Stacking device and stacking method

Abstract

The invention relates to a stacking device and method, and the stacking device comprises a material carrying mechanism which comprises a jig and a pushing assembly, the jig is used for placing a to-be-stacked pipe, and the output end of the pushing assembly can abut against a handle of the to-be-stacked pipe so that the handle can be kept horizontal; the material storage mechanism comprises a support, a supporting platform, limiting rods, a lifting platform, a lifting driving assembly and inserting rods, the supporting platform is arranged on the support, and the limiting rods are arranged on the peripheral side of the supporting platform; and the taking and placing mechanism comprises a mechanical arm, a clamping jaw, a translation driving assembly and a pressing driving assembly, and the clamping jaw is connected to the output end of the mechanical arm. By means of the arrangement, the horizontal posture of the handle can be kept all the time in the carrying process, extrusion of upper-layer materials on the lower layer can be effectively prevented, and inclination and interference between the upper layer and the lower layer during multi-layer stacking are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacking devices, in particular to a stacking device and a stacking method. BACKGROUND

[0002] In the field of industrial production, the stacking operation of pipe materials such as steel pipes is a key link between production and storage, and its operation efficiency and stacking quality directly affect the subsequent logistics circulation and storage safety. With the improvement of the automation level of manufacturing industry, the traditional manual stacking method has been difficult to meet the needs of large-scale industrial production due to its high labor intensity, low efficiency, poor stacking precision, and safety hazards. Therefore, an automatic stacking device has emerged and been widely applied.

[0003] Although the existing automatic stacking device realizes the mechanized handling and placement of the pipes to be stacked, it still has many technical defects in actual application. For example, for pipes with special structures, such as the pipe to be stacked 1 shown in the figure, the two ends of the pipe to be stacked 1 are respectively provided with a bottom disc 11, and one end is provided with an external thread 12. A nut 13 is sleeved on the external thread, a plurality of protruding portions 15 are arranged in the circumferential direction of the nut, a handle 16 is rotatably connected to the protruding portions for manually rotating the nut 13, and a sleeve ring 14 is sleeved between the external thread and the bottom disc on that side. Figure 1 For this kind of pipe, the existing material loading device can only realize simple support of the pipe to be stacked, and cannot accurately calibrate and fix the handle. The uncertainty of the handle posture will cause positioning difficulties when the subsequent taking and placing mechanism clamps, not only prolonging the operation time, but also possibly causing the pipe to be stacked to slip or be damaged due to clamping deviation. When multi-layer stacking is performed, this problem is particularly prominent, which easily further causes the stacked pile to be inclined and interfere with each other. SUMMARY

[0004] Therefore, the present application aims to overcome the obvious deficiencies of the existing stacking device in the posture calibration of the special pipe to be stacked, the stability of the material storage layering, and the reliability of the taking and placing process, and to provide a stacking device and a stacking method.

[0005] To solve the above technical problems, the present application provides a stacking device, characterized in that it comprises:

[0006] a material loading mechanism, which comprises a jig and a pushing assembly, the jig being used to place the pipe to be stacked, and the output end of the pushing assembly being capable of abutting against the handle of the pipe to be stacked to keep the handle horizontal;

[0007] The storage mechanism comprises a support, a support platform, a limiting rod, a lifting platform, a lifting drive assembly and a plug rod, the support platform is arranged on the support, the limiting rod is arranged on the periphery of the support platform, the lifting platform is connected to the output end of the lifting drive assembly, and the plug rod is arranged in multiple groups and on the lifting platform.

[0008] The taking and placing mechanism comprises a manipulator, a clamping jaw, a translation drive assembly and a pressing drive assembly, the clamping jaw is connected to the output end of the manipulator to clamp the to-be-stacked pipe and move it from the loading mechanism to the storage mechanism, the translation drive assembly is arranged on the clamping jaw, and the pressing drive assembly is connected to the output end of the translation drive assembly and can be pressed on the handle of the to-be-stacked pipe.

[0009] In an embodiment of the present application, the pushing assembly comprises a first linear drive, a push rod, a second linear drive and a pushing piece, the push rod is connected to the output end of the first linear drive and can move along the length direction of the to-be-stacked pipe, and the pushing piece is connected to the output end of the second linear drive and can move along the height direction of the to-be-stacked pipe.

[0010] In an embodiment of the present application, the lifting drive assembly comprises a first rotary drive, a double-output-shaft speed reducer, a drive lead screw and a lead screw pair, the first rotary drive is arranged on the support, the input end of the double-output-shaft speed reducer is connected to the first rotary drive, the drive lead screw is arranged in two groups and connected to the output ends of the double-output-shaft speed reducer respectively, and the lead screw pair is arranged on the lifting platform and adapted to the drive lead screw.

[0011] In an embodiment of the present application, a steering box is arranged between the double-output-shaft speed reducer and the drive lead screw, a shaft coupling is arranged between the steering box and the double-output-shaft speed reducer, and a linear bearing is arranged between the lifting platform and the support.

[0012] In an embodiment of the present application, the clamping jaw comprises a clamping platform, a first clamping plate, a first elastic piece, a second clamping plate, a magnetic attraction piece, a second linear drive and a retreat plate, the clamping platform is connected to the output end of the manipulator, the first clamping plate is arranged in at least two groups on both sides of the clamping platform, the first elastic piece is arranged on the first clamping plate, the second clamping plate is connected to the end of the first elastic piece, the magnetic attraction piece is mounted on the second clamping plate, the second linear drive is arranged at both ends of the second clamping plate respectively, and the retreat plate is connected to the output end of the second linear drive.

