CN221231101U

CN221231101U - Automatic feeding and sorting device

Info

Publication number: CN221231101U
Application number: CN202322745996.6U
Authority: CN
Inventors: 林君泓; 吴栋滨; 贝良辉; 王科杰; 严鹏飞
Original assignee: Zhoushan Zhengshan Intelligent Manufacturing Technology Co ltd
Current assignee: Zhoushan Zhengshan Intelligent Manufacturing Technology Co ltd
Priority date: 2023-10-13
Filing date: 2023-10-13
Publication date: 2024-06-28
Anticipated expiration: 2033-10-13

Abstract

The utility model discloses an automatic feeding and sorting device, which comprises a portal frame; the grabbing mechanism is connected to the portal frame through the manipulator assembly and used for grabbing materials to be fed; the lifting type feeding vehicle is used for placing materials to be fed so as to be grabbed by the mechanical arm assembly; the visual detection mechanism is arranged on the manipulator assembly and is used for detecting whether the material of the lifting type material supply vehicle has flaws or not; the inlet of the qualified product conveying line is positioned in the portal frame; the defective product conveying line is arranged side by side with the qualified product conveying line; the control module is used for controlling the movement of the manipulator assembly according to the feedback result of the visual detection mechanism so as to place the material on the qualified product conveying line or the defective product conveying line through the grabbing mechanism; the device has the advantages that the structure is modularized, the control is simplified, the reliable and precise detection and dynamic and precise sorting on the surface of the plate can be realized, and the automatic sorting requirement of the industrial production process is met.

Description

Automatic feeding and sorting device

Technical Field

The utility model relates to the technical field of material sorting, in particular to an automatic feeding sorting device.

Background

At present, in numerous industrial manufacturing fields such as automobile manufacturing, household electrical appliances, metal processing and the like, precise numerical control processing is required to be carried out on metal plates such as steel plates, and in order to ensure the processing quality, high requirements are put on the surface quality of the feeding plate, and the surface of the plate cannot have obvious defects such as scratches, breakage, fraying and the like. The traditional manual visual inspection has the problems of low efficiency and unstable precision, and the requirements of the modern high-speed and high-quality production on the surface detection precision and efficiency of the plate are difficult to meet.

At present, some automated production lines adopt simple mechanical arms or conveyor belts to realize the material loading letter sorting of panel, this kind of device utilizes simple photoelectric sensor or artifical visual inspection's mode to carry out panel surface defect detection, but because the detection means is limited, can't realize the accurate discernment and the location of small scratch on panel surface, defect, lead to letter sorting quality to be difficult to guarantee, this kind of device structure is also comparatively single in addition, rely on mechanical movement of mechanical arms or conveyor belts to sort, flexibility and adaptability are relatively poor, simultaneously, each functional module integrated level is not high, it is comparatively dispersed to connect between systems such as motion control, visual detection, letter sorting action, maintenance and update difficulty.

In summary, the existing automatic feeding and sorting device and system have the following problems that (1) the fine detection capability is weak, and the reliable identification of the tiny surface defects cannot be carried out; (2) The sorting accuracy is difficult to ensure, and the adaptability of meeting the requirements of different technological processes is poor; (3) The structure is single, and letter sorting action flexibility is relatively poor, and these problems make current device hardly satisfy industrial production to the requirement of automatic feeding letter sorting system performance.

Therefore, development of a new automatic feeding and sorting technical scheme is needed, reliable and fine detection of the surface of the board is achieved, and dynamic and accurate sorting is performed by using a flexible sorting mechanism.

Disclosure of utility model

The utility model aims at solving the problems, and aims to provide an automatic feeding and sorting device with high integration level, flexible action and controllable precision.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: an automatic feeding and sorting device comprises

A portal frame;

The grabbing mechanism is connected to the portal frame through a manipulator assembly and used for grabbing materials to be loaded;

the lifting type feeding vehicle is used for placing materials to be fed so as to be grabbed by the manipulator assembly;

The visual detection mechanism is arranged on the manipulator assembly and is used for detecting whether the material of the lifting type feeding vehicle has flaws or not;

The inlet of the qualified product conveying line is positioned in the portal frame;

The defective product conveying line is arranged side by side with the qualified product conveying line;

And the control module is used for controlling the movement of the manipulator assembly according to the feedback result of the visual detection mechanism so as to place the material on the qualified product conveying line or the defective product conveying line through the grabbing mechanism.

