Automatic unstacking, stacking and nitrogen charging equipment for cooling fins

Abstract

The cooling fin automatic unstacking, stacking and nitrogen charging equipment comprises an automatic product conveying line and a nitrogen charging machine, and the automatic product conveying line comprises an AGV feeding device, a feeding temporary storage line, an unstacking machine, a plurality of valve pulling lines, a carrying line, a stacking machine and a discharging temporary storage line; the nitrogen filling machine comprises a rotary disc capable of rotating and a rubber plug mounting machine arm, the rotary disc is sequentially provided with a discharging station, a front shaping station, a rubber plug mounting station, a rear shaping station, a nitrogen filling station and a discharging station, a product stack passes through the AGV feeding device and enters the unstacker through the feeding buffer storage line, the product stack is divided into product layers through the unstacker, and the product layers are arranged on the rotary disc. The product layer enters the valve pulling line to pull valves, then the products are moved to the nitrogen charging machine to be charged with nitrogen, the nitrogen-charged products are moved to the carrying line through the feeding and discharging mechanical arm, and the products are stacked into product stacks through the stacking machine. All manual steps are replaced by the automation function of the equipment, so that the production efficiency and the product yield of products are improved, and the high automation of the cooling fin nitrogen charging process is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical equipment, and in particular relates to automatic destacking, stacking and nitrogen filling equipment for heat sinks. Background Art

[0002] The heat sink is a component used in mobile phones, computers and other electronic products. In order to improve the heat dissipation and electrical insulation performance of the heat sink, nitrogen is filled inside it. The structure of the heat sink from the upstream process is as follows Figure 1 As shown, the heat sink 10 includes a sheet body 101, a pipeline 102 and a valve 103. The end of the sheet body is also provided with a columnar protrusion 1011. The process of nitrogen filling is: first pull out the valve at the end of the pipeline, then insert a rubber plug into the mouth of the pipeline, and then pierce the rubber plug through a needle tube. The other end of the needle tube is externally connected to a nitrogen filling device to fill nitrogen into the heat sink. At present, a large amount of manual work is required at the station for automatically filling nitrogen with heat sinks, including shaping of the heat sink and installation and removal of valves, etc., which is not only labor-consuming and time-consuming, but also cannot guarantee the yield of the product. Summary of the invention

[0003] The main technical problem solved by the present invention is to provide an automatic depalletizing, stacking and nitrogen filling equipment for heat sinks. All manual steps are replaced by the automatic functions of the equipment, which greatly reduces the input of human resources, improves the production efficiency and product yield of the product, and realizes a high degree of automation of the nitrogen filling process of the heat sink.

[0004] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide an automatic depalletizing, stacking and nitrogen filling equipment for heat sinks, including an automatic product conveying line and a nitrogen filling machine, wherein the automatic product conveying line includes an AGV feeding device, a feeding buffer line, a depalletizing machine, a plurality of valve extraction lines, a transport line, a palletizing machine and a unloading buffer line arranged according to the product flow direction, and a plurality of stacked tooling for placing products is defined as a product stack, the product stack passes through the AGV feeding device and enters the depalletizing machine through the feeding buffer line, the product stack is split into product layers by the depalletizing machine, the product layer enters the valve extraction line, the valve on the product is pulled out by the valve extraction robot arm, and then the product with the valve removed is moved to the nitrogen filling machine by the loading and unloading robot arm; The nitrogen filling machine includes a rotatable turntable and a rubber plug loading robot arm, the turntable is sequentially provided with a discharge station, a front shaping station, a rubber plug loading station, a rear shaping station, a nitrogen filling station and a material unloading station, the product after the valve is pulled out is moved to the discharge station by the loading and unloading robot arm, the rubber plug loading station is provided with a rubber plug loading robot arm, and then the product passes through the front shaping station, the rubber plug loading station, the rear shaping station, the nitrogen filling station and the material unloading station in sequence, the nitrogen-filled product is moved to the conveying line by the loading and unloading robot arm, the product is stacked into product stacks by the palletizer and finally flows into the material unloading buffer line.

[0005] Further, the depalletizer and the palletizer both include a conveyor line body and a first stopping mechanism, a side-extending lifting device, a first centering mechanism and a lifting mechanism arranged on the conveyor line body, wherein the first stopping mechanism is located at the front end of the conveyor line body, the side-extending lifting device is provided with two groups respectively located on both sides of the conveyor line body, and the first centering mechanism and the lifting mechanism are located below the conveyor line body; the product stack is stopped from the front by the first stopping mechanism, the product stack is center-clamped by the first centering mechanism, the product stack is lifted up by the lifting mechanism to separate it from the conveyor line body, and the bottom layer and the remaining layers of the product stack are separated by the lifting devices extending from both sides.

[0006] Furthermore, the valve pulling line includes a movable line body and a second stopping mechanism, a second centering mechanism and a downward pressing positioning mechanism arranged on the movable line body, wherein the second stopping mechanism is located at the front end of the movable line body, and the second centering mechanism is located below the movable line body; the tooling where the product is located is stopped from the front by the second stopping mechanism, the tooling is center-clamped by the second centering mechanism, and the product is pressed onto the tooling by the downward pressing positioning mechanism.

[0007] Furthermore, the side extension lifting device includes a side pressure plate, a side pressure translation driving cylinder and a side pressure lifting driving cylinder, the side pressure plate is located at the power output end of the side pressure translation driving cylinder, and the side pressure plate is driven to translate along the Y direction by the side pressure translation driving cylinder; the side pressure plate is driven to rise and fall along the Z direction by the side pressure lifting driving cylinder; The first centering mechanism and the second centering mechanism both include a left centering plate, a right centering plate, a centering drive cylinder and a connecting rod structure. The power output end of the centering drive cylinder is fixedly mounted on the left centering plate, and the left centering plate and the right centering plate are connected by the connecting rod structure. The upper ends of the left centering plate and the right centering plate are extended to form a plurality of centering blocks. The left centering plate is driven to translate along the Y direction by the centering drive cylinder, and the right centering plate is driven to translate along the Y direction by the connecting rod structure to realize centering of the product stack.

