CN111216038A

CN111216038A - Stacking control system

Info

Publication number: CN111216038A
Application number: CN202010071127.8A
Authority: CN
Inventors: 饶桥兵; 唐涛
Original assignee: Lens Intelligent Robot Changsha Co Ltd
Current assignee: Lens Intelligent Robot Changsha Co Ltd
Priority date: 2020-01-21
Filing date: 2020-01-21
Publication date: 2020-06-02
Anticipated expiration: 2040-01-21
Also published as: CN111216038B

Abstract

The invention discloses a stacking control system, comprising: the workpiece grabbing device comprises a first grabbing device and a second grabbing device; the transverse driving device is used for driving the first grabbing device and the second grabbing device to move along the horizontal direction simultaneously; the first longitudinal driving device is used for driving the first grabbing device to move along the vertical direction; the second longitudinal driving device is used for driving the second grabbing device to move along the vertical direction; the detection device is used for detecting the position information of the workpiece grabbing device; and the control device is respectively connected with the detection device, the transverse driving device, the first longitudinal driving device and the second longitudinal driving device and is used for receiving the position information of the workpiece grabbing device, respectively controlling the transverse driving device, the first longitudinal driving device and the second longitudinal driving device to drive the workpiece grabbing device to move to a preset station, grabbing or placing the first workpiece and the second workpiece, and realizing automatic alternate lamination of the first workpiece and the second workpiece.

Description

Stacking control system

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a stacking control system.

Background

In the mechanical manufacturing industry, it is often involved in the alternate lamination of two products, in particular two sheet-like products, for example, in the polishing of glass for electronic products, it is necessary to alternately laminate the glass and a grinding leather for the subsequent polishing operation.

In the prior art, when two products are stacked alternately, manual stacking is usually performed in a manual operation manner, that is, first workpieces and second workpieces are manually and sequentially and alternately stacked on a stacking station, so that the first workpieces and the second workpieces are alternately stacked.

Therefore, the two workpieces are alternately stacked in a manual mode, so that on one hand, the labor intensity of operators is very high, and the labor cost is high; on the other hand, the production efficiency is low, which is not beneficial to expanded production; in addition, the phenomenon of wrong lamination is easily caused due to the influence of human subjective factors.

Therefore, how to provide a stacking control system capable of achieving automatic alternate stacking of a first workpiece and a second workpiece to overcome the above-mentioned drawbacks is a problem to be solved by those skilled in the art.

Disclosure of Invention

In view of this, the present invention provides a stacking control system, which can realize automatic alternate stacking of a first workpiece and a second workpiece, reduce labor intensity and labor cost, improve production efficiency, and avoid a stacking error phenomenon caused by human error.

In order to achieve the above purpose, the invention provides the following technical scheme:

a stacking control system for alternately stacking a first workpiece at a stacking location with a second workpiece, comprising:

the workpiece grabbing device comprises a fixing piece, and a first grabbing device and a second grabbing device which are connected to the fixing piece in parallel and in the same direction, wherein the first grabbing device is used for grabbing or placing the first workpiece, and the second grabbing device is used for grabbing or placing the second workpiece;

the transverse driving device is connected with the fixing piece and used for driving the first grabbing device and the second grabbing device to move along the horizontal direction simultaneously;

the first longitudinal driving device is connected between the first grabbing device and the fixing piece and used for driving the first grabbing device to move along the vertical direction;

the second longitudinal driving device is connected between the second grabbing device and the fixing piece and used for driving the second grabbing device to move along the vertical direction;

the detection device is arranged on the workpiece grabbing device and used for detecting the position information of the workpiece grabbing device;

and a control device, which is respectively connected with the detection device, the transverse driving device, the first longitudinal driving device and the second longitudinal driving device, and is used for receiving the position information of the workpiece grabbing device, respectively controlling the transverse driving device, the first longitudinal driving device and the second longitudinal driving device to drive the workpiece grabbing device to move to a preset station, and grabbing or placing the first workpiece and the second workpiece,

wherein the preset station comprises a plurality of preset stations,

a first station, wherein the first gripping device is aligned above the first workpiece and can grip the first workpiece, the second gripping device is aligned above the placing position and can place the second workpiece,

a second station, the second station is a position where the first gripping device is lifted from the first station by a first preset distance along the vertical direction, the second gripping device is lifted from the first station by a second preset distance along the vertical direction,

a third station, wherein the workpiece grabbing device moves a third preset distance from the second station along the horizontal direction, so that the first grabbing device is aligned with the position above the material placing position, and the second grabbing device is aligned with the position above the second workpiece,

and the fourth station is a position where the first gripping device descends a fourth preset distance in the vertical direction from the third station so that the first workpiece can be placed, and the second gripping device descends a fifth preset distance in the vertical direction from the third station so that the second workpiece can be gripped.

Preferably, the workpiece feeding device further comprises a first workpiece feeding device for conveying and positioning the first workpiece to a first fetching position under the control of the control device, and the first workpiece feeding device comprises:

the jig feeding device is used for conveying the jig disc provided with the first workpiece to a material transferring position under the control of the control device;

the positioning module is provided with the first material taking position and is arranged corresponding to the material transferring position and used for bearing and positioning the first workpiece under the control of the control device;

the first workpiece transfer module is used for transferring the first workpiece on the jig disc to the positioning module under the control of the control device.

Preferably, the jig feeding device includes:

the feeding belt line is used for feeding the jig disc under the control of the control device;

the buffer belt line is butted with the feeding belt line and is used for conveying the jig disc under the control of the control device;

the blocking component is arranged below the cache belt line and can lift up and down, and is used for rising under the control of the control device so as to position the jig disc to the material transferring position; and the jig plate descends under the control of the control device so as to avoid the empty jig plate from moving.

Preferably, the feeding belt line is provided with:

the lifting mechanism is used for lifting under the control of the control device so as to bear a plurality of stacked jig discs;

the telescopic box separating mechanism is used for extending under the control of the control device so as to enable the bottom jig plate to fall on the jacking mechanism by means of gravity through supporting the jig plate on the penultimate layer, and the control device controls the jacking mechanism to descend so as to enable the bottom jig plate to descend to the feeding belt line.

Preferably, the positioning module comprises:

the positioning plate is provided with at least one first material taking position for bearing the first workpiece;

and the position correction mechanisms are arranged in one-to-one correspondence with the first material taking positions and are used for correcting the position of the first workpiece under the control of the control device so as to position the first workpiece.

Preferably, the position correction mechanism includes:

at least one pair of first clamping columns arranged oppositely;

the third driving mechanism is connected with the first clamping columns and is used for driving the first clamping columns of the same pair to approach or depart from each other;

at least one pair of second clamping columns which are oppositely arranged;

and the fourth driving mechanism is connected with the second clamping columns and used for driving the second clamping columns in the same pair to mutually approach or depart from each other, and a connecting line of the first clamping columns in the same pair is vertical to a connecting line of the second clamping columns in the same pair.

Preferably, the first workpiece transfer module comprises:

the first vacuum sucker is used for sucking the first workpiece on the jig disc and is connected with a first vacuum generator;

the first lifting mechanism is connected with the first vacuum chuck and used for driving the first vacuum chuck to lift;

and the first linear driving device is connected with the first vacuum chuck and used for driving the first vacuum chuck to move between the jig disc and the positioning module on the material transferring position.

Preferably, the workpiece feeding device further comprises a second workpiece feeding device for conveying and positioning a second workpiece to a second material taking position under the control of the control device, and the second workpiece feeding device comprises:

the separation plate is provided with at least one discharge hole and is used for enabling the second workpieces which are stacked to fall from the discharge hole one by one;

the separating disc is arranged below the separating plate and provided with at least one separating groove which is used for being in butt joint with the discharge hole to receive the second workpiece falling from the discharge hole; the preset distance between the separating disc and the separating plate is adjustable, so that the preset distance is smaller than the thickness of the second workpiece;

and the first rotary driving part is connected with the separation disc and used for driving the separation disc to rotate so as to enable the second workpiece falling into the separation groove to rotate to the second material taking position.

Preferably, still include range upon range of receiving device, range upon range of receiving device includes:

the bearing piece is provided with the material discharging position;

the third longitudinal driving device is respectively connected with the control device and the bearing part and is used for driving the bearing part to move along the vertical direction under the control of the control device, so that the discharging position descends by a sixth preset distance or a seventh preset distance every time the discharging position receives one first workpiece or one second workpiece;

wherein the sixth predetermined distance corresponds to a thickness of the first workpiece, and the seventh predetermined distance corresponds to a thickness of the second workpiece.

Preferably, the method further comprises the following steps:

two parallel discharging belt lines;

and the feeding mechanisms are respectively butted with the stacked material receiving devices and the two discharging belt lines and are used for receiving the alternate stacked sheets on the stacked material receiving devices under the control of the control device and conveying the alternate stacked sheets to the discharging belt lines.

Preferably, the feeding mechanism comprises:

the first supporting plates are used for being butted with the stacked receiving devices to receive the alternate stacked plates, and the number of the first supporting plates is two;

the belt transmission mechanism is used for respectively transmitting the alternate laminations on the two first supporting plates to the two discharging belt lines under the control of the control device, the two first supporting plates are respectively and correspondingly connected with the upper side and the lower side of a second transmission belt of the belt transmission mechanism, so that the two first supporting plates are synchronously transmitted to two different discharging positions along opposite directions in the transmission process of the second transmission belt, and the two discharging positions are respectively butted with the two discharging belt lines;

and the second rotary driving mechanism is connected with the belt transmission mechanism and is used for providing power for the belt transmission mechanism.

