CN105173764A - Device used for automatically stacking mineral wool products - Google Patents
Device used for automatically stacking mineral wool products Download PDFInfo
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- CN105173764A CN105173764A CN201510650706.7A CN201510650706A CN105173764A CN 105173764 A CN105173764 A CN 105173764A CN 201510650706 A CN201510650706 A CN 201510650706A CN 105173764 A CN105173764 A CN 105173764A
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Abstract
The invention discloses a device used for automatically stacking mineral wool products. The device comprises an automatic weighing conveying line, an automatic four-axis stacking robot, a first roller conveying line, a second roller conveying line and a central controller, wherein the automatic weighing conveying line, the automatic four-axis stacking robot, the first roller conveying line and the second roller conveying line are all in communication connection with the central controller; the automatic weighing conveying line is arranged on the front working procedure of the automatic four-axis stacking robot; the first roller conveying line and the second roller conveying line are arranged on the rear working procedure of the automatic four-axis stacking robot and located on the two sides of the automatic four-axis stacking robot respectively. The device used for automatically stacking the mineral wool products is simple in structure, auxiliary devices in a robot stacking system are simplified, and the manufacturing cost is reduced. The functions of automatic detection, processing, stacking, transportation and the like can be achieved, and full-automatic operation is achieved. The quality of the mineral wool products can be detected, and unqualified products can be automatically rejected by the stacking robot after being detected out.
Description
Technical field
The present invention relates to a kind of device for mineral wool goods automatic stacking, belong to apparatus field.
Background technology
Along with the continuous enhancing that people's environmental consciousness and fire-fighting are realized, rock wool and mineral wool are widely used in building and chemical industry as a kind of high strength, resistant to elevated temperatures environment-friendly insulating material.In the automatic production line of rock wool and mineral wool, the operation labor intensity such as such as lamination, packaging, piling are large, longevity of service, need the robot palletizer device of automation.On the automatic production line of rock wool and mineral wool goods, constantly change because the pendulum in pendulum system does its speed of class intermittent moment in the cotton process of cloth; So cause cotton-wool lateral density on follow-up load-transfer device uneven, be in particular in that the cotton plate density near zone line is little, the cotton plate density away from zone line is large.Off gauge will be produced when the density contrast of the two exceedes certain limit.Put in the buttress heap of acceptable product for avoiding off gauge being used as certified products by mistake, will detection operation be set before piling.
As publication number be CN102616578A patent discloses a kind of multi-function robot palletizing system, it comprises robot palletizer, stacking conveyor, stacking pallet, conveying buffer gear, sorting mechanism, Weighing mechanism, metal foreign body detector structure, pressure bag conveyer, electric control system and opto-electronic pickup etc., stacking pallet is positioned at the both sides of robot palletizer, opto-electronic pickup is for detecting the height of piling on stacking pallet, stacking conveyor is used for fixed position material being transported to robot palletizer crawl, conveying buffer gear is for cushioning material, sorting mechanism is between buffer gear and Weighing mechanism, for inferior-quality material is sorted out from centre, pressure bag conveyer is used for fitfull material to flatten integer, be convenient to robot palletizer capture, said mechanism is unified coordination by electric control system and is completed whole piling flow process.Above-mentioned multi-function robot palletizing system mechanism is complicated, flow process is loaded down with trivial details; And floor area is large, operating cost is high, production efficiency is low.
Summary of the invention
In order to solve, multi-function robot palletizing system mechanism in prior art is complicated, flow process is loaded down with trivial details and floor area large, and the defects such as operating cost is high, production efficiency is low, the invention provides a kind of device for mineral wool goods automatic stacking.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is as follows:
For a device for mineral wool goods automatic stacking, comprise automatic Weighing travel line, four-spindle automatic robot palletizer, the first roller travel line, the second roller travel line and central controller; Automatic Weighing travel line, four-spindle automatic robot palletizer, the first roller travel line are connected with central controller communication respectively with the second roller travel line, and accept movement instruction that central controller sends and to central controller feedback signal; Automatic Weighing travel line is arranged in the last procedure of four-spindle automatic robot palletizer, and the first roller travel line and the second roller travel line are arranged in a rear procedure of four-spindle automatic robot palletizer and are separately positioned on the both sides of four-spindle automatic robot palletizer.
