A stacking system and method for stacking special-shaped plates

Abstract

The application is a kind of stacking system and method suitable for special-shaped plate, belonging to the field of stacking equipment, and the technical scheme is as follows: a kind of stacking system suitable for special-shaped plate, comprising two groups of beating devices, the beating device comprises a mounting beam, at least two longitudinal beating units and at least one transverse beating unit are movably installed on the mounting beam, the longitudinal beating unit and the transverse beating unit both comprise a telescopic assembly, the telescopic direction of the telescopic assembly is arranged along the transverse direction, and the telescopic end of the telescopic assembly is provided with a beating head. The multiple beating units of the scheme can move in the longitudinal direction, and can also realize large-scale telescoping by themselves, the movement of each beating head is independent of each other; cooperate with the shape and position information of the special-shaped plate preset by the control module, so that each beating unit reaches the preset beating position, cooperate with the plate conveying module and the receiving module to realize automatic continuous stacking, which greatly improves the stacking and transfer efficiency of the special-shaped plate.

Description

Technical Field

[0001] This invention relates to the field of palletizing equipment, and in particular to a palletizing system and method adapted to irregularly shaped sheet materials. Background Technology

[0002] In the field of sheet metal processing technology, palletizing equipment is an important supporting equipment in the upstream processing of sheet metal. It mainly serves the needs of sheet metal storage and transfer after blanking processes such as uncoiling, leveling, laser cutting, blanking press or sway shear, and provides forming parts supply support for downstream large-scale stamping production lines.

[0003] In the automotive manufacturing industry, the demand for palletizing irregularly shaped panels is becoming increasingly prominent, and the technical requirements for palletizing systems are constantly rising. Automotive exterior body panels are a major application scenario for irregularly shaped panels. These panels are characterized by their complex and varied shapes and large dimensional differences, such as fenders and side panels. Not only are their outlines irregular, but they also often involve dual-piece production from a single mold or multiple pieces produced on the same line. This requires palletizing systems capable of simultaneously handling panels of multiple specifications and shapes, achieving precise positioning and orderly stacking of different panels.

[0004] Existing stacking equipment typically uses a tapping step to ensure the consistency of stacked sheets. However, the tapping structure in existing sheet stacking equipment is usually planar, as in patent CN203679081U, where the tapping structure is adapted to the straight edges of the sheet and is generally used for regular rectangular sheets. For irregularly shaped sheets, patent CN206265877U provides a tapping device for stacking irregularly shaped sheets. While applicable to irregularly shaped sheets, it still requires a single plane as a reference, and the tapping heads in the other three directions move synchronously, making it difficult to adapt to sheets with curved edges and high irregularity, such as those used for car doors and fenders. Summary of the Invention

[0005] This invention addresses the problem that the patting structure in current sheet metal palletizing equipment is difficult to adapt to irregularly shaped sheets with curved edges, and provides a palletizing system that is compatible with irregularly shaped sheets.

[0006] To solve the above problems, the technical solution adopted by the present invention is a palletizing system adapted to irregularly shaped sheet materials, including a mounting bracket. A sheet material conveying module and a tapping module are mounted on the mounting bracket. A lifting and lowering receiving module is provided below the mounting bracket. The sheet material is conveyed longitudinally. The tapping module includes two sets of tapping devices, which are arranged laterally on both sides of the sheet material conveying module. Each tapping device includes a longitudinally arranged mounting beam. At least two longitudinal tapping units and at least one transverse tapping unit are movably mounted on the mounting beam. Both the longitudinal and transverse tapping units include telescopic components. The telescopic components extend in the following directions... The telescopic assembly is arranged laterally, and its telescopic end is provided with a striking head; in the longitudinal striking unit, the striking head is disposed on the side of the telescopic end of the telescopic assembly, and the striking heads of the two longitudinal striking units are arranged opposite each other in the longitudinal direction; in the transverse striking unit, the striking head is disposed on the front end face of the telescopic end of the telescopic assembly, and in the two sets of striking devices, the striking heads of the two longitudinal striking units are arranged opposite each other in the transverse direction; it also includes a control module, which is used to control the moving position of each of the longitudinal striking units and the transverse striking units on the mounting beam and the telescopic stroke of each telescopic assembly according to the shape information of different irregular plates. The patting module of this solution includes multiple patting units, which can move longitudinally and also extend and retract significantly, allowing the patting head to reach any position in the plane. The movement of each patting head is independent, greatly improving the accessibility to irregularly shaped sheets. With the control module pre-setting the shape and position information of the irregularly shaped sheets, each patting unit reaches the preset patting position. Together with the sheet conveying module and receiving module, automatic continuous stacking is achieved, greatly improving the stacking and transfer efficiency of irregularly shaped sheets.

