A feeding structure for parts of a joint module

Abstract

This invention relates to the field of automated production technology, specifically providing a feeding structure for joint module components, including a feeding position and a feeding route and a discharging route simultaneously connected to the feeding position; the feeding route is equipped with a pallet feeding and pushing component and a pallet destacking component, and the discharging route is equipped with a pallet stacking component and a pallet discharging and pushing component; a set of transfer components is provided between the pallet destacking component, the pallet stacking component and the feeding position; this invention adopts an integrated layout for feeding, loading and discharging, and the same transfer component simultaneously undertakes the functions of destacking and transferring full-load pallets and recycling and stacking empty pallets, reducing moving parts and thus reducing the equipment footprint; both the destacking and stacking components adopt a simple structure of cutting cylinders and pallets, eliminating the need for complex rotating mechanisms and chuck structures, making it more suitable for the compact layout requirements of workshops, not only reducing manufacturing costs, but also significantly reducing the risk of failure and maintenance costs.

Description

Technical Field

[0001] This invention relates to the field of automated production technology, and specifically to a feeding structure for joint module components. Background Technology

[0002] In modern industrial production, especially in the manufacturing of joint module components, automated feeding systems have become a key technology for improving production efficiency and reducing labor costs. Traditional feeding methods mainly rely on manual operation or simple mechanical devices, which are difficult to meet the requirements of modern production lines for continuity, efficiency, and automation.

[0003] A published Chinese patent, publication number CN103818731A, discloses an automatic feeding system and method. The former includes a pallet splitting device for grabbing all pallets stacked on the bottom pallet at the pallet splitting position, making the bottom pallet an independent pallet, and for sequentially transferring the components of each row on the independent pallet to the pushing station; a pushing device for pushing out a row of components arriving at the pushing station from the independent pallet; an empty pallet ejection device for pushing out empty pallets to be stacked from the pallet splitting device; and an empty pallet stacking device for grabbing all empty pallets stacked on the empty pallet stacking position, transferring the empty pallets to be stacked to the vacant empty pallet stacking position, and stacking all the grabbed empty pallets onto the empty pallet to be stacked. This solution adopts a separation method of grabbing all pallets on the upper layer from above. When the number of pallet stacking layers increases or when carrying heavy components, the grabbing mechanism needs to bear the weight of all pallets on the upper layer, and the concentrated load can easily lead to wear and tear on the mechanism. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a feeding structure for joint module components, which solves the problem that the separation method of grasping all upper trays from above in the prior art is prone to load concentration and thus easy to cause mechanical damage.

[0005] To achieve the above and other related objectives, the present invention provides a feeding structure for joint module components, including a feeding position and a feeding route and a discharging route that are simultaneously connected to the feeding position; The feeding route is equipped with a pallet feeding and pushing component and a pallet destacking component, and the discharging route is equipped with a pallet stacking component and a pallet discharging and pushing component. The same set of material transfer components is provided between the pallet destacking component, the pallet stacking component and the loading position. The pallet feeding and pushing assembly and the pallet discharging and pushing assembly are both located on the same side of the transfer assembly; The pallet feeding and pushing assembly is used to receive fully loaded pallets and push them to the pallet destacking assembly. The pallet destacking assembly is used to receive fully loaded pallets. The material transfer assembly is used to destacking the fully loaded pallets from the pallet destacking assembly and transferring them to the loading position, and to transfer empty pallets after material removal from the loading position to the pallet stacking assembly for stacking. The pallet stacking assembly is used to receive empty pallets, and the pallet discharging and pushing assembly is used to pull out empty pallets and discharge them. The pushing motion direction between the pallet feeding and pushing assembly and the pallet destacking assembly, and the pushing motion direction between the pallet discharging and pushing assembly and the pallet stacking assembly, are all perpendicular to the material transfer motion direction of the material transfer assembly.

[0006] In one embodiment of the present invention, the pallet feeding and pushing assembly and the pallet discharging and pushing assembly are the same components, both including: The bracket includes a base. A slide rail slider mechanism, wherein the slide rail of the slide rail slider mechanism is located at the upper end of the base; A movable plate, which is mounted on the slider of the slide rail slider mechanism; The Y-axis propulsion cylinder is mounted on the lower end of the base. A connecting plate is provided on the output end of the Y-axis propulsion cylinder, and a U-shaped slot is provided on the base. The connecting plate passes through the U-shaped slot and connects to the moving plate.

[0007] In one embodiment of the present invention, a material-lifting mechanism is provided on both the left and right sides of the base. The material-lifting cylinder is installed at the lower end of the base. The lower end of the L-shaped connecting rod is connected to the output end of the material-lifting cylinder. The side end of the L-shaped connecting rod is connected to a baffle. The baffle passes through the base and can be raised and lowered to abut against the tray located at the lower end.

[0008] In one embodiment of the present invention, top blocks are hinged to both ends of the movable plate via pivots, and springs are connected to the other ends of the top blocks, with the lower ends of the springs connected to the upper ends of the movable plate.

[0009] In one embodiment of the present invention, the pallet destacking assembly and the pallet stacking assembly are the same components, both including: A palletizing bracket, wherein horizontal plates are provided on the left and right sides; At least two sets of cutting mechanisms are installed on the horizontal plates on the left and right sides of the stacking bracket, respectively, to open or close the channel for raising and lowering the material transfer component.

