CN106379746B - Method and system for transferring and stacking ceramic tiles based on pallet - Google Patents

Method and system for transferring and stacking ceramic tiles based on pallet Download PDF

Info

Publication number
CN106379746B
CN106379746B CN201611016658.7A CN201611016658A CN106379746B CN 106379746 B CN106379746 B CN 106379746B CN 201611016658 A CN201611016658 A CN 201611016658A CN 106379746 B CN106379746 B CN 106379746B
Authority
CN
China
Prior art keywords
pallet
ceramic tile
manipulator
station
stacking
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.)
Active
Application number
CN201611016658.7A
Other languages
Chinese (zh)
Other versions
CN106379746A (en
Inventor
周继刚
谢东
陈建军
罗必喜
李建华
孙佩
李�杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong Aiersheng Intelligent Technology Co ltd
Original Assignee
Shandong Aiersheng Intelligent Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shandong Aiersheng Intelligent Technology Co ltd filed Critical Shandong Aiersheng Intelligent Technology Co ltd
Priority to CN201611016658.7A priority Critical patent/CN106379746B/en
Publication of CN106379746A publication Critical patent/CN106379746A/en
Application granted granted Critical
Publication of CN106379746B publication Critical patent/CN106379746B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0291—Speed of the load carrier
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Manipulator (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

A pallet-based ceramic tile transferring and stacking method and system belong to the field of ceramic tile production equipment. The method is characterized in that: the stacking operation area is defined by guardrails (8), a pallet storage station (4) and a ceramic tile stacking station (6) are arranged in the stacking operation area, a conveying device (1) is arranged at the rear end of the stacking operation area, a manipulator (3) is arranged above the stacking operation area, a control cabinet is arranged outside the stacking operation area, and a control unit is arranged in the control cabinet. Through the ceramic tile transfer stacking system of the pallet, automatic placement of the pallet in the ceramic tile stacking station and automatic clamping, moving and placement of the pallet in the ceramic tile stacking station from a conveying device at the tail end of a packaging line to the ceramic tile stacking station are realized, a large amount of waste of manpower and material resources is avoided, the possibility of collision of products during manual carrying is greatly improved, and the product phase of the products is guaranteed.

