A sorting and stacking method and a sorting and stacking device

Abstract

The present invention discloses a sorting and stacking method and a sorting and stacking device, relating to the technical field of sorting and stacking. First, a sorting manipulator is used to sort a plurality of flat parts conveyed by a first conveyor line to a stacking and transporting mechanism; then the stacking and transporting mechanism is used to transport the stacked parts to a second conveyor line. If H < M / 3, then L MAX < M / 2 - N / 2. If H ≥ M / 3, then L MAX = M / 2 - N / 2 to prevent interference between the stacking and transporting mechanism and the frame. H is the width of the flat part in the second direction, M is the width of the frame in the second direction, L MAX is the maximum translation distance of the stacking and transporting mechanism in the second direction, and N is the width of the stacking table in the second direction. The sorting and stacking method provided by the present invention can realize the sorting and stacking of flat parts with different sizes, has good versatility, reduces costs, improves economic benefits, and is time-saving and labor-saving, improves the sorting and stacking efficiency, and reduces the breakage risk and the rejection rate.

Description

Technical Field

[0001] The present invention relates to the technical field of sorting and stacking, and in particular to a sorting and stacking method and a sorting and stacking device. Background Art

[0002] At present, the sorting and stacking of flat parts (especially ceramic tiles) are generally achieved by stacking machines or manual operation. However, the current stacking machines can only sort and stack flat parts of one size. If flat parts of different sizes are to be sorted and stacked, it is necessary to purchase stacking machines of different specifications or increase the size of the stacking machines, which occupies a large area and is not convenient for overall transportation of the stacking machine frame by containers. The cost is high and the economic benefit is low. Manual operation has high labor intensity, low sorting and stacking efficiency, high risk of damage, and high scrap rate.

[0003] In view of this, it is particularly important to design a sorting and stacking method and a sorting and stacking device with good versatility and high sorting and stacking efficiency, especially in sorting and stacking. Summary of the invention

[0004] The purpose of the present invention is to provide a sorting and stacking method, which can realize the sorting and stacking of flat pieces of different sizes, has good versatility, reduces costs, improves economic benefits, saves time and labor, improves sorting and stacking efficiency, and reduces the risk of breakage and scrap rate.

[0005] Another object of the present invention is to provide a sorting and stacking device that can realize the sorting and stacking of flat pieces of different sizes. The equipment has a compact structure, is easy to transport, has good versatility, reduces costs, improves economic benefits, saves time and effort, improves sorting and stacking efficiency, and reduces the risk of breakage and scrap rate.

[0006] The present invention is achieved by adopting the following technical solutions.

[0007] A sorting and stacking method is applied to a sorting and stacking device, wherein the sorting and stacking device comprises a frame, a first conveying line, a second conveying line, a sorting manipulator and two sets of stacking and conveying mechanisms installed on the frame, wherein the first conveying line is arranged in the middle of the frame, the second conveying line is arranged below the first conveying line in parallel and at intervals, the conveying directions of the first conveying line and the second conveying line are both in a first direction, and the two sets of stacking and conveying mechanisms are arranged on both sides of the second conveying line in a relative manner;

[0008] Sorting and stacking methods include:

[0009] Using a sorting robot to sort the plurality of flat pieces conveyed by the first conveying line to a stacking conveying mechanism until the flat pieces are stacked on a stacking platform of the stacking conveying mechanism to form stacked pieces, wherein the stacked pieces include a preset number of flat pieces;

[0010] Use a stacking and transporting mechanism to transport the stacked parts to the second conveyor line. Among them, if H < M / 3, then L MAX < M / 2 - N / 2. If H ≥ M / 3, then L MAX = M / 2 - N / 2 to prevent interference between the stacking and transporting mechanism and the frame. In the formula, H is the width of the flat part in the second direction, M is the width of the frame in the second direction, and L MAX is the maximum translation distance of the stacking and transporting mechanism in the second direction, and N is the width of the stacking table in the second direction. The second direction is perpendicular to the first direction.

[0011] Optionally, the frame includes two bottom beams arranged oppositely, and a让位 space is formed between the two bottom beams. The stacking and transporting mechanism includes a translation module and a lifting module. The stacking table is connected to the top of the lifting module. The lifting module is slidably installed on the translation module, and the translation module is slidably installed on the bottom beam;

[0012] The steps of using the stacking and transporting mechanism to transport the stacked parts to the second conveyor line include:

[0013] If H < M / 3, the lifting module is located above the让位 space. Use the lifting module to drive the stacked parts to descend along the third direction so that part of the lifting module extends out of the让位 space, and use the translation module to drive the stacked parts to approach the second conveyor line along the second direction until the stacked parts are transported to the second conveyor line. Among them, the third direction, the second direction, and the first direction are perpendicular to each other;

[0014] If H ≥ M / 3, the lifting module is located above the让位 space. Use the translation module to drive the stacked parts to approach the second conveyor line along the second direction so that the lifting module crosses the bottom beam, and then use the lifting module to drive the stacked parts to descend along the third direction so that part of the lifting module extends out of the让位 space, and use the translation module to drive the stacked parts to move along the second direction until the stacked parts are transported to the second conveyor line.

[0015] Optionally, the steps of using a sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to the stacking and transporting mechanism until a stacked part is formed on the stacking table of the stacking and transporting mechanism include:

[0016] If H < M / 2 - N / 2, the flat parts on the stacking table are spaced from the flat parts on the first conveyor line in the second direction; if H ≥ M / 2 - N / 2, the flat parts on the stacking table are in contact or partially overlap with the flat parts on the first conveyor line in the second direction, and the top surface of the flat parts on the stacking table is lower than the bottom surface of the flat parts on the first conveyor line.

[0017] Optionally, the steps of using a sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to the stacking and transporting mechanism until a stacked part is formed on the stacking table of the stacking and transporting mechanism include:

[0018] Every time the sorting robot stacks a flat piece onto the stacking platform, the stacking conveying mechanism is lowered by the thickness of a flat piece.

[0019] Optionally, using a sorting robot to sort the plurality of flat pieces conveyed by the first conveying line to the stacking conveying mechanism until the flat pieces are stacked on the stacking platform of the stacking conveying mechanism to form stacked pieces includes:

[0020] Two stacking members spaced apart in the second direction are stacked on the stacking platform.

[0021] Optionally, the step of transporting the stacked pieces to the second conveyor line by using the stacking transport mechanism includes:

[0022] Using the stacking conveying mechanism to convey the first stacked piece to the second conveying line;

[0023] Control the stacking conveying mechanism to retreat, and use the second conveying line to convey the first stacking piece forward;

[0024] The second stack is transported to the second conveyor line by the stack transport mechanism.

[0025] Optionally, there are multiple stacking and conveying mechanisms in each group, and the multiple stacking and conveying mechanisms in each group are sequentially spaced apart along the first direction;

[0026] The step of using a sorting robot to sort a plurality of flat pieces conveyed by the first conveying line to a stacking conveying mechanism until the flat pieces are stacked on a stacking platform of the stacking conveying mechanism to form stacked pieces includes:

[0027] The number of stack conveying mechanisms used for a single sorting stack is selected according to the length of the flat piece in the first direction.

[0028] Optionally, after the step of transporting the stacked pieces to the second conveying line by the stacking transport mechanism, the sorting and stacking method further comprises:

[0029] The stacking conveying mechanism is controlled to reset, and the stacking pieces are fed forward by the second conveying line.