[0008] Furthermore, the lifting mechanism includes a lifting plate and a lifting drive cylinder, the lifting plate is installed at the power output end of the lifting drive cylinder, and the lifting plate is driven to lift along the Z direction by the lifting drive cylinder; The first stopping mechanism comprises a stopping block and a stopping driving cylinder. The stopping block is installed at the power output end of the lifting driving cylinder. The stopping driving cylinder drives the stopping block to lift along the Z direction.

[0009] Furthermore, a valve pulling device and a valve pulling visual positioning device are installed at the end of the valve pulling robot arm, the valve pulling device includes a valve positioning mechanism and a valve clamping and pressing mechanism, the valve positioning mechanism includes a positioning bayonet and a valve positioning drive cylinder, the positioning bayonet is installed at the power output end of the valve positioning drive cylinder; the valve clamping and pressing mechanism includes a valve clamping claw and a clamping translation drive cylinder, the valve clamping claw is installed at the power output end of the clamping translation drive cylinder.

[0010] Further, the front shaping station is provided with a front lower shaping mechanism, a front upper shaping mechanism and a front pressing mechanism, the front lower shaping mechanism includes a front triangular shaping block and a front lower shaping driving cylinder, the front triangular shaping block is located at the power output end of the front lower shaping driving cylinder, and an inclined arc groove is provided on the upper surface of the front triangular shaping block; the front upper shaping mechanism includes a first front shaping block, a second front shaping block and a front upper shaping driving cylinder, the first front shaping block and the second front shaping block are installed at the power output end of the front upper shaping driving cylinder; The front pressing mechanism comprises a front pressing block and a front pressing driving cylinder, wherein the front pressing block is installed at the power output end of the front pressing driving cylinder; The product is pressed down and positioned by the front downward pressing mechanism, and the pipeline is shaped by the upward action of the front lower shaping mechanism and the downward action of the front upper shaping mechanism.

[0011] Furthermore, the rubber plug installation station is provided with a lower positioning mechanism and an upper positioning mechanism, the lower positioning mechanism includes a lower positioning block and a lower positioning drive cylinder, the lower positioning block is installed at the power output end of the lower positioning drive cylinder; the upper positioning mechanism includes an upper positioning block and an upper positioning drive cylinder, the upper positioning block is installed at the power output end of the upper positioning drive cylinder; A plug installing visual positioning device and a plug installing device are installed at the end of the plug installing robot arm. The plug installing device includes a plug clamping air claw and a plug pushing mechanism. The plug clamping air claw is driven by the plug installing robot arm to grab the plug. The plug pushing mechanism includes a pushing rod for pushing the plug and a plug pushing drive cylinder. The pushing rod is installed at the power output end of the plug pushing drive cylinder.

[0012] Further, the rear shaping station is provided with a rear lower shaping mechanism, a rear upper shaping mechanism and a rear pressing mechanism, the rear lower shaping mechanism comprises a rear triangular shaping block and a rear lower shaping driving cylinder, the rear triangular shaping block is located at the power output end of the rear lower shaping driving cylinder, and a horizontal arc groove is provided on the upper surface of the rear triangular shaping block; the rear upper shaping mechanism comprises a first rear shaping block and a rear upper shaping driving cylinder, the first rear shaping block is installed at the power output end of the rear upper shaping driving cylinder; The rear pressing mechanism comprises a rear pressing block and a rear pressing driving cylinder, wherein the rear pressing block is installed at the power output end of the rear pressing driving cylinder; The upward force generated by the rear lower shaping mechanism cooperates with the downward force generated by the rear upper shaping mechanism to shape the pipeline and level the pipeline.

[0013] Furthermore, the nitrogen filling station is provided with a lower support mechanism, an upper clamping mechanism and a push-pin piercing mechanism, and the product is supported from below by the lower support mechanism; the upper clamping mechanism includes an upper clamping block, an oblique clamping drive cylinder and a clamping translation drive cylinder, and the upper clamping block is installed at the power output end of the oblique clamping drive cylinder, and the upper clamping block is horizontally moved by the oblique clamping drive cylinder, and the upper clamping block is driven to obliquely translate by the oblique clamping drive cylinder to clamp the product pipeline onto the support mechanism; The push needle piercing mechanism comprises a tubular syringe and a piercing drive cylinder. The tail end of the tubular syringe is externally connected to a nitrogen filling device. The piercing drive cylinder drives the tubular syringe to pierce the rubber plug at the end of the pipeline and flush nitrogen into the product.

[0014] The beneficial effects of the present invention are: The present invention comprises an automatic product conveying line and a nitrogen filling machine. The automatic product conveying line comprises an AGV feeding device, a feeding buffer line, a depalletizer, a plurality of valve extraction lines, a conveying line, a palletizer and a material unloading buffer line arranged according to the product flow direction; the nitrogen filling machine comprises a rotatable turntable and a rubber plug loading robot arm. The turntable is provided with a material unloading station, a front shaping station, a rubber plug loading station, a rear shaping station, a nitrogen filling station and a material unloading station in sequence. The product stack passes through the AGV feeding device and the feeding buffer line and enters the depalletizer. The depalletizer loads the product The stack is split into product layers, and the product layers enter the valve extraction line. The valve on the product is pulled out by the valve extraction robot arm, and then the product with the valve pulled out is moved to the discharge station of the nitrogen filling machine by the loading and unloading robot arm. The plug installation station is provided with a plug installation robot arm, and then the product passes through the front shaping station, plug installation station, rear shaping station, nitrogen filling station and unloading station in turn. The nitrogen-filled product is moved to the conveying line by the loading and unloading robot arm, and the product is stacked into product stacks by the palletizer and finally flows into the unloading buffer line. Therefore, the present invention can realize the full automation of the processes of automatic depalletizing, palletizing, automatic valve extraction, product shaping, plug installation and nitrogen filling of the product stack, and all manual steps are replaced by the automation function of the equipment, which greatly reduces the input of human resources and improves the production efficiency and product yield of the product; and this equipment realizes the full automation of the nitrogen filling process of the heat sink.

