Automatic tray assembling equipment and method

Abstract

The invention discloses automatic tray assembling equipment and method. The automatic tray assembling equipment comprises a conveying device, a material arranging workbench and a material placing device. The conveying device comprises a fin roller conveying line and a positioning roller conveying line, and the fin roller conveying line is used for receiving fins to be assembled and conveying the fins to the positioning roller conveying line; the material arranging workbench is located on one side of the positioning roller conveying line and is close to the discharging end. The discharging device is located above the arranging workbench and can move between the positioning roller conveying line and the arranging workbench, and the discharging device is used for grabbing the fins in the vertical state on the positioning roller conveying line and horizontally moving the fins to the arranging workbench so that the multiple fins with the lengths gradually increased can be sequentially stacked in the thickness direction to form a filling disc. According to the fin disc assembling equipment, automatic flexible continuous production from heat exchange fins to regular disc assembling is achieved, and the production efficiency can be improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of industrial automatic production, and particularly relates to an automatic tray assembling device and method. BACKGROUND

[0002] A large-sized air separation device is generally composed of hundreds of regular packing trays, and each packing tray is composed of hundreds or thousands of heat exchange fins. After being unwound, punched, formed and cut by an automatic packing production line, aluminum foil is formed into corrugated heat exchange fins of different lengths. Then, the heat exchange fins of different lengths are assembled into a circle according to a specified order to form a regular packing tray. According to different use requirements, the diameter of the large-sized air separation device can be up to 6 meters, and the diameter of the small-sized air separation device can be as small as 0.3 meters, which requires that the diameters of the packing trays exist in multiple specifications.

[0003] In the prior art, all the heat exchange fins of one packing tray are continuously produced by one automatic packing production line, and then are transferred to a material arranging work platform of a corresponding diameter, and the regularity and tray assembly of the packing tray of the corresponding diameter are completed by manual work. Manual transfer, material arranging and tray assembly have the disadvantages of low production efficiency, high labor intensity, poor product consistency, many turnover links, discontinuous production process and unstable product quality. SUMMARY

[0004] The application aims to provide an automatic tray assembling device and method, to realize automatic tray assembly of fins and improve production efficiency.

[0005] To achieve the above-mentioned purpose, the application provides an automatic tray assembling device in one aspect, which comprises: a conveying device comprising a fin roller conveying line and a positioning roller conveying line, the fin roller conveying line being used for receiving fins to be assembled and conveying the fins to the positioning roller conveying line; a material arranging workbench arranged on one side of the positioning roller conveying line and close to a discharging end; a material discharging device arranged above the material arranging workbench and capable of moving between the positioning roller conveying line and the material arranging workbench, the material discharging device being used for grabbing fins in a vertical state on the positioning roller conveying line and moving the fins to the material arranging workbench, so that a plurality of the fins are stacked in a thickness direction to form a packing tray.

[0006] In some embodiments, the conveying device further comprises, arranged on the positioning roller conveying line: a servo positioning mechanism arranged close to a discharging end of the positioning roller conveying line, the servo positioning mechanism being used for positioning fins on the positioning roller conveying line in a length direction; a vertical turnover mechanism used for clamping fins on the positioning roller conveying line and turning the fins from a horizontal state to a vertical state; A side pushing positioning mechanism cooperates with the vertical turnover mechanism to limit the fins on the positioning roller conveying line from the width direction.

[0007] In some embodiments, the fin roller conveying line and the positioning roller conveying line are arranged side by side, and the conveying device further comprises: A blanking truss manipulator is arranged above the fin roller conveying line; A horizontal turnover mechanism is arranged between the fin roller conveying line and the positioning roller conveying line, the blanking truss manipulator is used to translate the fins to the positioning roller conveying line or the horizontal turnover mechanism, and the horizontal turnover mechanism is used to horizontally turn over the fins and then transfer them to the positioning roller conveying line.

[0008] In some embodiments, a first avoiding opening is arranged on the positioning roller conveying line, and the horizontal turnover mechanism comprises: A turnover frame, one side of which is connected to the fin roller conveying line along the width direction, and the other side of which can rotate relative to the positioning roller conveying line; A rotary driving assembly is used to drive the turnover frame to horizontally turn over, so that the turnover frame turns over to the positioning roller conveying line through the first avoiding opening.

[0009] In some embodiments, the servo positioning mechanism comprises: A first sliding rail is arranged on the first side of the positioning roller conveying line and extends along the length direction; A mounting frame is slidably arranged on the first sliding rail through a sliding block, and the mounting frame is located above the positioning roller conveying line and extends towards the second side of the positioning roller conveying line; A first linear driving member is mounted on the mounting frame and arranged close to the second side of the positioning roller conveying line; A positioning baffle is mounted on the driving end of the first linear driving member, and the first linear driving member is used to drive the positioning baffle to move in the vertical direction.

[0010] In some embodiments, the positioning roller conveying line comprises a plurality of positioning conveying rollers arranged in sequence, and the side pushing positioning mechanism comprises: A side pushing baffle is provided with an avoiding gap through which the positioning conveying rollers can move, and a connecting block extends on the side pushing baffle; A second linear driving member is used to drive the side pushing baffle to move linearly along the width direction, so that the side pushing baffle and the positioning square tube cooperate to limit the fins from the width direction; A guide rod is provided with a linear bearing slidingly arranged thereon, the linear bearing is connected with the connecting block, and the second linear driving member and the guide rod are both located below the conveying rollers.

[0011] In some embodiments, the positioning roller conveying line is provided with a plurality of second avoiding openings, and the vertical turnover mechanism comprises: a plurality of positioning square tubes, each of which is arranged corresponding to one of the second avoiding openings; a turnover roller, which is arranged between two adjacent positioning conveying rollers and connected to the positioning square tubes, and when the turnover roller is turned to a horizontal state, the top peripheral wall of the turnover roller and the top peripheral wall of the positioning conveying roller are on the same horizontal plane; a rotating driving assembly, which is used to drive the positioning square tubes and the turnover roller to turn relative to the positioning roller conveying line; a pressing assembly, which is mounted on the end of the positioning square tube and can move downward to press the fin on the turnover roller.

[0012] In some embodiments, the rotating driving assembly comprises: a rotating shaft, which is located at the second side of the positioning roller conveying line, and each of the positioning square tubes is connected to the rotating shaft through a first connecting rod, which extends from the rotating shaft towards the positioning roller conveying line and overlaps at the second avoiding opening; a rotating driving member, which is drivingly connected to the rotating shaft and used to drive the rotating shaft to rotate.

[0013] In some embodiments, the top end of the positioning square tube extends in the width direction with a second connecting rod, and the pressing assembly comprises: a third linear driving member, which is arranged at the end of the second connecting rod; a pressing block, which is arranged at the driving end of the third linear driving member, and the third linear driving member is used to drive the pressing block to move towards or away from the fin to press or release the fin.

[0014] In some embodiments, the positioning roller conveying line is further provided with a length detection mechanism, which is used to detect the length of the fin currently conveyed.

[0015] In some embodiments, the feeding device comprises a pressing mechanism and a grabbing mechanism arranged in the width direction, the grabbing mechanism is arranged close to the positioning roller conveying line, and the pressing mechanism and the grabbing mechanism are staggered to sequentially stack and press a plurality of fins in the thickness direction to form a filler disc.

[0016] In some embodiments, the grabbing mechanism comprises: a grabbing truss, which can move in the height direction and the width direction; A plurality of gripping assemblies are arranged along the length of the fins and are used to clamp or release the fins on the positioning roller conveying line in the thickness direction.

