Sorting and stacking method and sorting and stacking device

Abstract

A sorting and stacking method and a sorting and stacking device (100), relating to the technical field of sorting and stacking. First, a sorting manipulator (130) is used to sort a plurality of flat plate pieces (200) conveyed by a first conveyor line (120) to a stacking and transporting mechanism (140); then the stacking and transporting mechanism (140) is used to transport the stacked pieces to a second conveyor line (150). If H is less than M / 3, then LMAX is less than M / 2-N / 2, and if H is greater than or equal to M / 3, then LMAX is equal to M / 2-N / 2, thereby preventing the stacking and transporting mechanism (140) from interfering with a frame (110), H being the width of the flat plate pieces (200) in the second direction, M being the width of the frame (110) in the second direction, LMAX being the maximum translation distance of the stacking and transporting mechanism (140) in the second direction, and N being the width of a stacking platform (143) in the second direction. The sorting and stacking method can achieve sorting and stacking of the flat plate pieces (200) of different sizes, has good universality, reduces costs, improves economic benefits and saves time and effort, thereby improving sorting and stacking efficiency, and reducing the risk of breakage and the rejection rate.

Description

A sorting and stacking method and a sorting and stacking device

[0001] Relevant publicly available cross-references

[0002] This disclosure claims priority to Chinese Patent Application No. 202510125870X, filed on January 27, 2025, entitled “A sorting and stacking method and a sorting and stacking device”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of sorting and stacking technology, and more specifically, to a sorting and stacking method and a sorting and stacking apparatus. Background Technology

[0004] Currently, the sorting and stacking of flat products (especially ceramic tiles) is generally achieved using stacker machines or manual operation. However, current stacker machines can only sort and stack flat products of one size. If different sizes of flat products need to be sorted and stacked, stacker machines of different specifications need to be purchased or the size of the stacker machine needs to be increased. This results in a large footprint, makes it inconvenient to transport the stacker machine frame as a whole via container, and leads to high costs and low economic benefits. On the other hand, manual operation is labor-intensive, has low sorting and stacking efficiency, high risk of breakage, and a high scrap rate.

[0005] Therefore, designing a sorting and stacking method and sorting and stacking device with good versatility and high sorting and stacking efficiency is particularly important in sorting and stacking.

[0006] Public content

[0007] The purpose of this disclosure is to provide a sorting and stacking method that can sort and stack flat parts of different sizes, has good versatility, reduces costs, improves economic efficiency, saves time and labor, improves sorting and stacking efficiency, and reduces the risk of damage and scrap rate.

[0008] Another objective of this disclosure is to provide a sorting and stacking device that can sort and stack flat pieces of different sizes. The device has a compact structure, is easy to transport, has good versatility, reduces costs, improves economic efficiency, saves time and labor, improves sorting and stacking efficiency, and reduces the risk of breakage and scrap rate.

[0009] This disclosure is implemented using the following technical solution.

[0010] A sorting and stacking method should be configured into a sorting and stacking device. The sorting and stacking device includes a frame and a first conveyor line, a second conveyor line, a sorting manipulator, and two sets of stacking and transporting mechanisms installed on the frame. The first conveyor line is arranged in the middle of the frame, and the second conveyor line is arranged parallel and spaced below the first conveyor line. The conveying directions of the first conveyor line and the second conveyor line are both the first direction. The two sets of stacking and transporting mechanisms are arranged oppositely on both sides of the second conveyor line;

[0011] The sorting and stacking method includes:

[0012] Using the sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to the stacking and transporting mechanism until a stacked part is formed on the stacking table of the stacking and transporting mechanism. Among them, the stacked part includes a preset number of flat parts;

[0013] Using the stacking and transporting mechanism to transport the stacked part to the second conveyor line. Among them, if H < M / 3, then LMAX < M / 2 - N / 2; if H ≥ M / 3, then LMAX = M / 2 - N / 2 to prevent the stacking and transporting mechanism from interfering with the frame. In the formula, H is the width of the flat part in the second direction, M is the width of the frame in the second direction, LMAX is the maximum translation distance of the stacking and transporting mechanism in the second direction, and N is the width of the stacking table in the second direction. The second direction is perpendicular to the first direction.

[0014] Optionally, the frame includes two bottom beams arranged oppositely, and a让位 space is formed between the two bottom beams. The stacking and transporting mechanism includes a translation module and a lifting module. The stacking table is connected to the top of the lifting module. The lifting module is slidably installed on the translation module, and the translation module is slidably installed on the bottom beam;

[0015] The step of using the stacking and transporting mechanism to transport the stacked part to the second conveyor line includes:

[0016] If H < M / 3, the lifting module is located above the让位 space. Use the lifting module to drive the stacked part to descend along the third direction so that the lifting module partially extends out of the让位 space, and use the translation module to drive the stacked part to approach the second conveyor line along the second direction until the stacked part is transported to the second conveyor line. Among them, the third direction, the second direction, and the first direction are perpendicular to each other;

[0017] If H ≥ M / 3, the lifting module is located above the让位 space. Use the translation module to drive the stacked part to approach the second conveyor line along the second direction so that the lifting module crosses the bottom beam, and then use the lifting module to drive the stacked part to descend along the third direction so that the lifting module partially extends out of the让位 space, and use the translation module to drive the stacked part to move along the second direction until the stacked part is transported to the second conveyor line.

[0018] Optionally, the step of using a sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to a stacking and transporting mechanism until a stacked part is formed on the stacking table of the stacking and transporting mechanism includes:

[0019] If H < M / 2 - N / 2, the flat parts on the stacking table and the flat parts on the first conveyor line are arranged at intervals in the second direction; if H ≥ M / 2 - N / 2, the flat parts on the stacking table and the flat parts on the first conveyor line are abutted or partially overlapped in the second direction, and the top surface of the flat part on the stacking table is lower than the bottom surface of the flat part on the first conveyor line.

[0020] Optionally, the step of using a sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to a stacking and transporting mechanism until a stacked part is formed on the stacking table of the stacking and transporting mechanism includes:

[0021] Whenever the sorting manipulator stacks a flat part onto the stacking table, the stacking and transporting mechanism descends by the thickness of one flat part.

[0022] Optionally, using a sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to a stacking and transporting mechanism until a stacked part is formed on the stacking table of the stacking and transporting mechanism includes:

[0023] Two stacked parts arranged at intervals in the second direction are formed by stacking on the stacking table.

[0024] Optionally, the step of using the stacking and transporting mechanism to transport the stacked part to the second conveyor line includes:

[0025] Using the stacking and transporting mechanism to transport the first stacked part to the second conveyor line;

[0026] Controlling the stacking and transporting mechanism to retreat, and using the second conveyor line to feed the first stacked part forward;

[0027] Using the stacking and transporting mechanism to transport the second stacked part to the second conveyor line.

[0028] Optionally, the number of each group of stacking and transporting mechanisms is multiple, and multiple stacking and transporting mechanisms in each group are arranged at intervals in sequence along the first direction;

[0029] The step of using a sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to a stacking and transporting mechanism until a stacked part is formed on the stacking table of the stacking and transporting mechanism includes:

[0030] Selecting the number of stacking and transporting mechanisms used for single - time sorting and stacking according to the length of the flat part in the first direction.

