A sorting and stacking device for a fully automatic washing machine

Abstract

The utility model provides a sorting and stacking device of full -automatic cleaning machine, include: carrying clamping manipulator module, work piece detection module, sorting clamping module, discharge conveying module, tray manipulator module and stacking manipulator module, the carrying clamping manipulator module includes movement subassembly and first clamping mechanism, and the first clamping mechanism includes first clamping drive assembly, up-down turnover subassembly, first clamping part and second clamping part. Relative to prior art, the sorting and stacking device of full -automatic cleaning machine of the utility model can automatically overturn work piece, so that the recess on work piece can be downward to pour out accumulated water, then detect, tray operation again, after the tray of material frame is completed, can stack the material frame, in addition, when tray, through the work piece side, make the recess of work piece to the side of work piece, like this is favorable to carry out the subsequent drying procedure, avoid the recess downward and lead to the situation of difficult drying to happen.

Description

Technical Field

[0001] This utility model relates to the field of cleaning technology, specifically to a sorting and stacking device for a fully automatic cleaning machine. Background Technology

[0002] Some workpieces need to be cleaned after processing, then sorted, and finally placed in the material basket.

[0003] However, because some workpieces have grooved structures, after cleaning, the workpieces are scattered, and some workpieces are in the position with the grooves facing down while others are in the position with the grooves facing up. Water will accumulate in the grooves. If the workpieces are directly put into trays, a lot of water will remain inside the workpieces, which is not conducive to subsequent drying, leading to increased drying time and affecting production efficiency. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings and deficiencies in the existing technology and provide a sorting and stacking device for a fully automatic cleaning machine.

[0005] One embodiment of this utility model provides a sorting and stacking device for a fully automatic cleaning machine, comprising: Handling and gripping robot modules, workpiece inspection modules, sorting and gripping modules, material conveying modules, tray-stacking robot modules, and stacking robot modules; The handling and gripping robot module is set between the discharge port of the fully automatic cleaning machine and the workpiece detection module, and is used to grip the workpiece from the discharge port of the fully automatic cleaning machine to the workpiece detection module. The sorting and gripping module is disposed between the workpiece detection module and the discharge conveying module, and is used to grip the workpiece from the workpiece detection module to the discharge conveying module. One side of the material discharge conveying module is pre-set with a tray-loading station; The tray-loading robot module is located between the material discharge conveying module and the tray-loading station, and is used to pick up the workpiece from the material discharge conveying module and place it into the material frame in the tray-loading station. The stacking robot module is located on one side of the tray-setting station and is used to clamp the material frame to the tray-setting station and to clamp the material frame away from the tray-setting station. The transport and gripping robot module includes a moving component and a first gripping mechanism. The moving component is driven to the first gripping mechanism and is used to drive the first gripping mechanism to move back and forth between the discharge port of the fully automatic cleaning machine and the workpiece detection module. The first gripping mechanism includes a first gripping drive component, a vertical flipping component, a first gripping part and a second gripping part. The first gripping drive component is driven to the first gripping part and / or the second gripping part, and the first gripping part and the second gripping part can clamp and cooperate under the drive of the first gripping drive component. The vertical flipping component is driven to the first gripping part and / or the second gripping part, and the first gripping part and / or the second gripping part can rotate under the drive of the vertical flipping component.

[0006] In some optional embodiments, the first clamping mechanism further includes a first clamping arm and a second clamping arm, the first clamping part being rotatably disposed on the first clamping arm, the second clamping part being rotatably disposed on the second clamping arm, the first clamping drive assembly being disposed on the first clamping arm and being drivenly connected to the second clamping arm, and the second clamping arm being driven by the first clamping drive assembly to move closer to and further away from the first clamping arm.

[0007] In some alternative embodiments, the up-and-down flipping component is disposed on the first clamping arm and is drivenly connected to the first clamping part.

[0008] In some optional embodiments, the up-and-down flipping assembly includes a timing belt, two timing pulleys, and a rotary cylinder. The timing belt is connected to the two timing pulleys respectively. The timing pulleys are rotatably mounted on the first clamping arm. One of the timing pulleys is driven to the output shaft of the rotary cylinder, and the other timing pulley is driven to the first clamping part.

