CN120504166A - Automatic sorting and stacking production line and control method thereof - Google Patents

Abstract

The invention belongs to the technical field of workpiece sorting and stacking, and particularly relates to an automatic sorting and stacking production line and a control method thereof. The automatic sorting and stacking production line realizes the full-process automation from automatic feeding, sorting and conveying, identifying and sorting to stacking of workpieces, thoroughly replaces manual operation, solves the problems of low manual sorting efficiency and high labor intensity, and has remarkable production efficiency, the front and back and forward and reverse placing states of the workpieces can be accurately identified through the visual identifying mechanism, the workpieces in different states are accurately sorted to corresponding stacking stations by combining intelligent scheduling of the control module and automatic sorting and stacking of the sorting conveying structure and the conveying mechanism, and the disorder of electroplated layers and packaging is effectively avoided.

Description

Automatic sorting and stacking production line and control method thereof

Technical Field

The invention belongs to the technical field of workpiece sorting and stacking, and particularly relates to an automatic sorting and stacking production line and a control method thereof.

Background

At present, a sheet metal workpiece subjected to punching and grooving is usually required to be provided with a layer of electroplated coating on the surface thereof by an electroplating process so as to improve the corrosion resistance and the attractiveness of the workpiece. The electroplated workpieces are required to be sorted, stacked and piled for subsequent packing and transportation. In the stacking process, the workpieces are required to be arranged in the same plane and the same direction according to the photographing so as to avoid surface scratch or electroplated layer damage, and meanwhile, package uniformity and transportation stability are ensured. However, the existing sorting and stacking operations are mostly finished manually, and the problems of low manual sorting and stacking speed and low working efficiency exist.

Disclosure of Invention

The invention aims to solve the problem of low efficiency of the existing manual sorting and stacking mode, and provides an automatic sorting and stacking production line and a control method thereof.

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

The automatic sorting and stacking production line comprises a control module, a feeding conveying mechanism, a discharging manipulator, a feeding mechanism, a centrifugal conveying device, a visual identification mechanism, a feeding conveying mechanism, a stacking station and a discharging conveying mechanism; the sorting and conveying mechanism is provided with a sorting conveyor belt and a sorting driving mechanism for driving the sorting conveyor belt to run, a plurality of workpiece positioning modules are arranged at intervals along the length direction, the workpiece positioning modules are provided with workpiece positioning grooves with openings at the upper sides, the feeding conveying mechanism is arranged between the downstream end of the feeding conveyor mechanism and the upstream end of the sorting conveyor mechanism and used for sorting and conveying received workpieces to the feeding mechanism in a centrifugal motion mode, the visual recognition mechanism is used for recognizing the front side and the back side of the workpieces conveyed in the feeding mechanism and feeding the front side and the back side of the workpieces back to the control module in sequence, the sorting conveyor belt is provided with a plurality of workpiece positioning modules which are provided with workpiece positioning grooves with openings at the upper sides along the length direction, the feeding conveyor belt is arranged between the feeding mechanism and the upstream end of the sorting conveyor mechanism and used for conveying the workpieces of the feeding stations to the upper ends of the sorting conveyor mechanism, the sorting conveyor belt is arranged at one side of the stacking conveyor belt corresponding to the stacking conveyor belt in the stacking conveyor belt, the stacking conveyor belt is arranged at one side of the stacking conveyor belt corresponding to the stacking conveyor belt in the stacking conveyor belt stacking direction, the sorting driving mechanism is used for intermittently driving the sorting conveyer belt to run with a constant stroke, so that when the sorting conveyer belt is intermittently stopped, the workpiece positioning modules are respectively connected with the corresponding feeding conveying mechanism and the corresponding discharging conveying mechanism.

Compared with the prior art, the automatic sorting and stacking production line has the advantages that the automatic sorting and stacking production line realizes the full-process automation from automatic feeding, sorting and conveying, identifying and sorting to stacking of workpieces through the cooperative matching of the feeding conveying mechanism, the discharging manipulator, the centrifugal conveying device, the feeding mechanism, the visual identification mechanism, the sorting conveying mechanism, the feeding conveying mechanism and the discharging conveying mechanism, the manual operation is thoroughly replaced, the problems of low manual sorting efficiency and high labor intensity are solved, the production efficiency is improved remarkably, the front side and the back side of the workpieces can be accurately identified through the visual identification mechanism, the workpieces in different states are accurately sorted to corresponding stacking stations through the intelligent scheduling of the control module and the automatic sorting and stacking of the sorting conveying mechanism, the sorting error rate is close to zero, the electroplated layer scratch and the packaging confusion are effectively avoided, in addition, the sorting conveying belt adopts intermittent constant-stroke operation, the workpiece positioning modules arranged at intervals in a matched mode, the feeding and the discharging actions are strictly synchronous with the conveying beats, the continuous running operation is realized, and the equipment operation is stable and reliable. The long-term operation cost of the automatic sorting stacking equipment is lower than that of manual work, and the quality loss and the enterprise cost are comprehensively reduced.

The unloading machine comprises a feeding conveying mechanism, a unloading manipulator, a unloading frame recovery mechanism, a material frame recovery mechanism and a recycling station, wherein the unloading manipulator is used for unloading a workpiece in the material frame to the feeding conveying mechanism and then transferring the unloaded material frame to the material frame recovery mechanism, and through the arrangement, the unloading manipulator is additionally provided with the material frame recovery mechanism and automatically transfers the unloaded material frame to the recycling station after the unloading manipulator finishes unloading the workpiece, so that the recycling of the material frame is realized. The design not only avoids the occupation of empty material frames to the production line space, but also reduces the links of manual cleaning and material frame carrying, further improves the overall automation degree and the production efficiency, simultaneously reduces the material frame management cost, and ensures the continuous and efficient operation of the production line.

Further, the visual recognition mechanism comprises a visual recognition bracket, a top light source box, a top camera, a bottom light source box and a bottom camera which are arranged on the visual recognition bracket; the visual identification device comprises a visual identification support, a feeding mechanism, a top light source box, a top camera, a bottom light source box, a bottom camera and a visual identification mechanism, wherein the feeding mechanism penetrates through the front side and the rear side of the visual identification support, the top light source box is located on the upper side of the feeding mechanism, the top camera is located on the upper side of the top light source box, the bottom camera is used for shooting the top surface of a workpiece entering a shooting area, the bottom camera is used for shooting the bottom surface of the workpiece entering the shooting area, the placing states of the workpiece comprise a first placing state according to the front side and the front side of the workpiece, a second placing state according to the back side of the workpiece and the front side of the workpiece, a third placing state according to the front side and the back side of the workpiece and a fourth placing state according to the back side of the workpiece and the back side of the workpiece, the visual identification mechanism is matched with the double light source boxes through the top camera and the bottom camera, all-round high-precision detection is carried out on the workpiece, four states (the front side, the back side and the front side of the workpiece and the back side of the workpiece) can be accurately identified, damage-free plating layers are avoided through non-contact optical detection, the modularized integration design is adopted, the detection precision is guaranteed, the detecting device is easy, the automatic stacking operation is provided, and the reliable, and the problem is solved, and the problem is effectively is solved.

