Tray stacking equipment and workpiece tray filling and stacking system

Abstract

The utility model provides a tray stacking device and a workpiece tray filling and stacking system.The tray stacking device is characterized by comprising a rack, a tray stacking mechanism, a tray conveying mechanism, a tray stacking mechanism and a tray stacking mechanism, the rack is provided with an empty tray position and a discharging position which are arranged in the first direction, and the empty tray position and the discharging position are both used for containing stacked trays; the two side edge transplanting devices are oppositely arranged on the two sides of the rack, each side edge transplanting device comprises a transplanting frame, a lifting mechanism and a telescopic inserting and taking mechanism, the transplanting frames are movably arranged on one side of the rack in the first direction, the telescopic inserting and taking mechanisms are arranged on the transplanting frames through the lifting mechanisms, and the lifting mechanisms can drive the telescopic inserting and taking mechanisms to ascend and descend; the two telescopic inserting and taking mechanisms can stretch out to get close to each other or retract to get away from each other, and the telescopic inserting and taking mechanisms can be inserted between the two trays which are stacked up and down after stretching out. According to the tray stacking equipment, only the two tray positions of the empty tray position and the discharging position are needed, space saving is facilitated, and the equipment layout is compact.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of battery production, and more particularly relates to a tray stacking device and a workpiece tray loading and stacking system. BACKGROUND

[0002] In the related art, when the stacked trays are discharged, the empty tray at the bottom of the stacked trays is usually taken out and transferred to a loading position, and after being filled, is transferred to a full tray position for stacking in sequence. That is, three tray positions are needed to realize the above functions, and the space utilization is low. CONTENT OF THE UTILITY MODEL

[0003] The embodiment of the application provides a tray stacking device, which is beneficial to improving the space utilization.

[0004] The technical scheme adopted by the embodiment of the application is as follows: a tray stacking device is provided, comprising:

[0005] A rack is provided with empty tray positions and loading positions arranged along a first direction, and the empty tray positions and the loading positions are both used for placing stacked trays;

[0006] Side transplanting devices are provided with two sides arranged on opposite sides of the rack along a second direction, the first direction and the second direction are arranged at an angle, and the side transplanting devices comprise a transplanting frame, a lifting mechanism and telescopic insertion and extraction mechanisms, the transplanting frame is movably arranged on the rack along the first direction, the telescopic insertion and extraction mechanisms are arranged on the transplanting frame through the lifting mechanism, the lifting mechanism can drive the telescopic insertion and extraction mechanisms to lift, the two telescopic insertion and extraction mechanisms can extend to each other or retract away from each other, and the telescopic insertion and extraction mechanisms can be inserted between two trays stacked in an up-down manner after extension.

[0007] Further, the telescopic insertion and extraction mechanism further comprises:

[0008] A fixing member is arranged on the lifting mechanism and can lift with the lifting mechanism;

[0009] A telescopic member comprises a moving part and at least two insertion arms, the moving part is movably arranged on the fixing member along the second direction, and the insertion arms are sequentially and spacedly arranged along the first direction, one end of the insertion arm is connected to the moving part, and the other end extends beyond the edge of the fixing member;

[0010] A first driver is arranged on the fixing member and connected to the telescopic member, and the first driver is used to drive the telescopic member to reciprocate along the first direction;

[0011] The upper end of the side opposite to the insertion arm of the tray is provided with a through groove for the insertion of the insertion arm, and the upper end of the through groove is provided with an opening for the upward separation of the insertion arm.

[0012] Further, the tray stacking device further comprises the tray, the tray comprising a tray body and a positioning assembly, the positioning assembly comprising a plurality of positioning strips and a plurality of positioning plates, each of the positioning plates being arranged on the edge of the upper end surface of the tray body, and a plurality of positioning strips being arranged on the edge of the bottom surface of the tray body, the positioning strips being provided with positioning grooves for the positioning plates of another tray located below to be inserted, the groove opening of the positioning grooves being arranged downward, and the through groove being arranged on the positioning plate.

[0013] Further, the telescopic inserting mechanism further comprises a positioning member corresponding to each of the inserting arms, the positioning member being arranged at one end of the inserting arm extending out of the edge of the fixing member, and the positioning member being provided with a recess for the positioning strip to be embedded.

[0014] Further, the positioning strip and the corresponding part of the recess are provided with inclined guide surfaces on both sides.

[0015] Further, the tray stacking device further comprises a tray positioning assembly, the tray positioning assembly being arranged at the empty tray position and / or the material feeding position, the tray positioning assembly comprising:

[0016] a roller set, two roller sets being arranged at the rack and being spaced apart, each of the roller sets corresponding to a positioning strip on both sides of the bottom of the tray along the second direction, each of the roller sets comprising a plurality of rollers arranged along the second direction at intervals, the axis direction of the roller being parallel to the first direction, and a flange being arranged on the peripheral surface of the roller and being capable of being inserted into the positioning groove;

[0017] a limiting member, the limiting member being arranged at the rack and being located between the two roller sets, the limiting member being used for abutting and limiting the positioning strip perpendicular to the second direction;

[0018] a clamping member, the clamping member being movably arranged at the rack along the second direction and being located between the two roller sets, the clamping member being used for pushing the tray along the second direction to clamp the tray in cooperation with the limiting member;

[0019] a second driver, the second driver being used for driving the clamping member to move along the second direction.

