CN106494900B - A kind of multistation ceramic tile transfer stacking method based on pallet - Google Patents
A kind of multistation ceramic tile transfer stacking method based on pallet Download PDFInfo
- Publication number
- CN106494900B CN106494900B CN201611016656.8A CN201611016656A CN106494900B CN 106494900 B CN106494900 B CN 106494900B CN 201611016656 A CN201611016656 A CN 201611016656A CN 106494900 B CN106494900 B CN 106494900B
- Authority
- CN
- China
- Prior art keywords
- ceramic tile
- pallet
- manipulator
- station
- section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Specific Conveyance Elements (AREA)
Abstract
A kind of multistation ceramic tile transfer stacking method based on pallet, belongs to production equipment for ceramic tiles field.It is characterized by comprising the stacking operation areas surrounded by guardrail (5), pallet storage station (9) and ceramic tile stacking station (4) are provided in operation area piling up, the rear end for piling up operation area is provided with transmission device (1), manipulator (3) are provided with above operation area piling up, it is provided with control cabinet outside operation area piling up, is provided with control unit in control cabinet.Stacking method is shifted by the multistation ceramic tile based on pallet, it realizes and automatic clamping is carried out to different brackets ceramic tile and carries out separation transfer and stacking, avoid a large amount of wastes of manpower and material resources, the possibility for substantially increasing labor efficiency while colliding with when avoiding manual handling to product, ensure that the condition of product.
Description
Technical field
A kind of multistation ceramic tile transfer stacking method based on pallet, belongs to production equipment for ceramic tiles field.
Background technique
Currently, the increasingly increase against society to ceramic tile demand, output also increase sharply.In the prior art, porcelain
Brick enters baling line after kiln sintering, and multi-disc ceramic tile is loaded into packing box in baling line, is being bundled, is being packaged
It is sent out after step from the end of baling line.Packaged ceramic tile sent out by baling line after by manually by ceramic tile carry out carry and
It piles up.Meanwhile in the production process for carrying out ceramic tile, due to production technology the problem of often burns out different grades of production
Product, therefore the product that can not will have to grade during the packaging process carries out class wrapping, consequently facilitating the storage of ceramic tile and with not
Same price sells different grades of product.
As described above, in the prior art, generally requiring that manually packaged ceramic tile is carried and piled up, due to porcelain
The heavier-weight of brick itself, therefore a large amount of man power and material can be manually wasted when being carried and being piled up, efficiency is extremely low
Under.It since ceramic tile is friable product, often will appear the phenomenon that colliding with during carrying, cause damage of product and nothing
Method is sold, therefore also increases production cost to a certain extent.Simultaneously it can be seen from the above, can be burnt during ceramic tile is fired
Different grades of product is produced, therefore is to avoid confusion, needs to pile up different grades of tile typology when piling up, therefore into
One step increases the labor intensity of manual handling.
Summary of the invention
The technical problem to be solved by the present invention is overcome the deficiencies of the prior art and provide a kind of pair of different brackets ceramic tile into
Row automatic clamping simultaneously carries out separation transfer and stacking, avoids a large amount of wastes of manpower and material resources, improves labor efficiency while protecting
The intact multistation ceramic tile transfer stacking method based on pallet of product is demonstrate,proved.
The technical solution adopted by the present invention to solve the technical problems is: should be shifted and be piled up based on the multistation ceramic tile of pallet
Method, it is characterised in that: include the following steps
Step 1001, it initializes, and executes reset subprogram,
System is initialized, and after initialization, is ready for the crawl of ceramic tile；
Step 1002, manipulator row is to working position,
Manipulator is moved to working position by home position；
Step 1003, whether there is ceramic tile in ceramic tile station turning,
Slave computer judges whether be placed with ceramic tile in ceramic tile station turning, if being placed with ceramic tile, executes step 1007, such as
Without ceramic tile in fruit ceramic tile station turning, step 1004 is executed；
Step 1004, it judges whether there is vacant ceramic tile and piles up station,
Slave computer according to be arranged in pallet detection module judge whether there is do not place pallet ceramic tile pile up station, if
Station is piled up in the presence of the ceramic tile for not placing pallet, executes step 1005, piles up station if there is no the ceramic tile for not placing pallet,
Return to step 1003；
Step 1005, judge whether there is pallet in pallet storage station,
Slave computer judges whether retained pallet in pallet storage station, if having retained pallet, executes step 1006, such as
Fruit pallet is stored in station without pallet, and step 1011 is executed；
Step 1006, pallet is grabbed,
Slave computer controls manipulator and grabs a pallet out of pallet storage station and be put into vacant ceramic tile stacking station
It is interior；
Step 1007, ceramic tile grade is determined,
Host computer is determined the grade of every packet ceramic tile, and every grade for wrapping ceramic tile to be piled up is sent to slave computer；
Step 1008, ceramic tile piles up in station whether fill ceramic tile,
Slave computer judges that ceramic tile corresponding with the ceramic tile grade of the packet ceramic tile is piled up in station according to pallet detection module
Whether ceramic tile is had been filled on pallet, if being already filled with ceramic tile, execute step 1009, if not yet filling ceramic tile, executes step
1015；
Step 1009, it judges whether there is idle ceramic tile and piles up station,
Slave computer, which judges to whether there is in all ceramic tile stacking stations according to pallet detection module, idle ceramic tile code
Station is put, if there is there is idle ceramic tile to pile up station, step 1014 is executed, piles up work if there is no conditional ceramic tile
Position executes step 1010；
Step 1010, it judges whether there is vacant ceramic tile and piles up station,
Slave computer according to be arranged in pallet detection module judge whether there is do not place pallet ceramic tile pile up station, if
Station is piled up in the presence of the ceramic tile for not placing pallet, executes step 1012, piles up station if there is no the ceramic tile for not placing pallet,
Return to step 1011；
Step 1011, it alarms,
Slave computer control alarm system is alarmed, by manually being handled；
Step 1012, judge whether there is pallet in pallet storage station,
Slave computer judges whether retained pallet in pallet storage station, if having retained pallet, executes step 1013, such as
Fruit pallet is stored in station without pallet, and step 1010 is executed；
Step 1013, pallet is grabbed,
Slave computer controls manipulator and grabs a pallet out of pallet storage station and be put into vacant ceramic tile stacking station
It is interior；
Step 1014, the ceramic tile grade that ceramic tile piles up station is defined,
It is that ceramic tile corresponding to ceramic tile grade piles up work in step 1007 that the ceramic tile is piled up station temporary definition by slave computer
Position；
Step 1015, it grabs, place ceramic tile,
Slave computer controls manipulator and ceramic tile is overturn work by ceramic tile according to ceramic tile jump subroutine and ceramic tile placement subprogram
The ceramic tile that position is placed into corresponding grade is piled up on the pallet in station, then return step 1002.