[0017] In some embodiments, the gripping assembly comprises: A blocking square tube is used to limit the top end surface of the fins; A gripping plate is arranged at the bottom of the blocking square tube; A first pressing block is arranged in parallel with the gripping plate and has a gripping space for the vertical placement of the fins; A fourth linear drive is used to drive the first pressing block to move towards or away from the gripping plate to clamp or release the fins in the thickness direction.

[0018] In some embodiments, the pressing mechanism comprises: A pressing truss; and A plurality of pressing assemblies are arranged along the length of the fins and are arranged alternately with the plurality of gripping assemblies. After the fins are released by the gripping assemblies onto the sorting workbench, the pressing assemblies are used to limit the fins in the thickness direction and the height direction.

[0019] In some embodiments, the pressing assembly comprises: A pressing square tube is used to apply a downward pressing force to the top end surface of the fins on the sorting workbench; A pressing plate is used to apply a pressing force in the thickness direction to the fins that have been completely stacked from the outermost side during the gripping of the fins by the gripping mechanism. The thickness of the pressing plate is greater than the thickness of the gripping plate.

[0020] In some embodiments, the feeding device further comprises a positioning mechanism arranged at the bottom of the sorting workbench. The position of the positioning mechanism on the sorting workbench is adjustable, and the positioning mechanism is used to limit the outer end surface of the fins located at the outermost side of the filling disc.

[0021] In some embodiments, the positioning mechanism comprises: A positioning plate assembly comprises two positioning plates arranged in parallel on the sorting workbench; A linear drive assembly is arranged at the bottom of the sorting workbench and has two groups. The two groups of linear drive assemblies are respectively used to drive the two positioning plates to move towards the center of the sorting workbench, and the two positioning plates cooperate to limit the outer circumference of the filling disc.

[0022] In some embodiments, the sorting table is a disc-shaped structure and is provided with two guide holes extending in a radial direction and arranged at intervals, the central axis of the two guide holes coincides with the central axis of the sorting table, the linear driving assembly comprises a linear guide rail and a fifth linear driving member, and the positioning plate comprises: a guide part movably penetrating through the guide hole and slidingly matched with the linear guide rail, and the fifth linear driving member is used to drive the guide part to slide along the linear guide rail; a positioning plate body located above the sorting table and connected with one end of the guide part away from the linear guide rail.

[0023] The second aspect of the present application provides an automatic stacking method applied to the automatic stacking device as described above, and the automatic stacking method comprises the following steps: placing the fins on a fin roller conveying line; alternately conveying the forward and reverse fins in sequence to the positioning roller conveying line through the fin roller conveying line; turning the fins in the horizontal state to the vertical state and positioning them by the positioning roller conveying line; moving the fins in the vertical state on the positioning roller conveying line to the sorting table by the feeding device to make a plurality of fins with gradually increasing lengths stacked in sequence along the thickness direction to form a filler disc.

[0024] In some embodiments, the step of turning the fins in the horizontal state to the vertical state and positioning them by the positioning roller conveying line comprises: detecting the length of the fins currently conveyed on the positioning roller conveying line by a length detection mechanism; continuing to convey the fins on the positioning roller conveying line when the current length of the fins is consistent with the theoretical length; driving the positioning baffle to move by the first linear driving member to position the fins on the positioning roller conveying line in the length direction; driving the side push baffle to move linearly in the width direction by the second linear driving member to limit the fins in the width direction by the cooperation of the side push baffle and the positioning square tube; turning the positioning square tube together with the turnover roller relative to the positioning roller conveying line by the rotation driving assembly to turn the fins on the turnover roller from the horizontal state to the vertical state.

[0025] In some embodiments, the step of moving the fins in the vertical state on the positioning roller conveying line to the sorting table by the feeding device to make a plurality of fins with gradually increasing lengths stacked in sequence along the thickness direction to form a filler disc comprises: controlling the feeding truss to move above the turnover roller; The fourth linear driving member drives the first pressing block to move towards or away from the material grabbing plate, so that the material grabbing plate and the first pressing block cooperate to clamp the first fin piece from the thickness direction, and move to above the material arranging workbench and release the first fin piece; The control material pressing truss is moved to above the material arranging workbench, so that the material pressing square tube and the material pressing plate are inserted among all the material blocking square tubes, and move to positions where the bottom surface of the material pressing square tube and the inner side positioning surface of the material pressing plate are in contact with and pressed against the first fin piece; When the servo positioning mechanism and the vertical overturning mechanism complete the positioning and overturning of the second fin piece, the material grabbing mechanism repeats the above-mentioned actions to complete the positioning and grabbing of the second fin piece, and translates and transfers to a position where the outer side positioning surface of the material grabbing plate and the bottom surface of the material blocking square tube are in contact with the first fin piece at the same time, so that the first fin piece is pressed and fixed, and the positioning of the second fin piece on the material arranging workbench is completed; The material grabbing mechanism and the material pressing mechanism are controlled to repeatedly perform the above-mentioned actions in sequence and alternately until the final fin piece is completed.

[0026] Through the above technical solution, the fin roller conveying line is used for receiving fin pieces to be grouped and used for conveying the fin pieces to the positioning roller conveying line; the material arranging workbench is arranged on one side of the positioning roller conveying line and close to the discharging end; the fin pieces in a horizontal state are overturned to a vertical state and positioned on the positioning roller conveying line, the discharging device grabs the fin pieces in the vertical state and translates to the material arranging workbench, so that the outer contour surface of all the fin pieces in the length direction is enveloped into a circle, thereby grouping into a regular cylindrical filling disc. The fin grouping device realizes automatic and flexible continuous production of regular grouped heat exchange fin pieces, and improves production efficiency.

[0027] Other features and advantages of the embodiments of the present application will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following detailed description, but do not constitute a limitation of the embodiments of the present application. For those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor. In the drawings: Figure 1 It is a structural schematic diagram of the automatic grouping device of the present application; Figure 2 It is a structural schematic diagram of the cooperation of the fin roller conveying line and the positioning roller conveying line in the automatic grouping device of the present application; Figure 3 It is a structural schematic diagram of the vertical overturning mechanism in the automatic grouping device of the present application; Figure 4Fig. 1 is a schematic view of a partial structure of a positioning roller conveying line in an automatic stacking device of the present application; Figure 5 Fig. 2 is a schematic view of a side pushing positioning mechanism in an automatic stacking device of the present application; Figure 6 Fig. 3 is a schematic view of a structure of a grabbing frame in an automatic stacking device of the present application when grabbing a fin from one perspective; Figure 7 Fig. 4 is a schematic view of a structure of a grabbing frame in an automatic stacking device of the present application when grabbing a fin from another perspective; Figure 8 Fig. 5 is a schematic view of a positioning mechanism in an automatic stacking device of the present application; Figure 9 Fig. 6 is a schematic view of a structure of a sorting workbench in an automatic stacking device of the present application when placing a first fin from a first perspective; Figure 10 Fig. 7 is a schematic view of a structure of a sorting workbench in an automatic stacking device of the present application when placing a first fin from a second perspective; Figure 11 Fig. 8 is a schematic view of a structure of a sorting workbench in an automatic stacking device of the present application when placing a first fin from a third perspective; Figure 12 Fig. 9 is a schematic view of a structure of a sorting workbench in an automatic stacking device of the present application when placing multiple fins from a perspective; Figure 13 Fig. 10 is a schematic view of a structure of a sorting workbench in an automatic stacking device of the present application when completing stacking of multiple fins from a perspective; Figure 14 Fig. 11 is a schematic view of a positioning state of a fin in an automatic stacking device of the present application before plastic deformation occurs during stacking; Figure 15 Fig. 12 is a schematic view of a positioning state of a fin in an automatic stacking device of the present application when plastic deformation occurs in an "S" shape during stacking; Figure 16 Fig. 13 is a schematic view of a positioning state of a fin in an automatic stacking device of the present application when the fin returns to a "straight line" state during stacking; Figure 17 Fig. 14 is a schematic view of a structure of an automatic stacking device of the present application when completing stacking of the last fin; Figure 18 Fig. 15 is a schematic view of a structure of a fin of the present application.

