Stacking equipment and production line

Abstract

The invention discloses stacking equipment and a production line, relates to the technical field of production equipment, and solves the problem of large stacking error in related technologies. The stacking equipment comprises a rack, a conveying mechanism, a grabbing mechanism and an aligning mechanism, wherein the rack comprises a material taking position and a stacking position; the conveying mechanism is connected to the rack and can move between a material taking position and a stacking position relative to the rack. The grabbing mechanism moves along with the conveying mechanism and is used for grabbing or releasing materials. The alignment mechanism comprises an alignment detection assembly and an alignment adjustment assembly, the alignment detection assembly is used for obtaining position deviation information of materials to be stacked and material piles, and the alignment adjustment assembly is connected between the grabbing mechanism and the conveying mechanism and used for adjusting the relative positions of the grabbing mechanism and the conveying mechanism according to the position deviation information. And the materials on the grabbing mechanism and the material piles on the stacking position are aligned in the stacking direction.

Description

Technical Field

[0001] The present application relates to but is not limited to the field of production equipment, and in particular to a palletizing equipment and a production line. Background Art

[0002] When performing palletizing production, it is usually necessary to stack materials in sequence to form a material pile, such as stacking electrode plates to form an electrolytic cell. During the stacking process, the edges of the upper and lower layers of materials may be uneven, resulting in excessive circumferential errors in the stacked material pile. Alternatively, the materials deviate from the center axis during the stacking process, resulting in poor verticality of the stacked materials, affecting product quality. Summary of the invention

[0003] The palletizing equipment and production line provided in the embodiments of the present application produce products with small circumferential error, good verticality and high yield rate.

[0004] In the first aspect, an embodiment of the present application provides a palletizing device, including a frame, a transport mechanism, a gripping mechanism and an alignment mechanism, the frame including a material picking position and a palletizing position, the material picking position is used to place materials, and the palletizing position is used to stack materials to form a material pile; the transport mechanism is connected to the frame, and the transport mechanism can move between the material picking position and the palletizing position relative to the frame; the gripping mechanism moves with the transport mechanism, and the gripping mechanism is used to grip or release materials; the alignment mechanism includes an alignment detection component and an alignment adjustment component, the alignment detection component is used to obtain position deviation information of materials to be palletized and the material pile, the alignment adjustment component is connected between the gripping mechanism and the transport mechanism, and the alignment adjustment component is used to adjust the relative positions of the gripping mechanism and the transport mechanism according to the position deviation information, so that the materials on the gripping mechanism and the material pile on the palletizing position are aligned along the stacking direction.

[0005] The stacking equipment provided in the embodiment of the present application, the frame is provided with a relatively fixed material taking position and stacking position, the material is placed at the material taking position, the transport mechanism and the grabbing mechanism cooperate to transport the material to the stacking position and stack it to form a material pile. Among them, the transport mechanism is connected to the frame, and can move between the material taking position and the stacking position relative to the frame, the grabbing mechanism can follow the movement of the transport mechanism, the grabbing mechanism grabs the material at the material taking position, and releases the material at the stacking position, so that the grabbing mechanism stacks the material in sequence along the stacking direction of the material pile. On this basis, a positioning mechanism is also provided, the positioning mechanism includes a positioning detection component and a positioning adjustment component, the positioning detection component is used to obtain the position deviation information of the material to be stacked and the material pile, the positioning adjustment component is connected between the grabbing mechanism and the transport mechanism, the positioning adjustment component can adjust the relative position of the grabbing mechanism and the transport mechanism according to the position deviation information, thereby adjusting the relative position of the material on the grabbing mechanism and the material pile on the stacking position, so that the two can be aligned along the stacking direction of the material pile, thereby reducing the circumferential error of the material pile and improving the verticality of the material pile. Compared with the solution of manually stacking materials in the related art, the stacking equipment of the present application, due to the addition of a positioning mechanism, can adjust the position of the material to be stacked, so that the material to be stacked and the material pile on the grabbing mechanism can be aligned along the stacking direction, so as to improve the verticality of the material pile and reduce the circumferential error.

[0006] In a possible implementation of the present application, the alignment adjustment component includes an alignment guide group and at least one alignment drive member, the alignment guide group is connected between the transport mechanism and the gripping mechanism, the alignment guide group includes at least one guiding direction, and at least one guiding direction is perpendicular to the stacking direction; at least one alignment drive member is connected to the transport mechanism, the output shaft of the alignment drive member is transmission-connected to the gripping mechanism, and the alignment drive member is used to drive the gripping mechanism to move relative to the transport mechanism along at least one guiding direction.

[0007] Here, an alignment guide group and an alignment drive member are provided. The alignment guide group includes at least one guiding direction, and the guiding direction is perpendicular to the stacking direction. The alignment drive member can drive the grasping mechanism so that the grasping mechanism can move along the guiding direction of the alignment guide group, thereby adjusting the relative position of the material to be stacked on the grasping mechanism and the material pile. The operation is simple and easy to implement.

[0008] In a possible implementation of the present application, the alignment guide group includes a first alignment guide and a second alignment guide, and the first alignment guide and the second alignment guide are slidably connected in sequence between the transportation mechanism and the grasping mechanism; at least one alignment driving member includes a first alignment driving member and a second alignment driving member, the first alignment driving member is used to drive the grasping mechanism to move along the guiding direction of the first alignment guide, and the second alignment driving member is used to drive the grasping mechanism to move along the guiding direction of the second alignment guide; wherein the guiding direction of the first alignment guide and the guiding direction of the second alignment guide are arranged vertically.

[0009] Here, by setting a first alignment guide and a second alignment guide whose guiding directions are perpendicular to each other, and the first alignment guide is driven by a first alignment drive member, and the second alignment guide is driven by a second alignment drive member, the grabbing mechanism can move in at least two directions, thereby increasing the adjustment range, and the two first alignment drives are driven in different directions or the two second alignment drives are driven in different directions respectively, and can also drive the grabbing mechanism to rotate, thereby facilitating the adjustment of the orientation of the material on the grabbing mechanism.

[0010] In a possible implementation of the present application, the alignment detection component includes a first detection member, a second detection member and an information processing unit, the first detection member is connected to the gripping mechanism, and the first detection member is used to obtain first position information of the material pile on the stacking position; the second detection member is connected to the transport mechanism, and the second detection member is used to obtain second position information of the material on the gripping mechanism; the information processing unit is used to obtain position deviation information based on the first position information and the second position information.

[0011] Here, by setting up a first detection member and a second detection member, the first detection member can obtain the first position information of the material pile from the position of the gripping mechanism in a timely manner, and the second detection member can obtain the second position information of the material to be stacked on the transport mechanism. The two work independently without interfering with each other, and can provide more accurate information to the information processing unit.

[0012] In a possible implementation of the present application, the transport mechanism includes a first lifting assembly and a first translation assembly, the first lifting assembly is connected to a frame, and the first lifting assembly can move relative to the frame in a stacking direction; the first translation assembly is connected between the grasping mechanism and the first lifting assembly, the first translation assembly follows the movement of the first lifting assembly, and can drive the grasping mechanism to move in the translation direction; wherein the translation direction is arranged perpendicular to the stacking direction.

[0013] Here, a first lifting assembly and a first translation assembly are respectively provided. The first lifting assembly can drive the grabbing mechanism and the first translation assembly to move in the stacking direction, and the first translation assembly drives the grabbing mechanism to move in the translation direction, so as to facilitate the grabbing mechanism to move in multiple directions, so as to move between the material picking position and the stacking position, and can move in the stacking direction to stack materials.

[0014] In a possible implementation of the present application, the first lifting assembly includes a first lifting platform, a first lifting drive and a first lifting transmission member group. The first lifting platform is slidably connected to the frame along the stacking direction, and the first translation assembly is connected to the first lifting platform; the first lifting transmission member group is transmission-connected between the first lifting drive and the first lifting platform, so that the first lifting drive drives the first lifting platform to move.

[0015] Here, a first lifting drive member and a first lifting transmission member group are provided. The first lifting drive member drives the first lifting platform to move through the first lifting transmission member group, and then the first lifting platform drives the first translation assembly and the grabbing mechanism thereon to move. The structure is simple and easy to implement.

[0016] In a possible implementation of the present application, the first translation assembly includes a translation platform, a first translation drive and a first translation transmission member group. The translation platform is slidably connected to the first lifting platform along the translation direction, and the grabbing mechanism is connected to the translation platform; the first translation transmission member group is transmission-connected between the first translation drive and the translation platform so that the first translation drive drives the translation platform to move.

[0017] Here, a first translation driving member and a first translation transmission member group are provided. The first translation driving member drives the translation platform to move through the first translation transmission member group, and then the translation platform drives the grabbing mechanism thereon to move. The structure is simple and easy to implement.

[0018] In a possible implementation of the present application, the transport mechanism also includes a distance measuring sensor and a lifting processing unit. The distance measuring sensor is connected to the translation platform, and is used to obtain distance information between the translation platform and the material pile along the stacking direction; the lifting processing unit is electrically connected to the distance measuring sensor and the first lifting drive member, respectively, and the lifting processing unit is used to control the first lifting drive member according to the distance information to adjust the relative position of the first lifting platform and the frame.

[0019] Here, since a distance measuring sensor is provided, the distance measuring sensor can obtain the distance between the translation platform and the current material pile, thereby facilitating the first lifting platform to adjust its position according to the height of the current material pile, so as to make the positioning of the first lifting platform more accurate.

[0020] In a possible implementation of the present application, the transport mechanism also includes a second lifting assembly, which includes a second lifting platform, a second lifting drive and a second lifting transmission member group. The second lifting platform is slidably connected to the frame along the stacking direction, and the second lifting platform can obtain materials at the material picking position and transport them to the position of the first lifting assembly; the second lifting drive is connected to the frame; and the second lifting transmission member group is transmission-connected between the second lifting drive and the second lifting platform so that the second lifting drive drives the second lifting platform to move.

[0021] Here, a second lifting component is set up, which can obtain the material at the material picking position and transport the material to the position of the first lifting platform, so that the grabbing mechanism on the first lifting platform can quickly grab the material to be stacked. The first lifting platform and the second lifting platform work together to more efficiently transfer materials between the material picking position and the stacking position, thereby improving production efficiency.

[0022] In a possible implementation of the present application, the transport mechanism also includes a second translation assembly, the second translation assembly includes a material picking piece, a second translation drive piece and a second translation transmission piece group, the material picking piece can move in a translation direction relative to the second lifting platform, the material picking piece is used to obtain materials from the material picking position; the second translation drive piece is connected to the second lifting platform; the second translation transmission piece group is transmission-connected between the second translation drive piece and the material picking assembly, so that the second translation drive piece drives the material picking piece to move.

[0023] Here, a material picking member and a second translation driving member are provided, and the second translation driving member drives the material picking member to move in a translation direction, so as to facilitate the acquisition of materials to be stacked on the material picking position, and the structure is simple and easy to implement.

[0024] In a possible implementation of the present application, the transport mechanism also includes an in-place detection component, which includes a trigger member, a docking processing unit and at least one in-place sensor, the trigger member is connected to the second lifting platform, the in-place sensor is connected to the first lifting platform, the docking processing unit is electrically connected to the in-place sensor and the second lifting drive member, respectively, and the docking processing unit is used to control the second lifting drive member when the trigger member triggers the in-place sensor to make the second lifting platform and the first lifting platform relatively stationary.

[0025] Here, since an in-place sensor is provided on the first lifting platform, the in-place sensor can move with the first lifting platform, and a trigger member is provided on the second lifting platform to trigger the in-place sensor, and when the in-place sensor is triggered, the second lifting drive member stops driving the second lifting platform, so that the second lifting platform and the first lifting platform can maintain a relatively static state, making it convenient for the grabbing mechanism on the first lifting platform to grab the materials to be stacked from the second lifting platform.

[0026] In a possible implementation of the present application, the gripping mechanism includes a gripping platform, a clamping drive and at least two clamping assemblies; the gripping platform is connected to the translation platform; at least two clamping assemblies are movably connected to the gripping platform; the clamping drive is connected to the gripping platform, and the output shaft of the clamping drive is transmission-connected to the at least two clamping assemblies, and the clamping drive is used to drive the at least two clamping assemblies to move closer to or away from each other.

