Product stacking apparatus and product stacking device

Abstract

The application relates to the product stacking technical field and discloses a product stacking device and a product stacking equipment. The product stacking device comprises a positioning module and a synchronous lifting module; the positioning module comprises a first clamping positioning mechanism and a second clamping positioning mechanism, the first clamping positioning mechanism forms a positioning space, the second clamping positioning mechanism is arranged on the first clamping positioning mechanism, and a holding end of the second clamping positioning mechanism faces the positioning space along a second horizontal direction; the synchronous lifting module is arranged at a stacking station and located below the positioning module; when a stacking operation is performed, a supporting end of the synchronous lifting module extends into a stacking starting position in the positioning space from an open lower end and is synchronously lowered according to the stacking height of products; wherein the height of the positioning space is greater than or equal to the height of the products after the stacking is completed. The product stacking device disclosed by the application effectively avoids the risk of product damage caused by product dumping and guarantees product yield.

Description

Technical Field

[0001] This application belongs to the field of product stacking technology, and specifically relates to a product stacking device and product stacking equipment. Background Technology

[0002] Currently, for some glass products, in order to improve efficiency during polishing, a batch of glass is usually stacked before polishing the contours and edges. Because some glass products have structures such as bosses or grooves, when stacking two pieces of glass, a matching large polishing pad (placed on a large flat surface) and a small polishing pad (placed in a groove, with a thickness greater than the large polishing pad, to act as a leveling pad) are often needed between the two pieces of glass to achieve stable stacking of the products.

[0003] However, existing stacking methods typically involve manual or robotic stacking, with the product remaining relatively stationary throughout the process. This method only controls the positioning of the bottom layer of the product, and as the stack height increases, positioning errors accumulate. This accumulation of errors can lead to instability in the stack structure, potentially causing product tipping and damage, thus affecting product yield. Summary of the Invention

[0004] The purpose of this application is to provide a product stacking device and product stacking equipment to solve the problems of poor positioning accuracy, risk of product tipping and damage, and reduced product yield in existing stacking methods.

[0005] To achieve the above objectives, a first aspect of this application provides a product stacking device, comprising: A positioning module, arranged at a stacking station, includes a first pair of clamping positioning mechanisms and a second pair of clamping positioning mechanisms. The first pair of clamping positioning mechanisms forms a positioning space that can be opened and closed along a first horizontal direction. The positioning space has openings at both ends along the vertical direction. The second pair of clamping positioning mechanisms is disposed on the first pair of clamping positioning mechanisms, with the clamping end of the second pair of clamping positioning mechanisms facing the positioning space along a second horizontal direction. The first horizontal direction and the second horizontal direction intersect. A synchronous lifting module is arranged at the stacking station and located below the positioning module. When performing stacking operations, the support end of the synchronous lifting module extends from the lower opening into the stacking start position in the positioning space and descends synchronously according to the stacking height of the products. The height of the positioning space is greater than or equal to the height of the products after they are stacked.

[0006] As a further improvement to the above technical solution: In some embodiments, the first clamping positioning mechanism includes a first linear drive assembly and two positioning baffles arranged in alignment along the first horizontal direction, with the positioning space formed between the two positioning baffles; in: Each of the positioning baffles is configured with a first linear drive component. The positioning baffle is driven to the corresponding first linear drive component. When performing clamping positioning, the first linear drive component drives the corresponding positioning baffle to move along the first horizontal direction to adjust the spacing. Alternatively, the first linear drive component drives the two positioning baffles to move along the first horizontal direction to adjust the spacing during clamping positioning.

[0007] In some embodiments, the second clamp positioning mechanism includes: A second linear drive component is disposed on the first clamping positioning mechanism; and Two limiting plates are aligned along the second horizontal direction, and at least one of the limiting plates is driven to be connected to the second linear drive assembly. During clamping and positioning, the second linear drive component drives the corresponding limiting plate to move along the second horizontal direction to adjust the spacing.

[0008] In some embodiments, the synchronous lifting module includes: A lifting drive mechanism is arranged below the positioning module; and A stacking platform is disposed at the support end of the synchronous lifting module and is drivenly connected to the lifting drive mechanism. The upper surface of the stacking platform is provided with a stacking support surface for supporting products.

[0009] In some embodiments, the synchronous lifting module further includes: A fixed base is disposed on one side of the lifting drive mechanism; and A clamping mechanism is disposed on the fixed base and located above the stacking platform. The clamping mechanism has a stacking state and a material picking state. In the stacking state, the clamping mechanism and the positioning space are switched to a staggered arrangement; in the material handling state, the clamping mechanism and the stacking platform are switched to an aligned arrangement.

