Automatic stacking equipment

Abstract

The present application relates to the technical field of stacking assembly, and in particular to an automatic stacking device, including a stacking device, the stacking device including a stacking mechanism, a stacking channel and an auxiliary moving mechanism; the material to be stacked can enter the stacking channel from a feed port; the stacking mechanism includes a thrust detection device, a stacking drive device and a pushing member, the auxiliary moving mechanism includes an abutment member and a first sliding assembly fixedly connected to the abutment member, the abutment member can extend into the stacking channel and can move along the stacking channel, and a space capable of accommodating the material to be stacked is formed between the abutment member and the pushing member; the stacking drive device can drive the pushing member to reciprocate along the stacking channel on both sides of the feed port, thereby pushing the material to be stacked toward the abutment member; the thrust detection device is used to detect the force information of the pushing member, and the force information indicates the control operation of the stacking drive device. The present application can effectively avoid problems such as material fragmentation during movement, thereby improving the stacking efficiency of the product.

Description

Technical Field

[0001] The present application relates to the technical field of stacking and assembling, and in particular to an automatic stacking device. Background Art

[0002] Currently, most of the existing stacking and assembly equipment uses CCD-assisted position determination to stack and assemble products with regular shapes and large sizes. The implementation method is relatively simple and mature, but it cannot meet the situation where CCD-assisted position determination is not possible for special-shaped materials, and cannot perform high-efficiency assembly requirements. No similar method has been found on the market yet.

[0003] Therefore, it is necessary to provide an improved automatic stacking device to solve the above problems. Summary of the invention

[0004] In order to solve the above-mentioned prior art problems, the present application discloses an automatic stacking device, comprising a frame and a stacking device arranged on the frame, the stacking device comprising a stacking mechanism, a stacking flow channel and an auxiliary moving mechanism; a feed port and an inlet end are arranged on the side wall of the stacking flow channel, and the material to be stacked can enter the stacking flow channel from the feed port; the stacking mechanism comprises a thrust detection device, a stacking drive device and a pusher, the pusher is transmission-connected with the stacking drive device, the thrust detection device is arranged on the stacking drive device, and the pusher extends into the inlet end;

[0005] The auxiliary moving mechanism includes an abutment member and a first sliding assembly fixedly connected to the abutment member, the abutment member can extend into the stacking flow channel, the abutment member can move along the stacking flow channel, the first sliding assembly is slidably connected to the frame, the first sliding assembly and the abutment member can move in coordination, and a space capable of accommodating the material to be stacked is formed between the abutment member and the pushing member;

[0006] The stacking drive device can drive the pusher to reciprocate along the stacking flow channel on both sides of the feed port, thereby pushing the material to be stacked toward the abutment member; the thrust detection device is used to detect the force information of the pusher, and the force information indicates the control operation of the stacking drive device.

[0007] Furthermore, it also includes a control device, which is communicatively connected to the thrust detection device, and is used to control the stacking drive device to change the driving direction of the pusher when force information is received and the force information meets a preset force condition.

[0008] Furthermore, the control device is also used to control the stacking drive device to stop when the force information is received and the force information meets the warning force condition.

[0009] Furthermore, the stacking mechanism further comprises a connecting bracket, the thrust detection device is fixedly arranged on the connecting bracket, and the connecting bracket is slidably connected to the pushing member;

[0010] When the pushing end of the pushing member is not subjected to force, there is a gap between the thrust detection device and the pushing member.

[0011] Furthermore, the stacking mechanism also includes a second sliding component, which is transmission-connected to the stacking drive device, and the thrust detection device is fixedly connected to the second sliding component. When the stacking drive device drives the second sliding component to move toward the outlet end of the stacking flow channel, the pushing member abuts against the material to be stacked, and the pushing member can slide on the connecting bracket; and then the thrust detection device abuts against the pushing member.

[0012] Furthermore, it also includes a lifting drive device and a lifting part, and the lifting part is transmission-connected to the lifting drive device; when the abutment member moves to the outlet end of the stacked flow channel, the lifting part can cooperate with the abutment member, and the lifting drive device drives the lifting part to reciprocate in the direction of extending into and out of the stacked flow channel, thereby driving the abutment member to extend into and out of the stacked flow channel.

[0013] Furthermore, the auxiliary moving mechanism also includes an auxiliary fixing member, which is fixedly connected to the first sliding assembly and slidably connected to the abutment member; the abutment member can slide relative to the auxiliary fixing member to extend into or out of the stacking channel.

[0014] Furthermore, the auxiliary moving mechanism also includes a quantity sensing device, which is fixedly connected to the frame, and is used to detect material stacking status information of the material to be stacked in the stacking channel. The stacking status information of the material to be stacked indicates the quantity of the material to be stacked, and is used to trigger the stacking drive device to change the driving direction of the pushing piece and the sliding direction of the first sliding component.

[0015] Furthermore, the auxiliary movement mechanism also includes a position sensing device, which is fixedly connected to the first sliding component. The position sensing device is used to detect position information of the abutment member, and the position information is used to indicate a return sliding stroke of the first sliding component.

[0016] Furthermore, the size difference between the channel size of the stacking flow channel and the structural size of the material to be stacked satisfies a preset tolerance condition.

[0017] Furthermore, a vacuum adsorption system is provided in the stacking flow channel, and the vacuum adsorption system is used to fix the materials to be stacked in the stacking flow channel.