Description

Method and system for transferring and stacking ceramic tiles based on pallet
Technical Field
A pallet-based ceramic tile transferring and stacking method and system belong to the field of ceramic tile production equipment.
Background
At present, the production capacity is rapidly increasing with the increasing demand of ceramic tiles for society. In the prior art, tiles are sintered from a kiln and then enter a packaging line, in which a plurality of tiles are loaded into a package, and are sent out from the end of the packaging line after being subjected to binding, packing and other steps. The packaged tiles are conveyed and stacked manually after being sent out by a packaging line. Because the weight of ceramic tile itself is heavier, consequently the manual work can waste a large amount of manpower and material resources when carrying and putting things in good order, and the workman can waste a large amount of physical powers in handling simultaneously, and efficiency is very low. Meanwhile, as the ceramic tiles are fragile products, the ceramic tiles are often collided in the carrying process, so that the products are damaged and cannot be sold, and the production cost is increased to a certain extent.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method and the system for transferring and stacking the ceramic tiles based on the pallet overcome the defects of the prior art, automatically clamp, transfer and stack the ceramic tiles, avoid a large amount of waste of manpower and material resources, improve labor efficiency and simultaneously ensure that products are intact.
The technical scheme adopted by the invention for solving the technical problems is as follows: the ceramic tile transferring and stacking method based on the pallet is characterized in that: comprises the following steps
Step 1001, initialize, and execute the reset subroutine,
initializing the system, and after initialization, preparing to grab the ceramic tiles;
step 1002, the manipulator moves to a working position,
the manipulator moves from an original position to a working position;
step 1003, judging whether a ceramic tile is stored in the ceramic tile overturning station or not,
the lower computer judges whether a ceramic tile is placed in the ceramic tile overturning station or not, if so, the step 1008 is executed, and if no ceramic tile is placed in the ceramic tile overturning station, the step 1004 is executed;
step 1004, judging whether an empty ceramic tile stacking station exists or not,
the lower computer judges whether a ceramic tile stacking station without the pallet is arranged in the pallet detection module, if yes, step 1005 is executed, and if no ceramic tile stacking station without the pallet is arranged, the execution step 1003 is returned;
step 1005, judging whether the pallet is stored in the pallet storing station,
the lower computer judges whether a pallet is reserved in the pallet storage station, if so, step 1006 is executed, and if no pallet is reserved in the pallet storage station, step 1007 is executed;
step 1006, the pallet is grabbed,
the lower computer controls the manipulator to grab a pallet from the pallet storage station and place the pallet into the vacant ceramic tile stacking station;
step 1007, alarming;
the lower computer controls the alarm system to alarm;
step 1008, judging whether a pallet is arranged in the ceramic tile stacking station,
the lower computer judges whether an available pallet is placed in the ceramic tile stacking station or not according to the pallet detection module, if the available pallet is placed, step 1012 is executed, and if no available pallet is placed in the ceramic tile stacking station, step 1009 is executed;
step 1009, judge whether there is an empty ceramic tile stacking station,
the lower computer judges whether a ceramic tile stacking station without the pallet is arranged in the pallet detection module, if yes, step 1010 is executed, and if no ceramic tile stacking station without the pallet is arranged, the lower computer returns to the step 1007;
step 1010, judging whether a pallet is stored in the pallet storage station,
the lower computer judges whether a pallet is reserved in the pallet storage station, if so, step 1011 is executed, and if no pallet is reserved in the pallet storage station, step 1007 is executed;
step 1011, the pallet is grabbed,
the lower computer controls the manipulator to grab a pallet from the pallet storage station and place the pallet into the vacant ceramic tile stacking station;
in step 1012, the tile is grabbed,
and the lower computer controls the mechanical arm to place the ceramic tiles on the pallet in the ceramic tile stacking station from the ceramic tile overturning station according to the ceramic tile transferring subprogram and the ceramic tile placing subprogram, and then the step 1002 is returned.
Preferably, the tile transferring subroutine of step 1012 includes the steps of:
step 2001, calculating to obtain the total moving distance a of the manipulator;
the control unit calculates and determines the total moving distance a of the manipulator on the plane where the X axis and the Y axis are located according to the moving starting point and the moving end point of the manipulator;
step 2002, dividing the moving distance a into a plurality of moving sections: section a 1 … … section a n ；
The control unit divides the total moving distance a of the manipulator into a plurality of moving sections from the moving starting point of the manipulator according to a distance segmentation principle: section a 1 … … section a n ；
Step 2003, moving at a first speed;
the manipulator starts from the starting point and moves at a first speed in a section a 1 Moving inwards;
step 2004, if the robot enters section a 2 ；
The control unit judges whether the manipulator has entered the section a 2 If entering section a 2 Executing step 2005, otherwise, returning to executing step 2003;
step 2005, run at a second speed;
the control unit controls the manipulator in section a 2 Moving at a second speed lower than the first speed;
step 2006, determine if the manipulator enters zone a n ；
The control unit judges whether the manipulator has entered the section a n If entering section a n Step 2008 is executed, otherwise step 2007 is executed;
step 2007, operating at the N-1 speed;
the control unit controls the manipulator to move at the N-1 th speed;
step 2008, moving at the Nth speed;
the control unit controls the manipulator to move at the Nth speed lower than the Nth-1 speed in the section an, and stops moving when the manipulator moves to the moving end point.
Preferably, the distance segmentation rule in step 2002 is: determining a deceleration point as a section a in the entire travel distance a of the manipulator 2 Is a section a between the deceleration point and the movement start point of the manipulator 1 The distance between the deceleration point and the moving end point of the manipulator is divided equally to form a section a 2 Section a n 。
Preferably, the tile transferring subroutine of step 1012 includes the steps of:
step 3001, determining a falling height;
the control unit determines the falling distance of the manipulator according to the height of the pallet surface and the height of the bottom of the ceramic tile;
step 3002, whether the tile needs to be rotated;
the control unit judges whether the pack of tiles needs to be rotated before falling, if so, executes step 3003, and if not, executes step 3004;
step 3003, rotating the manipulator;
the control unit determines the angle of the ceramic tile to be rotated according to the preset position of the ceramic tile package on the pallet and drives the manipulator to rotate by the corresponding angle;
step 3004, the manipulator falls;
the control unit controls the manipulator to fall down, so that the bottom surface of the ceramic tile is tightly attached to the upper surface of the pallet, and the ceramic tile is placed;
step 3005, returning the manipulator;
the manipulator loosens the ceramic tile and then resets to continue the grabbing and transferring of the next pack of ceramic tiles.
The utility model provides a ceramic tile shifts system of putting things in good order based on pallet which characterized in that: include the stacking operation district that is enclosed by the guardrail, the station is deposited to the pallet and at least one ceramic tile stacking station are deposited to the pallet that is provided with the storage pallet in stacking operation district, rear end in stacking operation district is provided with the conveyer that is used for transporting the ceramic tile, top in stacking operation district is provided with the manipulator, a ceramic tile stacking station is put into to the pallet that is used for depositing the station with the pallet in the station, and shift ceramic tile on the conveyer to the pallet in the ceramic tile stacking station, be provided with the switch board in stacking operation district outside, be provided with the control unit in the switch board.