The feeding device comprises a feeding mechanism, a feeding channel, a blocking rod, a control module, a workpiece positioning module, a control module and a control module, wherein the feeding mechanism is arranged on the feeding mechanism, the blocking rod is arranged on the upstream side of the feeding station, the first detector is arranged on the tail end side of the feeding channel and is used for detecting workpieces in the feeding station, when the first detector detects that the workpieces enter the feeding station, the control module controls the blocking rod to extend out, the workpieces in the feeding station are separated from the workpieces on the upstream side, the feeding conveying mechanism conveys the workpieces in the feeding station to the workpiece positioning module on the upstream side of a sorting conveying belt, the width of the feeding channel is close to the width of the workpieces, through the arrangement, the blocking rod and the first detector are arranged on the upstream side of the feeding station, accurate positioning and orderly sorting of the workpieces are achieved, when the first detector detects that the workpieces reach the feeding station, the control module controls the blocking rod to extend out, the workpieces in the feeding station are effectively separated from the subsequent workpieces, the feeding conveying mechanism can accurately grasp and transfer the workpieces to the sorting conveying belt, and the width of the feeding channel is matched with the workpieces, the workpieces are prevented from shifting or clamping stability in the conveying process, the feeding efficiency is improved, and the manual intervention rate is reduced.

The automatic stacking machine comprises a machine frame, and is characterized by further comprising a sorting conveying structure, a stacking station and a blanking conveying mechanism, wherein the sorting conveying structure, the stacking station and the blanking conveying mechanism are arranged on the machine frame, the blanking conveying mechanism is arranged between the sorting conveying structure and the stacking station, the automatic stacking machine further comprises a stacking assembly, the stacking assembly comprises a stacking bin and a jacking mechanism, the jacking mechanism comprises a vertical push rod and a jacking seat arranged at the output end of the vertical push rod, the bottom of the stacking bin is provided with an avoidance hole matched with the jacking seat, the stacking station is arranged on the upper side of the jacking seat, a stacking cavity with an opening on the upper side is arranged in the stacking bin, the vertical push rod is used for driving the jacking seat to make vertical movement in the stacking cavity through the avoidance hole, the workpiece stacking height of the jacking seat is matched with the workpiece height of the blanking conveying mechanism, through the machine frame integration design, the sorting conveying structure, the stacking station and the blanking conveying mechanism form compact layout, the automatic stacking management of the workpieces is realized through the machine frame, the stacking bin provides a stable stacking cavity, the jacking mechanism drives the jacking seat to lift in the avoidance hole through the vertical push rod, the automatic stacking mechanism dynamically adjusts the stacking height of the workpieces to make the stacking mechanism always make the stacking height match with the stacking mechanism, the stacking efficiency is remarkably reduced, the automatic stacking operation is remarkably safe, and the automatic stacking operation is guaranteed, and the stacking quality is remarkably safe.

Further, the second detector is arranged at the top of the stacking bin and used for detecting the workpiece on the top layer of the jacking seat, after the workpiece is added to the jacking seat, a feedback signal is sent to the control module to control the vertical push rod to descend the height of one workpiece thickness, so that the height of the top of the workpiece borne by the jacking seat is matched with the height of the workpiece released by the blanking conveying mechanism, through the arrangement, the position of the workpiece on the top layer in the stacking bin is monitored in real time through the second detector, the height of the jacking mechanism is intelligently adjusted by the control module in a matching manner, so that the jacking seat automatically descends one workpiece thickness after each new workpiece is stacked, the stability and the accuracy of a stacking process are always kept, the efficiency loss caused by manual adjustment is avoided, the full-automatic intelligent stacking is realized, and the production efficiency and the stacking quality are remarkably improved.

Further, the stacking assembly further comprises a sliding seat and a translation driver for driving the sliding seat to slide relatively, the sliding seat is connected to the frame in a sliding way through a sliding rail device, and the stacking bin is provided with two sliding seats and is arranged on the sliding seat in parallel; through the arrangement, through the design of the sliding seat and the translational driver, the two stacking bins can alternately switch stations along the sliding rail, when one stacking bin is stacked, the sliding seat is driven by the push rod to translate so that the other stacking bin is immediately positioned, uninterrupted continuous stacking operation is realized, the operation efficiency of equipment is greatly improved, the continuity of stacking procedures is ensured, the space utilization rate of the equipment is optimized, and the production beat bottleneck problem in a single bin mode is effectively solved.

Furthermore, the stacking bin comprises a stacking seat and a plurality of positioning columns which are arranged around the periphery of the stacking seat, wherein a stacking cavity is formed between the positioning columns and the stacking seat, and through the arrangement, the positioning columns are arranged around the stacking seat to form a regular stacking cavity, so that the displacement range of stacked workpieces can be effectively restrained, the inclined scattering can be prevented, necessary operation space around the workpieces can be maintained, the stacking precision is ensured, the convenience of workpiece carrying is also ensured, and the automatic stacking process is more stable and reliable.

The feeding and carrying mechanism comprises a machine base, a belt transmission structure, a swinging rod assembly and a rotary driver, wherein the belt transmission structure comprises a driving belt wheel, a driven belt wheel and a transmission belt which are vertically arranged along the machine base, the transmission belt is wound on the driving belt wheel and the driven belt wheel, the swinging rod assembly comprises a first swinging rod, a second swinging rod and a workpiece transfer rod, one end of the first swinging rod is connected to the driving belt wheel, one end of the second swinging rod is connected to the driven belt wheel, the workpiece transfer rod is respectively and rotatably connected with the other end of the first swinging rod and the other end of the second swinging rod, the lower end of the workpiece transfer rod extends out of the lower side of the swinging rod assembly to form a pickup part, the rotary driver is in transmission connection with the driving belt wheel, the pickup part is driven by the driving belt wheel, the swinging rod assembly is driven to move from one side of the machine base to the other side by transmission, the feeding and carrying mechanism is similar to the structure of the discharging and the workpiece transfer mechanism, through the innovative design of the belt transmission structure and the swinging rod assembly, the workpiece transfer rod is controlled by the rotary driver to realize accurate reciprocating motion, the pickup part can stably finish the workpiece grabbing and releasing motion, the unique swinging rod can be kept in a horizontal layout or the horizontal layout, the special double-swing rod structure can be compact, the vertical and the requirements on the vertical and the requirements on the horizontal position and the carrying can be remarkably stable and stable can be guaranteed.

Further, the automatic bundling machine further comprises a blanking and bundling mechanical arm, a bundling machine for bundling and a film sealing machine, wherein the blanking and bundling mechanical arm is used for transferring the workpieces which are stacked in the stacking station and reach the preset number to the bundling machine for bundling and bundling, and further, bundling and bundling the workpieces; through setting up like this, through the cooperation of unloading packing manipulator and ribbon bundling machine, realize the automation after the work piece stacks and bind the packing, when the work piece in the material station of folding reaches preset quantity, unloading packing manipulator is automatic to be transferred whole stack work piece to the ribbon bundling machine and tie up, has not only improved packing efficiency by a wide margin, has guaranteed transportation stability, has still thoroughly eliminated the link of manual handling and bundling, is showing and is reducing intensity of labour and improving the whole degree of automation of production line.

