CN104860080A - Brick stacking manipulator capable of automatically adapting to brick stacking position - Google Patents
Brick stacking manipulator capable of automatically adapting to brick stacking position Download PDFInfo
- Publication number
- CN104860080A CN104860080A CN201510311002.7A CN201510311002A CN104860080A CN 104860080 A CN104860080 A CN 104860080A CN 201510311002 A CN201510311002 A CN 201510311002A CN 104860080 A CN104860080 A CN 104860080A
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- China
- Prior art keywords
- self
- buttress brick
- manipulator
- buttress
- brick
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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
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
Abstract
The invention discloses a brick stacking manipulator capable of automatically adapting to a brick stacking position. The brick stacking manipulator capable of automatically adapting to the brick stacking position comprises brick stacking position self-adaptive detection mechanisms located on the outer sides of side plates of the brick stacking manipulator respectively, each brick stacking position self-adaptive detection mechanism comprises a baffle arranged in the x direction, two feed rods which are located at the two ends of the baffle and are perpendicular to the baffle in the z direction, bearing rings which are located on the upper portions of the feed rods and arranged on the feed rods in a sleeving mode respectively and two self-adaptive sensors fixed on the corresponding positions of the bearing rings in the direction perpendicular to the feed rod, the self-adaptive detection mechanisms are fixed on the brick stacking manipulator through bearings, the top ends of the feed rods are provided with detecting platforms for sensing the self-adaptive sensors, the sensing ends of the self-adaptive sensors are arranged oppositely and point to the detecting platforms respectively, and in an initial state, the sensing ends of the self-adaptive sensors just can sense the detecting platforms. The brick stacking manipulator capable of automatically adapting to the brick stacking position has the advantages that the structure is simple, the operation is convenient, running is stable, the occupied space is small, the brick stacking position can be automatically adapted, and the efficiency of stacking bricks is improved.
Description
Technical field
The present invention relates to a kind of buttress brick manipulator, especially about a kind of buttress brick manipulator utilizing self-adapted sensor self adaptation to pile up neatly brick position.
Background technology
When carrying out stacking adobe with buttress brick manipulator, existing buttress brick manipulator self adaptation can not pile up neatly brick position, be unfavorable for that piled bricks is neatly stacked, when stacking adobe, if whether the adaptive induction adjacent position of manipulator energy has adobe, then can improve the efficiency of stacking adobe, because the defect that above-mentioned existing buttress brick manipulator exists, the present inventor devises the buttress brick manipulator of a kind of new self adaptation buttress brick position, produces significant to the full-automation realizing brick field.
Summary of the invention
Main purpose of the present invention is, provides a kind of new self adaptation to pile up neatly the buttress brick manipulator of brick position, and technical matters to be solved is adaptive induction buttress brick position, improves the efficiency of stacking adobe, is very suitable for practicality.
The present invention by the following technical solutions and technical measures realize.
The present invention proposes the buttress brick manipulator of a kind of self adaptation buttress brick position, comprise the buttress brick position self-adapting detecting mechanism be positioned at outside its side plate, this buttress brick position self-adapting detecting mechanism comprises the baffle plate arranged in the x-direction, be positioned at baffle plate two ends also in the z-direction perpendicular to two feed rods of baffle plate, lay respectively at two feed rod tops and two bearing collars of sheathed feed rod and symmetrical two self-adapted sensors being fixed on two bearing collar relevant positions along vertical feed rod direction, buttress brick manipulator is fixed on by bearing collar in this self-adapting detecting mechanism, described feed rod top is the detection platform of coil pickup, the induction end of two self-adapted sensors arranges in opposite directions and points to two detection platform respectively, during initial condition, the induction end of self-adapted sensor be able to sense detection platform.