[0010] In one embodiment of the present invention, the cutting mechanism includes a cutting seat, a support plate, a cutting cylinder, and a connecting rod. The cutting seat is mounted on a horizontal plate, and the support plate is movably mounted on the cutting seat via a linear bearing. The cutting cylinder is mounted at the lower end of the cutting seat, and the output end of the cutting cylinder is connected to one end of the support plate via a connecting rod. The other end of the support plate extends to the inside of the stacking bracket.

[0011] In one embodiment of the present invention, the pallet destacking assembly has a first elastic check mechanism at one end of the pallet racking bracket in the feeding direction, and the pallet stacking assembly has a second elastic check mechanism at one end of the pallet racking bracket in the discharging direction. The first elastic check mechanism and the second elastic check mechanism are the same mechanism, both including a spring seat, a torsion spring, and a wedge block. The wedge block is hinged to the spring seat by a pin, and the torsion spring is sleeved on the pin and its two ends are respectively connected to the spring seat and the wedge block.

[0012] In one embodiment of the present invention, the wedge-shaped check directions of the wedge blocks of the first elastic check mechanism and the second elastic check mechanism are opposite.

[0013] In one embodiment of the present invention, the material transfer assembly includes an X-axis linear module and a Z-axis linear module. The X-axis linear module passes through the pallet destacking assembly and the pallet stacking assembly in sequence and extends to the loading position. The Z-axis linear module is assembled on the movable end of the X-axis linear module.

[0014] This invention provides a tray for use in the loading structure for joint module components. The tray includes a tray body with several material feeding slots at the upper end, positioning pins at the corners of the upper end of the tray body, and positioning holes at the corners of the lower end of the tray body. Several trays are stacked sequentially by means of the positioning pins and positioning holes.

[0015] As described above, the feeding structure for joint module components of the present invention has the following beneficial effects: 1. This invention adopts a closed-loop action logic of batch placement, individual material retrieval, synchronous stacking, and batch ejection. Through precise coordination of the Z-axis linear module, cutting cylinder assembly, and servo translation assembly, the waiting interval of independent transfer mechanisms is reduced, effectively improving production efficiency.

[0016] 2. During destacking, the invention uses a bottom lifting mechanism that works in isolation with the cutting cylinder to prevent displacement of the upper pallets during material handling. During stacking, the top lifting mechanism works in conjunction with the cutting cylinder for positioning, and the physical constraints of the pallet positioning pin holes improve the neatness of multiple pallet stacks. Compared to existing technologies that rely on precise gripping, this invention effectively solves the problems of pallet misalignment and tipping, and is especially suitable for the transfer of precision parts such as joint module components. Furthermore, during destacking, the Z-axis linear module only bears the weight of a single pallet, and during stacking, the lifting force acts directly on a single empty pallet, resulting in a distributed and even load. Compared to existing technologies where the gripping mechanism must bear the weight of all upper pallets, this solution effectively reduces the wear rate of core components and extends the service life of the mechanism.

[0017] 3. This invention adopts an integrated layout for feeding, loading, and unloading. The same material transfer component simultaneously undertakes the functions of unloading and transferring full-load pallets and recycling and stacking empty pallets, reducing moving parts and thus reducing the equipment footprint. Both the unloading and stacking components adopt a simple structure of cutting cylinders and pallets, eliminating the need for complex rotating mechanisms and chuck structures, which is more suitable for the compact layout requirements of workshops. This not only reduces manufacturing costs but also significantly reduces the risk of failure and maintenance costs.

[0018] 4. The present invention uses positioning pins at the upper corners of the tray body and corresponding positioning holes at the lower end. The positioning pins and positioning holes work together to achieve physical positioning constraints, enabling multiple trays to be stacked vertically and tightly without affecting the feeding of joint modules in the tray, thus improving the batch feeding effect of joint modules. Several feeding slots are provided on the upper end of a single tray, which can regulate and limit the joint module parts, prevent the parts from shifting or colliding during the transfer process, ensure accurate positioning when the robot picks up materials, and improve the continuity of the feeding process. Attached Figure Description

[0019] Figure 1 The diagram shown is a top view of the present invention.

[0020] Figure 2 The diagram shown is a three-dimensional structural schematic of the present invention.

[0021] Figure 3 This is a three-dimensional structural schematic diagram from another perspective of the present invention.

[0022] Figure 4 The diagram shown is a three-dimensional structural schematic of the feeding route of the present invention.

[0023] Figure 5 The diagram shown is an exploded view of the pallet feeding and pushing assembly in this invention.

[0024] Figure 6 The diagram shown is a three-dimensional structural schematic of the material discharge route of the present invention.

[0025] Figure 7 The diagram shown is an exploded view of the pallet destacking assembly in this invention.

[0026] Figure 8 Displayed as Figure 7 Enlarged structural diagram of the cutting mechanism.

[0027] Figure 9 Displayed as Figure 7 An enlarged schematic diagram of the first elastic check mechanism.

[0028] Figure 10 The diagram shows the structure of the pallet destacking assembly, pallet stacking assembly, and material transfer assembly working together in this invention.

[0029] Figure 11 The diagram shown is an enlarged structural schematic of the material transfer component in this invention.