[0027] Here, by setting at least two clamping assemblies, the clamping driving member drives the two clamping assemblies to approach each other to grab the material, and the clamping driving member drives the two clamping assemblies to move away from each other to release the material. The structure is simple and easy to implement.

[0028] In a possible implementation of the present application, the gripping mechanism also includes a support assembly, the support assembly includes a support member and a support driving member, the support member is provided with a support surface, and the support surface is used to support the material; the support driving member is connected to the gripping platform, and the output shaft of the support driving member is connected to the support member through transmission, and the support driving member is used to drive the support member to move between a supporting position and a releasing position, and when the support member is in the supporting position, the support surface is arranged relative to the gripping platform.

[0029] Here, by setting a support member and a support driving member, after the clamping assembly clamps the material, the support driving member can drive the support member to move to the supporting position, so that the supporting surface of the support member and the grabbing platform are relatively arranged to support the material. Since the supporting direction of the supporting surface and the clamping direction of the clamping assembly are different, the material can be effectively limited to reduce the possibility of the material slipping relative to the clamping assembly.

[0030] In a possible implementation of the present application, the transport mechanism also includes a third lifting assembly, the third lifting assembly includes a third lifting platform and a third lifting drive member, the third lifting platform is slidably connected to the translation platform along the stacking direction, and the grabbing mechanism is connected to the third lifting platform; the third lifting drive member is connected to the translation platform, and the third lifting drive member is transmission-connected to the third lifting platform for driving the third lifting platform to move relative to the translation platform.

[0031] Here, since the third lifting assembly is provided, the third lifting assembly can drive the grasping mechanism to move in a small range along the stacking direction so as to reserve space for the movement of the support member, so that when the grasping mechanism releases the material, the support member can move to the release position in time.

[0032] In a possible implementation of the present application, the clamping assembly includes a movable part and a clamping part, the movable part is slidably connected to the grabbing platform, the clamping drive part is transmission-connected to the movable part, at least one clamping part is connected to the movable part, and the clamping part is used to clamp the material; wherein, each movable part is provided with at least one supporting assembly, and the supporting drive part is fixedly connected to the movable part.

[0033] Here, by arranging a support assembly on each movable part, multiple support assemblies can support multiple positions of the material, thereby improving the clamping stability of the grasping mechanism on the material.

[0034] In a possible implementation of the present application, the gripping mechanism also includes a synchronization component, which includes a rotating part and a synchronization component. The rotating part is rotatably connected to the gripping platform, and the rotation center of the rotating part coincides with the relative motion center of at least two movable parts; a synchronization component is arranged between each movable part and the rotating part, one end of the synchronization component is hinged to the rotating part, and the other end of the synchronization component is hinged to the corresponding movable part, so that at least two movable parts move synchronously.

[0035] Here, by providing a rotating member and a synchronous member, each synchronous member can follow the movement of the rotating member to drive the corresponding movable member to move, so that at least two movable members can move synchronously, thereby improving the accuracy of the grasping mechanism during grasping.

[0036] In the second aspect, an embodiment of the present application provides a production line, comprising a feeding device, an assembly device, an inspection device and the palletizing device of any one of the first aspect, the feeding device is arranged at the material picking position of the palletizing device, and the feeding device is used to transport the material to the material picking position; the assembly device is arranged at the palletizing position of the palletizing device, and the assembly equipment is used to assemble accessories into the material pile; the inspection device is used to inspect the assembled material pile.

[0037] The production line provided in the embodiment of the present application has a similar technical effect because it includes the palletizing equipment of the first aspect, that is, a positioning mechanism is added to adjust the position of the material to be palletized, so that the material to be palletized and the material pile on the grasping mechanism can be aligned along the stacking direction to improve the verticality of the material pile and reduce the circumferential error. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the structure of the palletizing mechanism provided in the embodiment of the present application;

[0039] Figure 2 A schematic diagram of the structure of the transport mechanism, the gripping mechanism and the alignment mechanism in the palletizing mechanism provided in the embodiment of the present application;

[0040] Figure 3 A schematic diagram of the structure of the alignment adjustment component in the palletizing mechanism provided in the embodiment of the present application;

[0041] Figure 4 Provided for the embodiments of this application Figure 1 A partial enlarged view of point A in the middle;

[0042] Figure 5 A schematic diagram of the structure of the transport mechanism in the palletizing mechanism provided in an embodiment of the present application (axicon view from a first viewing angle);

[0043] Figure 6 A schematic diagram of the structure of a first lifting assembly and a second lifting assembly in a palletizing mechanism provided in an embodiment of the present application (a first perspective axonometric view);

[0044] Figure 7 A structural schematic diagram (front view) of a first lifting assembly and a second lifting assembly in a palletizing mechanism provided in an embodiment of the present application;

[0045] Figure 8 A schematic diagram of the structure of a third lifting assembly and an alignment adjustment assembly in a palletizing mechanism provided in an embodiment of the present application;

[0046] Fig. 9 A schematic diagram (top view) of the structure of the transport mechanism in the palletizing mechanism provided in an embodiment of the present application;

[0047] Fig.10 A schematic diagram of the structure of the second translation assembly in the palletizing mechanism provided in an embodiment of the present application (a first perspective axonometric view);

[0048] Fig.11 A schematic diagram of the structure of the second translation assembly in the palletizing mechanism provided in an embodiment of the present application (a second perspective axonometric view);

[0049] Fig.12 Provided for the embodiments of this application Figure 5 A partial enlarged view of point B in the middle;

[0050] Fig.13 A structural schematic diagram of a grabbing mechanism in a palletizing mechanism provided in an embodiment of the present application (a first perspective axonometric view);

[0051] Fig.14 This is a schematic structural diagram of a grabbing mechanism in a palletizing mechanism provided in an embodiment of the present application (a second perspective axonometric view).

[0052] Reference numerals:

[0053] 1-frame; 11-feeding position; 12-stacking position; 2-transport mechanism; 21-first lifting assembly; 211-first lifting platform; 212-first lifting drive member; 213-first lifting transmission member group; 2131-first driving wheel; 2132-first steering wheel; 2133-first chain; 2134-first counterweight; 214-first protective member; 22-first translation assembly; 221-translation platform; 222-first translation drive member; 223-first Translation transmission member group; 23-second lifting assembly; 231-second lifting platform; 232-second lifting drive member; 233-second lifting transmission member group; 2331-second driving wheel; 2332-second steering wheel; 2333-second chain; 2334-second counterweight; 234-second protective member; 24-second translation assembly; 241-feeding member; 242-second translation drive member; 243-second translation transmission member group; 25-in-place detection assembly; 251- Trigger; 252-in-place sensor; 252a-first in-place sensor; 252b-second in-place sensor; 26-third lifting assembly; 261-third lifting platform; 262-third lifting drive; 263-lifting rail; 3-grabbing mechanism; 31-grabbing platform; 32-clamping assembly; 321-movable member; 322-clamping member; 33-clamping drive; 34-support assembly; 341-support member; 342-support drive; 35-synchronization Component; 351-rotating member; 352-synchronizing member; 4-alignment mechanism; 41-alignment detection component; 411-first detection member; 412-second detection member; 42-alignment adjustment component; 421-alignment guide member group; 4211-first alignment guide member; 4212-second alignment guide member; 422-alignment drive member; 422a-first alignment drive member; 422b-second alignment drive member; 423-first substrate; 424-second substrate; 5-material. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the specific technical solution of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0055] In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more.

[0056] In addition, in the embodiments of the present application, directional terms such as "up", "down", "left" and "right" are defined relative to the orientation of the components in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they may change accordingly according to the changes in the orientation of the components in the drawings.

[0057] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0058] In the embodiments of the present application, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0059] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0060] The embodiment of the present application provides a production line, which can be used to produce products that require stacking of materials. The product can be an electrolytic cell. The electrolytic cell usually includes two end pressure plates. The two end pressure plates are connected to end plates on their respective sides close to each other. A middle plate is arranged between the two end plates. A plurality of plates are stacked in sequence between the middle plate and each end plate. The end plates, the middle plates and the plates are made of conductive materials and are used to participate in the electrolysis reaction. The end plates and the middle plates are usually thicker than the plates and have a stronger bearing capacity. The end pressure plates can also serve as the supporting structure of the electrolytic cell to bear the weight and pressure of the electrolytic cell. In addition, the electrolytic cell also includes gaskets, filters, diaphragms, bolts and other accessories. For ease of understanding, in the subsequent introduction, the plates are used as materials, the end pressure plates, the end plates and the middle plates are used as accessories, and the materials and accessories are stacked to form a material pile.

[0061] In the related art, palletizing is done manually or by mechanical equipment. Manual operation has low precision, and mechanical equipment only relies on a preset running trajectory for palletizing. The precision during the palletizing process is difficult to guarantee. For example, the edges of two adjacent materials may be misaligned, or the central axis of the material pile formed by palletizing may be skewed.

[0062] Therefore, the present application embodiment provides a palletizing device, referring to Figure 1 , Figure 2 and Figure 3 The palletizing device of the embodiment of the present application includes a frame 1, a transport mechanism 2, a gripping mechanism 3 and a positioning mechanism 4. The frame 1 includes a material taking position 11 and a palletizing position 12. The material taking position 11 is used to place materials 5, and the palletizing position 12 is used to stack materials 5 to form a material pile; the transport mechanism 2 is connected to the frame 1, and the transport mechanism 2 can move between the material taking position 11 and the palletizing position 12 relative to the frame 1; the gripping mechanism 3 moves with the transport mechanism 2, and the gripping mechanism 3 is used to grip or release the material 5; refer to Figure 2 , Figure 3 and Figure 4 The alignment mechanism 4 includes an alignment detection component 41 and an alignment adjustment component 42. The alignment detection component 41 is used to obtain position deviation information of the material 5 to be stacked and the material pile. The alignment adjustment component 42 is connected between the grasping mechanism 3 and the transportation mechanism 2. The alignment adjustment component 42 is used to adjust the relative position of the grasping mechanism 3 and the transportation mechanism 2 according to the position deviation information so that the material 5 on the grasping mechanism 3 and the material pile on the stacking position 12 are aligned along the stacking direction.

[0063] It can be understood that in order to realize the stacking function, the transport mechanism 2 needs to move along the stacking direction, and the material picking position 11 and the stacking position 12 may also be in different positions in the vertical stacking direction. Therefore, when the transport mechanism 2 moves between the material picking position 11 and the stacking position 12, it can be first moved along the stacking direction, and then moved in the direction perpendicular to the stacking direction; or, the transport mechanism 2 first moves in the direction perpendicular to the stacking direction, and then moves in the stacking direction; or, the transport mechanism 2 moves in the stacking direction and the direction perpendicular to the stacking direction at the same time, that is, the transport mechanism 2 moves obliquely relative to the frame 1.

[0064] In the embodiment of the present application, the frame 1 provides an installation foundation for the transport mechanism 2, the alignment mechanism 4, etc., and can also position the material taking position 11 and the stacking position 12 relative to each other. The frame 1 may include a plurality of support rods, which are interconnected to form a frame structure. The support rods may be connected to form a triangular structure, which has a simple structure and good load-bearing effect. In addition, a protective net may be provided on the outside of the frame 1 to improve the safety of the stacking equipment during operation.

[0065] In the embodiment of the present application, the material taking position 11 can be set on the inner side of the frame 1 or on the outer side of the frame 1; correspondingly, the stacking position 12 can be set on the inner side of the frame 1 or on the outer side of the frame 1. When the material taking position 11 and the stacking position 12 are both set on the outer side of the frame 1, the material taking position 11 and the stacking position 12 can be set at different heights on the same side of the frame 1, or the material taking position 11 and the stacking position 12 are set on opposite sides or adjacent sides of the frame 1. Figure 1 In a possible embodiment of the present application, the material taking position 11 and the stacking position 12 are respectively arranged on opposite sides of the frame 1.

