Material stacking machine and using method

Abstract

The invention discloses a material stacking machine and a using method, and relates to the technical field of battery production, and the material stacking machine comprises a machine body, a feeding mechanism, a visual positioning mechanism, a code scanning mechanism, a parallel manipulator, a material stacking mechanism, a discharging mechanism, a material clamping mechanism and a control mechanism. By the adoption of the technical scheme, through cooperative work of the machine body, the feeding mechanism, the visual positioning mechanism, the code scanning mechanism, the parallel mechanical arm, the stacking mechanism, the discharging mechanism, the clamping mechanism and the control mechanism, full-process automatic operation of products from visual positioning, code scanning, stacking to disc stacking is achieved, the labor cost is reduced, the production efficiency is improved, and the production cost is reduced. And the advantage of automatic disc stacking is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of battery production, and in particular to a stacking machine and a use method thereof. Background Art

[0002] As a key part of the battery assembly, the battery cover must meet the requirements of high efficiency, cleanliness and high precision in the packaging process to ensure the integrity of the product during transportation and storage. With the rapid development of the new energy industry, higher standards are being put forward for the production capacity, compatibility and process stability of automated packaging equipment.

[0003] Currently, the industry generally uses manual coding or semi-automatic equipment to complete battery cover packaging. Operators need to complete multiple processes such as sorting and positioning, stacking, quality inspection, etc., which have defects such as high labor costs, inaccurate sorting and quality inspection, and low production efficiency. Although some companies are equipped with conveyor belts and simple manipulators to assist operations, the key stacking link still relies on manual intervention, resulting in difficulty in breaking through the existing bottleneck in production efficiency. Summary of the invention

[0004] The object of the present invention is to provide a stacking machine and a method for using the same, which have the advantages of reducing labor costs, improving production efficiency, and realizing automatic coding.

[0005] In one aspect, the present invention provides a stacking machine, and the technical solution is as follows: a stacking machine, comprising: The machine body has a working chamber inside, and the side wall of the machine body is also provided with a feed inlet and a discharge port connected to the working chamber; A feeding mechanism, used for conveying products into the working bin, including a feeding belt line extending into the working bin through a feeding port; The visual positioning mechanism is arranged above the feeding belt line and is used to visually position the products on the feeding belt line; The code scanning mechanism is located on one side of the feeding belt line and is used to scan the QR code on the product; The parallel manipulator is installed in the working chamber and is used to place the products on the feeding belt line on the scanning mechanism for scanning; The stacking mechanism is arranged on the side of the code scanning mechanism away from the feeding belt line, and includes a stacking seat and a transfer robot for stacking the scanned products on the stacking seat, and the stacking seat is provided with a stacking trough for vertically stacking products; A material unloading mechanism is arranged on a side of the stacking mechanism away from the code scanning mechanism, and is used to deliver the products in the working bin out of the working bin, including a material unloading belt line extending out of the working bin through a material discharge port and a tray arranged on the material unloading belt line, wherein the tray is provided with a receiving slot for receiving the products; The clamping mechanism is arranged between the stacking mechanism and the blanking mechanism and is used to clamp the products stacked vertically on the stacking seat, send them to the tray and place them horizontally in the receiving groove, so as to realize the palletizing of the products. The control mechanism is used to control the feeding mechanism, the vision positioning mechanism, the code scanning mechanism, the parallel manipulator, the stacking mechanism, the blanking mechanism and the clamping mechanism to work together to realize the automatic palletizing of the products.

[0006] Optionally, the feeding mechanism further includes a first return conveyor belt arranged parallel to the feeding conveyor belt, and a second return conveyor belt and a third return conveyor belt respectively arranged between the feeding conveyor belt and the first return conveyor belt. The conveying direction of the first return conveyor belt is opposite to that of the feeding conveyor belt. The second return conveyor belt is used to convey the products on the feeding conveyor belt to the first return conveyor belt, and the third return conveyor belt is used to send the products on the first return conveyor belt back to the feeding conveyor belt again.

[0007] Optionally, the vision positioning mechanism includes a light box fixedly arranged on the feeding conveyor belt and a vision positioning camera. The vision positioning camera is located on the side of the end of the feeding conveyor belt far from the code scanning mechanism. When the feeding conveyor belt conveys the product to the vision positioning camera, the vision positioning camera performs vision positioning on the product and transmits the vision positioning information to the control mechanism. The control mechanism controls the parallel manipulator to place the product on the code scanning mechanism according to the vision positioning information.