Preferably, the control unit comprises an upper computer and a lower computer which is bidirectionally connected with the upper computer, and a variable frequency control module which drives the manipulator to act is connected to an output port of the lower computer;
be connected with on the input port of host computer and be used for judging whether the ceramic tile pile up neatly station in place the pallet detection module of pallet, be used for judging whether conveyer end exist the ceramic tile detection module of ceramic tile and be used for carrying out spacing module to the removal of manipulator.
Preferably, the pallet detection module is a photoelectric switch arranged at the bottom of the ceramic tile stacking station; the tile detection module is a photoelectric switch arranged at the tail end of the conveying device.
Preferably, the input port of the lower computer is further provided with safety gratings, and the safety gratings are arranged on two sides of the opening at the front end of the stacking operation area.
Preferably, the frequency conversion control module comprises four frequency converters and four frequency conversion motors in one-to-one correspondence with the frequency converters, the four frequency conversion motors are respectively used for realizing linear motion of the manipulator in X-axis, Y-axis and Z-axis directions and rotary motion of the manipulator in W-axis direction around the rotation of the manipulator, and encoders connected with the lower computer are arranged on the four frequency conversion motors.
Compared with the prior art, the invention has the beneficial effects that:
1. through the ceramic tile transferring and stacking system of the pallet, the automatic placement of the pallet in the ceramic tile stacking station and the automatic clamping, moving and placement of the pallet in the ceramic tile stacking station from a conveying device at the tail end of a packaging line to the ceramic tile stacking station are realized, a large amount of waste of manpower and material resources is avoided, the labor efficiency is greatly improved, the possibility of collision on products during manual carrying is avoided, and the product quality is guaranteed.
2. Whether have the pallet to carry out the pallet detection module that detects to its inside through placing in ceramic tile stacking station, because of not placing the ceramic tile damage that the pallet caused in the ceramic tile stacking station when can effectively preventing to place the ceramic tile.
3. By providing the tile detection module at the end of the conveyor, the control unit can detect the tile immediately after it has been transported at the conveyor, thus avoiding the stagnation of the tile at the conveyor.
4. A group of safety gratings are arranged at two ends of the opening at the front end of the stacking operation area, a grating line is formed at the opening at the front end of the stacking operation area by the safety gratings, and when a worker mistakenly breaks into the stacking operation area during operation, the operation is stopped immediately in the stacking operation area, so that danger is effectively avoided.
5. In the present transfer stacking method, the moving distance of the manipulator is divided into a plurality of sections by a tile transfer subroutine: section a 1 … … section a n And from section a 1 The manipulator is enabled to run at different speeds in a speed decreasing mode, so that the moving speed of the manipulator is higher at the initial moving stage, the integral running speed of the manipulator is ensured, the running efficiency of the system is improved, the manipulator and the total weight of the clamped ceramic tiles are heavier, the manipulator runs at a low speed at the final moving stage, the inertia caused by the weight of the manipulator and the ceramic tiles is reduced, and the positioning accuracy and the running stability of the system are improved.
Drawings
Fig. 1 is a top view of a pallet-based tile transfer stacking system.
Fig. 2 is a block diagram of the control unit of the pallet-based tile transfer and stacking system.
Fig. 3 is a front view schematically showing the robot.
Fig. 4 is a schematic top view of a robot.
Fig. 5 is a perspective view of the robot driving mechanism.
Fig. 6 is a flow chart of a pallet-based ceramic tile transfer stacking method.
Fig. 7 is a flow chart of a pallet-based tile transfer stacking method tile transfer subroutine.
Fig. 8 is a flow chart of a pallet-based tile transferring and stacking method tile placing subroutine.
Fig. 9 is a flow chart of a pallet-based tile transferring and stacking method tile placing subroutine.
Wherein: 1. conveyor 2, ceramic tile upset station 3, manipulator 301, pallet clamp guide plate 302, finger mounting panel 303, splint limit photoelectric switch 304, snatch mechanism body 305, finger guide bearing 306, pallet snatch finger 307, ceramic tile splint 308, splint mounting panel 309, splint open and close cylinder 310, pallet snatch cylinder 311, splint open and close gear 312, splint open and close rack 313, ceramic tile inductor 314, pallet snatch gear 315, pallet snatch rack 4, pallet storage station 5, pallet 6, ceramic tile stacking station 7, pallet detection switch 8, guardrail 9, safety grating.
Detailed Description
Fig. 1 to 9 are preferred embodiments of the present invention, and the present invention will be further described with reference to fig. 1 to 9.
As shown in figure 1, a ceramic tile shifts system of piling up based on pallet (hereinafter referred to as the system of piling up for short), include a rectangle region that is enclosed by guardrail 8, the operation district is put up and put up for the ceramic tile in this rectangle region inside, and rectangle region one end is the open end to establish this open end as the front end of putting up the operation district, set up the opening through the front end in putting up the operation district, make things convenient for the transport means to get into the inside of putting up the operation district and will accomplish the ceramic tile of putting up and put up and transport.
The inside pallet that is provided with a plurality of pallets 5 of depositing of putting things in good order operation district deposits station 4 and at least one ceramic tile and puts things in good order station 6, a manipulator 3 has been erect in the top of putting things in good order operation district, be conveyer 1 of ceramic tile baling line at the rear of putting things in good order operation district, the ceramic tile that conveyer 1 sent to is shifted to the pallet by conveyer 1 to deposit in station 4 by manipulator 3 and carries out the putting in good order, in this shifts the system of putting things in good order, ceramic tile puts things in good order station 6 and is provided with two, the symmetry sets up respectively and deposits the both sides of station 4 at the pallet. The tail end of the conveying device 1 is provided with a tile overturning station 2 which is used for overturning tiles horizontally placed on the conveying device 1 to be vertically placed so as to be convenient for clamping of the manipulator 3. In the transfer stacking system, the long side direction of the rectangular stacking work area is set as the X-axis direction when the robot 3 moves, the short side direction of the stacking work area is set as the Y-axis direction when the robot 3 moves, the direction in which the robot 3 moves up and down in the stacking work area is set as the Z-axis direction when the robot 3 moves, and the robot 3 can perform a rotation (W-axis) motion around itself.
A group of safety gratings 9 are arranged at two ends of the opening at the front end of the stacking operation area, a grating line is formed at the opening at the front end of the stacking operation area by the safety gratings 9, and when a worker mistakenly breaks into the stacking operation area during operation, the operation is stopped immediately in the stacking operation area, so that danger is effectively avoided. Be provided with photoelectric switch in the bottom of ceramic tile upset station 2 for whether detect and leave the ceramic tile that does not shift in ceramic tile upset station 2, be provided with pallet detection switch 7 in the bottom of ceramic tile stacking station 6, be used for detecting and whether placed pallet 5 in ceramic tile stacking station 6 inside. A control cabinet (not shown in the figure) of the transferring and stacking system is arranged outside the stacking operation area, and a control unit for controlling the working state of the transferring and stacking system is arranged in the control cabinet.
As shown in fig. 2, the control unit of the present transfer stacking system includes: the system comprises an upper computer, a lower computer and a frequency converter, wherein the upper computer is realized by a touch screen arranged on a cabinet door of a control cabinet, the lower computer is realized by a PLC arranged in the control cabinet, and the upper computer and the lower computer are connected in a two-way mode. The lower computer simultaneously controls four frequency converters, each frequency converter corresponds to a variable frequency motor, the four variable frequency motors respectively correspond to the actions of the X-axis, the Y-axis, the Z-axis and the W-axis directions of the manipulator 3, each variable frequency motor is correspondingly provided with an encoder, and the output end of each encoder is connected to the signal input end of the lower computer.
