Automatic sorting and stacking production line and control method thereof

Abstract

The invention belongs to the technical field of workpiece sorting and stacking, and particularly relates to an automatic sorting and stacking production line and a control method thereof. According to the automatic sorting and stacking production line, automation of the whole process of workpieces from automatic feeding, sorting and conveying, recognition, sorting to stacking is achieved, manual operation is completely replaced, the problems that manual sorting is low in efficiency and high in labor intensity are solved, and the production efficiency is remarkably improved; moreover, the front and back and forward and reverse placement states of the workpieces can be accurately identified through the visual identification mechanism, and the workpieces in different states are accurately sorted to corresponding stacking stations by combining intelligent scheduling of the control module and matching with automatic sorting and stacking of the sorting and conveying structure and the carrying mechanism, so that scratches of electroplated layers and disordered packaging are effectively avoided; besides, the sorting conveying belt adopts intermittent constant-stroke operation and is matched with the workpiece positioning modules which are arranged at intervals, so that the feeding and discharging actions are strictly synchronous with the conveying rhythm, the carrying positioning precision is ensured, and continuous line production is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of workpiece sorting and stacking, and in particular relates to an automated sorting and stacking production line and a control method thereof. Background Art

[0002] Currently, sheet metal workpieces that have been punched and grooved usually need to have a layer of electroplating formed on their surface through an electroplating process to improve the corrosion resistance and aesthetics of the workpiece. The workpieces after electroplating need to be sorted and stacked for subsequent packaging and transportation. During the stacking process, the workpieces need to be arranged on the same surface and in the same direction to avoid surface scratches or damage to the electroplating layer, while ensuring neat packaging and transportation stability. However, existing sorting and stacking operations mostly rely on manual labor, which has the problems of slow manual sorting and stacking speed and low work efficiency. Summary of the Invention

[0003] The purpose of the present invention is to overcome the low efficiency problem of the existing manual sorting and stacking of workpieces, and to provide an automated sorting and stacking production line and a control method thereof.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The automated sorting and stacking production line includes a control module, a loading and conveying mechanism, a feeding and conveying mechanism, a discharging manipulator, a feeding mechanism, a centrifugal conveying device, a visual recognition mechanism, a loading and handling mechanism, a stacking station and an unloading and handling mechanism; the loading and conveying mechanism is used to transport the material frame carrying the workpieces toward the end direction; the feeding and conveying mechanism; the discharging manipulator is arranged between the downstream end of the loading and conveying mechanism and the upstream end of the feeding and conveying mechanism, and is used to dump the workpieces in the material frame into the feeding and conveying mechanism; the feeding mechanism is provided with a feeding channel for conveying the workpieces and a loading station at the end of the feeding channel; the centrifugal conveying device is connected between the downstream end of the feeding and conveying mechanism and the upstream end of the feeding mechanism, and is used to sort the received workpieces in a centrifugal motion and convey them to the feeding mechanism; the visual recognition mechanism is used to identify the front and back sides and the forward and reverse placement status of the workpieces transported in the feeding mechanism, and feed back the placement status information of each workpiece to the control module in sequence; the sorting and conveying structure is provided with a sorting conveyor belt and A sorting drive mechanism drives the sorting conveyor belt to operate, and the sorting conveyor belt is provided with a plurality of workpiece positioning modules arranged at intervals along the length direction, and the workpiece positioning module is provided with a workpiece placement groove with an upper opening; a loading and handling mechanism is arranged between the feeding mechanism and the upstream end of the sorting and conveying structure, and is used to transport the workpieces of the loading station to the workpiece positioning module at the upstream end of the sorting and conveying structure; a plurality of stacking stations are provided on one side of the sorting and conveying structure along the length direction of the sorting conveyor belt, which are respectively used to collect workpieces transferred from the sorting and conveying structure and in the same placement state; a unloading and handling mechanism is provided in the downstream direction of the sorting and conveying structure and one is provided for each stacking station, and the unloading and handling mechanism is configured to transfer the workpieces in the corresponding placement state to the corresponding stacking station; the sorting drive mechanism is used to intermittently drive the sorting conveyor belt to operate at a constant stroke, so that when the sorting conveyor belt intermittently stops, a plurality of workpiece positioning modules are respectively connected with the corresponding loading and handling mechanism and unloading and handling mechanism.

[0006] Compared with the prior art, the automated sorting and stacking production line of the present invention realizes the automation of the entire process of workpieces from automatic loading, sorting and conveying, identification, sorting to stacking by setting up a loading and conveying mechanism, a unloading manipulator, a centrifugal conveying device, a feeding mechanism, a visual recognition mechanism, a sorting and conveying structure, a loading and handling mechanism and a unloading and handling mechanism, completely replacing manual operation, solving the problems of low efficiency and high labor intensity of manual sorting, and significantly improving production efficiency; moreover, the visual recognition mechanism can accurately identify the front and back sides and the forward and reverse placement states of the workpieces, combined with the intelligent scheduling of the control module and the automated sorting and stacking of the sorting and conveying structure and the handling mechanism, to ensure that workpieces in different states are accurately sorted to the corresponding stacking stations, the classification error rate is close to zero, and scratches on the electroplating layer and packaging confusion are effectively avoided; in addition, the sorting conveyor belt adopts intermittent constant stroke operation, and cooperates with the workpiece positioning modules arranged at intervals to ensure that the loading and unloading actions are strictly synchronized with the conveying rhythm, which not only ensures the handling and positioning accuracy, but also realizes continuous flow operation, and the equipment operation is stable and reliable. The long-term operating cost of automatic sorting and stacking equipment is lower than manual labor, which comprehensively reduces quality loss and enterprise costs.

[0007] Furthermore, the system also includes a frame recovery mechanism for recovering empty frames. The unloading robot dumps the workpieces in the frame onto the feed conveyor mechanism, then transfers the empty frame to the frame recovery mechanism. With this arrangement, the unloading robot automatically transfers the empty frame to the recovery station after the workpieces are dumped, thus achieving frame recycling. This design not only avoids the accumulation of empty frames that takes up space on the production line, but also reduces the need for manual cleaning and handling of frames, further improving overall automation and production efficiency. It also reduces frame management costs, ensuring the continued efficient operation of the production line.

[0008] Furthermore, the visual recognition mechanism includes a visual recognition bracket and a top light source box, a top camera, a bottom light source box and a bottom camera arranged on the visual recognition bracket; the feeding mechanism runs through the front and back sides of the visual recognition bracket, the top light source box is located on the upper side of the feeding mechanism, the top camera is located on the upper side of the top light source box, the bottom light source box is located on the lower side of the feeding mechanism, and the bottom camera is located on the lower side of the bottom light source box, the top camera is used to shoot the top surface of the workpiece entering the shooting area, and the bottom camera is used to shoot the bottom surface of the workpiece entering the shooting area; the placement state of the workpiece includes a first placement state according to its front side and a second placement state according to its forward direction. through such arrangement, the visual recognition mechanism performs all-round high-precision detection of the workpiece through the top and bottom cameras in conjunction with the dual light source box, and can accurately identify four placement states (front positive, back positive, front reverse, back reverse), and adopts non-contact optical detection to avoid damaging the electroplating layer. Its modular integrated design not only ensures the detection accuracy but also adapts to high-speed assembly line operations, provides reliable state recognition guarantee for automatic sorting and stacking, and effectively solves the problems of low efficiency and easy errors in manual sorting.

