Sheet stacking device with automatic alignment function

Abstract

The invention relates to the technical field of sheet stacking processing equipment, and provides an automatic alignment sheet stacking device which comprises a material taking mechanism, a first rack, a second rack and a circular ring platform, a circular ring sliding rail is arranged on the upper surface of the circular ring platform, and the area, in the circular ring sliding rail, of the circular ring platform is set as a stacking station; the multiple first racks and the multiple second racks are arranged on the annular platform in the circumferential direction of the annular platform at intervals, the first racks and the second racks are alternately distributed, and the second racks are slidably connected to the annular sliding rail; the three key adjustment steps of levelness adjustment of the thin plates to be stacked, centering positioning in the plane and orientation alignment around the vertical axis can be automatically, continuously and synergistically completed by different special tools in one device. Furthermore, the whole stacking process is fully automatic, the problems of experience dependence, low efficiency, contact damage and the like caused by manual operation are eliminated, and finally, the sheet stacking operation efficiency and the stacking quality are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of thin plate stacking equipment technology, and more specifically, to an automatic alignment thin plate stacking device. Background Technology

[0002] In the manufacturing process of electrochemical equipment such as fuel cells, electrolyzers, and flow batteries, it is often necessary to precisely stack a large number of repetitive thin-plate units (such as bipolar plates and membrane electrode assemblies) to construct a system with the required power or capacity. In such stacking assemblies, ensuring the levelness, in-plane alignment, and precise alignment of each thin plate in specific orientations (such as the direction of fluid channels and sealing structures) is crucial for guaranteeing uniform distribution of reactants, reliable sealing, and stable overall performance within the system. Therefore, thin-plate stacking is a core process in the manufacturing of related equipment.

[0003] Currently, in situations where large-scale production is limited or precision requirements are not high, thin-plate stacking operations still primarily rely on manual operation supplemented by simple positioning fixtures. Operators visually determine the position of the thin plates, manually pick them up and place them, and use simple mechanical limiting devices such as stops and pins for rough alignment and stacking. This traditional operation mode has the following prominent drawbacks: First, its stacking accuracy is highly dependent on the operator's skill level and condition, resulting in poor consistency. The centering accuracy is typically only on the order of ±0.5mm, which is insufficient to meet the increasingly demanding precision requirements of high-performance equipment. Second, manual operation of each plate is labor-intensive and inefficient, severely restricting production cycle and capacity improvement. More importantly, during repeated manual handling and adjustments, thin plates (especially those with catalytic layers or made of flexible materials) are easily scratched, deformed, or contaminated, directly affecting product yield and long-term operational reliability. Summary of the Invention

[0004] The technical problem to be solved by this invention is: how to improve the efficiency and quality of thin plate stacking operations.

[0005] This invention provides an automatic alignment and stacking device for thin plates, comprising a material handling mechanism, a first frame, a second frame, and a circular platform, wherein... The upper surface of the circular platform is provided with a circular slide rail. The area of ​​the circular platform within the circular slide rail is set as a stacking station. Multiple first frames and multiple second frames are respectively arranged at intervals along the circumference of the circular platform, and the first frames and second frames are alternately distributed. The second frames are slidably connected to the circular slide rail. The material handling mechanism is used to move the thin plates to be stacked to above the stacking station; The first frame is provided with a first drive assembly, which drives and connects a first crossbeam and a second crossbeam respectively, and is used to drive the second crossbeam to move horizontally and the first crossbeam to move vertically and horizontally respectively. One end of the second crossbeam is used to abut against the side wall of the sheet to be stacked, and one end of the first crossbeam is used to support the lower surface of the sheet to be stacked. The second frame is equipped with a second drive assembly and a detection assembly. The second drive assembly is connected to a third crossbeam. The second drive assembly is used to drive the second frame to slide along the circular slide rail and the third crossbeam to move up and down and horizontally, respectively. One end of the third crossbeam is used to adsorb the upper surface of the sheet to be stacked. The detection assembly is used to obtain the orientation information of the sheet to be stacked.

[0006] Optionally, a first sliding beam box and a second sliding beam box are slidably connected on the first frame in the vertical direction. The first drive assembly includes two sets of first electric ball screw mechanisms arranged vertically and respectively driven and connected to the first sliding beam box and the second sliding beam box, for driving the first sliding beam box and the second sliding beam box to move up and down respectively. The first crossbeam and the second crossbeam are respectively connected to the first sliding beam box and the second sliding beam box.

[0007] Optionally, the first drive assembly further includes two sets of first electric gear rack mechanisms respectively connected to the first slide beam box and the second slide beam box, and respectively driven connected to the first crossbeam and the second crossbeam, for driving the first crossbeam and the second crossbeam to move horizontally respectively.

[0008] Optionally, an electric push rod is vertically provided at one end of the first crossbeam near the axis of the circular platform, and a receiving plate is provided at the top of the electric push rod, the receiving plate being used to support the lower surface of the thin plates to be stacked.

