Automatic sorting and stacking equipment

Abstract

According to the automatic sorting and stacking equipment, through cooperation of the feeding mechanism, the visual recognition mechanism, the sorting and conveying mechanism, the feeding carrying mechanism and the discharging carrying mechanism, automation of the whole process of conveying, recognition, sorting and stacking of workpieces is achieved, manual operation is completely replaced, and the working efficiency is improved. The problems of low manual sorting efficiency and high labor intensity are solved, and the production efficiency is remarkably improved; moreover, the front and back surfaces and the forward and reverse placement states of the workpieces can be accurately identified through the visual identification mechanism, and the workpieces in different states are accurately sorted to corresponding stacking stations in combination with intelligent scheduling of the control module, so that the classification error rate approaches zero, and scratches of electroplated layers and disordered packaging are effectively avoided; besides, the sorting conveying belt adopts intermittent constant-stroke operation and is matched with the workpiece positioning modules which are arranged at intervals, so that the feeding and discharging actions are strictly synchronous with the conveying rhythm, the carrying positioning precision is ensured, the continuous line production is realized, and the equipment is stable and reliable in operation. The long-term operation cost of the automatic sorting and stacking equipment is lower than that of manpower, and the quality loss and enterprise cost are comprehensively reduced.

Description

Technical Field

[0001] This utility model belongs to the field of workpiece sorting and stacking technology, specifically relating to automatic sorting and stacking equipment. Background Technology

[0002] Currently, sheet metal workpieces that have undergone drilling and grooving typically require electroplating to form an electroplated layer on their surface, improving their corrosion resistance and aesthetics. After electroplating, the workpieces need to be sorted and stacked for subsequent packaging and transportation. During stacking, the workpieces must be arranged with the same face and orientation to avoid surface scratches or damage to the electroplated layer, while ensuring neat packaging and stable transport. However, existing sorting and stacking operations largely rely on manual labor, resulting in slow speed and low efficiency. Utility Model Content

[0003] The purpose of this invention is to overcome the problem of low efficiency in existing manual sorting and stacking methods of workpieces, and to provide an automatic sorting and stacking device.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An automated sorting and stacking equipment includes a control module, a feeding mechanism, a vision recognition mechanism, a sorting conveyor structure, a loading and handling mechanism, a stacking station, and an unloading and handling mechanism. The feeding mechanism has a feeding channel for conveying workpieces and a loading station located at the end of the feeding channel. The vision recognition mechanism identifies the front and back sides and orientation of the workpieces transported within the feeding mechanism and sequentially feeds back the placement information of each workpiece to the control module. The sorting conveyor structure includes a sorting conveyor belt and a sorting drive mechanism that drives the sorting conveyor belt. Multiple workpiece positioning modules are spaced apart along the length of the sorting conveyor belt, and each workpiece positioning module has a workpiece placement slot with an upper opening. The loading and handling mechanism is located between the feeding mechanism and the sorting conveyor belt. Between the upstream ends of the conveying structure, workpieces from the loading station are transported to the workpiece positioning module at the upstream end of the sorting conveyor structure; several stacking stations are located on one side of the sorting conveyor structure along the length of the sorting conveyor belt, and are used to collect workpieces transferred from the sorting conveyor structure and placed in the same position; the unloading and handling mechanism is located downstream of the sorting conveyor structure and is provided for each stacking station, and is configured to transfer workpieces in the corresponding position to the corresponding stacking station; the sorting drive mechanism is used to intermittently drive the sorting conveyor belt to operate at a constant stroke, so that when the sorting conveyor belt stops intermittently, several workpiece positioning modules are connected to the corresponding loading and unloading mechanisms respectively.

[0006] Compared with existing technologies, this utility model's automatic sorting and stacking equipment, through the coordinated operation of a feeding mechanism, a vision recognition mechanism, a sorting conveyor structure, an loading and unloading mechanism, and an unloading and transporting mechanism, achieves full automation of the entire process from workpiece conveying, identification, sorting to stacking, completely replacing manual operation. This solves the problems of low efficiency and high labor intensity associated with manual sorting, significantly improving production efficiency. Furthermore, the vision recognition mechanism can accurately identify the front and back of workpieces and their orientation, and combined with intelligent scheduling by the control module, ensures that workpieces in different states are accurately sorted to their corresponding stacking stations, with a near-zero error rate in classification, effectively avoiding scratches on the electroplating layer and packaging chaos. In addition, the sorting conveyor belt operates with an intermittent constant stroke, and with spaced workpiece positioning modules, the loading and unloading actions are strictly synchronized with the conveying rhythm, ensuring both accurate handling and positioning and continuous assembly line operation, resulting in stable and reliable equipment operation. The long-term operating cost of the automatic sorting and stacking equipment is lower than that of manual labor, comprehensively reducing quality loss and enterprise costs.

