CN105836481B - A kind of setting machine and code blank technology - Google Patents
A kind of setting machine and code blank technology Download PDFInfo
- Publication number
- CN105836481B CN105836481B CN201610328473.3A CN201610328473A CN105836481B CN 105836481 B CN105836481 B CN 105836481B CN 201610328473 A CN201610328473 A CN 201610328473A CN 105836481 B CN105836481 B CN 105836481B
- Authority
- CN
- China
- Prior art keywords
- adobe
- portal frame
- servomotor
- clamping device
- fixed plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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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 kind of setting machine and code blank technology, including gadget hand, pipeline, using moveable portal frame as the big manipulator and control system of frame；The big manipulator is using portal frame as frame, including elevating mechanism, X-motion mechanism, rotating mechanism, clamping device.Elevating mechanism, which is located in portal frame, to be slided up and down so that whole equipment it is highly controllable；X-motion mechanism horizontally slips in portal frame, meets the adobe clamped by clamping device to greatest extent and the needs to brick vehicle both sides are being piled up after rotation；There is provided rotation, clamping devices to make big manipulator add spinfunction, change the stacking direction of adobe by changing the rotation angle of clamping device, so that the stacking mode of adobe is crisscross, the generation for the base event that collapses is avoided on the basis of single brick vehicle yield is not reduced.
Description
Technical field
The present invention relates to building material industry automated machines, and in particular to a kind of setting machine and the side with the setting machine code base
Method.
Background technology
With the development of industrial automation technology, many brick fields all begin to use mechanical code base machine to substitute artificial code base.It is existing
Some setting machines are typically all gadget hand and the upset hanging installation being mounted on by fixed portal frame, upset hanging on portal frame
Big manipulator composition on portal frame.The elevating mechanism of big manipulator is normally at the top of portal frame, the master of elevating mechanism
Body includes a rectangular cylinder and the linear guides and rack mounted on side, and motor passes through coupled modes drive rack during work
It lifts that entire rectangular cylinder is driven to lift.In lifting process, rectangular cylinder often protrudes the certain height of portal frame
Degree must can so increase the total height of whole equipment, so as to cause needing to occupy excessive upper space；Its shortcoming one is to need
Increase or rebuild workshop, increase production cost.Second is that since equipment is higher, haulage vehicle violation superelevation is easy to cause, no
It is readily transported.
The effect of gadget hand is to be placed into after capturing adobe from brickmaking machine ejection station on pipeline, existing gadget
Hand upset hanging is mounted on portal frame, it is necessary to have corresponding crossbeam to fix vertical cylinder, which is located at manipulator clamping
The top of device so that upper space is not open enough, can not only stop the sight for seeing machine personnel, leads to not timely discovering device
The failure of appearance.It can also stop the walking position of big manipulator, make big manipulator that can not capture adobe in optimum position, it is necessary to etc.
Line multirow to be conveyed walks a distance, to cross crossbeam.Therefore production efficiency is affected.The structure letter of the adobe catching robot
It is single, it is impossible to complete the structural adjustment in multiple and different directions, make it relatively difficult when being docked with brickmaking machine.
All it is at present in brickmaking by a micromanipulator with rotary six mould, the eight matching used setting machines of moulded brick machine
It is put into after capturing adobe on machine deep bid on pipeline, when the adobe quantity on line to be conveyed is setting value, then it is whole by big manipulator
Row's crawl adobe is simultaneously put into according to predetermined line number and the number of plies on brick vehicle.It is well known that adobe is piled up in the same direction is present with the base that collapses
Phenomenon, however the clamping device of existing big manipulator and lifting gear be using the mode that is fixedly connected, when work, can only be according to same
Adobe is piled up in direction, and to solve the above-mentioned problems, some producers are using manually overturning or successively reduce often capable adobe number
Amount, i.e., the method that staged stacks bricks.Or its defect reduces work efficiency or is to occupy while being and increase cost of labor
Reduce the stacking quantity of adobe on brick vehicle in the case of similary brick carfare source, also reduce work efficiency.
In addition, the clamping device installed on existing big manipulator, the clamping plate of both sides is generally using hinge to installation, pressing from both sides
The ambulatory splint for pulling one side during adobe by cylinders providing power is held, is allowed to tilt to generate chucking power, inclined clamping plate holds
The phenomenon that easily causing adobe local pressure unevenness, adobe deformation be present with when the adobe negligible amounts of clamping or is caught broken.
