Sorting and stacking mechanism

Abstract

The application discloses a kind of classified stacking mechanism, it reliably and quickly distinguishes with the workpiece of two tolerances mixed, and corresponding workpiece is quickly stacked, so that production is more fine controllable.It includes: stacking machine table;Feeding mechanism, which includes feeding conveying track, material receiving mechanism, the upper surface of the feeding conveying track is provided with the material receiving mechanism, the starting end of the feeding conveying track is located outside the stacking machine table for material receiving operation, the end of the feeding conveying track is located in the surface domain of the stacking machine table, and the material receiving mechanism reciprocally moves along the direction of the starting end to the end of the feeding conveying track for operation;Classification mechanism, including gantry, first jaw mechanism, second jaw mechanism;Two groups of buffer mechanism, which are buffer discs corresponding to workpieces of different tolerances, including first buffer disc, second buffer disc;Multi-axis robot for unloading and disc changing operation;Two groups of material receiving bin mechanisms;Two groups of material disc positioning mechanisms.

Description

Technical Field

[0001] This invention relates to the technical field of workpiece palletizing, specifically to a sorting and palletizing mechanism. Background Technology

[0002] With the continuous improvement of industrial automation technology, the enhancement of human living standards, and the shortening of technological product iteration cycles, higher demands are being placed on industrial automated production equipment, requiring reduced labor costs and increased production efficiency. Current workpiece palletizing technologies involve transferring individual workpieces to a conveyor belt, where robotic arms pick them up and transfer them to stacking trays. However, in practice, after production, workpieces with varying tolerances may appear. Distinguishing between products with different tolerances is a technical problem that existing palletizing mechanisms cannot solve. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a sorting and palletizing mechanism that can reliably and quickly distinguish workpieces with two different tolerances and rapidly palletize the corresponding workpieces, making production more precise and controllable.

[0004] A sorting and palletizing mechanism, positioned behind a tolerance measuring device, is characterized by comprising:

[0005] Palletizing machine;

[0006] The feeding mechanism includes a feeding conveyor track and a receiving mechanism. The receiving mechanism is provided on the upper surface of the feeding conveyor track. The starting end of the feeding conveyor track is located outside the palletizer platform and is used for receiving material. The ending end of the feeding conveyor track is located within the surface area of ​​the palletizer platform. The receiving mechanism reciprocates along the direction from the starting end to the ending end of the feeding conveyor track.

[0007] The sorting mechanism includes a gantry frame, a first gripper mechanism, and a second gripper mechanism. The crossbeam of the gantry frame is arranged in the X direction, and an X-axis translation track is provided on the crossbeam. The first gripper mechanism and the second gripper mechanism are respectively set on the X-axis translation track through an X-axis drive module. Each gripper mechanism includes an independent Y-axis module, a Z-axis module, and grippers.

[0008] Two sets of buffer mechanisms, which are buffer disks corresponding to workpieces with different tolerances, including a first buffer disk and a second buffer disk;

[0009] Multi-axis robotic arms are used for unloading and changing trays.

[0010] Two sets of receiving bin mechanisms, including a first receiving bin mechanism and a second receiving bin mechanism, each set of receiving bin mechanisms includes at least one vertical receiving bin mechanism, each vertical receiving bin mechanism is used to stack the corresponding material tray filled with workpieces;

[0011] And two sets of tray positioning mechanisms, including a first tray positioning mechanism and a second tray positioning mechanism. Each set of tray positioning mechanisms includes at least one tray positioning mechanism. The tray positioning mechanism is used to stably place the corresponding tray, so that the workpiece is accurately positioned in the workpiece positioning cavity.

