CN106516798A - Multi-station ceramic tile transferring and stacking method and system based on loading vehicles - Google Patents
Multi-station ceramic tile transferring and stacking method and system based on loading vehicles Download PDFInfo
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- CN106516798A CN106516798A CN201611016338.1A CN201611016338A CN106516798A CN 106516798 A CN106516798 A CN 106516798A CN 201611016338 A CN201611016338 A CN 201611016338A CN 106516798 A CN106516798 A CN 106516798A
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- ceramic tile
- load wagon
- mechanical hand
- station
- slave computer
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
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Abstract
The invention provides a multi-station ceramic tile transferring and stacking method and system based on loading vehicles and belongs to the field of ceramic tile production equipment. The multi-station ceramic tile transferring and stacking method is characterized in that a stacking working region is included, loading vehicle parking stations (4) are arranged in the stacking working region, a conveying device (1) for conveying ceramic tiles is arranged at the rear end of the stacking working region, and a manipulator (3) is arranged above the stacking working region; and a vehicle body scanning module for judging the positions and the heights of loading plates of the loading vehicles is arranged in the stacking working region, a control cabinet is arranged outside the stacking working region, and a control unit is arranged in the control cabinet. By means of the ceramic tile transferring and stacking system for the loading vehicles, automatic clamping, moving and putting of the ceramic tiles from the conveying device at the tail end of a packaging line to the loading plates of the loading vehicles are achieved, waste of a lot of manpower and material resources is avoided, the labor efficiency is improved greatly, meanwhile the possibility of bump against products during manual carrying is avoided, and the quality of the products is guaranteed.
Description
Technical field
Method and system are piled up in a kind of multistation ceramic tile transfer based on load wagon, belong to production equipment for ceramic tiles field.
Background technology
At present, the increasingly increase against society to ceramic tile demand, volume of production also increase sharply.In the prior art, porcelain
Brick enters baling line from after kiln sintering, and multi-disc ceramic tile is loaded in packing box in the baling line, is being carried out bundling, is being packed
Send from the end of baling line after step.Packaged ceramic tile sent by baling line after by manually by ceramic tile carry out carry and
Pile up.Meanwhile, in the production process for carrying out ceramic tile, as the problem of production technology often burns out different grades of product
Product, therefore the product without grade can be carried out class wrapping in packaging process, consequently facilitating the storage of ceramic tile and with not
Different grades of product is sold by same price.
As described above, in the prior art, generally require manually packaged ceramic tile to be carried and piled up, due to porcelain
The heavier-weight of brick itself, therefore substantial amounts of man power and material can be wasted when carrying and piled up manually, efficiency is extremely low
Under.As ceramic tile is friable product, therefore often occur the phenomenon collided with during carrying, cause damage of product and nothing
Method is sold, therefore also increases production cost to a certain extent.Simultaneously from the foregoing, can burn during ceramic tile is fired
Different grades of product is made, therefore to avoid confusion, different grades of tile typology is piled up when piling up by needs, therefore is entered
One step increased the labor intensity of a dead lift.
The content of the invention
The technical problem to be solved in the present invention is：Overcome the deficiencies in the prior art, there is provided a kind of that ceramic tile is pressed from both sides automatically
Take, shift and pile up, it is to avoid a large amount of wastes of manpower and materials, improve labor efficiency and meanwhile ensure that product it is intact based on
Method and system are piled up in the multistation ceramic tile transfer of load wagon.