[0020] Further, the lifting mechanism comprises:

[0021] a lead screw, the lead screw being rotatably arranged at the transplanting rack along the height direction;

[0022] a nut, the nut being sleeved on the lead screw and being connected with the telescopic inserting mechanism;

[0023] a first guide assembly, the first guide assembly being arranged between the telescopic inserting mechanism and the transplanting rack and being arranged along the height direction;

[0024] A third driver is configured to drive the screw rod to rotate.

[0025] Further, a transplanting driving mechanism is configured to drive the transplanting frame to move along the first direction.

[0026] Further, the transplanting driving mechanism comprises:

[0027] A rack is arranged on the frame along the first direction;

[0028] A gear is rotatably arranged on the transplanting frame and engaged with the rack;

[0029] A second guiding assembly is arranged between the frame and the transplanting frame and extends along the first direction;

[0030] A fourth driver is configured to drive the gear to rotate.

[0031] The embodiment of the present application also provides a workpiece tray stacking system, which comprises a robot, a feeding mechanism and the tray stacking device as described above, the feeding mechanism is configured to feed workpieces, and the robot is configured to carry the workpieces into the uppermost tray in the stacked trays on the feeding position.

[0032] The tray stacking device provided by the embodiment of the present application has the following advantages:

[0033] 1. When the tray stacking device of the embodiment of the present application works, the empty tray position of the frame is pre-stored with stacked empty trays, and the feeding position is ready to receive the tray feeding. The two side edge transplanting devices are synchronously started, the transplanting frame moves to the empty tray position, the lifting mechanism drives the telescopic inserting and taking mechanism to rise to the appropriate height of the stacked trays in the empty tray position, the two telescopic inserting and taking mechanisms are extended to be inserted into the empty tray and the next tray, the lifting mechanism is slightly lifted to make the uppermost empty tray separate from the lower tray, and then the transplanting frame moves to above the feeding position along the first direction. The lifting mechanism is adjusted in height and lowered to the uppermost layer of the feeding position (if the feeding position is initially empty) or the existing tray, and the telescopic inserting and taking mechanism is retracted to place the empty tray. After the robot or other feeding mechanism places workpieces in the uppermost empty tray of the feeding position one by one until the feeding position is filled, the above-mentioned empty tray taking and placing operations are repeated, and the continuous feeding operation is continuously circulated, and only two tray positions (the empty tray position and the feeding position) are always maintained.

[0034] 2. The embodiment of the present application only needs two tray positions (the empty tray position and the feeding position), compared with the traditional three-tray position mode, the space is greatly saved, the equipment layout is compact, the space utilization rate is improved, the production environment with limited space is suitable, the production site layout is optimized, the tray transfer process is simplified, the operation steps and waiting time are reduced, the time-consuming of tray conversion in the traditional mode is avoided, the new empty tray can be quickly replaced after the tray is filled, the feeding mechanism can continuously work, and the overall production rhythm and efficiency are improved. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a three-dimensional structural diagram of the workpiece pallet loading and stacking system provided in the embodiments of this application;

[0037] Figure 2 This is a three-dimensional structural diagram of the pallet stacking device provided in the embodiments of this application;

[0038] Figure 3 This is a three-dimensional structural diagram of the side transplanting device provided in the embodiments of this application;

[0039] Figure 4 A three-dimensional structural diagram of the insert arm provided in an embodiment of this application;

[0040] Figure 5 This is a three-dimensional structural diagram of the tray provided in an embodiment of this application;

[0041] Figure 6 for Figure 2 A magnified view of point A in the middle.

[0042] The following are the labeling elements in the figure:

[0043] 10. Frame; 11. Empty tray position; 12. Material unloading position;

[0044] 20. Side transplanting device; 21. Transplanting frame; 22. Lifting mechanism; 221. Lead screw; 223. First guide assembly; 224. Third actuator; 23. Telescopic insertion mechanism; 231. Fixing component; 232. Telescopic component; 2321. Moving part; 2322. Insertion arm; 233. First actuator; 234. Positioning component; 2341. Groove;

[0045] 30. Pallet; 31. Pallet body; 32. Positioning component; 321. Positioning strip; 3211. Guide surface; 3212. Positioning groove; 322. Positioning plate; 3221. Through groove;

[0046] 40. Pallet positioning assembly; 41. Roller; 42. Limiting element; 43. Clamping element; 44. Second drive;

[0047] 50. Transplanting drive mechanism; 51. Rack; 52. Second guide assembly; 53. Fourth actuator;

[0048] 60. Robot; 70. Feeding mechanism; 80. Workpiece; X - First direction; Y - Second direction; Z - Height direction. Detailed Implementation

[0049] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0050] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0051] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0053] Please see Figure 1 and Figure 2 The pallet stacking equipment provided in this application embodiment will now be described. The pallet stacking equipment provided in this application embodiment includes a frame 10 and a side-transfer device 20. For ease of description, in this application embodiment, the first direction X is the front-back direction, the second direction Y is the left-right direction, and Z is the height direction.

