CN110803533B - Multi-joint robot destacking and packaging production line - Google Patents
Multi-joint robot destacking and packaging production line Download PDFInfo
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- CN110803533B CN110803533B CN201911277977.7A CN201911277977A CN110803533B CN 110803533 B CN110803533 B CN 110803533B CN 201911277977 A CN201911277977 A CN 201911277977A CN 110803533 B CN110803533 B CN 110803533B
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 17
- 238000004806 packaging method and process Methods 0.000 title claims description 5
- 239000011449 brick Substances 0.000 claims abstract description 176
- 238000012856 packing Methods 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims description 115
- 230000000903 blocking effect Effects 0.000 claims description 19
- 238000003825 pressing Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000009954 braiding Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 230000007723 transport mechanism Effects 0.000 description 11
- 241001417495 Serranidae Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B13/00—Bundling articles
- B65B13/18—Details of, or auxiliary devices used in, bundling machines or bundling tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B23/00—Packaging fragile or shock-sensitive articles other than bottles; Unpacking eggs
- B65B23/20—Packaging plate glass, tiles, or shingles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/50—Stacking one article, or group of articles, upon another before packaging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
-
- 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
- B65G35/00—Mechanical conveyors not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
A multi-joint robot destacking and packing production line comprises a large-span truss destacking and loading device for destacking and transporting a brick pile from a kiln car to a stacker, a robot destacking machine for sequentially transporting the brick layers sorted by the stacker to a first transfer conveyor, a marshalling machine for marshalling the brick layers transported by the transfer conveyor, a stacker for assembling the marshalled brick layers into a brick pile, a packer for packing the piled brick pile and a second transfer conveyor for transporting the packed brick pile; the automatic continuous packing device realizes automatic continuous packing, the packed brick stacks are tidy, the bricks are not easy to damage in the packing process, and the production efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of brick product packaging machinery, in particular to a multi-joint robot destacking and packaging production line.
Background
The bricks need to be packed after production for subsequent transport. At present, due to technical limitations, each step of packing is not carried out continuously, the degree of automation is not high, and manual assistance is needed. Because the stacking arrangement required for different types of bricks and batches of bricks is different, a stack of bricks needs to be grouped for packing.
The prior equipment for unloading bricks from kiln cars has the following technical problems:
1. The span distance is short when the bricks are unloaded, so that the requirement on matching with other packing machines becomes high, the requirement on packing construction sites is high, the flexibility is poor, and the packing efficiency is limited;
2. the brick clamping mechanism in the equipment is unstable in brick clamping and is easy to fall off in the transportation process;
The brick clamping mechanism in the equipment is only suitable for brick types with little difference in strength, and can clamp and crush wet bricks and other brick types with lower strength, so that the applicability is poor.
When the bricks are packed, the column number requirements of the bricks in a group of bricks are different according to different materials of the bricks and the requirements of subsequent packing, and the requirements of the number of the bricks in each column of bricks are the same. The automatic degree of the marshalling machine in the prior art is low, and only brick groups with the same column number and the same block number in one column can be organized during marshalling, so that the application range is narrow.
In addition, the following technical problems can occur in the process of programming, and the production efficiency and the production quality are seriously affected.
1. The bricks are easy to adhere to each other, so that the marshalling is wrong;
2. The grouped brick groups are not orderly, and gaps among the bricks are large;
3. the belt of the transmission brick group is easy to wear and frequently needs to be replaced and maintained;
4. The upper surface of the brick group is easy to gather brick residues, which affects the subsequent packing.
In conclusion, the packing production line of the brick pillar can solve the problems that the packing brick pillar is not neat, the bricks are easy to damage and the production efficiency is low.
Disclosure of Invention
In order to overcome the defects of the technology, the invention aims to provide a multi-joint robot destacking and packing production line, which realizes automatic continuous packing, ensures that the packed bricks are orderly, ensures that the bricks are not easy to damage in the packing process, and greatly improves the production efficiency.
The technical scheme adopted by the invention is as follows: the utility model provides a multi-joint robot destacking packing production line, is including being used for unloading the brick buttress from the kiln car and transporting the large-span truss on the whole buttress machine and unloading brick loading equipment, be used for transporting the whole buttress machine to the robot destacking machine on the first transfer conveyer in proper order of the brick layer that is managed, be used for the marshalling machine of the brick layer group that transport the transfer conveyer comes, be used for the hacking machine of marshalling brick layer subassembly into the brick buttress, the baling press of packing the brick buttress of will piling up and be used for transporting the second transfer conveyer of going out of the brick buttress of packing, the large-span truss unloads brick loading equipment includes the truss, the truss includes the crossbeam and sets up two first stands at the crossbeam both ends respectively, be provided with the dolly of reciprocating on the crossbeam on the truss, its characterized in that: the ground rail is arranged between the two first upright posts, the top of the ground rail is propped against the cross beam, the bottom of the trolley is fixedly connected with a fixing frame, a lifting electric hoist is arranged on the fixing frame, a lifting rotating plate connected with the lifting electric hoist is arranged below the fixing frame, a plurality of guide posts are fixedly arranged on the lifting rotating plate, each guide post is arranged in a guide sleeve component in a penetrating mode, a rotary support is fixedly arranged at the bottom of the lifting rotating plate, a brick clamping mechanism for clamping bricks is arranged below the rotary support, the brick clamping mechanism is connected with the rotary support, the ground rail comprises a second upright post, a supporting seat is arranged at the top of the second upright post, and travelling wheels are arranged at the bottom of the second upright post.