[0009] In some optional embodiments, the workpiece inspection module includes several positioning seats, an angle adjustment component, multiple positioning fixtures, a positioning drive component, and a scanning component. The positioning seats are disposed between the discharge port of the fully automatic cleaning machine and the discharge conveying module. The angle adjustment component is drivenly connected to the positioning seats to drive the positioning seats to rotate. The positioning fixtures are arranged around the positioning seats. The positioning fixtures move closer to each other and further away from each other under the drive of the positioning drive component. The scanning component is disposed on one side of the positioning seats.

[0010] In some optional embodiments, the swivel robot module includes a multi-axis translation drive assembly, a mounting frame, a spacing adjustment assembly, and two second gripping mechanisms. The multi-axis translation drive assembly is driven to the mounting frame, and the mounting frame moves back and forth between the discharge conveying module and the swivel station under the drive of the multi-axis translation drive assembly. The second gripping mechanisms are disposed on the mounting frame, and the spacing adjustment assembly is driven to one of the second gripping mechanisms. The one second gripping mechanism moves closer to and further away from the other second gripping mechanism under the drive of the spacing adjustment assembly.

[0011] In some optional embodiments, the swivel robot module includes a multi-axis translation drive assembly, a mounting frame, and a second gripping mechanism. The multi-axis translation drive assembly is driven to the mounting frame, and the mounting frame moves back and forth between the discharge conveying module and the swivel station under the drive of the multi-axis translation drive assembly. The second gripping mechanism includes a second clamping drive assembly, a first clamping plate, and a second clamping plate. The second clamping drive assembly is disposed on the mounting frame and driven to the first clamping plate and / or the second clamping plate. The first clamping plate and the second clamping plate clamp and cooperate under the drive of the second clamping drive assembly.

[0012] In some optional embodiments, the second clamping mechanism further includes a base plate and a side-flipping drive assembly. The base plate is disposed on the mounting bracket, and the side-flipping drive assembly is driven to the second clamping drive assembly. By driving the second clamping drive assembly to rotate, the first clamping plate and the second clamping plate can be rotated to a clamping position and a side-placement position.

[0013] In some optional embodiments, both the first clamping plate and the second clamping plate include an extension and a clamping portion. The extension is disposed on one side of the clamping portion. The extensions of the first clamping plate and the second clamping plate are arranged side by side, and the clamping portions of the first clamping plate and the second clamping plate are also arranged side by side. The second clamping drive assembly is drivenly connected to the extension of the first clamping plate and / or the extension of the second clamping plate. When the first clamping plate and the second clamping plate are in the clamping position, the extension extends in the horizontal direction, and the clamping portion is located at the bottom of the extension. When the first clamping plate and the second clamping plate are in the side-mounted position, the extension extends in the vertical direction, and the clamping portion is located on one side of the extension.

[0014] In some alternative implementations, the placement station is provided with a buffer conveying module for conveying material frames.

[0015] Compared to existing technologies, the sorting and stacking device of the fully automatic cleaning machine of this utility model can automatically flip the workpieces so that the grooves on the workpieces face downwards to drain accumulated water. Then, the workpieces are inspected and placed on trays. After the trays are placed, the trays can be stacked. In addition, during tray placement, the workpieces are flipped to the side so that the grooves face the side of the workpieces. This facilitates the subsequent drying process and avoids the situation where the grooves face downwards, making it difficult to dry.