By arranging a plurality of groups of feeding conveying mechanisms, centrifugal conveying devices, feeding mechanisms, visual identification mechanisms, feeding conveying mechanisms and discharging conveying mechanisms, a parallel processing system is formed, equipment can process a plurality of workpiece flows simultaneously, integral sorting and stacking efficiency is improved in multiple, synchronous sorting operation of workpieces with different specifications can be realized, equipment utilization rate and productivity elasticity are remarkably improved, industrial requirements of mass production and multiple varieties are met, and meanwhile independent operation of each unit is kept through modularized design, so that system stability and maintainability are ensured.

The automatic sorting and stacking production line control method comprises the steps that a feeding conveying mechanism places a material frame carrying workpieces into a discharging manipulator conveyed to the downstream end, the discharging manipulator discharges a plurality of workpieces in the material frame to a feeding conveying mechanism, the feeding conveying mechanism conveys the workpieces to a centrifugal conveying device to be sequenced and conveyed to the feeding mechanism, a visual recognition mechanism recognizes the front and back placing states of the workpieces entering the feeding mechanism and feeds the placing state information of the workpieces back to a control module in sequence, the feeding mechanism conveys the workpieces recognized by the visual recognition mechanism into a feeding station one by one, the control module controls a feeding conveying mechanism to convey the workpieces of the feeding station into a workpiece positioning module at the upstream end of the sorting conveying structure one by one, and the control module controls a plurality of discharging conveying mechanisms to respectively pick up the workpieces corresponding to the placing states and transfer the workpieces to a stacking station which is configured.

Compared with the prior art, the automatic sorting and stacking production line control method has the advantages that the cooperative matching of the feeding conveying mechanism, the discharging manipulator, the centrifugal conveying device, the feeding mechanism, the visual identification mechanism, the sorting conveying structure, the feeding conveying mechanism and the discharging conveying mechanism is realized, the whole process from automatic feeding, sorting and conveying, identifying and sorting to stacking is realized, the manual operation is thoroughly replaced, the problems of low manual sorting efficiency and high labor intensity are solved, the production efficiency is improved remarkably, the front side and the back side of the workpiece can be accurately identified through the visual identification mechanism, the front side and the back side of the workpiece are accurately placed, the intelligent scheduling of the control module and the automatic sorting and stacking of the sorting conveying structure and the conveying mechanism are combined, the workpieces in different states are ensured to be accurately sorted to corresponding stacking stations, the sorting error rate approaches zero, the scratch and the packing confusion are effectively avoided, in addition, the sorting conveying belt adopts intermittent constant-stroke operation, the workpiece positioning modules which are arranged at intervals are matched, the beat, the feeding action and the conveying are strictly synchronous, the continuous running operation is realized, and the equipment operation is stable and reliable. The long-term operation cost of the automatic sorting stacking equipment is lower than that of manual work, and the quality loss and the enterprise cost are comprehensively reduced.

Drawings

Fig. 1 is a schematic diagram of an automated sorting stacking line.

Fig. 2 is a schematic diagram of a feeding mechanism, a visual recognition mechanism, a sorting and conveying structure, a feeding and conveying mechanism and a discharging and conveying mechanism.

Fig. 3 is a partial enlarged view of the area a in fig. 1.

Fig. 4 is a schematic diagram II of a feeding mechanism, a visual recognition mechanism, a sorting and conveying structure, a feeding and conveying mechanism and a discharging and conveying mechanism.

Fig. 5 is a partial enlarged view of the region B in fig. 2.

Fig. 6 is a schematic diagram of a visual recognition mechanism.

Fig. 7 is a schematic diagram of two sets of feeding and conveying mechanisms, a centrifugal conveying device, a feeding mechanism, a visual recognition mechanism, a sorting and conveying structure, a feeding and conveying mechanism, a discharging and conveying mechanism, and a configured discharging and packing manipulator and a strapping machine.

Fig. 8 is a front side axial view of the loading and unloading conveyor mechanism.

Fig. 9 is a front side axial view of the loading and unloading mechanism.

Fig. 10 is a rear side axial view of the loading and unloading conveyor mechanism.

Fig. 11 is a second rear side axial view of the loading and unloading conveyor.

Fig. 12 is a front view of the loading and unloading carrying mechanism at the starting position.

Fig. 13 is a rear view of the loading and unloading conveyor at the end position.

Fig. 14 is a schematic view of a first placement state of the workpiece.

Fig. 15 is a schematic view of a second placement state of the workpiece.

Fig. 16 is a schematic view of a third placement state of the workpiece.

Fig. 17 is a schematic view of a fourth placement state of the workpiece.

Description of the reference numerals: the feeding conveyor 81, the feeding conveyor 82, the discharging robot 83, the centrifugal conveyor 84, the recovery mechanism 85, the material frame 86, the feeding mechanism 2, the visual recognition mechanism 3, the sorting conveyor 4, the feeding conveyor 1, the stacking station 50, the discharging conveyor 10, the feeding passage 21, the feeding station 22, the work piece 6, the sorting conveyor 41, the sorting drive mechanism 42, the work piece positioning module 43, the work piece placement groove 44, the visual recognition bracket 31, the top light source box 32, the top camera 33, the bottom light source box 34, the bottom camera 35, the stopper 23, the first detector 24, the limit stop 25, the positioning groove 61, the frame 45, the stacking assembly 5, the stacking bin 51, the vertical pushing rod 52, the jacking seat 53, the dodging hole 54, stacking cavity 55, second detector 56, slide 57, translation driver 58, stacking base 511, positioning column 512, guide 513, blanking and packing manipulator 7, bundling machine 71, defective product collecting area 46, machine base 11, belt transmission structure 12, swing rod assembly 13, rotary driver 14, driving pulley 121, driven pulley 122, transmission belt 123, tensioning pulley 124, first swing rod 131, second swing rod 132, workpiece transfer rod 133, pickup 15, limit column 16, air channel distributor 171, air distribution control module 172, code wheel 181, photoelectric sensor 182, rotary driving motor 141, speed reducer 142, vertical frame 111, base 112, pickup 134, origin light hole 183.