[0030] Figure 12 The diagram shown is an enlarged structural schematic of the tray in this invention.

[0031] Figure 13 This is an enlarged structural schematic diagram of the tray from another perspective in this invention.

[0032] Component designation explanation Material loading position a; feeding route b; discharging route c; pallet feeding and pushing assembly 1; pallet discharging and pushing assembly 4; bracket 11; base 12; U-shaped slot 121; moving plate 13; Y-axis propulsion cylinder 14; connecting plate 15; slide rail slider mechanism 16; top block 17; spring 18; pallet destacking assembly 2; pallet stacking assembly 3; stacking bracket 21; horizontal plate 22; cutting mechanism 23; cutting seat 231; pallet 232; cutting cylinder 233; connecting rod 234; material transfer assembly 5; X-axis linear module 51; Z-axis linear module 52; top material mechanism 6; top material cylinder 61; baffle 62; L-shaped connecting rod 63; first elastic check mechanism 7; second elastic check mechanism 8; spring seat 71; torsion spring 72; wedge block 73; pallet body 10; positioning pin 101; positioning hole 102. Detailed Implementation

[0033] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0034] Please see Figures 1 to 13 It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of the invention, should fall within the scope of the disclosed technical content. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0035] Example 1, please refer to Figures 1-11This invention provides a feeding structure for joint module components, including a feeding position a and a feeding route b and a discharging route c connected to the feeding position a; the feeding route b is provided with a pallet feeding and pushing component 1 and a pallet destabilizing component 2, and the discharging route c is provided with a pallet stacking component 3 and a pallet discharging and pushing component 4. The same set of transfer components 5 is provided between the pallet destabilizing component 2, the pallet stacking component 3 and the feeding position a; the pallet feeding and pushing component 1 and the pallet discharging and pushing component 4 are both located on the same side of the transfer components 5.

[0036] The pallet feeding and pushing assembly 1 is used to receive fully loaded pallets and push them to the pallet destacking assembly 2. The pallet destacking assembly 2 is used to receive fully loaded pallets. The material transfer assembly 5 is used to destacking the fully loaded pallets in the pallet destacking assembly 2 and transferring them to the loading position a, and to transfer the empty pallets after material removal from the loading position a to the pallet stacking assembly 3 for stacking. The pallet stacking assembly 3 is used to receive empty pallets. The pallet discharging and pushing assembly 4 is used to pull out the empty pallets and discharge them. The pushing motion direction between the pallet feeding and pushing assembly 1 and the pallet destacking assembly 2, and the pushing motion direction between the pallet discharging and pushing assembly 4 and the pallet stacking assembly 3 are both perpendicular to the material transfer motion direction of the material transfer assembly 5. This invention adopts a closed-loop action logic of batch placement, individual material removal, synchronous stacking, and batch ejection. Through precise coordination of the Z-axis linear module, the cutting cylinder 233 assembly, and the servo translation assembly, the waiting gap of the independent transfer mechanism is reduced, effectively improving production efficiency.

[0037] The material transfer assembly 5 includes an X-axis linear module 51 and a Z-axis linear module 52. The X-axis linear module 51 passes under the pallet destacking assembly 2 and the pallet stacking assembly 3 in sequence and extends to the loading position a. The Z-axis linear module 52 is mounted on the movable end of the X-axis linear module 51. Specifically, the X-axis linear module 51 of the material transfer assembly 5 extends horizontally, passes under the pallet destacking assembly 2 and the pallet stacking assembly 3 in sequence and extends to the loading position a. The pallet destacking assembly 2 and the pallet stacking assembly 3 are arranged one after the other in the extension direction of the material transfer assembly 5, but their inlets and outlets face the same side of the material transfer assembly 5.

[0038] Operators only need to place full-loaded pallets and remove empty pallets on the same side of the equipment, without having to go around to the other side, reducing walking distance and operation time; for automatic AGV docking, docking positions only need to be set on one side of the equipment, simplifying AGV path planning and control logic.

[0039] This invention concentrates the feed and discharge ports on the same side, and the other side of the equipment can be close to the wall or other equipment, without the need to reserve an operating passage; in the case of limited workshop space, this layout can significantly improve space utilization.

[0040] Furthermore, the material transfer component 5 only needs to reciprocate in a straight line, taking material from the pallet destacking component 2 on the feeding side, sending it to the middle loading position a, and then sending it to the pallet stacking component 3 on the same side for unloading; there is no need to take material from one side, send material, and then go around to the other side to unload material, which reduces the complexity of movement and the difficulty of control.

[0041] This application arranges the feeding and pallet discharging and pushing components 4 on the same side, so that the material transfer component can complete the cycle of picking up full load, sending to the material position, picking up empty pallet, and sending to the stack within the shortest path, giving full play to the advantages of the shared material transfer component.