The content of the invention
The present invention in view of the above-mentioned problems, provide it is a kind of with rotary six mould, the matching used setting machine of eight moulded brick machines and
Code blank technology.
One of technical scheme：A kind of setting machine, which is characterized in that including gadget hand, pipeline, with removable
Dynamic portal frame is the big manipulator and control system of frame；The both sides of brick vehicle track are equipped with parallel with it on ground
Guide rail, guide rail one side are provided with on-land type gadget hand, moveable portal frame are equipped on guide rail, big manipulator is with the gantry
Frame is frame, including elevating mechanism, X-motion mechanism, rotating mechanism, clamping device；It is installed on the riser of portal frame both sides
Linear guide rail, portal frame middle part are equipped with the rectangle frame of elevating mechanism, the rectangle frame linearly leading on riser by sliding block
It is slided on rail；Linear guides are installed, X-motion mechanism is left on linear guides on rectangle frame by sliding block on rectangle frame
Right slip；It is connected between X-motion mechanism and rotating mechanism by fixed plate, rotating mechanism lower part is equipped with clamping device.
Further, the adobe catching robot, including clamping device, rotary swinging arm, support base, vertical cylinder, tune
Bed rearrangement, X axis servomotor and speed reducer, Z axis are to servomotor and speed reducer；It is equipped with above vertical cylinder by support base
Rotary swinging arm, rotary swinging arm one end are equipped with X axis servomotor and the speed reducer being connected with the motor, X axial directions servo electricity
The cylinder for the speed reducer that machine is connected is fixedly mounted with support base, and the rotary swinging arm other end is equipped with clamping by L-shaped connecting plate
Device；The speed reducer that Z axis is connected to servomotor and with the motor, Z axial directions servomotor institute are installed below vertical cylinder
The transmission shaft of the speed reducer of connection extends upwardly into vertical cylinder and passes through swivel bearing and is connected with support base；Vertical cylinder one side
It is provided with adjusting seat.
Further, the adjusting seat includes circular boop, V-arrangement connecting plate, L-shaped fixed plate, interior lining panel, bottom plate, X axis straight trough
Hole, Y-axis straight trough hole, bottom plate middle part are equipped with interior lining panel and upper and lower two V-arrangement connecting plates, the end peace of each V-arrangement connecting plate
Equipped with circular boop, which is bolted for two pairs of semicircle circular boops；The both sides of bottom plate are equipped with L-shaped fixed plate, L-shaped
Straight trough hole is equipped with along X-axis and Y direction in fixed plate, is provided on interior lining panel corresponding with X axis straight trough hole on L-shaped fixed plate
Threaded hole, set on bottom plate and the corresponding threaded hole in Y-axis straight trough hole on L-shaped fixed plate.
Further, the portal frame includes standing on the riser of both sides, the crossbeam that top is installed and is used to support gantry
The pedestal of frame vertical plates on both sides, wherein riser and crossbeam are U-shaped；Servomotor is separately installed on the pedestal of both sides；In servo electricity
Under the action of machine portal frame is moved on guide rail.
Further, the elevating mechanism include rectangle frame, servomotor, dual output worm-gear speed reducer, output shaft,
Rolling bearing units, sprocket wheel, driven sprocket and chain；Servomotor is located on the crossbeam at the top of portal frame, and the both ends of crossbeam are equipped with
Sprocket wheel is equipped with driven sprocket on portal frame pedestal, chain is connected between sprocket wheel and driven sprocket；Servomotor is through dual output
Worm-gear speed reducer is connected with output axis connection, the both ends of output shaft with sprocket wheel respectively, and axis of usheing to seat is equipped in the middle part of output shaft
It holds.
Further, the X-motion mechanism includes fixed plate, servomotor, gear and rack, is installed in fixed plate
There are servomotor and gear, rack is mounted on the middle part of the rectangle frame of elevating mechanism, and servomotor drive gear rotates, and gear exists
Mobile X-motion mechanism under the action of rack.
Further, the rotating mechanism includes fixed plate, rotation support and support plate, and rotation support includes permanent seat ring
With movable seat ring；Fixed plate lower part is connected with rotatably supported permanent seat ring, and rotatably supported activity seat ring is mounted on support plate
On, driving motor is installed, driving motor is rotated by the rotatably supported movable seat ring of coupling driving in fixed plate；The driving
The coupling driving of motor is gear manner, synchronizing wheel and synchronous belt mode, in sprocket wheel and chain mode, belt pulley and belt mode
One kind.