[0013] In one embodiment of the present application, the translation driving assembly is arranged on the clamping platform, which is configured as a third linear driving member, the pressing driving assembly is configured as a fourth linear driving member, the output end of the fourth linear driving member is connected with a second elastic member, and the end of the second elastic member is provided with a profiling part matched with the pipe nut to be stacked.

[0014] In one embodiment of the present application, the first end and the second end of the pipe to be stacked are respectively provided with a chassis, the first end of the pipe to be stacked is provided with an external thread, the external thread is sleeved with a nut, the nut is provided with a plurality of protruding parts in the circumferential direction, at least one protruding part is rotationally connected with a handle, and a sleeve ring sleeved with the pipe to be stacked is arranged between the handle and the chassis.

[0015] In one embodiment of the present application, the support platform is provided with a through hole matched with the insertion rod, the size of the insertion rod is not greater than the spacing between adjacent pipes to be stacked, the first end and the second end of adjacent pipes to be stacked in each layer of pipes to be stacked face opposite directions, and adjacent pipes to be stacked in each layer of pipes to be stacked are staggered along the length direction thereof.

[0016] In one embodiment of the present application, the jig is provided with an alignment assembly, which comprises a fifth linear driving member, a push plate and a top plate, the fifth linear driving member is arranged at two ends of the jig respectively, and the push plate is connected to the output end of the fifth linear driving member.

[0017] The present application further discloses a stacking method, which utilizes the above-mentioned stacking device to stack the pipes to be stacked, and the method comprises the following steps:

[0018] Step S1: fixing the pipe to be stacked, driving the handle of the pipe to be stacked to rotate around the axis of the pipe to be stacked until the central plane thereof is kept horizontal;

[0019] Step S2: clamping the pipe to be stacked, and pressing the handle of the pipe to be stacked to keep the position and angle of the handle relative to the pipe to be stacked unchanged;

[0020] Step S3: making the height of the first end of the pipe to be stacked less than the height of the second end of the pipe to be stacked until the sleeve ring of the pipe to be stacked abuts against the chassis at the first end of the pipe to be stacked;

[0021] Step S4: separating adjacent pipes to be stacked along the first horizontal direction in advance, repeating steps S1-S3, and sequentially placing the pipes to be stacked in the first horizontal direction on the support platform until the stacking of one layer of pipes to be stacked is completed;

[0022] Step S5: continuing to separate adjacent pipes to be stacked along the first horizontal direction on the last stacking layer in advance, and continuing to repeat steps S1-S4 until the stacking of multiple layers of pipes to be stacked is completed.

[0023] In one embodiment of the present application, in the step S3, the height of the first end of the pipe to be stacked is made less than the height of the second end, further comprising: shaking the pipe to be stacked in the height direction and / or the length direction of the pipe to be stacked.

[0024] In one embodiment of the present application, in the step S4, the pipes to be stacked are sequentially placed on the support platform in the first horizontal direction, further comprising: making the axis of the pipe to be stacked in the second horizontal direction, and making the first end and the second end of the adjacent pipe to be stacked face opposite directions, and the adjacent pipes to be stacked in the same layer are staggered in the length direction.

[0025] The above technical solution of the present application has the following beneficial effects compared with the prior art:

[0026] The claw of the taking and placing mechanism can be precisely moved under the driving of the mechanical arm to complete the transfer of the pipe to be stacked from the loading mechanism to the storage mechanism. The cooperation of the translation driving assembly and the pressing driving assembly can drive the pressing driving assembly to move to the handle position and realize pressure connection and fixation after the claw clamps the pipe to be stacked. The horizontal posture of the handle can be maintained during the carrying process to effectively resist the influence of factors such as vibration and inertia, so that the posture of the pipe to be stacked is consistent when placed in the storage mechanism. The setting of multiple groups of inserting rods can separate the adjacent pipes to be stacked in the first horizontal direction to make the distance uniform. The lifting driving assembly drives the lifting platform to realize the lifting action of the inserting rod. After the single-layer stacking is completed, the inserting rod can protrude from the layer of stacked pipes to provide a clear positioning reference and separation support for the next layer of stacking, effectively preventing the extrusion of the upper layer of material on the lower layer, and avoiding the inclination and interference between the upper and lower layers during multi-layer stacking. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to make the content of the present application more easily understood, the present application will be further described in detail below according to specific embodiments of the present application and in conjunction with the drawings.

[0028] Figure 1 is a structural schematic diagram of the existing pipe to be stacked;

[0029] Figure 2 is a structural schematic diagram of the stacking device of the present application;

[0030] Figure 3 is an enlarged view of A in the present application; Figure 2

[0031] Figure 4 is an enlarged view of B in the present application; Figure 2

[0032] Figure 5 is a structural schematic diagram of the stacking device of the present application from another angle;

[0033] ​​Figure 6 is a structural schematic diagram of the storage mechanism of the application;

[0034] Figure 7 is a structural schematic diagram of the taking and placing mechanism of the application.

