Stacking device and framing and stacking equipment

Abstract

The utility model discloses a stacking device and framing stacking equipment, and relates to the technical field of material stacking, the stacking device comprises a stacking mechanism, a material receiving mechanism and an auxiliary positioning mechanism; the stacking mechanism comprises a supporting seat and a sliding seat arranged on the supporting seat, a lifting mechanism is arranged on the sliding seat, and a gripper is arranged at the bottom of the lifting mechanism; a stacking station and a grabbing station are arranged on the side, where the tongs are located, of the supporting base. The material receiving mechanism is arranged corresponding to the stacking station, and the grabbing hand is used for grabbing the placing frames on the material grabbing station and stacking the placing frames on the material receiving mechanism; the auxiliary positioning mechanism comprises a mounting frame and a moving seat, the mounting frame is arranged on the side, away from the supporting seat, of the receiving mechanism, the moving seat is arranged on the side, facing the receiving mechanism, of the mounting frame, and two limiting blocks are arranged on the side, facing the receiving mechanism, of the moving seat. According to the stacking device in the embodiment, the labor intensity of workers is reduced, the stacking efficiency is improved, the stacked placing frames can be kept balanced through the two limiting blocks, and the reliability is better.

Description

TECHNICAL FIELD

[0001] The utility model relates to material stacking technical field, especially a kind of stacking device and frame packing equipment. BACKGROUND

[0002] The piston is one of the basic components of the engine, and is the heart of the engine. Currently, automobile pistons are developing towards high strength, high wear resistance, high precision, low expansion, lightweight and structural combination. In the process of machining and producing the piston, after the piston is machined and detected, in order to facilitate its transportation and storage, the piston needs to be arranged in a placing frame, and then the placing frame with the piston is stacked together. In the prior art, the placing frame is generally stacked manually, which is not only low in work efficiency, but also time-consuming and laborious, and has high labor intensity. UTILITY MODEL CONTENT

[0003] The main purpose of the utility model is to provide a stacking device and frame packing equipment, which aims to solve the technical problems of time-consuming and labor-intensive manual stacking of placing frames.

[0004] To achieve the above purpose, the utility model provides a stacking device for stacking placing frames, which comprises:

[0005] The stacking mechanism comprises a support seat and a sliding seat movably arranged on the support seat. The sliding seat is provided with a lifting mechanism. The lifting mechanism is located on one side of the support seat along a first horizontal direction. The bottom of the lifting mechanism is provided with a gripper. The lifting mechanism can drive the gripper to lift. The side of the support seat where the gripper is located has a stacking station and a grabbing station. The stacking station and the grabbing station are arranged at intervals along a second horizontal direction. The second horizontal direction is perpendicular to the first horizontal direction. The sliding seat can move along the second horizontal direction to move the gripper between the stacking station and the grabbing station through the lifting mechanism.

[0006] The material receiving mechanism is arranged corresponding to the stacking station. The gripper is used to grab the placing frame at the grabbing station and stack the placing frame on the material receiving mechanism.

[0007] The auxiliary positioning mechanism comprises a mounting frame and a moving seat. The mounting frame is arranged on the side of the material receiving mechanism away from the support seat. The moving seat is movably arranged on the side of the mounting frame facing the material receiving mechanism. The moving seat can move vertically relative to the mounting frame. The side of the moving seat facing the material receiving mechanism is provided with two limiting blocks. The two limiting blocks are respectively used to abut against the two sides of the placing frame stacked on the material receiving mechanism to position the placing frame.

[0008] In an embodiment, the mounting frame encloses a mounting space with an opening on a side of the mounting frame facing the material receiving mechanism, two rotating rods extending along the second horizontal direction are rotatably connected in the mounting space, and the two rotating rods are vertically spaced apart, two sprockets are respectively sleeved on corresponding positions of the two rotating rods, the two sprockets are drivingly connected through a transmission chain, a second rotating drive is provided on the mounting frame and drivingly connected with one of the rotating rods, and the moving seat is connected to the transmission chain.

[0009] The second rotating drive can drive the corresponding rotating rod to rotate to drive the sprocket to rotate, so as to drive the moving seat to move vertically through the transmission chain.

[0010] In an embodiment, the moving seat comprises a horizontal plate and a vertical plate connected to each other, the horizontal plate is located on a side of the vertical plate close to the opening, and the vertical plate is connected to the transmission chain.

[0011] A guide rod extending vertically is further arranged in the mounting space, and the guide rod is located on a side of the rotating rod close to the opening, and a through hole is formed in the horizontal plate for the guide rod to pass through.

[0012] In an embodiment, two extension plates extending along the first horizontal direction are arranged on two ends of the moving seat and on a side of the moving seat facing the material receiving mechanism, and one end of each of the two extension plates away from the moving seat extends out of the mounting space, and the length of one of the extension plates along the first horizontal direction is greater than the length of the other extension plate along the first horizontal direction.

[0013] One end of each of the two extension plates away from the moving seat is provided with a third telescopic drive, and the output ends of the two third telescopic drives are oppositely arranged, two limiting blocks are arranged on the output ends of the two third telescopic drives respectively, and the two third telescopic drives can respectively drive the two limiting blocks to move towards or away from each other to abut against or separate from two corners of the placing frame located on the material receiving mechanism.

[0014] In an embodiment, a notch matching the shape of the corner of the placing frame is formed on one side of each of the two limiting blocks.

[0015] In an embodiment, the material receiving mechanism comprises a material receiving vehicle and a positioning frame, the positioning frame encloses a positioning space with an entrance on a side of the positioning frame away from the material grabbing station, the material receiving vehicle has a material receiving plate for stacking the placing frame, and the material receiving vehicle can enter and exit the positioning space through the entrance.

[0016] In an embodiment, a third rotary pressing cylinder is arranged on the positioning frame near the opening, a limiting block is connected to the third rotary pressing cylinder, and the third rotary pressing cylinder can make the limiting block be located at the opening to abut against the side of the material receiving plate in the positioning space.

[0017] In an embodiment, a mounting plate is arranged at the bottom of the lifting mechanism, and two grippers are arranged at the bottom of the mounting plate.

[0018] In an embodiment, the support base comprises a support column and a support plate arranged at the top of the support column, the sliding seat is slidingly connected to the support plate, and the height of the support plate is higher than the height of the mounting frame.

[0019] The utility model also provides a frame loading and stacking equipment which is used for placing a piston in a placing frame and stacking the placing frame with the piston, and the frame loading and stacking equipment comprises:

[0020] A feeding device comprises a bearing mechanism and a clamping mechanism, the bearing mechanism is used for stacking the placing frame, and the clamping mechanism is used for clamping the placing frame on the bearing mechanism and placing the placing frame on the transmission belt at the feeding station.

