Automatic plate stacking machine for plate heat exchanger and stacking method

Abstract

The application discloses a plate heat exchanger automatic lamination machine and a lamination method, and belongs to the technical field of plate heat exchangers. The plate heat exchanger automatic lamination machine comprises a workbench, an annular guide ring frame is arranged on the lamination frame, an annular chain is arranged in the guide ring frame, and a lamination disc is arranged above the annular chain and the guide ring frame. The application solves the problems of single lamination mode and low lamination efficiency of the existing lamination system in actual use, sets the lamination disc on the annular chain which can move circularly along the guide ring frame, enables multiple lamination discs to continuously circulate on the annular work station, realizes multi-station parallel assembly line operation, and enables multiple lamination discs to simultaneously perform feeding, lamination and discharging operations at different work stations, thereby improving the output of a single device. Through a complete automatic process and real-time monitoring of a visual recognition module, intelligent manufacturing is realized, and the yield of products is improved.

Description

Technical Field

[0001] This invention relates to the field of plate heat exchanger manufacturing technology, specifically to an automated plate heat exchanger stacking machine and stacking method. Background Technology

[0002] An automated plate heat exchanger stacking machine is a specialized piece of equipment that precisely stacks heat exchanger plates according to a preset order and orientation. It primarily addresses the problems of low efficiency, high labor intensity, and product scrapping caused by errors in orientation or sequence in traditional manual stacking.

[0003] Chinese patent CN118650088B discloses an automated plate heat exchanger plate processing and stacking system and its control method. This patent automates the entire process from plate heating, temporary storage and insulation, molding, quality screening to stacking, achieving complete automation of plate molding and stacking. This improves the efficiency of plate processing and stacking, and can be used for the production and stacking of plates with different structures. It is also suitable for the flexible switching between detachable and welded plate heat exchangers, offering good flexibility.

[0004] In actual use, the stacking system of the aforementioned patent has a single stacking method and low stacking efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide an automated plate heat exchanger stacking machine and stacking method, which solves the problems of single stacking method and low stacking efficiency in the actual use of the stacking system mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An automated plate heat exchanger stacking machine has a stacking frame and a feeding frame on its worktable. The stacking frame is equipped with an annular guide ring frame, and an annular chain is installed inside the guide ring frame. A stacking disc is installed above the annular chain and the guide ring frame.

[0008] By setting the stacking discs on a circular chain that can move cyclically along the guide ring frame, multiple stacking discs can be continuously rotated on the circular workstation, expanding the traditional single-station stacking operation into a multi-station working mode.

[0009] Several robotic arms are arranged around the stacking rack. An adjustment sleeve is provided at the upper end of each robotic arm. An electric cylinder passes through the adjustment sleeve. An adjustment motor is provided at the bottom end of the electric cylinder. An electric suction cup is installed at the lower end of the adjustment motor. The electric suction cup is used to pick up the heat exchanger plates on the loading rack and put them into the stacking rack.

[0010] In some embodiments, a support frame is installed on the outside of the workbench. The support frame is used to install the inspection plate and the monitoring glass. A vision recognition module is provided at the upper end of the support frame, and the vision recognition module is used to detect the angular position of the heat exchanger plates.

[0011] In some embodiments, a mounting box is provided below the workbench, and an electrical box and a wireless transmission module are installed inside the mounting box.

[0012] In some embodiments, the loading rack is fixedly connected to the outside of the workbench. The loading rack is equipped with a conveyor belt and a loading belt. A drive gear and a drive motor are installed at the bottom of the loading rack. The drive motor drives the drive gear to drive the loading belt and the conveyor belt to move, continuously conveying the heat exchanger plates from the outside to the picking position near the robot arm. At the same time, a vision recognition module set on the upper end of the support frame performs real-time image acquisition and angle position detection of the plates during the conveying process, and transmits the position deviation signal to the control system.