[0066] In the embodiment of the present application, the stacking direction refers to the direction in which the materials 5 in the material pile are arranged in sequence, and the stacking direction can be a horizontal direction or a vertical direction. In order to facilitate the relative fixation of each material 5 in the material pile, the stacking direction is set to a vertical direction, and the vertical direction is parallel to the gravity direction. Each material 5 in the material pile is supported by the material 5 or the supporting structure below it, wherein the supporting structure can be a supporting frame for placing the material pile, etc.

[0067] In the embodiment of the present application, the position deviation information is used to characterize the position deviation of the material 5 to be palletized after it is placed in the material pile and the rest of the materials 5 in the material pile. For example, the distance between the geometric center of the material 5 to be palletized and the geometric center of the material 5 in the material pile along the horizontal direction; another example, the distance between the edge of the material 5 to be palletized and the edge of the material 5 in the material pile along the horizontal direction; another example, whether the characteristic structure on the material 5 to be palletized and the characteristic structure of the material 5 in the material pile are in the same direction, etc., wherein the characteristic structure can be a hole feature, a groove feature, a rib feature, etc.

[0068] In the embodiment of the present application, the material 5 on the grasping mechanism 3 and the material 5 on the stacking position 12 are aligned along the stacking direction. Specifically, the projection contour of the material 5 on the grasping mechanism 3 along the stacking direction and the projection contour of the material 5 on the stacking position 12 along the stacking direction overlap, and the line connecting the geometric center of the material 5 on the grasping mechanism 3 and the geometric center of the material 5 on the stacking position 12 is parallel to the stacking direction, and the characteristic structure of the material 5 on the grasping mechanism 3 and the corresponding characteristic structure of the material 5 on the stacking position 12 are arranged in sequence along the stacking direction.

[0069] The palletizing equipment provided in the embodiment of the present application comprises a frame 1 provided with a relatively fixed material taking position 11 and a palletizing position 12, wherein the material 5 is placed at the material taking position 11, and the transport mechanism 2 and the gripping mechanism 3 cooperate to transport the material 5 to the palletizing position 12 and palletize the material to form a material pile.

[0070] Among them, the transportation mechanism 2 is connected to the frame 1, and can move between the material picking position 11 and the stacking position 12 relative to the frame 1. The grabbing mechanism 3 can move with the transportation mechanism 2. The grabbing mechanism 3 grabs the material 5 at the material picking position 11 and releases the material 5 at the stacking position 12, so that the grabbing mechanism 3 stacks the material 5 in sequence along the stacking direction of the material pile.

[0071] On this basis, a positioning mechanism 4 is also provided, which includes a positioning detection component 41 and a positioning adjustment component 42. The positioning detection component 41 is used to obtain position deviation information of the material 5 to be stacked and the material pile, and the positioning adjustment component 42 is connected between the grasping mechanism 3 and the transportation mechanism 2. The positioning adjustment component 42 can adjust the relative position of the grasping mechanism 3 and the transportation mechanism 2 according to the position deviation information, thereby adjusting the relative position of the material 5 on the grasping mechanism 3 and the material pile on the stacking position 12, so that the two can be aligned along the stacking direction of the material pile, thereby reducing the circumferential error of the material pile and improving the verticality of the material pile.

[0072] Compared with the solution of manually stacking materials 5 in the related art, the stacking equipment of the present application, due to the addition of a positioning mechanism 4, can adjust the position of the material 5 to be stacked, so that the material 5 to be stacked on the grasping mechanism 3 and the material pile can be aligned along the stacking direction, so as to improve the verticality of the material pile, reduce the circumferential error, and improve production efficiency.

[0073] In order to facilitate the alignment adjustment component 42 to adjust the position of the material 5 on the grabbing mechanism 3, refer to Figure 2 and Figure 3 In some embodiments of the present application, the alignment adjustment component 42 includes an alignment guide group 421 and at least one alignment driving member 422. The alignment guide group 421 is connected between the transport mechanism 2 and the gripping mechanism 3. The alignment guide group 421 includes at least one guiding direction, and at least one guiding direction is perpendicular to the stacking direction; at least one alignment driving member 422 is connected to the transport mechanism 2, and the output shaft of the alignment driving member 422 is transmission-connected to the gripping mechanism 3. The alignment driving member 422 is used to drive the gripping mechanism 3 to move relative to the transport mechanism 2 along at least one guiding direction of the alignment guide group 421.

[0074] In an embodiment of the present application, the alignment guide group 421 may include a slide rail and a slider, the slider is mounted on the slide rail and slides relative to the slide rail, or a slide groove is provided on the slide rail, and the slider slides in the slide groove, wherein the extension direction of the slide rail is a guiding direction of the alignment guide group 421, wherein multiple slide rails can extend along multiple different directions, so that the alignment guide group 421 includes multiple guiding directions, one of the slide rail and the slider is connected to the transport mechanism 2, and the other of the slide rail and the slider is connected to the grabbing mechanism 3, so that the grabbing mechanism 3 can move relative to the transport mechanism 2 along the guiding direction.

[0075] In the embodiment of the present application, the alignment driving member 422 is used to drive the grabbing mechanism 3 to move relative to the transport mechanism 2 along the guiding direction, so as to adjust the relative position of the material to be stacked 5 on the grabbing mechanism 3 and the material pile on the stacking position 12 along the guiding direction. The alignment driving member 422 can be a telescopic cylinder, such as a pneumatic cylinder, a hydraulic cylinder, etc., and the alignment driving member 422 can also be a motor, such as a servo motor, a stepping motor, etc. For example, the alignment driving member 422 is a motor.

[0076] In the embodiment of the present application, the output shaft of the positioning drive member 422 is connected to the grasping mechanism 3 in a transmission connection. The transmission connection can specifically be a gear transmission, a gear rack transmission, a worm gear transmission, a crank slider transmission, a ball screw transmission, a chain transmission, a belt transmission, etc., and the embodiment of the present application does not limit this.

[0077] The palletizing equipment provided in the embodiment of the present application is provided with an alignment guide member group 421 and an alignment drive member 422. The alignment guide member group 421 includes at least one guiding direction, and the guiding direction is perpendicular to the stacking direction. The alignment drive member 422 can drive the grasping mechanism 3 so that the grasping mechanism 3 can move along the guiding direction of the alignment guide member group 421, thereby adjusting the relative position of the material 5 to be stacked on the grasping mechanism 3 and the material pile. The operation is simple and easy to implement.

[0078] In order to enable the alignment adjustment component 42 to drive the grabbing mechanism 3 to move in more directions, refer to Figure 2 and Figure 3 In some embodiments of the present application, the alignment guide group 421 includes a first alignment guide 4211 and a second alignment guide 4212, and the first alignment guide 4211 and the second alignment guide 4212 are slidably connected between the transportation mechanism 2 and the grasping mechanism 3 in sequence; at least one alignment driving member 422 includes a first alignment driving member 422a and a second alignment driving member 422b, and the first alignment driving member 422a is used to drive the grasping mechanism 3 to move along the guiding direction of the first alignment guide 4211, and the second alignment driving member 422b is used to drive the grasping mechanism 3 to move along the guiding direction of the second alignment guide 4212; wherein, the guiding direction of the first alignment guide 4211 and the guiding direction of the second alignment guide 4212 are vertically arranged.

[0079] In the embodiment of the present application, the sequential sliding connection specifically means that the first alignment guide 4211 is connected to the transport mechanism 2, the second alignment guide 4212 is slidably connected to the first alignment guide 4211 and can slide along the guiding direction of the first alignment guide 4211, and the grabbing mechanism 3 is slidably connected to the second alignment guide 4212 and can slide relative to the guiding direction of the second alignment guide 4212, so that the grabbing mechanism 3 can move relative to the transport mechanism 2 along the guiding direction of the first alignment guide 4211 and can also move relative to the transport mechanism 2 along the guiding direction of the second alignment guide 4212. It can be understood that since the guiding direction of the first alignment guide 4211 and the guiding direction of the second alignment guide 4212 are perpendicular, the transport mechanism 2 can move in any direction within the plane formed by the two guiding directions.

[0080] In the embodiment of the present application, the first alignment driving member 422a and the second alignment driving member 422b may be in the same or different forms. For example, the first alignment driving member 422a and the second alignment driving member 422b are both motors.

[0081] In order to facilitate the alignment of the guide assembly 421, the gripping mechanism 3 and the transport mechanism 2 are connected respectively. Figure 2 and Figure 3 In some embodiments of the present application, the alignment adjustment component 42 also includes a first substrate 423 and a second substrate 424, the first substrate 423 is fixedly connected to the transportation mechanism 2, the first alignment guide 4211 is fixedly connected to the first substrate 423, the second substrate 424 is slidably connected to the second alignment guide 4212, and the grasping mechanism 3 is fixedly connected to the second substrate 424.

[0082] In the embodiment of the present application, the first substrate 423 may be a circular plate structure, a square plate structure, a regular polygonal plate structure, an irregular pattern plate structure, etc.; the shape of the second substrate 424 may be the same as or different from the shape of the first substrate 423. Figure 3 In a possible embodiment of the present application, the first substrate 423 and the second substrate 424 are both square plate structures.

[0083] In the embodiment of the present application, there may be one or more alignment guide member groups 421. In order to improve the stability of the movement of the grabbing mechanism 3 relative to the transport mechanism 2, refer to Figure 2 and Figure 3 In a possible embodiment of the present application, there are four alignment guide member groups 421, and the four alignment guide member groups 421 are distributed at four vertex positions of the first substrate 423. Correspondingly, two first alignment driving members 422a and two second alignment driving members 422b can be provided, and the four alignment driving members 422 are distributed at four sides of the first substrate 423.

[0084] It is understandable that the arrangement order of the first alignment guide 4211 and the second alignment guide 4212 can be changed. For example, the four alignment guide groups 421 include a first alignment guide group and a second alignment guide group. In the first alignment guide group, the first alignment guide 4211 is connected to the first substrate 423, and the second alignment guide 4212 is connected to the second substrate 424; in the second alignment guide group, the first alignment guide 4211 is connected to the second substrate 424, and the second alignment guide 4212 is connected to the first substrate 423. The first alignment guide assembly and the second alignment guide group are alternately distributed along the circumference of the first substrate 423.

[0085] In order to facilitate the alignment of the characteristic structure of the material 5 to be stacked and the characteristic structure of the material 5 on the material pile, for example, at least one alignment drive member 422 also includes a third alignment drive member, the first substrate 423 and the transport mechanism 2 are rotationally connected, and the rotation axes of the two are parallel to the stacking direction, and the third alignment drive member is used to drive the first substrate 423 and the grasping mechanism 3 thereon to rotate relative to the transport mechanism 2; alternatively, the second substrate 424 and the grasping mechanism 3 are rotationally connected, and the rotation axes of the two are parallel to the stacking direction, and the third alignment drive member is used to drive the grasping mechanism 3 to rotate relative to the second substrate 424, so as to align the characteristic structure of the material 5 to be stacked and the characteristic structure of the material 5 on the material pile.

[0086] In the embodiment of the present application, the second substrate 424 can also be rotated relative to the first substrate 423 by the first alignment driving member 422a and the second alignment driving member 422b, thereby driving the grasping mechanism 3 to rotate relative to the first substrate 423. Specifically, the four alignment guide member groups 421 are distributed symmetrically with the center, the two first alignment driving members 422a are arranged opposite to each other, and the two second alignment driving members 422b are arranged opposite to each other, one of the first alignment driving members 422a drives in the forward direction, and the other first alignment driving member 422a drives in the reverse direction, thereby driving the second substrate 424 to rotate relative to the first substrate 423; or, one second alignment driving member 422b drives in the forward direction, and the other second alignment driving member 422b drives in the reverse direction, thereby driving the second substrate 424 to rotate relative to the first substrate 423.

[0087] The palletizing device provided in the embodiment of the present application is provided with a first alignment guide 4211 and a second alignment guide 4212 whose guiding directions are perpendicular to each other, and the first alignment guide 4211 is driven by a first alignment driving member 422a, and the second alignment guide 4212 is driven by a second alignment driving member 422b, so that the grasping mechanism 3 can move in at least two directions, thereby improving the adjustment range, and the two first alignment driving members 422a are driven in different directions respectively or the two second alignment driving members 422b are driven in different directions respectively and can also drive the grasping mechanism 3 to rotate, thereby facilitating the adjustment of the direction of the material 5 on the grasping mechanism 3.