[0009] Optionally, the detection component includes a first rangefinder, a second rangefinder, and a vision camera. The first rangefinder and the vision camera are connected to the top of the second frame and are respectively positioned downwards. The second rangefinder is connected to the middle of the second frame and is positioned towards the axis of the circular platform. The first rangefinder, the second rangefinder, and the vision camera are respectively used to acquire the vertical distance information, side distance information, and alignment information between the sheet to be stacked and the stacking station.

[0010] Optionally, a fourth crossbeam is slidably connected to the top of the second frame, the first rangefinder and the vision camera are connected to the lower end of the fourth crossbeam, and the second drive assembly is driven to the fourth crossbeam to drive the fourth crossbeam to move horizontally.

[0011] Optionally, a third sliding beam box is slidably connected to the second frame in the vertical direction. The second drive assembly includes a vertically arranged second electric ball screw mechanism, which is driven and connected to the third sliding beam box to drive the third sliding beam box to move up and down. The third crossbeam is connected to the third sliding beam box. The second drive assembly also includes a second electric gear and rack mechanism connected to the third sliding beam box and driven and connected to the third crossbeam to drive the third crossbeam to move horizontally. A first electromagnetic chuck is provided at the lower end of the third crossbeam to attract the upper surface of the thin plates to be stacked.

[0012] Optionally, the second drive assembly includes a second motor and a second gear, the second gear being connected to the output shaft of the second motor, the second motor being connected to the bottom end of the second frame, and a ring rack being provided on the outer side wall of the ring platform, with the second gear meshing with the ring rack.

[0013] Optionally, the first frame is slidably connected to the annular slide rail, and the first drive assembly is connected to the annular rack. The first drive assembly is used to drive the first frame to slide along the annular slide rail.

[0014] Optionally, the material handling mechanism includes a third frame, on which a third driving component and a second electromagnetic chuck are mounted. The third driving component is driven to the second electromagnetic chuck and is used to drive the second electromagnetic chuck to move up and down and rotate around the third frame. The second electromagnetic chuck is used to adsorb the upper surface of the sheet metal to be stacked.

[0015] Compared with related technologies, the automatic alignment thin plate stacking device provided by the present invention has the following technical advantages: The automatic alignment and stacking device for thin plates provided by this invention achieves automatic picking and placing from the feeding point to the stacking station by setting up a material handling mechanism for transferring thin plates, replacing manual handling; and by setting up a stacking station in the area within the annular platform, and arranging multiple first frames with first drive components and second frames with second drive components and detection components alternately around it, a distributed, collaborative adjustment and stacking space is constructed. Specifically, the first frame precisely controls the first crossbeam and the second crossbeam respectively through the first drive component, so that the first crossbeam supports the load through vertical and horizontal movement. The lower surface of the thin plates to be stacked is supported, and the plates are leveled through fine-tuning of vertical displacement by multiple first crossbeams. Multiple second crossbeams work together to horizontally abut against the sidewalls of the plates to achieve centering. Simultaneously, a second frame controls the vertical and horizontal movement of a third crossbeam via a second drive assembly to attract the upper surface of the plates to be stacked, and drives the entire second frame to slide along a circular guide rail. Combined with the orientation information of the plates to be stacked obtained by the detection assembly, precise rotational positioning of the plates around the stacking center axis is achieved. Furthermore, the plates are placed at the stacking station by driving the third crossbeam to descend. This allows the three key adjustment steps—leveling, in-plane centering, and orientation alignment around the vertical axis—to be automatically, continuously, and collaboratively completed within a single device by different specialized tooling. Consequently, the entire stacking process is fully automated, eliminating problems such as experience dependence, inefficiency, and contact damage associated with manual operation, ultimately resulting in a significant improvement in the efficiency and quality of thin plate stacking operations. Attached Figure Description

[0016] Figure 1 This is a schematic cross-sectional view of the material handling mechanism according to an embodiment of the present invention; Figure 2 A top view of a portion of the structure of the automatic alignment thin-plate stacking device according to an embodiment of the present invention. Figure 1 ; Figure 3 The material handling mechanism and the embodiment of the present invention Figure 2 A schematic diagram of the cross-sectional structure from the perspective of the middle AA (analogous to ... Figure 4 A top view of a portion of the structure of the automatic alignment thin-plate stacking device according to an embodiment of the present invention. Figure 2 ; Figure 5 for Figure 4 A schematic diagram of the cross-sectional structure from the perspective of the middle BB (Browser-Barrel) section; Figure 6 A top view of a portion of the structure of the automatic alignment thin-plate stacking device according to an embodiment of the present invention. Figure 3 ; Figure 7 for Figure 6 A schematic diagram of the cross-sectional structure from a mid-CC perspective.

