A stacking machine and its usage method

Abstract

A stacking machine and its usage method, which relate to the technical field of battery production. The stacking machine includes a machine body, a feeding mechanism, a visual positioning mechanism, a code scanning mechanism, a parallel manipulator, a stacking mechanism, a discharging mechanism, a material clamping mechanism, and a control mechanism. With the above technical solution, through the coordinated work of the machine body, the feeding mechanism, the visual positioning mechanism, the code scanning mechanism, the parallel manipulator, the stacking mechanism, the discharging mechanism, the material clamping mechanism and the control mechanism, the full-process automated operation of the product from visual positioning, code scanning, stacking to palletizing is realized, which has the advantages of reducing labor costs, improving production efficiency, and realizing automated palletizing.

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:

[0006] 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;

[0007] 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;

[0008] The visual positioning mechanism is arranged above the feeding belt line and is used to visually position the products on the feeding belt line;

[0009] 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;

[0010] 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;

[0011] 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;

[0012] The blanking mechanism is arranged on the side of the stacking mechanism away from the code scanning mechanism and is used to send the products in the working bin out of the working bin. It includes a blanking belt line extending out of the working bin through the discharge port and a tray arranged on the blanking belt line. A receiving groove for accommodating the products is arranged on the tray.

[0013] 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 palletizing of the products.

[0014] The control mechanism is used to control the feeding mechanism, the visual positioning mechanism, the code scanning mechanism, the parallel manipulator, the stacking mechanism, the blanking mechanism and the clamping mechanism to work together to realize automatic palletizing of the products.

[0015] Optionally, the feeding mechanism further includes a first return belt line arranged parallel to the feeding belt line, and a second return belt line and a third return belt line respectively arranged between the feeding belt line and the first return belt line. The conveying direction of the first return belt line is opposite to that of the feeding belt line. The second return belt line is used to convey the products on the feeding belt line to the first return belt line, and the third return belt line is used to send the products on the first return belt line back to the feeding belt line again.

[0016] Optionally, the visual positioning mechanism includes a light box fixedly arranged on the feeding belt line and a visual positioning camera. The visual positioning camera is located on the side of the end of the feeding belt line away from the code scanning mechanism.

[0017] When the feeding belt line conveys the products to the visual positioning camera, the visual positioning camera performs visual positioning on the products and transmits the visual positioning information to the control mechanism. The control mechanism controls the parallel manipulator to place the products on the code scanning mechanism according to the visual positioning information.

[0018] Optionally, the code scanning mechanism includes a code scanning seat arranged on one side of the feeding belt line and a code reader arranged below the code scanning seat. A placement groove for placing the products 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.

[0019] Optionally, the stacking mechanism further includes a transfer seat. The transfer seat is arranged between the code scanning seat and the stacking seat and is used to temporarily store the products after code scanning.

[0020] Optionally, the stacking machine further includes a defective product rejection and recycling mechanism, which includes a baffle slidably disposed on the transfer seat, a pusher cylinder for driving the baffle to slide, a defective product conveyor belt disposed in the working bin, and a defective product bin disposed at the end of the defective product conveyor belt. The defective product conveyor belt is located below the transfer seat, and the pusher 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.

[0021] Optionally, the clamping mechanism includes a clamping manipulator, a clamping seat disposed on the clamping manipulator, a first clamping plate and a second clamping plate slidably disposed on the clamping seat, a 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 disposed on the clamping seat. The first clamping plate and the second clamping plate cooperate to form a clamping area for clamping the vertically stacked products, the abutting block is disposed at the end of the clamping area, and the abutting block elastically abuts against the top of the vertically stacked products.

[0022] 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 conveyor belt. The tray enters the working bin through the tray loading port and is conveyed to the starting end of the blanking conveyor belt.

[0023] Optionally, the stacking machine further includes a marking mechanism, a labeling mechanism, and a barcode scanner disposed 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 onto the tray with the stacked products, and the barcode scanner is used for verifying the readability of the labels on the tray.