[0010] In some embodiments, the clamping mechanism includes: A rotary drive assembly is mounted on the fixed base; and A stacking block is disposed at the drive end of the rotary drive assembly, which drives the stacking block to switch between the stacking state and the material handling state by outputting rotational motion.

[0011] In some embodiments, the product stacking device further includes a feeding station and a feeding module disposed at the feeding station, the feeding module including a feeding gripper, the feeding gripper comprising: The side clamping mechanism includes a side clamping drive assembly and two side clamping plates arranged aligned along the first horizontal direction, wherein the two side clamping plates are drivenly connected to the side clamping drive assembly; and The upper and lower clamping mechanism includes a clamping drive assembly and an upper clamping plate and a lower clamping plate arranged vertically. The upper clamping plate and the lower clamping plate are arranged between the two side clamping plates and are respectively driven connected to the clamping drive assembly. The two side clamps, the upper clamp, and the lower clamp together form a clamping space for stacking products.

[0012] In some embodiments, the unloading station and the stacking station are arranged at intervals along the second horizontal direction, and the product stacking device further includes a linear transfer module that connects the stacking station and the unloading station; The synchronous lifting module is mounted on the linear transfer module. When unloading, the linear transfer module drives the synchronous lifting module to move to the unloading station.

[0013] Secondly, this application also provides a product stacking device, including a product feeding device, a film feeding device, a stacking and transfer device, and the product stacking device according to the first aspect above; The product stacking device is provided with a product loading station and a film loading station on both sides of the first horizontal direction. The product loading device is arranged at the product loading station; The membrane feeding device is arranged at the membrane feeding station; The stacking and transfer device is arranged across the membrane feeding station, the product feeding station and the stacking station along the first horizontal direction. The stacking and transfer device has at least one transfer gripper, which has degrees of freedom of movement along the first horizontal direction, the second horizontal direction and the vertical direction.

[0014] As a further improvement to the above technical solution: In some embodiments, the product feeding device includes: A water tank module has a receiving tank for a soaking rack on which several products to be stacked are loaded; A material rack positioning platform is arranged on one side of the water tank module; The rack-retrieving module is used to transfer the rack between the water tank module and the rack positioning platform during the loading of the rack. The product positioning platform is set on one side of the rack positioning platform along the first horizontal direction. When loading products, the transfer gripper of the stacking and transfer device takes out the products from the rack and transfers them to the product positioning platform.

[0015] Compared with the prior art, the product stacking device and product stacking equipment provided in this application have at least the following technical advantages: The product stacking device provided in this application, when performing stacking operations, has its support end of the synchronous lifting module extending into the stacking starting position in the positioning space through the lower opening. Each time a product is placed, the first clamping positioning mechanism clamps and positions the product in the first horizontal direction, and the second clamping positioning mechanism clamps and positions the product in the second horizontal direction. This ensures precise positioning of the product after each stack, reducing stacking errors. Furthermore, during the stacking process, the synchronous lifting module descends synchronously according to the stacking height of the products, thereby ensuring that the height of the product placed in the positioning space remains unchanged. The entire stacked product remains within the positioning space, effectively avoiding the risk of product tipping and damage, and ensuring product yield.

[0016] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 This is a three-dimensional structural diagram of a product stacking device provided in an embodiment of this application; Figure 2 A partial structural schematic diagram of a product stacking device in the product stacking equipment provided in this application from a certain perspective. Figure 3 A partial structural schematic diagram of the product stacking device provided in this application from another perspective; Figure 4 for Figure 3 A magnified view of a portion of point A in the middle; Figure 5 This is a schematic diagram of the state in which the unloading device in the product stacking device provided in this application clamps the stacked products on the synchronous lifting module; Figure 6 for Figure 3 A magnified view of a portion of point B in the middle; Figure 7 for Figure 5 A magnified view of a portion of point C in the middle; Figure 8 A schematic diagram of the combination of the product stacking device, the membrane feeding device and the stacking transfer device in the product stacking equipment provided in this application; Figure 9 A partial structural schematic diagram of the product feeding device in the product stacking equipment provided in this application; Figure 10 A partial structural diagram of the pick-up module and product positioning platform in the product loading device provided in this application.