The technical solution adopted for the present invention to solve the technical problems is：It is somebody's turn to do the multistation ceramic tile branch code based on load wagon
Put method, it is characterised in that：Comprise the steps：
Step 1001, system are initialized, and mechanical hand is moved to waiting station, are ready for the crawl of ceramic tile；
Step 1002, chooses the capture program that mechanical hand needs are performed by host computer, after capture program selects to finish, machinery
Handss perform crawl operation according to predetermined capture program；
Step 1003, slave computer judge two load wagons park in station whether do not stop have load wagon, if two load wagons
Park in station and do not stop have load wagon, execution step 1005, parking when at least one load wagon has load wagon
When, execution step 1004；
Step 1004, slave computer control machinery hands movement, and start machinery 3D vision modules on hand load wagon is integrally carried out
Scanning；
Step 1005, slave computer start alarm device, point out staff's load wagon to park in station and do not stop having load wagon；
Step 1006, slave computer judge whether be placed with ceramic tile in ceramic tile station turning, if being placed with ceramic tile, execution step
1007, if no ceramic tile in ceramic tile station turning, return to step 1003；
Step 1007, host computer are determined to the grade of ceramic tile, and every grade for wrapping ceramic tile to be piled up is delivered to slave computer；
Step 1008, slave computer judge that load wagon corresponding with the ceramic tile grade of the bag ceramic tile are parked and whether have been filled with porcelain on station
Brick, if already filled with ceramic tile, execution step 1010, if not yet filling ceramic tile, execution step 1009；
Step 1009, the ceramic tile in slave computer control machinery hand crawl ceramic tile station turning；
Step 1010, slave computer judge whether idle load wagon according to load wagon detection switch, if there is leisured
The load wagon put, execution step 1011, if there is no idle load wagon, return to step 1005；
Step 1011, load wagon of the slave computer by the load wagon temporary definition corresponding to ceramic tile grade in step 1007 park work
Position（4）, then execution step 1009；
Ceramic tile is transferred to loading by ceramic tile station turning according to ceramic tile jump subroutine by step 1012, slave computer control machinery hand
Car parks the top of load wagon in station；
Step 1013, slave computer control machinery hand are placed subprogram according to ceramic tile and ceramic tile are placed on load wagon, are then back to
Step 1003.
Preferably, the ceramic tile jump subroutine described in step 1012, comprises the steps：
Step 2001, is calculated the movement of mechanical hand always apart from a；
Control unit obtains determining that mechanical hand is flat in X-axis and Y-axis place according to the mobile starting point and mobile endpoint calculation of mechanical hand
Movement on face is always apart from a；
Step 2002, is some mobile sections by displacement a point：Section a1... section an；
If control unit starts from the mobile starting point of mechanical hand according to range segment separating principle
Dry mobile section：Section a1... section an；
Step 2003, is moved with First Speed；
Mechanical hand starts with First Speed in section a from starting point1Interior movement；
Whether step 2004, mechanical hand enter section a2；
Control unit judges whether mechanical hand comes into section a2If entering section a2, execution step 2005 otherwise returns
Execution step 2003；
Step 2005, is run with second speed；
Control unit control machinery hand is in section a2The interior second speed with less than First Speed is moved；
Step 2006, judges whether mechanical hand enters section an；
Control unit judges whether mechanical hand comes into section anIf entering section an, execution step 2008 otherwise performs
Step 2007；
Step 2007, is run with N-1 speed；
Control unit control machinery hand N-1 speed is moved；
Step 2008, is moved with N speed；
Control unit control machinery hand is in section anThe interior N speed with less than N-1 speed is moved, when being moved to mobile terminal
Stop movement afterwards.
Preferably, the range segment separating principle described in step 2002 is：Determine in whole displacement a of mechanical hand and appoint
Meaning is a little as being section a between the mobile starting point of deceleration point, deceleration point and mechanical hand1, the mobile end of deceleration point and mechanical hand
The distance between point forms section a after dividing equally2~ section an。
Preferably, the ceramic tile jump subroutine described in step 1013, comprises the steps：
Step 3001, determines height of drop；
After the mechanical hand that gripping has ceramic tile is moved to above load wagon, by car load scan module to load wagon loading plate
Actual height is determined, and determines the actual range that mechanical hand falls；
Whether step 3002, load wagon incline；
Judge to the scanning result of load wagon in step 1005 described in control unit that whether load wagon piling up in operation area is
It is no in heeling condition, if be in heeling condition, execution step 3003, if being not at heeling condition, direct execution step
3004。
Step 3003, compensates angle of inclination；
Control unit parks the angle of inclination in station according to load wagon in load wagon, and control machinery hand is rotated, rotational angle with
The angle of inclination of load wagon is identical；
Whether step 3004, ceramic tile need rotation；
Control unit piles up the rule judgment bag ceramic tile whether needs before whereabouts according to presetting ceramic tile on load wagon
Rotation, if necessary to rotate, execution step 3005, if need not rotate, execution step 3006；
Step 3005, mechanical hand rotation；
According to the predeterminated position of the bag ceramic tile on load wagon, control unit determines that ceramic tile needs the angle of rotation, and drive machinery
Handss rotate corresponding angle；
Step 3006, mechanical hand fall；
Control unit drives mechanical subordinate to fall, and makes the bottom surface of ceramic tile be close to the loading plate upper surface of load wagon, completes putting for ceramic tile
Put；
Step 3007, mechanical hand return；
Mechanical hand unclamps ceramic tile, after then going up corresponding distance, returns to waiting station and continues the crawl of next bag ceramic tile and turn
Move.
