Palletizing and blanking guide material handling device and control method thereof

Abstract

The present application relates to a kind of palletizing material falling guide material handling device and control method thereof, it is related to laser processing equipment field, wherein palletizing material falling guide device has rack, first material receiving platform and second material receiving platform slidingly arranged on the rack and manipulator;When first material receiving platform is located in feeding station, second material receiving platform is located in discharging station;When second material receiving platform is located in feeding station, first material receiving platform is located in discharging station;First material receiving platform is equipped with first material blocking column and first material sorting component;Second material receiving platform is equipped with second material blocking column and second material sorting component, first material sorting component includes first material pushing plate group, and second material sorting component includes second material pushing plate group;Second drive device controlled by host computer is fixedly arranged on first material receiving platform, and third drive device controlled by host computer is fixedly arranged on second material receiving platform.The present application is used to control the segmented material sorting of palletizing material falling guide device, and after plate material falls, plate material can be automatically sorted.

Description

Technical Field

[0001] This invention patent relates to the field of laser processing equipment, and in particular to a palletizing and unloading guiding and sorting device and its control method. Background Technology

[0002] Laser cutting utilizes a focused, high-power-density laser beam to irradiate the workpiece, causing the irradiated material to rapidly melt, vaporize, ablate, or reach its ignition point. Simultaneously, a high-speed airflow coaxial with the laser beam blows away the molten material, thereby cutting the workpiece.

[0003] After laser cutting, the processed boards need to be collected. Initially, the collection method was to manually stack and transport the processed boards. With the development of mechanization, the method of collecting the processed boards has changed to using robotic arms or suction cups to transport the boards. When placing the boards on the receiving platform, the boards may slip, causing them to fall. To prevent the boards from falling, shielding devices have been installed on the receiving platform.

[0004] The obstruction can only ensure that the sheet material does not fall when it lands on the receiving platform. However, the sheet material will not be neatly stacked after landing on the receiving platform. It may be stacked in an overlapping manner. Stacked sheet material needs to be sorted manually before unloading, which will make unloading more difficult and reduce efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a palletizing and unloading guiding and sorting device and its control method, which can automatically sort the boards in segments after they are unloaded.

[0006] The technical solution to achieve the purpose of this invention patent is as follows: This invention patent has a frame, a first receiving platform, a second receiving platform, and a robotic arm for transporting the processed sheet metal from the laser cutting machine to the loading station; the first and second receiving platforms are slidably mounted on the frame and can slide between the loading station and the unloading station under the drive of a first driving device; when the first receiving platform is at the loading station, the second receiving platform is at the unloading station; when the second receiving platform is at the loading station, the first receiving platform is at the unloading station; the three sides of the first receiving platform are provided with a first... A first baffle post is provided, and a first pusher plate assembly is rotatably provided on the remaining side; a second receiving platform is provided with second baffle posts on three sides, and a second pusher plate assembly is rotatably provided on the remaining side. A first discharge chamber is formed between the first pusher plate assembly and the first baffle post, and a second discharge chamber is formed between the second pusher plate assembly and the second baffle post; a second driving device controlled by a host computer and used to drive the first pusher plate assembly to rotate toward the first discharge chamber is fixedly provided on the first receiving platform, and a third driving device controlled by a host computer and used to drive the second pusher plate assembly to rotate toward the second discharge chamber is fixedly provided on the second receiving platform.

