CN211733165U - Automatic stacking production line - Google Patents

Abstract

The utility model discloses an automatic stacking production line, which comprises a product taking device, an angle code taking device and a stacking positioning device, wherein the product taking device is provided with a conveying line, a first robot and a first end effector arranged on the first robot; the angle code taking device is provided with a material placing table, a second robot and a second end effector arranged on the second robot; the stacking positioning device is provided with a positioning processing platform and a plurality of groups of positioning mechanisms, a plate placing area is arranged on the upper side face of the positioning processing platform, the plurality of groups of positioning mechanisms are arranged outside the plate placing area in a surrounding mode, each positioning mechanism is provided with a bearing transverse plate capable of extending above the plate placing area and used for bearing an angle code and a clamping unit capable of clamping the angle code, the plurality of bearing transverse plates and the angle codes on the bearing transverse plates cooperate to bear products, and the plurality of bearing transverse plates can also be used for horizontal position adjustment. The automatic stacking production line has the advantages of high automation degree, high control precision and the like, and can effectively prevent the product stack from inclining.

Description

Automatic stacking production line

Technical Field

The utility model relates to a pile up neatly production and processing technology field specifically provides an automatic pile up neatly production line.

Background

In the production line, the stacking operation can be frequently carried out, namely, products are stacked on trays and pallets according to a certain arrangement by using a stacker crane, and the stacked products are transported to a warehouse for storage through a forklift after being stacked for multiple layers. However, in the existing palletizing operation, the following disadvantages exist: the automation degree is low, more operators are required to participate in the work, time and labor are wasted, and the production efficiency is low; secondly, the product stacks can be inclined after reaching a certain height, so that the product stacks are not level up and down, and the carrying of a forklift at the back is not facilitated.

In view of this, the present invention is especially provided.

Disclosure of Invention

In order to overcome the defects, the utility model provides an automatic pile up neatly production line, it not only has rational in infrastructure, degree of automation is high, control advantages such as the precision is high, application scope is wide, still can prevent effectively that the product buttress from appearing the slope phenomenon, ensures the upper and lower parallel and level of product buttress, does benefit to fork truck transport at the back.

The utility model discloses a solve the technical scheme that its technical problem adopted and be: an automatic stacking production line comprises a product taking device, an angle code taking device and a stacking positioning device, wherein the product taking device is provided with a conveying line for conveying products, a first robot arranged beside the conveying line and a first end effector which is arranged on a tail end executing mechanism of the first robot and can take and place the products; the angle code taking device is provided with a material placing table for placing angle codes, a second robot arranged beside the material placing table and a second end effector which is arranged on a tail end executing mechanism of the second robot and can take and place the angle codes; the stacking positioning device is provided with a positioning processing platform and a plurality of groups of positioning mechanisms, a pallet placing area for placing pallets is distributed on the upper side surface of the positioning processing platform, the plurality of groups of positioning mechanisms are arranged outside the pallet placing area in a surrounding mode, each positioning mechanism is provided with a supporting transverse plate which can extend above the pallet placing area and is used for supporting corner connectors, the supporting transverse plates and the corner connectors on the supporting transverse plates cooperate to support products, the horizontal position of the supporting transverse plates can be adjusted, so that the supporting area formed by the surrounding of the supporting transverse plates is matched with the size of the products, and in addition, each positioning mechanism is provided with a clamping unit capable of clamping the corner connectors.

As a further improvement, the utility model discloses a product extracting device the angle sign indicating number extracting device with pile up neatly positioner is mutually independent and arranges.

As a further improvement of the utility model, the conveying line adopts a linear belt conveying line; the first robot adopts a six-axis robot, and an end executing mechanism of the six-axis robot is provided with a servo motor and a speed reducer which is connected with a power output shaft of the servo motor in a positioning way;

the first end effector is provided with a mounting frame, two picking arms and a plurality of suckers, wherein the mounting frame is positioned and connected to the power output end of the speed reducer, the two picking arms are of transversely arranged strip structures, the two picking arms are arranged on the lower side of the mounting frame side by side, and the two picking arms can also approach to or move away from each other; the plurality of suckers are correspondingly arranged on the two picking arms respectively;

in addition, the structure for realizing that the two picking arms can be close to or far away from each other is as follows: the device is characterized in that a first adjusting assembly is arranged, the first adjusting assembly is provided with a first adjusting motor and a first adjusting screw rod, the first adjusting motor is arranged on the installation frame in a positioning mode, the first adjusting screw rod is arranged on the installation frame in a rotating mode and extends in the parallel direction of the two picking arms, one shaft end of the first adjusting screw rod is in transmission connection with a power output shaft of the first adjusting motor, two first thread sections with opposite thread directions are further formed on the first adjusting screw rod, and the two picking arms are correspondingly sleeved on the two first thread sections through nut sleeves respectively.

As a further improvement of the present invention, the material placing table has a base, a rotating platform rotatably mounted on the upper side surface of the base, and a plurality of material stacking frames mounted on the upper side surface of the rotating platform and used for placing a plurality of corner connectors in an up-and-down overlapping manner, each material stacking frame has a plurality of rails and a lifting plate, the plurality of rails are all positioned and mounted on the upper side surface of the rotating platform, and the plurality of rails also jointly enclose a stacking space for limiting the plurality of corner connectors, the lifting plate is movably sleeved on the plurality of rails, and the lifting plate can also be moved up and down for positioning so as to drive the plurality of corner connectors to move up and down;

in addition, the lifting plate can move up and down to be positioned by the following structure: the lifting device is characterized in that a plurality of groups of lifting components are arranged, the lifting components are matched with the material accumulation frames in a one-to-one correspondence manner, each lifting component is provided with a lifting motor, a lifting screw rod extending vertically and a lifting nut screwed on the lifting screw rod, the lifting motor is arranged in the machine base, the lifting motor is also connected with the lower side surface of the rotating platform in a positioning manner, the lower shaft end of the lifting screw rod is in transmission connection with a power output shaft of the lifting motor, the upper shaft end of the lifting screw rod extends into a stacking space of the material accumulation frame, the lifting nut can be positioned in an up-and-down manner under the synergistic effect of the lifting motor and the lifting screw rod, and the lifting nut is also connected with the lifting plate in a positioning manner;

the second robot and the first robot have the same structure, and a six-axis robot is also adopted; the second end effector is provided with a mounting seat, a fixed arm and a movable arm, wherein the mounting seat is connected to the power output end of the speed reducer of the second robot in a positioning mode, the fixed arm and the movable arm are both transversely arranged long strip structures, the fixed arm and the movable arm are arranged on the lower side of the mounting seat side by side, the fixed arm is further fixed relative to the mounting seat in position, the movable arm can move towards or away from the fixed arm, a pair of first clamping jaws are further respectively arranged on the fixed arm and the movable arm, and the paired first clamping jaws can also move close to or away from each other along the length direction of the fixed arm;

in addition, the structure for realizing that the movable arm can move towards or away from the fixed arm is as follows: the adjusting mechanism is provided with a second adjusting assembly, the second adjusting assembly is provided with a second adjusting motor which is positioned and installed on the installation seat, an adjusting screw rod which extends along the parallel direction of the fixed arm and the moving arm and is rotatably installed on the installation seat, and an adjusting nut which is in threaded connection with the adjusting screw rod, one shaft end of the adjusting screw rod is in transmission connection with a power output shaft of the second adjusting motor, the adjusting nut can perform reciprocating movement positioning along the length direction of the adjusting screw rod under the synergistic action of the second adjusting motor and the adjusting screw rod, and the adjusting nut is also in positioning connection with the moving arm;