[0013] During a single pick-up and drop process, the vision recognition module collects the two-dimensional coordinates and angular deviation of the plate. The control system maps the deviation to the motion space of each joint of the robot arm based on the coordinate transformation principle. By adjusting the combined control of the transmission arm rotation angle, the movable arm swing angle, the electric cylinder pitch angle, and the motor compensation angle, the electric suction cup adjusts the plate while descending. When the plates are stacked, the vision module monitors the edge contour and top height of the stacked plates in the stacking slot in real time. It feeds back the cumulative height error to the stroke control of the electric cylinder and automatically fine-tunes the termination position of the next plate placement to ensure that the landing height of each plate is consistent and the contact impact force is constant, thereby avoiding the stacking skew or crushing caused by the accumulation of plate thickness tolerance.

[0014] In some embodiments, the stacking frame is fixed to the upper surface of the workbench by a bracket, a servo motor is installed below the stacking frame, and an adjusting gear is installed inside the annular chain, with the servo motor driving the annular chain to rotate through the adjusting gear.

[0015] In some embodiments, the guide ring frame is fixedly connected to the stacking frame, and the outer surface of the guide ring frame is provided with an integrally formed guide rail groove. The lower end of the stacking disk is equipped with a guide slide plate, one side of the guide slide plate is embedded in the guide rail groove and slidably connected to the guide ring frame, the guide slide plate is engaged with the annular chain, and the upper surface of the stacking disk is provided with two integrally formed stacking grooves.

[0016] The guide slide and the guide rail groove on the guide ring frame form a sliding pair. When the circular chain pulls the stacking disk horizontally, the guide rail groove bears the radial off-center load and provides vertical support reaction force, so that the stacking disk always maintains a horizontal posture during dynamic rotation. The circular chain, driven by the servo motor, performs intermittent indexing rotation according to the preset stacking rhythm, and accurately stops each stacking disk in the corresponding mechanical manual position.

[0017] In some embodiments, the robotic arm is fixedly mounted on the upper surface of the workbench, and a connecting seat is mounted on the robotic arm. A servo motor is fixedly connected to the connecting seat, and a transmission arm is fixedly connected to the output shaft of the servo motor. The upper end of the transmission arm is connected to a movable arm via a stepper motor.

[0018] In some embodiments, one end of the movable arm is hinged to the adjusting sleeve, and a servo motor is installed on one side of the adjusting sleeve. The middle of the electric cylinder is fixedly connected to the adjusting sleeve, and the piston rod end of the electric cylinder is fixedly connected to the adjusting motor. The output shaft of the adjusting motor is connected to the electric suction cup via a speed regulator. An electromagnetic pump is installed inside the electric suction cup.

[0019] The plate heat exchanger stacking method includes the following steps:

[0020] Step 1: Set the stacking trays on a circular chain that can move cyclically along the guide ring frame. The continuous flow of multiple stacking trays in the circular station is achieved by moving the circular chain.

[0021] Step 2: The drive motor drives the drive gear to move the feeding belt and the conveyor belt, continuously conveying the heat exchanger plates from the outside to the picking position near the robot arm. At the same time, the vision recognition module set on the upper end of the support frame performs real-time image acquisition and angle position detection of the plates during the conveying process, and transmits the position deviation signal to the control system.

[0022] Step 3: The servo motor on the robotic arm drives the transmission arm to rotate, the stepper motor drives the movable arm to swing, the servo motor on one side of the adjusting sleeve adjusts the pitch angle of the electric cylinder, the piston rod of the electric cylinder itself extends and retracts to achieve vertical feed motion, and the adjusting motor precisely controls the rotation angle of the electric suction cup through the speed controller.

[0023] Step 4: The electric suction cup is moved to the position directly above the material picking position. The piston rod of the electric cylinder extends to lower the electric suction cup. The electromagnetic pump starts to generate negative pressure to adsorb the plate. Then the piston rod of the electric cylinder retracts. The robot moves the plate directly above the stacking slot of the stacking plate. The electric suction cup releases the plate to complete the single-piece stacking.