[0018] The automatic stacking device provided by the present application brings at least the following beneficial effects:

[0019] 1. In the present application, a thrust detection device is provided in the stacking mechanism, and the force information of the pusher is detected through the abutment between the thrust detection device and the pusher, and the stacking drive device is instructed to stop driving the pusher, thereby effectively avoiding the jamming or even crushing of the materials to be stacked in the stacking flow channel, thereby improving the yield rate of the stacked materials and thus improving the stacking efficiency of the automatic stacking equipment.

[0020] 2. In the present application, an auxiliary moving mechanism is provided, and the abutment of the auxiliary moving mechanism abuts against the material to be stacked, and the abutment can move along with the movement of the material to be stacked, thereby ensuring that the material to be stacked moves in a fixed posture, which meets the preset target stacking posture, thereby improving the stacking quality of the automatic stacking equipment.

[0021] 3. In the present application, a quantity sensing device and a position sensing device are arranged in the auxiliary moving mechanism. The position sensing device can ensure that the abutment member is always in abutment with the material to be stacked at a preset position, and the quantity sensing device can detect whether the quantity of the material to be stacked reaches the preset stacking quantity requirement, thereby improving the automation degree of the stacking equipment and further improving the stacking efficiency of the stacking equipment.

[0022] 4. In the present application, the channel size of the stacking channel is set to meet the preset tolerance requirement of the size difference between the channel size and the structural size of the material to be stacked, that is, the position and posture of the material to be stacked when moving in the stacking channel is limited by tolerance control, so that the material to be stacked meets the preset target stacking posture, thereby improving the stacking quality of the automatic stacking equipment.

[0023] 5. In the present application, a vacuum adsorption system is provided in the stacking channel, and the materials to be stacked are fixed in the stacking channel by the vacuum adsorption system, thereby further ensuring the position and posture of the materials to be stacked when moving in the stacking channel, thereby improving the stacking quality of the automatic stacking equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 : Schematic diagram of the overall structure of the stacking device provided in the embodiment of the present application;

[0026] Figure 2 : A schematic diagram of the overall structure of an automatic stacking device provided in an embodiment of the present application;

[0027] Figure 3 : A schematic diagram of the structure of the material to be stacked provided in an embodiment of the present application;

[0028] Figure 4 : Schematic diagram of the structure of the misaligned material provided in the embodiment of the present application;

[0029] Figure 5 : Schematic diagram of the assembly structure of the stacked flow channel transfer flow channel provided in the embodiment of the present application;

[0030] Figure 6 : A schematic diagram of the overall structure of the feeding mechanism provided in the embodiment of the present application;

[0031] Figure 7 : Schematic diagram of the overall structure of the material error mechanism provided in the embodiment of the present application;

[0032] Figure 8 : A partial structural diagram of the pusher mechanism provided in the embodiment of the present application;

[0033] In the figure: 1-stacking device, 2-feeding mechanism, 3-error mechanism, 4-pushing mechanism, 10-frame, 11-stacking mechanism, 12-stacking flow channel, 13-auxiliary moving mechanism, 14-lifting drive device, 15-lifting part, 21-feeding flow channel, 22-blowing device, 31-error member, 32-error driving device, 33-error sensing device, 34-error sliding assembly, 41-intermittent driving device, 42-transfer flow channel, 43-push rod, 100-waiting Stacking materials, 111-thrust detection device, 112-stacking drive device, 113-pushing member, 114-connecting bracket, 115-second sliding component, 121-feeding port, 122-inlet end, 123-outlet end, 131-abutting member, 132-first sliding component, 133-auxiliary fixing member, 134-quantity sensing device, 135-position sensing device, 211-discharging end, 311-error material trough, 421-pushing outlet end, 431-pushing head. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, device, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0036] The following describes the embodiments with reference to the accompanying drawings, which do not limit the application contents described in the claims.

[0037] In the description of the embodiments of the present invention, it should be understood that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0038] The following combination Figure 1 An automatic stacking device provided in an embodiment of the present application is introduced, which can be applied to the automatic stacking of magnets in the 3C (computer, communication and consumer electronics) industry, including but not limited to the automated stacking and assembly of heterogeneous tiny magnets.

[0039] It should be noted that the automatic stacking device provided in the embodiment of the present application is particularly suitable for stacking scenarios where special-shaped magnets are small in size and the position status cannot be determined using CCD visual assistance.

[0040] Please refer to Figure 1-8The embodiment of the present application provides an automatic stacking device, including a frame 10 and a stacking device 1 arranged on the frame 10, the stacking device 1 includes a stacking mechanism 11, a stacking channel 12 and an auxiliary moving mechanism 13; a feed port 121 and an inlet end 122 are arranged on the side wall of the stacking channel 12, and the material 100 to be stacked can enter the stacking channel 12 from the feed port 121; the stacking mechanism 11 includes a thrust detection device 111, a stacking drive device 112 and a pusher 113, the pusher 113 is transmission-connected to the stacking drive device 112, the thrust detection device 111 is arranged on the stacking drive device 112, and the pusher 113 extends into the inlet end 122; the auxiliary moving mechanism 13 includes an abutment member 131 and abutment members 132. 131 is fixedly connected to the first sliding component 132, the abutment 131 can extend into the stacking channel 12, the abutment 131 can move along the stacking channel 12, the first sliding component 132 is slidably connected to the frame 10, the first sliding component 132 and the abutment 131 can move in coordination, and a space for accommodating the material 100 to be stacked is formed between the abutment 131 and the pushing member 113; the stacking drive device 112 can drive the pushing member 113 to reciprocate along the stacking channel 12 on both sides of the feed port 121, thereby pushing the material 100 to be stacked toward the abutment 131; the thrust detection device 111 is used to detect the force information of the pushing member 113, and the force information indicates the control operation of the stacking drive device 112.