[0054] Reference Figure 1 The frame 10 is provided with empty tray positions 11 and feeding positions 12 arranged along the first direction X. Both the empty tray positions 11 and the feeding positions 12 are used to place stacked trays 30. The trays 30 are used to place multiple workpieces 80. In some embodiments, the workpieces 80 are battery cells.

[0055] The frame 10 is the main frame structure of the equipment, which has empty pallet positions 11 and feeding positions 12 arranged along a first direction X (e.g., the front-back direction or the left-right direction of the equipment; in this embodiment, the front-back direction is the first direction X). Both positions are specifically designed to place stacked pallets 30. The empty pallet position 11 is mainly used to store the initial stacked empty pallets 30 and is the source of pallets 30 for the entire feeding process. The feeding position 12 is the area where pallets 30 are placed for subsequent placement of workpieces 80 into the pallets 30 for sorting, playing a crucial role in receiving and temporarily storing during the feeding process. Of course, one empty pallet position 11 can correspond to multiple feeding positions 12, or multiple empty pallet positions 11 and multiple feeding positions 12 can be set. However, it is understood that in this embodiment, it is not necessary to transfer the pallets 30 to another location for temporary storage after the pallets 30 are full.

[0056] Reference Figure 1 and Figure 2 Two side-transfer devices 20 are provided and arranged along the second direction Y on opposite sides of the frame 10. The first direction X and the second direction Y are set at an angle, for example, Y is the left-right direction and forms a 90° angle with X, the front-back direction. In this arrangement, the side-transfer devices 20 are located on the left and right sides of the frame 10. This layout allows the pallet 30 to be operated from both sides of the frame 10, ensuring that the pallet 30 is subjected to uniform force during the transfer process and avoiding problems such as tilting or instability of the pallet 30 that may be caused by operation from one side.

[0057] Reference Figure 2 and Figure 3 The side transplanting device 20 includes a transplanting frame 21, a lifting mechanism 22, and a telescopic insertion mechanism 23. The transplanting frame 21 is movably disposed on one side of the frame 10 along the first direction X. The telescopic insertion mechanism 23 is disposed on the transplanting frame 21 through the lifting mechanism 22. The lifting mechanism 22 can drive the telescopic insertion mechanism 23 to rise and fall. The two telescopic insertion mechanisms 23 can extend and approach each other or retract and move away from each other. After the telescopic insertion mechanism 23 extends, it can be inserted between two stacked trays 30.

[0058] The transplanting frame 21 is movably mounted on one side of the frame 10 along the first direction X (i.e., the front-to-back direction of the frame 10). It resembles a movable platform or support, providing a mounting base for the lifting mechanism 22 and the telescopic insertion mechanism 23, and is capable of smoothly moving back and forth along a set track or guide rail (e.g., a linear slide rail mounted on the frame 10) under power. The movement range of the transplanting frame 21 covers the distance from the empty tray position 11 to the material feeding position 12, so as to accurately position the telescopic insertion mechanism 23 to the corresponding operating position of the tray 30. For example, rollers 41 or sliders are mounted on the bottom of the transplanting frame 21 to cooperate with the guide rail, and precise front-to-back movement control is achieved through a motor and transmission assembly (or a belt screw 221 or a rack and pinion 51).

[0059] Reference Figure 2 The lifting mechanism 22 is mounted on the transplanting frame 21, and its main function is to drive the telescopic insertion mechanism 23 to move up and down. It can be driven by a hydraulic cylinder, an electric lead screw 221, or a gear and rack 51. Taking the electric lead screw 221 as an example, when the motor rotates, it drives the lead screw 221 to rotate, and the nut that cooperates with the lead screw 221 (connected and fixed to the telescopic insertion mechanism 23) will move up and down along the lead screw 221, thereby realizing the precise lifting and lowering of the telescopic insertion mechanism 23.

[0060] The telescopic insertion mechanism 23 is mounted on the transplanter frame 21 via the lifting mechanism 22. It is a key component that directly contacts the tray 30 and enables the tray 30 to be gripped and released. The telescopic insertion mechanism 23 can extend closer to each other or retract further apart. When extended, it can be inserted between two stacked trays 30. The extension and retraction of the insertion rod can be achieved by a cylinder drive or an electric push rod. After the telescopic insertion mechanism 23 extends and inserts between the trays 30, the lifting mechanism 22 can be used to lift or lower a single tray 30, realizing the separation and transfer of the tray 30 from the stack.

[0061] Based on the above structure, when the pallet stacking equipment of this embodiment is working, the empty pallet position 11 of the frame 10 contains stacked empty pallets 30, and the material placement position 12 is ready. When the operation starts, the side transfer devices 20 on both sides operate simultaneously, and the transfer frame 21 moves along the first direction X above the empty pallet position 11. Then, the lifting mechanism 22 drives the telescopic insertion mechanism 23 to descend to a suitable height. The telescopic insertion mechanism 23 extends, and the two mechanisms approach each other and insert between the uppermost empty pallet 30 and the next pallet 30. Then, the lifting mechanism 22 rises to separate the pallet 30. Afterward, the telescopic insertion mechanism 23 maintains the state of lifting the pallet 30, the transfer frame 21 moves to place the pallet 30 above the material placement position 12, the lifting mechanism 22 descends to place the empty pallet 30, and the telescopic insertion mechanism 23 retracts, completing the transfer. The robot 60 or a person places the material until the pallet 30 is full. When the pallet 30 in the material placement position 12 is full, the above steps of taking and placing empty pallets 30 are repeated, and the operation is continuously cycled.