[0042] The pallet feeding and pushing assembly 1 and the pallet discharging and pushing assembly 4 are the same components, both including a bracket 11, a base 12, a slide rail slider mechanism 16, a moving plate 13, and a Y-axis propulsion cylinder 14. The base 12 is located in the bracket 11, the slide rail of the slide rail slider mechanism 16 is located on the upper end of the base 12, and the moving plate 13 is located on the slider of the slide rail slider mechanism 16. The Y-axis propulsion cylinder 14 is mounted on the lower end of the base 12, and a connecting plate 15 is provided on the output end of the Y-axis propulsion cylinder 14. The base 12 has a U-shaped groove 121, and the connecting plate 15 passes through the U-shaped groove. 121 is connected to the moving plate 13; the pallet feeding and pushing assembly 1 drives the connecting plate 15 to move through the Y-axis propulsion cylinder 14, and the connecting plate 15 drives the moving plate 13 to move along the slide rail slider mechanism 16, so that the pallets stacked on the moving plate 13 and fully loaded with joint modules are sent into the pallet destacking assembly 2; the pallet discharging and pushing assembly 4 drives the connecting plate 15 to move through the Y-axis propulsion cylinder 14, and the connecting plate 15 drives the moving plate 13 to move along the slide rail slider mechanism 16, so that the empty pallets stacked on the moving plate 13 are pulled from the pallet stacking assembly 3 into the pallet discharging and pushing assembly 4.

[0043] The base 12 is provided with a material feeding mechanism 6 on both the left and right sides. The material feeding cylinder 61 is installed at the lower end of the base 12. The lower end of the L-shaped connecting rod 63 is connected to the output end of the material feeding cylinder 61. The side end of the L-shaped connecting rod 63 is connected to the baffle 62. The baffle 62 passes through the base 12 and can be raised and lowered to abut against the tray located at the lower end. The two sides of the moving plate 13 are hinged with a top block 17 through a pivot. The other end of the top block 17 is connected to a spring 18. The lower end of the spring 18 is connected to the upper end of the moving plate 13. The spring 18 provides elastic force to make the top block 17 lift up and support the tray for feeding or discharging.

[0044] Specifically, the top block 17 is hinged to both ends of the movable plate 13 via a pivot and can rotate around the pivot; one end of the spring 18 is connected to the top block 17, and the other end is fixed to the upper end of the movable plate 13, applying an upward elastic force to the top block 17. Working state: When multiple trays are stacked on the movable plate 13, the top block 17, under the action of the spring 18, presses upward against the lower edge of the second-to-last tray; when the bottom tray is removed or pushed in, the top block 17 can be pressed downward to make room; the spring 18 makes the top block 17 always tend to return to its original upward position.

[0045] This structure prevents pallets from tipping over or shifting during the pushing process. When pallets are being fed or unfurled, the moving plate 13 needs to push or pull a stack of pallets into or out of the pallet destacking assembly 2 or pallet stacking assembly 3. If only the upper surface of the moving plate 13 supports the bottom pallet, the upper pallets are prone to swaying, tilting, or even collapsing due to inertia when the pushing process starts or stops. The top block 17, under the action of spring force, holds the upper pallet, effectively providing an auxiliary support point and damping for the upper pallet, suppressing swaying and ensuring the overall stability of the pallet.

[0046] When the Z-axis linear module 52 of the transfer assembly 5 lifts the pallet from below, the entire pallet is raised. At this time, the upper pallet, which was originally held in place by the top block 17, moves upward. When the top block 17 is subjected to upward pressure, it can rotate downward around the axis to automatically make way, thus not obstructing the pallet's ascent and avoiding interference. After the pallet leaves, the spring 18 causes the top block 17 to automatically reset, preparing for the next push. This passive yielding combined with automatic reset design requires no additional power or control signals, and has a simple and reliable structure.

[0047] Pallets may deform slightly after repeated use, or there may be slight differences in height between different batches of pallets. If a rigid support structure is used, inadequate support or jamming may occur. The presence of spring 18 allows the top block 17 to have a certain floating range, enabling it to adaptively hold the upper pallet. Regardless of whether the actual height of the pallet is too large or too small, it can maintain good contact, improving the fault tolerance and adaptability of the mechanism.

[0048] The pallet body 10 of this application is provided with positioning pins 101 and positioning holes 102 for vertical positioning when pallets are stacked. However, the positioning pins / holes mainly solve the problem of vertical alignment and have limited effect on horizontal inertial swaying. The structure of the top block 17 and the spring 18 makes up for this deficiency and provides dynamic support during horizontal pushing, forming a dual guarantee of vertical positioning and horizontal support.

[0049] The pallet destacking assembly 2 and the pallet stacking assembly 3 are the same components, both including a stacking bracket 21 and at least two sets of cutting mechanisms 23. The cutting mechanism 23 includes a cutting seat 231, a pallet 232, a cutting cylinder 233, and a connecting rod 234. The cutting seat 231 is mounted on a horizontal plate 22, and the pallet 232 is movably mounted on the cutting seat 231 via a linear bearing. The cutting cylinder 233 is mounted at the lower end of the cutting seat 231, and the output end of the cutting cylinder 233 is connected to one end of the pallet 232 via the connecting rod 234. The other end of the pallet 232 extends to the inside of the stacking bracket 21. Horizontal plates 22 are provided on the left and right sides of the stacking bracket 21, and at least two sets of cutting mechanisms 23 are respectively mounted on the horizontal plates 22 on both sides of the stacking bracket 21 for opening or closing the channel for raising and lowering the material transfer assembly 5.

