CN105836481A - Adobe stacking machine and adobe stacking method - Google Patents

Adobe stacking machine and adobe stacking method Download PDF

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Publication number
CN105836481A
CN105836481A CN201610328473.3A CN201610328473A CN105836481A CN 105836481 A CN105836481 A CN 105836481A CN 201610328473 A CN201610328473 A CN 201610328473A CN 105836481 A CN105836481 A CN 105836481A
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CN
China
Prior art keywords
adobe
servomotor
portal frame
clamping
fixed plate
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CN201610328473.3A
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Chinese (zh)
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CN105836481B (en
Inventor
冉启贵
刘玉峰
林安平
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常德市贵湘液压设备有限公司
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Priority to CN201610328473.3A priority Critical patent/CN105836481B/en
Publication of CN105836481A publication Critical patent/CN105836481A/en
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Publication of CN105836481B publication Critical patent/CN105836481B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00Stacking of articles
    • B65G57/02Stacking of articles by adding to the top of the stack
    • B65G57/16Stacking of articles of particular shape
    • B65G57/20Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical

Abstract

The invention discloses an adobe stacking machine and an adobe stacking method. The adobe stacking machine comprises a small mechanical arm, a conveying line, a large mechanical arm with a movable portal frame as a frame and a control system. The portal frame serves as the frame of the large mechanical arm. The large mechanical arm comprises a lifting mechanism, an X axial movement mechanism, a rotating mechanism and a clamping mechanism. The lifting mechanism is located in the portal frame to slide vertically, and therefore the height of the whole equipment is controllable. The X axial movement mechanism slides left and right in the portal frame, and the requirement for stacking adobes clamped by the clamping mechanism to the two sides of a brick vehicle after the adobes are rotated is met to the maximum degree. The rotating mechanism and the clamping mechanism are arranged so that a rotating function can be increased for the large mechanical arm, the stacking direction of the adobes is changed by changing the rotating angle of the clamping mechanism, and therefore the adobes are sacked in a criss-cross manner, and the brick collapsing accident is avoided on the basis of not reducing the yield of a single brick vehicle.

Description

A kind of setting machine and code blank technology
Technical field
The present invention relates to building material industry automated machine, be specifically related to a kind of setting machine and the method using this setting machine code base.
Background technology
Along with the development of industrial automation technology, many brick fields all begin to use machinery setting machine to substitute artificial code base.The big mechanical hand that existing setting machine is typically all the gadget hands that is arranged on portal frame by the portal frame fixed, upset hanging and upset hanging is arranged on portal frame forms.The elevating mechanism of big mechanical hand is normally at the top of portal frame, and the main body of elevating mechanism includes a rectangular cylinder and is arranged on linear guides and the tooth bar of side, and during work, motor by coupled modes driving gear rack elevating thus drives whole rectangular cylinder to lift.In lifting process, rectangular cylinder often highlights the height that portal frame is certain, so must increase the total height of whole equipment, thus cause needing to take too much upper space;Its shortcoming one is to need to increase or rebuild Factory Building, increases production cost.Two is owing to equipment is higher, is easily caused haulage vehicle superelevation in violation of rules and regulations, not readily transportable.
The effect of gadget hands is to capture from brickmaking machine ejection station to be placed into pipeline after adobe, existing gadget hands upset hanging is arranged on portal frame, it is necessary to have corresponding crossbeam fixes vertical cylinder, this crossbeam is positioned at the top of manipulator clamping device and makes upper space the openst, not only can stop the sight line seeing machine personnel, cause cannot in time discovering device occur fault.Also can stop the walking position of big mechanical hand, make big mechanical hand cannot capture adobe in optimum position, it is necessary to wait pipeline many walkings one segment distance, to cross crossbeam.Therefore have impact on production efficiency.The simple in construction of this adobe catching robot, it is impossible to complete the structural adjustment of multiple different directions so that it is relatively difficult when docking with brickmaking machine.
With rotary six moulds, the eight matching used setting machines of moulded brick machine be all at present on brickmaking machine deep bid, captured adobe by a micromanipulator after be put on pipeline, when adobe quantity on line to be conveyed is setting value, then is captured adobe by big mechanical hand entire row and be put on brick car according to predetermined line number and the number of plies.It is known that, the phenomenon that there will be the base that collapses is piled up in adobe in the same direction, but the clamping device of existing big mechanical hand and lowering or hoisting gear use fixing connected mode, adobe is piled up only in same direction during work, in order to solve the problems referred to above, some producers use artificial upset, or successively reduce the adobe quantity often gone, the method that i.e. staged stacks bricks.Its defect or reduce work efficiency while being to increase cost of labor, otherwise be take same brick carfare source in the case of decrease adobe on brick car pile up quantity, also reduce work efficiency.