[0021] A conveying device comprises a support and a transmission belt arranged on the support and moving in a first direction, the top of the transmission belt has a feeding station, a placing station and a discharging station in sequence in the first horizontal direction, the feeding device is arranged near the feeding station, and a first positioning mechanism is arranged on the support near the placing station; the clamping mechanism is used for clamping the placing frame on the bearing mechanism and placing the placing frame on the transmission belt at the feeding station, the transmission belt can drive the placing frame to move in the first horizontal direction to the placing station in sequence, and the first positioning mechanism can position the placing frame at the placing station.

[0022] A detection device is arranged on one side of the support in the first horizontal direction, and the detection device is used for detecting the piston.

[0023] A material conveying device is used for transferring the detected piston into the placing frame positioned at the placing station, and the transmission belt can also drive the placing frame with the piston to move to the discharging station.

[0024] The stacking device described above, the stacking mechanism is used for clamping the placing frame on the discharging station at the grabbing station and stacking the placing frame on the material receiving mechanism.

[0025] The palletizing device in this embodiment, through a sliding base and a lifting mechanism, can quickly adjust the position of the gripper, ensuring that the gripper moves precisely and grasps the support frame, and then transfers the support frame to the receiving mechanism. This ensures that the placement position and method of each placement frame are consistent, reducing manual labor intensity and improving the placement efficiency of the placement frames. By moving the movable seat vertically on the mounting frame, the two limiting blocks can be used to cooperate with placement frames of different heights. According to the different placement heights of the placement frames, the position of the movable seat is adjusted so that the two limiting blocks cooperate with the topmost placement frame, thereby keeping the stacked placement frames balanced and preventing swaying, so that the gripper can continue to place placement frames, resulting in better reliability. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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 utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0027] Figure 1 A schematic diagram of a structure of an embodiment of the framing and palletizing equipment provided by this utility model;

[0028] Figure 2 for Figure 1 Enlarged view of A in the middle;

[0029] Figure 3 for Figure 1 Enlarged view of B in the middle;

[0030] Figure 4 A schematic diagram of the conveying device in one embodiment of the framing and palletizing equipment provided by this utility model;

[0031] Figure 5 for Figure 4 Enlarged view of C in the middle;

[0032] Figure 6 for Figure 4 Enlarged view of D;

[0033] Figure 7 for Figure 4 Enlarged view of E in the middle;

[0034] Figure 8 A schematic diagram of the palletizing device in one embodiment of the framing and palletizing equipment provided by this utility model;

[0035] Figure 9 for Figure 8 Enlarged view of F in the middle;

[0036] Figure 10 To Figure 8 Enlarged view of the middle G.

[0037] BRIEF DESCRIPTION OF DRAWINGS

[0038] 100, frame stacking equipment; 1, feeding device; 11, bearing mechanism; 111, bearing vehicle; 112, fixed frame; 12, clamping mechanism; 121, base; 122, lifting seat; 123, lifting plate; 124, clamping jaw; 2, conveying device; 21, support; 211, support table; 2111, connecting rod; 2112, fixed rod; 212, support frame; 2121, cross rod; 2122, vertical rod; 213, stop rod; 214, first blocking block; 215, second blocking block; 22, transmission belt; 221, feeding station; 222, discharging station; 223, discharging station; 23, first positioning mechanism; 231, first telescopic drive; 232, first positioning block; 24, second positioning mechanism; 241, second telescopic drive; 242, second positioning block; 25, rotating shaft; 251, transmission wheel; 26, first rotating drive; 27, first proximity sensor; 28, second proximity sensor; 3, detection device; 4, material conveying device; 41, mechanical arm; 5, stacking device; 51, stacking mechanism; 511, support seat; 5111, support plate; 512, sliding seat; 513, lifting mechanism; 514, mounting plate; 515, gripper; 52, material receiving mechanism; 521, material receiving vehicle; 522, positioning frame; 5221, third rotary down pressure cylinder; 5222, stop block; 53, auxiliary positioning mechanism; 531, mounting frame; 5311, mounting space; 5312, rotating rod; 5313, sprocket; 5314, transmission chain; 5315, guide rod; 532, moving seat; 5321, cross plate; 5322, vertical plate; 5323, extension plate; 5324, third telescopic drive; 5325, limiting block;

[0039] 200, placing frame.

[0040] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0042] It should be noted that if the embodiment of the utility model has directionality indication (such as up, down, left, right, front, back, etc.), the directionality indication is only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, if the certain posture changes, the directionality indication also changes accordingly.

[0043] In addition, if the embodiment of the utility model has the description of "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the whole text, its meaning includes three parallel schemes, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled personnel in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the protection scope required by the utility model.

[0044] The piston is one of the basic components of the engine, and is the heart of the engine. At present, the automobile piston is developing towards high strength, high wear resistance, high precision, low expansion, lightweight and structural combination. In the processing and production process of the piston, after the piston is processed and detected, in order to facilitate transportation and storage, the piston needs to be arranged and placed in a placing frame, and then the placing frame with the piston is stacked together. In the prior art, the stacking of the placing frame is generally carried out manually, which not only has low working efficiency, but also consumes time and effort, and has high labor intensity.

[0045] The utility model provides a frame stacking equipment 100.

[0046] Please refer to Figures 1-10In the embodiment of the utility model, the frame loading and stacking equipment 100 is used for placing the piston in the placing frame 200 and stacking the placing frame 200 with the piston, and the frame loading and stacking equipment 100 comprises a feeding device 1, a conveying device 2, a detection device 3, a material conveying device 4 and a stacking device 5, the feeding device 1 comprises a bearing mechanism 11 and a clamping mechanism 12, the bearing mechanism 11 is used for stacking the placing frame 200; the conveying device 2 comprises a support 21 and a transmission belt 22 installed on the support 21 and extending along the first horizontal direction, the top of the transmission belt 22 has a feeding station 221, a discharging station 222 and a discharging station 223 along the first horizontal direction in sequence, the feeding device 1 is arranged close to the feeding station 221, and the first positioning mechanism 23 is arranged on the support 21 close to the discharging station 222; the clamping mechanism 12 is used for clamping the placing frame 200 on the bearing mechanism 11 and placing it on the transmission belt 22 at the feeding station 221, the transmission belt 22 can drive the placing frame 200 to move to the discharging station 222 along the first horizontal direction in sequence, and the first positioning mechanism 23 is used for positioning the placing frame 200 at the discharging station 222; the detection device 3 is arranged on one side of the support 21 along the first horizontal direction, and the detection device 3 is used for detecting the piston; the material conveying device 4 is arranged close to the detection device 3, and the material conveying device 4 comprises a mechanical arm 41, the mechanical arm 41 is used for transferring the detected piston into the placing frame 200 at the discharging station 222; the transmission belt 22 can also drive the placing frame 200 with the piston to move to the discharging station 223; the stacking device 5 is arranged close to the discharging station 223, and the stacking device 5 comprises a material receiving mechanism 52, a stacking mechanism 51 and an auxiliary positioning mechanism 53, the stacking mechanism 51 stacks the placing frame 200 at the discharging station 223 on the material receiving mechanism 52, and the auxiliary positioning mechanism 53 is used for positioning the placing frame 200 on the material receiving mechanism 52.

