CN106335787B - Online ceramic tile sorting device and workflow thereof - Google Patents
Online ceramic tile sorting device and workflow thereof Download PDFInfo
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- CN106335787B CN106335787B CN201611016619.7A CN201611016619A CN106335787B CN 106335787 B CN106335787 B CN 106335787B CN 201611016619 A CN201611016619 A CN 201611016619A CN 106335787 B CN106335787 B CN 106335787B
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- tiles
- control device
- ceramic tile
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
An on-line ceramic tile sorting device and a working flow thereof belong to the technical field of ceramic tile production equipment. The method is characterized in that: be equipped with the on-line measuring unit that is used for detecting the ceramic tile type on frame (1), on-line measuring unit and manipulator all link to each other with controlling means, on-line measuring unit is used for detecting the type of ceramic tile on conveyer belt (2) to give controlling means with signal transmission, controlling means is according to the ceramic tile on the signal control one or more manipulator absorption conveyer belt (2) that on-line measuring unit detects, and the ceramic tile of same type is piled up in arbitrary one or more ceramic tile storehouse (8), or controlling means controls one or more manipulators and absorbs ceramic tile in ceramic tile storehouse (8) on conveyer belt (2) according to the type in proper order. The ceramic tile online sorting device can realize sorting of ceramic tiles of different types and caching of the ceramic tiles; the ceramic tile online sorting device has simple workflow and can perfectly sort and cache the ceramic tiles.
Description
Technical Field
An on-line ceramic tile sorting device and a working flow thereof belong to the technical field of ceramic tile production equipment.
Background
Ceramic tile production line is used in ceramic tile production to improve the production efficiency of ceramic tile. Because the price of the tile production line is more expensive, and the requirements of users on the types of tiles are more, the tile manufacturers can produce different types of tiles on the same tile production line, so that the requirements of users on the diversity of the tiles can be met, the production efficiency of the tiles can be ensured, and the equipment investment can be reduced. The tile sorting device is a device for sorting tiles of different categories, so that the tile production line can meet the requirement of simultaneously producing tiles of multiple categories. In the ceramic tile production line, the problem that equipment is out of order or follow-up ceramic tile vanning or pile up neatly are untimely can appear, in order to overhaul equipment or cooperation work efficiency lower equipment, generally need reduce the production efficiency of whole ceramic tile production line to make the ceramic tile realize pipelined production. The long-term experimental observation of the inventor shows that in the ceramic tile production line, the working efficiency of the procedures such as the wrapping angle, boxing, stacking and the like of the ceramic tiles is generally low, the production efficiency of the ceramic tile production line is limited, the existing ceramic tile sorting device can only sort the ceramic tiles, the problems cannot be relieved, the production efficiency of the ceramic tile production line is influenced, and the production efficiency of the ceramic tiles is greatly limited.
Disclosure of Invention
The invention aims to solve the technical problems that: overcomes the defects of the prior art, and provides a ceramic tile on-line sorting device capable of sorting ceramic tiles on a conveyor belt on line and sucking the ceramic tiles on the conveyor belt into a ceramic tile warehouse for caching and a working flow thereof.
The technical scheme adopted for solving the technical problems is as follows: this ceramic tile on-line sorting device, its characterized in that: the device comprises a frame, a plurality of manipulators and a control device, wherein the manipulators and the control device are arranged at intervals along the length direction of the frame, a plurality of tile libraries are symmetrically arranged on two sides of the frame, a conveyor belt for conveying tiles is arranged along the length direction of the frame, an on-line detection unit for detecting tile types is arranged on the frame, the on-line detection unit and the manipulators are connected with the control device, the on-line detection unit is used for detecting the types of the tiles on the conveyor belt, signals are transmitted to the control device, the control device controls one or more manipulators to absorb the tiles on the conveyor belt according to the signals detected by the on-line detection unit, and stacks the tiles of the same type in any one or more tile libraries, or the control device controls one or more manipulators to absorb the tiles in the tile libraries onto the conveyor belt in sequence according to the types.