[0024] Step 5: During the stacking process, the stacking tray passes through each mechanical manual station in sequence. One side of the guide slide is embedded in the guide rail groove of the guide ring frame to ensure that the stacking tray maintains a horizontal posture throughout the flow. When a stacking slot completes the stacking of a predetermined number of plates, it is sent out of the stacking machine by the transfer robotic arm, and another stacking tray immediately enters the stacking station to realize uninterrupted stacking operation. The vision recognition module continuously monitors the stacking status of the plates at each station, forming a closed-loop control.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] 1. This invention, by setting the stacking discs on a circular chain that can circulate along the guide ring frame, enables multiple stacking discs to continuously rotate in a circular station, realizing multi-station parallel assembly line operation. Multiple stacking discs can simultaneously perform feeding, stacking, and unloading operations at different stations, solving the problems of single stacking methods and low stacking efficiency, and increasing the output of a single machine. The stacking discs pass through each mechanical manual station in sequence. When a stacking slot completes the stacking of a predetermined number of plates, it is sent out by a transfer robotic arm, and another stacking disc immediately enters the stacking station. This makes the stacking process more efficient through the step-by-step rotation of the circular chain. The whole machine can run continuously for a long time, maximizing the utilization rate of the equipment.

[0027] 2. This invention achieves precise multi-degree-of-freedom positioning of the electric suction cup by using the rotation of the transmission arm, the swing of the movable arm, the pitch angle adjustment of the electric cylinder, the extension and retraction of the piston rod, and the adjustment motor to precisely control the rotation angle of the electric suction cup. This allows the robotic arm to flexibly adapt to the needs of picking up and placing heat exchanger plates in different positions, ensuring the repeatability of placement accuracy and guaranteeing the quality of plate stacking. Through a complete automated process, combined with real-time monitoring by a vision recognition module, it realizes fully unmanned operation from feeding, positioning, picking up and placing, to plate stacking and unloading. With the wireless transmission module installed in the mounting box, production data can be uploaded to the factory's ERP system in real time, facilitating production scheduling, ensuring operational safety, and simplifying daily maintenance and troubleshooting. This enables intelligent manufacturing and improves the product yield. Attached Figure Description

[0028] Figure 1 This is an isometric view of the front view of the present invention;

[0029] Figure 2 This is an isometric view of the side view of the present invention;

[0030] Figure 3 This is an axonometric view of the rear view of the present invention;

[0031] Figure 4 For the present invention Figure 3 Enlarged view of a portion of area A in the middle;

[0032] Figure 5 This is a top-view axonometric view of the present invention;

[0033] Figure 6 For the present invention Figure 5 Enlarged view of a section in area B;

[0034] Figure 7 This is an isometric view of the robotic arm of this invention from a bottom angle.

[0035] In the diagram: 1. Workbench; 101. Support frame; 102. Mounting box; 2. Feeding rack; 201. Feeding belt; 202. Conveyor belt; 203. Drive gear; 3. Stacking rack; 301. Adjusting gear; 302. Ring chain; 303. Guide ring frame; 4. Robot arm; 401. Electric cylinder; 402. Adjusting motor; 403. Electric suction cup; 404. Connecting seat; 405. Transmission arm; 406. Movable arm; 407. Adjusting sleeve; 5. Stacking plate; 501. Stacking groove; 502. Guide slide plate. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0037] To address the issues of limited stacking methods and low stacking efficiency in existing stacking systems during practical use, please refer to... Figure 1 - Figure 7 This embodiment provides the following technical solution:

[0038] Given the limited stacking methods of existing stacking machines, a feasible solution is to incorporate an automated structure into the stacking machine. The stacking discs 5 are mounted on a circular chain 302 that can move cyclically along the guide ring 303. By moving the circular chain 302, multiple stacking discs 5 can continuously rotate in a circular station. A vision recognition module performs real-time image acquisition and angle position detection of the plates during the conveying process, transmits the position deviation signal to the control system, and then uses a robotic arm 4 for operation and adjustment to achieve automation.