[0009] Furthermore, it also includes a blocker provided on the feeding mechanism and located on the upstream side of the loading station and a first detector provided on the side of the end of the feeding channel for detecting the workpiece in the loading station. When the first detector detects that a workpiece has entered the loading station, a feedback signal is sent to the control module to extend the blocking rod of the blocker to separate the workpiece in the loading station from the workpiece on the upstream side, and to enable the loading and handling mechanism to transport the workpiece in the loading station to the workpiece positioning module at the upstream end of the sorting conveyor belt; the width of the feeding channel is close to the width of the workpiece; through such an arrangement, by arranging the blocker and the first detector upstream of the loading station, accurate positioning and orderly sorting of the workpiece are achieved. When the first detector detects that the workpiece has arrived at the loading station, the control module controls the blocking rod to extend, so that the workpiece in the loading station is effectively isolated from the subsequent workpiece, ensuring that the loading and handling mechanism can accurately grasp and transfer the workpiece to the sorting conveyor belt. At the same time, the width of the feeding channel matches the width of the workpiece to prevent the workpiece from offsetting or getting stuck during transportation, thereby improving the loading stability and sorting efficiency, and reducing manual intervention and failure rate.

[0010] Furthermore, it also includes a frame, the sorting and conveying structure, the stacking station and the unloading and handling mechanism are arranged on the frame, and the unloading and handling mechanism is located between the sorting and conveying structure and the stacking station; it also includes a stacking component, the stacking component includes a stacking bin and a lifting mechanism, the lifting mechanism includes a vertical push rod and a lifting seat arranged at the output end of the vertical push rod, the bottom of the stacking bin is provided with a avoidance hole that cooperates with the lifting seat to avoid, the stacking station is located on the upper side of the lifting seat, and the stacking bin is provided with a stacking cavity with an upper side opening, and the vertical push rod is used to drive the lifting seat to move vertically in the stacking cavity through the avoidance port, so that the workpieces of the lifting seat are stacked The height is adapted to the height of the workpieces released by the unloading and handling mechanism; through such an arrangement, the sorting and conveying structure, the stacking station and the unloading and handling mechanism are formed into a compact layout through the integrated design of the frame, and the stacking components are used to realize the automatic stacking management of the workpieces. The stacking bin provides a stable stacking cavity, and the jacking mechanism drives the jacking seat to rise and fall in the avoidance hole through the vertical push rod, and dynamically adjusts the stacking height of the workpiece to always match the release height of the unloading and handling mechanism, which not only ensures the neatness of the stacking but also avoids the damage of the workpiece falling, significantly improves the stacking efficiency and safety, and at the same time reduces the intervention of manual stacking to realize the whole process automation operation.

[0011] Furthermore, a second detector for detecting the top workpiece of the jacking seat is provided on the top of the stacking bin. The second detector is used to detect that after the workpiece is added to the jacking seat, the feedback signal is sent to the control module to control the vertical push rod to drop to a height of the thickness of the workpiece, so that the top height of the workpiece carried by the jacking seat is adapted to the height at which the workpiece is released by the unloading and handling mechanism; through such a setting, the position of the top workpiece in the stacking bin is monitored in real time by the second detector, and the height of the jacking mechanism is intelligently adjusted in cooperation with the control module, so that the jacking seat automatically drops by a workpiece thickness after each new workpiece is stacked, and the workpiece stacking surface is always kept accurately matched with the release height of the unloading and handling mechanism, which not only ensures the stability and accuracy of the stacking process, but also avoids the efficiency loss caused by manual adjustment, realizes fully automated intelligent stacking, and significantly improves production efficiency and stacking quality.

[0012] Furthermore, the stacking assembly also includes a slide and a translation driver that drives the slide to slide relative to each other. The slide is slidably connected to the frame through a slide rail device, and two stacking bins are provided and arranged in parallel on the slide. Through such an arrangement, through the design of the slide and the translation driver, the two stacking bins can alternately switch positions along the slide rail. When one stacking bin completes stacking, the push rod drives the slide to translate so that the other stacking bin is immediately in place, realizing uninterrupted continuous stacking operations and greatly improving the equipment operation efficiency. The parallel layout of the two bins not only ensures the continuity of the stacking process, but also optimizes the equipment space utilization, effectively solving the production rhythm bottleneck problem under the single-bin mode.

[0013] Furthermore, the stacking bin includes a stacking seat and a number of positioning columns arranged around the outer periphery of the stacking seat, and the stacking cavity is formed between the positioning columns and the stacking seat; through such an arrangement, a regular stacking cavity is formed by the design of the positioning columns surrounding the stacking seat, which can effectively restrict the displacement range of the stacked workpieces to prevent tilting and scattering, and maintain the necessary operating space around the workpieces, while ensuring the stacking accuracy and taking into account the convenience of workpiece handling, making the automated stacking process more stable and reliable.

[0014] Furthermore, the loading and handling mechanism includes: a machine base, a belt transmission structure, a rocker arm assembly and a rotary drive; the belt transmission structure includes a driving pulley and a driven pulley and a transmission belt arranged vertically along the machine base, and the transmission belt is wound around the driving pulley and the driven pulley; the rocker arm assembly includes a first rocker arm, a second rocker arm and a workpiece transfer rod, one end of the first rocker arm is connected to the driving pulley, one end of the second rocker arm is connected to the driven pulley, the workpiece transfer rod is rotatably connected to the other end of the first rocker arm and the other end of the second rocker arm respectively, the lower end of the workpiece transfer rod extends out of the lower side of the rocker arm assembly to form a picking part, and a picker is provided at the lower end of the picking part; the rotary drive is connected to the driving pulley transmission , by driving the active pulley in forward and reverse motion, the rocker arm assembly is linked to drive the picker to move from one side of the machine base to the other side; the loading and handling mechanism is similar in structure to the unloading and handling mechanism; through such a setting, the workpiece transfer rod can realize precise reciprocating swinging motion under the control of the rotary driver through the innovative linkage design of the belt drive structure and the rocker arm assembly, and its picking part can stably complete the workpiece grasping and releasing action; the unique double rocker arm structure ensures that the picker maintains a horizontal posture during movement, avoiding the workpiece from tilting or falling off, and the compact vertical layout saves equipment space, significantly improves the stability and positioning accuracy of loading and handling, and meets the needs of efficient and precise handling.

[0015] Furthermore, it also includes a blanking and packaging robot, a cable tie bundling machine and a film sealing machine. The blanking and packaging robot is used to transfer the workpieces stacked in a preset number in the stacking station to the cable tie bundling machine for bundling and packaging, and then the bundled and packaged workpieces are sealed and packaged; through such an arrangement, the blanking and packaging robot and the cable tie bundling machine cooperate with each other to realize automatic bundling and packaging of the stacked workpieces. When the workpieces in the stacking station reach a preset number, the blanking and packaging robot automatically transfers the entire stack of workpieces to the cable tie bundling machine for bundling, which not only greatly improves the packaging efficiency and ensures transportation stability, but also completely eliminates the manual handling and bundling links, significantly reduces labor intensity and improves the overall automation level of the production line.

