Stacking and Shaping Equipment and Stacking and Shaping Method

Abstract

The present invention discloses a stacked material shaping device and a stacked material shaping method, which relate to the field of stacked parts. The stacked material shaping device of the present invention includes a frame, a material tray, a fastener fixture, a stacked material assembly, a shaping assembly, a material transfer assembly, a fastening assembly, and a material transfer driving component. The stacked material shaping method of the present invention can rely on the above-mentioned stacked material shaping device to obtain a string rod stacked with multiple parts, and the edges of the respective parts on the string rod are aligned. At the same time, they are locked and fixed by fasteners. When feeding a surface grinder, only the string rod stacked with multiple parts needs to be placed into the surface grinder. When the surface grinder finishes grinding the parts and needs to unload the material, only the string rod stacked with multiple parts needs to be removed from the surface grinder, thereby realizing rapid loading and unloading, shortening the loading and unloading time, and reducing the labor cost at the same time.

Description

Technical Field

[0001] The present invention relates to the field of stacking of workpieces, and particularly to a workpiece stacking and shaping device and a workpiece stacking and shaping method. Background Art

[0002] When using a surface grinder to grind some small workpieces such as mobile phone cameras, it is necessary to manually place the workpieces to be ground into the surface grinder one by one, and it is necessary to ensure that the edges of the workpieces placed in the surface grinder are aligned to ensure the same grinding effect for each side of the workpiece. After the surface grinder finishes grinding the workpiece, it is also necessary to manually remove the workpiece from the surface grinder one by one. This kind of loading and unloading method takes a long time, has low efficiency, high labor cost, and is difficult to meet the requirements of rapid production. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a workpiece stacking and shaping device, which can stack workpieces on a string rod and shape the workpieces on the string rod so that the edges of the workpieces are aligned. After shaping the workpieces, tighten the fasteners on the string rod to prevent the workpieces from rotating when the string rod stacked with workpieces is placed in the surface grinder. After the surface grinder finishes grinding the workpieces, then remove the string rod stacked with workpieces, thereby improving the loading and unloading efficiency of the surface grinder.

[0004] The present invention also provides a workpiece stacking and shaping method.

[0005] A workpiece stacking and shaping device according to an embodiment of the first aspect of the present invention includes a frame, a material tray, a fastener fixture, a stacking component, a shaping component, a material transfer component, a fastening component, and a material transfer driving component.

[0006] Frame;

[0007] Material tray, on which a plurality of workpieces are placed in an array;

[0008] Fastener fixture, on which fasteners are placed;

[0009] Stacking component, which is arranged on the frame and includes a material picking component and a material rod. The material picking component is used to place the workpieces in the material tray on the material rod, and the material rod is used to stack a plurality of workpieces;

[0010] Shaping component, which includes a first profiling block, a second profiling block, and a shaping driving component for driving the first profiling block and the second profiling block to approach or move away from each other;

[0011] Material transfer component, which includes a material transfer component and a material transfer fixture. A string rod is detachably arranged on the material transfer fixture, and the material transfer component is used to move the workpieces stacked on the material rod and the fasteners in the fastener fixture onto the string rod;

[0012] A fastening assembly for tightening the fasteners in the material transfer jig.

[0013] A material transfer driving component drivingly connected to the material transfer jig to move the material transfer jig back and forth between the material transfer component, the shaping component, the fastening assembly, and the discharging position, where the discharging position is used to take out the string rod stacked with workpieces.