[0047] The frame-stacking equipment 100 in the embodiment can facilitate the clamping mechanism 12 to clamp and place the placing frames 200 on the conveying device 2 by stacking the placing frames 200 on the bearing mechanism 11. Specifically, the conveying mechanism has a feeding station 221, a discharging station 222 and a discharging station 223 on the transmission belt 22. The clamping mechanism 12 places the placing frame 200 on the transmission belt 22 at the feeding station 221. Under the driving of the transmission belt 22, the placing frame 200 moves towards the discharging station 222. When the placing frame 200 reaches the discharging station 222, the first positioning mechanism 23 positions the placing frame 200 at the discharging station 222, thereby fixing the placing frame 200. The first positioning mechanism 23 can also adjust and align the placing posture of the placing frame 200, thereby facilitating the robotic arm 41 to place the piston in the placing frame 200. After the detection mechanism detects the piston, the piston is transferred to the placing frame 200 at the discharging station 222 under the action of the robotic arm 41, thereby completing the process of placing the piston in the placing frame 200. When the placing frame 200 contains a certain number of pistons, the first positioning mechanism 23 no longer positions the placing frame 200. At this time, the placing frame 200 can continue to move to the discharging station 223 along with the transmission belt 22. When the placing frame 200 is located at the discharging station 223, the stacking mechanism 51 in the stacking device 5 clamps and stacks the placing frame 200 on the receiving mechanism 52. The auxiliary positioning mechanism 53 is used to position the placing frame 200 on the receiving mechanism 52, thereby preventing the plurality of placing frames 200 stacked on the receiving mechanism 52 from shaking during the stacking process. Through the above-mentioned feeding device 1, conveying device 2, detection device 3, material conveying device 4 and stacking device 5, the pistons can be automatically placed in the placing frames 200 after detection, and the placing frames 200 containing pistons can be stacked. Manual operation is not required, which can significantly improve the working efficiency of piston frame-stacking and stacking and reduce the labor intensity.

[0048] Specifically, it should be noted that the bearing mechanism 11 is used to stack the placing frames 200 without pistons. The clamping mechanism 12 clamps the placing frames 200. Each time, the clamping mechanism 12 clamps the uppermost placing frame 200 on the bearing mechanism 11. The stacking means stacking. The auxiliary positioning mechanism 53 is mainly used to position the uppermost placing frame 200 on the receiving mechanism 52, thereby preventing all the placing frames 200 on the receiving mechanism 52 from shaking.

[0049] It should be noted that the placing frames 200 mentioned in the embodiment are square placing frames 200, which have four corners. Specifically, the top end of each placing frame 200 is fixed with a plurality of pins. The bottom end of each placing frame 200 is provided with a plurality of insertion grooves for the pins. When the placing frames 200 are stacked, the pins on the lower placing frame 200 are inserted into the insertion grooves of the upper placing frame 200, thereby improving the stability of the stacked placing frames 200.

[0050] Further, a plurality of mold seats for inserting the piston in a mating connection manner are installed on the inner bottom wall of the placing frame 200, the piston is placed in the placing frame 200, and the piston is sleeved on the mold seat in a mating connection manner to avoid shaking of the piston when the placing frame 200 is moved.

[0051] It should be noted that the mechanical arm 41 and the detection device 3 of the piston in the prior art can be used.

[0052] As shown in Figure 1 In the embodiment, the first horizontal direction is the front-rear direction, the second horizontal direction is the left-right direction, and the vertical direction is the up-down direction.

[0053] Please refer to Figure 2 and Figure 3 In an embodiment, the clamping mechanism 12 includes a base 121, a lifting seat 122, and a lifting plate 123. The base 121 extends along the second horizontal direction, which is perpendicular to the first horizontal direction. The conveying device 2 and the carrying mechanism 11 are arranged on one side of the base 121 along the first horizontal direction, and the carrying mechanism 11 and the conveying device 2 are arranged apart along the second horizontal direction. The lifting seat 122 is slidingly arranged on the base 121 and can slide along the second horizontal direction. One side of the lifting plate 123 is slidingly arranged toward one side of the lifting seat 122 facing the conveying device 2, and the lifting plate 123 can be lifted along the vertical direction relative to the lifting seat 122. The bottom of the lifting plate 123 is provided with a clamping jaw 124 for clamping the placing frame 200 on the carrying mechanism 11 and placing it on the transmission belt 22 at the feeding station 221.

[0054] It can be understood that through the combination of the base 121, the lifting seat 122 and the lifting plate 123, the precise positioning of the placing frame 200 can be realized, the sliding of the lifting seat 122 along the second horizontal direction and the lifting action of the lifting plate 123 along the vertical direction ensure that the clamping jaw 124 can reach above the carrying mechanism 11 and accurately clamp the placing frame 200 from the carrying mechanism 11, and continue to move to the feeding station 221 to accurately place the placing frame 200 on the transmission belt 22; when the clamping placing mechanism 12 works, the lifting seat 122 is first moved so that the lifting plate 123 is located above the carrying mechanism 11, then the lifting plate 123 is lifted vertically to reach the appropriate position, and then the topmost placing frame 200 is directly grabbed by the clamping jaw 124, then the height of the lifting plate 123 is adjusted to be higher than the transmission belt, then the lifting seat 122 is moved so that the lifting plate 123 moves to the position above the transmission belt 22 corresponding to the feeding station 221, and the clamping jaw 124 releases the placing frame 200 so that the placing frame 200 falls on the transmission belt 22; the automatic placing frame 200 clamping process reduces manual operation, reduces labor intensity, and improves work efficiency.

[0055] Specifically, the lifting plate 123 is slidably connected to the lifting seat 122 through a sliding rail.

[0056] Specifically, the bottom of the lifting plate 123 is provided with two clamping jaws 124, both of which are pneumatic clamping jaws 124, and both of which are used to clamp the frame of the placing frame 200.