[0039] The stepping rhythm of the ring chain 302 is dynamically matched with the motion cycle of the robot arm 4 to ensure that the stacking accuracy and rhythm stability of the whole machine during long-term continuous operation, and to achieve adaptive control throughout the process.

[0040] The conveyor belt 202 and the feeding belt 201 on the feeding rack 2 operate continuously under the drive of the drive gear 203, conveying the plates to the picking area of ​​the picking station at fixed intervals. The vision recognition module dynamically captures each plate that passes by, and the control system records and caches its angular offset. When the plate reaches the picking position, the offset is immediately sent to the execution end of the corresponding robot arm 4.

[0041] To address the low stacking efficiency in existing technologies, one possible solution is to set up multiple robotic arms 4 located around the guide ring frame 303 to simultaneously stack multiple heat sink fins, thereby achieving high-efficiency stacking.

[0042] On the stepping sequence of the ring chain 302, each stacked disc 5 works alternately, while simultaneously sending the stacked disc 5 with an empty disc loaded behind it into the current work station. During the chain pause, each robot arm 4 synchronously performs the pick-and-place actions of its respective work station, forming alternating work. When the number of stacked discs in a stacked slot 501 reaches the preset value, the stacked disc 5 flows with the chain to the discharge station, and is moved out as a whole by the external transfer robot arm. After its guide slide plate 502 disengages from the guide rail slot, another empty disc is immediately cut in, realizing uninterrupted cyclic operation.

[0043] The automated plate heat exchanger stacking machine of this embodiment has a workbench 1, on which a stacking frame 3 and a feeding frame 2 are arranged. The stacking frame 3 is provided with an annular guide ring frame 303, and an annular chain 302 is arranged inside the guide ring frame 303. A stacking disc 5 is arranged above the annular chain 302 and the guide ring frame 303. The stacking disc 5 is arranged on the annular chain 302 that can circulate along the guide ring frame 303, so that multiple stacking discs 5 can continuously rotate in the annular station, expanding the traditional single-station stacking operation to a multi-station working mode.

[0044] Several robotic arms 4 are arranged around the stacking frame 3. The robotic arms 4 are distributed at various points. According to the rotation of the ring chain 302, in conjunction with the stacking disk 5, they work alternately to realize the stacking of plates.

[0045] An adjustment sleeve 407 is provided at the upper end of the robotic arm 4. An electric cylinder 401 passes through the adjustment sleeve 407. An adjustment motor 402 is provided at the bottom end of the electric cylinder 401. An electric suction cup 403 is installed at the lower end of the adjustment motor 402. The electric suction cup 403 is used to adsorb the heat exchanger plates on the feeding rack 2 into the stacking plate 5.

[0046] A support frame 101 is installed on the outside of the workbench 1. The support frame 101 is used to install the inspection plate and the monitoring glass. A vision recognition module is set at the upper end of the support frame 101, and the vision recognition module is used to detect the angle position of the heat exchanger plates.

[0047] The stacking frame 3 is fixed to the upper surface of the workbench 1 by a bracket. A servo motor is installed below the stacking frame 3. An adjusting gear 301 is installed inside the ring chain 302, and the servo motor drives the ring chain 302 to rotate through the adjusting gear 301.

[0048] It should be noted that the guide ring frame 303 is fixedly connected to the stacking frame 3, and the outer surface of the guide ring frame 303 is provided with an integrally formed guide rail groove. The lower end of the stacking disk 5 is equipped with a guide slide plate 502. One side of the guide slide plate 502 is embedded in the guide rail groove and slidably connected to the guide ring frame 303. The guide slide plate 502 is engaged with the ring chain 302. The upper surface of the stacking disk 5 is provided with two integrally formed stacking grooves 501.