[0018] Explanation of reference numerals in the attached figures 10. Stacking station; 20. Product loading station; 30. Film loading station; 40. Unloading station; 100. Product stacking device; 110. Positioning module; 111. First clamping positioning mechanism; 1110. First linear drive assembly; 1111. Positioning baffle; 1111a. First positioning baffle; 1111b. Second positioning baffle; 1112. Soft rubber pad; 1113. Clearance hole; 112. Second clamping positioning mechanism; 1120. Second linear drive assembly; 1121. Limiting plate; 1121a. Fixed limiting plate; 1121b. Movable limiting plate; 1122. Connecting plate; 120. Synchronous lifting module; 121. Lifting... 122. Lowering drive mechanism; 122. Stacking platform; 1220. First groove; 123. Fixed base; 124. Pressing mechanism; 1240. Rotary drive assembly; 1241. Stacking pressure block; 1241a. Second groove; 130. Linear transfer module; 140. Unloading module; 140a. Unloading gripper; 141. Side pressing mechanism; 1410. Side clamping plate; 142. Upper and lower pressing mechanism; 1420. Upper clamping plate; 1420a. Second protruding tooth; 1421. Lower clamping plate; 1421a. First protruding tooth; 143. Alignment sensing module; 200. Product feeding device; 210. Water tank module; 220. Material rack positioning platform; 230. Picking rack module; 240. Product positioning platform; 300. Membrane feeding device; 400. Stacking and transfer device; 410. Transfer gripper; 500. Upper and lower pressure plate feeding device; 510. Upper pressure plate; 520. Lower pressure plate; 600. Material rack; X, first horizontal direction; Y, second horizontal direction; Z, vertical direction. Detailed Implementation

[0019] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0020] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0021] Example 1 Please see Figure 1 , Figure 2 and Figure 3 This embodiment provides a product stacking device 100, which can be used for stacking and positioning sheet-like or block-like products.

[0022] In this embodiment, the product stacking assembly includes a stacking station 10, a positioning module 110, and a synchronous lifting module 120. The positioning module 110 is arranged at the stacking station 10 and includes a first clamping positioning mechanism 111 and a second clamping positioning mechanism 112. The first clamping positioning mechanism 111 forms a positioning space that can be opened and closed along a first horizontal direction X. Openings are provided at both ends of the positioning space along the vertical direction Z. The opening at the upper end of the positioning space is used for placing the product into the positioning space, and the opening at the lower end of the positioning space allows the synchronous lifting module 120 to enter. The second clamping positioning mechanism 112 is disposed on the first clamping positioning mechanism 111. The clamping end of the second clamping positioning mechanism 112 faces the positioning space along a second horizontal direction Y. The first horizontal direction X and the second horizontal direction Y intersect; in this embodiment, preferably, the first horizontal direction X and the second horizontal direction Y are perpendicular to each other.

[0023] The synchronous lifting module 120 is arranged at the stacking station 10 and located below the positioning module 110. During the stacking operation, the support end of the synchronous lifting module 120 extends into the positioning space through the opening at the lower end of the positioning space and stops at the starting position of the stacking. During stacking, the synchronous lifting module 120 will descend synchronously according to the stacking height of the products.

[0024] It is understood that during the stacking operation, the support end of the synchronous lifting module 120 extends into the stacking starting position in the positioning space through the lower opening, and each time a product is placed, the first clamping positioning mechanism 111 clamps and positions the product in the first horizontal direction X, and the second clamping positioning mechanism 112 clamps and positions the product in the second horizontal direction Y.

[0025] In this way, the products are precisely positioned after each stack, reducing stacking errors. During the stacking process, the synchronous lifting module 120 descends synchronously according to the stacking height of the products, thereby ensuring that the height of the products placed in the positioning space remains unchanged. The products after the entire stack are always kept within the positioning space, effectively avoiding the risk of product tipping and damage, and ensuring product yield.

[0026] Furthermore, to ensure the stability of the stacked products during the stacking process, the height of the positioning space is set to be greater than or equal to the height of the products after stacking.

[0027] To more clearly describe the technical solution of this application, the product stacking device 100 provided in this embodiment will be described in detail below: Please refer to the following: Figure 4 In this embodiment, the first clamp positioning mechanism 111 can be supported by a base. The first clamp positioning mechanism 111 includes a first linear drive assembly 1110 and two positioning baffles 1111 arranged in alignment along the first horizontal direction X, with the positioning space formed between the two positioning baffles 1111.

[0028] Each positioning baffle 1111 is equipped with a first linear drive component 1110. The positioning baffle 1111 is driven to connect with the corresponding first linear drive component 1110. When performing clamping positioning, the first linear drive component 1110 drives the corresponding positioning baffle 1111 to move along the first horizontal direction X to adjust the spacing.