Detailed Description

The following describes specific embodiments of the present invention with reference to the drawings. In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

Embodiment one:

Referring to fig. 1 to 17, the automated sorting and stacking line of the present invention includes a control module, a feeding and conveying mechanism 81, a feeding and conveying mechanism 82, a discharging manipulator 83, a feeding mechanism 2, a centrifugal conveying device 84, a visual recognition mechanism 3, a feeding and conveying mechanism 1, a stacking station 50, and a discharging and conveying mechanism 10; the feeding conveying mechanism 81 and the feeding conveying mechanism 82 are roller conveying platforms or belt conveying platforms in the prior art; the feeding conveyor mechanism 81 is used for conveying a material frame 86 carrying the workpieces 6 towards the tail end, the feeding conveyor mechanism 82, the discharging manipulator 83 is arranged between the downstream end of the feeding conveyor mechanism 81 and the upstream end of the feeding conveyor mechanism 82 and used for dumping the workpieces 6 in the material frame 86 to the feeding conveyor mechanism 82, the feeding conveyor mechanism 2 is provided with a feeding channel 21 for conveying the workpieces 6 and a feeding station 22 positioned at the tail end of the feeding channel 21, the centrifugal conveyor 84 is connected between the downstream end of the feeding conveyor mechanism 82 and the upstream end of the feeding conveyor mechanism 2 and used for sorting and conveying the received workpieces 6 to the feeding conveyor mechanism 2 in a centrifugal motion mode, the visual recognition mechanism 3 is used for recognizing the front and back side placing states of the transported workpieces 6 in the feeding conveyor mechanism 2 and sequentially feeding the placing state information of the workpieces 6 to the control module, the sorting conveyor mechanism 4 is provided with a sorting conveyor belt 41 and a sorting driving mechanism 42 for driving the sorting conveyor belt 41 to run, the sorting conveyor belt 41 is arranged at intervals along the length direction, the workpiece positioning module 43 is provided with a workpiece placing groove 44 opened at the upper side, the feeding conveyor mechanism 1 is arranged between the feeding conveyor mechanism 2 and the upstream end of the sorting conveyor mechanism 4, the automatic sorting and conveying device is characterized by comprising a sorting conveying structure 4, a workpiece positioning module 43, a stacking station 50, a blanking conveying mechanism 10, a sorting driving mechanism 42 and a workpiece positioning module 43, wherein the workpiece positioning module 43 is used for conveying workpieces 6 of a feeding station 22 to the upstream end of the sorting conveying structure 4, the stacking station 50 is arranged on one side of the sorting conveying structure 4 along the length direction of the sorting conveying belt 41 and is used for collecting the workpieces 6 which are transferred from the sorting conveying structure 4 and have the same placement state, the blanking conveying mechanism 10 is arranged on the downstream direction of the sorting conveying structure 4 and is corresponding to each stacking station 50, the blanking conveying mechanism 10 is used for transferring the workpieces 6 corresponding to the placement state to the corresponding stacking station 50, and the sorting driving mechanism 42 is used for intermittently driving the sorting conveying belt 41 to operate in a constant stroke, so that when the sorting conveying belt 41 is intermittently stopped, the workpiece positioning modules 43 are respectively connected with the corresponding feeding conveying mechanism 1 and the blanking conveying mechanism 10.

Compared with the prior art, the automatic sorting and stacking production line has the advantages that the automatic sorting and stacking production line realizes the full-flow automation from automatic feeding, sorting and conveying, identifying and stacking of workpieces 6 to stacking by arranging the feeding conveying mechanism 81, the discharging manipulator 83, the centrifugal conveying device 84, the feeding mechanism 2, the visual identification mechanism 3, the sorting conveying structure 4, the feeding conveying mechanism 1 and the discharging conveying mechanism 10, thoroughly replaces manual operation, solves the problems of low manual sorting efficiency and high labor intensity, improves the production efficiency, can accurately identify the front side and the back side of the workpieces 6 through the visual identification mechanism 3, ensures that the workpieces 6 in different states are accurately sorted to the corresponding stacking stations 50 through intelligent scheduling of the control module and automatic sorting and stacking of the sorting conveying structure 4 and the conveying mechanism, effectively avoids scratches and disordered packaging of electroplated layers, and ensures that the sorting conveying belt 41 adopts intermittent constant-stroke operation and cooperates with the workpiece positioning modules 43 arranged at intervals, ensures that feeding and discharging actions are strictly synchronous with conveying positioning precision, thereby realizing continuous flow and stable operation of water equipment. The long-term operation cost of the automatic sorting stacking equipment is lower than that of manual work, and the quality loss and the enterprise cost are comprehensively reduced.

Referring to fig. 1, in an embodiment, the device further comprises a frame recovery mechanism 85 for recovering the empty frame 86, the frame recovery mechanism 85 is a roller conveying platform or a belt conveying platform in the prior art, the frame recovery mechanism 85 is arranged at the lower side of the feeding conveying mechanism 81, the head end of the frame recovery mechanism 85 extends out of the front side of the head end of the feeding conveying mechanism 81, the tail end of the frame recovery mechanism 85 extends out of the tail end of the feeding conveying mechanism 81, the unloading manipulator 83 is used for transferring the empty frame 86 to the frame recovery mechanism 85 after the workpiece 6 in the frame 86 is dumped to the feeding conveying mechanism 82, and by adding the frame recovery mechanism 85, the empty frame 86 is automatically transferred to the recovery station after the unloading manipulator 83 finishes dumping the workpiece 6, so that the recycling of the frame 86 is realized. This design has not only avoided empty material frame 86 to pile up the occupation to the production line space, has still reduced the link of manual cleaning and transport material frame 86, has further promoted whole degree of automation and production efficiency, has reduced material frame 86 management cost simultaneously, ensures that the production line is continuous high-efficient operation.

Referring to fig. 1 to 3, in one embodiment, the visual recognition mechanism 3 includes a visual recognition bracket 31, and a top light source box 32, a top camera 33, a bottom light source box 34, and a bottom camera 35 provided on the visual recognition bracket 31; the feeding mechanism 2 penetrates through the front side and the rear side of the visual identification bracket 31, the top light source box 32 is positioned on the upper side of the feeding mechanism 2, the top camera 33 is positioned on the upper side of the top light source box 32, the bottom light source box 34 is positioned on the lower side of the feeding mechanism 2, the bottom camera 35 is positioned on the lower side of the bottom light source box 34, the top camera 33 is used for shooting the top surface of the workpiece 6 entering the shooting area, and the bottom camera 35 is used for shooting the bottom surface of the workpiece 6 entering the shooting area; by arranging the visual recognition mechanism 3 to carry out omnibearing high-precision detection on the workpiece 6 through the top and bottom cameras 35 matched with the double light source boxes, four placement states (front forward, back forward, front reverse and back reverse) can be accurately recognized, a noncontact optical detection is adopted to avoid damaging electroplated layers, the modularized integrated design of the visual recognition mechanism not only ensures detection precision, but also adapts to high-speed pipeline operation, provides reliable state recognition guarantee for automatic sorting and stacking, and effectively solves the problems of low manual sorting efficiency and easy error.

The light source box has a vertical light transmission effect, the mode that the light source box is matched with the camera to acquire a shooting image is the prior art in the field, the light source box is a device for providing a stable and controllable illumination environment for a detection target, and the light source box has the core functions of eliminating ambient light interference and enhancing the characteristic contrast of the target so as to improve the image acquisition quality.