[0012] The feeding mechanism is arranged in the central area of ​​the front end of the palletizing machine. The crossbeam of the gantry spans both sides of the feeding conveyor track and is located above the middle and rear area of ​​the feeding conveyor track of the feeding mechanism. The first gripper mechanism and the second gripper mechanism are located on both sides of the crossbeam along its length and are arranged independently. The first buffer tray and the second buffer tray are respectively arranged on the rear side of the feeding conveyor track. The multi-axis robot is arranged in the central area of ​​the palletizing machine. The first tray positioning mechanism is arranged behind one side of the first buffer tray. The first receiving bin mechanism is arranged outside the first tray positioning mechanism. The second tray positioning mechanism is arranged behind one side of the second buffer tray. The second receiving bin mechanism is arranged outside the second tray positioning mechanism. The operating area of ​​the multi-axis robot covers the first buffer tray, the second buffer tray, the first receiving bin mechanism, the second receiving bin mechanism, the first tray positioning mechanism, and the second tray positioning mechanism.

[0013] Its further features are:

[0014] It also includes two sets of empty tray storage bins, namely a first empty tray storage bin and a second empty tray storage bin. Each set of empty tray storage bins is used to place the empty trays of the corresponding workpieces. The first empty tray storage bin is located in the rear central area of ​​the palletizer and is close to the first tray positioning mechanism. The second empty tray storage bin is located in the rear central area of ​​the palletizer and is close to the second tray positioning mechanism.

[0015] The multi-axis robot arm has an automatic hand-changing function. The multi-axis robot arm has an automatic hand-changing function for workpiece robot arm and material tray robot arm. The workpiece robot arm is a suction-holding robot arm. The suction-holding robot arm is suitable for the general suction operation of two workpieces with different tolerances. The material trays corresponding to the two workpieces are the same. The material tray robot arm performs material tray transfer operations in batches.

[0016] Each tray positioning mechanism includes a support plate, first clamping cylinders on both sides, second clamping cylinders at both ends, and four pressure blocks. The support plate is supported on the corresponding upper surface of the palletizing machine by four columns. The support plate is provided with corresponding first clamping cylinders on both sides, and a pressure block is fixed to the upper inner side of each first clamping cylinder. The support plate is provided with corresponding second clamping cylinders at both ends, and a pressure block is fixed to the upper inner side of each second clamping cylinder. The four pressure blocks are used to fix the position of the tray.

[0017] Each receiving bin mechanism includes a base frame, four corner limiting plates, and a full material sensor. The base frame is provided with vertical four corner limiting plates, and the material tray is placed in the space area formed by the four corner limiting plates. The full material sensor is used to sense whether the material trays are stacked to a set height.

[0018] Each material tray positioning mechanism and its corresponding receiving bin mechanism are integrated into a set of combined receiving mechanisms, which makes the entire sorting and palletizing mechanism quick and easy to assemble.

[0019] The multi-axis robot is equipped with three sets of combined material receiving mechanisms on each side to ensure reliable and sufficient collection of workpieces.

[0020] With the structure of this invention, the workpiece is pre-measured by the tolerance measuring device in front, thereby determining whether the workpiece's tolerance range should be classified into the first or second category. The workpieces are transferred to the receiving mechanism and arranged sequentially. Workpieces classified into the first category are clamped by the first gripper mechanism and transported to the first buffer tray. Workpieces classified into the second category are clamped by the second gripper mechanism and transported to the second buffer tray. When any buffer tray is full, the multi-axis robot is replaced by a workpiece robot. The workpiece robot, either individually or in groups, picks up and transports the workpieces to the tray of the first tray positioning mechanism. When the tray in the first tray positioning mechanism is full, the multi-axis robot is converted into a tray robot, transporting the tray to the first... The receiving bin mechanism stacks and simultaneously places empty trays into the first tray positioning mechanism. Once the trays in each group of the first receiving bin mechanism are full, they are promptly transferred. The workpiece robot, either in a single row or as a group, picks up and transfers the workpieces into the trays of the second tray positioning mechanism. When the trays in the second tray positioning mechanism are full, the multi-axis robot switches to a tray robot and transfers the trays into the second receiving bin mechanism for stacking. Simultaneously, empty trays are placed into the second tray positioning mechanism. Once the trays in each group of the second receiving bin mechanism are full, they are promptly transferred. This system reliably and quickly distinguishes workpieces with two different tolerances and rapidly stacks the corresponding workpieces, making production more precise and controllable. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0022] Figure 2 This is a top view structural diagram of the present invention;