[0050] This invention utilizes a bottom lifting mechanism in conjunction with the cutting cylinder 233 during destacking to prevent displacement of the upper pallets during material handling. During stacking, the top lifting mechanism, in conjunction with the cutting cylinder 233 and the physical constraints of the pallet positioning pins, improves the neatness of multiple pallet stacks. Compared to existing technologies that rely on precise gripping, this invention effectively solves the problems of pallet misalignment and tipping, making it particularly suitable for transporting precision components such as joint module parts. Furthermore, during destacking, the Z-axis linear module 52 only bears the weight of a single pallet, while during stacking, the lifting force acts directly on a single empty pallet, resulting in a distributed and even load. Compared to existing gripping mechanisms that bear the weight of all upper pallets, this solution effectively reduces the wear rate of core components and extends the service life of the mechanism.

[0051] The pallet destacking assembly 2 has a first elastic check mechanism 7 at one end of the pallet feeding direction, and the pallet stacking assembly 3 has a second elastic check mechanism 8 at one end of the pallet feeding direction. The first elastic check mechanism 7 and the second elastic check mechanism 8 are the same mechanism, both including a spring seat 71, a torsion spring 72, and a wedge block 73. The wedge block 73 is hinged to the spring seat 71 by a pin, and the torsion spring 72 is sleeved on the pin and its two ends are respectively connected to the spring seat 71 and the wedge block 73. The wedge-shaped check direction of the first elastic check mechanism 7 and the second elastic check mechanism 8 is opposite. The first elastic check mechanism 7 forms a check restriction on the pallet entering the pallet destacking assembly 2 through the wedge block 73 and the torsion spring 72. The second elastic check mechanism 8 forms a check restriction on the pallet leaving the pallet stacking assembly 3 through the wedge block 73 and the torsion spring 72.

[0052] This invention adopts an integrated layout for feeding, loading, and unloading. The same material transfer component simultaneously undertakes the functions of destacking and transferring full-load pallets and recycling and stacking empty pallets, reducing moving parts and thus reducing the equipment footprint. Both the pallet destacking component 2 and the pallet stacking component 3 adopt a simple structure of cutting cylinder 233 in conjunction with the pallet, eliminating the need for complex rotating mechanisms and claw structures. This is more suitable for the compact layout requirements of workshops, reducing manufacturing costs and significantly lowering the risk of failure and maintenance costs.

[0053] The complete motion sequence flow of this solution is as follows. For ease of understanding, the following settings are provided: Coordinate system: The X-axis is the material transfer direction from pallet destacking assembly 2 to pallet stacking assembly 3, the Y-axis is the material pushing direction for feeding and discharging, and the Z-axis is the vertical direction.

[0054] Phase 1: Material Preparation Initial state: The moving plate 13 of the pallet feeding and pushing assembly 1 is in the retracted position near the operating side.

[0055] The cutting mechanism 23 of the pallet destacking assembly 2 is in a closed state, and the pallet plate 232 extends into the inside of the palletizing bracket 21 to form a pallet support.

[0056] The Z-axis linear module 52 of the transfer assembly 5 is in the lowered position, and the X-axis linear module 51 is in the standby position, usually below or to the side of the pallet destacking assembly 2.

[0057] The cutting mechanism 23 of the pallet stacking assembly 3 is in a closed state.

[0058] The moving plate 13 of the pallet discharge and push assembly 4 is in the retracted position.

[0059] Manual or AGV placement of fully loaded pallets: The operator or AGV places a stack of fully loaded pallets on the moving plate 13 of the pallet feeding and pushing assembly 1.

[0060] The top blocks 17 on both sides of the movable plate 13, under the action of the spring 18, press upward against the lower edge of the second to last layer of trays to prevent the trays from shaking or tipping over during the pushing process.

[0061] The baffle 62 of the top material mechanism 6 of the pallet feeding and pushing assembly 1 is in the extended state, which initially limits the pallet.

[0062] Phase Two: Feeding and Pushing Feeding and pushing actions: The Y-axis propulsion cylinder 14 of the pallet feeding and pushing assembly 1 extends out and drives the moving plate 13 to move along the Y direction toward the pallet destacking assembly 2 via the connecting plate 15.

[0063] The movable plate 13 carries a full stack of pallets and is pushed horizontally from the feeding position into the pallet destacking assembly 2's stacking bracket 21.

[0064] During the pushing process, the pallet stack passes through the first elastic check mechanism 7 of the pallet destabilizing assembly 2: The wedge block 73 rotates downward under pressure to overcome the elastic force of the torsion spring 72, allowing the tray to pass through; After the pallet passes, the wedge block 73 is reset under the action of the torsion spring 72, and abuts against the rear edge of the pallet stack to prevent the pallet from rolling back.

[0065] After the material is pushed into place, the entire stack of fully loaded pallets is completely located inside the pallet destacking assembly 2, and the bottom pallet is supported by the support plate 232 of the cutting mechanism 23 of the pallet destacking assembly 2, and the cutting mechanism is in a closed state.

[0066] Feed assembly reset: The Y-axis propulsion cylinder 14 retracts, driving the moving plate 13 to retract to its initial retracted position along the Y direction.

[0067] When the moving plate 13 retracts, the top block 17 maintains an upward trend under the action of the spring 18. However, since the tray has been removed, the top block 17 resets under no-load conditions to prepare for the next feeding.

[0068] Phase 3: Dismantling and Retrieving Materials The material transfer assembly moves to below the pallet destacking assembly 2: The X-axis linear module 51 of the material transfer assembly 5 is activated, which drives the Z-axis linear module 52 to move along the X direction to directly below the pallet destacking assembly 2.