[0014] A stacked material shaping device according to an embodiment of the first aspect of the present invention has at least the following beneficial effects: It should be noted that the stacked material shaping device of the present invention is applicable to workpieces with inner holes, such as mobile phone cameras. Multiple workpieces are pre-arrayed on the material tray, and fasteners are pre-placed in the fastener jig. During operation, the material taking component in the stacked material component sequentially places the workpieces on the material tray onto the material rod. The material rod penetrates through the through holes of the workpieces, causing the workpieces to be stacked on the material rod. After the material rod is filled with workpieces, the material transfer component in the material transfer assembly moves the workpieces stacked on the material rod onto the string rod in the material transfer jig. After the string rod is filled with workpieces, the material transfer component then places the fasteners in the fastener jig onto the string rod. At this time, the fasteners are located above the workpieces in the string rod. Then, the material transfer driving component drives the material transfer jig to move to the shaping component. The string rod enters between the first profiling block and the second profiling block. The shaping driving component drives the first profiling block and the second profiling block to approach each other to shape the workpieces stacked on the string rod, so that the edges of the workpieces in the stacked material jig are aligned. Finally, the material transfer driving component drives the material transfer jig to move to the discharging position, and the string rod stacked with workpieces is automatically or manually removed by a manipulator, and an empty string rod is replaced. At this time, multiple workpieces are stacked on the string rod, and the edges of the multiple workpieces are aligned. At the same time, the fasteners on the string rod fix the workpieces on the string rod. When feeding the surface grinder, only the string rod stacked with multiple workpieces needs to be placed into the surface grinder. When discharging the workpieces after the surface grinder finishes grinding, only the string rod stacked with multiple workpieces needs to be removed from the surface grinder, thereby realizing fast loading and unloading, shortening the loading and unloading time, and reducing the labor cost at the same time.

[0015] According to some embodiments of the present invention, the material tray is arrayed with a plurality of protrusions for facilitating the placement of workpieces. The material taking component includes a plurality of flexible claws and a three-axis moving module for driving the movement of the plurality of flexible claws. In the direction parallel to the arrangement direction of the plurality of flexible claws, the distance between the flexible claws and the distance between the material rods are the same as the distance between the protrusions, or an integer multiple of the distance between the protrusions.

[0016] According to some embodiments of the present invention, it further includes a material tray driving module drivingly connected to the material tray, enabling the material tray to move back and forth between the material taking position and the loading / unloading material tray position. The material taking position is close to the material taking component, and the loading / unloading material tray position is located at the edge of the frame.

[0017] According to some embodiments of the present invention, there are two sets of the material tray, the stacking component and the material tray driving module respectively.

[0018] According to some embodiments of the present invention, it further includes a detection grating and a control module. The detection grating is located at the discharging position, and the detection grating is electrically connected to the control module. The control module controls the stacking component, the shaping component, the fastening component and the material transferring component.

[0019] According to some embodiments of the present invention, the shaping component further includes a first mounting plate. The shaping driving part includes a first air cylinder, a mounting frame, a cam, a connecting arm, a pushing plate and a second air cylinder. The first air cylinder is arranged on the first mounting plate, and the first air cylinder is drivingly connected to the first profiling block. The mounting frame is arranged on the first mounting plate, the cam is rotatably arranged on the mounting frame, the connecting arm is fixedly connected to both ends of the cam, the second air cylinder is respectively hinged to the mounting frame and the connecting arm, the pushing plate is arranged on the rotation path of the cam, and the pushing plate is connected to the second profiling block.

[0020] According to some embodiments of the present invention, the shaping component further includes a limiting block, and the limiting block is arranged on the rotation path of the connecting arm.

[0021] According to some embodiments of the present invention, an elastic member is arranged between the pushing plate and the first profiling block.

[0022] According to some embodiments of the present invention, the fastening component includes a second mounting plate, a motor, a telescopic universal joint, a spring, a bit and a slider. The motor is arranged on the second mounting plate. Both ends of the telescopic universal joint are respectively connected to the motor and the bit. The motor drives the bit to rotate through the telescopic universal joint. The slider is connected to the bit. The spring is arranged between the slider and the second mounting plate. The slider can slide relative to the second mounting plate. The bit is located above the first profiling block and the second profiling block.

[0023] According to a stacking and shaping method of the second aspect embodiment of the present invention, it includes the following steps:

[0024] S1: Place the workpieces in the material tray in advance, and place the fasteners in the fastener fixture.

[0025] S2: Move the workpieces in the material tray onto the string rod until the string rod is full of workpieces.

[0026] S3: Place the fasteners in the fastener fixture onto the string rod.

[0027] S4: Shape the workpieces stacked on the string rod so that the edges of the workpieces stacked on the string rod are aligned;

[0028] S5: Tighten the fasteners on the string rod so that the workpieces on the string rod do not rotate;

[0029] S6: Remove the string rod stacked with workpieces and replace it with an empty string rod.