Preferably, the number of the material placing positions is two, and the two material placing positions are respectively arranged in one-to-one correspondence with the two first supporting plates;

when the number of the alternating laminations reaches a preset number, the third longitudinal driving device descends under the control of the control device, so that the two discharging positions are respectively in butt joint with the first supporting plate, and the alternating laminations fall to the first supporting plate under the action of gravity.

When the stacking control system provided by the invention is used, the transverse driving device, the first longitudinal driving device and the second longitudinal driving device are controlled by the control device to coordinate and orderly move, so that the workpiece grabbing device is switched among the four stations, and further, the first workpiece and the second workpiece are alternately stacked.

Compared with the prior art, the stacking control system can realize automatic alternate stacking of the first workpiece and the second workpiece, and manual stacking through manual operation is avoided, so that the labor intensity is reduced, the labor cost is saved, the production efficiency is improved, and the consistency and the stability of the stacking quality are ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a stacking control mechanism of a stacking control system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a jig loading device of a stacking control system according to another embodiment of the present invention;

FIG. 3 is a schematic view of the structure of FIG. 2 from another perspective;

FIG. 4 is a schematic structural view of the assembled feeder belt line, jacking mechanism and box separating mechanism of FIG. 2;

FIG. 5 is a schematic view of the usage state of FIG. 4;

FIG. 6 is a schematic diagram of the feed belt line of FIG. 4;

FIG. 7 is a schematic structural view of the jacking mechanism of FIG. 4;

FIG. 8 is a schematic structural view of the dispensing mechanism of FIG. 4;

FIG. 9 is a schematic view of the structure of FIG. 8 from another perspective;

fig. 10 is a schematic structural diagram of a positioning module of a stacking control system according to another embodiment of the present invention;

FIG. 11 is a schematic structural view of the third and fourth drive mechanisms of FIG. 10;

FIG. 12 is a schematic diagram of a first workpiece transfer module of the stacking control system according to another embodiment of the invention;

fig. 13 is a schematic structural view of the positioning module, the second workpiece feeding device, the stacked receiving device and the stacking control mechanism after assembly;

FIG. 14 is a schematic structural view of the second workpiece loading device shown in FIG. 13;

fig. 15 is a schematic structural diagram of an assembled stacked receiving device, feeding mechanism and discharging belt line of a stacking control system according to another embodiment of the present invention;

FIG. 16 is a schematic view of the feed mechanism of FIG. 15 (cover plate not shown);

FIG. 17 is a schematic view of the feed mechanism of FIG. 16 in a transport state;

FIG. 18 is a schematic view of the construction of the outfeed belt line of FIG. 15;

FIG. 19 is a schematic view of the stacking device shown in FIG. 15;

fig. 20 is an axial view of a stacking control system according to yet another embodiment of the invention.

The reference numerals in fig. 1 to 20 are as follows:

11 is a feeding belt line, 12 is a buffer belt line, 13 is a blocking component, 14 is a jacking mechanism, 15 is a box separating mechanism, 111 is a first motor, 112 is a first driving shaft, 113 is a first synchronous belt, 114 is a first driving shaft plate, 115 is a driven shaft, 116 is a tensioning plate, 117 is a first supporting plate, 141 is a second motor, 142 is a cantilever member, 143 is a connecting cross beam, 144 is a connecting vertical beam, 145 is a supporting beam, 146 is a jacking strut, 151 is an inserting plate, 152 is a first sliding plate, 153 is a first guide rail, 154 is a first cylinder, 155 is a second supporting plate, 156 is a corner support, 157 is a pulling plate, 2 is a positioning module, 21 is a positioning plate, 221 is a first clamping column, 222 is a third motor, 223 is a second synchronous belt, 224 is a first connecting piece, 225 is a second connecting piece, 226 is a first transverse arm, 2261 is a clamping column mounting plate, 227 is a second transverse arm, 228 is a second sliding block, 229 is a T-shaped supporting block, 231 is a second clamping column, 232 is a fourth motor, 233 is a third synchronous belt, 234 is a first adapter plate, 235 is a second adapter plate, 236 is a first vertical arm, 237 is a second vertical arm, 24 is a fourth sensor, 25 is a positioning bottom plate, 26 is a supporting upright post, 3 is a first workpiece transfer module, 31 is a first vacuum chuck, 32 is a first vacuum generator, 33 is a second cylinder, 34 is a first belt module, 35 is a first cantilever, 4 is a second workpiece feeding device, 41 is a separating plate, 42 is a separating disc, 421 is a separating groove, 43 is a first rotary driving mechanism, 44 is a guide shaft, 45 is a counterweight block, 5 is a stacked material receiving device, 51 is a receiving member, 52 is a second material detecting sensor, 53 is a seventh motor, 54 is a screw rod, 55 is a sliding plate, 56 is a guide rail cushion block, 6 is a stacking control mechanism, 61 is a first gripping device, 62 is a first longitudinal driving device, 63 is a second gripping device, 64 is a second longitudinal driving device, 65 is a transverse driving device, 66 is a fixing piece, 7 is a feeding mechanism, 71 is a first supporting plate, 72 is a second rotary driving mechanism, 73 is a fourth synchronous belt, 74 is a fourth guide rail, 75 is a limiting block, 76 is a fourth lifting mechanism, 77 is a first material detecting sensor, 78 is a third connecting piece, 781 is a yielding groove, 791 is a cover plate, 792 is an end cover, 793 is a mounting plate, 8 is a discharging belt line, 81 is a fifth motor, 82 is a third belt conveying mechanism, 83 is a second driving shaft, 84 is a fourth synchronous belt conveying mechanism, 85 is a fifth synchronous belt conveying mechanism, 9 is a frame, 01 is a first workpiece, 02 is a second workpiece, 03 is a jig disc, and 04 is an alternate lamination.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The core of the invention is to provide a stacking control system, which can realize automatic alternate stacking of a first workpiece and a second workpiece, reduce labor intensity and labor cost and improve production efficiency.

Referring to fig. 1 to 20, which are drawings illustrating the present invention, a stacking control system according to the present invention will be described in detail with reference to the drawings.

The invention provides a stacking control system which is used for alternately stacking a first workpiece 01 and a second workpiece 02 at a material placing position and comprises a workpiece grabbing device, a transverse driving device 65, a first longitudinal driving device 62, a second longitudinal driving device 64, a detection device and a control device.

Specifically, the workpiece gripping device comprises a fixing piece 66, a first gripping device 61 and a second gripping device 63, wherein the first gripping device 61 and the second gripping device 63 are connected to the fixing piece 66 in parallel and in the same direction, the first gripping device 61 is used for gripping or placing a first workpiece 01, and the second gripping device 63 is used for gripping or placing a second workpiece 02.

The transverse driving device 65 is connected to the fixing member 66 for driving the fixing member 66 to transversely translate, so that the fixing member 66 drives the first gripping device 61 and the second gripping device 63 to simultaneously move in the horizontal direction.

The first longitudinal driving device 62 is connected between the first gripping device 61 and the fixing member 66 for driving the first gripping device 61 to move in the vertical direction.

The second longitudinal driving means 64 is connected between the second gripping means 63 and the fixing member 66 for driving the second gripping means 63 to move in the vertical direction.

The detection device is arranged on the workpiece grabbing device and used for detecting the position information of the workpiece grabbing device.

The control device is respectively connected with the detection device, the transverse driving device 65, the first longitudinal driving device 62 and the second longitudinal driving device 64, and is used for respectively controlling the transverse driving device 65, the first longitudinal driving device 62 and the second longitudinal driving device 64 to drive the workpiece grabbing devices to move to preset stations when receiving the position information of the workpiece grabbing devices, so as to grab or place the first workpiece 01 and the second workpiece 02.

The preset stations of the workpiece grabbing device comprise a first station, a second station, a third station and a fourth station.

Specifically, the first station is a position where the first gripping device 61 is aligned above the first workpiece 01 and can grip the first workpiece 01, and the second gripping device 63 is aligned above the discharge station and can place the second workpiece 02.

The second station is a position where the first gripping device 61 is vertically raised from the first station by a first preset distance, and the second gripping device 63 is vertically raised from the first station by a second preset distance.

The third station is a third predetermined distance in the horizontal direction of movement of the workpiece gripping device from the second station, such that the first gripping device 61 is aligned above the discharge station and the second gripping device 63 is aligned above the second workpiece 02.

The fourth station is a position where the first gripping device 61 is lowered by a fourth preset distance in the vertical direction from the third station so that the first workpiece 01 can be placed, and the second gripping device 63 is lowered by a fifth preset distance in the vertical direction from the third station so that the second workpiece 02 can be gripped.

That is, the control device controls the transverse driving device 65, the first longitudinal driving device 62 and the second longitudinal driving device 64 to perform coordinated and orderly actions, so that the workpiece grabbing device is switched among the four stations, and the first workpiece 01 and the second workpiece 02 are stacked alternately.