The effect of automatic Weighing travel line is mass transport to district to be installed, and weighs; Four axle robot palletizers can according to the weighing results of automatic Weighing travel line, automatically material off quality is sorted out and separated and transport, realize detection, piling and transportation function automatically, the clamp for stacking of four axle robot palletizers, by air cylinder driven, can realize the automatic control capturing and place; First roller travel line, the second roller travel line accept the control command from central controller jointly, and its difference is that the first roller travel line carries up-to-standard buttress heap, and the second roller travel line carries buttress heap off quality; Central controller is responsible for receiving all status signals, and draw corresponding command signal through logic operation, finally again the control command of gained is sent to each equipment, realize the motion control to all devices, thus realize whole production line and work without any confusion.Detailed process can realize in conjunction with prior art smoothly according to teachings herein.
Device specific works process for mineral wool goods automatic stacking is: travel line of weighing is arranged in the last procedure place of described robot palletizer, its effect is exactly to robot palletizer region to be installed mass transport, in addition, travel line also will by LOAD CELLS judge the mineral wool goods of process whether meet weight demands, and judged result is fed back to central controller in the mode of signal; Central controller is according to receiving signal, again through logic operation, the most backward four axle robot palletizers send corresponding piling instruction, four axle robot palletizers are arranged in the center of the first roller travel line and the second roller travel line, the material code in region to be installed is responsible for install on first, second roller travel line, robot palletizer completes corresponding piling according to control program and system directive, and count, first roller travel line carries up-to-standard buttress heap, and the second roller travel line carries buttress heap off quality; Send the signal that completes of piling to described central controller after having counted, central controller according to signal, the action of instruction corresponding roller travel line; First, second roller travel line is arranged in the both sides of robot palletizer, according to the instruction of described central controller, finished product complete for code buttress is transported to next process.
In order to improve the accuracy of go-on-go, above-mentioned automatic Weighing travel line comprises automatic conveying device, the baffle plate of automatic lifting and weighing section; The baffle plate of automatic conveying device, automatic lifting is all connected with central controller with weighing section; Weighing section is located on automatic conveying device; The baffle plate of automatic lifting is located at the position on automatic conveying device before weighing section, and the baffle plate of automatic lifting is elevated by air cylinder driven, and on automatic conveying device, direction is from front to back consistent with mass transport direction.The effect of the baffle plate of automatic lifting guarantees that material enters weighing area in order, guarantees that the material entering weighing area is not by the interference of subsequent material, prevents article from piling up, ensures weighing precision simultaneously; Automatic conveying device is responsible for a mass transport to piling district to be installed, weighing section be responsible for detecting through the weight of material, and judge signal accordingly to central controller transmission, operate under the control that the baffle plate of automatic conveying device, automatic lifting and weighing section are connected at central controller.
In order to simplification device, guarantee the accuracy of go-on-go, above-mentioned automatic Weighing travel line comprises the first frame, the first roller, the first driving device, the first actuating device and pressure sensor simultaneously; First roller has two or more, is arranged on the top of the first frame successively; First driving device is located at roller end and is connected with the first actuating device communication, and the first actuating device is installed in the first frame bottom roller; Pressure sensor is arranged in the first frame; First actuating device is all connected with central controller with pressure sensor.Above-mentioned first driving device, under the driving of the first actuating device, drives the first roller to rotate, thus realizes the conveying of material; Pressure sensor realizes weighing to material, and by result feedback to central process unit; First actuating device and pressure sensor control by central process unit.
The conveniently leveling of automatic Weighing travel line, the bottom of the first frame is provided with the first adjusting seat.First adjusting seat is used for the height of adjustment first frame and levelness.