[0007] Furthermore, the visual recognition mechanism includes a visual recognition bracket and a top light source box, a top camera, a bottom light source box, and a bottom camera mounted on the visual recognition bracket; the feeding mechanism extends through both the front and rear sides of the visual recognition bracket, the top light source box is located above the feeding mechanism, the top camera is located above the top light source box, the bottom light source box is located below the feeding mechanism, and the bottom camera is located below the bottom light source box. The top camera is used to capture the top surface of the workpiece entering the capturing area, and the bottom camera is used to capture the bottom surface of the workpiece entering the capturing area; the placement state of the workpiece includes a first placement with its front and facing forward. The system offers four placement states: a first state (front-facing, back-facing, front-facing reversed, and back-facing reversed); a second state (front-facing and back-facing); a third state (front-facing and back-facing); and a fourth state (back-facing and back-facing reversed). This design, using top and bottom cameras in conjunction with a dual-light source box, enables comprehensive, high-precision inspection of the workpiece. It accurately identifies four placement states (front-facing, back-facing, front-facing reversed, and back-facing reversed). The non-contact optical inspection avoids damage to the electroplated layer. Its modular integrated design ensures both inspection accuracy and adaptability to high-speed assembly line operations, providing reliable state recognition for automated sorting and stacking, effectively solving the problems of low efficiency and error-prone manual sorting.

[0008] Furthermore, the system also includes a stopper located upstream of the feeding station and a first detector located at the end of the feeding channel for detecting workpieces within the feeding station. When the first detector detects a workpiece entering the feeding station, it sends a feedback signal to the control module, causing the stopper's blocking rod to extend, separating the workpiece within the feeding station from the workpieces upstream. This also causes the feeding and handling mechanism to transport the workpiece within the feeding station to the workpiece positioning module at the upstream end of the sorting conveyor belt. The width of the feeding channel is close to the width of the workpiece. This configuration, by setting a stopper and a first detector upstream of the feeding station, enables precise workpiece positioning and orderly sorting. When the first detector detects a workpiece arriving at the feeding station, the control module controls the blocking rod to extend, effectively isolating the workpiece at the feeding station from subsequent workpieces. This ensures that the feeding and handling mechanism can accurately grab and transfer the workpiece to the sorting conveyor belt. Simultaneously, the feeding channel width matches the workpiece width, preventing workpiece deviation or jamming during transport, improving feeding stability and sorting efficiency, and reducing manual intervention and failure rates.

[0009] Furthermore, it also includes a frame, on which the sorting and conveying structure, stacking station, and unloading and handling mechanism are mounted, with the unloading and handling mechanism located between the sorting and conveying structure and the stacking station; it also includes a stacking assembly, which includes a stacking bin and a lifting mechanism. The lifting mechanism includes a vertical push rod and a lifting seat located at the output end of the vertical push rod. The bottom of the stacking bin has a clearance hole that avoids the lifting seat. The stacking station is located above the lifting seat. The stacking bin has a stacking cavity with an upper opening. The vertical push rod is used to drive the lifting seat to move vertically within the stacking cavity through the clearance hole, so that the workpieces on the lifting seat are stacked. The height is adapted to the release height of the workpiece by the unloading and handling mechanism. With this setting, the sorting and conveying structure, stacking station and unloading and handling mechanism are compactly arranged through the integrated design of the frame. At the same time, the stacking assembly realizes the automated stacking management of workpieces. The stacking bin provides a stable stacking cavity. The lifting mechanism drives the lifting seat to rise and fall in the clearance hole through the vertical push rod, dynamically adjusting the stacking height of the workpieces so that it always matches the release height of the unloading and handling mechanism. This ensures the neatness of the stacking and avoids the workpiece falling and getting damaged, significantly improving stacking efficiency and safety, while reducing manual palletizing intervention and realizing fully automated operation.

[0010] Furthermore, the top of the stacking bin is equipped with a second detector for detecting the top workpiece of the lifting seat. After a workpiece is added to the lifting seat, the second detector sends a feedback signal to the control module to control the vertical push rod to descend by the thickness of one workpiece, so that the height of the top of the workpiece carried by the lifting seat matches the height of the workpiece released by the unloading and conveying mechanism. With this setting, the position of the top workpiece in the stacking bin is monitored in real time by the second detector, and the height of the lifting mechanism is intelligently adjusted by the control module. This ensures that the lifting seat automatically descends by the thickness of one workpiece after each new workpiece is stacked, always maintaining a precise match between the workpiece stacking surface and the release height of the unloading and conveying mechanism. This ensures the stability and accuracy of the stacking process, avoids the efficiency loss caused by manual adjustment, realizes fully automated intelligent stacking, and significantly improves production efficiency and stacking quality.

[0011] Furthermore, the stacking assembly also includes a slide block and a translational actuator that drives the slide block to slide relative to each other. The slide block is slidably connected to the frame via a slide rail device. Two stacking bins are provided and arranged side by side on the slide block. With this arrangement, through the design of the slide block and the translational actuator, the two stacking bins can alternately switch positions along the slide rail. When one stacking bin completes stacking, the push rod drives the slide block to translate so that the other stacking bin is immediately in place, realizing uninterrupted continuous stacking operations and greatly improving equipment operating efficiency. The parallel layout of the two bins not only ensures the continuity of the stacking process but also optimizes the utilization rate of equipment space, effectively solving the production cycle bottleneck problem in the single-bin mode.

[0012] Furthermore, the stacking bin includes a stacking base and several positioning posts arranged around the outer periphery of the stacking base, with the positioning posts and the stacking base forming the stacking cavity. With this arrangement, the positioning posts surrounding the stacking base form a regular stacking cavity, which can effectively constrain the displacement range of the stacked workpieces to prevent tilting and scattering, while maintaining the necessary operating space around the workpieces. This ensures stacking accuracy while taking into account the convenience of workpiece handling, making the automated stacking process more stable and reliable.