When the device works, the control device firstly controls the transverse driving device 65 to act according to the position information of the workpiece grabbing device detected by the detection device, so that the first grabbing device 61 is aligned above the first workpiece 01, at the moment, the second grabbing device 63 is positioned above the placing position, and then the control device respectively controls the first longitudinal driving device 62 and the second longitudinal driving device 64 to act, so that the first grabbing device 61 descends for a first preset distance, the second grabbing device 63 descends for a second preset distance, so that the workpiece grabbing device is positioned at a first station, namely, at the moment, the first grabbing device 61 is aligned above the first workpiece 01 and can grab the first workpiece 01, at the same time, the second grabbing device 63 is aligned above the placing position and can place the second workpiece 02, when the second grabbing device 63 does not grab the second workpiece 02 at the beginning of working, the second grabbing device 63 can not act, or the second gripping device 63 can be actuated as usual, only if no second work pieces 02 have fallen on the deposit location.

When the first gripping device 61 grips the first workpiece 01 and the second gripping device 63 places the second workpiece 02, the control device respectively controls the first longitudinal driving device 62 and the second longitudinal driving device 64 to move, so that the first gripping device 61 is lifted by a first preset distance, and the second gripping device 63 is lifted by a second preset distance, so that the workpiece gripping devices are located at a second station, that is, at the moment, the first gripping device 61 is located at the first preset distance above the first workpiece 01, and the second gripping device 63 is located at the second preset distance above the placing station.

The control device then controls the transverse drive 65 to move the first gripper 61 and the second gripper 63 a third predetermined distance in the horizontal direction, so that the workpiece gripper is in a third position, in which the first gripper 61 is aligned above the deposit position and the second gripper 63 is aligned above the second workpiece 02.

Then, the control device respectively controls the first longitudinal driving device 62 and the second longitudinal driving device 64 to operate, so that the first gripping device 61 descends by a fourth preset distance, the second gripping device 63 descends by a fifth preset distance, and the workpiece gripping device is located at a fourth station, that is, at this time, the first gripping device 61 is aligned above the material placing station and can place the first workpiece 01, and meanwhile, the second gripping device 63 is aligned above the second workpiece 02 and can grip the second workpiece 02.

After the first workpiece 01 is placed on the first gripping device 61 and the second workpiece 02 is gripped by the second gripping device 63, the control device respectively controls the first longitudinal driving device 62 and the second longitudinal driving device 64 to move, so that the first gripping device 61 is lifted by a fourth preset distance, and the second gripping device 63 is lifted by a fifth preset distance, so that the workpiece gripping devices are located at a third station, namely, the first gripping device 61 is located above the placing position, and the second gripping device 63 is located above the second workpiece 02.

The control device then controls the transverse drive 65 to move the workpiece gripper from the third station to the second station, in which case the first gripper 61 is aligned above the first workpiece 01 and the second gripper 63 is aligned above the deposit station.

Then, the control device controls the first longitudinal driving device 62 and the second longitudinal driving device 64 to move, so that the workpiece gripping device descends from the second station to the first station, at this time, the first gripping device 61 is aligned above the first workpiece 01 and can grip the first workpiece 01, and the second gripping device 63 is aligned above the placing station and can place the second workpiece 02.

The first workpiece 01 and the second workpiece 02 are alternately stacked at the material placing position by the circulation reciprocating.

Therefore, the stacking control system can realize automatic alternate stacking of the first workpiece 01 and the second workpiece 02, and manual stacking through manual operation is avoided, so that the labor intensity is reduced, the labor cost is saved, the production efficiency is improved, and the consistency and the stability of the stacking quality are ensured.

It should be noted that the present invention is not limited to the first workpiece 01 and the second workpiece 02, for example, in the process of polishing glass of electronic products, the glass and the polishing leather can be automatically and alternately laminated by the stacking control system to facilitate the subsequent polishing operation.

In addition, the position of the material placing position can be kept still, namely, the material placing position alternately stacks the materials with the first workpiece 01 and the second workpiece 02 alternately, the height of the material placing position alternately stacks the materials is continuously increased, at the moment, the descending distance of the first grabbing device 61 and the second grabbing device 63 can be controlled by the control device to be continuously reduced, and therefore the first grabbing device 61 and the second grabbing device 63 are prevented from interfering with alternate lamination on the material placing position.

It should be further noted that the height positions of all the first workpieces 01 to be gripped may be kept consistent, that is, the first workpieces 01 to be gripped are continuously sent to the first material taking position, and the first gripping device 61 is always lowered by the same distance above the first workpieces 01 to grip the first workpieces 01. Of course, the first workpiece 01 may also be a stack with a certain height, and the control device controls the descending distance of the first gripping device 61 to increase continuously to grip the first workpiece 01 with the gradually decreasing height.

Similarly, the height positions of all the second workpieces 02 to be gripped can be kept the same, i.e., the second workpieces 02 to be gripped are continuously conveyed to the second picking position, and the second gripping device 63 always lowers the same distance above the second workpieces 02 to grip the second workpieces 02. Of course, the second workpiece 02 may also be a stack with a certain height, and the control device controls the descending distance of the second gripping device 63 to increase continuously to grip the second workpiece 02 with the gradually decreasing height.

Further, when the height positions of all the first workpieces 01 to be gripped are kept consistent, and the height positions of all the second workpieces 02 to be gripped are kept consistent, it is preferable that the height positions of the first workpieces 01 and the height positions of the second workpieces 02 are set to be equal in height, that is, the first material taking position and the second material taking position are at the same height. Meanwhile, the first workpiece 01 or the second workpiece 02 at the topmost end on the material placing position can be always located at the same height position by continuously reducing the material placing position, at the moment, the height of the first workpiece 01 or the second workpiece 02 at the topmost end on the material placing position is preferably set to be the same as the height of the first material taking position and the height of the second material taking position, and therefore the first grabbing device 61 and the second grabbing device 63 can be guaranteed to descend and ascend at the same distance every time. That is, at this time, the first preset distance, the second preset distance, the fourth preset distance, and the fifth preset distance are all the same.

In view of convenience of description, the mechanical structural assembly formed by the first gripping device 61, the second gripping device 63, the first longitudinal driving device 62, the second longitudinal driving device 64, the lateral driving device 65, the fixing member 66, and the like is referred to as the stacking control mechanism 6.

Fig. 1 is a schematic structural diagram of a stacking control mechanism 6 of a stacking control system according to an embodiment of the present invention.

Preferably, the first gripping device 61 is a second vacuum chuck, and the second vacuum chuck is connected to a second vacuum generator, and the second vacuum generator is configured to generate a negative pressure, so that the second vacuum chuck uses the negative pressure to suck the first workpiece 01.

It should be noted that the number of the second vacuum chucks is at least one, and is determined according to the number of the workpieces to be transferred at one time.

Preferably, the vacuum cleaner further comprises a second negative pressure gauge for detecting the magnitude of the negative pressure generated by the second vacuum generator.

Further preferably, the second gripping device 63 is a clamping jaw, the clamping jaw can be opened and closed, and when the clamping jaw is opened, the second workpiece 02 can be loosened to place the second workpiece 02 on the placing position; when the jaws are closed, the second workpiece 02 can be gripped to grasp the second workpiece 02.

The number of clamping jaws is at least one, preferably the number of clamping jaws is equal to the number of second vacuum cups.

The invention is not limited to the specific structure of the clamping jaw and the opening and closing mode thereof, and the skilled person can select the clamping jaw according to the actual requirement.

Preferably, the clamping jaw is a pneumatic finger cylinder.

Preferably, the first longitudinal driving means 62 is a third cylinder; the second longitudinal drive 64 is a fourth cylinder.

Preferably, the second vacuum chuck is fixed on the second cantilever, the second cantilever is connected with the output end of the third cylinder through the third adapter plate, and a first reinforcing rib for increasing strength is arranged between the third adapter plate and the second cantilever.

The clamping jaw is fixed on the third cantilever, the third cantilever is connected with the output end of the fourth cylinder through the fourth adapter plate, and a second reinforcing rib used for increasing strength is arranged between the fourth adapter plate and the third cantilever.

Preferably, the transverse drive 65 is a second belt module.

The third cylinder and the fourth cylinder are connected with the transmission belt of the second belt module through fixing pieces 66.

In order to realize the automatic feeding of the first workpiece 01, the first workpiece 01 is continuously conveyed to the first material taking position, so that the first gripping device 61 grips the first workpiece 01 from the first material taking position all the time, and on the basis of the above embodiment, the automatic feeding device further comprises a first workpiece feeding device for conveying and positioning the first workpiece 01 to the first material taking position under the control of the control device.

The first workpiece feeding device comprises a jig feeding device, a positioning module 2 and a first workpiece transfer module 3, and the jig feeding device, the positioning module 2 and the first workpiece transfer module 3 are all connected with the control device so as to coordinate and cooperate with each other under the action of the control device.

Specifically, the jig feeding device is used for conveying the jig disc 03 provided with the first workpiece 01 to a material transferring position under the control of the control device; the positioning module 2 is arranged corresponding to the material transferring position, and the first material taking position is arranged on the positioning module 2 and is used for carrying and positioning the first workpiece 01 under the control of the control device; the first workpiece transfer module 3 is used for transferring the first workpiece 01 on the jig tray 03 to a first material taking position of the positioning module 2 under the control of the control device.

That is to say, in the embodiment, the first workpiece 01 of the entire tray is supplied by the jig feeding device, the first workpiece 01 is transferred on the jig tray 03 and the positioning module 2 by the first workpiece transfer module 3, and the positioning module 2 can position the first workpiece 01, so that the first workpiece 01 has an accurate position, and the stacking control mechanism 6 can grasp the first workpiece 01.