[0069] At this time, the cutting mechanism 23 of the pallet destacking assembly 2 is still in the closed state, and the pallet plate 232 supports the entire stack of pallets.

[0070] The destacking and cutting mechanism opens: When the cutting cylinder 233 of the pallet destacking assembly 2 is activated, it drives the pallet 232 to retract outward along the linear bearing via the connecting rod 234, thus opening the pallet descent channel.

[0071] The entire stack of pallets loses its support, but since the material transfer components below have not yet been lifted, the pallets temporarily rely on their own weight and friction with the stacking bracket 21 to maintain their position. In the actual design, the position may drop slightly, but the magnitude is very small.

[0072] Material transfer assembly lifting and receiving: The Z-axis linear module 52 of the transfer assembly 5 rises, and the load-bearing structure at the top of the Z-axis linear module moves upward to catch the bottom tray.

[0073] Since the cutting mechanism has been opened, the Z-axis linear module 52 can continue to rise, slightly lifting the entire stack of pallets to separate the bottom pallet from the top pallet. However, at this time, the top pallet is still constrained by the wedge block 73 of the first elastic check mechanism 7 and the side wall of the stacking bracket 21.

[0074] Destacking and cutting mechanism closure: The Z-axis linear module 52 stops rising or maintains its position, the cutting cylinder 233 of the pallet destabilizing assembly 2 reverses its movement, and the pallet 232 extends and resets.

[0075] At this time, the pallet 232 extends into the inside of the palletizing bracket 21, located below the second-to-last pallet layer, supporting all the upper pallets.

[0076] The bottom tray is independently supported by the Z-axis linear module 52 of the transfer component 5, and is separated from the upper tray.

[0077] Phase 4: Transferring materials to the loading position The transfer assembly descends and transfers the load: The Z-axis linear module 52 descends to a certain height, causing the pallet to detach from the pallet destacking assembly 2 area.

[0078] The X-axis linear module 51 is activated and moves along the X direction to directly below the loading position a.

[0079] Lift to the loading position: The Z-axis linear module 52 rises, lifting the fully loaded pallet to the working height of the loading position a.

[0080] At this point, the robot or other material handling mechanism begins to remove the joint module components one by one from the tray.

[0081] During the material handling process, the material transfer component 5 remains in a fixed position or its height is slightly adjusted according to the material handling progress, usually maintaining a fixed height.

[0082] Phase 5: Transferring empty pallets to pallet stacking assembly 3 Material handling complete: After the robot removes all the parts from the tray, the tray becomes empty.

[0083] The transfer assembly 5, still carrying the empty pallet, descends and transfers it to the pallet stacking assembly 3. The Z-axis linear module 52 descends, causing the empty pallet to detach from the loading area.

[0084] The X-axis linear module 51 is activated and moves along the X direction to directly below the pallet stacking assembly 3.

[0085] Stacking preparation: The cutting mechanism 23 of the pallet stacking assembly 3 is in a closed state, and the pallet 232 extends into the inside of the stacking bracket 21 to support any empty pallets that have been stacked.

[0086] The wedge block 73 of the second elastic check mechanism 8 of the pallet stacking assembly 3 is oriented opposite to that of the first elastic check mechanism 7, allowing pallets to enter from below but preventing stacked pallets from falling.

[0087] Phase 6: Empty Pallet Stacking Lift into pallet stacking assembly 3: The Z-axis linear module 52 rises, lifting the empty pallet upwards and into the pallet stacking bracket 21 of the pallet stacking assembly 3.

[0088] During the ascent, the empty pallet passes the wedge block 73 of the second elastic check mechanism 8: The wedge block 73 rotates upward under pressure to overcome the elastic force of the torsion spring 72, allowing the tray to pass through; After the pallet passes, the wedge block 73 is reset under the action of the torsion spring 72, pressing against the lower edge of the pallet to prevent it from falling.

[0089] The stacking and cutting mechanism opens and receives: When the empty pallet rises to a position above the pallet plate 232, i.e. below the pallet plate, the cutting cylinder 233 of the pallet stacking assembly 3 is activated, and the pallet plate 232 retracts and opens to make room for the pallet to rise.

[0090] The Z-axis linear module 52 continues to rise, delivering the empty pallet to the stacking height, i.e., the position aligned with the already stacked pallets.

[0091] When the stacking and cutting cylinder 233 reverses its movement, the pallet 232 extends and resets. At this time, the pallet 232 extends under the empty pallet or the bottom of the stacked pallet to support the entire empty pallet.

[0092] Material transfer assembly 5 descends and exits: The Z-axis linear module 52 descends and disengages from the pallet stacking assembly 3 area.

[0093] The empty pallets are supported by the pallet plate 232 and the second elastic check mechanism 8, and are stably stacked in the pallet stacking assembly 3.

[0094] Phase 7: Unloading and retrieving empty pallets Stacking completion trigger: When the pallet stacking assembly 3 is filled with a predetermined number of empty pallets, such as 10, the system issues a discharge command.

[0095] Pallet discharge and pusher assembly 4 enters: The Y-axis propulsion cylinder 14 of the pallet unloading and pushing assembly 4 extends, driving the moving plate 13 to move along the Y direction toward the pallet stacking assembly 3.