[0035] Description of the drawings: 1, pipe to be stacked; 11, chassis; 12, external thread; 13, nut; 14, collar; 15, protruding part; 16, handle; 2, storage mechanism; 21, limiting rod; 22, insertion rod; 23, first rotary driving part; 24, double-output shaft speed reducer; 25, steering box; 26, driving lead screw; 27, lifting platform; 28, supporting platform; 29, linear bearing; 3, taking and placing mechanism; 31, pushing assembly; 32, push rod; 4, mechanical hand; 5, clamping jaw; 51, clamping platform; 52, third linear driving part; 53, fourth linear driving part; 54, second elastic part; 55, profiling part; 56, groove; 57, first clamping plate; 58, first elastic part; 59, second clamping plate; 510, second linear driving part; 511, third elastic part; 512, retreat plate. DETAILED DESCRIPTION

[0036] The application will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the application and implement it, but the embodiments are not limiting the application.

[0037] EMBODIMENT

[0038] Referring to Figures 2-7 The application provides a stacking device, which comprises:

[0039] The loading mechanism comprises a jig and a pushing assembly 31, the jig is used for placing the pipe to be stacked 1, and the output end of the pushing assembly 31 can abut against the handle 16 of the pipe to be stacked, so that the handle 16 is kept horizontal.

[0040] The storage mechanism 2 comprises a support, a supporting platform 28, a limiting rod 21, a lifting platform 27, a lifting driving assembly and insertion rods 22, the supporting platform 28 is arranged on the support, the limiting rod 21 is arranged on the circumferential side of the supporting platform 28, the lifting platform 27 is connected to the output end of the lifting driving assembly, and the insertion rods 22 are configured in multiple groups and arranged on the lifting platform 27, and adjacent groups of insertion rods 22 are arranged at intervals along the first horizontal direction.

[0041] A taking and placing mechanism 3, comprising: a mechanical arm 4, a clamping jaw 5 connected to the output end of the mechanical arm 4 to clamp the to-be-stacked pipe 1 to be moved from the loading mechanism to the storage mechanism 2, a translation driving assembly arranged on the clamping jaw 5, and a pressing driving assembly connected to the output end of the translation driving assembly, the pressing driving assembly being capable of being pressed to the handle 16 of the to-be-stacked pipe 1.

[0042] The to-be-stacked pipe 1 is limited by the jig, the output end of the pushing assembly 31 extends out and abuts against the handle 16 of the to-be-stacked pipe 1, the handle 16 is driven to rotate around the axis of the to-be-stacked pipe 1 until the central surface of the handle 16 remains horizontal, the pushing assembly 31 remains in the output state, and the handle 16 is fixed in this posture. The mechanical arm 4 drives the clamping jaw 5 to move to the upper side of the to-be-stacked pipe 1, the two clamping arms of the clamping jaw 5 are in close contact with the surface of the to-be-stacked pipe 1, and the clamping state is maintained. Synchronously, the translation driving assembly drives the pressing driving assembly to move to the position of the handle 16, the output end of the pressing driving assembly extends downward, the elastic pressing head abuts against the handle 16 and applies a preset pressing force, the handle 16 is fixed in the horizontal state, the output end of the pushing assembly 31 is retracted, and the handover between the loading mechanism and the taking and placing mechanism 3 is completed.

[0043] The mechanical arm 4 drives the clamping jaw 5 clamping the to-be-stacked pipe 1 to move above the support platform 28 of the storage mechanism 2, and adjusts the posture of the to-be-stacked pipe 1 according to the preset stacking position. The lifting driving assembly of the storage mechanism 2 is started to drive the lifting platform 27 to rise, so that the insertion rod 22 passes through the reserved hole on the support platform 28 and extends to the upper surface of the support platform 28. The mechanical arm 4 adjusts the height of the to-be-stacked pipe 1 and places the to-be-stacked pipe 1 on the support platform 28, while ensuring that the insertion rod 22 is located on one side of the to-be-stacked pipe 1 to play an auxiliary limiting role. Then, the output end of the pressing driving assembly is retracted, the clamping jaw 5 releases the clamping of the pipe, the mechanical arm 4 drives the clamping jaw 5 to leave the area of the storage mechanism 2, and a single taking and placing action is completed. When the stacking of a layer of to-be-stacked pipes 1 is completed, the lifting driving assembly drives the lifting platform 27 to descend, the insertion rod 22 extends and protrudes from the layer of stacked pipes, and is ready for the next layer of stacking. The cycle is repeated until the preset number of stacking layers is completed.

[0044] The pushing assembly 31 comprises: a first linear driving member, a push rod 32 connected to the output end of the first linear driving member and capable of moving along the length direction of the to-be-stacked pipe 1, a second linear driving member 510, and a pushing member connected to the output end of the second linear driving member 510 and capable of moving along the height direction of the to-be-stacked pipe 1.