the structure for realizing that the paired first clamping jaws can also move close to or away from each other along the length direction of the fixed arm is as follows: the clamping mechanism is provided with a third adjusting component and a fourth adjusting component, wherein the third adjusting component is provided with a third adjusting motor which is positioned and installed on the fixed arm and a second adjusting screw rod which extends along the length direction of the fixed arm and is rotatably installed on the fixed arm, one shaft end of the second adjusting screw rod is in transmission connection with a power output shaft of the third adjusting motor, two sections of second thread sections with opposite thread directions are further formed on the second adjusting screw rod, and a pair of first clamping jaws are correspondingly sleeved on the two sections of second thread sections through nut sleeves respectively; the fourth adjusting assembly is provided with a fourth adjusting motor and a third adjusting screw rod, the fourth adjusting motor is installed on the moving arm in a positioned mode, the third adjusting screw rod extends along the length direction of the moving arm and is installed on the moving arm in a rotating mode, one shaft end of the third adjusting screw rod is in transmission connection with a power output shaft of the fourth adjusting motor, two third thread sections with opposite thread directions are further formed on the third adjusting screw rod, and the other pair of first clamping jaws are correspondingly sleeved on the two third thread sections through nut sleeves respectively.

As a further improvement of the utility model, the plate placing area is square; the positioning mechanisms are four groups, wherein two groups of positioning mechanisms are respectively arranged outside two long sides of the plate placing area, and the rest two groups of positioning mechanisms are uniformly arranged outside one wide side of the plate placing area; in addition, the length direction of the board placing area is defined as the X-axis direction, and the width direction of the board placing area is defined as the Y-axis direction; the bearing transverse plates and the clamping units in each positioning mechanism can synchronously perform reciprocating movement positioning along the X-axis direction and the Y-axis direction, each bearing transverse plate can also perform telescopic motion relative to the plate placing area, and each clamping unit can also rotate relative to the plate placing area.

As the utility model discloses a further improvement realizes each among the positioning mechanism accept the diaphragm with press from both sides the structure that the unit can carry out reciprocating motion location along X axle direction and Y axle direction in step and do: each positioning mechanism comprises a power unit capable of providing power for moving along the X-axis direction and the Y-axis direction, and the receiving transverse plate and the clamping unit are respectively arranged on a tail end output part of the power unit;

realize each accept the diaphragm still all can be relative put the board region and do concertina movement's structure does: a first driving cylinder is positioned and arranged on the tail end output part of each power unit, a piston rod of each first driving cylinder points to the plate placing area, and the piston rod of each first driving cylinder is also connected with the transverse bearing plate in a positioning mode;

realize each it still all can be relatively to press from both sides the unit put the regional structure that rotates of board and be: and a vertical rotating main shaft and a rotating motor capable of driving the rotating main shaft to rotate are arranged on the tail end output part of each power unit, and the clamping unit is positioned on the top side of the rotating main shaft.

As a further improvement of the present invention, each of the clamping units has a vertical stand and a plurality of second driving cylinders, wherein the vertical stand is fixedly mounted on the top side of the rotating spindle, the plurality of second driving cylinders are vertically mounted on the vertical stand in parallel, and a second clamping jaw for clamping an angle bracket is also respectively positioned and mounted on the piston rods of the plurality of second driving cylinders;

each L-shaped limiting block for limiting the corner connectors is further arranged on the upper side of the bearing transverse plate, the L-shaped limiting blocks and the bearing transverse plate are mutually independent, the L-shaped limiting blocks can also move in a telescopic mode relative to the plate placing area, and the concrete implementation structure is as follows: and a third driving cylinder is also positioned on the tail end output part of each power unit, a piston rod of the third driving cylinder points to the plate placing area, and the piston rod of the third driving cylinder is also connected with the L-shaped limiting block in a positioning manner.

As a further improvement of the utility model, a first mounting plate is respectively positioned and arranged outside two long side sides of the plate placing area, and a second mounting plate is positioned and arranged outside a wide side of the plate placing area; two groups of positioning mechanisms are respectively arranged on the two first mounting plates, and the rest two groups of positioning mechanisms are respectively arranged on the second mounting plate;

defining two groups of positioning mechanisms on the two first mounting plates as first positioning mechanisms, defining two groups of positioning mechanisms on the second mounting plate as second positioning mechanisms, correspondingly defining a power unit in the first positioning mechanism as a first power unit, and defining a power unit in the second positioning mechanism as a second power unit;

each first power unit comprises a first supporting plate seat, a second supporting plate seat, a first X-axis driving module and a first Y-axis driving module, wherein the first supporting plate seat is slidably mounted on the first mounting plate and can also perform reciprocating movement and positioning along the X-axis direction under the driving of the first X-axis driving module, the second supporting plate seat is slidably mounted on the upper side of the first supporting plate seat, and the second supporting plate seat can also perform reciprocating movement positioning along the Y-axis direction under the driving of the first Y-axis driving module, the second supporting plate seat is a tail end output part of the first power unit, and the bearing transverse plate, the clamping unit, the first driving cylinder, the rotating main shaft and the rotating motor in the first positioning mechanism are respectively arranged on the second supporting plate seat;

each second power unit comprises a third supporting plate seat, a fourth supporting plate seat, a second X-axis driving module and a second Y-axis driving module, wherein the third supporting plate seat is slidably mounted on the second mounting plate and can also perform reciprocating movement and positioning along the Y-axis direction under the driving of the second Y-axis driving module, the fourth supporting plate seat is slidably mounted on the upper side of the third supporting plate seat, and the fourth supporting plate seat can also perform reciprocating movement positioning along the X-axis direction under the driving of the second X-axis driving module, the fourth supporting plate seat is a tail end output part of the second power unit, and the bearing transverse plate, the clamping unit, the first driving cylinder, the rotating main shaft and the rotating motor in the second positioning mechanism are respectively installed on the fourth supporting plate seat.

As a further improvement of the present invention, each of the first X-axis driving modules has a first motor installed on one of the first mounting plates in a positioning manner, a first lead screw extending along the X-axis direction and rotatably installed on one of the first mounting plates, and a first nut sleeve sleeved on the first lead screw in a threaded manner, and an end of the first lead screw is in transmission connection with a power output shaft of the first motor, the first nut sleeve can perform reciprocating movement positioning along the X-axis direction under the synergistic effect of the first motor and the first lead screw, and meanwhile, the first nut sleeve is also in positioning connection with one of the first support plate holders;

each first Y-axis driving module is provided with a second motor, a second lead screw and a second nut sleeve, wherein the second motor is positioned and installed on the upper side of the first supporting plate seat, the second lead screw extends along the Y-axis direction and is rotatably installed on the upper side of the first supporting plate seat, the second nut sleeve is in threaded sleeve connection with the second lead screw, one shaft end of the second lead screw is in transmission connection with a power output shaft of the second motor, the second nut sleeve can perform reciprocating movement and positioning along the Y-axis direction under the synergistic action of the second motor and the second lead screw, and meanwhile, the second nut sleeve is also in positioning connection with the second supporting plate seat;