[0030] According to an embodiment of the present invention, a method for stacking and shaping workpieces has at least the following beneficial effects: Through the above method for stacking and shaping workpieces, a string rod stacked with multiple workpieces can be obtained, and the edges of the workpieces on the string rod are aligned. At the same time, they are locked and fixed by fasteners. When feeding the surface grinder, only need to put the string rod stacked with multiple workpieces into the surface grinder. When the surface grinder finishes grinding the workpieces and needs to unload, only need to remove the string rod stacked with multiple workpieces from the surface grinder, so as to realize fast loading and unloading, shorten the loading and unloading time, and reduce the labor cost at the same time.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0032] The following will further illustrate the present invention in conjunction with the drawings and embodiments, where:

[0033] Figure 1 is an axonometric view of the stacking and shaping device according to the first aspect embodiment of the present invention;

[0034] Figure 2 is a top view of the stacking and shaping device according to the first aspect embodiment of the present invention;

[0035] Figure 3 is Figure 1 a schematic diagram of the stacking component, shaping component, fastening component and electric cylinder in

[0036] Figure 4 is Figure 1 a schematic diagram of the material taking component in

[0037] Figure 5 is Figure 1 a schematic diagram of the material moving component in

[0038] Figure 6 is Figure 1 a schematic diagram of the material moving fixture and the material moving driving component in

[0039] Figure 7 is Figure 1 a schematic diagram of the fastener fixture and the fastener in

[0040] Figure 8 isFigure 1 Schematic diagram of the middle material tray and the material tray driving module;

[0041] Figure 9 For Figure 1 Schematic diagram of the middle shaping component;

[0042] Figure 10 For Figure 9 Exploded view of the shaping component;

[0043] Figure 11 For Figure 1 Schematic diagram of the middle fastening component;

[0044] Reference numerals:

[0045] Frame 100;

[0046] Material tray 200, protrusion 210, material tray driving module 220;

[0047] Fastener fixture 300, fastener 310;

[0048] Stacking component 400, material taking component 410, flexible claw 411, y-axis driving module 412, z-axis driving module 413, x-axis driving module 414, material rod 420;

[0049] Shaping component 500, first profiling block 510, second profiling block 520, shaping driving component 530, first cylinder 531, mounting bracket 532, cam 533, connecting arm 534, push plate 535, second cylinder 536, limit block 537, elastic member 538, electric cylinder 540, first mounting plate 550;

[0050] Material transfer component 600, material transfer part 610, clamping jaw 611, material transfer fixture 620, string rod 621, string rod mounting fixture 622, material transfer driving component 630, linear driving module 631, vertical driving cylinder 632, support base 633;

[0051] Fastening component 700, second mounting plate 710, motor 720, telescopic universal joint 730, spring 740, bit 750, slider 760;

[0052] Detection grating 800;

[0053] Loading and unloading material tray positions 910, material taking position 920, discharging position 930. Detailed implementation manners

[0054] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only for explaining the present invention and should not be construed as limiting the present invention.

[0055] In the description of the present invention, it should be understood that with respect to the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0056] In the description of the present invention, the meaning of several is more than one, the meaning of a plurality is more than two, greater than, less than, exceeding, etc. are understood not to include the recited number, and above, below, within, etc. are understood to include the recited number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0057] In the description of the present invention, unless otherwise clearly defined, terms such as set, install, connect, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0058] In the description of the present invention, the description referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0059] Refer to Figures 1 to 11 According to an embodiment of the first aspect of the present invention, a stacked material shaping device includes a frame 100, a tray 200, a fastener fixture 300, a stacking assembly 400, a shaping assembly 500, a material transfer assembly 600, a fastening assembly 700, and a material transfer driving member 630.

[0060] Frame 100;

[0061] Tray 200, on which a plurality of workpieces are arranged in an array;

[0062] Fastener fixture 300, with fasteners 310 placed thereon;

[0063] Stacking component 400, disposed on the frame 100. The stacking component 400 includes a material taking component 410 and a material rod 420. The material taking component 410 is used to place the material parts in the material tray 200 onto the material rod 420, and the material rod 420 is used to stack multiple material parts;

[0064] Shaping component 500, including a first profiling block 510, a second profiling block 520, and a shaping driving component 530 for driving the first profiling block 510 and the second profiling block 520 to approach or move away from each other;

[0065] Material transfer component 600, including a material transfer part 610 and a material transfer fixture 620. A string rod 621 is detachably provided on the material transfer fixture 620. The material transfer part 610 is used to move the stacked material parts on the material rod 420 and the fasteners 310 in the fastener fixture 300 onto the string rod 621;

[0066] Fastening component 700, used to tighten the fasteners 310 in the material transfer fixture 620;

[0067] Material transfer driving component 630, drivingly connected to the material transfer fixture 620, for enabling the material transfer fixture 620 to move back and forth between the material transfer part 610, the shaping component 500, the fastening component 700, and the discharging position 930. The discharging position 930 is used to take out the string rod 621 stacked with material parts.