[0041] In this way, by abutting the thrust detection device against the pushing piece, the force information of the pushing piece is detected, and the stacking drive device is instructed to stop driving the pushing piece, which can effectively avoid the jamming or even crushing of the stacked material in the stacking flow channel, thereby improving the yield rate of the stacked material and thus improving the stacking efficiency of the automatic stacking equipment.

[0042] Specifically, the control operation may include but is not limited to controlling the stack driving device 112 to change the driving direction and stop driving.

[0043] Specifically, the material 100 to be stacked may be anisotropic micro magnet blocks.

[0044] For example, the length, width and height of the material 100 to be stacked can be, but are not limited to, a tiny magnet with a dimensional tolerance of ±0.03 mm of 1 mm*1 mm*3 mm.

[0045] In some embodiments, the automatic stacking equipment also includes a control device, which is communicated with the thrust detection device 113. The control device is used to control the stacking drive device 112 to change the driving direction of the pusher 113 when force information is received and the force information meets the preset force conditions.

[0046] Specifically, the preset force condition may be the force of the material pushing member 113 to push the material to be stacked to slide normally in the stacking channel 12 , and an exemplary preset force condition may be less than 50N.

[0047] In this embodiment, by setting the preset force conditions, the stacking driving device 112 can be effectively controlled to change the driving direction of the pushing member 113, thereby improving the stacking efficiency of the automatic stacking device.

[0048] In some embodiments, the control device is further configured to control the stack driving device 112 to stop driving when force information is received and the force information meets the warning force condition.

[0049] Specifically, the early warning force condition may be the force applied when the material pusher 113 pushes the material to be stacked to become stuck in the stacking channel 12 . An exemplary early warning force condition may be between 50N and 70N.

[0050] In this embodiment, by setting the warning stress conditions, the jamming or even crushing of the materials to be stacked in the stacking flow channel can be effectively avoided, thereby improving the yield rate of the stacked materials and thus improving the stacking efficiency of the automatic stacking equipment.

[0051] In some embodiments, the stacking mechanism 11 also includes a connecting bracket 114, the thrust detection device 111 is fixedly arranged on the connecting bracket 114, and the connecting bracket 114 is slidingly connected to the pushing piece 113; when the pushing end of the pushing piece 113 is not under force, there is a gap between the thrust detection device 111 and the pushing piece 113.

[0052] Specifically, the connecting bracket 114 is provided with a connecting hole matched with the pushing piece 113, and a slot structure is provided on one end of the pushing piece 113 that matches with the connecting hole. The pushing piece 113 slides in the connecting hole by connecting the connecting rod with the slot structure.

[0053] Specifically, a notch is provided on the connecting bracket 114, the thrust detection device 111 is fixed in the accommodating space of the notch, and a connecting hole is provided on the other end surface of the notch, and the pushing member 113 can slide in the connecting hole.

[0054] Specifically, when the control device controls the stacking driving device 112 to move in the material stacking direction, while the pushing member 113 abuts against the material 100 to be stacked, the thrust detection device 111 abuts against one end of the pushing member 113. When the force information of the pushing member 113 detected by the thrust detection device 111 meets the preset force condition, the control device controls the stacking driving device 112 to change the driving direction of the pushing member 113. When the force information of the pushing member 113 meets the preset force condition, the stacking driving device 112 can drive the pushing member 113 to reciprocate along the stacking flow channel 12 on both sides of the feed port 121.

[0055] Specifically, the thrust detection device 111 may be a force sensor.

[0056] In some embodiments, the stacking mechanism 11 also includes a second sliding component 115, which is transmission-connected to the stacking drive device 112, and the thrust detection device 111 is fixedly connected to the second sliding component 115. When the stacking drive device 112 drives the second sliding component 115 to move toward the outlet end 123 of the stacking flow channel 12, the pushing piece 113 abuts against the material 100 to be stacked, and the pushing piece 113 can slide on the connecting bracket 114; then the thrust detection device 111 abuts against the pushing piece 113.

[0057] In some embodiments, the stacking device 1 also includes a lifting drive device 14 and a lifting portion 15, and the lifting portion 15 is transmission-connected to the lifting drive device 14; when the abutment 131 moves to the outlet end 123 of the stacking channel 12, the lifting portion 15 can cooperate with the abutment 131, and the lifting drive device 14 drives the lifting portion 15 to reciprocate in the direction of extending into and out of the stacking channel 12, thereby driving the abutment 131 to extend into and out of the stacking channel 12.

[0058] Specifically, the lifting drive device 14 can drive the lifting part 15 to reciprocate in the lifting direction.

[0059] Specifically, the lifting direction is the direction in which the abutment member 131 extends out of the stacking channel 12 .

[0060] Specifically, an L-shaped lifting structure is provided on the lifting portion 15 , and the lifting structure is engaged with the abutment member 131 , so as to drive the abutment member 131 to extend into and out of the stacking channel 12 .

[0061] Specifically, when the pushing member 113 pushes the material to be stacked and then pushes the abutment member 131 to move to the outlet end 123 of the stacking flow channel 12, the lifting portion 15 is engaged with the abutment member 131, and the control device controls the lifting drive device 14 to drive the lifting portion 15 to move in the direction of extending out of the stacking flow channel 12, thereby driving the abutment member 131 to extend out of the stacking flow channel 12.