Further, the clamping device includes skeleton, cylinder, connecting rod, ambulatory splint and strap, skeleton top
Protective cover is installed, skeleton one side is equipped with strap, and skeleton opposite side is equipped with work by linear bearing and linear guide poles
Dynamic clamping plate, ambulatory splint and strap are located at skeleton both sides and are mutually parallel respectively, pacify between ambulatory splint and strap
Equipped with cylinder and connecting rod.
Further, the central point of the clamping device and portal frame central point deviation distance A, and clamping device is mounted on
The direction of pipeline one side.
Control system is by carrying the programmable controller of motor pattern, resistive touch screen, various switches, electric cabinet, watching
Driver, servomotor composition are taken, controller receives external signal, passes through and signal control servo-drive is exported after sequential operation
Device, servo-driver control the corresponding servomotor of each mechanism to control the operation of entire setting machine again.
The two of technical scheme：The code blank technology of above-mentioned setting machine, which is characterized in that comprise the following steps：
(1) initial position of big manipulator is located above pipeline, is ready to crawl adobe；Gadget hand is from brickmaking machine
The crawl monolithic adobe of ejection station is simultaneously placed on pipeline, as soon as often put a piece adobe, pipeline move about one piece of adobe away from
From after the adobe number on pipeline reaches setting quantity, the clamping device of big manipulator is unified by the adobe on pipeline
It picks up, elevating mechanism is risen by linear guides, lifts clamping device；
(2) portal frame is moved to by the brick vehicle for needing to pile up, and elevating mechanism and X-motion mechanism act on determine adobe simultaneously
Stacking position, adobe is made to fall exactly on brick vehicle；
(3) big manipulator returns to initial position and repeats step (1) and (2), so repeatedly until first layer adobe on brick vehicle
Line number reach setting value, start pile up second layer adobe；
(4) first reserve the position of a line adobe respectively in the left and right sides of second layer adobe, repeat step (1) and (2),
The full adobe of centre position code of the second layer on brick vehicle；
(5) big manipulator returns to initial position and repeats step (1), and portal frame is moved to by the brick vehicle for needing to pile up, elevator
Structure and X-motion mechanism and rotating mechanism act on stacking position and the angle for determining adobe simultaneously, and adobe is made to fall exactly
Reserved location on the left of brick vehicle repeats this operation, and the reserved location on the right side of brick vehicle piles up adobe, can so make the second layer left
It is vertical with the stacking direction of other adobes that direction is piled up in the adobe of right both sides；
(6) repeat the above steps, until the quantity of adobe on brick vehicle reaches setting value, and determine according to actual needs every
Capable, every layer of adobe stacking direction, the adobe piled up using the above method is crisscross, is not in the phenomenon that collapsing base.
Compared with the prior art, the beneficial effects of the invention are as follows：1st, elevating mechanism is located in portal frame and slides up and down, no longer
Crossbeam at the top of prominent portal frame, therefore whole equipment is highly controllable, without expending fund transform plant or reinstalling
Equipment has saved production cost.2nd, X-motion mechanism horizontally slips in portal frame, meets clamping machine to greatest extent
The needs to brick vehicle both sides are being piled up in adobe clamped by structure after rotation.3rd, by setting rotation, clamping device, big machine is made
Tool hand adds spinfunction, changes the stacking direction of adobe by changing the rotation angle of clamping device, so that adobe
Stacking mode it is crisscross, the generation for the base event that collapses is avoided on the basis of single brick vehicle yield is not reduced.4th, on-land type
The design of gadget hand enables rotary swinging arm to coordinate well with brickmaking machine between 50-160 degree；Vertical cylinder is located at rotation
The lower part of swing arm, the upper space for making manipulator is unobstructed, has opened up the visual field for seeing machine personnel.5th, the adjusting seat of gadget hand can
To be adjusted in up, down, left, right, before and after six direction so that manipulator is not necessarily each user and individually makes when mounted
Determine mount scheme, substantially reduce installation and the debugging cycle of equipment.