[0024] 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:

[0025] The feeding conveyor belt 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.

[0026] The control mechanism controls the parallel manipulator to act according to the visual positioning information, places the products on the feeding conveyor belt on the scanning mechanism, and performs a scanning operation on the products.

[0027] After the scanning mechanism scans the products, the transfer manipulator stacks the scanned products into the stacking grooves on the stacking seat in sequence.

[0028] The vertically stacked products on the stacking seat are clamped by the clamping mechanism and sent to the tray and horizontally placed in the receiving grooves of the tray to realize palletizing of the products.

[0029] The pallet is sent out of the working bin through the blanking belt line to complete blanking.

[0030] As can be seen from the above, a stacking machine and its usage method provided by the present application realize the full-process automatic operation of products from visual positioning, code scanning, stacking to palletizing through the coordinated work of the machine body, feeding mechanism, visual positioning mechanism, code scanning mechanism, parallel manipulator, stacking mechanism, blanking mechanism, clamping mechanism and control mechanism, and have the advantages of reducing labor costs, improving production efficiency and realizing automatic palletizing. Brief Description of the Drawings

[0031] In order 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 use in 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, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is a schematic diagram of the overall structure of this embodiment;

[0033] Figure 2 It is a display diagram of the machine body of this embodiment after removing part of the outer shell;

[0034] Figure 3 It is a schematic diagram showing the positional relationship between the feeding mechanism, code scanning mechanism, parallel manipulator, stacking mechanism, clamping mechanism and blanking mechanism in this embodiment;

[0035] Figure 4 It is Figure 3 a partial display diagram of;

[0036] Figure 5 It is a schematic diagram showing the positional relationship between the code scanning seat, transfer seat and stacking seat in this embodiment;

[0037] Figure 6 It is Figure 5 another perspective display diagram of;

[0038] Figure 7 It is a display diagram of the clamping mechanism in this embodiment;

[0039] Figure 8 It is a schematic diagram showing the assembly relationship between the machine body, marking mechanism, labeling mechanism and code scanning gun in this embodiment;

[0040] Figure 9 It is a flow chart of the usage method of the stacking machine proposed in this embodiment;

[0041] Figure 10It is a flowchart of step 103 in the usage method of the stacker proposed in this embodiment.

[0042] Explanation of reference numerals: 10, body; 11, working bin; 12, feeding port; 13, discharging port; 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 base; 411, placing groove; 42, code reader; 50, parallel manipulator; 60, stacking mechanism; 61, stacking base; 611, stacking groove; 62, transfer manipulator; 63, transfer base; 64, lifting base; 65, lifting cylinder; 70, discharging mechanism; 71, discharging belt line; 72, pallet; 721, receiving groove; 80, clamping mechanism; 81, clamping manipulator; 82, clamping base; 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, code scanning gun. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the attached Figures 1 - 10 drawings. Apparently, 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 making creative efforts shall fall within the protection scope of the present invention.

[0044] 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.

[0045] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are for descriptive purposes only, 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 scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between 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.

[0046] 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 chamber 11 is arranged inside the machine body 10, and a feeding port 12 and a discharging port 13 communicating with the working chamber 11 are further 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 chamber 11, including a feeding belt line 21 extending into the working chamber 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 chamber 11 and is used for placing the product on the feeding belt line 21 onto the code scanning mechanism 40 for code scanning.

[0047] The stacking mechanism 60 is arranged on the side of the code scanning mechanism 40 away from the feeding 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 arranged 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 arranged on the blanking belt line 71. A receiving groove 721 for accommodating products is provided on the tray 72. The clamping mechanism 80 is arranged 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 to realize palletizing 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 blanking mechanism 70, and the clamping mechanism 80 to work together to realize automatic palletizing of the products.