[0015] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the heat sink of the present invention (before the valve is pulled out); Figure 2 is a top view of the present invention; Figure 3 It is a structural schematic diagram of the automatic product conveying line of the present invention; Figure 4 is a schematic diagram of the structure of the depalletizer of the present invention (excluding the external casing); Figure 5 It is a structural schematic diagram of the first centering mechanism and the lifting mechanism of the depalletizer of the present invention; Figure 6 It is a side view of the first centering mechanism and the lifting mechanism of the depalletizer of the present invention; Figure 7 It is a structural schematic diagram of a first centering mechanism of a depalletizer of the present invention; Figure 8 It is a structural schematic diagram of the valve extraction line of the present invention; Fig. 9 It is a structural schematic diagram of the valve extraction device and the valve extraction visual positioning device of the present invention; Fig.10 It is a structural schematic diagram of the nitrogen filling machine of the present invention; Fig.11 is a top view of the nitrogen filling machine of the present invention; Fig.12 This is one of the structural schematic diagrams of the front shaping station of the present invention (seen from one angle); Fig.13 This is the second structural schematic diagram of the front shaping station of the present invention (seen from another angle); Fig.14 It is a structural schematic diagram of the front upper shaping mechanism and the front lower pressing mechanism of the present invention; Fig.15 It is a structural schematic diagram of the front lower shaping mechanism of the present invention; Fig.16 It is a structural schematic diagram of the rubber plug installation station of the present invention; Fig.17 It is a structural schematic diagram of the rubber plug loading machine arm of the present invention; Fig.18 It is a structural schematic diagram of the visual positioning device for installing a rubber plug and the rubber plug installing device of the present invention; Fig.19 It is a structural schematic diagram of the post-shaping station of the present invention; Fig. 20 It is a structural schematic diagram of the upper part of the post-shaping station of the present invention; Fig.21 It is a structural schematic diagram of the lower part of the post-shaping station of the present invention; Fig. 22 One of the schematic diagrams of the mechanism at the nitrogen filling station of the present invention (seen from one angle); Fig.23 The second schematic diagram of the mechanism at the nitrogen filling station of the present invention (seen from another angle); The reference numerals are as follows: Heat sink 10, sheet body 101, columnar protrusion 1011, pipeline 102, valve 103, rubber plug 104; AGV feeding device 1, feeding buffer line 2; Depalletizer 3, conveyor line body 31, bracket 311, connecting plate 312, first stop mechanism 32, stop block 321, stop driving cylinder 322, side extension lifting device 33, side pressure plate 331, side pressure translation driving cylinder 332, side pressure lifting driving cylinder 333, first centering mechanism 34, left centering plate 341, centering block 3411, right centering plate 342, centering driving cylinder 343, connecting rod structure 344, lifting mechanism 35, lifting plate 351, lifting driving cylinder 352; Valve extraction line 4, moving line body 41, second stop mechanism 42, second centering mechanism 43, downward pressing positioning mechanism 44, downward pressing plate 441, downward pressing positioning driving cylinder 442, valve extraction robot arm 45, valve extraction visual positioning device 451, valve positioning mechanism 452, positioning bayonet 4521, valve positioning driving cylinder 4522, valve clamping claw 453, clamping translation driving cylinder 454; Conveying line 5, palletizer 6, material unloading buffer line 7; Nitrogen filling machine 8, turntable 81, rubber plug loading robot arm 82, rubber plug loading visual positioning device 821, rubber plug loading device 822, rubber plug clamping claw 8221, rubber plug pushing mechanism 8222, pushing rod 82221, rubber plug pushing drive cylinder 82222, material discharge station 83, front shaping station 84, front lower shaping mechanism 841, front triangle shaping block 8411, front lower shaping drive cylinder 8412, front upper shaping mechanism 842, first front shaping block 8421, second front shaping block 8422, front upper shaping drive cylinder 8423, front pressing mechanism 843, front pressing block 8431, front pressing drive cylinder 8432, rubber plug loading station 85, lower positioning mechanism 851, lower positioning block 8511, lower positioning drive cylinder 8512, upper positioning mechanism 852, upper positioning block 85 21. first pressing part 85211, second pressing part 85212, third pressing part 85213, upper positioning drive cylinder 8522, rear shaping station 86, rear lower shaping mechanism 861, rear triangular shaping block 8611, rear lower shaping drive cylinder 8612, rear upper shaping mechanism 862, first rear shaping block 8621, rear upper shaping drive cylinder 8622, rear pressing mechanism 863, rear lower pressing block 8631, rear lower pressing drive cylinder 8632, nitrogen filling station 87, lower supporting mechanism 871, lower supporting block 8711, lower supporting drive cylinder 8712, upper clamping mechanism 872, upper clamping block 8721, oblique clamping drive cylinder 8722, clamping translation drive cylinder 8723, push needle piercing mechanism 873, tubular syringe 8731, piercing drive cylinder 8732; Cutting station 88; Loading and unloading robot arm 9; manual loading line 20; tooling 30. DETAILED DESCRIPTION

[0017] The following is a specific embodiment of the present invention, and those skilled in the art can easily understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented in other different ways, that is, different modifications and changes can be made without departing from the scope disclosed by the present invention.