Preferably, the machine frame is further provided with an offline detection unit, the offline detection unit is connected with the control device, the offline detection unit is used for detecting the types of the tiles in each tile warehouse and transmitting signals to the control device, and the control device controls the manipulator to suck the tiles in the tile warehouse onto the conveying belt according to the signals detected by the offline detection unit.
Preferably, the manipulator comprises a travelling mechanism and a suction mechanism, wherein the travelling mechanism is arranged on the frame, the suction mechanism is arranged on the travelling mechanism, and the travelling mechanism and the suction mechanism are connected with the control device.
Preferably, the suction mechanism comprises a suction mechanism main body, a w-axis travelling mechanism and a sucker, wherein the w-axis travelling mechanism is arranged on the suction mechanism main body, the w-axis travelling mechanism is connected with the sucker and drives the sucker to move along the conveying direction of the conveying belt, and the suction mechanism main body is arranged on the travelling mechanism; the suction mechanism main body is provided with a speed detection unit for detecting the tile conveying speed, and the speed detection unit is connected with the control device.
Preferably, the w-axis travelling mechanism comprises a linear module and a w-axis motor, wherein the sucker is slidably arranged on the linear module through a sucker mounting plate, and the w-axis motor is connected with the linear module and drives the sucker to move through the linear module.
Preferably, the sucking disc can be installed on the sucking disc mounting plate in a vertical sliding mode, a buffer spring is arranged between the sucking disc mounting plate and the sucking disc, the buffer spring is in a compressed state, the upper end of the buffer spring is supported on the sucking disc mounting plate, and the lower end of the buffer spring is supported on the upper portion of the sucking disc.
Preferably, the travelling mechanism comprises an x-axis travelling mechanism and a z-axis travelling mechanism, the x-axis travelling mechanism is arranged on the frame and drives the suction mechanism to move along the width direction of the frame, the z-axis travelling mechanism is arranged on the x-axis travelling mechanism and drives the suction mechanism to vertically lift, and the suction mechanism is arranged on the z-axis travelling mechanism.
Preferably, the z-axis travelling mechanism is provided with a gravity balancing mechanism for balancing the gravity of the suction mechanism.
The work flow of the ceramic tile online sorting device is characterized in that: the method comprises the following steps:
a, detecting the type of the ceramic tile by an online detection unit and transmitting a signal to a control device;
b, the control device controls one or more manipulators to absorb the tiles on the conveyer belt, and stacks the tiles of the same category in any one or more tile libraries;
and c, controlling one or more manipulators to sequentially suck the tiles in the tile warehouse onto the conveying belt according to the types by the control device.
Compared with the prior art, the invention has the following beneficial effects:
1. the on-line detection unit of the ceramic tile on-line sorting device can detect the types of ceramic tiles on the conveyor belt, the control device controls the manipulator to stack the ceramic tiles of different types in one or more ceramic tile libraries, and the control device can also control the manipulator to sequentially suck the ceramic tiles on the conveyor belt, so that the sorting of the ceramic tiles of different types can be realized, the caching of the ceramic tiles can be realized, the equipment in the subsequent process is failed or the ceramic tiles are not processed timely, the ceramic tiles are cached, the obstruction to the ceramic tile production line is avoided, the ceramic tile sorting is performed on line, the original ceramic tile conveyor belt is not required to be changed, the use is simple and convenient, and the ceramic tile production efficiency is greatly improved.
2. The off-line detection unit can detect the types of the tiles in the pallet warehouse, so that when more tiles are in the tile warehouse, the tiles can be moved out and stacked again in the tile warehouse, when the stacked tiles are placed in the tile warehouse, the off-line detection unit can detect the types of the tiles, and the control device places the tiles on the conveyor belt according to the types of the tiles, so that the situation that the tile warehouse is not used enough can be avoided, the number of the tile warehouse is reduced, and the size of equipment is reduced.
3. The travelling mechanism can drive the suction mechanism to travel, so that the ceramic tile is sucked and put down, and the plurality of manipulators are arranged at intervals, so that the work of different manipulators cannot interfere with each other.
4. The speed detection unit can detect the speed of the tile on the conveyor belt, so that the w-axis travelling mechanism drives the sucker to travel rapidly and is the same as the speed of the tile, the tile is conveniently sucked by the sucker, and the tile can be prevented from damaging the sucker in the sucking process.