[0007] As a preferred implementation of a palletizing system adaptable to irregularly shaped sheet materials, the mounting bracket includes two longitudinal support beams, with multiple transverse support beams between the two longitudinal support beams. The sheet material conveying module includes multiple belt conveyor devices, each belt conveyor device including a belt frame. The belt frame is movably mounted on the transverse support beams and can move laterally. A drive pulley and a driven pulley are respectively mounted at both ends of the belt frame, and a belt is mounted around both the drive pulley and the driven pulley. An electromagnet device is located in the middle of the belt frame, and the magnetic surface of the electromagnet device abuts against the lower horizontal section of the belt, enabling the sheet material to be attracted to the bottom surface of the belt. The control module is also used to control the multiple belt conveyor devices to move laterally to a set position according to the shape information of different irregularly shaped sheets. The belt conveyor can move flexibly laterally, and the control module can adjust the belt spacing according to the shape and size of the irregularly shaped sheet material, adapting to sheets of different widths and weight distributions. This avoids the problems of sheet material deviation or uneven force caused by unsuitable spacing in traditional fixed belts. At the same time, the electromagnet device indirectly fixes the sheet material by adsorbing the lower horizontal section of the belt, which not only ensures the stability of the sheet material during longitudinal conveying and prevents irregularly shaped sheets from slipping or tilting, but also quickly cuts off the power and releases the sheet material when it reaches the receiving position, avoiding scratches or adsorption residue on the sheet material surface and protecting the appearance and performance of the sheet material. In addition, multiple belt conveyor devices are independently adjustable, which can optimize the belt support position according to the weight distribution of irregularly shaped sheets, reducing deformation during sheet material conveying, and is especially suitable for thin-walled and easily deformable sheets.

[0008] As a preferred implementation of a palletizing system adapted to irregularly shaped sheet metal, racks are installed on the support beams at both ends in the longitudinal direction. First drive gears are respectively provided at the top of both ends of the belt frame. The first drive gears mesh with the racks, and the two first drive gears are concentrically fixedly connected by a first through shaft. The first through shaft is connected to a first drive motor, which is electrically connected to the control module. A first guide rail assembly is also provided between the belt frame and the support beams. A splined shaft is also provided on the support beams, and the splined shaft is connected to a third drive motor. The center of the drive pulley has a splined hole that slides with the splined shaft. The through-shaft drive system ensures that the first drive gears at both ends of the belt frame rotate synchronously, guaranteeing balanced force and a smooth trajectory during lateral movement. This avoids frame offset caused by unilateral drive, improves the accuracy of belt spacing adjustment, and thus ensures the straightness of sheet material conveying. The first guide rail assembly further restricts the direction of belt frame movement, reducing swaying during lateral adjustment and enhancing the stability of the device. The sliding fit design between the spline shaft and the drive pulley ensures uninterrupted power transmission from the third drive motor to the drive pulley during lateral movement of the belt frame, without affecting belt spacing adjustment. This achieves synergy between adjustable conveying position and continuous power transmission, avoiding the need to stop and disconnect power during traditional conveying devices, thus ensuring the continuity of sheet material conveying. Simultaneously, the high precision and low wear of the gear and rack transmission, combined with the linkage between the motor and control module, enables precise belt positioning with errors controlled within a small range, further improving the accuracy of conveying irregularly shaped sheets and subsequent stacking.

[0009] As a preferred implementation of a palletizing system adapted to irregularly shaped sheet materials, the top of both ends of the mounting beam is provided with connecting brackets, the upper end of the connecting bracket is provided with a second drive gear, and on the same mounting beam, the two second drive gears are coaxially fixedly connected by a second through shaft, the second through shaft is connected to a second drive motor, and the second drive gear meshes with the rack; a second guide rail assembly is also provided between the connecting bracket and the bracket crossbeam. The second drive gears at both ends of the mounting beam rotate synchronously, ensuring overall stability as the mounting beam moves longitudinally. This prevents positional shifts in the striking units caused by asynchronous movement at both ends, guaranteeing the positioning accuracy of the striking head on irregularly shaped sheets. The second through shaft enables synchronous power transmission between the two ends of the mounting beam, reducing mechanical transmission errors. Especially when adjusting the longitudinal positions of the longitudinal and transverse striking units, it accurately matches the longitudinal contour of the irregularly shaped sheet, preventing striking position deviations. The second guide rail assembly guides and limits the movement of the connecting bracket, reducing vibration and swaying during the movement of the mounting beam, improving the stability of the striking module, and thus ensuring the consistency and reliability of the striking action. Furthermore, this drive structure operates on the same principle as the belt conveyor, facilitating equipment maintenance and spare parts standardization, reducing enterprise spare parts management costs. Simultaneously, the linkage between the motor and control module enables automated and precise control of the mounting beam position, eliminating the need for manual adjustment and further improving the system's automation level and production efficiency.