Preferably, ceramic tile jump subroutine described in step 1015, includes the following steps:
Step 2001, the mobile total distance a of manipulator is calculated；
Control unit obtains determining manipulator in X-axis and Y-axis institute according to the mobile starting point and mobile endpoint calculation of manipulator
Mobile total distance a in the plane；
Step 2002, moving distance a is divided for several mobile sections: section a1... section an；
Control unit is according to range segment separating principle by the mobile total distance a of manipulator points since the mobile starting point of manipulator
For several mobile sections: section a1... section an；
Step 2003, mobile with First Speed；
Manipulator is since the starting point with First Speed in section a1Interior movement；
Step 2004, whether manipulator enters section a2；
Control unit judges whether manipulator comes into section a2If into section a2, step 2005 is executed, otherwise
Return to step 2003；
Step 2005, it is run with second speed；
Control unit controls manipulator in section a2It is interior mobile with the second speed lower than First Speed；
Step 2006, judge whether manipulator enters section an；
Control unit judges whether manipulator comes into section anIf into section an, step 2008 is executed, otherwise
Execute step 2007；
Step 2007, with the operation of N-1 speed；
It is mobile that control unit controls manipulator N-1 speed；
Step 2008, mobile with N speed；
Control unit controls manipulator in section anIt is interior mobile with the N speed lower than N-1 speed, when being moved to movement
Stop movement after terminal.
Preferably, range segment separating principle described in step 2002 are as follows: one is determined in the entire moving distance a of manipulator
A deceleration point is as section a2Starting point, between deceleration point and the mobile starting point of manipulator be section a1, deceleration point and manipulator
The distance between mobile terminal divide equally after form section a2~ section an。
Preferably, ceramic tile described in step 1015 places subprogram, includes the following steps:
Step 3001, height of drop is determined；
Control unit determines the distance of fall of manipulator according to the height on pallet surface and the height of ceramic tile bottom；
Step 3002, whether ceramic tile needs to rotate；
Control unit judges whether the packet ceramic tile needs to rotate before whereabouts, if necessary to rotate, executes step 3003, such as
Fruit does not need to rotate, and executes step 3004；
Step 3003, manipulator rotates；
Control unit determines the angle that ceramic tile needs to rotate, and driving machine according to the predeterminated position of the packet ceramic tile on pallet
Tool hand rotates respective angles；
Step 3004, manipulator falls；
Control unit controls manipulator and falls, and so that the bottom surface of ceramic tile is close to pallet upper surface, completes the placement of ceramic tile；
Step 3005, manipulator return；
Manipulator unclamps ceramic tile, then resets the crawl and transfer for continuing next packet ceramic tile.
A kind of multistation ceramic tile branch code place system based on pallet, it is characterised in that: including the stacking surrounded by guardrail
The pallet storage station that storage pallet is provided in operation area and at least one ceramic tile stacking station are being piled up, in code in operation area
The rear end for putting operation area is provided with transmission device for transporting ceramic tile, is provided with manipulator above operation area piling up, uses
It is put into ceramic tile stacking station in pallet to be stored to the pallet in station, and the ceramic tile on transmission device is transferred to ceramic tile and piles up work
On pallet in position, it is provided with control cabinet outside operation area piling up, is provided with control unit in control cabinet.
Preferably, the control unit includes the slave computer that host computer and host computer are bi-directionally connected, in the defeated of slave computer
The frequency control module of driving manipulator movement is connected in exit port；
It is connected on the input port of slave computer for judging that the ceramic tile piles up in station whether be placed with pallet
Pallet detection module, for judging that the transmission device end whether there is the ceramic tile detection module for having ceramic tile and be used for
The limit module that the movement of manipulator is limited.
Preferably, the pallet detection module is the optoelectronic switch that the ceramic tile is arranged in and piles up station bottom；It is described
Ceramic tile detection module be the optoelectronic switch that the transmission device end is set.
Preferably, safe grating is additionally provided on the input port of the slave computer, safe grating setting is being piled up
The opening two sides of operation area front end.
Preferably, the frequency control module include four frequency converters and with one-to-one four frequency conversions of frequency converter
Motor, four variable-frequency motors are respectively used to realize manipulator in X-axis, Y-axis, the linear motion of Z-direction and manipulator around it
The rotary motion of the W axis direction of itself rotation, is mounted on the encoder that encoder is connect with slave computer on four variable-frequency motors.
Compared with prior art, the present invention has the beneficial effects that
1, by based on pallet multistation ceramic tile shift stacking method, realize ceramic tile pile up station in pallet from
Dynamic placement and ceramic tile are piled up the automatic clamping of pallet, movement in station by transmission device to the ceramic tile of baling line end and are put
It sets, avoids a large amount of wastes of manpower and material resources, substantially increase labor efficiency while colliding with when avoiding manual handling to product
Possibility, ensure that the quality of product.
It 2, can by piling up the pallet detection module placed in station and whether there is pallet to be detected its inside in ceramic tile
When effectivelying prevent placing ceramic tile due to ceramic tile piles up and do not place pallet in station caused by ceramic tile damage.
3, by the way that ceramic tile detection module is arranged in the end of transmission device, after ceramic tile is transported at transmission device, control is single
Member can be detected immediately upon, therefore avoid delay of the ceramic tile at transmission device.
4, the both ends at the front opening for piling up operation area are provided with one group of safe grating, and safe grating is piling up operation
One of grid stroke is formed at the front opening in area, if piled up after staff accidentally swarms into stacking operation area in operation
It stops operation immediately in operation area, effectively prevents causing danger.
5, in this transfer stacking method, by ceramic tile jump subroutine, the moving distance of manipulator is divided into several areas
Section: section a1... section an, and from section a1Start to run manipulator at different rates in the form of decrease of speed,
Therefore it in the fast speed of mobile its movement of initial stage of manipulator, therefore ensure that manipulator overall operation speed, improve system
Operational efficiency, since the total weight of manipulator itself and the ceramic tile of its clamping is heavier, in manipulator mobile latter stage
Run with low speed, reduce inertia brought by manipulator 3 and ceramic tile itself weight, thus improve positioning accuracy and
The operation stability of system.
Detailed description of the invention
Fig. 1 is the multistation ceramic tile branch code place system top view based on pallet.
Fig. 2 is the multistation ceramic tile branch code place system control unit functional-block diagram based on pallet.
Fig. 3 is the schematic front view of manipulator.
Fig. 4 is the schematic top plan view of manipulator.
Fig. 5 is the stereoscopic schematic diagram of mechanical arm drive mechanism.
Fig. 6 is that method flow diagram is piled up in the multistation ceramic tile transfer based on pallet.