[0029] BRIEF DESCRIPTION OF THE DRAWINGS 1. Finned roller conveyor line; 11. Fin; 1101. Guide channel; 1102. Heat dissipation hole; 12. Packing tray; 2. Unloading gantry robot; 201. Gripper; 3. Horizontal tilting mechanism; 301. First servo motor; 302. Coupling; 303. Tilting frame; 4. Positioning roller conveyor line; 401. First clearance opening; 402. Length detection mechanism; 403. Positioning conveyor roller; 404. Second clearance opening; 5. Servo positioning mechanism; 501. Second servo motor; 502. Slider; 503. Mounting bracket; 504. First linear drive component; 505. First slide rail; 506. Positioning baffle; 6. Side push positioning mechanism; 601. Side push baffle; 602. Second linear drive component; 603. Linear drive component; 604. Connecting block; 605. Linear bearing; 606. Guide rod; 7. Vertical flipping mechanism; 701. Positioning square tube; 702. Flipping roller; 703. Third linear drive component; 704. Second clamping block; 705. Rotary drive component; 706. Rotating shaft; 707. Support bearing; 708. Flipping limit frame; 8. Material grabbing truss; 801. Material grabbing plate; 802. Material blocking square tube; 803. Fourth linear drive component; 804. First clamping block; 9. Material pressing truss; 901. Material pressing square tube; 902. Material pressing plate; 10. Material sorting workbench; 1001. Fifth linear drive component; 1002. Positioning plate; 1004. Linear guide rail; 200. Guide rail frame. Detailed Implementation

[0030] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0031] The automatic disk assembly device and method according to this application are described below with reference to the accompanying drawings.

[0032] like Figure 1 As shown, this application provides an automatic tray assembly device, including a conveying device, a material handling table 10, and a discharging device. The conveying device includes a fin roller conveyor line 1 and a positioning roller conveyor line 4. The fin roller conveyor line 1 is used to receive fins 11 to be assembled into a tray and to alternately convey forward and reverse fins 11 horizontally to the positioning roller conveyor line 4. The positioning roller conveyor line 4 conveys the horizontal fins 11 and flips them to a vertical position. The material handling table 10 is located on one side of the positioning roller conveyor line 4 and is set near the discharge end. The discharging device is located above the material handling table 10 and can move between the positioning roller conveyor line 4 and the material handling table 10. The discharging device is used to grab the vertical fins 11 on the positioning roller conveyor line 4 and move them horizontally onto the material handling table 10 so that multiple fins 11 are stacked sequentially along the thickness direction to form a packing tray 12. For a circular packing tray 12, multiple fins 11 are stacked sequentially in order of gradually increasing and then gradually decreasing length during assembly.

[0033] In this embodiment, when the fins 11 are grouped into a tray, the fins 11 in forward and reverse directions and in a horizontal state are alternately conveyed from the fin roller conveying line 1 to the positioning roller conveying line 4 first; the fins 11 in the horizontal state are turned to a vertical state and positioned on the positioning roller conveying line 4, then the vertical fins 11 are grabbed by the feeding device and translated to the sorting workbench 10, so that the outer contour surface of all the fins 11 in the length direction is enveloped into a circle, thereby being grouped into a regular cylindrical packing tray 12. The fin 11 grouping device realizes automatic flexible continuous production of the heat exchange fins 11 to a regular tray, which can improve production efficiency, reduce labor intensity, ensure product consistency and stable quality, and reduce the floor area, which is of great significance.

[0034] In some embodiments, the conveying device further comprises a servo positioning mechanism 5, a vertical turning mechanism 7 and a side pushing positioning mechanism 6 arranged on the positioning roller conveying line 4; the servo positioning mechanism 5 is arranged near the discharge end of the positioning roller conveying line 4, and is used for positioning the fins 11 on the positioning roller conveying line 4 in the length direction; the vertical turning mechanism 7 is used for clamping the fins 11 on the positioning roller conveying line 4 and turning the fins 11 from a horizontal state to a vertical state; the side pushing positioning mechanism 6 and the vertical turning mechanism 7 cooperate to limit the fins 11 on the positioning roller conveying line 4 in the width direction.

[0035] In this application, by arranging the seamless connection of the fin roller conveying line 1 and the positioning roller conveying line 4, the forward and reverse fins 11 can be automatically conveyed, and the positioning of the fins 11 in the length direction and the width direction before turning is realized by the servo positioning mechanism 5 and the side pushing positioning mechanism 6 on the positioning roller conveying line 4, so that the symmetric center lines of the fins 11 of different lengths are all located at the same position; finally, the vertical turning mechanism 7 on the positioning roller conveying line 4 is used to turn the horizontally arranged fins 11 to a vertical state, realizing seamless conversion of the posture of the fins 11, thereby ensuring automatic continuous operation of the fins 11 from incoming material to regular tray before the tray, reducing intermediate buffering and transfer, improving operation efficiency, reducing labor intensity, ensuring product consistency and quality stability.

[0036] In this application, the structure of the fin 11 is as shown in Figure 18 The fin 11 is provided with a continuous "V" guide groove 1101, and the guide groove 1101 is distributed at a certain angle on the heat exchange fin 11. Each "V" guide groove 1101 is distributed with a row of heat dissipation holes 1102 on both sides to realize the heat exchange effect.

[0037] As shown in Figure 2As shown, the fin roller conveying line 1 and the positioning roller conveying line 4 are arranged side by side, and the conveying device further comprises a blanking truss manipulator 2 and a horizontal turnover mechanism 3; the blanking truss manipulator 2 is arranged above the fin roller conveying line 1; the horizontal turnover mechanism 3 is arranged between the fin roller conveying line 1 and the positioning roller conveying line 4; the blanking truss manipulator 2 is used to grab and translate the fin 11 to the positioning roller conveying line 4 or the horizontal turnover mechanism 3; and the horizontal turnover mechanism 3 is used to horizontally turn over the fin 11 and then transfer the fin 11 to the positioning roller conveying line 4.

[0038] In this embodiment, after the fin 11 is processed and cut by the automatic filling production line, the fin 11 is conveyed to the blanking truss manipulator 2 directly below by the fin roller conveying line 1. Due to the design requirements of the air separation equipment heat exchanger guide, the fins 11 need to be alternately stacked in a positive-negative manner, so that after the gripper 201 of the blanking truss manipulator 2 grabs the fin 11 on the fin roller conveying line 1, the fin 11 is transferred to the positioning roller conveying line 4 in two ways. One way is that the gripper 201 of the blanking truss manipulator 2 directly grabs and translates the fin 11 to the positioning roller conveying line 4, and the other way is that the gripper 201 of the blanking truss manipulator 2 grabs and translates the fin 11 to the horizontal turnover mechanism 3, and then the horizontal turnover mechanism 3 horizontally turns over the fin 11 and then transfers the fin 11 to the positioning roller conveying line 4. The above two ways are continuously and alternately performed, so that the fins 11 conveyed to the positioning roller conveying line 4 can be alternately transported in a positive-negative manner.