[0013] Furthermore, the loading and conveying mechanism includes: a base, a belt drive structure, a rocker arm assembly, and a rotary driver; the belt drive structure includes a driving pulley and a driven pulley arranged vertically along the base, and a drive belt, which is wound around the driving pulley and the driven pulley; the rocker arm assembly includes a first rocker arm, a second rocker arm, and a workpiece transfer rod, one end of the first rocker arm is connected to the driving pulley, one end of the second rocker arm is connected to the driven pulley, and the workpiece transfer rod is rotatably connected to the other ends of the first rocker arm and the second rocker arm, respectively. The lower end of the workpiece transfer rod extends out from the lower side of the rocker arm assembly to form a pickup section, and a pickup device is provided at the lower end of the pickup section; the rotary driver is drivenly connected to the driving pulley. The drive pulley rotates in both directions, which in turn drives the rocker arm assembly to move the pickup from one side of the base to the other. The loading and unloading mechanism is similar in structure to the loading and unloading mechanism. Through this design, the innovative linkage between the belt drive structure and the rocker arm assembly enables the workpiece transfer rod to achieve precise reciprocating swing motion under the control of the rotary driver. Its pickup part can stably complete the workpiece gripping and releasing actions. The unique double rocker arm structure ensures that the pickup maintains a horizontal posture during movement, preventing the workpiece from tilting or falling off. At the same time, the compact vertical layout saves equipment space, significantly improves the stability and positioning accuracy of loading and handling, and meets the needs of efficient and precise handling.

[0014] Furthermore, it also includes a material unloading and packaging robot and a cable tie binding machine. The material unloading and packaging robot is used to transfer the stacked workpieces in the stacking station to the cable tie binding machine for bundling and packaging. With this configuration, the material unloading and packaging robot and the cable tie binding machine work together to realize the automated bundling and packaging of stacked workpieces. When the number of workpieces in the stacking station reaches the preset number, the material unloading and packaging robot automatically transfers the entire stack of workpieces to the cable tie binding machine for bundling. This not only greatly improves packaging efficiency and ensures transportation stability, but also completely eliminates the manual handling and bundling process, significantly reduces labor intensity, and improves the overall automation level of the production line.

[0015] Furthermore, the feeding mechanism, vision recognition mechanism, sorting and conveying structure, loading and unloading mechanism are provided in at least two sets. By setting up multiple sets of feeding mechanisms, vision recognition mechanisms, sorting and conveying structures, loading and unloading mechanisms, a parallel processing system is formed, enabling the equipment to process multiple workpiece flows simultaneously. This not only multiplies the overall sorting and stacking efficiency but also enables synchronous sorting of workpieces of different specifications, significantly improving equipment utilization and capacity flexibility, meeting the industrial needs of large-volume, multi-variety production. At the same time, the modular design ensures that each unit operates independently, guaranteeing system stability and maintainability. Attached Figure Description

[0016] Figure 1 Schematic diagram of automated sorting and stacking equipment Figure 1 .

[0017] Figure 2 for Figure 1 A magnified view of a portion of region A in the middle.

[0018] Figure 3 Schematic diagram of automated sorting and stacking equipment Figure 2 .

[0019] Figure 4 for Figure 2 A magnified view of a portion of region B in the middle.

[0020] Figure 5 This is a schematic diagram of a visual recognition mechanism.

[0021] Figure 6 This is a schematic diagram of two sets of automated sorting and stacking equipment, as well as the configured unloading and packaging robots and cable tie binding machines.

[0022] Figure 7 Front axonometric view of the loading or unloading mechanism Figure 1 .

[0023] Figure 8 Front axonometric view of the loading or unloading mechanism Figure 2 .

[0024] Figure 9 Rear axonometric view of the loading or unloading mechanism Figure 1 .

[0025] Figure 10 Rear axonometric view of the loading or unloading mechanism Figure 2 .

[0026] Figure 11 This is a front view of the loading or unloading conveying mechanism in its starting position.

[0027] Figure 12 This is a rear view of the loading or unloading conveying mechanism at its endpoint.

[0028] Figure 13 This is a schematic diagram of the workpiece in its first placement state.

[0029] Figure 14 This is a schematic diagram of the second placement state of the workpiece.

[0030] Figure 15 This is a schematic diagram of the third placement state of the workpiece.

[0031] Figure 16 This is a schematic diagram of the fourth placement state of the workpiece.

[0032] Labeling Explanation: 2. Feeding Mechanism; 3. Vision Recognition Mechanism; 4. Sorting and Conveying Structure; 1. Loading and Handling Mechanism; 50. Stacking Station; 10. Unloading and Handling Mechanism; 21. Feeding Channel; 22. Loading Station; 6. Workpiece; 41. Sorting Conveyor Belt; 42. Sorting Drive Mechanism; 43. Workpiece Positioning Module; 44. Workpiece Placement Slot; 31. Vision Recognition Bracket; 32. Top Light Source Box; 33. Top Camera; 34. Bottom Light Source Box; 35. Bottom Camera; 23. Stopper; 24. First Detector; 25. Limit Block; 61. Positioning Slot; 45. Frame; 56. Stacking Assembly; 57. Stacking Bin; 58. Vertical Push Rod; 59. Lifting Seat; 50. Clearance Hole; 51. Stacking Cavity; 52. Second Detector; 53. Slide; 54. Translation Drive. 58. Drive unit, 511. Stacking seat, 512. Positioning column, 513. Guide part, 7. Unloading and packaging robot, 71. Cable tie binding machine, 46. Defective product collection area, 11. Base, 12. Belt drive structure, 13. Swing arm assembly, 14. Rotary drive, 121. Drive pulley, 122. Drive belt, 123. Tension pulley, 124. First swing arm, 131. Second swing arm, 132. Workpiece transfer rod, 133. Pickup device, 15. Limiting column, 16. Air distributor, 171. Air distribution control module, 172. Code disk, 181. Photoelectric sensor, 182. Rotary drive motor, 141. Reducer, 142. Vertical frame, 111. Base, 112. Pickup part, 134. Origin light-transmitting hole, 183. Detailed Implementation

[0033] The specific embodiments of this utility model are described below with reference to the accompanying drawings. In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model.