When the jig disc 03 with the first workpieces 01 is used, the whole jig disc 03 with the first workpieces 01 is placed on the jig feeding device, the control device controls the jig feeding device to work, and the jig feeding device conveys the whole jig disc 03 with the first workpieces 01 to a material transferring position; at this time, the control device controls the first workpiece transfer module 3 to work, so that the first workpiece transfer module 3 transfers the first workpiece 01 on the jig disc 03 to the first material taking position of the positioning module 2; then, the control device controls the positioning module 2 to work, so that the first workpiece 01 is positioned on the first material taking position, and the first workpiece 01 is conveniently grabbed when the stacking control mechanism 6 carries out stacking.

Referring to fig. 2 and 3, fig. 2 is a schematic structural view of a jig feeding device; fig. 3 is another view of fig. 2.

In consideration of the implementation of the specific structure of the jig feeding device, on the basis of the above embodiment, the jig feeding device includes a feeding belt line 11 and a buffer belt line 12, where the feeding belt line 11 is used for feeding the jig tray 03 under the control of the control device; the buffer belt line 12 is butted with the feeding belt line 11 and is used for receiving and conveying the jig disc 03 conveyed from the feeding belt line 11 under the control of the control device, a liftable blocking component 13 is arranged below the buffer belt line 12, and when the blocking component 13 is lifted under the control of the control device, the jig disc 03 conveyed by the buffer belt line 12 can be positioned to a material transferring position, so that the first workpiece transfer module 3 can transfer the first workpiece 01 on the jig disc 03 to the first material taking position of the positioning module 2; when the blocking component 13 descends under the control of the control device, the blocking component 13 can yield the jig disc 03, and the interference of the jig disc 03 moving backwards along with the cache belt line 12 is avoided.

It will be appreciated that the feed belt line 11, the buffer belt line 12 and the blocking assembly 13 are all connected to the control device, so that the control device can control the three to work in coordination and order.

In consideration of controlling the action of the blocking assembly 13, as a preferred scheme, the feeding port and the discharging port of the material transferring position are respectively provided with a first sensor and a second sensor, and the first sensor and the second sensor are respectively connected with the control device.

The first inductor is used for inducing whether the jig disc 03 enters the material transferring position or not, and sending a detection signal of the jig disc 03 to the control device, after the control device receives the detection signal of the first inductor, the control device waits for a first preset time to enable the jig disc 03 to be positioned to the material transferring position, and then controls the first workpiece transfer module 3 to sequentially transfer the first workpieces 01 on the jig disc 03 to the first material taking position of the positioning module 2 until all the first workpieces 01 on the whole jig disc 03 are transferred; then the control device controls the blocking component 13 to descend so as to make the jig tray 03 move backward along with the cache belt line 12.

It should be noted that, after the first workpiece transfer module 3 transfers a single first workpiece 01 on the jig tray 03 to the first material taking position of the positioning module 2, in the process of transferring the next first workpiece 01 by the first workpiece transfer module 3, the positioning module 2 positions the first workpiece 01 located on the first material taking position, and after the first workpiece 01 is positioned, the control device controls the stacking control mechanism 6 to grab the first workpiece 01 from the first material taking position of the positioning module 2, so as to transfer the grabbed first workpiece 01 to the material placing position of the stacking and receiving device 5. That is, the first workpiece transfer module 3, the positioning module 2, and the stacking control mechanism 6 are operated in a coordinated manner under the control of the control device.

The second inductor is used for inducing whether the jig disc 03 is completely moved out from the material transferring position or not, and sending a detection signal of the jig disc 03 to the control device, and after the control device receives the detection signal of the second inductor, the control blocking component 13 is controlled to rise so as to block and position the next jig disc 03.

Preferably, the blocking assembly 13 comprises a baffle plate for blocking the jig disc 03 and a first lifting cylinder connected with the baffle plate, so that the baffle plate is driven to lift by the extension of the first lifting cylinder.

Please refer to fig. 6, which is a schematic structural diagram of the feeding belt line 11. In consideration of the specific structure of the feeding belt line 11, as a preferable scheme, the feeding belt line 11 includes a first motor 111 for providing a power source, a first driving shaft 112 connected to an output shaft of the first motor 111, first driving pulleys respectively provided at two ends of the first driving shaft 112, two first driven pulleys respectively engaged with the two first driving pulleys for transmission, and two first synchronous belts 113 driven in parallel.

Preferably, two first driving shaft plates 114 connected to both ends of the first driving shaft 112, respectively, for supporting the first driving shaft 112, respectively, are further included.

Preferably, two tension plates 116 connected to the driven shafts 115 of the two first driven pulleys, respectively, for supporting the driven shafts 115, respectively, are further included.

Preferably, a motor mounting plate for fixing the first motor 111 and a first support plate 117 for fixing the entire mechanism are further included.

Considering the specific structure of the buffer belt line 12, as a preferable scheme, the specific structure of the buffer belt line 12 is the same as that of the feeding belt line 11, and the difference is only that the overall length of the two is different, and therefore, the detailed description is omitted here.

In consideration of the convenience of feeding the jig discs 03, in order to realize centralized feeding of the stacked jig discs 03, on the basis of the above embodiment, the feeding belt line 11 is provided with the lifting mechanism 14 and the retractable box separating mechanism 15, both the lifting mechanism 14 and the box separating mechanism 15 are connected to the control device, and the control device controls the lifting mechanism 14 and the box separating mechanism 15 to perform coordinated and ordered actions so as to perform centralized feeding on the stacked jig discs 03.

The jacking mechanism 14 is used for lifting under the control of the control device so as to receive a plurality of stacked jig discs 03; and when the jig tray 03 at the bottommost layer descends under the control of the control device, the jig tray is descended onto the feeding belt line 11.

The box separating mechanism 15 is used for extending under the control of the control device so as to enable the tool disc 03 at the bottommost layer to fall on the jacking mechanism 14 by gravity by supporting the tool disc 03 at the penultimate layer.

Specifically, referring to fig. 4 and 5, fig. 4 is a schematic structural view of the assembled feeding belt line 11, the jacking mechanism 14 and the box separating mechanism 15; fig. 5 is a schematic view of the usage state of fig. 4. When the jig tray is used, the control device firstly controls the jacking mechanism 14 to lift up, so that the jacking mechanism 14 receives all the laminated jig trays 03. Then, the box separating mechanism 15 extends out under the control of the control device to support the tool tray 03 on the penultimate layer, so that all the tool trays 03 on the tool tray 03 on the bottommost layer are supported by the box separating mechanism 15, and only the tool tray 03 on the bottommost layer falls on the jacking mechanism 14 by gravity, so that the tool tray 03 on the bottommost layer is separated from all the tool trays 03 on the tool tray 03. Then, under the control of the control device, the jacking mechanism 14 descends to enable the jig tray 03 at the bottommost layer to descend and fall on the feeding belt line 11 by means of gravity, and then under the transmission action of the feeding belt line 11, the jig tray 03 at the bottommost layer is conveyed to the buffer belt line 12, so that feeding of one jig tray 03 is completed.

Then, the jacking mechanism 14 jacks to receive all the remaining jig discs 03, after all the remaining jig discs 03 fall on the jacking mechanism 14, the box separating mechanism 15 retracts, the jacking mechanism 14 drives all the remaining jig discs 03 to descend to a separating position, and the box separating mechanism 15 is controlled to extend out to support the jig disc 03 on the penultimate layer, so that the operation is repeated, and a plurality of whole stacked jig discs 03 are sequentially conveyed to the feeding belt line 11.

Fig. 7 is a schematic structural diagram of the jacking mechanism 14. In consideration of the specific structure of the jacking mechanism 14, as a preferred scheme, the jacking mechanism 14 comprises a bearing member for bearing and supporting the jig disc 03 and a first driving mechanism for driving the bearing member to ascend and descend, and the bearing member is connected with the output end of the first driving mechanism.

Preferably, the first driving mechanism includes a second motor 141 and a ball screw connected to an output shaft of the second motor 141, and the bearing member is connected to a first nut of the ball screw through a cantilever member 142. The second motor 141 is preferably a servo motor.

Preferably, the cantilever member 142 is a plate-shaped member, the plate-shaped cantilever member 142 is sleeved on the outer periphery of the first nut of the ball screw, and the bearing member is connected with the plate-shaped cantilever member 142 through the connecting cross beam 143 and/or the jacking vertical beam.

Preferably, the bearing part comprises a joist 145 for supporting the bottoms of two opposite sides of the jig disc 03 and a jacking strut 146 for supporting four corners of the jig disc 03, the jacking strut 146 is connected with the cantilever part 142 through a connecting cross beam 143, the joist 145 is connected with the connecting cross beam 143 through a jacking vertical beam, and the connecting cross beam 143 is connected with the cantilever part 142.

Referring to fig. 8 and 9, fig. 8 is a schematic structural view of the box separating mechanism 15, and fig. 9 is a schematic structural view of another view angle of fig. 8. In consideration of the specific structure of the box dividing mechanism 15, as a preferable scheme, the box dividing mechanism 15 includes two box dividing assemblies which are oppositely arranged, each box dividing assembly includes an insertion plate 151 and a second driving mechanism connected to the insertion plate 151, and the insertion plate 151 is used for being inserted between the lowest layer jig tray 03 and the penultimate jig tray 03 to support all jig trays 03 above the lowest layer jig tray 03; the second driving mechanism is used for driving the inserting plate 151 to extend and retract so that the inserting plate 151 extends to be inserted between the bottommost jig plate 03 and the penultimate jig plate 03, or the inserting plate 151 retracts.