[0088] In order to obtain the position deviation information of the material 5 to be palletized and the material pile, refer to Figure 4 and Figure 8 In some embodiments of the present application, the alignment detection component 41 includes a first detection component 411, a second detection component 412 and an information processing unit, the first detection component 411 is connected to the gripping mechanism 3, and the first detection component 411 is used to obtain the first position information of the material pile on the stacking position 12; the second detection component 412 is connected to the transportation mechanism 2, and the second detection component 412 is used to obtain the second position information of the material 5 on the gripping mechanism 3; the information processing unit is used to obtain the position deviation information according to the first position information and the second position information.

[0089] In the embodiment of the present application, the first detection component 411 can be a position sensor, a distance sensor, a camera, etc. The sensor can be photoelectric, electromagnetic, etc., and the embodiment of the present application is not limited to this. The second detection component 412 and the first detection component 411 can be of the same or different types.

[0090] By way of example, the first detection member 411 and the second detection member 412 are both cameras. The first detection member 411 takes a picture of the material pile to obtain an image of the material pile, and the image of the material pile includes first position information. The second detection member 412 takes a picture of the material 5 to be palletized to obtain an image of the material 5 to be palletized, and the image of the material 5 to be palletized includes second position information. The information processing unit obtains the first position information and the second position information by processing the image of the material pile and the image of the material 5 to be palletized, and calculates the position deviation information of the material 5 to be palletized and the material pile based on the first position information and the second position information.

[0091] In order to facilitate the first detection member 411 and the second detection member 412 to obtain images, optionally, the shooting direction of the first detection member 411 is toward the lower side along the stacking direction. When the grasping mechanism 3 releases the material 5 to be stacked so that the material 5 is stacked on the material pile, the first detection member 411 takes a picture of the material pile; the shooting direction of the second detection member 412 is toward the upper side along the stacking direction. When the transportation mechanism 2 transports the material 5 to be stacked from the material picking position 11 to the stacking position 12 and passes through the second detection member 412, the second detection member 412 takes a picture of the material 5 to be stacked.

[0092] It can be understood that, since multiple materials 5 need to be stacked in sequence during the palletizing process, and the transport mechanism 2 only transports one material 5 to be palletized each time, each time the transport mechanism 2 and the grabbing mechanism 3 pick up and place a material 5, the first detection member 411 and the second detection member 412 both take a photo on one side to obtain new position deviation information, thereby ensuring that each material 5 to be palletized can be aligned with the material pile along the stacking direction.

[0093] In addition, when the first material 5 of each material pile is placed before the stacking position 12, there is no material 5 on the stacking position 12 that can be photographed. Therefore, a carrying tray, a support frame, etc. can be set, and structural features can be set on the carrying tray or the support frame to simulate the first position information of the material pile, thereby facilitating the placement of the first material 5 in each material pile.

[0094] The palletizing equipment provided in the embodiment of the present application is provided with a first detection member 411 and a second detection member 412. The first detection member 411 can timely obtain the first position information of the material pile from the position of the gripping mechanism 3, and the second detection member 412 can obtain the second position information of the material 5 to be palletized on the transport mechanism 2. The two work independently without interfering with each other, and can provide more accurate information to the information processing unit.

[0095] In order to facilitate the transport mechanism 2 to drive the grabbing mechanism 3 to move relative to the frame 1, refer to Figure 1 , Figure 2 and Figure 5 In some embodiments of the present application, the transport mechanism 2 includes a first lifting assembly 21 and a first translation assembly 22. The first lifting assembly 21 is connected to the frame 1, and the first lifting assembly 21 can move relative to the frame 1 along the stacking direction; the first translation assembly 22 is connected between the grasping mechanism 3 and the first lifting assembly 21, and the first translation assembly 22 moves with the first lifting assembly 21, and can drive the grasping mechanism 3 to move along the translation direction; wherein, the translation direction is set perpendicular to the stacking direction.

[0096] In the embodiment of the present application, the first lifting assembly 21 can drive the first translation assembly 22 to move relative to the frame 1 in the stacking direction, thereby driving the grabbing mechanism 3 on the first translation assembly 22 to move relative to the frame 1 in the stacking direction. The first lifting assembly 21 can be arranged on the inner side or the outer side of the frame 1. For example, the first lifting assembly 21 is arranged on the inner side of the frame 1, and the first translation assembly 22 is connected to the first lifting assembly 21, which can drive the grabbing mechanism 3 to reciprocate between the inner side and the outer side of the frame 1.

[0097] The palletizing equipment provided in the embodiment of the present application is respectively provided with a first lifting component 21 and a first translation component 22. The first lifting component 21 can drive the grabbing mechanism 3 and the first translation component 22 to move along the stacking direction, and the first translation component 22 drives the grabbing mechanism 3 to move along the translation direction, so as to facilitate the grabbing mechanism 3 to move in multiple directions, so as to move between the material picking position 11 and the stacking position 12, and can move along the stacking direction to stack the material 5.

[0098] In order to facilitate the transport mechanism 2 to drive the grabbing mechanism 3 to move relative to the frame 1 along the stacking direction, refer to Figure 5 , Figure 6 and Figure 7In some embodiments of the present application, the first lifting assembly 21 includes a first lifting platform 211, a first lifting drive member 212 and a first lifting transmission member group 213. The first lifting platform 211 is slidably connected to the frame 1 along the stacking direction, and the first translation assembly 22 is connected to the first lifting platform 211; the first lifting transmission member group 213 is transmission-connected between the first lifting drive member 212 and the first lifting platform 211, so that the first lifting drive member 212 drives the first lifting platform 211 to move.

[0099] In an embodiment of the present application, the first lifting platform 211 can be a plate-like structure, a block-like structure, a frame structure, etc. For example, the first lifting platform 211 is a frame structure, and a slide rail extending along the stacking direction is provided on the rack 1. The first lifting platform 211 is slidably connected to the slide rail so that the two are slidably connected.

[0100] In the embodiment of the present application, the first lifting drive member 212 is used to drive the first lifting platform 211 to move relative to the frame 1 along the stacking direction, so as to facilitate the grabbing mechanism 3 on the first lifting platform 211 to move to the top position of the material pile. The first lifting drive member 212 can be a telescopic cylinder, such as a cylinder, a hydraulic cylinder, etc., and the first lifting drive member 212 can also be a motor, such as a servo motor, a stepper motor, etc. For example, the first lifting drive member 212 is a motor, the first lifting drive member 212 is fixedly connected to the frame 1, and the output shaft of the first lifting drive member 212 is connected to the first lifting platform 211 through the first lifting transmission member group 213.

[0101] In the embodiment of the present application, the first lifting transmission component group 213 can be a combination of one or more of a gear assembly, a gear rack assembly, a worm gear assembly, a crank slider assembly, a ball screw assembly, a chain drive assembly, and a belt drive assembly.

[0102] Reference Figure 5 , Figure 6 and Figure 7In a possible embodiment of the present application, the first lifting transmission component group 213 includes a chain transmission assembly. Specifically, the first lifting transmission component group 213 includes a first driving wheel 2131 and a plurality of first steering wheels 2132. The first driving wheel 2131 and the first steering wheels 2132 are respectively rotatably connected to the frame 1. The first steering wheels 2132 are distributed at the top and bottom of the frame 1. The first lifting transmission component group 213 also includes a first chain 2133 and a first counterweight 2134. The first chain 2133 is respectively wound around the first driving wheel 2131 and the first steering wheel 21 32. One end of the first chain 2133 is fixedly connected to the first lifting platform 211, and the other end of the first chain 2133 is fixedly connected to the first counterweight 2134. The output shaft of the first lifting drive member 212 is connected to the first driving wheel 2131. The first lifting drive member 212 drives the first driving wheel 2131 to rotate, and the first driving wheel 2131 drives the first chain 2133 and the first steering wheel 2132 to move, thereby driving the first lifting platform 211 to move. The first counterweight 2134 can balance the weight of the first lifting platform 211, improve stability, and reduce power consumption.

[0103] In order to improve the safety of the first lifting assembly 21 during operation, the first lifting assembly 21 further includes a first protective member 214, which may include a proximity switch, a speed sensor, a clamp, etc. By way of example, the first protective member 214 is a chain break protector, which may have detection and braking functions. The first protective member 214 is fixed to the first lifting platform 211, and the first chain 2133 passes through the first protective member 214. When the first protective member 214 detects that the movement speed of the first chain 2133 exceeds a preset safety speed, the first chain 2133 is braked to improve the safety of the first lifting assembly 21 during operation.

[0104] On this basis, the first protective member 214 can also be electrically connected to the first lifting drive member 212. The first protective member 214 includes a proximity switch. The first chain 2133 includes a screw for fixing the chain links. When the first chain 2133 breaks, the screw will slip and be detected by the proximity switch. The proximity switch sends a signal to the first drive member 212, so that the first lifting drive member 212 stops power output and brakes after receiving the signal.

[0105] In addition, a speed sensor can be provided on the first protective member 214. When the first protective member 214 detects that the movement speed of the first chain 2133 exceeds the preset safety speed, a signal is sent to the first lifting drive member 212, so that the first lifting drive member 212 stops power output and brakes after receiving the signal.

[0106] In addition, an alarm component may be provided, and the first guard 214 is electrically connected to the alarm component. When the proximity switch of the first guard 214 detects the slipped screw, or when the first guard 214 detects that the movement speed of the first chain 2133 exceeds the preset safety speed, the first guard 214 sends a signal to the alarm component, so that the alarm component sends an alarm to prompt the operator. The alarm component includes an acoustic alarm component, an optical alarm component, etc.

[0107] The palletizing equipment provided in the embodiment of the present application is provided with a first lifting drive member 212 and a first lifting transmission member group 213. The first lifting drive member 212 drives the first lifting platform 211 to move through the first lifting transmission member group 213, and then the first lifting platform 211 drives the first translation assembly 22 and the grasping mechanism 3 thereon to move. The structure is simple and easy to implement.

[0108] In order to facilitate the first translation assembly 22 to drive the grasping mechanism 3 to move relative to the frame 1 along the translation direction, refer to Figure 1 , Figure 2 , Figure 5 and Fig. 9 In some embodiments of the present application, the first translation assembly 22 includes a translation platform 221, a first translation driver 222 and a first translation transmission member group 223. The translation platform 221 is slidably connected to the first lifting platform 211 along the translation direction, and the grasping mechanism 3 is connected to the translation platform 221; the first translation transmission member group 223 is transmission-connected between the first translation driver 222 and the translation platform 221, so that the first translation driver 222 drives the translation platform 221 to move.

[0109] In the embodiment of the present application, the translation platform 221 can be a plate-like structure, a block-like structure, a rod-like structure, a frame structure, etc. For example, the translation platform 221 is a plate-like structure. The sliding connection between the translation platform 221 and the first lifting platform 211 is specifically that a translation rail extending along the translation direction is fixedly connected to the first lifting platform 211, and the translation platform 221 is slidably connected to the translation rail.

[0110] In the embodiment of the present application, the first translation driving member 222 is used to drive the translation platform 221 to move relative to the first lifting platform 211 along the translation direction, thereby driving the grabbing mechanism 3 on the translation platform 221 to move relative to the frame 1 along the translation direction, so that the grabbing mechanism 3 moves between the material picking position 11 and the stacking position 12. The first translation driving member 222 can be a telescopic cylinder, such as a cylinder, a hydraulic cylinder, etc., and the first translation driving member 222 can also be a motor, such as a servo motor, a stepping motor, etc. For example, the first translation driving member 222 is a motor.

[0111] In the embodiment of the present application, the first translation transmission component group 223 can be a combination of one or more of a gear assembly, a gear rack assembly, a worm gear assembly, a crank slider assembly, a ball screw assembly, a chain drive assembly, and a belt drive assembly.