[0007] Furthermore, the first pusher plate assembly includes a first pusher plate, a second pusher plate, and a third pusher plate rotatably disposed along the material dropping direction; the second pusher plate assembly includes a fourth pusher plate, a fifth pusher plate, and a sixth pusher plate rotatably disposed along the material dropping direction; the first pusher plate is rotatably disposed on the first receiving platform, the second pusher plate is rotatably connected to the first pusher plate, the third pusher plate is rotatably connected to the second pusher plate, the fourth pusher plate is rotatably disposed on the second receiving platform, the fifth pusher plate is rotatably connected to the fourth pusher plate, and the sixth pusher plate is rotatably connected to the fifth pusher plate; the first pusher plate is provided with a first guide groove, the second pusher plate is provided with a second guide groove, the third pusher plate is provided with a third guide groove, and the fourth pusher plate is provided with a third guide groove. A fourth guide groove is provided, a fifth guide groove is provided on a fifth pusher plate, and a sixth guide groove is provided on a sixth pusher plate; the openings of the first guide groove, the second guide groove, and the third guide groove can correspond one-to-one, and the openings of the fourth guide groove, the fifth guide groove, and the sixth guide groove can correspond one-to-one; a first support frame is provided on the drive end of the second drive device, and a first roller group is rotatably provided on the first support frame, which can form a sliding engagement with the first guide groove, the second guide groove, and the third guide groove; a second support frame is fixedly provided on the drive end of the third drive device, and a second roller group is rotatably provided on the second support frame, which can form a sliding engagement with the fourth guide groove, the fifth guide groove, and the sixth guide groove.

[0008] Furthermore, both the second and third driving devices can drive the first and second pusher plate groups to either a released or a retracted state, respectively. When the first pusher plate group is in the released state, the first, second, and third pusher plates are in a trumpet shape, and when the second pusher plate group is in the released state, the fourth, fifth, and sixth pusher plates are in a trumpet shape. When the first pusher plate is in the retracted state, the first, second, and third pusher plates are in a vertical position, and when the second pusher plate is in the retracted state, the fourth, fifth, and sixth pusher plates are in a vertical position.

[0009] Furthermore, when the first, second, and third pusher plates are funnel-shaped, they form a first guide slope for guiding the material to fall; when the fourth, fifth, and sixth pusher plates are funnel-shaped, they form a second guide slope for guiding the material to fall.

[0010] Furthermore, the first receiving platform slides alternately above the second receiving platform.

[0011] Furthermore, the robotic arm is fixedly equipped with a sensing device that is electrically connected to the host computer and is used to sense the number of times the material is dropped.

[0012] A control method for the palletizing and unloading guiding device described above, the control method for the palletizing and unloading guiding device includes:

[0013] S1. The host computer controls the first drive device to drive the first receiving platform and the second receiving platform to slide. The first receiving platform is located at the loading station and the second receiving platform is located at the unloading station.

[0014] S2. The first pusher plate group on the first receiving platform is in the released state;

[0015] S2. The robotic arm takes the processed sheet material out of the laser cutting machine's output port and transports it to the top of the first receiving platform for the first unloading.

[0016] S4. When the sensing device detects that the number of times the robot arm drops material reaches a certain number, the sensing device sends feedback to the host computer, and the host computer controls the second drive device to drive the first push plate of the first push plate group to rotate into the dropping chamber until the first guide plate is in the retracted state.

[0017] S5. The robotic arm performs the second unloading operation;

[0018] S6. When the sensing device detects for the second time that the number of times the robot arm has dropped material has reached a certain number, the sensing device sends feedback to the host computer, and the host computer controls the second drive device to drive the second push plate of the first push plate group to rotate into the dropping chamber until the second push plate is in the contracted state. At this time, the first push plate remains in the contracted state.

[0019] S7. The robotic arm performs the material unloading for the third time;

[0020] S8. When the sensing device detects for the third time that the number of times the robot arm has dropped material has reached a certain number, the sensing device sends feedback to the host computer, and the host computer controls the second drive device to drive the third pusher plate of the first pusher plate group to rotate into the dropping chamber until the third guide plate is in the contracted state. At this time, both the first pusher plate and the second pusher plate remain in the contracted state.

[0021] S9. The host computer controls the first drive device to drive the first receiving platform and the second receiving platform to slide. The second receiving platform is located at the loading station and the first receiving platform is located at the unloading station.

[0022] S10, The guide component on the second receiving platform is in the released state;

[0023] S11. The robotic arm takes the processed sheet material out of the laser cutting machine's discharge port and transports it to the loading station for the first unloading.

