Automatic dismounting and mounting device and dismounting and mounting method for laminated structure

Abstract

The invention belongs to the technical field of stacking structure dismounting and mounting, and discloses an automatic dismounting and mounting device and method for a stacking device. The automatic disassembling and assembling device of the stacked structure is used for disassembling and assembling multiple sets of stacked isolation pieces and products, the isolation pieces are arranged above the products, the automatic disassembling and assembling device comprises an object placing table, a first transplanting unit, a stacking and disassembling unit and a product carrying unit, the first transplanting unit is arranged on the object placing table and used for placing the multiple sets of stacked isolation pieces and products, and the stacking and disassembling unit is arranged on the object placing table. The first transplanting unit is arranged on the storage table and can drive the storage table to reciprocate in the first direction, the first transplanting unit is provided with a stacking and disassembling area, the stacking and disassembling unit comprises a lifting assembly, a rotating assembly and a grabbing assembly, the lifting assembly, the rotating assembly and the grabbing assembly cooperatively move to clamp or release the separators, and the product carrying unit is arranged on the storage table and used for carrying products. According to the automatic dismounting and mounting device of the stacking device and the dismounting and mounting method of the automatic dismounting and mounting device, the separators are recycled, the production cost is reduced, waste of the separators is reduced, and the stacking consistency of products and the separators is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of stacking structure disassembly and assembly, and in particular to an automatic disassembly and assembly device for a stacking structure and a disassembly and assembly method thereof. Background Art

[0002] Before polishing, the surface to be polished needs to be exposed, and the surface that does not need to be polished needs to be isolated and protected. When polishing multiple products at the same time, the products and isolation parts need to be stacked in sequence before polishing. After polishing is completed, the stacked products and isolation parts need to be disassembled in sequence. Usually, the products and isolation parts are stacked before polishing and disassembled after polishing by manual means, resulting in low production efficiency and increased labor intensity.

[0003] The related technology provides a glass disassembly device and a disassembly method thereof, wherein the glass disassembly device includes a chassis, a suction device, a pushing device, a clamping device and a product carrier, the suction device is used to absorb the top layer of glass in the product carrier, the pushing device is used to push the silicone pad under the glass, and the clamping device is used to clamp the silicone pad and separate it from the glass. The stacked glass and silicone pad can be disassembled without human intervention, thereby improving production efficiency and reducing labor costs. However, when disassembling the glass and the silicone pad, the pushing device pushes the silicone pad under the glass, and then the clamping device directly drives the silicone pad to unload, resulting in the silicone pad being unable to be reused between the two layers of glass, causing the silicone pad to be scrapped after a single use, thereby increasing production costs and causing waste of the silicone pad. Summary of the Invention

[0004] One of the objectives of the present invention is to provide an automatic assembly and disassembly device for a stacked structure. This device can recycle separators, reduce production costs, minimize separator waste, automatically disassemble and stack products and separators, improve production efficiency, and ensure consistency in the disassembly and stacking of products and separators.

[0005] A second object of the present invention is to provide an automatic disassembly and assembly method for a stacked structure. By utilizing the automatic disassembly and assembly device for a stacked structure, the separators can be recycled, production costs can be reduced, waste of separators can be reduced, and the consistency of the product and separator disassembly and stacking can be improved.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] An automatic disassembly and assembly device for a stacked structure, used for disassembling and assembling multiple sets of stacked spacers and products, wherein the spacers are arranged above the products, comprising:

[0008] storage table;

[0009] a first transfer unit, disposed on the storage platform, for placing a plurality of stacked groups of the separators and the products, and driving the plurality of stacked groups of the separators and the products to reciprocate along a first direction, wherein the first transfer unit is provided with a stacking and disassembly area;

[0010] The stacking and disassembling unit includes a lifting assembly and a rotating assembly. The lifting assembly is arranged on the storage platform. The output end of the lifting assembly is connected to the rotating assembly. The rotating assembly is fixedly connected to a plurality of gripping assemblies arranged at intervals along its circumference. The rotating assembly is located above the stacking and disassembling area. The gripping assemblies are used to clamp or release the isolation pieces.

[0011] The product transporting unit is arranged on the storage platform and is used for transporting the product.

[0012] Preferably, the rotating assembly comprises:

[0013] a rotary drive member, one end of which is fixedly connected to the output end of the lifting assembly;

[0014] at least one first rotating member, in transmission connection with the output end of the rotary drive member;

[0015] Multiple first connecting members, one end of each of the first connecting members is fixedly connected to the first rotating member, the multiple first connecting members are arranged at intervals along the circumference of the first rotating member, and the grabbing assembly is fixedly connected to each of the first connecting members.

[0016] Preferably, the rotating assembly includes two first rotating members, the two first rotating members are arranged in parallel and spaced apart along the second direction, the second direction is arranged perpendicular to the first direction, and the first connecting member is fixedly connected between the two first rotating members.

[0017] Preferably, the first transplanting unit comprises:

[0018] a first transplanting assembly, the first transplanting assembly comprising a first transplanting driver and a first motion actuator, the first transplanting driver being fixedly disposed at an input end of the first motion actuator, and a fixed end of the first motion actuator being fixedly disposed on the storage platform;

[0019] The first carrier is transmission-connected to the output end of the first motion actuator, and can hold multiple groups of stacked isolation members and products.

[0020] Preferably, a plurality of the first transplanting units and the stacking and disassembling units are provided, and the first transplanting units and the stacking and disassembling units correspond one to one.

[0021] Preferably, the automatic disassembly and assembly device of the stacked structure further includes a second transplanting unit, and the second transplanting unit includes:

[0022] a second transplanting assembly, the second transplanting assembly being spaced apart from the product transporting unit and having a fixed end fixedly connected to the storage platform;

[0023] The second carrier can be placed at the output end of the second transplanting assembly, the second transplanting assembly can drive the second carrier to move back and forth along the first direction, and the second carrier can carry the product.

[0024] Preferably, a plurality of the second transplanting units are provided, and the plurality of the second transplanting units are arranged at intervals along a second direction, and the second direction is perpendicular to the first direction.