[0039] As shown in the figure, Figure 4 The positioning roller conveying line 4 is provided with a first avoiding opening 401, and the horizontal turnover mechanism 3 comprises a turnover frame 303 and a rotary driving assembly; one side of the turnover frame 303 along the width direction is butted against the fin roller conveying line 1, and the other side can rotate relative to the positioning roller conveying line 4; and the rotary driving assembly is used to drive the turnover frame 303 to horizontally turn over, so that the turnover frame 303 turns over to the positioning roller conveying line 4 through the first avoiding opening 401. The first avoiding opening 401 is a "U"-shaped groove, and the rotary driving assembly can be a first servo motor 301. When the horizontal turnover mechanism 3 works, the fin 11 of the fin roller conveying line 1 can horizontally enter the turnover frame 303, and the servo motor drives the turnover frame 303 to horizontally turn over the fin 11 to the positioning roller conveying line 4 through a connecting shaft, and the plurality of first avoiding openings 401 on the positioning roller conveying line 4 avoid the turnover frame 303.

[0040] In some embodiments, the servo positioning mechanism 5 comprises a first sliding rail 505, a mounting frame 503, a first linear drive 504 and a positioning baffle 506; the first sliding rail 505 is arranged on the first side of the positioning roller conveying line 4 and extends along the length direction; the mounting frame 503 is slidably arranged on the first sliding rail 505 through a sliding block 502, and the mounting frame 503 is located above the positioning roller conveying line 4 and extends towards the second side of the positioning roller conveying line 4; the first linear drive 504 is mounted on the mounting frame 503 and arranged close to the second side of the positioning roller conveying line 4; and the positioning baffle 506 is mounted on the driving end of the first linear drive 504, and the first linear drive 504 is used to drive the positioning baffle 506 to move vertically.

[0041] When the length of the fin 11 currently conveyed by the positioning roller conveying line 4 is consistent with the theoretical length data, the servo positioning mechanism 5 drives the mounting frame 503 on the sliding block 502 to move to the corresponding position on the first sliding rail 505 through the second servo motor 501 according to the length data of the fin 11 currently conveyed, and the distance moved by the driving end of the first linear drive 504 relative to the length of the fin 11 can be calculated according to the corresponding calculation formula input by the external control unit in advance. Since it is a common way in the prior art, it will not be described in detail here. Then the first linear drive 504 drives the positioning baffle 506 to move vertically downwards to approach the outer circular upper surface of the positioning conveying roller 403, and blocks the fin 11 to position it, so that the symmetric center lines of all different lengths of the fins 11 in the length direction are located at the same position after each fin 11 of different lengths is positioned by the servo positioning mechanism 5. Then the fin 11 is translated and grabbed to the sorting workbench 10 by the grabbing mechanism, so that the outer contour surface of all fins 11 in the length direction is enveloped into a circle, thereby forming a regular cylindrical filler disc 12.

[0042] In some embodiments, the positioning roller conveying line 4 comprises a plurality of positioning conveying rollers 403 arranged in sequence, as shown in Figure 5 The side pushing positioning mechanism 6 comprises a side pushing baffle 601, a second linear drive 602 and a guide rod 605; the side pushing baffle 601 is provided with a avoiding gap for the positioning conveying roller 403 to pass through, and the side pushing baffle 601 extends a connecting block 603 thereon; the second linear drive 602 is used to drive the side pushing baffle 601 to move linearly along the width direction, so that the side pushing baffle 601 and the positioning square tube 701 cooperate to limit the fin 11 in the width direction; the guide rod 605 is provided with a linear bearing 604 sliding thereon, and the linear bearing 604 is connected with the connecting block 603; and the second linear drive 602 and the guide rod 605 are both located below the conveying roller.

[0043] In this embodiment, a plurality of sets of side pushing positioning mechanisms 6 are inlaid on the positioning roller conveying line 4 along the length direction. After the length direction positioning of the fin 11, the fin 11 is side pushed to be in contact with the positioning square tube 701 of the vertical turnover mechanism 7 by the side pushing positioning mechanism 6, so as to position the fin 11 in the width direction. Since the two avoiding notches are arranged on the side pushing stop plate 601 to avoid the positioning conveying roller 403, when the width direction positioning is performed, the second linear driving member 602 pushes the connecting block 603 to drive the side pushing stop plate 601 to move along the guide rod 605 through the linear bearing 604, so as to push the fin 11 to be in contact with the positioning square tube 701, so as to realize the width direction positioning of the fin 11.

[0044] As shown in Figure 3 The positioning roller conveying line 4 is provided with a plurality of second avoiding openings 404. The vertical turnover mechanism 7 comprises the positioning square tube 701, the turnover roller 702, the rotation driving assembly and the pressing assembly. The number of the positioning square tubes 701 is plural and corresponds to the second avoiding openings 404 one by one. The turnover roller 702 is arranged between the two adjacent positioning conveying rollers 403 and is connected to the positioning square tube 701. When the turnover roller 702 is turned to the horizontal state, the top peripheral wall of the turnover roller 702 and the top peripheral wall of the positioning conveying roller are in the same horizontal plane. The rotation driving assembly is used to drive the positioning square tube 701 to turn together with the turnover roller 702 relative to the positioning roller conveying line 4. The pressing assembly is installed at the end of the positioning square tube 701 and can move downward to press the fin 11 on the turnover roller 702.

[0045] The second avoiding opening 404 is also in the form of "U" groove structure. In this embodiment, since the vertical turnover mechanism 7 is provided with a row of turnover rollers 702, the turnover roller 702 is arranged in the middle of the two positioning conveying rollers 403, so as to prevent the turnover roller 702 from interfering with the positioning conveying roller 403 during the turnover process. The corresponding second avoiding openings 404 are arranged at the intersection position of the positioning roller conveying line 4 and the turnover roller 702 to avoid the same. When the vertical turnover mechanism 7 is turned to the horizontal state, the turnover roller 702 is inserted in the middle of the two positioning conveying rollers 403, and the outer circular upper surface of the turnover roller 702 and the outer circular upper surface of the positioning conveying roller 403 are in the same horizontal plane.

[0046] In some embodiments, the rotating driving assembly includes a rotating shaft 706 and a rotating driver 705; the rotating shaft 706 is located at the second side of the positioning roller conveying line 4, each positioning square tube 701 is connected with the rotating shaft 706 through a first connecting rod, the first connecting rod extends from the rotating shaft 706 to the positioning roller conveying line 4 and overlaps at the second avoiding opening 404; the rotating driver 705 is drivingly connected with the rotating shaft 706 and is used to drive the rotating shaft 706 to rotate. Wherein, the rotating driver 705 is a rotating motor, during the turning process, the rotating motor drives the rotating shaft 706 to rotate through a connecting shaft and a supporting bearing 707, so as to drive the positioning square tube 701 to turn together with the turning roller 702, and then turn the fin 11 on the turning roller 702 from the horizontal state to the vertical state.

[0047] In some embodiments, the top end of the positioning square tube 701 extends in the width direction with a second connecting rod, the pressing assembly includes a third linear driver 703 and a pressing block; the third linear driver 703 is arranged at the end of the second connecting rod; the pressing block is arranged at the driving end of the third linear driver 703, and the third linear driver 703 is used to drive the pressing block to move towards or away from the fin 11, so as to press or release the fin 11.

[0048] In this embodiment, when the length and width directions of the fin 11 are positioned on the positioning roller conveying line 4, the third linear driver 703 drives the pressing block to press and fix the fin 11 on the turning roller 702, then the positioning baffle 506 and the side pushing baffle 601 are retreated in sequence, and the fin 11 pressed on the turning roller 702 is turned under the driving of the rotating driving assembly; after the turning is completed, the third linear driver 703 drives the pressing block to move away from the fin 11, so as to release the pressing force on the fin 11, and wait for the fin 11 grabbing action of the grabbing mechanism. In order to ensure the stability of the vertical state of the fin 11, a turning limiting frame 708 is further arranged outside the second side of the positioning roller conveying line 4, the top end surface of the turning limiting frame 708 is higher than the surface of the positioning roller conveying line 4, and the turning angle can be positioned and limited by the contact between the top surface of the turning limiting frame 708 and the bottom surface of the positioning square tube 701.