[0010] As a preferred implementation of a palletizing system adapted to irregularly shaped sheet materials, the receiving module includes a lifting device and a trolley transfer device. The lifting device is located directly below the sheet material conveying module and is used to support the trolley. The trolley transfer device includes two ground rails that extend laterally and are parallel to each other. The lifting device is located between the two ground rails and in the middle of the ground rails in the lateral direction. The trolley is mounted on the two ground rails and can run along them. A trolley is provided at each end of the ground rails. The top surface of the lifting device is provided with a positioning pin, and the bottom surface of the trolley is provided with a positioning hole that matches the positioning pin. The pallet trolleys at both ends of the ground rail can operate alternately: while one pallet trolley is receiving stacked materials on the lifting device, the other pallet trolley can unload the stacked material or wait in the transfer area. After the current pallet trolley finishes stacking, the lifting device lowers and returns it to the ground rail, and the other pallet trolley quickly moves above the lifting device, achieving seamless connection between stacking and transfer. This avoids production line downtime caused by transfer in traditional single-trolley designs, significantly improving overall production line efficiency. The positioning pins on the top surface of the lifting device cooperate with the positioning holes on the bottom surface of the pallet trolley for quick and accurate positioning. The material tray trolley ensures a fixed relative position between the trolley and the sheet material conveying module and the tapping module, preventing misalignment of the sheet material stacking caused by trolley deviation and improving stacking accuracy. The floor rail extends laterally, ensuring a fixed trolley movement trajectory and smooth operation, reducing the risk of material shaking and scattering during transport, especially suitable for irregularly shaped sheets that are prone to tipping over after stacking. Furthermore, the lifting device can adjust the lifting height in real time according to the stacking height, working in conjunction with the tapping module to ensure each sheet material is positioned at the optimal tapping position, further guaranteeing the neatness and consistency of the stack.

[0011] As a preferred implementation of a palletizing system adaptable to irregularly shaped sheet materials, the system comprises n transverse tapping units and 2n longitudinal tapping units; each pair of longitudinal tapping units corresponds to one transverse tapping unit, with the transverse tapping unit located between the corresponding two longitudinal tapping units, and the tapping heads of the two longitudinal tapping units positioned opposite each other. For symmetrically cut and synchronously unloaded batches of sheet materials, multiple sets of transverse and longitudinal tapping units can simultaneously tap and straighten the batches of sheet materials, enabling synchronous transfer, optimizing production cycle time, and improving production efficiency.

[0012] As a preferred implementation of a palletizing system adaptable to irregularly shaped sheet metal, the telescopic component has a sliding base at its telescopic end. The striking head is slidably mounted on the sliding base and can slide vertically. A position sensor is provided on the sliding base, and a stop block is installed on the striking head. The position sensor is used to detect the position of the stop block. When the striking head naturally descends to its lowest point, the stop block is located below the position sensor. When the striking head rises, the stop block blocks and triggers the position sensor. The position sensor is electrically connected to the control module and is used to lock the receiving module. The striking head can slide vertically along the sliding base. When the receiving module experiences positional deviation or abnormal lifting, the striking head will be lifted upwards to avoid damage to the striking head or receiving module caused by rigid collisions, thus providing mechanical protection. The cooperation between the position sensor and the stop block can monitor the vertical position of the striking head in real time. When the striking head is abnormally lifted, the stop block triggers the position sensor, and the control module immediately locks the receiving module, forming double protection to prevent equipment damage and production accidents, and improving system safety.

[0013] As a preferred implementation of a palletizing system adapted to irregularly shaped sheet materials, the tapping head is a vertically arranged columnar structure. The outer peripheral surface of the tapping head includes an arc-shaped part and a flat part. The arc-shaped part has an arc greater than 180 degrees and contacts the edge of the sheet material. The flat part is a mounting surface and is connected to the telescopic component. The face section ensures a secure connection between the striking head and the telescopic component, preventing the striking head from loosening or falling off during striking and improving structural reliability. The curved face section contacts the edge of the sheet material, with an arc greater than 180 degrees, allowing contact with the sheet material in all directions. This avoids scratches and indentations caused by traditional sharp striking heads, making it particularly suitable for automotive exterior panels with high surface precision requirements or easily deformable new sheet materials, protecting the sheet material's appearance and performance. Simultaneously, the curved design of the face section provides guidance, smoothly guiding the sheet material back into position when striking irregular edges of shaped sheets, reducing striking failures caused by edge jamming and improving positioning efficiency. Furthermore, the vertically positioned columnar striking head ensures stable force direction during striking, preventing force deviation caused by irregular head structure and ensuring even force transmission to the sheet material, further improving positioning accuracy. The columnar structure is also simple to manufacture, low in cost, and facilitates mass production and spare parts replacement, reducing equipment maintenance costs for enterprises.