[0025] Preferably, the automatic disassembly and assembly device of the stacked structure further includes a plurality of second transplanting units spaced apart along the second direction, two adjacent second transplanting units forming a group, the second transplanting unit including a second transplanting assembly and a second carrier, the fixed end of the second transplanting assembly being fixedly connected to the storage platform, the second carrier being capable of being placed at the output end of the second transplanting assembly, the second direction being perpendicular to the first direction, the second carrier being capable of carrying the product, and the automatic disassembly and assembly device of the stacked structure further includes:

[0026] A third transplanting unit is configured to transplant the second carrier in one of two adjacent second transplanting units to an output end of the second transplanting assembly in the other one.

[0027] Preferably, the automatic disassembly and assembly device of the stacked structure further includes a support unit located at the lower end of the storage platform, and the support unit includes:

[0028] An adjustment component is an adjustable structure, and the adjustment component can adjust the horizontality of the storage table.

[0029] An automatic disassembly and assembly method for a stacked structure, using the automatic disassembly and assembly device for a stacked structure as described above, includes a disassembly method and a stacking method, and the disassembly method includes the following steps:

[0030] S101: multiple sets of stacked separators and products are placed on the first transfer unit, and the first transfer unit drives the multiple sets of stacked separators and products to move to the stacking and disassembly area;

[0031] S102: the lifting assembly descends, and one of the grabbing assemblies clamps and temporarily stores the isolation member;

[0032] S103: the lifting assembly rises, and the rotating assembly rotates;

[0033] S104: The product transporting unit transports the product for unloading;

[0034] Repeat S102-S104 until the first transplanting unit is free of the separator and the product;

[0035] The stacking method comprises the following steps:

[0036] S105: The product transporting unit transports the product to the first transplanting unit;

[0037] S106: the lifting assembly descends, and one of the grabbing assemblies releases the spacer, so that the spacer is stacked on the product;

[0038] S107: The lifting assembly rises, and the rotating assembly rotates;

[0039] Repeat S105-S107 until there is no isolating piece on the grabbing assembly.

[0040] Beneficial effects of the present invention:

[0041] The present invention provides an automatic disassembly and assembly device of a stacked structure and a disassembly and assembly method thereof, which are used for disassembling and assembling multiple groups of stacked isolation members and products, and the isolation members are arranged above the products. The device includes a storage platform, a first transfer unit, a stacking and disassembly unit and a product handling unit. The first transfer unit is arranged on the storage platform, and is used for placing multiple groups of stacked isolation members and products, and can drive multiple groups of stacked isolation members and products to move back and forth along a first direction. The first transfer unit is provided with a stacking and disassembly area. The stacking and disassembly unit includes a lifting component and a rotating component. The lifting component is arranged on the storage platform, and the output end of the lifting component is connected to the rotating component. The rotating component is fixedly connected to a plurality of grabbing components arranged at intervals along its circumference. The rotating component is located above the stacking and disassembly area. The grabbing component is used to clamp or release the isolation members. The product handling unit is arranged on the storage platform, and the product handling unit is used to handle the products.

[0042] During disassembly, multiple groups of stacked isolaters and products are placed on the first transfer unit, and the first transfer unit drives the multiple groups of stacked isolaters and products to move to the stacking and disassembly area. Then the lifting component descends, so that one of the grabbing components clamps the isolater, then the lifting component rises, and the rotating component rotates at the same time. Then, the product handling unit transports the product for unloading, and then repeats the above disassembly process, so that there are no isolaters and products on the first transfer unit. At this time, the disassembly of multiple groups of stacked isolaters and products is completed; during stacking, the product handling unit transports the product to the first transfer unit, then the lifting component descends, and one of the grabbing components releases the isolater, so that the isolater is stacked on the product, then the lifting component rises, and the rotating component rotates, and the above process is repeated until there are no isolaters on the grabbing component. At this time, the stacking of multiple groups of stacked isolaters and products is completed. Through the disassembly and stacking as above, the isolation parts are recycled, the production cost is reduced, and the waste of isolation parts is reduced. At the same time, the coordinated work of the first transplanting unit, the stacking and disassembly unit and the product handling unit is utilized to realize the automatic disassembly and stacking of the products and isolation parts, thereby improving the production efficiency and ensuring the consistency of the disassembly and stacking of the products and isolation parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a first isometric view of the automatic disassembly and assembly device for a stacked structure provided by an embodiment of the present invention;

[0044] Figure 2 is an axonometric view of a first transplanting unit of a stacked structure provided by an embodiment of the present invention;

[0045] Figure 3 is an axonometric diagram of a stacking and disassembling unit of a stacked structure provided by an embodiment of the present invention;

[0046] Figure 4 is a first axonometric view of a second transplanting unit of the stacked structure provided by an embodiment of the present invention;

[0047] Figure 5 is a second axonometric view of a second transplanting unit of the stacked structure provided by an embodiment of the present invention;

[0048] Figure 6 2. It is a top view of an automatic disassembly and assembly device for a stacked structure provided by an embodiment of the present invention;

[0049] Figure 7 is an axonometric view of a third transplanting unit of the stacked structure provided by an embodiment of the present invention;

[0050] Figure 8 This is a second axonometric view of the automatic disassembly and assembly device of the stacked structure provided by an embodiment of the present invention.

[0051] In the picture:

[0052] 1. Storage platform; 2. Stacking and disassembling unit; 21. Lifting assembly; 22. Rotating assembly; 221. Rotating drive member; 222. First rotating member; 223. First connecting member; 224. Second rotating member; 23. Grabbing assembly; 231. Grabbing drive member; 232. Grabbing member;

[0053] 3. First transfer unit; 31. First transfer assembly; 311. First transfer driver; 312. First motion actuator; 313. Preparation area; 314. Stacking and disassembly area; 315. Loading and unloading area; 32. First carrier; 4. Product handling unit; 41. Fixed base; 42. Six-axis robot; 43. Handling and gripping assembly;

[0054] 5. Second transplanting unit; 51. Second transplanting assembly; 512. Second motion actuator; 513. First lifting and lowering drive member; 514. Support member; 52. Second bearing member;