[0034] See Figures 1 to 16The automatic sorting and stacking equipment of this utility model includes a control module, a feeding mechanism 2, a vision recognition mechanism 3, a sorting and conveying structure 4, a loading and handling mechanism 1, a stacking station 50, and a unloading and handling mechanism 10. The feeding mechanism 2 is provided with a feeding channel 21 for conveying workpieces 6 and a loading station 22 located at the end of the feeding channel 21. The vision recognition mechanism 3 is used to identify the front and back sides and the forward and reverse placement state of the workpieces 6 transported in the feeding mechanism 2 or to identify whether the workpieces 6 are defective, and to feed back the placement state information of each workpiece 6 and the defective information of the workpieces 6 to the control module in sequence. The sorting and conveying structure 4 is provided with a sorting conveyor belt 41 and a sorting drive mechanism 42 for driving the sorting conveyor belt 41. The sorting conveyor belt 41 rotates in a racetrack-shaped loop. The sorting and conveying structure 4 is an existing belt conveyor mechanism. Multiple workpiece positioning modules 43 are arranged at intervals along the length of the sorting conveyor belt 41. The workpiece positioning modules 43 are equipped with... The upper-opening workpiece placement slot 44; the loading and conveying mechanism 1 is located between the feeding mechanism 2 and the upstream end of the sorting and conveying structure 4, and is used to transport the workpiece 6 from the loading station 22 to the workpiece positioning module 43 at the upstream end of the sorting and conveying structure 4; several stacking stations 50 are located on one side of the sorting and conveying structure 4 and are arranged along the length of the sorting conveyor belt 41, respectively, for collecting workpieces 6 transferred from the sorting and conveying structure 4 and having the same placement state; the unloading and conveying mechanism 10 is located downstream of the sorting and conveying structure 4 and is provided for each stacking station 50, and the unloading and conveying mechanism 10 is configured to transfer the workpiece 6 in the corresponding placement state to the corresponding stacking station 50; the sorting drive mechanism 42 is used to intermittently drive the sorting conveyor belt 41 to operate with a constant stroke, so that when the sorting conveyor belt 41 stops intermittently, several workpiece positioning modules 43 are respectively connected to the corresponding loading and conveying mechanism 1 and unloading and conveying mechanism 10.

[0035] Compared with existing technologies, the automatic sorting and stacking equipment of this utility model, through the coordinated operation of the feeding mechanism 2, the vision recognition mechanism 3, the sorting conveyor structure 4, the loading and unloading mechanism 1, and the unloading and unloading mechanism 10, achieves full automation of the entire process of workpiece 6 from conveying, identification, sorting to stacking, completely replacing manual operation and solving the problems of low efficiency and high labor intensity of manual sorting, resulting in a significant improvement in production efficiency. Moreover, the vision recognition mechanism 3 can accurately identify the front and back sides and the orientation of workpiece 6, and combined with the intelligent scheduling of the control module, it ensures that workpiece 6 in different states is accurately sorted to the corresponding stacking station 50, with a classification error rate approaching zero, effectively avoiding scratches on the electroplating layer and packaging chaos. In addition, the sorting conveyor belt 41 adopts intermittent constant stroke operation, combined with the spaced workpiece positioning modules 43, so that the loading and unloading actions are strictly synchronized with the conveying rhythm, ensuring both handling and positioning accuracy and realizing continuous flow operation, making the equipment stable and reliable in operation. The long-term operating cost of the automatic sorting and stacking equipment is lower than that of manual labor, comprehensively reducing quality loss and enterprise costs.

[0036] See Figures 1 to 12 In one embodiment, the visual recognition mechanism 3 includes a visual recognition bracket 31 and a top light source box 32, a top camera 33, a bottom light source box 34, and a bottom camera 35 disposed on the visual recognition bracket 31; the feeding mechanism 2 extends through the front and rear sides of the visual recognition bracket 31, the top light source box 32 is located above the feeding mechanism 2, the top camera 33 is located above the top light source box 32, the bottom light source box 34 is located below the feeding mechanism 2, and the bottom camera 35 is located below the bottom light source box 34. The top camera 33 is used to photograph the top surface of the workpiece 6 entering the photographing area, and the bottom camera 35 is used to photograph the bottom surface of the workpiece 6 entering the photographing area; the workpiece 6 is rectangular. In this embodiment, the workpiece... The rectangular workpiece 6 can be arranged in four states: a first state with its front and facing forward, a second state with its back and facing forward, a third state with its front and facing backward, and a fourth state with its back and facing backward. With this arrangement, the visual recognition mechanism 3 uses top and bottom cameras 35 in conjunction with a dual-light source box to perform all-around high-precision detection of the workpiece 6. It can accurately identify four arrangement states (front facing forward, back facing forward, front facing backward, and back facing backward). The non-contact optical detection avoids damage to the electroplated layer. Its modular integrated design ensures both detection accuracy and adaptability to high-speed assembly line operations, providing reliable state recognition for automated sorting and stacking, and effectively solving the problems of low efficiency and error-prone manual sorting.