In addition, the clamping device installed on existing big mechanical hand, the commonly used hinge of clamping plate of its both sides is to installation, pulled the ambulatory splint of side by cylinders providing power during clamping adobe, it is allowed to thus produces chucking power, it is uneven that the clamping plate tilted easily cause adobe local pressure, there will be adobe deformation or the phenomenon being caught broken when the adobe negligible amounts of clamping.
Summary of the invention
The present invention is directed to the problems referred to above, it is provided that a kind of and rotary six moulds, the eight matching used setting machine of moulded brick machine and code blank technologies.
One of technical scheme: a kind of setting machine, it is characterised in that include gadget hands, pipeline, big mechanical hand with moveable portal frame as framework and control system;On ground, the both sides of brick vehicle track are provided with guide rail parallel with it, guide rail side is provided with on-land type gadget hands, being provided with moveable portal frame on guide rail, big mechanical hand is with this portal frame as framework, including elevating mechanism, X-motion mechanism, rotating mechanism, clamping device;Being provided with linear guides on the riser of portal frame both sides, be provided with the rectangle frame of elevating mechanism in the middle part of portal frame, this rectangle frame is by sliding on slide block linear guides on riser;Being provided with linear guides on rectangle frame, X-motion mechanism horizontally slips by slide block linear guides on rectangle frame;Being connected by fixed plate between X-motion mechanism and rotating mechanism, rotating mechanism bottom is provided with clamping device.
Further, described adobe catching robot, including clamping device, rotary swinging arm, support seat, vertical cylinder, adjust seat, X axis servomotor and reductor, Z-axis direction servomotor and reductor;Vertically by support seat, rotary swinging arm is installed above cylinder, rotary swinging arm one end is provided with X axis servomotor and the reductor being connected with this motor, the cylinder of the reductor that the axial servomotor of X is connected fixedly mounts with supporting seat, and the rotary swinging arm other end is provided with clamping device by L-shaped connecting plate;Vertically being provided with Z-axis direction servomotor and the reductor being connected with this motor below cylinder, the power transmission shaft of the reductor that the axial servomotor of Z is connected extends upwardly in vertical cylinder and is connected by swivel bearing with supporting seat;Vertically cylinder side is provided with adjustment seat.
Further, described adjustment seat includes circular boop, V-arrangement connecting plate, L-shaped fixed plate, interior lining panel, base plate, X axis straight trough hole, Y-axis straight trough hole, interior lining panel and upper and lower two V-arrangement connecting plates are installed in the middle part of base plate, the end of each V-arrangement connecting plate is provided with circular boop, and this circular boop is two to be bolted semicircle circular boop and form;The both sides of base plate are provided with L-shaped fixed plate, it is provided with straight trough hole along X-axis and Y direction in L-shaped fixed plate, it is provided with the screwed hole corresponding with X axis straight trough hole in L-shaped fixed plate on interior lining panel, base plate arranges the screwed hole corresponding with Y-axis straight trough hole in L-shaped fixed plate.
Further, described portal frame includes standing on the riser of both sides, top is installed crossbeam and for supporting the base of portal frame vertical plates on both sides, wherein riser and crossbeam are U-shaped;It is separately installed with servomotor on the base of both sides;Make portal frame can move on guide rail under the effect of servomotor.
Further, described elevating mechanism includes rectangle frame, servomotor, dual output worm-gear speed reducer, output shaft, rolling bearing units, sprocket wheel, driven sprocket and chain;Servomotor is positioned on the crossbeam at portal frame top, and the two ends of crossbeam are provided with sprocket wheel, and portal frame base is provided with driven sprocket, and being connected between sprocket wheel with driven sprocket has chain;Servomotor is connected with output shaft through dual output worm-gear speed reducer, and the two ends of output shaft are connected with sprocket wheel respectively, is provided with rolling bearing units in the middle part of output shaft.
Further, described X-motion mechanism includes fixed plate, servomotor, gear and tooth bar, and fixed plate is provided with servomotor and gear, and tooth bar is arranged on the middle part of the rectangle frame of elevating mechanism, driven by servomotor pinion rotation, gear is mobile X-motion mechanism under the effect of tooth bar.