[0062] This embodiment requires only two pallet positions: empty pallet position 11 and feeding position 12. Compared with the traditional three-pallet, 30-position method, it greatly saves space, makes the equipment layout compact, improves the utilization rate of site space, and is suitable for production environments with limited space, optimizing the production site layout. It simplifies the pallet 30 transfer process, reduces operation steps and waiting time, such as avoiding the time-consuming multiple position changes of pallet 30 in the traditional method. After the pallet 30 is full, a new empty pallet 30 can be quickly replaced, allowing the feeding mechanism to work continuously and improving the overall production rhythm and efficiency.

[0063] Reference Figure 3 The telescopic insertion mechanism 23 also includes a fixing member 231, a telescopic member 232, and a first driver 233.

[0064] The fixing member 231 is provided on the lifting mechanism 22 and can move up and down with the lifting mechanism 22. The fixing member 231 is the basic mounting component of the telescopic insertion mechanism 23. It is installed on the lifting mechanism 22 and moves up and down together with the lifting mechanism 22. The fixing member 231 can be a metal plate, which is firmly installed on the moving end of the lifting mechanism 22 (such as on a nut or slider) by welding or bolting.

[0065] The telescopic member 232 includes a movable part 2321 and at least two insert arms 2322. The movable part 2321 is movably disposed on the fixing member 231 along the second direction Y. The insert arms 2322 are arranged sequentially at intervals along the first direction X. One end of the insert arm 2322 is connected to the movable part 2321, and the other end extends out of the edge of the fixing member 231.

[0066] The movable part 2321 is movably mounted on the fixed part 231 along the second direction Y. The movable part 2321 can adopt a structure in which a slider and a guide rail cooperate. For example, a linear guide rail is mounted on the fixed part 231, and a matching slider is mounted on the bottom or side of the movable part 2321. The precise movement of the movable part 2321 is achieved by the smooth sliding of the slider on the guide rail.

[0067] Reference Figure 2 and Figure 3 There are at least two insertion arms 2322, which are arranged alternately along a first direction X (such as the front-to-back direction of the device). One end of the insertion arm 2322 is connected to the moving part 2321, and the other end extends out of the edge of the fixing member 231. The shape and size of the insertion arm 2322 are designed to match the structure of the tray 30, and its length extending out of the edge of the fixing member 231 must meet the requirements for insertion into the through slot 3221 of the tray 30. For example, the insertion arm 2322 can be a slender metal rod, the front end of which can be appropriately bent or processed into a special shape to facilitate insertion into the through slot 3221 of the tray 30 and form a stable connection with the tray 30. The spacing between the insertion arms 2322 needs to be designed according to the size and structural characteristics of the tray 30 to ensure that the force is evenly distributed when inserted into the through slot 3221 of the tray 30, avoiding problems such as damage to the tray 30 or unstable insertion due to uneven force distribution.

[0068] Reference Figure 3 A first actuator 233 is disposed on the fixed member 231 and connected to the telescopic member 232. The first actuator 233 is used to drive the telescopic member 232 to reciprocate along the first direction X. The main function of the first actuator 233 is to provide power to the telescopic member 232, driving the telescopic member 232 to reciprocate along the first direction X. The first actuator 233 can take various forms, such as an electric actuator, a pneumatic cylinder, or a hydraulic cylinder.

[0069] Reference Figure 3 and Figure 5The upper end of the tray 30 opposite to the insertion arm 2322 is provided with a through groove 3221 for the insertion arm 2322 to be inserted. The upper end of the through groove 3221 is provided with an opening for the insertion arm 2322 to move upward. The shape, size, and position of the through groove 3221 need to be precisely matched with the structure of the insertion arm 2322. For example, the through groove 3221 can be a rectangular groove 2341, the width of which is slightly larger than the width of the insertion arm 2322, and the depth is sufficient to ensure that the insertion arm 2322 has enough contact area to support the weight of the tray 30 after insertion. When the telescopic insertion mechanism 23 is working, the insertion arm 2322 extends along the first direction X under the action of the first driver 233 and is accurately inserted into the through groove 3221 of the tray 30. At this time, through the upward movement of the lifting mechanism 22, the insertion arm 2322 rises from the through groove 3221 and leaves the through groove 3221 from the upper opening, and lifts the tray 30 above the through groove 3221, realizing the separation of the tray 30 from the lower tray 30. Understandably, the through groove 3221 is provided on the side wall of the tray 30, and the through groove 3221 is open at the top.