[0017] Explanation of reference numerals in the attached figures: 10-Material handling mechanism, 11-Third frame, 12-Second electromagnetic chuck, 13-Fifth crossbeam, 14-Fourth sliding beam box, 15-Third electric ball screw mechanism, 16-Base, 17-Third motor, 18-Gear disc, 19-Third gear, 20-First frame, 21-First crossbeam, 22-Second crossbeam, 23-First sliding beam box, 24-Second sliding beam box, 25-First electric ball screw mechanism, 26-Electric pusher 27-Receiving plate, 28-First motor, 29-First gear, 30-Second frame, 31-Third crossbeam, 32-Fourth crossbeam, 33-Third sliding beam box, 34-Second electric ball screw mechanism, 35-First electromagnetic chuck, 36-Second motor, 37-Second gear, 40-Circular platform, 41-Circular slide rail, 50-Thin plate to be stacked, 61-First rangefinder, 62-Second rangefinder, 63-Vision camera. Detailed Implementation

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0020] In the description of this invention, the orientations or positional relationships indicated by terms such as "up," "down," "left," "right," "top," "bottom," "front," "back," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this invention. They are not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this invention.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or illustrative implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0023] like Figures 1 to 3 As shown, this embodiment of the invention provides an automatic alignment thin plate stacking device, characterized in that it includes a material handling mechanism 10, a first frame 20, a second frame 30, and a circular platform 40, wherein... The upper surface of the annular platform 40 is provided with an annular slide rail 41. The area of ​​the annular platform 40 within the annular slide rail 41 is set as a stacking station. A plurality of first frames 20 and a plurality of second frames 30 are respectively arranged at intervals along the circumferential direction of the annular platform 40, and the first frames 20 and the second frames 30 are alternately distributed. The second frames 30 are slidably connected to the annular slide rail 41. The material handling mechanism 10 is used to move the thin plates 50 to be stacked to the top of the stacking station; The first frame 20 is provided with a first drive assembly, which drives and connects a first crossbeam 21 and a second crossbeam 22 respectively, and is used to drive the second crossbeam 22 to move horizontally and the first crossbeam 21 to move vertically and horizontally respectively. One end of the second crossbeam 22 is used to abut against the side wall of the sheet to be stacked 50, and one end of the first crossbeam 21 is used to support the lower surface of the sheet to be stacked 50. The second frame 30 is provided with a second drive assembly and a detection assembly. The second drive assembly is connected to a third crossbeam 31. The second drive assembly is used to drive the second frame 30 to slide along the circular slide rail 41 and to move the third crossbeam 31 up and down and horizontally, respectively. One end of the third crossbeam 31 is used to adsorb the upper surface of the thin plate 50 to be stacked. The detection assembly is used to obtain the orientation information of the thin plate 50 to be stacked.

[0024] It should be noted that, in this embodiment, a circular thin plate is used as an example, and the stacking station within the annular platform 40 is also a corresponding circular station. Of course, the thin plate 50 to be stacked can also be other shapes, such as regular polygons. During the thin plate stacking process, it is generally necessary to align the thin plate 50 to be stacked with the stacking station. This includes not only the alignment of the outer contour of the shape, but also the complete correspondence of positions such as holes and slots on the thin plate. The detection component can be a sensor component that combines vision and ranging. The orientation information of the thin plate 50 to be stacked obtained by the detection can include the vertical distance information between the thin plate 50 to be stacked and the stacking station, the side distance information, and visual comparison information on whether its holes are aligned. The core of this embodiment is to achieve fully automatic and high-precision posture adjustment of the thin plate before stacking through the division of labor and cooperation between the first frame 20 and the second frame 30. The first frame 20 and its first crossbeam 21 primarily handle the initial receiving and leveling of the thin plates 50 to be stacked. The first crossbeam 21 moves vertically and horizontally, supporting the lower surface of the thin plates 50 to receive them from the material handling mechanism 10. Multiple circumferentially spaced first crossbeams 21 move vertically in coordination to level the thin plates 50. Simultaneously, the horizontal movement of the second crossbeam 22, pushing against the sidewalls of the thin plates 50, completes the centering adjustment. Then, control is transferred to the second frame 30, where the third crossbeam 31 takes over the thin plates 50 via suction. The second frame 30 then slides along the circular slide rail 41, causing the plates to rotate, ultimately achieving alignment based on information obtained from, for example, the visual recognition camera 63. It is worth noting that, as... Figures 1 to 7 The thick solid arrow in the figure indicates the movable trajectory and direction of the mechanism or component at the corresponding position.

[0025] Specifically, in this embodiment, the number of the first frame 20 and the second frame 30 is each set to four, and they are distributed alternately at 90° intervals along the circumference of the annular platform 40, which facilitates the accurate calculation and control of position information. The annular slide rail 41 can adopt an annular groove structure, for example, an inverted T-shaped groove in cross-section. Correspondingly, the bottom end of the second frame 30 is provided with an inverted T-shaped slider that matches the annular slide rail 41. The slider and the slide rail can also adopt rolling friction to reduce sliding resistance, and the inverted T-shaped structure can prevent the second frame 30 from tipping over during movement. When the material handling mechanism 10 transfers the thin plate 50 to be stacked, it moves along a preset trajectory to the top of the stacking station. The supporting end of the first crossbeam 21 corresponds to the area below the four corners of the thin plate 50 to be stacked. The abutting end of the second crossbeam 22 can be provided with a flexible buffer pad to avoid scratching the side wall of the thin plate 50 to be stacked when abutting. The adsorption end of the third crossbeam 31 adopts a uniformly distributed adsorption point design to ensure that the thin plate 50 to be stacked is subjected to balanced force when adsorbed. The detection area of ​​the detection component covers the entire thin plate placement range of the stacking station, realizing all-round information collection of the thin plate.