[0008] Optionally, the code scanning mechanism includes a code scanning seat arranged on one side of the feeding conveyor belt and a code reader arranged under the code scanning seat. A placement groove for placing the product is arranged on the code scanning seat. The placement groove penetrates through the code scanning seat. The reading end of the code reader faces upward and is aligned with the center of the placement groove to read the two-dimensional code on the bottom side of the product.

[0009] Optionally, the stacking mechanism further includes a transfer seat, which is arranged between the code scanning seat and the stacking seat and is used to temporarily store the products after code scanning.

[0010] Optionally, the stacking machine further includes a defective product rejection and recycling mechanism. The defective product rejection and recycling mechanism includes a baffle slidably arranged on the transfer seat, a push cylinder for driving the baffle to slide, a defective product conveyor belt arranged in the working bin, and a defective product box arranged at the end of the defective product conveyor belt. The defective product conveyor belt is located under the transfer seat. The push cylinder drives the baffle to slide relative to the transfer seat to push the defective products on the transfer seat onto the defective product conveyor belt.

[0011] Optionally, the material clamping mechanism includes a material clamping manipulator, a material clamping seat arranged on the material clamping manipulator, a first clamping plate and a second clamping plate slidably arranged on the material clamping seat, a material clamping cylinder for driving the first clamping plate and the second clamping plate to move towards or away from each other, and an abutting block elastically arranged on the material clamping seat. The first clamping plate and the second clamping plate cooperate to form a clamping area for clamping vertically stacked products. The abutting block is arranged at the end of the clamping area and elastically abuts against the top of the vertically stacked products.

[0012] Optionally, a tray loading port communicating with the working bin is further opened on the side wall of the machine body. The tray loading port is located on one side of the starting end of the blanking belt line. The tray enters the working bin through the tray loading port and is conveyed to the starting end of the blanking belt line.

[0013] Optionally, the stacking machine further includes a marking mechanism, a labeling mechanism and a barcode scanner arranged at the discharge port. The marking mechanism is used for printing labels. The labeling mechanism is used for pasting the labels printed by the marking mechanism on the tray with the stacked products. The barcode scanner is used for verifying the readability of the labels on the tray.

[0014] On the other hand, the present invention also provides a method for using a stacking machine, which is applicable to a stacking machine as described above. The method for using the stacking machine includes: The feeding belt line conveys the products through the feeding port into the working bin. The products are visually positioned by the visual positioning mechanism to generate visual positioning information, and the visual positioning information of the products is transmitted to the control mechanism. The control mechanism controls the parallel manipulator to act according to the visual positioning information, places the products on the feeding belt line on the scanning mechanism, and performs a scanning operation on the products. After the scanning mechanism scans the products, the transfer manipulator stacks the scanned products into the stacking grooves on the stacking seat in sequence. The vertically stacked products on the stacking seat are clamped by the material clamping mechanism and sent to the tray and horizontally placed in the receiving grooves of the tray, so as to realize palletizing of the products. The tray is sent out of the working bin through the blanking belt line from the discharge port to complete blanking.

[0015] As can be seen from the above, a stacking machine and a method for using the same provided by the present application realize the full-process automatic operation of products from visual positioning, scanning, stacking to palletizing through the coordinated work of the machine body, the feeding mechanism, the visual positioning mechanism, the scanning mechanism, the parallel manipulator, the stacking mechanism, the blanking mechanism, the material clamping mechanism and the control mechanism, and have the advantages of reducing labor costs, improving production efficiency and realizing automatic palletizing. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 is the overall structural schematic diagram of this embodiment; Figure 2 is the display diagram of the body of this embodiment after removing part of the outer shell; Figure 3 is the schematic diagram showing the positional relationship among the feeding mechanism, the code scanning mechanism, the parallel manipulator, the stacking mechanism, the clamping mechanism and the discharging mechanism in this embodiment; Figure 4 is Figure 3 the partial display diagram of; Figure 5 is the schematic diagram showing the positional relationship among the code scanning seat, the transfer seat and the stacking seat in this embodiment; Figure 6 is Figure 5 the display diagram from another perspective of; Figure 7 is the display diagram of the clamping mechanism in this embodiment; Figure 8 is the schematic diagram showing the assembly relationship among the body, the marking mechanism, the labeling mechanism and the code scanning gun in this embodiment; Figure 9 is the flow chart of the usage method of the stacking machine proposed in this embodiment; Figure 10 is the flow chart of step 103 in the usage method of the stacking machine proposed in this embodiment.