Further, described rotating mechanism includes fixed plate, rotates support and gripper shoe, rotates support and includes permanent seat ring and movable seat ring;Fixed plate bottom is connected with rotatably supported permanent seat ring, and rotatably supported movable seat ring is arranged in gripper shoe, and fixed plate is provided with driving motor, drives motor to drive rotatably supported movable seat ring to rotate by coupling;The coupling of described driving motor is driven to gear manner, synchronizes wheel and Timing Belt mode, sprocket wheel and chain mode, belt pulley and the one in belt mode.
Further, described clamping device includes skeleton, cylinder, connecting rod, ambulatory splint and strap, skeleton top is provided with protective cover, skeleton side is provided with strap, skeleton opposite side is provided with ambulatory splint by linear bearing and linear guide poles, ambulatory splint and strap lay respectively at skeleton both sides and are parallel to each other, and are provided with cylinder and connecting rod between ambulatory splint and strap.
Further, the central point of described clamping device and portal frame central point deviation distance A, and clamping device is arranged on the direction of pipeline side.
Control system is constituted by with the Programmable Logic Controller of motor pattern, resistive touch screen, various switch, electric cabinet, servo-driver, servomotor, controller receives external signal, controlling servo-driver by output signal after sequential operation, servo-driver controls the corresponding servomotor of each mechanism again thus controls the operation of whole setting machine.
The two of technical scheme: the code blank technology of above-mentioned setting machine, it is characterised in that comprise the following steps:
(1) initial position of big mechanical hand is positioned at above pipeline, is ready to capture adobe;Gadget hands captures monolithic adobe from brickmaking machine ejection station and is placed into pipeline, often put one piece of adobe, the distance of the most mobile about one piece of adobe of pipeline, until after the adobe number on pipeline reaches to set quantity, the clamping device of big mechanical hand picks up unified for the adobe on pipeline, elevating mechanism is risen by linear guides, mentions clamping device;
(2) by the brick car that portal frame moves to need to pile up, elevating mechanism and X-motion mechanism act on simultaneously determine adobe pile up position, make adobe fall exactly on brick car;
(3) big mechanical hand returns to initial position repetition step (1) and (2), the most repeatedly reaches setting value until the line number of ground floor adobe on brick car, starts to pile up second layer adobe;
(4) first reserve the position of a line adobe in the left and right sides of second layer adobe respectively, repeat step (1) and (2), the full adobe of the centre position code of the second layer on brick car;
(5) big mechanical hand returns to initial position repetition step (1), by the brick car that portal frame moves to need to pile up, elevating mechanism and X-motion mechanism and rotating mechanism act on simultaneously determine adobe pile up position and angle, adobe is made to fall exactly the reserved location on the left of brick car, repeat this operation, reserved location on the right side of brick car piles up adobe, so can make the adobe of the second layer left and right sides pile up direction and other adobes to pile up direction vertical;
(6) repeat the above steps, until the quantity of adobe reaches setting value on brick car, and determine according to actual needs every row, every layer of adobe pile up direction, the adobe using said method to pile up is crisscross, does not haves the phenomenon of the base that collapses.
Compared to prior art, the invention has the beneficial effects as follows: 1, elevating mechanism is positioned at portal frame and slides up and down, and no longer highlights the crossbeam at portal frame top, the most whole equipment highly controllable, fund transform plant need not be expended or reinstall equipment, having saved production cost.2, X-motion mechanism horizontally slips in portal frame, meets the adobe clamped by clamping device to greatest extent at the needs piling up brick car both sides after rotating.3, by arranging rotation, clamping device, big mechanical hand is made to add spinfunction, pile up direction by what the anglec of rotation changing clamping device changed adobe, so that the stacking mode of adobe is crisscross, on the basis of not reducing single brick car yield, avoid the generation of the base event that collapses.4, the design of on-land type gadget hands makes rotary swinging arm can coordinate with brickmaking machine well between 50-160 degree;Vertically cylinder is positioned at the bottom of rotary swinging arm, and the upper space making mechanical hand is unobstructed, has opened up the visual field seeing machine personnel.5, the adjustment seat of gadget hands can be adjusted at up, down, left, right, before and after six direction so that mechanical hand is not necessarily each user when mounted and individually formulates mount scheme, substantially reduces installation and the debugging cycle of equipment.