[0018] Embodiment: A heat sink automatic stacking and nitrogen filling device, such as Figures 1 to 3 and Figure 10 to Figure 11As shown, it includes an automatic product conveying line and a nitrogen filling machine 8. The automatic product conveying line includes an AGV feeding device 1, a feeding buffer line 2, a depalletizer 3, a plurality of valve extraction lines 4, a transport line 5, a palletizer 6 and a discharge buffer line 7 arranged according to the product flow direction. A plurality of stacked tooling for placing products is defined as a product stack. The product stack passes through the AGV feeding device and enters the depalletizer 3 through the feeding buffer line. The depalletizer 3 splits the product stack into product layers (referring to a layer of tooling and the product placed on the tooling). The product layer enters the valve extraction line 4. The valve on the product (referring to the heat sink 10 in this embodiment) is pulled out by the valve extraction robot arm 45. Then, the product with the valve removed is moved to the nitrogen filling machine 8 by the loading and unloading robot arm 9. The nitrogen filling machine 8 includes a rotatable turntable 81 and a plugging robot arm 82, the turntable is provided with a discharge station 83, a front shaping station 84, a plugging station 85, a rear shaping station 86, a nitrogen filling station 87 and a material unloading station 88 in sequence, the product after the valve is pulled out is moved to the discharge station 83 by the loading and unloading robot arm 9, the plugging station is provided with a plugging robot arm 82, and then the product passes through the front shaping station 84, the plugging station 85, the rear shaping station 86, the nitrogen filling station 87 and the material unloading station 88 in sequence, the loading and unloading robot arm 9 moves the nitrogen-filled product to the conveying line 5, the product is stacked into product stacks by the palletizer 6 and finally flows into the unloading buffer line 7.

[0019] In this embodiment, Figure 2 As shown, the automatic nitrogen filling equipment is also provided with a manual loading line 20, through which products can be loaded when the automatic product conveying line is under maintenance or fails, and the valve can be manually pulled out, and the product after the valve is pulled out can be placed on the discharge station 83 of the nitrogen filling machine 8 by the loading and unloading robot arm 9.

[0020] The loading buffer line, conveying line and unloading buffer line in this embodiment are used to transport tooling or product stacks, and are mainly used for connecting upstream and downstream or for buffering.

[0021] In this embodiment, the conveying and translation of the loading buffer line, the transport line, the unloading buffer line and the palletizer belongs to the prior art, so it will not be described in detail; the automatic rotation of the turntable also belongs to the prior art, so it will not be described in detail.

[0022] The working principle and working process of the present invention are: The AGV loading device transports the product stack to the loading buffer line, and then transports it to the depalletizer through the loading buffer line. The depalletizer depalletizes the product stack into product layers, and then the product layers flow into the valve extraction line, and the valve on the product is pulled out by the valve extraction robot arm 45. The pulled out valve can be placed in a position specially used for placing valves on the tooling or in a collection box next to it. Then the product and tooling after the valve is pulled out enter the conveying line (at the same time, the tooling for placing the product will remain on the conveying line), and then the loading and unloading robot arm 9 moves the product after the valve is pulled out to the discharge station of the nitrogen filling machine 8, and then rotates with the turntable to the corresponding station to perform pre-shaping, rubber plug installation, post-shaping and nitrogen filling operations in turn, and then flows into the unloading station, and the nitrogen-filled product is placed on the tooling of the conveying line by the loading and unloading robot arm 9, and then the product and tooling flow into the palletizer, and multiple product layers are finally stacked into product stacks, and then the product stacks flow into the unloading buffer line.

[0023] In this embodiment, two valve extraction lines are provided, but other numbers are also possible, mainly depending on the processing rhythm of the entire equipment.

[0024] In this embodiment, Figures 4 to 7 As shown, the depalletizer 3 and the palletizer 6 both include a conveyor line body 31 and a first stopping mechanism 32, a side-extending lifting device 33, a first centering mechanism 34 and a lifting mechanism 35 arranged on the conveyor line body. The first stopping mechanism 32 is located at the front end of the conveyor line body, and the side-extending lifting device 33 is provided with two groups respectively located on both sides of the conveyor line body 31. The first centering mechanism 34 and the lifting mechanism 35 are located below the conveyor line body 31. The product stack is stopped from the front by the first stopping mechanism 32, the product stack is centered and clamped by the first centering mechanism 34, the product stack is lifted up by the lifting mechanism 35 to separate it from the conveyor line body, and the bottom layer and the remaining layers of the product stack are separated by the lifting devices 33 extending from both sides.

[0025] In this embodiment, Figures 4 to 7 As shown, the side extension lifting device 33 includes a side pressure plate 331, a side pressure translation driving cylinder 332 and a side pressure lifting driving cylinder 333. The side pressure plate 331 is located at the power output end of the side pressure translation driving cylinder 332. The side pressure translation driving cylinder 332 drives the side pressure plate to translate along the Y direction; the side pressure lifting driving cylinder 333 drives the side pressure plate 331 to rise and fall along the Z direction. The first centering mechanism 34 includes a left centering plate 341, a right centering plate 342, a centering drive cylinder 343 and a connecting rod structure 344. The power output end of the centering drive cylinder is fixedly installed on the left centering plate. The left centering plate 341 and the right centering plate 342 are connected by the connecting rod structure 344. The upper ends of the left centering plate 341 and the right centering plate 342 are extended to form a plurality of centering blocks 3411. The left centering plate is driven to translate along the Y direction by the centering drive cylinder 343, and the right centering plate 342 is driven to translate along the Y direction by the connecting rod structure 344 to realize the centering of the product stack. In this embodiment, the centering drive cylinder is located on the bottom bracket 311 of the conveyor body, and a connecting plate 312 is connected between the two brackets. The center of the connecting rod structure 344 is located at the center of the connecting plate 312, and the two ends of the connecting rod structure 344 are respectively connected to the left centering plate 341 and the right centering plate 342 through a pin. Therefore, when the push rod of the centering drive cylinder 343 is retracted, the left centering plate 341 will be driven to move inward, and the right centering plate 342 on the other side will be driven to move inward through the connecting rod structure 344, that is, the centering blocks of the left centering plate 341 and the right centering plate 342 will be driven to move inward from both sides to center and clamp the product stack or tooling. Of course, the first centering mechanism with other structures can also be used, as long as it can achieve centering and clamping of the product stack or tooling.

[0026] In this embodiment, Figures 4 to 7 As shown, the lifting mechanism 35 includes a lifting plate 351 and a lifting drive cylinder 352. The lifting plate 351 is installed at the power output end of the lifting drive cylinder 352, and the lifting plate is driven to lift along the Z direction by the lifting drive cylinder 352; The first stopping mechanism 32 includes a stopping block 321 and a stopping driving cylinder 322 . The stopping block 321 is installed at the power output end of the lifting driving cylinder 352 . The stopping driving cylinder 322 drives the stopping block 321 to lift along the Z direction.