[0016] To provide a clearer understanding of this invention, the specific embodiments of this invention will be described below in conjunction with the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the sorting and stacking device of a fully automatic cleaning machine according to an embodiment of the present invention. Figure 2 This is a schematic diagram of one side of the sorting and stacking device of a fully automatic cleaning machine according to an embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of a handling and gripping robot module and a workpiece inspection module according to an embodiment of the present invention; Figure 4 This is a schematic diagram of one side of the handling and gripping robot module and the workpiece detection module according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the first clamping mechanism according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a workpiece inspection module according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a tray-stacking robot module according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the second clamping mechanism according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the sorting and stacking device of a fully automatic cleaning machine according to an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 10. Handling and gripping robot module; 11. Moving component; 12. First gripping mechanism; 121. First gripping drive component; 122. Up-down flipping component; 1221. Synchronous pulley; 1222. Rotary cylinder; 123. First gripping part; 124. Second gripping part; 125. First gripping arm; 126. Second gripping arm; 20. Workpiece inspection module; 21. Positioning seat; 22. Angle adjustment component; 23. Positioning fixture; 24. Positioning drive component; 25. Scanning component; 30. 40. Sorting and gripping module; 50. Discharge conveying module; 51. Palletizing robot module; 52. Multi-axis translation drive assembly; 53. Mounting frame; 54. Spacing adjustment assembly; 55. Second gripping mechanism; 56. Second clamping drive assembly; 57. First clamping plate; 58. Extension; 59. Clamping part; 50. Second clamping plate; 51. Base plate; 52. Side-flipping drive assembly; 63. Stacking robot module; 74. Buffer conveying module; 85. Workpiece; 86. Groove. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model. In the description of the present utility model, unless otherwise stated, "a plurality of" means two or more, and "a number" means one or more. In addition, unless otherwise stated, 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 indicated technical features.

[0020] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they should not be construed as limitations on this utility model.

[0021] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing" 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 or an electrical connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] In the description of this utility model, references to terms such as "one embodiment," "some alternative implementations," or "some optional embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this utility model. 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.

[0023] Please see Figures 1 to 5 This invention provides a sorting and stacking device for a fully automatic cleaning machine, comprising: The robot module includes a handling and gripping module 10, a workpiece inspection module 20, a sorting and gripping module 30, a material discharge and conveying module 40, a tray-stacking robot module 50, and a stacking robot module 60. The handling and gripping robot module 10 is set between the discharge port of the fully automatic cleaning machine and the workpiece detection module 20, and is used to grip the workpiece 80 from the discharge port of the fully automatic cleaning machine to the workpiece detection module 20. The sorting and gripping module 30 is located between the workpiece detection module 20 and the discharge conveying module 40, and is used to grip the workpiece 80 from the workpiece detection module 20 to the discharge conveying module 40. A tray-stacking station is pre-set on one side of the discharge conveying module 40; The tray-loading robot module 50 is set between the discharge conveying module 40 and the tray-loading station, and is used to pick up the workpiece 80 from the discharge conveying module 40 and place it into the material frame in the tray-loading station. The stacking robot module 60 is set on one side of the tray-loading station and is used to pick up the material frame to the tray-loading station and pick up the material frame from the tray-loading station. The handling and gripping robot module 10 includes a moving component 11 and a first gripping mechanism 12. The moving component 11 is driven to the first gripping mechanism 12 and is used to drive the first gripping mechanism 12 to move back and forth between the discharge port of the fully automatic cleaning machine and the workpiece detection module 20. The first gripping mechanism 12 includes a first gripping drive component 121, a vertical flipping component 122, a first gripping part 123 and a second gripping part 124. The first gripping drive component 121 is driven to the first gripping part 123 and / or the second gripping part 124. The first gripping part 123 and the second gripping part 124 can cooperate to grip the workpiece 80 under the drive of the first gripping drive component 121. The vertical flipping component 122 is driven to the first gripping part 123 and / or the second gripping part 124. The first gripping part 123 and / or the second gripping part 124 can rotate under the drive of the vertical flipping component 122.

[0024] It should be noted that the first clamping drive assembly 121 can drive only the first clamping part 123 to move closer to and away from the second clamping part 124, thereby achieving clamping cooperation between the first clamping part 123 and the second clamping part 124; it can also drive only the second clamping part 124 to move closer to and away from the first clamping part 123, thereby achieving clamping cooperation between the first clamping part 123 and the second clamping part 124; or it can drive the first clamping part 123 and the second clamping part 124 to move closer to and away from each other simultaneously, thereby achieving clamping cooperation.