[0049] In addition, the robot arm 4 is fixedly installed on the upper surface of the worktable 1, and a connecting seat 404 is installed on the robot arm 4. A servo motor is fixedly connected to the connecting seat 404, and a transmission arm 405 is fixedly connected to the output shaft of the servo motor. The upper end of the transmission arm 405 is connected to a movable arm 406 through a stepper motor.

[0050] Specifically, in this embodiment, the stacking disc 5 is set on the annular chain 302 that can move cyclically along the guide ring frame 303, so that multiple stacking discs 5 can continuously rotate on the annular station, realizing multi-station parallel assembly line operation. Multiple stacking discs 5 can simultaneously perform feeding, stacking and unloading operations at different stations, effectively solving the problems of single stacking method and low stacking efficiency, and improving the output of a single machine. The stacking disc 5 passes through each mechanical manual station in sequence. When a stacking slot 501 completes the stacking of a predetermined number of plates, it is sent out by the transfer robotic arm, and another stacking disc 5 then enters the stacking station. This makes the stacking process improve the stacking efficiency through the stepping rotation of the annular chain 302. The whole machine can run continuously for a long time, and the equipment utilization rate is maximized.

[0051] In this embodiment, an installation box 102 is provided below the workbench 1, and an electrical box and a wireless transmission module are installed inside the installation box 102.

[0052] Furthermore, the loading rack 2 is fixedly connected to the outside of the workbench 1. The loading rack 2 is equipped with a conveyor belt 202 and a loading belt 201. A drive gear 203 and a drive motor are installed at the bottom of the loading rack 2. The drive motor drives the drive gear 203 to drive the loading belt 201 and the conveyor belt 202 to move, continuously conveying the heat exchanger plates from the outside to the picking position close to the robot arm 4. At the same time, the vision recognition module set on the upper end of the support frame 101 performs real-time image acquisition and angle position detection of the plates during the conveying process, and transmits the position deviation signal to the control system.

[0053] In fact, one end of the movable arm 406 is hinged to the adjusting sleeve 407, and a servo motor is installed on one side of the adjusting sleeve 407. The middle of the electric cylinder 401 is fixedly connected to the adjusting sleeve 407, and the piston rod end of the electric cylinder 401 is fixedly connected to the adjusting motor 402. The output shaft of the adjusting motor 402 is connected to the electric suction cup 403 through a speed regulator. An electromagnetic pump is installed inside the electric suction cup 403.

[0054] Specifically, in this embodiment, the rotation of the transmission arm 405, the swing of the movable arm 406, the pitch angle adjustment of the electric cylinder 401, the extension and retraction of the piston rod, and the precise control of the rotation angle of the electric suction cup 403 by the regulating motor 402 enable the electric suction cup 403 to achieve precise positioning with multiple degrees of freedom. This allows the robotic arm to flexibly adapt to the pick-and-place requirements of heat exchanger plates in different positions, ensuring the repeatability of the placement accuracy each time and guaranteeing the quality of the stacking work. Through a complete automated process, combined with real-time monitoring by the vision recognition module, fully unmanned operation is achieved from feeding, positioning, picking and placing to stacking and unloading. With the wireless transmission module set in the mounting box 102, production data can be uploaded to the factory ERP system in real time, facilitating production scheduling, ensuring operational safety, and also facilitating daily maintenance and troubleshooting, realizing intelligent manufacturing and improving the product yield.