A kind of multistation ceramic tile branch code place system based on load wagon, it is characterised in that：Including the code surrounded by guardrail
Operation area is put, be provided with operation area at least one load wagon and park station piling up, be provided with the rear end for piling up operation area
For transporting the transporter of ceramic tile, be provided with above operation area mechanical hand piling up, for by the ceramic tile on transporter
Be transferred on the loading plate of load wagon, pile up operation area be internally provided with the loading plate to load wagon position and height carry out
The vehicle body scan module of judgement, be provided with switch board piling up outside operation area, and control unit is provided with switch board.
Preferably, described control unit includes the slave computer that host computer and host computer are bi-directionally connected, in the defeated of slave computer
The VFC module for driving manipulator behavior is connected with exit port；
It is connected with the input port of slave computer for judging that described load wagon is parked and has load wagon
Load wagon detection module, for judging described transporter end with the presence or absence of the ceramic tile detection module for having ceramic tile and be used for
Prevent mechanical hand from moving spacing module out of control, described vehicle body scan module is to install 3D vision modules on a robotic arm,
The signal output part of 3D vision modules is connected with the signal input part of slave computer simultaneously.
Preferably, described load wagon detection module is to be arranged on the load wagon detection that the load wagon parks station bottom
Switch；Described ceramic tile detection module is the photoswitch for being arranged on the transporter end.
Preferably, being additionally provided with the input port of described slave computer prevents from being strayed into the safety light piled up in operation area
Grid, safe grating are arranged on both sides at the opening for piling up operation area front end.
Preferably, described VFC module includes four converters and four frequency conversions one-to-one with converter
Motor, four frequency conversion motors are respectively used to realize mechanical hand in X-axis, Y-axis, the linear motion of Z-direction and mechanical hand around which
The axial rotary motions of W of itself rotation, are mounted on the encoder that encoder is connected with slave computer on four frequency conversion motors.
Compared with prior art, the present invention is had an advantageous effect in that：
1st, by the ceramic tile branch code place system of this load wagon, ceramic tile is realized by the transporter of baling line end to load wagon
The automatic clamping of loading plate, movement and placement, it is to avoid a large amount of wastes of manpower and materials, substantially increase labor efficiency while
Possibility product collided with when avoiding a dead lift, it is ensured that the quality of product.
2nd, by load wagon park place in station whether have load wagon to be detected to its inside load wagon detection
Module, because the ceramic tile do not parked load wagon and causing in load wagon parks station is damaged when can effectively prevent from placing ceramic tile.
3rd, by arranging ceramic tile detection module in the end of transporter, after transporting ceramic tile at transporter, control is single
Unit can be detected immediately upon, therefore avoid delay of the ceramic tile at transporter.
4th, the two ends at the front opening for piling up operation area are provided with one group of safe grating, and safe grating is piling up operation
One grid stroke is formed at the front opening in area, if after staff swarms into and piles up in operation area in operation, piled up by mistake
Stopped operation in operation area immediately, effectively prevent and cause danger.
5th, pile up in method in this transfer, by ceramic tile jump subroutine, the displacement of mechanical hand is divided into into some areas
Section：Section a1... section an, and from and from section a1Beginning makes mechanical hand transport at different rates in the form of decrease of speed
OK, therefore in mechanical hand the speed of its movement of initial stage is moved, therefore is ensure that mechanical hand overall operation speed, improve
The operational efficiency of system, due to mechanical hand itself and its gripping ceramic tile gross weight it is heavier, therefore mechanical hand movement
Latter stage, with low cruise, reduces the inertia brought by mechanical hand and ceramic tile weight itself, therefore improves the accurate of positioning
The operation stability of property and system.
6th, as load wagon tire is conventional pneumatic tire, therefore the process that ceramic tile is constantly placed on load wagon
In, the height of the loading plate of load wagon can be continually changing, and by constantly, to loading the scanning of this height, host computer can be obtained often
The actual height of loading plate before bag ceramic tile whereabouts, so as to avoid the caused ceramic tile height of drop because of the height change of loading plate
It is inaccurate, effectively prevent ceramic tile from occurring damaging.
7th, by angle of inclination compensation process, it is ensured that side of the ceramic tile after being placed on above loading plate, with loading plate
It is parallel or vertical relation between boundary.