[0057] In an embodiment, the carrying mechanism 11 includes a carrying vehicle 111 and a fixed frame 112, the fixed frame 112 surrounds a limiting space with an entrance, the entrance is located on the side of the fixed frame 112 away from the conveying device 2, the carrying vehicle 111 has a carrying plate for carrying the placing frame 200, and the carrying vehicle 111 can enter and exit the limiting space from the entrance.

[0058] It can be understood that the stacked placing frames 200 are carried on the carrying plate of the carrying vehicle 111, which can quickly move the placing frames 200 to the position where the fixed frame 112 is located, and when the placing frames 200 on the carrying vehicle 111 are all clamped, the carrying vehicle 111 can be quickly removed, and another carrying vehicle 111 carrying placing frames 200 can be used alternately, so that the supply efficiency of the placing frames 200 is improved; and through the fixed frame 112, the carrying vehicle 111 can be limited in the limiting space, so that the placing frames 200 are stably stacked and placed, and the clamping jaw 124 can be easily grabbed.

[0059] Specifically, the fixed frame 112 is fixedly installed on the ground, and the fixed frame 112 cooperates with the side of the carrying plate to fix the carrying vehicle 111.

[0060] AsFigures 4-7 As shown in the drawings, in an embodiment, the conveying device 2 comprises a bracket 21 and a transmission belt 22, the bracket 21 extends along a first horizontal direction, both ends of the bracket 21 along the first horizontal direction are provided with a rotating shaft 25, the rotating shaft 25 extends along a second horizontal direction, and the bracket 21 is further provided with a first rotating driving member 26 in transmission connection with one of the rotating shafts 25; the transmission belt 22 is installed on the bracket 21, and the transmission belt 22 is in transmission connection with the two rotating shafts 25; the top of the transmission belt 22 is sequentially provided with an in-feed station 221, a discharging station 222 and an out-feed station 223 along the first horizontal direction; the placing frame 200 is placed on the transmission belt 22 at the in-feed station 221, and the first rotating driving member 26 can drive the corresponding rotating shaft 25 to rotate to drive the transmission belt 22 to convey the placing frame 200 to move to the discharging station 222 and the out-feed station 223 in turn.

[0061] Understandably, by arranging the transmission belt 22 on the bracket 21, the stability of the transmission belt 22 can be ensured, and the stability of the placing frame 200 during conveying can be maintained; by driving the rotating shaft 25 through the first rotating driving member 26, and then driving the transmission belt 22 to operate, the automatic transmission of the placing frame 200 from the in-feed station 221 to the discharging station 222 and then to the out-feed station 223 can be realized, the manual intervention is reduced, and the work efficiency is improved.

[0062] It should be noted that the first rotating driving member 26 can adopt a driving motor in the prior art.

[0063] Further, the bracket 21 is provided with a second positioning mechanism 24 at a position close to the out-feed station 223, and the placing frame 200 moved to the out-feed station 223 is positioned at the out-feed station 223 through the second positioning mechanism 24. Understandably, by arranging the second positioning mechanism 24, the placing frame 200 can be positioned at the out-feed station 223, the accuracy of the position of the placing frame 200 is ensured, so as to facilitate the precise clamping of the placing frame 200 on which the piston is placed by the stacking mechanism to perform stacking, and the reliability is better.

[0064] As shown in the drawings, in an embodiment, the first positioning mechanism 23 and the second positioning mechanism 24 both comprise two telescopic driving members and two positioning blocks, the two telescopic driving members are respectively arranged at both sides of the bracket 21 along the second horizontal direction, the output ends of the two telescopic driving members are oppositely arranged, and the two positioning blocks are respectively arranged at the output ends of the two telescopic driving members, the two telescopic driving members can respectively drive the two positioning blocks to move towards or away from each other to respectively abut against or separate from the two corner edges of the placing frame 200.

[0065] Further, the first positioning mechanism 23 comprises two first telescopic driving members 231 and two first positioning blocks 232, the two first telescopic driving members 231 are respectively arranged on the two sides of the support 21 along the second horizontal direction, and the output ends of the two first telescopic driving members 231 are oppositely arranged, and the two first positioning blocks 232 are respectively arranged on the output ends of the two first telescopic driving members 231, and the two first telescopic driving members 231 can respectively drive the two first positioning blocks 232 to move towards each other or away from each other, so as to respectively abut or separate from the two corners of the placing frame 200 located in the discharging station 222.

[0066] Understandably, the first positioning mechanism 23 is arranged on the support 21 close to the discharging station 222, which is used to block the movement of the placing frame 200 located in the discharging station 222 towards the discharging station 223. In actual use, when the placing frame 200 moves from the feeding station 221 to the discharging station 222, the two first telescopic driving members 231 respectively drive the two first positioning blocks 232 to move towards each other, so that the two first positioning blocks 232 can respectively abut the two corners of the placing frame 200, so as to position the placing frame 200 in the discharging station 222, so as to accurately place the detected piston in the placing frame 200 by the mechanical arm 41. Moreover, by telescopic driving the first positioning blocks 232 to move by the first telescopic driving members 231, the placing position and posture of the placing frame 200 can also be adjusted and corrected during the abutting process of the first positioning blocks 232 and the corners of the placing frame 200, so as to improve the accuracy of the piston frame.

[0067] Specifically, the two first telescopic driving members 231 are diagonally arranged, so that the two first positioning blocks 232 can respectively abut the two diagonally opposite corners of the placing frame 200 located in the discharging station 222.

[0068] Further, the second positioning mechanism 24 comprises two second telescopic driving members 241 and two second positioning blocks 242, the two second telescopic driving members 241 are respectively arranged on the two sides of the support 21 along the second horizontal direction, and the output ends of the two second telescopic driving members 241 are oppositely arranged, and the two second positioning blocks 242 are respectively arranged on the output ends of the two second telescopic driving members 241, and the two second telescopic driving members 241 can respectively drive the two second positioning blocks 242 to move towards each other or away from each other, so as to respectively abut or separate from the two corners of the placing frame 200 located in the discharging station 222.

[0069] Understandably, the first positioning mechanism 23 and the second positioning mechanism 24 have the same principle, which will not be described here. The second positioning mechanism 24 is used to position the placing frame 200 located in the discharging station 222, so as to facilitate the accurate clamping of the placing frame 200 with the piston by the stacking mechanism; similarly, the second positioning mechanism 24 also has the function of correcting the placing position and posture of the placing frame 200.

[0070] Specifically, the two second telescopic driving members 241 are also arranged diagonally, so that the two second positioning blocks 242 can abut against two diagonally opposite corners of the placement frame 200 located at the discharging station 223.