Description of the drawings
Fig. 1 is the structure diagram of setting machine
Fig. 2 is the structure diagram of gadget hand
Fig. 3 is the structure diagram 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 piles up schematic diagram for adobe
In figure：1st, gadget hand, 1.1, clamping device, 1.2, rotary swinging arm, 1.2.1, L-shaped connecting plate, 1.3, support base,
1.4th, vertical cylinder, 1.5, adjusting seat, 1.5.1, circular boop, 1.5.2, V-arrangement connecting plate, 1.5.3, L-shaped fixed plate, 1.5.4, liner
Plate, 1.5.5, bottom plate, 1.5.6, X axis straight trough hole, 1.5.7, Y-axis straight trough hole, 1.6, X axis servomotor, 1.7, X axis
The speed reducer that servomotor is connected, 1.8, Z axis to servomotor, 1.9, the speed reducer that is connected to servomotor of Z axis,
1.10th, monolithic adobe, 1.11, pedestal, 2, pipeline, 3, portal frame, 3.1, riser, 3.2, crossbeam, 3.3, pedestal, 4, guide rail,
5th, rack, 6, elevating mechanism, 6.1, rectangle frame, 6.2, dual output turbine worm reducer；6.3rd, output shaft, 6.4, axis of usheing to seat
It holds, 6.5, sprocket wheel, 6.6, driven sprocket, 6.7, chain, 7, X-motion mechanism, 7.1, fixed plate, 8, rotating mechanism, 8.1,
Rotation support, 8.2, support plate, 8.3, driving 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, servo electricity
Machine, 11, linear guides, 12, sliding block, 13, brickmaking machine, 14, brick vehicle track, 15, the adobe of brick vehicle and stacking, 16, pedestal, 17,
Ground.
Specific embodiment
In conjunction with specific embodiment, the present invention is further described, and what is recorded below is only preferred embodiment, certainly not
The interest field of the present invention can be limited with this, therefore according to the equivalent variations that technical solution of the present invention is made, still falls within this hair
Bright covered scope.
As shown in Figure 1 and Figure 4, setting machine includes gadget hand 1, pipeline 2, is frame with moveable portal frame 3
Big manipulator and control system.The both sides of brick vehicle track 14 are equipped with guide rail 4 parallel with it, 4 one side of guide rail on ground 17
Be provided with on-land type gadget hand 1, moveable portal frame 3 be installed on guide rail 4, big manipulator using the portal frame as frame,
Including elevating mechanism 6, X-motion mechanism 7, rotating mechanism 8, clamping device 9；It is equipped on the riser 3.1 of 3 both sides of portal frame
Linear guides 11,3 middle part of portal frame are equipped with the rectangle frame 6.1 of elevating mechanism 6, and the rectangle frame 6.1 is by sliding block 12 in riser
It is slided on linear guides 11 on 3.1；Linear guides 11 are installed, X-motion mechanism 7 passes through sliding block 12 on rectangle frame 6.1
It horizontally slips on linear guides 11 on rectangle frame 6.1；Pass through fixed plate between X-motion mechanism 7 and rotating mechanism 8
7.1 connections, 8 lower part of rotating mechanism is equipped with clamping device 9.Control system is by carrying programmable controller, the electricity of motor pattern
Resistive touch screen, various switches, electric cabinet, servo-driver, servomotor are formed, and controller is after external signal is received
Servo-driver is controlled by exporting signal after sequential operation, servo-driver controls the corresponding servomotor of each mechanism again
So as to control the operation of setting machine.
As shown in Fig. 2, gadget hand 1 include clamping device 1.1, rotary swinging arm 1.2, support base 1.3, vertical cylinder 1.4,
Adjusting seat 1.5, X axis servomotor 1.6 and speed reducer 1.7, Z axis are to servomotor 1.8 and speed reducer 1.9.Vertical cylinder 1.4
Top is equipped with rotary swinging arm 1.2 by support base 1.3,1.2 one end of rotary swinging arm be equipped with X axis servomotor 1.6 and with
The speed reducer 1.7 that the motor is connected, the cylinder and support base 1.3 for the speed reducer 1.7 that X axial directions servomotor 1.6 is connected are solid
Dingan County fills, and 1.2 other end of rotary swinging arm is equipped with clamping device 1.1 by L-shaped connecting plate 1.2.1；Vertical 1.4 lower section peace of cylinder
The speed reducer 1.9 being connected equipped with Z axis to servomotor 1.8 and with the motor, the deceleration that Z axial directions servomotor 1.8 is connected
The transmission shaft of machine 1.9 extends upwardly into vertical cylinder 1.4 and passes through swivel bearing and is connected with support base 1.3；Vertical cylinder 1.4 1
Side is provided with adjusting seat 1.5, and on-land type is installed after adjusting seat 1.5 installs pedestal 1.11 additional.
