4-fixed baffle, 41-opening, 50-movable baffle, 51-baffle driving mechanism, 52-bracket, 53-first power mechanism, 54-cam, 55-spring, 6-conical region, 7-limit baffle, 8-limit baffle, 9-limit height driving mechanism, 10-sorting mechanical arm, 101-image collector, 102-electromagnet, 11-machine table, 12-weighing mechanism, 13-first mechanical arm, 131-transfer component, 14-second mechanical arm, 15-output mechanical arm, 151-clamping claw, 16-output conveyor belt, 17-transfer box, 171-flanging and 18-infrared sensor.

Detailed Description

The present invention will be described in detail with reference to specific examples.

Referring to fig. 1 to 5, a first embodiment of the present invention specifically includes:

a sorting production line comprises a conveying arrangement assembly, a sorting mechanical arm 10, an image collector 101, a machine table 11, a weighing mechanism 12, a first mechanical arm 13, a second mechanical arm 14, a transfer box 17 and a control terminal; the conveying arrangement assembly comprises an input conveying belt 3, the conveying arrangement assembly is used for arranging conveyed products on the input conveying belt 3, a machine table 11 is arranged beside the input conveying belt 3, an image collector 101 is arranged on a sorting mechanical arm 10, a control terminal is electrically connected with the image collector 101, the sorting mechanical arm 10, a first mechanical arm 13, a second mechanical arm 14 and a weighing mechanism 12, and the control terminal controls the sorting mechanical arm 10 to transfer the products from the input conveying belt 3 to a transfer box 17 on the machine table 11 according to different images collected by the image collector 101; the first mechanical arm 13 and the second mechanical arm 14 are respectively used for transferring the transfer boxes 17 at different positions to the weighing mechanism 12, and the control terminal can judge whether the weight of the transfer boxes 17 on the weighing mechanism 12 meets the sorting requirement according to the weight weighed by the weighing mechanism 12.

The principle of the utility model is that conveyed products are arranged on an input conveyor belt 3 by utilizing a conveying arrangement component, a sorting mechanical arm 10 can take the products from the same position during each operation, due to the arrangement of an image collector 101 and a control terminal, the sorting mechanical arm 10 can distinguish different products and transfer the products into a transfer box 17 on a machine table 11, after the products in the same transfer box 17 reach a preset number, the transfer box 17 is placed on a weighing mechanism 12 for weighing by utilizing a first mechanical arm 13 and a second mechanical arm 14, and the condition that the number of the products in the transfer box 17 is not enough or the products are misplaced is avoided by weighing the weight of the transfer box 17. Under the condition that the weight of the transfer box 17 meets the requirement, the first mechanical arm 13 and the second mechanical arm 14 can be used for respectively taking down the transfer box 17 from the weighing mechanism 12 and respectively placing the transfer box 17 at different positions on a machine table to wait for being collected by workers, or placing the transfer box 17 on different peripheral conveyor belts or packing boxes, so that two products with different appearances can be sorted; other peripheral manipulators may be used to remove and place different products from the weighing mechanism 12 in different locations. The utility model has the advantage that two products with different appearances and mixed together can be respectively sorted and quantitatively packaged.

It should be noted that the present invention distinguishes two products by means of the image collector 101 and the control terminal, and adds a sorting method to prevent the weighing judgment failure when the weights of the two products are the same. In the case that the two products have the same weight, the control terminal can distinguish the types of the products according to whether the first manipulator 13 or the second manipulator 14 is used for placing the products on the weighing mechanism 12, so as to control the first manipulator 13, the second manipulator 14 or other peripheral manipulators to take down different transfer boxes on the weighing mechanism 12 and place the different transfer boxes at different positions.