[0031] Optionally, after the step of using the stacking and transporting mechanism to transport the stacked part to the second conveyor line, the sorting and stacking method further includes:

[0032] The control stacking and conveying mechanism is reset, and the stacked parts are fed forward using the second conveyor line.

[0033] Optionally, the translational speed of the stacking conveyor in the second direction during feeding is less than the translational speed of the stacking conveyor in the second direction during resetting.

[0034] A sorting and stacking apparatus for implementing the above-described sorting and stacking method, the sorting and stacking apparatus comprising:

[0035] frame;

[0036] The first conveyor line is installed on the frame and located in the middle of the frame. The first conveyor line is configured to convey flat pieces sequentially along the first direction.

[0037] The sorting robot is mounted on the frame;

[0038] The second conveyor line is installed on the frame and is arranged parallel to and spaced below the first conveyor line;

[0039] Two sets of stacking and conveying mechanisms are installed on the frame and are positioned opposite each other on both sides of the second conveyor line;

[0040] The sorting robot is configured to sort multiple flat pieces conveyed by the first conveyor line to the stacking conveyor mechanism until they are stacked on the stacking platform of the stacking conveyor mechanism to form a stack, wherein the stack includes a preset number of flat pieces; the stacking conveyor mechanism is configured to transport the stack to the second conveyor line.

[0041] Optionally, the frame includes two bottom beams arranged opposite each other, forming a clearance space between the two bottom beams. The stacking and conveying mechanism includes a translation module and a lifting module. The stacking platform is connected to the top of the lifting module. The lifting module is slidably mounted on the translation module. The translation module is slidably mounted on the bottom beam. The clearance space is configured to make way for the lifting module.

[0042] Optionally, the translation module includes a first driving component and a translation frame, and the bottom beam is provided with a first guide rail extending along a second direction. The first driving component is connected to the translation frame, and the translation frame is slidably engaged with the first guide rail.

[0043] Optionally, the lifting module includes a second drive unit and a lifting frame. The translation frame is provided with a second guide rail extending along a third direction. The second drive unit is installed on the translation frame and connected to the lifting frame. The stack is connected to the top of the lifting frame. The lifting frame slides in cooperation with the second guide rail. The first direction, the second direction and the third direction are perpendicular to each other.

[0044] Optionally, the second conveyor line has a mover, and the mover is provided with a plurality of relief grooves. The stacking table includes a plurality of fork arms arranged in parallel at intervals, and the position of each fork arm corresponds to the position of a relief groove. The stacking and transporting mechanism is configured to drive the plurality of fork arms to extend into the plurality of relief grooves one by one, so as to transfer the stacked parts to the mover.

[0045] Optionally, the sorting manipulator includes a robotic arm and a vacuum chuck. The vacuum chuck is mounted on the robotic arm, and the vacuum chuck is configured to adsorb flat parts, and the robotic arm is configured to drive the vacuum chuck to move.

[0046] Optionally, the number of each group of stacking and transporting mechanisms is multiple, and the multiple stacking and transporting mechanisms in each group are arranged at intervals in sequence along the first direction.

[0047] Optionally, the sorting and stacking device further includes a detection mechanism and a rejection mechanism. The rejection mechanism is mounted on the frame and is arranged at the end of the first conveyor line. The detection mechanism is electrically connected to the sorting manipulator and the rejection mechanism at the same time. The detection mechanism is configured to control the sorting manipulator not to act when detecting that the flat parts conveyed by the first conveyor line are defective products, and control the rejection mechanism to reject them.

[0048] The sorting and stacking method and the sorting and stacking device provided by the present disclosure have the following beneficial effects:

[0049] The sorting and stacking method provided by the present disclosure first uses a sorting manipulator to sort a plurality of flat parts conveyed by the first conveyor line to a stacking and transporting mechanism until a stacked part is formed on the stacking table of the stacking and transporting mechanism. The stacked part includes a preset number of flat parts. Then, the stacking and transporting mechanism is used to transport the stacked part to the second conveyor line. If H < M / 3, then LMAX < M / 2 - N / 2. If H ≥ M / 3, then LMAX = M / 2 - N / 2 to prevent interference between the stacking and transporting mechanism and the frame. In the formula, H is the width of the flat part in the second direction, M is the width of the frame in the second direction, LMAX is the maximum translation distance of the stacking and transporting mechanism in the second direction, and N is the width of the stacking table in the second direction. The second direction is perpendicular to the first direction. Compared with the prior art, the sorting and stacking method provided by the present disclosure can realize efficient sorting and stacking of flat parts of different sizes, has good versatility, is more conducive to rapid sorting and stacking when the sorting and stacking device adopts a compact structure design for convenient transportation, reduces costs, improves economic benefits, and is time-saving and labor-saving, improves the sorting and stacking efficiency, and reduces the risk of breakage and the rejection rate because it adopts a method of adjusting the maximum translation distance of the stacking and transporting mechanism in the second direction according to the width of the flat part in the second direction, and uses two groups of stacking and transporting mechanisms to combine according to the flat parts to shorten the brick moving stroke.

[0050] The sorting and stacking device provided by the present disclosure is used to implement the sorting and stacking method. It efficiently stacks bricks and outputs brick stacks through two sets of stacking and conveying mechanisms, can achieve the sorting and stacking of flat parts of different sizes, has a compact device structure, is convenient for transportation, has good versatility, reduces costs, improves economic benefits, and saves time and effort, improves the sorting and stacking efficiency, and reduces the risk of breakage and the rejection rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0052] FIG. 1 is a schematic structural diagram of the sorting and stacking device provided by the embodiment of the present disclosure;

[0053] FIG. 2 is a schematic structural diagram of the stacking and conveying mechanism in the sorting and stacking device provided by the embodiment of the present disclosure;

[0054] FIG. 3 is a schematic structural diagram of the second conveyor line in the sorting and stacking device provided by the embodiment of the present disclosure;

[0055] FIG. 4 is a schematic structural diagram of the sorting manipulator in the sorting and stacking device provided by the embodiment of the present disclosure;

[0056] FIG. 5 is a schematic structural diagram of the first conveyor line in the sorting and stacking device provided by the embodiment of the present disclosure;

[0057] FIG. 6 is a schematic structural diagram of the waste removal mechanism in the sorting and stacking device provided by the embodiment of the present disclosure;

[0058] FIG. 7 is a schematic structural diagram of the sorting and stacking device provided by the embodiment of the present disclosure when sorting and stacking flat parts with a length in the first direction ≤ 600 mm;

[0059] FIG. 8 is a schematic structural diagram of the sorting and stacking device provided by the embodiment of the present disclosure when sorting and stacking flat parts with a length in the first direction > 600 mm and ≤ 1200 mm;

[0060] FIG. 9 is a schematic structural diagram of the sorting and stacking device provided by the embodiment of the present disclosure when sorting and stacking flat parts with a length in the first direction > 1200 mm and ≤ 1800 mm;

[0061] FIG. 10 is a schematic diagram of the first step of implementing step S120 when H < M / 3 in the sorting and stacking device provided by the embodiment of the present disclosure;

[0062] Figure 11 is a schematic diagram of the second step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when H < M / 3;

[0063] Figure 12 is a schematic diagram of the third step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when H < M / 3;

[0064] Figure 13 is a schematic diagram of the first step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when M / 3 ≤ H < M / 2 - N / 2;