As shown in figure 3, adjusting seat 1.5 includes 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, bottom plate 1.5.5, X axis straight trough hole 1.5.6, Y-axis straight trough hole 1.5.7, the bottom plate 1.5.5 middle parts peace of adjusting seat 1.5
Equipped with interior lining panel 1.5.4 and upper and lower two V-arrangement connecting plates 1.5.2, the end of each V-arrangement connecting plate 1.5.2 is equipped with circular boop
1.5.1, circular boop 1.5.1 is bolted for two pairs of semicircle circular boops, unclamp the screw of connection can change it is perpendicular
Upper-lower position of the straight barrel 1.4 in adjusting seat 1.5, so as to adjust the upper-lower position of entire manipulator 1.Bottom plate 1.5.5's
Both sides are equipped with L-shaped fixed plate 1.5.3, and straight trough hole, interior lining panel 1.5.4 are equipped with along X-axis and Y direction on L-shaped fixed plate 1.5.3
On be provided with the corresponding threaded holes of X axis straight trough hole 1.5.6 on L-shaped fixed plate 1.5.3, set on bottom plate 1.5.5 and L-shaped
The corresponding threaded holes of Y-axis straight trough hole 1.5.7 on fixed plate 1.5.3, convenient for manipulator vertical cylinder 1.4 in X-axis and Y-axis
Fastening screw behind the adjustment position of direction.Above design makes manipulator that can be adjusted in the upper and lower, position of front, rear, left and right six,
Therefore it is extremely convenient when manipulator is installed at the scene, it can at any time be adjusted according to the actual height and pose pattern of user's brickmaking machine
To optimum position, individually develop programs without being directed to each user's concrete condition.
As shown in figure 4, portal frame 3 includes standing on the riser 3.1 of both sides, the crossbeam 3.2 that top is installed and be used to support
The pedestal 3.3 of 3 vertical plates on both sides 3.1 of portal frame, wherein riser 3.1 and crossbeam 3.2 are U-shaped；It is installed respectively on the pedestal 3.3 of both sides
There is servomotor 10；Portal frame 3 is enabled to be moved on guide rail 4 under the action 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
6.2nd, 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 existed by sliding block 12
It is slided on linear guides 11 on the riser 3.1 of portal frame 3；Servomotor 10 is located on the crossbeam 3.2 at 3 top of portal frame, horizontal
The both ends of beam 3.2 are equipped with sprocket wheel 6.5, and driven sprocket 6.6, sprocket wheel 6.5 and driven sprocket are equipped on 3 pedestal 3.3 of portal frame
Chain 6.7 is connected between 6.6；Servomotor 10 is connected through dual output worm-gear speed reducer 6.2 with output shaft 6.3, output
The both ends of axis 6.3 are connected respectively with sprocket wheel 6.5, and 6.3 middle part of output shaft is equipped with rolling bearing units 6.4.Elevating mechanism 6 is in portal frame
It is slided up and down in 3, the crossbeam 3.2 at no longer prominent 3 top of portal frame, therefore whole equipment is highly controllable, without expending fund
Transform plant reinstalls equipment, has saved production cost.
As Figure 1 and Figure 4, X-motion mechanism 7 includes fixed plate 7.1, servomotor 10, gear and rack 5, fixed
Servomotor 10 and gear are installed, rack 5 is mounted on the middle part of the rectangle frame 6.1 of elevating mechanism 6, servomotor on plate 7.1
10 drive gears rotate, and gear mobile X-motion mechanism 7 under the action of rack 5 is passed to sliding block 12 on rectangle frame
It horizontally slips on 6.1 linear guides 11, meets the adobe clamped by clamping device to greatest extent in the code after rotation
It is put into the needs of brick vehicle both sides.
As shown in Figure 1, shown in Figure 5, rotating mechanism 8 includes the fixed plate 7.1 shared with X-motion mechanism 7, rotation supports
8.1 and support plate 8.2, rotation support 8.1 includes permanent seat ring and movable seat ring；7.1 lower part of fixed plate and rotation support 8.1
Permanent seat ring connects, and the movable seat ring of rotation support 8.1 is mounted in support plate 8.2, and 8.2 lower part of support plate is installed with folder
Hold mechanism 9.Driving motor 8.3, the activity that driving motor 8.3 passes through coupling driving rotation support 8.1 are installed in fixed plate 7.1
Seat ring rotates；The coupling driving of the driving motor 8.3 is gear manner, synchronizing wheel and synchronous belt mode, sprocket wheel and chain side
One kind in formula, belt pulley and belt mode.The big manipulator of setting machine adds spinfunction, by changing clamping device
Rotation angle changes the stacking direction of adobe, so that the stacking mode of adobe is crisscross, is not reducing single brick vehicle production
The generation for the base event that collapses is avoided on the basis of amount.