[0048] It can be understood that after the product enters the working bin 11 through the feeding port 12, the feeding belt line 21 transports it to the visual positioning area. The visual positioning camera 32 obtains 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 QR 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 through horizontal movement, completing the palletizing conversion of the product from vertical to horizontal. After the tray 72 is full, it is sent out through the discharge port 13 to realize continuous automated operation.

[0049] Furthermore, the feeding mechanism 20 further includes 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 the conveying direction 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 send the products on the first return belt line 22 back to the feeding belt line 21.

[0050] 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 starts 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 along with the first return belt line 22, the third return belt line 24 re-introduces 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 sequence of the second return belt line 23 and the third return belt line 24, so that the ungrasped product continuously circulates within the closed-loop path, avoiding production interruption caused by a single grasping failure.

[0051] 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 reduction in the 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, enabling the unprocessed products to automatically return to the starting position, maintaining a continuous production beat, and at the same time avoiding equipment jamming caused by material accumulation.

[0052] Furthermore, the visual positioning mechanism 30 includes a light box 31 fixedly arranged on the feeding belt line 21 and a visual positioning camera 32. The visual positioning camera 32 is located on the side of the end of the feeding belt line 21 away from the scanning mechanism 40; when the feeding belt line 21 transports 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 scanning mechanism 40 according to the visual positioning information.

[0053] Among them, the light box 31 refers to an illumination device arranged directly above the feeding belt line 21, which can specifically be implemented by using an LED strip light or a surface light source, and is used to provide a uniform and stable lighting environment to eliminate the reflection or shadow interference on the product surface. The visual positioning camera 32 refers to an image acquisition device installed on the side of the end of the feeding belt line 21 away from the scanning mechanism 40, which can specifically be implemented by 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 visual 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.

[0054] It should be noted that in this embodiment, the number of both the visual positioning mechanism 30 and the parallel manipulator 50 is set to two groups, thereby improving the production efficiency.

[0055] Further, the code scanning mechanism 40 includes a code scanning seat 41 disposed on one side of the feeding belt line 21 and a code reader 42 disposed below the code scanning seat 41. A placement groove 411 for placing a product is provided on the code scanning seat 41. The placement groove 411 penetrates 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.

[0056] Among them, the code scanning seat 41 refers to a support structure for carrying the product to be code scanned. Specifically, it can be processed into a platform form using metal or engineering plastics. Its setting on one side of the feeding belt line 21 facilitates 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 seat 41 can avoid occupying horizontal space and at the same time facilitate aligning with the bottom of the product. The alignment of the reading end means the corresponding relationship between the scanning area of the code reader 42 and the position of 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.

[0057] After the parallel manipulator 50 places the product into the placement groove 411, the two-dimensional code at the bottom of the product is directly opposite to the code reader 42 located below the code scanning seat 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 seat 41 remains in an empty state waiting for the placement of the next product.

[0058] 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. It first 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 by scanning the two-dimensional code on the product through the code scanning mechanism 40.

[0059] Further, the stacking mechanism 60 further includes a transfer seat 63. The transfer seat 63 is disposed between the code scanning seat 41 and the stacking seat 61 and is used to temporarily store the products after code scanning. The code scanning seat 41, the transfer seat 63, and the stacking seat 61 are located on the same straight line.

[0060] The product after scanning the code is transferred by the transfer manipulator 62 from the code scanning seat to the transfer seat 63 for temporary storage, and then is transferred by the transfer manipulator 62 to the stacking slot 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, and through the two suction cups, the products on the code scanning seat 41 and the transfer seat 63 can be transferred simultaneously, that is, the product on the code scanning seat 41 is transferred to the transfer seat 63, and the product on the transfer seat 63 is transferred to the stacking slot 611 of the stacking seat 61. Repeating this process can achieve continuous stacking and greatly improve the stacking efficiency.

[0061] 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 arranged on the transfer seat 63, a pusher cylinder for driving the baffle 101 to slide, a defective product conveyor belt 102 arranged in the working bin 11, and a defective product bin 103 arranged at the end of the defective product conveyor belt 102. The defective product conveyor belt 102 is located below the transfer seat 63, and 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.