[0014] On the other hand, the present invention also provides a method for stacking irregularly shaped sheet metal, comprising the following steps:

[0015] S1. The shape of the board is selected by the control module. The control module controls the action of the longitudinal and transverse striking units so that their respective striking heads are in the set position. The belt conveyor is controlled to move to the set position. A material tray trolley moves to the top of the lifting device. The lifting device lifts the material tray trolley to the bottom of the belt conveyor.

[0016] S2. The electromagnet device is activated, one end of the belt conveyor receives the sheet metal, the sheet metal is attracted to the bottom of the belt by the electromagnet device, the belt runs and transports the sheet metal to the top of the material tray trolley, the electromagnet device is de-energized and demagnetized, and the sheet metal falls onto the material tray trolley.

[0017] S3. The telescopic component of the transverse striking unit extends by a set distance, the longitudinal striking unit moves by a set distance along the mounting beam, the striking head pushes the sheet metal to the standard position, then the longitudinal striking unit and the transverse striking unit reset, and the lifting device lowers by one unit height;

[0018] S4. Repeat steps S2 and S3, and calculate the number of actions of the longitudinal and transverse striking units. After reaching the set number of actions, the lifting device lowers and places the material tray trolley on the ground rail. The material tray trolley then moves to one end of the ground rail.

[0019] Preferably, in step S1, the actions of the longitudinal striking unit and the transverse striking unit include longitudinal movement along the mounting beam and / or extension and retraction of the telescopic component; the set positions of the longitudinal striking unit and the transverse striking unit are: the distance between the striking head and the edge position of the plate when it is in the standard position is 5-10cm; the set positions of the multiple belt conveyor devices are adapted to the weight distribution of the plate in the transverse direction.

[0020] In step S1, the control module automatically adjusts the positions of the striking unit and the belt conveyor according to the shape of the sheet material, eliminating the need for manual adjustment and reducing production preparation time. The 5-10cm distance between the striking head and the edge of the sheet material prevents collisions during transport and ensures rapid force application during striking, improving positioning efficiency. The belt conveyor's position adapts to the weight distribution of the sheet material, reducing deformation during transport and protecting its quality. In step S2, an electromagnet device is used for attraction and transport, ensuring the stability of irregularly shaped sheet material transport and preventing slippage. Power-off release is quick and precise, without affecting subsequent stacking rhythm. In step S3, the striking unit resets synchronously with the lifting device. The lifting device lowers by one unit height to ensure consistent stacking height for each sheet material, preventing uneven stacking and improving stack neatness. Step S4 calculates the stacking quantity by the number of actions, eliminating the need for manual counting and reducing human error. The dual-panel trolleys work alternately to ensure rapid transfer after stacking, enabling continuous production. The entire method is fully automated, requiring no manual intervention and significantly improving production efficiency. It is also compatible with switching between multiple specifications and irregular shapes of sheet materials, requiring only the replacement of the sheet material shape parameters through the control module. This high flexibility meets the production needs of the automotive industry for multiple models and rapid iterations.

[0021] As can be seen from the above technical solutions, the beneficial effects of this invention are as follows: Firstly, by using a multi-unit movable and independently controllable striking module, combined with the pre-set irregular sheet material shape information in the control module, the striking head can cover any position in the plane, solving the contact blind spot problem of traditional fixed striking structures for irregular sheet materials. Simultaneously, the belt conveyor can flexibly adjust the spacing laterally to adapt to sheets of different widths and weight distributions, avoiding conveying deviation and uneven force distribution. Especially for thin-walled, easily deformable sheets, it can optimize the support position to reduce deformation, significantly improving the positioning and conveying accuracy of irregular sheet materials. Secondly, the dual-panel trolley and lifting device work together to achieve alternating operations, seamlessly connecting stacking and transfer. Combined with spline shaft transmission, it ensures uninterrupted belt conveying power, avoiding production interruptions caused by traditional single-station or machine stop adjustments. Simultaneously, the lifting... The device can adjust its height in real time to ensure that each sheet is in the optimal striking position, significantly improving the overall production line efficiency. Thirdly, the vertical sliding design of the striking head and the position sensor form a dual protection of "mechanical protection + electronic locking" to avoid equipment collisions when the receiving module malfunctions. The curved surface structure can prevent scratches on the sheet edges, making it suitable for automotive exterior body panels with high surface precision requirements, thus improving system safety and sheet quality protection capabilities. Fourthly, the unified drive structure principle facilitates spare parts management, reducing spare parts costs for enterprises. The palletizing method is fully automated, and changing sheet only requires changing the control module parameters without manual intervention, meeting the flexible production needs of the automotive industry for multiple models and rapid iterations. At the same time, the use of action count to replace manual counting reduces human error and further ensures stacking quality and production stability. Attached Figure Description

[0022] To more clearly illustrate the technical solution of this patent, the drawings used in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this patent. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 This is a structural schematic diagram of a specific embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the structure of the sheet material conveying module and the tapping module in a specific embodiment of the present invention.