[0070] Reference Figure 5 The pallet stacking device further includes the pallet 30, which includes a pallet body 31 and a positioning component 32. The positioning component 32 includes multiple positioning strips 321 and multiple positioning plates 322. Each positioning plate 322 is respectively disposed on the edge of the upper surface of the pallet body 31, and the multiple positioning strips 321 are respectively disposed on the bottom edge of the pallet body 31. The positioning strips 321 are provided with positioning grooves 3212 for the positioning plate 322 of another pallet 30 located below to be inserted. The groove opening of the positioning groove 3212 is arranged downward, and the through groove 3221 is disposed on the positioning plate 322.

[0071] The pallet body 31 is the main part that supports the workpiece 80. It has a certain strength and flatness to ensure that the workpiece 80 placed on it can be stored stably. The positioning component 32 plays an important role in accurately positioning the pallets 30 when they are stacked. Through its specific structural design, it ensures that the upper and lower pallets 30 can be accurately aligned and stacked stably.

[0072] There are multiple positioning plates 322, including three, four, or more. In some embodiments, there are four positioning plates 322, respectively positioned along the four edges of the upper surface of the pallet body 31. These positioning plates 322 extend upward from the edge of the pallet body 31, and are evenly distributed along the four edges of the upper surface of the pallet 30, forming a rectangular frame. Similarly, there are also multiple positioning strips 321, taking four as an example, respectively positioned along the bottom edge of the pallet body 31. The positioning strips 321 extend along the bottom edge of the pallet body 31, and their structure is adapted to the positioning plates 322. The positioning strips 321 are provided with positioning grooves 3212, for example, the positioning groove 3212 can be an inverted U-shaped groove with the opening facing downwards. These four positioning strips 321 are distributed along the four edges of the bottom surface of the pallet body 31, corresponding to the positions of the four positioning plates 322 on the upper surface.

[0073] When the upper and lower trays 30 are stacked, the upper tray 30, along with its bottom edge positioning strips 321, gradually approaches the lower tray 30. Since the openings of the positioning grooves 3212 face downwards, the positioning plates 322 on the upper surface of the lower tray 30 accurately align with the openings of the positioning grooves 3212 as the two trays 30 approach. As the trays 30 continue to descend, the positioning plates 322 slowly insert themselves into the openings of the positioning grooves 3212 until they are fully embedded. During this process, the positioning grooves 3212 on the four positioning strips 321 and the corresponding four positioning plates 322 on the lower tray 30 simultaneously engage. The tight fit between the positioning grooves 3212 and the positioning plates 322 ensures that the upper and lower trays 30 are precisely positioned horizontally, preventing left-right or front-back offsets and guaranteeing the neatness and stability of the stacked trays 30.

[0074] Reference Figure 4 The telescopic insertion mechanism 23 further includes a positioning member 234 corresponding to the insertion arm 2322. The positioning member 234 is located at one end of the insertion arm 2322 that extends out of the edge of the fixing member 231. The positioning member 234 is provided with a groove 2341 into which the positioning strip 321 can be inserted.

[0075] The positioning element 234 and the insert arm 2322 are in a one-to-one correspondence. Each insert arm 2322 has a positioning element 234 at one end extending from the edge of the fixing element 231. The main function of the positioning element 234 is to further position and fix the tray 30 when the insert arm 2322 lifts it, ensuring that the tray 30 is stably positioned on the insert arm 2322 during transfer. The positioning element 234 has a groove 2341 for the positioning strip 321 to be inserted. The shape and size of this groove 2341 are adapted to the positioning strip 321 at the bottom of the tray 30. For example, the groove 2341 is usually rectangular, and its width is slightly wider than the width of the positioning strip 321 so that the positioning strip 321 can be inserted smoothly, while ensuring a certain degree of fit after insertion to prevent excessive shaking.

[0076] When the insert arm 2322 extends under the drive of the first driver 233 and inserts into the through slot 3221 on the positioning plate 322 of the tray 30, and then the tray 30 is lifted by the lifting mechanism 22, the positioning strip 321 at the bottom of the tray 30 gradually approaches the positioning member 234 at one end of the insert arm 2322 as the tray 30 rises. Since the opening of the groove 2341 on the positioning member 234 corresponds to the position of the positioning strip 321 on the tray 30, the positioning strip 321 will accurately embed into the groove 2341 of the positioning member 234. In this way, the tray 30 is fixed in position on the insert arm 2322 by the cooperation of the positioning strip 321 at the bottom and the groove 2341 on the positioning member 234. During the subsequent movement of the insert arm 2322 carrying the pallet 30, whether the transfer frame 21 moves the pallet 30 from the empty pallet position 11 to the material placement position 12 along the first direction X, or in other related operations, the pallet 30 can stably follow the movement of the insert arm 2322 due to this fixed positioning relationship. This avoids instability such as the pallet 30 sliding or shifting on the insert arm 2322, ensuring the accuracy of the pallet 30 transfer and the reliability of the entire pallet stacking equipment operation.

[0077] Reference Figure 5 The positioning strip 321 has inclined guide surfaces 3211 on both sides of the section corresponding to the groove 2341. There are two guide surfaces 3211, located on either side of the corresponding position on the positioning strip 321, forming a "V" shape. The inclination angle of the guide surfaces 3211 can be between 30° and 60°, for example, around 45°. This angle ensures that when the positioning strip 321 approaches the groove 2341, it can slide smoothly along the guide surfaces 3211 into the groove 2341, without the positioning strip 321 easily slipping out due to an excessively large angle or the guide effect being insignificant due to an excessively small angle.