[0025] It should be noted that after the first clamping part 123 and the second clamping part 124 clamp the workpiece 80, the up-and-down flipping assembly 122 can drive either the first clamping part 123 or the second clamping part 124 to rotate, thereby causing the workpiece 80 to rotate. Alternatively, it can drive both the first clamping part 123 and the second clamping part 124 to rotate simultaneously, thereby causing the workpiece 80 to rotate. In this embodiment, the example of the up-and-down flipping assembly 122 driving the first clamping part 123 to rotate is used for explanation. The friction between the first clamping part 123 and the workpiece 80 causes the workpiece 80 to rotate, while the friction between the second clamping part 124 and the workpiece 80 will cause the second clamping part 124 to rotate along with the workpiece 80.

[0026] The working principle of the sorting and stacking device of a fully automatic cleaning machine according to an embodiment of the present invention is described below: After the fully automatic cleaning machine cleans the workpiece 80, the workpiece 80 is conveyed away from the discharge port of the fully automatic cleaning machine by the conveying device. The handling and gripping robot module 10 clamps the workpiece 80 and moves it to the workpiece detection module 20 for detection. After the detection is completed, the sorting and gripping module 30 removes the workpiece 80 from the workpiece detection module and moves it to the discharge conveying module 40. The workpiece 80 is then conveyed by the discharge conveying module 40 to the tray. On one side of the workstation, the tray-stacking robot module 50 removes the workpiece 80 from the discharge conveyor module 40 and places the workpiece 80 into the material frame in the tray-stacking workstation. After the material frame is full of workpieces 80, the stacking robot module 60 removes the full material frame from the tray-stacking workstation and then places the empty material frame at the tray-stacking workstation. After the next material frame is full, the stacking robot module 60 removes the next full material frame and stacks it on the previous full material frame. This cycle is repeated to stack multiple material frames.

[0027] When the handling and gripping robot module 10 grips the workpiece 80, the up-and-down flipping component 122 of the first gripping mechanism 12 can drive the first gripping part 123 to rotate, so that the workpiece 80 between the first gripping part 123 and the second gripping part 124 rotates, thereby causing the groove 81 of the workpiece 80 to face downward, and the water accumulated in the groove 81 will flow out, thus completing the water pouring operation. This helps to reduce the moisture on the workpiece 80, speeds up the subsequent drying process, shortens the production time, and improves production efficiency.

[0028] The specific structure of the moving component 11 can be designed according to actual needs. For example, the moving component 11 can be a multi-axis translation component, which can drive the first clamping mechanism 12 to translate in multiple directions. The structure of the multi-axis translation component is a technology known to those skilled in the art and will not be described in detail here. Alternatively, the moving component 11 can also be a robot hand composed of multiple robotic arms, with the multiple robotic arms rotating and cooperating in sequence, and the first clamping mechanism 12 set on the last robotic arm. This example is not limited to this one. The principle and structure of the robot hand are also a technology known to those skilled in the art and will not be described in detail here.

[0029] In some optional embodiments, the first clamping mechanism 12 further includes a first clamping arm 125 and a second clamping arm 126. The first clamping part 123 is rotatably disposed on the first clamping arm 125, and the second clamping part 124 is rotatably disposed on the second clamping arm 126. The first clamping drive assembly 121 is disposed on the first clamping arm 125 and is drivenly connected to the second clamping arm 126. Under the drive of the first clamping drive assembly 121, the second clamping arms 126 move closer to each other and further away from the first clamping arm 125, thereby driving the second clamping part 124 to move closer to and further away from the first clamping part 123, so that the first clamping part 123 and the second clamping part 124 can cooperate to clamp the workpiece 80.

[0030] The specific structure of the first clamping drive assembly 121 can be designed according to actual needs. For example, the first clamping drive assembly 121 can be a lead screw drive assembly, a rotary motor translation drive assembly, a belt translation drive assembly, a cylinder translation drive assembly, or a linear motor translation drive assembly.