[0112] By way of example, in a possible embodiment of the present application, the first translation transmission component group 223 includes a gear rack assembly. Specifically, the first translation transmission component group 223 includes a translation rack and a translation gear. The translation rack is arranged along the translation direction and is fixedly connected to the first lifting platform 211. The translation gear is rotationally connected to the translation platform 221, and the translation gear is meshed with the translation rack. The first translation driving component 222 is fixedly connected to the translation platform 221, and the output shaft of the first translation driving component 222 is connected to the translation gear. The first translation driving component 222 drives the translation gear to rotate relative to the translation rack. Under the reaction force applied by the translation rack, the translation gear drives the translation platform 221 to slide relative to the translation slide rail.

[0113] The palletizing equipment provided in the embodiment of the present application is provided with a first translation driving member 222 and a first translation transmission member group 223. The first translation driving member 222 drives the translation platform 221 to move through the first translation transmission member group 223, and then the translation platform 221 drives the grasping mechanism 3 thereon to move. The structure is simple and easy to implement.

[0114] In order to facilitate the first lifting platform 211 to be adjusted to a suitable position according to the height of the material pile, in some embodiments of the present application, the transportation mechanism 2 also includes a distance measuring sensor and a lifting processing unit. The distance measuring sensor is connected to the translation platform 221, and the distance measuring sensor is used to obtain the distance information between the translation platform 221 and the material pile along the stacking direction; the lifting processing unit is electrically connected to the distance measuring sensor and the first lifting drive 212, respectively, and the lifting processing unit is used to control the first lifting drive 212 according to the distance information to adjust the relative position of the first lifting platform 211 and the frame 1.

[0115] In the embodiment of the present application, the distance sensor may be a laser distance sensor, an ultrasonic distance sensor, an infrared distance sensor, etc. For example, the distance sensor is a laser sensor, which may be fixedly connected to the middle of the translation platform 221, and the distance sensor is arranged toward the material pile. When the clamping mechanism places the material 5 on the material pile, the height of the material pile changes. The distance parameter between the material pile and the top side of the material pile is detected by the distance sensor, which can provide a distance reference for the movement of the first lifting platform 211 along the stacking direction, so that the first lifting platform 211 can drive the grasping mechanism 3 to move or stop along the stacking direction, so that the grasping mechanism 3 can be maintained at a target distance from the top side of the material pile.

[0116] In the embodiment of the present application, the target distance is a distance parameter set according to the stacking requirements. For example, after the grabbing mechanism 3 places a material 5, it needs to rise relative to the material pile to avoid collision with the material pile when transporting the new material 5. The target distance can be greater than or equal to the thickness of the material 5, that is, the thickness of the material 5, that is, the size of the material 5 along the stacking direction.

[0117] The palletizing equipment provided in the embodiment of the present application is provided with a distance measuring sensor, which can obtain the distance between the translation platform 221 and the current material pile, thereby facilitating the first lifting platform 211 to adjust its position according to the height of the current material pile, so as to make the positioning of the first lifting platform 211 more accurate.

[0118] In order to improve the transportation efficiency of the transport mechanism 2 for the material 5 and improve the production cycle, refer to Figure 2 , Figure 5 , Figure 6 and Figure 7 In some embodiments of the present application, the transport mechanism 2 also includes a second lifting assembly 23, which includes a second lifting platform 231, a second lifting drive member 232 and a second lifting transmission member group 233. The second lifting platform 231 is slidably connected to the frame 1 along the stacking direction. The second lifting platform 231 can obtain the material 5 at the material picking position 11 and transport it to the position of the first lifting assembly 21; the second lifting drive member 232 is connected to the frame 1; the second lifting transmission member group 233 is transmission-connected between the second lifting drive member 232 and the second lifting platform 231, so that the second lifting drive member 232 drives the second lifting platform 231 to move.

[0119] In the embodiment of the present application, the second lifting assembly 23 can be arranged on the inner side of the frame 1 or on the outer side of the frame 1. For example, the first lifting assembly 21 and the second lifting assembly 23 are both arranged on the inner side of the frame 1, and the second lifting assembly 23 is located below the first lifting assembly 21. After the second lifting assembly 23 obtains the material 5 to be stacked, it rises to the first lifting assembly 21 so that the grabbing mechanism 3 on the first lifting assembly 21 grabs the material 5 to be stacked.

[0120] In an embodiment of the present application, the second lifting platform 231 can be a plate-like structure, a block-like structure, a frame structure, etc. For example, the second lifting platform 231 is a frame structure, and a slide rail extending along the stacking direction is provided on the rack 1. The second lifting platform 231 is slidably connected to the slide rail so that the two are slidably connected.

[0121] In the embodiment of the present application, the second lifting drive 232 is used to drive the second lifting platform 231 to move relative to the frame 1 along the stacking direction, so as to facilitate the second lifting platform 231 to move to the position of the first lifting platform 211. The second lifting drive 232 can be a telescopic cylinder, such as a cylinder, a hydraulic cylinder, etc., and the second lifting drive 232 can also be a motor, such as a servo motor, a stepper motor, etc. For example, the second lifting drive 232 is a motor, the second lifting drive 232 is fixedly connected to the frame 1, and the output shaft of the second lifting drive 232 is connected to the second lifting platform 231 through the second lifting transmission member group 233.

[0122] In the embodiment of the present application, the second lifting transmission component group 233 can be a combination of one or more of a gear assembly, a gear rack assembly, a worm gear assembly, a crank slider assembly, a ball screw assembly, a chain drive assembly, and a belt drive assembly.

[0123] Reference Figure 5 , Figure 6 and Figure 7 In a possible embodiment of the present application, the second lifting transmission component group 233 includes a chain transmission assembly. Specifically, the second lifting transmission component group 233 includes a second driving wheel 2331 and a plurality of second steering wheels 2332. The second driving wheel 2331 and the second steering wheel 2332 are respectively rotatably connected to the frame 1. The second steering wheels 2332 are distributed at the top and the bottom of the frame 1. The second lifting transmission component group 233 also includes a second chain 2333 and a second counterweight 2334. The second chain 2333 is respectively wound around the second driving wheel 2331 and the second steering wheel 23 32. One end of the second chain 2333 is fixedly connected to the second lifting platform 231, and the other end of the second chain 2333 is fixedly connected to the second counterweight 2334. The output shaft of the second lifting drive member 232 is connected to the second driving wheel 2331. The second lifting drive member 232 drives the second driving wheel 2331 to rotate, and the second driving wheel 2331 drives the second chain 2333 and the second steering wheel 2332 to move, thereby driving the second lifting platform 231 to move. The second counterweight 2334 can balance the weight of the second lifting platform 231, improve stability, and reduce power consumption.

[0124] In order to improve the safety of the second lifting assembly 23 during operation, the second lifting assembly 23 also includes a second protective member 234, which may include a proximity switch, a speed sensor, a clamp, etc. For example, the second protective member 234 is a chain break protector, which may have detection and braking functions. The second protective member 234 is fixed to the second lifting platform 231, and the second chain 2333 passes through the second protective member 234. When the proximity switch of the second protective member 234 detects the slipped screw, or when the second protective member 234 detects that the movement speed of the second chain 2333 exceeds the preset safety speed, the second chain 2333 is braked to improve the safety of the second lifting assembly 23 during operation.

[0125] On this basis, the second protective member 234 can also be electrically connected to the second lifting drive member 232. When the second protective member 234 detects that the movement speed of the second chain 2333 exceeds the preset safety speed, it sends a signal to the second lifting drive member 232 so that the second lifting drive member 232 stops power output and brakes after receiving the signal.

[0126] In addition, an alarm component can be provided, and the second protection member 234 is electrically connected to the alarm component. When the proximity switch of the second protection member 234 detects the slipped screw, or when the second protection member 234 detects that the movement speed of the second chain 2333 exceeds the preset safety speed, a signal is sent to the alarm component, so that the alarm component sends an alarm to prompt the operator. The alarm component includes an acoustic alarm component, an optical alarm component, etc.

[0127] The palletizing equipment provided in the embodiment of the present application is provided with a second lifting component 23. The second lifting component 23 can obtain the material 5 at the material picking position 11 and transport the material 5 to the position of the first lifting platform 211, so that the grabbing mechanism 3 on the first lifting platform 211 can quickly grab the material 5 to be stacked. The first lifting platform 211 and the second lifting platform 231 work together to more efficiently transfer the material 5 between the material picking position 11 and the stacking position 12, thereby improving production efficiency.

[0128] In order to facilitate the transport mechanism 2 to obtain the material 5 to be stacked from the material taking position 11, refer to Figure 5 , Fig. 9 , Fig.10 and Fig.11In some embodiments of the present application, the transport mechanism 2 also includes a second translation assembly 24, which includes a material picking member 241, a second translation drive member 242 and a second translation transmission member group 243. The material picking member 241 can move relative to the second lifting platform 231 along a translation direction, and the material picking member 241 is used to obtain material 5 from the material picking position 11; the second translation drive member 242 is connected to the second lifting platform 231; the second translation transmission member group 243 is transmission-connected between the second translation drive member 242 and the material picking assembly, so that the second translation drive member 242 drives the material picking member 241 to move.

[0129] In the embodiment of the present application, the second translation assembly 24 is connected to the second lifting assembly 23, the inner side of the frame 1 is the docking position, and the second translation assembly 24 drives the material 5 to move between the material picking position 11 and the docking position, and the second translation assembly 24 can be lifted and lowered with the second lifting assembly 23 to drive the material 5 to move to the position of the first lifting platform 211.

[0130] In the embodiment of the present application, the material picking member 241 may be a robotic arm, a conveyor belt, etc. For example, the material picking member 241 is a conveyor belt, and when the material 5 to be palletized is placed on the conveyor belt, it is transported to the docking position through the conveyor belt, and when the material 5 is carried by a pallet, the conveyor belt may also move in the reverse direction to transport the pallet from the docking position to the material picking position 11.

[0131] In the embodiment of the present application, the second translation driving member 242 is used to drive the material picking member 241 to move, so that the material picking member 241 transports the material 5 from the material picking position 11 to the docking position, or the material picking member 241 transports the tray from the docking position to the material picking position 11. The second translation driving member 242 can be a telescopic cylinder, such as a cylinder, a hydraulic cylinder, etc., and the second translation driving member 242 can also be a motor, such as a servo motor, a stepping motor, etc. For example, the second translation driving member 242 is a motor, the second translation driving member 242 is fixedly connected to the second lifting platform 231, and the second translation driving member 242 and the material picking member 241 are connected through the second translation transmission member group 243.

[0132] In order to facilitate the second translation drive 242 to operate according to demand, the second translation assembly 24 may also include a third in-position sensor, which is electrically connected to the second translation drive 242. When it is necessary to obtain material 5, the second translation drive 242 drives the material picking member 241 to move toward the docking position. When the material 5 on the material picking member 241 reaches the docking position, the third in-position sensor is triggered. The third in-position sensor sends a signal to the second translation drive 242, so that the second translation drive 242 stops driving, and the material picking member 241 is stationary relative to the second lifting platform 231, so that the second lifting platform 231 drives the material 5 to move toward the first lifting platform 211; when it is necessary to send out the tray, the second translation drive 242 drives the material picking member 241 to move toward the material picking position 11. When the tray on the material picking member 241 moves out of the docking position, the third in-position sensor is triggered. The third in-position sensor sends a signal to the second translation drive 242, so that the second translation drive 242 stops driving.

[0133] In the embodiment of the present application, the second translation transmission component group 243 can be a combination of one or more of a gear assembly, a gear rack assembly, a worm gear assembly, a crank slider assembly, a ball screw assembly, a chain drive assembly, and a belt drive assembly.

[0134] In a possible embodiment of the present application, the second translation transmission component group 243 includes a belt transmission assembly. Specifically, the second translation transmission component group 243 includes a third driving wheel and at least one third steering wheel. The third driving wheel and the third steering wheel are respectively rotatably connected to the second lifting platform 231, and the third driving wheel and the third steering wheel are arranged in sequence along the translation direction. The material picking component 241 is sleeved on the third driving wheel and the third steering wheel. The second translation driving component 242 is fixedly connected to the second lifting platform 231. The output shaft of the second translation driving component 242 is connected to the third driving wheel. The second translation driving component 242 drives the third driving wheel to rotate, and the third driving wheel drives the material picking component 241 and the second steering wheel 2332 to move.