[0016] Furthermore, the feeding and conveying mechanism, centrifugal conveying device, feeding mechanism, visual recognition mechanism, sorting and conveying structure, loading and handling mechanism and unloading and handling mechanism are provided with at least two groups; through such an arrangement, by setting up multiple groups of feeding and conveying mechanisms, centrifugal conveying devices, feeding mechanism, visual recognition mechanism, sorting and conveying structure, loading and handling mechanism and unloading and handling mechanism, a parallel processing system is formed, so that the equipment can process multiple workpiece flows at the same time, which not only exponentially improves the overall sorting and stacking efficiency, but also realizes the synchronous sorting operation of workpieces of different specifications, significantly improves the equipment utilization rate and production capacity flexibility, meets the industrial needs of large-scale and multi-variety production, and at the same time maintains the independent operation of each unit through modular design to ensure system stability and maintainability.

[0017] An automated sorting and stacking production line control method includes the automated sorting and stacking production line, and the control method includes: a loading and conveying mechanism places a material frame carrying workpieces on a unloading robot that is conveyed to the downstream end, the unloading robot unloads several workpieces in the material frame to a feeding and conveying mechanism, and the feeding and conveying mechanism conveys several workpieces to a centrifugal conveying device for sorting and conveying to a feeding mechanism; a visual recognition mechanism identifies the front and back sides and the forward and reverse placement status of the workpieces entering the feeding mechanism, and sequentially feeds back the placement status information of each workpiece to a control module; the feeding mechanism conveys the workpieces identified by the visual recognition mechanism to the loading station one by one, and the control module controls the loading and transporting mechanism to transport the workpieces of the loading station one by one to the workpiece positioning module at the upstream end of the sorting and conveying structure; the control module controls multiple unloading and transporting mechanisms to pick up the workpieces in the corresponding placement status and transfer them to the stacking stations to which they are configured.

[0018] Compared with the prior art, the automated sorting and stacking production line control method of the present invention realizes the automation of the entire process of workpieces from automatic loading, sorting and conveying, identification, sorting to stacking by setting up a loading and conveying mechanism, a unloading manipulator, a centrifugal conveying device, a feeding mechanism, a visual recognition mechanism, a sorting and conveying structure, a loading and handling mechanism and a unloading and handling mechanism, completely replacing manual operation, solving the problems of low efficiency and high labor intensity of manual sorting, and significantly improving production efficiency; moreover, the visual recognition mechanism can accurately identify the front and back sides and the forward and reverse placement states of the workpieces, combined with the intelligent scheduling of the control module and the automated sorting and stacking of the sorting and conveying structure and the handling mechanism, to ensure that workpieces in different states are accurately sorted to the corresponding stacking stations, the classification error rate is close to zero, and scratches on the electroplating layer and packaging confusion are effectively avoided; in addition, the sorting conveyor belt adopts intermittent constant stroke operation, and cooperates with the workpiece positioning modules arranged at intervals to ensure that the loading and unloading actions are strictly synchronized with the conveying rhythm, which not only ensures the handling and positioning accuracy, but also realizes continuous flow operation, and the equipment operation is stable and reliable. The long-term operating cost of automatic sorting and stacking equipment is lower than manual labor, which comprehensively reduces quality loss and enterprise costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of an automated sorting and stacking production line.

[0020] Figure 2 Schematic diagram of feeding mechanism, visual recognition mechanism, sorting and conveying structure, loading and handling mechanism, and unloading and handling mechanism Figure 1 .

[0021] Figure 3 for Figure 1 A partial enlarged view of area A in the middle.

[0022] Figure 4 Schematic diagram of feeding mechanism, visual recognition mechanism, sorting and conveying structure, loading and handling mechanism, and unloading and handling mechanism Figure 2 .

[0023] Figure 5 for Figure 2 A partial enlarged view of area B in the middle.

[0024] Figure 6 Schematic diagram of the visual identification mechanism.

[0025] Figure 7 This is a schematic diagram of two sets of feeding and conveying mechanisms, a centrifugal conveying device, a feeding mechanism, a visual recognition mechanism, a sorting and conveying structure, a loading and handling mechanism, a unloading and handling mechanism, and the configured unloading and packaging robot and cable tie bundling machine.

[0026] Figure 8 Front axonometric view of the loading and unloading transport mechanism Figure 1 .

[0027] Figure 9 Front axonometric view of the loading and unloading transport mechanism Figure 2 .

[0028] Figure 10 The rear axonometric view of the loading and unloading transport mechanism Figure 1 .

[0029] Figure 11 The rear axonometric view of the loading and unloading transport mechanism Figure 2 .

[0030] Figure 12 It is a front view of the loading and unloading transport mechanism or the unloading transport mechanism in the starting position.

[0031] Figure 13 It is a rear view of the loading and unloading transport mechanism at the end position.

[0032] Figure 14 This is a schematic diagram of the first placement state of the workpiece.

[0033] Figure 15 This is a schematic diagram of the second placement state of the workpiece.

[0034] Figure 16 This is a schematic diagram of the third placement state of the workpiece.

[0035] Figure 17 This is a schematic diagram of the fourth placement state of the workpiece.

[0036] Explanation of reference numerals: loading and conveying mechanism 81, feeding and conveying mechanism 82, unloading manipulator 83, centrifugal conveying device 84, recycling mechanism 85, material frame 86, feeding mechanism 2, visual recognition mechanism 3, sorting and conveying structure 4, loading and transporting mechanism 1, stacking station 50, unloading and transporting mechanism 10, feeding channel 21, loading station 22, workpiece 6, sorting conveyor belt 41, sorting drive mechanism 42, workpiece positioning module 43, workpiece placement groove 44, visual recognition bracket 31, top light source box 32, top camera 33, bottom light source box 34, bottom camera 35, blocker 23, first detector 24, limit block 25, positioning groove 61, frame 45, stacking assembly 5, stacking bin 51, vertical push rod 52, lifting seat 53, avoidance hole 5 4. Stacking chamber 55, second detector 56, slide 57, translation driver 58, stacking base 511, positioning column 512, guide part 513, unloading and packaging robot 7, cable tie bundling machine 71, defective product collection area 46, machine base 11, belt drive structure 12, rocker arm assembly 13, rotation driver 14, active pulley 121, driven pulley 122, transmission belt 123, tensioning pulley 124, first rocker arm 131, second rocker arm 132, workpiece transfer rod 133, picker 15, limiting column 16, air path distributor 171, air distribution control module 172, code disk 181, photoelectric sensor 182, rotation drive motor 141, reducer 142, vertical frame 111, base 112, picking part 134, origin light hole 183. DETAILED DESCRIPTION