[0049] In some embodiments, the positioning roller conveying line 4 is further provided with a length detection mechanism 402, the length detection mechanism 402 is used to detect the length of the currently conveyed fin 11, when the detected length data is consistent with the corresponding theoretical length data of the fin 11, the positioning roller conveying line 4 continues to convey, otherwise, the conveying is stopped.

[0050] In some embodiments, the discharging device includes a pressing mechanism and a grabbing mechanism arranged in the width direction, the grabbing mechanism is arranged close to the positioning roller conveying line 4, and the pressing mechanism and the grabbing mechanism are staggered and matched to stack and press a plurality of fins 11 in the thickness direction to form a filler plate 12 in sequence.

[0051] When the group tray is performed, the positioning roller conveying line 4 is used to convey the fins 11, when the fins 11 in the vertical state are waiting on the positioning roller conveying line 4, the grabbing mechanism first moves towards the positioning roller conveying line 4 and grabs the fin 11 in the vertical state to the sorting workbench 10, and then the pressing mechanism presses the fin 11 from the outside to the position of the filling tray 12 which is not completed, and then the grabbing mechanism continues to grab the next fin 11, and the work is alternately performed in sequence, so that multiple fins 11 are grouped into the filling tray 12. During the grouping of the fins 11, multiple fins 11 are stacked and grouped in sequence by the cooperation of the grabbing mechanism and the pressing mechanism, and the whole operation process can realize continuous automation, thereby improving the production efficiency.

[0052] In some embodiments, the grabbing mechanism includes a grabbing truss 8 and a grabbing assembly; the grabbing assembly is multiple groups and is arranged in the length direction of the fin 11, and is used to clamp the fin 11 on the positioning roller conveying line 4 in the thickness direction or release the fin 11 to the sorting workbench 10. The grabbing truss 8 can move in the height direction and the width direction, when the fin 11 needs to be grabbed, the grabbing truss 8 moves in the height direction and the width direction to accurately reach the position of the fin 11 to be grabbed, and the grabbing assembly clamps the fin 11; after the grabbing is completed, the grabbing truss 8 moves to drive the grabbing assembly with the fin 11 to move to the position of the sorting workbench 10 for grouping, and the grabbing assembly releases the fin 11 to the sorting workbench 10 and completes the stacking and grouping with other fins 11. The whole grabbing process adopts automatic action, which ensures the consistency of the product and the stability of the quality.

[0053] As shown in Figure 6 and Figure 7 , the grabbing assembly includes a blocking square tube 802, a grabbing plate 801, a first pressing block 804 and a fourth linear driving member 803; the blocking square tube 802 is used to limit the top end surface of the fin 11; the grabbing plate 801 is arranged at the bottom of the blocking square tube 802; the first pressing block 804 and the grabbing plate 801 are arranged in parallel and spaced apart and have a grabbing space for the fin 11 to be placed vertically; the fourth linear driving member 803 is used to drive the first pressing block 804 to move towards or away from the grabbing plate 801, so as to clamp or release the fin 11 in the thickness direction.

[0054] In this embodiment, the grabbing frame 8 is provided with a row of grabbing plates 801 arranged at intervals along the length direction of the fins 11, each of the grabbing plates 801 corresponding to the middle between two turnover rollers 702 so that the grabbing plates 801 avoid the turnover rollers 702 when taking the fins 11. When the grabbing frame 8 moves above the vertical turnover mechanism 7, the grabbing frame 8 is driven to move in horizontal and vertical directions so as to drive the inner positioning surface of the grabbing plate 801 below the grabbing frame 8 and the bottom surface of the blocking square tube 802 to contact and position the fins 11. Then the fourth linear driving member 803 drives the first pressing block 804 to move so as to press and fix the fins 11 on the grabbing plate 801, and the fins 11 are positioned and grabbed by the grabbing frame 8. After that, the grabbing frame 8 moves the grabbed fins 11 to above the sorting workbench 10.

[0055] Further, in order to prevent the fins 11 from being damaged when grabbing, the material of the first pressing block 804 can be set as a high-strength glue material.

[0056] In some embodiments, the pressing mechanism includes a pressing frame 9 and a pressing assembly installed below the pressing frame 9; the number of the pressing assemblies is multiple and they are arranged at intervals along the length direction of the fins 11, and the multiple pressing assemblies and the multiple grabbing assemblies are alternately arranged so as to prevent the grabbing and pressing processes from interfering with each other and ensure that the grabbing and pressing are independently and orderly performed; and the fins 11 can be staggered positioned and constrained to ensure that the fins 11 are automatically and regularly grouped. After the fins 11 are released by the grabbing assembly to the sorting workbench 10, the outer side surface of the outermost fin 11 is limited by the positioning mechanism, and during the grouping process, the multiple pressing assemblies cooperate to limit the fins 11 placed on the sorting workbench 10 from the thickness direction and the height direction, so as to limit the filler tray 12 which is not completed to be grouped and prevent the fins 11 which have been grouped from being separated.

[0057] In some embodiments, the pressing assembly includes a pressing square tube 901 and a pressing plate 902; the pressing square tube 901 is used to apply a downward pressing force to the top surface of the fins 11 on the sorting workbench 10; and the pressing plate 902 is used to apply a pressing force to the fins 11 which have been stacked from the outermost side along the thickness direction during the process of grabbing the fins 11 by the grabbing mechanism.

[0058] In this embodiment, as shown in FIG. 6, the pressing frame 9 is provided with a plurality of pressing assemblies, each of which includes a pressing square tube 901 and a pressing plate 902. Figures 5 to 7As shown, a row of spaced apart pressing square tubes 901 is arranged below the pressing truss 9, and the bottom of each pressing square tube 901 is connected with a pressing plate 902. The pressing square tube 901 and the pressing plate 902 are arranged in the middle of the two blocking square tubes 802 and avoid the blocking square tubes 802. Then the pressing truss 9 is driven by the two groups of servo motors to make the pressing square tube 901 and the pressing plate 902 pass through the middle of all the blocking square tubes 802, and move to the position where the bottom surface of the pressing square tube 901 and the inner side positioning surface of the pressing plate 902 are in contact with and tightly press the first fin 11. Then the fourth linear driving member 803 on the grabbing truss 8 drives the first pressing block 804 to be separated from the first fin 11, and then the grabbing truss 8 vertically rises up and is completely separated from the first fin 11. The first fin 11 completes the conversion from the positioning by the grabbing truss 8 to the positioning by the pressing truss 9 on the sorting workbench 10, and the position of the first fin 11 does not change during the positioning conversion.