[0062] In this embodiment, the abutment 131 of the auxiliary moving mechanism 13 abuts against the material to be stacked 100, and the abutment 131 can move along with the movement of the material to be stacked 100, thereby ensuring that the material to be stacked 100 moves in a fixed posture, which meets the preset target stacking posture, thereby improving the stacking quality of the automatic stacking equipment.

[0063] In some embodiments, the auxiliary moving mechanism 13 also includes an auxiliary fixing member 133, which is fixedly connected to the first sliding assembly 132, and the auxiliary fixing member 133 is slidably connected to the abutment member 131; the abutment member 131 can slide relative to the auxiliary fixing member 133 to extend into or out of the stacking channel 12.

[0064] Specifically, the auxiliary moving mechanism 13 further includes an elastic member, one end of which is fixedly connected to the auxiliary fixing member 133 , and the other end of which can abut against the abutting member 131 .

[0065] Specifically, when the lifting portion 15 drives the abutting member 131 to extend out of the stacking channel 12 , the abutting member 131 abuts against the other end of the elastic member, thereby achieving sliding of the abutting member 131 relative to the auxiliary fixing member 133 .

[0066] Specifically, when the control device controls the auxiliary moving mechanism 13 to move along the inlet end of the stacking channel 12, the lifting portion 15 is separated from the abutment 131, and the abutment 131 is extended into the stacking channel 12 again under the elastic force of the elastic member.

[0067] In some embodiments, the auxiliary moving mechanism 13 also includes a quantity sensing device 134, which is fixedly connected to the frame 10. The quantity sensing device 134 is used to detect the material stacking status information of the material to be stacked 100 in the stacking channel 12. The stacking status information of the material to be stacked 100 indicates the quantity of the material to be stacked 100, and is used to trigger the stacking drive device 112 to change the driving direction of the pushing member 113 and the sliding direction of the first sliding component 132.

[0068] Specifically, the material stacking status information refers to whether the material to be stacked is stacked to the outlet end of the stacking channel 12, that is, whether the preset quantity requirement for the material to be stacked is met.

[0069] Specifically, when the material stacking state information meets the preset quantity requirement of the materials to be stacked, the control device first controls the lifting drive device 14 to drive the lifting part 15 and then drive the abutment 131 to move in the direction in which the abutment 131 extends out of the stacking channel 12 .

[0070] Furthermore, the control device controls the stacking drive device to drive the pusher 113 to move along the stacking channel 12 to the outlet end, that is, after all the materials 100 to be stacked are pushed out from the outlet end of the stacking channel 12, the stacking drive device 112 is controlled to drive the pusher 113 to move to the initial position.

[0071] Specifically, the initial position may be that the abutting member 131 and the pushing member 113 are respectively arranged at two ends of the feed port 121 , and the pushing member 113 , the feed port 121 and the abutting member 131 are arranged in sequence along the material stacking direction.

[0072] Furthermore, the control device controls the auxiliary moving mechanism 13 to move along the feed port of the stacking flow channel 12 .

[0073] In some embodiments, the auxiliary movement mechanism 13 also includes a position sensing device 135, which is fixedly connected to the first sliding component 132, and is used to detect position information of the abutment 131, and the position information is used to indicate the return sliding stroke of the first sliding component 132.

[0074] Specifically, the position sensing device 135 is used to sense whether the abutment member 131 moves to the initial position.

[0075] Specifically, the initial position of the abutment 131 can be that the abutment 131 and the pushing member 113 are respectively arranged at two ends of the feed port 121, and the pushing member 113, the feed port 121 and the abutment 131 are arranged in sequence along the material stacking direction.

[0076] Specifically, when the position sensing device senses that the abutment member 131 moves to the initial position, the control device controls the auxiliary movement mechanism 13 to stop moving.

[0077] In this embodiment, by setting a quantity sensing device 134 and a position sensing device 135 in the auxiliary moving mechanism 13, the position sensing device 135 can ensure that the abutment member 131 is always in abutment with the material to be stacked 100 at a preset position, and the quantity sensing device 134 can detect whether the quantity of the material to be stacked 100 reaches the preset stacking quantity requirement, thereby improving the degree of automation of the stacking equipment and further improving the stacking efficiency of the stacking equipment.

[0078] In some embodiments, the size difference between the channel size of the stacking channel 12 and the structural size of the material 100 to be stacked satisfies a preset tolerance condition.

[0079] In this embodiment, the channel size of the stacking channel 12 is set to meet the preset tolerance requirement of the size difference between the material 100 to be stacked and the structural size, that is, the position and posture of the material 100 to be stacked when moving in the stacking channel 12 is limited by tolerance control, so that the material 100 to be stacked meets the preset target stacking posture, thereby improving the stacking quality of the automatic stacking equipment.

[0080] In some embodiments, a vacuum adsorption system is disposed in the stacking channel 12 , and the vacuum adsorption system is used to fix the materials 100 to be stacked in the stacking channel 12 .

[0081] In this embodiment, a vacuum adsorption system is provided in the stacking channel 12, and the material to be stacked 100 is fixed in the stacking channel by the vacuum adsorption system, thereby further ensuring the position and posture of the material to be stacked 100 when moving in the stacking channel 12, thereby improving the stacking quality of the automatic stacking equipment.

[0082] Specifically, the bottom of the stacking channel 12 may be provided with an adsorption hole, which is used to be connected to a vacuum adsorption system. The adsorption hole can generate an adsorption force to adsorb the material 100 to be stacked into the stacking channel 12 .