A proximity switch, a limit switch, a grating module, a tile detection switch and a pallet detection module are respectively connected to the signal input end of the lower computer, wherein the tile detection module is the photoelectric switch arranged at the bottom of the tile overturning station 2 and is used for detecting whether an untransferred tile is left in the tile overturning station 2; the pallet detection module is the pallet detection switch 7 arranged at the bottom of the ceramic tile stacking station 6 and used for detecting whether the pallet 5 is placed in the ceramic tile stacking station 6 or not; the grating module is a safety grating 9 arranged at the opening at the front end of the stacking operation area, and when the safety grating 9 is shielded, the lower computer controls the manipulator 3 to stop acting. The proximity switch and the limit switch are switches for detecting the position of the manipulator 3 when moving in the X-axis and Y-axis directions respectively, and are used for preventing the manipulator 3 from moving out of control in the moving process.
As shown in FIGS. 3-4: the manipulator 3 comprises a pallet grabbing mechanism and a ceramic tile grabbing mechanism. The pallet grabbing mechanism and the ceramic tile grabbing mechanism are both installed on the grabbing mechanism main body 304, and the grabbing mechanism main body 304 is a cuboid shell. The output chain wheel of the variable frequency motor corresponding to the w shaft is fixedly connected with the middle part of the grabbing mechanism main body 304 and drives the mechanical arm 3 to rotate synchronously.
The pallet grabbing mechanism includes pallet grabbing fingers 306 and finger power units that push the pallet grabbing fingers 306 open and closed. The pallet grabbing finger 306 is in a V shape, one end of the pallet grabbing finger 306 is connected with the finger power unit, the other end of the pallet grabbing finger is provided with a baffle used for blocking the grabbed pallet 5, and the pallet is prevented from sliding down in the grabbing process, so that danger is caused. The pallet gripping fingers 306 are four in number and are disposed at four corners of the gripping mechanism body 304. The pallet grabbing fingers 306 are mounted on the finger mounting plate 302, and the finger mounting plate 302 is fixedly connected with the finger power unit.
The pallet clamping guide plate 301 is arranged on the grabbing mechanism body 304, the pallet clamping guide plate 301 corresponds to the pallet grabbing fingers 306 one by one, and the pallet clamping guide plate 301 is fixed on the side face of the grabbing mechanism body 304. The free end of the pallet clamping guide plate 301 is gradually concave arc from bottom to top. The pallet grabbing fingers 306 are hinged to the finger mounting plate 302 and a torsion spring is provided between the pallet grabbing fingers 306 and the finger mounting plate 302, so that the pallet grabbing fingers 306 are in an open state when they are disengaged from the pallet clamping guide plate 301. The pallet gripping fingers 306 are rotatably mounted with finger guide bearings 305, the finger guide bearings 305 being disposed between the hinge point and the pallet clamping guide plate 301. The finger power unit pushes the pallet grabbing fingers 306 to move towards the left side and the right side respectively, so that the pallet grabbing fingers 306 are separated from the pallet clamping guide plate 301, and the pallet grabbing fingers 306 are in an open state under the action of the torsion springs and the gravity of the pallet grabbing fingers 306; the finger power unit drives the pallet grabbing finger 306 to move from two sides to the middle, so that the finger guide bearing 305 enters the free end of the pallet clamping guide plate 301, and the pallet clamping guide plate 301 guides the pallet grabbing finger 306, thereby completing grabbing and clamping of the pallet.
The tile gripping mechanism comprises a tile clamping plate 307 and a clamping plate power unit for pushing the tile clamping plate 307 to move axially. The upper end of the tile clamping plate 307 is mounted on the clamping plate mounting plate 308, and the other end is a free end. The clamping plate power unit is connected with the clamping plate mounting plate 308 and pushes the clamping plate mounting plate 308 to move horizontally, thereby realizing the clamping and the loosening of the ceramic tile. One side that ceramic tile splint 307 and ceramic tile contacted is equipped with rubber, is used for the friction of increase with the ceramic tile on the one hand, and on the other hand can produce cushioning effect, avoids bumping with the ceramic tile to damage the ceramic tile. The lower end of the tile clamping plate 307 is inclined toward the middle so that the tile can be better clamped.
When gripping a tile in the thickness direction, the tile retaining plate 307 may be installed at an end of the retaining plate mounting plate 308 near the middle of the gripping mechanism body 304, and when gripping a tile in the width or length direction, the tile retaining plate 307 may be installed at an end of the retaining plate mounting plate 308 near the outside of the gripping mechanism body 304. Two tile clamping plates 307 for mutually matching and clamping tiles are a pair, the tile clamping plates 307 have two pairs, and the clamping plate mounting plates 308 correspond to the tile clamping plates 307 one by one.
A tile grabbing limiting unit is arranged above the grabbing mechanism main body 304. The tile grabbing limiting unit is a clamping plate limiting photoelectric switch 303, each pair of clamping plate limiting photoelectric switches 303 are two, and the two clamping plate limiting photoelectric switches 303 are used for detecting the initial position and the end position of the clamping plate power unit respectively, so that limiting is completed. The clamp plate limit photoelectric switches 303 are provided in two pairs, and limit clamp plate power units which drive the two pairs of tile clamp plates 307 to move respectively.
This manipulator 3 can enough accomplish snatching pallet 5, can realize again the snatching of ceramic tile, and degree of automation is high, and the precision that pallet 5 placed is high moreover, can not make ceramic tile slope, convenient to use when the pile up neatly.
As shown in fig. 5: a pallet transmission mechanism is provided between the finger power unit and the finger mounting plate 302. The finger power unit is pallet grabbing cylinder 310, and there is one pallet grabbing cylinder 310, and installs in the middle part of grabbing mechanism body 304, and the pallet grabbing cylinder 310's piston rod links to each other with pallet drive mechanism, and finger mounting panel 302 links to each other with pallet drive mechanism.
The pallet drive mechanism includes a pallet grabbing gear 314 and a pallet grabbing rack 315. The pallet grabbing gear 314 is rotatably mounted within the grabbing mechanism body 304 with the axis of the pallet grabbing gear 314 disposed vertically. The two pallet grabbing racks 315 are symmetrically disposed on two sides of the pallet grabbing gear 314, and one end of the two pallet grabbing racks 315 extends out of the grabbing mechanism main body 304 and is fixedly connected to the finger mounting plate 302. The pallet grabbing cylinder 310 is fixedly connected with one pallet grabbing rack 315, and pushes the pallet grabbing rack 315 to move axially, and the pallet grabbing rack 315 drives another pallet grabbing rack 315 to move in the opposite direction through the pallet grabbing gear 314, so that the pallets on two sides are grabbed and the fingers 306 are opened and closed synchronously.
The outside of the pallet grabbing rack 315 is provided with a bearing for pressing the pallet grabbing rack 315 onto the pallet grabbing gear 314, and the bearing is mounted on the grabbing mechanism main body 304 through a bolt.
The number of the clamping plate power units is two, and the two clamping plate power units are respectively arranged at two sides of the pallet grabbing cylinder 310 and respectively drive the two pairs of ceramic tile clamping plates 307 to open and close. Each clamping plate power unit comprises two clamping plate opening and closing cylinders 309, and piston rods of the two clamping plate opening and closing cylinders 309 are fixedly connected and move synchronously. The clamp plate limit photoelectric switch 303 limits the tile clamp plate 307 by detecting the position of the piston rod of the clamp plate opening and closing cylinder 309.