[0059] In some embodiments, as shown in FIG. 1, the thickness of the grabbing plate 801 is greater than the thickness of the pressing plate 902, and the gap between the first fin 11 and the second fin 11 is the thickness of the grabbing plate 801. Figures 9 to 12 As shown, the thickness of the grabbing plate 801 is greater than the thickness of the pressing plate 902, and the gap between the first fin 11 and the second fin 11 is the thickness of the grabbing plate 801. Since the thickness of the pressing plate 902 is less than the thickness of the grabbing plate 801, the pressing truss 9 vertically rises up, and the pressing plate 902 can be smoothly pulled out of the gap between the two fins 11, thereby being separated from the constraint on the first fin 11, and the outer side positioning surface of the grabbing plate 801 and the bottom surface of the blocking square tube 802 constrain and position the first fin 11. Then, the pressing truss 9 repeats the above-mentioned action, moves to the position where the bottom surface of the pressing square tube 901 and the inner side positioning surface of the pressing plate 902 are in contact with the second fin 11, and then translates backward by a distance of the thickness of the grabbing plate 801, so that the first fin 11 is in contact with and tightly presses the second fin 11 at the position of the pressing plate 902. As shown in FIG. 1, at this time, the second fin 11 is constrained in an “S” shape between the grabbing plate 801, the pressing plate 902 and the first fin 11. When the thickness of the grabbing plate 801 is much smaller than the thickness of the fin 11, the fin 11 is in a plastic deformation stage in the “S” shape, and after the constraint is released, the fin 11 returns to the original “straight line” state. Then the fourth linear driving member 803 on the grabbing truss 8 drives the first pressing block 804 to be separated from the second fin 11, and the grabbing truss 8 vertically rises up and is separated from the constraint on the second fin 11. The second fin 11 returns to the original “straight line” state, is in full contact with the first fin 11 under the constraint of the pressing square tube 901 and the pressing plate 902, and completes the grouping of the first and second fins 11. The grabbing truss 8 and the pressing truss 9 repeatedly perform the above-mentioned action in an interleaved manner, until the grouping of the last fin 11 is completed, as shown in FIG. 1 and FIG. 2. Figures 14 to 16 Figure 17 Figure 13

[0060] ​​​In some embodiments, the feeding device further includes a positioning mechanism located at the bottom of the feeding table 10. The positioning mechanism is adjustable in position on the feeding table 10 and is used to limit the outer end face of the outermost fin 11 of the packing disc 12. The positioning mechanism includes a positioning plate assembly and a linear drive assembly; such as... Figure 8 As shown, the positioning plate assembly includes two positioning plates 1002 arranged at intervals on the material handling worktable 10; two sets of linear drive assemblies are located at the bottom of the material handling worktable 10, and the two sets of linear drive assemblies are used to drive the two positioning plates 1002 to move toward the center of the material handling worktable 10, and the two positioning plates 1002 cooperate to limit the outer periphery of the filling plate 12.

[0061] In this embodiment, two positioning plates 1002 respectively position the fins 11 at the starting position and the fins 11 at the ending position during the packing disc assembly process. The distance between the two positioning plates 1002 is determined by the diameter of the packing disc 12 to be assembled. Since both positioning plates 1002 can move towards or away from the center of the material handling table 10 under the drive of their respective linear drive components, automatic assembly of packing discs 12 with different diameters can be achieved, resulting in high versatility. Specifically, when the first fin 11 is placed on the material handling table 10, the positioning plate 1002 at the starting position limits the outer side of the first fin 11 along the thickness direction. When the last fin 11 is placed on the material handling table 10, the positioning plate 1002 at the ending position limits the outer side of the last fin 11 along the thickness direction.

[0062] In some embodiments, the material handling table 10 has a disc-shaped structure and two guide holes that extend radially and are spaced apart. The central axis of the two guide holes coincides with the central axis of the material handling table 10. The linear drive assembly includes a linear guide rail 1004 and a fifth linear drive member 1001. The positioning plate 1002 includes: The guide part moves through the guide hole and slides with the linear guide rail 1004. The fifth linear drive 1001 is used to drive the guide part to slide along the linear guide rail 1004. The positioning plate body is located above the material handling workbench 10 and is connected to one end of the guide portion away from the linear guide rail 1004.

[0063] In this embodiment, the fifth linear drive 1001 at the bottom surface of the sorting workbench 10 pushes the positioning plate 1002 in the starting position to move along the linear rail through the linear bearing 604. According to the diameter size of the filler tray 12 of the required group tray, the fifth linear drive 1001 pushes the positioning plate 1002 to a position equal to the radius of the filler tray 12 from the center of the sorting workbench 10, which changes with the diameter size of the filler tray 12. The grabbing plate 801 and the first pressing block 804 of the grabbing truss 8 cooperate to grab the first block of the shortest length fin 11 and translate to contact with the inner positioning surface of the positioning plate 1002 in the starting position, completing the positioning of the first block of the fin 11 on the surface of the sorting workbench 10.

[0064] In some embodiments, a groove is provided on one side of the positioning plate body facing the fin 11, and the shape of the groove is matched with the shape of the pressing plate 902. In this embodiment, as shown in Figure 17 When the last fin 11 is constrained by the pressing square tube 901 and the pressing plate 902 on the pressing truss 9, the fifth linear drive 1001 at the bottom surface of the sorting workbench 10 pushes the positioning plate 1002 to move along the linear rail through the linear bearing 604. According to the diameter size of the filler tray 12 of the required group tray, the fifth linear drive 1001 pushes the positioning plate 1002 to a position equal to the radius of the filler tray 12 from the center of the sorting workbench 10, thereby pressing the last fin 11. Subsequently, the pressing plate 902 is first translated into the groove of the positioning plate 1002 to disengage from the last fin 11 in the thickness direction of the fin 11, and then vertically upward to completely disengage from the last fin 11, completing the circular grouping of all fins 11 of the entire filler tray 12.

[0065] In addition, as shown in Figure 1 The feeding device further comprises two guide rail frames 200 arranged in parallel along the length direction, the top end surface of the guide rail frame 200 forms a track extending along the width direction, and the pressing truss 9 and the grabbing truss 8 are located between the two guide rail frames 200 and are slidably connected to the two tracks through the first slide rail 505. By sliding along the extension direction of the two tracks through the first slide rail 505, the position of the pressing truss 9 and the grabbing truss 8 in the width direction can be adjusted. The two first slide rails 505 are each provided with a sliding block 502, and the pressing truss 9 and the grabbing truss 8 are each provided with a second slide rail extending in the height direction. Each sliding block 502 is in sliding cooperation with the corresponding second slide rail, and by sliding the sliding block 502 on the second slide rail, the position of the pressing truss 9 and the grabbing truss 8 in the height direction can be adjusted. When the pressing truss 9 and the grabbing truss 8 need to be moved, two groups of servo motors 501 are respectively used to realize the movement of the pressing truss 9 and the grabbing truss 8 in the horizontal direction and the vertical direction, so as to accurately adjust the position of the pressing truss 9 and the grabbing truss 8.

[0066] It should be noted that the first linear drive 504, the second linear drive, the third linear drive 703, the fourth linear drive 803 and the fifth linear drive 1001 of the present application can be various forms such as air cylinder, servo motor, hydraulic cylinder, electric cylinder, etc.

[0067] The second aspect of the present application provides an automatic stacking method applied to the automatic stacking device as above, and the automatic stacking method comprises the steps of: Placing the fins 11 on the fin roller conveying line 1; Alternately conveying the forward and reverse fins 11 in sequence by the fin roller conveying line 1 to the positioning roller conveying line 4; The positioning roller conveying line 4 flips the fins 11 in the horizontal state to the vertical state and positions them; The fin 11 in the vertical state on the positioning roller conveying line 4 is grabbed by the feeding device and moved to the sorting workbench 10, so that a plurality of fins 11 with gradually increasing lengths are stacked in sequence along the thickness direction to form a filler tray 12.

[0068] In this embodiment, the present application realizes the automatic and continuous operation of the heat exchange fins 11 from manufacturing to regular stacking through the technical means of the fin roller conveying line 1, the positioning roller conveying line 4, the positioning mechanism, the flipping mechanism, the unloading / grabbing and pressing truss 9 manipulator, the sorting workbench 10, etc., reduces the intermediate buffering and transfer, improves the production efficiency, reduces the labor intensity, and guarantees the consistency of the product and the stability of the quality.