[0027] The specific working process of depalletizing is as follows: the product stack is composed of stacked tools layer by layer, one or more products are placed on each layer of tools, and the tools between adjacent layers are clamped together, for example, through the cooperation of columns and holes; after the sensor senses that the product stack is in place, the first stopping mechanism 32 stops the product stack from the front end of the conveyor line body 31, and then the first centering mechanism 34 clamps the product stack and then releases it, and then the lifting mechanism 35 lifts the product stack upward to separate it from the conveyor line body 31. Afterwards, the side pressure translation driving cylinder 332 drives the side pressure plate 331 to translate along the Y direction and insert it between the lowest layer of tooling and the second lowest layer of tooling in the product stack. Then, the side pressure lifting driving cylinder 333 drives the side pressure plate 331 to lift up and lift the second lowest layer of tooling and the objects above it, that is, the lowest layer of tooling and the second lowest layer of tooling are separated. At this time, the lowest layer of tooling is located on the lifting plate 351. Then, the push rod of the lifting driving cylinder 352 is retracted, so that the lowest layer of tooling falls on the conveyor line body and flows into the valve pulling line 4. Then, the lifting mechanism 35 is lifted, and the remaining product stacks fall back on the lifting plate. The above process is repeated to realize the layer-by-layer destacking of the product stack from bottom to top.

[0028] The working principle and process of palletizing are similar to those of depalletizing: the products and tooling (called the first product layer) after nitrogen filling enter the palletizer through the conveying line. After they are in place, the first stop mechanism stops the first product layer, and then the first centering mechanism 34 clamps the first product layer in the center and releases it, and then the lifting mechanism 35 lifts the first product layer upward to separate it from the conveying line body 31. Then the side pressure translation drive cylinder 332 drives the side pressure plate 331 to translate along the Y direction and insert it into the bottom of the first product layer, and then the side pressure lifting drive cylinder 333 drives the side pressure plate 331 to lift it upward to lift the above-mentioned first product layer, and then the push rod of the lifting drive cylinder 352 retracts, and then the next product layer (called the second product layer) flows into the conveying line body 31 of the palletizer. After they are in place, the first stop mechanism stops the second product layer, and then the first centering mechanism 34 clamps the second product layer in the center and releases it, and then the lifting mechanism 35 lifts the second product layer. The product layer is lifted upward to separate it from the conveyor line body 31, and then the side pressure lifting drive cylinder 333 drives the side pressure plate 331 to drop downward to above the second product layer, and the side pressure translation drive cylinder 332 drives the side pressure plate 331 to be withdrawn from the bottom of the first product layer along the Y direction. At this time, the first product layer is just above the second product layer (the corresponding holes and columns are set on the tooling to achieve the positioning of the upper and lower layers of tooling, and there is no need for the holes and columns to be fixed together with interference fit). Similarly, they can finally be stacked into a product stack, and the number of product stacks can be set according to needs.

[0029] The loading buffer line, conveying line and unloading buffer line in this embodiment may also be provided with a stopping mechanism and a centering mechanism, which have the same structure and principle as the first stopping mechanism and the first centering mechanism mentioned above, and therefore will not be elaborated.

[0030] In this embodiment, Figure 8 and Fig. 9 As shown, the valve extraction line 4 includes a moving line body 41 and a second stop mechanism 42, a second centering mechanism 43 and a downward pressing positioning mechanism 44 provided on the moving line body. The second stop mechanism 42 is located at the front end of the moving line body 41, and the second centering mechanism 43 is located below the moving line body 41. The second stop mechanism 42 stops the tooling where the product is located from the front, the second centering mechanism 43 centers and clamps the tooling, and the downward pressing positioning mechanism 44 presses the product onto the tooling. In this embodiment, the downward pressing positioning mechanism 44 includes a downward pressing plate 441 and a downward pressing positioning driving cylinder 442. The downward pressing plate is installed at the power output end of the downward pressing positioning driving cylinder, and the downward pressing positioning driving cylinder drives the downward pressing plate to press the product onto the tooling.

[0031] In this embodiment, the second centering mechanism 43 has the same structure and working principle as the first centering mechanism 34 , and the second stopping mechanism 42 has the same structure and working principle as the first stopping mechanism 32 , so they are not described in detail.

[0032] In this embodiment, Figure 8 and Fig. 9As shown, the end of the valve pulling robot arm 45 is installed with a valve pulling device and a valve pulling visual positioning device 451, the valve pulling device includes a valve positioning mechanism 452 and a valve clamping and pressing mechanism, the valve positioning mechanism 452 includes a positioning bayonet 4521 and a valve positioning drive cylinder 4522, the positioning bayonet 4521 is installed at the power output end of the valve positioning drive cylinder 4522; the valve clamping and pressing mechanism includes a valve clamping claw 453 and a clamping translation drive cylinder 454, the valve clamping claw 453 is installed at the power output end of the clamping translation drive cylinder 454. The process of pulling the valve is as follows: after the sensor senses that the tooling is in place, the tooling where the product is located is stopped from the front by the second stopping mechanism 42, the tooling is centered and clamped by the second centering mechanism 43, and then the downward positioning mechanism 44 presses down from above to press the product onto the tooling. Then the valve pulling robot arm 45 drives the valve pulling device and the valve pulling visual positioning device 451 to be in place, and the valve pulling visual positioning device 451 is used for visual inspection and positioning, and then the valve positioning drive cylinder 4522 drives the positioning bayonet 4521 to clamp the front end of the valve, and the valve clamping claw 453 clamps the rear end of the valve, which refers to the end connected to the pipeline of the heat sink, and then the clamping translation drive cylinder 454 drives the valve clamping claw 453 to press the valve backward, and then the valve pulling robot arm 45 drives the entire device to move forward to pull the valve off the pipeline. The use of this valve pulling method is also determined by the structure of the valve itself. The valve itself has a spring buckle, so it is necessary to press it backward to unlock the spring buckle, and then pull it forward to pull the valve off. Valves with this structure belong to the prior art and are not described in detail.