[0096] The movable plate 13 is moved to the underside or side of the pallet stacking assembly 3, depending on the layout.

[0097] The stacking and cutting mechanism opens: When the cutting cylinder 233 of the pallet stacking assembly 3 is activated, the pallet 232 retracts and opens, releasing the empty pallet stack.

[0098] The empty pallet stack falls onto the moving plate 13 of the pallet discharge and push assembly 4 or is actively picked up by the pallet discharge and push assembly 4.

[0099] Material discharge and pulling action: The Y-axis propulsion cylinder 14 of the pallet unloading and pushing assembly 4 retracts, driving the moving plate 13 to retract along the Y direction, pulling the entire stack of empty pallets out of the pallet stacking assembly 3.

[0100] During the pull-out process, when the empty pallet stack passes the second elastic check mechanism 8, the wedge block 73 is compressed and rotates to make way. After being pulled out, it resets, but at this time there are no pallets in the pallet stacking assembly 3, so the reset has no effect.

[0101] Material discharge complete: The moving plate 13 retracts to the initial retracted position at the discharge position.

[0102] The baffle 62 of the top material mechanism 6 extends to limit the empty pallet.

[0103] The entire stack of empty pallets is removed manually or by AGV to complete the unloading process.

[0104] Phase 8: Cyclic Preparation Material transfer assembly 5 reset: The X-axis linear module 51 of the transfer assembly 5 returns to the standby position, which is usually located between the pallet destacking assembly 2 and the pallet stacking assembly 3 or below the pallet destacking assembly 2.

[0105] The Z-axis linear module 52 remains in the descending position, waiting for the next cycle.

[0106] Feeding components are ready: The moving plate 13 of the pallet feeding and pushing assembly 1 has been reset, and the baffle 62 of the top material mechanism 6 has been extended, waiting for the next batch of fully loaded pallets to be placed.

[0107] The system returns to its initial state and prepares to start a new cycle.

[0108] Example 2, please refer to Figures 12-13This embodiment provides a tray for the aforementioned feeding structure for joint module components. It includes a tray body 10, with several feeding slots on the upper end. Positioning pins 101 are located at the upper corners of the tray body 10, and positioning holes 102 are located at the lower corners. Several trays are stacked sequentially by engaging the positioning pins 101 with the positioning holes 102. The tray body 10 uses positioning pins 101 at the upper corners and positioning holes 102 at the lower end. The engagement of the positioning pins 101 with the positioning holes 102 enables physical positioning constraints, allowing multiple trays to be stacked vertically and tightly without affecting the feeding of joint modules within the tray, thus improving the batch feeding effect of joint modules. The several feeding slots on the upper end of each tray can regulate and limit the movement of joint module components, preventing displacement and collisions during transport, ensuring accurate positioning during robot picking, and improving the continuity of the feeding process.

[0109] Example 3, based on Examples 1 and 2, provides a feeding process, including: Process 1: Multiple pallets are manually stacked into the pallet feeding and pushing assembly 1. At this time, the baffle 62 connected to the top material mechanism 6 is in the extended state and is used to limit the pallet position. Step 2: After the pallet is placed, the Y-axis pushing cylinder 14 of the pallet feeding and pushing assembly 1 pushes the pallet into the pallet destacking assembly 2. The pallet is moved to the bottom of the pallet destacking assembly 2 by the X-axis linear module 51 of the transfer assembly 5, and then rises to catch the pallet by the Z-axis linear module 52. The cutting mechanism 23 is opened. After the transfer assembly takes off a pallet, the cutting cylinder 233 is closed, and so on. Step 3: The removed pallet is moved horizontally to the product loading position by the material transfer component 5, and then picked up by the robot; Step 4: After the robot removes all the products from the pallet, the empty pallet is transferred to the pallet stacking assembly 3 directly below by the transfer component 5. The empty pallet is then lifted by the transfer component 5. At this time, the cutting mechanism 23 of the pallet stacking assembly 3 opens. When the pallet is lifted to the top of the cutting mechanism 23, the cutting mechanism 23 closes. This process is carried out step by step. Step 5: When the pallet stacking assembly 3 is full of empty pallets, the pallet unloading and pushing assembly 4 pushes out the Y-axis propulsion cylinder 14 to push the empty pallets to the pallet unloading and pushing assembly 4, thus completing one overall feeding cycle.

[0110] In summary, this invention adopts an integrated layout for feeding, loading, and unloading. A single material transfer component simultaneously handles the functions of destacking and transferring fully loaded pallets and recycling and stacking empty pallets, reducing moving parts and thus minimizing the equipment's footprint. Both the pallet destacking component 2 and the pallet stacking component 3 utilize a simple structure with a cutting cylinder 233 and a pallet plate 232, eliminating the need for complex rotating mechanisms and clamping structures. This better suits the compact layout requirements of workshops, reducing manufacturing costs and significantly lowering the risk of failure and maintenance costs. Therefore, this invention effectively overcomes the various shortcomings of existing technologies and possesses high industrial application value.