[0030] Optionally, the translation speed of the stacking conveying mechanism in the second direction when feeding is smaller than the translation speed of the stacking conveying mechanism in the second direction when resetting.

[0031] A sorting and stacking device, used to implement the above-mentioned sorting and stacking method, the sorting and stacking device comprises:

[0032] frame;

[0033] A first conveying line is installed on the frame and arranged in the middle of the frame, and the first conveying line is used to sequentially convey the flat pieces along a first direction;

[0034] Sorting robot, installed on the frame;

[0035] The second conveyor line is installed on the frame and is arranged below the first conveyor line in parallel and at intervals;

[0036] Two sets of stacking and conveying mechanisms are installed on the frame and are arranged oppositely on both sides of the second conveying line;

[0037] The sorting robot is used to sort multiple flat pieces conveyed by the first conveyor line to the stacking conveying mechanism until they are stacked on the stacking platform of the stacking conveying mechanism to form stacked pieces, wherein the stacked pieces include a preset number of flat pieces; the stacking conveying mechanism is used to convey the stacked pieces to the second conveyor line.

[0038] Optionally, the frame includes two bottom beams arranged opposite to each other, and a makeshift space is formed between the two bottom beams. The stacking and conveying mechanism includes a translation module and a lifting module. The stacking platform is connected to the top of the lifting module. The lifting module can be slidably installed on the translation module. The translation module can be slidably installed on the bottom beams. The makeshift space is used to make way for the lifting module.

[0039] Optionally, the translation module includes a first driving member and a translation frame, the bottom beam is provided with a first guide rail extending along the second direction, the first driving member is connected to the translation frame, and the translation frame is slidably matched with the first guide rail.

[0040] Optionally, the lifting module includes a second driving member and a lifting frame, the translation frame is provided with a second guide rail extending along a third direction, the second driving member is installed on the translation frame and connected to the lifting frame, the stacking platform is connected to the top of the lifting frame, and the lifting frame slides with the second guide rail, wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0041] Optionally, the second conveyor line has a mover with multiple give-way slots, and the stacking platform includes multiple fork arms arranged in parallel and at intervals, and the position of each fork arm corresponds to the position of a give-way slot. The stacking conveying mechanism is used to drive the multiple fork arms to extend into the multiple give-way slots one by one to transfer the stacked pieces to the mover.

[0042] Optionally, the sorting robot includes a robot arm and a vacuum suction cup, the vacuum suction cup is installed on the robot arm, the vacuum suction cup is used to adsorb the flat piece, and the robot arm is used to drive the vacuum suction cup to move.

[0043] Optionally, each group of stacking and conveying mechanisms has a plurality of stacking and conveying mechanisms, and the plurality of stacking and conveying mechanisms in each group are sequentially spaced apart along the first direction.

[0044] Optionally, the sorting and stacking device further includes a detection mechanism and a waste rejection mechanism. The waste rejection mechanism is installed on the frame and is disposed at the end of the first conveyor line. The detection mechanism is electrically connected to both the sorting manipulator and the waste rejection mechanism. The detection mechanism is configured to control the sorting manipulator not to operate when detecting that the flat parts conveyed by the first conveyor line are defective products, and to control the waste rejection mechanism to reject them.

[0045] The sorting and stacking method and device provided by the present invention have the following beneficial effects:

[0046] The sorting and stacking method provided by the present invention first uses a sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to a stacking and transporting mechanism until a stacked part is formed on the stacking table of the stacking and transporting mechanism. Among them, the stacked part includes a preset number of flat parts; then uses the stacking and transporting mechanism to transport the stacked part to the second conveyor line. Among them, if H < M / 3, then L MAX < M / 2 - N / 2, if H ≥ M / 3, then L MAX = M / 2 - N / 2 to prevent the stacking and transporting mechanism from interfering with the frame. In the formula, H is the width of the flat part in the second direction, M is the width of the frame in the second direction, L MAX is the maximum translation distance of the stacking and transporting mechanism in the second direction, and N is the width of the stacking table in the second direction. The second direction is perpendicular to the first direction. Compared with the prior art, since the sorting and stacking method provided by the present invention adopts the method of adjusting the maximum translation distance of the stacking and transporting mechanism in the second direction according to the width of the flat part in the second direction, and uses two sets of stacking and transporting mechanisms to combine according to the flat parts to shorten the brick moving stroke, it can achieve efficient sorting and stacking of flat parts of different sizes, has good versatility, is more conducive to rapid sorting and stacking when the sorting and stacking device adopts a compact structure design for easy transportation, reduces costs, improves economic benefits, and is time-saving and labor-saving, improves the sorting and stacking efficiency, and reduces the risk of breakage and the waste product rate.

[0047] The sorting and stacking device provided by the present invention is used to implement the sorting and stacking method, and can perform efficient brick stacking and brick stack output through two sets of stacking and transporting mechanisms, can achieve sorting and stacking of flat parts of different sizes, has a compact device structure, is convenient for transportation, has good versatility, reduces costs, improves economic benefits, and is time-saving and labor-saving, improves the sorting and stacking efficiency, and reduces the risk of breakage and the waste product rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0049] Figure 1 Schematic structural diagram of the sorting and stacking device provided by the first embodiment of the present invention;

[0050] Figure 2 Schematic structural diagram of the stacking and transporting mechanism in the sorting and stacking device provided by the first embodiment of the present invention;

[0051] Figure 3 Schematic structural diagram of the second conveyor line in the sorting and stacking device provided by the first embodiment of the present invention;

[0052] Figure 4 Schematic structural diagram of the sorting manipulator in the sorting and stacking device provided by the first embodiment of the present invention;

[0053] Figure 5 Schematic structural diagram of the first conveyor line in the sorting and stacking device provided by the first embodiment of the present invention;

[0054] Figure 6 Schematic structural diagram of the waste removal mechanism in the sorting and stacking device provided by the first embodiment of the present invention;

[0055] Figure 7 Schematic structural diagram of the sorting and stacking device provided by the first embodiment of the present invention when sorting and stacking flat parts with a length in the first direction ≤ 600 mm;

[0056] Figure 8 Schematic structural diagram of the sorting and stacking device provided by the first embodiment of the present invention when sorting and stacking flat parts with a length in the first direction > 600 mm and ≤ 1200 mm;

[0057] Fig. 9 Schematic structural diagram of the sorting and stacking device provided by the first embodiment of the present invention when sorting and stacking flat parts with a length in the first direction > 1200 mm and ≤ 1800 mm;

[0058] Fig.10 Schematic diagram of the first action of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 when H < M / 3;

[0059] Fig.11 Schematic diagram of the second action of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 when H < M / 3;

[0060] Fig.12 Schematic diagram of the third action of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 when H < M / 3;

[0061] Fig.13The first action schematic diagram of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 at M / 3 ≤ H < M / 2 - N / 2;

[0062] Fig.14 The second action schematic diagram of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 at M / 3 ≤ H < M / 2 - N / 2;

[0063] Fig.15 The third action schematic diagram of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 at M / 3 ≤ H < M / 2 - N / 2;

[0064] Fig.16 The fourth action schematic diagram of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 at M / 3 ≤ H < M / 2 - N / 2;