Accompanying drawing explanation
Fig. 1 is the structural representation of setting machine
Fig. 2 is the structural representation of gadget hands
Fig. 3 is the structural representation of gadget hand adjustment bed rearrangement
Fig. 4 is setting machine partial schematic diagram
Fig. 5 is setting machine side schematic view
Fig. 6 is clamping device schematic diagram
Fig. 7 is that schematic diagram is piled up in adobe
nullIn figure: 1、Gadget hands,1.1、Clamping device,1.2、Rotary swinging arm,1.2.1、L-shaped connecting plate,1.3、Support seat,1.4、Vertically cylinder,1.5、Adjust seat,1.5.1、Circular boop,1.5.2、V-arrangement connecting plate,1.5.3、L-shaped fixed plate,1.5.4、Interior lining panel,1.5.5、Base plate,1.5.6、X axis straight trough hole,1.5.7、Y-axis straight trough hole,1.6、X axis servomotor,1.7、The reductor that X axis servomotor is connected,1.8、Z-axis direction servomotor,1.9、The reductor that Z-axis direction servomotor is connected,1.10、Monolithic adobe,1.11、Base,2、Pipeline,3、Portal frame,3.1、Riser,3.2、Crossbeam,3.3、Base,4、Guide rail,5、Tooth bar,6、Elevating mechanism,6.1、Rectangle frame,6.2、Dual output turbine worm reducer;6.3, output shaft, 6.4, rolling bearing units, 6.5, sprocket wheel, 6.6, driven sprocket, 6.7, chain, 7, X-motion mechanism, 7.1, fixed plate, 8, rotating mechanism, 8.1, rotate and support, 8.2, gripper shoe, 8.3, drive motor, 9, clamping device, 9.1, skeleton, 9.2, cylinder, 9.3, connecting rod, 9.4, linear guide poles, 9.5, linear bearing, 9.6, ambulatory splint, 9.7, strap, 9.8, protective cover, 9.9, adobe, 10, servomotor, 11, linear guides, 12, slide block, 13, brickmaking machine, 14, brick vehicle track, 15, brick car and the adobe piled up, 16, pedestal, 17, ground.
Detailed description of the invention
In conjunction with specific embodiment, the present invention is further described, the set forth below preferred embodiment that is only, and certainly can not limit the interest field of the present invention, the equivalent variations therefore made according to technical solution of the present invention with this, still fall within the scope that the present invention is contained.
As shown in Figure 1 and Figure 4, setting machine includes gadget hands 1, pipeline 2, big mechanical hand with moveable portal frame 3 as framework and control system.On ground 17, the both sides of brick vehicle track 14 are provided with guide rail 4 parallel with it, guide rail 4 side is provided with on-land type gadget hands 1, moveable portal frame 3 is installed on guide rail 4, big mechanical hand is with this portal frame as framework, including elevating mechanism 6, X-motion mechanism 7, rotating mechanism 8, clamping device 9;Being provided with linear guides 11 on the riser 3.1 of portal frame 3 both sides, be provided with the rectangle frame 6.1 of elevating mechanism 6 in the middle part of portal frame 3, this rectangle frame 6.1 is by sliding on the slide block 12 linear guides 11 on riser 3.1;Being provided with linear guides 11 on rectangle frame 6.1, X-motion mechanism 7 horizontally slips by the slide block 12 linear guides 11 on rectangle frame 6.1;Being connected by fixed plate 7.1 between X-motion mechanism 7 with rotating mechanism 8, rotating mechanism 8 bottom is provided with clamping device 9.Control system is constituted by with the Programmable Logic Controller of motor pattern, resistive touch screen, various switch, electric cabinet, servo-driver, servomotor, controller controls servo-driver by output signal after sequential operation after receiving external signal, and servo-driver controls the corresponding servomotor of each mechanism again thus controls the operation of setting machine.
As in figure 2 it is shown, gadget hands 1 includes clamping device 1.1, rotary swinging arm 1.2, supports seat 1.3, vertical cylinder 1.4, adjustment seat 1.5, X axis servomotor 1.6 and reductor 1.7, Z-axis direction servomotor 1.8 and reductor 1.9.Vertically being provided with rotary swinging arm 1.2 by support seat 1.3 above cylinder 1.4, rotary swinging arm 1.2 one end is provided with X axis servomotor 1.6 and the reductor 1.7, X being connected with this motor Axially the cylinder of the reductor 1.7 that servomotor 1.6 is connected fixedly mounts with supporting seat 1.3, and rotary swinging arm 1.2 other end is provided with clamping device 1.1 by L-shaped connecting plate 1.2.1;Vertically being provided with Z-axis direction servomotor 1.8 and the reductor 1.9 being connected with this motor below cylinder 1.4, the power transmission shaft of the reductor 1.9 that the axial servomotor of Z 1.8 is connected extends upwardly in vertical cylinder 1.4 and is connected by swivel bearing with supporting seat 1.3;Vertically cylinder 1.4 side is provided with adjustment seat 1.5, adjusts on-land type after seat 1.5 installs base 1.11 additional and installs.