Above-mentioned first actuating device is variable-frequency motor, and variable-frequency motor can arrange corresponding reductor, and the first driving device is chain, can realize the interlock of multiple roll cylinder.Under the ordering about of the first actuating device, the first driving device is rotated by chain-driving first roller, thus realizes the transmission of material.
In order to improve the accuracy of go-on-go, travel line of weighing also comprises the baffle plate of automatic lifting, the baffle plate of automatic lifting is connected with central controller and is located in the first frame before pressure sensor, and on automatic conveying device, direction is from front to back consistent with mass transport direction.
As a kind of scheme of the application, four-spindle automatic robot palletizer comprises the upper computer, robot body and the clamp for stacking that are connected successively; Upper computer comprises the program code of control machine human action, and by this programming control machine human action, upper computer is connected with central controller; Robot body comprises the waist seat, large arm, forearm and the wrist joint that are connected successively, the driven by servomotor that waist seat, large arm, forearm and wrist joint are connected with upper machine communication by four respectively; Clamp for stacking is arranged on wrist joint, clamp for stacking comprises fixture stand, shelves frame and movable crotch, and movable crotch is located in fixture stand, and it is spacing that shelves are erected in movable crotch, for material, movable crotch, by the air cylinder driven be connected with upper computer, realizes capturing and placing.Above-mentioned servomotor can configure corresponding reductor as required.
In above-mentioned robot body, waist seat is rotatably connected on base, can around base rotation; Large arm is rotationally connected on waist seat, can to topple motion around waist seat; Forearm is rotationally connected in large arm, can swing up and down around large arm; Wrist joint is slidably mounted on forearm, and can move by reciprocating rotary, its effect is exactly the attitude determining end-effector.Above-mentioned waist seat, large arm and forearm determine end-effector position in space; Clamp for stacking and end-effector, be arranged on wrist joint, is responsible for the crawl of mineral wool goods and piles up.
In order to simplification device, guarantee the accuracy of go-on-go, the first roller travel line is identical with the second roller travel line structure, includes the second frame, the second roller, the second actuating device, the second driving device and opto-electronic pickup simultaneously; Second roller has two or more and is located at the top of the second frame successively; Second actuating device is located at the second roller end and is connected with the second driving device, and the second driving device is arranged in the frame bottom the second roller; Opto-electronic pickup is located in the second frame; Second actuating device is all connected with central controller with opto-electronic pickup.Second driving device drives the second roller to rotate under the effect of the second actuating device; Opto-electronic pickup is for judging the cargo state on roller travel line; Second actuating device and opto-electronic pickup are by central controller controls.Connect in the application and be preferably communication connection.
Above-mentioned second actuating device is variable-frequency motor, can realize the speeds control of roller, and variable-frequency motor can arrange corresponding reductor, and the second driving device is chain, can realize the interlock of multiple roll cylinder; The bottom of the second frame is provided with the second adjusting seat.Second adjusting seat is used for the height of adjustment second frame and levelness.
Said apparatus forms a unified entirety by electric control system, has coordinated piling flow process separately.
The NM technology of the present invention is all with reference to prior art.
The apparatus structure that the present invention is used for mineral wool goods automatic stacking is simple, has simplified the accessory equipment in robot palletizing system, has reduced manufacturing cost; Device for mineral wool goods automatic stacking is automation piling facility, can realize the functions such as automatic detection, process, piling, transport, accomplish full-automatic operation; Region before piling is provided with Weight detecting device, and can carry out quality testing to mineral wool goods, after detecting off gauge, robot palletizer can be picked out automatically; Adopt four axle robot palletizers, there is very high position precision and repetitive positioning accuracy, ensure that the intensity that finished product is piled up neatly and quality.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention for the device of mineral wool goods automatic stacking;
Fig. 2 is that the present invention weighs the structural representation of travel line;
Fig. 3 is the structural representation of four-spindle automatic robot palletizer in the present invention;
Fig. 4 is the structural representation of the present invention first or second roller travel line;
In figure, 1: travel line of weighing, 2: four-spindle automatic robot palletizer, 3: the first roller travel lines, 4: the second roller travel lines, 5: central controller, 1.1: the first frames, 1.2: the first adjusting seats, 1.3: the first rollers, 1.4: the first actuating devices, 1.5: pressure sensor, 2.1: base, 2.2: waist seat, 2.3: large arm, 2.4: forearm, 2.5: wrist joint, 2.6: clamp for stacking, 3.1: the second frames, 3.2: the second adjusting seats, 3.3: the second rollers, 3.4: the second actuating devices.