According to the first placing state, the second placing state, the third placing state and the fourth placing state of the workpieces 6, four blanking conveying mechanisms 10 are correspondingly arranged and are arranged in parallel along the side of the sorting conveying structure 4 relative to the downstream direction of the feeding conveying mechanism 1, and after receiving the sequence information of the placing state information of the workpieces 6 entering the sorting conveying structure 4 provided by the visual identifying mechanism 3, the control module controls the blanking conveying mechanisms 10 to pick up the workpieces 6 corresponding to the placing states on the sorting conveying structure 4, for example, the first blanking conveying mechanism 10 is ordered to pick up the workpieces 6 in the first placing state, the second blanking conveying mechanism 10 is ordered to pick up the workpieces 6 in the second placing state, the third blanking conveying mechanism 10 is ordered to pick up the workpieces 6 in the third placing state, and the fourth blanking conveying mechanism 10 is ordered to pick up the workpieces 6 in the fourth placing state. When the workpiece 6 is a defective workpiece 6, none of the four blanking conveying mechanisms 10 picks up the defective workpiece 6, and the defective workpiece 6 is conveyed to the end by the sorting conveying structure 4 to automatically fall into the defective product collecting area 46.

Referring to fig. 1 to 7, in one embodiment, the sorting machine further comprises a stopper 23 arranged on the feeding mechanism 2 and located at the upstream side of the feeding station 22, and a first detector 24 arranged at the side of the tail end of the feeding channel 21 and used for detecting the workpieces 6 in the feeding station 22, wherein a limit stop 25 is arranged at the tail end of the feeding station 22, the limit stop 25 is used for positioning the workpieces 6 entering the feeding station 22, the first detector 24 is arranged at the bottom of the feeding station 22, when the first detector 24 detects that the workpieces 6 enter the feeding station 22, a feedback signal to a control module enables a blocking rod of the stopper 23 to extend out of the workpieces 6 in the feeding station 22 and the workpieces 6 at the upstream side to be separated from each other, and enables the feeding transport mechanism 1 to transport the workpieces 6 in the feeding station 22 to the workpiece positioning module 43 at the upstream end of the sorting conveyor 41, the width of the feeding channel 21 is close to the width of the workpieces 6, so that the workpieces 6 in the shape are aligned and transported in the length direction, and the sorting machine can be accurately matched with the first detector 24 and the workpiece 6 through the arrangement of the stopper 23 arranged at the upstream side of the feeding station 22, the stop rod is enabled to extend out of the blocking rod of the workpiece 6 at the feeding station 22 and the upstream side of the workpiece 6, and the workpiece 6 can be accurately separated from the workpiece 6 in the sorting station 6, and the sorting machine is prevented from being transported to the workpiece positioning module 1, and the workpiece 6 is accurately detected to the workpiece positioning station 6 at the upstream end and the position is prevented from being separated from the workpiece positioning station 6, and the workpiece positioning station is simultaneously by the workpiece positioning station and the workpiece positioning station.

Referring to fig. 13 to 17, in one embodiment, the four corner positions of the rectangular workpiece 6 are respectively provided with a positioning groove 61, and when adjacent workpieces 6 are separated in the feeding mechanism 2, the blocking rod of the blocking device 23 simultaneously stretches into the positioning grooves 61 on opposite sides of the two adjacent workpieces 6, so that the workpieces 6 in the feeding station 22 and the workpieces 6 on the upstream side are separated from each other.

Referring to fig. 2 to 7, in an embodiment, the automatic stacking machine further comprises a frame 45, the sorting conveying structure 4, the stacking station 50 and the blanking conveying mechanism 10 are arranged on the frame 45, the blanking conveying mechanism 10 is located between the sorting conveying structure 4 and the stacking station 50, the automatic stacking machine further comprises a stacking assembly 5 which is configured with each blanking conveying mechanism 10 one by one, the stacking assembly 5 comprises a stacking bin 51 and a jacking mechanism, the jacking mechanism comprises a vertical push rod 52 and a jacking seat 53 arranged at the output end of the vertical push rod 52, an avoidance hole 54 which is in avoidance fit with the jacking seat 53 is formed in the bottom of the stacking bin 51, the stacking station 50 is located on the upper side of the jacking seat 53, a stacking cavity 55 with an opening on the upper side is arranged in the stacking bin 51, the vertical push rod 52 is used for driving the jacking seat 53 to vertically move in the stacking cavity 55 through the avoidance hole, the stacking height of a workpiece 6 of the jacking seat 53 is matched with the height of a release workpiece 6 of the blanking conveying mechanism 10, by setting the frame 45, the automatic sorting conveying structure 4, the stacking mechanism and the blanking conveying mechanism 10 are enabled to automatically arranged through the integrated design, the lifting seat 53 is enabled to be in the stacking seat 5, the automatic stacking mechanism is enabled to be in a compact, the stacking position is enabled to be in the stacking position, the stacking position is enabled to be completely stable, the stacking position is enabled to be completely and the high, the manual stacking position is enabled to be completely and the high, the work is prevented from being damaged, the lifting position is simultaneously, and the manual lifting is enabled to be completely and well is completely and stable, the lifting position is simultaneously, the lifting position is arranged in the stacking position is simultaneously, and the lifting position is matched with the stacking position is 5, and the lifting and is high, and the lifting position is 5.

Referring to fig. 2 to 7, in a further embodiment, a second detector 56 for detecting the top workpiece 6 of the lifting seat 53 is provided at the top of the stacking bin 51, and after the second detector 56 is used for detecting that the lifting seat 53 is added with the workpiece 6, a feedback signal is sent to the control module to control the vertical push rod 52 to lower the height of one workpiece 6 thickness, so that the top height of the workpiece 6 carried by the lifting seat 53 is matched with the height of the workpiece 6 released by the blanking conveying mechanism 10, by means of the arrangement, the position of the top workpiece 6 in the stacking bin 51 is monitored in real time through the second detector 56, and the height of the lifting mechanism is intelligently adjusted by matching with the control module, so that the lifting seat 53 automatically lowers one workpiece 6 thickness after each new workpiece 6 is stacked, the stacking surface of the workpiece 6 is always kept to be accurately matched with the releasing height of the blanking conveying mechanism 10, thereby ensuring stability and accuracy of the stacking process, avoiding efficiency loss caused by manual adjustment, realizing full-automatic intelligent stacking, and remarkably improving production efficiency and quality of stacking.

Referring to fig. 4 and 5, in an embodiment, the stacking assembly 5 further includes a sliding seat 57 and a translation driver 58 that drives the sliding seat 57 to slide relatively, the translation driver 58 is a push rod disposed on the rack 45, the sliding seat 57 is slidably connected to the rack 45 through a sliding rail device, the stacking bins 51 are disposed on the sliding seat 57 in parallel, by means of the arrangement of the sliding seat 57 and the translation driver 58, the two stacking bins 51 can alternately switch stations along the sliding rail, after one stacking bin 51 completes stacking, the push rod drives the sliding seat 57 to translate so that the other stacking bin 51 is immediately located, uninterrupted continuous stacking operation is achieved, operation efficiency of the equipment is greatly improved, continuity of stacking procedures is guaranteed, space utilization of the equipment is optimized, and production bottleneck problem in a single bin mode is effectively solved by means of parallel arrangement of double bins.