[0055] 6. Third transfer unit; 61. Fixing assembly; 611. Fixing member; 612. Reinforcement member; 62. Third transfer assembly; 621. Third transfer driver; 622. Third motion actuator; 63. Guide assembly; 631. Guide rail; 632. Slider; 64. Lifting assembly; 641. Second connecting member; 642. Second lifting driver; 65. Gripping assembly; 651. Gripping body; 652. Gripping driver; 653. Gripping handle;

[0056] 7. Support unit; 71. Adjustment assembly; 711. Adjustment member; 72. Locking assembly; 721. Locking member; 8. Housing. DETAILED DESCRIPTION

[0057] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0058] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0059] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0060] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0061] This embodiment provides an automatic disassembly and assembly device for a stacked structure, such as Figure 1 and Figure 2 As shown, it is used to disassemble and assemble multiple groups of stacked isolation parts and products, and the isolation parts are arranged above the products, including a storage table 1, a first transfer unit 3, a stacking and disassembly unit 2 and a product handling unit 4. The first transfer unit 3 is arranged on the storage table 1, and is used to place multiple groups of stacked isolation parts and products, and drive multiple groups of stacked isolation parts and products to move back and forth along a first direction. The first transfer unit 3 is provided with a stacking and disassembly area 314, and the stacking and disassembly unit 2 includes a lifting component 21 and a rotating component 22. The lifting component 21 is arranged on the storage table 1, and the output end of the lifting component 21 is connected to the rotating component 22. The rotating component 22 is fixedly connected to a plurality of grabbing components 23 arranged at intervals along its circumference. The rotating component 22 is located above the stacking and disassembly area 314. The grabbing component 23 is used to clamp or release the isolation parts. The product handling unit 4 is arranged on the storage table 1 and is used to transport products.

[0062] During disassembly, multiple groups of stacked isolators and products are placed on the first transfer unit 3, and the first transfer unit 3 drives the multiple groups of stacked isolators and products to move to the stacking and disassembly area 314, then the lifting component 21 descends, and the rotating component 22 rotates, so that one of the grabbing components 23 clamps and temporarily stores the isolator, then the lifting component 21 rises, and then the product handling unit 4 transports the product for unloading, and then repeats the above disassembly process, so that there are no isolators and products on the first transfer unit 3, and the disassembly of the multiple groups of stacked isolators and products is completed at this time; during stacking, the product handling unit 4 transports the product to the first transfer unit 3, then the lifting component 21 descends, and one of the grabbing components 23 releases the isolator, so that the isolator is stacked on the product, then the lifting component 21 rises, and the rotating component 22 rotates, and the above process is repeated until there are no isolators on the grabbing component 23, and the stacking of the multiple groups of stacked isolators and products is completed. By disassembling and stacking as above, the separators are recycled, which reduces production costs and waste of separators. At the same time, the first transfer unit 3, the stacking and disassembling unit 2 and the product handling unit 4 work together to realize the automatic disassembly and stacking of products and separators, improve production efficiency and ensure the consistency of disassembly and stacking of products and separators. It should be noted that the first direction is Figure 1 The front-to-back direction.

[0063] Specifically, in this embodiment, there are eighteen groups of stacked separators and products, with three of each group of stacked separators and products on the same plane, forming six layers in total. In other embodiments, there are fifteen groups of stacked separators and products, with three of each group of stacked separators and products on the same plane, forming five layers in total; or there are ten groups of stacked separators and products, with two of each group of stacked separators and products on the same plane, forming five layers in total, and so on. This is not a limitation.

[0064] Alternatively, as Figure 1 and Figure 3As shown, the rotating assembly 22 includes a rotating drive member 221, at least one first rotating member 222 and a plurality of first connecting members 223, one end of the rotating drive member 221 is fixedly connected to the output end of the lifting assembly 21, at least one first rotating member 222 is transmission-connected to the output end of the rotating drive member 221, one end of the plurality of first connecting members 223 is fixedly connected to the first rotating member 222, and the plurality of first connecting members 223 are arranged at intervals along the circumference of the first rotating member 222, and each first connecting member 223 is fixedly connected to a grabbing assembly 23. When disassembling the top layer of stacked separators and products, the lifting assembly 21 drives the rotary drive member 221 downward, while the rotary drive member 221 rotates, driving the first rotating member 222 and the first connecting member 223 to rotate, thereby driving the grabbing assembly 23 on the first connecting member 223 to rotate to directly above the separator. The lifting assembly 21 continues to drive the rotary drive member 221 downward until the grabbing assembly 23 grabs the separator. The lifting assembly 21 then drives the rotary drive member 221 upward, after which the rotary drive member 221 rotates, causing the grabbing assembly 23 that has grabbed the separator to rotate around the axis of the rotary drive member 221 and rotate to the grabbing assembly 23 fixedly connected to the other first connecting member 223 directly above the next layer of stacked separators and separators in the product, preparing to grab the next layer of stacked separators and separators in the product. Through the above arrangement, an efficient cycle operation of separator disassembly is achieved, improving the efficiency of disassembly. It should be noted that in this embodiment, the first rotating member 222 is a rotating plate. In other embodiments, the first rotating member 222 may also be a rotating rod or a rotating frame, etc., which is not limited here.

[0065] Specifically, if Figure 3 As shown, in this embodiment, six first connecting members 223 are provided, and the six first connecting members 223 are evenly connected to the first rotating member 222 along the circumferential direction of the first rotating member 222. In other embodiments, three, four, or five first connecting members 223 are provided, and this is not limited here. It should be noted that in this embodiment, the first connecting member 223 is a connecting plate. In other embodiments, the first connecting member 223 can also be a connecting rod, a connecting frame, etc., and this is not limited here.

[0066] Specifically, if Figure 3 As shown, in this embodiment, the lifting component 21 is a combination of a motor and a linear slide. In other embodiments, the lifting component 21 can also be a combination of a motor and a ball screw, or the lifting component 21 can also be a combination of a motor and a lead screw slide, etc. This is not limited here. It should be noted that the motor, linear slide, ball screw and lead screw slide are all existing technologies, and their principles and connection relationships are also existing technologies, so they are not described here. Specifically, as Figure 3As shown, the rotary drive member 221 is a servo motor. In other embodiments, the rotary drive member 221 can also be a stepping motor or a rotary cylinder, etc. This is not limited here. It should be noted that, in this embodiment, the first rotating member 222 is fixedly connected to the output end of the rotary drive member 221. In other embodiments, the first rotating member 222 is connected to the output end of the rotary drive member 221 via a coupling, or the first rotating member 222 is connected to the output end of the rotary drive member 221 via a chain drive, which is not limited here.