[0024] S12. When the sensing device detects that the number of times the robot arm drops material reaches a certain number, the sensing device feeds back to the host computer, and the host computer controls the third drive device to drive the fourth pusher plate of the second pusher plate group to rotate into the dropping chamber until the fourth pusher plate is in the retracted state.

[0025] S13, The robotic arm performs the second unloading operation;

[0026] S14. When the sensing device detects for the second time that the number of times the robot arm has dropped the material has reached a certain number, the sensing device sends feedback to the host computer, and the host computer controls the third drive device to drive the fifth pusher plate of the second pusher plate to rotate into the dropping chamber until the fifth pusher plate is in the contraction state. At this time, the fourth pusher plate bursts out of the contraction state.

[0027] S15. The robotic arm performs the material unloading for the third time;

[0028] S16. When the sensing device detects for the third time that the number of times the robot arm has dropped the material has reached a certain number, the sensing device sends feedback to the host computer, and the host computer controls the third drive device to drive the sixth pusher plate of the second pusher plate group to rotate into the dropping chamber until the sixth pusher plate is in the contracted state. At this time, the fourth pusher plate and the fifth pusher plate are both in the contracted state.

[0029] S17. The host computer controls the second drive device to drive the first pusher plate group from the retracted state to the released state, and then removes the plate.

[0030] S18. Repeat steps S1 to S8 above;

[0031] S19. The host computer controls the third drive device to drive the second pusher plate group from the gathered state to the released state, and then removes the plate.

[0032] S20. Repeat steps S9 to S19 above.

[0033] The present invention has positive effects: (1) The first pusher plate group and the second pusher plate group of the present invention are respectively rotatably arranged on the first receiving platform and the second receiving platform. The first pusher plate group includes a first pusher plate, a second pusher plate and a third pusher plate rotatably arranged. The second pusher plate group includes a fourth pusher plate, a fifth pusher plate and a sixth pusher plate rotatably arranged. The first pusher plate, the second pusher plate and the third pusher plate are driven to rotate towards the dropping chamber of the first receiving platform by the second driving device, and cooperate with the first baffle to realize the segmented material handling of the board by the first receiving platform. The fourth pusher plate, the fifth pusher plate and the sixth pusher plate are driven to rotate towards the dropping chamber of the second receiving platform by the third driving device, and cooperate with the second baffle to realize the segmented material handling of the board by the second receiving platform, so as to avoid the board falling randomly on the receiving platform.

[0034] (2) The first pusher plate, the second pusher plate and the third pusher plate of the present invention can be in a released state or a retracted state under the drive of the second drive device. The fourth pusher plate, the fifth pusher plate and the sixth pusher plate can be in a released state or a retracted state under the drive of the second drive device. When in the released state, the pusher plate is in the shape of a trumpet, which can guide the sheet material falling into the receiving platform, so that the sheet material can be dropped more smoothly.

[0035] (3) The first receiving platform and the second receiving platform of the present invention are alternately slidably arranged on the frame. The first receiving platform and the second receiving platform will not affect each other during the movement, which makes it easier for the first receiving platform and the second receiving platform to work alternately and cyclically, resulting in higher efficiency.

[0036] (4) The sensing device of the present invention can sense the number of times the robot arm drops material, and control the pusher plate to sort the material by controlling the second or third drive device through the host computer, which is efficient and convenient. Attached Figure Description

[0037] To make the content of this invention patent easier to understand, the invention patent will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein...

[0038] Figure 1 This is a schematic diagram of the assembly structure of the present invention;

[0039] Figure 2 This is a schematic diagram of the main structure of the present invention;

[0040] Figure 3 This is a schematic diagram of the structure of the robotic arm of the present invention;

[0041] Figure 4 This is a partial enlarged view of A in the schematic diagram of the main structure of the present invention;

[0042] Figure 5 This is a partial enlarged view of B in the schematic diagram of the main structure of the present invention;

[0043] Figure 6 This is a schematic diagram of the structure of the first pusher plate assembly of the present invention;

[0044] Figure 7 This is a schematic diagram of the structure of the second pusher plate assembly of the present invention. Detailed Implementation