As shown in Figure 3, adjust seat 1.5 and include circular boop 1.5.1, V-arrangement connecting plate 1.5.2, L-shaped fixed plate 1.5.3, interior lining panel 1.5.4, base plate 1.5.5, X axis straight trough hole 1.5.6, Y-axis straight trough hole 1.5.7, adjust and interior lining panel 1.5.4 and upper is installed in the middle part of the base plate 1.5.5 of seat 1.5, lower two V-arrangement connecting plate 1.5.2, the end of each V-arrangement connecting plate 1.5.2 is provided with circular boop 1.5.1, this circular boop 1.5.1 is two to be bolted semicircle circular boop and form, the screw unclamping connection just can change vertical cylinder 1.4 at the upper-lower position adjusted on seat 1.5, thus have adjusted the upper-lower position of whole mechanical hand 1.The both sides of base plate 1.5.5 are provided with L-shaped fixed plate 1.5.3, it is provided with straight trough hole along X-axis and Y direction in L-shaped fixed plate 1.5.3, the screwed hole corresponding with X axis straight trough hole 1.5.6 in L-shaped fixed plate 1.5.3 it is provided with on interior lining panel 1.5.4, the screwed hole corresponding with Y-axis straight trough hole 1.5.7 in L-shaped fixed plate 1.5.3 is set on base plate 1.5.5, it is simple to the vertical cylinder 1.4 of mechanical hand fastens screw after X-axis and Y direction adjust position.More than design makes mechanical hand can adjust in upper and lower, position, six, front, rear, left and right, therefore extremely convenient when mechanical hand is installed at the scene, optimum position can be adjusted at any time according to the actual height of user's brickmaking machine and pose pattern, individually develop programs without for each user's concrete condition.
As shown in Figure 4, portal frame 3 includes standing on the riser 3.1 of both sides, top is installed crossbeam 3.2 and for supporting the base 3.3 of portal frame 3 vertical plates on both sides 3.1, wherein riser 3.1 and crossbeam 3.2 are U-shaped;It is separately installed with servomotor 10 on the base 3.3 of both sides;Make portal frame 3 can move on guide rail 4 under the effect of servomotor 10.
As Figure 1 and Figure 4, elevating mechanism 6 includes rectangle frame 6.1, servomotor 10, dual output worm-gear speed reducer 6.2, output shaft 6.3, rolling bearing units 6.4, sprocket wheel 6.5, driven sprocket 6.6 and chain 6.7.Rectangle frame 6.1 is by sliding on the slide block 12 linear guides 11 on the riser 3.1 of portal frame 3;Servomotor 10 is positioned on the crossbeam 3.2 at portal frame 3 top, and the two ends of crossbeam 3.2 are provided with sprocket wheel 6.5, and portal frame 3 base 3.3 is provided with driven sprocket 6.6, and being connected between sprocket wheel 6.5 with driven sprocket 6.6 has chain 6.7;Servomotor 10 is connected with output shaft 6.3 through dual output worm-gear speed reducer 6.2, and the two ends of output shaft 6.3 are connected with sprocket wheel 6.5 respectively, is provided with rolling bearing units 6.4 in the middle part of output shaft 6.3.Elevating mechanism 6 slides up and down in portal frame 3, no longer highlights the crossbeam 3.2 at portal frame 3 top, the most whole equipment highly controllable, need not expend fund transform plant or reinstall equipment, having saved production cost.
As Figure 1 and Figure 4, X-motion mechanism 7 includes fixed plate 7.1, servomotor 10, gear and tooth bar 5, servomotor 10 and gear are installed in fixed plate 7.1, tooth bar 5 is arranged on the middle part of the rectangle frame 6.1 of elevating mechanism 6, servomotor 10 drives pinion rotation, gear is mobile X-motion mechanism 7 under the effect of tooth bar 5, it is passed to slide block 12 horizontally slip on the linear guides 11 of 6.1 on rectangle frame, meets the adobe clamped by clamping device to greatest extent at the needs piling up brick car both sides after rotating.