Description of the drawings
Fig. 1 is the multistation ceramic tile branch code place system top view based on load wagon.
Fig. 2 is the multistation ceramic tile branch code place system control unit functional-block diagram based on load wagon.
Schematic front view of the Fig. 3 for mechanical hand.
Schematic top plan views of the Fig. 4 for mechanical hand.
Schematic diagrams of the Fig. 5 for mechanical hand power unit.
Fig. 6 is that method flow diagram is piled up in the multistation ceramic tile transfer based on load wagon.
Fig. 7 is that method ceramic tile jump subroutine flow chart is piled up in the multistation ceramic tile transfer based on load wagon.
Fig. 8 is that method ceramic tile placement subroutine flow chart is piled up in the multistation ceramic tile transfer based on load wagon.
Wherein：1st, transporter 2, ceramic tile station turning 3, mechanical hand 301, pallet clamp guide plate 302, handss
Refer to that installing plate 303, clamping plate limiting photoelectric switch 304, mechanical hand main body 305, finger guide bearing 306, pallet are grabbed
Take finger 307, ceramic tile clamping plate 308, clamping plate installing plate 309, clamping plate folding cylinder 310, pallet crawl cylinder
311st, clamping plate folding gear 312, clamping plate folding tooth bar 313, ceramic tile induction apparatuss 314, pallet crawl gear 315, stack
Plate crawl tooth bar 4, load wagon parks station 5, load wagon detection switch 6, guardrail 7, safe grating.
Specific embodiment
Fig. 1 ~ 8 are highly preferred embodiment of the present invention, and 1 ~ 8 the present invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of multistation ceramic tile branch code place system based on load wagon（Hereinafter referred to as transfer is piled up and is
System）, including the rectangular area surrounded by guardrail 6, operation area, rectangular area are piled up for ceramic tile inside the rectangular area
One end is opening, and the opening is set to pile up the front end of operation area, by arranging opening in the front end for piling up operation area,
Facilitate means of transport into the inside for piling up operation area and the ceramic tile for completing to pile up is transported.
Station 4 is parked piling up operation area and being internally provided with load wagon at least, in this branch code place system, is loaded
Car is parked station 4 and is provided with many places, is disposed side by side on and piles up inside operation area, when needing to be shifted ceramic tile, load wagon
Sail into and pile up inside operation area, and rest on load wagon and park in station 4.Pile up operation area top set up have one it is mechanical
Handss 3, pile up the rear of operation area for ceramic tile packing line transporter 1, the ceramic tile that transporter 1 is delivered to by mechanical hand 3 by
Transporter 1 is transferred on load wagon and is piled up, and the end of transporter 1 is extended in 6 inside of guardrail from the outside of guardrail 6
Multiple load wagons park the centre position of station 4, and mechanical hand 3 is located at the top of 1 end of transporter, at the end of transporter 1
Hold as ceramic tile station turning 2, be changed into vertically placement for the ceramic tile of the horizontal positioned on transporter 1 is carried out upset, so as to
In the gripping of mechanical hand 3.In this branch code place system, the long side direction for piling up operation area of rectangle is moved as mechanical hand 3
X-direction when dynamic, using pile up the short side direction of operation area as mechanical hand 3 move when Y direction, by mechanical hand 3 in code
The Z-direction that the direction moved up and down in operation area is moved as mechanical hand 3 is put, mechanical hand 3 is capable of achieving to enter around its own simultaneously
Row rotation（W axles）Motion.
Two ends at the front opening for piling up operation area are provided with one group of safe grating 7, and safe grating 7 is piling up operation
One grid stroke is formed at the front opening in area, if after staff swarms into and piles up in operation area in operation, piled up by mistake
Stopped operation in operation area immediately, effectively prevent and cause danger.The bottom of ceramic tile station turning 2 is provided with photoswitch,
The ceramic tile that do not shift whether is left in ceramic tile station turning 2 for detection, the bottom for parking station 4 in load wagon be provided with by
Whether the load wagon detection switch 5 that photoswitch is realized, parking in load wagon for detection has load wagon.
The outside for piling up operation area is provided with the switch board of this branch code place system（It is not drawn in figure）, be provided with switch board for
The control unit is controlled by this branch code place system working condition.