each second Y-axis driving module is provided with a third motor, a third lead screw and a third nut sleeve, wherein the third motor is positioned and installed on the second installation plate, the third lead screw extends along the Y-axis direction and is rotatably installed on the second installation plate, the third nut sleeve is sleeved on the third lead screw in a threaded manner, one shaft end of the third lead screw is in transmission connection with a power output shaft of the third motor, the third nut sleeve can perform reciprocating movement and positioning along the Y-axis direction under the synergistic action of the third motor and the third lead screw, and meanwhile, the third nut sleeve is also in positioning connection with the third support plate base;

each second X-axis driving module is provided with a fourth motor, a fourth lead screw, and a fourth nut sleeve, wherein the fourth motor is positioned and installed on the upper side of the third supporting plate seat, the fourth lead screw extends along the X-axis direction and is rotatably installed on the upper side of the third supporting plate seat, the fourth nut sleeve is in threaded sleeve connection with the fourth lead screw, one shaft end of the fourth lead screw is in transmission connection with a power output shaft of the fourth motor, the fourth nut sleeve can perform reciprocating movement and positioning along the X-axis direction under the synergistic action of the fourth motor and the fourth lead screw, and the fourth nut sleeve is also in positioning connection with the fourth supporting plate seat;

in addition, each second supporting plate seat is of a hollow box structure, and one side, facing the plate placing area, of each second supporting plate seat is open; the first driving cylinder in the first positioning mechanism is positioned and installed in the second supporting plate seat, and meanwhile, a piston rod of the first driving cylinder points to an opening of the second supporting plate seat, and the rotating main shaft, the rotating motor and the clamping unit in the first positioning mechanism are respectively installed on the top side of the second supporting plate seat;

each fourth supporting plate seat is also of a hollow box structure, and one side, facing the plate placing area, of each fourth supporting plate seat is also of an opening shape; the first driving cylinder in the second positioning mechanism is installed in the fourth supporting plate seat in a positioning mode, a piston rod of the first driving cylinder points to an opening of the fourth supporting plate seat, and the rotating main shaft, the rotating motor and the clamping unit in the second positioning mechanism are installed on the top side of the fourth supporting plate seat respectively.

As a further improvement, the utility model discloses a this automatic pile up neatly production line still includes one to enclose and locates product extracting device angle sign indicating number extracting device with the outer safety protection fence of pile up neatly positioner, and install safety grating, three-color lamp and control the panel on the safety protection fence.

The utility model has the advantages that: the automatic stacking production line is reasonable in structure, high in automation degree and high in control precision, production efficiency and production quality are improved, too many operators are not needed, production cost is reduced, and the requirement of automatic industrial production is well met. The stacking positioning device is provided with a plurality of groups of clamping units, and when products are stacked to a certain height, the clamping units can cooperate to clamp and hold the product stacks, so that the product stacks can be effectively prevented from being inclined, the product stacks are horizontally arranged from top to bottom, and the carrying by a forklift at the back is facilitated. And a plurality of bearing transverse plates in the stacking positioning device can be adjusted horizontally, so that the bearing areas surrounded by the bearing transverse plates are matched with the product size, and the application range of the automatic stacking production line is greatly expanded.

Drawings

Fig. 1 is a schematic structural view of the automatic stacking production line of the present invention;

fig. 2 is a schematic structural view of the product taking device and the detecting device of the present invention when they are assembled together;

FIG. 3 is an enlarged view of the portion A shown in FIG. 2;

fig. 4 is a schematic structural view of the corner brace taking device of the present invention;

fig. 5 is a schematic structural view of the second robot and the second end effector of the present invention when they are assembled together;

fig. 6 is a schematic structural view of the stacking positioning device of the present invention;

FIG. 7 is an enlarged view of the portion B shown in FIG. 6;

fig. 8 is an enlarged schematic view of the portion C shown in fig. 6.

The following description is made with reference to the accompanying drawings:

1-a product take-off device; 10, conveying line; 11-a first robot; 12 — a first end effector; 120-a mounting frame; 121-a pick-up arm; 122 — a suction cup; 2-corner brace taking device; 20, a material placing table; 200-a stand; 201-rotating platform; 202-material accumulation frame; 21-a second robot; 22 — a second end effector; 220-mounting seat; 221-fixed arm; 222-moving the arm; 223 — a first jaw; 224 — a second adjustment motor; 3-a stacking positioning device; 30, positioning a processing platform; 31-a positioning mechanism; 310-receiving transverse plates; 311 — a clipping unit; 3110-vertical stand; 3111 — second drive cylinder; 3112 — second jaw; 3113-mounting the board seat; 312 — a rotating electrical machine; 313-an L-shaped restriction block; 3140 — a first support plate seat; 3141 — a second support plate seat; 3142 — a first lead screw; 3143 — a second motor; 3144 — second lead screw; 3150 — a third support plate seat; 3151-a fourth support plate seat; 3152-third lead screw; 3153-a fourth motor; 32 — a first mounting plate; 33-a second mounting plate; 4, safety protective guard; 5-a detection device; 50-detecting the transmission line; 51-material stop sheet.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and the present invention is not limited to the embodiments described in the present application.

It should be understood that the structures, ratios, sizes, etc. shown in the drawings attached to the present specification are only used for matching with the contents disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any modification of the structures, changes of the ratio relation or adjustment of the size should still fall within the scope covered by the technical contents disclosed in the present invention without affecting the function and the achievable purpose of the present invention. The terms "first, second, third and fourth" and the like in the description are used for convenience of description and are not intended to limit the scope of the invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes.

Example 1:

referring to fig. 1 to 8, the automatic stacking production line of the present invention includes a product taking device 1, an angle code taking device 2 and a stacking positioning device 3, wherein the product taking device 1 includes a conveying line 10 for conveying a product (such as a tv back plate), a first robot 11 disposed beside the conveying line 10, and a first end effector 12 mounted on an end executing mechanism of the first robot 11 and capable of picking and placing a product; the angle code taking device 2 is provided with a material placing table 20 for placing an angle code J, a second robot 21 arranged beside the material placing table 20, and a second end effector 22 which is arranged on a tail end executing mechanism of the second robot 21 and can take and place the angle code; the stacking and positioning device 3 comprises a positioning and processing platform 30 and a plurality of sets of positioning mechanisms 31, wherein a pallet placing area for placing pallets is arranged on the upper side surface of the positioning and processing platform 30, the plurality of sets of positioning mechanisms 31 are enclosed outside the pallet placing area, each positioning mechanism 31 is respectively provided with a supporting transverse plate 310 which can extend above the pallet placing area and is used for supporting an angle brace, the plurality of supporting transverse plates 310 and the angle braces thereon cooperate to support products, the plurality of supporting transverse plates 310 can also carry out horizontal position adjustment so that the supporting area enclosed by the plurality of supporting transverse plates 310 is matched with the size of the products, in addition, each positioning mechanism 31 is also respectively provided with a clamping unit 311 which can clamp the angle brace, and the plurality of clamping units can cooperate to prevent the products from tilting after being stacked to a certain height, ensuring that the product stack is level up and down; in addition, in order to improve the production efficiency, a plurality of stacking positioning devices 3 can be arranged in one automatic stacking production line.

In this embodiment, preferably, the product taking device 1, the corner code taking device 2 and the stacking and positioning device 3 are arranged independently.