[0031] In some alternative embodiments, the up-and-down flipping assembly 122 is disposed on the first clamping arm 125 and is drivenly connected to the first clamping part 123. The up-and-down flipping assembly 122 drives the first clamping part 123 to rotate, thereby driving the workpiece 80 to rotate.

[0032] The structure of the tilting assembly 122 can be customized according to actual needs. For example, in some optional embodiments, the tilting assembly 122 includes a timing belt, two timing pulleys 1221, and a rotary cylinder 1222. The timing belt is connected to the two timing pulleys 1221 respectively. The timing pulleys 1221 are rotatably mounted on the first clamping arm 125. One timing pulley 1221 is driven to rotate the output shaft of the rotary cylinder 1222, and the other timing pulley 1221 is driven to rotate the first clamping part 123. The rotary cylinder 1222 drives one of the timing pulleys 1221 to rotate, thereby moving the timing belt. The timing belt then drives the other timing pulley 1221 to rotate, thus rotating the first clamping part 123. Alternatively, the tilting assembly 122 can also be a motor, with the motor's output shaft driven to the first clamping part 123.

[0033] Please see Figure 6 The specific structure of the workpiece inspection module can be designed according to actual needs and selected based on the specific features to be detected. For example, in this embodiment, the workpiece inspection module identifies and detects the workpiece by scanning a QR code on at least one side of the workpiece 80. The workpiece inspection module includes several positioning seats 21, angle adjustment components 22, multiple positioning fixtures 23, positioning drive components 24, and scanning components 25. The positioning seats 21 are located between the discharge port of the fully automatic cleaning machine and the discharge conveying module 40. The angle adjustment components 22 are drivenly connected to the positioning seats 21 for driving... The positioning base 21 rotates, and the positioning fixtures 23 are arranged around the positioning base 21. Driven by the positioning drive assembly 24, the positioning fixtures 23 move closer to and further away from each other, allowing them to cooperate in clamping the workpiece 80 located on the positioning base 21. The scanning assembly 25 is positioned on one side of the positioning base 21 and is used to scan the QR code on the side of the workpiece 80. The positioning base 21 can rotate under the drive of the angle adjustment assembly 22, thereby adjusting the angle of the workpiece 80 relative to the scanning assembly 25. After the workpiece 80 is at a suitable angle, the scanning assembly 25 scans the QR code on the workpiece 80. The scanning assembly 25 can adopt a camera or other suitable structure, and is not limited to this example.

[0034] The specific structure of the positioning drive assembly 24 can be designed according to actual needs. For example, the positioning drive assembly 24 can be a lead screw drive assembly, a rotary motor translation drive assembly, a belt translation drive assembly, a cylinder translation drive assembly, or a linear motor translation drive assembly.

[0035] Please see Figure 7 In some optional embodiments, the slab manipulator module 50 includes a multi-axis translation drive assembly 51, a mounting frame 52, a spacing adjustment assembly 53, and two second gripping mechanisms 54. The multi-axis translation drive assembly 51 is driven to the mounting frame 52, which moves back and forth between the discharge conveying module 40 and the slab station under the drive of the multi-axis translation drive assembly 51. The second gripping mechanisms 54 are mounted on the mounting frame 52. The spacing adjustment assembly 53 is driven to one of the second gripping mechanisms. The second gripping mechanism moves closer to and further away from the other second gripping mechanism under the drive of the spacing adjustment assembly 53. The purpose of the spacing adjustment assembly 53 is to adjust the spacing between the two second gripping mechanisms 54, thereby adjusting the spacing between adjacent workpieces 80 placed on the material frame by the two second gripping mechanisms 54.

[0036] The specific structure of the spacing adjustment component 53 can be designed according to actual needs. For example, the spacing adjustment component 53 can be a lead screw drive component, a rotary motor translation drive component, a belt translation drive component, a cylinder translation drive component, or a linear motor translation drive component.