[0055] The working process of this invention is as follows: In use, the stacking discs 5 are set on the annular chain 302 that can circulate along the guide ring frame 303. By moving the annular chain 302, multiple stacking discs 5 can continuously rotate in the annular station. The drive motor drives the drive gear 203 to simultaneously drive the feeding belt 201 and the conveyor belt 202 to move, continuously conveying the heat exchanger plates from the outside to the picking position near the robot arm 4. At the same time, the vision recognition module set on the upper end of the support frame 101 performs real-time image acquisition and angle position detection of the plates during the conveying process, and transmits the position deviation signal to the control system. The servo motor on the robot arm 4 The drive arm 405 rotates, the stepper motor drives the movable arm 406 to swing, the servo motor on one side of the adjusting sleeve 407 adjusts the pitch angle of the electric cylinder 401, and the piston rod of the electric cylinder 401 extends and retracts to achieve vertical feeding motion. The adjusting motor 402 precisely controls the rotation angle of the electric suction cup 403 through the speed controller. The electric suction cup 403 is moved to directly above the material picking position, the piston rod of the electric cylinder 401 extends to lower the electric suction cup 403, the electromagnetic pump starts to generate negative pressure to adsorb the plate, and then the piston rod of the electric cylinder 401 retracts. The robot arm moves the plate directly above the stacking slot 501 of the stacking plate 5. 3. Release the plates to complete single-plate stacking. During the stacking process, the stacking tray 5 passes through each mechanical manual station in sequence. One side of the guide slide plate 502 is embedded in the guide rail groove of the guide ring frame 303 to ensure that the stacking tray 5 maintains a horizontal posture during the flow. When a stacking slot 501 completes the stacking of a predetermined number of plates, it is sent out of the stacking machine by the transfer robotic arm, and another stacking tray 5 immediately enters the stacking station to realize uninterrupted stacking operation. The vision recognition module continuously monitors the stacking status of the plates at each station to form a closed-loop control. The stacking tray 5 is set on the annular chain 302 that can circulate along the guide ring frame 303, so that multiple plates are stacked. The stacking tray 5 can continuously rotate on the ring station, realizing multi-station parallel assembly line operation. Multiple stacking trays 5 can simultaneously perform feeding, stacking and unloading operations at different stations, effectively solving the problems of single stacking method and low stacking efficiency, and improving the output of a single machine. The stacking tray 5 passes through each mechanical manual station in sequence. When a stacking slot 501 completes the stacking of a predetermined number of plates, it is sent out by the transfer robotic arm, and another stacking tray 5 immediately enters the stacking station. This makes the stacking process more efficient through the stepping rotation of the ring chain 302. The whole machine can run continuously for a long time, maximizing the utilization rate of the equipment.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. An automated plate heat exchanger stacking machine, comprising a workbench (1), characterized in that, The workbench (1) is provided with a stacking frame (3), and the stacking frame (3) is provided with an annular guide ring frame (303). An annular chain (302) is provided inside the guide ring frame (303). A stacking plate (5) is provided above the annular chain (302) and the guide ring frame (303). Several robotic arms (4) are provided around the stacking frame (3). An adjusting sleeve (407) is provided at the upper end of the robotic arm (4). An electric cylinder (401) passes through the adjusting sleeve (407). An adjusting motor (402) is provided at the bottom end of the electric cylinder (401). An electric suction cup (403) is installed at the lower end of the adjusting motor (402). The electric suction cup (403) is used to adsorb the heat exchanger plates on the feeding rack (2) into the stacking plate (5).

2. The automated plate heat exchanger stacking machine according to claim 1, characterized in that, The workbench (1) is equipped with a support frame (101) on its exterior. The support frame (101) is used to install the inspection plate and the monitoring glass. A vision recognition module is provided at the upper end of the support frame (101), and the vision recognition module is used to detect the angle position of the heat exchanger plates.

3. The automated plate heat exchanger stacking machine according to claim 2, characterized in that, An installation box (102) is provided below the workbench (1), and an electrical box and a wireless transmission module are installed inside the installation box (102).

4. The automated plate heat exchanger stacking machine according to claim 1, characterized in that, The loading rack (2) is fixedly connected to the outside of the workbench (1). The loading rack (2) is equipped with a conveyor belt (202) and a loading belt (201). A drive gear (203) and a drive motor are installed at the bottom of the loading rack (2). The drive motor drives the drive gear (203) to drive the loading belt (201) and the conveyor belt (202) to move simultaneously.