[0037] The aforementioned light source box has a vertical light transmission effect. The method of using the light source box in conjunction with the camera to acquire images is existing technology in this field. The light source box is a device used to provide a stable and controllable lighting environment for the target to be detected. Its core function is to eliminate ambient light interference and enhance the contrast of target features, thereby improving the quality of image acquisition.

[0038] According to the first, second, third, and fourth placement states of the workpiece 6, four unloading and conveying mechanisms 10 are correspondingly provided and arranged side by side along the side of the sorting and conveying structure 4 in the downstream direction relative to the loading and conveying mechanism 1. After receiving the sequence information of the placement state information of each workpiece 6 entering the sorting and conveying structure 4 provided by the visual recognition mechanism 3, the control module controls each unloading and conveying mechanism 10 to pick up the workpiece 6 in the corresponding placement state on the sorting and conveying structure 4. For example, the first unloading and conveying mechanism 10 picks up the workpiece 6 in the first placement state, the second unloading and conveying mechanism 10 picks up the workpiece 6 in the second placement state, the third unloading and conveying mechanism 10 picks up the workpiece 6 in the third placement state, and the fourth unloading and conveying mechanism 10 picks up the workpiece 6 in the fourth placement state. When the workpiece 6 is a defective workpiece 6, none of the four unloading and conveying mechanisms 10 picks up the defective workpiece 6, and the sorting and conveying structure 4 transports the defective workpiece 6 to the end and automatically drops it into the defective collection area 46.

[0039] See Figures 1 to 6 In one embodiment, the system further includes a blocker 23 located upstream of the feeding mechanism 2 and the loading station 22, and a first detector 24 located at the end of the feeding channel 21 for detecting workpieces 6 within the loading station 22. A limiting block 25 is provided at the end of the loading station 22 to position the incoming workpieces 6 within the loading station 22. The first detector 24 is located at the bottom of the loading station 22. When the first detector 24 detects a workpiece 6 entering the loading station 22, it sends a feedback signal to the control module to extend the blocking rod of the blocker 23, separating the workpiece 6 within the loading station 22 from the workpiece 6 on the upstream side, and to cause the loading and conveying mechanism 1 to transport the workpiece 6 within the loading station 22 to the upstream end of the sorting conveyor belt 41. Within the positioning module 43, the width of the feeding channel 21 is close to the width of the workpiece 6, so that the rectangular workpieces 6 are arranged and transported along their length. With this setting, by setting a stopper 23 and a first detector 24 upstream of the loading station 22, the workpiece 6 can be accurately positioned and sorted in an orderly manner. When the first detector 24 detects that the workpiece 6 has arrived at the loading station 22, the control module controls the stopper to extend, so that the workpiece 6 at the loading station 22 is effectively isolated from the subsequent workpieces 6, ensuring that the loading and handling mechanism 1 can accurately grab and transfer the workpiece 6 to the sorting conveyor belt 41. At the same time, the width of the feeding channel 21 matches the width of the workpiece 6, preventing the workpiece 6 from shifting or getting stuck during the transport process, improving the stability of loading and sorting efficiency, and reducing manual intervention and failure rate.

[0040] See Figures 12 to 16In one embodiment, the rectangular workpiece 6 is provided with positioning grooves 61 at the four corners. When the adjacent workpieces 6 are separated in the feeding mechanism 2, the blocking rod of the blocking device 23 extends into the positioning grooves 61 on the opposite side of the two adjacent workpieces 6 at the same time, so as to separate the workpieces 6 in the loading station 22 from the workpieces 6 on the upstream side.

[0041] See Figures 1 to 6 In one embodiment, the system further includes a frame 45, on which the sorting and conveying structure 4, the stacking station 50, and the unloading and conveying mechanism 10 are mounted. The unloading and conveying mechanism 10 is located between the sorting and conveying structure 4 and the stacking station 50. It also includes a stacking assembly 5 configured one-to-one with each unloading and conveying mechanism 10. The stacking assembly 5 includes a stacking bin 51 and a lifting mechanism. The lifting mechanism includes a vertical push rod 52 and a lifting seat 53 located at the output end of the vertical push rod 52. The bottom of the stacking bin 51 has a clearance hole 54 that avoids and cooperates with the lifting seat 53. The stacking station 50 is located above the lifting seat 53. The stacking bin 51 has a stacking cavity 55 with an upper opening. The vertical push rod 52 is used to drive the lifting seat 53 through the clearance hole into the stacking cavity. The lifting mechanism moves vertically within the lifting seat 53 to match the stacking height of the workpiece 6 on the lifting seat 53 with the release height of the workpiece 6 from the unloading and conveying mechanism 10. Through this configuration, the sorting and conveying structure 4, the stacking station 50, and the unloading and conveying mechanism 10 are integrated into a compact layout through the frame 45. At the same time, the stacking assembly 5 is used to achieve automated stacking management of the workpiece 6. The stacking bin 51 provides a stable stacking cavity 55. The lifting mechanism drives the lifting seat 53 to rise and fall within the clearance hole 54 through the vertical push rod 52, dynamically adjusting the stacking height of the workpiece 6 so that it always matches the release height of the unloading and conveying mechanism 10. This ensures both stacking neatness and avoids damage from falling workpiece 6, significantly improving stacking efficiency and safety, while reducing manual palletizing intervention and achieving fully automated operation.