[0037] The following describes specific embodiments of the present invention with reference to the accompanying drawings. It should be noted that, in the description of the present invention, the terms "upper," "lower," "inner," "outer," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0038] Example 1:

[0039] See also Figures 1 to 17The automated sorting and stacking production line of the present invention includes a control module, a loading and conveying mechanism 81, a feeding and conveying mechanism 82, a discharging robot 83, a feeding mechanism 2, a centrifugal conveying device 84, a visual recognition mechanism 3, a loading and transporting mechanism 1, a stacking station 50 and a discharging and transporting mechanism 10; the loading and conveying mechanism 81 and the feeding and conveying mechanism 82 are roller conveying platforms or belt conveying platforms in the prior art; the loading and conveying mechanism 81 is used to transport the material frame 86 carrying the workpiece 6 to the end direction; the feeding and conveying mechanism 82; the discharging robot 83 is arranged at the downstream end of the loading and conveying mechanism 81 The feeding mechanism 2 is provided with a feeding channel 21 for conveying the workpiece 6 and a loading station 22 at the end of the feeding channel 21; the centrifugal conveying device 84 is connected between the downstream end of the feeding mechanism 82 and the upstream end of the feeding mechanism 2, and is used to sort the received workpieces 6 in a centrifugal motion manner and convey them to the feeding mechanism 2; the visual recognition mechanism 3 is used to identify the front and back sides and the forward and reverse placement status of the workpieces 6 transported in the feeding mechanism 2, and to sequentially record the placement status information of each workpiece 6. Feedback is sent to the control module; the sorting and conveying structure 4 is provided with a sorting conveyor belt 41 and a sorting drive mechanism 42 for driving the sorting conveyor belt 41. The sorting conveyor belt 41 is provided with a plurality of workpiece positioning modules 43 arranged at intervals along the length direction. The workpiece positioning module 43 is provided with a workpiece placement groove 44 with an upper opening; the loading and transporting mechanism 1 is provided between the feeding mechanism 2 and the upstream end of the sorting and conveying structure 4, and is used to transport the workpiece 6 of the loading station 22 to the workpiece positioning module 43 at the upstream end of the sorting and conveying structure 4; the stacking station 50 is located on one side of the sorting and conveying structure 4 along the length direction of the sorting conveyor belt 41 There are several ones, which are used to collect workpieces 6 transferred from the sorting and conveying structure 4 and placed in the same state; the unloading and conveying mechanism 10 is arranged in the downstream direction of the sorting and conveying structure 4 and is provided for each stacking station 50, and the unloading and conveying mechanism 10 is configured to transfer the workpieces 6 in the corresponding placement state to the corresponding stacking station 50; the sorting drive mechanism 42 is used to intermittently drive the sorting conveyor belt 41 to operate at a constant stroke, so that when the sorting conveyor belt 41 stops intermittently, several workpiece positioning modules 43 are respectively connected with the corresponding loading and conveying mechanism 1 and unloading and conveying mechanism 10.

[0040] Compared with the prior art, the automated sorting and stacking production line of the present invention realizes the automation of the entire process of automatic loading, sorting and conveying, identification, sorting and stacking of workpieces 6 by setting up a loading and conveying mechanism 81, a discharging manipulator 83, a centrifugal conveying device 84, a feeding mechanism 2, a visual recognition mechanism 3, a sorting and conveying structure 4, a loading and transporting mechanism 1 and a unloading and transporting mechanism 10, completely replacing manual operation, solving the problems of low efficiency and high labor intensity of manual sorting, and significantly improving production efficiency; moreover, the visual recognition mechanism 3 can accurately identify the workpiece 6. The control module's intelligent scheduling, combined with the automated sorting and stacking of the sorting conveyor structure 4 and the handling mechanism, ensures that workpieces 6 in different states are accurately sorted to the corresponding stacking station 50, minimizing classification errors and effectively preventing scratches on the electroplating layer and packaging confusion. Furthermore, the sorting conveyor belt 41 utilizes intermittent constant-stroke operation, coupled with spaced workpiece positioning modules 43, ensuring strict synchronization of loading and unloading with the conveying rhythm. This ensures both handling and positioning accuracy and continuous, streamlined operation, ensuring stable and reliable equipment operation. The long-term operating costs of the automated sorting and stacking equipment are lower than those of manual labor, reducing both quality losses and overall enterprise costs.

[0041] See also Figure 1 In one embodiment, it also includes a material frame recovery mechanism 85 for recovering an empty material frame 86. The material frame recovery mechanism 85 is a roller conveyor platform or a belt conveyor platform in the prior art. The material frame recovery mechanism 85 is arranged on the lower side of the loading conveyor mechanism 81. The head end of the material frame recovery mechanism 85 extends out of the front side of the head end of the loading conveyor mechanism 81, and the tail end of the material frame recovery mechanism 85 extends out of the rear side of the tail end of the loading conveyor mechanism 81. The unloading robot 83 dumps the workpiece 6 in the material frame 86 into the feeding conveyor mechanism 82 and then transfers the empty material frame 86 to the material frame recovery mechanism 85; through such a setting, by adding the material frame recovery mechanism 85, after the unloading robot 83 completes the dumping of the workpiece 6, the empty material frame 86 is automatically transferred to the recovery station, thereby realizing the recycling of the material frame 86. This design not only avoids the accumulation of empty material frames 86 occupying the production line space, but also reduces the manual cleaning and handling of material frames 86, further improving the overall degree of automation and production efficiency, while reducing the management cost of material frames 86, ensuring the continuous and efficient operation of the production line.

[0042] See also Figures 1 to 3In one embodiment, the visual recognition mechanism 3 includes a visual recognition bracket 31 and a top light source box 32, a top camera 33, a bottom light source box 34 and a bottom camera 35 arranged on the visual recognition bracket 31; the feeding mechanism 2 runs through the front and back sides of the visual recognition bracket 31, the top light source box 32 is located on the upper side of the feeding mechanism 2, the top camera 33 is located on the upper side of the top light source box 32, the bottom light source box 34 is located on the lower side of the feeding mechanism 2, and the bottom camera 35 is located on the lower side of the bottom light source box 34. The top camera 33 is used to shoot the top surface of the workpiece 6 entering the shooting area, and the bottom camera 35 is used to shoot the bottom surface of the workpiece 6 entering the shooting area; the workpiece 6 is rectangular. In this embodiment, the workpiece 6 is a rectangular workpiece 6, and the placement states include a first placement state of being placed on its front side and in the forward direction, a second placement state of being placed on its back side and in the forward direction, a third placement state of being placed on its front side and in the reverse direction, and a fourth placement state of being placed on its reverse side and in the reverse direction. Through such an arrangement, the visual recognition mechanism 3 performs all-round high-precision detection of the workpiece 6 through the top and bottom cameras 35 in conjunction with the dual light source box, and can accurately identify four placement states (front side forward, back side forward, front side reverse, back side reverse), and adopts non-contact optical detection to avoid damaging the electroplating layer. Its modular integrated design not only ensures the detection accuracy but also adapts to high-speed assembly line operations, provides reliable state recognition guarantee for automated sorting and stacking, and effectively solves the problems of low efficiency and easy errors in manual sorting.