[0071] It should be noted that the two telescopic driving members can adopt a telescopic air cylinder or an oil cylinder in the prior art.

[0072] In an embodiment, opposite sides of the two first positioning blocks 232 and opposite sides of the two second positioning blocks 242 are each provided with an opening matching the shape of the corner of the placement frame 200. It can be understood that the opening is provided to facilitate accurate abutment against the corner of the placement frame 200, thereby quickly positioning and correcting the position of the placement frame 200.

[0073] In an embodiment, the support frame 21 includes a support table 211 and two support frames 212, the two support frames 212 are respectively connected to two ends of the support table 211 along a first horizontal direction, two rotating shafts 25 are respectively arranged on the two support frames 212, and a first rotating driving member 26 is arranged on one of the two support frames 212; the top and bottom of the transmission belt 22 abut against opposite sides of the support table 211 along a vertical direction, and two first telescopic driving members 231 are each mounted on the support table 211.

[0074] It can be understood that the support table 211, as a main load-bearing component, provides a basis for smooth operation of the transmission belt 22, ensuring that the transmission belt 22 does not shake or tilt during the conveying of the placement frame 200. The two support frames 212 are respectively connected to the two ends of the support table 211, further enhancing the rigidity and stability of the overall structure. In addition, the top and bottom of the transmission belt 22 abut against opposite sides of the support table 211 along the vertical direction. Such a design can effectively limit the vertical displacement of the transmission belt 22, preventing it from deviating or relaxing during operation. When the placement frame 200 is placed on the transmission belt 22, it will not press and bend the transmission belt 22 downward. The pressure of the placement frame 200 on the transmission belt 22 is directly dispersed to the support table 211, ensuring the stability of the conveying and improving the transmission efficiency and reliability.

[0075] In an embodiment, each support frame 212 includes a horizontal rod 2121 and two vertical rods 2122, the two ends of the horizontal rod 2121 are respectively connected to the top of the two vertical rods 2122 along a second horizontal direction; the two ends of each rotating shaft 25 are respectively connected to the corresponding two vertical rods 2122 through a hinge seat, and the first rotating driving member 26 is arranged on the corresponding vertical rod 2122.

[0076] It can be understood that the frame structure composed of the cross bars 2121 and the vertical bars 2122 provides a solid mechanical support for the entire support frame 212, ensuring its stability and durability when bearing weight and external forces. The two ends of each rotating shaft 25 are connected to the corresponding two vertical bars 2122 through a hinge seat, thereby ensuring the stability of the connection of the rotating shaft 25 and achieving stable rotation of the rotating shaft 25.

[0077] Further, the support table 211 includes two connecting rods 2111 and a plurality of fixing rods 2112, the two connecting rods 2111 are arranged in the second horizontal direction, the plurality of fixing rods 2112 are arranged in the first horizontal direction and are located between the two connecting rods 2111, the two ends of each connecting rod 2111 in the first horizontal direction are connected to the corresponding two vertical bars 2122, the two ends of each fixing rod 2112 in the first horizontal direction are connected to the corresponding two cross bars 2121, and the two first telescopic driving members 231 are installed on the two connecting rods 2111.

[0078] It can be understood that by connecting the connecting rod 2111 with the vertical bar 2122 and connecting the fixing rod 2112 with the cross bar 2121, the pressure can be effectively and uniformly distributed on the support frame 212, reducing local stress concentration and enhancing the strength of the overall structure. In addition, the two connecting rods 2111 and the plurality of fixing rods 2112 are arranged in a spaced manner, which saves the material requirement of the support table 211 and reduces the production cost and subsequent maintenance cost of the support table 211.

[0079] Further, a plurality of transmission belts 22 are provided, the plurality of transmission belts 22 are arranged in the second horizontal direction in a spaced manner, and the number of the transmission belts 22 is consistent with and corresponds to the number of the fixing rods 2112, the top and the bottom of each transmission belt 22 abut against the opposite sides of the corresponding fixing rod 2112 in the vertical direction.

[0080] It can be understood that the transmission belt 22 is arranged in one-to-one correspondence with the fixing rod 2112, which can effectively ensure the stability of each transmission belt 22, effectively bear the pressure of the placing frame 200 placed on the transmission belt 22, ensure the stable operation of the transmission belt 22, enhance the stability during transportation, and facilitate subsequent maintenance.

[0081] Specifically, each rotating belt is in driving connection with the two rotating shafts 25, and each transmission belt 22 is in synchronous operation.

[0082] Further, the height of the two connecting rods 2111 is higher than the height of the fixed rods 2112. It can be understood that the placing frame 200 is mainly supported on the transmission belt 22 located on the fixed rods 2112, and the height of the two connecting rods 2111 is higher than that of the fixed rods 2112, which means that the connecting rods 2111 block the two sides of the placing frame 200 along the second horizontal direction, thereby avoiding the placing frame 200 from falling off the support table 211, and the reliability is better.

[0083] In an embodiment, the plurality of transmission belts 22 are uniformly spaced, a plurality of transmission wheels 251 are sleeved on each rotating shaft 25, the transmission wheels 251 are arranged in one-to-one correspondence with the number of transmission belts 22, and each transmission belt 22 is in transmission connection with the corresponding two transmission wheels. It can be understood that the uniform spacing between the plurality of transmission belts 22 ensures that the load of the placing frame 200 is uniformly distributed during the conveying process; the one-to-one correspondence between the transmission wheels 251 and the transmission belts 22 ensures that each transmission belt 22 can accurately cooperate with the corresponding transmission wheel 251, avoiding the deviation or slipping of the transmission belt 22, and improving the precision and stability of the transmission.

[0084] In an embodiment, a plurality of blocking rods 213 are further arranged on the top of the cross rod 2121 near the discharging station 223, the plurality of blocking rods 213 are arranged in the second horizontal direction and protrude from the top surface of the transmission belt 22.

[0085] It can be understood that by arranging the plurality of blocking rods 213 on the top of the cross rod 2121 near the discharging station 223, and protruding from the top surface of the transmission belt 22, the placing frame 200 can be blocked by the blocking rods 213 when moving to the discharging station 223 on the transmission belt 22, preventing the placing frame 200 from directly falling out.

[0086] It should be noted that in actual use, the placing frame 200 moved to the discharging station 223 is first blocked by the blocking rods 213 to prevent falling out, and then the second positioning mechanism 24 is used to position the placing frame 200 and correct the position of the placing frame 200.