Fig. 7 is that the multistation ceramic tile based on pallet shifts stacking method ceramic tile jump subroutine flow chart.
Fig. 8 is that the multistation ceramic tile based on pallet shifts stacking method ceramic tile placement subroutine flow chart.
Fig. 9 is that the multistation ceramic tile based on pallet shifts stacking method ceramic tile placement subroutine flow chart.
Wherein: 1, transmission device 2, ceramic tile station turning 3, manipulator 301, pallet clamp guide plate 302, hand
Refer to mounting plate 303, clamping plate limiting photoelectric switch 304, grasping mechanism main body 305, finger guide bearing 306, pallet
It grabs finger 307, ceramic tile clamping plate 308, clamping plate mounting plate 309, clamping plate folding cylinder 310, pallet and grabs cylinder
311, clamping plate folding gear 312, clamping plate folding rack gear 313, ceramic tile inductor 314, pallet grab gear 315, stack
Plate grabs rack gear 4, ceramic tile piles up station 5, guardrail 6, pallet detection switch 7, safe grating 8, pallet 9, stack
Plate stores station.
Specific embodiment
Fig. 1 ~ 9 are highly preferred embodiment of the present invention, and 1 ~ 9 the present invention will be further described with reference to the accompanying drawing.
As shown in Figure 1, a kind of multistation ceramic tile branch code place system (hereinafter referred to as branch code place system) based on pallet,
It is the stacking operation area of ceramic tile, rectangular area one end inside the rectangular area including the rectangular area surrounded by guardrail 5
For open end, and the open end is set as to pile up the front end of operation area, it is convenient by the way that opening is arranged in the front end for piling up operation area
Means of transport enters the inside for piling up operation area and transports the ceramic tile for completing to pile up.
There is the pallet of several pallets 8 to store station 9 and multiple ceramic tile codes piling up operation area and being internally provided with one and store
Station 4 is put, is provided with a manipulator 3 above operation area piling up, is ceramic tile packing line at the rear for piling up operation area
Transmission device 1, manipulator 3 by transmission device 1 send to ceramic tile by transmission device 1 be transferred to pallet storage station 9 in carry out code
It puts, the end of transmission device 1 extends to the middle position that multiple ceramic tiles in 5 inside of guardrail pile up station 4 from the outside of guardrail 5,
Manipulator 3 is located at the top of 1 end of transmission device, and the end of transmission device 1 is ceramic tile station turning 2, for that will fill in transmission
Setting the ceramic tile being horizontally arranged on 1 and overturn becomes placing vertically, in order to the clamping of manipulator 3.In this branch code place system
Interior, using the longitudinal direction of the stacking operation area of rectangle as manipulator 3 when mobile X-direction, will pile up the short side of operation area
Manipulator 3 is being piled up the direction moved up and down in operation area as machinery by Y direction of the direction as manipulator 3 when mobile
The mobile Z-direction of hand 3, manipulator 3 can realize the movement that (W axis) is rotated around its own simultaneously.
Both ends at the front opening for piling up operation area are provided with one group of safe grating 7, and safe grating 7 is piling up operation
One of grid stroke is formed at the front opening in area, if piled up after staff accidentally swarms into stacking operation area in operation
It stops operation immediately in operation area, effectively prevents causing danger.The bottom of ceramic tile station turning 2 is provided with optoelectronic switch,
For detecting, whether there are the ceramic tiles not shifted in ceramic tile station turning 2, and the bottom that ceramic tile piles up station 4 is provided with pallet
Detection switch 6 piles up whether be placed with pallet 8 inside station 4 in ceramic tile for detecting.It is provided in the outside for piling up operation area
The control cabinet (being not drawn into figure) of this branch code place system is provided with for this branch code place system work shape in control cabinet
The control unit that state is controlled.
As shown in Fig. 2, the control unit of this branch code place system includes: host computer, slave computer and frequency converter, host computer
It is realized by the touch screen being mounted in control cabinet cabinet door, slave computer is realized by the PLC being mounted in control cabinet, host computer and bottom
It is bi-directionally connected between machine.Slave computer controls four frequency converters, the corresponding variable-frequency motor of each frequency converter, four frequency conversions simultaneously
Motor respectively corresponds the movement of the X-axis of manipulator 3, Y-axis, Z axis and W axis direction, corresponding installation on each variable-frequency motor
There is encoder, the output end of encoder is connected to the signal input part of slave computer.
It is also respectively connected on the signal input part of slave computer close to switch, limit switch, grating module, ceramic tile detection
Switch and pallet detection module, wherein ceramic tile detection module is that the above-mentioned photoelectricity for being mounted on 2 bottom of ceramic tile station turning is opened
It closes, for detecting, whether there are the ceramic tiles not shifted in ceramic tile station turning 2；Pallet detection module is mounted on porcelain for above-mentioned
Brick piles up the pallet detection switch 6 of 4 bottom of station, piles up whether be placed with pallet 8 inside station 4 in ceramic tile for detecting；Light
Grid module is the safe grating 7 being arranged at the front opening for piling up operation area, after safe grating 7 is blocked, slave computer control
3 stopping of manipulator movement processed.Close to switch and limit switch be respectively to manipulator 3 when being moved in X-axis, Y direction into
The switch of row position detection, for preventing the movement in moving process of manipulator 3 out of control.
As shown in Fig. 3 ~ 4: manipulator 3 includes pallet grasping mechanism and ceramic tile grasping mechanism.Pallet grasping mechanism and porcelain
Brick grasping mechanism is installed in grasping mechanism main body 304, and grasping mechanism main body 304 is cuboid housing.The corresponding frequency conversion of w axis
The output chain gear of motor is fixedly connected with the middle part of grasping mechanism main body 304, and manipulator 3 is driven to rotate synchronously.
Pallet grasping mechanism includes pallet crawl finger 306 and pallet crawl finger 306 is pushed to stretch out the hand with clamping
Refer to power unit.It is V-arrangement that pallet, which grabs finger 306, and one end of pallet crawl finger 306 is connected with finger power unit, separately
One end is equipped with the baffle for being stopped to the pallet 8 of crawl, pallet landing in the process of grasping is avoided, to cause to endanger
Danger.Pallet grabs there are four fingers 306, is separately positioned on four angles of grasping mechanism main body 304.Pallet grabs finger 306
It is mounted on finger mounted plate 302, finger mounted plate 302 is fixedly connected with finger power unit.