[0065] Fig.17 The first action schematic diagram of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 at H ≥ M / 2 - N / 2;

[0066] Fig.18 The second action schematic diagram of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 at H ≥ M / 2 - N / 2;

[0067] Fig.19 The third action schematic diagram of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 at H ≥ M / 2 - N / 2;

[0068] Fig. 20 The fourth action schematic diagram of the sorting and stacking device provided by the first embodiment of the present invention when implementing step S120 at H ≥ M / 2 - N / 2;

[0069] Fig.21 The first action schematic diagram of the sorting and stacking device provided by the second embodiment of the present invention when implementing step S120;

[0070] Fig. 22 The second action schematic diagram of the sorting and stacking device provided by the second embodiment of the present invention when implementing step S120;

[0071] Fig.23 The third action schematic diagram of the sorting and stacking device provided by the second embodiment of the present invention when implementing step S120;

[0072] Fig.24 The fourth action schematic diagram of the sorting and stacking device provided by the second embodiment of the present invention when implementing step S120;

[0073] Fig.25 This is a schematic diagram of the fifth action of the sorting and stacking device provided in the second embodiment of the present invention when implementing step S120.

[0074] Icons: 100-sorting and stacking device; 110-frame; 111-bottom beam; 112-clearance space; 113-supporting feet; 114-first guide rail; 120-first conveyor line; 121-width adjustment module; 122-belt transmission module; 130-sorting manipulator; 131-mechanical arm; 132-vacuum suction cup; 140-stacking and conveying mechanism; 141-translation module; 1411-translation frame; 1412-first driving member; 1413-second guide rail ;1414-bottom plate;1415-reinforcement plate;1416-back plate;1417-notch;142-lifting module;1421-second driving member;1422-lifting frame;143-stacking platform;1431-fork arm;150-second conveyor line;151-mover;1511-gap groove;160-third conveyor line;170-waste rejection mechanism;171-lifting module;172-active roller module;173-driven roller module;200-flat member. DETAILED DESCRIPTION

[0075] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0076] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0077] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0078] In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", "horizontal", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0079] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0080] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments can be combined with each other.

[0081] First embodiment

[0082] Please refer to Figures 1 to 3 In the first aspect, the embodiment of the present invention provides a sorting and stacking device 100 for sorting and stacking flat pieces 200. It can realize the sorting and stacking of flat pieces 200 of different sizes, and the device has a compact structure, is easy to transport, has a short brick moving stroke, good versatility, reduces costs, improves economic benefits, saves time and labor, improves sorting and stacking efficiency, and reduces the risk of damage and scrap rate.

[0083] The sorting and stacking device 100 includes a frame 110, a first conveying line 120, a second conveying line 150, a sorting robot 130 and two sets of stacking and conveying mechanisms 140 installed on the frame 110. The first conveying line 120 is arranged in the middle of the frame 110, and the first conveying line 120 is used to sequentially convey the flat pieces 200 along the first direction. The sorting robot 130 is used to sort the plurality of flat pieces 200 conveyed by the first conveying line 120 to the stacking and conveying mechanism 140 until they are stacked on the stacking platform 143 of the stacking and conveying mechanism 140 to form stacked pieces, and the stacking and conveying mechanism 140 is used to convey the stacked pieces to the second conveying line 150, wherein the stacked pieces include a preset number of flat pieces 200, that is, the preset number of flat pieces 200 are neatly stacked to form stacked pieces. Specifically, two groups of stacking and conveying mechanisms 140 are relatively arranged on both sides of the second conveyor line 150, and the sorting robot 130 is used to sort a part of the flat pieces 200 to the first group of stacking and conveying mechanisms 140, and is also used to sort another part of the flat pieces 200 to the second group of stacking and conveying mechanisms 140. The sorting robot 130 and the two groups of stacking and conveying mechanisms 140 work together to sort and stack multiple flat pieces 200 on the first conveyor line 120 at the same time, which can shorten the stacking and conveying journey, effectively improve the sorting and stacking efficiency, and improve economic benefits. The second conveyor line 150 is arranged below the first conveyor line 120 in parallel and at intervals. The conveying direction of the second conveyor line 150 is the same as the conveying direction of the first conveyor line 120, and both are in the first direction. The second conveyor line 150 is used to output the stacked pieces to the outside for the convenience of the next process.

[0084] In this embodiment, the second conveyor line 150 is disposed directly below the first conveyor line 120 so that the brick moving strokes of the two sets of stacking and conveying mechanisms 140 are the same, which is convenient for installation and regulation.

[0085] Further, the frame 110 includes two bottom beams 111 arranged opposite to each other, and a clearance space 112 is formed between the two bottom beams 111. The clearance space 112 is used to make way for the stacking conveying mechanism 140 to prevent the stacking conveying mechanism 140 from interfering with the frame 110 during the process of conveying the stacked pieces to the second conveying line 150. Specifically, the bottom beam 111 is extended along a first direction, and the two bottom beams 111 are arranged in parallel and spaced apart along a second direction, and the first direction is perpendicular to the second direction.

[0086] The stacking and conveying mechanism 140 includes a translation module 141 and a lifting module 142. The stacking platform 143 is connected to the top of the lifting module 142, and the lifting module 142 is slidably mounted on the translation module 141. The lifting module 142 can drive the stacking platform 143 to rise or fall along the third direction, so as to synchronously drive the stacking parts to rise or fall along the third direction. The translation module 141 is slidably mounted on the bottom beam 111, and the translation module 141 can drive the stacking platform 143 to translate along the second direction through the lifting module 142, so as to synchronously drive the stacking parts to translate along the second direction. Specifically, the first direction, the second direction and the third direction are perpendicular to each other, and the translation module 141 and the lifting module 142 work together so that the stacking parts can move to any position in a plane perpendicular to the first direction, thereby ensuring the conveying accuracy of the stacking parts. In the present embodiment, the third direction is a vertical direction, and the first direction and the second direction are both on a horizontal plane.

[0087] It should be noted that, in the process of the stacking conveying mechanism 140 conveying the stacking pieces to the second conveyor line 150, the lifting module 142 is lifted and lowered along the third direction, and the translation module 141 is translated along the second direction. In this process, since the lifting module 142 needs to descend to a height lower than the bottom beam 111 in order to convey the stacking pieces on the stacking platform 143 to the second conveyor line 150, the bottom beam 111 may interfere with the lifting module 142. Specifically, when the size of the flat piece 200 is small, the lifting module 142 is located above the making way space 112, and the lifting module 142 will partially extend out of the making way space 112 during the descending process. At this time, the bottom beam 111 will not interfere with the movement of the lifting module 142; when the size of the flat piece 200 is large, the lifting module 142 is located above outside the making way space 112. At this time, it is necessary to control the lifting module 142 to first cross the bottom beam 111 to reach the top of the making way space 112, and then descend and partially extend out of the making way space 112 to avoid the bottom beam 111 interfering with the movement of the lifting module 142.

[0088] In this embodiment, the sorting and stacking device 100 is placed on the ground, and a supporting foot 113 is provided at the bottom of the bottom beam 111. One end of the supporting foot 113 is against the ground, and the other end is against the bottom beam 111. The supporting foot 113 is used to prop up the bottom beam 111 so that there is a certain gap between the bottom beam 111 and the ground. The gap can ensure that the lifting module 142 will not contact the ground during the descent, so as to avoid the ground interfering with the movement of the lifting module 142.