Preferably, the buttress brick manipulator of aforementioned a kind of self adaptation buttress brick position, the both sides, y direction of wherein said buttress brick manipulator are respectively equipped with buttress brick position self-adapting detecting mechanism, wherein a side shield of this buttress brick position self-adapting detecting mechanism be positioned at buttress brick manipulator y forward side and lower than the bottom of buttress brick manipulator, the opposite side baffle plate of this buttress brick position self-adapting detecting mechanism be positioned at buttress brick manipulator y reverse side and higher than the bottom of buttress brick manipulator, now, self-adapted sensor be able to sense the detection platform on feed rod top.
Preferably, the buttress brick manipulator of aforementioned a kind of self adaptation buttress brick position, a side shield of described buttress brick position detecting mechanism is lower than the bottom 90mm piling up neatly brick manipulator, and opposite side baffle plate is higher than the bottom 30mm of buttress brick manipulator.
Preferably, the buttress brick manipulator of aforementioned a kind of self adaptation buttress brick position, the both sides, y direction of wherein said buttress brick manipulator are respectively equipped with buttress brick position self-adapting detecting mechanism, the baffle plate of two buttress brick position self-adapting detecting mechanisms is all lower than the bottom of buttress brick manipulator, now, self-adapted sensor be able to sense the detection platform on feed rod top.
Preferably, the buttress brick manipulator of aforementioned a kind of self adaptation buttress brick position, the y direction either side of wherein said buttress brick manipulator is provided with buttress brick position self-adapting detecting mechanism, the baffle plate of this buttress brick position self-adapting detecting mechanism is lower than the bottom of piling up neatly brick manipulator, now, self-adapted sensor be able to sense the detection platform on feed rod top.
Preferably, the buttress brick manipulator of aforementioned a kind of self adaptation buttress brick position, the baffle plate of wherein said buttress brick position self-adapting detecting mechanism is lower than the bottom 90mm piling up neatly brick manipulator.
Preferably, the buttress brick manipulator of aforementioned a kind of self adaptation buttress brick position, two side plates of described buttress brick manipulator are arranged with uniform gap, and the distance of adjacent segment is the thickness of one piece of brick.
Compared with prior art, the buttress brick manipulator of self adaptation buttress brick position of the present invention at least has following advantage and beneficial effect: the buttress brick robot manipulator structure of self adaptation buttress brick position of the present invention is simple, easy to operate, stable, take up room less, adaptive induction can pile up neatly brick position, improve the efficiency of stacking adobe.
Accompanying drawing explanation
Fig. 1 is the structural representation of the buttress brick manipulator of self adaptation of the present invention buttress brick position.
Fig. 2 is the schematic diagram of Fig. 1 Parma brick position self-adapting detecting mechanism.
Fig. 3 is the schematic diagram of one embodiment of the invention.
Fig. 4 is the side plate schematic diagram of the buttress brick manipulator of self adaptation of the present invention buttress brick position.
1: buttress brick position self-adapting detecting mechanism, 11: baffle plate, 111: one side shields, 112: opposite side baffle plate, 12: feed rod, 13: bearing collar, 14: self-adapted sensor, 15: detection platform, 16: sensor stand, 2: side plate, 3: adobe, 4: belt conveyor.
Detailed description of the invention
The present invention proposes the buttress brick manipulator of a kind of self adaptation buttress brick position, and as shown in Figure 1, the buttress brick manipulator of this self adaptation buttress brick position comprises the buttress brick position self-adapting detecting mechanism 1 outside two side plates 2 being positioned at its both sides.Fig. 2 is the schematic diagram of Fig. 1 Parma brick position self-adapting detecting mechanism, as Fig. 2, this buttress brick position self-adapting detecting mechanism 1 comprises the baffle plate 11 arranged in the x-direction, be positioned at baffle plate 11 two ends also along the z-axis direction perpendicular to two feed rods 12 of baffle plate 11, lay respectively at two feed rod 12 tops and two bearing collars 13 of sheathed feed rod 12 and symmetrical two self-adapted sensors 14 being fixed on two bearing collar 13 relevant positions along vertical feed rod 12 direction, this self-adapted sensor 14 is fixed on bearing collar 13 by the sensor stand 16 of L-type, this self-adapting detecting mechanism 1 is fixed on buttress brick manipulator by bearing collar 13, the top of described feed rod 12 is detection platform 15 of this self-adapted sensor 14 of induction, the induction end of two self-adapted sensors 14 arranges in opposite directions and points to two detection platform 15 respectively, definition initial condition is that the induction end of self-adapted sensor 14 be able to sense detection platform 15.