[0018] Description of reference numerals: 10, body; 11, working bin; 12, feed inlet; 13, discharge outlet; 14, pallet loading port; 20, loading mechanism; 21, loading belt line; 22, first return belt line; 23, second return belt line; 24, third return belt line; 30, vision positioning mechanism; 31, light box; 32, vision positioning camera; 40, code scanning mechanism; 41, code scanning seat; 411, placement groove; 42, code reader; 50, parallel manipulator; 60, stacking mechanism; 61, stacking seat; 611, stacking groove; 62, transfer manipulator; 63, transfer seat; 64, lifting seat; 65, lifting cylinder; 70, unloading mechanism; 71, unloading belt line; 72, pallet; 721, receiving groove; 80, clamping mechanism; 81, clamping manipulator; 82, clamping seat; 83, first clamping plate; 84, second clamping plate; 85, abutting block; 90, control mechanism; 100, defective product rejection and recycling mechanism; 101, baffle; 102, defective product belt line; 103, defective product box; 110, marking mechanism; 120, labeling mechanism; 130, barcode scanner. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying Figures 1-10 drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0021] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or the solution where A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] This embodiment relates to a stacking machine. Referring to Figures 1-10 , it includes a machine body 10, a feeding mechanism 20, a vision positioning mechanism 30, a code scanning mechanism 40, a parallel manipulator 50, a stacking mechanism 60, a discharging mechanism 70, a clamping mechanism 80 and a control mechanism 90. A working bin 11 is arranged inside the machine body 10, and a feeding port 12 and a discharging port 13 communicating with the working bin 11 are respectively opened on the side wall of the machine body 10. The feeding port 12 and the discharging port 13 are respectively used for the product to enter and exit; the feeding mechanism 20 is used for conveying the product into the working bin 11, including a feeding belt line 21 extending into the working bin 11 through the feeding port 12; the vision positioning mechanism 30 is arranged above the feeding belt line 21 and is used for visually positioning the product on the feeding belt line 21; the code scanning mechanism 40 is arranged on one side of the feeding belt line 21 and is used for scanning the two-dimensional code on the product; the parallel manipulator 50 is arranged inside the working bin 11 and is used for placing the product on the feeding belt line 21 on the code scanning mechanism 40 for code scanning.

[0023] The stacking mechanism 60 is disposed on the side of the code scanning mechanism 40 away from the loading belt line 21, and includes a stacking base 61 and a transfer manipulator 62 for sequentially stacking the products on the code scanning mechanism 40 onto the stacking base 61. The transfer manipulator 62 is a PPU transfer manipulator 62, which has two trays 72 for adsorbing products. A stacking groove 611 for vertically stacking products is provided on the stacking base 61. The blanking mechanism 70 is disposed on the side of the stacking mechanism 60 away from the code scanning mechanism 40, and is used to send the products in the working bin 11 out of the working bin 11, and includes a blanking belt line 71 extending out of the working bin 11 through the discharge port 13 and a tray 72 disposed on the blanking belt line 71. A receiving groove 721 for accommodating products is provided on the tray 72. The clamping mechanism 80 is disposed between the stacking mechanism 60 and the blanking mechanism 70, and is used to clamp the products vertically stacked on the stacking base 61 and place them horizontally in the receiving groove 721 of the tray 72, so as to realize palletizing of the products. The control mechanism 90 is used to control the feeding mechanism 20, the vision positioning mechanism 30, the code scanning mechanism 40, the parallel manipulator 50, the stacking mechanism 60, the blanking mechanism 70, and the clamping mechanism 80 to work together to realize automatic palletizing of the products.

[0024] It can be understood that after the product enters the working bin 11 through the feeding port 12, the loading belt line 21 conveys it to the vision positioning area. The vision positioning camera 32 acquires the product position data and transmits it to the control system, and controls the parallel manipulator 50 to grab the product and place it in the placement groove 411. After the code reader 42 completes the two-dimensional code reading, the transfer manipulator 62 transfers the product to the stacking groove 611 of the stacking base 61 for vertical stacking. When the stacking height reaches the set value, the clamping mechanism 80 clamps the whole column of products and places them horizontally in the receiving groove 721 of the tray 72 on the blanking belt line 71, completing the palletizing conversion of the product from vertical to horizontal. After the tray 72 is fully loaded, it is sent out through the discharge port 13 to realize continuous automated operation.

[0025] Furthermore, the feeding mechanism 20 further includes a first return belt line 22 arranged in parallel with the loading belt line 21, and a second return belt line 23 and a third return belt line 24 respectively arranged between the loading belt line 21 and the first return belt line 22. The conveying direction of the first return belt line 22 is opposite to the conveying direction of the loading belt line 21. The second return belt line 23 is used to convey the products on the loading belt line 21 to the first return belt line 22, and the third return belt line 24 is used to send the products on the first return belt line 22 back to the loading belt line 21.