[0068] A stacking and shaping device according to an embodiment of the present invention. It should be noted that the stacking and shaping device of the present invention is applicable to material parts with inner holes, such as mobile phone cameras, etc. Refer to Figures 1 to 7, multiple workpieces are pre-arrayed on the tray 200, and the fasteners 310 are pre-placed in the fastener fixture 300. During operation, the workpiece picking component 410 in the stacking component 400 sequentially places the workpieces on the tray 200 onto the material rod 420. The material rod 420 passes through the through holes of the workpieces, causing the workpieces to be stacked on the material rod 420. After the material rod 420 is filled with workpieces, the material transfer component 610 in the material transfer component 600 moves the stacked workpieces on the material rod 420 to the string rod 621 in the material transfer fixture 620. After the string rod 621 is filled with workpieces, the material transfer component 610 then places the fasteners 310 in the fastener fixture 300 onto the string rod 621. At this time, the fasteners 310 are located above the workpieces in the string rod 621. Then, the material transfer driving component 630 drives the material transfer fixture 620 to move to the shaping component 500. The string rod 621 enters between the first profiling block 510 and the second profiling block 520. The shaping driving component 530 drives the first profiling block 510 and the second profiling block 520 to approach each other, shaping the workpieces stacked on the string rod 621 so that the edges of the workpieces in the stacking fixture are aligned. Finally, referring to Figure 2 , the material transfer driving component 630 drives the material transfer fixture 620 to move to the discharging position 930, and the string rod 621 stacked with workpieces is automatically or manually removed by a manipulator, and an empty string rod 621 is replaced. At this time, multiple workpieces are stacked on the string rod 621, and the edges of the multiple workpieces are aligned. At the same time, the fasteners 310 on the string rod 621 fix the workpieces on the string rod 621. When loading the surface grinder, only the string rod 621 stacked with multiple workpieces needs to be placed into the surface grinder. When the surface grinder needs to unload the workpieces after grinding, only the string rod 621 stacked with multiple workpieces needs to be removed from the surface grinder, thereby realizing fast loading and unloading, shortening the loading and unloading time, and reducing the labor cost at the same time.

[0069] Referring to Figure 1 and Figure 3 , it should be noted that in this embodiment, the fastening component 700 is located above the shaping component 500. The material transfer driving component 630 drives the material transfer fixture 620 to move to the shaping component 500. After the shaping component 500 shapes the workpieces in the material transfer fixture 620, the fastening component 700 can directly tighten the fasteners 310 on the string rod 621. In some other embodiments, the fastening component 700 can also be separately arranged from the shaping component 500. After the shaping component 500 shapes the workpieces in the material transfer fixture 620, the material transfer driving component 630 drives the material transfer fixture 620 to move to the fastening component 700, and the fastening component 700 tightens the fasteners 310 on the string rod 621. Additionally, referring to Figure 3, in this embodiment, it further includes an electric cylinder 540 for driving the fastening assembly 700 and the shaping assembly 500 to move in the vertical direction. After the material transfer driving member 630 moves the material transfer fixture 620 to the lower part of the shaping assembly 500, the electric cylinder 540 drives the shaping assembly 500 and the fastening assembly 700 to descend so that the string rod 621 enters between the first profiling block 510 and the second profiling block 520. The shaping assembly 500 shapes the workpiece on the string rod 621. After the shaping is completed and the fastening assembly 700 tightens the fastener 310 to the string rod 621, the electric cylinder 540 drives the shaping assembly 500 and the fastening assembly 700 to move vertically upward so that when the string rod 621 moves from the shaping assembly 500 to the discharging position 930, it will not interfere with the first profiling block 510 and the second profiling block 520. In some other embodiments, the material transfer driving member 630 can also drive the material transfer fixture 620 to move vertically upward so that the string rod 621 enters between the first profiling block 510 and the second profiling block 520.