[0067] Alternatively, as Figure 1 and Figure 3 As shown, the rotating assembly 22 includes two first rotating members 222, and the two first rotating members 222 are arranged in parallel and spaced apart along the second direction, and the second direction and the first direction are arranged perpendicularly, and the first connecting member 223 is fixedly connected between the two first rotating members 222. The arrangement of the two first rotating members 222 allows both ends of the first connecting member 223 to be supported, thereby preventing the first connecting member 223 from forming a cantilever beam structure, which in turn causes the grabbing assembly 23 fixedly connected to the first connecting member 223 to be unstable when grabbing the isolating member, resulting in failure to grab some isolating members, etc. At the same time, two first rotating members 222 are fixedly connected at both ends of the six first connecting members 223 to form a stable frame structure, thereby improving rigidity and stability. It should be noted that the second direction is Figure 3 Left and right direction in .

[0068] Alternatively, as Figure 3 As shown, in this embodiment, the rotating assembly 22 further includes a second rotating member 224. The second rotating member 224 extends in the second direction. One end of the second rotating member 224 is fixedly connected to the center of one of the first rotating members 222, and the other end of the second rotating member 224 is fixedly connected to the center of the other first rotating member 222. The provision of the second rotating member 224 not only increases the connection strength between the two first rotating members 222, but also further transmits the rotational force of the rotary drive member 221 to the first rotating member 222 that is away from the rotary drive member 221 in the left-right direction, thereby improving the rotational synchronization of the two first rotating members 222.

[0069] Alternatively, as Figure 3 As shown, in this embodiment, the gripping assembly 23 includes a gripping driver 231 and two gripping members 232. The gripping driver 231 is fixedly connected to the first connecting member 223. The output end of the gripping driver 231 is in transmission connection with the two gripping members 232, and the output end of the gripping driver 231 is capable of driving the two gripping members 232 toward or away from each other. This arrangement enables the gripping and release of the isolation member. It should be noted that the gripping members 232 are clamping claws.

[0070] Specifically, if Figure 3 As shown, in this embodiment, three gripping assemblies 23 are fixedly connected to each first connecting member 223 at even intervals along the second direction. This allows for simultaneous gripping and releasing of separators on the same layer. In other embodiments, two gripping assemblies 23 are fixedly connected to each first connecting member 223 at even intervals along the second direction, or four gripping assemblies 23 are fixedly connected to each first connecting member 223 at even intervals along the second direction, and so on. This is not a limitation.

[0071] Alternatively, as Figure 1 and Figure 2 As shown, the first transfer unit 3 includes a first transfer assembly 31 and a first carrier 32. The first transfer assembly 31 includes a first transfer driver 311 and a first motion actuator 312. The first transfer driver 311 is fixedly mounted at the input end of the first motion actuator 312. The fixed end of the first motion actuator 312 is fixedly mounted on the storage platform 1. The first carrier 32 is transmission-connected to the output end of the first motion actuator 312. Multiple groups of stacked separators and products can be placed on the first carrier 32. When transferring multiple groups of stacked separators and products, the first transfer driver 311 is activated, driving the output end of the first motion actuator 312 to reciprocate in a first direction. At the same time, the first carrier 32, transmission-connected to the output end of the first motion actuator 312, reciprocates in the first direction, so that the multiple groups of stacked separators and products can be moved to the stacking and disassembly area 314 to achieve stacking and disassembly of the products and separators. The configuration of the first transfer unit 3 provides a positional basis for the stacking and disassembly of multiple groups of stacked separators and products. It should be noted that in this embodiment, the first carrier 32 is a carrier plate. In other embodiments, the first carrier 32 may also be a carrier frame, etc. This is not a limitation. Specifically, in this embodiment, the first transporting drive 311 is a servo motor, and the first motion actuator 312 is a linear slide. In other embodiments, the first transporting drive 311 may also be a stepping motor or a rotary cylinder, etc., and the first motion actuator 312 may also be a screw slide, etc. This is not a limitation.

[0072] Specifically, if Figure 2 As shown, in this embodiment, the first carrier 32 is fixedly connected to the output end of the first motion actuator 312. In other embodiments, the first carrier 32 and the output end of the first motion actuator 312 are connected via a belt drive, or the first carrier 32 and the output end of the first motion actuator 312 are connected via a chain drive, etc. This is not limited here.

[0073] Specifically, if Figure 2As shown, in this embodiment, the first transfer unit 3 is further provided with a preparation area 313 and a loading and unloading area 315. Along the first direction, the preparation area 313, the stacking and disassembling area 314, and the loading and unloading area 315 are sequentially arranged. Multiple areas are provided. During disassembly, multiple groups of stacked separators and products are placed in the preparation area 313. The first transfer drive 311 is activated, driving the first motion actuator 312 to move the multiple groups of stacked separators and products to the stacking and disassembling area 314. After the grabbing assembly 23 grabs the separator, the first transfer drive 311 drives the first motion actuator 312 to move the multiple groups of stacked separators and products to the loading and unloading area 315. The product handling unit 4 then handles the products for unloading. This reduces the range of motion of the lifting assembly 21 and the product handling unit 4, making the structure more compact.

[0074] Alternatively, as Figure 1 As shown, there are multiple first transplanting units 3 and stacking and disassembling units 2, and the first transplanting units 3 and stacking and disassembling units 2 are in one-to-one correspondence. The arrangement of multiple first transplanting units 3 and multiple stacking and disassembling units 2 enables the one-to-one correspondence between the first transplanting units 3 and the stacking and disassembling units 2, so that the stacked separators and products can be disassembled and stacked simultaneously and alternately, thereby improving the efficiency of the automatic disassembly and assembly device. Specifically, as Figure 1 As shown, in this embodiment, two first transplanting units 3 and two stacking and disassembling units 2 are each provided. The two first transplanting units 3 are arranged at intervals along the second direction, and the two stacking and disassembling units 2 are arranged at intervals along the second direction. One of the first transplanting units 3 and its corresponding stacking and disassembling unit 2 and product handling unit 4 stacks the separators and products to form multiple groups of stacked separators and products, while the other first transplanting unit 3 and its corresponding stacking and disassembling unit 2 and product handling unit 4 disassemble the multiple groups of stacked separators and products. In other embodiments, three or four first transplanting units 3 and stacking and disassembling units 2 are each provided, and this is not limited here.