[0029] In other words, the two positioning baffles 1111 have a clamping positioning state and a positioning release state. In the clamping positioning state, the two positioning baffles 1111 are driven to move closer together by the corresponding first linear drive component 1110 to form a first preset distance. In the positioning release state, the two positioning baffles 1111 are driven to move away from each other by the corresponding first linear drive component 1110 to form a second preset distance. The first preset distance is consistent with the width dimension of the products to be stacked, and the second preset distance is greater than the first preset distance.

[0030] Furthermore, considering that the long side of the product located in the first horizontal direction X is the reference side, the reference side of the product should be used as the positioning reference when clamping and positioning the product. Therefore, in this embodiment, the two positioning baffles 1111 are the first positioning baffle 1111a and the second positioning baffle 1111b, and the side of the first positioning baffle 1111a facing the second positioning baffle 1111b is defined as the reference positioning surface.

[0031] The first linear drive assembly 1110 drives the first positioning baffle 1111a to move by a fixed stroke, and the thrust of the first linear drive assembly 1110 corresponding to the first positioning baffle 1111a is greater than the thrust of the first linear drive assembly 1110 corresponding to the second positioning baffle 1111b, thereby improving the positioning accuracy of the product in the first horizontal direction X.

[0032] The second positioning baffle 1111b has a soft rubber pad 1112 on the side facing the first positioning baffle 1111a. This soft rubber pad 1112 effectively prevents damage to the product during clamping and ensures alignment of the product's reference surfaces. It should be noted that there will be a certain dimensional tolerance in the product width; rigid contact could easily damage products with large tolerances.

[0033] Optionally, the first linear drive assembly 1110 may be an electric cylinder, an electric actuator, a linear motor, a hydraulic cylinder, or a pneumatic cylinder, etc. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0034] In some embodiments, the first linear drive component 1110 drives two positioning baffles 1111 to move along the first horizontal direction X to adjust the spacing during clamping positioning.

[0035] Optionally, the first linear drive assembly 1110 includes a motor and a double-ended screw. The motor is driven by the double-ended screw, and each positioning baffle 1111 is provided with a threaded connection to the double-ended screw. In this way, the motor drives the double-ended screw to move the two positioning baffles 1111 synchronously closer or further apart, thereby switching between the clamping positioning state and the positioning release state.

[0036] Please see Figure 2 , Figure 3 and Figure 4 The aforementioned second clamping positioning mechanism 112 includes a second linear drive assembly 1120 and two limiting plates 1121 arranged in alignment along the second horizontal direction Y. The second linear drive assembly 1120 is disposed on the first clamping positioning mechanism 111; at least one limiting plate 1121 is drivenly connected to the second linear drive assembly 1120. During clamping positioning, the second linear drive assembly 1120 drives the corresponding limiting plate 1121 to move along the second horizontal direction Y to adjust the spacing.

[0037] Furthermore, the product has a reference edge on the short side of the second horizontal direction Y. For this purpose, two limiting plates 1121 are defined as a fixed limiting plate 1121a and a movable limiting plate 1121b. The fixed limiting plate 1121a is fixedly set on the positioning baffle 1111. The side of the fixed limiting plate 1121a facing the movable limiting plate 1121b is the reference positioning surface. The movable limiting plate 1121b is driven connected to the corresponding second linear drive assembly 1120.

[0038] Specifically, the fixed limiting plate 1121a is located at one end of the positioning baffle 1111 along the second horizontal direction Y, and the movable limiting plate 1121b is arranged at the other end of the positioning baffle 1111 along the second horizontal direction Y. Considering that the movable limiting plate 1121b needs to move along the second horizontal direction Y, and in order to improve the stability and uniformity of the force on the product when the movable limiting plate 1121b is clamped, the second linear drive assembly 1120 is arranged on the side of the positioning baffle 1111 facing away from the other positioning baffle 1111. The drive end of the second linear drive assembly 1120 is connected to the middle of the movable limiting plate 1121b through the connecting plate 1122. At the same time, the positioning baffle 1111 is provided with a corresponding clearance hole 1113, which extends along the second horizontal direction Y. Thus, the connecting plate 1122 is arranged through the clearance hole 1113, and the clearance hole 1113 avoids the movement of the connecting plate 1122 to prevent interference.