[0065] Figure 14 is a schematic diagram of the second step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when M / 3 ≤ H < M / 2 - N / 2;

[0066] Figure 15 is a schematic diagram of the third step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when M / 3 ≤ H < M / 2 - N / 2;

[0067] Figure 16 is a schematic diagram of the fourth step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when M / 3 ≤ H < M / 2 - N / 2;

[0068] Figure 17 is a schematic diagram of the first step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when H ≥ M / 2 - N / 2;

[0069] Figure 18 is a schematic diagram of the second step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when H ≥ M / 2 - N / 2;

[0070] Figure 19 is a schematic diagram of the third step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when H ≥ M / 2 - N / 2;

[0071] Figure 20 is a schematic diagram of the fourth step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure when H ≥ M / 2 - N / 2;

[0072] Figure 21 is a schematic diagram of the first step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure;

[0073] Figure 22 is a schematic diagram of the second step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure;

[0074] Figure 23 is a schematic diagram of the third step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure;

[0075] Figure 24 is a schematic diagram of the fourth step of implementing step S120 by the sorting and stacking device provided in the embodiment of the present disclosure;

[0076] Figure 25 is a schematic diagram of the fifth step of the sorting and stacking device provided in the embodiment of this disclosure during the implementation of step S120.

[0077] Icons: 100-Sorting and stacking device; 110-Frame; 111-Bottom beam; 112-Gift space; 113-Supporting leg; 114-First guide rail; 120-First conveyor line; 121-Width adjustment module; 122-Belt drive module; 130-Sorting robot; 131-Robotic arm; 132-Vacuum suction cup; 140-Stacking and conveying mechanism; 141-Translation module; 1411-Translation frame; 1412-First drive component; 1413-Second guide rail ; 1414-Base plate; 1415-Reinforcing plate; 1416-Back plate; 1417-Notch; 142-Lifting module; 1421-Second driving component; 1422-Lifting frame; 143-Stacking platform; 1431-Fork arm; 150-Second conveyor line; 151-Movers; 1511-Leaving groove; 160-Third conveyor line; 170-Scrap removal mechanism; 171-Lifting module; 172-Active roller module; 173-Driven roller module; 200-Plate component. Detailed Implementation

[0078] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The components of the embodiments of this disclosure described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0079] Therefore, the following detailed description of the embodiments of this disclosure provided in the accompanying drawings is not intended to limit the scope of the claimed disclosure, but merely to illustrate selected embodiments of the disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0080] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0081] In the description of this disclosure, it should be noted that the terms "inner," "outer," "upper," "lower," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the disclosed product is in use. They are used only for the convenience of describing this disclosure and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. In addition, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0082] In the description of this disclosure, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "connected," "installed," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure based on the specific circumstances.

[0083] The following detailed description of some embodiments of this disclosure is provided in conjunction with the accompanying drawings. Unless otherwise specified, features in the following embodiments can be combined with each other.

[0084] Referring to Figures 1 to 3, in a first aspect, embodiments of this disclosure provide a sorting and stacking device 100 for sorting and stacking flat pieces 200. It can sort and stack flat pieces 200 of different sizes, has a compact structure, is easy to transport, has a short brick-moving stroke, good versatility, reduces costs, improves economic efficiency, saves time and labor, improves sorting and stacking efficiency, and reduces the risk of breakage and scrap rate.

[0085] The sorting and stacking device 100 includes a frame 110 and a first conveyor line 120, a second conveyor line 150, a sorting robot 130, and two sets of stacking transport mechanisms 140 mounted on the frame 110. The first conveyor line 120 is located in the middle of the frame 110 and is configured to sequentially convey flat pieces 200 along a first direction. The sorting robot 130 is configured to sort the multiple flat pieces 200 conveyed by the first conveyor line 120 to the stacking transport mechanism 140 until they are stacked on the stacking platform 143 of the stacking transport mechanism 140 to form a stack. The stacking transport mechanism 140 is configured to transport the stack to the second conveyor line 150. The stack includes a preset number of flat pieces 200, that is, the preset number of flat pieces 200 are neatly stacked to form a stack. Optionally, two sets of stacking conveyor mechanisms 140 are arranged opposite each other on both sides of the second conveyor line 150. The sorting robot 130 is configured to sort a portion of the flat pieces 200 to the first set of stacking conveyor mechanisms 140 and another portion of the flat pieces 200 to the second set of stacking conveyor mechanisms 140. The sorting robot 130 and the two sets of stacking conveyor mechanisms 140 work together to simultaneously sort and stack multiple flat pieces 200 on the first conveyor line 120, which can shorten the stacking conveying journey, effectively improve sorting and stacking efficiency, and improve economic benefits. The second conveyor line 150 is arranged parallel and spaced below the first conveyor line 120. The conveying direction of the second conveyor line 150 is the same as that of the first conveyor line 120, and both are the first direction. The second conveyor line 150 is configured to output the stacked pieces outward to facilitate the next process.

[0086] In this embodiment, the second conveyor line 150 is located directly below the first conveyor line 120 so that the brick-moving strokes of the two sets of stacking conveying mechanisms 140 are the same, which facilitates installation and control.

[0087] Optionally, the frame 110 includes two opposing bottom beams 111, with a clearance space 112 formed between the two bottom beams 111. The clearance space 112 is configured to allow clearance for the stacking conveyor mechanism 140, preventing interference between the stacking conveyor mechanism 140 and the frame 110 during the transport of stacked items to the second conveyor line 150. Optionally, the bottom beams 111 extend along a first direction, and the two bottom beams 111 are parallel and spaced apart along a second direction, with the first direction perpendicular to the second direction.

[0088] The stacking and conveying mechanism 140 includes a translation module 141 and a lifting module 142. A stacking platform 143 is connected to the top of the lifting module 142. The lifting module 142 is slidably mounted on the translation module 141. The lifting module 142 can drive the stacking platform 143 to rise or fall along a third direction, thereby synchronously driving the stacked components to rise or fall along the third direction. The translation module 141 is slidably mounted on the bottom beam 111. The translation module 141 can drive the stacking platform 143 to translate along a second direction via the lifting module 142, thereby synchronously driving the stacked components to translate along the second direction. Optionally, the first direction, the second direction, and the third direction are perpendicular to each other. The translation module 141 and the lifting module 142 work together to allow the stacked components to move to any position in a plane perpendicular to the first direction, ensuring the conveying accuracy of the stacked components. In this embodiment, the third direction is a vertical direction, and both the first and second directions are on a horizontal plane.

[0089] It should be noted that during the process of the stacking and conveying mechanism 140 transporting the stacked parts to the second conveyor line 150, the lifting module 142 lifts and moves along the third direction, and the translation module 141 translates along the second direction. During this process, since the lifting module 142 needs to descend to a height lower than the bottom beam 111 in order to send the stacked parts on the stacking platform 143 to the second conveyor line 150, the bottom beam 111 may interfere with the lifting module 142. Optionally, when the size of the flat plate 200 is small, the lifting module 142 is located above the clearance space 112. During the descent, the lifting module 142 will partially extend out of the clearance space 112. At this time, the bottom beam 111 will not interfere with the movement of the lifting module 142. When the size of the flat plate 200 is large, the lifting module 142 is located above the clearance space 112. In this case, it is necessary to control the lifting module 142 to first pass over the bottom beam 111 to reach the clearance space 112, and then descend and partially extend out of the clearance space 112 to avoid the bottom beam 111 interfering with the movement of the lifting module 142.