[0075] Alternatively, as Figure 1 、 Figure 4 and Figure 5As shown, the automatic disassembly and assembly device of the stacked structure also includes a second transfer unit 5, which includes a second transfer assembly 51 and a second carrier 52. The second transfer assembly 51 is spaced apart from the product handling unit 4. The fixed end of the second transfer assembly 51 is fixedly connected to the storage table 1. The second carrier 52 can be placed at the output end of the second transfer assembly 51. The second transfer assembly 51 can drive the second carrier 52 to move back and forth in the first direction. The second carrier 52 can carry products. The second transfer assembly 51 can drive the second carrier 52 to move back and forth in the front-to-back direction, thereby realizing the transfer of products between different positions in the second transfer assembly 51. Through the reciprocating movement of the second transfer assembly 51 in the front-to-back direction, it is possible to realize automatic loading and unloading of products, thereby improving the efficiency and stability of production.

[0076] Alternatively, as Figure 1 、 Figure 4 and Figure 5 As shown, in this embodiment, the second transplanting assembly 51 includes a second transplanting drive member (not shown) and a second motion executive member 512. The second motion executive member 512 is fixedly connected to the storage platform 1. The input end of the second motion executive member 512 is transmission-connected to the second transplanting drive member. The output end of the second motion executive member 512 is transmission-connected to a support member 514. The second carrier 52 can be placed on the support member 514. When the product is transplanted to the front end of the second motion executive member 512, the front end of the second motion executive member 512, i.e., at Figure 4 In the middle, along the front end of the second motion executive member 512 in the front-back direction, the second motion executive member 512 drives the second carrier 52 on the support member 514 to move synchronously with the output end of the second motion executive member 512, so that the second carrier 52 carrying three products is moved to the handling range of the product handling unit 4; the products are moved to the rear end of the second motion executive member 512, that is, at the rear end of the second motion executive member 512. Figure 4 In the embodiment, the process of the rear end of the second motion actuator 512 in the front-back direction is opposite to the above process. The synergistic effect of the second transplanting drive member and the second motion actuator 512 improves the continuity of the automated transplanting of the product.

[0077] Alternatively, as Figure 4 As shown, in this embodiment, the second transfer assembly 51 further includes a first lifting and lowering drive member 513. The fixed end of the first lifting and lowering drive member 513 is fixedly connected to the output end of the second motion actuator 512. The output end of the first lifting and lowering drive member 513 is fixedly connected to the support member 514. The first lifting and lowering drive member 513 can drive the support member 514 to move in the vertical direction. This facilitates the transfer of the second carrier 52 carrying the product to the next process.

[0078] Alternatively, as Figure 5As shown, in this embodiment, the second carrier 52 is a carrier plate. In other embodiments, the second carrier 52 is a carrier frame, etc. This is not limited here.

[0079] Alternatively, as Figure 6 As shown, multiple second transplanting units 5 are provided, and the plurality of second transplanting assemblies 51 are arranged in a spaced relationship along the second direction, with the second direction being perpendicular to the first direction. By operating in parallel, the plurality of second transplanting units 5 can simultaneously perform transplanting tasks, shortening overall operation time. Furthermore, the spaced relationship between the second transplanting units 5 allows for a wider operating area, reducing the frequency of movement of the product handling unit 4.

[0080] Specifically, if Figure 6 As shown, in this embodiment, four second transplanting units 5 are provided. From left to right, the four second transplanting units 5 are the first loading unit, the first unloading unit, the second loading unit, and the second unloading unit. This improves production efficiency by operating in parallel. In other embodiments, six second transplanting units 5 can be provided, with the six second transplanting units 5 divided into three groups, each group including one loading unit and one unloading unit, and so on. This is not a limitation.

[0081] Alternatively, as Figure 6 As shown, in this embodiment, the product handling unit 4 includes a fixed base 41, a six-axis robot 42 and a handling and grabbing assembly 43. One end of the fixed base 41 is fixedly connected to the storage table 1, and the base of the six-axis robot 42 is fixedly connected to the other end of the fixed base 41. The output end of the six-axis robot 42 is fixedly connected to the handling and grabbing assembly 43. Through the movement of the six-axis robot 42 in three-dimensional space, the handling and grabbing assembly 43 can disassemble and grab the products at the loading and unloading positions, or stack the products on the isolation pieces at the loading and unloading positions. The setting of the product handling unit 4 provides a power basis for the disassembly, grabbing and stacking of the products, and the high movement accuracy of the six-axis robot 42 further ensures the consistency of the stacking of products and isolation pieces. Specifically, as Figure 6 As shown, in this embodiment, the transport and grabbing assembly 43 includes an air compressor, a pneumatic valve and three suction cups. The air compressor is connected and communicated with the three suction cups through the pneumatic valve. The three suction cups can grab three products accordingly.