[0111] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A feeding structure for joint module components, comprising a feeding position (a) and a feeding route (b) and a discharging route (c) simultaneously connected to the feeding position (a); Its features are: The feeding route (b) is equipped with a pallet feeding and pushing component (1) and a pallet destacking component (2), and the discharging route (c) is equipped with a pallet stacking component (3) and a pallet discharging and pushing component (4). The same set of material transfer components (5) is provided between the pallet destacking component (2), the pallet stacking component (3) and the loading position (a). The pallet feeding and pushing assembly (1) and the pallet discharging and pushing assembly (4) are both located on the same side of the transfer assembly (5); The pallet feeding and pushing assembly (1) is used to receive a fully loaded pallet and push it to the pallet destacking assembly (2). The pallet destacking assembly (2) is used to receive a fully loaded pallet. The material transfer assembly (5) is used to destacking the fully loaded pallet in the pallet destacking assembly (2) and transferring it to the loading position (a), and to transfer the empty pallet after material removal from the loading position (a) to the pallet stacking assembly (3) for stacking. The pallet stacking assembly (3) is used to receive an empty pallet. The pallet discharging and pushing assembly (4) is used to pull out the empty pallet and discharge it. The pushing motion direction between the pallet feeding and pushing assembly (1) and the pallet destacking assembly (2), and the pushing motion direction between the pallet discharging and pushing assembly (4) and the pallet stacking assembly (3) are all perpendicular to the moving motion direction of the material transfer assembly (5).

2. The feeding structure for joint module components according to claim 1, characterized in that, The pallet feeding and pushing assembly (1) and the pallet discharging and pushing assembly (4) are the same components, both including: A bracket (11) is provided with a base (12). The slide rail slider mechanism (16) has its slide rail located on the upper end of the base (12); A movable plate (13) is mounted on the slider of the slide rail slider mechanism (16); Y-axis propulsion cylinder (14) is mounted on the lower end of base (12). A connecting plate (15) is provided on the output end of the Y-axis propulsion cylinder (14). A U-shaped slot (121) is provided on the base (12). The connecting plate (15) passes through the U-shaped slot (121) and is connected to the moving plate (13).

3. The feeding structure for joint module components according to claim 2, characterized in that: The base (12) is provided with a top material mechanism (6) on both the left and right sides. The top material mechanism (6) includes a top material cylinder (61), a baffle (62), and an L-shaped connecting rod (63). The top material cylinder (61) is installed at the lower end of the base (12). The lower end of the L-shaped connecting rod (63) is connected to the output end of the top material cylinder (61). The side end of the L-shaped connecting rod (63) is connected to the baffle (62). The baffle (62) passes through the base (12) and can be raised and lowered to abut against the tray located at the lower end.

4. The feeding structure for joint module components according to claim 3, characterized in that: The two ends of the movable plate (13) are hinged to top blocks (17) via pivots. The other end of the top block (17) is connected to a spring (18), and the lower end of the spring (18) is connected to the upper end of the movable plate (13).

5. The feeding structure for joint module components according to claim 1, characterized in that, The pallet destacking assembly (2) and the pallet stacking assembly (3) are the same components, both including: A palletizing support (21) is provided with horizontal plates (22) on its left and right sides. At least two sets of cutting mechanisms (23) are installed on the horizontal plates (22) on the left and right sides of the stacking bracket (21) respectively, for opening or closing the channel for raising and lowering the material transfer assembly (5).

6. The feeding structure for joint module components according to claim 5, characterized in that, The cutting mechanism (23) includes a cutting seat (231), a pallet (232), a cutting cylinder (233), and a connecting rod (234). The cutting seat (231) is mounted on a horizontal plate (22). The pallet (232) is movably mounted on the cutting seat (231) via a linear bearing. The cutting cylinder (233) is mounted at the lower end of the cutting seat (231). The output end of the cutting cylinder (233) is connected to one end of the pallet (232) via the connecting rod (234). The other end of the pallet (232) extends to the inside of the stacking bracket (21).

7. The feeding structure for joint module components according to claim 6, characterized in that: The pallet destacking assembly (2) has a first elastic check mechanism (7) at one end of the pallet feeding direction and a second elastic check mechanism (8) at one end of the pallet stacking assembly (3) in the discharge direction. The first elastic check mechanism (7) and the second elastic check mechanism (8) are the same mechanism, both including a spring seat (71), a torsion spring (72), and a wedge block (73). The wedge block (73) is hinged to the spring seat (71) by a pin, and the torsion spring (72) is sleeved on the pin and its two ends are respectively connected to the spring seat (71) and the wedge block (73).

8. The feeding structure for joint module components according to claim 7, characterized in that: The first elastic check mechanism (7) and the second elastic check mechanism (8) have opposite wedge-shaped check directions.

9. The feeding structure for joint module components according to claim 1, characterized in that: The material transfer assembly (5) includes an X-axis linear module (51) and a Z-axis linear module (52). The X-axis linear module (51) passes under the pallet destacking assembly (2) and the pallet stacking assembly (3) in sequence and extends to the loading position (a). The Z-axis linear module (52) is mounted on the movable end of the X-axis linear module (51).

10. A tray, applied to the feeding structure for joint module components as described in any one of claims 1-9, characterized in that: The pallet includes a pallet body (10), the upper end of which is provided with several material slots, the upper corner of which is provided with positioning pins (101), and the lower corner of which is provided with positioning holes (102). Several pallets are stacked sequentially by connecting the positioning pins (101) and the positioning holes (102).

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