In view of smooth movement, it is preferable that the single sub-magazine assembly further includes a first slide plate 152 disposed in parallel with the insert plate 151 and a first guide rail 153 slidably coupled to the first slide plate 152 and guiding the first slide plate 152, and the insert plate 151 and the first slide plate 152 are coupled by a second support plate 155.

In order to enhance the connection strength, an angle support 156 is preferably further provided between the insert plate 151 and the first slide plate 152.

Preferably, the second driving mechanism includes a first cylinder 154 and a pulling plate 157 connected to a piston rod of the first cylinder 154, and the pulling plate 157 is fixedly connected to the first sliding plate 152 to drive the first sliding plate 152 to extend and retract, so that the first sliding plate 152 drives the inserting plate 151 to extend and retract smoothly.

In consideration of the whole stack blanking of the jig tray 03 on the cache belt line 12, on the basis of the above embodiment, the above jacking mechanism 14 and the box separating mechanism 15 are arranged on the cache belt line 12, and are used for stacking the empty single jig tray 03 on the cache belt line 12 to perform the whole stack centralized blanking, and the structures of the jacking mechanism 14 and the box separating mechanism 15 in this embodiment are as described above, and are not described again here.

Preferably, a third sensor for sensing the jig disc 03 is arranged at the blanking position of the jig disc 03 on the cache belt line 12, and the third sensor is connected with the control device.

When the jig disc 03 is used, when the third sensor senses the jig disc 03, the control device controls the lifting mechanism 14 to lift up to lift the jig disc 03 to a preset height, then the control device controls the box separating mechanism 15 to extend out to support the jig disc 03, and then the lifting mechanism 14 descends to the position below the cache belt line 12 to lift up the next jig disc 03; after the next jig disc 03 is in place, the jacking mechanism 14 jacks the next jig disc 03 to a position overlapped with the previous jig disc 03, at this time, the box separating mechanism 15 retracts, then the jacking mechanism 14 jacks all the jig discs 03 to the overlapping position, the box separating mechanism 15 extends out again to support all the jig discs 03, so that the jacking mechanism 14 descends again, and the steps are repeated so as to stack single empty jig discs 03 on the cache belt line 12 and then perform centralized blanking.

Please refer to fig. 10, which is a schematic structural diagram of the positioning module 2. In consideration of the specific structure of the positioning module 2, on the basis of the above embodiments, the positioning module 2 includes the positioning plate 21 and the position correcting mechanism, the positioning plate 21 is provided with at least one first material taking position for receiving the first workpiece 01, and the position correcting mechanism is arranged in one-to-one correspondence with the first material taking position and is used for correcting the position of the first workpiece 01 to position the first workpiece 01 at the first material taking position. It will be appreciated that the position correction mechanism is connected to the control device.

It can be understood that, the greater the number of the first material taking positions provided on the positioning plate 21, the greater the number of the first workpieces 01 received at one time, and therefore, the transfer efficiency of the first workpieces 01 can be improved. Preferably, the number of the first material taking positions is two, and the two first material taking positions are arranged side by side.

Preferably, the material taking device further comprises a fourth sensor 24 for sensing whether the first workpiece 01 exists at the first material taking position, and the fourth sensor 24 is connected with the control device. When the fourth sensor 24 senses that the first workpiece 01 is located at the first material taking position of the positioning plate 21, the control device controls the position correcting mechanism to operate according to a sensing signal of the fourth sensor 24, so as to correct the position of the first workpiece 01 on the positioning plate 21, and position the first workpiece 01 on the positioning plate 21.

It should be noted that, the specific structure of the position correcting mechanism is not limited in this embodiment, as long as the position of the first workpiece 01 on the positioning plate 21 can be adjusted to position the first workpiece 01 at the first material taking position.

In order to realize the centering and positioning of the first workpiece 01, as a preferable solution, on the basis of the above-mentioned embodiment, the position correcting mechanism includes at least one pair of first holding columns 221, at least one pair of second holding columns 231, a third driving mechanism connected to the first holding columns 221, and a fourth driving mechanism connected to the second holding columns 231; the same pair of first clamping columns 221 are oppositely arranged and used for clamping two opposite side surfaces of the first workpiece 01; the same pair of second clamping columns 231 are oppositely arranged and used for clamping the other two opposite side surfaces of the first workpiece 01; the connecting line of the same pair of first clamping columns 221 is vertical to the connecting line of the same pair of second clamping columns 231; the third driving mechanism is used for driving the same pair of first clamping columns 221 to move close to or away from each other, and the fourth driving mechanism is used for driving the same pair of second clamping columns 231 to move close to or away from each other.

Fig. 11 is a schematic structural diagram of a third driving mechanism and a fourth driving mechanism. In view of the specific structure of the third driving mechanism, as a preferable scheme, the third driving mechanism includes a third motor 222, a first master synchronizing wheel, a first slave synchronizing wheel, a second synchronous belt 223, a first connecting member 224, a second connecting member 225, a first transverse arm 226 and a second transverse arm 227, the first master synchronizing wheel is connected to an output shaft of the third motor 222, the first master synchronizing wheel, the first slave synchronizing wheel and the second synchronous belt 223 form a first synchronous belt conveying mechanism, the first connecting member 224 and the second connecting member 225 are respectively disposed at two sides of the second synchronous belt 223, the first transverse arm 226 and the second transverse arm 227 are oppositely disposed in parallel, the first transverse arm 226 and the second transverse arm 227 are correspondingly connected to the first connecting member 224 and the second connecting member 225, and the same pair of first clamping columns 221 are respectively disposed on the first transverse arm 226 and the second transverse arm 227.

It is understood that the third motor 222 is connected to the control device, and the third motor 222 operates according to a control command sent by the control device.

When the device works, the third motor 222 outputs a rotary power source to drive the first main synchronous wheel to rotate, so as to drive the second synchronous belt 223 to run in a transmission manner, and the first connecting piece 224 and the second connecting piece 225 are respectively arranged at two sides of the second synchronous belt 223, so that when the second synchronous belt 223 is in a transmission manner, the first connecting piece 224 and the second connecting piece 225 move in opposite directions or in a deviating manner, so that the first transverse arm 226 and the second transverse arm 227 respectively drive the two first clamping columns 221 of the same pair to approach to or separate from each other; when the two first clamping columns 221 of the same pair are close to each other, the two opposite side surfaces of the first workpiece 01 can be clamped so as to be centered; when the two first clamping columns 221 of the same pair are far away from each other, the two opposite sides of the first workpiece 01 are released, so that the stacking control mechanism 6 can transfer the positioned first workpiece 01.

Preferably, the number of the first clamping columns 221 is four pairs, one set for each pair, for clamping a single first workpiece 01. Two ends of the first transverse arm 226 are respectively provided with two first clamping columns 221, two ends of the second transverse arm 227 are respectively provided with two first clamping columns 221, and the four first clamping columns 221 at the corresponding ends of the first transverse arm 226 and the second transverse arm 227 are arranged oppositely in pairs.

In order to ensure that the first clamping column 221 can completely fit the side surface of the first workpiece 01, preferably, the two ends of the first transverse arm 226 are respectively provided with a rotatable clamping column mounting plate 2261, and the first clamping columns 221 at the two ends of the first transverse arm 226 are respectively arranged on the clamping column mounting plates 2261 at the corresponding ends. The first clamping columns 221 at the two ends of the second transverse arm 227 are directly fixed on the second transverse arm 227.

Preferably, bearing rods are fixedly arranged at two ends of the first transverse arm 226, and the clamping column mounting plate 2261 is rotatably connected with the bearing rods through bearings.

In view of the smoothness of the movement of the first transverse arm 226, it is preferable that a second guide rail for guiding the movement of the first transverse arm 226 and a second slider 228 slidably received in the second guide rail are further included, the second slider 228 is fixedly mounted on the first mounting plate, and the first mounting plate is connected to the first connecting member 224.

In view of the smoothness of the movement of the second lateral arm 227, it is preferable that a T-shaped support block 229 for supporting the second lateral arm 227 is further included, a first slide groove for slidably connecting with the second guide rail is provided at the bottom of the T-shaped support block 229, and the T-shaped support block 229 is connected with the second connecting member 225.

It will be appreciated that the second transverse arm 227 may be brought to a suitable height position by increasing the height of the T-shaped support block 229 that supports the upright of the second transverse arm 227.

Preferably, the first connector 224 and the second connector 225 are both sheet metal parts.

Referring to fig. 11, as a preferred embodiment in view of the concrete structure of the fourth driving mechanism, on the basis of the above embodiment, the fourth driving mechanism includes a fourth motor 232, a second master synchronizing wheel, a second slave synchronizing wheel, a third synchronizing belt 233, a first adapter plate 234, a second adapter plate 235, a first vertical arm 236 and a second vertical arm 237, the second master synchronizing wheel is connected to an output shaft of the fourth motor 232, the second master synchronizing wheel, the second slave synchronizing wheel and the third synchronizing belt 233 form a second synchronizing belt transmission mechanism, the first adapter plate 234 and the second adapter plate 235 are respectively disposed on two sides of the third synchronizing belt 233, the first vertical arm 236 and the second vertical arm 237 are arranged in parallel and opposite, the first vertical arm 236 and the second vertical arm 237 are respectively connected to the first adapter plate 234 and the second adapter plate 235, and the same pair of second clamping columns 231 are respectively disposed on the first vertical arm 236 and the second vertical arm 237.