Detailed description of the invention
In order to understand the present invention better, illustrate content of the present invention further below in conjunction with embodiment, but content of the present invention is not only confined to the following examples.
As shown in Figure 1, for the device of mineral wool goods automatic stacking, comprise automatic Weighing travel line, four-spindle automatic robot palletizer, the first roller travel line, the second roller travel line and central controller; Automatic Weighing travel line, four-spindle automatic robot palletizer, the first roller travel line are connected with central controller communication respectively with the second roller travel line; Automatic Weighing travel line is arranged in the last procedure of four-spindle automatic robot palletizer, and the first roller travel line and the second roller travel line are arranged in a rear procedure of four-spindle automatic robot palletizer and are separately positioned on the both sides of four-spindle automatic robot palletizer.
As shown in Figure 2, automatic Weighing travel line comprises the baffle plate of the first frame, the first adjusting seat, the first roller, the first driving device, the first actuating device, pressure sensor and automatic lifting; First adjusting seat is located at the bottom of the first frame, is used for the height of adjustment first frame and levelness; First roller has two or more, is arranged on the top of the first frame successively; First driving device is located at roller end and is connected with the first actuating device, and the first actuating device is installed in the first frame bottom roller; Pressure sensor is arranged in frame; The baffle plate of automatic lifting is connected with central controller and is located in the first frame before pressure sensor, and on automatic conveying device, direction is from front to back consistent with mass transport direction; First actuating device is all connected with central controller with pressure sensor.First actuating device is variable-frequency motor, and variable-frequency motor can arrange corresponding reductor, and the first driving device is chain, can realize the interlock of multiple roll cylinder.Under the ordering about of the first actuating device, the first driving device is rotated by chain-driving first roller, thus realizes the transmission of material.
As shown in Figure 3, four-spindle automatic robot palletizer comprises the upper computer, robot body and the clamp for stacking that are connected successively; Upper computer comprises the program code of control machine human action, and by this programming control machine human action, upper computer is connected with central controller; Robot body comprises the waist seat, large arm, forearm and the wrist joint that are connected successively, respectively 1,2,3,6 axles of corresponding robot, the driven by servomotor that waist seat, large arm, forearm and wrist joint are connected with upper computer by four respectively; Clamp for stacking comprises fixture stand, shelves frame and movable crotch, fixture stand is arranged on wrist joint, and movable crotch is located in fixture stand, and it is spacing that shelves are erected in movable crotch, for material, movable crotch, by the air cylinder driven be connected with upper computer, realizes capturing and placing.The waist seat, large arm, forearm and the wrist joint that are connected successively are specially, and waist seat is rotatably connected on base, can around base rotation; Large arm is rotationally connected on waist seat, can to topple motion around waist seat; Forearm is rotationally connected in large arm, can swing up and down around large arm; Wrist joint is slidably mounted on forearm, and can move by reciprocating rotary, its effect is exactly the attitude determining end-effector.Above-mentioned waist seat, large arm and forearm determine end-effector position in space; Clamp for stacking and end-effector, be arranged on wrist joint, is responsible for the crawl of mineral wool goods and piles up.