As shown in Figure 1, shown in Figure 5, rotating mechanism 8 includes the fixed plate 7.1 shared with X-motion mechanism 7, rotates support 8.1 and gripper shoe 8.2, rotates support 8.1 and includes permanent seat ring and movable seat ring;Fixed plate 7.1 bottom is connected with rotating the permanent seat ring supporting 8.1, and the movable seat ring rotating support 8.1 is arranged in gripper shoe 8.2, and gripper shoe 8.2 bottom is installed with clamping device 9.Driving motor 8.3 is installed in fixed plate 7.1, drives motor 8.3 to pass through coupling driving and rotate the movable seat ring rotation supporting 8.1;The coupling of described driving motor 8.3 is driven to gear manner, synchronizes wheel and Timing Belt mode, sprocket wheel and chain mode, belt pulley and the one in belt mode.The big mechanical hand of setting machine adds spinfunction, piles up direction by what the anglec of rotation changing clamping device changed adobe, so that the stacking mode of adobe is crisscross, avoids the generation of the base event that collapses on the basis of not reducing single brick car yield.
As shown in Figure 6, clamping device 9 includes skeleton 9.1, cylinder 9.2, connecting rod 9.3, ambulatory splint 9.6 and strap 9.7, skeleton 9.1 top is provided with protective cover 9.8, skeleton 9.1 side is provided with strap 9.7, skeleton 9.1 opposite side is provided with ambulatory splint 9.6 by linear bearing 9.5 and linear guide poles 9.4, ambulatory splint 9.6 and strap 9.7 lay respectively at skeleton 9.1 both sides and are parallel to each other, and are provided with cylinder 9.2 and connecting rod 9.3 between ambulatory splint 9.6 and strap 9.7.During clamping adobe 9.9, cylinder 9.2 provide that power is parallel pulls ambulatory splint 9.6 so that it is relying on linear bearing 9.5 left and right on linear guide poles 9.4 to move horizontally, when adobe 9.9 clamps, the stress surface of side is bump contact.Ambulatory splint of the prior art grips after tilting, and its stress surface only has the border area of clamping plate bottom.Compared to prior art, the clamping device of the present invention is owing to adding the lifting surface area of adobe clamping, thus without the phenomenon occurring that adobe is broken or deforms.
As it is shown in figure 5, the central point of clamping device 9 and portal frame 3 central point deviation distance A, and clamping device 9 is arranged on the direction of pipeline 2 side.
As shown in Figure 1 and Figure 2, during work, first monolithic adobe 1.10 is clamped by clamping device 1.1, and X axis servomotor 1.6 drives L-shaped connecting plate 1.2.1 90-degree rotation afterwards.L-shaped connecting plate 1.2.1 serves castering action while rotating, so that the adobe that clamping device 1.1 clamps from brickmaking machine ejection station, upset is to being suitable for being put into the angle of pipeline.Meanwhile, Z axis servomotor 1.8 drives the support seat 1.3 on vertical cylinder 1.4 top to rotate, thus swing arm 1.2 is rotated and rotates along Z-direction, its angle rotated can be within 50-160 degree, depending on concrete condition is according to the pose pattern of brickmaking machine and mechanical hand mounting means.Rotary swinging arm 1.2 rotates along Z-direction and makes adobe grab above pipeline, and now clamping device 1.1 release makes fragment of brick falling on the conveyor line steadily.After completing above step, gadget hands by backtracking in case gripping next block adobe.
The code blank technology of setting machine is as shown in Figure 1, Figure 2, shown in Fig. 7, comprise the following steps:
(1) initial position of big mechanical hand is positioned at above pipeline 2, is ready to capture adobe;Gadget hands 1 captures monolithic adobe 1.10 from brickmaking machine 13 ejection station and is placed into pipeline 2, often put one piece of adobe, the distance of the most mobile about one piece of adobe of pipeline, until after the adobe number on pipeline reaches to set quantity, the clamping device 9 of big mechanical hand picks up unified for the adobe on pipeline, elevating mechanism 6 is risen by linear guides, mentions clamping device 9;
(2) by the brick car that portal frame 3 moves to need to pile up, elevating mechanism 6 and X-motion mechanism 7 act on simultaneously determine adobe pile up position, make adobe fall exactly on brick car;
(3) big mechanical hand returns to initial position repetition step (1) and (2), the most repeatedly reaches setting value until the line number of ground floor adobe on brick car, starts to pile up second layer adobe;
(4) first reserve the position of a line adobe in the left and right sides of second layer adobe respectively, repeat step (1) and (2), the full adobe of the centre position code of the second layer on brick car;
(5) big mechanical hand returns to initial position repetition step (1), by the brick car that portal frame 3 moves to need to pile up, elevating mechanism 6 and X-motion mechanism 7 and rotating mechanism 8 act on simultaneously determine adobe pile up position and angle, adobe is made to fall exactly the reserved location on the left of brick car, repeat this operation, reserved location on the right side of brick car piles up adobe, so can make the adobe of the second layer left and right sides pile up direction and other adobes to pile up direction vertical;
(6) steps be repeated alternatively until the quantity of adobe on brick car and reach setting value, and determine according to actual needs every row, every layer of adobe pile up direction, the adobe using said method to pile up is crisscross, does not haves the phenomenon of the base that collapses.