[0078] When the insert arm 2322 lifts the tray 30 via the lifting mechanism 22, the positioning strip 321 at the bottom of the tray 30 rises along with the tray 30 and gradually approaches the groove 2341 on the positioning member 234 at one end of the insert arm 2322. Because the positioning strip 321 has a "V"-shaped guide surface 3211, even if the positioning strip 321 and the groove 2341 are not perfectly aligned initially, the guide surface 3211 can still function during the approach process. As long as the end of the positioning strip 321 touches either side of the guide surface 3211, following the tilt angle of the guide surface 3211, under the action of external forces such as the continued rise of the insert arm 2322 or slight vibration of the equipment, the positioning strip 321 will slowly slide along the guide surface 3211 and eventually fall accurately into the groove 2341. The setting of the guide surface 3211 greatly improves the success rate and convenience of the positioning strip 321 being embedded in the groove 2341, enabling the tray 30 to be quickly and stably fixed in position on the insert arm 2322, reducing problems such as operation jamming or unstable placement of the tray 30 that may be caused by the positioning strip 321 being difficult to accurately embed in the groove 2341.

[0079] Reference Figure 2 The pallet stacking device further includes a pallet positioning component 40, which is located at the empty pallet position 11 and / or the material feeding position 12. The pallet positioning component 40 includes a set of rollers 41, a limiting member 42, a clamping member 43, and a second driver 44.

[0080] Two sets of rollers 41 are provided and spaced apart on the frame 10. The two sets of rollers 41 correspond one-to-one with the positioning strips 321 on both sides of the bottom of the tray 30 along the second direction Y. Each set of rollers 41 includes multiple rollers 41 arranged at intervals along the second direction Y. The axis of the rollers 41 is parallel to the first direction X. The circumferential surface of the rollers 41 is provided with a flange that can be inserted into the positioning groove 3212.

[0081] Two sets of rollers 41 are spaced apart on the frame 10 and correspond one-to-one with the positioning strips 321 on both sides of the bottom of the tray 30 along the second direction Y (e.g., left-right direction). Each set of rollers 41 is composed of multiple rollers 41 spaced apart along the second direction Y. The axes of these rollers 41 are parallel to the first direction X (e.g., front-back direction), meaning they can provide support and positioning guidance for the tray 30 in the front-back direction. For example, each set of rollers 41 can contain 3-6 rollers 41, with equal intervals between them to ensure uniform support of the corresponding positioning strips 321 on the bottom of the tray 30.

[0082] The roller 41 has a flange around its circumference that can be inserted into the positioning groove 3212. The shape and size of the flange are adapted to the positioning groove 3212, and its width is slightly smaller than the width of the positioning groove 3212 to facilitate smooth insertion into the positioning groove 3212. When the pallet 30 is placed in the empty pallet position 11 or the material feeding position 12 (at this time, the empty pallet position 11 or the material feeding position 12 is empty), the positioning strips 321 on both sides of the bottom of the pallet 30 will correspond to the two sets of rollers 41 respectively. The flanges on the rollers 41 are inserted into the positioning grooves 3212 of the positioning strips 321. Through the combined action of multiple rollers 41 and their flanges, the pallet 30 is accurately positioned in the front-back direction, laying a good positional foundation for subsequent operations, such as the insertion and removal of the telescopic insertion mechanism 23.

[0083] A limiting member 42 is disposed on the frame 10 and located between the two sets of rollers 41. The limiting member 42 is used to abut against and limit the positioning strip 321 perpendicular to the second direction Y. The limiting member 42 can be a metal plate or a block structure. When the pallet 30 is placed in position, the positioning strip 321 located on the outer side in the left-right direction will abut against the limiting member 42, restricting the excessive movement of the pallet 30 in this direction, so that the pallet 30 has a preliminary positioning reference in the left-right direction.

[0084] A clamping member 43 is movably disposed on the frame 10 along the second direction Y and located between the two sets of rollers 41. The clamping member 43 is used to push against the tray 30 along the second direction Y, so as to clamp the tray 30 in conjunction with the limiting member 42. The clamping member 43 and the limiting member 42 cooperate with each other to position and fix the tray 30 in the left and right directions. The clamping member 43 can be elongated or block-shaped. Driven by the second driving member, the clamping member 43 can move in the left and right directions, and by applying a pushing force to the tray 30, it clamps the tray 30 from both sides together with the limiting member 42. For example, the pushing surface of the clamping member 43 can be designed to fit the side of the tray 30, such as a plane or a slightly curved surface, to increase the contact area with the tray 30 and ensure the uniformity and stability of the clamping effect.

[0085] The second actuator 44 is used to drive the clamping member 43 to move along the second direction Y. The second actuator is a key component that provides power to the clamping member 43, enabling it to move along the second direction Y. It can take various driving forms, such as electric actuators, pneumatic cylinders, or hydraulic cylinders.