[0070] Refer to Figure 1 , Figure 5 and Figure 6, in this embodiment, the material transfer component 610 is a six-axis robot, and a gripper 611 is arranged on the six-axis robot. The gripper 611 can grab multiple workpieces from the material rod 420 at one time and place the workpieces on the string rod 621. The material transfer driving component 630 includes a linear driving module 631, a vertical driving cylinder 632 and two support seats 633. The vertical driving cylinder 632 is arranged on the linear slider 760 of the linear driving module 631. The vertical driving cylinder 632 is drivingly connected to the material transfer fixture 620. The two support seats 633 are arranged above the linear driving module 631. The linear driving module 631 and the vertical driving cylinder 632 can drive the material transfer fixture 620 to move from one support seat 633 to another support seat 633. Specifically, when the material transfer fixture 620 needs to move from one support seat 633 to another support seat 633, first, the vertical driving cylinder 632 drives the material transfer fixture 620 to move upward to disengage from the support seat 633, then the linear driving module 631 drives the vertical driving cylinder 632 and the material transfer fixture 620 to move above another support seat 633, and finally the vertical driving cylinder 632 drives the material transfer fixture 620 to move downward onto another support seat 633. It should be noted that one of the two support seats 633 is close to the six-axis robot, and the other support seat 633 is located below the shaping component 500. When the six-axis robot grabs the workpieces on the material rod 420 and places them on the string rod 621, the material transfer fixture 620 is located on the support seat 633 close to the six-axis robot. When the string rod 621 is full of workpieces and the six-axis robot places the fasteners 310 on the string rod 621, the linear driving module 631 drives the material transfer fixture 620 to move to the support seat 633 below the shaping component 500. It can be understood that the support seat 633 can support the material transfer fixture 620, so that the string rod 621 of the material transfer fixture 620 remains stable, reduces shaking, facilitates the six-axis robot to place the workpieces on the string rod 621, and facilitates the shaping component 500 to shape the workpieces on the string rod 621.

[0071] It should be noted that, with reference to Figure 6 , the material transfer fixture 620 further includes a string rod installation fixture 622. The string rod installation fixture 622 is used to assist in the installation of the string rod 621 to ensure that the string rod 621 can be in a vertical state, so as to facilitate the material transfer component 610 to place the workpieces on the material rod 420 on the string rod 621. After the string rod 621 is installed, the string rod installation fixture 622 needs to be removed to facilitate the shaping component 500 to shape the workpieces on the string rod 621.

[0072] According to some embodiments of the present invention, the tray 200 is arranged in an array and is provided with a plurality of protrusions 210 facilitating the placement of workpieces. The material taking component 410 includes a plurality of flexible claws 411 and a three-axis movement module for driving the movement of the plurality of flexible claws 411. In the direction parallel to the arrangement direction of the plurality of flexible claws 411, the distance between the flexible claws 411 and the distance between the material rods 420 are the same as the distance between the protrusions 210, or an integer multiple of the distance between the protrusions 210.

[0073] Referring to Figure 4 , the three-axis drive module includes an x-axis drive module 414, a y-axis drive module 412, and a z-axis drive module 413. The plurality of flexible claws 411 can grasp a plurality of workpieces at one time and place them on the plurality of material rods 420, thereby improving the material taking efficiency. Specifically, the y-axis drive module 412 drives the flexible claws 411 to move above the workpiece. Then, the z-axis drive module 413 drives the flexible claws 411 to move downward, approaching the workpiece until the flexible claws 411 can successfully clamp the workpiece. After the flexible claws 411 clamp the workpiece, the z-axis drive module 413 drives the flexible claws 411 to move upward, away from the tray 200. The y-axis drive module 412 drives the flexible claws 411 to move above the material rod 420 of the stacking fixture. After that, the z-axis drive module 413 drives the flexible claws 411 of the manipulator to move downward. After the flexible claws 411 are released, the workpiece can fall into the material rod 420. In addition, it can be understood that, relative to the workpiece, the size of the flexible claws 411 is larger, resulting in a larger distance between the flexible claws 411. At the same time, in order to place more workpieces on the limited area of the tray 200, the distance between the protrusions 210 is set smaller than the distance between the flexible claws 411 in the direction parallel to the arrangement direction of the plurality of flexible claws 411 to place more workpieces. In this embodiment, in the direction parallel to the arrangement direction of the plurality of flexible claws 411, the distance between the flexible claws 411 and the distance between the material rods 420 are twice the distance between the protrusions 210. Therefore, in the direction parallel to the arrangement direction of the plurality of flexible claws 411, the flexible claws 411 pick up workpieces at intervals. After the flexible claws 411 pick up the workpieces in the odd rows and place the workpieces in the odd rows on the material rods 420, the x-axis drive module 414 drives the flexible claws 411 to move along the x-axis direction so that the flexible claws 411 can continue to pick up the workpieces in the even rows. It can be understood that in some other embodiments, the distance between the flexible claws 411 and the distance between the material rods 420 can also be three times or four times the distance between the protrusions 210.