[0043] The above-mentioned light source box has a vertical light-transmitting effect. The method of using the light source box in conjunction with the camera to obtain captured images is an existing technology in the relevant field. The light source box is a device used to provide a stable and controllable lighting environment for detecting targets. Its core function is to eliminate ambient light interference and enhance the contrast of target features, thereby improving image acquisition quality.

[0044] According to the first, second, third, and fourth placement states of the workpiece 6, four unloading and handling mechanisms 10 are provided, and are arranged in parallel along the side of the sorting and conveying structure 4 in the downstream direction relative to the loading and conveying mechanism 1. After receiving the sequence information of the placement state information of each workpiece 6 entering the sorting and conveying structure 4 provided by the visual recognition mechanism 3, the control module controls each unloading and conveying mechanism 10 to pick up the workpiece 6 in the corresponding placement state on the sorting and conveying structure 4. For example, the unloading and conveying mechanism 10 with the first order picks up the workpiece 6 in the first placement state, the unloading and conveying mechanism 10 with the second order picks up the workpiece 6 in the second placement state, the unloading and conveying mechanism 10 with the third order picks up the workpiece 6 in the third placement state, and the unloading and conveying mechanism 10 with the fourth order picks up the workpiece 6 in the fourth placement state. When the workpiece 6 is a defective workpiece 6, none of the four unloading and conveying mechanisms 10 picks up the defective workpiece 6. The defective workpiece 6 is transported to the end by the sorting and conveying structure 4 and automatically falls into the defective collection area 46.

[0045] See also Figures 1 to 7 In one embodiment, it also includes a blocker 23 provided on the feeding mechanism 2 and located on the upstream side of the loading station 22, and a first detector 24 provided on the side of the end of the feeding channel 21 for detecting the workpiece 6 in the loading station 22. A limit block 25 is provided at the end of the loading station 22. The limit block 25 is used to position the entering workpiece 6 in the loading station 22. The first detector 24 is provided at the bottom of the loading station 22. When the first detector 24 detects that a workpiece 6 enters the loading station 22, a feedback signal is sent to the control module to extend the blocking rod of the blocker 23 to separate the workpiece 6 in the loading station 22 from the workpiece 6 on the upstream side, and to enable the loading and transporting mechanism 1 to transport the workpiece 6 in the loading station 22 to the workpiece at the upstream end of the sorting conveyor belt 41. Inside the positioning module 43; the width of the feeding channel 21 is close to the width of the workpiece 6, so that the rectangular workpieces 6 are arranged and transported along the length direction; through such an arrangement, by arranging a blocker 23 and a first detector 24 upstream of the loading station 22, accurate positioning and orderly sorting of the workpiece 6 are achieved. When the first detector 24 detects that the workpiece 6 arrives at the loading station 22, the control module controls the blocking rod to extend, so that the workpiece 6 at the loading station 22 is effectively isolated from the subsequent workpiece 6, ensuring that the loading and handling mechanism 1 can accurately grasp and transfer the workpiece 6 to the sorting conveyor belt 41. At the same time, the width of the feeding channel 21 matches the width of the workpiece 6 to prevent the workpiece 6 from shifting or getting stuck during transportation, thereby improving the loading stability and sorting efficiency, and reducing manual intervention and failure rate.

[0046] See also Figures 13 to 17 In one embodiment, positioning grooves 61 are respectively provided at the four corners of the rectangular workpiece 6. When the adjacent workpieces 6 are separated in the feeding mechanism 2, the blocking rod of the blocker 23 simultaneously extends into the positioning grooves 61 on the opposite sides of the two adjacent workpieces 6, thereby separating the workpiece 6 in the loading station 22 from the workpiece 6 on the upstream side.

[0047] See also Figures 2 to 7In one embodiment, it also includes a frame 45, the sorting and conveying structure 4, the stacking station 50 and the unloading and handling mechanism 10 are arranged on the frame 45, and the unloading and handling mechanism 10 is located between the sorting and conveying structure 4 and the stacking station 50; it also includes a stacking component 5 configured one-to-one with each unloading and handling mechanism 10, the stacking component 5 includes a stacking bin 51 and a jacking mechanism, the jacking mechanism includes a vertical push rod 52 and a jacking seat 53 provided at the output end of the vertical push rod 52, the bottom of the stacking bin 51 is provided with an avoidance hole 54 that cooperates with the jacking seat 53 to avoid, the stacking station 50 is located on the upper side of the jacking seat 53, and the stacking bin 51 is provided with a stacking cavity 55 with an upper side opening, and the vertical push rod 52 is used to drive the jacking seat 53 to pass through the avoidance port in the stacking cavity 55, so that the stacking height of the workpiece 6 of the lifting seat 53 is adapted to the height of the workpiece 6 released by the unloading and handling mechanism 10; through such an arrangement, the sorting and conveying structure 4, the stacking station 50 and the unloading and handling mechanism 10 form a compact layout through the integrated design of the frame 45, and the stacking component 5 is used to realize the automatic stacking management of the workpiece 6, the stacking bin 51 provides a stable stacking cavity 55, and the lifting mechanism drives the lifting seat 53 to rise and fall in the avoidance hole 54 through the vertical push rod 52, dynamically adjusting the stacking height of the workpiece 6 so that it always matches the release height of the unloading and handling mechanism 10, ensuring the neatness of the stacking and avoiding the damage of the workpiece 6 from falling, significantly improving the stacking efficiency and safety, and reducing the intervention of manual stacking to realize the full process automation operation.

[0048] See also Figures 2 to 7 In a further embodiment, a second detector 56 is provided on the top of the stacking bin 51 for detecting the top workpiece 6 of the jacking seat 53. The second detector 56 is used to detect that after the workpiece 6 is added to the jacking seat 53, a feedback signal is sent to the control module to control the vertical push rod 52 to descend to a height of the thickness of the workpiece 6, so that the top height of the workpiece 6 carried by the jacking seat 53 is adapted to the height at which the workpiece 6 is released by the unloading and handling mechanism 10; through such a setting, the second detector 56 monitors the position of the top workpiece 6 in the stacking bin 51 in real time, and cooperates with the control module to intelligently adjust the height of the jacking mechanism, so that each time a new workpiece 6 is stacked, the jacking seat 53 automatically descends by a thickness of the workpiece 6, and always keeps the stacking surface of the workpiece 6 and the release height of the unloading and handling mechanism 10 accurately matched, which not only ensures the stability and accuracy of the stacking process, but also avoids the efficiency loss caused by manual adjustment, realizes fully automated intelligent stacking, and significantly improves production efficiency and stacking quality.

[0049] See also Figure 4 and Figure 5In one embodiment, the stacking assembly 5 further includes a slide 57 and a translation driver 58 that drives the slide 57 to slide relative to each other. The translation driver 58 is a push rod provided on the frame 45, and the slide 57 is slidably connected to the frame 45 through a slide rail device. The stacking bins 51 are provided with two and are arranged in parallel on the slide 57; through such an arrangement, through the design of the slide 57 and the translation driver 58, the two stacking bins 51 can switch positions alternately along the slide rail. When one stacking bin 51 completes stacking, the push rod drives the slide 57 to translate so that the other stacking bin 51 is immediately in place, realizing uninterrupted continuous stacking operations and greatly improving the equipment operation efficiency; the parallel layout of the two bins not only ensures the continuity of the stacking process, but also optimizes the equipment space utilization, effectively solving the production rhythm bottleneck problem under the single bin mode.