[0135] It should be noted that the second translation transmission member group 243 may be one or more, and multiple second translation transmission member groups 243 may be driven by one second translation driving member 242. In order to improve the stability of the transportation of the second translation assembly 24, refer to Fig.10 and Fig.11 In a possible embodiment of the present application, there are three second translation assemblies 24 and three material picking members 241, and the three second translation assemblies 24 and the three material picking members 241 are arranged in one-to-one correspondence, and the three material picking members 241 are distributed sequentially along the width direction thereof.

[0136] The palletizing device provided in the embodiment of the present application is provided with a material picking member 241 and a second translation driving member 242. The second translation driving member 242 drives the material picking member 241 to move along the translation direction, so as to facilitate the acquisition of the material 5 to be palletized on the material picking position 11. The structure is simple and easy to implement.

[0137] In order to facilitate the second lifting platform 231 to stop moving in time according to the position of the first lifting platform 211, refer to Fig.10 , Fig.11 and Fig.12 In some embodiments of the present application, the transport mechanism 2 also includes an in-place detection component 25, which includes a trigger member 251, a docking processing unit and at least one in-place sensor 252, the in-place sensor 252 is connected to the first lifting platform 211, the trigger member 251 is connected to the second lifting platform 231, the docking processing unit is electrically connected to the in-place sensor 252 and the second lifting drive member 232, respectively, and the docking processing unit is used to control the second lifting drive member 232 when the trigger member 251 triggers the in-place sensor 252, so that the second lifting platform 231 and the first lifting platform 211 are relatively stationary.

[0138] In the embodiment of the present application, the in-place sensor 252 can be a mechanical proximity switch, a photoelectric proximity switch, a capacitive proximity switch, an electromagnetic proximity switch, etc., and the embodiment of the present application is not limited to this. For example, the in-place sensor 252 is a mechanical proximity switch.

[0139] In the embodiment of the present application, the trigger member 251 can have various forms according to the type of the in-place sensor 252. For example, when the in-place sensor 252 is a photoelectric proximity switch, the trigger member 251 is a device that can emit light; for another example, when the in-place sensor 252 is an electromagnetic proximity switch, the trigger member 251 is a magnetic member. For example, the in-place sensor 252 in the embodiment of the present application is a mechanical proximity switch, and the trigger member 251 is a rigid member. The trigger member 251 can be in the shape of a plate, a block, a rod, etc. When the trigger member 251 contacts the in-place sensor 252, the in-place sensor 252 is triggered.

[0140] It can be understood that since the first lifting platform 211 and the second lifting platform 231 both move along the stacking direction, the in-position sensor 252 and the corresponding trigger member 251 should be arranged in sequence along the stacking direction so that when the first lifting platform 211 and the second lifting platform 231 approach each other, the trigger member 251 can touch the in-position sensor 252.

[0141] In the embodiment of the present application, one or more in-place sensors 252 may be provided. When there are multiple in-place sensors 252, one or more trigger members 251 may be provided. For example, two in-place sensors 252 and one trigger member 251 are provided. The two in-place sensors 252 are respectively a first in-place sensor 252a and a second in-place sensor 252b. The trigger member 251, the first in-place sensor 252a and the second in-place sensor 252b are sequentially provided along the stacking direction, and a guide slope or guide wheel is provided on the first in-place sensor 252a. When the first in-place sensor 252a abuts against the trigger member 251, the first in-place sensor 252a can be driven to move through the guide slope or guide wheel, so that the trigger member 251 can pass over the first in-place sensor 252a and continue to move toward the second in-place sensor 252b.

[0142] In the embodiment of the present application, the docking processing unit is used to control the second lifting drive member 232 according to the trigger state of the in-place sensor 252. When there are multiple in-place sensors 252, the multiple in-place sensors 252 are respectively electrically connected to the docking processing unit. For example, the first in-place sensor 252a, the second in-place sensor 252b and the second lifting drive member 232 are respectively connected to the docking processing unit.

[0143] On this basis, the second lifting platform 231 drives the trigger member 251 to move toward the first lifting platform 211. When the trigger member 251 touches the first in-place sensor 252a, the first in-place sensor 252a is triggered, and the docking processing unit receives the signal of the first in-place sensor 252a, and controls the second lifting drive member 232 to decelerate; the second lifting platform 231 decelerates and moves toward the first lifting platform 211. When the trigger member 251 passes over the first in-place sensor 252a and touches the second in-place sensor 252b, the second in-place sensor 252b is triggered, and the docking processing unit receives the signal of the second in-place sensor 252b, controls the second lifting drive member 232 to brake, and the second lifting platform 231 stops moving, so that the first lifting platform 211 and the second lifting platform 231 are relatively still. Since two in-place sensors 252 are provided, the second lifting platform 231 can be decelerated first and then braked, and the impact during braking is small, and the braking position is more accurate.

[0144] The palletizing equipment provided in the embodiment of the present application has an in-place sensor 252 arranged on the first lifting platform 211, and the in-place sensor 252 can move with the first lifting platform 211. A trigger member 251 is arranged on the second lifting platform 231 to trigger the in-place sensor 252, and when the in-place sensor 252 is triggered, the second lifting drive member 232 stops driving the second lifting platform 231, so that the second lifting platform 231 and the first lifting platform 211 can maintain a relatively static state, which is convenient for the grabbing mechanism 3 on the first lifting platform 211 to grab the material 5 to be stacked from the second lifting platform 231.

[0145] In order to facilitate the grabbing mechanism 3 to grab the material 5, refer to Figure 2 , Figure 5 and Figure 8 In some embodiments of the present application, the gripping mechanism 3 includes a gripping platform 31, a clamping drive 33 and at least two clamping assemblies 32; the gripping platform 31 is connected to the translation platform 221; at least two clamping assemblies 32 are movably connected to the gripping platform 31; the clamping drive 33 is connected to the gripping platform 31, and the output shaft of the clamping drive 33 is transmission-connected to the at least two clamping assemblies 32, and the clamping drive 33 is used to drive at least two clamping assemblies 32 to move closer to or away from each other.

[0146] In the embodiment of the present application, the grabbing platform 31 is used to carry the clamping drive 33 and the clamping assembly 32. The grabbing platform 31 can be a block structure, a plate structure, a frame structure, etc. For example, the grabbing platform 31 is a frame structure. The grabbing platform 31 is connected to the translation platform 221, specifically, the alignment adjustment assembly 42 is connected to the translation platform 221, and the grabbing platform 31 is fixedly connected to the second substrate 424 in the alignment adjustment assembly 42.

[0147] In the embodiment of the present application, the clamping assembly 32 is movably connected to the grabbing platform 31. Specifically, the clamping assembly 32 and the grabbing platform 31 may be slidably connected, rotatably connected, flexibly connected, etc. For example, the clamping assembly 32 is slidably connected to the grabbing platform 31 along the translation direction, and at least two clamping assemblies 32 may approach or move away from each other along the translation direction.

[0148] In the embodiment of the present application, the number of the clamping components 32 can be two, three or more, and the multiple clamping components 32 can be distributed in a circular array; or, the multiple clamping components 32 are divided into two groups, and the two groups of clamping components 32 are relatively distributed. For example, there are two clamping components 32, and the two clamping components 32 are relatively distributed.

[0149] In the embodiment of the present application, the clamping drive 33 is used to drive the clamping assembly 32 to move relative to the grabbing platform 31. One clamping drive 33 may drive multiple clamping assemblies 32 to move, or each clamping assembly 32 may be provided with a corresponding clamping drive 33. The clamping drive 33 may be a telescopic cylinder, such as a pneumatic cylinder, a hydraulic cylinder, etc., or a motor, such as a servo motor, a stepping motor, etc. For example, the clamping drive 33 is a pneumatic cylinder.

[0150] In the embodiment of the present application, the connection between the clamping drive member 33 and the grabbing platform 31 can be a fixed connection or a movable connection. For example, the clamping drive member 33 is fixedly connected to the grabbing platform 31, and the output shaft of the clamping drive member 33 is fixedly connected to the corresponding clamping assembly 32, and the output shaft of the clamping drive member 33 is retracted along the translation direction. In addition, the two ends of the clamping drive member 33 can also be hinged to the grabbing platform 31 and the clamping assembly 32, respectively, to reduce the possibility of jamming of the clamping assembly 32 during movement.

[0151] The palletizing device provided in the embodiment of the present application is provided with at least two clamping assemblies 32, and the clamping driving member 33 drives the two clamping assemblies 32 to approach each other to grab the material 5, and the clamping driving member 33 drives the two clamping assemblies 32 to move away from each other to release the material 5. The structure is simple and easy to implement.

[0152] In order to improve the gripping effect of the gripping mechanism 3 and reduce the possibility of the material 5 slipping relative to the clamping assembly 32 during the movement, refer to Figure 2 , Figure 8 , Fig.13 and Fig.14 In some embodiments of the present application, the gripping mechanism 3 also includes a support assembly 34, the support assembly 34 includes a support member 341 and a support driving member 342, the support member 341 is provided with a support surface, and the support surface is used to support the material 5; the support driving member 342 is connected to the gripping platform 31, and the output shaft of the support driving member 342 is connected to the support member 341, and the support driving member 342 is used to drive the support member 341 to move between a supporting position and a releasing position. When the support member 341 is in the supporting position, the support surface is arranged relative to the gripping platform 31.

[0153] In the embodiment of the present application, when the support member 341 is in the supporting position, the material 5 can be limited from the lower side of the material 5 to reduce the possibility of the material 5 slipping from the clamping assembly 32 due to gravity. The support member 341 can be a block structure, a plate structure, a rod structure, etc. For example, the support member 341 is a plate structure. The support member 341 can be movably connected to the grabbing platform 31, for example, the support member 341 is hinged or slidably connected to the grabbing platform 31, or the support member 341 is only connected to the output shaft of the support driving member 342.

[0154] In the embodiment of the present application, the support driver 342 can drive the support 341 to perform linear motion, for example, the support driver 342 drives the support 341 to move in a translation direction; the support driver 342 can also drive the support 341 to perform rotational motion, wherein the rotation axis of the support 341 when performing rotational motion can be parallel to the stacking direction, and the rotation axis of the support 341 when performing rotational motion can also be perpendicular to the stacking direction. For example, the support driver 342 drives the support 341 to perform rotational motion, and the rotation axis of the support 341 is parallel to the stacking direction.

[0155] In an embodiment of the present application, the support driving member 342 is used to drive the support member 341 to move between a supporting position and a released position. The support driving member 342 can be a telescopic cylinder, such as a pneumatic cylinder, a hydraulic cylinder, etc. The support driving member 342 can also be a motor, such as a servo motor, a stepper motor, etc. For example, the support driving member 342 is a rotary cylinder.

[0156] The palletizing equipment provided in the embodiment of the present application is provided with a support member 341 and a support driving member 342. After the clamping assembly 32 clamps the material 5, the support driving member 342 can drive the support member 341 to move to the supporting position, so that the supporting surface of the support member 341 and the grabbing platform 31 are relatively arranged to support the material 5. Since the supporting direction of the supporting surface is different from the clamping direction of the clamping assembly 32, the material 5 can be effectively limited, reducing the possibility of the material 5 slipping relative to the clamping assembly 32.

[0157] In order to facilitate the movement of the support member 341, refer to Figure 2 , Figure 5 and Figure 8 In some embodiments of the present application, the transport mechanism 2 also includes a third lifting assembly 26, the third lifting assembly 26 includes a third lifting platform 261 and a third lifting driving member 262, the third lifting platform 261 is slidably connected to the translation platform 221 along the stacking direction, and the grasping mechanism 3 is connected to the third lifting platform 261; the third lifting driving member 262 is connected to the translation platform 221, and the third lifting driving member 262 is transmission-connected to the third lifting platform 261, for driving the third lifting platform 261 to move relative to the translation platform 221.