[0082] Alternatively, as Figure 6 and Figure 7As shown, the automatic disassembly and assembly device of the stacked structure also includes a plurality of second transplanting units 5 arranged at intervals along the second direction, two adjacent second transplanting units 5 form a group, the second transplanting unit 5 includes a second transplanting component 51 and a second carrier 52, the fixed end of the second transplanting component 51 is fixedly connected to the storage table 1, the second carrier 52 can be placed at the output end of the second transplanting component 51, and the second direction and the first direction are arranged perpendicularly. The automatic disassembly and assembly device of the stacked structure also includes a third transplanting unit 6, which can transplant the second carrier 52 in one of the two adjacent second transplanting units 5 to the output end of the second transplanting component 51 of the other one. Taking the first loading unit and the first unloading unit as an example, a second carrier 52 carrying three products is placed on the second transfer assembly 51 in the first loading unit, and then the third transfer unit 6 grabs the second carrier 52 carrying three products to the output end of the second transfer assembly 51 in the first unloading unit. Then the six-axis robot 42 drives the transport and grabbing assembly 43 to grab the three products on the second carrier 52 to one of the first carriers 32. In this way, the second carrier 52 is unloaded. At the same time, the six-axis robot 42 drives the transport and grabbing assembly 43 to grab three products from another first carrier 32 to the above-mentioned unloaded second carrier 52. Then the six-axis robot 42 drives the transport and grabbing assembly 43 back to its original position. By setting up the third transfer unit 6, products can be transferred on different second transfer assemblies 51. Through automated transfer, manual intervention can be reduced, disassembly and assembly efficiency can be improved, and the continuity of product stacking and disassembly can be improved. And because the second carrier 52 can reciprocate along the first direction under the drive of the second transfer drive member,

[0083] Therefore, taking the first loading unit and the first unloading unit as an example, the second transfer component 51 in the first loading unit will transfer the second carrier 52 carrying three products from the rear end of the second transfer component 51 to the front end of the second transfer component 51, and then the third transfer unit 6 will grab the second carrier 52 to the output end of the second transfer component 51 in the first unloading unit, and then the six-axis robot 42 will drive the transport and grabbing component 43 to grab the three products on the second carrier 52 to one of the first carriers 32 for stacking, so that the second carrier 52 is empty. At the same time, the six-axis robot 42 drives the transport and grabbing component 43 to grab three products from another first carrier 32 to the above-mentioned empty second carrier 52, and then the six-axis robot 42 drives the transport and grabbing component 43 back to its original position, and then the second transfer component 51 in the first unloading unit will re-place the second carrier 52 with three products and transfer it to the rear end of the second transfer component 51 in the first unloading unit, and then unloading is carried out. The cooperation process of the second loading unit and the second unloading unit with the transporting and grabbing assembly 43 is the same as the above process.

[0084] Alternatively, as Figure 6 and Figure 7 As shown, the third transfer unit 6 includes a fixed component 61, a third transfer component 62, a lifting and lowering component 64 and a clamping component 65. The fixed component 61 is fixedly connected to the storage platform 1, and the third transfer component 62 is fixedly connected to the output end of the fixed component 61. The output end of the third transfer component 62 is transmission-connected to the lifting and lowering component 64. The output end of the lifting and lowering component 64 is fixedly connected to the clamping component 65. The output end of the clamping component 65 can clamp the second carrier 52. The second carrier 52 is grasped by the coordinated movement of the third transfer component 62, the lifting and lowering component 64 and the clamping component 65. Specifically, as shown in FIG. Figure 6 and Figure 7 As shown, the fixing assembly 61 includes a fixed member 611 and a reinforcement member 612, which are fixedly connected to the storage platform 1. The reinforcement member 612 improves the connection strength between the fixing member 611 and the storage platform 1. It should be noted that the fixing member 611 is a fixing plate, and the reinforcement member 612 is a reinforcing rib.

[0085] Specifically, if Figure 7 As shown, the third transfer assembly 62 includes a third transfer drive 621 and a third motion actuator 622. The third transfer drive 621 is fixedly arranged at the input end of the third motion actuator 622. The fixed end of the third motion actuator 622 is fixedly arranged on the fixing member 611. The third motion actuator 622 extends along the first direction. The output end of the third motion actuator 622 is transmission-connected to the landing assembly 64. Specifically, in this embodiment, the third transfer drive 621 is a servo motor, and the third motion actuator 622 is a linear slide. In other embodiments, the third transfer drive 621 is a stepping motor, and the third motion actuator 622 is a screw slide, etc. This is not limited here. It should be noted that the output end of the linear slide is fixedly connected to the landing assembly 64. In other embodiments, the third motion actuator 622 is connected to the landing assembly 64 via a belt drive, or the third motion actuator 622 is connected to the landing assembly 64 via a chain drive, etc. This is not limited here.

[0086] Specifically, if Figure 7 As shown, the lifting assembly 64 includes a second connecting member 641 and a second lifting drive member 642. One end of the second connecting member 641 is fixedly connected to the output end of the third motion actuator 622, and the other end of the second connecting member 641 is fixedly connected to the fixed end of the second lifting drive member 642. The output end of the second lifting drive member 642 is fixedly connected to the clamping assembly 65. It should be noted that the second connecting member 641 is a connecting plate. Specifically, in this embodiment, the second lifting drive member 642 is a slide cylinder. In other embodiments, the second lifting drive member 642 is a linear motor, etc. This is not limited here.

[0087] Specifically, if Figure 7 As shown, the clamping assembly 65 includes a clamping body 651, a clamping drive 652, and four grippers 653. The upper end of the clamping body 651 is fixedly connected to the output end of the second lifting and lowering drive 642. The clamping drive 652 is fixedly connected to the upper end of the clamping body 651. The four grippers 653 are movably connected to the lower end of the clamping body 651, and the four grippers 653 are all transmission-connected to the clamping drive 652. The four grippers 653 are arranged in pairs and spaced apart along the first direction. The clamping drive 652 drives the two groups of grippers 653 to move closer to or away from each other. It should be noted that in this embodiment, the four grippers 653 are slidably connected to the lower end of the clamping body 651. In other embodiments, the four grippers 653 are rotationally connected to the lower end of the clamping body 651. This is not limited here.

[0088] Specifically, if Figure 7 As shown, in this embodiment, the gripping drive member 652 is a cylinder. In other embodiments, the gripping drive member 652 can also be a motor, and the output end of the motor is connected to the gripper 653 through a gear transmission, driving the gripper 653 to rotate and grip the second carrier 52, etc. This is not limited here.

[0089] Alternatively, as Figure 7 As shown, the third transplanting unit 6 also includes a guide assembly 63, and the guide assembly 63 includes a guide rail 631 and a slider 632 that are slidably connected. The guide rail 631 extends in the left-right direction, one of which is fixedly connected to the fixing member 611, and the other is fixedly connected to the second connecting member 641. The setting of the guide assembly 63 provides precise motion trajectory constraints for the movement of the clamping assembly 65 in the left-right direction, ensuring that it moves smoothly in the specified left-right direction while reducing friction and shaking. It should be noted that, in this embodiment, the guide rail 631 is fixedly connected to the fixing member 611, and the slider 632 is fixedly connected to the second connecting member 641. In other embodiments, the guide rail 631 is fixedly connected to the second connecting member 641, and the slider 632 is fixedly connected to the fixing member 611. This is not limited here.