In this embodiment, preferably, the conveyor line 10 is a linear belt conveyor line, and a positioning cylinder and a positioning block which are matched with each other are further disposed on a discharge side of the conveyor line 10, so as to position a product, and facilitate material taking by the first end effector 12; the first robot 11 is a six-axis robot, and an end executing mechanism of the six-axis robot is provided with a servo motor and a speed reducer which is connected with a power output shaft of the servo motor in a positioning way, and the six-axis robot belongs to a known device in the mechanical field, so the six-axis robot is not described in detail;

the first end effector 12 has a mounting frame 120, two picking arms 121 and a plurality of suction cups 122, as shown in fig. 3 in particular, wherein the mounting frame 120 is positioned and connected to a power output end of the speed reducer, the two picking arms 121 are both transversely arranged long strip structures, the two picking arms 121 are arranged side by side on a lower side of the mounting frame 120 (the side by side direction of the two picking arms 121 is perpendicular to the length direction thereof), and the two picking arms 121 can also approach or move away from each other, so that the distance between the two picking arms 121 matches with the product size; the suction cups 122 are correspondingly arranged on the two picking arms 121 respectively;

in addition, the structure that the two picking arms 121 can approach or depart from each other is as follows: the adjusting mechanism is provided with a first adjusting assembly, the first adjusting assembly is provided with a first adjusting motor and a first adjusting screw rod, the first adjusting motor is arranged on the installation frame 120 in a positioning mode, the first adjusting screw rod extends in the parallel direction of the two picking arms 121 and is rotatably arranged on the installation frame 120 through a bearing seat, one shaft end of the first adjusting screw rod is in transmission connection with a power output shaft of the first adjusting motor, two first thread sections with opposite thread directions are further formed on the first adjusting screw rod, and the two picking arms 121 are correspondingly sleeved on the two first thread sections through nut sleeves respectively.

In this embodiment, preferably, the material placing table 20 has a base 200, a rotating platform 201 rotatably installed on an upper side surface of the base 200, and a plurality of material stacking frames 202 which are annularly installed on an upper side surface of the rotating platform 201 and are used for a plurality of corner connectors to be stacked up and down, as shown in fig. 4, each material stacking frame 202 has a plurality of rails and a lifting plate, the plurality of rails are all positioned and installed on an upper side surface of the rotating platform 201, and the plurality of rails together form a stacking space for limiting the plurality of corner connectors, the lifting plate is movably sleeved on the plurality of rails, and the lifting plate can also be moved up and down to be positioned so as to drive the plurality of corner connectors to move up and down and cooperate with the second end effector to be clamped;

in addition, the lifting plate can move up and down to be positioned by the following structure: a plurality of groups of lifting components are arranged, the plurality of groups of lifting components are matched with the plurality of material stacking frames 202 in a one-to-one correspondence manner, each lifting component is provided with a lifting motor, a lifting screw rod extending vertically and a lifting nut screwed on the lifting screw rod, the lifting motor is arranged in the machine base 200, the lifting motor is also connected with the lower side surface of the rotating platform 201 in a positioning manner, the lower shaft end of the lifting screw rod is in transmission connection with the power output shaft of the lifting motor, the upper shaft end of the lifting screw rod extends into the stacking space of one material stacking frame, the lifting nut can move up and down under the synergistic effect of the lifting motor and the lifting screw rod for positioning, and the lifting nut is also connected with the lifting plate in a positioning manner;

the second robot 21 and the first robot 11 have the same structure, and a six-axis robot is also adopted; the second end effector 22 has a mounting base 220, a fixed arm 221 and a moving arm 222, as shown in fig. 5, wherein the mounting base 220 is connected to the power output end of the speed reducer of the second robot 21 in a positioning manner, the fixed arm 221 and the moving arm 222 are both transversely arranged long strip structures, the fixed arm 221 and the moving arm 222 are arranged on the lower side of the mounting base 220 side by side (the parallel direction of the fixed arm and the moving arm is perpendicular to the length direction thereof), and the fixed arm 221 is also fixed in position relative to the mounting base 220, that is, the fixed arm 221 is fixedly mounted on the lower side of the mounting base 220, the moving arm 222 is also capable of moving towards or away from the fixed arm 221, and a pair of first clamping jaws 223 (which may adopt pneumatic clamping jaws) are respectively mounted on the fixed arm 221 and the moving arm 222, the pair of first clamping jaws 223 can also move close to or away from each other along the length direction of the fixed arm 221 and the movable arm 222; the position adjustment of the moving arm 222 and the first clamping jaw 223 is to match the positions of the two pairs of clamping jaws with the size of a product, so that an angle code can be conveniently put on the stacking and positioning device 3;

further, the structure in which the moving arm 222 can move toward or away from the fixed arm 221 is: a second adjusting component is arranged, the second adjusting component is provided with a second adjusting motor 224 which is positioned and installed on the installation base 220, an adjusting screw rod which extends along the parallel direction of the fixed arm and the moving arm and is rotatably installed on the installation base 220, and an adjusting nut which is screwed on the adjusting screw rod, one shaft end of the adjusting screw rod is in transmission connection with a power output shaft of the second adjusting motor 224, the adjusting nut can perform reciprocating movement positioning along the length direction of the adjusting screw rod under the synergistic action of the second adjusting motor 224 and the adjusting screw rod, and the adjusting nut is also in positioning connection with the moving arm 222;

the structure for realizing the mutual approaching or separating movement of the pair of first clamping jaws 223 along the length direction of the fixed arm 221 is as follows: the device is provided with a third adjusting component and a fourth adjusting component, wherein the third adjusting component is provided with a third adjusting motor which is positioned and installed on the fixed arm 221, and a second adjusting screw rod which extends along the length direction of the fixed arm and is rotatably installed on the fixed arm through a bearing seat, one shaft end of the second adjusting screw rod is in transmission connection with a power output shaft of the third adjusting motor, two second thread sections with opposite thread directions are further formed on the second adjusting screw rod, and a pair of first clamping jaws 223 are respectively and correspondingly sleeved on the two second thread sections through nut sleeves; the fourth adjusting component is provided with a fourth adjusting motor which is positioned and installed on the moving arm 222, and a third adjusting screw which extends along the length direction of the moving arm and is installed on the moving arm in a rotating mode through a bearing seat, one shaft end of the third adjusting screw is connected with a power output shaft of the fourth adjusting motor in a transmission mode, two third thread sections with opposite thread directions are further formed on the third adjusting screw, and the other pair of first clamping jaws 223 are correspondingly sleeved on the two third thread sections through nut sleeves respectively.

In this embodiment, preferably, the board placing area is square; the positioning mechanisms 31 are four groups, wherein two groups of the positioning mechanisms 31 are respectively arranged outside two long sides of the plate placing area, and the remaining two groups of the positioning mechanisms 31 are uniformly arranged outside one wide side of the plate placing area (see fig. 6); in addition, the length direction of the board placing area is defined as the X-axis direction, and the width direction of the board placing area is defined as the Y-axis direction; the receiving transverse plates 310 and the clamping units 311 in each positioning mechanism 31 can synchronously perform reciprocating movement positioning along the X-axis direction and the Y-axis direction, each receiving transverse plate 310 can perform telescopic motion relative to the plate placing area, and each clamping unit 311 can rotate relative to the plate placing area.