5. The w-axis motor drives the sucker to walk through the linear module, so that the structure is simple, the control is convenient, and the installation of the sucker is convenient.
6. The buffer spring can buffer the sucker, and when the sucker contacts the ceramic tile, the sucker is allowed to move upwards by a certain displacement due to the existence of the buffer spring, so that damage to the suction mechanism and the travelling mechanism is avoided.
7. The gravity balance mechanism can balance the gravity of the suction mechanism, so that the running of the z-axis running mechanism is ensured to be more stable.
8. The ceramic tile online sorting device is simple in workflow, and the ceramic tile warehouse and the sucked manipulator can be freely selected according to the condition of the ceramic tiles on the conveying belt and the condition of the ceramic tile warehouse, so that the ceramic tiles can be perfectly sorted and cached.
Drawings
Fig. 1 is a schematic perspective view of an on-line tile sorting apparatus.
Fig. 2 is a partial enlarged view at a in fig. 1.
Fig. 3 is a perspective view of an x-axis running gear.
Fig. 4 is a perspective view of the z-axis running gear.
Fig. 5 is a schematic perspective view of the suction means.
Fig. 6 is a schematic front view of the suction means.
Fig. 7 is a schematic view of the mounting of the suction cup.
In the figure: 1. the device comprises a frame 2, a conveying belt 3, a travelling mechanism 4, an x-axis travelling mechanism 5, a z-axis travelling mechanism 6, a suction mechanism 7, an electric control cabinet 8, a ceramic tile warehouse 9, an x-axis guide rail 10, a cross beam 11, an x-axis motor 12, a z-axis motor 13, a mounting frame 14, a stand column 15, a z-axis guide rail 16, a z-axis synchronous belt 17, a suction mechanism main body 18, a w-axis motor 19, a suction cup 20, a suction cup mounting plate 21, a linear module 22, a buffer spring 23, a sleeve 24, a mounting bolt 25 and a fastening nut.
Detailed Description
Fig. 1 to 7 are diagrams illustrating preferred embodiments of the present invention, and the present invention is further described below with reference to fig. 1 to 7.
The utility model provides an online sorting device of ceramic tile, including frame 1, a plurality of manipulators and the controlling means of length direction interval setting along frame 1, the bilateral symmetry of frame 1 is equipped with a plurality of ceramic tile warehouses 8, a conveyer belt 2 for carrying the ceramic tile sets up along the length direction of frame 1, be equipped with the on-line detection unit that is used for detecting the ceramic tile category on frame 1, on-line detection unit and manipulator all link to each other with controlling means, on-line detection unit is used for detecting the category of ceramic tile on the conveyer belt 2, and give controlling means with signal transmission, controlling means is according to the signal control one or more manipulators that detects absorbs the ceramic tile on the conveyer belt 2, and pile up neatly in arbitrary one or more ceramic tile warehouses 8 with the ceramic tile of same category, or controlling means control one or more manipulators absorb ceramic tile in the ceramic tile warehouse 8 according to the category on conveyer belt 2 in proper order. The on-line detection unit of the ceramic tile on-line sorting device can detect the types of ceramic tiles on the conveyer belt 2, the control device controls the mechanical arm to stack the ceramic tiles of different types in one or a plurality of ceramic tile libraries 8, and the mechanical arm can be controlled to sequentially suck the ceramic tiles on the conveyer belt 2, so that the sorting of the ceramic tiles of different types can be realized, the caching of the ceramic tiles can be realized, the equipment in the subsequent working procedure is failed or the ceramic tiles are not treated timely, the ceramic tiles are not cached, the ceramic tile production line is prevented from being hindered, the ceramic tile sorting is performed on line, the original ceramic tile conveyer belt 2 is not required to be changed, and the ceramic tile on-line sorting device is simple and convenient to use, and the ceramic tile production efficiency is greatly improved.