[0090] In this embodiment, the sorting and stacking device 100 is placed on the ground. The bottom of the bottom beam 111 is provided with a support foot 113. One end of the support foot 113 abuts against the ground, and the other end abuts against the bottom beam 111. The support foot 113 is configured to support the bottom beam 111 so that there is a certain gap between the bottom beam 111 and the ground. This gap can ensure that the lifting module 142 will not contact the ground during the descent process, so as to avoid the ground interfering with the movement of the lifting module 142.

[0091] The translation module 141 includes a first driving member 1412 and a translation frame 1411. The bottom beam 111 is provided with a first guide rail 114 extending along a second direction. The first driving member 1412 is connected to the translation frame 1411, and the translation frame 1411 is slidably engaged with the first guide rail 114. The first guide rail 114 can guide and limit the translation frame 1411. The translation frame 1411 can slide relative to the first guide rail 114 under the action of the first driving member 1412 to achieve a stable translation function.

[0092] In this embodiment, there are two first guide rails 114. The first driving member 1412 drives the translation frame 1411 to move through a linear gear meshing mechanism. The first driving member 1412 is positioned between the two first guide rails 114, which facilitates stable linear translation of the translation frame 1411 and reduces the possibility of jamming during linear translation of the translation frame 1411 mounted on the bottom beam 111. However, this is not the only embodiment. In other embodiments, the translation frame 1411 can be directly driven by a pneumatic cylinder, electric cylinder, or hydraulic cylinder, and the driving method of the first driving member 1412 is not specifically limited.

[0093] The translation frame 1411 includes a base plate 1414, a back plate 1416, and two reinforcing plates 1415. The two reinforcing plates 1415 are positioned opposite each other on both sides of the base plate 1414 and are connected to it. The base plate 1414 also slides with two first guide rails 114. The back plate 1416 is connected between the two reinforcing plates 1415, and the back plate 1416, reinforcing plates 1415, and base plate 1414 are perpendicular to each other. The reinforcing plates 1415 are configured to increase the connection strength between the base plate 1414 and the back plate 1416, effectively improving the support stability and load-bearing capacity of the translation frame 1411. Optionally, the base plate 1414 has a notch 1417 for the lifting module 142 to descend and pass through the clearance space 112. When the size of the flat plate 200 is large, the lifting module 142 is located above the clearance space 112. In this case, it is necessary to control the lifting module 142 to first pass over the bottom beam 111 to reach the clearance space 112 from above, and then descend and partially extend out of the clearance space 112 through the notch 1417 on the base plate 1414, so as to avoid the bottom beam 111 interfering with the movement of the lifting module 142. This achieves effective utilization of equipment space, reduces equipment volume, and facilitates the overall transport of the equipment.

[0094] The lifting module 142 includes a second drive member 1421 and a lifting frame 1422. The translation frame 1411 is provided with a second guide rail 1413 extending in a third direction. The second guide rail 1413 is disposed on a back plate 1416. The second drive member 1421 is mounted on the back plate 1416 of the translation frame 1411 and connected to the lifting frame 1422. The stack 143 is connected to the top of the lifting frame 1422. The lifting frame 1422 is slidably engaged with the second guide rail 1413. The second guide rail 1413 can guide and limit the lifting frame 1422. The lifting frame 1422 can slide relative to the second guide rail 1413 under the action of the second drive member 1421 to achieve a stable lifting function.

[0095] In some embodiments, the second conveyor line 150 has a mover 151, which can be driven by belt drive to move along a first direction. The mover 151 is configured to carry stacked components and has multiple clearance slots 1511. Optionally, the stacking platform 143 includes multiple parallel and spaced forks 1431, which are configured to carry stacked components. The position of each fork 1431 corresponds to the position of a clearance slot 1511. The stacking conveying mechanism 140 is configured to drive the multiple forks 1431 to extend into the multiple clearance slots 1511 one by one to transfer the stacked components onto the mover 151, thereby realizing the conveying function of the stacked components.

[0096] Optionally, during the process of the stacking conveying mechanism 140 transporting the stacked components to the second conveyor line 150, the translation module 141 and the lifting module 142 are first used to drive the stacking platform 143 to move, so that the multiple forks 1431 of the stacking platform 143 extend into the multiple clearance slots 1511 of the mover 151 one by one. At this time, the top surface height of the forks 1431 is higher than the top surface height of the mover 151, and the stacked components are placed on the multiple forks 1431. Then, the lifting module 142 is used to drive the stacking platform 143 to descend, so that the top surface height of the forks 1431 is lower than the top surface height of the mover 151. During this process, the mover 151 takes the stacked components from the forks 1431, and the stacked components are placed on the mover 151, completing the transfer of the stacked components. Then, the translation module 141 and the lifting module 142 are used to drive the stacking platform 143 to reset, so as to transport the next stacked component.

[0097] Referring to Figure 4, the sorting robot 130 includes a robotic arm 131 and a vacuum suction cup 132. The vacuum suction cup 132 is mounted on the robotic arm 131 and is configured to adsorb the flat plate 200. The robotic arm 131 is configured to drive the vacuum suction cup 132 to move. The robotic arm 131 and the vacuum suction cup 132 work together to first pick up the flat plate 200 from the first conveyor line 120, then move the flat plate 200 to above the stacking platform 143 of the stacking conveying mechanism 140, and then place the flat plate 200 on the stacking platform 143. Optionally, the robotic arm 131 also has a translational function along a second direction and a lifting function along a third direction, so that the flat plate 200 can move to any position in a plane perpendicular to the first direction, ensuring the conveying accuracy of the flat plate 200.

[0098] It should be noted that there are multiple sorting robots 130, which are divided into two groups. Within each group, multiple sorting robots 130 are arranged at intervals along a first direction. Each group of sorting robots 130 can sort the flat pieces 200 to both the first and second stacking conveyor mechanisms 140, thereby further improving sorting efficiency. Correspondingly, there are multiple stacking conveyor mechanisms 140 in each group, which are arranged at intervals along the first direction. On the one hand, for the smaller flat piece 200, each sorting robot 130 can sort one flat piece 200 to one stacking conveyor 140 (one sorting robot 130 picks up one flat piece 200 and sends it to one stacking conveyor 140). Each stacking conveyor 140 is configured to carry one stacked piece. Multiple sorting robots 130 and multiple stacking conveyors 140 work together to realize the sorting and stacking function of multiple stacked pieces at the same time, which greatly improves the sorting and stacking efficiency. On the other hand, for larger flat pieces 200, multiple sorting robots 130 work together to sort a flat piece 200 to multiple stacking conveyor mechanisms 140 (multiple sorting robots 130 simultaneously pick up a flat piece 200 and send it to multiple stacking conveyor mechanisms 140). The multiple stacking conveyor mechanisms 140 are configured to carry a stacked piece. The multiple sorting robots 130 and multiple stacking conveyor mechanisms 140 work together to ensure the stability and safety of sorting and stacking large flat pieces 200.