In the preferred embodiment, the conveying arrangement assembly includes an input conveyor 3, a fixed stop 4, a movable stop 50, and a stop drive mechanism 51; the conveying direction of the input conveyor belt 3 is from left to right, the fixed baffle 4 and the movable baffle 50 are both arranged above the input conveyor belt 3, a tapered area 6 with a small end facing right is formed at the left side of the fixed baffle 4, and an opening 41 is formed at the bottom of the fixed baffle 4; baffle actuating mechanism 51 is connected with input conveyor belt 3's mounting bracket or with fixed stop 4, and baffle actuating mechanism 51 is connected with the transmission of adjustable fender 50 and is used for driving adjustable end of adjustable fender 50 to be close to and keep away from opening 41 is equipped with infrared sensor 18 on the input conveyor belt 3, and infrared sensor 18 locates the open-ended right-hand, and infrared sensor 18 is connected with control terminal electricity, and infrared sensor 18 is used for detecting whether there is the product in the specific position on the input conveyor belt. The control terminal controls the input conveyor 3 to stop running and controls the sorting manipulator 10 to work according to the information detected by the infrared sensor 18. In the present invention, the input conveyor 3 is used to convey products to the right, the products on the input conveyor 3 move from the large end to the small end of the tapered region 6, and the products can be aligned on the input conveyor 3 after passing through the opening 41 on the fixed stop 4. Because the baffle driving mechanism 51 is arranged for driving the movable end of the movable baffle 50 to swing at the front side or the rear side of the opening 41, the movable end of the movable baffle 50 can collide with the product at the opening 41 to stir the product blocked at the opening 41, so that the product can smoothly pass through the opening 41. The utility model of this embodiment is that the tapered region 6 is provided so that the product can be concentrated in the tapered region, and the flapper 50 is provided at the opening 41 to toggle the product at the opening 41.

In a further preferred embodiment, the weighing system further comprises an output manipulator 15 and an output conveyor 16, wherein the output manipulator 15 is electrically connected with the control terminal, and the output manipulator 15 is used for moving the product on the weighing mechanism 12 onto the output conveyor 16. When the control terminal judges that the weight of the product on the weighing mechanism 12 is qualified, the control terminal can control the output manipulator 15 to transfer the product on the weighing mechanism 12 to the output conveyor belt 16.

In some embodiments, the transfer box 17 is further included, the transfer box 17 is used for containing products, a flange 171 is arranged at the upper part of the transfer box 17, the first manipulator 13 and the second manipulator 14 are both connected with a transfer part 131, the transfer part 131 is in a forward opening U shape, and the transfer part 131 is used for being connected with the flange 171; the output manipulator 15 is connected with a clamping claw 151, and the clamping claw 151 is used for clamping a flanging 171; the movable end of the sorting manipulator 10 is provided with an electromagnet 102, and the electromagnet 102 is used for sucking the product. Place transfer box 17 on board 11, during letter sorting manipulator 10 absorbs the product to transfer box 17, after the product in transfer box 17 reaches a certain quantity, recycle first manipulator 13 and second manipulator 14 with transfer box 17 transfer to the platform of weighing, can collect different kinds of products respectively with transfer box 17.

Further, the front end of fixed baffle 4 and the anterior fixed connection of the mounting bracket of input conveyer belt 3, the rear end of adjustable fender 50 is articulated with the rear portion of the mounting bracket of input conveyer belt 3, the rear end of fixed baffle 4 and the front end of adjustable fender 50 all incline to the direction of transfer of input conveyer belt 3, the rear end of opening 41 runs through the rear end of fixed baffle 4, the front end of adjustable fender 50 and the rear end of opening 41 are adjacent to each other to be set up, the expansion end of adjustable fender 50 is close to and keeps away from opening 41 from the rear side. The advantage of this embodiment is that the opening 41 is located at the small end of the tapered region 6, the product will pass through the tapered region 6 more smoothly, the product will not easily stagnate at the small end of the tapered region 6, and the present embodiment has the advantage of simple structure.

Further, the shutter drive mechanism 51 includes a bracket 52, a first power mechanism 53, a cam 54, and a spring 55; the bracket 52 is connected with the rear part of the mounting frame of the input conveyor belt 3, the first power mechanism 53 is connected with the bracket 52, the cam 54 is in transmission connection with the first power mechanism 53, the cam 54 is abutted against the movable baffle 50, and two ends of the spring 55 are respectively connected with the bracket 52 and the movable baffle 50; when the first power mechanism 53 drives the cam 54 to rotate, the end of the flapper 50 can swing around the hinge joint of the flapper 50 and the bracket 52, and the spring 55 is used for pulling the flapper 50 close to the cam 54. The present embodiment is one of the embodiments for realizing the swing of the flapper 50, and the present embodiment has the advantages of simple structure and easy control of the swing amplitude of the flapper 50.

Further, the conveying and aligning device is used for conveying the large nuts 1 and the small nuts 2, the width of the opening 41 is larger than the outer diameter of the large nut 1, and the width of the opening 41 is smaller than twice of the outer diameter of the small nut 2. The benefit of this embodiment is to avoid more than two large nuts 1 and small nuts 2 lying flat on the input conveyor 3 passing through the opening 41 at the same time.