[0087] In an embodiment, the conveying device 2 further comprises two rotating down pressure cylinders, the two rotating down pressure cylinders are arranged between any two adjacent fixed rods 2112, and the output end of each rotating down pressure cylinder is connected with a blocking block; one of the rotating down pressure cylinders is arranged on the side of the feeding station 221 near the discharging station 222, and the other rotating down pressure cylinder is arranged on the side of the discharging station 222 near the discharging station 223, and the two rotating down pressure cylinders can respectively drive the two blocking blocks to protrude from the top surface of the transmission belt 22.

[0088] It can be understood that one of the rotary down pressure cylinders is arranged at the side of the feeding station 221 close to the discharging station 222, and when the corresponding blocking block is driven to protrude above the top surface of the transmission belt 22, the placing frame 200 located at the feeding station 221 can be blocked from moving towards the discharging station 222; the other rotary down pressure cylinder is arranged at the side of the discharging station 222 close to the discharging station 223, and when the corresponding blocking block is driven to protrude above the top surface of the transmission belt 22, the placing frame 200 located at the discharging station 222 can be blocked from moving towards the discharging station 223; it should be noted that the rotary down pressure cylinder can be the existing rotary down pressure cylinder, and the output end of the rotary down pressure cylinder can drive the blocking block to be higher than the top surface of the transmission belt 22 after rotation, and can drive the blocking block to be lower than the top surface of the transmission belt 22 after reset.

[0089] Further, in order to facilitate the description, the rotary down pressure cylinder arranged at the side of the feeding station 221 close to the discharging station 222 is a first rotary down pressure cylinder, and the output end of the first rotary down pressure cylinder is connected with a first blocking block 214; the rotary down pressure cylinder arranged at the side of the discharging station 222 close to the discharging station 223 is a second rotary down pressure cylinder, and the output end of the second rotary down pressure cylinder is connected with a second blocking block 215.

[0090] In actual use, when the placing station 222 does not have the placing frame 200, the first rotary down-pressing cylinder makes the first blocking block 214 not protrude from the top surface of the transmission belt 22, the clamping and placing mechanism 12 placed in the placing frame 200 of the feeding station 221 can normally be driven by the transmission belt 22 and moved to the placing station 222, while the second rotary down-pressing cylinder makes the second blocking block 215 protrude from the top surface of the transmission belt 22 to avoid the placing frame 200 from moving to the placing station 222 and then directly continuing to move to the discharging station 223, when the second blocking block 215 successfully blocks the placing frame 200 in the placing station 222, the first positioning mechanism 23 is used to position the placing frame 200 and correct the position of the placing frame 200 to perform the subsequent piston frame-filling process; when the placing station 222 has the placing frame 200, the clamping and placing mechanism 12 is used to clamp and place a placing frame 200 to the feeding station 221, at this time, the first rotary down-pressing cylinder makes the first blocking block 214 protrude from the top surface of the transmission belt 22 to block the placing frame 200 from moving to the placing station 222; at this time, the feeding station 221 and the placing station 222 on the transmission belt 22 both have the placing frame 200, when the placing frame 200 in the placing station 222 is filled with the pistons, the two blocking blocks no longer block the corresponding placing frames 200, and the first positioning mechanism no longer positions the placing frame 200, at this time, the two placing frames 200 can follow the transmission belt 22 to move, when the placing frame 200 in the placing station 222 moves out, the second blocking block 215 is raised to continue to block the placing frame 200 about to reach the placing station 222. It can be known that through the cooperation of the two rotary down-pressing cylinders, the empty placing frame 200 can be continuously transported to the placing station 222, so that the piston frame-filling efficiency is improved.

[0091] In an embodiment, the conveying device 2 further comprises a first proximity sensor 27, the first proximity sensor 27 is arranged on the connecting rod 2111 close to the placing station 222, and the two rotary down-pressing cylinders are electrically connected with the first proximity sensor 27.

[0092] It can be understood that through the arrangement of the first proximity sensor 27, when the first proximity sensor 27 senses that the placing frame 200 approaches the placing station 222, the two rotary down-pressing cylinders are controlled to act, so that the two blocking blocks protrude from the top surface of the transmission belt 22 to block the placing frame 200.

[0093] Further, the support table 211 is also provided with a second proximity sensor 28, which is arranged close to the feeding station 222. Specifically, the second proximity sensor 28 is arranged on one of the connecting rods 2111, and is electrically connected to the two first telescopic driving members 231. When the second proximity sensor 28 senses that the placing frame 200 is located at the feeding station 222, the two first telescopic driving members 231 are controlled to drive the two corresponding first positioning blocks 232 to move towards each other to position the placing frame 200.

[0094] It should be noted that the first proximity sensor 27 is electrically connected to the two rotating downward pressing cylinders through a PLC controller, and the second proximity sensor 28 is also electrically connected to the two first telescopic driving members 231 through the PLC controller.

[0095] Please refer to Figures 8-10 In an embodiment, the stacking mechanism 51 comprises a support seat 511 and a sliding seat 512 movably arranged on the support seat 511. The sliding seat 512 is provided with a lifting mechanism 513, which is located on one side of the support seat 511 along a first horizontal direction. The bottom of the lifting mechanism 513 is provided with a gripper 515, and the lifting mechanism 513 can drive the gripper 515 to lift. The side of the support seat 511 where the gripper 515 is located has a stacking station and a grabbing station, which are arranged along a second horizontal direction. The second horizontal direction is perpendicular to the first horizontal direction. The sliding seat 512 can move along the second horizontal direction to drive the gripper 515 to move between the stacking station and the grabbing station through the lifting mechanism 513. The receiving mechanism 52 is arranged corresponding to the stacking station. The gripper 515 is used to grab the placing frame 200 at the grabbing station and stack the placing frame 200 on the receiving mechanism 52.

[0096] It can be understood that through the sliding seat 512 and the lifting mechanism 513, the position of the gripper 515 can be quickly adjusted to ensure that the gripper 515 moves accurately and grabs the support frame 212 and transfers the support frame 212 to be stacked on the receiving mechanism 52, ensuring that the stacking position and manner of each placing frame 200 are consistent, freeing the labor intensity and improving the stacking efficiency of the placing frame 200.

[0097] In actual use, the sliding seat 512 is adjusted to drive the gripper 515 to move in the horizontal direction, and when it reaches the stacking station or the grabbing station, the height of the gripper 515 is adjusted through the lifting mechanism 513, so as to facilitate stacking or clamping the placing frame 200.

[0098] It should be noted that the grabbing station is arranged corresponding to the discharging station 223 of the conveying mechanism. When the gripper 515 is located at the grabbing station, the lifting mechanism 513 controls the gripper 515 to vertically lift to reach the discharging station 223 to grab the placing frame 200 containing the piston.