[0074] According to some embodiments of the present invention, it further includes a tray drive module 220. The tray drive module 220 is drivingly connected to the tray 200, enabling the tray 200 to move back and forth between the material taking position 920 and the loading / unloading tray position 910. The material taking position 920 is close to the material taking component 410, and the loading / unloading tray position 910 is located at the edge of the frame 100.

[0075] Referring to Figure 2 andFigure 8 It should be noted that in this embodiment, the manual loading and unloading tray 200 is used to take out the string rod 621 stacked with workpieces from the unloading position 930. To facilitate manual loading and unloading, the present invention further provides a tray driving module 220 to drive the tray 200 to move back and forth between the material taking position 920 and the loading and unloading tray position 910. And the loading and unloading tray position 910 is arranged at the edge of the rack 100 to facilitate personnel to load and unload the tray 200.

[0076] According to some embodiments of the present invention, there are two sets of trays 200, stacking components 400, and tray driving modules 220 respectively.

[0077] Refer to Figure 2 , it can be understood that the stacking efficiency can be improved by double-station stacking. In this embodiment, one jaw 611 of the six-axis robot can grab multiple workpieces from the material rod 420 at one time and place them on the string rod 621, while one soft jaw 411 can only grab one workpiece from the tray 200 at one time and place it on the material rod 420. Therefore, compared with the six-axis robot moving the workpieces from the material rod 420 to the string rod 621, the time required for the soft jaw 411 to stack the workpieces in the tray 200 on the material rod 420 is longer. To improve the stacking efficiency of the stacking component 400, there are two sets of trays 200 and stacking components 400 respectively, and correspondingly, there are also two sets of tray driving modules 220. The two sets of trays 200, stacking components 400, and tray driving modules 220 are respectively arranged on both sides of the six-axis robot to facilitate the six-axis robot to take materials from the material rod 420.

[0078] According to some embodiments of the present invention, it further includes a detection grating 800 and a control module (not shown). The detection grating 800 is located at the unloading position 930, and the detection grating 800 is electrically connected to the control module. The control module controls the stacking component 400, the shaping component 500, the fastening component 700, and the material transfer component 600.

[0079] Refer to Figure 1 , it can be understood that by setting the detection grating 800 at the unloading position 930 and electrically connecting it to the control module, when an operator takes the shaped workpiece from the unloading position 930, the grating can sense it and send a signal to the control module. The control module can control the stacking component 400, the shaping component 500, the fastening component 700, and the material transfer component 600 to stop moving, thereby protecting the operators.

[0080] According to some embodiments of the present invention, the shaping component 500 further includes a first mounting plate 550. The shaping driving member 530 includes a first cylinder 531, a mounting bracket 532, a cam 533, a connecting arm 534, a push plate 535, and a second cylinder 536. The first cylinder 531 is disposed on the first mounting plate 550, and the first cylinder 531 drives and connects the first profiling block 510. The mounting bracket 532 is disposed on the first mounting plate 550, the cam 533 is rotatably disposed on the mounting bracket 532, the connecting arm 534 is fixedly connected to both ends of the cam 533, the second cylinder 536 is respectively hinged to the mounting bracket 532 and the connecting arm 534, the push plate 535 is disposed on the rotation path of the cam 533, and the push plate 535 is connected to the second profiling block 520.