[0026] Specifically, when the product at the end of the feeding belt line 21 fails to be grasped by the parallel manipulator 50, the second return belt line 23 is activated and laterally transfers the detained product to the first return belt line 22 running in the reverse direction; after the product returns to the starting end with the first return belt line 22, the third return belt line 24 reintroduces the product into the starting section of the feeding belt line 21. During this process, the control mechanism 90 monitors the material state of each belt line in real time through sensors and dynamically adjusts the start-stop timing sequences of the second return belt line 23 and the third return belt line 24, enabling the ungrasped product to continuously circulate within the closed-loop path and avoiding production interruption caused by a single grasping failure.

[0027] Compared with a single-station linear conveying mechanism, the ungrasped products need to be manually removed or processed by additional sorting equipment, resulting in a reduced production line beat. This solution constructs a closed-loop circulation system including the first, second, and third return belt lines 24. Through the closed-loop return design, it ensures that the ungrasped products automatically return to the starting end of the feeding process, enabling the unprocessed products to automatically return to the starting position, maintaining a continuous production beat, and avoiding equipment jams caused by material accumulation.

[0028] Furthermore, the vision positioning mechanism 30 includes a light box 31 fixedly arranged on the feeding belt line 21 and a vision positioning camera 32. The vision positioning camera 32 is located on the side of the end of the feeding belt line 21 far from the code scanning mechanism 40; when the feeding belt line 21 conveys the product to the vision positioning camera 32, the vision positioning camera 32 performs vision positioning on the product and transmits the vision positioning information to the control mechanism 90, and the control mechanism 90 controls the parallel manipulator 50 to place the product on the code scanning mechanism 40 according to the vision positioning information.

[0029] Among them, the light box 31 refers to an illumination device arranged directly above the feeding belt line 21, which can specifically be implemented using an LED strip light or a surface light source, and is used to provide a uniform and stable lighting environment to eliminate the interference of surface reflection or shadow on the product. The vision positioning camera 32 refers to an image acquisition device installed on the side of the end of the feeding belt line 21 far from the code scanning mechanism 40, which can specifically be implemented using an industrial CCD camera or a CMOS camera. Its optical axis is vertically aligned with the surface of the product at the end of the belt line and is used to obtain the position coordinates and attitude angle data of the product. The control mechanism 90 controls the parallel manipulator 50 according to the vision positioning information, which means that by real-time analyzing the image data collected by the camera, calculating the offset and rotation angle of the product in the three-dimensional space, and then generating the motion trajectory parameters of the manipulator and driving the execution mechanism to complete precise grasping.

[0030] It should be noted that in this embodiment, the numbers of both the vision positioning mechanism 30 and the parallel manipulator 50 are set to two to improve production efficiency.

[0031] Further, the code scanning mechanism 40 includes a code scanning base 41 disposed on one side of the feeding belt line 21 and a code reader 42 disposed below the code scanning base 41. A placement groove 411 for placing the product is provided on the code scanning base 41. The placement groove 411 penetrates through the code scanning base 41. The reading end of the code reader 42 faces upward and is aligned with the center of the placement groove 411 to read the two-dimensional code on the bottom side of the product.

[0032] Among them, the code scanning base 41 refers to a support structure for carrying the product to be scanned. Specifically, it can be processed into a platform form using metal or engineering plastics. It is arranged on one side of the feeding belt line 21 to facilitate the parallel manipulator 50 to transfer the product to this position. The code reader 42 refers to an optical device for identifying two-dimensional codes. Specifically, it can be implemented using an industrial-grade two-dimensional code scanning module. Installing it below the code scanning base 41 can avoid occupying lateral space and at the same time facilitate aligning with the bottom of the product. The alignment of the reading end means the positional correspondence between the scanning area of the code reader 42 and the placement groove 411. Specifically, it can be achieved by adjusting the installation height and angle of the code reader 42 to ensure that the two-dimensional code at the bottom of the product is within the effective reading range when the product is placed in the placement groove 411.

[0033] After the parallel manipulator 50 places the product into the placement groove 411, the two-dimensional code at the bottom of the product faces the code reader 42 located below the code scanning base 41. The code reader 42 covers the entire area of the placement groove 411 with an upward scanning beam, and can directly read the two-dimensional code information at the bottom of the product without flipping the product. After the code scanning is completed, the product is transferred to the next process by the transfer manipulator 62, and the code scanning base 41 remains in an empty state waiting for the placement of the next product.