[0089] The translation module 141 includes a first driving member 1412 and a translation frame 1411. The bottom beam 111 is provided with a first guide rail 114 extending along the second direction, the first driving member 1412 is connected to the translation frame 1411, the translation frame 1411 and the first guide rail 114 are slidably matched, the first guide rail 114 can guide and limit the translation frame 1411, and the translation frame 1411 can slide relative to the first guide rail 114 under the action of the first driving member 1412 to achieve a stable translation function.

[0090] In this embodiment, there are two first guide rails 114, and the first driving member 1412 drives the translation frame 1411 to move by meshing a linear gear rod with a gear, and the first driving member 1412 is arranged between the two first guide rails 114, which is more conducive to the stable linear translation of the translation frame 1411 and reduces the possibility of the translation frame 1411 mounted on the bottom beam 111 being blocked during the linear translation process. However, this is not limited to this, and in other embodiments, the translation frame 1411 can be directly driven to move by a cylinder, an electric cylinder, or a hydraulic cylinder, and the driving method of the first driving member 1412 is not specifically limited.

[0091] The translation frame 1411 includes a bottom plate 1414, a back plate 1416 and two reinforcing plates 1415. The two reinforcing plates 1415 are arranged on both sides of the bottom plate 1414 and are connected to the bottom plate 1414. The bottom plate 1414 is slidably matched with the two first guide rails 114 at the same time. The back plate 1416 is connected between the two reinforcing plates 1415. The back plate 1416, the reinforcing plates 1415 and the bottom plate 1414 are perpendicular to each other. The reinforcing plates 1415 are used to improve the connection strength between the bottom plate 1414 and the back plate 1416, and can effectively improve the support stability and load-bearing capacity of the translation frame 1411. Furthermore, the bottom plate 1414 is provided with a notch 1417 for the lifting module 142 to descend to pass through the clearance space 112. When the size of the flat piece 200 is large, the lifting module 142 is located above the clearance space 112. At this time, it is necessary to control the lifting module 142 to first pass over the bottom beam 111 to reach the top of the clearance space 112, and then descend and partially extend out of the clearance space 112 through the notch 1417 on the bottom plate 1414 to avoid the bottom beam 111 from interfering with the movement of the lifting module 142. This realizes the effective use of the equipment space, reduces the equipment volume, and facilitates the overall transportation of the equipment.

[0092] The lifting module 142 includes a second driving member 1421 and a lifting frame 1422. The translation frame 1411 is provided with a second guide rail 1413 extending along the third direction, the second guide rail 1413 is provided on the back plate 1416, the second driving member 1421 is installed on the back plate 1416 of the translation frame 1411, and is connected to the lifting frame 1422, the stacking platform 143 is connected to the top of the lifting frame 1422, the lifting frame 1422 is slidably matched with the second guide rail 1413, the second guide rail 1413 can guide and limit the lifting frame 1422, and the lifting frame 1422 can slide relative to the second guide rail 1413 under the action of the second driving member 1421 to achieve a stable lifting function.

[0093] Preferably, the second conveyor line 150 has a mover 151, and the second conveyor line 150 can drive the mover 151 to move along the first direction by belt transmission. The mover 151 is used to carry the stacked pieces, and the mover 151 is provided with a plurality of clearance grooves 1511. Further, the stacking platform 143 includes a plurality of parallel and spaced fork arms 1431, and the plurality of fork arms 1431 are used to carry the stacked pieces together, and the position of each fork arm 1431 corresponds to the position of a clearance groove 1511. The stacking conveying mechanism 140 is used to drive the plurality of fork arms 1431 to extend into the plurality of clearance grooves 1511 one by one, so as to transfer the stacked pieces to the mover 151, thereby realizing the stacking piece conveying function.

[0094] Specifically, in the process of the stacking conveying mechanism 140 conveying the stacking pieces to the second conveyor line 150, the translation module 141 and the lifting module 142 are first used to drive the stacking platform 143 to move, so that the multiple fork arms 1431 of the stacking platform 143 extend into the multiple make way slots 1511 of the mover 151 one by one. At this time, the top surface height of the fork arms 1431 is higher than the top surface height of the mover 151, and the stacking pieces are placed on the multiple fork arms 1431; then the lifting module 142 is used to drive the stacking platform 143 to descend, so that the top surface height of the fork arms 1431 is lower than the top surface height of the mover 151. During this process, the mover 151 takes over the stacking pieces from the fork arms 1431, and the stacking pieces are placed on the mover 151, completing the transfer of the stacking pieces; then the translation module 141 and the lifting module 142 are used to drive the stacking platform 143 to reset, so as to facilitate the conveyance of the next stacking piece.

[0095] Please refer to Figure 4The sorting robot 130 includes a robot arm 131 and a vacuum suction cup 132. The vacuum suction cup 132 is installed on the robot arm 131, and the vacuum suction cup 132 is used to adsorb the flat piece 200, and the robot arm 131 is used to drive the vacuum suction cup 132 to move. The robot arm 131 and the vacuum suction cup 132 work together to first suck up the flat piece 200 on the first conveyor line 120, and then drive the flat piece 200 to move above the stacking platform 143 of the stacking and conveying mechanism 140, and then place the flat piece 200 on the stacking platform 143. Specifically, the robot arm 131 has both a translation function along the second direction and a lifting function along the third direction, so that the flat piece 200 can be moved to any position in a plane perpendicular to the first direction, thereby ensuring the transportation accuracy of the flat piece 200.

[0096] It should be noted that there are multiple sorting robots 130, which are divided into two groups. In each group, multiple sorting robots 130 are arranged in sequence along the first direction. Each group of sorting robots 130 can sort flat pieces 200 to the first group of stacking and conveying mechanisms 140, and can also sort flat pieces 200 to the second group of stacking and conveying mechanisms 140, so as to further improve the sorting efficiency. Accordingly, there are multiple stacking and conveying mechanisms 140 in each group, and multiple stacking and conveying mechanisms 140 in each group are arranged in sequence along the first direction. On the one hand, for the flat pieces 200 of smaller size, each sorting robot 130 can sort one flat piece 200 to one stacking and conveying mechanism 140 (one sorting robot 130 sucks up one flat piece 200 and conveys it to one stacking and conveying mechanism 140), and each stacking and conveying mechanism 140 is used to carry one stacking piece. Multiple sorting robots 130 and multiple stacking and conveying mechanisms 140 work together to simultaneously realize the sorting and stacking functions of multiple stacking pieces, thereby greatly improving the sorting and stacking efficiency. On the other hand, for larger flat pieces 200, multiple sorting robots 130 jointly sort one flat piece 200 to multiple stacking and conveying mechanisms 140 (multiple sorting robots 130 simultaneously suck up one flat piece 200 and convey it to multiple stacking and conveying mechanisms 140), and multiple stacking and conveying mechanisms 140 are jointly used to carry one stacking piece. Multiple sorting robots 130 and multiple stacking and conveying mechanisms 140 work together to ensure the stability and safety of sorting and stacking of large-sized flat pieces 200.