[0050] See also Figure 4 and Figure 5 In one embodiment, the stacking bin 51 includes a stacking seat 511 and a plurality of positioning posts 512 arranged around the outer periphery of the stacking seat 511, and the stacking cavity 55 is formed between the positioning posts 512 and the stacking seat 511. The upper end of the positioning posts 512 is provided with a conical guide portion 513, which makes it easier for the workpiece 6 to enter the stacking bin 51; through such an arrangement, a regular stacking cavity 55 is formed by the design of the positioning posts 512 surrounding the stacking seat 511, which can effectively restrict the displacement range of the stacked workpiece 6 to prevent tilting and scattering, and maintain the necessary operating space around the workpiece 6, while ensuring the stacking accuracy and taking into account the convenience of carrying the workpiece 6, making the automated stacking process more stable and reliable.

[0051] See also Figures 8 to 13In one embodiment, the loading and handling mechanism 1 includes: a machine base 11, a belt transmission structure 12, a rocker assembly 13 and a rotary driver 14; the belt transmission structure 12 includes a driving pulley 121 and a driven pulley 122 and a transmission belt 123 arranged vertically along the machine base 11, and the transmission belt 123 is wound around the driving pulley 121 and the driven pulley 122; the rocker assembly 13 includes a first rocker 131, a second rocker 132 and a workpiece transfer rod 133, one end of the first rocker 131 is connected to the driving pulley 121, and one end of the second rocker 132 is connected to the driven pulley 122, the workpiece transfer rod 133 is rotatably connected to the other end of the first rocker 131 and the other end of the second rocker 132 respectively, and the lower end of the workpiece transfer rod 133 extends out of the lower side of the rocker assembly 13 to form a picking portion, and the lower end of the picking portion is provided with There is a picker 15; a rotary driver 14, which is connected to the active pulley 121 for transmission, and the active pulley 121 is driven forward and reversely to drive the picker 15 from one side of the machine base 11 to the other side, thereby linking the rocker assembly 13; the loading and handling mechanism 1 is similar in structure to the unloading and handling mechanism 10; through such a setting, the workpiece transfer rod 133 is controlled by the rotary driver 14 through the innovative linkage design of the belt drive structure 12 and the rocker assembly 13, so that the workpiece transfer rod 133 can achieve precise reciprocating swinging motion, and its picking part can stably complete the workpiece 6 grasping and releasing action; the unique double rocker structure ensures that the picker 15 maintains a horizontal posture during movement, avoiding the workpiece 6 from tilting or falling off, and the compact vertical layout saves equipment space, significantly improves the stability and positioning accuracy of loading and handling, and meets the needs of efficient and precise handling.

[0052] See also Figures 2 to 7 In one embodiment, it also includes a blanking and packaging robot 7, a cable tie bundling machine 71 and a film sealing machine (not shown in the figure). The blanking and packaging robot 7 is used to transfer the workpieces 6 stacked in the stacking station to a preset number to the cable tie bundling machine 71 for bundling and packaging, and then the bundled and packaged workpieces 6 are sealed and packaged. The preset number is, for example, fifty workpieces 6. Through such a setting, the blanking and packaging robot 7 and the cable tie bundling machine 71 cooperate with each other to realize automatic bundling and packaging of the stacked workpieces 6. When the workpieces 6 in the stacking station reach the preset number, the blanking and packaging robot 7 automatically transfers the entire stack of workpieces 6 to the cable tie bundling machine 71 for bundling. This not only greatly improves the packaging efficiency and ensures transportation stability, but also completely eliminates the manual handling and bundling links, significantly reduces labor intensity and improves the overall automation level of the production line.

[0053] See also Figures 2 to 7In one embodiment, the feed conveying mechanism 82, the centrifugal conveying device 84, the feeding mechanism 2, the visual recognition mechanism 3, the sorting and conveying structure 4, the loading and handling mechanism 1 and the unloading and handling mechanism 10 are provided with at least two groups, for example, two groups are provided; by such an arrangement, by providing multiple groups of feed conveying mechanisms 82, the centrifugal conveying device 84, the feeding mechanism 2, the visual recognition mechanism 3, the sorting and conveying structure 4, the loading and handling mechanism 1 and the unloading and handling mechanism 10, a parallel processing system is formed, so that the equipment can process multiple workpiece flows at the same time, which not only multiplies the overall sorting and stacking efficiency, but also realizes the synchronous sorting operation of workpieces 6 of different specifications, significantly improves the equipment utilization rate and production capacity flexibility, meets the industrial needs of large-scale and multi-variety production, and at the same time maintains the independent operation of each unit through modular design to ensure the stability and maintainability of the system.

[0054] See also Figures 8 to 13 In a further embodiment, the first rocker arm 131 and the second rocker arm 132 are of the same length and are arranged relatively parallel; the starting positions of the first rocker arm 131 and the second rocker arm 132 are arranged horizontally, and the rotary driver 14 drives the pickup 15 to move from one side of the machine base 11 to the other side by rotating the driving pulley 121 forward and reversely by 180°; through such an arrangement, the rocker arm assembly 13 drives the pickup 15 to move back and forth on the left and right sides in a symmetrical swinging manner, and the workpiece 6 handling efficiency and positioning accuracy are high.

[0055] See also Figures 8 to 13 In one embodiment, the active pulley 121 is located at the lower side of the driven pulley 122; the machine base 11 is provided with limiting columns 16 on the lower left and lower right sides of the active pulley 121, and the limiting columns 16 are used to limit the first rocker arm 131 to maintain a horizontal state at the starting position and the end position; through such an arrangement, the active pulley 121 is arranged at the lower side of the driven pulley 122 and is equipped with a limiting column 16 structure, so that the first rocker arm 131 maintains a precise horizontal state at the starting and end positions, ensuring the positioning stability of the picker 15 when grasping and releasing the workpiece 6, and at the same time optimizing the force distribution of the transmission belt 123, reducing the swing deviation during the movement, and improving the reliability and repeatability of the handling action.

[0056] See also Figures 8 to 13 In one embodiment, the belt transmission structure 12 also includes a tensioning pulley 124, which is arranged between the driving pulley 121 and the driven pulley 122, and the transmission belt 123 is also wound around the tensioning pulley 124; through such an arrangement, the wrap angle and tensioning force of the transmission belt 123 are optimized by adding the tensioning pulley 124, which effectively prevents the belt from slipping or loosening, ensuring the power transmission stability during the movement of the rocker assembly 13, while reducing belt wear, extending the service life of the mechanism, and improving the position accuracy and movement reliability of the workpiece 6 transfer.