[0069] In some embodiments, the step of flipping the fins 11 in the horizontal state to the vertical state and positioning them by the positioning roller conveying line 4 comprises: Detecting the length of the fin 11 currently conveyed on the positioning roller conveying line 4 by the length detection mechanism 402; In the case that the current length of the fin 11 is consistent with the theoretical length, controlling the positioning roller conveying line 4 to continue conveying backward; The first linear drive 504 drives the positioning baffle 506 to move, so as to position the fin 11 on the positioning roller conveying line 4 in the length direction; The second linear drive 602 drives the side pushing baffle 601 to move linearly along the width direction, so that the side pushing baffle 601 and the positioning square tube 701 cooperate to limit the fin 11 in the width direction; The positioning square tube 701 together with the flipping roller 702 is flipped relative to the positioning roller conveying line 4 by the rotary drive assembly, so that the fin 11 on the flipping roller 702 is flipped from the horizontal state to the vertical state.

[0070] In this embodiment, the servo positioning mechanism 5 ensures that the center lines of the different length fins 11 are in the same position, and the vertical turnover mechanism 7 embedded in the roller conveying line seamlessly changes the posture of the fins 11, ensuring the consistency of the entire fin 11 assembly.

[0071] In some embodiments, the step of moving the fins 11 in a vertical state on the positioning roller conveying line 4 to the sorting workbench 10 to make the multiple fins 11 with gradually increasing lengths stacked in the thickness direction to form the filler tray 12 includes: Controlling the grabbing truss 8 to move above the turnover roller 702; The fourth linear drive 803 drives the first pressing block 804 to move towards or away from the grabbing plate 801, so that the grabbing plate 801 and the first pressing block 804 cooperate to clamp the first fin 11 from the thickness direction, and then move above the sorting workbench 10 and release the first fin 11; Controlling the pressing truss 9 to move above the sorting workbench 10, so that the pressing square tube 901 and the pressing plate 902 are inserted between all the blocking square tubes 802, and then move to the position where the bottom surface of the pressing square tube 901 and the inner side positioning surface of the pressing plate 902 are in contact with and press the first fin 11; When the servo positioning mechanism 5 and the vertical turnover mechanism 7 complete the positioning and turnover of the second fin 11, the grabbing mechanism repeats the above-mentioned actions to complete the positioning and grabbing of the second fin 11, and then moves to the position where the outer side positioning surface of the grabbing plate 801 and the bottom surface of the blocking square tube 802 are in contact with the first fin 11, and at the same time, the first fin 11 is pressed and fixed, and the positioning of the second fin 11 on the sorting workbench 10 is completed; Controlling the grabbing mechanism and the pressing mechanism to repeatedly perform the above-mentioned actions in sequence until the last fin 11 is assembled into a tray.

[0072] In this embodiment, through the staggered positioning and constraint of the grabbing truss 8 and the pressing truss 9 on the fins 11, the plastic "S" deformation of the fins 11 during the staggered positioning and constraint is removed, and the fins 11 return to the original "straight line" state, realizing the automatic assembly of the fins 11.

[0073] In the description of the present application, it should be understood that the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0074] In this application, unless otherwise clearly indicated and limited, the terms "mounting", "connection", "connecting", "fixed", and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0075] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0076] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An automatic disk assembly apparatus, characterized by, The device comprises: a conveying device, including a fin roller conveying line (1) and a positioning roller conveying line (4), the fin roller conveying line (1) being used for receiving fins (11) to be stacked and conveying the fins (11) to the positioning roller conveying line (4); a sorting workbench (10) located on one side of the positioning roller conveying line (4) and close to a discharging end; a discharging device located above the sorting workbench (10) and movable between the positioning roller conveying line (4) and the sorting workbench (10), the discharging device being used for grabbing the fins (11) in a vertical state on the positioning roller conveying line (4) and moving the fins (11) to the sorting workbench (10) so that a plurality of the fins (11) are stacked in a thickness direction to form a filler tray (12).

2. The automatic stacking device according to claim 1, characterized in that, The conveying device further comprises: a servo positioning mechanism (5) located close to a discharging end of the positioning roller conveying line (4), the servo positioning mechanism (5) being used for positioning the fins (11) on the positioning roller conveying line (4) in a length direction; a vertical flipping mechanism (7) used for clamping the fins (11) on the positioning roller conveying line (4) and flipping the fins (11) from a horizontal state to a vertical state; a side pushing positioning mechanism (6), the side pushing positioning mechanism (6) and the vertical flipping mechanism (7) being used for limiting the fins (11) on the positioning roller conveying line (4) in a width direction.

3. The automatic stacking device of claim 1, wherein, The fin roller conveying line (1) and the positioning roller conveying line (4) are arranged side by side, and the conveying device further comprises: a discharging truss manipulator (2) located above the fin roller conveying line (1); a horizontal flipping mechanism (3) located between the fin roller conveying line (1) and the positioning roller conveying line (4), the discharging truss manipulator (2) being used for grabbing and moving the fins (11) to the positioning roller conveying line (4) or the horizontal flipping mechanism (3), and the horizontal flipping mechanism (3) being used for flipping the fins (11) horizontally and transferring the fins (11) to the positioning roller conveying line (4).

4. The automatic stacking device according to claim 3, characterized in that The positioning roller conveying line (4) is provided with a first avoiding opening (401), and the horizontal flipping mechanism (3) comprises: a flipping frame (303), one side of the flipping frame (303) being butted against the fin roller conveying line (1) in a width direction, and the other side being capable of rotating relative to the positioning roller conveying line (4); a rotating driving assembly, used for driving the flipping frame (303) to flip horizontally so that the flipping frame (303) passes through the first avoiding opening (401) and flips to the positioning roller conveying line (4).

5. The automatic stacking device of claim 2, wherein, The servo positioning mechanism (5) comprises: a first sliding rail (505) located on a first side of the positioning roller conveying line (4), the first sliding rail (505) extending in a length direction; a mounting frame (503) slidably arranged on the first sliding rail (505) through a sliding block (502), the mounting frame (503) being located above the positioning roller conveying line (4) and extending towards a second side of the positioning roller conveying line (4); A first linear driving member (504) is arranged on the mounting frame (503) and close to the second side of the positioning roller conveying line (4); A positioning baffle (506) is arranged on the driving end of the first linear driving member (504), and the first linear driving member (504) is used to drive the positioning baffle (506) to move in the vertical direction.

6. The automatic stacking device of claim 2, wherein, The positioning roller conveying line (4) comprises a plurality of positioning conveying rollers (403) arranged in sequence, a plurality of second avoiding openings (404) are arranged on the positioning roller conveying line (4), and the vertical turnover mechanism (7) comprises: A plurality of positioning square tubes (701) are arranged one by one and correspond to the second avoiding openings (404) respectively; A turnover roller (702) is arranged between two adjacent positioning conveying rollers (403) and connected to the positioning square tube (701), when the turnover roller (702) is turned to a horizontal state, the top peripheral wall of the turnover roller (702) and the top peripheral wall of the positioning conveying roller (403) are on the same horizontal plane; A rotary driving assembly is used to drive the positioning square tube (701) to turn over together with the turnover roller (702) relative to the positioning roller conveying line (4); A pressing assembly is arranged at the end of the positioning square tube (701) and can move downward to press the fin (11) on the turnover roller (702).

7. The automatic stacking device according to claim 6, characterized in that The side pushing positioning mechanism (6) comprises: A side pushing baffle (601) is provided with an avoiding gap for the positioning conveying roller (403) to pass through, and a connecting block (603) extends from the side pushing baffle (601); A second linear driving member (602) is used to drive the side pushing baffle (601) to move linearly in the width direction, so that the side pushing baffle (601) and the positioning square tube (701) cooperate to limit the fin (11) in the width direction; A guide rod (605) is provided with a linear bearing (604) slidingly arranged thereon, the linear bearing (604) is connected with the connecting block (603), and the second linear driving member (602) and the guide rod (605) are located below the conveying roller.