[0086] The pallet positioning assembly 40 positions the pallet 30 in the front-to-back direction using rollers 41 on both sides. The flanges on the rollers 41 are inserted into the positioning grooves 3212 to precisely restrict the movement of the pallet 30 in that direction. Meanwhile, the limiting member 42 and the clamping member 43 work together to position and fix the pallet 30 in the left-to-right direction, applying force from both sides to clamp the pallet 30. This ensures that when the pallet 30 is placed in the empty pallet position 11 or the material feeding position 12, it can be accurately and firmly positioned in both directions. This reduces the possibility of operational errors and damage to the workpiece 80 due to inaccurate pallet 30 positioning, and improves the reliability and production efficiency of the equipment.

[0087] Reference Figure 3 The lifting mechanism 22 includes a lead screw 221, a nut, a first guide assembly 223, and a third driver 224.

[0088] The lead screw 221 is rotatably mounted on the transplanter 21 along the height direction. Both ends of the lead screw 221 are usually fixed by bearings to ensure stable rotation. Its length is determined by the lifting stroke of the telescopic insertion mechanism 23. The screw pitch affects the lifting speed and accuracy. High thread precision is required, making it a key transmission component for achieving precise lifting.

[0089] The nut is fitted onto the lead screw 221 and connected to the telescopic insertion mechanism 23, converting the rotational motion of the lead screw 221 into linear motion, thereby driving the telescopic insertion mechanism 23 to rise and fall.

[0090] The first guide assembly 223 is located between the telescopic insertion mechanism 23 and the transplanting frame 21 and extends along the height direction. It typically employs a linear guide rail and slider combination to provide precise guidance for the lifting and lowering of the telescopic insertion mechanism 23, ensuring smooth and linear movement and improving operational accuracy and stability. Two sets of the first guide assembly 223 can be provided, located on both sides of the telescopic insertion mechanism 23 respectively, to make the lifting and lowering even smoother.

[0091] The third driver 224 is used to drive the lead screw 221 to rotate. It can be a common motor (such as a stepper motor or servo motor) drive and is connected to the lead screw 221 through a coupling, synchronous belt, or synchronous gear.

[0092] The third driver 224 drives the lead screw 221 to rotate, thereby driving the telescopic insertion mechanism 23 to rise and fall, so that the insertion arm 2322 can be aligned with the through slot 3221 between the first layer tray 30 and the next layer tray 30 in the stacked empty tray 30, and the tray 30 can be lifted and lowered after the insertion arm 2322 extends.

[0093] Reference Figure 2 and Figure 6It also includes a transplanting drive mechanism 50, which drives the transplanting frame 21 to move along the first direction X. The transplanting drive mechanism 50 can precisely drive the transplanting frame 21 to move along the first direction X (for example, set as the front-back direction of the equipment), thereby realizing the orderly transfer of the pallet 30 between different positions (such as the empty pallet position 11 and the material feeding position 12), ensuring the efficient operation of the entire equipment.

[0094] Reference Figure 6 The transplant drive mechanism 50 includes a rack 51, a gear, a second guide assembly 52, and a fourth driver 53.

[0095] The rack 51 is disposed on the frame 10 along the first direction X. It is like a "track" that provides basic guidance and transmission support for the movement of the transplanter 21.

[0096] A gear is rotatably mounted on the transplanter 21 and meshes with the rack 51. The gear is rotatably mounted on the transplanter 21 via a rotating shaft, both ends of which are equipped with high-precision bearings, such as deep groove ball bearings or tapered roller bearings. When the gear meshes with the rack 51, each of its teeth rolls in sequence along the teeth of the rack 51. As the gear rotates under the drive of the fourth driver 53, it can drive the transplanter 21 to move linearly along the direction of the rack 51 (i.e., the first direction X), thereby achieving precise control of the position of the tray 30. For example, it can accurately move the transplanter 21 from the empty tray position 11 to above the material placement position 12 to facilitate subsequent tray 30 loading and unloading operations.

[0097] The second guide assembly 52 is disposed between the frame 10 and the transplanter 21 and extends along the first direction X. The main function of the second guide assembly 52 is to provide precise guidance for the movement of the transplanter 21, ensuring that the transplanter 21 always moves smoothly and linearly along the predetermined first direction X during the movement. The second guide assembly 52 can be a combination of a linear guide rail and a slider.

[0098] The fourth driver 53 is used to drive the gear to rotate. The fourth driver 53 can be an electric motor or a hydraulic motor.

[0099] During operation, the fourth drive mechanism drives the gear to rotate, thereby causing the transplanting frame 21 to move along the first direction X on the frame 10 to reach the empty plate position 11 or the material discharge position 12.

[0100] Reference Figure 1This application also provides a workpiece pallet loading and stacking system, including a robot 60, a feeding mechanism 70, and a pallet stacking device as described in any of the above embodiments. The feeding mechanism 70 is used to supply workpieces 80, and the robot 60 is used to transport the workpieces 80 to the uppermost pallet 30 of the stacked pallets 30 on the feeding position 12.

[0101] Robot 60 is responsible for transporting workpieces 80 from the feeding mechanism 70 to the topmost pallet 30 of the stacked pallets 30 on the pallet stacking equipment's placement position 12. Preferably, the robot 60 has multiple grippers capable of simultaneously gripping multiple workpieces 80 from the feeding mechanism 70 at a time, and the spacing between these grippers is variable. After gripping multiple workpieces 80, the grippers adjust their spacing so that the spacing between each workpiece 80 matches the spacing on the pallet 30, and then the multiple workpieces 80 are placed into the pallet 30 at once.