[0057] See also Figures 8 to 13 In one embodiment, the picker 15 is a vacuum picker 15, an air distributor 171 is provided on the workpiece transfer rod 133, and an air distribution control module 172 is provided on the machine base 11. The air distribution control module 172, the air distributor 171 and the vacuum picker 15 are interconnected through a number of air paths; by using the vacuum picker 15 in conjunction with the integrated air distribution system, the workpiece 6 can be quickly and non-destructively grasped and released, and the air control module centrally manages the vacuum adsorption force to ensure a stable and reliable handling process.

[0058] See also Figures 8 to 13 In one embodiment, the belt transmission structure 12 is arranged on the front side of the machine base 11, and a group of coordinated code discs 181 and photoelectric sensors 182 are provided on the rear side of the machine base 11. An origin light-transmitting hole 183 is provided on one side of the code disc 181. The code disc 181 rotates synchronously with the driven pulley 122. When the code disc 181 rotates to the point where the origin light-transmitting hole 183 corresponds to the photoelectric sensor 182, it is used to determine the mechanical origin position of the rotary driver 14. By arranging the detection mechanism of the code disc 181 and the photoelectric sensor 182 on the rear side of the machine base 11, the mechanical origin of the rotary driver 14 is accurately located using the origin light-transmitting hole 183, thereby realizing closed-loop control of the motion trajectory of the rocker assembly 13, effectively eliminating cumulative errors and improving reset accuracy, ensuring the consistency of the transfer position of the workpiece 6, and enhancing the system's anti-interference ability, so that the mechanism maintains stable and reliable positioning performance during long-term operation.

[0059] See also Figures 8 to 13 In one embodiment, the rotary driver 14 includes a rotary drive motor 141 and a reducer 142 provided at the output end of the rotary drive motor 141, and the output end of the reducer 142 is connected to the active pulley 121 in a transmission manner; by adopting the reducer 142 to match the rotary drive motor 141, the output torque is significantly improved while maintaining the transmission efficiency, so that the active pulley 121 can smoothly drive the rocker assembly 13 with a larger load, effectively reducing the influence of motor speed fluctuations on positioning accuracy, and extending the service life of the drive system, which is particularly suitable for workpiece 6 handling scenarios that require frequent starting and stopping or precise positioning.

[0060] See also Figures 8 to 13In one embodiment, the machine base 11 includes a vertical frame 111 and a base 112 arranged at the bottom of the vertical frame 111, the rotary driver 14 is vertically arranged at the lower rear part of the vertical frame 111, and the belt transmission structure 12 and the rocker assembly 13 are arranged at the upper front part of the vertical frame 111; by optimizing the layout of the machine base 11, the rotary driver 14 is installed at the rear and lower part, which not only ensures the stability of the transmission system, but also makes the overall structure more compact and balanced; at the same time, the belt transmission and rocker assembly 13 on the front upper side form a reasonable center of gravity distribution, effectively reduce operating vibration, improve the rigidity of the mechanism, and make the transfer process of the workpiece 6 more smooth and accurate.

[0061] Example 2

[0062] See also Figures 1 to 13 The main purpose of this embodiment is to provide an automated sorting and stacking production line control method for the automated sorting and stacking production line of the application embodiment 1, including the automated sorting and stacking production line, and the control method includes: the loading conveying mechanism 81 places the material frame 86 carrying the workpiece 6 on the unloading robot 83 conveyed to the downstream end, the unloading robot 83 unloads the several workpieces 6 in the material frame 86 to the feeding conveying mechanism 82, the feeding conveying mechanism 82 conveys the several workpieces 6 to the centrifugal conveying device 84 for sorting and conveying to the feeding mechanism 2; the visual recognition mechanism 3 recognizes the front and back sides and the forward and reverse placement status of the workpiece 6 entering the feeding mechanism 2, and sorts the workpiece 6 into the feeding mechanism 2. The placement status information is fed back to the control module in sequence; the feeding mechanism 2 transports the workpieces 6 identified by the visual recognition mechanism 3 to the loading station 22 one by one, and the control module controls the loading and transporting mechanism 1 to transport the workpieces 6 of the loading station 22 one by one to the workpiece positioning module 43 at the upstream end of the sorting and conveying structure 4; the control module controls multiple unloading and transporting mechanisms 10 to pick up the workpieces 6 in the corresponding placement status and transfer them to the stacking station 50 to which they are configured; the unloading and packaging robot transfers the workpieces 66 stacked in the stacking station that have reached a preset number to the cable tie bundling machine 71 for bundling and packaging, and then seals and packages the bundled and packaged workpieces 66.

[0063] Compared with the prior art, the control method for the automatic sorting and stacking production line of the present invention realizes the automation of the whole process of automatic loading, sorting and conveying, identification, sorting and stacking of the workpiece 6 by setting the loading and conveying mechanism 81, the unloading manipulator 83, the centrifugal conveying device 84, the feeding mechanism 2, the visual recognition mechanism 3, the sorting and conveying structure 4, the loading and transporting mechanism 1 and the unloading and transporting mechanism 10, completely replacing the manual operation, solving the problems of low efficiency and high labor intensity of manual sorting, and significantly improving the production efficiency; moreover, the visual recognition mechanism 3 can accurately identify the workpiece 6. The system distinguishes the front and back sides of workpieces 6, as well as their forward and reverse placement. Combined with the intelligent scheduling of the control module and the automated sorting and stacking of the sorting conveyor structure 4 and the handling mechanism, it ensures that workpieces 6 in different states are accurately sorted to the corresponding stacking station 50, with a near-zero classification error rate, effectively preventing scratches on the electroplating layer and packaging confusion. Furthermore, the sorting conveyor belt 41 utilizes intermittent constant-stroke operation, coupled with spaced workpiece positioning modules 43, to ensure that loading and unloading operations are strictly synchronized with the conveying rhythm. This ensures both handling and positioning accuracy and continuous assembly line operation, ensuring stable and reliable equipment operation. The long-term operating costs of automatic sorting and stacking equipment are lower than those of manual labor, comprehensively reducing quality losses and enterprise costs.

[0064] Based on the disclosure and teachings of the above description, those skilled in the art may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and modifications and variations of the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although certain specific terms are used in this description, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. Automated sorting and stacking production line, characterized by: include: Control module; The loading and conveying mechanism is used to convey the material frame carrying the workpiece to the end direction; Feed conveying mechanism; The unloading manipulator is located between the downstream end of the loading conveyor mechanism and the upstream end of the feeding conveyor mechanism, and is used to dump the workpieces in the material frame into the feeding conveyor mechanism; A feeding mechanism, comprising a feeding channel for conveying workpieces and a loading station at the end of the feeding channel; A centrifugal conveying device is connected between the downstream end of the feed conveying mechanism and the upstream end of the feeding mechanism, and is used to sort the received workpieces in a centrifugal motion manner and convey them to the feeding mechanism; A visual recognition mechanism is used to identify the front and back sides and the forward and reverse placement status of the workpieces transported in the feeding mechanism, and to feed back the placement status information of each workpiece to the control module in sequence; The sorting conveying structure is provided with a sorting conveyor belt and a sorting drive mechanism for driving the sorting conveyor belt. A plurality of workpiece positioning modules are arranged at intervals along the length direction of the sorting conveyor belt. The workpiece positioning modules are provided with a workpiece placement groove with an upper opening. The loading and transporting mechanism is arranged between the feeding mechanism and the upstream end of the sorting and conveying structure, and is used to transport the workpieces from the loading station to the workpiece positioning module at the upstream end of the sorting and conveying structure; Stacking stations are located on one side of the sorting conveyor structure and are provided along the length of the sorting conveyor belt, each of which is used to collect workpieces transferred from the sorting conveyor structure and placed in the same state; A material unloading and handling mechanism is provided downstream of the sorting and conveying structure and is provided for each stacking station. The material unloading and handling mechanism is configured to transfer the workpieces in the corresponding placement state to the corresponding stacking station. The sorting drive mechanism is used to intermittently drive the sorting conveyor belt to operate at a constant stroke, so that when the sorting conveyor belt intermittently stops, several workpiece positioning modules are respectively connected with the corresponding loading and unloading conveying mechanisms.