Grasping mechanism main body 304 is equipped with pallet and clamps guide plate 301, and pallet clamps guide plate 301 and pallet grabs hand
Refer to that 306 correspond, pallet clamps guide plate 301 and is fixed on the side of grasping mechanism main body 304.Pallet clamps guide plate
301 free end is gradually concave arc from the bottom to top.Pallet crawl finger 306 is hinged on finger mounted plate 302, and pallet
It grabs and is equipped with torsional spring between finger 306 and finger mounted plate 302, so that pallet crawl finger 306 be made to lead in disengaging pallet clamping
Open configuration is in when to plate 301.Finger guide bearing 305, finger guide bearing are rotatably equipped on pallet crawl finger 306
305 settings clamp between guide plate 301 in hinge joint and pallet.Finger power unit push pallet crawl finger 306 respectively to
Left and right sides movement, so that so that pallet crawl finger 306 is detached from pallet clamps guide plate 301, pallet grabs finger 306 in torsional spring
Open configuration is under the action of grabbing 306 gravity of finger with pallet；Finger power unit drives pallet crawl finger 306 by two
Lateral intermediary movements, make finger guide bearing 305 enter the free end that pallet clamps guide plate 301, and pallet clamps guide plate 301
Pallet crawl finger 306 is oriented to, so that the crawl completed to pallet clamps.
Ceramic tile grasping mechanism includes ceramic tile clamping plate 307 and the clamping plate power unit for pushing the axial movement of ceramic tile clamping plate 307.
The upper end of ceramic tile clamping plate 307 is mounted on clamping plate mounting plate 308, and the other end is free end.Clamping plate power unit and clamping plate are installed
Plate 308 is connected, and clamping plate mounting plate 308 is pushed to move horizontally, to realize the clamping and release of ceramic tile.Ceramic tile clamping plate 307 with
The side of ceramic tile contact is equipped with rubber, on the one hand for increasing and the friction of ceramic tile, on the other hand can generate buffer function, keep away
Exempt to collide with ceramic tile, to damage ceramic tile.The lower end of ceramic tile clamping plate 307 is tilted to middle part, so as to preferably clamp
Ceramic tile.
When through-thickness grabs ceramic tile, ceramic tile clamping plate 307 may be mounted at clamping plate mounting plate 308 close to grasping mechanism
The one end at 304 middle part of main body, when along width or length direction crawl ceramic tile, ceramic tile clamping plate 307 is mounted on clamping plate mounting plate 308
Close to the one end in 304 outside of grasping mechanism main body.For the two pieces of ceramic tile clamping plates 307 for clamping ceramic tile that cooperate to be a pair of, porcelain
Brick clamp plate 307 has two pairs, and clamping plate mounting plate 308 and ceramic tile clamping plate 307 correspond.
Ceramic tile, which is equipped with, in the top of grasping mechanism main body 304 grabs position-limiting unit.Ceramic tile grabs position-limiting unit as clamping plate limit
Position optoelectronic switch 303, there are two every a pair of clamping plate limiting photoelectric switch 303, and two clamping plate limiting photoelectric switch 303 are respectively used to
Initial position and the final position for detecting clamping plate power unit, to complete to limit.Clamping plate limiting photoelectric switch 303 has two pairs,
The clamping plate power unit of driving two pairs of ceramic tile clamping plates 307 movement is limited respectively.
This manipulator 3 can either complete the crawl to pallet 8, and can be realized the crawl to ceramic tile, high degree of automation,
And the precision that pallet 8 is placed is high, ceramic tile will not be made to tilt in stacking, and it is easy to use.
It is as shown in Figure 5: pallet transmission mechanism is equipped between finger power unit and finger mounted plate 302.Finger power list
Member is that pallet grabs cylinder 310, and pallet crawl cylinder 310 has one, and is mounted on the middle part of grasping mechanism main body 304, pallet
The piston rod of crawl cylinder 310 is connected with pallet transmission mechanism, and finger mounted plate 302 is connected with pallet transmission mechanism.
Pallet transmission mechanism includes pallet crawl gear 314 and pallet crawl rack gear 315.Pallet grabs 314 turns of gear
It is dynamic to be mounted in grasping mechanism main body 304, and the axis vertical setting of pallet crawl gear 314.Pallet crawl rack gear 315 has two
It is a, the two sides of pallet crawl gear 314 are symmetricly set on, and grasping mechanism master is stretched out in one end of two pallet crawl rack gears 315
Body 304 is simultaneously fixedly connected with finger mounted plate 302.Pallet grabs cylinder 310 and is fixedly connected with a pallet crawl rack gear 315,
And pallet crawl rack gear 315 is pushed to move axially, pallet crawl rack gear 315 is driven another by pallet crawl gear 314
A pallet crawl rack gear 315 moves in the opposite direction, thus the synchronous on-off of two sides pallet crawl finger 306.
The outside of pallet crawl rack gear 315 is equipped with the axis being pressed on pallet crawl rack gear 315 on pallet crawl gear 314
It holds, bearing is mounted in grasping mechanism main body 304 by bolt.
There are two clamping plate power units, and two clamping plate power units are separately positioned on the two sides of pallet crawl cylinder 310, and
Respectively drive the folding of two pairs of ceramic tile clamping plates 307.Each clamping plate power unit is including there are two clamping plates to open and close cylinder 309, and two
The piston rod of a clamping plate folding cylinder 309 is fixedly connected, and is moved synchronously.Clamping plate limiting photoelectric switch 303 passes through detection clamping plate
The position of the piston rod of cylinder 309 is opened and closed, to limit to ceramic tile clamping plate 307.
Clamping plate transmission mechanism is equipped between clamping plate power unit and clamping plate mounting plate 308.Clamping plate transmission mechanism includes clamping plate
It opens and closes gear 311 and clamping plate opens and closes rack gear 312.Clamping plate folding gear 311 is rotatably installed in grasping mechanism main body 304, and
Clamping plate opens and closes the axis vertical setting of gear 311.Clamping plate opens and closes there are two rack gears 312, is symmetricly set on clamping plate folding gear 311
Two sides, two clamping plate folding rack gears 312 are fixedly connected with installation with the clamping plate mounting plate 308 of a pair of of ceramic tile clamping plate 307 respectively.Two
The piston rod of a clamping plate folding cylinder 309 is connected with a clamping plate folding rack gear 312, and clamping plate folding rack gear 312 is driven to transport
Dynamic, which opens and closes rack gear 312 and opens and closes drive another clamping plate folding of gear 311 rack gear 312 in the opposite direction by clamping plate
Movement.The two sides of clamping plate folding rack gear 312 are respectively equipped with the axis for pushing clamping plate folding rack gear 312 to compress clamping plate folding gear 311
It holds.
The lower section that pallet grabs gear 314 is equipped with ceramic tile inductor 313, and ceramic tile inductor 313 is for detecting ceramic tile clamping plate
Whether 307 grab ceramic tile and detect whether pallet crawl finger 306 has grabbed pallet 8.