[0097] Please refer to Figure 5The first conveyor line 120 includes a width adjustment module 121 and two belt drive modules 122. The two belt drive modules 122 are arranged in parallel and spaced apart, and are both connected to the width adjustment module 121. The flat plate 200 is placed on the two belt drive modules 122 at the same time, and the two belt drive modules 122 move synchronously to drive the flat plate 200 to be fed forward. The width adjustment module 121 is used to drive the two belt drive modules 122 to move closer to or away from each other to adjust the spacing between the two belt drive modules 122, so that the two belt drive modules 122 can convey flat plates 200 of different sizes, thereby improving the versatility of the sorting and stacking device 100.

[0098] Please refer to Figure 1 and Figure 6 Preferably, the sorting and stacking device 100 also includes a third conveyor line 160, which is arranged at the end of the second conveyor line 150. The conveying direction of the third conveyor line 160 is the same as the conveying direction of the second conveyor line 150. The second conveyor line 150 is used to convey the stacked pieces to the third conveyor line 160 through the mover 151, and the third conveyor line 160 is used to convey the stacked pieces to the next process.

[0099] In this embodiment, the conveying principle of the third conveying line 160 is similar to the conveying principle of the first conveying line 120 , and will not be described in detail herein.

[0100] Preferably, the sorting and stacking device 100 also includes a detection mechanism (not shown) and a waste rejection mechanism 170. The waste rejection mechanism 170 is mounted on the frame 110 and is disposed at the end of the first conveyor line 120. The detection mechanism is electrically connected to the sorting robot 130 and the waste rejection mechanism 170 at the same time. The detection mechanism is used to control the sorting robot 130 not to move when it detects that the flat plate 200 conveyed by the first conveyor line 120 is waste, so as to prevent the sorting robot 130 from sorting and stacking the waste, and control the waste rejection mechanism 170 to reject it. Specifically, the waste rejection direction of the waste rejection mechanism 170 is the second direction, that is, the waste rejection direction of the waste rejection mechanism 170 is perpendicular to the conveying direction of the first conveyor line 120, so as to avoid mixing of good products and waste products.

[0101] Furthermore, the waste rejection mechanism 170 includes a lifting module 171, an active roller module 172 and a driven roller module 173. The active roller module 172 is disposed between the two belt drive modules 122 of the first conveyor line 120 and is connected to the lifting module 171. The lifting module 171 is used to drive the active roller module 172 to rise, so as to lift the flat plate 200 on the first conveyor line 120 through the active roller module 172, so that the flat plate 200 is separated from the first conveyor line 120. The driven roller module 173 is disposed on one side of the first conveyor line 120. The active roller module 172 is used to drive the flat plate 200 to move along the second direction, so that the flat plate 200 moves to the driven roller module 173, thereby realizing the waste rejection function. Specifically, the active roller module 172 and the driven roller module 173 each include at least one roller, the axial direction of the roller is the first direction, and if there are multiple rollers, the multiple rollers are arranged in parallel and spaced apart along the second direction.

[0102] Please refer to Figures 7 to 20 In a second aspect, an embodiment of the present invention provides a sorting and stacking method, which is applied to the above-mentioned sorting and stacking device 100. The sorting and stacking method comprises the following steps:

[0103] Step S110 : using the sorting robot 130 to sort the plurality of flat pieces 200 conveyed by the first conveying line 120 to the stacking conveying mechanism 140 , until they are stacked on the stacking platform 143 of the stacking conveying mechanism 140 to form a stack, wherein the stack includes a preset number of flat pieces 200 .

[0104] It should be noted that in step S110, the sorting robot 130 is used to sort the plurality of flat pieces 200 in sequence onto the stacking platform 143 of the stacking and conveying mechanism 140, so that the plurality of flat pieces 200 are neatly stacked and form a stack, until the number of the stack of flat pieces 200 reaches a preset number, at which time the stack of flat pieces 200 is called a stacking piece.

[0105] Furthermore, whenever the sorting robot 130 stacks a flat piece 200 onto the stacking platform 143, the lifting module 142 in the stacking conveying mechanism 140 is lowered by the thickness of a flat piece 200, that is, in step S110, the top surface height of the flat piece 200 on the stacking platform 143 remains unchanged. When the sorting robot 130 completes the sorting and forms a stack, the total height of the lifting module 142 is equal to the thickness of the stack, that is, equal to the sum of the thicknesses of a preset number of flat pieces 200. Specifically, the total height of the lifting module 142 (the thickness of the stack) is less than the distance between the lifting module 142 and the bottom beam 111 in the third direction, so as to prevent the lifting module 142 from interfering with the bottom beam 111 during the sorting and descending process.

[0106] It should be noted that if H < M / 2 - N / 2, the flat parts 200 on the stacking table 143 and the flat parts 200 on the first conveyor line 120 are arranged at intervals in the second direction, and the interval distance is 1 mm - 40 mm. By setting a smaller interval distance, it can be ensured that the flat parts 200 on the stacking table 143 and the flat parts 200 on the first conveyor line 120 will not interfere with each other when the size of the flat parts 200 is small. At the same time, the stroke of the stacking and transporting mechanism 140 in the second direction can be minimized, which is beneficial to improving the stacking and moving speed and the production line efficiency. At this time, the top surface height of the flat parts 200 on the stacking table 143 can be greater than, equal to, or less than the bottom surface height of the flat parts 200 on the first conveyor line 120, and the flat parts 200 on the stacking table 143 and the flat parts 200 on the first conveyor line 120 do not interfere with each other. If H ≥ M / 2 - N / 2, the flat parts 200 on the stacking table 143 and the flat parts 200 on the first conveyor line 120 are in contact or partially overlap in the second direction. At this time, the top surface height of the flat parts 200 on the stacking table 143 is less than the bottom surface height of the flat parts 200 on the first conveyor line 120, that is, the top surface of the flat parts 200 on the stacking table 143 is lower than the bottom surface of the flat parts 200 on the first conveyor line 120, so as to avoid interference between the flat parts 200 on the stacking table 143 and the flat parts 200 on the first conveyor line 120. In the formula, H is the width of the flat part 200 in the second direction, M is the width of the frame 110 in the second direction, and N is the width of the stacking table 143 in the second direction.

[0107] Furthermore, the number of each group of stacking and transporting mechanisms 140 is multiple, and the number of stacking and transporting mechanisms 140 used for single sorting and stacking is selected according to the length of the flat part 200 in the first direction. Correspondingly, the number of each group of sorting manipulators 130 is multiple, and the number of sorting manipulators 130 used for single sorting and stacking is selected according to the length of the flat part 200 in the first direction. In this embodiment, the number of each group of sorting manipulators 130 and each group of stacking and transporting mechanisms 140 is six. If the size of the flat part 200 is small (the length of the flat part 200 in the first direction ≤ 600 mm), the sorting manipulator 130 is used to suck up the flat part 200 and send it to one stacking and transporting mechanism 140. If the size of the flat part 200 is large (600 mm < the length of the flat part 200 in the first direction ≤ 1200 mm), the sorting manipulator 130 is used to suck up the flat part 200 and send it to two stacking and transporting mechanisms 140. If the size of the flat part 200 is even larger (1200 mm < the length of the flat part 200 in the first direction ≤ 1800 mm), the sorting manipulator 130 is used to suck up the flat part 200 and send it to three stacking and transporting mechanisms 140.