[0025] Figure 3 for Figure 2 Enlarged view of point A in the middle.

[0026] Figure 4 This is a schematic diagram of the structure of the active pulley in a specific embodiment of the present invention.

[0027] Figure 5 This is a schematic diagram of the slapping unit in a specific embodiment of the present invention.

[0028] Figure 6 This is a schematic diagram of the structure of the second drive motor in a specific embodiment of the present invention.

[0029] Figure 7 This is a schematic diagram of the belt conveyor device in a specific embodiment of the present invention.

[0030] Explanation of main figure symbols

[0031] 01. Mounting bracket, 02. Sheet material conveying module, 03. Tapping module, 04. Receiving module, 1. Mounting beam, 2. Longitudinal tapping unit, 3. Transverse tapping unit, 4. Tapping head, 41. Curved surface, 42. Flat surface, 5. Support longitudinal beam, 6. Support crossbeam, 7. Belt conveyor device, 71. Belt frame, 72. Driving pulley, 73. Driven pulley, 74. Belt, 8. Electromagnet device, 9. Rack, 10. First 11. Drive gear, 12. First through shaft, 13. First drive motor, 14. First guide rail assembly, 15. Connecting bracket, 16. Second drive gear, 17. Second through shaft, 18. Second drive motor, 19. Second guide rail assembly, 20. Lifting device, 21. Material tray trolley, 22. Ground rail, 23. Position sensor, 24. Stop, 25. Splined shaft, 26. Third drive motor, 27. Telescopic assembly, 28. Slide. Detailed Implementation

[0032] To make the objectives, features, and advantages of this patent more apparent and understandable, the technical solutions of this patent will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this patent, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0033] Example 1

[0034] like Figure 1 As shown, a stacking system adapted to irregularly shaped sheet materials includes a mounting bracket 01, which consists of two longitudinal support beams 5 and multiple transverse support beams 6 connecting the two. A sheet material conveying module 02 and a tapping module 03 are mounted on the upper part of the mounting bracket, and a liftable receiving module 04 is provided below.

[0035] The sheet metal conveying module 02 includes multiple belt conveyor devices 7, each with a belt frame 71. The belt frame 71 is movably mounted on the support beam 6 via a first guide rail assembly 13 and can move laterally. A drive pulley 72 and a driven pulley 73 are respectively mounted at both ends of the belt frame 71, both surrounding a belt 74. An electromagnet device 8 is also provided in the middle of the belt frame 71, whose magnetic surface abuts against the lower horizontal section of the belt 74 to attract the sheet metal. Racks 9 are mounted on the support beam 6 at both ends in the longitudinal direction. First drive gears 10 at the top of both ends of the belt frame 71 mesh with the racks 9. The two first drive gears 10 are concentrically fixedly connected via a first through shaft 11 and connected to a first drive motor 12, which is electrically connected to the control module. Simultaneously, a splined shaft 24 is provided on the support beam 6, which is connected to a third drive motor 25 and slides in cooperation with the splined hole at the center of the drive pulley 72.

[0036] The tapping module 03 includes two sets of tapping devices arranged laterally on both sides of the sheet material conveying module 02. Each set of tapping devices includes a longitudinally arranged mounting beam 1. The connecting brackets 14 at the top of both ends of the mounting beam 1 are connected to the support beam 6 via the second guide rail assembly 18. The second drive gear 15 at the upper end of the connecting bracket 14 meshes with the rack 9. The two second drive gears 15 on the same mounting beam 1 are coaxially fixedly connected via the second through shaft 16 and connected to the second drive motor 17. 2n longitudinal tapping units 2 and n transverse tapping units 3 are movably mounted on the mounting beam 1. Every two longitudinal tapping units 2 correspond to one transverse tapping unit 3, with the latter located between the two. Both the longitudinal tapping unit 2 and the transverse tapping unit 3 include a telescopic component 26 that extends and retracts laterally. The telescopic end of the telescopic component 26 is provided with a tapping head 4. The striking heads 4 of the longitudinal striking unit 2 are located on the side of the telescopic end and are arranged opposite each other longitudinally. The striking heads 4 of the transverse striking unit 3 are located on the front end face of the telescopic end. In the two sets of striking devices, the striking heads 4 of the longitudinal striking unit 2 are also arranged opposite each other transversely. In addition, the telescopic end of the telescopic assembly 26 is provided with a slide 27. The striking heads 4 are vertically slidably mounted on the slide 27. The slide 27 is provided with a position sensor 22. The striking heads 4 are equipped with a stop 23. The position sensor 22 is electrically connected to the control module to lock the receiving module 04. The striking head 4 has a vertical cylindrical structure. Its outer peripheral surface includes an arc portion 41 with an arc greater than 180 degrees and a flat portion 42. The arc portion 41 is used to contact the edge of the plate, and the flat portion 42 is used to connect to the telescopic assembly 26.