[0045] Reference Figure 7As shown, after the to-be-stacked pipe 1 is placed on the jig of the loading mechanism, the first linear drive member drives the push rod 32 to move towards the handle 16, drives the push rod 32 to rotate, and makes the push rod 32 align and adapt to the pushing member. The output shaft of the second linear drive member 510 extends upwards, drives the pushing member to move towards the lower surface of the handle 16. When the pushing member contacts the handle 16, the force of the pushing member on the handle 16 gradually increases as the output shaft of the second linear drive member 510 continues to extend, so that the handle 16 and the nut 13 rotate around the axis of the to-be-stacked pipe 1, and the posture of the handle 16 gradually changes from the initial arbitrary state to the horizontal state. In some embodiments, a visual detection unit is installed above the jig to capture images of the handle 16 in real time, and transmit the image data to an image processing module. The image processing module identifies the outline of the handle 16 through an edge detection algorithm, calculates the included angle between the central plane of the handle 16 and the horizontal direction, and determines that the handle 16 has reached the horizontal state when the included angle is less than a preset error threshold. The control system sends a stop command to the second linear drive member 510, and the pushing assembly 31 maintains the current pushing state. After the loading and unloading mechanism 3 completes the clamping and pressing action on the to-be-stacked pipe, the output shaft of the first linear drive member and the second linear drive member 510 is retracted, and the push rod 32 and the pushing member are reset, waiting for the next pushing action.

[0046] Referring to Figures 5-6 As shown, the lifting driving assembly includes a first rotary drive member 23, a double-output-shaft speed reducer 24, two groups of driving lead screws 26, and a lead screw pair. The first rotary drive member 23 is arranged on a bracket. The input end of the double-output-shaft speed reducer 24 is connected to the first rotary drive member 23. The driving lead screws 26 are arranged in two groups and connected to the output ends of the double-output-shaft speed reducer 24. The lead screw pair is arranged on the lifting platform 27 and adapted to the driving lead screws 26.

[0047] After the loading and unloading mechanism 3 places the to-be-stacked pipe 1 on the support platform 28, the current stacking layer is determined whether the lifting platform 27 needs to be actuated. If the current is the first layer of stacking, the lifting platform 27 is initially at the lowest position, the insertion rod 22 protrudes from the support platform 28, and the protruding length is slightly greater than the height of the to-be-stacked pipe 1. After the first layer of to-be-stacked pipes 1 is completely placed, the control system sends a start command to the first rotary drive member 23, i.e., the motor. The motor rotates at a preset speed, and the power of the output shaft is transmitted to the input end of the double-output-shaft speed reducer 24 through the elastic coupling. The double-output-shaft speed reducer 24 reduces the high speed of the servo motor, and uniformly distributes the power to the two output ends, driving the two driving lead screws 26 to rotate synchronously.

[0048] Since the screw pair is fixedly connected with the lifting platform 27 and the screw pair is in threaded cooperation with the driving screw 26, the rotational movement of the driving screw 26 is converted into the linear movement of the screw pair. The synchronous rotation of the two groups of driving screws 26 keeps the lifting speed of the screw pairs on both sides consistent, thereby driving the lifting platform 27 to stably ascend along the vertical direction, and the insertion rod 22 on the lifting platform 27 passes through the through hole on the support platform 28 and gradually extends out of the layer of the stacked pipes.

[0049] When it is needed to retract the insertion rod 22, the motor reversely rotates, power is transmitted to the driving screw 26 through the double-output shaft speed reducer 24, the driving screw 26 reversely rotates, the screw pair drives the lifting platform 27 to descend along the vertical direction, and the insertion rod 22 is gradually retracted to the lower point. During the entire lifting process, the symmetrical power distribution of the double-output shaft speed reducer 24 keeps the stress of the two groups of driving screws 26 balanced, avoids the inclination and jamming of the lifting platform 27, makes the lifting action stable and reliable, and makes the extension and retraction positions of the insertion rod 22 accurate, thereby providing stable support and separation for the layering and stacking of the pipes 1 to be stacked.

[0050] The double-output shaft speed reducer 24 and the driving screw 26 are provided with a steering box 25, the steering box 25 and the double-output shaft speed reducer 24 are provided with a shaft coupling, and the lifting platform 27 and the support are provided with a linear bearing 29.

[0051] Power at the output end of the double-output shaft speed reducer 24 is transmitted to the input end of the steering box 25 through the shaft coupling, the power transmission direction is converted from the horizontal direction to the vertical direction due to the bevel gear structure of the steering box 25, the power after steering is transmitted to the upper end of the driving screw 26 through the diaphragm coupling, and the driving screw 26 is driven to rotate along the vertical direction. The support is provided with a bearing seat for driving the rotation of the driving screw 26, and the lifting platform 27 is embedded with a bearing adapted to the driving screw 26.

[0052] During the movement of the lifting platform 27, the guide rods on the side surface of the lifting platform 27 are in sliding cooperation with the linear bearings 29 on the support, the linear bearings 29 provide accurate guiding action for the guide rods, limit the displacement of the lifting platform 27 in the horizontal direction, and make the lifting platform 27 move along the vertical direction. Since the four linear bearings 29 are symmetrically arranged, the eccentric moment generated during the movement of the lifting platform 27 can be effectively resisted, and the inclination and jamming of the lifting platform 27 can be avoided. Meanwhile, the diaphragm coupling can compensate for the installation errors between the double-output shaft speed reducer 24 and the steering box 25 and between the steering box 25 and the driving screw 26 during power transmission, guarantee the stability of power transmission, and reduce the impact and wear of components caused by installation errors.