[0033] In this embodiment, Figure 12 to Figure 15 As shown, the front shaping station 84 is provided with a front lower shaping mechanism 841, a front upper shaping mechanism 842 and a front pressing mechanism 843, the front lower shaping mechanism 841 comprises a front triangular shaping block 8411 and a front lower shaping driving cylinder 8412, the front triangular shaping block is located at the power output end of the front lower shaping driving cylinder, and an inclined arc groove is provided on the upper surface of the front triangular shaping block; the front upper shaping mechanism 842 comprises a first front shaping block 8421, a second front shaping block 8422 and a front upper shaping driving cylinder 8423, the first front shaping block and the second front shaping block are installed at the power output end of the front upper shaping driving cylinder; The front pressing mechanism 843 comprises a front pressing block 8431 and a front pressing driving cylinder 8432, wherein the front pressing block is installed at the power output end of the front pressing driving cylinder; The product is pressed down and positioned by the front downward pressing mechanism, and the pipeline is shaped by the upward action of the front lower shaping mechanism and the downward action of the front upper shaping mechanism.

[0034] In this embodiment, the lower surface of the first front shaping block has a groove matching the front section of the pipeline, and the lower surface of the second front shaping block has a groove matching the last section of the pipeline (here, the inclined section). The lower surface of the front lower pressing block has a groove matching the columnar protrusion of the sheet body.

[0035] The purpose of front shaping is that the shape of the pipeline of each product is inconsistent when the product is delivered, that is, the inclination of the end of the pipeline connected to the valve is different. In order to ensure the effect of plugging, the inclination of the end of the pipeline of each product and the horizontal degree of the front section of the pipeline connected to the sheet body must be the same. The working process of front shaping is: the front downward pressure drive cylinder drives the front downward pressure block to press the columnar protrusion of the product to position and compact the product, and then the front downward shaping drive cylinder drives the front triangular shaping block to rise, and the front upper shaping drive cylinder drives the first and second front shaping blocks to descend and cooperate with the front triangular shaping block to shape the pipeline into the required shape.

[0036] In this embodiment, Figure 16 to Figure 18 As shown, the rubber plug installation station 85 is provided with a lower positioning mechanism 851 and an upper positioning mechanism 852, the lower positioning mechanism 851 includes a lower positioning block 8511 and a lower positioning drive cylinder 8512, and the lower positioning block is installed at the power output end of the lower positioning drive cylinder; the upper positioning mechanism 852 includes an upper positioning block 8521 and an upper positioning drive cylinder 8522, and the upper positioning block is installed at the power output end of the upper positioning drive cylinder; A plug installing visual positioning device 821 and a plug installing device 822 are installed at the end of the plug installing robot arm 82. The plug installing device 822 includes a plug clamping air claw 8221 and a plug pushing mechanism 8222. The plug clamping air claw is driven by the plug installing robot arm to grab the plug 104. The plug pushing mechanism 8222 includes a pushing rod 82221 for pushing the plug and a plug pushing drive cylinder 82222. The pushing rod is installed at the power output end of the plug pushing drive cylinder.

[0037] In this embodiment, Figure 16 to Figure 18 As shown, the lower surface of the upper positioning block 8521 has a first pressing portion 85211 for pressing down the sheet body, a second pressing portion 85212 for pressing down the columnar protrusion, and a third pressing portion 85213 for pressing down the end section of the pipeline. The lower surface of the first pressing portion is a plane, and the lower surfaces of the second and third pressing portions are arc-shaped surfaces. The upper surface of the lower positioning block has a cavity matching the pipeline.

[0038] The working process of installing the plug is as follows: the lower positioning drive cylinder drives the lower positioning block to rise, and the upper positioning drive cylinder drives the upper positioning block to descend, and the product is positioned and pressed by the cooperation of the lower positioning block and the upper positioning block, and then the plug installing robot arm drives the plug clamping claw to the plug loading area. The plug loading process does not belong to the protection scope of the present invention, so the visual positioning of the plug grabbing and plug installing visual positioning device is not repeated, and then the plug installing robot arm drives the plug clamping claw to move the plug to the pipe mouth of the pipeline, and the plug pushing drive cylinder drives the push rod to plug the plug into the mouth of the pipeline, and the mouths of the two pipelines are plugged with plugs in the above manner.

[0039] In this embodiment, Figure 19 to Figure 21 As shown, the rear shaping station 86 is provided with a rear lower shaping mechanism 861, a rear upper shaping mechanism 862 and a rear pressing mechanism 863, the rear lower shaping mechanism 861 comprises a rear triangular shaping block 8611 and a rear lower shaping driving cylinder 8612, the rear triangular shaping block is located at the power output end of the rear lower shaping driving cylinder, and a horizontal arc groove is provided on the upper surface of the rear triangular shaping block; the rear upper shaping mechanism 862 comprises a first rear shaping block 8621 and a rear upper shaping driving cylinder 8622, the first rear shaping block is installed at the power output end of the rear upper shaping driving cylinder; like Figure 19 to Figure 21 As shown, the rear pressing mechanism 863 includes a rear pressing block 8631 and a rear pressing driving cylinder 8632, and the rear pressing block is installed at the power output end of the rear pressing driving cylinder; The upward force generated by the rear lower shaping mechanism cooperates with the downward force generated by the rear upper shaping mechanism to shape the pipeline and level the pipeline. In this embodiment, the lower surface of the rear lower pressing block has a groove that matches the columnar protrusion of the sheet body. The lower surface of the first rear shaping block has a horizontally arranged groove that matches the shape of the pipeline, and the groove has its own corner. The upper surface of the rear triangular shaping block is provided with a horizontally arranged groove that matches the shape of the pipeline, and the groove has its own corner. The working process of the rear shaping is similar to that of the front shaping, so it will not be repeated; the only purpose of the rear shaping is to change the product's pipeline from an inclined state to a horizontal state, because the product ultimately requires the pipeline to be in a horizontal and flat state.