Further, the robot destacking machine is provided with two, and the whole buttress machine is provided with four.
Further, the brick clamping mechanism comprises a U-shaped arm with a downward opening and two clamping components symmetrically arranged at two ends of the U-shaped arm, the clamping components comprise clamping legs, a web plate, a bottom plate, a first spring, a first rubber plate and a second rubber plate which are arranged below the U-shaped arm, the middle parts of the clamping legs are hinged with the end parts of the U-shaped arm through first hinge shafts, the lower parts of the clamping legs are hinged with the web plate through second hinge shafts, the bottom plate is fixedly connected with the web plate, the first rubber plate is attached to the upper parts of the side walls of the bottom plate far away from the web plate, the second rubber plate is attached to the lower parts of the side walls of the bottom plate far away from the web plate, one ends of the first springs are fixedly connected with the bottom plate, the other ends of the first springs are fixedly connected with the clamping legs, a clamping oil cylinder, a gear synchronizer and clamping components symmetrically arranged at two ends of the clamping oil cylinder are arranged above the U-shaped arm, the clamping assembly comprises a gear, a first connecting rod and a second connecting rod, one end of the first connecting rod is fixedly connected with the center of the gear, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the upper portion of a clamping leg, two gears in the two clamping assemblies are meshed, two clamping legs in the two clamping assemblies are respectively fixedly connected with a telescopic rod and a cylinder body of a clamping cylinder, the bottom plate and the web plate are vertically arranged, the U-shaped arm is provided with a brick pressing assembly, the brick pressing assembly comprises a brick pressing plate, four fixing columns and four second springs respectively sleeved on the four fixing columns, the brick pressing plate is arranged below the fixing columns, the upper portion of each fixing column is fixedly connected with the U-shaped arm, a limiting ring is fixedly arranged in the middle of each fixing column, and the upper portion of each second spring is abutted to the limiting ring, and the lower portion of each second spring is fixedly connected with the brick pressing plate. The fixing frame comprises a rectangular plate arranged below the cross beam, the rectangular plate is fixedly connected with the cross beam through four connecting rods, the four guide posts are respectively arranged at four corners of the rectangular plate in a penetrating mode, the four guide sleeve assemblies are respectively arranged in a four-in-four mode, each guide sleeve assembly comprises a first guide sleeve, a connecting pipe and a second guide sleeve which are sequentially sleeved on the corresponding guide post from top to bottom, two ends of the connecting pipe are respectively fixedly connected with the first guide sleeve and the second guide sleeve, and the first guide sleeve is fixedly connected with the rectangular plate.
Further, the marshalling machine comprises a chain transportation mechanism for transporting bricks before marshalling and a multi-stage transportation mechanism for transporting the bricks after marshalling, a block numerical control mechanism is arranged at the output end of the chain transportation mechanism, a right-angle turning mechanism for braiding the bricks into a group is arranged behind the output end of the chain transportation mechanism, the right-angle turning mechanism is arranged in front of the input end of the multi-stage transportation mechanism, an adjustable brick blocking mechanism is arranged at the output end of the multi-stage transportation mechanism, the right-angle turning mechanism comprises a base, a first lifting frame arranged on the base, a limiting plate, a first cylinder, a first motor and a plurality of first rotating rollers arranged on the first lifting frame, the limiting plate is arranged at one end of the right-angle turning mechanism far away from the chain transportation mechanism, a cylinder body of the first cylinder is fixedly connected with the first lifting frame, a telescopic rod of the first cylinder is fixedly connected with the limiting plate, the first rotating rollers are arranged in parallel with each other and are sequentially arranged at intervals along the length direction of the limiting plate, the first rotating rollers and the limiting plate are vertically arranged, the right-angle turning mechanism comprises a base, the first rotating roller and the limiting plate is arranged on the first rotating plate, the first rotating mechanism is axially and the driving shaft is axially connected with the first driving shaft, the first rotating roller and the first rotating roller are axially arranged at the first rotating roller and the second rotating roller, the first rotating roller is axially fixed by the first rotating roller and the first rotating roller, the first rotating roller driving shaft and the first rotating roller drive roller are axially and the first rotating roller drive roller, the first rotating roller and the first rotating roller drive roller and the second roller rotating and the rotating roller and the rotating roller. The first driven shaft and the second driven shaft are respectively provided with a driven sprocket matched with the driving sprocket, the number of the driving sprockets is the same as the sum of the number of the driven sprockets on the first driven shaft and the second driven shaft, a conveying chain is wound between the corresponding driving sprocket and the driven sprocket, the multistage conveying mechanism comprises a second bracket, a third motor, a fourth motor and a transmission chain, one end, close to the input end of the multistage conveying mechanism, of the second bracket is provided with a driven roller, a driving roller rotated by a third motor driver is arranged between the driven roller and the adjustable brick blocking mechanism, a rubber belt is wound between the driving roller and the driven roller, a plurality of first unpowered rollers arranged at intervals are arranged between the driving roller and the driven roller, a plurality of double-chain rollers are arranged between the adjustable brick blocking mechanism and the driving roller, the double-chain roller is driven to rotate by a transmission chain, the transmission chain is driven to move by a fourth motor, two second unpowered rollers are arranged between the double-chain roller and the driving roller, the adjustable brick blocking mechanism comprises a mounting seat and a brick blocking steel pipe fixedly arranged on the mounting seat, the mounting seat is fixedly connected with a second support, the multi-stage conveying mechanism is provided with an ash removing mechanism, the ash removing mechanism comprises two upright posts symmetrically arranged on two sides of a rubber belt, the two upright posts are fixedly connected with the second support, a second lifting frame is arranged between the two upright posts, two ends of the second lifting frame are respectively in sliding connection with the two upright posts, and a hairbrush is fixedly arranged below the lifting frame.