Specific: as shown in fig. 1-2: the frame 1 is a cuboid frame, and a plurality of supporting legs are arranged on two sides of the frame 1 along the length direction at intervals, so that a plurality of tile libraries 8 are formed on the front side and the rear side of the frame 1 to meet stacking requirements of tiles of different categories. The conveyer belt 2 is arranged along the length direction of the frame 1, and the conveyer belt 2 is arranged between the tile libraries 8 on the front side and the rear side of the frame 1, so that the tiles are conveyed.
The on-line detection unit is provided at the left end of the frame 1 so as to detect the type of tile when the tile enters the frame 1. The on-line detection unit is a photoelectric sensor. The machine frame 1 on one side of each tile warehouse 8 is further provided with an offline detection unit, the offline detection unit is connected with the control device, and the offline detection unit is used for detecting the types of tiles in the tile warehouse 8, so that the types of the tiles in the tile warehouse 8 can be detected, after stacking in the tile warehouse 8 is completed, the tiles can be moved out, when the tiles are placed on the conveying belt 2, the tiles are moved into the tile warehouse 8, and the offline detection unit can detect the types of the tiles, so that the tiles can be sequentially placed on the conveying belt 2 according to the types. The off-line detection unit is a photoelectric sensor. The control device is an electric control cabinet 7.
The four manipulators are arranged on the frame 1 at intervals, so that the requirement on the ceramic tile sorting speed can be met, and mutual interference among the manipulators can be avoided. Eight ceramic tile libraries 8 are symmetrically arranged on two sides of four manipulators, and each manipulator corresponds to two ceramic tile libraries 8.
The manipulator comprises a travelling mechanism 3 and a suction mechanism 6, and the travelling mechanism 3 comprises an x-axis travelling mechanism 4 and a z-axis travelling mechanism 5. The two ends of the x-axis travelling mechanism 4 are fixed on the front side and the rear side of the frame 1, the z-axis travelling mechanism 5 is arranged on the x-axis travelling mechanism 4, the suction mechanism 6 is arranged on the z-axis travelling mechanism 5, the x-axis travelling mechanism 4 drives the z-axis travelling mechanism 5 and the suction mechanism 6 to travel along the width direction of the frame 1, and the z-axis travelling mechanism 5 drives the suction mechanism 6 to vertically lift.
As shown in fig. 3: the x-axis travelling mechanism comprises a cross beam 10, an x-axis motor 11 and an x-axis synchronous belt. Synchronous pulleys are respectively arranged at two ends of the cross beam 10, and the axes of the synchronous pulleys are vertically arranged. The x-axis motor 11 is arranged at the left end of the cross beam 10, the x-axis motor 11 is horizontally arranged, and an output shaft of the x-axis motor 11 is connected with a synchronous pulley at the left end of the cross beam 10 and drives the synchronous pulley at the left end of the cross beam 10 to rotate. The beam 10 is provided with a mounting frame 13 in a sliding manner, and two ends of the x-axis synchronous belt are fixedly connected with the mounting frame 13 after bypassing synchronous pulleys at two ends of the beam 10, so that the mounting frame 13 is driven to move along the axial direction. The z-axis running gear 5 is mounted on a mounting frame 13.
The upper side of the cross beam 10 is also provided with an axis adjusting mechanism for adjusting the axis of the synchronous pulley, the axis adjusting mechanism is a bolt arranged on two sides of the cross beam 10, the synchronous pulley is arranged on the cross beam 10 through a synchronous pulley mounting seat, the lower end of the bolt pushes the synchronous pulley mounting seat to move up and down, so that the angle between the axis of the synchronous pulley and a vertical surface is adjusted, a thrust for pushing the x-axis synchronous belt to move upwards can be generated between the synchronous pulley and the x-axis synchronous belt and used for counteracting the gravity of the x-axis synchronous belt, and the x-axis synchronous belt is prevented from being separated from the synchronous pulley under the action of gravity.