The both sides, y direction of described buttress brick manipulator are respectively equipped with buttress brick position self-adapting detecting mechanism 1, wherein the baffle plate 111 of side Duo Zhuan position self-adapting detecting mechanism be positioned at buttress brick manipulator y forward side and lower than the bottom of buttress brick manipulator, the baffle plate 112 of opposite side buttress brick position self-adapting detecting mechanism be positioned at buttress brick manipulator y reverse side and higher than the bottom of buttress brick manipulator, now, self-adapted sensor 14 be able to sense the detection platform 15 on feed rod 12 top.
When initial condition, a side shield 111 of this buttress brick position self-adapting detecting mechanism 1 is lower than the bottom of buttress brick manipulator and self-adapted sensor 14 be able to sense the detection platform 15 on feed rod 12 top.When piling up neatly brick manipulator and moving to target location, baffle plate 111 kiss the earth more first than buttress brick manipulator, along with buttress brick manipulator declines to z-axis reversing sense, baffle plate 111 drives feed rod 12 to move along bearing collar 13 to z-axis positive dirction, interrupt detection platform 15 and the induced signal of sensor 14 induction end, control buttress brick manipulator by control system and open to place adobe 3.
When initial condition, the opposite side baffle plate 112 of this buttress brick position self-adapting detecting mechanism 1 is higher than the bottom of buttress brick manipulator and self-adapted sensor 14 be able to sense the detection platform 15 on feed rod 12 top.When piling up neatly brick manipulator and moving to target location, before buttress brick manipulator contact level, baffle plate 112 first touches the adjacent position adobe that stacking is good, along with buttress brick manipulator declines to z-axis reversing sense, baffle plate 112 drives feed rod 12 to move along bearing collar 13 to z-axis positive dirction, interrupt detection platform 15 and the induced signal of sensor 14 induction end, control buttress brick manipulator by control system and open to place adobe 3.
Fig. 3 is the schematic diagram of one embodiment of the invention, and the buttress brick manipulator of this self adaptation buttress brick position is positioned on belt conveyor.In a preferred embodiment of the present invention, when after the adobe 3 belt conveyor being placed with predetermined quantity, the buttress brick manipulator of self adaptation buttress brick position picks up the adobe of some specified quantities.If adobe is oppositely to y-axis forward stacking from y-axis, so a side shield 111 of this buttress brick position self-adapting detecting mechanism 1 be positioned at stepping belt conveyor y forward side and lower than the bottom of buttress brick manipulator, opposite side baffle plate 112 be positioned at stepping belt conveyor y reverse side and higher than the bottom of buttress brick manipulator.If adobe is from y-axis forward to the reverse stacking of y-axis, so a side shield 111 of this buttress brick position self-adapting detecting mechanism 1 be positioned at stepping belt conveyor y reverse side and lower than the bottom of buttress brick manipulator, opposite side baffle plate 112 be positioned at stepping belt conveyor y forward side and higher than the bottom of buttress brick manipulator, now, self-adapted sensor 14 be able to sense the detection platform 15 on feed rod 12 top.
Preferably, during initial condition, in two baffle plates 111 and 112 of this buttress brick position detecting mechanism 1, a baffle plate is lower than the bottom 90mm piling up neatly brick manipulator, and another baffle plate is higher than the bottom 30mm of buttress brick manipulator.