Referring to fig. 4 and 5, in an embodiment, the stacking bin 51 includes a stacking seat 511 and a plurality of positioning columns 512 circumferentially disposed around the stacking seat 511, the stacking cavity 55 is formed between the positioning columns 512 and the stacking seat 511, and a conical guiding portion 513 is disposed at the upper end of the positioning columns 512, so that the workpieces 6 can enter the stacking bin 51 more easily, and by means of the arrangement that the positioning columns 512 circumferentially surround the stacking seat 511 to form the stacking cavity 55 with a regular design, the displacement range of the stacked workpieces 6 can be effectively restrained from being inclined and scattered, necessary operation spaces around the workpieces 6 can be maintained, convenience in conveying the workpieces 6 is ensured while stacking accuracy is ensured, and an automatic stacking process is more stable and reliable.

Referring to fig. 8 to 13, in one embodiment, the loading and transporting mechanism 1 includes a base 11, a belt transmission structure 12, a swing link assembly 13, and a rotary driver 14; the belt transmission structure 12 comprises a driving pulley 121 and a driven pulley 122 which are vertically arranged along the machine base 11, and a transmission belt 123, wherein the transmission belt 123 is wound on the driving pulley 121 and the driven pulley 122; the swing rod assembly 13 comprises a first swing rod 131, a second swing rod 132 and a workpiece transfer rod 133, wherein one end of the first swing rod 131 is connected to the driving belt pulley 121, one end of the second swing rod 132 is connected to the driven belt pulley 122, the workpiece transfer rod 133 is respectively in rotary connection with the other end of the first swing rod 131 and the other end of the second swing rod 132, the lower end of the workpiece transfer rod 133 extends out of the lower side of the swing rod assembly 13 to form a pickup part, a pickup 15 is arranged at the lower end of the pickup part, the rotary driver 14 is in transmission connection with the driving belt pulley 121, the pickup 15 is driven to move from one side to the other side of the machine base 11 by driving the driving belt pulley 121 in a forward and reverse motion, the feeding conveying mechanism 1 is similar to the blanking conveying mechanism 10 in structure, through the innovative linkage design of the belt transmission structure 12 and the swing rod assembly 13, the workpiece transfer rod 133 can realize accurate reciprocating swing motion under the control of the rotary driver 14, the pickup part can stably complete the grabbing and releasing actions of a workpiece 6, the unique double-swing-rod structure ensures that the pickup 15 keeps a horizontal posture in the moving process, the workpiece 6 is prevented from tilting or falling off, and meanwhile, the vertical layout is saved, the space is remarkably stable, the requirement of accurate and the conveying is satisfied, and the conveying is high in precision.

Referring to fig. 2 to 7, in an embodiment, the automatic bundling and packaging device further comprises a blanking and packaging manipulator 7, a bundling machine 71 and a film sealing machine (not shown), wherein the blanking and packaging manipulator 7 is used for transferring the workpieces 6 stacked in the stacking station to a preset number to the bundling machine 71 for bundling and packaging, and further bundling and packaging the workpieces 6 subjected to bundling and packaging, the preset number is fifty workpieces 6, for example, through the cooperative cooperation of the blanking and packaging manipulator 7 and the bundling machine 71, automatic bundling and packaging after stacking the workpieces 6 is realized, and when the workpieces 6 in the stacking station reach the preset number, the blanking and packaging manipulator 7 automatically transfers the whole stack of the workpieces 6 to the bundling machine 71 for bundling, so that not only is the packaging efficiency greatly improved, the transportation stability is ensured, but also the links of manual transportation and bundling are thoroughly eliminated, the labor intensity is remarkably reduced, and the whole automation degree of a production line is improved.

Referring to fig. 2 to 7, in one embodiment, the feeding conveying mechanism 82, the centrifugal conveying device 84, the feeding mechanism 2, the visual identification mechanism 3, the sorting conveying mechanism 4, the feeding conveying mechanism 1 and the discharging conveying mechanism 10 are provided with at least two groups, for example, two groups, so that by arranging a plurality of groups of the feeding conveying mechanism 82, the centrifugal conveying device 84, the feeding mechanism 2, the visual identification mechanism 3, the sorting conveying mechanism 4, the feeding conveying mechanism 1 and the discharging conveying mechanism 10, a parallel processing system is formed, the device can process a plurality of workpiece flows simultaneously, the whole sorting stacking efficiency is improved by times, synchronous sorting operation of workpieces 6 with different specifications can be realized, the utilization rate and the productivity elasticity of the device are remarkably improved, the industrial requirements of mass production and multiple varieties are met, and meanwhile, the independent operation of each unit is kept through the modularized design, and the stability and maintainability of the system are ensured.

Referring to fig. 8 to 13, in a further embodiment, the first swing link 131 and the second swing link 132 are identical in length and are arranged in parallel, the initial positions of the first swing link 131 and the second swing link 132 are arranged horizontally, the rotary driver 14 drives the pickup 15 to move from one side to the other side of the base 11 by driving the driving pulley 121 to rotate forward and backward by 180 degrees, and by arranging the swing link assembly 13 in a symmetrical swing mode, the pickup 15 is driven to reciprocate on the left side and the right side, and the workpiece 6 is high in conveying efficiency and positioning precision.

Referring to fig. 8 to 13, in one embodiment, the driving pulley 121 is located at the lower side of the driven pulley 122, the frame 11 is located at the left lower side and the right lower side of the driving pulley 121 and is respectively provided with a limiting post 16, the limiting posts 16 are used for limiting the first swing rod 131 to maintain a horizontal state at a starting position and an end position, by means of the arrangement, the driving pulley 121 is located at the lower side of the driven pulley 122 and is provided with a limiting post 16 structure, the first swing rod 131 is maintained in an accurate horizontal state at the starting position and the end position, positioning stability of the pick-up 15 when the workpiece 6 is grabbed and released is ensured, meanwhile, stress distribution of the driving belt 123 is optimized, swing deviation in a moving process is reduced, and reliability and repetition accuracy of carrying actions are improved.

Referring to fig. 8 to 13, in one embodiment, the belt transmission structure 12 further includes a tensioning pulley 124, the tensioning pulley 124 is disposed between the driving pulley 121 and the driven pulley 122, the driving belt 123 is wound around the tensioning pulley 124 at the same time, by this arrangement, the wrap angle and the tensioning force of the driving belt 123 are optimized by adding the tensioning pulley 124, the belt is effectively prevented from slipping or loosening, the power transmission stability of the swing rod assembly 13 during the movement process is ensured, meanwhile, the belt abrasion is reduced, the service life of the mechanism is prolonged, and the position accuracy and the movement reliability of the transfer of the workpiece 6 are improved.