[0026] In this embodiment, the automatic alignment and stacking device for thin plates provided by this embodiment realizes automatic picking and placing from the feeding point to the stacking station by setting up a material picking mechanism 10 for transferring thin plates, replacing manual handling; and by setting up a stacking station in the area within the annular platform 40, and alternately arranging multiple first frames 20 with first drive components and second frames 30 with second drive components and detection components around it, a distributed, collaborative adjustment and stacking space is constructed. Specifically, the first frame 20 precisely controls the first crossbeam 21 and the second crossbeam 22 respectively through the first drive component, so that the first crossbeam 21 supports the plate to be stacked by vertical and horizontal movement. The lower surface of the stacked thin plates 50 is leveled by fine-tuning the vertical displacement of multiple first crossbeams 21. Multiple second crossbeams 22 work together to horizontally abut against the sidewalls of the stacked thin plates 50 to achieve centering adjustment. Simultaneously, the second frame 30 controls the third crossbeam 31 to move up and down and horizontally to attract the upper surface of the stacked thin plates 50 through the second drive component, and drives the entire second frame 30 to slide along the circular slide rail 41. Combined with the orientation information of the stacked thin plates 50 obtained by the detection component, the precise rotational positioning of the stacked thin plates 50 around the stacking center axis is achieved. Furthermore, the stacked thin plates 50 are placed in the stacking station by driving the third crossbeam 31 to descend. This allows the three key adjustment steps of the stacked thin plates 50—leveling adjustment, in-plane centering positioning, and orientation alignment around the vertical axis—to be completed automatically, continuously, and collaboratively within a single device by different specialized tooling. Furthermore, the entire stacking process is fully automated, eliminating problems such as reliance on experience, inefficiency, and contact damage caused by manual operation, ultimately achieving a significant improvement in the efficiency and quality of thin plate stacking operations.

[0027] Optionally, such as Figures 2 to 6 As shown, a first sliding beam box 23 and a second sliding beam box 24 are slidably connected on the first frame 20 in the vertical direction. The first drive assembly includes two sets of first electric ball screw mechanisms 25 arranged vertically, and are respectively driven connected to the first sliding beam box 23 and the second sliding beam box 24, for driving the first sliding beam box 23 and the second sliding beam box 24 to move up and down respectively. The first crossbeam 21 and the second crossbeam 22 are respectively connected to the first sliding beam box 23 and the second sliding beam box 24.

[0028] Specifically, the first electric ball screw mechanism 25 can be implemented by a structure in which a servo motor drives the ball screw to rotate. The ball screw is vertically arranged, and corresponding nut structures can be installed in the first slide beam box 23 and the second slide beam box 24, which are slidably connected to both sides of the first frame 20. As the servo motor drives the ball screw to rotate, the two sets of first electric ball screw mechanisms 25 can respectively drive the first slide beam box 23 and the second slide beam box 24 to move up and down along the first frame 20. By using two independent sets of first electric ball screw mechanisms 25 to drive the first slide beam box 23 and the second slide beam box 24 respectively, the vertical movement of the first crossbeam 21 and the second crossbeam 22 is completely decoupled. This design allows for precise lifting and lowering movements of the first slide beam box 23 and its components, such as the electric push rod 26 and the receiving plate 27, during leveling operations, while the second crossbeam 22 remains stationary, avoiding interference with the centering positioning. Conversely, during horizontal movement for centering operations, the second crossbeam 22 can move independently under the drive of its slide box. The ball screw mechanism provides high-precision, high-rigidity linear motion, ensuring the accuracy and stability of the adjustment movements.

[0029] In this embodiment, by configuring independent vertical drive units (first electric ball screw mechanism 25 and corresponding sliding beam box) for the first crossbeam 21 and the second crossbeam 22, the leveling and centering adjustment dimensions are mechanically driven and controlled separately. This allows the control system to program and plan the two adjustment processes more precisely and independently, improving adjustment efficiency and accuracy. Furthermore, it avoids the structural interference and control coupling problems that may arise from using a single complex mechanism to simultaneously achieve multi-degree-of-freedom adjustment, thus improving the reliability and maintainability of the device.

[0030] Optionally, such as Figures 2 to 5 As shown, the first drive assembly also includes two sets of first electric gear rack mechanisms respectively connected to the first slide beam box 23 and the second slide beam box 24, and respectively driven connected to the first crossbeam 21 and the second crossbeam 22, for driving the first crossbeam 21 and the second crossbeam 22 to move horizontally respectively.