Be equipped with x axle guiding mechanism between mounting bracket 13 and the crossbeam 10, x axle guiding mechanism includes x axle guide rail 9 and sets up the spout on mounting bracket 13, and x axle guide rail 9 has two, and the symmetry sets up in the upper and lower both sides of crossbeam 10, and the axis parallel arrangement of axis and crossbeam 10 of x axle guide rail 9, and x axle guide rail 9 cooperatees with the spout on the mounting bracket 13 to the removal to mounting bracket 13 is led. The mounting bracket 13 is formed by connecting steel plates through bolts, the front side of the mounting bracket 13 is a cuboid box body with openings on the left side and the right side, and the mounting bracket 13 is sleeved on the outer side of the cross beam 10. The upper portion and the lower part of mounting bracket 13 all are equipped with the strengthening rib, and the strengthening rib sets up along the direction of the axis of perpendicular to crossbeam 10, and the strengthening rib is by the toper that is close to one side of z axle running gear 5 and narrows gradually to the opposite side to guaranteed the intensity of mounting bracket 13, avoided unilateral load to cause the destruction to mounting bracket 13. In order to avoid damage to the mounting frame 13 by a single-sided load, two x-axis guide rails 9 may also be provided on the upper part of the cross beam 10.
An encoder is coaxially mounted on a synchronous pulley at one end far away from the x-axis motor 11, and can feed back a rotating speed signal of the x-axis motor 11 to a frequency converter, so that the rotating speed of the x-axis motor 11 is controlled through the frequency converter, the traveling speed of the x-axis traveling mechanism 4 is further controlled, the rotating angle of the x-axis motor 11 can be detected, and the traveling distance along the width direction of the frame 1 is detected. Limiting blocks for limiting the mounting frame 13 are arranged at two ends of the cross beam 10.
As shown in fig. 4: the z-axis running gear includes a column 14, a z-axis motor 12, and a z-axis timing belt 16. The stand 14 slidable mounting is on the mounting bracket 13, and stand 14 vertical setting, suction means 6 installs the lower extreme at stand 14. The lower extreme of z axle hold-in range 16 and stand 14 lower extreme fixed connection, the upper end and the stand 14 upper end fixed connection of z axle hold-in range 16, the synchronous pulley with the meshing of z axle hold-in range 16 is installed in the rotation on the mounting bracket 13, and synchronous pulley's axis level sets up, and the vertical installation of z axle motor 12 is in mounting bracket 13 one side, and the output shaft of z axle motor 12 links to each other with synchronous pulley to drive synchronous pulley rotation, thereby realize the lift of stand 14.
The vertical columns 14 on two adjacent sides of the z-axis synchronous belt 16 are respectively provided with a z-axis guide rail 15, the z-axis guide rails 15 are vertically arranged, the mounting frame 13 is provided with a chute matched with the z-axis guide rails 15, and the z-axis guide rails 15 are matched with the chute so as to guide the vertical columns 14.
A gravity balance mechanism is further arranged between the mounting frame 13 and the upright post 14 and used for balancing the gravity of the upright post 14 and the suction mechanism 6 arranged on the upright post 14, so that the lifting stability of the upright post 14 is ensured.
The gravity balance mechanism comprises a balance cylinder and a balance synchronous belt, the lower end of the balance cylinder is arranged on the mounting frame 13, and the axis of the balance cylinder is parallel to the axis of the upright post 14. The lower extreme of balanced hold-in range and the middle part fixed connection of stand 14, upper portion and the piston rod fixed connection of balanced cylinder to balance the gravity of stand 14, reduced the power that z axle hold-in range 16 bore, thereby make the walking of stand 14 more steady, and then guaranteed the precision of work. The balance cylinder is connected with a precise pressure regulating valve, so that the air pressure in the balance cylinder is kept balanced, the weight of the upright post 14 is balanced, the upright post 14 can be prevented from falling off when the power is off, and the use is safe.
And a gravity balance tensioning mechanism is arranged above the balance cylinder. The gravity balance tensioning mechanism comprises a tensioning wheel, the tensioning wheel is rotatably arranged on a piston rod of the balance cylinder and synchronously rises and falls along with the piston rod of the balance cylinder, and the upper end of the balance synchronous belt is fixedly connected with the upright post 14 after bypassing the tensioning wheel. The bolt for adjusting the height of the tensioning wheel is arranged below the tensioning wheel, pushes the tensioning wheel in the axial direction of the tensioning wheel through the bolt, and tightens the balance synchronous belt.