Compared with the prior art, the invention has the following beneficial effects: the multi-joint robot destacking and packing production line realizes automatic continuous packing, the packed bricks are orderly, the bricks are not easy to damage in the packing process, and the production efficiency is greatly improved; the large-span truss brick unloading and loading equipment is provided with the large-span truss, and the middle part of the truss is supported by the ground rail to strengthen the stability of the truss, so that the brick conveying equipment is more convenient, has higher flexibility, is easy to be matched with other packing machines, and greatly improves the packing efficiency; the brick clamping mechanism has the advantages that the brick clamping mechanism is more stable in brick clamping transportation, is not easy to fall off, can clamp bricks with various strengths, does not clamp and crush bricks with low strength, and is wider in applicability; the marshalling machine can be used for weaving the brick groups with different block numbers, is convenient to adjust when changing the block numbers of the brick groups, is orderly in marshalling, is not easy to cause marshalling errors, does not need frequent maintenance, has no slag on the surface of the marshalled brick groups, and is convenient for subsequent brick stacking.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic structural view of a large span truss brick unloading and loading apparatus of the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
FIG. 4 is a schematic view of a marshalling machine according to the present invention;
FIG. 5 is a schematic view of the quarter-turn mechanism of the present invention;
FIG. 6 is a schematic view of the block number control mechanism of the present invention;
FIG. 7 is a schematic view of the chain transport mechanism of the present invention;
FIG. 8 is a schematic view of a multi-stage transport mechanism according to the present invention;
FIG. 9 is a schematic view of an adjustable brick blocking mechanism in accordance with the present invention;
FIG. 10 is a schematic diagram of the ash removal mechanism according to the present invention.
Detailed Description
The invention will now be described in detail with reference to the drawings and to specific embodiments.
As shown in fig. 1 to 10, a multi-joint robot destacking and packing production line includes a large-span truss destacking and loading apparatus 1 for destacking and transporting a brick stack from a kiln car onto a stacker 2, a robot destacking machine 4 for sequentially transporting the brick layers sorted by the stacker 2 onto a first transfer conveyor 3, a grouper 5 for grouping the brick layers transported by the transfer conveyor 3, a stacker 8 for assembling the grouped brick layers into a brick stack, a packer 6 for packing the stacked brick stack, and a second transfer conveyor 7 for transporting the packed brick stack.
The large-span truss brick unloading and loading equipment 101 comprises a truss 1010, wherein the truss 1010 comprises a beam 11001 and two first upright posts 11002 which are respectively arranged at two ends of the beam 11001, and a trolley 101 which reciprocates on the beam 11001 is arranged on the truss 1010.
A ground rail 102 is arranged between the two first upright posts 11002, the top of the ground rail 102 is propped against the cross beam 11001, the ground rail 102 comprises a second upright post 1201, a supporting seat 1202 is arranged at the top of the second upright post 1201, and a travelling wheel 1203 is arranged at the bottom of the second upright post 1201. The supporting seat 1202 abuts against the cross beam 11001, two second upright posts 1201 are provided, and the two second upright posts 1201 are symmetrically arranged below the supporting seat 1202 and fixedly connected with the supporting seat 1202. The ground rail 102 is convenient to move and convenient to detach, install and replace by arranging the travelling wheels 1203.
The bottom of the trolley 101 is fixedly connected with a fixing frame 109, the fixing frame 109 comprises a rectangular plate 1901 arranged below the beam 11001, and the rectangular plate 1901 is fixedly connected with the beam 11001 through four connecting rods 1902.
The lifting electric hoist 108 is arranged on the fixing frame 109, a lifting rotating plate 107 connected with the lifting electric hoist 108 is arranged below the fixing frame 109, four guide posts 106 are fixedly arranged on the lifting rotating plate 107, each guide post 106 penetrates through one guide sleeve assembly 105, the four guide posts 106 penetrate through four corners of the rectangular plate 1901 respectively, the total number of the guide sleeve assemblies 105 is four, the guide sleeve assemblies 105 comprise a first guide sleeve 1501, a connecting pipe 1502 and a second guide sleeve 1503 which are sequentially sleeved on the guide posts 106 from top to bottom, two ends of the connecting pipe 1502 are fixedly connected with the first guide sleeve 1501 and the second guide sleeve 1503 respectively, and the first guide sleeve 1501 is fixedly connected with the rectangular plate 1901. The guide sleeve assembly 105 prevents the lifting plate 107 from being displaced when it is lifted or lowered axially along the guide post 106.