[0031] Specifically, the first electric gear and rack mechanism may include a servo motor, gears, and a rack. The rack can be fixed horizontally to the first crossbeam 21 and the second crossbeam 22 respectively. The gear is connected to the output shaft of the servo motor and meshes with the rack. Horizontal guide channels are provided in the first slide beam box 23 and the second slide beam box 24. The first crossbeam 21 and the second crossbeam 22 pass through the corresponding guide channels. A wear-resistant coating may be provided in the guide channels to reduce wear during movement. The servo motor can achieve micro-step control, allowing precise horizontal movement control of the first crossbeam 21 and the second crossbeam 22. The gear and rack adopt a high-precision meshing design to reduce transmission backlash and ensure the smoothness and positional accuracy of the movement of the first crossbeam 21 and the second crossbeam 22. The limiting function of the guide channels prevents vertical offset during horizontal movement of the crossbeams, further improving movement accuracy.

[0032] In this embodiment, an electric rack and pinion mechanism is used as the horizontal driving method, enabling the first crossbeam 21 and the second crossbeam 22 to achieve horizontal linear motion with a large stroke and high load capacity. The rack and pinion transmission has good rigidity and no cumulative error, resulting in high repeatability of horizontal pushing or positioning. Furthermore, it ensures precise control of the pushing stroke and sufficient force during the alignment adjustment of the thin plate, effectively overcoming the slight static friction between the thin plate and the receiving plate 27, and achieving reliable and accurate alignment positioning.

[0033] Optionally, such as Figures 2 to 5 As shown, an electric push rod 26 is vertically arranged at one end of the first crossbeam 21 near the axis of the circular platform 40. A receiving plate 27 is provided at the top of the electric push rod 26. The receiving plate 27 is used to support the lower surface of the thin plate 50 to be stacked.

[0034] Specifically, the electric push rod 26 can be a high-precision miniature electric push rod with a stroke adjustment accuracy of ±0.01mm. It is an actuator that converts the rotational motion of the motor into the linear extension and retraction motion of the push rod. In this device, a receiving plate 27 is installed at the top of the electric push rod 26 at the end of each first crossbeam 21 for direct contact and support of the lower surface of the sheet metal 50 to be stacked. The receiving plate 27 can be made of lightweight and wear-resistant engineering plastic, with anti-slip texture on the upper surface. The diameter of the receiving plate 27 is adapted to the corner size of the sheet metal 50 to be stacked, so as to avoid obstructing the functional area of ​​the sheet metal 50 when supporting it. The electric push rod 26 on each first crossbeam 21 is independently controlled and can adjust the extension and retraction amount individually according to the horizontal information of the sheet metal 50 to be stacked fed back by the detection component, so as to realize independent fine adjustment of the height of the four corners of the sheet metal 50 to be stacked. The high-precision electric push rod 26 can quickly respond to control signals and adjust the height of the receiving plate 27 in a timely manner. The anti-slip receiving plate 27 effectively prevents the thin plates 50 to be stacked from sliding when supported. The independent control design makes the level adjustment of the thin plates 50 to be stacked more flexible and precise, avoiding the problem of poor level due to local height deviation.

[0035] In this embodiment, by providing independent electric push rods 26 and receiving plates 27 at the ends of the first crossbeams 21 of each first frame 20, the device can directly change the height of the support points of the stacked thin plates 50 by controlling the extension and retraction of multiple electric push rods 26 respectively. This multi-point independently adjustable support method is an ideal mechanical structure for achieving high-precision leveling of thin plates. Furthermore, compared to the overall lifting or tilting platform method, it can more flexibly and accurately compensate for the unevenness of the stacked thin plates 50 themselves and the posture errors introduced during adsorption and handling, ensuring the precision and effectiveness of the leveling operation.

[0036] Optionally, such as Figures 2 to 7 As shown, the detection component includes a first rangefinder 61, a second rangefinder 62, and a vision camera 63. The first rangefinder 61 and the vision camera 63 are connected to the top of the second frame 30 and are respectively arranged downwards. The second rangefinder 62 is connected to the middle of the second frame 30 and is arranged towards the axis of the circular platform 40. The first rangefinder 61, the second rangefinder 62, and the vision camera 63 are respectively used to acquire the vertical distance information, side distance information, and alignment information between the thin plate to be stacked 50 and the stacking station.

[0037] Specifically, the first rangefinder 61 preferably adopts a laser rangefinder. The four first rangefinders 61 on the second rack 30 correspond to the four corner areas of the thin plates 50 to be stacked, and synchronously collect vertical spacing information. The vertical spacing information can be the vertical distance between the thin plates 50 to be stacked and the stacking station. The second rangefinder 62 can also adopt a laser rangefinder. The measurement range covers the distance from the side of the thin plate 50 to the axis of the circular platform, or the distance between the side of the thin plate 50 to the side of the stacking platform. The four second rangefinders 62 synchronously collect side spacing information. The vision camera 63 adopts an industrial high-definition camera equipped with a macro lens, which can clearly identify the positioning marks on the thin plates 50 to be stacked, such as holes and flow channels. The collected image information is quickly analyzed by the image processing algorithm to determine the orientation deviation of the thin plates 50 to be stacked. The orientation information of the aforementioned thin plates 50 to be stacked is compared with the standard information or information that needs to be adjusted preset by the control system, which facilitates precise control. The high-precision measurement of the laser rangefinder ensures the accuracy of the spacing information, and the industrial high-definition vision camera, together with the efficient algorithm, realizes the rapid identification of the orientation information, providing accurate data support for the adjustment action.