[0108] Step S120: Use the stacking and transporting mechanism 140 to transport the stacked parts to the second conveyor line 150. Among them, if H < M / 3, then L MAX < M / 2 - N / 2. If H ≥ M / 3, then L MAX = M / 2 - N / 2 to prevent the stacking and transporting mechanism 140 from interfering with the frame 110. In the formula, H is the width of the flat part 200 in the second direction, M is the width of the frame 110 in the second direction, and L MAX is the maximum translation distance of the stacking and transporting mechanism 140 in the second direction, and N is the width of the stacking table 143 in the second direction. The second direction is perpendicular to the first direction.

[0109] Furthermore, the range of the width M of the frame 110 in the second direction is 2000mm - 2400mm; the range of the width N of the stacking table 143 in the second direction is 400mm - 700mm. The frame 110 realizes a compact design within the above range, which is convenient for equipment transportation. Example: M is 2220mm and N is 560mm; if H < M / 3, that is, H < 740mm, then L MAX < M / 2 - N / 2, that is, L MAX < 830mm; if H ≥ M / 3, that is, H ≥ 740mm, then L MAX = M / 2 - N / 2, that is, L MAX = 830mm.

[0110] It should be noted that in step S120, if H < M / 3, then L MAX < M / 2 - N / 2. If H ≥ M / 3, then L MAX = M / 2 - N / 2 to limit the maximum translation distance of the translation module 141 of the stacking and transporting mechanism 140 in the second direction, and avoid the bottom beam 111 of the frame 110 from interfering with the movement of the lifting module 142 (driven by the translation module 141).

[0111] Further, if H < M / 3, the lifting module 142 is located above the让位 space 112. At this time, the bottom beam 111 will not interfere with the movement of the lifting module 142. Therefore, the lifting module 142 is used to drive the stacking member to descend along the third direction, so that the lifting module 142 partially extends out of the让位 space 112, and the translation module 141 is used to drive the stacking member to approach the second conveyor line 150 along the second direction until the stacking member is transported to the second conveyor line 150. Specifically, during the transportation process, first, the lifting module 142 is used to drive the stacking member to descend along the third direction, and the translation module 141 remains stationary, so that the lifting module 142 partially extends out of the让位 space 112, and the stacking member is offset from the first conveyor line 120 in the third direction to avoid interference from the first conveyor line 120 on the movement of the stacking member; subsequently, the lifting module 142 and the translation module 141 are used to drive the stacking member to move simultaneously or successively (the order of succession is not limited) (the lifting module 142 drives the stacking member to descend along the third direction, and the translation module 141 drives the stacking member to translate along the second direction) until the stacking member is sent to the second conveyor line 150.

[0112] Exemplarily: If the width H of the flat part 200 in the second direction is ≤ 300 mm, the flat part 200 has a small size, and the maximum translation distance L of the translation module 141 of the stacking and transporting mechanism 140 in the second direction MAX ranges from 380 mm to 630 mm. At this time, the flat parts 200 on the stacking table 143 are spaced apart from the flat parts 200 on the first conveyor line 120 in the second direction, and the spacing distance ranges from 80 mm to 330 mm (L MAX = H + spacing distance), to prevent interference. At the same time, on the premise of preventing interference, the spacing distance is minimized as much as possible, which can shorten the translation distance of the stacking and transporting mechanism 140 in the second direction, thereby improving the stacking and conveying efficiency. If 300 mm < the width H of the flat part 200 in the second direction ≤ 600 mm, the flat part 200 has a large size, and the flat parts 200 on the stacking table 143 are spaced apart from the flat parts 200 on the first conveyor line 120 in the second direction, and the spacing distance ranges from 1 mm to 40 mm. At this time, the maximum translation distance L of the translation module 141 of the stacking and transporting mechanism 140 in the second direction MAX = H + spacing distance. The smaller spacing distance can effectively shorten the translation stroke of the stacking and transporting mechanism 140, thereby improving the stacking and conveying efficiency.

[0113] If H ≥ M / 3, the lifting module 142 is located above the让位 space 112. At this time, the bottom beam 111 may interfere with the movement of the lifting module 142. Therefore, the translation module 141 is used to drive the stacking member to approach the second conveyor line 150 along the second direction, so that the lifting module 142 can cross over the bottom beam 111. Then, the lifting module 142 is used to drive the stacking member to descend along the third direction, so that the lifting module 142 partially extends out of the让位 space 112, and the translation module 141 is used to drive the stacking member to move along the second direction until the stacking member is transported to the second conveyor line 150.

[0114] Specifically, on the premise of H ≥ M / 3, it is divided into two cases. In the first case, if M / 3 ≤ H < M / 2 - N / 2, the stacking member located on the stacking platform 143 and the flat member 200 located on the first conveyor line 120 are spaced apart in the second direction, and the spacing distance is 1 mm - 40 mm. At this time, the size of the stacking member is small, and its spacing from the first conveyor line 120 in the second direction is large. Therefore, during the transportation process, first, the translation module 141 is used to drive the stacking member to approach the second conveyor line 150 along the second direction, so that the lifting module 142 can cross over the bottom beam 111. During this process, the stacking member gradually approaches the first conveyor line 120, but always maintains a spaced-apart state from the first conveyor line 120 and will not interfere with the first conveyor line 120. Then, the lifting module 142 is used to drive the stacking member to descend along the third direction, so that the lifting module 142 partially extends out of the让位 space 112, and the stacking member is offset from the first conveyor line 120 in the third direction to avoid the first conveyor line 120 interfering with the movement of the stacking member. Then, the lifting module 142 and the translation module 141 are used to drive the stacking member to move (the lifting module 142 drives the stacking member to descend along the third direction, and the translation module 141 drives the stacking member to translate along the second direction) simultaneously or successively (the order of succession is not limited) until the stacking member is sent to the second conveyor line 150.

[0115] In the second case, if H≥M / 2-N / 2, the flat plate part 200 located on the stacking platform 143 abuts or partially overlaps with the flat plate part 200 located on the first conveyor line 120 in the second direction. At this time, the size of the stacking part is larger, and the distance between it and the first conveyor line 120 in the second direction is smaller. Therefore, during the transportation process, the lifting module 142 is first used to drive the stacking parts to descend to a preset height along the third direction so that the lifting module 142 is maintained above the bottom beam 111. During this process, the stacking parts descend to a height lower than the first conveyor line 120, so that the stacking parts and the first conveyor line 120 are staggered in the third direction to avoid the first conveyor line 120 interfering with the movement of the stacking parts; then the translation module 141 is used to drive the stacking parts to approach the second conveyor line 150 along the second direction so that the lifting module 142 passes over the bottom beam 111. During this process, the stacking parts move to the bottom of the first conveyor line 120 and are spaced apart from the first conveyor line 120; then the lifting module 142 and the translation module 141 are used simultaneously or successively (the order of precedence is not limited) to drive the stacking parts to move (the lifting module 142 drives the stacking parts to descend along the third direction, and the translation module 141 drives the stacking parts to translate along the second direction) until the stacking parts are delivered to the second conveyor line 150.