Referring to fig. 8 to 13, in one embodiment, the pick-up 15 is a vacuum pick-up 15, the workpiece transfer rod 133 is provided with a gas path distributor 171, the base 11 is provided with a gas distribution control module 172, the gas path distributor 171 and the vacuum pick-up 15 are mutually communicated through a plurality of gas paths, and by adopting the vacuum pick-up 15 to cooperate with an integrated gas path distribution system, the rapid nondestructive grabbing and releasing of the workpiece 6 are realized, and the gas path control module centrally manages the vacuum adsorption force, so that the stable and reliable carrying process is ensured.

Referring to fig. 8 to 13, in an embodiment, the belt transmission structure 12 is disposed on the front side of the base 11, a set of code wheel 181 and photoelectric sensor 182 that cooperate with each other are disposed on the rear side of the base 11, an origin light hole 183 is disposed on one side of the code wheel 181, the code wheel 181 rotates synchronously with the driven pulley 122, when the code wheel 181 rotates to the origin light hole 183 corresponds to the photoelectric sensor 182, the code wheel 181 is used for determining the mechanical origin position of the rotary driver 14, and by disposing a detection mechanism of the code wheel 181 and the photoelectric sensor 182 on the rear side of the base 11, the mechanical origin of the rotary driver 14 is precisely positioned by using the origin light hole 183, so that closed-loop control of the movement track of the swing rod assembly 13 is realized, accumulated errors are effectively eliminated, reset accuracy is improved, consistency of transfer positions of the workpieces 6 is ensured, meanwhile, anti-interference capability of the system is enhanced, and the mechanism maintains stable and reliable positioning performance in long-time operation.

Referring to fig. 8 to 13, in one embodiment, the rotary driver 14 includes a rotary driving motor 141 and a speed reducer 142 disposed at an output end of the rotary driving motor 141, wherein an output end of the speed reducer 142 is in transmission connection with the driving pulley 121, and by adopting the speed reducer 142 to match with the rotary driving motor 141, the output torque is significantly improved while the transmission efficiency is maintained, so that the driving pulley 121 can smoothly drive the swing rod assembly 13 with a larger load, thereby effectively reducing the influence of the fluctuation of the rotation speed of the motor on the positioning precision, prolonging the service life of the driving system, and being particularly suitable for the workpiece 6 carrying situations requiring frequent start-stop or precise positioning.

Referring to fig. 8 to 13, in an embodiment, the stand 11 includes a vertical frame 111 and a base 112 disposed at the bottom of the vertical frame 111, the rotary driver 14 is vertically disposed at the lower part of the rear side of the vertical frame 111, the belt transmission structure 12 and the swing rod assembly 13 are disposed at the upper part of the front side of the vertical frame 111, by optimizing the layout of the stand 11, the rotary driver 14 is mounted in a rear-mounted manner, thereby ensuring the stability of the transmission system and making the whole structure more compact and balanced, and meanwhile, the belt transmission and the swing rod assembly 13 disposed on the front side form reasonable gravity center distribution, thereby effectively reducing operation vibration, improving the rigidity of the mechanism, and making the transfer process of the workpiece 6 more stable and accurate.

Example two

Referring to fig. 1 to 13, the main purpose of the present embodiment is to provide an automated sorting and stacking line control method for an automated sorting and stacking line according to the first embodiment, which includes the automated sorting and stacking line, the control method includes that a feeding conveying mechanism 81 places a material frame 86 carrying workpieces 6 in a discharging manipulator 83 conveyed to a downstream end, the discharging manipulator 83 discharges a plurality of workpieces 6 in the material frame 86 to a feeding conveying mechanism 82, the feeding conveying mechanism 82 conveys the plurality of workpieces 6 to a centrifugal conveying device 84 for sorting and conveying to a feeding mechanism 2, a visual recognition mechanism 3 recognizes the front and back sides of the workpieces 6 entering the feeding mechanism 2 and the forward and back side placing states, and sequentially feeds back the placing state information of the workpieces 6 to a control module, the feeding mechanism 2 conveys the workpieces 6 recognized by the visual recognition mechanism 3 to a feeding station 22 one by one, the control module controls the feeding conveying mechanism 1 to convey the workpieces 6 loaded at the feeding station 22 to a workpiece positioning module 43 at the upstream end of the sorting conveying mechanism 4 one by one, the control module controls a plurality of discharging conveying mechanisms 10 to respectively transfer the workpieces 6 to a corresponding placing state to a bundling station 66, and the bundling machine is further stacked and packaged by a bundling machine station 66.

Compared with the prior art, the automatic sorting and stacking production line control method has the advantages that the feeding conveying mechanism 81, the discharging manipulator 83, the centrifugal conveying device 84, the feeding mechanism 2, the visual identification mechanism 3, the sorting conveying mechanism 4, the feeding conveying mechanism 1 and the discharging conveying mechanism 10 are cooperatively matched, the whole process automation from automatic feeding, sorting and conveying, identification and sorting of workpieces 6 to stacking is realized, manual operation is thoroughly replaced, the problems of low manual sorting efficiency and high labor intensity are solved, the production efficiency is improved remarkably, the front side and the back side of the workpieces 6 can be accurately identified through the visual identification mechanism 3, the intelligent scheduling of the control module and the automatic sorting and stacking of the sorting conveying mechanism 4 and the conveying mechanism are combined, the workpieces 6 in different states are ensured to be accurately sorted to the corresponding stacking stations 50, the sorting error rate is nearly zero, the electroplated layer scratch and the packaging mess are effectively avoided, the sorting conveying belt 41 is operated by adopting the intermittent constant stroke, the workpiece positioning module 43 which is matched with the interval arrangement, the feeding and the blanking actions are strictly synchronous with the conveying, the positioning and the continuous flow operation is guaranteed, and the stable operation is realized. The long-term operation cost of the automatic sorting stacking equipment is lower than that of manual work, and the quality loss and the enterprise cost are comprehensively reduced.

Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.