[0037] Please see Figure 8 and Figure 9 In some optional embodiments, the second clamping mechanism 54 includes a second clamping drive assembly 541, a first clamping plate 542, and a second clamping plate 543. The second clamping drive assembly 541 is disposed on the mounting bracket 52 and is drivenly connected to the first clamping plate 542 and / or the second clamping plate 543. The first clamping plate 542 and the second clamping plate 543 cooperate to clamp the workpiece 80 under the drive of the second clamping drive assembly 541. The spacing adjustment assembly 53 is connected to one of the second clamping drive assemblies 541.

[0038] The multi-axis translation drive assembly 51 can drive the mounting frame 52 to move in multiple directions. Its structure is well known to those skilled in the art and will not be described in detail here. In this embodiment, the multi-axis translation drive assembly 51 adopts a two-axis translation drive assembly, which can drive the mounting frame 52 to move in two directions.

[0039] The specific structure of the second clamping drive assembly 541 can be designed according to actual needs. For example, the second clamping drive assembly 541 can be a lead screw drive assembly, a rotary motor translation drive assembly, a belt translation drive assembly, a cylinder translation drive assembly, or a linear motor translation drive assembly.

[0040] In some optional embodiments, the second clamping mechanism 54 further includes a base plate 544 and a side-flipping drive assembly 545. The base plate 544 is disposed on the mounting bracket 52. The side-flipping drive assembly 545 is driven to be connected to the second clamping drive assembly 541. By driving the second clamping drive assembly 541 to rotate, the first clamping plate 542 and the second clamping plate 543 are rotated. The first clamping plate 542 and the second clamping plate 543 can be rotated to the clamping position and the side-placement position. After the handling and gripping robot module 10 completes the water-pouring operation on the workpiece 80, it rotates the workpiece 80 to an orientation where the groove 81 of the workpiece 80 faces upwards. Then, it moves the workpiece 80 onto the positioning seat 21. The sorting and gripping module 30 does not change the orientation of the groove 81 of the workpiece 80. When the second gripping mechanism 54 grips the workpiece 80, the first clamping plate 542 and the second clamping plate 543 are in the gripping position. The first clamping plate 542 extends into the groove 81 of the workpiece 80, pressing against the inner wall of the groove 81, while the second clamping plate 543... Outside the groove 81 of workpiece 80, the mounting bracket 52 is pressed against the outside of workpiece 80. After the multi-axis translation drive assembly 51 moves the mounting bracket 52 to the material frame, the side-tilting drive assembly 545 drives the first clamping plate 542 and the second clamping plate 543 to swing upwards by 90° to the side-placed position. At this time, the groove 81 of workpiece 80 faces one side of workpiece 80. Then, the first clamping plate 542 and the second clamping plate 543 release workpiece 80, and the multi-axis translation drive assembly 51 drives the mounting bracket 52 to move, thereby causing the first clamping plate 542 to disengage from the groove 81 of workpiece 80. Since the groove 81 of workpiece 80 faces one side of workpiece 80, it is convenient for moisture to continue to flow out of workpiece 80, and it is also convenient for subsequent drying.

[0041] In some optional embodiments, both the first clamping plate 542 and the second clamping plate 543 include an extension 5421 and a clamping portion 5422. The extension 5421 is disposed on one side of the clamping portion 5422. The extensions 5421 of the first clamping plate 542 and the extensions 5421 of the second clamping plate 543 are arranged side by side, and the clamping portions 5422 of the first clamping plate 542 and the clamping portions 5422 of the second clamping plate 543 are also arranged side by side. The second clamping drive assembly 541 is drivenly connected to the extensions 5421 of the first clamping plate 542 and / or the extensions 5421 of the second clamping plate 543. When the first clamping plate 542 and the second clamping plate 543 are in the clamping position, the extensions 5421 extend in the horizontal direction to clamp. Part 5422 is located at the bottom of extension 5421. When the first clamping plate 542 and the second clamping plate 543 are in the side-mounted position, extension 5421 extends vertically, and clamping part 5422 is located on one side of extension 5421. When the multi-axis translation drive assembly 51 drives the mounting bracket 52 to move, thereby causing the clamping part 5422 of the first clamping plate 542 to disengage from the groove 81, extension 5421 of the first clamping plate 542 will also move. Due to the design of extension 5421 of the first clamping plate 542 and extension 5421 of the second clamping plate 543, the substrate 544, side-flipping drive assembly 545 and other structures are at a distance from the workpiece 80, making it less likely to knock over the workpiece 80.