[0023] Figure 3 This is a top view of the feeding mechanism of the present invention;

[0024] Figure 4 This is a front view of the classification mechanism of the present invention;

[0025] Figure 5 This is a perspective view of the multi-axis robot of the present invention;

[0026] Figure 6 This is a perspective view of the combined receiving mechanism of the present invention;

[0027] The names corresponding to the serial numbers in the diagram are as follows:

[0028] Support plate 1, first clamping cylinder 2, second clamping cylinder 3, pressure block 4, column 5, bottom frame 6, limit plate 7, full material sensor 8;

[0029] Palletizing machine 10, feeding mechanism 20, feeding conveyor track 21, receiving mechanism 22, motor 23, lead screw mechanism 24, sorting mechanism 30, gantry frame 31, crossbeam 311, first gripper mechanism 32, second gripper mechanism 33, X-axis translation track 34, Y-axis module 35, Z-axis module 36, gripper 37, buffer mechanism 40, first buffer tray 41, second buffer tray 42, multi-axis robot 50, workpiece robot 51, material tray robot 52, receiving bin mechanism 60, first receiving bin mechanism 61, second receiving bin mechanism 62, material tray positioning mechanism 70, first material tray positioning mechanism 71, second material tray positioning mechanism 72, empty tray storage bin 80, first empty tray storage bin 81, second empty tray storage bin 82, material tray 90, workpiece 100, combined receiving mechanism 110. Detailed Implementation

[0030] A sorting and palletizing mechanism, which is located behind a tolerance measuring device, see... Figures 1-6 It includes a palletizer 10, a feeding mechanism 20, a sorting mechanism 30, two sets of buffer mechanisms 40, a multi-axis robot 50, two sets of receiving bin mechanisms 60, two sets of material tray positioning mechanisms 70, and two sets of empty tray storage bins 80.

[0031] The feeding mechanism 20 includes a feeding conveying track 21 and a receiving mechanism 22. The receiving mechanism 22 is provided on the upper surface of the feeding conveying track 21. The starting end of the feeding conveying track 21 is located outside the palletizer 10 and is used for receiving operations. The ending end of the feeding conveying track 21 is located within the surface area of ​​the palletizer 10. The receiving mechanism 22 reciprocates along the direction from the starting end to the ending end of the feeding conveying track 21.

[0032] The sorting mechanism 30 includes a gantry frame 31, a first gripper mechanism 32, and a second gripper mechanism 33. The crossbeam 311 of the gantry frame 31 is arranged along the X direction, and an X translation track 34 is provided on the crossbeam 311. The first gripper mechanism 32 and the second gripper mechanism 33 are respectively set on the X translation track 34 through an X-axis drive module. Each gripper mechanism includes an independent Y-axis module 35, Z-axis module 36, and gripper 37. In specific implementation, the Z-axis module is a lifting cylinder.

[0033] The two sets of buffer mechanisms 40 are buffer disks corresponding to workpieces with different tolerances, including a first buffer disk 41 and a second buffer disk 42;

[0034] The multi-axis robot 50 is used for unloading and changing trays. The robot arm of the multi-axis robot 50 has an automatic hand-changing function. The multi-axis robot arm has the automatic hand-changing function of workpiece robot 51 and tray robot 52. The workpiece robot 51 is a suction robot. The suction robot is suitable for the general suction operation of two workpieces with different tolerances. The trays corresponding to the two workpieces are the same. The tray robot 52 performs tray transfer operations in batches.