The bottom of the lifting rotating plate 107 is fixedly provided with a rotary support 104, a brick clamping mechanism 103 for clamping bricks is arranged below the rotary support 104, the brick clamping mechanism 103 is connected with the rotary support 104, the rotary support 104 is widely used in the prior art, and the rotary support 104 drives the brick clamping mechanism 103 to rotate, so that the angle is convenient to adjust when bricks are clamped or unloaded. The lifting and rotating plate 107 lifts or descends and simultaneously drives the rotary support 104 and the brick clamping mechanism 103 to lift or descend.
The brick clamping mechanism 103 comprises a U-shaped arm 1301 with a downward opening and two clamping components symmetrically arranged at two ends of the U-shaped arm 1301, the clamping components comprise clamping legs 1302, a web 1303, a bottom plate 1304, a first spring 1305, a first rubber plate 1306 and a second rubber plate 1307 which are arranged below the U-shaped arm 1301, the middle parts of the clamping legs 1302 are hinged with the end parts of the U-shaped arm 1301 through first hinge shafts 1308, the lower parts of the clamping legs 1302 are hinged with the web 1303 through second hinge shafts 13018, the bottom plate 1304 is fixedly connected with the web 1303, the first rubber plate 1306 is attached to the upper parts of the side walls of the bottom plate 1304, which are far away from the web 1303, the second rubber plate 1307 is attached to the lower parts of the side walls of the bottom plate 1304, which are far away from the web 1303, one end of the first spring 1305 is fixedly connected with the bottom plate 1304, the other end of the first spring 1305 is fixedly connected with the clamping legs 1302, a clamping oil cylinder 13013, a gear synchronizer 13014 and clamping components symmetrically arranged at two ends of the clamping oil cylinder 13013 are arranged above the U-shaped arm 1301, each clamping component comprises a gear 13015, a first connecting rod 13016 and a second connecting rod 13017, one end of the first connecting rod 13016 is fixedly connected with the center of the corresponding gear 13015, the other end of the first connecting rod is hinged with one end of the corresponding second connecting rod 13017, the other end of the corresponding second connecting rod 13017 is hinged with the upper portion of each clamping leg 1302, two gears 13015 in the two clamping components are meshed, and two clamping legs 1302 in the two clamping components are fixedly connected with a telescopic rod and a cylinder body of the corresponding clamping oil cylinder 13013 respectively.
When the brick clamping mechanism 103 clamps bricks, the telescopic rods of the clamping oil cylinders 13013 extend to push the upper parts of the two clamping legs 1302 to move outwards, at the moment, the lower parts of the two clamping legs 1302 are close to each other so as to clamp the bricks, the bottom of a brick pile is clamped between the two bottom plates 1304, the first rubber plate 1306 and the second rubber plate 1307 are attached to the bricks at the bottom of the brick pile, and the first rubber plate 1306 and the second rubber plate 1307 play a role in skid resistance and buffer, so that a plurality of bricks with different intensities can be clamped; when clamping bricks, the first spring 1305 tightens the bottom plate 1304, applying a vertical upward force to the bottom plate 1304, causing the bottom plate 1304 to pull the bottom of the brick pillar. The provision of the gear synchronizer 13014, the gear 13015, the first link 13016, and the second link 13017 ensures that the two clamp legs 1302 move in synchronization. When the bricks are removed, the telescopic rods of the clamping cylinders 13013 are retracted, so that the lower parts of the clamping legs 1302 are far away from each other, and the bricks are removed.
The base plate 1304 is disposed perpendicular to the web 1303.
The U-shaped arm 1301 is provided with a brick pressing assembly, the brick pressing assembly comprises a brick pressing plate 1309, four fixing columns 13010 and four second springs 13011 respectively sleeved on the four fixing columns 13010, the brick pressing plate 1309 is arranged below the fixing columns 13010, the upper portions of the fixing columns 13010 are fixedly connected with the U-shaped arm 1301, a limiting ring 13012 is fixedly arranged in the middle of the fixing columns 13010, the upper portions of the second springs 13011 are abutted to the limiting ring 13012, and the lower portions of the second springs 13011 are fixedly connected with the brick pressing plate 1309. After the brick clamping mechanism 103 clamps the bricks, the topmost layer of the bricks is abutted against the brick pressing plate 1309, the brick pressing plate 1309 is pressed on the top layer of the brick pile under the action force of the second spring 13011, the bricks are more stable when moving, the shaking amplitude is reduced, and the bricks are not easy to fall off.
The robot destacking machines 104 are provided in two, and the palletizer 102 is provided in four. Each robotic destacking machine 104 works in conjunction with two palletizers 102.