[0037] The receiving module 04 consists of a lifting device 19 and a trolley transfer device. The lifting device 19 is located directly below the sheet material conveying module 02 and between the two parallel transverse ground rails 21 of the trolley transfer device. In the transverse direction, the lifting device 19 is located in the middle of the ground rail 21. The lifting device 19 is used to support the material tray trolley 20. Its top surface is provided with a positioning pin. The positioning hole on the bottom surface of the material tray trolley 20 is adapted to the positioning pin. The material tray trolley 20 can run along the ground rail 21. There is a material tray trolley 20 at each end of the ground rail 21.

[0038] The system also includes a control module, which can control the movement position of the longitudinal striking unit 2 and the transverse striking unit 3 on the mounting beam 1 and the extension stroke of the telescopic component 26 according to the shape information of the irregular plate, and at the same time control multiple belt conveyor devices 7 to move laterally to the set position.

[0039] Example 2

[0040] Based on the palletizing system provided in Embodiment 1, this embodiment further provides a palletizing method for irregularly shaped sheet metal, including the following steps:

[0041] S1. The shape of the sheet material is selected by the control module. The control module controls the action of the longitudinal striking unit 2 and the transverse striking unit 3, so that their respective striking heads 4 are in the set position. The belt conveyor 7 is controlled to move to the set position. A material tray trolley 20 moves above the lifting device 19. The lifting device 19 lifts the material tray trolley 20 to below the belt conveyor 7. The action of the longitudinal striking unit 2 and the transverse striking unit 3 includes longitudinal movement along the mounting beam 1 and / or extension and retraction of the telescopic component 26. The set position of the longitudinal striking unit 2 and the transverse striking unit 3 is: the distance between the striking head 4 and the edge position of the sheet material when it is in the standard position is 5-10cm. The set positions of the multiple belt conveyors 7 are adapted to the weight distribution of the sheet material in the transverse direction.

[0042] S2. The electromagnet device 8 is activated, one end of the belt conveyor device 7 receives the plate, the plate is attracted to the bottom surface of the belt 74 by the electromagnet device 8, the belt 74 runs and conveys the plate to the top of the material tray trolley 20, the electromagnet device 8 is de-energized and demagnetized, and the plate falls onto the material tray trolley 20.

[0043] S3. The telescopic component 26 of the transverse striking unit 3 extends a set distance, the longitudinal striking unit 2 moves a set distance along the mounting beam 1, the striking head 4 pushes the sheet to the standard position, then the longitudinal striking unit 2 and the transverse striking unit 3 reset, and the lifting device 19 descends by one unit height;

[0044] S4. Repeat steps S2 and S3, and calculate the number of actions of the longitudinal striking unit 2 and the transverse striking unit 3. After reaching the set number of actions, the lifting device 19 lowers and places the material tray trolley on the ground rail 21, and the material tray trolley 20 moves to one end of the ground rail 21.

[0045] As can be seen from the above embodiments, the advantages of this invention are as follows: By using a multi-unit movable and independently controllable striking module, combined with the pre-set irregular sheet material shape information in the control module, the striking head can cover any position in the plane, solving the contact blind spot problem of traditional fixed striking structures for irregular sheet materials. Simultaneously, the belt conveyor can flexibly adjust the spacing laterally to adapt to sheets with different widths and weight distributions, avoiding conveying deviation and uneven force distribution. Especially for thin-walled, easily deformable sheets, it can optimize the support position to reduce deformation, significantly improving the positioning and conveying accuracy of irregular sheet materials. Secondly, the dual-panel trolley and lifting device work together to achieve alternating operations, seamlessly connecting stacking and transfer. Combined with spline shaft drive, it ensures uninterrupted belt conveying power, avoiding production interruptions caused by traditional single-station or machine stop adjustments. Simultaneously, the lifting... The device can adjust its height in real time to ensure that each sheet is in the optimal striking position, significantly improving the overall production line efficiency. Thirdly, the vertical sliding design of the striking head and the position sensor form a dual protection of "mechanical protection + electronic locking" to avoid equipment collisions when the receiving module malfunctions. The curved surface structure can prevent scratches on the sheet edges, making it suitable for automotive exterior body panels with high surface precision requirements, thus improving system safety and sheet quality protection capabilities. Fourthly, the unified drive structure principle facilitates spare parts management, reducing spare parts costs for enterprises. The palletizing method is fully automated, and changing sheet only requires changing the control module parameters without manual intervention, meeting the flexible production needs of the automotive industry for multiple models and rapid iterations. At the same time, the use of action count to replace manual counting reduces human error and further ensures stacking quality and production stability.