8. The automatic stacking device according to claim 7, characterized in that The rotary driving assembly comprises: A rotary shaft (706) is arranged at intervals on the second side of the positioning roller conveying line (4), each positioning square tube (701) is connected with the rotary shaft (706) through a first connecting rod, the first connecting rod extends from the rotary shaft (706) towards the positioning roller conveying line (4) and is lapped at the second avoiding opening (404); A rotary driving member (705) is drivingly connected with the rotary shaft (706) and is used to drive the rotary shaft (706) to rotate.

9. The automatic stacking device according to claim 7, characterized in that, The top end of the positioning square tube (701) extends in the width direction and is provided with a second connecting rod, and the pressing assembly comprises: A third linear driving member (703) is arranged at the end of the second connecting rod; A pressing block is arranged at the driving end of the third linear driving member (703), and the third linear driving member (703) is used to drive the pressing block to move towards or away from the fin (11) to press or release the fin (11).

10. The automatic stacking device according to any one of claims 1 to 9, characterized in that The positioning roller conveying line (4) is further provided with a length detection mechanism (402), which is used for length detection of the currently conveyed fin (11).

11. The automatic stacking device according to any one of claims 1 to 9, characterized in that The discharging device comprises pressing mechanisms and grabbing mechanisms arranged at intervals in the width direction, the grabbing mechanisms are arranged close to the positioning roller conveying line (4), and the pressing mechanisms and the grabbing mechanisms are staggered and matched to sequentially stack and press a plurality of fins (11) in the thickness direction to form a filler disc (12).

12. The automatic stacking device according to claim 11, characterized in that The grabbing mechanism comprises: A grabbing truss (8) capable of moving in the height direction and the width direction; A plurality of grabbing assemblies arranged at intervals in the length direction of the fin (11) and used for clamping or releasing the fin (11) on the positioning roller conveying line (4) in the thickness direction to the material arranging workbench (10).

13. The automatic stacking device according to claim 12, characterized in that The grabbing assembly comprises: A material blocking square tube (802) for limiting the top end surface of the fin (11); A grabbing plate (801) arranged at the bottom of the material blocking square tube (802); A first pressing block (804) arranged in parallel with the grabbing plate (801) and having a grabbing space for vertically placing the fin (11); A fourth linear driving member (803) used to drive the first pressing block (804) to move towards or away from the grabbing plate (801) to clamp or release the fin (11) in the thickness direction.

14. The automatic stacking device according to claim 13, characterized in that The pressing mechanism comprises: A pressing truss (9); and A plurality of pressing assemblies arranged at intervals in the length direction of the fin (11) and arranged one by one with the plurality of grabbing assemblies, after the grabbing assembly releases the fin (11) to the material arranging workbench (10), the pressing assembly is used for limiting the fin (11) in the thickness direction and the height direction.

15. The automatic stacking device according to claim 14, characterized in that The pressing assembly comprises: A pressing square tube (901) for applying a downward pressing force to the top end surface of the fin (11) on the material arranging workbench (10); A pressing plate (902) for applying a pressing force in the thickness direction to the fin (11) that has been stacked from the outermost side in the process of grabbing the fin (11) by the grabbing mechanism, and the thickness of the grabbing plate (801) is greater than the thickness of the pressing plate (902).

16. The automatic stacking device according to any one of claims 1 to 9, characterized in that The discharging device further comprises a positioning mechanism arranged at the bottom of the material arranging workbench (10), the position of the positioning mechanism on the material arranging workbench (10) is adjustable, and the positioning mechanism is used for limiting the outer end surface of the fin (11) located at the outermost side of the filler disc (12).

17. The automatic stacking device according to claim 16, characterized in that The positioning mechanism comprises: A positioning plate assembly comprises two positioning plates (1002) arranged on the sorting workbench (10) and spaced apart; A linear drive assembly is arranged at the bottom of the sorting workbench (10) and has two groups, and the two groups of linear drive assemblies are respectively used to drive the two positioning plates (1002) to move towards the center of the sorting workbench (10), and the two positioning plates (1002) cooperate to limit the outer periphery of the filler disc (12).

18. The automatic stacking device of claim 17, wherein, The sorting workbench (10) is a disc-shaped structure and is provided with two guide holes extending in the radial direction and arranged at intervals, the center axes of the two guide holes coincide with the center axis of the sorting workbench (10), the linear drive assembly comprises a linear guide rail (1004) and a fifth linear drive member (1001), and the positioning plate (1002) comprises: A guide portion which is movably penetrated through the guide hole and slidably matched with the linear guide rail (1004), the fifth linear drive member (1001) is used to drive the guide portion to slide along the linear guide rail (1004); A positioning plate body which is located above the sorting workbench (10) and connected with one end of the guide portion away from the linear guide rail (1004).

19. An automatic disk assembling method, characterized by, The automatic disc assembling method is applied to the automatic disc assembling equipment according to any one of claims 1 to 18, and the automatic disc assembling method comprises the steps of: Placing the fins (11) on the fin roller conveying line (1); Alternately conveying the forward and reverse fins (11) in sequence to the positioning roller conveying line (4) through the fin roller conveying line (1); The positioning roller conveying line (4) flips the horizontal fins (11) to the vertical state and positions them; The positioning roller conveying line (4) flips the horizontal fins (11) to the vertical state and positions them; 20. The automatic stacking method according to claim 19, wherein, The positioning roller conveying line (4) flips the horizontal fins (11) to the vertical state and positions them; The step of flipping the horizontal fins (11) to the vertical state and positioning them by the positioning roller conveying line (4) comprises: Detecting the length of the fins (11) currently conveyed on the positioning roller conveying line (4) by a length detection mechanism (402); In the case that the current length of the fins (11) is consistent with the theoretical length, controlling the positioning roller conveying line (4) to continue conveying rearward; The first linear drive member (504) drives the positioning baffle (506) to move, so as to position the fins (11) on the positioning roller conveying line (4) in the length direction; The second linear drive member (602) drives the side push baffle (601) to move linearly in the width direction, so that the side push baffle (601) and the positioning square tube (701) cooperate to limit the fins (11) in the width direction; The positioning square tube (701) is driven by a rotary drive assembly together with the turnover roller (702) to flip relative to the positioning roller conveying line (4), so that the fins (11) on the turnover roller (702) are flipped from the horizontal state to the vertical state.

21. The automatic stacking method according to claim 19, wherein, The step of moving the fin (11) in a vertical state on the positioning roller conveying line (4) to the sorting workbench (10) by the feeding device to make a plurality of fins (11) with gradually increasing lengths stacked in the thickness direction to form a filler tray (12) comprises: Control the grabbing truss (8) to move above the turnover roller (702); The fourth linear driving member (803) drives the first pressing block (804) to move towards or away from the grabbing plate (801), so that the grabbing plate (801) and the first pressing block (804) cooperate to clamp the first fin (11) from the thickness direction, and then move above the sorting workbench (10) and release the first fin (11); Control the pressing truss (9) to move above the sorting workbench (10), so that the pressing square tube (901) and the pressing plate (902) are inserted between all the blocking square tubes (802), and then move to the position where the bottom surface of the pressing square tube (901) and the inner side positioning surface of the pressing plate (902) are in contact with and press the first fin (11); After the servo positioning mechanism (5) and the vertical turnover mechanism (7) complete the positioning and turnover of the second fin (11), the grabbing mechanism repeats the above actions to complete the positioning and grabbing of the second fin (11), and then moves to the position where the outer side positioning surface of the grabbing plate (801) and the bottom surface of the blocking square tube (802) are in contact with the first fin (11), so that the first fin (11) is pressed and fixed, and at the same time, the positioning of the second fin (11) on the sorting workbench (10) is completed; Control the grabbing mechanism and the pressing mechanism to repeat the above actions in turn until the last fin (11) is completed.

Images