It should be noted that the first transverse arm 226, the second transverse arm 227, the first vertical arm 236 and the second vertical arm 237 are arranged in parallel; the direction of movement of the first and second

transverse arms

226, 227 is perpendicular to the length direction of the two; the moving direction of the first vertical arm 236 and the second vertical arm 237 is parallel to the length direction of both.

It is understood that the fourth motor 232 is connected to the control device, and the fourth motor 232 operates according to the control command sent by the control device.

When the clamping device works, the fourth motor 232 outputs a rotary power source to drive the second main synchronous wheel to rotate, so that the third synchronous belt 233 is driven to operate in a transmission manner, and the first adapter plate 234 and the second adapter plate 235 are respectively arranged on two sides of the third synchronous belt 233, so that when the third synchronous belt 233 is driven, the first adapter plate 234 and the second adapter plate 235 move in opposite directions or move away from each other, and the first vertical arm 236 and the second vertical arm 237 respectively drive the two second clamping columns 231 of the same pair to approach to or move away from each other; when the two second clamping columns 231 of the same pair are close to each other, the other two opposite side surfaces of the first workpiece 01 can be clamped to center the two side surfaces; when the two second clamping columns 231 of the same pair are far away from each other, the other two opposite sides of the first workpiece 01 are released, so that the stacking control mechanism 6 can transfer the positioned first workpiece 01.

Preferably, the number of the second clamping columns 231 is two pairs, respectively for clamping a single first workpiece 01. The first vertical arm 236 is provided with a second holding post 231 at each end, and the second vertical arm 237 is provided with a second holding post 231 at each end.

In view of the smoothness of the movement of the first vertical arm 236 and the second vertical arm 237, it is preferable that a third guide rail for guiding the movement of the first vertical arm 236 and the second vertical arm 237 is further included, and the bottom portions of the first adapter plate 234 and the second adapter plate 235 are each provided with a second sliding groove for slidably connecting with the third guide rail.

Preferably, the third motor 222 and the fourth motor 232 are both stepper motors.

Preferably, the third driving mechanism and the fourth driving mechanism are both disposed on the positioning bottom plate 25, the positioning bottom plate 25 is disposed in parallel with the positioning plate 21, and at least three supporting columns 26 are disposed between the positioning bottom plate 25 and the positioning plate 21.

Please refer to fig. 12, which is a schematic structural diagram of the first workpiece transfer module. In view of the specific structure of the first workpiece transfer module 3, on the basis of the above-described embodiments, the first workpiece transfer module 3 includes the first vacuum chuck 31, the first vacuum generator 32, the first lifting mechanism, and the first linear driving device.

Specifically, the first vacuum chuck 31 is used for sucking the first workpiece 01 on the jig disc 03, the number of the first vacuum chucks 31 is not limited in this embodiment, the number of the first vacuum chucks 31 may be one, or may be more than two, and is specifically determined according to the number of the first material taking positions on the positioning module 2.

The first vacuum chuck 31 is connected with the first vacuum generator 32, and when the first vacuum chuck 31 grabs the first workpiece 01, the first vacuum generator 32 generates negative pressure, so that the first vacuum chuck 31 sucks the first workpiece 01 through the action of the negative pressure suction; when the first workpiece 01 is transferred to the position, the first vacuum generator 32 breaks the vacuum, so that the first vacuum chuck 31 releases the first workpiece 01.

Preferably, the vacuum generator further comprises a first negative pressure gauge for detecting the magnitude of the negative pressure generated by the vacuum generator.

The first vacuum chuck 31 is connected to a first lifting mechanism and a first linear driving device respectively, the first lifting mechanism is used for driving the first vacuum chuck 31 to lift, and the first linear driving device is used for driving the first vacuum chuck 31 to move between the jig disc 03 and the positioning module 2.

It will be appreciated that the first vacuum generator 32, the first lift mechanism and the first linear drive are all connected to the control device.

When the jig disc 03 is in work, the control device controls the first linear driving device to act to transfer the first vacuum sucker 31 to the grabbing position, the first lifting mechanism drives the first vacuum sucker 31 to descend, when the first vacuum sucker 31 descends to the proper position, the first vacuum generator 32 generates negative pressure to enable the first vacuum sucker 31 to suck the first workpiece 01, until the first negative pressure gauge reaches a preset negative pressure value, the first lifting mechanism drives the first vacuum sucker 31 to ascend, the first linear driving device acts to transfer the first workpiece 01 to the first material taking position of the positioning module 2, the first lifting mechanism descends, the first vacuum generator 32 breaks vacuum, the first vacuum sucker 31 releases the first workpiece 01, the first workpiece 01 is accordingly put down to the positioning module 2, and the process is repeated so that the transfer of each first workpiece 01 on the jig disc 03 to the positioning module 2 is completed.

Preferably, the first elevating mechanism is a second cylinder 33.

Preferably, the first linear drive is a first belt module 34. The first belt module 34 is preferably disposed perpendicular to the cache belt line 12.

Preferably, the first vacuum chuck 31 is connected with the output end of the second cylinder 33 through a first suspension arm 35, the fixed seat of the second cylinder 33 is connected with a third slide block through a first slide block adapter plate, and the third slide block is connected with the transmission belt of the first belt module 34.

In order to realize the automatic feeding of the second workpiece 02, the second workpiece 02 is continuously conveyed to the second material taking position, so that the second gripping device 63 grips the second workpiece 02 from the second material taking position all the time, and on the basis of the above embodiments, the automatic feeding device further comprises a second workpiece feeding device for conveying and positioning the second workpiece 02 to the second material taking position under the control of the control device.

Please refer to fig. 14, which is a schematic structural diagram of a second workpiece feeding device. The second workpiece feeding device 4 includes a separating plate 41, a separating tray 42, and a first rotary drive.

Specifically, the separating plate 41 is provided with at least one discharge hole for allowing the second workpieces 02 placed in a stack to fall from the discharge hole one by one.

Preferably, a guide groove for stacking the second workpieces 02 in a stacked manner and guiding the fall of the second workpieces 02 is provided at a position corresponding to the discharge hole on the separating plate 41.

Preferably, the guide groove is formed by a plurality of guide shafts 44 which are vertically arranged and parallel to each other.

It should be noted that the second workpiece 02 falls down by its own weight, and in order to avoid the second workpiece 02 from being stuck in the guide groove, it is preferable that a weight 45 is further included for being placed above the stacked second workpieces 02.

The separating tray 42 is disposed below the separating plate 41 with a predetermined distance therebetween, and the separating tray 42 is provided with at least one separating groove 421, and the separating groove 421 is used for being abutted with the discharge hole to receive the single second workpiece 02 falling from the discharge hole.

It is understood that the sum of the preset spacing between the separating disks 42 and the separating plate 41 and the depth of the separating groove 421 is greater than the thickness of the second workpiece 02 to avoid the separating plate 41 interfering with the rotation of the second workpiece 02 in the separating groove 421 when the separating disks 42 are rotated.

Preferably, the depth of the separating groove 421 is equal to the thickness of the second workpiece 02.

It should be noted that the preset distance between the separating discs 42 and the separating plate 41 is adjustable, so as to adjust the size of the preset distance according to actual needs. It will be appreciated that the predetermined spacing between the separating discs 42 and the separating plate 41 is less than the thickness of the second workpiece 02 to avoid the second workpiece 02 falling from the outfeed aperture onto the separating discs 42 when the separating slot 421 is misaligned with the outfeed aperture.

The first rotating mechanism is connected with the separating disc 42 and is used for driving the separating disc 42 to rotate so as to rotate the second workpiece 02 falling into the separating groove 421 to the second material taking position.

It will be appreciated that the first rotation mechanism is connected to the control means.

When the separating tray 421 is connected to the discharge hole, the second workpiece 02 located at the bottommost layer of the separating plate 41 falls into the separating tray 421 from the discharge hole, and along with the continuous rotation of the separating tray 42, the second workpiece 02 in the separating tray 421 is rotated to the second material taking position, so that the stacking control mechanism 6 can grab the second workpiece 02 from the second material taking position.

In order to enable the topmost first workpiece 01 or second workpiece 02 in the material placing position to be always at the same height position in the alternate material stacking process, a stacked material receiving device 5 is further included on the basis of any one of the above embodiments.

Fig. 19 is a schematic structural diagram of the stacked receiving device 5. The stacked receiving device 5 comprises a receiving member 51 and a third longitudinal driving device, the receiving member 51 is provided with the discharging position, and the third longitudinal driving device is respectively connected with the control device and the receiving member 51 and is used for driving the receiving member 51 to move in the vertical direction under the control of the control device, so that the discharging position descends by a sixth preset distance or a seventh preset distance every time the receiving member receives one first workpiece 01 or one second workpiece 02.

Wherein the sixth predetermined distance corresponds to the thickness of the first workpiece 01 and the seventh predetermined distance corresponds to the thickness of the second workpiece 02.

That is, each time the first gripping device 61 places a first workpiece 01 on the loading position, the control device controls the third longitudinal driving device to operate, so that the third longitudinal driving device drives the receiving member 51 to descend by a distance equal to the thickness of the first workpiece 01; whenever the second gripping device 63 places a second workpiece 02 at the loading position, the control device controls the third longitudinal driving device to operate, so that the third longitudinal driving device drives the bearing part 51 to descend by the thickness of the second workpiece 02, so as to ensure that the topmost first workpiece 01 or second workpiece 02 at the loading position is always at the same height position, and avoid the interference of the first gripping device 61 and the second gripping device 63 with alternate stacking at the loading position when descending.