Preferably, the portal frame comprises a frame and four upright posts, wherein the frame is of a rectangular structure, and the four upright posts are respectively fixed at four corners of the frame.

Preferably, the manipulator assembly comprises a cross beam, a sliding frame and a longitudinal beam, wherein the cross beam can be connected on the frame in a front-back sliding way, a first driving mechanism for driving the cross beam to move back and forth is arranged between the cross beam and the frame, the sliding frame can be arranged on the cross beam in a left-right sliding way, a second driving mechanism for driving the sliding frame to move left and right is arranged between the sliding frame and the cross beam, the longitudinal beam can be connected on the sliding frame in a vertical sliding way, a third driving mechanism for driving the longitudinal beam to move up and down is arranged between the longitudinal beam and the sliding frame, and the grabbing mechanism is fixed at the bottom of the longitudinal beam.

Preferably, the first driving mechanism comprises two displacement units positioned at the left end and the right end of the beam, each displacement unit comprises a first belt wheel, a second belt wheel and a synchronous belt, the first belt wheels and the second belt wheels are respectively and rotatably connected with the front end and the rear end of the frame, the synchronous belts are wound between the first belt wheels and the second belt wheels, the synchronous belts are fixed with the beam, the two first belt wheels are connected through a rotating shaft, and the frame is provided with a synchronous unit for driving the rotating shaft to rotate.

Preferably, the synchronization unit comprises a bracket, a synchronization motor, a third belt pulley, a fourth belt pulley and a belt, wherein the bracket is fixed on the frame, the synchronization motor is fixed on the bracket, the third belt pulley is coaxially fixed with an output shaft of the synchronization motor, the fourth belt pulley is coaxially fixed with the rotating shaft, and the belt is wound between the third belt pulley and the fourth belt pulley.

Preferably, the side wall of the cross beam is horizontally fixed with a guide rail, the sliding frame is arranged on the guide rail in a sliding manner, the second driving mechanism comprises a driving motor, a gear and a rack meshed with the gear, the driving motor is fixed at the lower end of the cross beam, the gear is coaxially connected to an output shaft of the driving motor, and the rack is fixed on the sliding frame.

Preferably, the third driving mechanism comprises a linear motor, a screw rod and a nut seat, wherein the linear motor is vertically fixed at the top end of the longitudinal beam, the screw rod is coaxially connected to an output shaft of the linear motor, the nut seat is fixed on the sliding frame, and the nut seat is in threaded fit with the screw rod.

Preferably, the grabbing mechanism comprises an end plate and a sucker assembly, the end plate is fixed at the lower end of the longitudinal beam, the sucker assembly is mounted on the end plate, support plates are further perpendicularly fixed on the end plate, pushing air cylinders are respectively fixed at two ends of the support plates, a positioning plate used for being in contact with the side wall of a material is arranged on a piston rod of each pushing air cylinder, and a clamping space is formed between the two positioning plates.

Compared with the prior art, the utility model has the advantages that: the automatic feeding and sorting device realizes automatic grabbing and feeding and quality sorting of materials, and the whole working flow has high degree of automation and obviously improved efficiency and precision; firstly, a lifting type feeding vehicle places a material to be detected in the working range of a grabbing mechanism; then, the grabbing mechanism grabs the material through the manipulator assembly, and the visual detection mechanism performs image acquisition and quality detection analysis on the material, and judges whether surface flaws exist or not through image processing; then, the visual detection result is fed back to the control module in a signal form; finally, the control module drives the mechanical arm to place the materials on the corresponding conveying line according to the detection result, and sorting of qualified and defective products is completed; compared with manual sorting, the automatic mode of the integrated visual detection improves the working efficiency, ensures higher sorting precision through visual detection, and realizes high-level automatic production. The whole system realizes full automation of material feeding and quality sorting from feeding to grabbing to visual detection sequencing, reduces labor intensity and improves product quality.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art are briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic perspective view of a first driving mechanism according to the present utility model;

FIG. 3 is a schematic perspective view of a manipulator assembly according to the present utility model;

FIG. 4 is a schematic perspective view of a second driving mechanism according to the present utility model;

FIG. 5 is a schematic perspective view of a third driving mechanism according to the present utility model;

FIG. 6 is a functional block diagram of the present utility model;