Claims (10)

1. a setting machine, it is characterised in that include gadget hands, pipeline, big mechanical hand with moveable portal frame as framework and control system;On ground, the both sides of brick vehicle track are provided with guide rail parallel with it, guide rail side is provided with on-land type gadget hands, being provided with moveable portal frame on guide rail, big mechanical hand is with this portal frame as framework, including elevating mechanism, X-motion mechanism, rotating mechanism, clamping device;Being provided with linear guides on the riser of portal frame both sides, be provided with the rectangle frame of elevating mechanism in the middle part of portal frame, this rectangle frame is by sliding on slide block linear guides on riser;Being provided with linear guides on rectangle frame, X-motion mechanism horizontally slips by slide block linear guides on rectangle frame;Being connected by fixed plate between X-motion mechanism and rotating mechanism, rotating mechanism bottom is provided with clamping device.
2. setting machine as claimed in claim 1, it is characterised in that described adobe catching robot includes clamping device, rotary swinging arm, support seat, vertical cylinder, adjusts seat, X axis servomotor and reductor, Z-axis direction servomotor and reductor;Vertically by support seat, rotary swinging arm is installed above cylinder, rotary swinging arm one end is provided with X axis servomotor and the reductor being connected with this motor, the cylinder of the reductor that the axial servomotor of X is connected fixedly mounts with supporting seat, and the rotary swinging arm other end is provided with clamping device by L-shaped connecting plate;Vertically being provided with Z-axis direction servomotor and the reductor being connected with this motor below cylinder, the power transmission shaft of the reductor that the axial servomotor of Z is connected extends upwardly in vertical cylinder and is connected by swivel bearing with supporting seat;Vertically cylinder side is provided with adjustment seat.
3. setting machine as claimed in claim 2, it is characterized in that, described adjustment seat includes circular boop, V-arrangement connecting plate, L-shaped fixed plate, interior lining panel, base plate, X axis straight trough hole, Y-axis straight trough hole, interior lining panel and upper and lower two V-arrangement connecting plates are installed in the middle part of base plate, the end of each V-arrangement connecting plate is provided with circular boop, and this circular boop is two to be bolted semicircle circular boop and form;The both sides of base plate are provided with L-shaped fixed plate, it is provided with straight trough hole along X-axis and Y direction in L-shaped fixed plate, it is provided with the screwed hole corresponding with X axis straight trough hole in L-shaped fixed plate on interior lining panel, base plate arranges the screwed hole corresponding with Y-axis straight trough hole in L-shaped fixed plate.
4. setting machine as claimed in claim 1, it is characterised in that described portal frame includes standing on the riser of both sides, top is installed crossbeam and for supporting the base of portal frame vertical plates on both sides, wherein riser and crossbeam are U-shaped;It is separately installed with servomotor on the base of both sides.
5. setting machine as claimed in claim 1, it is characterised in that described elevating mechanism includes rectangle frame, servomotor, dual output worm-gear speed reducer, output shaft, rolling bearing units, sprocket wheel, driven sprocket and chain;Servomotor is positioned on the crossbeam at portal frame top, and the two ends of crossbeam are provided with sprocket wheel, and portal frame base is provided with driven sprocket, and being connected between sprocket wheel with driven sprocket has chain;Servomotor is connected with output shaft through dual output worm-gear speed reducer, and the two ends of output shaft are connected with sprocket wheel respectively, is provided with rolling bearing units in the middle part of output shaft.