[0083] Specifically, in the process of the pushing member 113 pushing the material to be stacked 100 to move along the stacking channel 12, the material to be stacked 100 contacts the adsorption hole, and then the material to be stacked 100 is adsorbed by the vacuum adsorption force to ensure the posture of the material to be stacked 100 during the movement, thereby improving the stacking quality of the automatic stacking equipment.

[0084] like Figure 1-8 In some other embodiments, an automatic stacking device also includes a loading mechanism 2, a material error mechanism 3 and a material pushing mechanism 4.

[0085] The specific feeding mechanism 2 includes a feeding drive device and a feeding channel 21. The feeding drive device is used to drive multiple materials 100 to be stacked to be arranged in sequence in the feeding channel 21, and drive the materials 100 to be stacked to move along the feeding channel 21 to the material receiving position of the feeding mechanism 3, thereby completing the feeding process.

[0086] Furthermore, the material error mechanism 3 includes a material error piece 31, a material error driving device 32, a material error sensing device 33 and a material error sliding assembly 34; the material error driving device 32 is used to drive the material error sliding assembly 34 to slide relative to the frame 10, the material error piece 31 is fixedly arranged on the material error sliding assembly 34, the material error sensing device 33 is fixed on the frame 10, and the material error sensing device 33 is used to sense whether the material 100 to be stacked enters the material error piece.

[0087] Specifically, the material misalignment member 31 is provided with a plurality of material misalignment slots 311 capable of accommodating a material 100 to be stacked.

[0088] Specifically, when the material error sensing device 33 senses that the material 100 to be stacked has entered the slot 311 of the material error part 31, the control device controls the material error driving device 32 to drive the material error sliding assembly 34 to move a distance of the material error slot 311 in the direction of the pushing mechanism 4, and then controls the feeding driving device to start, and controls the material 100 to be stacked to move along the feeding channel 21 to the material receiving position of the material error mechanism 3.

[0089] Specifically, when the material error driving device 32 drives the material error sliding assembly 34 to move in the direction of the pushing mechanism 4, the control device controls the feeding driving device to stop driving.

[0090] Specifically, the feeding mechanism 2 and the material error mechanism 3 move in coordination with each other until the material error driving device 32 drives the material error member to move to the pushing position of the material pushing mechanism 4 .

[0091] Furthermore, the pushing mechanism 4 includes an intermittent driving device 41, a transfer channel 42 and a push rod 43; the push rod 43 can extend into the transfer channel 42, and the intermittent driving device can drive the push rod 43 to reciprocate in the direction of extending into and extending out of the transfer channel 42, and the transfer channel 42 is connected to the stacking mechanism 1.

[0092] Specifically, the push outlet end 421 of the transfer channel 42 is disposed at one side of the feed inlet 121 of the stacking channel 12 and abuts against the feed inlet 121 .

[0093] Specifically, the wrong material sensing device 33 can also sense the number of materials 100 to be stacked in the wrong material piece. When the number of materials 100 to be stacked in the wrong material piece reaches the preset target stacking quantity requirement, the control device controls the feeding drive device to stop driving; and controls the intermittent drive device to drive the push rod 43 to push the material 100 to be stacked into the transfer channel 42.

[0094] Specifically, the position sensing device can also detect whether there is material 100 to be stacked entering the stacking channel 12 at the feed port 121. When the position sensing device detects that the material 100 to be stacked moves to the stacking channel 12, the control device controls the stacking drive device 112 to drive the pushing member 113 to push the material 100 to be stacked to move a preset displacement in the stacking channel 12, and controls the vacuum adsorption system to start.

[0095] The working process of an automatic stacking device of the present application may include loading, misalignment, pushing and stacking, and the specific steps are as follows:

[0096] Loading: In the present application, a vibration plate loading method can be adopted. The specific loading driving device drives the loading channel 21 to vibrate, and is used to arrange multiple materials 100 to be stacked in the loading channel 21 in sequence. A blowing device 22 is provided on the loading channel 21, and the blowing device 22 drives the materials 100 to be stacked along the loading channel 21 to move to the material receiving position of the misalignment mechanism 3, thereby completing the loading process.

[0097] Material error: When the material error sensing device 33 senses that the material 100 to be stacked has entered the material error slot 311 of the material error part 31, the control device controls the material error driving device 32 to drive the material error sliding component 34 to move the distance of the material error slot 311 in the direction of the pushing mechanism 4, and then controls the feeding driving device to start, the feeding driving device drives the feeding flow channel 21 to vibrate, and drives the next material to be stacked 100 to move along the feeding flow channel 21 to the material error slot 311 of the material error part 31 through the blowing device 22. However, when the material error driving device 32 drives the material error sliding component 34 to move in the direction of the pushing mechanism 4, the control device controls the feeding driving device to stop driving;

[0098] With the coordinated movement of the feeding mechanism 2 and the misalignment mechanism 3 , the materials 100 to be stacked can be placed in the misalignment slots 311 of the misalignment member 31 in sequence, thus completing the misalignment process of the materials 100 to be stacked.

[0099] Pushing material: When the material error sensing device 33 senses that the number of materials 100 to be stacked in the wrong material piece reaches the preset target stacking number requirement, the control device controls the feeding drive device to stop driving; and controls the intermittent drive device to drive the push rod 43 to push the material 100 to be stacked into the transfer channel 42.

[0100] Stacking: When the position sensing device detects that the material 100 to be stacked moves into the stacking channel 12 at the feed inlet 121, the control device controls the stacking drive device 112 to drive the pushing piece 113 to push the material 100 to be stacked to move a preset displacement in the stacking channel 12, and controls the vacuum adsorption system to start until the quantity sensing device 134 detects that the number of materials 100 to be stacked reaches the preset stacking quantity requirement, the lifting drive device removes the abutment 131 of the auxiliary moving mechanism from the stacking channel 12, and at the same time controls the stacking drive device 112 to drive the pushing piece 113 to push the material 100 to be stacked out of the stacking channel 12, thereby completing a stacking process.