In some embodiments, the conveying device further comprises a limit baffle 7, the limit baffle 7 is arranged above the input conveying belt 3, the limit baffle 7 is arranged on the right side of the opening 41, the fixed end of the limit baffle 7 is fixedly connected with the mounting frame of the input conveying belt 3, the movable end of the limit baffle 7 is arranged above the middle part of the input conveying belt 3, and the movable end of the limit baffle 7 inclines to the right. After the products pass through the opening 41, due to the collision effect of the movable baffle 50, the arrangement of the products is not in a straight line, and after the products collide with the limiting baffle 7 rightwards, the products move along the inclined limiting baffle 7 and can be roughly arranged in a straight line after the movable end of the limiting baffle 7 is disconnected with the limiting baffle 7.

In some embodiments, the conveying device further comprises a height limiting baffle 8 and a height limiting driving mechanism 9, wherein the height limiting baffle 8 is arranged above the input conveying belt 3, the height limiting baffle 8 is arranged at the left side of the tapered region 6, the height limiting baffle 8 is arranged along the front-back direction, a brush part is arranged at the bottom of the height limiting baffle 8, a height limiting gap is arranged between the brush part and the input conveying belt 3, the height limiting baffle 8 is connected with a mounting frame of the input conveying belt 3 in a left-right sliding mode, and the height limiting driving mechanism drives the height limiting baffle 8 to reciprocate left and right; the rate of movement of the height-limiting baffle 8 is greater than the rate of conveyance of the input conveyor 3. In this embodiment, the height-limiting baffle 8 is used to sweep some products stacked vertically or overlapped obliquely on other products onto the conveyor belt. The function of the brush portion is to prevent some products that are partially overlapped obliquely on other products from being stuck under the rigid height limiting plate, for example, products that overlap in the same direction as the sweeping direction, and the flexible brush portion can allow the partially inclined products to pass through. Since the height-restricting flapper 8 reciprocates left and right and the moving speed is larger than the conveying speed of the input conveyor 3, the brush portion can sweep the inclined products from both left and right directions, avoiding the products in the same lapping direction as the sweeping direction from entering the tapered region 6 in one sweeping process. Furthermore, the number of the height-limiting baffles 8 is more than two, and the increase of the number of the height-limiting baffles 8 or the increase of the reciprocating speed of the height-limiting baffles 8 is beneficial to the increase of the sweeping times of the same product, so that the success rate of sweeping the product is increased.

Further, the conveying and arranging device is used for conveying the large nuts 1 and the small nuts 2, the height of the height-limiting gap is larger than that of the large nuts 1 and that of the small nuts 2, and the height of the height-limiting gap is smaller than the sum of twice the height of the large nuts 1, twice the height of the small nuts 2 and that of the large nuts 1 and that of the small nuts 2. The benefit of this embodiment is to avoid stacking the large nut 1 and the small nut 2 on each other.

Referring to fig. 6 to 8, a second embodiment of the present invention is different from the first embodiment in the structure and the matching relationship of the fixed baffle 4 and the movable baffle 50:

as shown in fig. 7 and 8, the opening 41 is disposed in the middle of the fixed baffle 4, a tapered region 6 with a small end facing to the right is formed on the left side of the fixed baffle 4, the movable baffle 50 can extend into the opening 41 from any direction, and as long as the movable end of the movable baffle 50 can swing at the front or the rear of the opening 41, the product can be stirred, so that the effect of reducing the possibility that the product is blocked at the opening 41 can be achieved.

The features of the embodiments and embodiments described above may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "length," "upper," "lower," "top," "bottom," "inner," "outer," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A sorting production line is characterized in that: the automatic sorting machine comprises a conveying and arranging assembly, a sorting mechanical arm, an image collector, a machine table, a weighing mechanism, a first mechanical arm, a second mechanical arm, a transfer box and a control terminal; the conveying and arranging assembly comprises an input conveying belt, the conveying and arranging assembly is used for arranging conveyed products on the input conveying belt, the machine table is arranged beside the input conveying belt, the image collector is arranged on the sorting mechanical arm, the control terminal is electrically connected with the image collector, the sorting mechanical arm, the first mechanical arm, the second mechanical arm and the weighing mechanism, and the control terminal controls the sorting mechanical arm to transfer the products from the input conveying belt to different transfer boxes on the machine table according to different images collected by the image collector; the first mechanical arm and the second mechanical arm are respectively used for transferring different transfer boxes to the weighing mechanism, and the control terminal can judge whether products in the transfer boxes on the weighing mechanism meet sorting requirements or not according to the weight weighed by the weighing mechanism.