[0038] In this embodiment, by integrating three different types of sensors—a first rangefinder 61, a second rangefinder 62, and a vision camera 63—the device acquires omnidirectional, multi-parameter thin-plate pose detection capabilities. The first rangefinder 61 performs vertical (horizontal) detection, the second rangefinder 62 performs radial (centering) detection, and the vision camera 63 performs circumferential (azimuth) detection. This enables the control system to acquire complete pose information of the thin plates 50 to be stacked in space. Furthermore, it provides precise feedback for subsequent automated, closed-loop adjustments, forming the perceptual basis for high-precision stacking and completely replacing the subjective and inaccurate judgments of manual visual inspection.

[0039] Optionally, such as Figures 2 to 7 As shown, a fourth crossbeam 32 is slidably connected to the top of the second frame 30. The first rangefinder 61 and the vision camera 63 are connected to the lower end of the fourth crossbeam 32. The second drive assembly is driven to the fourth crossbeam 32 to drive the fourth crossbeam 32 to move horizontally.

[0040] Specifically, the fourth crossbeam 32 can slide horizontally on top of the second frame 30 via another set of gear and rack mechanism or lead screw mechanism. When measurement is required, the second drive assembly drives the fourth crossbeam 32 to extend, moving the first rangefinder 61 and vision camera 63 at its lower end directly above the center area of ​​the stacking station to measure the sheet metal. After measurement, the fourth crossbeam 32 can be retracted to avoid interference with the lifting and lowering movements of the material handling mechanism 10, the third crossbeam 31, or the overall rotation of the second frame 30.

[0041] In this embodiment, by integrating the first rangefinder 61 and the vision camera 63 onto a horizontally movable fourth beam 32, the sensor module has the ability to "extend during measurement and retract when not measuring." This allows the sensor module to be effectively spatially separated from the plate handling and adjustment mechanism, avoiding motion interference between the mechanisms and optimizing the compactness of the equipment layout. Furthermore, this ensures that the sensor has the optimal and consistent measurement angle and distance during measurement, and also guarantees an unobstructed working space when the device performs pick-up, place-down, and adjustment actions, improving the reliability and safety of the entire device operation.

[0042] Optionally, such as Figures 2 to 7As shown, a third sliding beam box 33 is slidably connected to the second frame 30 in the vertical direction. The second drive assembly includes a vertically arranged second electric ball screw mechanism 34, which is driven to the third sliding beam box 33 and is used to drive the third sliding beam box 33 to move up and down. The third crossbeam 31 is connected to the third sliding beam box 33. The second drive assembly also includes a second electric gear rack mechanism connected to the third sliding beam box 33 and driven to the third crossbeam 31 and is used to drive the third crossbeam 31 to move horizontally. A first electromagnetic chuck 35 is provided at the lower end of the third crossbeam 31 for adsorbing the upper surface of the thin plate 50 to be stacked.

[0043] Specifically, the structure of the second electric ball screw mechanism 34 is the same as that of the first electric ball screw mechanism 25, ensuring the accuracy of vertical movement. The vertical sliding cooperation between the third slide beam box 33 and the second frame 30 adopts a guide rail structure to improve the stability of movement. The structure of the second electric gear rack mechanism is the same as that of the first electric gear rack mechanism, and will not be described in detail here, realizing the precise horizontal movement of the third crossbeam 31. The first electromagnetic chuck 35 adopts an electromagnetic adsorption structure with controllable suction force. The suction force can be adjusted according to the weight and material of the thin plate to avoid excessive suction force causing deformation of the thin plate or insufficient suction force causing adsorption to fall off. The drive mechanism with the same accuracy level ensures the movement accuracy of the third slide beam box 33 and the third crossbeam 31. The electromagnetic chuck with controllable suction force is suitable for different types of thin plates, avoiding damage to the thin plates during adsorption.

[0044] In this embodiment, by configuring a third crossbeam 31 with vertical lifting (second electric ball screw mechanism 34) and horizontal telescopic (second electric gear and rack mechanism) capabilities on the second frame 30, and installing a non-contact first electromagnetic chuck 35 at its end, the second adjustment module can accurately and smoothly complete the handover, gripping, and release of the thin plate. Vertical lifting ensures the smoothness and accuracy of the stacking action; horizontal telescopic optimizes the pick-and-place path and avoids spatial interference. Non-contact adsorption prevents scratches on the surface of the thin plate during adjustment and handling. Furthermore, this series of designs ensures that the transfer process of the thin plate from the first adjustment module to the second adjustment module and then to the final stacking position is smooth, accurate, and damage-free, which is a key link in achieving seamless connection of the entire process automation.