Further preferably, the structure for realizing that the horizontal receiving plate 310 and the holding unit 311 in each positioning mechanism 31 can synchronously perform reciprocating positioning along the X-axis direction and the Y-axis direction is: each positioning mechanism 31 comprises a power unit capable of providing power for moving along the X-axis direction and the Y-axis direction, and the horizontal receiving plate 310 and the clamping unit 311 are respectively mounted on the tail end output components of the power unit;

the structure that each receiving transverse plate 310 can also do telescopic motion relative to the plate placing area is as follows: a first driving cylinder is positioned and arranged on the tail end output part of each power unit, a piston rod of the first driving cylinder points to the plate placing area (namely, the piston rod of the first driving cylinder can make telescopic motion relative to the plate placing area), and the piston rod of the first driving cylinder is also positioned and connected with the horizontal receiving plate 310;

the structure that each of the clamping units 311 can rotate relative to the board placing area is as follows: a vertical rotating main shaft and a rotating motor 312 capable of driving the rotating main shaft to rotate are arranged on the tail end output part of each power unit, and the clamping unit 311 is positioned on the top side of the rotating main shaft.

Further preferably, each of the holding units 311 has a vertical stand 3110 and a plurality of second driving cylinders 3111, which can be seen in fig. 7 and 8, wherein the vertical stand 3110 is fixedly mounted on a top side of the rotating spindle through a mounting plate seat 3113, the plurality of second driving cylinders 3111 are mounted on the vertical stand 3110 in parallel in the vertical direction, and a distance between two adjacent second driving cylinders 3111 can be adjusted, which can be achieved by providing a plurality of mounting holes arranged in the vertical direction on the vertical stand 3110, and when the position of the second driving cylinder 3111 is adjusted, the second driving cylinder 3111 is locked by a fastener, and a pneumatic second clamping jaw 3112 for holding corner codes is also mounted on each of the piston rods of the plurality of second driving cylinders 3111 in a positioning manner;

an L-shaped limiting block 313 for limiting an angle code is further arranged on the upper side of each of the receiving transverse plates 310, the L-shaped limiting blocks 313 and the receiving transverse plates 310 are independent from each other, and the L-shaped limiting blocks 313 can also do telescopic motion relative to the plate placing area, and the specific implementation structure is as follows: a third driving cylinder is further positioned and arranged on the tail end output component of each power unit, a piston rod of the third driving cylinder points to the plate placing area (namely, the piston rod of the third driving cylinder can make telescopic motion relative to the plate placing area), and the piston rod of the third driving cylinder is further connected with the L-shaped limiting block 313 in a positioning manner.

More preferably, a first mounting plate 32 is positioned and arranged outside each of two long sides of the board placing area, and a second mounting plate 33 is positioned and arranged outside one wide side of the board placing area; two groups of positioning mechanisms 31 are respectively arranged on the two first mounting plates 32, and the rest two groups of positioning mechanisms 31 are respectively arranged on the second mounting plate 33;

defining two groups of positioning mechanisms 31 on two first mounting plates 32 as first positioning mechanisms, two groups of positioning mechanisms 31 on a second mounting plate 33 as second positioning mechanisms, correspondingly defining a power unit in the first positioning mechanism as a first power unit, and defining a power unit in the second positioning mechanism as a second power unit;

each of the first power units includes a first supporting plate seat 3140, a second supporting plate seat 3141, a first X-axis driving module, and a first Y-axis driving module, as shown in fig. 7, wherein the first supporting plate seat 3140 is slidably mounted on the first mounting plate 32, the first supporting plate seat 3140 is further capable of performing reciprocating positioning along the X-axis direction under the driving of the first X-axis driving module, the second supporting plate seat 3141 is slidably mounted on the upper side of the first supporting plate seat 3140, the second supporting plate seat 3141 is further capable of performing reciprocating positioning along the Y-axis direction under the driving of the first Y-axis driving module, the second supporting plate seat 3141 is a terminal output component of the first power unit, and the receiving transverse plate 310, the clamping unit 311, the first driving cylinder, and the first positioning mechanism, The rotating main shaft and the rotating motor 312 are respectively installed on the second supporting plate seat 3141;

each of the second power units includes a third supporting plate seat 3150, a fourth supporting plate seat 3151, a second X-axis driving module, and a second Y-axis driving module, as shown in fig. 8, wherein the third supporting plate seat 3150 is slidably mounted on the second mounting plate 33, the third supporting plate seat 3150 is further capable of performing reciprocating positioning along the Y-axis direction under the driving of the second Y-axis driving module, the fourth supporting plate seat 3151 is slidably mounted on the upper side of the third supporting plate seat 3150, the fourth supporting plate seat 3151 is further capable of performing reciprocating positioning along the X-axis direction under the driving of the second X-axis driving module, the fourth supporting plate seat 3151 is a terminal output member of the second power unit, and the receiving transverse plate 310, the holding unit 311, the first driving cylinder, and the second positioning mechanism are further capable of performing reciprocating positioning along the X-axis direction, the fourth supporting plate seat 3151 is a terminal output member of the second power unit, and the receiving transverse plate 310, the holding unit 311, the first driving cylinder, The rotating spindle and the rotating motor 312 are respectively mounted on the fourth supporting plate base 3151.

Preferably, each of the first X-axis driving modules has a first motor positioned and mounted on a first mounting plate 32, a first lead screw 3142 extending along the X-axis direction and rotatably mounted on the first mounting plate 32, and a first nut sleeve threadedly sleeved on the first lead screw 3142, and an end of the first lead screw 3142 is in transmission connection with a power output shaft of the first motor through a synchronous pulley set, the first nut sleeve can be moved and positioned in a reciprocating manner along the X-axis direction under the cooperation of the first motor and the first lead screw 3142, and the first nut sleeve is also positioned and connected with a first supporting plate 3140;

each first Y-axis driving module has a second motor 3143 positioned and mounted on the upper side of the first support plate base 3140, a second lead screw 3144 extending along the Y-axis direction and rotatably mounted on the upper side of the first support plate base 3140, and a second nut sleeve threadedly sleeved on the second lead screw 3144, and one end of the second lead screw 3144 is in transmission connection with the power output shaft of the second motor 3143 through a synchronous pulley set, the second nut sleeve can perform reciprocating movement positioning along the Y-axis direction under the synergistic action of the second motor 3143 and the second lead screw 3144, and meanwhile, the second nut sleeve is also in positioning connection with the second support plate base 3141;

each second Y-axis driving module has a third motor positioned and mounted on the second mounting plate 33, a third lead screw 3152 extending along the Y-axis direction and rotatably mounted on the second mounting plate 33, and a third nut sleeve threadedly sleeved on the third lead screw 3152, and an end of the third lead screw 3152 is in transmission connection with a power output shaft of the third motor through a synchronous pulley set, the third nut sleeve can be moved and positioned in a reciprocating manner along the Y-axis direction under the synergistic effect of the third motor and the third lead screw 3152, and meanwhile, the third nut sleeve is also positioned and connected with the third supporting plate base 3150;

each second X-axis driving module has a fourth motor 3153 positioned and mounted on the upper side of the third supporting plate 3150, a fourth lead screw extending along the X-axis direction and rotatably mounted on the upper side of the third supporting plate 3150, and a fourth nut sleeve threadedly sleeved on the fourth lead screw, and an axial end of the fourth lead screw is in transmission connection with the power output shaft of the fourth motor 3153 through a synchronous pulley set, the fourth nut sleeve can be moved and positioned in a reciprocating manner along the X-axis direction under the synergistic action of the fourth motor 3153 and the fourth lead screw, and the fourth nut sleeve is also positioned and connected with the fourth supporting plate 3151;