[0053] Reference Figure 3As shown, the gripper 5 comprises a clamping platform 51, a first clamping plate 57, a first elastic member 58, a second clamping plate 59, a magnetic member, a second linear drive member 510 and a retreat plate 512. The clamping platform 51 is connected to the output end of the manipulator 4. The first clamping plate 57 is configured as at least two groups and is arranged on both sides of the clamping platform 51 respectively. The first elastic member 58 is arranged on the first clamping plate 57. The second clamping plate 59 is connected to the end of the first elastic member 58. The magnetic member is installed on the second clamping plate 59. The second linear drive member 510 is arranged at both ends of the second clamping plate 59 respectively. The retreat plate 512 is connected to the output end of the second linear drive member 510.

[0054] The manipulator 4 drives the gripper 5 to move to the position directly above the pipe 1 to be stacked in the loading mechanism according to the instruction of the control system. The position of the gripper 5 is adjusted by the visual positioning unit, so that the two groups of second clamping plates 59 are aligned with the two sides of the pipe 1 to be stacked respectively, and the alignment of the gripper 5 and the pipe 1 to be stacked is completed. The clamping driving device drives the first clamping plate 57 to move along the length direction of the clamping platform 51, and the first clamping plate 57 drives the first elastic member 58 and the second clamping plate 59 to move synchronously towards the pipe 1 to be stacked.

[0055] When the second clamping plate 59 contacts the surface of the pipe 1 to be stacked, the first clamping plate 57 continues to move inward, the first elastic member 58 is extruded to start elastic deformation to form a buffer. The pipe 1 to be stacked is a magnetic member, and the magnetic member of the second clamping plate 59 generates an adsorption force with the surface of the pipe 1 to be stacked, so that the pipe 1 to be stacked will not loosen or fall off during the handling process.

[0056] After clamping is completed, the manipulator 4 drives the gripper 5 and the pipe 1 to be stacked to move to the target position of the storage mechanism 2. In this process, the pressing driving assembly always keeps pressing and fixing the handle 16. When the pipe 1 to be stacked moves to the preset position of the support platform 28, the output shaft of the second linear drive member 510 rapidly extends to drive the retreat plate 512 to move towards the surface of the pipe 1 to be stacked. The third elastic member 511 is arranged between the output end of the second linear drive member 510 and the push plate. In this embodiment, the first elastic member 58, the second elastic member 54 and the third elastic member 511 all consist of a spring sleeve and a movable rod. The movable rod can be movably arranged in the support base. The retreat plate 512 contacts the pipe 1 to be stacked to apply a pushing force, so that the pipe 1 to be stacked and the second clamping plate 59 generate relative displacement, overcome the adsorption force of the magnetic member, and push the pipe 1 to be stacked out of the gripper 5. The control system sends a loosening instruction to the clamping driving device, the clamping driving device drives the first clamping plate 57 to move outward, the first elastic member 58 restores deformation, and the second clamping plate 59 is completely separated from the pipe 1 to be stacked. The output shaft of the second linear drive member 510 is retracted to drive the retreat plate 512 to reset, and the gripper 5 completes the unloading action. The manipulator 4 drives the gripper 5 to return to the loading mechanism to prepare for the next taking and placing cycle.

[0057] The translation driving assembly is arranged on the clamping platform 51, which is configured as a third linear driving member 52, the pressing driving assembly is configured as a fourth linear driving member 53, the output end of the fourth linear driving member 53 is connected with a second elastic member 54, and the end of the second elastic member 54 is provided with a profiling part 55 matched with the nut 13 of the pipe to be stacked.

[0058] The third linear driving member 52 drives the fourth linear driving member 53 and the profiling part 55 to move close to the pipe to be stacked 1 until the profiling part 55 moves to the upper side of the nut 13 of the pipe to be stacked 1, and then the output end of the fourth linear driving member 53 extends downward to push the second elastic member 54 and the profiling part 55 to move downward synchronously, the profiling part 55 first contacts the surface of the nut 13, and as the output end of the fourth linear driving member 53 continues to extend, the second elastic member 54 is extruded to be elastically deformed, and an elastic force is generated in the deformation process, which is transmitted to the nut 13 through the profiling part 55. The profiling part 55 is provided with a groove 56 avoiding the protruding part 15, so that the profiling part 55 is pressed at both ends of the groove 56 on the handle 16, and the handle 16 is an L-shaped handle 16, including a first connecting part and a second connecting part, the first connecting part is rotatably connected to the protruding part 15, thereby driving the handle 16 to remain in a horizontal state. Due to the buffering effect of the second elastic member 54, the impact force in the pressing process can be effectively absorbed, and rigid collision between the profiling part 55 and the nut 13 is avoided. In the process that the manipulator 4 drives the pipe to be stacked 1 to move from the material loading mechanism to the material storage mechanism 2, the fourth linear driving member 53 always remains in the output state, the second elastic member 54 maintains a certain compression amount, so that the pressure of the profiling part 55 on the nut 13 is stable, thereby keeping the position and angle of the handle 16 unchanged.

[0059] Referring to Figure 1 As shown in the drawings, the first end and the second end of the pipe to be stacked 1 are respectively provided with a chassis 11, the first end of the pipe to be stacked 1 is provided with an external thread 12, the nut 13 is sleeved on the external thread 12, the nut 13 is provided with a plurality of protruding parts 15 in the circumferential direction, at least one protruding part 15 is rotatably connected with a handle 16, and the handle 16 and the chassis 11 are provided with a sleeve ring 14 sleeved on the pipe to be stacked 1.