[0042] The specific structure of the rollover drive assembly 545 can be designed according to actual needs. The rollover drive assembly 545 can be a rotary drive cylinder or a rotary drive motor, etc., and is not limited to this example.

[0043] In some optional embodiments, a buffer conveyor module 70 for conveying material frames is provided at the placement station. The buffer conveyor module 70 can hold at least two material frames. When one material frame is full, the stacking robot module 60 removes the material frame, and the next empty material frame can be moved to a suitable position under the drive of the buffer conveyor module 70. This ensures that the stacking robot module 60 does not interrupt the placement process of the workpiece 80 by the tray robot module 50 during the stacking and placement of material frames, which helps to speed up the production cycle.

[0044] The specific structures of the stacking robot module 60 and the sorting and gripping module 30 can be designed according to actual needs. For example, the stacking robot module 60 includes a three-axis translation drive assembly and a material frame clamping mechanism. The three-axis translation drive assembly drives the material frame clamping mechanism to translate in three different directions, and the material frame clamping mechanism clamps the material frame through a magnetic suction structure, a vacuum adsorption structure, or a clamping plate structure. The sorting and gripping module 30 includes a three-axis translation drive assembly and a workpiece clamping mechanism. The three-axis translation drive assembly drives the workpiece clamping mechanism to translate in three different directions, and the workpiece clamping mechanism clamps the workpiece 80 through vacuum adsorption or a clamping plate structure, etc. The workpiece clamping mechanism can also adopt the same structure as the first clamping mechanism 12 or the second clamping mechanism.

[0045] The specific structure of the discharge conveying module 40 and the buffer conveying module 70 can be designed according to actual needs, such as a mesh belt conveying module, a roller conveying module, a chain plate conveying module, or a belt conveying module.

[0046] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A sorting and stacking device for a fully automatic cleaning machine, characterized in that, include: Handling and gripping robot modules, workpiece inspection modules, sorting and gripping modules, material conveying modules, tray-stacking robot modules, and stacking robot modules; The handling and gripping robot module is set between the discharge port of the fully automatic cleaning machine and the workpiece detection module, and is used to grip the workpiece from the discharge port of the fully automatic cleaning machine to the workpiece detection module. The sorting and gripping module is disposed between the workpiece detection module and the discharge conveying module, and is used to grip the workpiece from the workpiece detection module to the discharge conveying module. One side of the material discharge conveying module is pre-set with a tray-loading station; The tray-loading robot module is located between the material discharge conveying module and the tray-loading station, and is used to pick up the workpiece from the material discharge conveying module and place it into the material frame in the tray-loading station. The stacking robot module is located on one side of the tray-setting station and is used to clamp the material frame to the tray-setting station and to clamp the material frame away from the tray-setting station. The transport and gripping robot module includes a moving component and a first gripping mechanism. The moving component is driven to the first gripping mechanism and is used to drive the first gripping mechanism to move back and forth between the discharge port of the fully automatic cleaning machine and the workpiece detection module. The first gripping mechanism includes a first gripping drive component, a vertical flipping component, a first gripping part and a second gripping part. The first gripping drive component is driven to the first gripping part and / or the second gripping part, and the first gripping part and the second gripping part can clamp and cooperate under the drive of the first gripping drive component. The vertical flipping component is driven to the first gripping part and / or the second gripping part, and the first gripping part and / or the second gripping part can rotate under the drive of the vertical flipping component.

2. The sorting and stacking device for a fully automatic cleaning machine according to claim 1, characterized in that: The first clamping mechanism further includes a first clamping arm and a second clamping arm. The first clamping part is rotatably disposed on the first clamping arm, and the second clamping part is rotatably disposed on the second clamping arm. The first clamping drive assembly is disposed on the first clamping arm and is drivenly connected to the second clamping arm. The second clamping arm moves closer to and further away from the first clamping arm under the drive of the first clamping drive assembly.