[0035] The two sets of receiving bin mechanisms 60 include a first receiving bin mechanism 61 and a second receiving bin mechanism 62. Each set of receiving bin mechanisms 61 includes at least one vertical receiving bin mechanism. Each vertical receiving bin mechanism is used to stack the corresponding material tray 90 filled with workpieces.

[0036] The two sets of tray positioning mechanisms 70 include a first tray positioning mechanism 71 and a second tray positioning mechanism 72. Each set of tray positioning mechanisms includes at least one tray positioning mechanism. The tray positioning mechanism is used to stably place the corresponding tray, so that the workpiece 100 is accurately positioned in the workpiece positioning cavity.

[0037] The two sets of empty tray storage bins 80 include a first empty tray storage bin 81 and a second empty tray storage bin 82. Each set of empty tray storage bins is used to place the empty trays of the corresponding workpieces.

[0038] A feeder 20 is arranged in the central area of ​​the front end of the palletizer 10. A crossbeam 311 of the gantry 31 spans both sides of the feeding conveyor track 21 and is located above the middle-rear area of ​​the feeding conveyor track 21. A first gripper mechanism 32 and a second gripper mechanism 33 are located on both sides of the crossbeam 311 along its length and are independently arranged. A first buffer tray 41 and a second buffer tray 42 are respectively arranged on the rear sides of the feeding conveyor track 21. A multi-axis robot arm 50 is located in the central area of ​​the palletizer 10. A first tray positioning mechanism 71 is arranged behind one side of the first tray 41. A first receiving bin mechanism 61 is arranged outside the first tray positioning mechanism 71. A second buffer... A second tray positioning mechanism 72 is arranged behind one side of the storage tray 42. A second receiving bin mechanism 62 is arranged outside the second tray positioning mechanism 72. The first empty tray storage bin 81 is located in the rear center area of ​​the palletizer 10 and is close to the side of the first tray positioning mechanism 71. The second empty tray storage bin 82 is located in the rear center area of ​​the palletizer 10 and is close to the side of the second tray positioning mechanism 72. The operating area of ​​the multi-axis robot 50 covers the first buffer tray 41, the second buffer tray 42, the first receiving bin mechanism 61, the second receiving bin mechanism 62, the first tray positioning mechanism 71, the second tray positioning mechanism 72, the first empty tray storage bin 81, and the second empty tray storage bin 82.

[0039] In specific implementation, each material tray positioning mechanism includes a support plate 1, first clamping cylinders 2 on both sides, second clamping cylinders 3 at both ends, and four pressure blocks 4. The support plate 1 is supported on the corresponding upper surface of the palletizer table 10 by the surrounding columns 5. The support plate 1 is provided with corresponding first clamping cylinders 2 on both sides. A pressure block 4 is fixed to the upper inner side of each first clamping cylinder 2. The support plate 1 is provided with corresponding second clamping cylinders 3 at both ends. A pressure block 4 is fixed to the upper inner side of each second clamping cylinder 3. The four pressure blocks 4 are used to fix the position of the material tray.

[0040] Each receiving bin mechanism includes a base frame 6, four corner limiting plates 7, and a full material sensor 8. The base frame 6 is provided with vertical four corner limiting plates 7. The material tray 90 is placed in the space area formed by the four corner limiting plates 7. The full material sensor 8 is used to sense whether the material tray 90 is stacked to a set height.

[0041] Each material tray positioning mechanism and the corresponding receiving bin mechanism are integrated into a set of combined receiving mechanisms 110, which makes the entire sorting and palletizing mechanism quick and easy to assemble.

[0042] The multi-axis robot 50 is equipped with three sets of combined material receiving mechanisms 110 on each side to ensure reliable and full storage of workpieces.