A splint transmission mechanism is arranged between the splint power unit and the splint mounting plate 308. The splint transmission mechanism includes a splint opening and closing gear 311 and a splint opening and closing rack 312. The splint opening and closing gear 311 is rotatably installed on the grasping mechanism main body 304, and the axis of the splint opening and closing gear 311 is vertically arranged. The number of the clamping plate opening and closing racks 312 is two, the two clamping plate opening and closing racks are symmetrically arranged on two sides of the clamping plate opening and closing gear 311, and the two clamping plate opening and closing racks 312 are respectively and fixedly connected with the clamping plate mounting plate 308 for mounting the same pair of tile clamping plates 307. The piston rods of the two splint opening and closing cylinders 309 are connected with one splint opening and closing rack 312, and drive the splint opening and closing rack 312 to move, and the splint opening and closing rack 312 drives the other splint opening and closing rack 312 to move in the opposite direction through the splint opening and closing gear 311. Two sides of the splint opening and closing rack 312 are respectively provided with a bearing for pushing the splint opening and closing rack 312 to press the splint opening and closing gear 311.
A tile sensor 313 is arranged below the pallet grabbing gear 314, and the tile sensor 313 is used for detecting whether the tile clamping plate 307 grabs tiles and detecting whether the pallet grabbing finger 306 grabs the pallet 5.
As shown in fig. 6, the pallet-based tile transferring and stacking method (hereinafter referred to as transferring and stacking method) includes the following steps:
step 1001, initializing and executing a reset subprogram;
the system is initialized and after initialization, the gripping of the tiles is ready.
Before initialization, the upper computer is used for selecting a grabbing program to be executed by the manipulator 3, and after the grabbing program is selected, the manipulator 3 executes grabbing operation according to a preset grabbing program.
The grabbing program is a grabbing flow scheme which is written into an upper computer in advance through upper computer software, in the transferring and stacking method, the area of a stacking operation area is marked by coordinates, after the coordinate marking of the stacking operation area is completed, the coordinates of a ceramic tile stacking station 6 and pallet storage stations 4 on two sides of the ceramic tile stacking station are determined, and meanwhile, the original position of a manipulator 3 and the coordinates of a working position are determined. When the grabbing flow scheme is written in, the stacking rule of the ceramic tiles on each pallet 5 is set at the same time, and after the stacking rule of the ceramic tiles on the pallet 5 is completed, the coordinates of each package of ceramic tiles in the stacking working area and the relative position relation (parallel or vertical) of the ceramic tiles and the X axis (or the Y axis) are determined. When the flow scheme is snatched in actual writing-in, can set up the mode of putting of multiple ceramic tile on pallet 5 as required.
Step 1002, the manipulator 3 moves to a working position;
the robot 3 moves from the home position to the working position.
Step 1003, judging whether a ceramic tile is stored in the ceramic tile overturning station 2;
the lower computer judges whether a ceramic tile is placed in the ceramic tile overturning station 2 or not, if so, the step 1008 is executed, and if no ceramic tile is placed in the ceramic tile overturning station 2, the step 1004 is executed;
step 1004, judging whether an empty ceramic tile stacking station 6 exists or not;
the lower computer judges whether a ceramic tile stacking station 6 without the pallet 5 is arranged in the pallet detection module, if the ceramic tile stacking station 6 without the pallet 5 is arranged, step 1005 is executed, and if the ceramic tile stacking station 6 without the pallet 5 is not arranged, the execution step 1003 is returned to;
step 1005, judging whether a pallet 5 is arranged in the pallet storage station 4;
the lower computer judges whether the pallet is stored in the station 4 and the pallet 5 is left, if the pallet 5 is left, step 1006 is executed, and if the pallet is not stored in the station 4, step 1007 is executed.
Step 1006, grabbing the pallet 5;
the lower machine controls the manipulator 3 to pick a pallet 5 from the pallet storage station 4 and place it in the empty tile stacking station 6.
Step 1007, alarming;
the lower computer controls an alarm system (such as an alarm lamp and an alarm) to give an alarm, and the alarm is processed manually.
Step 1008, judging whether a pallet 5 is arranged in the ceramic tile stacking station 6;
the lower machine judges whether an available pallet 5 is placed in the ceramic tile stacking station 6 or not according to the setting of the pallet detection module, if the available pallet 5 is placed, step 1012 is executed, and if no available pallet 5 is placed in the ceramic tile stacking station 6, step 1009 is executed.
A usable pallet 5 means a pallet 5 that is not filled with tiles in the tile stacking station 6.
Step 1009, judge whether there is vacant ceramic tile that stacks the station 6;
the lower computer judges whether a ceramic tile stacking station 6 for not placing the pallet 5 exists or not according to the setting at the pallet detection module, if the ceramic tile stacking station 6 for not placing the pallet 5 exists, step 1010 is executed, and if the ceramic tile stacking station 6 for not placing the pallet 5 does not exist, step 1007 is executed in a returning mode.
Step 1010, judging whether a pallet 5 is arranged in the pallet storage station 4;
the lower computer judges whether the pallet is stored in the station 4 and the pallet 5 is left, if the pallet 5 is left, step 1011 is executed, and if the pallet is not stored in the station 4, step 1007 is executed.
Step 1011, grabbing the pallet 5;
the lower machine controls the manipulator 3 to pick a pallet 5 from the pallet storage station 4 and place it in the empty tile stacking station 6.
Step 1012, grabbing the ceramic tile;
the lower computer control mechanical arm 3 places the ceramic tiles from the ceramic tile overturning station 2 to the pallet 5 in the ceramic tile stacking station 6 according to the ceramic tile transferring subprogram and the ceramic tile placing subprogram, and then returns to the step 1002.
Constantly shift the in-process of pallet 5 from ceramic tile upset station 2 at manipulator 3 with the ceramic tile, the next machine constantly sends the state of putting things in good order of ceramic tile to the host computer in, the display screen of host computer shows in real time the state of putting things in good order on pallet 5, counts the quantity of putting things in good order of the ceramic tile on pallet 5, constantly send the position of putting things in good order of next package ceramic tile to the next machine simultaneously, control the control of snatching of next package ceramic tile by next machine control manipulator 3 execution.
As shown in fig. 7, the above-mentioned tile transfer subroutine comprises the following steps:
step 2001, calculating the movement distance a of the manipulator 3;
and the upper computer determines the total moving distance a of the manipulator 3 on the plane of the X axis and the Y axis according to the coordinates of the working position of the manipulator 3 and the coordinates of the stacked ceramic tiles.
Step 2002, dividing the moving distance a into a plurality of moving sections: section a 1 … … section a n ；
The host computer divides into a plurality of removal sections with manipulator 3 on X axle and the total distance a of removal on the plane of Y axle place, uses the coordinate that waits to reach the position as the starting point and ceramic tile of manipulator 3 as the terminal point, divide into in proper order: section a 1 … … section a n 。
Step 2003, moving at a first speed;
motors for driving the manipulator 3 in the X-axis direction and the Y-axis direction are driven by the lower machine to simultaneously operate, and the manipulator 3 is driven in the section a 1 Moving at a first speed;
step 2004, whether the robot 3 enters the section a 2 ；
The upper computer judges whether the manipulator 3 enters the section a 2 If entering section a 2 Step 2005 is executed, otherwise step 2003 is returned to.
Step 2005, run at a second speed;
the robot 3 is moving into section a 2 Then, the lower level machine decelerates the motors driving the robot 3 in the X-axis direction and the Y-axis direction by the corresponding inverters, and moves the robot 3 in the section a2 at a second speed lower than the first speed;
as the manipulator 3 is driven by the corresponding motor to operate continuously, the manipulator 3 enters the section 3 and the section 4 … …, namely the section a （n-1） And sequentially moves at the third speed and the fourth speed … … of the N-1 th speed with decreasing speeds in the corresponding section, so the process is not repeated.
Step 2006, run at speed N-1;
the robot 3 is moving into section a （n-1） Thereafter, the lower computer controls motors for driving the robot 3 in the X-axis direction and the Y-axis direction so that the robot 3 performs the N-1 st speed segment a （n-1） Moving inwards;