In the figure, 1, a portal frame; 2. a frame; 3. a column; 4. a grabbing mechanism; 5. a manipulator assembly; 6. a cross beam; 7. a first driving mechanism; 8. a displacement unit; 9. a first pulley; 10. a second pulley; 11. a synchronous belt; 12. a rotating shaft; 13. a synchronization unit; 14. a bracket; 15. a synchronous motor; 16. a third pulley; 17. a fourth pulley; 18. a belt; 19. a sliding frame; 20. a second driving mechanism; 21. a guide rail; 22. a driving motor; 23. a gear; 24. a rack; 25. a longitudinal beam; 26. a third driving mechanism; 27. a linear motor; 28. a screw rod; 29. a nut seat; 30. an end plate; 31. a suction cup assembly; 32. a support plate; 33. a pushing cylinder; 34. a positioning plate; 35. lifting type feeding vehicle; 36. a visual detection mechanism; 37. a qualified product conveying line; 38. a defective product conveyor line; 39. and a control module.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Embodiment one: as shown in the figure, an automatic feeding and sorting device comprises

A portal frame 1;

The grabbing mechanism 4 is connected to the portal frame 1 through a manipulator assembly 5 and used for grabbing materials to be loaded;

the lifting type feeding vehicle 35 is used for placing a material to be fed for grabbing by the manipulator assembly 5;

the visual detection mechanism 36 is arranged on the manipulator assembly 5 and is used for detecting whether the material of the lifting type material supply vehicle 35 has flaws or not;

a qualified product conveying line 37, the inlet of which is positioned in the portal frame 1;

A defective product conveying line 38 arranged side by side with the acceptable product conveying line 37;

And the control module 39 is used for controlling the movement of the manipulator assembly 5 according to the feedback result of the visual detection mechanism 36 so as to place the material on the qualified product conveying line 37 or the defective product conveying line 38 through the grabbing mechanism 4.

This automatic feeding sorting device realizes the work flow of material automation material loading and letter sorting includes:

1. The lifting type feeding vehicle 35 places the material at a grabbing position as a feeding preparation;

2. the mechanical arm assembly 5 controls the grabbing mechanism 4 to grab materials and complete feeding actions;

3. the vision detecting mechanism 36 shoots the material image and transmits the material image to the control module 39;

6. the control module 39 analyzes the detection result and generates a control instruction;

7. the manipulator assembly 5 drives the grabbing mechanism 4 to conduct classification actions;

8. The mechanical arm places the materials on a corresponding qualified product or defective product conveying line;

9. and finishing one-time automatic feeding and sorting process.

The device automatically completes each link of feeding preparation, grabbing feeding, quality detection, classification action and the like, does not need manual participation, and realizes efficient and accurate automatic feeding and sorting by the whole system.

Embodiment two: as shown in the figure, unlike the first embodiment, the gantry 1 includes a frame 2 and four columns 3, the frame 2 has a rectangular structure, and the four columns 3 are respectively fixed at four corners of the frame 2.

The portal frame 1 adopts the structural design that four upright posts 3 support the rectangular frame 2, has the advantages of good rigidity and strong bearing capacity of the frame 2, and particularly, the four upright posts 3 are symmetrically fixed on four corners of the rectangular frame 2 to form a stable support system, and the movable space is also larger, so that compared with the design of a single upright post 3 or two upright posts 3, the four-post support structure can uniformly disperse the pressure and the load of the frame 2, and the rigidity and the bearing capacity of the whole portal frame 1 are effectively improved.

The rectangular frame 2 has better bending and torsion resistance. The four upright posts 3 are matched with the rectangular frame 2 to form a portal frame system with good mechanical properties and stable structure, so that firm support can be provided for the components such as the grabbing mechanism 4 carried by the portal frame system, and the requirement of automatic work is met.

In this embodiment, the manipulator assembly 5 includes a cross beam 6, a sliding frame 19 and a longitudinal beam 25, the cross beam 6 is slidably connected on the frame 2 back and forth, a first driving mechanism 7 for driving the cross beam 6 to move back and forth is arranged between the frame 2 and the cross beam, the sliding frame 19 is slidably arranged on the cross beam 6 in a left-right manner, a second driving mechanism 20 for driving the sliding frame 19 to move left and right is arranged between the sliding frame 19 and the cross beam 6, the longitudinal beam 25 is slidably connected on the sliding frame 19 in an up-down manner, a third driving mechanism 26 for driving the longitudinal beam 25 to move up and down is arranged between the longitudinal beam 25 and the sliding frame 19, and the grabbing mechanism 4 is fixed at the bottom of the longitudinal beam 25.