5. The automated plate heat exchanger stacking machine according to claim 2, characterized in that, The stacking frame (3) is fixed to the upper surface of the workbench (1) by a bracket. A servo motor is installed below the stacking frame (3). An adjusting gear (301) is installed inside the ring chain (302), and the servo motor drives the ring chain (302) to rotate through the adjusting gear (301).

6. The automated plate heat exchanger stacking machine according to claim 5, characterized in that, The guide ring frame (303) is fixedly connected to the stacking frame (3), and the outer surface of the guide ring frame (303) is provided with an integrally formed guide rail groove. The lower end of the stacking disc (5) is equipped with a guide slide plate (502). One side of the guide slide plate (502) is embedded in the guide rail groove and slidably connected to the guide ring frame (303). The guide slide plate (502) is meshed with the ring chain (302). The upper surface of the stacking disc (5) is provided with two integrally formed stacking grooves (501).

7. The automated plate heat exchanger stacking machine according to claim 6, characterized in that, The robotic arm (4) is fixedly installed on the upper surface of the workbench (1), and a connecting seat (404) is installed on the robotic arm (4). A servo motor is fixedly connected to the connecting seat (404), and a transmission arm (405) is fixedly connected to the output shaft of the servo motor. The upper end of the transmission arm (405) is connected to a movable arm (406) via a stepper motor.

8. The automated plate heat exchanger stacking machine according to claim 7, characterized in that, One end of the movable arm (406) is hinged to the adjusting sleeve (407), and a servo motor is installed on one side of the adjusting sleeve (407). The middle of the electric cylinder (401) is fixedly connected to the adjusting sleeve (407), and the piston rod end of the electric cylinder (401) is fixedly connected to the adjusting motor (402). The output shaft of the adjusting motor (402) is connected to the electric suction cup (403) through a speed regulator. An electromagnetic pump is installed inside the electric suction cup (403).

9. A plate stacking method, implemented based on the automated plate heat exchanger stacking machine according to any one of claims 1-8, characterized in that, Includes the following steps: Step 1: Place the stacking disc (5) on the annular chain (302) that can circulate along the guide ring frame (303); Step 2: The drive motor drives the drive gear (203) to simultaneously drive the feeding belt (201) and the conveyor belt (202) to move, continuously conveying the heat exchanger plates from the outside to the picking position close to the robot (4). At the same time, the vision recognition module set on the upper end of the support frame (101) performs real-time image acquisition and angle position detection of the plates during the conveying process, and transmits the position deviation signal to the control system. Step 3: The servo motor on the robotic arm (4) drives the transmission arm (405) to rotate, the stepper motor drives the movable arm (406) to swing, the servo motor on one side of the adjusting sleeve (407) adjusts the pitch angle of the electric cylinder (401), and the adjusting motor (402) precisely controls the rotation angle of the electric suction cup (403) through the speed controller. Step 4: The electric suction cup (403) is moved to the position directly above the material picking position. The piston rod of the electric cylinder (401) extends to lower the electric suction cup (403). The electromagnetic pump starts to generate negative pressure to adsorb the plate. Then the piston rod of the electric cylinder (401) retracts. The robot moves the plate to the stacking slot (501) of the stacking plate disk (5). The electric suction cup (403) releases the plate to complete the single-piece stacking. Step 5: During the stacking process, the stacking tray (5) passes through each mechanical manual station in sequence. The guide slide (502) is embedded in the guide rail groove of the guide ring frame (303) on one side. When a stacking slot (501) completes the stacking of a predetermined number of plates, it is sent out of the stacking machine by the transfer robotic arm. The other stacking tray (5) then enters the stacking station. The vision recognition module continuously monitors the stacking status of the plates at each station to form a closed-loop control.

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