[0090] Alternatively, as Figure 6 As shown, in this embodiment, two third transplanting units 6 are provided, and the two third transplanting units 6 are arranged in a left-right direction with an interval. One third transplanting unit 6 corresponds to the first loading unit and the first unloading unit, and the other third transplanting unit 6 corresponds to the second loading unit and the second unloading unit. In other embodiments, one, three, or other third transplanting units 6 may be provided, and this is not limited here.

[0091] Alternatively, as Figure 8As shown, in this embodiment, the automatic assembly and disassembly device for a stacked structure further includes a housing 8, within which the stacking and disassembly unit 2, the first transfer unit 3, the second transfer unit 5, the third transfer unit 6, and the product handling unit 4 are all disposed. The provision of housing 8 prevents external environmental factors from interfering with the stacking and disassembly process of products and separators, thereby ensuring stable operation of the device. It should be noted that housing 8 can be any housing 8 of an automated device known in the art.

[0092] Specifically, in this embodiment, a control unit is provided on the housing 8, and the control unit is electrically connected to the rotating drive 221, the grabbing drive 231, the first transplanting drive 311, the six-axis robot 42, the second transplanting drive, the third transplanting drive 621, the second lifting drive 642, and the clamping drive 652. It should be noted that the control unit is a prior art, and the control unit in this embodiment can adopt any controller in the prior art and adopt any connection method in the prior art to be electrically connected to the rotating drive 221, etc. There is no limitation here.

[0093] Alternatively, as Figure 8 As shown, in this embodiment, the automatic disassembly and assembly device of the stacked structure also includes a support unit 7, which includes an adjustment component 71 and a locking component 72. The adjustment component 71 includes six adjustment parts 711, which are evenly distributed at the lower end of the storage platform 1. The six adjustment parts 711 can adjust the horizontality of the storage platform 1. The locking component 72 includes four locking parts 721, which are evenly distributed at the four corners of the lower end of the storage platform 1. The four locking parts 721 can fix the position of the storage platform 1. It should be noted that in this embodiment, the adjustment parts 711 are adjustable feet, and the locking parts 721 are connecting angle brackets. In other embodiments, the adjustment parts 711 are adjustable height universal wheels, and the locking parts 721 are connecting plates, etc. This is not limited here.

[0094] This embodiment also provides an automatic disassembly and assembly method for a stacked structure, using an automatic disassembly and assembly device for a stacked structure. The automatic disassembly and assembly method for a stacked structure includes a disassembly method and a stacking method. The disassembly method includes the following steps:

[0095] S101: Multiple stacked separators and products are placed on the first transfer unit 3, which moves the stacked separators and products to the stacking and disassembly area 314. S102: The lifting assembly 21 descends, and one of the gripping assemblies 23 grabs and temporarily stores the separators. S103: The lifting assembly 21 ascends, and the rotating assembly 22 rotates. S104: The product handling unit 4 handles the products for unloading.

[0096] Repeat S102-S104 until there are no more spacers and products on the first transplanting unit 3;

[0097] The stacking method includes the following steps:

[0098] S105: The product transporting unit 4 transports the product to the first transfer unit 3; S106: The lifting assembly 21 descends, and one of the grabbing assemblies 23 releases the spacer so that the spacer is stacked on the product; S107: The lifting assembly 21 rises, and the rotating assembly 22 rotates; Repeat S105-S107 until there is no spacer on the grabbing assembly 23.

[0099] Through the above-mentioned automatic disassembly and assembly method of the stacked structure, multiple groups of stacked isolation parts and products can be disassembled and stacked, so that the isolation parts can be reused when stacking, realizing the recycling of isolation parts, reducing production costs, reducing the waste of isolation parts, and improving the consistency of disassembly and stacking of products and isolation parts.

[0100] The following combination Figure 1-Figure 7 The disassembly method and stacking method of a single cycle of the automatic disassembly and assembly device of the stacked structure are described:

[0101] Disassembly method of a single cycle:

[0102] S1: Multiple sets of stacked separators and products are placed in the preparation area 313. The first transfer drive 311 drives the first motion actuator 312 to move the multiple sets of stacked separators and products to the stacking and disassembly area 314.

[0103] S2: The lifting assembly 21 descends, and one of the grabbing assemblies 23 grabs and temporarily stores the isolation piece;

[0104] S3: The first transfer drive 311 drives the first motion actuator 312 to move the multiple stacked isolation components and products to the loading and unloading area 315. The six-axis robot 42 drives the transport and grabbing assembly 43 to grab three products from the first carrier 32 and place them on the unloaded second carrier 52 of the first unloading unit. The six-axis robot 42 then drives the transport and grabbing assembly 43 back to its original position.

[0105] S4: The second transfer assembly 51 in the first unloading unit transfers the second carrier 52 on which the three products are placed to the rear end of the second motion actuator 512 in the first unloading unit to unload the products;

[0106] Stacking method for a single loop:

[0107] S5: The second transfer driving member in the first loading unit drives the second motion actuator 512 and the support member 514 to transfer the second carrier 52 carrying three products from the rear end of the second motion actuator 512 to the front end of the second motion actuator 512. Then, the third transfer assembly 62, the lifting assembly 64 and the gripping assembly 65 move in coordination to grab the second carrier 52 to the output end of the second transfer assembly 51 in the first unloading unit. Then, the third transfer assembly 62, the lifting assembly 64 and the gripping assembly 65 return to the front end of the second transfer assembly 51 of the first loading unit.

[0108] S6: The six-axis robot 42 drives the transport and grabbing assembly 43 to grab the three products on the second carrier 52 and stack them on another first carrier 32. After that, there are no products on the second carrier 52, which is an empty second carrier 52.