Claims (10)

1. Automatic change letter sorting stack production line, its characterized in that includes:

A control module;

the feeding conveying mechanism is used for conveying the material frame carrying the workpiece to the tail end direction;

A feed conveying mechanism;

The unloading manipulator is arranged between the downstream end of the feeding conveying mechanism and the upstream end of the feeding conveying mechanism and is used for dumping the workpiece in the material frame to the feeding conveying mechanism;

The feeding mechanism is provided with a feeding channel for conveying workpieces and a feeding station positioned at the tail end of the feeding channel;

the centrifugal conveying device is connected between the downstream end of the feeding conveying mechanism and the upstream end of the feeding mechanism and is used for sequencing and conveying the received workpieces to the feeding mechanism in a centrifugal motion mode;

the visual identification mechanism is used for identifying the front and back sides and the front and back sides of the transported workpieces in the feeding mechanism and feeding back the placing state information of each workpiece to the control module in sequence;

The sorting conveying structure is provided with a sorting conveying belt and a sorting driving mechanism for driving the sorting conveying belt to operate, the sorting conveying belt is provided with a plurality of workpiece positioning modules at intervals along the length direction, and the workpiece positioning modules are provided with workpiece placement grooves with openings at the upper sides;

the feeding conveying mechanism is arranged between the feeding mechanism and the upstream end of the sorting conveying structure and is used for conveying the workpiece at the feeding station into the workpiece positioning module at the upstream end of the sorting conveying structure;

the stacking stations are arranged on one side of the sorting conveying structure along the length direction of the sorting conveying belt and are respectively used for collecting workpieces which are transferred from the sorting conveying structure and have the same placement state;

The blanking conveying mechanism is arranged in the downstream direction of the sorting conveying structure and is provided with one corresponding stacking station, and the blanking conveying mechanism is configured to transfer the workpieces in the corresponding placing states to the corresponding stacking stations;

the sorting driving mechanism is used for intermittently driving the sorting conveyer belt to run in a constant stroke, so that when the sorting conveyer belt is intermittently stopped, the workpiece positioning modules are respectively connected with the corresponding feeding conveying mechanism and the corresponding discharging conveying mechanism.

2. The automated sorting stacking line of claim 1, further comprising a frame recovery mechanism for recovering empty frames, wherein the unloading robot transfers empty frames to the frame recovery mechanism after dumping workpieces in the frames to the feed conveyor mechanism.

3. The automated sorting stacking line of claim 1, wherein the visual recognition mechanism comprises a visual recognition bracket, a top light source box, a top camera, a bottom light source box, and a bottom camera disposed on the visual recognition bracket; the feeding mechanism penetrates through the front side and the rear side of the visual identification bracket, the top light source box is located on the upper side of the feeding mechanism, the top camera is located on the upper side of the top light source box, the bottom light source box is located on the lower side of the feeding mechanism, the bottom camera is located on the lower side of the bottom light source box, the top camera is used for shooting the top surface of a workpiece entering a shooting area, and the bottom camera is used for shooting the bottom surface of the workpiece entering the shooting area;

The placing states of the workpieces comprise a first placing state according to the front side and the forward direction, a second placing state according to the back side and the forward direction, a third placing state according to the front side and the reverse direction and a fourth placing state according to the back side and the reverse direction.

4. The automated sorting and stacking line according to claim 1, further comprising a stopper provided on the feeding mechanism and located on an upstream side of the feeding station, and a first detector provided on a side portion of a distal end of the feeding channel for detecting the workpiece in the feeding station, wherein when the first detector detects that the workpiece enters the feeding station, the first detector feeds back a signal to the control module to extend a blocking rod of the stopper to separate the workpiece in the feeding station from the workpiece on the upstream side, and to enable the feeding and conveying mechanism to convey the workpiece in the feeding station to the workpiece positioning module on the upstream end of the sorting conveyor;

The width of the feeding channel is close to the width of the workpiece.

5. The automated sorting and stacking line of claim 1, further comprising a frame, the sorting and conveying structure, stacking station, and blanking handling mechanism being disposed on the frame, the blanking handling mechanism being located between the sorting and conveying structure and stacking station;

Still including folding the material subassembly, it includes and stacks feed bin and climbing mechanism to fold the material subassembly, climbing mechanism includes vertical push rod and locates the jacking seat of vertical push rod output, it is equipped with and dodges the complex hole of dodging with the jacking seat to fold the feed bin bottom, it is located jacking seat upside to pile the station, is equipped with upside open-ended in the material folding bin and stacks the material chamber, and vertical push rod is used for driving the jacking seat and dodges mouthful to do vertical motion in stacking the material intracavity, makes the work piece of jacking seat stack the high looks adaptation of release work piece with unloading transport mechanism.

6. The automated sorting and stacking line according to claim 5, wherein a second detector for detecting a top workpiece of the jacking seat is arranged at the top of the stacking bin, and the second detector is used for feeding the workpiece to the jacking seat, and the feedback signal is fed to the control module to control the vertical push rod to descend by a thickness of one workpiece, so that the top height of the workpiece borne by the jacking seat is matched with the height of the workpiece released by the blanking conveying mechanism.

7. The automated sorting and stacking line according to claim 6, wherein the stacking assembly further comprises a slide and a translation driver for driving the slide to slide relatively, the slide is slidably connected to the frame through a slide rail device, and the stacking bin is provided with two stacking bins and is arranged on the slide in parallel;

the stacking bin comprises a stacking seat and a plurality of positioning columns which are arranged around the periphery of the stacking seat, and a stacking cavity is formed between the positioning columns and the stacking seat.

8. The automated sorting stacking line of claim 1, wherein the loading handling mechanism comprises:

a base;

the belt transmission structure comprises a driving belt pulley, a driven belt pulley and a transmission belt, wherein the driving belt pulley and the driven belt pulley are vertically arranged along the machine base, and the transmission belt is wound on the driving belt pulley and the driven belt pulley;

The swing rod assembly comprises a first swing rod, a second swing rod and a workpiece transfer rod, one end of the first swing rod is connected to the driving belt pulley, one end of the second swing rod is connected to the driven belt pulley, the workpiece transfer rod is respectively and rotatably connected with the other end of the first swing rod and the other end of the second swing rod, the lower end of the workpiece transfer rod extends out of the lower side of the swing rod assembly to form a pickup part, and a pickup is arranged at the lower end of the pickup part;

The rotary driver is in transmission connection with the driving belt pulley and drives the pickup to move from one side to the other side of the machine base by driving the driving belt pulley to move in forward and reverse directions;

The feeding conveying mechanism is similar to the discharging conveying mechanism in structure.

9. The automated sorting and stacking line according to any one of claims 1 to 8, further comprising a blanking and packing manipulator and a strapping machine, wherein the blanking and packing manipulator is used for transferring the stacked workpieces in the stacking station to a preset number to the strapping machine for bundling and packing;

the feeding conveying mechanism, the centrifugal conveying device, the feeding mechanism, the visual identification mechanism, the sorting conveying structure, the feeding conveying mechanism and the discharging conveying mechanism are provided with at least two groups.

10. An automated sorting stacking line control method comprising an automated sorting stacking line according to any one of claims 1 to 9, the control method comprising:

The feeding conveying mechanism is used for placing a material frame carrying the workpieces on a discharging manipulator which is used for conveying the material frame to the downstream end, the discharging manipulator is used for discharging a plurality of workpieces in the material frame to the feeding conveying mechanism, and the feeding conveying mechanism is used for conveying the plurality of workpieces to the centrifugal conveying device for sorting and conveying the workpieces to the feeding mechanism;

The feeding mechanism conveys the workpieces identified by the visual identification mechanism into a feeding station one by one, and the control module controls the feeding conveying mechanism to convey the workpieces of the feeding station into a workpiece positioning module at the upstream end of the sorting conveying structure one by one;

The control module controls the plurality of blanking conveying mechanisms to respectively pick up the workpieces in the corresponding placement states and transfer the workpieces to the stacking stations arranged to the control module.