As shown in fig. 6, the multistation ceramic tile transfer stacking method (hereinafter referred to as transfer stacking method) based on pallet, including
Following steps:
Step 1001, it initializes, and executes reset subprogram；
System is initialized, and after initialization, is ready for the crawl of ceramic tile.
Before an initialization, the capture program that manipulator 3 needs to be implemented is chosen by host computer, capture program selection finishes
Later, manipulator 3 executes crawl operation according to scheduled capture program.
Capture program is the pre- crawl flow scheme first passed through in upper computer software write-in host computer, in this transfer stacking side
It in method, will be marked in the region for piling up operation area using coordinate, after to workspace completion coordinate label is piled up, determined
Ceramic tile piles up the coordinate of station 4 and the pallet storage station 9 of its two sides, at the same determined manipulator 3 home position and
The coordinate of working position.When write-in grabs flow scheme, while the stacking rule of the ceramic tile on each piece of pallet 8 is set
It is fixed, on completing pallet 8 after the stacking rule of ceramic tile, that is, it has been determined that each packet ceramic tile is piling up the coordinate in workspace,
And with the relative positional relationship (parallel or vertical) of X-axis (or Y-axis).It, can basis when being actually written into crawl flow scheme
Need to be arranged disposing way of a variety of ceramic tiles on pallet 8.
Step 1002,3 row of manipulator is to working position；
Manipulator 3 is moved to working position by home position.
Step 1003, whether there is ceramic tile in ceramic tile station turning 2；
Slave computer judges whether be placed with ceramic tile in ceramic tile station turning 2, if being placed with ceramic tile, executes step 1007,
If executing step 1004 without ceramic tile in ceramic tile station turning 2；
Step 1004, it judges whether there is vacant ceramic tile and piles up station 4；
Slave computer according to be arranged in pallet detection module judge whether there is do not place pallet 8 ceramic tile pile up station 4, such as
There is the ceramic tile stacking station 4 for not placing pallet 8 in fruit, execute step 1005, pile up if there is no the ceramic tile for not placing pallet 8
Station 4, returns to step 1003；
Step 1005, judge whether there is pallet 8 in pallet storage station 9；
Slave computer judges whether retained pallet 8 in pallet storage station 9, if having retained pallet 8, executes step
1006, if executing step 1011 without pallet 8 in pallet storage station 9.
Step 1006, pallet 8 is grabbed；
Slave computer controls manipulator 3 and grabs a pallet 8 out of pallet storage station 9 and be put into vacant ceramic tile stacking work
In position 4.
Step 1007, ceramic tile grade is determined；
Host computer is determined the grade of every packet ceramic tile, and every grade for wrapping ceramic tile to be piled up is sent to slave computer.
After ceramic tile is transmitted to ceramic tile station turning 2 by transmission device 1, host computer by the grade of the report ceramic tile send to
In slave computer, the packet ceramic tile is then sent into corresponding ceramic tile by slave computer control manipulator 3 and is piled up in station 4, to guarantee
The ceramic tile that the ceramic tile placed in station 4 is same grade is piled up in each ceramic tile.
The judgement of ceramic tile grade can be accomplished in several ways, in this transfer stacking method, pass through the side of retrospect
Formula realizes that is, finished product ceramic tile is the classification for completing ceramic tile grade before entering transmission device 1, and ceramic tile is entering transmission device
After 1, it is transferred by regular time on the ceramic tile station turning 2 of 1 end of transmission device, that is, realizes ceramic tile grade
Judgement.
Judgement for ceramic tile grade can also be realized by way of other forms, such as be encoded in ceramic tile surface
(such as bar code, two dimensional code), ceramic tile is after being transported to ceramic tile station turning 2, by ceramic tile station turning 2 or manipulator 3
Upper placement barcode scanning device, can in real time judge the grade of ceramic tile.
Step 1008, ceramic tile piles up in station 4 whether fill ceramic tile；
Slave computer judges that ceramic tile corresponding with the ceramic tile grade of the packet ceramic tile is piled up in station 4 according to pallet detection module
Whether ceramic tile is had been filled on pallet 8, if being already filled with ceramic tile, execute step 1009, if not yet filling ceramic tile, executes step
1015。
Step 1009, it judges whether there is idle ceramic tile and piles up station 4；
Slave computer, which judges to whether there is in all ceramic tile stacking stations 4 according to pallet detection module, idle ceramic tile code
Station 4 is put, if there is there is idle ceramic tile to pile up station 4, step 1014 is executed, is piled up if there is no conditional ceramic tile
Station 4 executes step 1010；
In this transfer stacking method, the ceramic tile of limitation piles up station 4 is defined as: has been placed with pallet 8 and the pallet 8
On not yet carry out ceramic tile stacking ceramic tile pile up station 4.
Step 1010, it judges whether there is vacant ceramic tile and piles up station 4；
Slave computer according to be arranged in pallet detection module judge whether there is do not place pallet 8 ceramic tile pile up station 4, such as
There is the ceramic tile stacking station 4 for not placing pallet 8 in fruit, execute step 1012, pile up if there is no the ceramic tile for not placing pallet 8
Station 4, returns to step 1011.
Step 1011, it alarms；
Slave computer control alarm system (such as alarm lamp, alarm) is alarmed, by manually being handled.
Step 1012, judge whether there is pallet 8 in pallet storage station 9；
Slave computer judges whether retained pallet 8 in pallet storage station 9, if having retained pallet 8, executes step
1013, if executing step 1010 without pallet 8 in pallet storage station 9.
Step 1013, pallet 8 is grabbed；
Slave computer controls manipulator 3 and grabs a pallet 8 out of pallet storage station 9 and be put into vacant ceramic tile stacking work
In position 4.
Step 1014, the ceramic tile grade that ceramic tile piles up station 4 is defined；
It is that ceramic tile corresponding to ceramic tile grade piles up work in step 1007 that the ceramic tile is piled up 4 temporary definition of station by slave computer
Position 4.
Step 1015, it grabs, place ceramic tile；
Slave computer controls manipulator 3 and ceramic tile is overturn work by ceramic tile according to ceramic tile jump subroutine and ceramic tile placement subprogram
The ceramic tile that position 2 is placed into corresponding grade is piled up on the pallet 8 in station 4, then return step 1002.
During ceramic tile is constantly transferred to pallet 8 from ceramic tile station turning 2 by manipulator 3, slave computer constantly will
The stacking state of ceramic tile is sent into host computer, carries out real-time display to the stacking state on pallet 8 in the display screen of host computer, right
The stacking quantity of ceramic tile on pallet 8 is counted, while constantly sending the stacking position of next packet ceramic tile to slave computer, under
Position machine control manipulator 3 executes the crawl control of next packet ceramic tile.