[0101] The automatic stacking device provided in the application at least brings the following beneficial effects:

[0102] 1. The present application sets a thrust detection device in the stacking mechanism, detects the force information of the pusher through the abutment between the thrust detection device and the pusher, and instructs the stacking drive device to stop driving the pusher, thereby effectively avoiding the jamming or even crushing of the materials to be stacked in the stacking flow channel, thereby improving the yield rate of the stacked materials and thus improving the stacking efficiency of the automatic stacking equipment.

[0103] 2. The present application sets up an auxiliary moving mechanism, and the abutment of the auxiliary moving mechanism abuts against the material to be stacked, and the abutment can move with the movement of the material to be stacked, thereby ensuring that the material to be stacked moves in a fixed posture and meets the preset target stacking posture, thereby improving the stacking quality of the automatic stacking equipment.

[0104] 3. The present application sets a quantity sensing device and a position sensing device in the auxiliary moving mechanism. The position sensing device can ensure that the abutment member is always in abutment with the material to be stacked at a preset position, and the quantity sensing device can detect whether the quantity of the material to be stacked reaches the preset stacking quantity requirement, thereby improving the degree of automation of the stacking equipment and further improving the stacking efficiency of the stacking equipment.

[0105] 4. The present application sets the channel size of the stacking channel to meet the preset tolerance requirement of the size difference between the material to be stacked and the structural size, that is, limits the position and posture of the material to be stacked when moving in the stacking channel through tolerance control, so that the material to be stacked meets the preset target stacking posture, thereby improving the stacking quality of the automatic stacking equipment.

[0106] 5. The present application provides a vacuum adsorption system in the stacking channel, and fixes the materials to be stacked in the stacking channel through the vacuum adsorption system, thereby further ensuring the position and posture of the materials to be stacked when moving in the stacking channel, thereby improving the stacking quality of the automatic stacking equipment.

[0107] Example 1

[0108] Please refer to Figure 1-8The embodiment of the present application provides an automatic stacking device, including a frame 10 and a stacking device 1 arranged on the frame 10, the stacking device 1 includes a stacking mechanism 11, a stacking channel 12 and an auxiliary moving mechanism 13; a feed port 121 and an inlet end 122 are arranged on the side wall of the stacking channel 12, and the material 100 to be stacked can enter the stacking channel 12 from the feed port 121; the stacking mechanism 11 includes a thrust detection device 111, a stacking drive device 112 and a pusher 113, the pusher 113 is transmission-connected to the stacking drive device 112, the thrust detection device 111 is arranged on the stacking drive device 112, and the pusher 113 extends into the inlet end 122; the auxiliary moving mechanism 13 includes an abutment member 131 and abutment members 132. 131 is fixedly connected to the first sliding component 132, the abutment 131 can extend into the stacking channel 12, the abutment 131 can move along the stacking channel 12, the first sliding component 132 is slidably connected to the frame 10, the first sliding component 132 and the abutment 131 can move in coordination, and a space for accommodating the material 100 to be stacked is formed between the abutment 131 and the pushing member 113; the stacking drive device 112 can drive the pushing member 113 to reciprocate along the stacking channel 12 on both sides of the feed port 121, thereby pushing the material 100 to be stacked toward the abutment 131; the thrust detection device 111 is used to detect the force information of the pushing member 113, and the force information indicates the control operation of the stacking drive device 112.

[0109] Specifically, the thrust detection device 111 may be a force sensor, and the force sensor is used to detect the force information of the pushing member 113 .

[0110] Specifically, the stacking mechanism 11 also includes a connecting bracket 114, which is provided with a connecting hole that cooperates with the pushing piece 113. A slot structure is provided at one end of the pushing piece 113 away from the stacking flow channel 12. The slot structure cooperates with the connecting hole and is connected to the slot structure through a connecting rod to enable the pushing piece 113 to slide in the connecting hole. The force sensor is fixedly arranged on the connecting bracket 114, and there is a gap between the force sensor and one end of the slot structure of the pushing piece 113.

[0111] When the control device controls the stacking driving device 112 to move in the material stacking direction, while the pushing piece 113 abuts against the material 100 to be stacked, the force sensor abuts against the pushing piece 113. When the force information of the pushing piece 113 detected by the force sensor is less than 50N, the control device controls the stacking driving device 112 to change the driving direction of the pushing piece 113, and the stacking driving device 112 can drive the pushing piece 113 to reciprocate along the stacking flow channel 12 on both sides of the feed port 121.

[0112] Specifically, it also includes a feeding mechanism 2, a material error mechanism 3 and a material pushing mechanism 4, and the feeding mechanism 2, the material error mechanism 3 and the material pushing mechanism 4 are respectively connected to the control device for communication.

[0113] Specifically, the material 100 to be stacked is a tiny magnet with a length, width and height of 1mm*1mm*3mm and a tolerance of ±0.03mm for the dimensions.

[0114] In the automatic stacking device, the sizes of the flow channel feeding flow channel 21, the transfer flow channel 42 and the stacking flow channel involved all meet the preset tolerance conditions of the size difference between the structural size of the tiny magnet.

[0115] Specifically, in the automatic stacking device, all structures that come into contact with tiny magnets are made of non-magnetic materials.