[0040] In this embodiment, Figure 22 to Figure 23As shown, the nitrogen filling station 87 is provided with a lower support mechanism 871, an upper clamping mechanism 872 and a push-pin piercing mechanism 873, and the product is supported from below by the lower support mechanism; the upper clamping mechanism 872 includes an upper clamping block 8721, an oblique clamping drive cylinder 8722 and a clamping translation drive cylinder 8723, and the upper clamping block is installed at the power output end of the oblique clamping drive cylinder, and the upper clamping block is horizontally moved by the oblique clamping drive cylinder, and the upper clamping block is driven by the oblique clamping drive cylinder to obliquely translate and clamp the product pipeline onto the support mechanism; The push needle piercing mechanism 873 includes a tubular syringe 8731 and a piercing drive cylinder 8732. The tail end of the tubular syringe is externally connected to a nitrogen filling device. The piercing drive cylinder drives the tubular syringe to pierce the rubber plug at the end of the pipeline and flush nitrogen into the product. In this embodiment, the lower support mechanism 871 includes a lower support block 8711 and a lower support drive cylinder 8712. The lower support drive cylinder drives the lower support block to rise to support the product.

[0041] The working process of nitrogen filling is: The lower support driving cylinder drives the lower support block to rise to support the product, and at the same time the oblique pressing driving cylinder drives the upper pressing block to move horizontally into place, and then the oblique pressing driving cylinder drives the upper pressing block to move obliquely and horizontally to press the product pipeline onto the lower support block, and then the piercing driving cylinder drives the tubular syringe to pierce the rubber plug at the end of the pipeline and flush nitrogen into the product, and the external nitrogen can enter the heat sink through the tubular syringe.

[0042] The above descriptions are merely embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structures made using the contents of the specification and drawings of the present invention, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automatic depalletizing, stacking and nitrogen filling equipment for heat sinks, characterized by: The invention comprises an automatic product conveying line and a nitrogen filling machine (8), wherein the automatic product conveying line comprises an AGV loading device (1), a loading buffer line (2), a depalletizer (3), a plurality of valve extraction lines (4), a transport line (5), a palletizer (6) and a unloading buffer line (7) arranged in accordance with the product flow direction, wherein a plurality of stacked tools for placing products are defined as a product stack, wherein the product stack passes through the AGV loading device and enters the depalletizer (3) via the loading buffer line, the depalletizer (3) splits the product stack into product layers, the product layers enter the valve extraction line (4), the valves on the products are removed by a valve extraction robot arm (45), and then the products with the valves removed are moved to the nitrogen filling machine (8) by a loading and unloading robot arm (9); The nitrogen filling machine (8) comprises a rotatable turntable (81) and a rubber plug loading robot arm (82), wherein the turntable is provided with a discharge station (83), a front shaping station (84), a rubber plug loading station (85), a rear shaping station (86), a nitrogen filling station (87) and a material unloading station (88) in sequence, and the product after the valve is removed is moved to the discharge station (83) by a loading and unloading robot arm (9), and the rubber plug loading station is provided with a rubber plug loading robot arm (82), and then the product passes through the front shaping station (84), the rubber plug loading station (85), the rear shaping station (86), the nitrogen filling station (87) and the material unloading station (88) in sequence, and the nitrogen-filled product is moved to the conveying line (5) by the loading and unloading robot arm (9), and the product is stacked into product stacks by a palletizer (6) and finally flows into the material unloading buffer line (7).

2. The automatic depalletizing, stacking and nitrogen filling equipment for heat sinks according to claim 1 is characterized by: The depalletizer (3) and the palletizer (6) both comprise a conveyor line body (31) and a first stopping mechanism (32), a side-extending lifting device (33), a first centering mechanism (34) and a lifting mechanism (35) arranged on the conveyor line body, wherein the first stopping mechanism (32) is located at the front end of the conveyor line body, the side-extending lifting device (33) is provided with two groups, which are respectively located at two sides of the conveyor line body (31), and the first centering mechanism (34) and the lifting mechanism (35) are located below the conveyor line body (31); the product stack is stopped from the front by the first stopping mechanism (32), the product stack is center-clamped by the first centering mechanism (34), the product stack is lifted up by the lifting mechanism (35) to separate it from the conveyor line body, and the bottom layer and the remaining layers of the product stack are separated by the lifting devices (33) extending from both sides.

3. The automatic depalletizing, stacking and nitrogen filling equipment for heat sinks according to claim 2 is characterized by: The valve extraction line (4) comprises a movable line body (41) and a second stop mechanism (42), a second centering mechanism (43) and a downward pressing positioning mechanism (44) arranged on the movable line body, wherein the second stop mechanism (42) is located at the front end of the movable line body (41), and the second centering mechanism (43) is located below the movable line body (41); the second stop mechanism (42) stops the tooling where the product is located from the front, the second centering mechanism (43) centers and clamps the tooling, and the downward pressing positioning mechanism (44) presses the product onto the tooling.

4. The automatic depalletizing, stacking and nitrogen filling equipment for heat sinks according to claim 3 is characterized by: The side extension lifting device (33) comprises a side pressure plate (331), a side pressure translation driving cylinder (332) and a side pressure lifting driving cylinder (333); the side pressure plate (331) is located at the power output end of the side pressure translation driving cylinder (332); the side pressure plate is driven to translate along the Y direction by the side pressure translation driving cylinder (332); and the side pressure lifting driving cylinder (333) is driven to lift and lower the side pressure plate (331) along the Z direction; The first centering mechanism (34) and the second centering mechanism (43) both comprise a left centering plate (341), a right centering plate (342), a centering drive cylinder (343) and a connecting rod structure (344); the power output end of the centering drive cylinder is fixedly mounted on the left centering plate; the left centering plate (341) and the right centering plate (342) are connected via the connecting rod structure (344); the upper ends of the left centering plate (341) and the right centering plate (342) are extended to form a plurality of centering blocks (3411); the left centering plate is driven to translate in the Y direction by the centering drive cylinder (343), and the right centering plate (342) is driven to translate in the Y direction by the connecting rod structure (344) to achieve centering of the product stack.