[0034] It should be noted that before the product is conveyed into the working bin 11 by the feeding belt line 21, it will pass through an AOI detection device. The AOI detection device has a code scanning function and a defect detection function. First, it scans the code of the product and then detects the product, and uploads the detected product information and the corresponding two-dimensional code to an external MES system together. At this time, the product information (qualified or defective) is bound to the two-dimensional code of the product. After the code scanning mechanism 40 in this application scans the two-dimensional code of the product, it transmits the two-dimensional code information of the product to the control mechanism 90. The control mechanism 90 compares this two-dimensional code information with the information in the MES system to determine whether the product is a defective product, that is, it can be determined whether the product is a defective product after scanning the two-dimensional code on the product through the code scanning mechanism 40.

[0035] Further, the stacking mechanism 60 further includes a transfer base 63. The transfer base 63 is disposed between the code scanning base 41 and the stacking base 61 and is used to temporarily store the products after code scanning. The code scanning base 41, the transfer base 63, and the stacking base 61 are located on the same straight line.

[0036] The product after the scanning code is completed is transferred by the transfer manipulator 62 from the scanning code seat to the transfer seat 63 for temporary storage, and then is transferred by the transfer manipulator 62 to the stacking groove 611 of the stacking seat 61. It should be noted that the transfer manipulator 62 in this application has two suction cups for adsorbing products. Through the two suction cups, the products on the scanning code seat 41 and the transfer seat 63 can be transferred simultaneously, that is, the product on the scanning code seat 41 is transferred to the transfer seat 63, and the product on the transfer seat 63 is transferred to the stacking groove 611 of the stacking seat 61. Repeating this process can achieve continuous stacking and greatly improve the stacking efficiency.

[0037] Furthermore, the stacking machine further includes a defective product rejection and recycling mechanism 100. The defective product rejection and recycling mechanism 100 includes a baffle 101 slidably disposed on the transfer seat 63, a pusher cylinder for driving the baffle 101 to slide, a defective product conveyor belt 102 disposed in the working bin 11, and a defective product bin 103 disposed at the end of the defective product conveyor belt 102. The defective product conveyor belt 102 is located below the transfer seat 63. The pusher cylinder drives the baffle 101 to slide relative to the transfer seat 63 to push the defective product on the transfer seat 63 onto the defective product conveyor belt 102.

[0038] Since the product has been visually inspected before entering the working bin 11, the qualified or defective products have been bound to the product's QR code. When the scanning mechanism 40 scans the QR code on the product, the control mechanism 90 determines whether the product is a qualified product or a defective product by comparing the QR code information of the product with the QR code information in the MES system. When it is determined that the product is a defective product, the transfer manipulator 62 transfers the defective product to the transfer seat 63. The control mechanism 90 controls the pusher cylinder to act, driving the baffle 101 to act, and pushing the defective product onto the defective product conveyor belt 102. Subsequently, the defective product falls into the defective product bin 103 under the conveyance of the defective product conveyor belt 102, thereby realizing the rejection and centralized collection of the defective product. When it is determined that the product is a qualified product, the transfer manipulator 62 transfers the product on the transfer seat 63 to the stacking groove of the stacking seat 61 to achieve automatic stacking.

[0039] Furthermore, in this embodiment, to achieve automatic stacking, the stacking mechanism 60 further includes a lifting seat 64 that is vertically liftable in the stacking groove 611 and a lifting cylinder 65 for driving the lifting seat 64 to vertically lift along the length direction of the stacking groove 611. During stacking, the lifting seat 64 is located at the top of the stacking groove 611, and the top surface of the lifting seat 64 is lower than the notch surface of the stacking groove 611 by a height equal to the thickness of one product to facilitate the transfer manipulator 62 to place the product in the stacking groove 611. The lifting cylinder 65 is disposed at the bottom of the stacking seat 61, and the piston rod of the lifting cylinder 65 is fixedly connected to the lifting seat 64.

[0040] After the transfer manipulator 62 finishes stacking the first product, the lifting cylinder 65 drives the lifting seat 64 to descend by a height equal to the thickness of one product, so that the transfer manipulator 62 can smoothly place the second product into the stacking groove 611. This process is repeated until the last product is placed in the stacking groove 611 by the transfer manipulator 62, thus realizing the neat stacking of products in the stacking groove 611.

[0041] Further, the clamping mechanism 80 includes a clamping manipulator 81, a clamping seat 82 provided on the clamping manipulator 81, a first clamping plate 83 and a second clamping plate 84 slidably provided on the clamping seat 82, a clamping cylinder for driving the first clamping plate 83 and the second clamping plate 84 to move towards or away from each other, and an abutting block 85 elastically provided on the clamping seat 82. The first clamping plate 83 and the second clamping plate 84 cooperate to form a clamping area for clamping vertically stacked products. The abutting block 85 is provided at the end of the clamping area, and the abutting block 85 elastically abuts against the top of the vertically stacked products.