The grouper 105 comprises a chain transportation mechanism 1501 for transporting bricks before the grouper and a multi-stage transportation mechanism 1502 for transporting the bricks after the grouper, a block number control mechanism 1503 is arranged at the output end of the chain transportation mechanism 1501, a quarter turn mechanism 1504 for grouping the bricks into a group is arranged behind the output end of the chain transportation mechanism 1501, the quarter turn mechanism 1504 is arranged in front of the input end of the multi-stage transportation mechanism 1502, an adjustable brick blocking mechanism 1505 is arranged at the output end of the multi-stage transportation mechanism 1502, the quarter turn mechanism 1504 comprises a base 15401, a first lifting frame 15402 arranged on the base 15401, a limiting plate 15404 arranged on the first lifting frame 15402, a first cylinder 15405, a first motor 15406 and a plurality of first rotating rollers 15403 driven by the first motor 15406, the limiting plate 15404 is arranged on one end of the quarter turn mechanism 1504 far from the chain transportation mechanism 1501, the cylinder body of the first cylinder 15405 is fixedly connected with the first lifting frame 15402, the telescopic rod of the first cylinder 15405 is fixedly connected with the limiting plate 15404, the plurality of first rotating rollers 15403 are arranged in parallel with each other and are sequentially arranged at intervals along the length direction of the limiting plate 15404, the first rotating rollers 15403 are arranged vertically with the limiting plate 15404, the block number control mechanism 1503 comprises a fixed plate 15301 arranged above the chain transportation mechanism 1501, a pushing plate 15302 and a second cylinder 15303, both ends of the fixed plate 15301 are connected with adjusting legs 15305 through screw rods 15304, the cylinder body of the second cylinder 15303 is fixedly connected with the fixed plate 15301, the telescopic rod of the second cylinder 15303 is fixedly connected with the pushing plate 15302, the chain transportation mechanism 1501 comprises a first bracket 15101, a driving shaft 15102 and a first driven shaft 15103 which are respectively arranged at both ends of the first bracket 15101, and a second motor 15104 which drives the driving shaft 15102 to rotate, a second driven shaft 15108 is arranged between the driving shaft 15010 and the first driven shaft 15103, a plurality of driving chain wheels 15105 are arranged on the driving shaft 15102 along the axial direction at intervals, driven chain wheels 15106 which are used for matching with the driving chain wheels 15105 are arranged on the first driven shaft 15103 and the second driven shaft 15108, the number of the driving chain wheels 15105 is the same as the sum of the number of the driven chain wheels 15106 on the first driven shaft 15103 and the second driven shaft 15108, a transport chain 15107 is wound between the corresponding driving chain wheels 15105 and the driven chain wheels 15106, the multistage transport mechanism 1502 comprises a second bracket 15201, a third motor 15204, a fourth motor 15208 and a transmission chain 15209, a driven roller 15202 is arranged at one end, close to the input end of the multistage transport mechanism 1502, a driving roller 15203 which is rotated by a third motor 15204 driver is arranged between the driven roller 15202 and the adjustable block mechanism 1505, a rubber belt 15205 is wound between the driving roller 15203 and the driven roller 15202, a plurality of first unpowered rollers 15206 which are arranged at intervals are arranged between the driving roller 15203 and the driven roller 15202, a plurality of double-row chain rollers 15207 are arranged between the adjustable brick blocking mechanism 1505 and the driving roller 15203, the double-row chain rollers 15207 are orderly arranged at intervals in parallel, the double-row chain rollers 15207 are driven to rotate by a transmission chain 15209, the transmission chain 15209 is driven to move by a fourth motor 15208, two second unpowered rollers 152010 are arranged between the double-row chain rollers 15207 and the driving roller 15203, the adjustable brick blocking mechanism 1505 comprises a mounting seat 15501 and brick blocking steel tubes 15502 which are fixedly arranged on the mounting seat 15501, the mounting seat 15501 is fixedly connected with a second bracket 15201, a dust removing mechanism 1506 is arranged on the multi-stage conveying mechanism 1502 and comprises two upright posts 15601 which are symmetrically arranged on two sides of the rubber belt 15205, two stand 15601 and second support 15201 fixed connection, be provided with second crane 15602 between two stand 15601, second crane 15602's both ends respectively with two stand 15601 sliding connection, crane 15602 below fixed mounting has brush 15603.
The marshalling machine 5 comprises a chain conveying mechanism 501 for conveying bricks before marshalling and a multi-stage conveying mechanism 502 for conveying the bricks after marshalling, a block number control mechanism 503 is arranged at the output end of the chain conveying mechanism 501, a quarter turn mechanism 504 for marshalling the bricks into a group is arranged behind the output end of the chain conveying mechanism 501, the quarter turn mechanism 504 is arranged in front of the input end of the multi-stage conveying mechanism 502, and an adjustable brick blocking mechanism 505 is arranged at the output end of the multi-stage conveying mechanism 502. The chain transport mechanism 501, the multi-stage transport mechanism 502, the block number control mechanism 503, the quarter turn mechanism 504 and the adjustable brick blocking mechanism 505 are all controlled by a control system, and the control system is in the prior art.