step 2007, a manipulator3 whether or not to enter zone a n ；
The upper computer judges whether the manipulator 3 enters the section a n If entering section a n Step 2008 is executed, otherwise step 2006 is executed.
Step 2008, moving at the Nth speed;
the robot 3 is moving into section a n Thereafter, the lower computer controls motors for driving the robot 3 in the X-axis direction and the Y-axis direction so that the robot 3 rotates in the N-th speed section a n Moving inwards;
step 2009, stop;
when the manipulator 3 moves to the tile target position, the lower machine stops the movement of the manipulator 3 by the corresponding motor.
In the present transfer stacking method, the moving distance of the robot 3 is divided into several sections by the tile transfer subroutine: section a 1 … … section a n And from section a 1 The manipulator 3 is started to run at different speeds in a speed decreasing mode, so that the moving speed of the manipulator 3 is higher at the initial moving stage of the manipulator 3, the overall running speed of the manipulator 3 is ensured, the running efficiency of the system is improved, the manipulator 3 and the ceramic tiles clamped by the manipulator are heavier in total weight, the manipulator 3 runs at a low speed at the final moving stage of the manipulator 3, the inertia caused by the weight of the manipulator 3 and the ceramic tiles is reduced, and the positioning accuracy and the running stability of the system are improved.
Section a 1 … … section a n The setting principle is as follows: in the entire movement distance a of the robot 3, a point (denoted as point a) is reversely determined as a section a from the movement end point of the robot 3 as a start point 2 So that the distance between the starting point of the robot 3 and the point a is the section a 1 The distance between point a and the end of movement of the robot 3 (i.e. the target position of the tile) is bisected to form a segment a 2 Section a n . Since the starting position of each pack of tiles is the same and the target position is different, the total distance a that the manipulator 3 moves when moving each pack of tiles is variable, and after segmentation is performed according to the segmentation principle, point a is a point a that is mechanically dividedThe end point of the hand 3 is determined in the opposite direction with reference to the reference, so that the section a 2 Section a n The total distance of (a) and the distance of each section are constant values, and the section a 1 Is varied with the total distance a.
As shown in fig. 8, the above tile placing subroutine includes the following steps:
step 3001, determining a falling height;
after the manipulator 3 clamping the ceramic tiles moves above the pallet 5, the upper computer determines the falling distance of the manipulator 3 according to the height of the surface of the pallet 5 and the height of the bottom of the ceramic tiles, namely the moving distance of the manipulator 3 on the Z axis.
Step 3002, whether the tile needs to be rotated;
the upper computer judges whether the package of ceramic tiles needs to be rotated before falling according to a preset ceramic tile stacking rule on the pallet 5, namely whether the manipulator 3 needs to act on the W shaft, if the package of ceramic tiles needs to be rotated, the step 3003 is executed, and if the package of ceramic tiles does not need to be rotated, the step 3004 is executed;
step 3003, rotating the manipulator 3;
the upper computer determines the angle of the ceramic tile to be rotated according to the preset position of the ceramic tile package on the pallet 5, and sends a control signal to the lower computer, and the lower computer drives the corresponding motor to act to drive the manipulator 3 to rotate so as to rotate the ceramic tile by the corresponding angle;
step 3004, the manipulator 3 falls;
the lower computer drives the corresponding motor to act, so that the mechanical arm 3 falls for a preset distance, the bottom surface of the ceramic tile is tightly attached to the upper surface of the pallet 5, and the ceramic tile is placed.
Step 3005, returning the manipulator 3;
the manipulator 3 releases the tiles and then, after a corresponding distance has risen, returns to the working position to continue the gripping and transfer of the next pack of tiles.
As shown in fig. 9, the reset subroutine includes the following steps:
step 4001, resetting the device without alarm;
the lower computer determines that the system is in an alarm-free state, and then the mechanical arm 3 is reset and started.
Step 4002, determining whether the Z axis is reset;
the lower computer judges whether the Z axis of the manipulator 3 is reset, if the Z axis is not reset, step 4003 is executed, and if the Z axis is reset, step 4004 is executed.
Step 4003, resetting the Z axis;
and the Z axis of the manipulator is reset and rises to the original point.
Step 4004, resetting other axes;
the lower computer controls the X axis, the Y axis and the W axis to reset;
step 4005, reset is finished;
the reset subroutine ends.
The specific working process and working principle are as follows:
when the ceramic tile that needs to accomplish the baling is shifted to ceramic tile pile up and put things in good order station 6 departments on by the terminal ceramic tile upset station 2 of baling line, operating personnel selects the procedure of snatching that needs to carry out through the host computer, and manipulator 3 removes and begins work to the waiting position, carries out snatching, shifting and placing the operation of ceramic tile.
Manipulator 3 is after the start work, whether the pallet 5 has not been placed in the first judgement two ceramic tiles stacking station 6 of next machine, if all not place pallet 5 in two ceramic tiles stacking station 6, manipulator 3 is at first deposited station 4 interior clamp from the pallet and is got a pallet 5 and put into one of them ceramic tile stacking station 6 in, because every pallet 5's height is the definite value, consequently after putting into ceramic tile stacking station 6 with pallet 5, the height on 5 surfaces of pallet in the station 6 is put things in good order to the host computer automatic recording ceramic tile, as the reference when placing the ceramic tile.
After the operation of putting into ceramic tile pile-up station 6 with pallet 5 once is accomplished at manipulator 3, the next machine judges at first whether there is the ceramic tile that has not snatched in ceramic tile upset station 2, if there is the ceramic tile that has not snatched yet, manipulator 3 at first drops to ceramic tile upset station 2 department and snatchs the ceramic tile, if there is not the ceramic tile that has not snatched yet in the ceramic tile upset station 2, manipulator 3 continues to deposit the interior clamp of station 4 from the pallet and gets pallet 5 and put into the ceramic tile pile-up station 6 that has not placed pallet 5 yet. Above-mentioned judgement and the grabbing of pallet 5 are carried out repeatedly, pallet 5 has all been placed in every ceramic tile pile up position 6.
After the manipulator 3 snatchs the ceramic tile from ceramic tile upset station 2, manipulator 3 rises to waiting for the station at first, then is driven corresponding motor operation by the next machine, makes manipulator 3 remove in X axle and Y axle direction simultaneously, removes to the top of the pallet 5 that needs to place. Before the manipulator 3 moves in the X-axis and Y-axis directions, the upper computer calculates the total distance of the manipulator 3 moving in the X-axis and Y-axis directions and divides the total distance into a plurality of sections, the manipulator 3 drives the manipulator 3 to run at the highest speed before moving to the second section in the process of moving in the X-axis and Y-axis directions, when entering the second section, the third section, … … and the Nth section, the moving speed of the manipulator 3 is reduced in sequence, and after the manipulator 3 moves above the placing position of the ceramic tile, the movement of the manipulator 3 in the X-axis and Y-axis directions is completed.
After the manipulator 3 moves to the placing position of the ceramic tile, the upper computer sends the calculated falling height of the manipulator 3 and a control instruction of whether the ceramic tile needs to be rotated to the lower computer, if the ceramic tile rotates, the lower computer firstly controls the corresponding motor to act, so that the manipulator 3 acts on a W shaft and rotates by a corresponding angle, and if the ceramic tile does not need to rotate, the lower computer controls the corresponding motor to act, so that the manipulator 3 acts on a Z shaft, and the ceramic tile is placed on the upper surface of the pallet 5. And after the manipulator 3 finishes placing the ceramic tiles, loosening the ceramic tiles and returning to the working position, and continuously grabbing the next ceramic tile pack.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims (9)