[0043] In practice, the receiving mechanism 22 is driven by the motor 23 and the lead screw mechanism 24 to move back and forth along the starting end to the end of the feeding and conveying track 21. The upper surface of the receiving mechanism 22 has four workpiece placement positions arranged sequentially along the length direction. After the workpiece is measured by the tolerance measuring device in front, it is placed into the four workpiece placement positions arranged in sequence. The tolerance classification of the workpiece in each workpiece placement position has been known in advance.

[0044] Its working principle is as follows: The workpiece is pre-measured by the tolerance measuring device in front, thus determining whether the workpiece's tolerance range should be classified into category one or category two. The workpieces are transferred to the receiving mechanism and arranged sequentially. Workpieces classified into category one are clamped by the first gripper mechanism and transported to the first buffer tray. Workpieces classified into category two are clamped by the second gripper mechanism and transported to the second buffer tray. When either buffer tray is full, the multi-axis robot arm switches to a workpiece robot arm. The workpiece robot arm, either individually or in groups, picks up and transports the workpieces to the tray of the first tray positioning mechanism. When the tray in the first tray positioning mechanism is full, the multi-axis robot arm switches to a tray robot arm and transports the tray to the first receiving mechanism. The material hopper mechanism stacks materials, and empty trays are placed into the first tray positioning mechanism. Once the trays in each group of the first receiving hopper mechanism are full, they are promptly transferred. The workpiece robot, either in a single row or as a group, picks up and transfers the workpieces into the trays of the second tray positioning mechanism. When the trays in the second tray positioning mechanism are full, the multi-axis robot switches to a tray robot and transfers the trays into the second receiving hopper mechanism for stacking. Simultaneously, empty trays are placed into the second tray positioning mechanism. Once the trays in each group of the second receiving hopper mechanism are full, they are promptly transferred. This system reliably and quickly distinguishes workpieces with two different tolerances and rapidly stacks the corresponding workpieces, making production more precise and controllable.