[0039] The movable limiting plate 1121b has a clamping positioning state and a positioning release state. In the clamping positioning state, the second linear drive component 1120 drives the movable limiting plate 1121b to move closer to the fixed limiting plate 1121 and form a third preset distance. In the positioning release state, the second linear drive component 1120 drives the movable limiting plate 1121b to move away from the fixed limiting plate 1121a and form a fourth preset distance. The third preset distance is consistent with the length dimension of the products to be stacked, and the fourth preset distance is greater than the third preset distance.

[0040] Optionally, the second linear drive assembly 1120 may be an electric cylinder, an electric actuator, a linear motor, a hydraulic cylinder, or a pneumatic cylinder, etc. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0041] Please see Figure 2 and Figure 3 The aforementioned synchronous lifting module 120 includes a lifting drive mechanism 121 and a stacking platform 122. The lifting drive mechanism 121 is arranged below the positioning module 110. The stacking platform 122 is disposed at the support end of the synchronous lifting module 120 and is drivenly connected to the lifting drive mechanism 121. The upper surface of the stacking platform 122 is provided with a stacking support surface for supporting products. The lifting drive mechanism 121 can drive the stacking platform 122 to move up and down in the vertical direction Z.

[0042] Optionally, the lifting drive mechanism 121 may be an electric cylinder, an electric push rod, a linear motor, a hydraulic cylinder, or a pneumatic cylinder, etc. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0043] In this embodiment, the synchronous lifting module 120 further includes a fixed base 123 and a pressing mechanism 124. The fixed base 123 is disposed on one side of the lifting drive mechanism 121. The pressing mechanism 124 is disposed on the fixed base 123 and located above the stacking platform 122. The pressing mechanism 124 has a stacking state and a material picking state. In the stacking state, the pressing mechanism 124 and the positioning space are switched to a staggered arrangement; in the material picking state, the pressing mechanism 124 and the stacking platform 122 are switched to an aligned arrangement.

[0044] Specifically, the clamping mechanism 124 includes a rotary drive assembly 1240 and a stacking block 1241. The rotary drive assembly 1240 is mounted on the fixed base 123; the stacking block 1241 is mounted on the drive end of the rotary drive assembly 1240, and the rotary drive assembly 1240 drives the stacking block 1241 to switch between stacking and material handling states by outputting rotary motion.

[0045] In this embodiment, the rotation axis of the rotary drive assembly 1240 is parallel to the first horizontal direction X. The rotary drive assembly 1240 can drive the stacking block 1241 to swing in the vertical plane to switch between the stacking state and the picking state. When the stacking block 1241 is in the stacking state, the stacking block 1241 is in a horizontal posture and remains parallel to the stacking platform 122. When the stacking block 1241 is in the picking state, the stacking block 1241 is in a vertical posture.

[0046] Please see Figure 1 , Figure 3 and Figure 5 In this embodiment, the product stacking device 100 further includes a unloading station 40 and an unloading module 140 disposed at the unloading station 40. The unloading module 140 includes an unloading gripper 140a, which can grasp the products stacked on the stacking platform 122. The unloading module 140 can be selected as an unloading robot, with the unloading gripper 140a located at the working end of the unloading robot, which has a 4-axis or 6-axis structure.

[0047] The unloading gripper 140a includes a side clamping mechanism 141 and an upper and lower clamping mechanism 142. The side clamping mechanism 141 includes a side clamping drive assembly and two side clamping plates 1410 arranged in alignment along a first horizontal direction X. The two side clamping plates 1410 are drivenly connected to the side clamping drive assembly. The upper and lower clamping mechanism 142 includes a clamping drive assembly and an upper clamping plate 1420 and a lower clamping plate 1421 arranged in alignment along a vertical direction Z. The upper clamping plate 1420 and the lower clamping plate 1421 are arranged between the two side clamping plates 1410 and are drivenly connected to the clamping drive assembly, respectively.

[0048] The two side clamps 1410, the upper clamp 1420, and the lower clamp 1421 together form a clamping space for stacked products. The side clamping drive assembly can drive the two side clamps 1410 to move closer or further apart along the first horizontal direction X; the clamping drive assembly can drive the upper clamp 1420 and the lower clamp 1421 to move closer or further apart. During material handling, the side clamping drive assembly and the clamping drive assembly can operate synchronously or in a preset sequence.

[0049] Optionally, both the side clamping drive assembly and the clamping drive assembly can use electric cylinders, electric push rods, hydraulic cylinders, pneumatic cylinders, or lead screw motors as power sources. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0050] Please see Figure 5 In some embodiments, at least one side clamping plate 1410 is provided with an alignment sensing module 143, which detects the distance between the two side clamping plates 1410 to determine whether the clamping is in place. Optionally, the alignment sensing module 143 may be a laser distance sensor, a limit switch, or a proximity switch, etc.