[0042] See Figures 1 to 6 In a further embodiment, the top of the stacking bin 51 is provided with a second detector 56 for detecting the top workpiece 6 of the lifting seat 53. The second detector 56 is used to detect that after the lifting seat 53 is added to the workpiece 6, it feeds back a signal to the control module to control the vertical push rod 52 to descend by the thickness of one workpiece 6, so that the top height of the workpiece 6 carried by the lifting seat 53 is matched with the height of the workpiece 6 released by the unloading and conveying mechanism 10. With this setting, the position of the top workpiece 6 in the stacking bin 51 is monitored in real time by the second detector 56, and the height of the lifting mechanism is intelligently adjusted by the control module. This ensures that the lifting seat 53 automatically descends by the thickness of one workpiece 6 after each new workpiece 6 is stacked, and always keeps the stacking surface of the workpiece 6 precisely matched with the release height of the unloading and conveying mechanism 10. This ensures the stability and accuracy of the stacking process, avoids the efficiency loss caused by manual adjustment, realizes fully automated intelligent stacking, and significantly improves production efficiency and stacking quality.

[0043] See Figure 3 and Figure 4 In one embodiment, the stacking assembly 5 further includes a slide 57 and a translation driver 58 that drives the slide 57 to slide relative to each other. The translation driver 58 is a push rod mounted on the frame 45. The slide 57 is slidably connected to the frame 45 via a slide rail device. Two stacking bins 51 are provided and arranged side by side on the slide 57. With this arrangement, through the design of the slide 57 and the translation driver 58, the two stacking bins 51 can alternately switch positions along the slide rail. When one stacking bin 51 completes stacking, the push rod drives the slide 57 to translate so that the other stacking bin 51 is immediately in place, realizing uninterrupted continuous stacking operation and greatly improving equipment operating efficiency. The parallel layout of the two bins not only ensures the continuity of the stacking process but also optimizes the utilization rate of equipment space, effectively solving the production cycle bottleneck problem in the single-bin mode.

[0044] See Figure 3 and Figure 4 In one embodiment, the stacking bin 51 includes a stacking base 511 and a plurality of positioning posts 512 arranged around the outer periphery of the stacking base 511. The positioning posts 512 and the stacking base 511 form the stacking cavity 55. The upper end of the positioning posts 512 is provided with a conical guide portion 513, which makes it easier for the workpiece 6 to enter the stacking bin 51. With this arrangement, the positioning posts 512 are arranged around the stacking base 511 to form a regular stacking cavity 55, which can effectively constrain the displacement range of the stacked workpiece 6 to prevent tilting and scattering, and maintain the necessary operating space around the workpiece 6. While ensuring stacking accuracy, it also takes into account the convenience of handling the workpiece 6, making the automated stacking process more stable and reliable.

[0045] See Figures 7 to 12In one embodiment, the loading and conveying mechanism 1 includes: a base 11, a belt drive structure 12, a rocker arm assembly 13, and a rotary driver 14; the belt drive structure 12 includes a driving pulley 121 and a driven pulley 122 arranged vertically along the base 11, and a drive belt 123, the drive belt 123 being wound around the driving pulley 121 and the driven pulley 122; the rocker arm assembly 13 includes a first rocker arm 131, a second rocker arm 132, and a workpiece transfer rod 133, one end of the first rocker arm 131 being connected to the driving pulley 121, one end of the second rocker arm 132 being connected to the driven pulley 122, the workpiece transfer rod 133 being rotatably connected to the other end of the first rocker arm 131 and the other end of the second rocker arm 132 respectively, the lower end of the workpiece transfer rod 133 extending out of the lower side of the rocker arm assembly 13 to form a pickup part, the lower end of the pickup part being provided with The system includes a pickup 15 and a rotary driver 14, which is connected to the drive pulley 121. The drive pulley 121 rotates in both directions, thereby driving the pickup 15 from one side of the base 11 to the other. The loading and unloading mechanism 1 is similar in structure to the unloading mechanism 10. With this configuration, the innovative linkage design between the belt drive structure 12 and the swing arm assembly 13 enables the workpiece transfer rod 133 to achieve precise reciprocating swing motion under the control of the rotary driver 14. Its pickup part can stably complete the grabbing and releasing action of the workpiece 6. The unique double swing arm structure ensures that the pickup 15 maintains a horizontal posture during movement, preventing the workpiece 6 from tilting or falling off. At the same time, the compact vertical layout saves equipment space, significantly improves the stability and positioning accuracy of loading and unloading, and meets the needs of efficient and precise handling.

[0046] See Figures 1 to 6 In one embodiment, the system further includes a material unloading and packaging robot 7, a cable tie binding machine 71, and a sealing machine (not shown). The material unloading and packaging robot 7 is used to transfer workpieces 6 stacked in the stacking station to the cable tie binding machine 71 for bundling and packaging, and then to seal the bundled workpieces 6. The preset number is, for example, fifty workpieces 6. With this configuration, the material unloading and packaging robot 7 and the cable tie binding machine 71 work together to achieve automated bundling and packaging of the stacked workpieces 6. When the preset number of workpieces 6 in the stacking station is reached, the material unloading and packaging robot 7 automatically transfers the entire stack of workpieces 6 to the cable tie binding machine 71 for bundling. This not only greatly improves packaging efficiency and ensures transportation stability, but also completely eliminates the manual handling and bundling process, significantly reducing labor intensity and improving the overall automation level of the production line.