[0116] For example: when the size H of the flat piece 200 (such as a tile) is less than 800 mm, the stacking piece on the stacking platform 143 and the flat piece 200 on the first conveyor line 120 are spaced apart in the second direction; when the size H of the flat piece 200 (such as a tile) is greater than 900 mm, the flat piece 200 on the stacking platform 143 and the flat piece 200 on the first conveyor line 120 abut or partially overlap in the second direction; the main reason for the above phenomenon is that the total output per unit time of the kiln for firing the flat piece 200 (such as a tile) remains unchanged (calculated based on the area occupied by the tile), and tiles of different sizes and models are produced. Due to different cutting sizes, when small tiles of sizes H of less than 800 mm are conveyed through the first conveyor line 120, the intervals between adjacent tiles are small and relatively dense, and when the tiles on the first conveyor line 120 are alternately transferred to the stacking platform 143 by two sorting manipulators 130 for tile stacking, the intervals between adjacent tiles are small when the small tiles are conveyed through the first conveyor line 120. If the interval is small, it may happen that when one sorting robot 130 picks up tiles from the first conveyor line 120 and another sorting robot 130 transfers tiles to the stacking table 143, the two may interfere with each other when they rise and fall. Therefore, it is necessary to ensure that there is a gap between adjacent tiles when tiles are accommodated on the first conveyor line 120 and the stacking table 143 at the same time; and for tiles with a larger size H (such as 900-1200mm and above), due to the larger size of the tiles, the interval between the tiles is large when the first conveyor line 120 transports them. When the tiles on the first conveyor line 120 are alternately transferred to the stacking table 143 for tile stacking by two sorting robots 130, there is enough time interval so that the two processes of rising and falling will not occur at the same time, so there is no need to consider the interference problem, and there is no need to ensure that there is a gap between adjacent tiles when tiles are accommodated on the first conveyor line 120 and the stacking table 143 at the same time. That is, the tiles on the stacking table 143 and the tiles on the first conveyor line 120 can abut or partially overlap in the second direction.

[0117] It is worth noting that the multiple stacking conveying mechanisms 140 in each group can simultaneously convey multiple stacking pieces to the second conveying line 150, or can successively convey multiple stacking pieces to the second conveying line 150. For the two stacking conveying mechanisms 140 in the two groups that are in corresponding positions, it is necessary to first use one stacking conveying mechanism 140 to convey one stacking piece to the second conveying line 150, then use the second conveying line 150 to drive the stacking piece forward for a distance, and then use the other stacking conveying mechanism 140 to convey another stacking piece to the second conveying line 150.

[0118] Step S130: Control the stacking conveying mechanism 140 to reset, and use the second conveying line 150 to convey the stacked pieces forward.

[0119] It should be noted that in step S130, the translation module 141 and the lifting module 142 of the stacking and transporting mechanism 140 are controlled to reset along the original path to avoid interference, and the second conveyor line 150 is used to drive the stacked parts forward so as to send the stacked parts to the next process.

[0120] Furthermore, the translation speed of the stacking and transporting mechanism 140 in the second direction during feeding is less than the translation speed of the stacking and transporting mechanism 140 in the second direction during reset, that is, the translation speed of the translation module 141 when approaching the second conveyor line 150 is less than the translation speed of the translation module 141 when moving away from the second conveyor line 150, so as to prevent the stacked parts from shifting and misaligning due to inertia during transportation and ensure the transportation accuracy.

[0121] The sorting and stacking method provided by the embodiment of the present invention first uses the sorting manipulator 130 to sort a plurality of flat parts 200 conveyed by the first conveyor line 120 to the stacking and transporting mechanism 140 until a stacked part is formed on the stacking table 143 of the stacking and transporting mechanism 140. Among them, the stacked part includes a preset number of flat parts 200; then the stacking and transporting mechanism 140 is used to transport the stacked part to the second conveyor line 150. Among them, if H < M / 3, then L MAX < M / 2 - N / 2, if H ≥ M / 3, then L MAX = M / 2 - N / 2 to prevent the stacking and transporting mechanism 140 from interfering with the frame 110. In the formula, H is the width of the flat part 200 in the second direction, M is the width of the frame 110 in the second direction, L MAX is the maximum translation distance of the stacking and transporting mechanism 140 in the second direction, and N is the width of the stacking table 143 in the second direction. The second direction is perpendicular to the first direction. Compared with the prior art, the sorting and stacking method provided by the present invention can realize the sorting and stacking of flat parts 200 of different sizes because it adopts the method of adjusting the maximum translation distance of the stacking and transporting mechanism 140 in the second direction according to the width of the flat part 200 in the second direction. It has good versatility, reduces costs, improves economic benefits, saves time and effort, improves the sorting and stacking efficiency, reduces the risk of breakage and the rejection rate. The sorting and stacking device 100 has a compact structure, is convenient for transportation, occupies a small area, has good versatility, and is safe and reliable.

[0122] Second Embodiment

[0123] Please refer to Figure 21 to Figure 25 . The embodiment of the present invention provides a sorting and stacking method. Compared with the first embodiment, the difference in this embodiment is the number of stacked parts stacked on the stacking table 143.

[0124] It should be noted that in step S110, two stacking pieces spaced apart in the second direction are stacked on the stacking platform 143. Specifically, the sorting robot 130 is used to sequentially sort the plurality of flat pieces 200 onto the stacking platform 143 of the stacking conveying mechanism 140, so that the plurality of flat pieces 200 are neatly stacked and form two stacks, until the number of the two stacks of flat pieces 200 reaches a preset number, at which time two stacking pieces spaced apart in the second direction are placed on the stacking platform 143.

[0125] Furthermore, since there are two stacking pieces on the stacking platform 143, the two stacking pieces need to be transported to the second conveyor line 150 in sequence. In step S120, the stacking conveying mechanism 140 is first used to transport the first stacking piece (the one close to the second conveyor line 150 in the second direction) to the second conveyor line 150; then the stacking conveying mechanism 140 is controlled to retreat (only the translation module 141 needs to be moved away from the second conveyor line 150 in the second direction, and the lifting module 142 does not need to be moved), and the first stacking piece is sent forward a distance by the second conveyor line 150; then the stacking conveying mechanism 140 is used to transport the second stacking piece (the one away from the second conveyor line 150 in the second direction) to the second conveyor line 150.

[0126] The beneficial effects of the sorting and stacking method provided by the embodiment of the present invention are the same as those of the first embodiment, and will not be described in detail herein.