Please refer to fig. 13, which is a schematic structural diagram of the positioning module 2, the second workpiece feeding device, the stacked receiving device, and the stacking control mechanism after assembly. When the device works, firstly, the control device controls the transverse driving device 65 to drive the second vacuum chuck to move to the position above the first material taking position of the positioning module 2, the first longitudinal driving device 62 drives the second vacuum chuck to descend to the position contacting with the first workpiece 01, the second vacuum generator generates negative pressure, so that the second vacuum chuck absorbs the first workpiece 01 positioned on the positioning module 2, after the pressure value of the second negative pressure gauge reaches the preset negative pressure value, the first longitudinal driving device 62 drives the second vacuum chuck to ascend, when the second vacuum chuck rises to the preset height, the transverse driving device 65 drives the second vacuum chuck to move to the position above the material placing position of the laminated material receiving device 5, then, the first longitudinal driving device 62 drives the second vacuum chuck to descend, and the second vacuum generator breaks vacuum, so that the second vacuum chuck loosens the first workpiece 01, and the first workpiece 01 is placed at the placing position of the laminated material receiving device 5.

When the second vacuum chuck moves to the position above the material placing position of the stacked material receiving device 5, the clamping jaws move to the position above the second material taking position of the second workpiece feeding device 4 synchronously, and the second longitudinal driving device 64 and the first longitudinal driving device 62 act synchronously, so that the clamping jaws are driven to descend by the second longitudinal driving device 64 while the second vacuum chuck places the first workpiece 01, and the second workpiece 02 is clamped by the clamping jaws.

Then, the first longitudinal driving device 62 and the second longitudinal driving device 64 are lifted synchronously to drive the second vacuum chuck and the clamping jaws to ascend to a preset height, then the transverse driving device 65 drives the second vacuum chuck to move above the first material taking position of the positioning module 2, and simultaneously drives the clamping jaws to move above the material placing position of the laminated material receiving device 5 synchronously. In the process, the third longitudinal driving device of the laminated receiving device 5 is actuated to drive the receiving member 51 to descend by a distance equal to the thickness of the first workpiece 01. Then, the first longitudinal driving device 62 and the second longitudinal driving device 64 are synchronously descended, so that the second vacuum chuck is descended to the position contacting the first workpiece 01, the clamping jaw is descended to the material placing position, and then under the action of the second vacuum generator, the second vacuum chuck absorbs the first workpiece 01; meanwhile, the clamping jaws loosen the second workpiece 02, the second workpiece 02 is placed at the material placing position of the laminated material receiving device 5, so that the first workpiece 01 and the second workpiece 02 are stacked, the working process is repeated continuously until the first workpiece 01 and the second workpiece 02 reach the preset number of layers, and then the next working procedure is carried out.

In view of the problem of automatic discharging of the alternate laminated sheets 04, on the basis of the above embodiments, the stacking machine further comprises a feeding mechanism 7 and a discharging belt line 8, wherein the feeding mechanism 7 is arranged between the stacked receiving device 5 and the discharging belt line 8 and is used for transferring the alternate laminated sheets 04 on the stacked receiving device 5 to the discharging belt line 8; the discharging belt line 8 is used for conveying the alternate stacked materials to a required station.

Please refer to fig. 15, which is a schematic structural diagram of the assembled stacked receiving device, feeding mechanism and discharging belt line.

As a preferred scheme, the number of the discharging belt lines 8 is two, and the two discharging belt lines 8 are arranged in parallel.

Please refer to fig. 18, which is a schematic structural diagram of the discharging belt line 8. In consideration of the specific structure of the discharging belt line 8, as a preferable scheme, the single discharging belt line 8 includes a fifth motor 81, a third belt transmission mechanism 82 connected to an output shaft of the fifth motor 81, a second driving shaft 83 fixedly connected to a third driven pulley of the third belt transmission mechanism 82, two primary synchronous pulleys respectively provided at both ends of the second driving shaft 83, and two secondary synchronous pulleys and two synchronous belts forming a fourth synchronous belt transmission mechanism 84 and a fifth synchronous belt transmission mechanism 85 with the two primary synchronous pulleys, respectively.

It should be noted that the support structure of the outfeed belt line 8 is referred to above as the support structure of the infeed belt line 11.

Referring to fig. 16 and 17, fig. 16 is a schematic structural view of a feeding mechanism (a cover plate is not shown); fig. 17 is a schematic view of the feeding mechanism shown in fig. 16 in a conveying state. In view of the specific structure of the feeding mechanism 7, on the basis of the above-described embodiment, the feeding mechanism 7 includes a first pallet 71 for interfacing with the stacked receiving device 5 to receive the alternating stacked sheets 04, a belt drive mechanism for conveying the alternating stacked sheets 04, and a second rotary drive mechanism 72 for powering the belt drive mechanism.

The number of the first pallets 71 is two, and the belt drive is used for conveying the alternate stacks 04 on the two first pallets 71 to the two discharge belt lines 8, respectively, under the control of the control device. The two first supporting plates 71 are correspondingly connected with the upper side and the lower side of a second transmission belt of the belt transmission mechanism respectively, so that in the transmission process of the second transmission belt, the two first supporting plates 71 are synchronously transmitted to two different discharging positions along opposite directions respectively, and the two discharging positions are respectively in butt joint with the two discharging belt lines 8.

That is, the upper side and the lower side of the second belt of the belt drive are each used as a transport channel for transporting the alternating stacks 04 for the simultaneous transport of the alternating stacks 04 in both directions, and the alternating stacks 04 transported in both directions are transported from the respective discharge position to the two discharge belt lines 8. The feeding mechanism 7 has higher conveying efficiency and fast production beat, thereby improving the production efficiency and the productivity.

It should be noted that the belt transmission mechanism is connected with the control device to control the transmission of the second transmission belt under the control of the control device, so as to achieve the purpose of conveying the alternate lamination.

Preferably, the second belt is a fourth timing belt 73.

Further preferably, the belt transmission mechanism further comprises a second driving pulley and a second driven pulley, the second driving pulley is connected to the second rotary driving mechanism 72, and the second rotary driving mechanism 72 is configured to drive the second driving pulley to rotate so as to drive the second transmission belt to transmit power. Preferably, the second rotary drive mechanism 72 is a sixth motor.

In view of the smoothness of the movement of the first support plates 71, it is preferable that a fourth guide rail 74 is further included, which is arranged in parallel with the transmission direction of the second transmission belt, and both of the first support plates 71 are slidably connected to the fourth guide rail 74 through a fourth slider.

Preferably, the fourth guide rail 74 is provided with a stopper 75 for defining the limit position of the movement of the two first trays 71.

Preferably, a fourth lifting mechanism 76 connected to both the first supporting plates 71 and used for driving the two first supporting plates 71 to lift is further included, so as to facilitate the loading and unloading of the alternate lamination 04.

Preferably, the fourth lifting mechanism 76 is provided with a third connecting member 78 connected to the fourth slider.

Preferably, a cover plate 791 for covering the fourth guide rail 74 is further included, and the third connector 78 is provided with an abdicating groove 781 for abdicating the cover plate 791.

That is, the cover plate 791 may pass through the offset groove 781 to prevent the cover plate 791 from interfering with the third connecting member 78 and affecting the connection between the third connecting member 78 and the fourth slider.

Preferably, the third connector 78 is a C-shaped plate. When the cover plate 791 is installed, the cover plate passes through the C-shaped cavity of the C-shaped plate.

Preferably, a support plate for disposing the second driving pulley and the second driven pulley and a mounting plate 793 for fixing the fourth guide rail 74 are further included, the mounting plate 793 being connected to the support plate.

Preferably, end caps 792 are included for shielding both ends of the belt drive mechanism, the end caps 792 being connected to the support plate and the cover plate 791, respectively.

Preferably, a first material detecting sensor 77 for detecting whether the two first supporting plates 71 have materials is further included, and the first material detecting sensor 77 is connected with the control device to control the second rotary driving mechanism 72 to be started when the first material detecting sensor 77 detects that the two first supporting plates 71 have materials.

In order to improve the conveying efficiency, as a preferred scheme, the stacked receiving device 5 has two material placing positions, and the two material placing positions are respectively arranged in one-to-one correspondence with the two first supporting plates 71; when the number of the alternating stacked sheets 04 reaches the preset number, the third longitudinal driving device is lowered under the control of the control device, so that the two discharging positions are respectively butted with the first supporting plate 71, and the alternating stacked sheets 04 fall to the first supporting plate 71 under the action of gravity.

During operation, under the control of the control device, the third longitudinal driving device drives the receiving element 51 to ascend to the highest position, so that the discharging position of the receiving element 51 is located at the preset receiving position, the stacking control mechanism 6 can transfer the first workpiece 01 and the second workpiece 02 to the discharging position of the receiving element 51 alternatively, and in the process that the stacking control mechanism 6 transfers the first workpiece 01 and the second workpiece 02 to the discharging position alternatively, the third longitudinal driving device drives the receiving element 51 to continuously descend by the distance of the thickness of the first workpiece 01 or the distance of the thickness of the second workpiece 02 under the control of the control device. When the first workpiece 01 and the second workpiece 02 reach the preset number of layers, the third longitudinal driving device drives the receiving element 51 to descend to the lowest position under the control of the control device, so that the receiving element 51 is abutted with the first supporting plate 71, and the alternate stacking piece 04 on the receiving element 51 falls on the first supporting plate 71 by virtue of gravity.