A balance guide mechanism for guiding is arranged between the balance cylinder and the upright post 14. The balance guide mechanism comprises a guide shaft and a guide sleeve, the lower end of the guide shaft is fixedly connected with the upper end of a piston rod of the balance cylinder and synchronously rises and falls along with the piston rod of the balance cylinder, and the guide shaft is parallel to the axis of the balance cylinder. The guide sleeve is fixedly connected with the upright post 14, and the guide sleeve is arranged on the outer side of the guide shaft in a sliding manner. The guide sleeve guides the motion of the guide shaft, so that the piston rod of the balance cylinder is ensured to vertically lift, and damage to the balance cylinder due to the fact that the upright post 14 inclines during lifting is avoided.
The balance guide mechanisms are symmetrically arranged on two sides of the balance cylinder, so that the balance cylinder is better protected.
As shown in fig. 5 to 6: the suction means comprises a suction means body 17, a w-axis travelling mechanism and a suction cup 19. The w-axis travelling mechanism is arranged on the suction mechanism main body 17, and the sucker 19 is arranged on the w-axis travelling mechanism through the sucker mounting plate 20. The suction mechanism main body 17 is further provided with a speed detection unit, the speed detection unit is connected with the control device, the speed detection unit can detect the speed of the tile on the conveying belt 2 and transmit signals to the control device, the control device controls the w-axis travelling mechanism to drive the sucker 19 to move and to be the same as the moving speed of the tile on the conveying belt 2, at the moment, the sucker 19 sucks the tile on the conveying belt 2, and the sucker 19 sucks the tile when kept relatively stationary, so that the sucker 19 can be ensured to firmly suck the tile, the tile and the sucker 19 can be prevented from moving relatively, and damage to the sucker 19 is caused.
The w-axis travelling mechanism comprises a w-axis motor 18 and a linear module 21, wherein the linear module 21 is horizontally arranged on the suction mechanism main body 17, the w-axis motor 18 is arranged on the suction mechanism main body 17 at one end of the linear module 21, and the w-axis motor 18 is connected with the linear module 21. The sucking disc 19 is installed on sucking disc mounting panel 20, and sucking disc 19 has four, and sucking disc mounting panel 20 has two, and the both ends of every sucking disc mounting panel 20 all symmetry is equipped with a sucking disc 19, and two sucking disc mounting panels 20 pass through the connecting rod and connect, be equipped with on the connecting rod with linear module 21 on the guide rail matched with spout to install on linear module 21 through the spout, and have linear module 21 to drive and realize the motion. Limiting units are arranged on the w-axis travelling mechanism along the two sides of the motion direction of the sucker 19, and the limiting units are photoelectric switches, so that the movement of the sucker 19 is limited.
The suction mechanism main body 17 is also provided with a tile detection unit for detecting tiles, the tile detection unit is a photoelectric sensor, and the tile detection unit is used for detecting whether the suction cup 19 sucks tiles.
As shown in fig. 7: the sucking disc mounting plate 20 is rectangular steel plate, and the tip of sucking disc mounting plate 20 is equipped with the through-hole that is used for installing sucking disc 19, and sucking disc 19 passes through mounting bolt 24 and installs on sucking disc mounting plate 20. The lower extreme of mounting bolt 24 passes behind the through-hole on sucking disc mounting panel 20 and sucking disc 19 upper portion fixed connection, the cover is equipped with buffer spring 22 on the mounting bolt 24 between sucking disc mounting panel 20 and sucking disc 19, buffer spring 22 is in compressed state, buffer spring 22's lower extreme supports on sucking disc 19 upper portion, the upper end supports on sucking disc mounting panel 20 to promote sucking disc 19 downward movement to the minimum position, when sucking disc 19 and ceramic tile contact, owing to buffer spring 22's existence, can allow sucking disc 19 to upwards move one section displacement, thereby can avoid causing the damage to sucking mechanism 6.