[0081] Referring to Figure 9 and Figure 10 , after the string rod 621 stacked with workpieces enters between the first profiling block 510 and the second profiling block 520, the first driving cylinder drives the first profiling block 510 to approach the string rod 621, the second cylinder 536 drives the connecting arm 534 to rotate, the connecting arm 534 drives the cam 533 to rotate. After the cam 533 rotates, since the push plate 535 is disposed on the rotation path of the cam 533, the cam 533 can push the push plate 535 to move in the direction close to the string rod 621, so as to drive the second profiling block 520 to approach the string rod 621. The first profiling block 510 and the second profiling block 520 approach each other to achieve the purpose of shaping the workpieces on the string rod 621. It should be noted that since both the first profiling block 510 and the second profiling block 520 are movable, in order to prevent the first profiling block 510 from pushing the second profiling block 520 when the first profiling block 510 moves, that is, the second profiling block 520 needs to remain fixed after approaching the string rod 621, the force received by the second profiling block 520 needs to be greater than the force received by the first profiling block 510. The second cylinder 536 drives the connecting arm 534 to rotate the cam 533, thereby pushing the push plate 535. The connecting arm 534 is equivalent to a force-saving lever, which can amplify the force of the second cylinder 536, so that after the push plate 535 pushes the second profiling block 520 to approach the string rod 621, the second profiling block 520 can remain fixed.

[0082] According to some embodiments of the present invention, the shaping component 500 further includes a limit block 537, and the limit block 537 is disposed on the rotation path of the connecting arm 534.

[0083] Referring to Figure 9 and Figure 10 , it can be understood that the cam 533 can drive the push plate 535 to move only when rotating within a certain angle range. By setting the limit block 537, the rotation angle of the connecting arm 534 can be limited to ensure that the cam 533 can drive the push plate 535.

[0084] According to some embodiments of the present invention, an elastic member 538 is provided between the push plate 535 and the first profiling block 510.

[0085] Referring Figure 10 , it can be understood that by providing the elastic member 538, there is a buffering process when the first profiling block 510 approaches the second profiling block 520, which can avoid damaging the workpiece when the first profiling block 510 and the second profiling block 520 shape the workpiece.

[0086] According to some embodiments of the present invention, the fastening assembly 700 includes a second mounting plate 710, a motor 720, a telescopic universal joint 730, a spring 740, a bit 750, and a slider 760. The motor 720 is disposed on the second mounting plate 710. The two ends of the telescopic universal joint 730 are respectively connected to the motor 720 and the bit 750. The motor 720 drives the bit 750 to rotate through the telescopic universal joint 730. The slider 760 is connected to the bit 750. The spring 740 is disposed between the slider 760 and the second mounting plate 710. The slider 760 can slide relative to the second mounting plate 710. The bit 750 is located above the first profiling block 510 and the second profiling block 520.

[0087] Referring Figure 11 , it should be noted that a through hole is formed in the first mounting plate 550 corresponding to the position between the first profiling block 510 and the second profiling block 520. After the string rod 621 enters between the first profiling block 510 and the second profiling block 520, the bit 750 can pass through the through hole and abut against the fastener 310. During the process of the bit 750 tightening the fastener 310, the spring 740 is always in a compressed state, applying a downward force to the bit 750. The motor 720 drives the universal joint to rotate, and the universal joint drives the bit 750 to rotate to tighten the fastener 310. During the process of the bit 750 tightening the fastener 310, the fastener 310 gradually moves downward, and the bit 750 also gradually moves downward under the action of the spring 740. The telescopic universal joint 730 gradually elongates, so that the bit 750 can always abut against the fastener 310, ensuring that the bit 750 does not disengage from the fastener 310.

[0088] According to a method for stacking and shaping the second aspect of the embodiments of the present invention, the following steps are included:

[0089] S1: Pre-place the workpiece in the tray 200 and place the fastener 310 in the fastener fixture 300;

[0090] S2: Move the workpiece in the tray 200 onto the string rod 621 until the string rod 621 is filled with workpieces;

[0091] S3: Place the fastener 310 in the fastener fixture 300 onto the string rod 621;

[0092] S4: Shape the workpieces stacked on the string rod 621 to align the edges of the individual workpieces stacked on the string rod 621;

[0093] S5: Tighten the fastener 310 on the string rod 621 so that the workpieces on the string rod 621 do not rotate;

[0094] S6: Remove the string rod 621 stacked with workpieces and replace it with an empty string rod 621.