[0051] Please see Figure 2 and Figure 3 In some embodiments, to avoid interference between the various functional structures during the material unloading and stacking processes, the unloading station 40 and the stacking station 10 are arranged at intervals along the second horizontal direction Y. The specific interval distance can be determined based on the minimum spacing to avoid interference, and the distance dimensions are not specified in detail here.

[0052] The product stacking device 100 also includes a linear transfer module 130, which connects the stacking station 10 and the unloading station 40. A synchronous lifting module 120 is integrally mounted on the linear transfer module 130. During unloading, the linear transfer module 130 drives the synchronous lifting module 120 to move to the unloading station 40, allowing the unloading gripper 140a to grasp and unload the product. It should be noted that when the synchronous lifting module 120 moves from the stacking station 10 to the unloading station 40, the stacking platform 122 and the stacking pressure block 1241 within the synchronous lifting module 120 maintain a clamping relationship (vertical direction Z) on the stacked products. Only after the unloading gripper 140a has grasped the stacked product will the stacking platform 122 and the stacking pressure block 1241 in the synchronous lifting module 120 release the clamping relationship and return to the stacking station 10, preparing for the next stacking operation.

[0053] Optionally, the linear transfer module 130 can be an electric cylinder, an electric push rod, a linear motor, a hydraulic cylinder, a pneumatic cylinder, or a lead screw motor, etc. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0054] Please see Figure 3 , Figure 5 , Figure 6 and Figure 7 Furthermore, in order to enable the upper clamping plate 1420 and the lower clamping plate 1421 to smoothly clamp the stacked products along the vertical direction Z, while avoiding interference with the stacking platform 122 and the stacking pressure block 1241, this embodiment provides a plurality of first grooves 1220 on both sides of the stacking platform 122 located in the second horizontal direction Y, and provides a plurality of second grooves 1241a on both sides of the stacking pressure block 1241 located in the second horizontal direction Y. In the upper and lower clamping mechanism 142, the lower clamping plate 1421 corresponding to the stacking platform 122 has multiple first protruding teeth 1421a on its side facing the stacking platform 122, and the upper clamping plate 1420 corresponding to the stacking pressure block 1241 has multiple second protruding teeth 1420a on its side facing the stacking pressure block 1241. When the upper and lower clamping mechanism 142 clamps the stacked products in the vertical direction Z, when the lower clamping plate 1421 moves upward, the first groove 1220 can avoid the first protruding teeth 1421a, so that the lower clamping plate 1421 can smoothly abut the bottom of the stacked products. When the upper clamping plate 1421 moves downward, the second groove 1241a can avoid the second protruding teeth 1420a, so that the upper clamping plate 1421 can smoothly abut the bottom of the stacked products.

[0055] Example 2 Please see Figure 1 , Figure 2 and Figure 8 This embodiment provides a product stacking device that can be used for the automatic stacking of glass cover products.

[0056] It should be noted that for glass cover products, which have structures such as protrusions or grooves, when stacking two pieces of glass, a matching large grinding plate (placed on the large flat surface) and a small grinding plate (placed in the groove, with a thickness greater than the large grinding plate, to serve as a leveling pad) are often required between the two pieces of glass to achieve stable stacking of the products.

[0057] The product stacking equipment provided in this embodiment includes a product feeding device 200, a film feeding device 300, a stacking and transferring device 400, and the product stacking device 100 provided in Embodiment 1 above. The illustrations in this embodiment only show two sets of product stacking devices 100; it should be understood that multiple sets of product stacking devices 100 can be provided to improve work efficiency.

[0058] The product stacking device 100 is located on both sides of the first horizontal direction X, and is also provided with a product loading station 20 and a membrane loading station 30 respectively; the product loading device 200 is arranged at the product loading station 20 for product loading; the membrane loading device 300 is arranged at the membrane loading station 30 for membrane loading, specifically for loading large and small membranes.