In addition, described in be positioned at two buttress brick position self-adapting detecting mechanisms 1 of the both sides, y direction of buttress brick manipulator also can all lower than the bottom of buttress brick manipulator, now, self-adapted sensor 14 be able to sense the detection platform 15 on feed rod 12 top.When piling up neatly brick manipulator and moving to target location, all first than the buttress brick manipulator kiss the earth of baffle plate 111 of both sides, controls buttress brick manipulator by control system and opens to place adobe 3.
Described buttress brick position self-adapting detecting mechanism 1 also can only have one, be positioned at the y direction either side of buttress brick manipulator, the baffle plate 11 of this buttress brick position self-adapting detecting mechanism is lower than the bottom of piling up neatly brick manipulator, and now, self-adapted sensor 14 be able to sense the detection platform 15 on feed rod 12 top.When piling up neatly brick manipulator and moving to target location, baffle plate 11 kiss the earth more first than buttress brick manipulator of Duo Zhuan position, this side self-adapting detecting mechanism, controls buttress brick manipulator by control system and opens to place adobe 3.It is low that side arranges the accuracy rate that buttress brick position self-adapting detecting mechanism all arranges buttress brick position self-adapting detecting mechanism than both sides.
Preferably, as shown in Figure 4, be the side plate schematic diagram that self adaptation of the present invention piles up neatly the buttress brick manipulator of brick position.Two side plates 2 in the y direction of buttress brick manipulator are provided with uniform gap and the gap of two side plates 2 is symmetrical arranged along the x-axis direction, and the distance of adjacent segment is the thickness of one piece of brick.Being designed to this kind has the plate face structure of uniform gap to be the micro-impact changed capturing effect of size having considered brick, effectively can prevent the problems such as the unbalance stress between brick and brick.
Except describing above, the present invention can also be widely used in other embodiments, and protection scope of the present invention is not by the restriction of embodiment, and it is as the criterion with the protection domain of claim.Any those skilled in the art, according to the simple modification of technical spirit of the present invention to above embodiment, still belong to the protection domain of technical solution of the present invention.
Claims (7)
1. the buttress brick manipulator of a self adaptation buttress brick position, it is characterized in that, this buttress brick manipulator comprises the buttress brick position self-adapting detecting mechanism being positioned at its side plate (2) outside, this buttress brick position self-adapting detecting mechanism (1) comprises the baffle plate (11) arranged in the x-direction, be positioned at baffle plate (11) two ends also in the z-direction perpendicular to two feed rods (12) of baffle plate (11), lay respectively at two feed rod (12) tops and two bearing collars (13) of sheathed feed rod (12) and be fixed on two self-adapted sensors (14) of two bearing collar (13) relevant positions along vertical feed rod (12) direction symmetry, buttress brick manipulator is fixed on by bearing collar (13) in this self-adapting detecting mechanism (1), described feed rod (12) top is the detection platform (15) of coil pickup, the induction end of two self-adapted sensors (14) arranges in opposite directions and points to two detection platform (15) respectively, during initial condition, the induction end of self-adapted sensor (14) be able to sense detection platform (15).
2. the buttress brick manipulator of a kind of self adaptation buttress brick position according to claim 1, it is characterized in that, the both sides, y direction of wherein said buttress brick manipulator are respectively equipped with buttress brick position self-adapting detecting mechanism, one side shield (111) of this buttress brick position self-adapting detecting mechanism be positioned at buttress brick manipulator y forward side and lower than the bottom of buttress brick manipulator, the opposite side baffle plate (112) of this buttress brick position self-adapting detecting mechanism be positioned at buttress brick manipulator y reverse side and higher than the bottom of buttress brick manipulator, now, self-adapted sensor (14) be able to sense the detection platform (15) on feed rod (12) top.
3. the buttress brick manipulator of a kind of self adaptation buttress brick position according to claim 2, it is characterized in that, one side shield (111) of described buttress brick position detecting mechanism (1) is lower than the bottom 90mm piling up neatly brick manipulator, and opposite side baffle plate (112) is higher than the bottom 30mm of buttress brick manipulator.