[0042] When it is necessary to transfer vertically stacked products, the clamping manipulator 81 drives the clamping seat 82 to move above the stacking seat 61. The clamping cylinder drives the first clamping plate 83 and the second clamping plate 84 to move towards each other, and the clamping area fixes the stacked products from both sides. At this time, the abutting block 85 contacts the top of the stacked products through elastic force, forming a three-point clamping structure. After the clamping manipulator 81 transfers the stacked products to the receiving groove 721 on the tray 72, the first clamping plate 83 and the second clamping plate 84 loosen outward, and the abutting block 85 assists in releasing the products through elastic reset, so that the stacked products accurately fall into the receiving groove 721 of the tray 72 and remain in a horizontally placed state. During this process, the symmetric movement of the first clamping plate 83 and the second clamping plate 84 avoids the product tilt caused by unilateral force, and the elastic contact of the abutting block 85 compensates for the height error of the stacked products.

[0043] Further, a tray loading port 14 communicating with the working bin 11 is also provided on the side wall of the machine body 10. The tray loading port 14 is located on one side of the starting end of the blanking belt line 71. The tray 72 enters the working bin 11 through the tray loading port 14 and is conveyed to the starting end of the blanking belt line 71.

[0044] Through the setting of the tray loading port 14, the loading of the tray 72 is realized. In this embodiment, the space of the working bin 11 corresponding to the blanking belt line 71 is divided into three areas, namely a loading area, a palletizing area, and a blanking area. The tray 72 is placed on the loading area of the blanking belt line 71 through the tray loading port 14 to realize the loading of the tray 72. When the tray 72 moves to the palletizing area under the conveyance of the blanking belt line 71, the blanking belt line 71 stops running. After palletizing is completed, it is restarted. At this time, the blanking belt line 71 conveys the palletized tray 72 to the blanking area and sends the tray 72 out from the discharge port 13.

[0045] Further, the stacking machine further includes a labeling mechanism 110, a labeling attaching mechanism 120, and a barcode scanner 130 disposed at the discharge port 13. The labeling mechanism 110 is used to print labels, the labeling attaching mechanism 120 is used to attach the labels printed by the labeling mechanism 110 to the pallet 72 on which the products are stacked, and the barcode scanner 130 is used to scan the labels on the pallet 72 to verify the readability of the labels on the pallet 72.

[0046] Among them, the labeling mechanism 110 refers to a device that generates labels through thermal transfer or laser technology. Specifically, it can be implemented by a thermal transfer printer cooperating with a label paper roll, and it generates labels containing product batch and quantity information through a preset template. The labeling attaching mechanism 120 refers to an execution unit that accurately pastes labels to the target position. Specifically, it can be implemented by combining a robotic arm with a vacuum chuck and a servo drive system to achieve label grasping, positioning, and pressing operations. The barcode scanner 130 refers to an industrial-grade scanning device with image recognition function. Specifically, it can adopt a fixed scanner based on a CMOS sensor, and ensure fast reading of the labels on the pallet 72 by adjusting the focal length and light source intensity.

[0047] When the pallet 72 completed in palletizing moves to the area of the discharge port 13 through the blanking belt line 71, the labeling mechanism 110 generates corresponding labels according to the control signal, and the robotic arm of the labeling attaching mechanism 120 takes out the labels from the labeling mechanism 110 and accurately attaches them to the designated position of the pallet 72. Subsequently, the barcode scanner 130 scans and verifies the attached labels. If the reading fails, an alarm is triggered and the blanking process is paused. This process realizes continuous operation of label generation, attachment, and verification through linkage control, avoiding mislabeling or missing labeling caused by manual intervention.

[0048] In some specific embodiments, the labeling attaching mechanism 120 can be configured with a vision-assisted positioning module. For example, a micro camera is integrated at the end of the robotic arm, and the deviation of the label pasting position is corrected by comparing the edge features of the pallet 72 with the preset coordinates. The barcode scanner 130 can be provided with a multi-angle scanning array. For example, two scanners are arranged on both sides of the traveling path of the pallet 72 to improve the reading success rate through cross scanning.

[0049] Through the above technical solutions, the present application can realize automatic generation, accurate attachment, and reliable verification of the labels on the pallet 72, ensure that each outbound pallet 72 has a traceable and valid identifier, solve the problems of low efficiency and high error rate in traditional manual operations, and improve the accuracy and process coherence of palletizing finished products outbound.