As shown in fig. 6, clamping device 9 includes skeleton 9.1, cylinder 9.2, connecting rod 9.3, ambulatory splint 9.6 and geometrical clamp
Plate 9.7,9.1 top of skeleton are equipped with protective cover 9.8, and 9.1 one side of skeleton is equipped with strap 9.7, and 9.1 opposite side of skeleton leads to
It crosses linear bearing 9.5 and linear guide poles 9.4 is equipped with ambulatory splint 9.6, ambulatory splint 9.6 and strap 9.7 are located at respectively
It 9.1 both sides of skeleton and is mutually parallel, cylinder 9.2 and connecting rod 9.3 is installed between ambulatory splint 9.6 and strap 9.7.Folder
When holding adobe 9.9, provide power parallel pulling ambulatory splint 9.6 by cylinder 9.2, it is made to be led by linear bearing 9.5 in straight line
Left and right horizontal moves on column 9.4, and the stress surface of one side is to come into contact in a large area when adobe 9.9 clamps.Activity folder of the prior art
Plate is gripped after tilting, and stress surface only has the border area of clamping plate lower part.Compared with the prior art, folder of the invention
Forced area of the mechanism due to adding adobe clamping is held, is not in the phenomenon that adobe is crushed or deformed.
As shown in figure 5, the central point of clamping device 9 and 3 central point deviation distance A of portal frame, and clamping device 9 is mounted on
The direction of 2 one side of pipeline.
As shown in Figure 1 and Figure 2, during work, monolithic adobe 1.10 first is clamped by clamping device 1.1, afterwards X axis servo
Motor 1.6 drives L-shaped connecting plate 1.2.1 to be rotated by 90 °.L-shaped connecting plate 1.2.1 plays castering action while rotating, from
And the adobe that clamping device 1.1 is made to be clamped from brickmaking machine ejection station, it overturns to the angle for being suitble to be put into pipeline.It is same with this
When, Z axis servomotor 1.8 drives the support base 1.3 on vertical 1.4 top of cylinder to rotate, so as to drive rotary swinging arm 1.2 along Z axis
Direction rotates, and the angle of rotation can be within 50-160 degree, and concrete condition is according to the pose pattern and manipulator of brickmaking machine
Depending on mounting means.Rotary swinging arm 1.2 is rotated along Z-direction causes adobe to grab above pipeline, at this time clamping device 1.1
Release makes brick falling on the conveyor line steadily.After completing above step, gadget hand presses backtracking in case next piece of gripping
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 manipulator is located at 2 top of pipeline, is ready to crawl adobe；Gadget hand 1 is from brickmaking
13 ejection station of machine crawl monolithic adobe 1.10 is simultaneously placed on pipeline 2, as soon as often putting a piece adobe, pipeline is about one piece mobile
The distance of adobe, after the adobe number on pipeline reaches setting quantity, the clamping device 9 of big manipulator will be on pipeline
Adobe uniformly picks up, and elevating mechanism 6 is risen by linear guides, lifts clamping device 9；
(2) portal frame 3 is moved to by the brick vehicle for needing to pile up, and elevating mechanism 6 and X-motion mechanism 7 act on determining simultaneously
The stacking position of adobe, makes adobe fall exactly on brick vehicle；
(3) big manipulator returns to initial position and repeats step (1) and (2), so repeatedly until first layer adobe on brick vehicle
Line number reach setting value, start pile up second layer adobe；
(4) first reserve the position of a line adobe respectively in the left and right sides of second layer adobe, repeat step (1) and (2),
The full adobe of centre position code of the second layer on brick vehicle；
(5) big manipulator returns to initial position and repeats step (1), and portal frame 3 is moved to by the brick vehicle for needing to pile up, elevator
Structure 6 and X-motion mechanism 7 and rotating mechanism 8 act on stacking position and the angle for determining adobe simultaneously, and adobe is made to fall exactly
Reserved location on the left of brick vehicle repeats this operation, and the reserved location on the right side of brick vehicle piles up adobe, can so make the second layer
It is vertical with the stacking direction of other adobes that direction is piled up in the adobe of the left and right sides；
(6) steps be repeated alternatively until that the quantity of adobe on brick vehicle reaches setting value, and determine according to actual needs often row,
The stacking direction of every layer of adobe, the adobe piled up using the above method is crisscross, is not in the phenomenon that collapsing base.