4. the buttress brick manipulator of a kind of self adaptation buttress brick position according to claim 1, it is characterized in that, the both sides, y direction of wherein said buttress brick manipulator are respectively equipped with buttress brick position self-adapting detecting mechanism, the baffle plate (11) of two buttress brick position self-adapting detecting mechanisms is all lower than the bottom of buttress brick manipulator, now, self-adapted sensor (14) be able to sense the detection platform (15) on feed rod (12) top.
5. the buttress brick manipulator of a kind of self adaptation buttress brick position according to claim 1, it is characterized in that, the y direction either side of wherein said buttress brick manipulator is provided with buttress brick position self-adapting detecting mechanism, the baffle plate (11) of this buttress brick position self-adapting detecting mechanism is lower than the bottom of piling up neatly brick manipulator, now, self-adapted sensor (14) be able to sense the detection platform (15) on feed rod (12) top.
6. the buttress brick manipulator of a kind of self adaptation buttress brick position according to claim 4 or 5, it is characterized in that, the baffle plate (11) of wherein said buttress brick position self-adapting detecting mechanism is lower than the bottom 90mm piling up neatly brick manipulator.
7., according to the buttress brick manipulator of a kind of self adaptation buttress brick position described in claim 1 to 5, it is characterized in that, two side plates (2) of described buttress brick manipulator are arranged with uniform gap, and the distance of adjacent segment is the thickness of one piece of brick.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510311002.7A CN104860080A (en) | 2015-06-09 | 2015-06-09 | Brick stacking manipulator capable of automatically adapting to brick stacking position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510311002.7A CN104860080A (en) | 2015-06-09 | 2015-06-09 | Brick stacking manipulator capable of automatically adapting to brick stacking position |
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| Publication Number | Publication Date |
|---|---|
| CN104860080A true CN104860080A (en) | 2015-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510311002.7A Pending CN104860080A (en) | 2015-06-09 | 2015-06-09 | Brick stacking manipulator capable of automatically adapting to brick stacking position |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB983153A (en) * | 1961-05-11 | 1965-02-10 | Atlas Werke Ag | Apparatus for transporting and stacking moulded bricks |
| CN101177207A (en) * | 2007-03-28 | 2008-05-14 | 福建海源自动化机械设备有限公司 | Stacker with mechanical hand protecting means |
| CN201071225Y (en) * | 2007-07-23 | 2008-06-11 | 中国恩菲工程技术有限公司 | Zinc ingot piling feel trim actuator |
| CN203033461U (en) * | 2013-01-21 | 2013-07-03 | 江苏中科友特机器人科技有限公司 | Mechanical arm claw for robot palletizer |
| CN204675397U (en) * | 2015-06-09 | 2015-09-30 | 洛阳理工学院 | A kind of buttress brick manipulator of self adaptation buttress brick position |
-
2015
- 2015-06-09 CN CN201510311002.7A patent/CN104860080A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB983153A (en) * | 1961-05-11 | 1965-02-10 | Atlas Werke Ag | Apparatus for transporting and stacking moulded bricks |
| CN101177207A (en) * | 2007-03-28 | 2008-05-14 | 福建海源自动化机械设备有限公司 | Stacker with mechanical hand protecting means |
| CN201071225Y (en) * | 2007-07-23 | 2008-06-11 | 中国恩菲工程技术有限公司 | Zinc ingot piling feel trim actuator |
| CN203033461U (en) * | 2013-01-21 | 2013-07-03 | 江苏中科友特机器人科技有限公司 | Mechanical arm claw for robot palletizer |
| CN204675397U (en) * | 2015-06-09 | 2015-09-30 | 洛阳理工学院 | A kind of buttress brick manipulator of self adaptation buttress brick position |
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Application publication date: 20150826 |
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| RJ01 | Rejection of invention patent application after publication |