[0127] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A sorting and stacking method, characterized in that: Applied to a sorting and stacking device, the sorting and stacking device includes a frame and a first conveyor line, a second conveyor line, a sorting manipulator, and two sets of stacking and transporting mechanisms installed on the frame. The first conveyor line is arranged in the middle of the frame, the second conveyor line is arranged parallel and spaced below the first conveyor line, the conveying directions of the first conveyor line and the second conveyor line are both the first direction, and the two sets of stacking and transporting mechanisms are oppositely arranged on both sides of the second conveyor line; The sorting and stacking method includes: Using the sorting manipulator to sort a plurality of flat parts conveyed by the first conveyor line to the stacking and transporting mechanism until a stacked part is formed on the stacking platform of the stacking and transporting mechanism, where the stacked part includes a preset number of flat parts; Use the stacking and transporting mechanism to transport the stacked parts to the second conveyor line. Among them, if H < M / 3, then L MAX < M / 2 - N / 2. If H ≥ M / 3, then L MAX = M / 2 - N / 2 to prevent the stacking and transporting mechanism from interfering with the frame. In the formula, H is the width of the flat part in the second direction, M is the width of the frame in the second direction, and L MAX is the maximum translation distance of the stacking and transporting mechanism in the second direction, and N is the width of the stacking table in the second direction. The second direction is perpendicular to the first direction; The frame includes two bottom beams arranged oppositely, a让位 space is formed between the two bottom beams, the stacking and transporting mechanism includes a translation module and a lifting module, the stacking platform is connected to the top of the lifting module, the lifting module is slidably installed on the translation module, and the translation module is slidably installed on the bottom beam; The step of using the stacking and transporting mechanism to transport the stacked part to the second conveyor line includes: If H < M / 3, the lifting module is located above the让位 space, use the lifting module to drive the stacked part to descend in the third direction so that the lifting module partially extends out of the让位 space, and use the translation module to drive the stacked part to approach the second conveyor line in the second direction until the stacked part is transported to the second conveyor line, where the third direction, the second direction, and the first direction are perpendicular to each other; If H ≥ M / 3, the lifting module is located above the让位 space, use the translation module to drive the stacked part to approach the second conveyor line in the second direction so that the lifting module crosses the bottom beam, then use the lifting module to drive the stacked part to descend in the third direction so that the lifting module partially extends out of the让位 space, and use the translation module to drive the stacked part to move in the second direction until the stacked part is transported to the second conveyor line.

2. The sorting and stacking method according to claim 1, characterized in that: The step of using the sorting manipulator to sort a plurality of flat parts conveyed by the first conveyor line to the stacking and transporting mechanism until a stacked part is formed on the stacking platform of the stacking and transporting mechanism includes: If H < M / 2 - N / 2, the flat parts on the stacking platform and the flat parts on the first conveyor line are spaced in the second direction; if H ≥ M / 2 - N / 2, the flat parts on the stacking platform and the flat parts on the first conveyor line are in contact or partially overlap in the second direction, and the top surface of the flat parts on the stacking platform is lower than the bottom surface of the flat parts on the first conveyor line.

3. The sorting and stacking method according to claim 1, characterized in that: The step of using the sorting manipulator to sort a plurality of flat parts conveyed by the first conveyor line to the stacking and transporting mechanism until a stacked part is formed on the stacking platform of the stacking and transporting mechanism includes: Whenever the sorting manipulator stacks a flat part on the stacking platform, the stacking and transporting mechanism descends by the thickness of one flat part.

4. The sorting and stacking method according to claim 1, characterized in that: Sorting the multiple flat parts conveyed by the first conveyor line to the stacking and transporting mechanism by using the sorting manipulator until stacking parts are formed on the stacking table of the stacking and transporting mechanism includes: If H < M / 3, two stacking parts spaced in the second direction are formed by stacking on the stacking table.

5. The sorting and stacking method according to claim 4, characterized in that: The step of transporting the stacking parts to the second conveyor line by using the stacking and transporting mechanism includes: Transporting the first stacking part to the second conveyor line by using the stacking and transporting mechanism; Controlling the stacking and transporting mechanism to retract, and feeding the first stacking part forward by using the second conveyor line; Transporting the second stacking part to the second conveyor line by using the stacking and transporting mechanism.

6. The sorting and stacking method according to claim 1, characterized in that: The number of each group of the stacking and transporting mechanisms is multiple, and multiple stacking and transporting mechanisms in each group are sequentially spaced along the first direction; The step of sorting the multiple flat parts conveyed by the first conveyor line to the stacking and transporting mechanism by using the sorting manipulator until stacking parts are formed on the stacking table of the stacking and transporting mechanism includes: Selecting the number of the stacking and transporting mechanisms used for single - time sorting and stacking according to the length of the flat part in the first direction.

7. The sorting and stacking method according to claim 1, characterized in that: After the step of transporting the stacking parts to the second conveyor line by using the stacking and transporting mechanism, the sorting and stacking method further includes: Controlling the stacking and transporting mechanism to reset, and feeding the stacking parts forward by using the second conveyor line.

8. The sorting and stacking method according to claim 7, characterized in that: The translation speed of the stacking and transporting mechanism in the second direction during feeding is less than the translation speed of the stacking and transporting mechanism in the second direction during resetting.

9. A sorting and stacking device, characterized in that: For implementing the sorting and stacking method according to any one of claims 1 - 8, the sorting and stacking device includes: A frame; A first conveyor line, installed on the frame and disposed in the middle of the frame, the first conveyor line is used to sequentially convey flat parts along the first direction; A sorting manipulator, installed on the frame; A second conveyor line, installed on the frame and disposed parallel and spaced below the first conveyor line; Two groups of stacking and transporting mechanisms, installed on the frame and oppositely disposed on both sides of the second conveyor line; The sorting manipulator is used to sort the multiple flat parts conveyed by the first conveyor line to the stacking and transporting mechanism until stacking parts are formed on the stacking table of the stacking and transporting mechanism, wherein the stacking parts include a preset number of flat parts; the stacking and transporting mechanism is used to transport the stacking parts to the second conveyor line.

10. The sorting and stacking device according to claim 9, characterized in that: The frame includes two bottom beams disposed oppositely, a让位 space is formed between the two bottom beams, the stacking and transporting mechanism includes a translation module and a lifting module, the stacking table is connected to the top of the lifting module, the lifting module is slidably installed on the translation module, the translation module is slidably installed on the bottom beam, and the让位 space is used to make way for the lifting module.

11. The sorting and stacking device according to claim 10, characterized in that: The translation module includes a first driving member and a translation frame, the bottom beam is provided with a first guide rail extending in the second direction, the first driving member is connected to the translation frame, and the translation frame is slidably engaged with the first guide rail.

12. The sorting and stacking device according to claim 11, characterized in that: The lifting module includes a second driving member and a lifting frame, the translation frame is provided with a second guide rail extending along a third direction, the second driving member is installed on the translation frame and connected to the lifting frame, the stacking platform is connected to the top of the lifting frame, and the lifting frame is slidably matched with the second guide rail, wherein the first direction, the second direction and the third direction are perpendicular to each other.

13. The sorting and stacking device according to claim 9, characterized in that: The second conveyor line has a mover, which is provided with a plurality of clearance grooves. The stacking platform includes a plurality of fork arms arranged in parallel and at intervals, and the position of each fork arm corresponds to the position of a clearance groove. The stacking conveying mechanism is used to drive the plurality of fork arms to extend into the plurality of clearance grooves one by one to transfer the stacked pieces to the mover.

14. The sorting and stacking device according to claim 9, characterized in that: The sorting robot comprises a robot arm and a vacuum suction cup, wherein the vacuum suction cup is mounted on the robot arm and is used for adsorbing a flat plate, and the robot arm is used for driving the vacuum suction cup to move.

15. The sorting and stacking device according to claim 9, characterized in that: There are multiple stacking and conveying mechanisms in each group, and the multiple stacking and conveying mechanisms in each group are sequentially spaced apart along the first direction.

16. The sorting and stacking device according to claim 9, characterized in that: The sorting and stacking device also includes a detection mechanism and a waste rejection mechanism. The waste rejection mechanism is installed on the frame and arranged at the end of the first conveyor line. The detection mechanism is electrically connected to the sorting robot and the waste rejection mechanism at the same time. The detection mechanism is used to control the sorting robot not to move when it detects that the flat plate conveyed by the first conveyor line is waste, and control the waste rejection mechanism to reject it.

Images