[0045] See Figures 1 to 7This invention patent includes a frame, a first receiving platform 1, a second receiving platform 2, and a robotic arm 3 for transporting the processed sheet metal from the laser cutting machine to the loading station. The first receiving platform 1 and the second receiving platform 2 are slidably mounted on the frame and can slide between the loading station and the unloading station under the drive of a first driving device 4. When the first receiving platform 1 is in the loading station, the second receiving platform 2 is in the unloading station; when the second receiving platform 2 is in the loading station, the first receiving platform 1 is in the unloading station. The first receiving platform 1 has first baffle posts 11 on three sides and a first pusher rotatably mounted on the remaining side. Plate assembly 12; the second receiving platform 2 has second baffle posts 21 on three sides and a second pusher plate assembly 22 rotatably on the remaining side. A first discharge cavity 13 is formed between the first pusher plate assembly 12 and the first baffle posts 11, and a second discharge cavity 23 is formed between the second pusher plate assembly 22 and the second baffle posts 21. A second drive device 14, controlled by a host computer and used to drive the first pusher plate assembly 12 to rotate toward the first discharge cavity 13, is fixedly provided on the first receiving platform 1. A third drive device 24, controlled by a host computer and used to drive the second pusher plate assembly 22 to rotate toward the second discharge cavity 23, is fixedly provided on the second receiving platform 2.

[0046] The first pusher plate assembly 12 includes a first pusher plate 121, a second pusher plate 122, and a third pusher plate 123 rotatably disposed along the material dropping direction. The second pusher plate assembly 22 includes a fourth pusher plate 221, a fifth pusher plate 222, and a sixth pusher plate 223 rotatably disposed along the material dropping direction. The first receiving platform 1 is rotatably disposed on the first receiving platform 1. The second pusher plate 122 is rotatably connected to the first pusher plate 121, and the third pusher plate 123 is rotatably connected to the second pusher plate 122. The second receiving platform 2 is rotatably disposed on the fourth receiving platform 2. The fifth pusher plate 222 is rotatably connected to the fourth pusher plate 221, and the sixth pusher plate 223 is rotatably connected to the fifth pusher plate 222. The first pusher plate 121 is provided with a first guide groove 124, the second pusher plate 122 is provided with a second guide groove 125, the third pusher plate 123 is provided with a third guide groove 126, and the fourth pusher plate 221 is provided with a fourth guide groove 126. The fifth pusher plate 222 is provided with a fifth guide groove 225, and the sixth pusher plate 223 is provided with a sixth guide groove 226. The openings of the first guide groove 124, the second guide groove 125, and the third guide groove 126 can correspond one-to-one, and the openings of the fourth guide groove 224, the fifth guide groove 225, and the sixth guide groove 226 can also correspond one-to-one. The drive end 141 of the second drive device 14 is provided with a first support frame 141, and a first roller group 142 is rotatably provided on the first support frame 141. The first roller group 142 can form a sliding fit with the first guide groove 124, the second guide groove 125, and the third guide groove 126. The drive end of the third drive device 24 is fixedly provided with a second support frame 241, and a second roller group 242 is rotatably provided on the second support frame 241. The second roller group 242 can form a sliding fit with the fourth guide groove 224, the fifth guide groove 225, and the sixth guide groove 226.

[0047] Both the first support frame 141 and the second support frame 241 move vertically under drive. The first roller group 142 and the second roller group 242 always form a sliding engagement with the guide grooves on the corresponding first pusher plate group 12 and the second pusher plate group 22. During the movement of the first support frame 141 and the second support 241, the sliding engagement between the first roller group 142 and the second roller group 242 and the guide grooves on the corresponding first pusher plate group 12 and the second pusher plate group 22 pushes the first pusher plate group 12 and the second pusher plate group 22 to rotate into the first dropping chamber 13 and the second dropping chamber 23, respectively.