[0062] Since the product has undergone visual inspection of the product before entering the working bin 11, the qualified or defective products have been bound to the product's QR code. When the code 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, and 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 transportation of the defective product conveyor belt 102, thereby realizing the rejection and centralized collection of defective products. 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 slot of the stacking seat 61 to realize automatic stacking.

[0063] Furthermore, in this embodiment, to achieve automatic stacking, the stacking mechanism 60 further includes a lifting seat 64 that can be lifted and lowered in the stacking slot 611 and a lifting cylinder 65 for driving the lifting seat 64 to vertically lift and lower along the length direction of the stacking slot 611. During stacking, the lifting seat 64 is located at the top of the stacking slot 611, and the top surface of the lifting seat 64 is lower than the notch surface of the stacking slot 611 by a height equal to the thickness of one product to facilitate the transfer manipulator 62 to place the product in the stacking slot 611. The lifting cylinder 65 is arranged 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.

[0064] 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 achieving the neat stacking of products in the stacking groove 611.

[0065] 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.

[0066] 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 symmetrical 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.

[0067] 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.

[0068] 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.

[0069] Further, the stacking machine further includes a labeling mechanism 110, a labeling mechanism 120, and a barcode scanner 130 disposed at the discharge port 13. The labeling mechanism 110 is used to print labels, the labeling 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.

[0070] Among them, the labeling mechanism 110 refers to a device that generates labels through thermal transfer or laser technology. Specifically, it can be realized 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 mechanism 120 refers to an execution unit that accurately pastes labels to the target position. Specifically, it can adopt a mechanical arm with a vacuum chuck combined with a servo drive system to realize the grasping, positioning, and pressing of labels. 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 the rapid reading of the labels on the pallet 72 by adjusting the focal length and light source intensity.

[0071] When the pallet 72 after 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 mechanical arm of the labeling 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.

[0072] In some specific embodiments, the labeling mechanism 120 can be configured with a vision-assisted positioning module. For example, a micro camera is integrated at the end of the mechanical arm, and the position deviation of the label pasting is corrected by comparing the edge features of the pallet 72 with the preset coordinates. The barcode scanner 130 can be set with a multi-angle scanning array. For example, two scanners are arranged on both sides of the traveling path of the pallet 72, and the reading success rate is improved through cross scanning.

[0073] Through the above technical solutions, the present application can realize the 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 of traditional manual operations, and improve the accuracy and process coherence of palletized finished product outbound.

[0074] 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:

[0075] 101. The feeding belt line 21 transports the products to the working bin 11 through the feeding port 12. The visual positioning mechanism 30 performs visual positioning on the products, generates visual positioning information, and transmits the visual positioning information of the products to the control mechanism 90.

[0076] 102. The control mechanism 90 controls the action of the parallel manipulator 50 according to the visual positioning information, places the products on the feeding belt line 21 on the code scanning mechanism 40, and performs code scanning operations on the products.

[0077] 103. After the code scanning mechanism 40 scans the products, the transfer manipulator 62 stacks the scanned products in the stacking grooves 611 on the stacking seat 61 in sequence.

[0078] 104. The clamping mechanism 80 clamps the products stacked vertically on the stacking seat 61 and transports them to the tray 72 and places them horizontally in the accommodation groove 721 of the tray 72 to realize palletizing of the products.

[0079] 105. The discharging belt line 71 sends the tray 72 out of the working bin 11 from the discharging port 13 to complete discharging.

[0080] In this embodiment, step 103 specifically includes:

[0081] 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.

[0082] 1032. The transfer manipulator 62 transfers the products on the code scanning seat 41 to the transfer seat 63.

[0083] 1033. When it is judged that the product is a qualified product, the transfer manipulator 62 transfers the qualified products on the transfer seat 63 to the stacking grooves 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 products on the transfer seat 63 are pushed onto the defective product belt line 102 and finally collected in the defective product box 103.