[0050] The present application further proposes a method for using a stacking machine. This method for using is applicable to the stacking machine as described above, and includes: 101. The feeding belt line 21 conveys the product through the feeding port 12 into the working bin 11. The visual positioning mechanism 30 performs visual positioning on the product, generates visual positioning information, and transmits the visual positioning information of the product to the control mechanism 90. 102. The control mechanism 90 controls the action of the parallel manipulator 50 according to the visual positioning information, places the product on the feeding belt line 21 on the code scanning mechanism 40, and performs code scanning operation on the product. 103. After the code scanning mechanism 40 scans the product, the transfer manipulator 62 stacks the scanned products in the stacking slots 611 on the stacking seat 61 in sequence. 104. The clamping mechanism 80 clamps the vertically stacked products on the stacking seat 61 and transports them to the tray 72 and places them horizontally in the receiving slots 721 of the tray 72, realizing palletizing of the products. 105. The discharging belt line 71 sends the tray 72 out of the working bin 11 from the discharging port 13 to complete discharging.

[0051] In this embodiment, step 103 specifically includes: 1031. The code scanning mechanism 40 scans the two-dimensional code at the bottom of the product, reads the corresponding two-dimensional code information, and transmits the two-dimensional code information to the control mechanism 90. The control mechanism 90 compares the received two-dimensional code information with the information stored in the external MES system and judges whether the product is qualified. 1032. The transfer manipulator 62 transfers the product on the code scanning seat 41 to the transfer seat 63. 1033. When it is judged that the product is a qualified product, the transfer manipulator 62 transfers the qualified product on the transfer seat 63 to the stacking slot 611 on the stacking seat 61 to realize automatic stacking; when it is judged that the product is an unqualified product, by driving the pushing cylinder to act, the baffle 101 is driven to slide relative to the transfer seat 63, so that the unqualified product on the transfer seat 63 is pushed onto the defective product belt line 102 and finally collected in the defective product box 103.

[0052] In addition, between steps 104 and 105, there is also step 1045, and step 1045 includes: when the discharging belt line 71 conveys the palletized tray 72 to the discharging port 13, the labeling machine synchronously prints a label, the labeling mechanism 120 pastes the label on the tray 72 with the products palletized, and the code scanning gun 130 ensures that the label can be scanned normally.

[0053] The above is only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solution of the present invention, as long as they do not depart from the spirit and scope of the technical solution of the present invention, should all be covered by the scope of the claims of the present invention.

Claims

1. A stacking machine, characterized in that: include: A machine body (10) is provided with a working chamber (11) inside, and a side wall of the machine body (10) is also provided with a feed inlet (12) and a discharge outlet (13) connected to the working chamber (11); A feeding mechanism (20) for conveying products into the working bin (11), comprising a feeding belt line (21) extending into the working bin (11) through the feeding port (12); A visual positioning mechanism (30) is disposed above the feeding belt line (21) and is used to perform visual positioning on the products on the feeding belt line (21); A code scanning mechanism (40) is arranged on one side of the feeding belt line (21) and is used to scan a two-dimensional code on a product; A parallel manipulator (50) is disposed in the working bin (11) and is used to place the product on the feeding belt line (21) on the code scanning mechanism (40) for code scanning; The stacking mechanism (60) is arranged on a side of the code scanning mechanism (40) away from the feeding belt line (21), and comprises a stacking seat (61) and a transfer robot (62) for stacking the scanned products on the stacking seat (61), and the stacking seat (61) is provided with a stacking trough (611) for vertically stacking the products; A material unloading mechanism (70) is arranged on a side of the stacking mechanism (60) away from the code scanning mechanism (40), and is used to deliver the product in the working bin (11) out of the working bin (11), and comprises a material unloading belt line (71) extending out of the working bin (11) through a material discharge port (13) and a tray (72) arranged on the material unloading belt line (71), wherein the tray (72) is provided with a receiving groove (721) for receiving the product; The material clamping mechanism (80) is arranged between the material stacking mechanism (60) and the material unloading mechanism (70), and is used to clamp and deliver the products vertically stacked on the material stacking seat (61) to the tray (72) and place them horizontally in the receiving groove (721), so as to realize the coding of the products; The control mechanism (90) is used to control the feeding mechanism (20), the visual positioning mechanism (30), the code scanning mechanism (40), the parallel manipulator (50), the stacking mechanism (60), the unloading mechanism (70), and the clamping mechanism (80) to work in coordination, so as to realize automatic coding of products.

2. A stacking machine according to claim 1, characterized in that: The feeding mechanism (20) further comprises a first return belt line (22) arranged in parallel with the feeding belt line (21), and a second return belt line (23) and a third return belt line (24) respectively arranged between the feeding belt line (21) and the first return belt line (22); the conveying direction of the first return belt line (22) is opposite to that of the feeding belt line (21); the second return belt line (23) is used to convey the products on the feeding belt line (21) to the first return belt line (22); and the third return belt line (24) is used to convey the products on the first return belt line (22) back to the feeding belt line (21).