[0109] S7: The lifting assembly 21 descends, and one of the grabbing assemblies 23 releases the isolation member;

[0110] S8: The second transfer driving member of the first loading unit drives the second motion executing member 512 to transfer to the rear end of the second motion executing member 512, and the first lifting driving member 513 drives the supporting member 514 to rise to take the material.

[0111] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. An automatic disassembly and assembly device for a stacked structure, used for disassembling and assembling multiple sets of stacked spacers and products, wherein the spacers are arranged above the products, characterized in that: include: Storage table(1); A first transfer unit (3) is provided on the storage platform (1) and is used to place multiple groups of stacked separators and products and drive the multiple groups of stacked separators and products to move back and forth along a first direction. The first transfer unit (3) is provided with a stacking and disassembly area (314); A stacking and disassembling unit (2) comprises a lifting assembly (21) and a rotating assembly (22), wherein the lifting assembly (21) is arranged on the storage platform (1), an output end of the lifting assembly (21) is connected to the rotating assembly (22), the rotating assembly (22) is fixedly connected to a plurality of gripping assemblies (23) arranged at intervals along its circumference, the rotating assembly (22) is located above the stacking and disassembling area (314), and the gripping assemblies (23) are used to clamp or release the isolation piece; The product transport unit (4) is arranged on the storage platform (1) and is used to transport the product.

2. The automatic disassembly and assembly device of the stacked structure according to claim 1, characterized in that: The rotating assembly (22) comprises: A rotary driving member (221), one end of which is fixedly connected to the output end of the lifting assembly (21); At least one first rotating member (222) is transmission-connected to the output end of the rotary driving member (221); A plurality of first connecting members (223), one end of each of the plurality of first connecting members (223) is fixedly connected to the first rotating member (222), the plurality of first connecting members (223) are arranged at intervals along the circumference of the first rotating member (222), and the grabbing assembly (23) is fixedly connected to each of the first connecting members (223).

3. The automatic disassembly and assembly device of the stacked structure according to claim 2, characterized in that: The rotating assembly (22) comprises two first rotating members (222), the two first rotating members (222) are arranged in parallel and spaced apart along a second direction, the second direction is arranged perpendicular to the first direction, and the first connecting member (223) is fixedly connected between the two first rotating members (222).

4. The automatic disassembly and assembly device of the stacked structure according to claim 1, characterized in that: The first transplanting unit (3) comprises: A first transplanting assembly (31), comprising a first transplanting driving member (311) and a first motion executing member (312), wherein the first transplanting driving member (311) is fixedly arranged at an input end of the first motion executing member (312), and a fixed end of the first motion executing member (312) is fixedly arranged on the storage platform (1); The first carrier (32) is transmission-connected to the output end of the first motion actuator (312), and can hold multiple groups of stacked isolation members and products.

5. The automatic disassembly and assembly device of a stacked structure according to any one of claims 1 to 4, characterized in that: A plurality of the first transplanting units (3) and the stacking and disassembling units (2) are provided, and the first transplanting units (3) and the stacking and disassembling units (2) correspond one to one.

6. The automatic disassembly and assembly device of a stacked structure according to any one of claims 1 to 4, characterized in that: The automatic disassembly and assembly device of the stacked structure further comprises a second transplanting unit (5), and the second transplanting unit (5) comprises: a second transplanting assembly (51), the second transplanting assembly (51) being spaced apart from the product transporting unit (4), and having a fixed end fixedly connected to the storage platform (1); A second carrier (52) can be placed at the output end of the second transplanting assembly (51), the second transplanting assembly (51) can drive the second carrier (52) to move back and forth along the first direction, and the second carrier (52) can carry the product.

7. The automatic disassembly and assembly device of the stacked structure according to claim 6, characterized in that: A plurality of the second transplanting units (5) are provided, and the plurality of the second transplanting components (51) are arranged at intervals along a second direction, and the second direction is perpendicular to the first direction.

8. The automatic disassembly and assembly device of a stacked structure according to any one of claims 1 to 4, characterized in that: The automatic disassembly and assembly device of the stacked structure further comprises a plurality of second transfer units (5) arranged at intervals along the second direction, two adjacent second transfer units (5) forming a group, the second transfer units (5) comprising a second transfer assembly (51) and a second bearing member (52), the fixed end of the second transfer assembly (51) being fixedly connected to the storage platform (1), the second bearing member (52) being capable of being placed at the output end of the second transfer assembly (51), the second direction being perpendicular to the first direction, the second bearing member (52) being capable of bearing the product, and the automatic disassembly and assembly device of the stacked structure further comprises: A third transplanting unit (6) is configured to transplant the second carrier (52) in one of two adjacent second transplanting units (5) to the output end of the second transplanting assembly (51) of the other one.

9. The automatic disassembly and assembly device of a stacked structure according to any one of claims 1 to 4, characterized in that: The automatic disassembly and assembly device of the stacked structure further comprises a support unit (7) located at the lower end of the storage platform (1), and the support unit (7) comprises: An adjustment component (71), wherein the adjustment component (71) is an adjustable structure, and the adjustment component (71) can adjust the horizontality of the storage platform (1).

10. A method for automatically disassembling and assembling a stacked structure, characterized in that: Utilizing the automatic disassembly and assembly device for a stacked structure according to any one of claims 1 to 9, the automatic disassembly and assembly method for the stacked structure includes a disassembly method and a stacking method, wherein the disassembly method includes the following steps: S101: multiple groups of stacked separators and products are placed on the first transfer unit (3), and the first transfer unit (3) drives the multiple groups of stacked separators and products to move to the stacking and disassembling area (314); S102: the lifting assembly (21) descends, and one of the grabbing assemblies (23) clamps and temporarily stores the isolation member; S103: the lifting assembly (21) rises, and the rotating assembly (22) rotates; S104: the product transporting unit (4) transports the product for unloading; Repeat S102-S104 until the first transplanting unit (3) is free of the separator and the product; The stacking method comprises the following steps: S105: the product transporting unit (4) transports the product to the first transplanting unit (3); S106: the lifting assembly (21) descends, and one of the grabbing assemblies (23) releases the spacer, so that the spacer is stacked on the product; S107: The lifting assembly (21) rises, and the rotating assembly (22) rotates; Repeat S105-S107 until there is no isolating member on the grabbing assembly (23).

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