[0084] In addition, between steps 104 and 105, there is also step 1045, and step 1045 includes: when the discharging belt line 71 transports the palletized tray 72 to the discharging port 13, the marking machine synchronously prints labels, the labeling mechanism 120 pastes the labels on the tray 72 with the products stacked, and the code scanning gun 130 ensures that the labels can be scanned normally.

[0085] The above is only used to illustrate the technical solution of the present invention rather than to limit it. Any other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solution of the present invention shall be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution 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 the two-dimensional code on the product; 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; 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 the side of the code scanning mechanism (40) away from the feeding belt line (21), and comprises a stacking seat (61), a transfer seat (63), and a transfer robot (62) for stacking the scanned products on the stacking seat (61), the stacking seat (61) is provided with a stacking trough (611) for vertically stacking the products, and the transfer seat (63) is arranged between the code scanning seat (41) and the stacking seat (61) for temporarily storing the scanned 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; A material clamping mechanism (80) is provided 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), thereby realizing product coding; and 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. The stacker according to claim 1, characterized in that, The feeding mechanism (20) further includes 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 send the products on the first return belt line (22) back to the feeding belt line (21).

3. The stacker according to claim 2, characterized in that, The vision positioning mechanism (30) includes a light box (31) and a vision positioning camera (32) fixedly arranged on the feeding belt line (21). The vision positioning camera (32) is located on one 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). 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.

4. A stacking machine according to claim 1, wherein The stacking machine further includes a defective product removing and recycling mechanism (100). The defective product removing and recycling mechanism (100) includes a baffle (101) slidably arranged on the transfer seat (63), a pusher cylinder for driving the baffle (101) to slide, a defective product belt line (102) arranged in the working bin (11), and a defective product bin (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). The pusher 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).

5. A stacking machine according to claim 1, characterized in that, The clamping mechanism (80) includes a clamping manipulator (81), a clamping seat (82) arranged on the clamping manipulator (81), a first clamping plate (83) and a second clamping plate (84) slidably arranged 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 arranged on the clamping seat (82). The first clamping plate (83) and the second clamping plate (84) cooperate to form a clamping area for clamping the vertically stacked products. The abutting block (85) is arranged at the end of the clamping area, and the abutting block (85) elastically abuts against the top of the vertically stacked products.

6. The stacker according to claim 1, characterized in that, A tray loading port (14) communicating with the working bin (11) is further opened 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).

7. The stacker according to claim 1, characterized in that, The stacking machine further includes a labeling mechanism (110), a label pasting mechanism (120) and a barcode scanner (130) provided at the discharge port (13). The labeling mechanism (110) is used for printing labels. The label pasting mechanism (120) is used for pasting the labels printed by the labeling mechanism (110) onto the pallet (72) on which the products are stacked. The barcode scanner (130) is used for verifying the readability of the labels on the pallet (72).

8. A method for using a stacking machine, characterized in that, Applicable to a stacking machine according to any one of claims 1-7, the method of using the stacking machine includes: The feeding belt line (21) conveys the products through the feeding port (12) into the working bin (11). The products are visually positioned by the vision positioning mechanism (30) to generate vision positioning information, and the vision positioning information of the products is transmitted to the control mechanism (90); The control mechanism (90) controls the parallel manipulator (50) to act according to the vision positioning information, places the products on the feeding belt line (21) on the barcode scanning mechanism (40), and performs barcode scanning operations on the products; After the barcode scanning mechanism (40) scans the products, the transfer manipulator (62) stacks the scanned products in the stacking grooves (611) on the stacking seat (61); The products stacked vertically on the stacking seat (61) are clamped by the clamping mechanism (80) and sent to the pallet (72) and horizontally placed in the receiving grooves (721) of the pallet (72) to achieve palletizing of the products; The pallet (72) is sent out of the working bin (11) from the discharge port (13) through the discharging belt line (71) to complete discharging.

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