[0048] Both the second driving device 14 and the third driving device 24 can drive the first pusher plate group 12 and the second pusher plate group 22 to either a released state or a retracted state. When the first pusher plate group 12 is in the released state, the first pusher plate 121, the second pusher plate 122, and the third pusher plate 123 are in a trumpet shape. When the second pusher plate group 22 is in the released state, the fourth pusher plate 221, the fifth pusher plate 222, and the sixth pusher plate 223 are in a trumpet shape. When the first pusher plate 121 is in the retracted state, the first pusher plate 121, the second pusher plate 122, and the third pusher plate 123 are in a vertical position. When the second pusher plate 122 is in the retracted state, the fourth pusher plate 221, the fifth pusher plate 222, and the sixth pusher plate 223 are in a vertical position.

[0049] When the first pusher plate 121, the second pusher plate 122, and the third pusher plate 123 are in a trumpet shape, the first pusher plate 121, the second pusher plate 122, and the third pusher plate 123 form a first guide slope for guiding the material to fall; when the fourth pusher plate 221, the fifth pusher plate 222, and the sixth pusher plate 223 are in a trumpet shape, the fourth pusher plate 221, the fifth pusher plate 222, and the sixth pusher plate 223 form a second guide slope for guiding the material to fall.

[0050] The first receiving platform 1 slides alternately above the second receiving platform 2.

[0051] The robotic arm 3 is equipped with a sensing device that is electrically connected to the host computer and is used to sense the number of times the material is dropped.

[0052] A control method for the palletizing and unloading guiding device described above, the control method for the palletizing and unloading guiding device includes:

[0053] S1. The host computer controls the first drive device 4 to drive the first receiving platform 1 and the second receiving platform 2 to slide. The first receiving platform 1 is located at the loading station, and the second receiving platform 2 is located at the unloading station.

[0054] S2, The first pusher plate group 12 on the first receiving platform 1 is in the released state;

[0055] S2, the robotic arm 3 takes the processed sheet from the discharge port of the laser cutting machine and transports it to the top of the first receiving platform 1 for the first unloading.

[0056] S4. When the sensing device detects that the number of times the robotic arm 3 has dropped material reaches a certain number, the sensing device feeds back to the host computer, and the host computer controls the second drive device 14 to drive the first push plate of the first push plate group 12 to rotate into the dropping cavity until the first guide plate is in the retracted state.

[0057] S5, Robotic arm 3 performs the second unloading operation;

[0058] S6. When the sensing device detects for the second time that the number of times the robotic arm 3 has dropped material has reached a certain number, the sensing device feeds back to the host computer, and the host computer controls the second drive device 14 to drive the second push plate of the first push plate group 12 to rotate into the dropping chamber until the second push plate 122 is in the contracted state. At this time, the first push plate 121 remains in the contracted state.

[0059] S7, Robotic Arm 3 performs the third unloading operation;

[0060] S8. When the sensing device detects for the third time that the number of times the robot arm 3 has dropped material has reached a certain number, the sensing device feeds back to the host computer, and the host computer controls the second drive device 14 to drive the third pusher plate 123 of the first pusher plate group 12 to rotate into the dropping chamber until the third guide plate is in the contracted state. At this time, the first pusher plate 121 and the second pusher plate 122 are both in the contracted state.

[0061] S9. The host computer controls the first drive device 4 to drive the first receiving platform 1 and the second receiving platform 2 to slide. The second receiving platform 2 is located at the loading station, and the first receiving platform 1 is located at the unloading station.

[0062] S10, The guide component on the second receiving platform 2 is in the released state;

[0063] S11, Robotic arm 3 takes the processed sheet from the discharge port of the laser cutting machine and transports it to the loading station for the first unloading.

[0064] S12. When the sensing device detects that the number of times the robotic arm 3 drops material reaches a certain number, the sensing device feeds back to the host computer, and the host computer controls the third drive device 24 to drive the fourth pusher plate 221 of the second pusher plate group 22 to rotate into the dropping chamber until the fourth pusher plate 221 is in the retracted state.