2. Sorting line according to claim 1, characterised in that: the automatic weighing device is characterized by further comprising an output mechanical arm and an output conveying belt, wherein the output mechanical arm is electrically connected with the control terminal, and the output mechanical arm is used for moving the transfer box on the weighing mechanism to the output conveying belt.

3. Sorting line according to claim 2, characterised in that: the upper part of the transfer box is provided with a flanging, the first mechanical arm and the second mechanical arm are both connected with transfer parts, the transfer parts are in a U shape with a forward opening, and the transfer parts are used for being connected with the flanging; the output mechanical arm is connected with a clamping claw which is used for clamping the flanging; the movable end of the sorting manipulator is provided with an electromagnet, and the electromagnet is used for sucking the product.

4. Sorting line according to any one of claims 1-3, characterised in that: the conveying arrangement component comprises an input conveying belt, a fixed baffle, a movable baffle and a baffle driving mechanism; the conveying direction of the input conveying belt is from left to right, the fixed baffle and the movable baffle are both arranged above the input conveying belt, a tapered area with a small end facing right is formed on the left side of the fixed baffle, and an opening is formed in the bottom of the fixed baffle; baffle actuating mechanism with the mounting bracket of input conveyer belt or with fixed stop connects, baffle actuating mechanism with the adjustable fender transmission is connected and is used for the drive adjustable end of adjustable fender is close to and keeps away from the opening, be equipped with infrared sensor on the input conveyer belt, infrared sensor locates the open-ended is right-hand, infrared sensor with the control terminal electricity is connected, infrared sensor is used for detecting whether there is the product in the last specific position of input conveyer belt.

5. Sorting line according to claim 4, characterised in that: fixed stop's front end with the anterior fixed connection of input conveyer belt's mounting bracket, adjustable fender's rear end with the rear portion of input conveyer belt's mounting bracket is articulated, fixed stop's rear end with adjustable fender's front end all to input conveyer belt's direction of transfer slope, open-ended rear end runs through fixed stop's rear end, adjustable fender's front end with open-ended rear end is adjacent to be set up, and adjustable fender's expansion end is close to and keeps away from the opening from the rear side.

6. Sorting line according to claim 5, characterised in that: the baffle driving mechanism comprises a bracket, a first power mechanism, a cam and a spring; the bracket is connected with the rear part of the mounting frame of the input conveyor belt, the first power mechanism is connected with the bracket, the cam is in transmission connection with the first power mechanism, the cam is abutted against the movable baffle, and two ends of the spring are respectively connected with the bracket and the movable baffle; in the process that the cam is driven to rotate by the first power mechanism, the end part of the movable baffle can swing around the hinged part of the movable baffle and the support, and the spring is used for drawing the movable baffle close to the cam.

7. Sorting line according to claim 4, characterised in that: the conveying and arranging device is used for conveying large nuts and small nuts, the width of the opening is larger than the outer diameter of the large nuts, and the width of the opening is smaller than twice of the outer diameter of the small nuts.

8. Sorting line according to claim 4, characterised in that: still include limit baffle, limit baffle locates the top of input conveyer belt, limit baffle locates the open-ended is right-hand, limit baffle's stiff end with the mounting bracket fixed connection of input conveyer belt, limit baffle's expansion end is located the top at input conveyer belt's middle part, limit baffle's expansion end slopes right.

9. Sorting line according to claim 4, characterised in that: the height limiting device is characterized by further comprising a height limiting baffle and a height limiting driving mechanism, wherein the height limiting baffle is arranged above the input conveyor belt, the height limiting baffle is arranged on the left of the conical area, the height limiting baffle is arranged along the front-back direction, a brush part is arranged at the bottom of the height limiting baffle, a height limiting gap is formed between the brush part and the input conveyor belt, the height limiting baffle is connected with a mounting frame of the input conveyor belt in a left-right sliding mode, and the height limiting driving part drives the height limiting baffle to reciprocate left and right; the movement speed of the height limiting baffle is greater than the conveying speed of the input conveyor belt.

10. Sorting line according to claim 9, characterised in that: the conveying and arranging device is used for conveying large nuts and small nuts, the height of the height-limiting gap is larger than the height of the large nuts and the height of the small nuts, and the height of the height-limiting gap is smaller than the sum of twice the height of the large nuts, twice the height of the small nuts and the height of the large nuts and the height of the small nuts.