[0060] Before the to-be-piled pipe 1 enters the stacking process, the handle 16 can be in any posture. When the to-be-piled pipe 1 is placed on the jig of the loading mechanism, the jig preliminarily limits the to-be-piled pipe 1, so that the axis of the to-be-piled pipe 1 remains horizontal. At this time, the pushing assembly 31 of the loading mechanism is started, the pushing piece contacts the handle 16 and applies a pushing force. Since the handle 16 is rotationally connected with the convex part 15 of the nut 13, under the action of the pushing force, the handle 16 starts to rotate, and at the same time, the nut 13 is slightly rotated along the external thread 12 of the to-be-piled pipe 1 under the driving of the handle 16, until the central plane of the handle 16 is adjusted to the horizontal state. The sleeve ring 14 is always sleeved on the to-be-piled pipe 1. When the clamping jaw 5 of the taking and placing mechanism 3 clamps the to-be-piled pipe, the second clamping plate 59 of the clamping jaw 5 is in contact with the outer circumferential surface of the to-be-piled pipe 1 and the supporting surface of the bottom disc 11. The magnetic attraction piece generates an adsorption force to make the clamping plate tightly contact with the to-be-piled pipe 1, and at the same time, the profiling piece 55 of the pressing driving assembly is in contact with the nut 13, so as to fix the posture of the nut 13 and the handle 16, and prevent the handle 16 from rotating in the process of carrying. After the to-be-piled pipe 1 is placed on the supporting platform 28 of the storage mechanism 2, the bottom discs 11 of adjacent to-be-piled pipes 1 are matched and supported.

[0061] The supporting platform 28 is provided with a through hole matched with the insertion rod 22, and the size of the insertion rod 22 is not greater than the distance between adjacent to-be-piled pipes 1. The first end and the second end of adjacent to-be-piled pipes 1 in each layer of to-be-piled pipes 1 face opposite directions, and adjacent to-be-piled pipes 1 in each layer of to-be-piled pipes 1 are staggered along the length direction.

[0062] When the taking and placing mechanism 3 carries the to-be-stacked pipe 1 above the support platform 28 of the storage mechanism 2, the control system adjusts the posture of the mechanical arm 4 according to the preset stacking arrangement program, so that the axis of the to-be-stacked pipe 1 is placed in a preset direction. For the first layer of stacking, the lifting driving assembly first drives the lifting platform 27 to rise, so that the insertion rod 22 extends through the through hole on the support platform 28 to the upper surface of the support platform 28, and the extension height is slightly higher than the surface of the support platform 28. Then, the mechanical arm 4 places the first to-be-stacked pipe 1 on the support platform 28, for example, the first end thereof faces the left side, and the insertion rod 22 is located at the right side of the to-be-stacked pipe 1 to preliminarily limit the to-be-stacked pipe 1. The mechanical arm 4 carries the second to-be-stacked pipe 1 to the support platform 28, adjusts the position of the to-be-stacked pipe 1 according to the requirement of the staggered arrangement, so that the first end of the to-be-stacked pipe 1 faces the right side, and the length direction axis of the to-be-stacked pipe 1 is offset relative to the axis of the first to-be-stacked pipe 1 to avoid interference of the bottom disc 11, and at the same time, the spacing between the adjacent to-be-stacked pipes 1 is matched with the size of the insertion rod 22. After the first layer of stacking is completed, the lifting platform 27 drives the insertion rod 22 to rise again, so that the insertion rod 22 protrudes above the first layer of stacked pipes, and the protrusion height is slightly greater than the height of the to-be-stacked pipe 1 to provide separation and limitation for the placement of the second layer of to-be-stacked pipes. In this embodiment, since the to-be-stacked pipe 1 is horizontally placed, the height thereof is the radial vertical height. The to-be-stacked pipes 1 are sequentially placed on the support platform 28 in the first horizontal direction with a spacing therebetween until the first layer of to-be-stacked pipes 1 is stacked.

[0063] The jig is provided with an alignment assembly, which comprises a fifth linear drive, a push plate and a top plate. The fifth linear drive is arranged at the two ends of the jig respectively, and the push plate is connected to the output end of the fifth linear drive.

[0064] When the to-be-stacked pipe 1 is conveyed to the jig of the material carrying mechanism, due to errors in the conveying process, the axis of the to-be-stacked pipe 1 may not coincide with the positioning reference of the jig. At this time, the alignment assembly starts to work. The fifth linear drive extends, and the push plate pushes the to-be-stacked pipe 1 to move towards the top plate.

[0065] The embodiment also discloses a stacking method, which stacks the to-be-stacked pipe 1 by using the stacking device.

[0066] Step S1: fixing the to-be-stacked pipe 1, driving the handle 16 of the to-be-stacked pipe 1 to rotate around the axis of the to-be-stacked pipe 1 until the central plane thereof is kept horizontal;

[0067] Step S2: clamping the to-be-stacked pipe 1, and pressing the handle 16 of the to-be-stacked pipe 1 to keep the position and angle of the handle 16 relative to the to-be-stacked pipe 1 unchanged.

[0068] Step S3: make the height of the first end of the to-be-stacked pipe 1 less than the height of the second end until the collar 14 of the to-be-stacked pipe 1 abuts against the bottom disc 11 at the first end thereof;

[0069] Step S4: separate the adjacent to-be-stacked pipes 1 in the first horizontal direction in advance, and repeat steps S1-S3 to place the to-be-stacked pipes 1 in the first horizontal direction in turn on the support platform 28 until the stacking of a layer of to-be-stacked pipes 1 is completed.