1. A ceramic tile transferring and stacking method based on a pallet is characterized in that: comprises the following steps
Step 1001, initializing a system, and preparing to grab a ceramic tile after initialization;
step 1002, moving a mechanical arm (3) from an original position to a working position;
step 1003, the lower computer judges whether a ceramic tile is placed in the ceramic tile overturning station (2), if so, step 1008 is executed, and if no ceramic tile is placed in the ceramic tile overturning station (2), step 1004 is executed;
1004, judging whether a ceramic tile stacking station (6) without the pallet (5) is arranged at the lower computer, if so, executing 1005, and if not, returning to the step 1003;
step 1005, the lower computer judges whether the pallet (5) is stored in the pallet storing station (4), if the pallet (5) is stored, the step 1006 is executed, and if the pallet (5) is not stored in the pallet storing station (4), the step 1007 is executed;
step 1006, the lower computer controls the mechanical arm (3) to grab a pallet (5) from the pallet storage station (4) and place the pallet into the vacant ceramic tile stacking station (6);
step 1007, the lower computer controls the alarm system to alarm;
step 1008, the lower computer judges whether an available pallet (5) is placed in the ceramic tile stacking station (6) or not according to the pallet detection module, if the available pallet (5) is placed, step 1012 is executed, and if no available pallet (5) is placed in the ceramic tile stacking station (6), step 1009 is executed;
step 1009, the lower computer judges whether a ceramic tile stacking station (6) without the pallet (5) is present, if the ceramic tile stacking station (6) without the pallet (5) is present, step 1010 is executed, and if the ceramic tile stacking station (6) without the pallet (5) is not present, the lower computer returns to the step 1007;
step 1010, the lower computer judges whether a pallet (5) is stored in the pallet storage station (4), if the pallet (5) is stored, step 1011 is executed, and if the pallet (5) is not stored in the pallet storage station (4), step 1007 is executed;
step 1011, the lower computer controls the mechanical arm (3) to grab a pallet (5) from the pallet storage station (4) and place the pallet into the vacant ceramic tile stacking station (6);
and step 1012, the lower computer controls the mechanical arm (3) to place the ceramic tiles on the pallet (5) in the ceramic tile stacking station (6) from the ceramic tile overturning station (2) according to the ceramic tile transferring subprogram and the ceramic tile placing subprogram, and then the step 1002 is returned.
2. The pallet-based tile transfer stacking method according to claim 1, wherein: the tile transfer subroutine described in step 1012, comprising the steps of:
step 2001, calculating the total moving distance a of the manipulator (3);
the control unit calculates and determines the total moving distance a of the manipulator (3) on the plane where the X axis and the Y axis are located according to the moving starting point and the moving end point of the manipulator (3);
step 2002, dividing the moving distance a into a plurality of moving sections: section a 1 … … section a n ；
The control unit divides the total moving distance a of the manipulator (3) into a plurality of moving sections from the moving starting point of the manipulator (3) according to a distance segmentation principle: section a 1 … … section a n ；
Step 2003, moving at a first speed;
the manipulator (3) starts from the starting point and moves at a first speed in a section a 1 Moving inwards;
step 2004, whether the manipulator (3) enters zone a 2 ；
The control unit determines whether the manipulator (3) has entered the section a 2 If entering section a 2 Executing step 2005, otherwise, returning to executing step 2003;
step 2005, run at a second speed;
the control unit controls the manipulator (3) in the section a 2 Moving at a second speed lower than the first speed;
step 2006, judging whether the manipulator (3) enters the section a n ；
The control unit determines whether the manipulator (3) has entered the section a n If entering section a n Step 2008 is executed, otherwise step 2007 is executed;
step 2007, operating at the N-1 speed;
the control unit controls the manipulator (3) to move at the Nth-1 th speed;
step 2008, moving at the Nth speed;
the control unit controls the manipulator (3) in the section a n The moving speed is lower than the Nth speed (N-1), and the moving is stopped after the moving speed reaches the moving end point.
3. The pallet-based tile transfer stacking method according to claim 2, wherein: the distance segmentation rule in step 2002 is: determining a deceleration point as a section a over the entire travel distance a of the manipulator (3) 2 Is a section a between the deceleration point and the movement start point of the manipulator (3) 1 The distance between the deceleration point and the moving terminal point of the manipulator (3) is halved to form a section a 2 Section a n 。
4. The pallet-based tile transfer stacking method according to claim 1, wherein: the tile transfer subroutine described in step 1012, comprising the steps of:
step 3001, determining a falling height;
the control unit determines the falling distance of the manipulator (3) according to the height of the surface of the pallet (5) and the height of the bottom of the ceramic tile;
step 3002, whether the tile needs to be rotated;
the control unit judges whether the pack of tiles needs to be rotated before falling, if so, executes step 3003, and if not, executes step 3004;
step 3003, rotating the manipulator (3);
the control unit determines the angle of the ceramic tile to be rotated according to the preset position of the ceramic tile package on the pallet (5) and drives the manipulator (3) to rotate by a corresponding angle;
step 3004, the manipulator (3) falls;
the control unit controls the manipulator (3) to fall down, so that the bottom surface of the ceramic tile is tightly attached to the upper surface of the pallet (5) to complete the placement of the ceramic tile;
step 3005, returning the manipulator (3);
the manipulator (3) loosens the ceramic tile and then resets to continue the grabbing and transferring of the next ceramic tile.
5. A pallet-based tile transfer stacking system for implementing the pallet-based tile transfer stacking method according to any one of claims 1 to 4, characterized in that: including the operation area of putting things in good order that is enclosed by guardrail (8), it deposits station (4) and at least one ceramic tile pile up in good order station (6) to be provided with the pallet of depositing pallet (5) in the operation area of putting things in good order, rear end in the operation area of putting things in good order is provided with conveyer (1) that is used for transporting the ceramic tile, top in the operation area of putting things in good order is provided with manipulator (3), be used for depositing pallet (5) in station (4) with the pallet and put into ceramic tile pile up station (6), and shift the ceramic tile on conveyer (1) to pallet (5) in ceramic tile pile up station (6), outside in the operation area of putting things in good order is provided with the switch board, be provided with the control unit in the switch board.
6. The pallet based tile transfer stacking system of claim 5, wherein: the control unit comprises an upper computer and a lower computer which is bidirectionally connected with the upper computer, and a variable frequency control module for driving the mechanical arm (3) to act is connected to the output port of the lower computer;
be connected with on the input port of next machine and be used for judging the ceramic tile pile up neatly station (6) in whether place the pallet detection module of pallet (5), be used for judging conveyer (1) end whether have the ceramic tile detection module of ceramic tile and be used for carrying out spacing module to the removal of manipulator (3).
7. The pallet based tile transfer stacking system of claim 6, wherein: the pallet detection module is a photoelectric switch arranged at the bottom of the ceramic tile stacking station (6); the tile detection module is a photoelectric switch arranged at the tail end of the conveying device (1).
8. The pallet based tile transfer stacking system of claim 6, wherein: the input port of the lower computer is also provided with a safety grating (9), and the safety grating (9) is arranged on two sides of the opening at the front end of the stacking operation area.
9. The pallet based tile transfer stacking system of claim 6, wherein: the frequency conversion control module comprises four frequency converters and four frequency conversion motors in one-to-one correspondence with the frequency converters, the four frequency conversion motors are respectively used for realizing linear motion of the manipulator (3) in the X-axis direction, the Y-axis direction and the Z-axis direction and rotary motion of the manipulator (3) in the W-axis direction around the rotation of the manipulator, and encoders connected with a lower computer are installed on the four frequency conversion motors.
CN201611016658.7A 2016-11-18 2016-11-18 Method and system for transferring and stacking ceramic tiles based on pallet Active CN106379746B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611016658.7A CN106379746B (en) 2016-11-18 2016-11-18 Method and system for transferring and stacking ceramic tiles based on pallet