The sleeve 23 is sleeved on the mounting bolt 24 above the sucker mounting plate 20, threads are arranged on the outer wall of the sleeve 23, a fastening nut 25 is arranged on the outer wall of the sleeve 23, and the outer diameter of the sleeve 23 is slightly smaller than the diameter of the through hole of the sucker mounting plate 20. The lower part of the sleeve 23 extends into the through hole and is supported on the suction cup mounting plate 20 by the fastening nut 25, and the upper part of the sleeve 23 is supported on the upper part of the mounting bolt 24, thereby facilitating the adjustment of the height of the suction cup 19 by the fastening nut 25.
The working flow of the ceramic tile online sorting device comprises the following steps:
a, detecting the type of the ceramic tile by an online detection unit and transmitting a signal to a control device;
the on-line detection unit detects the type of tile entering the frame 1 and transmits a signal to the control device.
b, the control device controls one or more manipulators to absorb the tiles on the conveyor belt 2, and stacks the tiles of the same category in any one or more tile libraries 8;
the control device controls one or more manipulators to suck the tiles on the conveyor belt 2 according to the type information of the tiles and stacks the same tiles in one or more tile libraries 8. When selecting the manipulator, if the number of the ceramic tiles of the type is more, the control device controls the plurality of the manipulators to suck and stack the ceramic tiles in the plurality of ceramic tile libraries 8, and if the number of the ceramic tiles of the type is less, the control device controls one manipulator to suck and stack the ceramic tiles in one ceramic tile library 8. If all of the tile magazine 8 has been filled with tiles, the tiles can be removed, freeing the tile magazine 8 for continued palletising of tiles.
c, the control device controls one or more manipulators to sequentially suck the tiles in the tile warehouse 8 onto the conveyor belt 2 according to the types;
the control device controls one or more manipulators to sequentially transfer the tiles in the tile warehouse 8 onto the conveyor belt 2 according to the types, so that the classification and the caching of the tiles are completed. When the ceramic tiles of the category are more, the control device can control the plurality of manipulators to transfer the ceramic tiles, and when the ceramic tiles of the category are less, the control device can control one manipulator to transfer the ceramic tiles of the category.
And the tiles removed from the tile warehouse 8 in the step b can be moved into the empty tile warehouse 8 again, and when the tiles are moved into the empty tile warehouse 8, the offline detection units corresponding to the tile warehouse 8 can detect the types of the tiles and transmit signals to the control device, and the control device can transfer the tiles onto the conveyor belt 2 according to the type signals of the tiles.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. An online sorting device of ceramic tile, its characterized in that: the device comprises a frame (1), a plurality of manipulators and a control device, wherein the manipulators and the control device are arranged at intervals along the length direction of the frame (1), a plurality of tile libraries (8) are symmetrically arranged on two sides of the frame (1), a conveying belt (2) for conveying tiles is arranged along the length direction of the frame (1), an on-line detection unit for detecting the types of the tiles is arranged on the frame (1), the on-line detection unit and the manipulators are connected with the control device, the on-line detection unit is used for detecting the types of the tiles on the conveying belt (2) and transmitting signals to the control device, and the control device controls one or more manipulators to suck the tiles on the conveying belt (2) according to the detected signals of the on-line detection unit, and stacks the tiles of the same type in any one or more tile libraries (8), or controls one or more manipulators to suck the tiles in the tile libraries (8) onto the conveying belt (2) in sequence according to the types;
the manipulator comprises a travelling mechanism (3) and a suction mechanism (6), wherein the travelling mechanism (3) is arranged on the frame (1), the suction mechanism (6) is arranged on the travelling mechanism (3), and the travelling mechanism (3) and the suction mechanism (6) are connected with a control device;
the travelling mechanism (3) comprises an x-axis travelling mechanism (4) and a z-axis travelling mechanism (5), the x-axis travelling mechanism (4) is arranged on the frame (1) and drives the suction mechanism (6) to move along the width direction of the frame (1), the z-axis travelling mechanism (5) is arranged on the x-axis travelling mechanism (4) and drives the suction mechanism (6) to vertically lift, and the suction mechanism (6) is arranged on the z-axis travelling mechanism (5);
the X-axis running mechanism comprises a cross beam (10), an X-axis motor (11) and an X-axis synchronous belt, synchronous pulleys are respectively arranged at two ends of the cross beam (10), the axis of each synchronous pulley is vertically arranged, an output shaft of the X-axis motor (11) is connected with the synchronous pulley at the left end of the cross beam (10) and drives the synchronous pulley at the left end of the cross beam (10) to rotate, a mounting frame (13) is slidably arranged on the cross beam (10), and two ends of the X-axis synchronous belt are fixedly connected with the mounting frame (13) after bypassing the synchronous pulleys at the two ends of the cross beam (10), so that the mounting frame (13) is driven to axially move;
the upper part of the cross beam (10) is also provided with an axis adjusting mechanism for adjusting the axis of the synchronous pulley, the axis adjusting mechanism is a bolt arranged on two sides of the cross beam (10), the synchronous pulley is arranged on the cross beam (10) through a synchronous pulley mounting seat, the lower end of the bolt pushes the synchronous pulley mounting seat to move up and down, and accordingly the angle between the axis of the synchronous pulley and the vertical surface is adjusted, and a thrust for pushing the x-axis synchronous belt to move up can be generated between the synchronous pulley and the x-axis synchronous belt.