[0099] Referring to Figure 5, the first conveyor line 120 includes a width adjustment module 121 and two belt drive modules 122. The two belt drive modules 122 are arranged parallel and spaced apart, and both are connected to the width adjustment module 121. The flat piece 200 is simultaneously placed on both belt drive modules 122, and the two belt drive modules 122 move synchronously to drive the flat piece 200 forward. The width adjustment module 121 is configured to move the two belt drive modules 122 closer together or further apart to adjust the distance between them. This allows the two belt drive modules 122 to convey flat pieces 200 of different sizes, improving the versatility of the sorting and stacking device 100.

[0100] Referring to Figures 1 and 6, optionally, the sorting and stacking device 100 further includes a third conveyor line 160, which is located at the end of the second conveyor line 150. The conveying direction of the third conveyor line 160 is the same as that of the second conveyor line 150. The second conveyor line 150 is configured to send the stacked items to the third conveyor line 160 via a mover 151. The third conveyor line 160 is configured to send the stacked items to the next process.

[0101] In this embodiment, the conveying principle of the third conveyor line 160 is similar to that of the first conveyor line 120, and will not be described again here.

[0102] Optionally, the sorting and stacking device 100 further includes a detection mechanism (not shown) and a rejection mechanism 170. The rejection mechanism 170 is mounted on the frame 110 and located at the end of the first conveyor line 120. The detection mechanism is electrically connected to both the sorting robot 130 and the rejection mechanism 170. The detection mechanism is configured to control the sorting robot 130 to remain stationary when it detects that the flat piece 200 being conveyed by the first conveyor line 120 is defective, thereby preventing the sorting robot 130 from sorting and stacking defective items, and to control the rejection mechanism 170 to reject it. Optionally, the rejection direction of the rejection mechanism 170 is a second direction, that is, the rejection direction of the rejection mechanism 170 is perpendicular to the conveying direction of the first conveyor line 120, to avoid mixing of good and defective products.

[0103] Optionally, the rejection mechanism 170 includes a lifting module 171, a drive roller module 172, and a driven roller module 173. The drive roller module 172 is disposed between two belt drive modules 122 of the first conveyor line 120 and connected to the lifting module 171. The lifting module 171 is configured to drive the drive roller module 172 upwards, thereby lifting the flat plate 200 on the first conveyor line 120 and causing the flat plate 200 to detach from the first conveyor line 120. The driven roller module 173 is disposed on one side of the first conveyor line 120. The drive roller module 172 is configured to drive the flat plate 200 to move along a second direction, causing the flat plate 200 to move onto the driven roller module 173, thereby achieving the rejection function. Optionally, both the drive roller module 172 and the driven roller module 173 include at least one roller, with the axial direction of the roller being the first direction. If there are multiple rollers, the multiple rollers are arranged parallel and spaced apart along the second direction.

[0104] Referring to Figures 7 to 20, in a second aspect, embodiments of this disclosure provide a sorting and stacking method applied to the sorting and stacking apparatus 100 described above. This sorting and stacking method includes the following steps:

[0105] Step S110: The sorting robot 130 sorts the multiple flat pieces 200 conveyed by the first conveyor line 120 to the stacking conveyor mechanism 140 until they are stacked on the stacking platform 143 of the stacking conveyor mechanism 140 to form a stacked piece, wherein the stacked piece includes a preset number of flat pieces 200.

[0106] It should be noted that in step S110, the sorting robot 130 sorts multiple flat pieces 200 sequentially onto the stacking platform 143 of the stacking conveyor 140 so that the multiple flat pieces 200 are neatly stacked and form a stack until the number of flat pieces 200 in the stack reaches the preset number. At this time, the stack of flat pieces 200 is referred to as a stacked piece.

[0107] Optionally, whenever the sorting robot 130 stacks a flat piece 200 onto the stacking platform 143, the lifting module 142 in the stacking conveying mechanism 140 lowers by the thickness of one flat piece 200. That is, in step S110, the top height of the flat piece 200 on the stacking platform 143 remains constant. When the sorting robot 130 completes sorting and forms a stack, the total lowering height of the lifting module 142 is equal to the thickness of the stack, which is equal to the sum of the thicknesses of a preset number of flat pieces 200. Optionally, the total lowering height of the lifting module 142 (the thickness of the stack) is less than the distance between the lifting module 142 and the bottom beam 111 in the third direction to prevent interference between the lifting module 142 and the bottom beam 111 during the sorting and lowering process.

[0108] It should be noted that if H < M / 2 - N / 2, the flat parts 200 located on the stacking table 143 and the flat parts 200 located on the first conveyor line 120 are arranged at intervals in the second direction, and the interval distance is 1 mm - 40 mm. By setting a smaller interval distance, it can be ensured that the flat parts 200 on the stacking table 143 and the flat parts 200 on the first conveyor line 120 will not interfere with each other when the size of the flat part 200 is small, and at the same time, the stroke of the stacking and transporting mechanism 140 in the second direction can be minimized, which is beneficial to improving the stacking moving speed and the production line efficiency; at this time, the top surface height of the flat part 20 on the stacking table 143 can be greater than, equal to or less than the bottom surface height of the flat part 200 on the first conveyor line 120, and the flat parts 200 on the stacking table 143 and the flat parts 200 on the first conveyor line 120 do not interfere with each other. If H ≥ M / 2 - N / 2, the flat parts 200 located on the stacking table 143 and the flat parts 200 located on the first conveyor line 120 are abutted or partially overlapped in the second direction. At this time, the top surface height of the flat part 200 on the stacking table 143 is less than the bottom surface height of the flat part 200 on the first conveyor line 120, that is, the top surface of the flat part 200 on the stacking table 143 is lower than the bottom surface of the flat part 200 on the first conveyor line 120, so as to avoid interference between the flat part 200 on the stacking table 143 and the flat part 200 on the first conveyor line 120. In the formula, H is the width of the flat part 200 in the second direction, M is the width of the frame 110 in the second direction, and N is the width of the stacking table 143 in the second direction.

[0109] Optionally, the number of each group of stacking and transporting mechanisms 140 is multiple, and the number of stacking and transporting mechanisms 140 used for single sorting and stacking is selected according to the length of the flat part 200 in the first direction. Correspondingly, the number of each group of sorting manipulators 130 is multiple, and the number of sorting manipulators 130 used for single sorting and stacking is selected according to the length of the flat part 200 in the first direction. In this embodiment, the number of each group of sorting manipulators 130 and each group of stacking and transporting mechanisms 140 is six; if the size of the flat part 200 is small (the length of the flat part 200 in the first direction ≤ 600 mm), the sorting manipulator 130 is used to suck up the flat part 200 and send it to one stacking and transporting mechanism 140; if the size of the flat part 200 is large (600 mm < the length of the flat part 200 in the first direction ≤ 1200 mm), the sorting manipulator is used to suck up the flat part 200 and send it to two stacking and transporting mechanisms 140; if the size of the flat part 200 is larger (1200 mm < the length of the flat part 200 in the first direction ≤ 1800 mm), the sorting manipulator 130 is used to suck up the flat part 200 and send it to three stacking and transporting mechanisms 140.