[0099] In an embodiment, the stacking device 5 further comprises an auxiliary positioning mechanism 53, the auxiliary positioning mechanism 53 comprising a mounting frame 531 and a moving seat 532, the mounting frame 531 being arranged on a side of the material receiving mechanism 52 away from the support base 511, the moving seat 532 being movably arranged on a side of the mounting frame 531 facing the material receiving mechanism 52, and the moving seat 532 being vertically movable relative to the mounting frame 531, and two limiting blocks 5325 being arranged on the side of the moving seat 532 facing the material receiving mechanism 52, the two limiting blocks 5325 being respectively used for abutting against two opposite sides of the placing frame 200 stacked on the material receiving mechanism 52 to position the placing frame 200.

[0100] It can be understood that the mounting frame 531 of the auxiliary positioning mechanism 53 is fixed on the ground to maintain good stability, and by vertically moving the moving seat 532 on the mounting frame 531, the two limiting blocks 5325 can be used to cooperate with placing frames 200 of different heights. According to the stacking height of the placing frame 200, the position of the moving seat 532 is adjusted so that the two limiting blocks 5325 cooperate with the uppermost placing frame 200, so that the stacked placing frames 200 are kept balanced and prevent shaking, so as to facilitate the gripper 515 to continue stacking the placing frame 200, and the reliability is better.

[0101] Further, the mounting frame 531 surrounds a mounting space 5311 with an opening on the side of the mounting frame 531 facing the material receiving mechanism 52, two rotating rods 5312 extending in the second horizontal direction are rotatably connected in the mounting space 5311, and the two rotating rods 5312 are vertically spaced apart, two sprockets 5313 are respectively sleeved on corresponding positions of the two rotating rods 5312, the two sprockets 5313 are drivingly connected through a transmission chain 5314, a second rotating drive is arranged on the mounting frame 531 and drivingly connected with one of the rotating rods 5312, and the moving seat 532 is connected to the transmission chain 5314; the second rotating drive can drive the corresponding rotating rod 5312 to rotate to drive the sprocket 5313 to rotate, so as to drive the moving seat 532 to move vertically through the transmission chain 5314.

[0102] It can be understood that the combination of the sprocket 5313 and the transmission chain 5314 provides a stable transmission mode, ensuring the stability and accuracy of the moving seat 532 during vertical movement, and the design of the transmission chain 5314 can effectively transmit power to avoid the moving seat 532 from slipping or skidding relative to the transmission chain 5314.

[0103] It should be noted that the second rotating drive can be a driving motor in the prior art.

[0104] In an embodiment, the moving base 532 comprises a horizontal plate 5321 and a vertical plate 5322 connected with each other, the horizontal plate 5321 is located at a side of the vertical plate 5322 close to the opening, and the vertical plate 5322 is connected with the transmission chain 5314; a guide rod 5315 extending in the vertical direction is further arranged in the mounting space 5311, and the guide rod 5315 is located at a side of the rotating rod 5312 close to the opening, and the horizontal plate 5321 is provided with a through hole through which the guide rod 5315 passes.

[0105] Understandably, the guide rod 5315 passes through the through hole on the horizontal plate 5321 to provide stable vertical guidance for the moving base 532, so as to ensure that the moving base 532 does not deviate or shake during the up and down movement, and improve the operation accuracy and stability of the moving base 532.

[0106] In an embodiment, two extension plates 5323 extending in the first horizontal direction are arranged at two ends of the moving base 532 and on a side of the moving base 532 facing the material receiving mechanism 52, and the end of each of the two extension plates 5323 away from the moving base 532 extends out of the mounting space 5311, the length of one of the two extension plates 5323 in the first horizontal direction is greater than the length of the other extension plate 5323 in the first horizontal direction; the end of each of the two extension plates 5323 away from the moving base 532 is provided with a third telescopic driving member 5324, and the output ends of the two third telescopic driving members 5324 are oppositely arranged, and two limiting blocks 5325 are arranged on the output ends of the two third telescopic driving members 5324 respectively, and the two third telescopic driving members 5324 can respectively drive the two limiting blocks 5325 to move towards or away from each other to abut against or separate from two corner edges of the placing frame 200 arranged on the material receiving mechanism 52.

[0107] Understandably, the extension plates 5323 extend out of the mounting space 5311, and the third telescopic driving members 5324 are arranged on the extension plates 5323, and the limiting blocks 5325 are driven to move by the third telescopic driving members 5324 to abut against the corner edges of the placing frame 200, so as to prevent the plurality of placing frames 200 stacked and placed from shaking, and further improve the accuracy during stacking and placing.

[0108] It should be noted that the third telescopic driving member 5324 can be a telescopic air cylinder or an oil cylinder in the prior art.

[0109] Specifically, the side of each of the two limiting blocks 5325 facing each other is provided with an opening matching the shape of the corner edge of the placing frame 200.

[0110] In an embodiment, the material receiving mechanism 52 comprises a material receiving vehicle 521 and a positioning frame 522, the positioning frame 522 surrounds a positioning space having an entrance, the entrance is located at a side of the positioning frame 522 away from the material grabbing station, the material receiving vehicle 521 has a material receiving plate for stacking the placing frame 200, and the material receiving vehicle 521 can enter and exit the positioning space through the entrance.

[0111] It should be noted that the receiving trolley 521 is the same as the above-mentioned carrying trolley 111 and can be used alternately; the positioning frame 522 has the same structure and function as the above-mentioned fixing frame 112 and will not be described here.

[0112] Further, a third rotary pressing cylinder 5221 is arranged on the positioning frame 522 and close to the opening, and a stop block 5222 is connected to the third rotary pressing cylinder 5221, and the third rotary pressing cylinder 5221 can make the stop block 5222 located at the opening to abut against the side of the receiving plate in the positioning space and facing the opening.

[0113] Understandably, after the output end of the third rotary pressing cylinder 5221 rotates, the stop block 5222 can be blocked at the opening position, thereby preventing the receiving trolley 521 in the positioning space from sliding out of the positioning space, so as to ensure that the storage frame 200 can be stacked on the receiving trolley 521, and the reliability is better. When the receiving trolley 521 needs to be removed, the output end of the third rotary pressing cylinder 5221 is reset, thereby driving the stop block 5222 to move away from the opening position.

[0114] Similarly, the same third rotary pressing cylinder 5221 and stop block 5222 are arranged on the fixing frame 112 to prevent the carrying trolley 111 in the limiting space from sliding out of the limiting space, which is more reliable.