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611016658.7A CN106379746B (en) 2016-11-18 2016-11-18 Method and system for transferring and stacking ceramic tiles based on pallet

Publications (2)

Publication Number Publication Date
CN106379746A CN106379746A (en) 2017-02-08
CN106379746B true CN106379746B (en) 2022-08-12

Family

ID=57959399

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611016658.7A Active CN106379746B (en) 2016-11-18 2016-11-18 Method and system for transferring and stacking ceramic tiles based on pallet

Country Status (1)

Country Link
CN (1) CN106379746B (en)

Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5630695A (en) * 1995-09-14 1997-05-20 Flomat Pty Ltd Pallet sorting machine
CN101397089A (en) * 2008-09-24 2009-04-01 广东科达机电股份有限公司 Ceramic tile palletizing apparatus
CN101903269A (en) * 2008-03-12 2010-12-01 许勒自动控制有限责任两合公司 Device and method for unstacking plate-shaped parts
CN102482040A (en) * 2009-07-22 2012-05-30 西德尔合作公司 Improvement To Palletizing Equipment Combined With Secure Access
CN203006498U (en) * 2012-10-22 2013-06-19 南通通用机械制造有限公司 Four-station compact type robot stacking system
CN103434839A (en) * 2013-08-29 2013-12-11 江苏三环实业股份有限公司 Lead-acid storage battery grid automatic conveying device
CN203357469U (en) * 2012-08-13 2013-12-25 国家电网公司 Robot system with turnover box recognition function
CN203428554U (en) * 2013-07-03 2014-02-12 中山市科捷龙机器有限公司 Automatic carrying and stacking mechanical arm
CN103640895A (en) * 2013-12-05 2014-03-19 广州瑞松科技有限公司 Working station for welding and stacking elevator layer door panels
CN204038033U (en) * 2014-08-23 2014-12-24 蔡群龙 Automatic packaging conveyor line
CN104310068A (en) * 2014-08-22 2015-01-28 上海起岩机电设备有限公司 High-speed batch-out, paper laying and stacking equipment for solar photovoltaic glass
CN204453853U (en) * 2015-02-06 2015-07-08 广东五星太阳能股份有限公司 Flat plate collector double rolls off the production line stacker automatically
CN204528684U (en) * 2015-04-01 2015-08-05 泉州市三联机械制造有限公司 A kind of plate brick seperator
CN104944158A (en) * 2015-06-24 2015-09-30 大族激光科技产业集团股份有限公司 Empty smoke box classification recycling device and method
CN105347051A (en) * 2015-11-24 2016-02-24 洛阳中冶重工机械有限公司 Stacking and unstacking machine for transferring pallets for autoclaved aerated concrete products
CN105799982A (en) * 2014-12-29 2016-07-27 Tcl王牌电器(惠州)有限公司 Automatic television stacking device and method

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5630695A (en) * 1995-09-14 1997-05-20 Flomat Pty Ltd Pallet sorting machine
CN101903269A (en) * 2008-03-12 2010-12-01 许勒自动控制有限责任两合公司 Device and method for unstacking plate-shaped parts
CN101397089A (en) * 2008-09-24 2009-04-01 广东科达机电股份有限公司 Ceramic tile palletizing apparatus
CN102482040A (en) * 2009-07-22 2012-05-30 西德尔合作公司 Improvement To Palletizing Equipment Combined With Secure Access
CN203357469U (en) * 2012-08-13 2013-12-25 国家电网公司 Robot system with turnover box recognition function
CN203006498U (en) * 2012-10-22 2013-06-19 南通通用机械制造有限公司 Four-station compact type robot stacking system
CN203428554U (en) * 2013-07-03 2014-02-12 中山市科捷龙机器有限公司 Automatic carrying and stacking mechanical arm
CN103434839A (en) * 2013-08-29 2013-12-11 江苏三环实业股份有限公司 Lead-acid storage battery grid automatic conveying device
CN103640895A (en) * 2013-12-05 2014-03-19 广州瑞松科技有限公司 Working station for welding and stacking elevator layer door panels
CN104310068A (en) * 2014-08-22 2015-01-28 上海起岩机电设备有限公司 High-speed batch-out, paper laying and stacking equipment for solar photovoltaic glass
CN204038033U (en) * 2014-08-23 2014-12-24 蔡群龙 Automatic packaging conveyor line
CN105799982A (en) * 2014-12-29 2016-07-27 Tcl王牌电器(惠州)有限公司 Automatic television stacking device and method
CN204453853U (en) * 2015-02-06 2015-07-08 广东五星太阳能股份有限公司 Flat plate collector double rolls off the production line stacker automatically
CN204528684U (en) * 2015-04-01 2015-08-05 泉州市三联机械制造有限公司 A kind of plate brick seperator
CN104944158A (en) * 2015-06-24 2015-09-30 大族激光科技产业集团股份有限公司 Empty smoke box classification recycling device and method
CN105347051A (en) * 2015-11-24 2016-02-24 洛阳中冶重工机械有限公司 Stacking and unstacking machine for transferring pallets for autoclaved aerated concrete products

Also Published As

Publication number Publication date
CN106379746A (en) 2017-02-08

Similar Documents

Publication Publication Date Title
US8074431B1 (en) Hybrid palletizer
CN110498243B (en) Intelligent mixed box body robot pile-detaching system and control method
CA2879277C (en) Vision-assisted robotized depalletizer
CN106494900B (en) A kind of multistation ceramic tile transfer stacking method based on pallet
US8997438B1 (en) Case packing system having robotic pick and place mechanism and dual dump bins
CN207329025U (en) A kind of fully automatic high-speed destacking bale breaker
US20160176654A1 (en) Machine, process, container and packaging for packing tetrahedral-shaped products
US20220143810A1 (en) Automated System For Handling Containers With Product Loading
CN106629132B (en) Ceramic tile transferring and stacking method based on loading vehicle
CN207826666U (en) A kind of production equipment of soap automation vanning and stacking
CN106516798B (en) A kind of multistation ceramic tile transfer stacking method based on load wagon
CN217024553U (en) Bagged material loading system for truck
CN109693944A (en) A kind of keel pack Palletizer and method automatically
CN106379746B (en) Method and system for transferring and stacking ceramic tiles based on pallet
CN109178957B (en) Integrated stacker crane control system and control method
CN212711776U (en) Stacking device
CN211002203U (en) Automatic change medicine box transportation baling equipment
CN213415545U (en) Intelligence pile up neatly elevating system
CN208631664U (en) A kind of efficient stacking machine
CN216469001U (en) Automatic packaging production line for powdery products
CN206318501U (en) A kind of ceramic tile branch code place system based on pallet
CN220411022U (en) Capacitor plastic sucking disc packaging equipment
CN110697428A (en) Bag stacking mechanism of bag stacking machine for bagged materials
CN116692498B (en) Full-automatic low-position bottle unloading method and bottle unloading system
CN217534683U (en) Gantry stacking manipulator

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CP02 Change in the address of a patent holder

Address after: 264403 Binhai Road North, Longhai Road East, Nanhai New District, Weihai City, Shandong Province

Patentee after: SHANDONG AIERSHENG INTELLIGENT TECHNOLOGY CO.,LTD.

Address before: 255000 715-01 room, block A, advanced ceramics industry innovation park, No. 125, Liu Quan Road, Zhangdian District, Zibo, Shandong.

Patentee before: SHANDONG AIERSHENG INTELLIGENT TECHNOLOGY CO.,LTD.

CP02 Change in the address of a patent holder