Claims (9)
1. a kind of setting machine, including gadget hand, pipeline, using moveable portal frame as the big manipulator of frame and control
System processed；The both sides of brick vehicle track are equipped with guide rail parallel with it on ground, and guide rail one side is provided with on-land type gadget hand,
Moveable portal frame is installed, big manipulator is using the portal frame as frame, including elevating mechanism, X-motion machine on guide rail
Structure, rotating mechanism, clamping device；Linear guides on the riser of portal frame both sides are installed, elevator is installed in the middle part of portal frame
The rectangle frame of structure, the rectangle frame are slided by sliding block on linear guides on riser；Linear guides, X are installed on rectangle frame
Axial motion mechanism is horizontally slipped by sliding block on linear guides on rectangle frame；X-motion mechanism and rotating mechanism it
Between connected by fixed plate, rotating mechanism lower part is equipped with clamping device；It is filled it is characterized in that, the gadget hand includes clamping
It puts, rotary swinging arm, support base, vertical cylinder, adjusting seat, X axis servomotor and speed reducer, Z axis is to servomotor and deceleration
Machine；The vertical cylinder one side is provided with adjusting seat；The adjusting seat includes circular boop, V-arrangement connecting plate, L-shaped fixed plate, liner
Plate, bottom plate, X axis straight trough hole, Y-axis straight trough hole, bottom plate middle part are equipped with interior lining panel and upper and lower two V-arrangement connecting plates, each
The end of V-arrangement connecting plate is equipped with circular boop, which is bolted for two pairs of semicircle circular boops；The both sides peace of bottom plate
Equipped with L-shaped fixed plate, straight trough hole is equipped with along X-axis and Y direction on L-shaped fixed plate, be provided on interior lining panel on L-shaped fixed plate
The corresponding threaded hole in X axis straight trough hole is set on bottom plate and the corresponding threaded hole in Y-axis straight trough hole on L-shaped fixed plate.
2. setting machine as described in claim 1, which is characterized in that the portal frame includes standing on the riser of both sides, top peace
The crossbeam of dress and the pedestal for being used to support portal frame vertical plates on both sides, wherein riser and crossbeam are U-shaped；Divide on the pedestal of both sides
Servomotor is not installed.
3. setting machine as claimed in claim 2, which is characterized in that rotation is equipped with by support base above the vertical cylinder
Swing arm, rotary swinging arm one end are equipped with X axis servomotor and the speed reducer being connected with the motor, X axial directions servomotor institute
The cylinder of the speed reducer of connection is fixedly mounted with support base, and the rotary swinging arm other end is equipped with clamping device by L-shaped connecting plate；
The speed reducer that Z axis is connected to servomotor and with the motor is installed below vertical cylinder, Z axial direction servomotors are connected
The transmission shaft of speed reducer extend upwardly into vertical cylinder and pass through swivel bearing and be connected with support base.
4. setting machine as described in claim 1, which is characterized in that the elevating mechanism includes rectangle frame, servomotor, lose-lose
Go out worm-gear speed reducer, output shaft, rolling bearing units, sprocket wheel, driven sprocket and chain；Servomotor is located at the top of portal frame
On crossbeam, the both ends of crossbeam are equipped with sprocket wheel, and driven sprocket is equipped on portal frame pedestal, is connected between sprocket wheel and driven sprocket
There is chain；Servomotor is connected through dual output worm-gear speed reducer and output axis connection, the both ends of output shaft with sprocket wheel respectively,
Rolling bearing units are installed in the middle part of output shaft.
5. setting machine as described in claim 1, which is characterized in that the X-motion mechanism includes fixed plate, servo electricity
Machine, gear and rack are equipped with servomotor and gear in fixed plate, and rack is mounted on the middle part of the rectangle frame of elevating mechanism,
Servomotor drive gear rotates, gear mobile X-motion mechanism under the action of rack.
6. setting machine as described in claim 1, which is characterized in that the rotating mechanism includes fixed plate, rotation support and branch
Fagging, rotation support include permanent seat ring and movable seat ring；Fixed plate lower part is connected with rotatably supported permanent seat ring, rotation branch
The movable seat ring of support is mounted in support plate, and driving motor is equipped in fixed plate, and driving motor rotates branch by coupling driving
The movable seat ring rotation of support；The coupling driving of the driving motor is gear manner, sprocket wheel and chain mode, belt pulley and belt
One kind in mode.