[0158] In an embodiment of the present application, the third lifting platform 261 can be a plate-like structure, a block structure, a shell structure, a frame structure, etc. For example, the third lifting platform 261 is a shell structure, the third lifting platform 261 is fixedly connected to the first substrate 423, and the translation platform 221 is provided with a lifting slide rail 263 extending along the stacking direction. The third lifting platform 261 is slidably connected to the lifting slide rail 263 so that the two are slidably connected, and in order to improve the stability of the third lifting platform 261 when sliding, a plurality of lifting slide rails 263 can be arranged between the third lifting platform 261 and the translation platform 221.

[0159] In the embodiment of the present application, the third lifting assembly 26 is used to drive the clamping mechanism to move the avoidance distance along the stacking direction. When the rotation axis of the support member 341 is parallel to the stacking direction, the avoidance distance should be greater than the travel of the support member 341 in the stacking direction; when the rotation axis of the support member 341 is parallel to the stacking direction or moves linearly, the avoidance distance should be greater than the size of the support member 341 along the stacking direction. So that after the third lifting assembly 26 drives the clamping mechanism to rise the avoidance distance relative to the second translation assembly 24, the support member 341 can move to the supporting position, or, at the stacking position 12, after the support member 341 moves to the release position, the third lifting assembly 26 drives the clamping mechanism to move the avoidance distance toward the material pile, so that the material 5 to be stacked on the clamping mechanism contacts the material pile, and then the clamping assembly 32 is released, so that the material 5 to be stacked can be stably placed on the material pile.

[0160] It should be noted that, since the third lifting drive member 262 can drive the grabbing mechanism 3 to move the avoidance distance along the stacking direction, on this basis, the target distance that the first lifting component 21 drives the grabbing mechanism 3 to move should be greater than the sum of the avoidance distance and the thickness of the material 5.

[0161] In the embodiment of the present application, the third lifting drive 262 is used to drive the third lifting platform 261 to move relative to the translation platform 221 along the stacking direction, so as to facilitate the short-distance height adjustment of the grabbing mechanism 3 on the third lifting platform 261. The third lifting drive 262 can be a telescopic cylinder, such as a cylinder, a hydraulic cylinder, etc., and the third lifting drive 262 can also be a motor, such as a servo motor, a stepping motor, etc. For example, the third lifting drive 262 is a cylinder.

[0162] In the embodiment of the present application, the connection between the third lifting drive member 262 and the translation platform 221 can be a fixed connection or a movable connection. For example, the third lifting drive member 262 is fixedly connected to the translation platform 221, and the output shaft of the third lifting drive member 262 is fixedly connected to the third lifting platform 261, and the output shaft of the third lifting drive member 262 is telescopic along the stacking direction. In addition, the two ends of the third lifting drive member 262 can also be hinged to the translation platform 221 and the third lifting platform 261, respectively, to reduce the possibility of jamming during the movement of the third lifting platform 261.

[0163] The palletizing equipment provided in the embodiment of the present application is provided with a third lifting assembly 26. The third lifting assembly 26 can drive the grasping mechanism 3 to move in a small range along the stacking direction so as to reserve space for the movement of the support member 341, so that when the grasping mechanism 3 releases the material 5, the support member 341 can move to the release position in time.

[0164] In order to facilitate the stable fixation of the material 5 by the clamping assembly 32, refer to Figure 2 , Figure 8 , Fig.13 and Fig.14 In some embodiments of the present application, the clamping assembly 32 includes a movable part 321 and a clamping part 322, the movable part 321 is slidably connected to the grabbing platform 31, the clamping drive part 33 is transmission-connected to the movable part 321, at least one clamping part 322 is connected to the movable part 321, and the clamping part 322 is used to clamp the material 5; wherein, each movable part 321 is provided with at least one supporting assembly 34, and the supporting drive part 342 is fixedly connected to the movable part 321.

[0165] In the embodiment of the present application, the movable part 321 can be a block structure, a plate structure, a rod structure, etc. For example, the movable part 321 is a plate structure, and the movable part 321 is arranged parallel to the translation direction. The grasping platform 31 is provided with a slide rail extending along the translation direction. The movable part 321 is slidably connected to the slide rail so that the movable part 321 and the grasping platform 31 are slidably connected. In order to improve the stability of the movable part 321 when sliding, a plurality of slide rails can be arranged between the movable part 321 and the grasping platform 31.

[0166] In the embodiment of the present application, the transmission connection between the clamping driving member 33 and the movable member 321 can be gear transmission, gear rack transmission, worm gear transmission, crank slider transmission, ball screw transmission, chain transmission, belt transmission, etc. For example, when the clamping driving member 33 is a cylinder, the two ends of the clamping driving member 33 are respectively hinged to the grasping platform 31 and the movable member 321.

[0167] In the embodiment of the present application, the clamping member 322 can be a block structure, a plate structure, a columnar structure, etc. For example, the clamping member 322 is a cylindrical structure, and the central axis of the clamping member 322 is arranged parallel to the stacking direction. In order to protect the material 5, the clamping member 322 can be made of elastic materials such as rubber; in order to improve the clamping effect, the surface of the clamping member 322 can be provided with anti-slip textures.

[0168] In the embodiment of the present application, the clamping member 322 and the movable member 321 can be fixedly connected or movably connected. Fig.13 and Fig.14 In a possible embodiment of the present application, the clamping member 322 is rotationally connected to the movable member 321, and the rotation centers of the clamping member 322 and the movable member 321 are parallel to the stacking direction.

[0169] In the embodiment of the present application, the support assembly 34 can be connected to the grabbing platform 31 or to the movable part 321. Since the sizes of the materials 5 may vary, the support assembly 34 connected to the grabbing platform 31 has poor adaptability to materials 5 of different sizes, so the support assembly 34 is connected to the movable part 321. One or more support assemblies 34 can be connected to each movable part 321. For example, each movable part 321 is connected to two symmetrically arranged support assemblies 34.

[0170] The palletizing equipment provided in the embodiment of the present application is configured with a support assembly 34 on each movable part 321 , so that multiple support assemblies 34 can support multiple positions of the material 5 , thereby improving the stable gripping of the material 5 by the gripping mechanism 3 .

[0171] In order to make the multiple movable parts 321 move synchronously to improve the grasping accuracy, refer to Figure 2 , Figure 8 , Fig.13 and Fig.14 In some embodiments of the present application, the grasping mechanism 3 also includes a synchronization component 35, the synchronization component 35 includes a rotating member 351 and a synchronization component 352, the rotating member 351 is rotatably connected to the grasping platform 31, and the rotation center of the rotating member 351 coincides with the relative motion center of at least two movable members 321; a synchronization component 352 is arranged between each movable member 321 and the rotating member 351, one end of the synchronization component 352 is hinged to the rotating member 351, and the other end of the synchronization component 352 is hinged to the corresponding movable member 321, so that at least two movable members 321 move synchronously.

[0172] In the embodiment of the present application, the rotating member 351 can be a block structure, a plate structure, a columnar structure, etc. For example, the rotating member 351 is a plate structure, the rotating member 351 and the movable member 321 are arranged on the same side of the grasping platform 31, and the rotation axis of the rotating member 351 and the grasping platform 31 is parallel to the stacking direction.

[0173] In the embodiment of the present application, the relative motion center of at least two movable parts 321 is specifically the center of a circular array when multiple movable parts 321 are distributed in a circular array, or, when multiple movable parts 321 are symmetrically distributed along the translation direction, the center of a line connecting two movable parts 321 along the translation direction.

[0174] In the embodiment of the present application, the synchronous member 352 can be a rod-shaped structure, and the synchronous member 352 can also be a transmission belt, a transmission chain, a rope, etc. For example, the synchronous member 352 is a rod-shaped structure, and the hinge axis of the synchronous member 352 and the rotating member 351 is different from the rotation axis of the rotating member 351 and the grasping platform 31. The multiple synchronous members 352 are symmetrically distributed about the rotation axis of the rotating member 351. When the rotating member 351 rotates relative to the grasping platform 31, the movable member 321 is driven to move by the synchronous member 352. Since the synchronous members 352 are symmetrically distributed, the multiple movable members 321 can move toward the center of motion or away from the center of motion at the same time.

[0175] The palletizing device provided in the embodiment of the present application is provided with a rotating member 351 and a synchronous member 352. Each synchronous member 352 can follow the movement of the rotating member 351 to drive the corresponding movable member 321 to move, so that at least two movable members 321 can move synchronously, thereby improving the accuracy of the grasping mechanism 3 during grasping.

[0176] It is understandable that in order to limit the range of motion of each moving component, a stopper is also provided at the end of each slide rail. For example, both ends of the lifting slide rail 263 are provided with a stopper to limit the travel range of the third lifting platform 261; for another example, both ends of the translation slide rail are provided with a stopper to limit the travel range of the translation platform 221. In addition, in order to make each electrical pipeline more regular, a drag chain can be provided on each moving component, and the electrical pipeline can be provided in the drag chain to protect the electrical pipeline. Here, the moving component refers to the first lifting platform 211, the translation platform 221, the second lifting platform 231, the third lifting platform 261, the grabbing platform 31, the movable part 321, the support part 341 and other components that can move relative to the frame 1.

[0177] It should be noted that, in order to facilitate the control of the movement of each moving component, for example, the palletizing equipment also includes a controller, which can be a programmable logic controller (PLC), an industrial computer, etc. The controller can include multiple processing units, for example, an information processing unit, a lifting processing unit, and a docking processing unit all belong to the controller. In addition, the first translation drive 222, the second translation drive 242, the third lifting drive 262, the clamping drive 33, and the supporting drive 342 are all electrically connected to the controller, and the controller controls each drive to adjust the movement of the corresponding moving components.

[0178] On this basis, the production line also includes feeding equipment, assembly equipment and inspection equipment. The feeding equipment is arranged at the material picking position 11 of the palletizing equipment, and the feeding equipment is used to transport the material 5 to the material picking position 11; the assembly equipment is arranged at the palletizing position 12 of the palletizing equipment, and the assembly equipment is used to assemble accessories into the material pile; the inspection equipment is used to inspect the assembled material pile.

[0179] In the embodiment of the present application, the feeding device can be a transport vehicle, a conveyor belt, an industrial robot, a lifting device, etc., which is not limited in the embodiment of the present application. For example, the feeding device is a conveyor belt, which has a simple structure and high transportation efficiency. In order to facilitate transportation, the feeding device also includes a pallet, and the material 5 to be stacked is placed on the pallet to reduce direct contact between the material 5 and the conveyor belt.

[0180] In the embodiment of the present application, the assembly equipment may include a transfer mechanism, a hoisting mechanism, a work platform, etc. The transfer mechanism can move the material pile to the work platform, and the hoisting mechanism can lift accessories such as the end pressure plate to the material pile. For example, when producing an electrolytic cell, the end pressure plate and the end plate at the bottom are placed on the stacking position 12 through the cooperation of the hoisting mechanism and the transfer mechanism, and the plates are stacked on the bottom end plate in sequence by the stacking device. When the middle plate position needs to be installed, the transfer mechanism transports the electrolytic cell to the work platform, and the hoisting mechanism lifts the middle plate to the electrolytic cell, and the installation of the middle plate is completed on the work platform. The transfer mechanism then transports the electrolytic cell back to the stacking position 12, and the stacking device completes the stacking of the remaining plates. When the stacking of the plates is completed, the transfer mechanism transports the electrolytic cell to the work platform, and the hoisting mechanism lifts the end plate and the end pressure plate at the top and places them on the electrolytic cell, and the assembly of the electrolytic cell is completed on the work platform.

[0181] In the embodiment of the present application, the inspection equipment can be used to inspect the verticality, circumferential error, etc. of the assembled material pile, and can also perform functional inspections according to the type of material pile, such as sealing inspections, pressure inspections, temperature inspections, etc. of the electrolytic cell.