[0095] It can be understood that through the above-described method for shaping stacked workpieces, a string rod 621 stacked with multiple workpieces can be obtained, and the edges of the individual workpieces on the string rod 621 are aligned. At the same time, they are locked and fixed by the fastener 310. When feeding the surface grinder, simply place the string rod 621 stacked with multiple workpieces into the surface grinder. When the surface grinder needs to unload the workpieces after grinding, simply remove the string rod 621 stacked with multiple workpieces from the surface grinder, thereby realizing fast loading and unloading, shortening the loading and unloading time, and reducing the labor cost at the same time.

[0096] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the gist of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A stack shaping device, characterized in that, Comprising: Frame; Material trays, on which a plurality of workpieces are arrayed; Fastener fixture, on which fasteners are placed; Stacking component, which is arranged on the frame. The stacking component includes a picking component and a material rod. The picking component is used to place the workpieces in the material tray on the material rod, and the material rod is used to stack a plurality of workpieces; Shaping component, which includes a first profiling block, a second profiling block, and a shaping driving component for driving the first profiling block and the second profiling block to approach or separate from each other; Material transfer component, which includes a material transfer part and a material transfer fixture. A string rod is detachably arranged on the material transfer fixture. The material transfer part is used to move the workpieces stacked on the material rod and the fasteners in the fastener fixture onto the string rod; Fastening component, which is used to tighten the fasteners in the material transfer fixture; Material transfer driving component, which is drivingly connected to the material transfer fixture and is used to make the material transfer fixture move back and forth between the material transfer part, the shaping component, the fastening component, and the discharging position. The discharging position is used to take out the string rod stacked with workpieces; Material tray driving module, which is drivingly connected to the material tray, so that the material tray can move back and forth between the picking position and the loading / unloading material tray position. The picking position is close to the picking component, and the loading / unloading material tray position is located at the edge of the frame; Wherein, A plurality of protrusions for facilitating the placement of workpieces are arrayed on the material tray. The picking component includes a plurality of flexible claws and a three-axis moving module for driving the movement of the plurality of flexible claws. In the direction parallel to the arrangement direction of the plurality of flexible claws, the distance between the flexible claws and the distance between the material rods are the same as the distance between the protrusions, or an integer multiple of the distance between the protrusions; The shaping component further includes a first mounting plate. The shaping driving component includes a first air cylinder, a mounting frame, a cam, a connecting arm, a push plate, and a second air cylinder. The first air cylinder is arranged on the first mounting plate, and the first air cylinder is drivingly connected to the first profiling block. The mounting frame is arranged on the first mounting plate, the cam is rotatably arranged on the mounting frame, the connecting arm is fixedly connected to both ends of the cam, both ends of the second air cylinder are hinged to the mounting frame and the connecting arm respectively, the push plate is arranged on the rotation path of the cam, and the push plate is connected to the second profiling block; The fastening component includes a second mounting plate, a motor, a telescopic universal joint, a spring, a bit, and a slider. The motor is arranged on the second mounting plate, both ends of the telescopic universal joint are respectively connected to the motor and the bit, the motor drives the bit to rotate through the telescopic universal joint, the slider is connected to the bit, the spring is arranged between the slider and the second mounting plate, the slider can slide relative to the second mounting plate, and the bit is located above the first profiling block and the second profiling block.

2. The stack shaping device according to claim 1, wherein Two groups of the material tray, the stacking component, and the material tray driving module are provided respectively.

3. The stacking and shaping device according to claim 1, characterized in that, It further includes a detection grating and a control module. The detection grating is located at the discharging position, and the detection grating is electrically connected to the control module. The control module controls the stacking component, the shaping component, the fastening component and the material transferring component.

4. A stack shaping device according to claim 1, characterized in that, The shaping component further includes a limit block, and the limit block is arranged on the rotation path of the connecting arm.

5. A stacking material shaping device according to claim 1, characterized in that, An elastic member is arranged between the push plate and the first profiling block.

6. A method for shaping stacked materials, characterized in that, Applying the stacking and shaping equipment according to any one of the above claims 1 to 5, the method includes the following steps: S1: Pre-place the workpieces in the tray and place the fasteners in the fastener fixture. S2: Move the workpieces in the tray onto the string rod until the string rod is full of workpieces. S3: Place the fasteners in the fastener fixture onto the string rod. S4: Shape the workpieces stacked on the string rod so that the edges of the respective workpieces stacked on the string rod are aligned. S5: Tighten the fasteners on the string rod so that the workpieces on the string rod do not rotate. S6: Remove the string rod stacked with workpieces and replace it with an empty string rod.

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