As shown in fig. 7, above-mentioned ceramic tile jump subroutine includes the following steps:
Step 2001, the moving distance a of manipulator 3 is calculated；
Host computer according to the coordinate of the coordinate of the working position of manipulator 3 and the ceramic tile of stacking determine manipulator 3 in X-axis and
Y-axis mobile total distance a in the plane.
Step 2002, moving distance a is divided for several mobile sections: section a1... section an；
Host computer by manipulator 3 X-axis and Y-axis mobile total distance a in the plane divide for several mobile sections, with machine
The holding fix of tool hand 3 is that the coordinate of starting point and ceramic tile is terminal, is divided into: section a1... section an。
Step 2003, mobile with First Speed；
It moves at the same time, drives under the driving of slave computer in the motor of X-direction and Y direction for driving manipulator 3
Manipulator 3 is in section a1It is interior to be moved with First Speed；
Step 2004, whether manipulator 3 enters section a2；
Host computer judges whether manipulator 3 comes into section a2If into section a2, step 2005 is executed, is otherwise returned
Receipt row step 2003.
Step 2005, it is run with second speed；
Manipulator 3 is moving into section a2Later, slave computer is by corresponding frequency converter, to driving manipulator 3 in X
The decelerating through motor of axis direction and Y direction moves manipulator 3 in section a2 with the second speed lower than First Speed；
As manipulator 3 is constantly run under corresponding motor driven, manipulator 3 sequentially enters section 3, section
4 ... section a(n-1), and successively with the third speed of decrease of speed, fourth speed ... N-1 speed in corresponding section
It is mobile, therefore the process repeats no more.
Step 2006, with the operation of N-1 speed；
Manipulator 3 is moving into section a(n-1)Later, slave computer controls driving manipulator 3 in X-direction and Y direction
Motor make manipulator 3 with N-1 speed sectors a(n-1)Interior movement；
Step 2007, whether manipulator 3 enters section an；
Host computer judges whether manipulator 3 comes into section anIf into section an, step 2008 is executed, is otherwise returned
Receipt row step 2006.
Step 2008, mobile with N speed；
Manipulator 3 is moving into section anLater, slave computer control driving manipulator 3 is in X-direction and Y direction
Motor makes manipulator 3 with N speed sectors anInterior movement；
Step 2009, stop；
When the operation of manipulator 3 to ceramic tile target position, slave computer makes manipulator 3 stop moving by corresponding motor
It is dynamic.
In this transfer stacking method, by ceramic tile jump subroutine, the moving distance of manipulator 3 is divided into several areas
Section: section a1... section an, and from section a1Start to run manipulator 3 at different rates,
Therefore it in the fast speed of its movement of mobile initial stage of manipulator 3, therefore ensure that 3 overall operation speed of manipulator, improve and be
The operational efficiency of system, since the total weight of manipulator 3 itself and the ceramic tile of its clamping is heavier, mobile in manipulator 3
Latter stage is run with low speed, reduces inertia brought by manipulator 3 and ceramic tile itself weight, therefore improves the accurate of positioning
The operation stability of property and system.
Section a1... section anSetting principle are as follows: in the entire moving distance a of manipulator 3, with the shifting of manipulator 3
Dynamic terminal is that starting point reversely determines that a point (being denoted as point A) is used as section a2Starting point, therefore 3 starting point of manipulator and point A it
Between distance be section a1, the distance between point A and the mobile terminal (i.e. ceramic tile target position) of manipulator 3 are formed after dividing equally
Section a2~ section an.Since the initial position of every packet ceramic tile is identical and target position is different, manipulator 3 is in the every packet porcelain of movement
Mobile total distance a is variable when brick, after carrying out section partition according to above-mentioned section partition principle, since point A is with machinery
The terminal of hand 3 reversely determines for reference, therefore section a2~ section anTotal distance and the distance of each section be definite value,
And section a1Distance change with the variation of total distance a.
As shown in figure 8, above-mentioned ceramic tile places subprogram, include the following steps:
Step 3001, height of drop is determined；
Clamping have ceramic tile manipulator 3 be moved to above pallet 8 after, host computer according to the height on 8 surface of pallet with
And the height of ceramic tile bottom determines that manipulator 3 needs drop, i.e. moving distance of the manipulator 3 on Z axis.
Step 3002, whether ceramic tile needs to rotate；
Host computer according to stacking rule of the presetting ceramic tile on pallet 8 judge the packet ceramic tile before whereabouts whether needs
Whether rotation, i.e., need manipulator 3 to be acted on W axis, if necessary to rotate, executes step 3003, if you do not need to rotation
Turn, executes step 3004；
Step 3003, manipulator 3 rotates；
Host computer determines the angle that ceramic tile needs to rotate according to the predeterminated position of the packet ceramic tile on pallet 8, and will control
Signal is sent to slave computer, drives corresponding motor action by slave computer, and driving manipulator 3 rotates, and keeps ceramic tile rotation corresponding
Angle；
Step 3004, manipulator 3 falls；
Slave computer drives corresponding motor action, makes 3 whereabouts preset distance of manipulator, and the bottom surface of ceramic tile is made to be close to pallet 8
The placement of ceramic tile is completed in upper surface.
Step 3005,3 return of manipulator；
Manipulator 3 unclamp ceramic tile, then rise accordingly distance after, return to working position continue next packet ceramic tile crawl and
Transfer.
As shown in figure 9, above-mentioned reset subprogram, includes the following steps:
Step 4001, equipment alarm free resets starting；
Slave computer determines system alarm free state, and then manipulator 3 resets starting.
Step 4002, whether Z axis is completed to reset；
Slave computer judges whether the Z axis of manipulator 3 is completed to reset, and resets if Z axis does not complete, and executes step 4003, such as
Reset is completed in fruit Z axis, executes step 4004.
Step 4003, Z axis is completed to reset；
The Z axis of manipulator 3 is completed to reset, and rises to origin.
Step 4004, other axis reset；
Slave computer controls X-axis, Y-axis and W axis and resets；
Step 4005, reset terminates；
Reset end of subroutine.
Specific work process and working principle are as follows:
Ceramic tile, which is transferred to, on needing ceramic tile station turning 2 of the ceramic tile completed to packing by baling line end piles up station
When at 4, operator is moved to holding fix start-up operation by the selected capture program needed to be implemented of host computer, manipulator 3,
Execute crawl, transfer and the placement operation of ceramic tile.
For manipulator 3 after start-up operation, slave computer first determines whether that two ceramic tiles pile up in station 4 whether do not place stack
Plate 8, if two ceramic tiles, which are piled up, does not place pallet 8 in station 4, manipulator 3 clamps one out of pallet storage station 9 first
Pallet 8 is put into one of ceramic tile and piles up in station 4, since the height of every piece of pallet 8 is definite value, is put by pallet 8
After ceramic tile is piled up in station 4, host computer automatically records the height on 8 surface of pallet that ceramic tile is piled up in station 4, as placement porcelain
Reference when brick.