[0046] The above description of the disclosed embodiments enables those skilled in the art to implement or use this patent. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this patent. Therefore, this patent is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A palletizing system adapted to irregularly shaped sheet metal, comprising a mounting bracket (01), wherein a sheet metal conveying module (02) and a tapping module (03) are mounted on the mounting bracket (01), and a lifting and lowering receiving module (04) is provided below the mounting bracket (01), characterized in that: Assuming the sheet material is conveyed longitudinally, the patting module (03) includes two patting devices, which are arranged laterally on both sides of the sheet material conveying module (02). The patting device includes a longitudinally arranged mounting beam (1), on which at least two longitudinal patting units (2) and at least one transverse patting unit (3) are movably mounted. Both the longitudinal patting unit (2) and the transverse patting unit (3) include a telescopic component (26), which is arranged laterally. The telescopic component (26) has a patting head (4) at its telescopic end. In the longitudinal striking unit (2), the striking head (4) is disposed on the side of the telescopic end of the telescopic component (26), and the striking heads (4) of the two longitudinal striking units (2) are disposed opposite to each other in the longitudinal direction; in the transverse striking unit (3), the striking head (4) is disposed on the front end face of the telescopic end of the telescopic component (26), and in the two sets of striking devices, the striking heads (4) of the two longitudinal striking units (2) are disposed opposite to each other in the transverse direction; It also includes a control module, which is used to: control the moving position of each of the longitudinal striking units (2) and the transverse striking units (3) on the mounting beam (1) and the telescopic stroke of each telescopic component (26) according to the shape information of different irregular plates; The telescopic component (26) has a sliding seat (27) at its telescopic end. The striking head (4) is slidably mounted on the sliding seat (27) and can slide vertically. The sliding seat (27) is equipped with a position sensor (22). The striking head (4) is equipped with a stop block (23). The position sensor (22) is used to detect the position of the stop block (23). When the striking head (4) naturally descends to the lowest point, the stop block (23) is located below the position sensor (22). When the striking head (4) rises, the stop block (23) blocks and triggers the position sensor (22). The position sensor (22) is electrically connected to the control module and is used to lock the receiving module (04). The striking head (4) is a vertically arranged columnar structure. The outer peripheral surface of the striking head (4) includes an arc-shaped part (41) and a flat part (42). The arc of the arc-shaped part (41) is greater than 180 degrees. The arc-shaped part (41) contacts the edge of the plate and can contact the plate in all directions. It can avoid scratches and indentations caused by the sharp striking head to the edge of the plate. It is suitable for automotive exterior panels or easily deformable plates with high surface precision requirements, protecting the appearance and performance of the plate. The arc-shaped design of the arc-shaped part has a certain guiding effect. When striking the irregular edge of the irregular plate, it can guide the plate to return to its position through the smooth contact of the arc-shaped surface, reducing the striking failure caused by edge jamming and improving the positioning efficiency. The vertically arranged columnar striking head has a stable force direction when striking, avoiding force deviation caused by the irregular structure of the striking head, and ensuring that the striking force is evenly transmitted to the plate. The flat part is the mounting surface and is connected to the telescopic component (26).

2. The palletizing system for irregularly shaped sheet metal according to claim 1, characterized in that, The mounting bracket (01) includes two longitudinal beams (5), and multiple crossbeams (6) are provided between the two longitudinal beams (5). The plate conveying module (02) includes multiple belt conveying devices (7). The belt conveying device (7) includes a belt frame (71). The belt frame (71) is movably mounted on the crossbeams (6) and can move in the lateral direction. The two ends of the belt frame (71) are respectively equipped with a drive pulley (72) and a driven pulley (73). A belt (74) is installed around the drive pulley (72) and the driven pulley (73). An electromagnet device (8) is provided in the middle of the belt frame (71). The magnetic surface of the electromagnet device (8) is close to the lower horizontal section of the belt (74) and can attract the plate to the bottom surface of the belt (74). The control module is also used to: control multiple belt conveyor devices to move laterally to a set position corresponding to the shape information of different irregular plates.