[0065] S13, Robotic arm 3 performs the second unloading operation;

[0066] S14. When the sensing device detects for the second time that the number of times the robot arm 3 has dropped material has reached a certain number, the sensing device feeds back to the host computer, and the host computer controls the third drive device 24 to drive the fifth pusher plate 222 of the second pusher plate 122 to rotate into the dropping chamber until the fifth pusher plate 222 is in the contraction state. At this time, the fourth pusher plate 221 bursts out of the contraction state.

[0067] S15, Robotic arm 3 performs the third unloading operation;

[0068] S16. When the sensing device detects for the third time that the number of times the robot arm 3 has dropped material has reached a certain number, the sensing device feeds back to the host computer, and the host computer controls the third drive device 24 to drive the sixth pusher plate 223 of the second pusher plate group 22 to rotate into the dropping chamber until the sixth pusher plate 223 is in the contracted state. At this time, the fourth pusher plate 221 and the fifth pusher plate 222 are both in the contracted state.

[0069] S17. The host computer controls the second drive device 14 to drive the first pusher plate group 12 from the retracted state to the released state, and then removes the plate.

[0070] S18. Repeat steps S1 to S8 above;

[0071] S19. The host computer controls the third drive device 24 to drive the second pusher plate group 22 from the retracted state to the released state, and then removes the plate.

[0072] S20. Repeat steps S9 to S19 above.

[0073] The working principle of this invention is as follows: The first receiving platform 1 slides on the frame to the loading station. After the robot arm 3 removes the processed sheet from the laser cutting machine, it moves above the first receiving platform 1. The first pusher plate 121 is in the released state, and the sheet falls into the first dropping cavity 13 under the guidance of the first guide slope. After the robot arm 3 drops the sheet a certain number of times, the second drive device 14 drives the first pusher plate 121 to rotate towards the first dropping cavity 13 to sort the sheet in the first dropping cavity 13. Then, the robot arm 3 puts the sheet into the first dropping cavity 13 for the second time. After the robot arm 3 drops the sheet a certain number of times, the second drive device 14 drives the first pusher plate 121 to rotate towards the first dropping cavity 13 to sort the sheet in the first dropping cavity 13. Then, the robot arm 3 puts the sheet into the first dropping cavity 13 for the second time. After a certain number of feeding cycles, the second drive device 14 drives the second pusher plate 122 to rotate toward the first feeding chamber 13, performing a second material handling on the sheet material in the first feeding chamber 13; the robot arm 3 places the sheet material into the first feeding chamber 13 for the third time. After the robot arm 3 feeds material continuously for a certain number of cycles, the second drive device 14 drives the third pusher plate 123 to rotate toward the first feeding chamber 13, performing a third material handling on the sheet material in the first feeding chamber 13; the first drive device 4 drives the second receiving platform 2 and the first receiving platform 1 to exchange workstations. The receiving principle of the second receiving platform 2 is the same as that of the first receiving platform 1.