in addition, each second supporting plate seat 3141 is a hollow box structure, and one side of each second supporting plate seat 3141 facing the plate placing area is open; the first driving cylinder and the third driving cylinder in the first positioning mechanism are positioned and installed in the second supporting plate seat 3141, and simultaneously, the piston rods of the first driving cylinder and the third driving cylinder point to the opening of the second supporting plate seat 3141, and the rotating spindle, the rotating motor 312 and the clamping unit 311 in the first positioning mechanism are all respectively installed on the top side of the second supporting plate seat 3141;

each fourth supporting plate seat 3151 is also of a hollow box structure, and one side of each fourth supporting plate seat 3151 facing the plate placing area is also open; the first driving cylinder and the third driving cylinder in the second positioning mechanism are positioned and installed in the fourth supporting plate 3151, and simultaneously, piston rods of the first driving cylinder and the third driving cylinder point to an opening of the fourth supporting plate 3151, and the rotating spindle, the rotating motor 312 and the clamping unit 311 in the second positioning mechanism are all installed on the top side of the fourth supporting plate 3151 respectively.

In this embodiment, preferably, the automatic stacking production line further includes a safety guard rail 4 which is arranged outside the product taking device 1, the angle code taking device 2 and the stacking positioning device 3, and the safety guard rail 4 is provided with a safety grating, a three-color lamp and an operation panel, so that personal safety of operators can be well guaranteed.

In addition, a detecting device 5 for detecting a product is further provided at the feeding side of the conveyor line 10, as shown in fig. 1 and 2, the detecting device 5 has a detecting conveyor line 50 arranged in an inclined manner, the upper side of the detecting conveyor line 50 is engaged with the feeding side of the conveyor line 10, the lower portion of the detecting conveyor line 50 is disposed outside the safety guard rail 4, and a blocking piece 51 is provided at the lower side of the detecting conveyor line 50. When products need to be detected, the PLC controls the conveying line 10 to reversely convey, so that the products flow into the detection conveying line 50, and then operators standing outside the safety protective guard 4 can detect the products, and therefore the operation safety of the operators can be well guaranteed.

Furthermore, the utility model also provides a processing method of automatic pile up neatly production line specifically is: 1) an external manipulator places an empty pallet in the pallet placing area, and the external manipulator transfers a product (such as a television backboard) to the conveyor line 10; according to the size of a product, the PLC controls four groups of power units, four groups of first driving cylinders and four groups of rotating motors 312 to act, so that the four receiving transverse plates 310 are moved to proper positions, the receiving area formed by the four receiving transverse plates 310 is matched with the size of the product, and the four clamping units 311 are adjusted to proper positions, so that the rear clamping corner connectors are convenient to clamp;

2) the PLC controls the second robot 21 to work, the second robot 21 transfers the second end effector 22 to the material placing table 20, the second end effector 22 clamps four corner codes J I, the four corner codes J I are respectively placed on the four receiving transverse plates 310 under the driving of the second robot 21, and at the moment, the four L-shaped limiting blocks 313 support and limit the four corner codes J I;

3) the PLC controls the first robot 11 to work, the first robot 11 transfers the first end effector 12 to the upper part of the conveying line 10, the first end effector 12 sucks a product I, and the product I is moved to four corner codes J I under the driving of the first robot 11; then, the second robot 21 drives the second end effector 22 to clamp the four corner connectors xii and correspondingly stack the four corner connectors xii on the four corner connectors ji respectively (the corner connectors can be stacked by a concave-convex structure); next, the first robot 11 drives the first end effector 12 to suck the product ii and place the product ii on four corner connectors jai; then, the second robot 21 drives the second end effector 22 to clamp the four corner connectors jiiii and correspondingly stack the four corner connectors jiii and … … respectively, and the stacking of a plurality of products can be realized through the circulation; in addition, in the stacking process of the products, when the products are stacked to a certain height, the piston rods of the second driving cylinders 3111 on the four clamping units 311 also extend out in sequence to realize that the second clamping jaws 3112 on the four clamping units can clamp and hold the corner connectors at a certain height, so that the phenomenon of inclination of the products after being stacked to a certain height can be prevented, and the material stack is ensured to be level up and down;

4) after the products are stacked to a set height, the PLC controls the four receiving transverse plates 310 to synchronously retract relative to the plate placing area so that the products are stacked on the pallet, then controls the four L-shaped limiting blocks 313 to synchronously retract relative to the plate placing area, controls the second clamping jaws 3112 on the four clamping units 311 to release angle codes, and controls the piston rods of the second driving cylinders 3111 to retract and reset; the pallet is then lifted by a forklift to carry the product stack to a warehouse for storage.

To sum up, automatic pile up neatly production line not only have rational in infrastructure, degree of automation height, control advantages such as the precision is high, application scope is wide, still can effectively prevent that the slope phenomenon from appearing in the product material buttress, guarantee the upper and lower parallel and level of product material buttress, do benefit to fork truck transport at the back.

The above description is only a preferred embodiment of the present invention, but not intended to limit the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as within the protection scope of the present invention.

Claims (10)

1. An automatic pile up neatly production line which characterized in that: the automatic stacking and taking device comprises a product taking device (1), an angle code taking device (2) and a stacking and positioning device (3), wherein the product taking device (1) is provided with a conveying line (10) used for conveying products, a first robot (11) arranged beside the conveying line (10) and a first end effector (12) which is arranged on a tail end executing mechanism of the first robot (11) and can take and place the products; the angle code taking device (2) is provided with a material placing table (20) for placing angle codes, a second robot (21) arranged beside the material placing table (20), and a second end effector (22) which is arranged on a tail end executing mechanism of the second robot (21) and can take and place the angle codes; the stacking positioning device (3) is provided with a positioning processing platform (30) and a plurality of groups of positioning mechanisms (31), a pallet placing area for placing pallets is arranged on the upper side face of the positioning processing platform (30), a plurality of groups of positioning mechanisms (31) are arranged outside the pallet placing area in a surrounding mode, each positioning mechanism (31) is provided with a bearing transverse plate (310) capable of extending above the pallet placing area and used for bearing corner codes, the bearing transverse plates (310) are in synergistic effect with the corner codes on the bearing transverse plates to bear products, the bearing transverse plates (310) can also be adjusted horizontally, so that the bearing area formed by the surrounding of the bearing transverse plates (310) is matched with the size of the products, and in addition, each positioning mechanism (31) is also provided with a clamping unit (311) capable of clamping the corner codes.

2. The automatic palletization line according to claim 1, characterized in that: the product taking device (1), the angle code taking device (2) and the stacking positioning device (3) are arranged independently.