3. The palletizing system for irregularly shaped sheet metal according to claim 2, characterized in that, In the longitudinal direction, racks (9) are installed on the support beams (6) at both ends. The top of both ends of the belt frame (71) are respectively provided with first drive gears (10). The first drive gears (10) mesh with the racks (9). The two first drive gears (10) are concentrically fixedly connected by a first through shaft (11). The first through shaft (11) is connected to a first drive motor (12). The first drive motor (12) is electrically connected to the control module. A first guide rail assembly (13) is also provided between the belt frame (71) and the support beams (6). The support beam (6) is also provided with a spline shaft (24), the spline shaft (24) is connected to a third drive motor (25), and the center of the drive pulley (72) is provided with a spline hole and slides in cooperation with the spline shaft (24).

4. The palletizing system for irregularly shaped sheet metal according to claim 3, characterized in that, The top of both ends of the mounting beam (1) is provided with connecting brackets (14), and the upper end of the connecting bracket (14) is provided with a second drive gear (15). On the same mounting beam (1), the two second drive gears (15) are coaxially fixedly connected by a second through shaft (16). The second through shaft (16) is connected to a second drive motor (17). The second drive gear (15) meshes with the rack (9). A second guide rail assembly (18) is also provided between the connecting bracket (14) and the bracket crossbeam (6).

5. The palletizing system for irregularly shaped sheet metal according to claim 1, characterized in that, The receiving module (04) includes a lifting device (19) and a trolley transfer device. The lifting device (19) is located directly below the sheet material conveying module (02) and is used to support the tray trolley (20). The trolley transfer device includes two ground rails (21) that extend in the lateral direction and are parallel to each other. The lifting device (19) is located between the two ground rails (21). In the lateral direction, the lifting device (19) is located in the middle of the ground rails (21). The tray trolley (20) is set on the two ground rails (21) and can run along the ground rails (21). Each end of the ground rail (21) is provided with a tray trolley (20). The top surface of the lifting device (19) is provided with a positioning pin, and the bottom surface of the tray trolley (20) is provided with a positioning hole that matches the positioning pin.

6. The palletizing system for irregularly shaped sheet metal according to claim 1, characterized in that, There are n transverse striking units (3) and 2n longitudinal striking units (2); each pair of longitudinal striking units (2) corresponds to one transverse striking unit (3), and the transverse striking unit (3) is located between the corresponding two longitudinal striking units (2), with the striking heads (4) of the two longitudinal striking units (2) arranged opposite to each other.

7. A method for stacking irregularly shaped sheet metal, characterized in that, The method of using the palletizing system for adapting irregularly shaped sheet metal as described in any one of claims 1-6 includes the following steps: S1. Select the shape of the board through the control module, control the longitudinal striking unit (2) and the transverse striking unit (3) to move their respective striking heads (4) to the set position, control the belt conveyor (7) to move to the set position; a material tray trolley (20) moves to the top of the lifting device (19), and the lifting device (19) lifts the material tray trolley (20) to the bottom of the belt conveyor (7); S2. The electromagnet device (8) is started, one end of the belt conveyor (7) receives the plate, the plate is attracted by the electromagnet device (8) to the bottom surface of the belt (74), the belt (74) runs, and the plate is transported to the top of the material tray trolley (20). The electromagnet device (8) is de-energized and demagnetized, and the plate falls onto the material tray trolley (20). S3. The telescopic component (26) of the transverse striking unit (3) extends a set distance, the longitudinal striking unit (2) moves a set distance along the mounting beam (1), the striking head (4) pushes the sheet to the standard position, and then the longitudinal striking unit (2) and the transverse striking unit (3) reset, and the lifting device (19) lowers by one unit height; S4. Repeat steps S2 and S3, and calculate the number of actions of the longitudinal striking unit (2) and the transverse striking unit (3). After reaching the set number of actions, the lifting device (19) lowers and places the material tray trolley on the ground rail (21). The material tray trolley (20) moves to one end of the ground rail (21).

8. The method for stacking irregularly shaped sheet metal according to claim 7, characterized in that, In step S1, the actions of the longitudinal striking unit (2) and the transverse striking unit (3) include longitudinal movement along the mounting beam (1) and / or extension and retraction of the telescopic assembly (26); the set position of the longitudinal striking unit (2) and the transverse striking unit (3) is: the distance between the striking head (4) and the edge position of the plate when it is in the standard position is 5-10cm. The positions of the multiple belt conveyors (7) are adapted to the weight distribution of the plate in the transverse direction.

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