[0070] Step S5: continue to separate the adjacent to-be-stacked pipes 1 in the first horizontal direction above the previous stacked layer, and continue to repeat steps S1-S4 until the stacking of multiple layers of to-be-stacked pipes 1 is completed.

[0071] Specifically, in step S1, the to-be-stacked pipe 1 is accurately positioned by aligning the assembly with the fifth linear drive, and the posture of the handle 16 is accurately adjusted and fixed by the pushing assembly 31. In step S2, the clamping action of the clamping jaw 5 and the pressing action of the pressing drive assembly are performed synchronously, and the to-be-stacked pipe 1 is stably clamped by the adsorption force of the magnetic attraction member and the elastic pressure of the profiling member 55, so that the posture of the to-be-stacked pipe 1 and the handle 16 is stable during the carrying process. In step S3, the gravity is used to realize the automatic sliding positioning of the collar 14 cooperating with the bottom disc 11, without the need for an additional driving mechanism, thereby simplifying the operation process and improving the efficiency. In step S4, the pre-separation of the insertion rod 22 provides a clear positioning reference for the placement of the to-be-stacked pipe 1, so that the spacing between the adjacent to-be-stacked pipes 1 is uniform, thereby improving the neatness of single-layer stacking. In step S5, the lifting action of the insertion rod 22 after the completion of each layer of stacking provides stable separation and support for the previous layer of stacking, avoiding mutual interference between the upper and lower to-be-stacked pipes 1, and at the same time, the verticality and stability of multi-layer stacking are guaranteed by the limiting action of the insertion rod 22.

[0072] In step S3, the making the height of the first end of the to-be-stacked pipe 1 less than the height of the second end further comprises: shaking the to-be-stacked pipe 1 in the height direction and / or the length direction of the to-be-stacked pipe 1.

[0073] The sleeve ring 14 is sleeved on the outer circumferential surface of the pipe to be stacked. Due to machining errors or surface oil stains and other factors, a large frictional resistance may be generated between the sleeve ring 14 and the pipe to be stacked 1. Only relying on the action of gravity may not be able to smoothly move to the position abutting against the base plate 11, and the phenomenon of jamming occurs. The pipe to be stacked 1 is shaken or swung by the mechanical arm 4. The shaking in the height direction can make the sleeve ring 14 generate a vertical inertial component. The inertia is superimposed with the gravity, and the driving force of the sleeve ring 14 moving downward along the axis of the pipe to be stacked 1 is increased. The shaking in the length direction makes the sleeve ring 14 generate a reciprocating inertial force along the axis direction. The inertia can effectively overcome the static friction between the sleeve ring 14 and the pipe to be stacked 1, so that the sleeve ring 14 changes from a static state to a motion state, and starts to move along the axis to the first end. During the shaking process, the magnetic attraction member of the clamping jaw 5 continuously generates an adsorption force, which cooperates with the clamping force of the clamping plate to keep the pipe to be stacked 1 and the clamping jaw 5 relatively static. The profiled part 55 of the pressing driving assembly is always attached to the nut 13 by the elastic pressure of the second elastic member 54, and the handle 16 keeps the horizontal posture unchanged under the action of pressure. The visual detection unit continuously shoots the image of the sleeve ring 14, and uses an image processing algorithm to identify the position coordinates of the sleeve ring 14. When the position coordinates of the sleeve ring 14 no longer change and coincide with the position coordinates of the first end base plate 11, it is determined that the sleeve ring 14 has completed positioning, the shaking action stops, and step S3 is completed.

[0074] In step S4, the sequentially placing the to-be-stacked pipes 1 on the support platform 28 in the first horizontal direction further includes: arranging the axes of the to-be-stacked pipes 1 in a second horizontal direction, and arranging the first ends and the second ends of adjacent to-be-stacked pipes 1 to face opposite directions, and arranging adjacent to-be-stacked pipes 1 in the same layer in a staggered manner along the length direction. The arrangement of the axes of the to-be-stacked pipes 1 in the second horizontal direction is orthogonal to the first horizontal direction, so that the to-be-stacked pipes 1 can be arranged in a matrix manner on the support platform 28. The arrangement of the first ends and the second ends of adjacent to-be-stacked pipes 1 to face opposite directions is based on the symmetrical distribution of the two ends of the to-be-stacked pipes 1, and the staggered arrangement of the two ends is achieved by the alternating facing directions, so as to avoid the stacking of multiple bottom plates 11 in the same vertical direction, thereby reducing the overall height of the single layer stack, and staggering the centers of gravity of adjacent to-be-stacked pipes 1 to improve the stability of the single layer stack. The staggered arrangement along the length direction is achieved by offsetting the axes in the second horizontal direction, so that the length directions of adjacent to-be-stacked pipes 1 are staggered, and the gap space on the support platform 28 is fully utilized, and the space waste caused by the consistent length of the to-be-stacked pipes 1 is avoided. In the actual placing process, the control system first generates a preset arrangement coordinate matrix according to the size of the support platform 28 and the parameters of the to-be-stacked pipes 1, and the matrix includes the center coordinates, the axis direction and the facing direction information of each to-be-stacked pipe 1. When the manipulator 4 carrying the to-be-stacked pipe 1 moves above the support platform 28, the visual positioning unit collects image information of the support platform 28, compares and calibrates with the preset coordinate matrix, and determines the accurate placing position. Subsequently, the manipulator 4 adjusts the posture of the to-be-stacked pipe 1, so that the axis is in the second horizontal direction and the first end faces in the preset direction, and then detects the distance from the placed to-be-stacked pipe 1 by the laser ranging sensor, so that the staggered offset meets the requirements, and finally the to-be-stacked pipe 1 is placed stably on the support platform 28. The insertion rod 22 is driven by the lifting platform 27 to rise to a preset height after the adjacent to-be-stacked pipes 1 are placed, so as to provide a limiting reference for the placement of the next to-be-stacked pipe 1.