[0047] See Figures 1 to 6In one embodiment, the feeding mechanism 2, the vision recognition mechanism 3, the sorting and conveying structure 4, the loading and unloading conveying mechanism 1, and the unloading conveying mechanism 10 are provided in at least two sets, for example, two sets. By setting up multiple sets of feeding mechanism 2, vision recognition mechanism 3, sorting and conveying structure 4, loading and unloading conveying mechanism 1, and unloading conveying mechanism 10, a parallel processing system is formed, which enables the equipment to process multiple workpiece flows at the same time. This not only multiplies the overall sorting and stacking efficiency, but also enables the synchronous sorting of workpieces 6 of different specifications, significantly improving equipment utilization and capacity flexibility, meeting the industrial needs of large-volume, multi-variety production. At the same time, the modular design ensures that each unit operates independently, ensuring system stability and maintainability.

[0048] See Figures 7 to 12 In a further embodiment, the first swing arm 131 and the second swing arm 132 are of the same length and arranged relatively parallel; the first swing arm 131 and the second swing arm 132 are arranged horizontally at their starting positions, and the rotary driver 14 drives the pickup 15 to move from one side of the base 11 to the other side by rotating 180° forward and backward through the transmission drive pulley 121; with this arrangement, the swing arm assembly 13 drives the pickup 15 to move back and forth on the left and right sides in a symmetrical swinging manner, resulting in high workpiece handling efficiency and positioning accuracy.

[0049] See Figures 7 to 12 In one embodiment, the driving pulley 121 is located below the driven pulley 122; the base 11 is provided with limiting posts 16 on the lower left and lower right sides of the driving pulley 121, respectively. The limiting posts 16 are used to limit the first swing arm 131 to maintain a horizontal state at the starting and ending positions. With this arrangement, the driving pulley 121 is located below the driven pulley 122 and is configured with the limiting post 16 structure, so that the first swing arm 131 maintains a precise horizontal state at the starting and ending positions, ensuring the positioning stability of the pickup 15 when gripping and releasing the workpiece 6, while optimizing the force distribution of the transmission belt 123, reducing the swing deviation during the movement, and improving the reliability and repeatability of the handling action.

[0050] See Figures 7 to 12 In one embodiment, the belt drive structure 12 further includes a tension pulley 124, which is located between the driving pulley 121 and the driven pulley 122. The drive belt 123 is wound around the tension pulley 124. By adding the tension pulley 124, the wrap angle and tension of the drive belt 123 are optimized, effectively preventing belt slippage or loosening, ensuring the stability of power transmission during the movement of the rocker arm assembly 13, reducing belt wear, extending the service life of the mechanism, and improving the positional accuracy and operational reliability of the workpiece 6.

[0051] See Figures 7 to 12In one embodiment, the pickup 15 is a vacuum pickup 15, the workpiece transfer rod 133 is provided with an air path distributor 171, and the base 11 is provided with an air distribution control module 172. The air distribution control module 172, the air path distributor 171 and the vacuum pickup 15 are interconnected through several air paths. By using the vacuum pickup 15 in conjunction with an integrated air path distribution system, the workpiece 6 can be quickly and non-destructively grasped and released. The air path control module centrally manages the vacuum adsorption force to ensure a stable and reliable handling process.

[0052] See Figures 7 to 12 In one embodiment, the belt drive structure 12 is located on the front side of the base 11, and a set of code disks 181 and photoelectric sensors 182 are provided on the rear side of the base 11. The code disks 181 have a light-transmitting hole 183 on one side. The code disks 181 rotate synchronously with the driven pulley 122. When the code disks 181 rotate to the point where the light-transmitting hole 183 corresponds to the photoelectric sensor 182, it is used to determine the mechanical origin position of the rotary driver 14. By setting the detection mechanism of code disks 181 and photoelectric sensors 182 on the rear side of the base 11, the mechanical origin of the rotary driver 14 is accurately positioned using the light-transmitting hole 183, realizing closed-loop control of the movement trajectory of the swing arm assembly 13, effectively eliminating accumulated errors and improving reset accuracy, ensuring the consistency of the workpiece 6 transfer position, and enhancing the system's anti-interference capability, so that the mechanism maintains stable and reliable positioning performance during long-term operation.

[0053] See Figures 7 to 12 In one embodiment, the rotary driver 14 includes a rotary drive motor 141 and a reducer 142 disposed at the output end of the rotary drive motor 141. The output end of the reducer 142 is connected to the drive pulley 121 for transmission. By using the reducer 142 to match the rotary drive motor 141, the output torque is significantly improved while maintaining the transmission efficiency, so that the drive pulley 121 can smoothly drive the rocker arm assembly 13 with a larger load, effectively reducing the impact of motor speed fluctuation on positioning accuracy and extending the service life of the drive system. It is particularly suitable for workpiece 6 handling scenarios that require frequent start-stop or precise positioning.

[0054] See ​ In one embodiment, the base 11 includes a vertical frame 111 and a base 112 disposed at the bottom of the vertical frame 111. The rotary drive 14 is vertically disposed at the lower rear side of the vertical frame 111, and the belt drive structure 12 and the swing arm assembly 13 are disposed at the upper front side of the vertical frame 111. By optimizing the layout of the base 11 and installing the rotary drive 14 at the lower rear, the stability of the transmission system is ensured, and the overall structure is made more compact and balanced. At the same time, the belt drive and the swing arm assembly 13, which are located at the upper front side, form a reasonable center of gravity distribution, effectively reducing operating vibration, improving the rigidity of the mechanism, and making the transfer process of the workpiece 6 more stable and precise.