The mechanical arm assembly 5 adopts the structural design of triaxial positioning of the cross beam 6, the sliding frame 19 and the longitudinal beam 25, realizes accurate movement and positioning of the mechanical arm in three spatial directions, and has the advantages of large working range and flexible movement. The beam 6 can move back and forth on the portal frame 1, the sliding frame 19 can move left and right on the beam 6, the longitudinal beam 25 can move up and down on the sliding frame 19, corresponding driving mechanisms are arranged between the beam 6 and the sliding frame to accurately position, the back and forth movement of the beam 6 enlarges the front and back working range of the manipulator, the left and right movement of the sliding frame 19 enlarges the left and right working range, and the up and down movement of the longitudinal beam 25 enlarges the vertical working range. The combination of three-axis accurate positioning can form a large three-dimensional working space, and the manipulator assembly 5 can freely enter any position in the space, so that the grabbing range is greatly widened, meanwhile, the positions of the shafts can be accurately controlled, the manipulator can flexibly move, the moving track is accurately controllable, and the grabbing operation on articles with high precision can be realized.

In this embodiment, the first driving mechanism 7 includes two displacement units 8 located at left and right ends of the beam 6, each displacement unit 8 includes a first belt pulley 9, a second belt pulley 10 and a synchronous belt 11, the first belt pulley 9 and the second belt pulley 10 are respectively rotatably connected at front and rear ends of the frame 2, the synchronous belt 11 is wound between the first belt pulley 9 and the second belt pulley 10, the synchronous belt 11 is fixed with the beam 6, the two first belt pulleys 9 are further connected through a rotating shaft 12, and a synchronous unit 13 for driving the rotating shaft 12 to rotate is arranged on the frame 2.

The first driving mechanism 7 adopts the design that the synchronous belts 11 at two ends are driven by wheels, realizes stable and accurate positioning of the cross beam 6, and comprises two displacement units 8 positioned at the left end and the right end of the cross beam 6, wherein each unit comprises a first belt wheel 9, a second belt wheel 10 and a synchronous belt 11 connected with the two wheels. The first belt pulley 9 and the second belt pulley 10 are rotatably connected to the front end and the rear end of the frame 2 of the portal frame 1, the front end and the rear end are in transmission connection through a synchronous belt 11, the synchronous belt 11 is fixed on the cross beam 6, the two first belt pulleys 9 are also connected through an intermediate rotating shaft 12, and a synchronous unit 13 is arranged on the frame 2 to drive the rotating shaft 12 to rotate. When the synchronous unit 13 drives the rotating shaft 12 to rotate, the first belt wheels 9 at the two ends are driven to synchronously rotate, so that the second belt wheels 10 at the two ends also synchronously rotate, and the synchronous belt 11 and the cross beam 6 fixed on the second belt wheels 10 at the two ends are driven to realize accurate linear positioning movement. In general, the double-end synchronous belt 11 transmission design increases the contact area with the cross beam 6, improves the force transmission stability, simultaneously, the synchronous rotation of two wheels prevents the synchronous belt 11 from being skewed, and ensures the positioning accuracy of the cross beam 6.

In this embodiment, the synchronization unit 13 includes a bracket 14, a synchronization motor 15, a third pulley 16, a fourth pulley 17, and a belt 18, the bracket 14 is fixed on the frame 2, the synchronization motor 15 is fixed on the bracket 14, the third pulley 16 is coaxially fixed with an output shaft of the synchronization motor 15, the fourth pulley 17 is coaxially fixed with the rotating shaft 12, and the belt 18 is wound between the third pulley 16 and the fourth pulley 17.

The synchronous unit 13 is a key component for realizing accurate synchronous rotation of the first belt wheels 9 at two ends in the first driving mechanism 7, adopts a mobile power source to drive the two first belt wheels 9 to synchronously rotate, and structurally comprises a bracket 14 fixed on the frame 2 of the portal frame 1, a synchronous motor 15 arranged on the bracket 14, a third belt wheel 16 fixedly connected with an output shaft of the motor, a fourth belt wheel 17 fixedly connected with a rotating shaft 12 of the belt wheels at two ends and a belt 18 wound between the two belt wheels. During operation, the synchronous motor 15 directly drives the output shaft of the synchronous motor and the third belt pulley 16 to rotate, the third belt pulley 16 drives the fourth belt pulley 17 connected with the rotating shaft 12 of the cross beam 6 to rotate through the belt 18, so that accurate driving of the rotating shaft 12 is realized, the third belt pulley 16 and the fourth belt pulley 17 are strictly synchronous through the belt 18, and the belt pulleys at two ends realize completely synchronous rotation, so that rotation speed deviation is avoided.