5. The automatic depalletizing, stacking and nitrogen filling equipment for heat sinks according to claim 2 is characterized by: The lifting mechanism (35) comprises a lifting plate (351) and a lifting drive cylinder (352); the lifting plate (351) is mounted on a power output end of the lifting drive cylinder (352); and the lifting plate is driven to lift in the Z direction by the lifting drive cylinder (352); The first stopping mechanism (32) comprises a stopping block (321) and a stopping driving cylinder (322); the stopping block (321) is mounted on a power output end of the lifting driving cylinder (352); and the stopping block (321) is driven to lift in the Z direction by the stopping driving cylinder (322).

6. The automatic depalletizing, stacking and nitrogen filling equipment for heat sinks according to claim 1 is characterized by: A valve pulling device and a valve pulling visual positioning device (451) are installed at the end of the valve pulling robot arm (45), the valve pulling device comprising a valve positioning mechanism (452) and a valve clamping and pressing mechanism, the valve positioning mechanism (452) comprising a positioning bayonet (4521) and a valve positioning drive cylinder (4522), the positioning bayonet (4521) being installed at the power output end of the valve positioning drive cylinder (4522); the valve clamping and pressing mechanism comprising a valve clamping claw (453) and a clamping translation drive cylinder (454), the valve clamping claw (453) being installed at the power output end of the clamping translation drive cylinder (454).

7. The automatic depalletizing, stacking and nitrogen filling equipment for heat sinks according to claim 1 is characterized by: The front shaping station (84) is provided with a front lower shaping mechanism (841), a front upper shaping mechanism (842) and a front downward pressing mechanism (843); the front lower shaping mechanism (841) comprises a front triangular shaping block (8411) and a front lower shaping driving cylinder (8412); the front triangular shaping block is located at the power output end of the front lower shaping driving cylinder; an inclined arc groove is provided on the upper surface of the front triangular shaping block; the front upper shaping mechanism (842) comprises a first front shaping block (8421), a second front shaping block (8422) and a front upper shaping driving cylinder (8423); the first front shaping block and the second front shaping block are installed at the power output end of the front upper shaping driving cylinder; The front downward pressing mechanism (843) comprises a front downward pressing block (8431) and a front downward pressing driving cylinder (8432), wherein the front downward pressing block is mounted on the power output end of the front downward pressing driving cylinder; The product is pressed down and positioned by the front downward pressing mechanism, and the pipeline is shaped by the upward action of the front lower shaping mechanism and the downward action of the front upper shaping mechanism.

8. The automatic depalletizing, stacking and nitrogen filling equipment for heat sinks according to claim 1 is characterized by: The rubber plug installation station (85) is provided with a lower positioning mechanism (851) and an upper positioning mechanism (852), wherein the lower positioning mechanism (851) comprises a lower positioning block (8511) and a lower positioning drive cylinder (8512), wherein the lower positioning block is mounted on the power output end of the lower positioning drive cylinder; the upper positioning mechanism (852) comprises an upper positioning block (8521) and an upper positioning drive cylinder (8522), wherein the upper positioning block is mounted on the power output end of the upper positioning drive cylinder; The end of the plug loading robot arm (82) is installed with a plug loading visual positioning device (821) and a plug loading device (822); the plug loading device (822) comprises a plug clamping air claw (8221) and a plug pushing mechanism (8222); the plug loading robot arm drives the plug clamping air claw to grasp the plug (104); the plug pushing mechanism (8222) comprises a pushing rod (82221) for pushing the plug and a plug pushing drive cylinder (82222); the pushing rod is installed at the power output end of the plug pushing drive cylinder.

9. The automatic depalletizing, stacking and nitrogen filling equipment for heat sinks according to claim 1 is characterized by: The rear shaping station (86) is provided with a rear lower shaping mechanism (861), a rear upper shaping mechanism (862) and a rear downward pressing mechanism (863); the rear lower shaping mechanism (861) comprises a rear triangular shaping block (8611) and a rear lower shaping driving cylinder (8612); the rear triangular shaping block is located at the power output end of the rear lower shaping driving cylinder; the upper surface of the rear triangular shaping block is provided with a horizontal arc groove; the rear upper shaping mechanism (862) comprises a first rear shaping block (8621) and a rear upper shaping driving cylinder (8622); the first rear shaping block is installed at the power output end of the rear upper shaping driving cylinder; The rear downward pressing mechanism (863) comprises a rear downward pressing block (8631) and a rear downward pressing driving cylinder (8632), wherein the rear downward pressing block is mounted on the power output end of the rear downward pressing driving cylinder; The upward force generated by the rear lower shaping mechanism cooperates with the downward force generated by the rear upper shaping mechanism to shape the pipeline and level the pipeline.

10. The automatic depalletizing, stacking and nitrogen filling equipment for heat sinks according to claim 1 is characterized by: The nitrogen filling station (87) is provided with a lower support mechanism (871), an upper clamping mechanism (872) and a push-pin piercing mechanism (873), and the product is supported from below by the lower support mechanism; the upper clamping mechanism (872) comprises an upper clamping block (8721), an oblique clamping drive cylinder (8722) and a clamping translation drive cylinder (8723), the upper clamping block is installed at the power output end of the oblique clamping drive cylinder, the upper clamping block is horizontally moved by the oblique clamping drive cylinder, and the upper clamping block is driven by the oblique clamping drive cylinder to obliquely translate so as to clamp the product pipeline onto the support mechanism; The push-needle piercing mechanism (873) comprises a tubular syringe (8731) and a piercing drive cylinder (8732). The rear end of the tubular syringe is externally connected to a nitrogen filling device. The piercing drive cylinder drives the tubular syringe to pierce the rubber plug at the end of the pipeline and inject nitrogen into the product.

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