2. The automated sorting and stacking production line according to claim 1, characterized in that: It also includes a material frame recovery mechanism for recovering empty material frames. The unloading robot dumps the workpieces in the material frame into the feeding and conveying mechanism and then transfers the empty material frame to the material frame recovery mechanism.

3. The automated sorting and stacking production line according to claim 1, characterized in that: The visual recognition mechanism includes a visual recognition bracket and a top light source box, a top camera, a bottom light source box and a bottom camera arranged on the visual recognition bracket; the feeding mechanism runs through the front and rear sides of the visual recognition bracket, the top light source box is located on the upper side of the feeding mechanism, the top camera is located on the upper side of the top light source box, the bottom light source box is located on the lower side of the feeding mechanism, and the bottom camera is located on the lower side of the bottom light source box, the top camera is used to shoot the top surface of the workpiece entering the shooting area, and the bottom camera is used to shoot the bottom surface of the workpiece entering the shooting area; The placement states of the workpiece include a first placement state in which the workpiece is placed on its front side and in the forward direction, a second placement state in which the workpiece is placed on its back side and in the forward direction, a third placement state in which the workpiece is placed on its front side and in the reverse direction, and a fourth placement state in which the workpiece is placed on its back side and in the reverse direction.

4. The automated sorting and stacking production line according to claim 1, characterized in that: The control module further comprises a blocker provided on the feeding mechanism and located on the upstream side of the loading station, and a first detector provided on the side of the end of the feeding channel for detecting the workpiece in the loading station. When the first detector detects that a workpiece has entered the loading station, a feedback signal is sent to the control module to extend the blocking rod of the blocker so as to separate the workpiece in the loading station from the workpiece on the upstream side, and to enable the loading and transporting mechanism to transport the workpiece in the loading station to the workpiece positioning module at the upstream end of the sorting conveyor belt. The width of the feeding channel is close to the width of the workpiece.

5. The automated sorting and stacking production line according to claim 1, characterized in that: It also includes a frame, the sorting and conveying structure, the stacking station and the material unloading and handling mechanism are arranged on the frame, and the material unloading and handling mechanism is located between the sorting and conveying structure and the stacking station; It also includes a stacking component, which includes a stacking bin and a lifting mechanism. The lifting mechanism includes a vertical push rod and a lifting seat arranged at the output end of the vertical push rod. The bottom of the stacking bin is provided with an avoidance hole that cooperates with the lifting seat. The stacking station is located on the upper side of the lifting seat. The stacking bin is provided with a stacking cavity with an upper opening. The vertical push rod is used to drive the lifting seat to move vertically in the stacking cavity through the avoidance hole, so that the workpiece stacking height of the lifting seat is adapted to the release height of the workpiece of the unloading and handling mechanism.

6. The automated sorting and stacking production line according to claim 5, characterized in that: A second detector is provided on the top of the stacking bin for detecting the top workpiece of the jacking seat. The second detector is used to detect that after the workpiece is added to the jacking seat, the feedback signal is sent to the control module to control the vertical push rod to descend to a height of the thickness of the workpiece, so that the top height of the workpiece carried by the jacking seat is adapted to the height at which the workpiece is released by the unloading and handling mechanism.

7. The automated sorting and stacking production line according to claim 6, characterized in that: The stacking assembly further includes a slide and a translation driver for driving the slide to slide relative to each other. The slide is slidably connected to the frame via a slide rail device. Two stacking bins are provided and arranged in parallel on the slide. The stacking bin includes a stacking seat and a plurality of positioning posts arranged around the outer periphery of the stacking seat, and the stacking cavity is formed between the positioning posts and the stacking seat.

8. The automated sorting and stacking production line according to claim 1, characterized in that: The loading and transporting mechanism comprises: base; The belt drive structure includes a driving pulley and a driven pulley arranged vertically along the machine base, and a transmission belt, the transmission belt being wound around the driving pulley and the driven pulley; The swing arm assembly includes a first swing arm, a second swing arm and a workpiece transfer arm, one end of the first swing arm is connected to the driving pulley, one end of the second swing arm is connected to the driven pulley, the workpiece transfer arm is rotatably connected to the other end of the first swing arm and the other end of the second swing arm respectively, the lower end of the workpiece transfer arm extends out of the lower side of the swing arm assembly to form a pickup portion, and a picker is provided at the lower end of the pickup portion; The rotary driver is connected to the driving pulley and drives the driving pulley to move forward and reverse, thereby linking the rocker assembly to drive the pickup to move from one side of the base to the other side; The loading and transporting mechanism has a similar structure to the unloading and transporting mechanism.

9. The automated sorting and stacking production line according to any one of claims 1 to 8, characterized in that: It also includes a material unloading and packaging robot and a cable tie bundling machine, wherein the material unloading and packaging robot is used to transfer the workpieces stacked to a preset number in the stacking station to the cable tie bundling machine for bundling and packaging; The feeding conveying mechanism, the centrifugal conveying device, the feeding mechanism, the visual recognition mechanism, the sorting and conveying structure, the loading and unloading conveying mechanism are provided in at least two groups.

10. The control method of the automated sorting and stacking production line is characterized in that: The automated sorting and stacking production line according to any one of claims 1 to 9, wherein the control method comprises: The loading conveying mechanism places the material frame carrying the workpieces on the unloading robot at the downstream end. The unloading robot unloads the workpieces in the material frame to the feeding conveying mechanism. The feeding conveying mechanism conveys the workpieces to the centrifugal conveying device for sorting and then conveys them to the feeding mechanism. The visual recognition mechanism identifies the front and back sides and the forward and reverse placement status of the workpieces entering the feeding mechanism, and sequentially feeds back the placement status information of each workpiece to the control module; the feeding mechanism transports the workpieces identified by the visual recognition mechanism one by one to the loading station, and the control module controls the loading and transporting mechanism to transport the workpieces from the loading station one by one to the workpiece positioning module at the upstream end of the sorting and conveying structure; The control module controls multiple unloading and handling mechanisms to pick up workpieces in corresponding placement states and transfer them to the corresponding stacking stations.

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