[0074] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this invention. It should be understood that the above descriptions are merely specific embodiments of this invention and are not intended to limit this invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A palletizing and unloading guiding and sorting device, characterized in that: The machine has a frame, a first receiving platform (1), a second receiving platform (2), and a robotic arm (3) for transporting the processed sheet metal from the laser cutting machine to the loading station; the first receiving platform (1) and the second receiving platform (2) are slidably mounted on the frame and can slide between the loading station and the unloading station under the drive of the first driving device (4); when the first receiving platform (1) is in the loading station, the second receiving platform (2) is in the unloading station; when the second receiving platform (2) is in the loading station, the first receiving platform (1) is in the unloading station; the first receiving platform (1) has three sides equipped with first baffle posts (11), and the remaining sides are rotatably equipped with first pusher plate groups (12); the second receiving platform (2 ... second receiving platform (2) has three sides equipped with first baffle posts (11), and the second receiving platform (2) has three sides equipped with first baffle posts (11), and the second receiving platform (2) has three sides equipped with first baffle posts (11), and the second receiving platform (2) has three sides equipped with first baffle posts (11), and the second receiving platform (2) has three sides equipped with first baffle posts (1 A second baffle post (21) is provided on one side, and a second pusher plate assembly (22) is rotatably provided on the remaining side. A first discharge cavity (13) is formed between the first pusher plate assembly (12) and the first baffle post (11), and a second discharge cavity (23) is formed between the second pusher plate assembly (22) and the second baffle post (21). A second drive device (14) controlled by a host computer and used to drive the first pusher plate assembly (12) to rotate toward the first discharge cavity (13) is fixedly provided on the first receiving platform (1), and a third drive device (24) controlled by a host computer and used to drive the second pusher plate assembly (22) to rotate toward the second discharge cavity (23) is fixedly provided on the second receiving platform (2). The first pusher plate assembly (12) includes a pusher plate assembly along the discharge direction. The first pusher plate (121), the second pusher plate (122), and the third pusher plate (123) are rotatably arranged. The second pusher plate group (22) includes a fourth pusher plate (221), a fifth pusher plate (222), and a sixth pusher plate (223) rotatably arranged along the material dropping direction. The first receiving platform (1) is rotatably provided with the first pusher plate (121), the second pusher plate (122) is rotatably connected to the first pusher plate (121), and the third pusher plate (123) is rotatably connected to the second pusher plate (122). The second receiving platform (2) is rotatably provided with the fourth pusher plate (221), the fifth pusher plate (222) is rotatably connected to the fourth pusher plate (221), and the sixth pusher plate (223) is rotatably connected to the fifth pusher plate (123). 222) Rotary connection; the first pusher plate (121) is provided with a first guide groove (124), the second pusher plate (122) is provided with a second guide groove (125), the third pusher plate (123) is provided with a third guide groove (126), the fourth pusher plate (221) is provided with a fourth guide groove (224), the fifth pusher plate (222) is provided with a fifth guide groove (225), and the sixth pusher plate (223) is provided with a sixth guide groove (226); the openings of the first guide groove (124), the second guide groove (125), and the third guide groove (126) can correspond one-to-one, and the openings of the fourth guide groove (224), the fifth guide groove (225), and the sixth guide groove (226) can correspond one-to-one;The second drive device (14) has a first support frame (141) on its drive end 141. A first roller assembly (142) is rotatably mounted on the first support frame (141). The first roller assembly (142) can slide with the first guide groove (124), the second guide groove (125), and the third guide groove (126). The third drive device (24) has a second support frame (241) fixedly mounted on its drive end. A second roller assembly (242) is rotatably mounted on the second support frame (241). The second roller assembly (242) can slide with the fourth guide groove (224), the fifth guide groove (225), and the sixth guide groove (226).

2. The palletizing and unloading guiding and sorting device according to claim 1, characterized in that: The second driving device (14) and the third driving device (24) can respectively drive the first pusher plate group (12) and the second pusher plate group (22) to form a release state or a retraction state; when the first pusher plate group (12) is in the release state, the first pusher plate (121), the second pusher plate (122) and the third pusher plate (123) are in a trumpet shape; when the second pusher plate group (22) is in the release state, the fourth pusher plate (221), the fifth pusher plate (222) and the sixth pusher plate (223) are in a trumpet shape; when the first pusher plate (121) is in the retraction state, the first pusher plate (121), the second pusher plate (122) and the third pusher plate (123) are in a vertical position; when the second pusher plate (122) is in the retraction state, the fourth pusher plate (221), the fifth pusher plate (222) and the sixth pusher plate (223) are in a vertical position.

3. The palletizing and unloading guiding and sorting device according to claim 2, characterized in that: When the first pusher plate (121), the second pusher plate (122), and the third pusher plate (123) are in the shape of a trumpet, the first pusher plate (121), the second pusher plate (122), and the third pusher plate (123) form a first guide slope for guiding the material to fall; when the fourth pusher plate (221), the fifth pusher plate (222), and the sixth pusher plate (223) are in the shape of a trumpet, the fourth pusher plate (221), the fifth pusher plate (222), and the sixth pusher plate (223) form a second guide slope for guiding the material to fall.