3. The automatic palletization line according to claim 1, characterized in that: the conveying line (10) adopts a linear type belt conveying line; the first robot (11) adopts a six-axis robot, and an end executing mechanism of the six-axis robot is provided with a servo motor and a speed reducer which is connected with a power output shaft of the servo motor in a positioning way;

the first end effector (12) is provided with a mounting frame (120), two picking arms (121) and a plurality of suckers (122), wherein the mounting frame (120) is positioned and connected to the power output end of the speed reducer, the two picking arms (121) are transversely arranged long strip structures, the two picking arms (121) are arranged on the lower side of the mounting frame (120) side by side, and the two picking arms (121) can also approach to or move away from each other; the suction cups (122) are correspondingly arranged on the two picking arms (121) respectively;

in addition, the structure for realizing that the two pick-up arms (121) can also approach or depart from each other is as follows: the device is provided with a first adjusting assembly, the first adjusting assembly is provided with a first adjusting motor and a first adjusting screw rod, the first adjusting motor is installed on the installation frame (120) in a positioned mode, the first adjusting screw rod extends in the parallel direction of the two picking arms (121) and is installed on the installation frame (120) in a rotating mode, one shaft end of the first adjusting screw rod is in transmission connection with a power output shaft of the first adjusting motor, two first thread sections with opposite thread directions are further formed on the first adjusting screw rod, and the two picking arms (121) are correspondingly sleeved on the two first thread sections through nut sleeves respectively.

4. The automatic palletization line according to claim 3, characterized in that: the material placing table (20) is provided with a base (200), a rotating platform (201) which is rotatably installed on the upper side surface of the base (200), and a plurality of material collecting frames (202) which are installed on the upper side surface of the rotating platform (201) and used for a plurality of corner connectors to be placed in an up-and-down overlapping mode, each material collecting frame (202) is provided with a plurality of railings and a lifting plate, the railings are all fixedly installed on the upper side surface of the rotating platform (201), the railings further form a stacking space for limiting the corner connectors together, the lifting plates are movably sleeved on the railings, and can move up and down to be positioned so as to drive the corner connectors to move up and down;

in addition, the lifting plate can move up and down to be positioned by the following structure: the lifting mechanism is provided with a plurality of groups of lifting components, the plurality of groups of lifting components are matched with the plurality of material stacking frames (202) in a one-to-one correspondence manner, each lifting component is provided with a lifting motor, a lifting screw rod extending vertically and a lifting nut screwed on the lifting screw rod, the lifting motor is arranged in the base (200) and is also connected with the lower side surface of the rotating platform (201) in a positioning manner, the lower shaft end of the lifting screw rod is connected with a power output shaft of the lifting motor in a transmission manner, the upper shaft end of the lifting screw rod extends into a stacking space of one material stacking frame, the lifting nut can move up and down under the synergistic action of the lifting motor and the lifting screw rod for positioning, and the lifting nut is also connected with the lifting plate in a positioning manner;

the second robot (21) and the first robot (11) have the same structure, and a six-axis robot is also adopted;

the second end effector (22) has a mounting base (220), a fixed arm (221) and a moving arm (222), wherein the mounting seat (220) is positioned and connected to the power output end of the speed reducer of the second robot (21), the fixed arm (221) and the movable arm (222) are both transversely arranged strip-shaped structures, the fixed arm (221) and the moving arm (222) are arranged side by side on the lower side of the mounting seat (220), and the fixed arm (221) is also fixed relative to the mounting seat (220), the movable arm (222) can also move towards or away from the fixed arm (221), a pair of first clamping jaws (223) are respectively arranged on the fixed arm (221) and the movable arm (222), the first clamping jaws (223) in the pair can also move towards or away from each other along the length direction of the fixed arm (221);

further, the structure that enables the moving arm (222) to move toward or away from the fixed arm (221) is configured such that: the adjusting mechanism is provided with a second adjusting assembly, the second adjusting assembly is provided with a second adjusting motor (224) which is positioned and installed on the installation base (220), an adjusting screw rod which extends along the side-by-side direction of the fixed arm and the movable arm and is rotatably installed on the installation base (220), and an adjusting nut which is screwed on the adjusting screw rod, one shaft end of the adjusting screw rod is in transmission connection with a power output shaft of the second adjusting motor (224), the adjusting nut can perform reciprocating movement and positioning along the length direction of the adjusting screw rod under the synergistic effect of the second adjusting motor (224) and the adjusting screw rod, and the adjusting nut is also in positioning connection with the movable arm (222);

the structure for realizing that the first clamping jaws (223) in the pair can also move close to or away from each other along the length direction of the fixed arm (221) is as follows: the clamping mechanism is provided with a third adjusting component and a fourth adjusting component, wherein the third adjusting component is provided with a third adjusting motor which is positioned and installed on the fixed arm (221) and a second adjusting screw rod which extends along the length direction of the fixed arm and is rotatably installed on the fixed arm, one shaft end of the second adjusting screw rod is in transmission connection with a power output shaft of the third adjusting motor, two sections of second thread sections with opposite thread directions are further formed on the second adjusting screw rod, and a pair of first clamping jaws (223) are correspondingly sleeved on the two sections of second thread sections through nut sleeves respectively; the fourth adjusting component is provided with a fourth adjusting motor and a third adjusting screw rod, the fourth adjusting motor is positioned and installed on the moving arm (222), the third adjusting screw rod extends along the length direction of the moving arm and is rotatably installed on the moving arm, one shaft end of the third adjusting screw rod is in transmission connection with a power output shaft of the fourth adjusting motor, two third thread sections with opposite thread directions are further formed on the third adjusting screw rod, and the other pair of first clamping jaws (223) are correspondingly sleeved on the two third thread sections through nut sleeves respectively.

5. The automatic palletization line according to claim 1, characterized in that: the plate placing area is square; the positioning mechanisms (31) are four groups, wherein two groups of positioning mechanisms (31) are respectively arranged outside two long sides of the plate placing area, and the rest two groups of positioning mechanisms (31) are uniformly arranged outside one wide side of the plate placing area;

in addition, the length direction of the board placing area is defined as the X-axis direction, and the width direction of the board placing area is defined as the Y-axis direction; the bearing transverse plate (310) and the clamping unit (311) in each positioning mechanism (31) can synchronously perform reciprocating movement positioning along the X-axis direction and the Y-axis direction, each bearing transverse plate (310) can perform telescopic motion relative to the plate placing area, and each clamping unit (311) can rotate relative to the plate placing area.

6. The automatic palletization line according to claim 5, characterized in that: the structure for realizing the reciprocating movement positioning of the bearing transverse plate (310) and the clamping unit (311) in each positioning mechanism (31) along the X-axis direction and the Y-axis direction synchronously comprises the following structures: each positioning mechanism (31) comprises a power unit capable of providing power for moving along the X-axis direction and the Y-axis direction, and the horizontal receiving plate (310) and the clamping unit (311) are respectively arranged on the tail end output part of the power unit;

the structure for realizing that each bearing transverse plate (310) can also do telescopic motion relative to the plate placing area is as follows: a first driving air cylinder is positioned and arranged on the tail end output part of each power unit, a piston rod of each first driving air cylinder points to the plate placing area, and the piston rod of each first driving air cylinder is also connected with the transverse bearing plate (310) in a positioning mode;

the structure that each clamping unit (311) can rotate relative to the plate placing area is as follows: a vertical rotating main shaft and a rotating motor (312) capable of driving the rotating main shaft to rotate are arranged on the tail end output part of each power unit, and the clamping unit (311) is positioned on the top side of the rotating main shaft.