[0059] Furthermore, to ensure stable product stacking, this embodiment also includes an upper and lower pressure plate loading device 500 located at the film loading station 30. The upper and lower pressure plate loading device 500 is used to transport the upper pressure plate 510 and the lower pressure plate 520. Before stacking the products, the lower pressure plate 520 is first transferred to the positioning space and placed on the stacking platform 122. Then, the products are stacked sequentially on the lower pressure plate 520. After the products are stacked, the upper pressure plate 510 is transferred to the positioning space and placed on top of the stacked products. Thus, when the stacking platform 122 and the stacking pressure block 1241 clamp in the vertical direction Z, they directly contact the corresponding lower pressure plate 520 and upper pressure plate 510. Since the lower pressure plate 520 and the upper pressure plate 510 are in surface contact with the products, the force is more uniform during clamping, thereby avoiding uneven force caused by direct contact with the products and damage to the products. Similarly, during the unloading process, the lower clamping plate 1421 and the upper clamping plate 1420 in the unloading gripper 140a are in contact with the corresponding lower pressure plate 520 and upper pressure plate 510, effectively protecting the product.

[0060] The stacking and transfer device 400 is arranged across the film loading station 30, the product loading station 20 and the stacking station 10 along the first horizontal direction X. The stacking and transfer device 400 has at least one transfer gripper 410, which has a degree of freedom of movement along the first horizontal direction X, the second horizontal direction Y and the vertical direction Z.

[0061] Please refer to the following: Figure 9 and Figure 10The product loading device 200 includes a water tank module 210, a rack positioning platform 220, a pick-up module 230, and a product positioning platform 240, all mounted on a frame. The water tank module 210 has a receiving tank for immersing the rack 600, which holds several products to be stacked. Since products may retain residual processing liquids such as grinding fluid or coolant after leaving the previous process, immersing them uniformly in the water tank module 210 removes these residual liquids, facilitating subsequent picking and stacking.

[0062] The rack positioning platform 220 is arranged on one side of the sink module 210 and can be used for positioning the rack 600 after it leaves the sink module 210. When loading the rack 600, the rack taking module 230 transfers the rack 600 between the sink module 210 and the rack positioning platform 220, for example, taking out a fully loaded rack 600 from the sink module 210, or transferring an empty rack 600 from the rack positioning platform 220 to the sink module 210. The product positioning platform 240 is arranged on one side of the rack positioning platform 220 along the first horizontal direction X. When loading products, the transfer gripper 410 of the stacking and transfer device 400 takes out the products from the rack 600 and transfers them to the product positioning platform 240.

[0063] Furthermore, to improve operational efficiency, the stacking and transfer device 400 provided in this embodiment adopts a multi-movement material handling structure. Specifically, in this embodiment, three transfer grippers 410 can be provided, respectively corresponding to the product loading station 20, the stacking station 10, and the membrane loading station 30. The transfer gripper 410 located at the product loading station 20 can grab the product on the material rack 600 and transfer it to the product positioning platform 240 for initial positioning; the transfer gripper 410 located at the stacking station 10 can grab the product that has completed initial positioning and transfer it to the positioning space at the stacking station 10 for stacking; the transfer gripper 410 located at the membrane loading station 30 can grab the lower pressure plate 520, the upper pressure plate 510, and the membrane and transfer them to the positioning space at the stacking station 10.

[0064] It should be noted that, in this application, unless otherwise stated, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" used to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to 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 application.

[0065] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0066] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0067] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0068] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A product stacking device, characterized in that, include: A positioning module (110) is arranged at a stacking station (10) and includes a first clamp positioning mechanism (111) and a second clamp positioning mechanism (112). The first clamp positioning mechanism (111) forms a positioning space that can be opened and closed along a first horizontal direction (X). The positioning space has openings at both ends along the vertical direction (Z). The second clamp positioning mechanism (112) is disposed on the first clamp positioning mechanism (111). The clamping end of the second clamp positioning mechanism (112) faces the positioning space along a second horizontal direction (Y). The first horizontal direction (X) and the second horizontal direction (Y) intersect. and The synchronous lifting module (120) is arranged at the stacking station (10) and located below the positioning module (110). When performing stacking operations, the support end of the synchronous lifting module (120) extends from the lower opening into the stacking start position in the positioning space and descends synchronously according to the stacking height of the products. The height of the positioning space is greater than or equal to the height of the products after they are stacked.

2. The product stacking device according to claim 1, characterized in that, The first clamping positioning mechanism (111) includes a first linear drive assembly (1110) and two positioning baffles (1111) arranged in alignment along the first horizontal direction (X), with the positioning space formed between the two positioning baffles (1111). in: Each of the positioning baffles (1111) is configured with a first linear drive assembly (1110). The positioning baffles (1111) are driven to be connected to the corresponding first linear drive assembly (1110). When performing clamping positioning, the first linear drive assembly (1110) drives the corresponding positioning baffles (1111) to move along the first horizontal direction (X) to adjust the spacing. Alternatively, the first linear drive assembly (1110) drives the two positioning baffles (1111) to move along the first horizontal direction (X) to adjust the spacing during clamping positioning.