[0110] Step S120: Use the stacking and transporting mechanism 140 to transport the stacked parts to the second conveyor line 150. Here, if H < M / 3, then LMAX < M / 2 - N / 2; if H ≥ M / 3, then LMAX = M / 2 - N / 2, to prevent the stacking and transporting mechanism 140 from interfering with the machine frame 110. In the formula, H is the width of the flat part 200 in the second direction, M is the width of the machine frame 110 in the second direction, LMAX is the maximum translation distance of the stacking and transporting mechanism 140 in the second direction, and N is the width of the stacking platform 143 in the second direction. The second direction is perpendicular to the first direction.

[0111] Optionally, the range of the width M of the machine frame 110 in the second direction is 2000 mm - 2400 mm; the range of the width N of the stacking platform 143 in the second direction is 400 mm - 700 mm. The machine frame 110 realizes a compact design within the above range, which is convenient for equipment transportation. For example: M is 2220 mm and N is 560 mm; if H < M / 3, that is, H < 740 mm, then LMAX < M / 2 - N / 2, that is, LMAX < 830 mm; if H ≥ M / 3, that is, H ≥ 740 mm, then LMAX = M / 2 - N / 2, that is, LMAX = 830 mm.

[0112] It should be noted that in step S120, if H < M / 3, then LMAX < M / 2 - N / 2; if H ≥ M / 3, then LMAX = M / 2 - N / 2, to limit the maximum translation distance of the translation module 141 of the stacking and transporting mechanism 140 in the second direction, and to avoid the bottom beam 111 of the machine frame 110 from interfering with the movement of the lifting module 142 (under the drive of the translation module 141).

[0113] Optionally, if H < M / 3, the lifting module 142 is located above the让位 space 112. At this time, the bottom beam 111 will not interfere with the movement of the lifting module 142. Therefore, use the lifting module 142 to drive the stacked parts to descend along the third direction, so that the lifting module 142 partially extends out of the让位 space 112, and use the translation module 141 to drive the stacked parts to approach the second conveyor line 150 along the second direction until the stacked parts are transported to the second conveyor line 150. Optionally, during the transportation process, first use the lifting module 142 to drive the stacked parts to descend along the third direction, and the translation module 141 remains stationary, so that the lifting module 142 partially extends out of the让位 space 112, and the stacked parts are offset from the first conveyor line 120 in the third direction to avoid the first conveyor line 120 from interfering with the movement of the stacked parts; then use the lifting module 142 and the translation module 141 to drive the stacked parts to move (the lifting module 142 drives the stacked parts to descend along the third direction, and the translation module 141 drives the stacked parts to translate along the second direction) simultaneously or successively (the order is not limited) until the stacked parts are sent to the second conveyor line 150.

[0114] For example: if the width H of the flat plate 200 in the second direction is less than or equal to 300 mm, the size of the flat plate 200 is relatively small, and the maximum translation distance LMAX of the translation module 141 of the stacking conveying mechanism 140 in the second direction is in the range of 380 mm to 630 mm. At this time, the flat plate 200 on the stacking platform 143 and the flat plate 200 located on the first conveying line 120 are spaced apart in the second direction, and the distance between them is in the range of 80 mm to 330 mm (LMAX = H + distance between them) to prevent interference. At the same time, under the premise of preventing interference, the distance between them is minimized as much as possible, which can shorten the translation distance of the stacking conveying mechanism 140 in the second direction, thereby improving the stacking conveying efficiency. If 300mm < width H of the flat plate 200 in the second direction is ≤ 600mm, the size of the flat plate 200 is relatively large. The flat plate 200 on the stacking platform 143 and the flat plate 200 on the first conveyor line 120 are spaced apart in the second direction, and the spacing range is 1mm-40mm. At this time, the maximum translation distance LMAX of the translation module 141 of the stacking conveying mechanism 140 in the second direction is H + spacing distance. The smaller spacing distance can effectively shorten the translation stroke of the stacking conveying mechanism 140, thereby improving the stacking conveying efficiency.

[0115] If H≥M / 3, the lifting module 142 is located above the clearance space 112. At this time, the bottom beam 111 may interfere with the movement of the lifting module 142. Therefore, the translation module 141 is used to drive the stacking component to move closer to the second conveyor line 150 along the second direction so that the lifting module 142 passes the bottom beam 111. Then, the lifting module 142 is used to drive the stacking component to descend along the third direction so that the lifting module 142 partially extends out of the clearance space 112. The translation module 141 is used to drive the stacking component to move along the second direction until the stacking component is transported to the second conveyor line 150.

[0116] Optionally, on the premise that H ≥ M / 3, it is divided into two cases. In the first case, if M / 3 ≤ H < M / 2 - N / 2, the stacked parts on the stacking table 143 and the flat parts 200 on the first conveyor line 120 are arranged at intervals in the second direction, and the interval distance is 1 mm - 40 mm. At this time, the size of the stacked parts is small, and the distance between it and the first conveyor line 120 in the second direction is large. Therefore, during the transportation process, first use the translation module 141 to drive the stacked parts to approach the second conveyor line 150 in the second direction, so that the lifting module 142 can cross over the bottom beam 111. During this process, the stacked parts gradually approach the first conveyor line 120, but always maintain a state of being arranged at intervals with the first conveyor line 120 and will not interfere with the first conveyor line 120; then use the lifting module 142 to drive the stacked parts to descend in the third direction, so that the lifting module 142 partially extends out of the让位 space 112, and makes the stacked parts错开 from the first conveyor line 120 in the third direction to avoid the first conveyor line 120 interfering with the movement of the stacked parts; then use the lifting module 142 and the translation module 141 to drive the stacked parts to move simultaneously or successively (the order of succession is not limited) (the lifting module 142 drives the stacked parts to descend in the third direction, and the translation module 141 drives the stacked parts to translate in the second direction) until the stacked parts are sent to the second conveyor line 150.

[0117] In the second case, if H ≥ M / 2 - N / 2, the flat parts 200 on the stacking table 143 and the flat parts 200 on the first conveyor line 120 are in contact or partially overlap in the second direction. At this time, the size of the stacked parts is large, and the distance between it and the first conveyor line 120 in the second direction is small. Therefore, during the transportation process, first use the lifting module 142 to drive the stacked parts to descend a preset height in the third direction, so that the lifting module 142 remains above the bottom beam 111. During this process, the stacked parts descend to a height lower than the first conveyor line 120, so that the stacked parts错开 from the first conveyor line 120 in the third direction to avoid the first conveyor line 120 interfering with the movement of the stacked parts; then use the translation module 141 to drive the stacked parts to approach the second conveyor line 150 in the second direction, so that the lifting module 142 can cross over the bottom beam 111. During this process, the stacked parts move below the first conveyor line 120 and are arranged at intervals with the first conveyor line 120; then use the lifting module 142 and the translation module 141 to drive the stacked parts to move simultaneously or successively (the order of succession is not limited) (the lifting module 142 drives the stacked parts to descend in the third direction, and the translation module 141 drives the stacked parts to translate in the second direction) until the stacked parts are sent to the second conveyor line 150.