After pallet 8 is once put into the operation that ceramic tile piles up station 4 by the every completion of manipulator 3, slave computer is first determined whether
In ceramic tile station turning 2 whether it is existing have the ceramic tile not grabbed, if existing have the ceramic tile not yet grabbed, manipulator 3
It is first lowered down at ceramic tile station turning 2 and ceramic tile is grabbed, if there is no the porcelain not grabbed in ceramic tile station turning 2
Brick, manipulator 3 continue the clamping pallet 8 out of pallet storage station 9 and are put into the ceramic tile stacking station 4 for not yet placing pallet 8.Instead
The crawl for carrying out above-mentioned judgement and pallet 8 again piles up in station 4 until each ceramic tile and is placed with pallet 8.
In manipulator 3 after grabbing ceramic tile in ceramic tile station turning 2, manipulator 3 rises to waiting station first, then
Corresponding motor operation is driven by slave computer, keeps manipulator 3 mobile in X-axis and Y direction simultaneously, is moved to the stack for needing to place
The top of plate 8.For manipulator 3 before X-axis and Y direction are mobile, manipulator 3 has been calculated in X-axis and Y-axis side in host computer
It is divided into several sections to mobile total distance, and by total distance, manipulator 3 works as shifting during X-axis and mobile Y direction
It moves to before the second section, slave computer driving manipulator 3 is at full throttle run, when entrance the second section, third area
Section ..., N section when, the movement speed of manipulator 3 is successively reduced, when manipulator 3 is moved to above the placement location of ceramic tile
Afterwards, manipulator 3 is completed in the movement of X-axis and Y direction.
After above the placement location that manipulator 3 is moved to ceramic tile, host computer is by the whereabouts for the manipulator 3 being calculated
Highly and the control instruction rotated to ceramic tile whether is needed to send to slave computer, if ceramic tile is rotated, slave computer
Corresponding motor action is controlled first, acts manipulator 3 on W axis, respective angles is rotated, if you do not need to ceramic tile is revolved
Turn, then corresponding motor action is controlled by slave computer, driving manipulator 3 acts on Z axis, and ceramic tile is placed into the upper of pallet 8
Surface.After manipulator 3 completes the placement of ceramic tile, unclamps ceramic tile and return to working position, continue the crawl of next packet ceramic tile.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But without departing from the technical solutions of the present invention, according to the technical essence of the invention to above embodiments institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection scope of technical solution of the present invention.
Claims (4)
1. a kind of multistation ceramic tile based on pallet shifts stacking method, it is characterised in that: include the following steps
Step 1001, system is initialized, and is ready for the crawl of ceramic tile；
Step 1002, manipulator (3) is moved to working position by home position；
Step 1003, slave computer judges whether be placed with ceramic tile in ceramic tile station turning (2), if being placed with ceramic tile, executes step
Rapid 1007, if executing step 1004 without ceramic tile in ceramic tile station turning (2)；
Step 1004, slave computer judges whether there is ceramic tile stacking station (4) for not placing pallet (8), if it does, executing step
Rapid 1005, if it does not, returning to step 1003；
Step 1005, slave computer judges whether retained pallet (8) in pallet storage station (9), if having retained pallet (8),
Step 1006 is executed, if not retaining pallet (8), executes step 1011；
Step 1006, slave computer control manipulator (3) grabs a pallet (8) out of pallet storage station (9) and is put into vacant
Ceramic tile pile up station (4) in；
Step 1007, host computer is determined the grade of ceramic tile, and the grade of ceramic tile is sent to slave computer；
Step 1008, slave computer judges that ceramic tile corresponding with the ceramic tile grade of the packet ceramic tile is piled up on the pallet (8) in station (4)
Whether ceramic tile is had been filled with, if being already filled with ceramic tile, execute step 1009, if not yet filling ceramic tile, executes step 1015；
Step 1009, slave computer judges that all ceramic tiles pile up station (4) interior whether there is and have idle ceramic tile to pile up station
(4), if it does, executing step 1014, if it does not, executing step 1010；
Step 1010, slave computer judges whether there is ceramic tile stacking station (4) for not placing pallet (8), if it does, executing step
Rapid 1012, if it does not, returning to step 1011；
Step 1011, slave computer control alarm system is alarmed；
Step 1012, slave computer judges whether retained pallet (8) in pallet storage station (9), if having retained pallet (8),
Step 1013 is executed, if executing step 1010 without pallet (8) in pallet storage station (9)；
Step 1013, slave computer control manipulator (3) grabs a pallet (8) out of pallet storage station (9) and is put into vacant
Ceramic tile pile up station (4) in；
Step 1014, it is porcelain corresponding to ceramic tile grade in step 1007 which is piled up station (4) temporary definition by slave computer
Brick piles up station (4)；
Step 1015, slave computer control manipulator (3) places subprogram for ceramic tile by porcelain according to ceramic tile jump subroutine and ceramic tile
The ceramic tile that brick station turning (2) is placed into corresponding grade is piled up on the pallet (8) in station (4), then return step 1002.
2. the multistation ceramic tile according to claim 1 based on pallet shifts stacking method, it is characterised in that: step 1015
Described in ceramic tile jump subroutine, include the following steps:
Step 2001, the mobile total distance a of manipulator (3) is calculated；
Control unit obtains determining manipulator (3) in X-axis and Y-axis according to the mobile starting point and mobile endpoint calculation of manipulator (3)
Mobile total distance a in the plane；
Step 2002, moving distance a is divided for several mobile sections: section a1... section an；
Control unit is according to range segment separating principle by the mobile total distance a of manipulator (3) since the mobile starting point of manipulator (3)
It is divided into several mobile sections: section a1... section an；
Step 2003, mobile with First Speed；
Manipulator (3) is since the starting point with First Speed in section a1Interior movement；
Step 2004, whether manipulator (3) enters section a2；
Control unit judges whether manipulator (3) comes into section a2If into section a2, step 2005 is executed, is otherwise returned
Receipt row step 2003；
Step 2005, it is run with second speed；
Control unit controls manipulator (3) in section a2It is interior mobile with the second speed lower than First Speed；
Step 2006, judge whether manipulator (3) enters section an；
Control unit judges whether manipulator (3) comes into section anIf into section an, step 2008 is executed, is otherwise held
Row step 2007；
Step 2007, with the operation of N-1 speed；
It is mobile that control unit controls (3) N-1 speed of manipulator；
Step 2008, mobile with N speed；
Control unit controls manipulator (3) in section anIt is interior mobile with the N speed lower than N-1 speed, it is mobile whole when being moved to
Stop movement after point.