[0055] Based on the disclosure and teachings of the above specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, this utility model is not limited to the specific embodiments disclosed and described above, and some modifications and changes to this utility model should also fall within the protection scope of the claims of this utility model. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on this utility model.

Claims

1. An automatic sorting and stacking apparatus, characterized in that, The application relates to a workpiece sorting device, which comprises a control module, a feeding mechanism, a visual identification mechanism, a sorting conveying structure, a stacking station and a discharging conveying mechanism. The feeding mechanism is provided with a feeding channel for conveying workpieces and a feeding station at the end of the feeding channel. The visual identification mechanism is used for identifying the front and back surfaces and the front and back placement states of the workpieces conveyed in the feeding mechanism and feeding the placement state information of the workpieces to the control module in sequence. The sorting conveying structure is provided with a sorting conveying belt and a sorting driving mechanism for driving the sorting conveying belt to run. The stacking station is arranged on one side of the sorting conveying structure and comprises a plurality of stacking stations arranged along the length direction of the sorting conveying belt. The discharging conveying mechanism is arranged downstream of the sorting conveying structure and corresponds to each stacking station. The sorting driving mechanism is used for intermittently driving the sorting conveying belt to run at a constant stroke. The visual identification mechanism comprises a visual identification support, a top light source box, a top camera, a bottom light source box and a bottom camera. The placement state of the workpiece comprises a first placement state of a front surface and a front direction, a second placement state of a back surface and a front direction, a third placement state of a front surface and a back direction and a fourth placement state of a back surface and a back direction.

2. The automated sorting and stacking apparatus of claim 1, wherein, The feeding mechanism is provided with a first detector arranged on the upstream side of the feeding station and used for detecting the workpiece in the feeding station. The feeding channel has a width close to that of the workpiece.

3. The automated sorting and stacking apparatus of claim 1, wherein, The sorting conveying structure, the stacking station and the discharging conveying mechanism are arranged on a rack. The discharging conveying mechanism is arranged between the sorting conveying structure and the stacking station.

4. The automated sorting and stacking apparatus of claim 1, wherein, ​ The stacking assembly comprises a stacking bin and a jacking mechanism, the jacking mechanism comprises a vertical push rod and a jacking seat arranged at the output end of the vertical push rod, the bottom of the stacking bin is provided with an avoiding hole matched with the jacking seat, the stacking station is located on the upper side of the jacking seat, the stacking bin is provided with a stacking cavity with an upper opening, and the vertical push rod is used to drive the jacking seat to make vertical movement in the stacking cavity through the avoiding hole, so that the stacking height of the workpiece on the jacking seat is matched with the releasing height of the workpiece of the discharging and carrying mechanism.

5. The automated sorting and stacking apparatus of claim 4, wherein, The top of the stacking bin is provided with a second detector for detecting the top layer workpiece of the jacking seat, and the second detector is used to detect the workpiece added to the jacking seat and feed back a signal to the control module to control the vertical push rod to descend by a height of one workpiece thickness, so that the top height of the workpiece carried by the jacking seat is matched with the releasing height of the workpiece of the discharging and carrying mechanism.

6. The automated sorting and stacking apparatus of claim 5, wherein, The stacking assembly further comprises a sliding seat and a translation driver for driving the relative sliding of the sliding seat, the sliding seat is slidably connected to the rack through a sliding rail device, and the stacking bin is provided with two and arranged side by side on the sliding seat.

7. The automated sorting and stacking apparatus of claim 4, wherein, The stacking bin comprises a stacking seat and a plurality of positioning columns arranged around the outer periphery of the stacking seat, and the stacking cavity is formed between the positioning columns and the stacking seat.

8. The automated sorting and stacking apparatus of claim 1, wherein, The feeding and carrying mechanism comprises: a rack; a belt transmission structure comprising a driving pulley and a driven pulley arranged vertically along the rack and a transmission belt, the transmission belt being arranged around the driving pulley and the driven pulley; a swing lever assembly comprising a first swing lever, a second swing lever and a workpiece transfer lever, one end of the first swing lever being connected to the driving pulley, one end of the second swing lever being connected to the driven pulley, the workpiece transfer lever being rotatably connected to the other end of the first swing lever and the other end of the second swing lever, respectively, the lower end of the workpiece transfer lever extending out of the lower side of the swing lever assembly to form a pickup portion, and the pickup portion being provided with a pickup device at the lower end; a rotary driver in transmission connection with the driving pulley, the rotary driver being used to drive the pickup device to move from one side of the rack to the other side by driving the driving pulley to rotate in forward and reverse directions. The feeding and carrying mechanism is similar in structure to the discharging and carrying mechanism.

9. The automated sorting and stacking apparatus of any one of claims 1 to 8, wherein, The feeding and carrying mechanism is similar in structure to the discharging and carrying mechanism.

10. The automated sorting and stacking apparatus of claim 9, wherein, The feeding and carrying mechanism is similar in structure to the discharging and carrying mechanism. The feeding mechanism, the visual recognition mechanism, the sorting and conveying structure, the feeding and carrying mechanism and the discharging and carrying mechanism are provided with at least two groups.

Images