The block number control mechanism 503 includes a fixed plate 5301 provided above the chain transport mechanism 501, a push plate 5302, and a second cylinder 5303, both ends of the fixed plate 5301 are connected with adjusting legs 5305 via screw rods 5304, a cylinder body of the second cylinder 5303 is fixedly connected with the fixed plate 5301, and a telescopic rod of the second cylinder 5303 is fixedly connected with the push plate 5302. The height of the fixing plate 5301 is adjusted by adjusting the relative position between the adjustment legs 5305 and the screw 5304 to accommodate different brick types. The block number control mechanism 503 is provided with a sensor connected with the control system, the sensor senses the number of bricks passing through the block number control mechanism 503, when the number reaches, the sensor transmits a signal to the control system, the control system controls the extension rod of the second air cylinder 5303 to extend, so that the pushing plate 5302 pushes the last row of bricks passing through the block number control mechanism 503 forwards, and the pushing plate 5302 limits the positions of the bricks not passing through the block number control mechanism 503, so that the bricks are not adhered to the passing bricks.
The right angle turning mechanism 504 comprises a base 5401, a first lifting frame 5402 arranged on the base 5401, and a limiting plate 5404, a first cylinder 5405, a first motor 5406 and a plurality of first rotating rollers 5403 driven by the first motor 5406 to rotate, wherein the limiting plate 5404 is arranged at one end of the right angle turning mechanism 504 far away from the chain conveying mechanism 501, a cylinder body of the first cylinder 5405 is fixedly connected with the first lifting frame 5402, a telescopic rod of the first cylinder 5405 is fixedly connected with the limiting plate 5404, and the plurality of first rotating rollers 5403 are arranged in parallel and are sequentially arranged at intervals along the length direction of the limiting plate 5404. The first rotating roller 5403 is perpendicular to the limiting plate 5404. The bricks sent from the chain transport mechanism 501 enter the quarter turn mechanism 504, and the distance between the limiting plate 5404 and the pushing plate 5302 is adjusted by extending or retracting the telescopic rod of the first cylinder 5405, so that when the number of bricks in each row of the brick group is adjusted, the bricks are clamped between the limiting plate 5404 and the pushing plate 5302, and gaps between the bricks are eliminated.
The chain transportation mechanism 501 comprises a first support 5101, a driving shaft 5102, a first driven shaft 5103 and a second motor 5104, wherein the driving shaft 5102 and the first driven shaft 5103 are respectively arranged at two ends of the first support 5101, the second motor 5104 is used for driving the driving shaft 5102 to rotate, a second driven shaft 5108 is arranged between the driving shaft 5010 and the first driven shaft 5103, a plurality of driving chain wheels 5105 are arranged on the driving shaft 5102 at intervals along the axial direction of the driving shaft 5102, driven chain wheels 5106 matched with the driving chain wheels 5105 are arranged on the first driven shaft 5103 and the second driven shaft 5108, the number of the driving chain wheels 5105 is equal to the sum of the number of the driven chain wheels 5106 on the first driven shaft 5103 and the second driven shaft 5108, and a transportation chain 5107 is wound between the corresponding driving chain wheels 5105 and the driven chain wheels 5106. The second motor 5104 rotates the driving sprocket 5105 to cause the transport chain 5107 to transport bricks forward.
The multistage transport mechanism 502 comprises a second support 5201, a third motor 5204, a fourth motor 5208 and a transmission chain 5209, wherein a driven roller 5202 is arranged at one end, close to the input end of the multistage transport mechanism 502, of the second support 5201, a driving roller 5203 which is driven to rotate by a third motor 5204 driver is arranged between the driven roller 5202 and the adjustable brick blocking mechanism 505, a rubber belt 5205 is wound between the driving roller 5203 and the driven roller 5202, a plurality of first unpowered rollers 5206 which are arranged at intervals are arranged between the driving roller 5203 and the driven roller 5202, a plurality of double-chain rollers 5207 are sequentially arranged in parallel at intervals, the double-chain rollers 5207 are driven to rotate by the transmission chain 5209, and the transmission chain 5209 is driven to move by the fourth motor 5208. The rubber belt 5205 and the transmission chain 5209 both transport bricks forward, when the number of columns of bricks to be grouped reaches the requirement, the third motor 5204 stops running, and when the group of bricks to be grouped on the transmission chain 5209 is taken away, the third motor 5204 continues running.
Two second unpowered rollers 52010 are arranged between the double-row chain roller 5207 and the driving roller 5203, and the two second unpowered rollers 52010 play a role in decelerating and buffering.
The adjustable brick blocking mechanism 505 comprises a mounting seat 5501 and a brick blocking steel pipe 5502 fixedly arranged on the mounting seat 5501, wherein the mounting seat 5501 is fixedly connected with a second bracket 5201. The brick blocking steel pipe 5502 blocks the bricks transported by the transmission chain 5209, thereby making no gap between the brick rows.
Be provided with deashing mechanism 506 on multistage transport mechanism 502, deashing mechanism 506 includes two symmetries setting up the stand 5601 in rubber belt 5205 both sides, and two stand 5601 all with second support 5201 fixed connection is provided with second crane 5602 between two stand 5601, the both ends of second crane 5602 respectively with two stand 5601 sliding connection, crane 5602 below fixed mounting has brush 5603. The brush 5603 sweeps the residue from the brick.
The above examples give detailed embodiments and specific operation procedures on the premise of the technical solution of the present invention, but the scope of protection of the present invention is not limited to the above examples.