As shown in Figure 4, the first roller travel line is identical with the second roller travel line structure, includes the second frame, the second roller, the second actuating device, the second driving device and opto-electronic pickup; Second roller has two or more and is located at the top of the second frame successively; Second actuating device is located at the second roller end and is connected with the second driving device, and the second driving device is arranged in the frame bottom the second roller; Opto-electronic pickup is located in the second frame; Second actuating device is all connected with central controller with opto-electronic pickup.Second actuating device is variable-frequency motor, can realize the speeds control of roller, and variable-frequency motor can arrange corresponding reductor, and driving device is chain, can realize the interlock of multiple roll cylinder; The bottom of the second frame is provided with the second adjusting seat, is used for the height of adjustment second frame and levelness.
The effect of automatic Weighing travel line (first operation) is mass transport to district to be installed, and weighs; Four axle robot palletizers (second operation work) can according to the weighing results of automatic Weighing travel line, automatically material off quality is sorted out and separated and transport, realize detection, piling and transportation function automatically, the clamp for stacking of four axle robot palletizers, by air cylinder driven, can realize the automatic control capturing and place; First roller travel line, the second roller travel line (three process) accept the control command from central controller jointly, its difference is that the first roller travel line carries up-to-standard buttress heap, and the second roller travel line carries buttress heap off quality; Central controller is responsible for receiving all status signals, and draw corresponding command signal through logic operation, finally again the control command of gained is sent to each equipment, realize the motion control to all devices, thus realize whole production line and work without any confusion.Said apparatus forms a unified entirety by electric control system, has coordinated piling flow process separately.
Device specific works process for mineral wool goods automatic stacking is: travel line of weighing is arranged in the last procedure place of described robot palletizer, its effect is exactly to robot palletizer region to be installed mass transport, in addition, travel line also will by LOAD CELLS judge the mineral wool goods of process whether meet weight demands, and judged result is fed back to central controller in the mode of signal; Central controller is according to receiving signal, again through logic operation, the most backward four axle robot palletizers send corresponding piling instruction, four axle robot palletizers are arranged in the center of the first roller travel line and the second roller travel line, the material code in region to be installed is responsible for install on first, second roller travel line, four axle robot palletizers complete corresponding piling according to control program and system directive, and count, first roller travel line carries up-to-standard buttress heap, and the second roller travel line carries buttress heap off quality; Send the signal that completes of piling to described central controller after having counted, central controller according to signal, the action of instruction corresponding roller travel line; First, second roller travel line is arranged in the both sides of robot palletizer, according to the instruction of described central controller, finished product complete for code buttress is transported to next process.
Claims (10)
1. for a device for mineral wool goods automatic stacking, it is characterized in that: comprise automatic Weighing travel line, four-spindle automatic robot palletizer, the first roller travel line, the second roller travel line and central controller; Automatic Weighing travel line, four-spindle automatic robot palletizer, the first roller travel line are connected with central controller communication respectively with the second roller travel line; Automatic Weighing travel line is arranged in the last procedure of four-spindle automatic robot palletizer, and the first roller travel line and the second roller travel line are arranged in a rear procedure of four-spindle automatic robot palletizer and are separately positioned on the both sides of four-spindle automatic robot palletizer.
2. as claimed in claim 1 for the device of mineral wool goods automatic stacking, it is characterized in that: automatic Weighing travel line comprises automatic conveying device, the baffle plate of automatic lifting and weighing section; The baffle plate of automatic conveying device, automatic lifting is connected with central controller respectively with weighing section; Weighing section is located on automatic conveying device; The baffle plate of automatic lifting is located at the position on automatic conveying device before weighing section, and the baffle plate of automatic lifting is elevated by air cylinder driven, and on automatic conveying device, direction is from front to back consistent with mass transport direction.
3., as claimed in claim 1 for the device of mineral wool goods automatic stacking, it is characterized in that: automatic Weighing travel line comprises the first frame, the first roller, the first driving device, the first actuating device and pressure sensor; First roller has two or more, is arranged on the top of the first frame successively; First driving device is located at roller end and is connected with the first actuating device communication, and the first actuating device is installed in the first frame bottom roller; Pressure sensor is arranged in the first frame; First actuating device is all connected with central controller with pressure sensor.
4., as claimed in claim 3 for the device of mineral wool goods automatic stacking, it is characterized in that: the bottom of the first frame is provided with the first adjusting seat.