7. setting machine as described in claim 1, which is characterized in that the clamping device includes skeleton, cylinder, connecting rod, work
Dynamic clamping plate and strap, skeleton top are equipped with protective cover, and skeleton one side is equipped with strap, and skeleton opposite side passes through straight
Spool is held is equipped with ambulatory splint with linear guide poles, and ambulatory splint and strap are located at skeleton both sides and are mutually parallel respectively,
Cylinder and connecting rod are installed between ambulatory splint and strap.
8. setting machine as described in claim 1, which is characterized in that the central point of the clamping device and portal frame central point are inclined
Separation is from A, and clamping device is mounted on the direction of pipeline one side.
9. the code blank technology of setting machine as described in claim 1, which is characterized in that comprise the following steps：
(1) initial position of big manipulator is located above pipeline, is ready to crawl adobe；Gadget hand is from brickmaking machine ejection
Station captures monolithic adobe and is placed on pipeline, as soon as often putting a piece adobe, pipeline moves the distance of about one piece of adobe, directly
After adobe number on to pipeline reaches setting quantity, the clamping device of big manipulator uniformly picks up the adobe on pipeline,
Elevating mechanism is risen by linear guides, lifts clamping device；
(2) portal frame is moved to by the brick vehicle for needing to pile up, and elevating mechanism and X-motion mechanism act on the code for determining adobe simultaneously
Position is put, adobe is made to fall exactly on brick vehicle；
(3) big manipulator returns to initial position and repeats step (1) and (2), so repeatedly until the row of first layer adobe on brick vehicle
Number reaches setting value, starts to pile up second layer adobe；
(4) first reserve the position of a line adobe respectively in the left and right sides of second layer adobe, step (1) and (2) is repeated, in brick vehicle
The full adobe of centre position code of the upper second layer；
(5) big manipulator returns to initial position and repeats step (1), and portal frame is moved to by the brick vehicle for needing to pile up, elevating mechanism and X
Axial motion mechanism and rotating mechanism act on stacking position and the angle for determining adobe simultaneously, adobe are made to fall exactly left in brick vehicle
The reserved location of side repeats this operation, and the reserved location on the right side of brick vehicle piles up adobe, can so make at left and right sides of the second layer
Adobe pile up direction it is vertical with the stacking direction of other adobes；
(6) repeat the above steps, until the quantity of adobe on brick vehicle reaches setting value, and definite often row, every layer of brick as needed
The stacking direction of base, the adobe of stacking are crisscross.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610328473.3A CN105836481B (en) | 2016-05-18 | 2016-05-18 | A kind of setting machine and code blank technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610328473.3A CN105836481B (en) | 2016-05-18 | 2016-05-18 | A kind of setting machine and code blank technology |
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| CN105836481A CN105836481A (en) | 2016-08-10 |
| CN105836481B true CN105836481B (en) | 2018-06-01 |
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| CN201610328473.3A Expired - Fee Related CN105836481B (en) | 2016-05-18 | 2016-05-18 | A kind of setting machine and code blank technology |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240430A (en) * | 2016-08-18 | 2016-12-21 | 温岭市盛开物流设备科技有限公司 | A kind of moving gantry type, rotatable automatic weighing vehicle-mounted Self-loading-unloading equipment |
| CN106113005A (en) * | 2016-08-24 | 2016-11-16 | 苏州神运机器人有限公司 | Portal frame |
| CN106346467B (en) * | 2016-11-18 | 2023-06-16 | 蔡群龙 | W-axis rotating mechanism and manipulator capable of rotating around z axis |
| CN108238451B (en) * | 2016-12-27 | 2019-11-05 | 北京京东尚科信息技术有限公司 | Palletizing method and palletizing apparatus |
| CN107199147B (en) * | 2017-07-25 | 2023-04-25 | 四川科立达智能系统有限公司 | Paint spraying production line for intelligent spraying door plate |
| CN109264413B (en) * | 2018-09-13 | 2020-09-11 | 深圳市俊隆环保科技有限公司 | Stacking system and control method thereof |
| CN111319988B (en) * | 2018-12-14 | 2021-06-29 | 广东昂锐机械制造有限公司 | Gantry type seamless stacking machine |
| 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 |
| CN110371559A (en) * | 2019-07-15 | 2019-10-25 | 南京能益泰科建材科技有限公司 | A kind of palletizing apparatus |
| CN113003226B (en) * | 2021-02-08 | 2022-09-23 | 山东交通学院 | Automatic carton sealing and stacking equipment |
| CN114802997A (en) * | 2022-03-11 | 2022-07-29 | 浙江江南户外用品有限公司 | Automatic packing and transporting stacking assembly line system and use method thereof |
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| CN105836481A (en) | 2016-08-10 |
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