Claims (2)
1. The utility model provides a multi-joint robot destacking packing production line, including be used for unloading the brick buttress from the kiln car and transporting large-span truss on buttress machine (2) unload brick loading equipment (1), be used for transporting the robot destacking machine (4) on first transfer conveyer (3) in proper order with the brick layer that buttress machine (2) was tidied, be used for the marshalling machine (5) of the brick layer group that transfer conveyer (3) transported, be used for the hacking machine (8) of marshalling brick layer subassembly into the brick buttress, baling press (6) of packing up the brick buttress of piling up and be used for transporting away the second transfer conveyer (7) of the brick buttress of packing, its characterized in that: the large-span truss brick unloading and loading equipment (1) comprises a truss (1010), wherein the truss (1010) comprises a cross beam (11001) and two first upright posts (11002) which are respectively arranged at two ends of the cross beam (11001), a trolley (101) which reciprocates on the cross beam (11001) is arranged on the truss (1010), a ground rail (102) is arranged between the two first upright posts (11002), the top of the ground rail (102) is propped against the cross beam (11001), the bottom of the trolley (101) is fixedly connected with a fixing frame (109), a lifting electric hoist (108) is arranged on the fixing frame (109), a lifting rotating plate (107) which is connected with the lifting electric hoist (108) is arranged below the fixing frame (109), a plurality of guide posts (106) are fixedly arranged on the lifting rotating plate (107), each guide post (106) is arranged in a guide sleeve assembly (105) in a penetrating manner, a rotary support (104) is fixedly arranged at the bottom of the lifting rotating plate (107), a clamping brick (103) is arranged below the rotary support (104), a second upright post (1201) is connected with a ground brick clamping mechanism (1201), and the second upright post (1201) is arranged on the ground support base (1202); the marshalling machine (5) comprises a chain transportation mechanism (501) for transporting bricks before marshalling and a multi-stage transportation mechanism (502) for transporting the bricks after marshalling, wherein a block numerical control mechanism (503) is arranged at the output end of the chain transportation mechanism (501), a right-angle turning mechanism (504) for braiding the bricks into a group is arranged behind the output end of the chain transportation mechanism (501), the right-angle turning mechanism (504) is arranged in front of the input end of the multi-stage transportation mechanism (502), an adjustable brick blocking mechanism (505) is arranged at the output end of the multi-stage transportation mechanism (502), the right-angle turning mechanism (504) comprises a base (5401), a first lifting frame (5402) arranged on the base (5401), a limiting plate (5404) arranged on the first lifting frame (5402), a first air cylinder (5405), a first motor (5406) and a plurality of first rotating rollers (5403) driven by the first motor (5406) to rotate, the limiting plate (5404) is arranged at the front of the input end of the multi-stage transportation mechanism (502), is far away from the first air cylinder (501), and is fixedly connected with the first lifting plate (5405) in parallel to the first lifting plate (5402) along the length of the first lifting plate (5402), the first rotating roller (5403) is vertically arranged with the limiting plate (5404), the block number control mechanism (503) comprises a fixed plate (5301) arranged above the chain transportation mechanism (501), a pushing plate (5302) and a second cylinder (5303), two ends of the fixed plate (5301) are connected with adjusting legs (5305) through screw rods (5304), a cylinder body of the second cylinder (5303) is fixedly connected with the fixed plate (5301), a telescopic rod of the second cylinder (5303) is fixedly connected with the pushing plate (5302), the chain transportation mechanism (501) comprises a first bracket (5101), a driving shaft (5102) and a first driven shaft (5103) which are respectively arranged at two ends of the first bracket (5101) and a second motor (5104) for driving the driving shaft (5102) to rotate, a plurality of driving shafts (5105) are arranged between the driving shaft (5102) and the first driven shaft (5103) at intervals along the axial directions, the driving shafts (5105) are fixedly connected with the fixed plate (5301), the driving shafts (5108) are matched with the driving sprockets (5108) on the first driven shafts (5106) and the second driven shafts (5108) in number of driving sprockets (5106) which are the same with the first driven shafts (5108) and the driving sprockets (5106), the utility model provides a multi-stage conveying mechanism (502) is equipped with between corresponding driving sprocket (5105) and driven sprocket (5106) around being equipped with transportation chain (5107), multistage conveying mechanism (502) are including second support (5201), third motor (5204), fourth motor (5208) and drive chain (5209), the one end that is close to multistage conveying mechanism (502) input on second support (5201) is provided with driven cylinder (5202), be provided with between driven cylinder (5202) and adjustable block mechanism (505) by third motor (5204) driver pivoted initiative cylinder (5203), around being equipped with rubber belt (5205) between initiative cylinder (5203) and driven cylinder (5202), be equipped with a plurality of interval setting's first unpowered cylinder (5206) between initiative cylinder (5203) and driven cylinder (5202), be provided with a plurality of double-row chain cylinder (5207) between adjustable block mechanism (505) and initiative cylinder (5203), double-row chain cylinder (5207) interval parallel arrangement, double-chain cylinder (5207) are by drive chain (5203) and driven cylinder (5203) are rotated by third motor (5203) and driven cylinder (5203), the double-chain (5203) is provided with its motion between the transmission chain (5203), the adjustable brick blocking mechanism (505) comprises a mounting seat (5501) and brick blocking steel pipes (5502) fixedly arranged on the mounting seat (5501), the mounting seat (5501) is fixedly connected with a second bracket (5201), an ash removing mechanism (506) is arranged on the multi-stage conveying mechanism (502), the ash removing mechanism (506) comprises two upright posts (5601) symmetrically arranged on two sides of a rubber belt (5205), the two upright posts (5601) are fixedly connected with the second bracket (5201), a second lifting frame (5602) is arranged between the two upright posts (5601), two ends of the second lifting frame (5602) are respectively and slidably connected with the two upright posts (5601), and a hairbrush (5603) is fixedly arranged below the lifting frame (5602); the robot destacking machine (4) is provided with two, and the whole buttress machine (2) is provided with four.