[0045] Optionally, such as Figures 2 to 7 As shown, the second drive assembly includes a second motor 36 and a second gear 37. The second gear 37 is connected to the output shaft of the second motor 36. The second motor 36 is connected to the bottom end of the second frame 30. The outer wall of the annular platform 40 is provided with an annular rack. The second gear 37 meshes with the annular rack.

[0046] Specifically, the second motor 36 is a servo motor, and its output shaft drives the second gear 37 to rotate via a coupling. The annular rack is fixedly mounted on the outer circumferential side wall of the annular platform 40, and its tooth profile matches that of the second gear 37. When the second motor 36 drives the second gear 37 to rotate, the meshing of the gear with the fixed rack generates a reaction force that drives the entire second frame 30 to move in a circular motion along the annular slide rail 41, that is, to rotate around the center of the stacking station.

[0047] In this embodiment, the rotational movement of the second frame 30 is achieved by employing a drive scheme of "servo motor + gear + ring rack," enabling the orientation adjustment mechanism to achieve a wide range (unlimited 360 degrees) and high-precision rotation capability. Gear and rack transmission has advantages such as high rigidity, large transmission ratio, and no backlash (which can be eliminated through preload), resulting in high rotational positioning accuracy, fast response, and good load-bearing capacity. Furthermore, this ensures that after the thin plates are aligned, they can be precisely rotated to any desired angle to meet the orientational alignment requirements of different thin plate fluid channels, sealing rings, and other features. This is the final crucial adjustment for achieving high-precision stacking.

[0048] Optionally, such as Figures 2 to 7 As shown, the first frame 20 is slidably connected to the annular slide rail 41, and the first drive assembly is connected to the annular rack. The first drive assembly is used to drive the first frame 20 to slide along the annular slide rail 41.

[0049] Specifically, the bottom of the first frame 20 is also provided with a sliding base and drive unit similar to those of the second frame 30. That is, the bottom of the first frame 20 is provided with a first motor 28 driving and connecting to a first gear 29, and the first gear 29 meshing with a ring rack. In this way, the first frame 20 also has the ability to slide independently along the ring slide rail 41.

[0050] In this embodiment, by enabling the first frame 20 to also slide along the annular slide rail 41, when the second frame 30 adsorbs the thin plate and performs rotational orientation adjustment, the first frame 20 can be controlled to move in the opposite or specific direction, actively making room for the rotational movement of the second frame 30. This allows multiple frames to work collaboratively within a limited circumferential space without mechanical interference. Furthermore, this greatly improves the flexibility of equipment layout and space utilization, allowing for the configuration of more adjustment stations to enhance parallel processing potential or adapt to more complex adjustment processes, while also making the motion planning of the entire adjustment process more flexible and efficient.

[0051] Optionally, such as Figures 1 to 3As shown, the material handling mechanism 10 includes a third frame 11, on which a third driving component and a second electromagnetic chuck 12 are provided. The third driving component is drivenly connected to the second electromagnetic chuck 12 and is used to drive the second electromagnetic chuck 12 to move up and down and rotate around the third frame 11. The second electromagnetic chuck 12 is used to adsorb the upper surface of the thin plate 50 to be stacked.

[0052] Specifically, the third drive assembly may include a vertical motion unit (such as a third electric ball screw mechanism 15, which drives the fifth crossbeam 13 and the second electromagnetic chuck 12 to rise and fall via a fourth slide beam box 14) for driving the second electromagnetic chuck 12 to rise and fall, and a rotary unit (such as a third motor 17, which drives the entire lifting component to rotate around the column of the third frame 11 via a transmission mechanism such as a gear plate 18 and a third gear 19). The structure of the second electromagnetic chuck 12 is similar to that of the first electromagnetic chuck 35.

[0053] In this embodiment, a dedicated material handling mechanism 10 with lifting and rotating functions is designed to automatically and smoothly pick up the thin sheet from the side feeding area (such as a stack) and transport it across space to the stacking station located in the center of the circular platform 40. The lifting function enables precise picking and placing, while the rotating function enables efficient spatial position conversion. This automates the material supply throughout the stacking process, seamlessly integrating it with subsequent adjustment and stacking procedures. Furthermore, it achieves a fully automated closed loop from "material supply" to "stack completion," further reducing manual intervention and significantly improving the automation level and operational efficiency of the entire production system.