Embodiment III: as shown in the figure, unlike the second embodiment, the side wall of the beam 6 is horizontally fixed with a guide rail 21, the sliding frame 19 is slidably disposed on the guide rail 21, the second driving mechanism 20 includes a driving motor 22, a gear 23 and a rack 24 meshed with the gear 23, the driving motor 22 is fixed at the lower end of the beam 6, the gear 23 is coaxially connected to the output shaft of the driving motor 22, and the rack 24 is fixed on the sliding frame 19.

The second driving mechanism 20 adopts a mode that the driving motor 22 drives the gear rack to realize accurate left and right positioning of the sliding frame 19 on the cross beam 6, the sliding frame 19 slides through the guide rail 21 arranged on the side wall of the cross beam 6, the second driving mechanism 20 comprises the driving motor 22 arranged at the lower end of the cross beam 6, a gear 23 on the output shaft of the motor and a rack 24 fixed on one side of the sliding frame 19, so that when the driving motor 22 works, the driving motor 22 can drive the gear 23 to rotate at a high speed and accurately, the gear 23 is meshed with the rack 24 to drive the sliding frame 19 to finish stable and accurate movement in the left and right directions, the driving motor 22 is meshed with the gear rack to realize high-accuracy positioning control, the rotating speed and the turning direction of the driving motor 22 can accurately control the moving direction and distance of the sliding frame 19, and the guiding effect of the guide rail 21 also enables the sliding frame 19 to keep stable movement on the cross beam 6. The driving mechanism is simple and practical in structure, can realize accurate positioning of the sliding frame 19 on the cross beam 6 in the left-right direction, and is easy to control.

In this embodiment, the third driving mechanism 26 includes a linear motor 27, a screw rod 28 and a nut seat 29, the linear motor 27 is vertically fixed at the top end of the longitudinal beam 25, the screw rod 28 is coaxially connected to the output shaft of the linear motor 27, the nut seat 29 is fixed on the sliding frame 19, and the nut seat 29 is in threaded engagement with the screw rod 28.

The third driving mechanism 26 drives the screw rod 28 to realize accurate vertical positioning of the longitudinal beam 25 by using the linear motor 27 to drive the screw rod 28 to realize threaded transmission. The structure and the working principle are that a linear motor 27 is fixed at the top end of a longitudinal beam 25, a linear output shaft of the linear motor is coaxially connected with a screw rod 28, the screw rod 28 can be driven to precisely rotate, and a nut seat 29 matched with the linear motor is fixed on a sliding frame 19 below and is in threaded fit with the screw rod 28. When the linear motor 27 works, the output shaft of the linear motor drives the screw rod 28 to rotate, and the rotation of the screw rod 28 drives the nut seat 29 and the longitudinal beam 25 to move through the transmission with the threads of the nut, so that the accurate positioning of the longitudinal beam 25 in the vertical direction is realized.

Embodiment four: as shown in the drawing, unlike the third embodiment, the gripping mechanism 4 includes an end plate 30 and a suction cup assembly 31, the end plate 30 is fixed at the lower end of the longitudinal beam 25, the suction cup assembly 31 is mounted on the end plate 30, a support plate 32 is further orthogonally fixed on the end plate 30, two ends of the support plate 32 are respectively fixed with a pushing cylinder 33, a piston rod of each pushing cylinder 33 is provided with a positioning plate 34 for contacting with a side wall of a material, and a clamping space is formed between the two positioning plates 34.

The grabbing mechanism 4 is used for grabbing materials accurately through the sucker grabbing and positioning of the positioning plates 34, and the structure and the working principle are that the end plate 30 is fixed at the lower end of the longitudinal beam 25, the sucker assembly 31 is arranged on the end plate 30 to directly grab the materials, and the two positioning plates 34 are fixed at two ends of the support plate 32 and driven by the pushing air cylinders 33 to clamp the materials for positioning.

When the longitudinal beam 25 is positioned right above the material, the sucker assembly 31 grabs the material, meanwhile, the two positioning plates 34 clamp the two side surfaces of the material under the action of the air cylinder, the sucker grabs to realize feeding, the clamping of the positioning plates 34 prevents the material from vibrating or displacing, a proper clamping space is formed between the two positioning plates 34, the material clamping device is suitable for materials with different sizes, and the positioning is accurate and reliable.