[0102] The feeding mechanism 70 is mainly used to continuously supply workpieces 80. It is the material source of the entire workpiece pallet loading and stacking system, ensuring that there are sufficient and suitable workpieces 80 for the robot 60 to grasp and transport.

[0103] The workpiece pallet loading and stacking system of this application includes the pallet stacking device in any of the above embodiments, and therefore has the beneficial effects brought by the pallet stacking device in any of the above embodiments, which will not be repeated here.

[0104] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A pallet stacking device, characterized in that, include: The frame is provided with empty tray positions and feeding positions arranged along a first direction, wherein both the empty tray positions and the feeding positions are used to place stacked trays; The side transplanting device has two units arranged along a second direction on opposite sides of the frame. The first direction and the second direction are set at an angle. The side transplanting device includes a transplanting frame, a lifting mechanism, and a telescopic insertion mechanism. The transplanting frame is movably mounted on the frame along the first direction. The telescopic insertion mechanism is mounted on the transplanting frame via the lifting mechanism. The lifting mechanism can drive the telescopic insertion mechanism to rise and fall. The two telescopic insertion mechanisms can extend and move closer to each other or retract and move away from each other. After extending, the telescopic insertion mechanism can be inserted between two stacked trays.

2. The pallet stacking device according to claim 1, characterized in that, The telescopic insertion mechanism also includes: A fixing component is provided on the lifting mechanism and can move up and down with the lifting mechanism; A telescopic member includes a movable part and at least two insert arms. The movable part is movably disposed on the fixed member along a second direction. The insert arms are arranged sequentially at intervals along the first direction. One end of each insert arm is connected to the movable part, and the other end extends out of the edge of the fixed member. A first driver is disposed on the fixed member and connected to the telescopic member, and the first driver is used to drive the telescopic member to reciprocate along the first direction; The tray has a through groove on the upper end of the side opposite to the insert arm, into which the insert arm can be inserted, and the upper end of the through groove has an opening for the insert arm to move upward.

3. The pallet stacking device according to claim 2, characterized in that, The pallet stacking device also includes the pallet, which includes a pallet body and a positioning component. The positioning component includes multiple positioning strips and multiple positioning plates. Each positioning plate is located on the edge of the upper surface of the pallet body, and the multiple positioning strips are located on the edge of the bottom surface of the pallet body. Each positioning strip has a positioning groove for the positioning plate of another pallet located below to be inserted into. The groove opening of the positioning groove is set downwards, and the through groove is located on the positioning plate.

4. The pallet stacking device according to claim 3, characterized in that, The telescopic insertion mechanism also includes positioning members that correspond one-to-one with the insertion arms. The positioning members are located at the end of the insertion arm that extends out of the edge of the fixing member, and the positioning members are provided with grooves into which the positioning strips can be inserted.

5. The pallet stacking device according to claim 4, characterized in that, The positioning strip has inclined guide surfaces on both sides of the section corresponding to the groove.

6. The pallet stacking device according to claim 3, characterized in that, The pallet stacking device further includes a pallet positioning component, which is disposed at the empty pallet position and / or the material feeding position. The pallet positioning component includes: The roller assembly includes two sets spaced apart on the frame. The two roller sets correspond one-to-one with the positioning strips on both sides of the bottom of the tray along the second direction. Each roller set includes multiple rollers spaced apart along the second direction. The axial direction of the rollers is parallel to the first direction. The circumferential surface of the rollers is provided with a flange that can be inserted into the positioning groove. A limiting member is provided on the frame and located between the two roller groups. The limiting member is used to abut against and limit the positioning strip perpendicular to the second direction. A clamping member is movably disposed on the frame along the second direction and located between the two roller groups. The clamping member is used to push the tray along the second direction so as to clamp the tray in conjunction with the limiting member. The second driver is used to drive the clamping member to move along the second direction.

7. The pallet stacking device according to claim 1, characterized in that, The lifting mechanism includes: A lead screw is rotatably mounted on the transplanter along the height direction; A nut is fitted onto the lead screw and connected to the telescopic insertion mechanism; A first guide component is disposed between the telescopic insertion mechanism and the transplanter and extends along the height direction; The third actuator is used to drive the lead screw to rotate.

8. The pallet stacking device according to claim 1, characterized in that, It also includes a transplanting drive mechanism for driving the transplanting frame to move along the first direction.

9. The pallet stacking device according to claim 8, characterized in that, The transplanting drive mechanism includes: A rack is disposed on the frame along a first direction; A gear is rotatably mounted on the transplanter and meshes with the rack; A second guide assembly is disposed between the frame and the transplanter and extends along the first direction; A fourth driver is used to drive the gear to rotate.

10. A workpiece pallet loading and stacking system, characterized in that, The device includes a robot, a feeding mechanism, and a pallet stacking device as described in any one of claims 1 to 9, wherein the feeding mechanism is used to supply workpieces, and the robot is used to transport the workpieces to the uppermost pallet in the stack of pallets at the feeding position.

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