4. The palletizing and unloading guiding and sorting device according to claim 1, characterized in that: The first receiving platform (1) slides alternately above the second receiving platform (2).

5. The palletizing and unloading guiding and sorting device according to claim 3, characterized in that: The robotic arm (3) is fixedly equipped with a sensing device that is electrically connected to the host computer and is used to sense the number of times the material is dropped.

6. A control method for the palletizing and unloading guiding and sorting device according to claim 5, characterized in that: The control method for the palletizing and unloading guiding material handling device includes: S1. The host computer controls the first drive device (4) to drive the first receiving platform (1) and the second receiving platform (2) to slide. The first receiving platform (1) is located at the loading station, and the second receiving platform (2) is located at the unloading station. S2, the first pusher plate group (12) on the first receiving platform (1) is in the released state; S2. The robotic arm (3) takes the processed sheet from the discharge port of the laser cutting machine and transports it to the top of the first receiving platform (1) for the first unloading. S4. When the sensing device senses that the number of times the robotic arm (3) drops material reaches a certain number, the sensing device feeds back to the host computer, and then the host computer controls the second drive device (14) to drive the first push plate of the first push plate group (12) to rotate into the dropping cavity until the first guide plate is in the retracted state. S5. The robotic arm (3) performs the second unloading operation; S6. When the sensing device detects for the second time that the number of times the robotic arm (3) has dropped material reaches a certain number, the sensing device feeds back to the host computer, and then the host computer controls the second drive device (14) to drive the second push plate of the first push plate group (12) to rotate into the dropping chamber until the second push plate (122) is in the contracted state. At this time, the first push plate (121) remains in the contracted state. S7. The robotic arm (3) performs the material unloading for the third time; S8. When the sensing device detects for the third time that the number of times the robot (3) has dropped material reaches a certain number, the sensing device sends feedback to the host computer, and the host computer controls the second drive device (14) to drive the third pusher plate (123) of the first pusher plate group (12) to rotate into the dropping chamber until the third guide plate is in the contracted state. At this time, the first pusher plate (121) and the second pusher plate (122) are both in the contracted state. S9. The host computer controls the first drive device (4) to drive the first receiving platform (1) and the second receiving platform (2) to slide. The second receiving platform (2) is located at the loading station, and the first receiving platform (1) is located at the unloading station. S10, the guide component on the second receiving platform (2) is in the released state; S11. The robotic arm (3) takes the processed sheet from the discharge port of the laser cutting machine and transports it to the loading station for the first unloading. S12. When the sensing device senses that the number of times the robot (3) drops material reaches a certain number, the sensing device feeds back to the host computer, and the host computer controls the third drive device (24) to drive the fourth pusher plate (221) of the second pusher plate group (22) to rotate into the dropping chamber until the fourth pusher plate (221) is in the retracted state. S13, The robotic arm (3) performs the second unloading operation; S14. When the sensing device detects for the second time that the number of times the robot (3) has dropped material has reached a certain number, the sensing device sends feedback to the host computer, and the host computer controls the third drive device (24) to drive the fifth pusher plate (222) of the second pusher plate (122) to rotate into the dropping chamber until the fifth pusher plate (222) is in the contraction state. At this time, the fourth pusher plate (221) bursts out of the contraction state. S15, The robotic arm (3) performs the material unloading for the third time; S16. When the sensing device detects for the third time that the number of times the robot (3) has dropped material reaches a certain number, the sensing device sends feedback to the host computer, and the host computer controls the third drive device (24) to drive the sixth pusher plate (223) of the second pusher plate group (22) to rotate into the dropping chamber until the sixth pusher plate (223) is in the contracted state. At this time, the fourth pusher plate (221) and the fifth pusher plate (222) are both in the contracted state. S17. The host computer controls the second drive device (14) to drive the first pusher plate group (12) from the gathered state to the released state, and then take out the plate. S18. Repeat steps S1 to S8 above; S19. The host computer controls the third drive device (24) to drive the second pusher plate group (22) from the gathered state to the released state, and then take out the plate. S20. Repeat steps S9 to S19 above.

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