5., as claimed in claim 3 for the device of mineral wool goods automatic stacking, it is characterized in that: the first actuating device is variable-frequency motor, the first driving device is chain.
6. as claimed in claim 3 for the device of mineral wool goods automatic stacking, it is characterized in that: travel line of weighing also comprises the baffle plate of automatic lifting, the baffle plate of automatic lifting is connected with central controller and is located in the first frame before pressure sensor, and on automatic conveying device, direction is from front to back consistent with mass transport direction.
7. the device for mineral wool goods automatic stacking as described in claim 1-6 any one, is characterized in that: four-spindle automatic robot palletizer comprises the upper computer, robot body and the clamp for stacking that are connected successively; Upper computer comprises the program code controlling the action of four-spindle automatic robot palletizer, and upper computer is connected with central controller; Robot body comprises the waist seat, large arm, forearm and the wrist joint that are connected successively, the driven by servomotor that waist seat, large arm, forearm and wrist joint are connected with upper machine communication by four respectively; Clamp for stacking comprises fixture stand, shelves frame and movable crotch, fixture stand is arranged on wrist joint, and movable crotch is located in fixture stand, and it is spacing that shelves are erected in movable crotch, for material, movable crotch, by the air cylinder driven be connected with upper computer, realizes capturing and placing.
8., as claimed in claim 7 for the device of mineral wool goods automatic stacking, it is characterized in that: in above-mentioned robot body, waist seat is rotatably connected on base; Large arm is rotationally connected on waist seat; Forearm is rotationally connected in large arm; Wrist joint is slidably mounted on forearm.
9. the device for mineral wool goods automatic stacking as described in claim 1-6 any one, it is characterized in that: the first roller travel line is identical with the second roller travel line structure, includes the second frame, the second roller, the second actuating device, the second driving device and opto-electronic pickup; Second roller has two or more and is located at the top of the second frame successively; Second actuating device is located at the second roller end and is connected with the second driving device, and the second driving device is arranged in the frame bottom the second roller; Opto-electronic pickup is located in the second frame; Second actuating device is all connected with central controller with opto-electronic pickup.
10., as claimed in claim 9 for the device of mineral wool goods automatic stacking, it is characterized in that: the second actuating device is variable-frequency motor, the second driving device is chain; The bottom of the second frame is provided with the second adjusting seat.
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| CN201510650706.7A CN105173764A (en) | 2015-10-09 | 2015-10-09 | Device used for automatically stacking mineral wool products |
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| CN201510650706.7A CN105173764A (en) | 2015-10-09 | 2015-10-09 | Device used for automatically stacking mineral wool products |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106064153A (en) * | 2016-05-20 | 2016-11-02 | 昆山科森科技股份有限公司 | Automatic Weighing palletizing apparatus |
| CN106743535A (en) * | 2017-01-10 | 2017-05-31 | 广州达意隆包装机械股份有限公司 | A kind of stacking conveys cable architecture and robot palletizing method |
| CN107088877A (en) * | 2017-06-02 | 2017-08-25 | 成都福莫斯智能系统集成服务有限公司 | The intelligence control system of stacking is carried out using robot |
| CN107128654A (en) * | 2017-05-26 | 2017-09-05 | 广东溢达纺织有限公司 | Finished product yardage roll automatic stacking system |
| CN107416528A (en) * | 2017-08-31 | 2017-12-01 | 东莞市李群自动化技术有限公司 | A kind of sheet glass sorts conveying device |
| CN107986034A (en) * | 2017-12-23 | 2018-05-04 | 安徽航大智能科技有限公司 | A kind of new energy battery catching robot |
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| CN109733893A (en) * | 2019-01-17 | 2019-05-10 | 交城义望铁合金有限责任公司 | Mineral wool production line automatic stacking system |
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| CN106743535A (en) * | 2017-01-10 | 2017-05-31 | 广州达意隆包装机械股份有限公司 | A kind of stacking conveys cable architecture and robot palletizing method |
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