[0054] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An automatic alignment thin plate stacking device, characterized in that, Including taking-out mechanism (10), first rack (20), second rack (30) and circular platform (40), wherein, The upper surface of the circular platform (40) is provided with a circular slide rail (41), and the area of the circular platform (40) in the circular slide rail (41) is set as a stacking station, a plurality of first racks (20) and a plurality of second racks (30) are respectively arranged on the circular platform (40) along the circumferential direction of the circular platform (40), and the first racks (20) and the second racks (30) are alternately distributed, and the second rack (30) is slidingly connected to the circular slide rail (41). The taking-out mechanism (10) is used to move the to-be-stacked sheet (50) above the stacking station. The first rack (20) is provided with a first driving assembly, the first driving assembly is drivingly connected with a first cross beam (21) and a second cross beam (22) respectively, and is used for driving the second cross beam (22) to move horizontally and the first cross beam (21) to move up and down and horizontally respectively, one end of the second cross beam (22) is used for abutting against the side wall of the to-be-stacked sheet (50), and one end of the first cross beam (21) is used for supporting the lower surface of the to-be-stacked sheet (50). The second rack (30) is provided with a second driving assembly and a detection assembly, the second driving assembly is drivingly connected with a third cross beam (31), and the second driving assembly is used for driving the second rack (30) to slide along the circular slide rail (41) and the third cross beam (31) to move up and down and horizontally respectively, one end of the third cross beam (31) is used for adsorbing the upper surface of the to-be-stacked sheet (50), and the detection assembly is used for acquiring the orientation information of the to-be-stacked sheet (50).

2. The automatically aligned sheet stacking apparatus according to claim 1, wherein The first rack (20) is slidingly connected with a first slide beam box (23) and a second slide beam box (24) in the vertical direction, the first driving assembly includes two sets of first electric ball screw mechanisms (25) arranged vertically and drivingly connected with the first slide beam box (23) and the second slide beam box (24) respectively, and is used for driving the first slide beam box (23) and the second slide beam box (24) to move up and down respectively, and the first cross beam (21) and the second cross beam (22) are connected to the first slide beam box (23) and the second slide beam box (24) respectively.

3. The automatically aligned sheet stacking apparatus according to claim 2, wherein The first driving assembly further includes two sets of first electric gear and rack mechanisms connected to the first slide beam box (23) and the second slide beam box (24) respectively and drivingly connected with the first cross beam (21) and the second cross beam (22) respectively, and is used for driving the first cross beam (21) and the second cross beam (22) to move horizontally respectively.

4. The automatically aligned sheet stacking apparatus according to claim 3, wherein The first cross beam (21) is vertically provided with an electric push rod (26) near one end of the axis of the circular platform (40), the top end of the electric push rod (26) is provided with a receiving disc (27), and the receiving disc (27) is used for supporting the lower surface of the to-be-stacked sheet (50).

5. The automatically registered sheet stacking apparatus of claim 1, wherein, The detection assembly comprises a first range finder (61), a second range finder (62) and a visual camera (63), the first range finder (61) and the visual camera (63) are connected to the top end of the second rack (30) and are arranged downward respectively, the second range finder (62) is connected to the middle part of the second rack (30) and is arranged towards the axis of the circular platform (40), and the first range finder (61), the second range finder (62) and the visual camera (63) are respectively used for acquiring the vertical spacing information, the side spacing information and the alignment information of the to-be-stacked sheet (50) and the stacking station.

6. The automatically aligned sheet stacking apparatus according to claim 5, wherein The top end of the second rack (30) is slidingly connected with a fourth cross beam (32), the first range finder (61) and the visual camera (63) are connected to the lower end of the fourth cross beam (32), the second driving assembly is drivingly connected with the fourth cross beam (32) and is used for driving the horizontal movement of the fourth cross beam (32).

7. The automatically registered sheet stacking apparatus of claim 1, wherein The third sliding beam box (33) is slidingly connected to the second rack (30) in the vertical direction, the second driving assembly comprises a second electric ball screw mechanism (34) arranged vertically and drivingly connected with the third sliding beam box (33) and used for driving the up-down movement of the third sliding beam box (33), the third cross beam (31) is connected to the third sliding beam box (33), the second driving assembly further comprises a second electric gear and rack mechanism connected to the third sliding beam box (33) and drivingly connected with the third cross beam (31) and used for driving the horizontal movement of the third cross beam (31), and the lower end of the third cross beam (31) is provided with a first electromagnetic suction disc (35) used for adsorbing the upper surface of the to-be-stacked sheet (50).

8. The automatically registered sheet stacking apparatus of claim 1, wherein, The second driving assembly comprises a second motor (36) and a second gear (37), the second gear (37) is connected to the output shaft of the second motor (36), the second motor (36) is connected to the bottom end of the second rack (30), and the outer side wall of the circular platform (40) is provided with a circular rack, and the second gear (37) is meshingly connected with the circular rack.

9. The automatically registered sheet stacking apparatus of claim 8, wherein, The first rack (20) is slidingly connected to the circular sliding rail (41), the first driving assembly is connected with the circular rack, and the first driving assembly is used for driving the sliding movement of the first rack (20) along the circular sliding rail (41).

10. The automatically registered sheet stacking apparatus of claim 1, wherein, The material taking mechanism (10) comprises a third rack (11), the third rack (11) is provided with a third driving assembly and a second electromagnetic suction disc (12), the third driving assembly is drivingly connected with the second electromagnetic suction disc (12) and is used for driving the up-down movement and rotation of the second electromagnetic suction disc (12) around the third rack (11), and the second electromagnetic suction disc (12) is used for adsorbing the upper surface of the to-be-stacked sheet (50).

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