[0118] For example: when the size H of the flat piece 200 (e.g., a tile) is less than 800mm, the stacked pieces on the stacking platform 143 and the flat piece 200 on the first conveyor line 120 are spaced apart in the second direction; when the size H of the flat piece 200 (e.g., a tile) is greater than 900mm, the flat piece 200 on the stacking platform 143 and the flat piece 200 on the first conveyor line 120 abut or partially overlap in the second direction. The main reason for the above phenomenon is that the total output per unit time of the kiln firing the flat piece 200 (e.g., a tile) remains unchanged. When producing tiles of different sizes, due to different cutting dimensions, small tiles with a size H of less than 800mm are transported through the first conveyor line 120 with small spacing between adjacent tiles, and are relatively dense. However, when the tiles on the first conveyor line 120 are alternately transferred to the stacking platform 143 by two sorting robots 130 for tile stacking, the spacing between adjacent tiles is smaller and denser. With small intervals, interference may occur when one sorting robot 130 picks up tiles from the first conveyor line 120 and another sorting robot 130 transfers tiles to the stacking platform 143, as they move up and down simultaneously. Therefore, it is necessary to ensure that there is a gap between adjacent tiles when tiles are simultaneously accommodated on the first conveyor line 120 and the stacking platform 143. However, for tiles with a larger size H (such as 900-1200mm and above), due to the larger size of the tiles, the interval between tiles during the first conveyor line 120 is larger. When the tiles on the first conveyor line 120 are alternately transferred to the stacking platform 143 by the two sorting robots 130 for stacking, there is enough time interval to ensure that the two processes of moving up and down do not occur simultaneously. Therefore, there is no need to consider the interference problem, and it is not necessary to ensure that there is a gap between adjacent tiles when tiles are simultaneously accommodated on the first conveyor line 120 and the stacking platform 143. In other words, the tiles located on the stacking platform 143 and the tiles located on the first conveyor line 120 can abut or partially overlap in the second direction.

[0119] It is worth noting that the multiple stacking conveying mechanisms 140 in each group can simultaneously transport multiple stacked items to the second conveyor line 150, or they can transport multiple stacked items to the second conveyor line 150 sequentially. For two stacking conveying mechanisms 140 in corresponding positions in the two groups, one stacking conveying mechanism 140 needs to be used first to transport one stacked item to the second conveyor line 150, and then the second conveyor line 150 is used to move the stacked item forward a certain distance, and then the other stacking conveying mechanism 140 is used to transport the other stacked item to the second conveyor line 150.

[0120] Step S130: Control the stacking conveyor mechanism 140 to reset, and use the second conveyor line 150 to feed the stacked parts forward.

[0121] It should be noted that in step S130, the translation module 141 and the lifting module 142 of the stacking and transporting mechanism 140 are controlled to reset along the original path to avoid interference, and the second conveyor line 150 is used to drive the stacked parts forward so as to send the stacked parts to the next process.

[0122] Optionally, the translation speed of the stacking and transporting mechanism 140 in the second direction during feeding is less than the translation speed of the stacking and transporting mechanism 140 in the second direction during resetting, that is, the translation speed when the translation module 141 approaches the second conveyor line 150 is less than the translation speed when the translation module 141 moves away from the second conveyor line 150, so as to prevent the stacked parts from shifting and misaligning due to inertia during transportation and ensure the transportation accuracy.

[0123] The sorting and stacking method provided by the embodiment of the present disclosure first uses the sorting manipulator 130 to sort multiple flat parts 200 conveyed by the first conveyor line 120 to the stacking and transporting mechanism 140 until a stacked part is formed on the stacking table 143 of the stacking and transporting mechanism 140. The stacked part includes a preset number of flat parts 200. Then, the stacking and transporting mechanism 140 is used to transport the stacked part to the second conveyor line 150. If H < M / 3, then LMAX < M / 2 - N / 2. If H ≥ M / 3, then LMAX = M / 2 - N / 2 to prevent the stacking and transporting mechanism 140 from interfering with the rack 110. In the formula, H is the width of the flat part 200 in the second direction, M is the width of the rack 110 in the second direction, LMAX is the maximum translation distance of the stacking and transporting mechanism 140 in the second direction, and N is the width of the stacking table 143 in the second direction. The second direction is perpendicular to the first direction. Compared with the prior art, since the sorting and stacking method provided by the present disclosure adopts the method of adjusting the maximum translation distance of the stacking and transporting mechanism 140 in the second direction according to the width of the flat part 200 in the second direction, it can realize the sorting and stacking of flat parts 200 with different sizes, has good versatility, reduces costs, improves economic benefits, and is time-saving and labor-saving, improves the sorting and stacking efficiency, reduces the risk of breakage and the rejection rate. The sorting and stacking device 100 has a compact structure, is convenient for transportation, occupies a small area, has good versatility, and is safe and reliable.

[0124] Please refer to FIGS. 21 to 25 in combination. The embodiment of the present disclosure provides a sorting and stacking method. Compared with the above embodiment, the difference in this embodiment is the number of stacked parts stacked on the stacking table 143.

[0125] It should be noted that in step S110, two stacked pieces are formed on the stacking platform 143, spaced apart in the second direction. Optionally, a sorting robot 130 sequentially sorts multiple flat pieces 200 onto the stacking platform 143 of the stacking conveyor 140, so that the multiple flat pieces 200 are neatly stacked and form two stacks, until the number of flat pieces 200 in both stacks reaches a preset number. At this time, two stacked pieces spaced apart in the second direction are placed on the stacking platform 143.

[0126] Optionally, since there are two stacked components on the stacking platform 143, the two stacked components need to be transported to the second conveyor line 150 in sequence. In step S120, the first stacked component (the one closer to the second conveyor line 150 in the second direction) is first transported to the second conveyor line 150 using the stacking transport mechanism 140; then the stacking transport mechanism 140 is controlled to retract (only the translation module 141 needs to move away from the second conveyor line 150 in the second direction, and the lifting module 142 does not need to move), and the first stacked component is moved forward a certain distance using the second conveyor line 150; then the second stacked component (the one farther away from the second conveyor line 150 in the second direction) is transported to the second conveyor line 150 using the stacking transport mechanism 140.

[0127] The beneficial effects of the sorting and stacking method provided in this embodiment are the same as those in the first embodiment, and will not be repeated here.

[0128] The above are merely preferred embodiments of this disclosure and are not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure. Industrial applicability

[0129] The above solution enables the sorting and stacking of flat parts of different sizes, has good versatility, reduces costs, improves economic efficiency, saves time and labor, improves sorting and stacking efficiency, and reduces the risk of damage and scrap rate.

Claims

1. A sorting and stacking method, characterized in that, Applied to a sorting and stacking device, the sorting and stacking device includes a frame and a first conveyor line, a second conveyor line, a sorting manipulator and two sets of stacking and transporting mechanisms installed on the frame. The first conveyor line is arranged in the middle of the frame. The second conveyor line is arranged parallel and spaced below the first conveyor line. The conveying directions of the first conveyor line and the second conveyor line are both the first direction. The two sets of stacking and transporting mechanisms are oppositely arranged on both sides of the second conveyor line; The sorting and stacking method includes: Using the sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to the stacking and transporting mechanism until a stacked part is formed on the stacking platform of the stacking and transporting mechanism. Among them, the stacked part includes a preset number of flat parts; Using the stacking and transporting mechanism to transport the stacked part to the second conveyor line. Where, if H < M / 3, then LMAX < M / 2 - N / 2; if H ≥ M / 3, then LMAX = M / 2 - N / 2 to prevent the stacking and transporting mechanism from interfering with the frame. In the formula, H is the width of the flat part in the second direction, M is the width of the frame in the second direction, LMAX is the maximum translation distance of the stacking and transporting mechanism in the second direction, and N is the width of the stacking platform in the second direction. The second direction is perpendicular to the first direction.