3. A stacking machine according to claim 2, characterized in that: The visual positioning mechanism (30) comprises a light box (31) and a visual positioning camera (32) fixedly arranged on the feeding belt line (21); the visual positioning camera (32) is located at a side of the end of the feeding belt line (21) away from the code scanning mechanism (40); When the loading belt line (21) conveys the product to the visual positioning camera (32), the visual positioning camera (32) performs visual positioning on the product and transmits the visual positioning information to the control mechanism (90), and the control mechanism (90) controls the parallel manipulator (50) to place the product on the code scanning mechanism (40) according to the visual positioning information.

4. A stacking machine according to claim 1, characterized in that: The code scanning mechanism (40) comprises a code scanning seat (41) arranged on one side of the feeding belt line (21) and a code reader (42) arranged below the code scanning seat (41); the code scanning seat (41) is provided with a placement groove (411) for placing the product, the placement groove (411) passes through the code scanning seat (41); the reading end of the code reader (42) faces upward and is aligned with the center of the placement groove (411) to read the two-dimensional code on the bottom side of the product.

5. A stacking machine according to claim 4, characterized in that: The stacking mechanism (60) further comprises a transfer seat (63), which is arranged between the code scanning seat (41) and the stacking seat (61) and is used for temporarily storing the scanned products.

6. A stacking machine according to claim 5, characterized in that: The stacking machine also includes a defective product rejection and recovery mechanism (100), the defective product rejection and recovery mechanism (100) including a baffle (101) slidably arranged on the transfer seat (63), a push cylinder for driving the baffle (101) to slide, a defective product belt line (102) arranged in the working bin (11), and a defective product material box (103) arranged at the end of the defective product belt line (102), the defective product belt line (102) is located below the transfer seat (63), and the push cylinder drives the baffle (101) to slide relative to the transfer seat (63) to push the defective products on the transfer seat (63) onto the defective product belt line (102).

7. A stacking machine according to claim 1, characterized in that: The material clamping mechanism (80) includes a material clamping robot (81), a material clamping seat (82) arranged on the material clamping robot (81), a first clamping plate (83) and a second clamping plate (84) slidably arranged on the material clamping seat (82), a material clamping cylinder for driving the first clamping plate (83) and the second clamping plate (84) to move towards or away from each other, and an abutment block (85) elastically arranged on the material clamping seat (82), the first clamping plate (83) and the second clamping plate (84) cooperate to form a clamping area for clamping vertically stacked products, the abutment block (85) is arranged at the end of the clamping area, and the abutment block (85) elastically abuts against the top of the vertically stacked products.

8. The stacking machine according to claim 1, characterized in that: The side wall of the machine body (10) is also provided with a tray loading port (14) which is in communication with the working bin (11); the tray loading port (14) is located on one side of the starting end of the unloading belt line (71); the tray (72) enters the working bin (11) through the tray loading port (14) and is transported to the starting end of the unloading belt line (71).

9. The stacking machine according to claim 1, characterized in that: The stacking machine further comprises a marking mechanism (110), a labeling mechanism (120) and a barcode scanning gun (130) arranged at the material outlet (13); the marking mechanism (110) is used for printing labels; the labeling mechanism (120) is used for attaching the labels printed by the marking mechanism (110) to the pallet (72) on which the coded products are placed; and the barcode scanning gun (130) is used for verifying the readability of the labels on the pallet (72).

10. A method for using a stacking machine, characterized in that: Applicable to a stacking machine as claimed in any one of claims 1 to 9, the method for using the stacking machine comprising: The feeding belt line (21) conveys the product into the working bin (11) through the feeding port (12), visually locates the product through the visual positioning mechanism (30), generates visual positioning information, and transmits the visual positioning information of the product to the control mechanism (90); The control mechanism (90) controls the parallel manipulator (50) to move according to the visual positioning information, places the product on the feeding belt line (21) on the code scanning mechanism (40), and performs a code scanning operation on the product; After the code scanning mechanism (40) scans the product, the transfer robot (62) stacks the scanned product in a stacking slot (611) on the stacking seat (61); The products stacked vertically on the stacking seat (61) are clamped and delivered to the tray (72) by a clamping mechanism (80) and are placed horizontally in a receiving groove (721) of the tray (72), thereby realizing product coding; The tray (72) is sent out of the working bin (11) from the discharge port (13) by the unloading belt line (71), thereby completing the unloading.

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