[0182] On this basis, the operation of the palletizing equipment can include two stages. In the first stage, the first detection member 411 located at the palletizing position 12 takes a photo of the material pile to obtain the first position information of the material pile. The ranging sensor obtains the distance information between the translation platform 221 and the top of the material pile. Then, the first translation component 22 drives the grasping mechanism 3 to move from the palletizing position 12 to the docking position. Correspondingly, the feeding equipment places the material 5 to be stacked in the pallet, and drives the pallet and the material 5 to be stacked therein to move to the material picking position 11. The second translation assembly 24 transports the pallet and the material 5 to be stacked from the material picking position 11 to the docking position through the material picking piece 241 and then stops moving. The second lifting assembly 23 then drives the second translation assembly 24 to move toward the first lifting assembly 21 until the first in-place sensor 252a and the second in-place sensor 252b are triggered in sequence. The second translation assembly 24 and the translation platform 221 are relatively stationary, the clamping assembly 32 in the grasping mechanism 3 clamps and fixes the material 5 to be stacked, the third lifting assembly 26 drives the clamping mechanism to rise to a clearance distance, and the support member 341 moves to the supporting position to provide support for the material 5 to be stacked from the bottom.

[0183] In the second stage, the controller controls the first lifting component 21 to drive the first translation component 22 to rise the target distance according to the distance information, and the first translation component 22 drives the grasping mechanism 3 to move from the docking position toward the stacking position 12. When the grasping mechanism 3 passes the second detection component 412, the second detection component 412 takes a picture of the material 5 to be stacked on the grasping mechanism 3 to obtain the second position information of the material 5 to be stacked, and the controller obtains the position deviation information according to the first control information and the second control information. When the grasping mechanism 3 moves to the stacking position 12, the controller controls the alignment adjustment component 42 according to the position deviation information, so that the alignment adjustment component 42 drives the grasping mechanism 3 to move so that the material 5 to be stacked and the material pile are aligned along the stacking direction. After the alignment adjustment component 42 is adjusted, the support member 341 moves to the release position to release the bottom support of the material 5 to be stacked, and the third lifting component 26 drives the clamping mechanism to descend the avoidance distance so that the material 5 to be stacked is placed on the material pile, and then the clamping component 32 releases the material 5 to be stacked to complete the stacking of the material 5. Correspondingly, the second lifting assembly 23 drives the second translation assembly 24 to move away from the first translation assembly 22 until the second translation assembly 24 descends to the feeding device position, and the material picking component 241 transports the pallet to the feeding device, and then the second lifting assembly 23 drives the second translation assembly 24 to move to the material picking position 11.

[0184] The palletizing equipment of the embodiment of the present application can complete the stacking of a material 5 through the operation of the first stage and the second stage. The cyclic operation of the first stage and the second stage can sequentially realize the stacking of multiple materials 5 at the stacking position 12, and each material is position-adjusted by the positioning adjustment component 42 before stacking, so the stacking accuracy is high.

[0185] The serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. The above are only preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A palletizing device, It is characterized in that include: A frame (1), the frame (1) comprising a material taking position (11) and a stacking position (12), the material taking position (11) being used to place materials (5), and the stacking position (12) being used to stack the materials (5) to form a material pile; A transport mechanism (2) connected to the frame (1), the transport mechanism (2) being movable relative to the frame (1) between the material taking position (11) and the stacking position (12); A gripping mechanism (3) moves along with the transport mechanism (2), and the gripping mechanism (3) is used to grip or release the material (5); A positioning mechanism (4), the positioning mechanism (4) comprising a positioning detection component (41) and a positioning adjustment component (42), the positioning detection component (41) being used to obtain position deviation information between the material (5) to be stacked and the material pile, the positioning adjustment component (42) being connected between the gripping mechanism (3) and the transporting mechanism (2), the positioning adjustment component (42) being used to adjust the relative position of the gripping mechanism (3) and the transporting mechanism (2) according to the position deviation information, so that the material (5) on the gripping mechanism (3) and the material pile on the stacking position (12) are aligned along the stacking direction.

2. The palletizing device according to claim 1, It is characterized in that The alignment adjustment component (42) comprises: An alignment guide member group (421) connected between the transport mechanism (2) and the gripping mechanism (3), the alignment guide member group (421) comprising at least one guiding direction, the at least one guiding direction being respectively perpendicular to the stacking direction; At least one alignment driving member (422) is connected to the transport mechanism (2), the output shaft of the alignment driving member (422) is transmission-connected to the gripping mechanism (3), and the alignment driving member (422) is used to drive the gripping mechanism (3) to move relative to the transport mechanism (2) along at least one guiding direction.

3. The palletizing device according to claim 2, It is characterized in that The alignment guide member group (421) comprises a first alignment guide member (4211) and a second alignment guide member (4212), wherein the first alignment guide member (4211) and the second alignment guide member (4212) are slidably connected in sequence between the transport mechanism (2) and the gripping mechanism (3); At least one of the alignment driving members (422) comprises a first alignment driving member (422a) and a second alignment driving member (422b), wherein the first alignment driving member (422a) is used to drive the grasping mechanism (3) to move along the guiding direction of the first alignment guide member (4211), and the second alignment driving member (422b) is used to drive the grasping mechanism (3) to move along the guiding direction of the second alignment guide member (4212); Wherein, the guiding direction of the first alignment guide (4211) and the guiding direction of the second alignment guide (4212) are arranged vertically.

4. The palletizing device according to claim 1, It is characterized in that The alignment detection component (41) comprises: A first detection member (411) connected to the gripping mechanism (3), the first detection member (411) being used to obtain first position information of the material pile on the stacking position (12); A second detection member (412) connected to the transport mechanism (2), the second detection member (412) being used to obtain second position information of the material (5) on the gripping mechanism (3); An information processing unit is electrically connected to the first detection element (411) and the second detection element (412), respectively, and the information processing unit is used to obtain the position deviation information according to the first position information and the second position information.

5. The palletizing device according to any one of claims 1 to 4, It is characterized in that The transport mechanism (2) comprises: A first lifting assembly (21) connected to the frame (1), wherein the first lifting assembly (21) can move relative to the frame (1) along the stacking direction; A first translation assembly (22) is connected between the grabbing mechanism (3) and the first lifting assembly (21), wherein the first translation assembly (22) moves following the first lifting assembly (21) and can drive the grabbing mechanism (3) to move along a translation direction; Wherein, the translation direction is arranged perpendicular to the stacking direction.

6. The palletizing device according to claim 5, It is characterized in that The first lifting assembly (21) comprises: A first lifting platform (211) is slidably connected to the frame (1) along the stacking direction, and the first translation assembly (22) is connected to the first lifting platform (211); A first lifting drive member (212); The first lifting transmission component group (213) is transmission-connected between the first lifting drive component (212) and the first lifting platform (211), so that the first lifting drive component (212) drives the first lifting platform (211) to move.

7. The palletizing device according to claim 6, It is characterized in that The first translation assembly (22) comprises: A translation platform (221), the translation platform (221) being slidably connected to the first lifting platform (211) along the translation direction, and the grasping mechanism (3) being connected to the translation platform (221); A first translation driving member (222); The first translation transmission member group (223) is transmission-connected between the first translation driving member (222) and the translation platform (221), so that the first translation driving member (222) drives the translation platform (221) to move.

8. The palletizing device according to claim 5, It is characterized in that The transport mechanism (2) further comprises: a distance measuring sensor connected to the translation platform (221), the distance measuring sensor being used to obtain distance information between the translation platform (221) and the material pile along the stacking direction; A lifting processing unit is electrically connected to the distance measuring sensor and the first lifting driving member (212), and the lifting processing unit is used to control the first lifting driving member (212) according to the distance information to adjust the relative position of the first lifting platform (211) and the frame (1).

9. The palletizing device according to claim 5, It is characterized in that The transport mechanism (2) further comprises a second lifting assembly (23), wherein the second lifting assembly (23) comprises: A second lifting platform (231) is slidably connected to the frame (1) along the stacking direction, and the second lifting platform (231) can obtain the material (5) at the material taking position (11) and transport it to the position of the first lifting component (21); A second lifting drive member (232); The second lifting transmission member group (233) is transmission-connected between the second lifting drive member (232) and the second lifting platform (231), so that the second lifting drive member (232) drives the second lifting platform (231) to move.

10. The palletizing device according to claim 9, It is characterized in that The transport mechanism (2) further comprises a second translation assembly (24), wherein the second translation assembly (24) comprises: A material picking member (241) is movable relative to the second lifting platform (231) along the translation direction, and the material picking member (241) is used to pick up the material (5) from the material picking position (11); A second translation driving member (242); The second translation transmission member group (243) is transmission-connected between the second translation driving member (242) and the material picking assembly, so that the second translation driving member (242) drives the material picking member (241) to move.

11. The palletizing device according to claim 9, It is characterized in that The transport mechanism (2) further comprises an in-place detection component (25), wherein the in-place detection component (25) comprises: A trigger member (251), connected to the second lifting platform (231); At least one in-position sensor (252) connected to the first lifting platform (211); A docking processing unit is electrically connected to the in-place sensor (252) and the second lifting drive member (232), and the docking processing unit is used to control the second lifting drive member (232) when the trigger member (251) triggers the in-place sensor (252), so that the second lifting platform (231) and the first lifting platform (211) are relatively stationary.

12. The palletizing device according to any one of claims 7 to 10, It is characterized in that The gripping mechanism (3) comprises: A grabbing platform (31), the grabbing platform (31) being connected to the translation platform (221); At least two clamping assemblies (32) movably connected to the grabbing platform (31); A clamping drive member (33) is connected to the grabbing platform (31), and an output shaft of the clamping drive member (33) is drivingly connected to the at least two clamping assemblies (32), and the clamping drive member (33) is used to drive the at least two clamping assemblies (32) to move closer to or farther from each other.

13. The palletizing device according to claim 12, It is characterized in that The gripping mechanism (3) further comprises a supporting assembly (34), wherein the supporting assembly (34) comprises: A support member (341) is provided with a support surface, wherein the support surface is used to support the material (5); A support driving member (342) is connected to the grabbing platform (31); an output shaft of the support driving member (342) is drivingly connected to the support member (341); the support driving member (342) is used to drive the support member (341) to move between a supporting position and a released position; when the support member (341) is in the supporting position, the supporting surface is arranged opposite to the grabbing platform (31).

14. The palletizing device according to claim 13, It is characterized in that The transport mechanism (2) further comprises a third lifting assembly (26), wherein the third lifting assembly (26) comprises: A third lifting platform (261) is slidably connected to the translation platform (221) along the stacking direction, and the grabbing mechanism (3) is connected to the third lifting platform (261); A third lifting drive member (262) is connected to the translation platform (221). The third lifting drive member (262) is in transmission connection with the third lifting platform (261) and is used to drive the third lifting platform (261) to move relative to the translation platform (221).

15. The palletizing device according to claim 13, It is characterized in that The clamping assembly (32) comprises: A movable member (321), the movable member (321) is slidably connected to the grabbing platform (31), and the clamping drive member (33) is transmission-connected to the movable member (321); A clamping member (322), wherein at least one clamping member (322) is connected to the movable member (321), and the clamping member (322) is used to clamp the material (5); Wherein, at least one supporting assembly (34) is disposed on each of the movable parts (321), and the supporting driving part (342) is fixedly connected to the movable part (321).

16. The palletizing device according to claim 15, It is characterized in that The gripping mechanism (3) further comprises a synchronization component (35), wherein the synchronization component (35) comprises: A rotating member (351) is rotatably connected to the grabbing platform (31), and the rotation center of the rotating member (351) coincides with the relative motion center of at least two of the movable members (321); A synchronous member (352) is provided between each of the movable members (321) and the rotating member (351); one end of the synchronous member (352) is hinged to the rotating member (351), and the other end of the synchronous member (352) is hinged to the corresponding movable member (321), so that at least two movable members (321) move synchronously.

17. A production line, It is characterized in that include: The palletizing device according to any one of claims 1 to 16; A feeding device, arranged at the material taking position (11) of the palletizing device, and used for transporting the material (5) to the material taking position (11); An assembly device, arranged at the stacking position (12) of the stacking device, for assembling accessories into the material pile; Inspection equipment is used to inspect the assembled material pile.

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