3. The product stacking device according to claim 1, characterized in that, The second clamp positioning mechanism (112) includes: The second linear drive assembly (1120) is disposed on the first clamping positioning mechanism (111); and Two limiting plates (1121) are arranged in alignment along the second horizontal direction (Y), and at least one of the limiting plates (1121) is driven to be connected to the second linear drive assembly (1120); During clamp positioning, the second linear drive assembly (1120) drives the corresponding limiting plate (1121) to move along the second horizontal direction (Y) to adjust the spacing.

4. The product stacking device according to claim 1, characterized in that, The synchronous lifting module (120) includes: A lifting drive mechanism (121) is arranged below the positioning module (110); and A stacking platform (122) is disposed at the support end of the synchronous lifting module (120) and drivenly connected to the lifting drive mechanism (121). The upper surface of the stacking platform (122) is provided with a stacking support surface for supporting products.

5. The product stacking device according to claim 4, characterized in that, The synchronous lifting module (120) also includes: A fixed base (123) is disposed on one side of the lifting drive mechanism (121); and A clamping mechanism (124) is disposed on the fixed base (123) and located above the stacking platform (122). The clamping mechanism (124) has a stacking state and a material picking state. In the stacked state, the clamping mechanism (124) and the positioning space are switched to a staggered arrangement, and in the material taking state, the clamping mechanism (124) and the stacking platform (122) are switched to an aligned arrangement.

6. The product stacking device according to claim 5, characterized in that, The clamping mechanism (124) includes: A rotary drive assembly (1240) is disposed on the fixed base (123); and A stacking block (1241) is disposed at the drive end of the rotary drive assembly (1240). The rotary drive assembly (1240) drives the stacking block (1241) to switch between the stacking state and the material taking state by outputting rotary motion.

7. The product stacking device according to claim 1, characterized in that, The product stacking device (100) further includes a material unloading station (40) and a material unloading module (140) disposed at the material unloading station (40). The material unloading module (140) includes a material unloading gripper (140a), which includes: The side clamping mechanism (141) includes a side clamping drive assembly and two side clamping plates (1410) arranged aligned along the first horizontal direction (X), the two side clamping plates (1410) being drivenly connected to the side clamping drive assembly; and The upper and lower clamping mechanism (142) includes a clamping drive assembly and an upper clamping plate (1420) and a lower clamping plate (1421) arranged in a vertical direction (Z). The upper clamping plate (1420) and the lower clamping plate (1421) are arranged between the two side clamping plates (1410) and are respectively driven connected to the clamping drive assembly. The two side clamps (1410), the upper clamp (1420), and the lower clamp (1421) together form a clamping space for stacking products.

8. The product stacking device according to claim 7, characterized in that, The unloading station (40) and the stacking station (10) are arranged at intervals along the second horizontal direction (Y). The product stacking device (100) also includes a linear transfer module (130), which connects the stacking station (10) and the unloading station (40). The synchronous lifting module (120) is mounted on the linear transfer module (130). When unloading, the linear transfer module (130) drives the synchronous lifting module (120) to move to the unloading station (40).

9. A product stacking device, characterized in that, It includes a product feeding device (200), a membrane feeding device (300), a stacking and transfer device (400), and a product stacking device (100) according to any one of claims 1-8. The product stacking device (100) is provided with a product loading station (20) and a film loading station (30) on both sides of the first horizontal direction (X). The product loading device (200) is arranged at the product loading station (20); The membrane feeding device (300) is arranged at the membrane feeding station (30). The stacking transfer device (400) is arranged across the film loading station (30), the product loading station (20) and the stacking station (10) along the first horizontal direction (X). The stacking transfer device (400) has at least one transfer gripper (410) with degrees of freedom of movement along the first horizontal direction (X), the second horizontal direction (Y) and the vertical direction (Z).

10. The product stacking equipment according to claim 9, characterized in that, The product feeding device (200) includes: The water tank module (210) has a receiving tank for a soaking rack (600) on which a plurality of products to be stacked are loaded; A material rack positioning platform (220) is arranged on one side of the water tank module (210); The rack-removing module (230) transfers the rack (600) between the water tank module (210) and the rack positioning platform (220) when loading the rack (600). The product positioning platform (240) is set on one side of the rack positioning platform (220) along the first horizontal direction (X). When loading products, the transfer gripper (410) of the stacking transfer device (400) takes out the products in the rack (600) and transfers them to the product positioning platform (240).

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