3. The sorting and stacking device for a fully automatic cleaning machine according to claim 2, characterized in that: The up-and-down flipping component is disposed on the first clamping arm and is drivenly connected to the first clamping part.

4. The sorting and stacking device for a fully automatic cleaning machine according to claim 3, characterized in that: The up-and-down flipping assembly includes a timing belt, two timing pulleys, and a rotary cylinder. The timing belt is connected to the two timing pulleys respectively. The timing pulleys are rotatably mounted on the first clamping arm. One of the timing pulleys is driven to the output shaft of the rotary cylinder, and the other timing pulley is driven to the first clamping part.

5. A sorting and stacking device for a fully automatic cleaning machine according to any one of claims 1 to 4, characterized in that: The workpiece inspection module includes several positioning seats, an angle adjustment component, multiple positioning fixtures, a positioning drive component, and a scanning component. The positioning seats are located between the discharge port of the fully automatic cleaning machine and the discharge conveying module. The angle adjustment component is driven by the positioning seats to drive the positioning seats to rotate. The positioning fixtures are arranged around the positioning seats. The positioning fixtures move closer to each other and further away from each other under the drive of the positioning drive component. The scanning component is located on one side of the positioning seats.

6. A sorting and stacking device for a fully automatic cleaning machine according to any one of claims 1 to 4, characterized in that: The swivel robot module includes a multi-axis translation drive assembly, a mounting frame, a spacing adjustment assembly, and two second gripping mechanisms. The multi-axis translation drive assembly is driven to the mounting frame. The mounting frame moves back and forth between the discharge conveying module and the swivel station under the drive of the multi-axis translation drive assembly. The second gripping mechanisms are mounted on the mounting frame. The spacing adjustment assembly is driven to one of the second gripping mechanisms. The one second gripping mechanism moves closer to and further away from the other second gripping mechanism under the drive of the spacing adjustment assembly.

7. A sorting and stacking device for a fully automatic cleaning machine according to any one of claims 1 to 4, characterized in that: The swivel robot module includes a multi-axis translation drive assembly, a mounting frame, and a second gripping mechanism. The multi-axis translation drive assembly is driven to the mounting frame. The mounting frame moves back and forth between the discharge conveying module and the swivel station under the drive of the multi-axis translation drive assembly. The second gripping mechanism includes a second clamping drive assembly, a first clamping plate, and a second clamping plate. The second clamping drive assembly is disposed on the mounting frame and driven to the first clamping plate and / or the second clamping plate. The first clamping plate and the second clamping plate clamp and cooperate under the drive of the second clamping drive assembly.

8. The sorting and stacking device for a fully automatic cleaning machine according to claim 7, characterized in that: The second clamping mechanism further includes a base plate and a side-flipping drive assembly. The base plate is disposed on the mounting frame. The side-flipping drive assembly is driven to the second clamping drive assembly. By driving the second clamping drive assembly to rotate, the first clamping plate and the second clamping plate can be rotated to the clamping position and the side-placement position.

9. The sorting and stacking device for a fully automatic cleaning machine according to claim 8, characterized in that: Both the first clamping plate and the second clamping plate include an extension portion and a clamping portion. The extension portion is disposed on one side of the clamping portion. The extension portions of the first clamping plate and the second clamping plate are arranged side by side. The clamping portions of the first clamping plate and the second clamping plate are arranged side by side. The second clamping drive assembly is drivenly connected to the extension portion of the first clamping plate and / or the extension portion of the second clamping plate. When the first clamping plate and the second clamping plate are in the clamping position, the extension portion extends in the horizontal direction, and the clamping portion is located at the bottom of the extension portion. When the first clamping plate and the second clamping plate are in the side-mounted position, the extension portion extends in the vertical direction, and the clamping portion is located on one side of the extension portion.

10. A sorting and stacking device for a fully automatic cleaning machine according to any one of claims 1 to 4, characterized in that: A buffer conveying module for conveying material frames is set up at the placement station.

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