In this embodiment, the visual detection mechanism 36 includes an industrial camera, a light source, and an image processing system. The industrial camera is arranged on the manipulator assembly 5 or the portal frame 1 and is used for shooting the grabbed materials; the light source is arranged near the camera and provides illumination for shooting; the image processing system is connected with the camera and is used for processing and analyzing the acquired image, detecting flaws and feeding back the processing result to the control module 39.

Specifically, the workflow of the visual detection mechanism 36 is:

1) After the mechanical arm assembly 5 is positioned above the material, the industrial camera shoots the material to acquire an image;

2) The light source emits light to illuminate the material, so that the image quality is ensured;

3) The image processing system calls an algorithm to process the image, extracts characteristics and judges the flaw condition;

4) The processing system feeds back the detection results to the control module 39 in the form of standard signals.

The camera and the light source cooperate to ensure the definition of the image, the image processing system integrates a detection algorithm model, the image analysis and flaw identification can be automatically completed, the visual detection mechanism 36 realizes the automatic detection of the quality of the materials, and the detection result guides the subsequent sorting work.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims

1. An automatic material loading sorting device which characterized in that: comprising

A portal frame;

2. An automatic loading sorter as in claim 1 wherein: the portal frame comprises a frame and four upright posts, wherein the frame is of a rectangular structure, and the four upright posts are respectively fixed at four corners of the frame.

3. An automatic loading sorter as in claim 2 wherein: the manipulator assembly comprises a cross beam, a sliding frame and a longitudinal beam, wherein the cross beam can be connected on the frame in a front-back sliding mode, a first driving mechanism used for driving the cross beam to move back and forth is arranged between the cross beam and the frame, the sliding frame can be arranged on the cross beam in a left-right sliding mode, a second driving mechanism used for driving the sliding frame to move left and right is arranged between the cross beam and the sliding frame, the longitudinal beam can be connected on the sliding frame in a vertical sliding mode, a third driving mechanism used for driving the longitudinal beam to move up and down is arranged between the longitudinal beam and the sliding frame, and the grabbing mechanism is fixed at the bottom of the longitudinal beam.

4. An automatic loading sorter as in claim 3 wherein: the first driving mechanism comprises two displacement units positioned at the left end and the right end of the cross beam, each displacement unit comprises a first belt wheel, a second belt wheel and a synchronous belt, the first belt wheels and the second belt wheels are respectively and rotatably connected with the front end and the rear end of the frame, the synchronous belts are wound between the first belt wheels and the second belt wheels, the synchronous belts are fixed with the cross beam, the two first belt wheels are connected through a rotating shaft, and the frame is provided with a synchronous unit for driving the rotating shaft to rotate.

5. An automatic loading sorter as in claim 4 wherein: the synchronous unit comprises a support, a synchronous motor, a third belt pulley, a fourth belt pulley and a belt, wherein the support is fixed on the frame, the synchronous motor is fixed on the support, the third belt pulley and an output shaft of the synchronous motor are coaxially fixed, the fourth belt pulley and the rotating shaft are coaxially fixed, and the belt is wound between the third belt pulley and the fourth belt pulley.

6. An automatic loading sorter as in claim 3 wherein: the side wall of the cross beam is horizontally fixed with a guide rail, the sliding frame is arranged on the guide rail in a sliding mode, the second driving mechanism comprises a driving motor, a gear and a rack meshed with the gear, the driving motor is fixed at the lower end of the cross beam, the gear is coaxially connected to an output shaft of the driving motor, and the rack is fixed on the sliding frame.

7. An automatic loading sorter as in claim 3 wherein: the third driving mechanism comprises a linear motor, a screw rod and a nut seat, wherein the linear motor is vertically fixed at the top end of the longitudinal beam, the screw rod is coaxially connected to an output shaft of the linear motor, the nut seat is fixed on the sliding frame, and the nut seat is in threaded fit with the screw rod.

8. An automatic loading sorter as in claim 3 wherein: the grabbing mechanism comprises end plates and sucker assemblies, the end plates are fixed at the lower ends of the longitudinal beams, the sucker assemblies are mounted on the end plates, supporting plates are further perpendicularly fixed on the end plates, pushing air cylinders are respectively fixed at two ends of each supporting plate, a positioning plate used for being in contact with the side wall of a material is arranged on a piston rod of each pushing air cylinder, and clamping spaces are formed between the two positioning plates.