2. The sorting and stacking method according to claim 1, characterized in that, The frame includes two bottom beams arranged oppositely, and a让位 space is formed between the two bottom beams. The stacking and transporting mechanism includes a translation module and a lifting module. The stacking platform is connected to the top of the lifting module. The lifting module is slidably installed on the translation module. The translation module is slidably installed on the bottom beam; The step of using the stacking and transporting mechanism to transport the stacked part to the second conveyor line includes: If H < M / 3, the lifting module is located above the让位 space. Use the lifting module to drive the stacked part to descend along the third direction so that the lifting module partially extends out of the让位 space. And use the translation module to drive the stacked part to approach the second conveyor line along the second direction until the stacked part is transported to the second conveyor line. Among them, the third direction, the second direction and the first direction are perpendicular to each other; If H ≥ M / 3, the lifting module is located above the让位 space. Use the translation module to drive the stacked part to approach the second conveyor line along the second direction so that the lifting module crosses the bottom beam. Then use the lifting module to drive the stacked part to descend along the third direction so that the lifting module partially extends out of the让位 space. And use the translation module to drive the stacked part to move along the second direction until the stacked part is transported to the second conveyor line.

3. The sorting and stacking method according to claim 1 or 2, characterized in that, The step of using the sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to the stacking and transporting mechanism until a stacked part is formed on the stacking platform of the stacking and transporting mechanism includes: If H < M / 2 - N / 2, the flat parts located on the stacking table and the flat parts located on the first conveyor line are arranged at intervals in the second direction; if H ≥ M / 2 - N / 2, the flat parts located on the stacking table and the flat parts located on the first conveyor line are abutted or partially overlapped in the second direction, and the top surface of the flat part on the stacking table is lower than the bottom surface of the flat part on the first conveyor line.

4. The sorting and stacking method according to any one of claims 1-3, characterized in that, The step of using the sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to the stacking and conveying mechanism until stacking parts are formed on the stacking table of the stacking and conveying mechanism includes: Whenever the sorting manipulator stacks a flat part onto the stacking table, the stacking and conveying mechanism descends by the thickness of one flat part.

5. The sorting and stacking method according to any one of claims 1-4, characterized in that, The step of using the sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to the stacking and conveying mechanism until stacking parts are formed on the stacking table of the stacking and conveying mechanism includes: If H < M / 3, two stacking parts arranged at intervals in the second direction are formed on the stacking table.

6. The sorting and stacking method according to claim 5, characterized in that, The step of using the stacking and conveying mechanism to convey the stacking parts to the second conveyor line includes: Using the stacking and conveying mechanism to convey the first stacking part to the second conveyor line; Controlling the stacking and conveying mechanism to retreat, and using the second conveyor line to feed the first stacking part forward; Using the stacking and conveying mechanism to convey the second stacking part to the second conveyor line.

7. The sorting and stacking method according to any one of claims 1-6, characterized in that, The number of each group of the stacking and conveying mechanisms is multiple, and multiple stacking and conveying mechanisms in each group are arranged at intervals in sequence along the first direction; The step of using the sorting manipulator to sort multiple flat parts conveyed by the first conveyor line to the stacking and conveying mechanism until stacking parts are formed on the stacking table of the stacking and conveying mechanism includes: Selecting the number of the stacking and conveying mechanisms used for single-time sorting and stacking according to the length of the flat part in the first direction.

8. The sorting and stacking method according to any one of claims 1-7, characterized in that, After the step of using the stacking and conveying mechanism to convey the stacking parts to the second conveyor line, the sorting and stacking method further includes: Controlling the stacking and conveying mechanism to reset, and using the second conveyor line to feed the stacking parts forward.

9. The sorting and stacking method according to any one of claims 1-8, characterized in that, The translation speed of the stacking and conveying mechanism in the second direction during feeding is less than the translation speed of the stacking and conveying mechanism in the second direction during resetting.

10. A sorting and stacking device, characterized in that, For implementing the sorting and stacking method according to any one of claims 1-9, the sorting and stacking device includes: A frame; A first conveyor line, installed on the frame and arranged in the middle of the frame, and the first conveyor line is configured to sequentially convey flat parts along the first direction; A sorting manipulator, installed on the frame; A second conveyor line, installed on the frame and arranged parallel and at intervals below the first conveyor line; Two groups of stacking and conveying mechanisms, installed on the frame and oppositely arranged on both sides of the second conveyor line; The sorting robot is configured to sort multiple flat pieces conveyed by the first conveyor line to the stacking conveyor mechanism until they are stacked on the stacking platform of the stacking conveyor mechanism to form a stack, wherein the stack includes a preset number of flat pieces; the stacking conveyor mechanism is configured to transport the stack to the second conveyor line.

11. The sorting and stacking device according to claim 10, characterized in that, The frame includes two opposing bottom beams with a clearance space between them. The stacking and conveying mechanism includes a translation module and a lifting module. The stacking platform is connected to the top of the lifting module. The lifting module is slidably mounted on the translation module and the translation module is slidably mounted on the bottom beam. The clearance space is configured to allow clearance for the lifting module.

12. The sorting and stacking device according to claim 11, characterized in that, The translation module includes a first driving component and a translation frame. The bottom beam is provided with a first guide rail extending along a second direction. The first driving component is connected to the translation frame, and the translation frame is slidably engaged with the first guide rail.

13. The sorting and stacking device according to claim 12, characterized in that, The lifting module includes a second drive component and a lifting frame. The translation frame is provided with a second guide rail extending along a third direction. The second drive component is installed on the translation frame and connected to the lifting frame. The stacking platform is connected to the top of the lifting frame. The lifting frame is slidably engaged with the second guide rail. The first direction, the second direction, and the third direction are perpendicular to each other.

14. The sorting and stacking apparatus according to any one of claims 10-13, characterized in that, The second conveyor line has a mover with multiple clearance slots. The stacking platform includes multiple parallel and spaced forks, each fork corresponding to a clearance slot. The stacking conveying mechanism is configured to drive the multiple forks to extend into the multiple clearance slots one by one to transfer the stacked items onto the mover.

15. The sorting and stacking apparatus according to any one of claims 10-14, characterized in that, The sorting robot includes a robotic arm and a vacuum suction cup. The vacuum suction cup is mounted on the robotic arm and configured to adsorb flat plates. The robotic arm is configured to drive the vacuum suction cup to move.

16. The sorting and stacking apparatus according to any one of claims 10-15, characterized in that, The number of stacking and conveying mechanisms in each group is multiple, and the multiple stacking and conveying mechanisms in each group are arranged at intervals along the first direction.

17. The sorting and stacking apparatus according to any one of claims 10-16, characterized in that, The sorting and stacking device further includes a detection mechanism and a rejection mechanism. The rejection mechanism is installed on the frame and located at the end of the first conveyor line. The detection mechanism is electrically connected to both the sorting robot and the rejection mechanism. The detection mechanism is configured to control the sorting robot to stop moving and control the rejection mechanism to reject the waste when it detects that the flat piece being conveyed by the first conveyor line is a waste product.

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