6. setting machine as claimed in claim 1, it is characterized in that, described X-motion mechanism includes fixed plate, servomotor, gear and tooth bar, servomotor and gear are installed in fixed plate, tooth bar is arranged on the middle part of the rectangle frame of elevating mechanism, driven by servomotor pinion rotation, gear is mobile X-motion mechanism under the effect of tooth bar.
7. setting machine as claimed in claim 1, it is characterised in that described rotating mechanism includes fixed plate, rotates support and gripper shoe, rotates support and includes permanent seat ring and movable seat ring;Fixed plate bottom is connected with rotatably supported permanent seat ring, and rotatably supported movable seat ring is arranged in gripper shoe, and fixed plate is provided with driving motor, drives motor to drive rotatably supported movable seat ring to rotate by coupling;The coupling of described driving motor is driven to gear manner, synchronizes wheel and Timing Belt mode, sprocket wheel and chain mode, belt pulley and the one in belt mode.
8. setting machine as claimed in claim 1, it is characterized in that, described clamping device includes skeleton, cylinder, connecting rod, ambulatory splint and strap, skeleton top is provided with protective cover, skeleton side is provided with strap, skeleton opposite side is provided with ambulatory splint, ambulatory splint and strap by linear bearing and linear guide poles and lays respectively at skeleton both sides and be parallel to each other, and is provided with cylinder and connecting rod between ambulatory splint and strap.
9. setting machine as claimed in claim 1, it is characterised in that the central point of described clamping device and portal frame central point deviation distance A, and clamping device is arranged on the direction of pipeline side.
10. the code blank technology of setting machine as claimed in claim 1, it is characterised in that comprise the following steps:
(1) initial position of big mechanical hand is positioned at above pipeline, is ready to capture adobe;Gadget hands captures monolithic adobe from brickmaking machine ejection station and is placed into pipeline, often put one piece of adobe, the distance of the most mobile about one piece of adobe of pipeline, until after the adobe number on pipeline reaches to set quantity, the clamping device of big mechanical hand picks up unified for the adobe on pipeline, elevating mechanism is risen by linear guides, mentions clamping device;
(2) by the brick car that portal frame moves to need to pile up, elevating mechanism and X-motion mechanism act on simultaneously determine adobe pile up position, make adobe fall exactly on brick car;
(3) big mechanical hand returns to initial position repetition step (1) and (2), the most repeatedly reaches setting value until the line number of ground floor adobe on brick car, starts to pile up second layer adobe;
(4) first reserve the position of a line adobe in the left and right sides of second layer adobe respectively, repeat step (1) and (2), the full adobe of the centre position code of the second layer on brick car;
(5) big mechanical hand returns to initial position repetition step (1), by the brick car that portal frame moves to need to pile up, elevating mechanism and X-motion mechanism and rotating mechanism act on simultaneously determine adobe pile up position and angle, adobe is made to fall exactly the reserved location on the left of brick car, repeat this operation, reserved location on the right side of brick car piles up adobe, so can make the adobe of the second layer left and right sides pile up direction and other adobes to pile up direction vertical;
(6) repeat the above steps, until the quantity of adobe reaches setting value on brick car, and determine as required every row, every layer of adobe pile up direction, the adobe piled up is crisscross.
CN201610328473.3A 2016-05-18 2016-05-18 A kind of setting machine and code blank technology CN105836481B (en)

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CN108238451A (en) * 2016-12-27 2018-07-03 北京京东尚科信息技术有限公司 Palletizing method and palletizing apparatus
CN109264413A (en) * 2018-09-13 2019-01-25 深圳市俊隆环保科技有限公司 A kind of palletizing system and its control method
CN110316568A (en) * 2019-06-20 2019-10-11 金华市广和古建筑技术研发有限公司 A kind of auxiliary device that modular architectural stacks and the method that modular architectural stacks
CN111319988A (en) * 2018-12-14 2020-06-23 广东昂锐机械制造有限公司 Gantry type seamless stacking machine

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CN106113005A (en) * 2016-08-24 2016-11-16 苏州神运机器人有限公司 Portal frame
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CN111319988A (en) * 2018-12-14 2020-06-23 广东昂锐机械制造有限公司 Gantry type seamless stacking machine
CN110316568A (en) * 2019-06-20 2019-10-11 金华市广和古建筑技术研发有限公司 A kind of auxiliary device that modular architectural stacks and the method that modular architectural stacks
CN110316568B (en) * 2019-06-20 2020-12-22 金华市广和古建筑技术研发有限公司 Auxiliary device for modular building stacking and modular building stacking method

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