[0045] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0046] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A sorting and palletizing mechanism, positioned behind a tolerance measuring device, characterized in that, It includes: Palletizing machine; The feeding mechanism includes a feeding conveyor track and a receiving mechanism. The receiving mechanism is provided on the upper surface of the feeding conveyor track. The starting end of the feeding conveyor track is located outside the palletizer platform and is used for receiving material. The ending end of the feeding conveyor track is located within the surface area of ​​the palletizer platform. The receiving mechanism reciprocates along the direction from the starting end to the ending end of the feeding conveyor track. The sorting mechanism includes a gantry frame, a first gripper mechanism, and a second gripper mechanism. The crossbeam of the gantry frame is arranged in the X direction, and an X-axis translation track is provided on the crossbeam. The first gripper mechanism and the second gripper mechanism are respectively set on the X-axis translation track through an X-axis drive module. Each gripper mechanism includes an independent Y-axis module, a Z-axis module, and grippers. Two sets of buffer mechanisms, which are buffer disks corresponding to workpieces with different tolerances, including a first buffer disk and a second buffer disk; Multi-axis robotic arms are used for unloading and changing trays. Two sets of receiving bin mechanisms, including a first receiving bin mechanism and a second receiving bin mechanism, each set of receiving bin mechanisms includes at least one vertical receiving bin mechanism, each vertical receiving bin mechanism is used to stack the corresponding material tray filled with workpieces; And two sets of tray positioning mechanisms, including a first tray positioning mechanism and a second tray positioning mechanism. Each set of tray positioning mechanisms includes at least one tray positioning mechanism. The tray positioning mechanism is used to stably place the corresponding tray, so that the workpiece is accurately positioned in the workpiece positioning cavity. The feeding mechanism is arranged in the central area of ​​the front end of the palletizing machine. The crossbeam of the gantry spans both sides of the feeding conveyor track and is located above the middle and rear area of ​​the feeding conveyor track of the feeding mechanism. The first gripper mechanism and the second gripper mechanism are located on both sides of the crossbeam along its length and are arranged independently. The first buffer tray and the second buffer tray are respectively arranged at the rear of both sides of the feeding conveyor track. The multi-axis robot is arranged in the central area of ​​the palletizing machine. The first tray positioning mechanism is arranged behind one side of the first buffer tray. The first receiving bin mechanism is arranged outside the first tray positioning mechanism. The second tray positioning mechanism is arranged behind one side of the second buffer tray. The second receiving bin mechanism is arranged outside the second tray positioning mechanism. The operating area of ​​the multi-axis robot covers the first buffer tray, the second buffer tray, the first receiving bin mechanism, the second receiving bin mechanism, the first tray positioning mechanism, and the second tray positioning mechanism. It also includes two sets of empty tray storage bins, namely a first empty tray storage bin and a second empty tray storage bin. Each set of empty tray storage bins is used to place the empty trays of the corresponding workpieces. The first empty tray storage bin is located in the rear central area of ​​the palletizer and is close to the first tray positioning mechanism. The second empty tray storage bin is located in the rear central area of ​​the palletizer and is close to the second tray positioning mechanism. The multi-axis robot arm has an automatic hand-changing function. The multi-axis robot arm has an automatic hand-changing function for workpiece robot arm and material tray robot arm. The workpiece robot arm is a suction-holding robot arm. The suction-holding robot arm is suitable for the general suction operation of two workpieces with different tolerances. The material trays corresponding to the two workpieces are the same. The material tray robot arm performs material tray transfer operations in batches. The workpiece is pre-measured by the tolerance measuring device to determine whether its tolerance range should be classified as Category 1 or Category 2. The workpieces are then transferred to the receiving mechanism and arranged sequentially. Workpieces classified as Category 1 are gripped by the first gripper mechanism and transported to the first buffer tray. Workpieces classified as Category 2 are gripped by the second gripper mechanism and transported to the second buffer tray. Once either buffer tray is full, the multi-axis robot switches to a workpiece robot. The workpiece robot, either individually or in groups, picks up and transports the workpieces to the trays of the first tray positioning mechanism. When the trays in the first tray positioning mechanism are full, the multi-axis robot... The multi-axis robot arm is converted into a tray robot arm to transfer trays to the first receiving bin mechanism for stacking. At the same time, empty trays are placed in the first tray positioning mechanism. Once the trays in each group of the first receiving bin mechanism are full, the trays are transferred in a timely manner. The workpiece robot arm picks up and transfers workpieces in a single row or in a group to the trays in the second tray positioning mechanism. When the trays in the second tray positioning mechanism are full, the multi-axis robot arm is converted into a tray robot arm to transfer trays to the second receiving bin mechanism for stacking. At the same time, empty trays are placed in the second tray positioning mechanism. Once the trays in each group of the second receiving bin mechanism are full, the trays are transferred in a timely manner. Each tray positioning mechanism includes a support plate, first clamping cylinders on both sides, second clamping cylinders at both ends, and four pressure blocks. The support plate is supported on the corresponding upper surface of the palletizing machine by four columns. The support plate is provided with corresponding first clamping cylinders on both sides, and a pressure block is fixed to the upper inner side of each first clamping cylinder. The support plate is provided with corresponding second clamping cylinders at both ends, and a pressure block is fixed to the upper inner side of each second clamping cylinder. The four pressure blocks are used to fix the position of the tray.

2. The sorting and palletizing mechanism according to claim 1, characterized in that: Each receiving bin mechanism includes a base frame, four corner limiting plates, and a full-material sensor. The base frame is provided with vertical four corner limiting plates, and the material tray is placed in the space area formed by the four corner limiting plates. The full-material sensor is used to sense whether the material trays are stacked to a set height.

3. The sorting and palletizing mechanism according to claim 1, characterized in that: Each material tray positioning mechanism and its corresponding receiving bin mechanism are integrated into a combined receiving mechanism.

4. A sorting and palletizing mechanism according to claim 3, characterized in that: The multi-axis manipulator has three sets of combined material receiving mechanisms on each side.

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