[0075] Obviously, the above embodiments are only examples for clearly illustrating the present application, and are not intended to limit the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments cannot be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A palletizing device, characterized in that, The application relates to a pipe stacking device. The pipe stacking device comprises a loading mechanism, a storage mechanism, and a taking and placing mechanism. The loading mechanism comprises a jig and a pushing assembly. The storage mechanism comprises a support, a supporting platform, a limiting rod, a lifting platform, a lifting driving assembly, and a plurality of inserting rods.

2. A palletizing device according to claim 1, characterized in that The taking and placing mechanism comprises a mechanical arm, a clamping jaw, a translation driving assembly, and a pressing driving assembly.

3. The palletizing device according to claim 1, characterized in that: The pushing assembly comprises a first linear driving element, a pushing rod, a second linear driving element, and a pushing element.

4. A palletizing device according to claim 3, characterized in that: The lifting driving assembly comprises a first rotary driving element, a double-output-shaft speed reducer, a driving screw rod, and a screw rod pair.

5. The palletizing device of claim 1, wherein: The double-output-shaft speed reducer and the driving screw rod are provided with a steering box.

6. The palletizing device of claim 1, wherein: The clamping jaw comprises a clamping platform, a first clamping plate, a first elastic element, a second clamping plate, a magnetic element, a second linear driving element, and a retreat plate.

7. The palletizing device of claim 1, wherein: The translation driving assembly is arranged on the clamping platform and is configured as a third linear driving element. The pressing driving assembly is configured as a fourth linear driving element. The first end and the second end of the pipe to be stacked are respectively provided with a bottom disc. The first end of the pipe to be stacked is provided with an external thread. The external thread is sleeved with a nut. The nut is circumferentially provided with a plurality of convex portions. At least one convex portion is rotationally connected with a handle. The handle and the bottom disc are provided with a sleeve ring sleeved on the pipe to be stacked.

8. The palletizing device of claim 1, wherein: The support platform is provided with a through hole suitable for the insertion rod, the size of the insertion rod is not greater than the interval between adjacent to-be-stacked pipes, the first end and the second end of adjacent to-be-stacked pipes in each layer of to-be-stacked pipes face opposite directions, and adjacent to-be-stacked pipes in each layer of to-be-stacked pipes are staggered along the length direction.

9. The palletizing device of claim 1, wherein: The jig is provided with an alignment assembly, which comprises a fifth linear driving element, a push plate and a top plate, the fifth linear driving element is arranged at two ends of the jig respectively, and the push plate is connected to the output end of the fifth linear driving element.

10. A palletizing method characterized by, The to-be-stacked pipes are stacked by using the stacking device according to any one of claims 1-9, which comprises: Step S1: fixing the to-be-stacked pipes, driving the handle of the to-be-stacked pipes to rotate around the axis of the to-be-stacked pipes until the central plane is kept horizontal; Step S2: clamping the to-be-stacked pipes, and pressing the handle of the to-be-stacked pipes to keep the position and angle of the handle relative to the to-be-stacked pipes unchanged; Step S3: making the height of the first end of the to-be-stacked pipes less than the height of the second end until the collar of the to-be-stacked pipes abuts against the bottom disc at the first end; Step S4: separating adjacent to-be-stacked pipes along the first horizontal direction in advance, repeating steps S1-S3, and sequentially placing the to-be-stacked pipes along the first horizontal direction on the support platform until the to-be-stacked pipes in one layer are stacked; Step S5: continuing to separate adjacent to-be-stacked pipes along the first horizontal direction above the last stacked layer, and continuing to repeat steps S1-S4 until the to-be-stacked pipes in multiple layers are stacked.

11. A palletizing method according to claim 10, characterized in that: In step S3, the making the height of the first end of the to-be-stacked pipes less than the height of the second end further comprises: shaking the to-be-stacked pipes along the height direction and / or the length direction of the to-be-stacked pipes.

12. The palletizing method according to claim 10, characterized in that: In step S4, the sequentially placing the to-be-stacked pipes along the first horizontal direction on the support platform further comprises: making the axis of the to-be-stacked pipes along the second horizontal direction, making the first end and the second end of adjacent to-be-stacked pipes face opposite directions, and making adjacent to-be-stacked pipes in the same layer staggered along the length direction. In step S4, the sequentially placing the to-be-stacked pipes along the first horizontal direction on the support platform further comprises: making the axis of the to-be-stacked pipes along the second horizontal direction, making the first end and the second end of adjacent to-be-stacked pipes face opposite directions, and making adjacent to-be-stacked pipes in the same layer staggered along the length direction.

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