7. The automatic palletization line according to claim 6, characterized in that: each clamping and supporting unit (311) is provided with a vertical stand (3110) and a plurality of second driving cylinders (3111), wherein the vertical stand (3110) is fixedly mounted on the top side of the rotating spindle, the plurality of second driving cylinders (3111) are mounted on the vertical stand (3110) in parallel in the vertical direction, and second clamping jaws (3112) for clamping corner codes are respectively positioned and mounted on piston rods of the plurality of second driving cylinders (3111);

an L-shaped limiting block (313) used for limiting an angle code is further arranged on the upper side of each horizontal receiving plate (310), the L-shaped limiting blocks (313) and the horizontal receiving plates (310) are mutually independent, the L-shaped limiting blocks (313) can also do telescopic motion relative to the plate placing area, and the specific implementation structure is as follows: and a third driving cylinder is positioned and arranged on the tail end output component of each power unit, a piston rod of the third driving cylinder points to the plate placing area, and the piston rod of the third driving cylinder is also connected with the L-shaped limiting block (313) in a positioning mode.

8. The automatic palletization line according to claim 7, characterized in that: a first mounting plate (32) is respectively positioned and arranged outside two long side sides of the plate placing area, and a second mounting plate (33) is positioned and arranged outside one wide side of the plate placing area; two groups of positioning mechanisms (31) are respectively arranged on the two first mounting plates (32), and the rest two groups of positioning mechanisms (31) are uniformly arranged on the second mounting plate (33);

defining two groups of positioning mechanisms (31) on the two first mounting plates (32) as first positioning mechanisms, defining two groups of positioning mechanisms (31) on the second mounting plate (33) as second positioning mechanisms, correspondingly defining a power unit in the first positioning mechanism as a first power unit and defining a power unit in the second positioning mechanism as a second power unit;

each first power unit comprises a first supporting plate seat (3140), a second supporting plate seat (3141), a first X-axis driving module and a first Y-axis driving module, wherein the first supporting plate seat (3140) is slidably mounted on the first mounting plate (32), the first supporting plate seat (3140) can also perform reciprocating movement positioning along the X-axis direction under the driving of the first X-axis driving module, the second supporting plate seat (3141) is slidably mounted on the upper side of the first supporting plate seat (3140), the second supporting plate seat (3141) can also perform reciprocating movement positioning along the Y-axis direction under the driving of the first Y-axis driving module, the second supporting plate seat (3141) is a tail end output part of the first power unit, and the bearing transverse plate (310), the clamping unit (311) and the first Y-axis driving module in the first positioning mechanism, The first driving cylinder, the rotating main shaft and the rotating motor (312) are respectively arranged on the second supporting plate seat (3141);

each second power unit comprises a third supporting plate seat (3150), a fourth supporting plate seat (3151), a second X-axis driving module and a second Y-axis driving module, wherein the third supporting plate seat (3150) is slidably mounted on the second mounting plate (33), the third supporting plate seat (3150) can also perform reciprocating movement positioning along the Y-axis direction under the driving of the second Y-axis driving module, the fourth supporting plate seat (3151) is slidably mounted on the upper side of the third supporting plate seat (3150), the fourth supporting plate seat (3151) can also perform reciprocating movement positioning along the X-axis direction under the driving of the second X-axis driving module, the fourth supporting plate seat (3151) is a tail end output part of the second power unit, and the bearing transverse plate (310), the clamping unit (311) and the second Y-axis driving module in the second positioning mechanism, The first driving cylinder, the rotating main shaft and the rotating motor (312) are respectively arranged on the fourth supporting plate seat (3151).

9. The automatic palletization line according to claim 8, characterized in that: each first X-axis driving module is provided with a first motor, a first lead screw (3142) and a first nut sleeve, wherein the first motor is positioned and installed on the first installation plate (32), the first lead screw (3142) extends along the X-axis direction and is rotatably installed on the first installation plate (32), the first nut sleeve is sleeved on the first lead screw (3142) in a threaded manner, one shaft end of the first lead screw (3142) is in transmission connection with a power output shaft of the first motor, the first nut sleeve can perform reciprocating movement positioning along the X-axis direction under the synergistic effect of the first motor and the first lead screw (3142), and meanwhile, the first nut sleeve is also positioned and connected with a first supporting plate seat (3140);

each first Y-axis driving module is provided with a second motor (3143) which is positioned and installed on the upper side of the first supporting plate seat (3140), a second lead screw (3144) which extends along the Y-axis direction and is rotatably installed on the upper side of the first supporting plate seat (3140), and a second nut sleeve which is in threaded sleeve connection with the second lead screw (3144), wherein one axial end of the second lead screw (3144) is in transmission connection with a power output shaft of the second motor (3143), the second nut sleeve can perform reciprocating movement positioning along the Y-axis direction under the synergistic effect of the second motor (3143) and the second lead screw (3144), and meanwhile, the second nut sleeve is also in positioning connection with the second supporting plate seat (3141);

each second Y-axis driving module is provided with a third motor, a third lead screw (3152) and a third nut sleeve, wherein the third motor is positioned and installed on the second installation plate (33), the third lead screw (3152) extends along the Y-axis direction and is rotatably installed on the second installation plate (33), the third nut sleeve is sleeved on the third lead screw (3152) in a threaded manner, one shaft end of the third lead screw (3152) is in transmission connection with a power output shaft of the third motor, the third nut sleeve can perform reciprocating movement positioning along the Y-axis direction under the synergistic effect of the third motor and the third lead screw (3152), and meanwhile, the third nut sleeve is also positioned and connected with the third support plate base (3150);

each second X-axis driving module is provided with a fourth motor (3153) which is positioned and installed on the upper side of the third supporting plate seat (3150), a fourth lead screw which extends along the X-axis direction and is rotatably installed on the upper side of the third supporting plate seat (3150), and a fourth nut sleeve which is in threaded sleeve connection with the fourth lead screw, one shaft end of the fourth lead screw is in transmission connection with a power output shaft of the fourth motor (3153), the fourth nut sleeve can perform reciprocating movement positioning along the X-axis direction under the synergistic effect of the fourth motor (3153) and the fourth lead screw, and the fourth nut sleeve is also in positioning connection with the fourth supporting plate seat (3151);

in addition, each second supporting plate seat (3141) is of a hollow box structure, and one side, facing the plate placing area, of each second supporting plate seat (3141) is open; the first driving air cylinder in the first positioning mechanism is positioned and installed in the second supporting plate seat (3141) and simultaneously a piston rod of the first driving air cylinder points to an opening of the second supporting plate seat (3141), and the rotating spindle, the rotating motor (312) and the clamping unit (311) in the first positioning mechanism are respectively installed on the top side of the second supporting plate seat (3141);

each fourth supporting plate seat (3151) is also of a hollow box structure, and one side, facing the plate placing area, of each fourth supporting plate seat (3151) is also open; the first driving air cylinder in the second positioning mechanism is positioned and installed in the fourth supporting plate seat (3151), and meanwhile, a piston rod of the first driving air cylinder points to an opening of the fourth supporting plate seat (3151), and the rotating spindle, the rotating motor (312) and the clamping unit (311) in the second positioning mechanism are all installed on the top side of the fourth supporting plate seat (3151) respectively.

10. The automatic palletization line according to claim 1, characterized in that: the automatic stacking production line further comprises a safety protective guard (4) which is arranged outside the product taking device (1), the angle code taking device (2) and the stacking positioning device (3) in a surrounding mode, and a safety grating, a three-color lamp and a control panel are arranged on the safety protective guard (4).

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