[0115] In an embodiment, the bottom of the lifting mechanism 513 is provided with a mounting plate 514, and two grippers 515 are arranged on the bottom of the mounting plate 514 in a spaced manner. By arranging two grippers 515, the two grippers 515 can both hold the frame of the storage frame 200, so as to smoothly transfer the storage frame 200 and prevent the piston in the storage frame 200 from falling out.

[0116] In an embodiment, the support seat 511 includes a support column and a support plate 5111 arranged on the top of the support column, and the sliding seat 512 is slidingly connected to the support plate 5111, and the height of the support plate 5111 is higher than the height of the mounting frame 531. Understandably, the height of the support plate 5111 is higher, which ensures that the two limiting blocks 5325 do not interfere with each other when the gripper 515 moves to the stacking station each time, and ensures that more storage frames 200 can be stacked on the receiving trolley 521, so as to reduce the frequency of replacing the receiving trolley 521, which is beneficial to improve the stacking efficiency and reduce the labor intensity.

[0117] The above is only an exemplary embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A palletizing device for palletizing a placement frame, characterized by The stacking device comprises: a stacking mechanism, which comprises a support base and a sliding base movably arranged on the support base, a lifting mechanism arranged on the sliding base, the lifting mechanism located on one side of the support base along a first horizontal direction, and a gripper arranged at the bottom of the lifting mechanism, the lifting mechanism capable of driving the gripper to lift; the side of the support base where the gripper is located is provided with a stacking station and a grabbing station, the stacking station and the grabbing station being arranged at intervals along a second horizontal direction, the second horizontal direction being perpendicular to the first horizontal direction; the sliding base is capable of moving along the second horizontal direction, so as to drive the gripper to move between the stacking station and the grabbing station through the lifting mechanism; a receiving mechanism arranged corresponding to the stacking station, the gripper being used for grabbing the placing frame at the grabbing station and stacking the placing frame on the receiving mechanism; an auxiliary positioning mechanism, which comprises a mounting frame and a moving base, the mounting frame being arranged on the side of the receiving mechanism away from the support base, the moving base being movably arranged on the side of the mounting frame facing the receiving mechanism, and the moving base being capable of moving vertically relative to the mounting frame, the side of the moving base facing the receiving mechanism being provided with two limiting blocks, the two limiting blocks being respectively used for abutting against the two sides of the placing frame stacked on the receiving mechanism to position the placing frame.

2. The stacking device according to claim 1, wherein the mounting frame encloses a mounting space with an opening, the opening being located on the side of the mounting frame facing the receiving mechanism, two rotating rods extending along the second horizontal direction being rotatably connected in the mounting space, and the two rotating rods being arranged at intervals vertically, two chain wheels being respectively sleeved on the corresponding positions of the two rotating rods, the two chain wheels being transmissionally connected through a transmission chain, a second rotating drive being arranged on the mounting frame and transmissionally connected with one of the rotating rods, and the moving base being connected to the transmission chain; the second rotating drive is capable of driving the corresponding rotating rod to rotate to drive the chain wheels to rotate, so as to drive the moving base to move vertically through the transmission chain.

3. The stacking device according to claim 2, wherein the moving base comprises a horizontal plate and a vertical plate connected to each other, the horizontal plate being located on the side of the vertical plate close to the opening, and the vertical plate being connected with the transmission chain; a guide rod extending vertically is further arranged in the mounting space, and the guide rod is located on the side of the rotating rod close to the opening, and a through hole is formed in the horizontal plate for the guide rod to pass through.

4. The stacking device according to claim 2, wherein two extension plates extending along the first horizontal direction are arranged on the side of the moving base away from the receiving mechanism, and the end of each of the two extension plates away from the moving base extends out of the mounting space, and the length of one of the extension plates along the first horizontal direction is greater than the length of the other extension plate along the first horizontal direction. Two third telescopic driving members are arranged at the ends of the moving base away from the moving base, and the output ends of the two third telescopic driving members are arranged opposite to each other, and two limiting blocks are arranged at the output ends of the two third telescopic driving members respectively, and the two third telescopic driving members can drive the two limiting blocks to move towards each other or away from each other, so as to abut against or separate from the two corners of the placing frame on the material receiving mechanism.

5. The palletizing device of claim 3, wherein The side of each of the two limiting blocks facing each other is provided with an opening matching the shape of the corner of the placing frame.

6. The palletizing device of claim 2, wherein, The material receiving mechanism comprises a material receiving vehicle and a positioning frame, the positioning frame surrounds a positioning space with an entrance, the entrance is located on the side of the positioning frame away from the material grabbing station, the material receiving vehicle has a material receiving plate for stacking the placing frame, and the material receiving vehicle can enter and exit the positioning space through the entrance.

7. The palletizing device of claim 6, wherein, A third rotary down pressure cylinder is further arranged on the positioning frame near the opening, a stop block is connected to the third rotary down pressure cylinder, and the third rotary down pressure cylinder can make the stop block located at the opening to abut against the side of the material receiving plate in the positioning space facing the opening.

8. The palletizing device according to any one of claims 1 to 7, characterized in that: The bottom of the lifting mechanism is provided with a mounting plate, and two grippers are arranged on the bottom of the mounting plate in a spaced manner.

9. The palletizing device according to any one of claims 1 to 7, characterized in that, The support base comprises a support column and a support plate arranged on the top of the support column, the sliding seat is slidingly connected to the support plate, and the height of the support plate is higher than the height of the mounting frame.

10. A framing and stacking apparatus for placing a piston in a placement frame and stacking the placement frame with the piston placed therein, characterized by, The frame stacking equipment comprises: A feeding device, the feeding device comprises a bearing mechanism and a clamping mechanism, the bearing mechanism is used for stacking the placing frame; A conveying device, the conveying device comprises a support and a transmission belt mounted on the support and moving in a first direction, the top of the transmission belt has an in-feed station, a material placing station and an out-feed station in sequence in a first horizontal direction, the feeding device is arranged near the in-feed station, and a first positioning mechanism is arranged on the support near the material placing station; the clamping mechanism is used for clamping the placing frame on the bearing mechanism and placing the placing frame on the transmission belt at the in-feed station, the transmission belt can drive the placing frame to move in sequence to the material placing station in the first horizontal direction, and the first positioning mechanism can position the placing frame at the material placing station; A detection device, the detection device is arranged on one side of the support along the first horizontal direction, and the detection device is used for detecting the piston; A material conveying device, the material conveying device is used for transferring the detected piston into the placing frame positioned at the material placing station, and the transmission belt can also drive the placing frame with the piston to move to the out-feed station; The stacking device according to any one of claims 1 to 9, the stacking mechanism is used for grabbing the placing frame on the out-feed station at the material grabbing station and stacking on the material receiving mechanism.

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