2. The tile on-line sorting apparatus of claim 1, wherein: the machine frame (1) is also provided with an offline detection unit, the offline detection unit is connected with a control device, the offline detection unit is used for detecting the types of tiles in each tile warehouse (8) and transmitting signals to the control device, and the control device controls the mechanical arm to suck the tiles in the tile warehouse (8) onto the conveying belt (2) according to the signals detected by the offline detection unit.
3. The tile on-line sorting apparatus of claim 1, wherein: the suction mechanism (6) comprises a suction mechanism main body (17), a w-axis traveling mechanism and a sucker (19), wherein the w-axis traveling mechanism is arranged on the suction mechanism main body (17), the w-axis traveling mechanism is connected with the sucker (19) and drives the sucker (19) to move along the conveying direction of the conveying belt (2), and the suction mechanism main body (17) is arranged on the traveling mechanism; the suction mechanism main body (17) is provided with a speed detection unit for detecting the tile conveying speed, and the speed detection unit is connected with the control device.
4. An on-line tile sorting apparatus according to claim 3, wherein: the w-axis travelling mechanism comprises a linear module (21) and a w-axis motor (18), wherein the sucker (19) is slidably arranged on the linear module (21) through a sucker mounting plate (20), and the w-axis motor (18) is connected with the linear module (21) and drives the sucker (19) to move through the linear module (21).
5. The tile on-line sorting apparatus of claim 4, wherein: the sucker (19) can be installed on the sucker mounting plate (20) in a vertical sliding mode, a buffer spring (22) is arranged between the sucker mounting plate (20) and the sucker (19), the buffer spring (22) is in a compressed state, the upper end of the buffer spring (22) is supported on the sucker mounting plate (20), and the lower end of the buffer spring is supported on the upper portion of the sucker (19).
6. The tile on-line sorting apparatus of claim 1, wherein: the z-axis travelling mechanism (5) is provided with a gravity balancing mechanism for balancing the gravity of the suction mechanism (6).
7. A workflow of an on-line tile sorting device according to any one of claims 1 to 6, characterized in that: the method comprises the following steps:
a, detecting the type of the ceramic tile by an online detection unit and transmitting a signal to a control device;
b, the control device controls one or more manipulators to absorb the tiles on the conveyer belt (2) and stacks the tiles of the same category in any one or more tile libraries (8);
and c, controlling one or more manipulators to sequentially suck the tiles in the tile warehouse (8) onto the conveying belt (2) according to the types by the control device.
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| CN112896982A (en) * | 2019-11-19 | 2021-06-04 | 新华（湖南）医疗技术有限公司 | Pneumatic clamp control system based on machine vision |
| CN111289285A (en) * | 2020-02-12 | 2020-06-16 | 镇江北新建材有限公司 | Full-automatic synchronous sampling system of gypsum board |
| CN112425619A (en) * | 2021-01-04 | 2021-03-02 | 成都松川雷博机械设备有限公司 | Direct-discharge type multi-channel farci food forming method |
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