[0116] Specifically, the feeding method adopts the feeding mechanism 2 as a vibration plate feeding method, the vibration plate includes a feeding drive motor, a feeding channel 21 and a blowing cylinder, the feeding drive motor drives the feeding channel 21 to vibrate, arranges the tiny magnets in the feeding channel 21 in sequence, and blows the tiny magnets along the feeding channel 21 through the blowing cylinder to move them to the receiving position of the feeding mechanism 3.

[0117] Specifically, the material error mechanism 3 includes a material error part 31, a material error position sensor 33, a material error driving device 32 and a material error sliding assembly 34. The material error part can be a comb-shaped material error plate, which is fixed on one end of the material error sliding assembly 34. The comb-shaped material error plate is sequentially provided with a first card slot, a second card slot... In the initial position, the first card slot on the comb-shaped material error plate is set at a material receiving position that cooperates with the discharge end 211 of the feeding channel 21.

[0118] Specifically, the sliding direction of the comb-shaped material-misting plate is vertically arranged to the material-loading channel 21 .

[0119] Specifically, the size of the card slot is adapted to the structural size of the tiny magnet.

[0120] Specifically, the wrong material position sensor is used to sense whether the material 100 to be stacked enters the wrong material piece.

[0121] Specifically, the control device responds to the information sensed by the material error position sensor that the material to be stacked 100 enters the material error part, controls the material error driving motor to move along the pushing mechanism 4 a distance of an material error slot 311, and controls the blowing cylinder to blow air at the same time, so that after the next material to be stacked 100 enters the second slot position on the comb-shaped material error plate, controls the blowing cylinder to stop blowing, and the feeding mechanism 2 and the material error mechanism 3 move in coordination until the material error driving device 32 drives the material error part 31 to move to the pushing position of the pushing mechanism 4.

[0122] Specifically, the pushing mechanism 4 includes a cam driving device 41, a transfer channel 42 and a push rod 43; the cam driving device 41 is fixedly connected to the push rod 43, and a push head 431 is provided on the push rod 43, and the push head 431 is used for abutting with the material of the push head 431 is PV7 material. The cam driving device 41 can drive the push head 431 of the push rod 43 to reciprocate in the direction of extending into and out of the transfer channel 42.

[0123] Specifically, the transfer channel 42 is arranged perpendicular to the movement direction of the comb-shaped material error plate, and one end of the transfer channel 42 abuts against the feed port 121 of the stacking mechanism 1, and the other end of the transfer channel 42 can abut against the comb-shaped material error plate.

[0124] Specifically, when the wrong material position sensor senses that the number of tiny magnets in the wrong material reaches the preset target stacking quantity requirement, the control device controls the feeding drive motor to stop driving; and controls the cam drive device 41 to drive the push rod 43 to push the tiny magnets into the transfer channel 42.

[0125] Specifically, the feeding mechanism 2 , the material error mechanism 3 and the material pushing mechanism 4 move in coordination with each other, so that the tiny magnets can enter the stacking flow channel 12 .

[0126] Specifically, when the position sensing device detects that a tiny magnet enters the stacking channel 12 at the feed inlet 121, the control device controls the stacking drive device 112 to drive the pusher 113 to push the tiny magnet to move a preset displacement in the stacking channel 12, and controls the vacuum adsorption system to start.

[0127] Specifically, the stacking device 1 includes a lifting drive device 14 and a lifting portion 15, and the lifting portion 15 is transmission-connected to the lifting drive device 14; when the abutment 131 moves to the outlet end 123 of the stacking flow channel 12, the lifting portion 15 can cooperate with the abutment 131, and the lifting drive device 14 drives the lifting portion 15 to reciprocate in the direction of extending into and out of the stacking flow channel 12, thereby driving the abutment 131 to extend into and out of the stacking flow channel 12.

[0128] Specifically, the auxiliary moving mechanism 13 of the stacking device 1 is further provided with a position sensing device 135 and a quantity sensing device 134 .

[0129] Specifically, the quantity sensing device 134 is fixedly connected to the frame 10, and is used to detect the material stacking status information of the tiny magnets in the stacking channel 12. The stacking status information of the tiny magnets indicates the number of tiny magnets, which is used to trigger the stacking drive device 112 to change the driving direction of the pusher 113 and the sliding direction of the first sliding component 132.

[0130] Specifically, the material stacking status information refers to whether the material to be stacked is stacked to the outlet end of the stacking channel 12, that is, whether the preset quantity requirement for the material to be stacked is met.

[0131] Specifically, when the material stacking state information meets the preset quantity requirement of the materials to be stacked, the control device first controls the lifting drive device 14 to drive the lifting part 15 and then drive the abutment 131 to move in the direction in which the abutment 131 extends out of the stacking channel 12 .

[0132] Furthermore, the control device controls the stacking drive device 112 to drive the pusher 113 to move along the stacking channel 12 to the outlet end, that is, after all the tiny magnets are pushed out from the outlet end 123 of the stacking channel 12, the stacking drive device 112 is controlled to drive the pusher 113 to move to the initial position.

[0133] Specifically, the initial position may be that the abutting member 131 and the pushing member 113 are respectively arranged at two ends of the feed port 121 , and the pushing member 113 , the feed port 121 and the abutting member 131 are arranged in sequence along the material stacking direction.

[0134] Specifically, the control device controls the auxiliary moving mechanism 13 to move along the feed port of the stacking flow channel 12 .

[0135] Furthermore, the position sensing device 135 is used to sense whether the abutment member 131 moves to the initial position.