Preferably, a second material detecting sensor 52 is further included for detecting whether there is material on the two receiving members 51, and the second material detecting sensor 52 is connected with the control device to control the third longitudinal driving device to ascend when the second material detecting sensor 52 detects that there is no material on the two receiving members 51.

Preferably, the third longitudinal driving device includes a seventh motor 53, a belt transmission mechanism connected to an output shaft of the seventh motor 53, a lead screw 54 connected to a third driven pulley of the belt transmission mechanism, and a second nut sleeved on the lead screw 54, and the receiving member 51 is connected to the second nut through a feeding and discharging sliding plate 55.

In view of the smoothness of the movement, it is preferable that a fifth guide rail for guiding the ascending and descending movement of the upper and lower sliding plates 55 and a fifth sliding block slidably sleeved with the fifth guide rail are further included, the upper and lower sliding plates 55 are connected with a guide rail block 56, and the guide rail block 56 is connected with the fifth sliding block.

Referring to fig. 20, an axial view of the stacking control system is shown. On the basis of the above embodiments, the device further comprises a frame 9 for carrying.

It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The stacking control system provided by the present invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. A stacking control system for alternately stacking a first workpiece (01) and a second workpiece (02) at a stacking position, comprising:

the workpiece grabbing device comprises a fixing piece (66), and a first grabbing device (61) and a second grabbing device (63) which are connected to the fixing piece (66) in the same direction side by side, wherein the first grabbing device (61) is used for grabbing or placing the first workpiece (01), and the second grabbing device (63) is used for grabbing or placing the second workpiece (02);

the transverse driving device (65) is connected with the fixing piece (66) and is used for driving the first grabbing device (61) and the second grabbing device (63) to move simultaneously along the horizontal direction;

the first longitudinal driving device (62) is connected between the first grabbing device (61) and the fixing piece (66) and is used for driving the first grabbing device (61) to move in the vertical direction;

the second longitudinal driving device (64) is connected between the second grabbing device (63) and the fixing piece (66) and is used for driving the second grabbing device (63) to move in the vertical direction;

and a control device, which is respectively connected with the detection device, the transverse driving device (65), the first longitudinal driving device (62) and the second longitudinal driving device (64) and is used for receiving the position information of the workpiece grabbing device, respectively controlling the transverse driving device (65), the first longitudinal driving device (62) and the second longitudinal driving device (64) to drive the workpiece grabbing device to move to a preset station to grab or place the first workpiece (01) and the second workpiece (02),

wherein the preset station comprises a plurality of preset stations,

a first station, which is a position where the first gripping device (61) is aligned above the first workpiece (01) and can grip the first workpiece (01), and the second gripping device (63) is aligned above the placing position and can place the second workpiece (02),

a second station, the second station is a position where the first gripping device (61) ascends a first preset distance along the vertical direction from the first station, the second gripping device (63) ascends a second preset distance along the vertical direction from the first station,

a third station, wherein the workpiece grabbing device moves a third preset distance from the second station along the horizontal direction, so that the first grabbing device (61) is aligned to the position above the material placing position, and the second grabbing device (63) is aligned to the position above the second workpiece (02),

a fourth station, which is a position where the first gripping device (61) is lowered from the third station by a fourth preset distance in the vertical direction so that the first workpiece (01) can be placed, and the second gripping device (63) is lowered from the third station by a fifth preset distance in the vertical direction so that the second workpiece (02) can be gripped.

2. The stacking control system according to claim 1, further comprising a first workpiece loading device for conveying and positioning the first workpiece (01) to a first pick-up position under control of the control device, the first workpiece loading device comprising:

the jig feeding device is used for conveying the jig disc (03) provided with the first workpiece (01) to a material transferring position under the control of the control device;

the positioning module (2) is provided with the first material taking position and is arranged corresponding to the material transferring position and used for carrying and positioning the first workpiece (01) under the control of the control device;

the first workpiece transfer module (3) is used for transferring the first workpiece (01) on the jig disc (03) to the positioning module (2) under the control of the control device.

3. The stacking control system of claim 2, wherein the jig loading device comprises:

the feeding belt line (11) is used for feeding the jig disc (03) under the control of the control device;

the buffer belt line (12) is butted with the feeding belt line (11) and is used for conveying the jig disc (03) under the control of the control device;

the blocking component (13) is arranged below the buffer belt line (12) and can lift up and down, and is used for rising under the control of the control device so as to position the jig disc (03) to the material transferring position; and the jig plate descends under the control of the control device to avoid the empty jig plate (03) from moving.

4. A stacking control system according to claim 3, characterised in that the infeed belt line (11) is provided with:

the lifting mechanism (14) is used for lifting under the control of the control device so as to bear a plurality of stacked jig discs (03);

the telescopic box separating mechanism (15) is used for extending under the control of the control device, so that the tool disc (03) at the bottommost layer falls on the jacking mechanism (14) by means of gravity through supporting the tool disc (03) at the penultimate layer, and when the control device controls the jacking mechanism (14) to descend, the tool disc (03) at the bottommost layer descends to the feeding belt line (11).

5. The stacking control system according to claim 2, wherein the positioning module (2) comprises:

the positioning plate (21) is provided with at least one first material taking position for bearing the first workpiece (01);

and the position correction mechanisms are arranged in one-to-one correspondence with the first material taking positions and are used for correcting the position of the first workpiece (01) under the control of the control device so as to position the first workpiece (01).

6. The stacking control system according to claim 5, wherein the position correction mechanism comprises:

at least one pair of first clamping columns (221) arranged oppositely;

a third driving mechanism connected to the first clamping columns (221) for driving the first clamping columns (221) of the same pair to approach or separate from each other;

at least one pair of second clamping columns (231) which are oppositely arranged;

and the fourth driving mechanism is connected with the second clamping columns (231) and is used for driving the second clamping columns (231) of the same pair to mutually approach or separate, and a connecting line of the first clamping column (221) of the same pair is vertical to a connecting line of the second clamping columns (231) of the same pair.

7. A stacking control system according to claim 2, characterised in that the first workpiece transfer module (3) comprises:

at least one first vacuum suction cup (31) for sucking the first workpiece (01) on the jig plate (03), the first vacuum suction cup (31) being connected to a first vacuum generator (32);

the first lifting mechanism is connected with the first vacuum sucker (31) and is used for driving the first vacuum sucker (31) to lift;

and the first linear driving device is connected with the first vacuum sucker (31) and used for driving the first vacuum sucker (31) to move between the jig disc (03) and the positioning module (2) on the material transferring position.

8. The stacking control system according to claim 1, further comprising a second workpiece loading device for conveying and positioning a second workpiece (02) to a second pick-up position under the control of the control device, the second workpiece loading device (4) comprising:

a separating plate (41) having at least one discharge opening for dropping the second workpieces (02) stacked one on top of another one by one from the discharge opening;

a separating tray (42) arranged below the separating plate (41), the separating tray (42) being provided with at least one separating slot (421) for abutting against the discharge hole to receive the second workpiece (02) falling from the discharge hole; the preset spacing between the separating discs (42) and the separating plate (41) is adjustable so that the preset spacing is smaller than the thickness of the second workpiece (02);

and the first rotary driving part is connected with the separating disc (42) and is used for driving the separating disc (42) to rotate so as to enable the second workpiece (02) falling into the separating groove (421) to rotate to the second material taking position.

9. The stacking control system according to any one of claims 1-8, further comprising a stacked receiving device (5), wherein the stacked receiving device (5) comprises:

a receptacle (51) provided with said discharge location;

the third longitudinal driving device is respectively connected with the control device and the bearing piece (51) and is used for driving the bearing piece (51) to move along the vertical direction under the control of the control device, so that the discharging position descends by a sixth preset distance or a seventh preset distance every time the discharging position receives one first workpiece (01) or one second workpiece (02);

wherein the sixth predetermined distance corresponds to a thickness of the first workpiece (01) and the seventh predetermined distance corresponds to a thickness of the second workpiece (02).

10. The stacking control system of claim 9, further comprising:

two discharging belt lines (8) arranged in parallel;

and the feeding mechanisms (7) are respectively butted with the stacked material receiving devices (5) and the two discharging belt lines (8) and are used for receiving the alternate laminations (04) on the stacked material receiving devices (5) under the control of the control device and conveying the alternate laminations (04) to the discharging belt lines (8).

11. The stacking control system according to claim 10, wherein the feeding mechanism (7) comprises:

the first supporting plates (71) are used for being butted with the stacked receiving device (5) to receive the alternate stacked sheets (04), and the number of the first supporting plates (71) is two;

the belt transmission mechanism is used for conveying the alternate laminations (04) on the two first supporting plates (71) to the two discharging belt lines (8) respectively under the control of the control device, the two first supporting plates (71) are correspondingly connected with the upper side and the lower side of a second transmission belt of the belt transmission mechanism respectively, so that the two first supporting plates (71) are synchronously transmitted to two different discharging positions along opposite directions in the transmission process of the second transmission belt, and the two discharging positions are butted with the two discharging belt lines (8) respectively;

a second rotary drive mechanism (72) connected to the belt drive mechanism for powering the belt drive mechanism.

12. The stacking control system according to claim 11, wherein the number of said discharge positions is two, and two of said discharge positions are provided in one-to-one correspondence with two of said first pallets (71), respectively;

when the number of the alternate laminations (04) reaches the preset number, the third longitudinal driving device descends under the control of the control device, so that the two discharging positions are respectively butted with the first supporting plate (71), and the alternate laminations (04) fall to the first supporting plate (71) under the action of gravity.