3. the multistation ceramic tile according to claim 2 based on pallet shifts stacking method, it is characterised in that: step 2002
Described in range segment separating principle are as follows: in the entire moving distance a of manipulator (3) determine a deceleration point as section a2's
It is section a between the mobile starting point of starting point, deceleration point and manipulator (3)1, the mobile terminals of deceleration point and manipulator (3) it
Between distance divide equally after formed section a2~ section an。
4. the multistation ceramic tile according to claim 1 based on pallet shifts stacking method, it is characterised in that: step 1015
Described in ceramic tile place subprogram, include the following steps:
Step 3001, height of drop is determined；
Control unit determines the distance of fall of manipulator (3) according to the height on pallet (8) surface and the height of ceramic tile bottom；
Step 3002, whether ceramic tile needs to rotate；
Control unit judges whether the packet ceramic tile needs to rotate before whereabouts, if necessary to rotate, step 3003 is executed, if not
It needs to rotate, executes step 3004；
Step 3003, manipulator (3) rotates；
Control unit determines the angle that ceramic tile needs to rotate, and driving machine according to predeterminated position of the packet ceramic tile on pallet (8)
Tool hand (3) rotates respective angles；
Step 3004, manipulator (3) falls；
Control unit controls manipulator (3) and falls, and so that the bottom surface of ceramic tile is close to pallet (8) upper surface, completes the placement of ceramic tile；
Step 3005, manipulator (3) return；
Manipulator (3) unclamps ceramic tile, then resets the crawl and transfer for continuing next packet ceramic tile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611016656.8A CN106494900B (en) | 2016-11-18 | 2016-11-18 | A kind of multistation ceramic tile transfer stacking method based on pallet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611016656.8A CN106494900B (en) | 2016-11-18 | 2016-11-18 | A kind of multistation ceramic tile transfer stacking method based on pallet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106494900A CN106494900A (en) | 2017-03-15 |
| CN106494900B true CN106494900B (en) | 2019-05-03 |
Family
ID=58324865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611016656.8A Active CN106494900B (en) | 2016-11-18 | 2016-11-18 | A kind of multistation ceramic tile transfer stacking method based on pallet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106494900B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107717984A (en) * | 2017-08-31 | 2018-02-23 | 广州泰行智能科技有限公司 | A kind of paths planning method and device based on space coordinates |
| CN107696030A (en) * | 2017-08-31 | 2018-02-16 | 广州泰行智能科技有限公司 | A kind of unit of Single Mechanical arm puts output control method and device |
| CN107931163A (en) * | 2017-11-16 | 2018-04-20 | 广东赛因迪科技股份有限公司 | A kind of multistation selection control method and system |
| CN110077866B (en) * | 2019-04-30 | 2021-07-06 | 广东拓斯达科技股份有限公司 | Manipulator control method, control device, stacking device and readable storage medium |
| CN111874621B (en) * | 2020-07-07 | 2021-08-17 | 昆山市工研院智能制造技术有限公司 | Automatic ceramic tile discharging equipment and automatic discharging method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3005740B2 (en) * | 1994-08-03 | 2000-02-07 | 高浜工業株式会社 | Tile loading equipment of different types |
| CN103723522A (en) * | 2012-10-15 | 2014-04-16 | 陈坚 | Collecting, supporting and stacking device for finished packaged tiles |
| CN203332983U (en) * | 2013-02-19 | 2013-12-11 | 佛山科学技术学院 | Novel ceramic tile overturning structure of tile picker |
| CN103569690B (en) * | 2013-11-12 | 2016-11-16 | 广东摩德娜科技股份有限公司 | Ceramic tile car loader |
| CN204173616U (en) * | 2014-10-15 | 2015-02-25 | 区其安 | Brick machine on a kind of novel ceramic tile |
| CN205367149U (en) * | 2015-12-30 | 2016-07-06 | 福建泉工股份有限公司 | Fragment of brick layer board separation pile up neatly production line |
| CN105645130B (en) * | 2015-12-31 | 2018-04-27 | 江苏新美星包装机械股份有限公司 | The method of pile rapid wagon loading |
| CN105731089A (en) * | 2016-04-27 | 2016-07-06 | 张利平 | Brick pile packaging and loading mechanical integrated system equipment |
-
2016
- 2016-11-18 CN CN201611016656.8A patent/CN106494900B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106494900A (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106494900B (en) | A kind of multistation ceramic tile transfer stacking method based on pallet | |
| US8074431B1 (en) | Hybrid palletizer | |
| AU659958B2 (en) | A palletizer | |
| CN106516798B (en) | A kind of multistation ceramic tile transfer stacking method based on load wagon | |
| CN103129975B (en) | A kind of robot palletizer and control method thereof | |
| CN101012029A (en) | Intelligentized manipulator paw mechanism for piling machine | |
| CN203173512U (en) | Stacking robot | |
| CN102700946A (en) | Multi-position automatic tray dispatching system and control method thereof, as well as stacking system | |
| CN207329025U (en) | A kind of fully automatic high-speed destacking bale breaker | |
| CN205855410U (en) | Dual channel machine people's Palletizer | |
| CN103552849B (en) | For the robot hand of casing piling-de-stacking | |
| CN209259161U (en) | A kind of industrial palletizing apparatus | |
| CN106629132A (en) | Ceramic tile transferring and stacking method and system based on loading vehicles | |
| CN208603363U (en) | Automatic docking device | |
| CN206318519U (en) | A kind of ceramic tile branch code place system based on load wagon | |
| CN109178957B (en) | Integrated stacker crane control system and control method | |
| CN109693944A (en) | A kind of keel pack Palletizer and method automatically | |
| CN206318501U (en) | A kind of ceramic tile branch code place system based on pallet | |
| CN208775881U (en) | A kind of vertical brick palletizing system | |
| CN106379746A (en) | Ceramic tile transferring and stacking method and system based on pallets | |
| CN212291991U (en) | Coordinate type stacker crane | |
| CN211002203U (en) | Automatic change medicine box transportation baling equipment | |
| CN201592787U (en) | Automatic packaging system | |
| CN208898122U (en) | A kind of integrated pawl tool of stacking machine | |
| CN211004390U (en) | Stacking mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 264403 Binhai Road North, Longhai Road East, Nanhai New District, Weihai City, Shandong Province Patentee after: SHANDONG AIERSHENG INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 255000 715-01 room, block A, advanced ceramics industry innovation park, No. 125, Liu Quan Road, Zhangdian District, Zibo, Shandong. Patentee before: SHANDONG AIERSHENG INTELLIGENT TECHNOLOGY CO.,LTD. |
|
| CP02 | Change in the address of a patent holder |