[0136] When the position sensing device senses that the abutment member 131 moves to the initial position, the control device controls the auxiliary movement mechanism 13 to stop moving.

[0137] As described above, through the coordinated movement of the feeding mechanism 2, the material error mechanism 3, the material pushing mechanism 4 and the stacking device 1, the automatic stacking equipment completes the stacking work of the materials, preparing for the subsequent assembly of the materials.

[0138] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0139] It should be noted that all the features recorded in this application (including technical features recorded in different embodiments) can be combined arbitrarily under reasonable circumstances, and new technical solutions formed by the combination are all within the protection scope of this application.

[0140] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An automatic stacking device, characterized in that: It comprises a frame (10) and a stacking device (1) arranged on the frame (10), wherein the stacking device (1) comprises a stacking mechanism (11), a stacking flow channel (12) and an auxiliary movement mechanism (13); A feed port (121) and an inlet end (122) are provided on the side wall of the stacking flow channel (12), and the material (100) to be stacked can enter the stacking flow channel (12) from the feed port (121); The stacking mechanism (11) comprises a thrust detection device (111), a stacking drive device (112) and a material pushing member (113); the material pushing member (113) is transmission-connected to the stacking drive device (112); the thrust detection device (111) is arranged on the stacking drive device (112); and the material pushing member (113) extends into the inlet end (122); The auxiliary moving mechanism (13) comprises an abutment member (131) and a first sliding assembly (132) fixedly connected to the abutment member (131); the abutment member (131) can extend into the stacking channel (12); the abutment member (131) can move along the stacking channel (12); the first sliding assembly (132) is slidably connected to the frame (10); the first sliding assembly (132) and the abutment member (131) can move in coordination; a space capable of accommodating the material (100) to be stacked is formed between the abutment member (131) and the pushing member (113); The stacking drive device (112) is capable of driving the pusher (113) to reciprocate along the stacking flow channel (12) on both sides of the feed port (121), thereby pushing the material to be stacked (100) to move toward the abutment member (131); the thrust detection device (111) is used to detect force information of the pusher (113), and the force information indicates the control operation of the stacking drive device (112); The size difference between the channel size of the stacking flow channel (12) and the structural size of the material to be stacked (100) satisfies a preset tolerance condition; A vacuum adsorption system is provided in the stacking flow channel (12), and the vacuum adsorption system is used to fix the material (100) to be stacked in the stacking flow channel (12).

2. The automatic stacking device according to claim 1, characterized in that: It also includes a control device, which is in communication connection with the thrust detection device (111), and is used to control the stacking drive device (112) to change the driving direction of the pusher (113) when force information is received and the force information meets a preset force condition.

3. The automatic stacking device according to claim 2, characterized in that: The control device is also used to control the stacking drive device (112) to stop driving when the force information is received and the force information meets the early warning force condition.

4. The automatic stacking device according to claim 1, characterized in that: The stacking mechanism (11) further comprises a connecting bracket (114), the thrust detection device (111) is fixedly arranged on the connecting bracket (114), and the connecting bracket (114) is slidably connected to the pushing member (113); When the pushing end of the pushing member (113) is not subjected to force, there is a gap between the thrust detection device (111) and the pushing member (113).

5. The automatic stacking device according to claim 4, characterized in that: The stacking mechanism (11) further comprises a second sliding assembly (115), the second sliding assembly (115) being transmission-connected to the stacking driving device (112), and the thrust detection device (111) being fixedly connected to the second sliding assembly (115); When the stacking drive device (112) drives the second sliding component (115) to move toward the outlet end (123) of the stacking flow channel (12), the pushing member (113) abuts against the material to be stacked (100), and the pushing member (113) can slide on the connecting bracket (114), and then the pushing member (113) abuts against the thrust detection device (111).

6. An automatic stacking device according to any one of claims 1 to 4, characterized in that: The stacking device (1) further comprises a lifting drive device (14) and a lifting portion (15), wherein the lifting portion (15) is transmission-connected to the lifting drive device (14); When the abutment member (131) moves to the outlet end (123) of the stacked flow channel (12), the lifting portion (15) can cooperate with the abutment member (131), and the lifting drive device (14) drives the lifting portion (15) to reciprocate in the direction of extending into and out of the stacked flow channel (12), thereby driving the abutment member (131) to extend into and out of the stacked flow channel (12).

7. An automatic stacking device according to any one of claims 1 to 4, characterized in that: The auxiliary moving mechanism (13) further comprises an auxiliary fixing member (133), wherein the auxiliary fixing member (133) is fixedly connected to the first sliding component (132), and the auxiliary fixing member (133) is slidably connected to the abutting member (131); The abutment member (131) is capable of sliding relative to the auxiliary fixing member (133) so as to extend into or out of the stacking flow channel (12).

8. An automatic stacking device according to any one of claims 1 to 4, characterized in that: The auxiliary moving mechanism (13) also includes a quantity sensing device (134), which is fixedly connected to the frame (10). The quantity sensing device (134) is used to detect material stacking status information of the material to be stacked (100) in the stacking flow channel (12). The stacking status information of the material to be stacked (100) indicates the quantity of the material to be stacked (100), and is used to trigger the stacking drive device (112) to change the driving direction of the pusher (113) and the sliding direction of the first sliding component (132).

9. An automatic stacking device according to any one of claims 1 to 4, characterized in that: The auxiliary movement mechanism (13) also includes a position sensing device (135), the position sensing device (135) is fixedly connected to the first sliding component (132), and the position sensing device (135) is used to detect position information of the abutment member (131), and the position information is used to indicate the return sliding stroke of the first sliding component (132).

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