2. The multi-joint robot destacking and packaging line as set forth in claim 1, wherein: the brick clamping mechanism (103) comprises a U-shaped arm (1301) with a downward opening and two clamping components symmetrically arranged at two ends of the U-shaped arm (1301), the clamping components comprise clamping legs (1302), a web plate (1303), a bottom plate (1304), a first spring (1305), a first rubber plate (1306) and a second rubber plate (1307) which are arranged below the U-shaped arm (1301), the middle part of the clamping legs (1302) is hinged with the end part of the U-shaped arm (1301) through a first hinging shaft (1308), the lower part of the clamping legs (1302) is hinged with the web plate (1303) through a second hinging shaft (13018), the bottom plate (1304) is fixedly connected with the web plate (1303), the first rubber plate (1306) is attached to the upper part of the side wall of the bottom plate (1304) which is far away from the web plate (1303), one end of the first spring (1305) is fixedly connected with the bottom plate (1304), the other end of the first spring (1302) is fixedly connected with the bottom plate (13018) and the other end of the clamping legs (13013), the clamping components are fixedly connected with the clamping components (13) and the two clamping components (13) are symmetrically arranged on the two sides of the clamping components (13, 13) and 13), one end of the first connecting rod (13016) is fixedly connected with the center of the gear (13015), the other end of the first connecting rod is hinged with one end of the second connecting rod (13017), the other end of the second connecting rod (13017) is hinged with the upper parts of the clamping legs (1302), two gears (13015) in the two clamping assemblies are meshed, the two clamping legs (1302) in the two clamping assemblies are respectively fixedly connected with a telescopic rod and a cylinder body of the clamping cylinder (13013), the bottom plate (1304) is vertically arranged with the web plate (1303), a brick pressing assembly is arranged on the U-shaped arm (1301), the brick pressing assembly comprises a brick pressing plate (1309), four fixing columns (13010) and four second springs (13011) respectively sleeved on the four fixing columns (13010), the brick pressing plate (1309) is arranged below the fixing columns (13010), the upper parts of the fixing columns (13010) are fixedly connected with the U-shaped arms (1301), a limit ring (12) is fixedly arranged in the middle of the fixing columns (13010), the second springs (1304) are fixedly arranged on the middle of the fixing columns (13013), the two fixing columns (13010) are fixedly connected with the lower parts of the fixing columns (13001) through the four fixing columns (1301) respectively, the two fixing columns (13011) are fixedly connected with the lower parts of the four fixing columns (13001) through the four fixing columns (1301) respectively, and the lower fixing columns (1101) are fixedly connected with the lower ends of the lower fixing columns (1101) respectively, four guide posts (106) are respectively arranged at four corners of a rectangular plate (1901) in a penetrating mode, the guide sleeve assemblies (105) are four in number, each guide sleeve assembly (105) comprises a first guide sleeve (1501), a connecting pipe (1502) and a second guide sleeve (1503) which are sequentially sleeved on the guide posts (106) from top to bottom, two ends of the connecting pipe (1502) are fixedly connected with the first guide sleeve (1501) and the second guide sleeve (1503) respectively, and the first guide sleeve (1501) is fixedly connected with the rectangular plate (1901).
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| CN201911277977.7A CN110803533B (en) | 2019-12-12 | 2019-12-12 | Multi-joint robot destacking and packaging production line |
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| CN201911277977.7A CN110803533B (en) | 2019-12-12 | 2019-12-12 | Multi-joint robot destacking and packaging production line |
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| CN110803533B true CN110803533B (en) | 2024-05-07 |
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| CN112158427B (en) * | 2020-12-03 | 2021-03-26 | 佛山隆深机器人有限公司 | Packing workstation based on multiaxis robot |
| CN113928619B (en) * | 2021-09-17 | 2023-03-28 | 彩虹（合肥）液晶玻璃有限公司 | TFT-LCD packaging and conveying mechanism |
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| CN211687397U (en) * | 2019-12-12 | 2020-10-16 | 襄阳誉德智能科技有限公司 | Multi-joint robot destacking and packaging production line |
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| GB119331A (en) * | 1917-11-13 | 1918-10-03 | Stewart Kaye | Improvements in and relating to Machines for Erecting Walls of Bricks and the like. |
| AU2008255183A1 (en) * | 2007-12-10 | 2009-06-25 | Visy R & D Pty Ltd | Improvements in palletising systems |
| CN103407794A (en) * | 2013-09-05 | 2013-11-27 | 何仕杰 | Fully-automatic brick packing and unloading method for sintered bricks |
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