As shown in Fig. 2 the control unit of this branch code place system includes：Host computer, slave computer and converter, host computer
Realized by the touch screen in switch board cabinet door, slave computer is by the PLC realizations in switch board, host computer and bottom
It is bi-directionally connected between machine.Slave computer controls four converters, each converter one frequency conversion motor of correspondence, four frequency conversions simultaneously
Motor corresponds to X-axis, Y-axis, Z axis and the axial actions of W of mechanical hand 3 respectively, corresponds to and install on each frequency conversion motor
The outfan for having encoder, encoder is connected to the signal input part of slave computer.
Proximity switch, limit switch, grating module, ceramic tile detection have been also respectively connected with the signal input part of slave computer
Switch, load wagon detection module and 3D vision modules, wherein ceramic tile detection module is above-mentioned installed in ceramic tile station turning 2
Whether the photoswitch of bottom, leave the ceramic tile that do not shift in ceramic tile station turning 2 for detection；Load wagon detection module is
The load wagon detection switch 5 of 4 bottom of station is parked installed in load wagon, whether stops to have in station 4 for detecting that load wagon is parked
Load wagon；Grating module is to be arranged on the safe grating 7 piled up at the front opening of operation area, after safe grating 7 is blocked,
The 3 stopping action of slave computer control machinery hand.Proximity switch and limit switch are respectively to mechanical hand 3 in X-axis, Y direction
The switch of position detection is carried out when mobile, for preventing the movement in moving process of mechanical hand 3 out of control.3D vision modules are arranged on
The bottom of mechanical hand 3, mechanical hand 3 are swept to the position of load wagon and the height of load wagon loading plate by 3D vision modules
Retouch, and the data that scanning is obtained are sent in host computer by slave computer.
As shown in Fig. 3 ~ 4：When ceramic tile is piled up on load wagon, directly ceramic tile can be piled up on load wagon,
Can realize pallet is placed on load wagon, then ceramic tile be piled up on pallet, therefore mechanical hand 3 is included for capturing pallet
Pallet grasping mechanism and the ceramic tile grasping mechanism for capturing ceramic tile.Pallet grasping mechanism and ceramic tile grasping mechanism are respectively mounted
In mechanical hand main body 304, mechanical hand main body 304 is cuboid housing.When needing ceramic tile is firstly placed on pallet, pass through
Pallet grasping mechanism can be captured to pallet before crawl ceramic tile first.
Pallet grasping mechanism includes pallet crawl finger 306 and promotes pallet to capture the finger power unit of finger 306.
Pallet crawl finger 306 be V-arrangement, and pallet crawl finger 306 one end be connected with finger power unit, the other end be provided with for
The baffle plate stopped by the pallet for capturing, it is to avoid pallet slides during crawl, so as to cause danger.Pallet captures finger
306 have four, are separately positioned on four angles of mechanical hand main body 304.Pallet crawl finger 306 is arranged on finger mounted plate
On 302, finger mounted plate 302 is fixedly connected with finger power unit.
Mechanical hand main body 304 is provided with pallet and clamps guide plate 301, and pallet clamps guide plate 301 and captures finger with pallet
306 correspond, and pallet clamps guide plate 301 and is fixed on the side of mechanical hand main body 304.Pallet clamps guide plate 301
Free end is gradually indent arc from the bottom to top.Pallet crawl finger 306 is hinged on finger mounted plate 302, and pallet crawl
Torsion spring is provided between finger 306 and finger mounted plate 302, so that pallet captures finger 306 and departing from pallet clamping guide plate
Open configuration is in when 301.Finger guide bearing 305, finger guide bearing 305 are rotatablely equipped with pallet crawl finger 306
It is arranged on pin joint and pallet is clamped between guide plate 301.Finger power unit promotes pallet crawl finger 306 respectively to the left and right
Two lateral movements, so that pallet crawl finger 306 departs from pallet and clamps guide plate 301, pallet captures finger 306 in torsion spring and stack
Open configuration is in the presence of plate crawl 306 gravity of finger；Finger power unit drives pallet crawl finger 306 lateral by two
Intermediary movements, makes 305 bearing of finger guide bearing enter the free end that pallet clamps guide plate 301, and pallet clamps guide plate 301
Pallet crawl finger 306 is oriented to, is clamped so as to complete the crawl to pallet.
Ceramic tile grasping mechanism includes ceramic tile clamping plate 307 and promotes the clamping plate power unit of 307 axial movement of ceramic tile clamping plate.
The upper end of ceramic tile clamping plate 307 is arranged on clamping plate installing plate 308, and the other end is free end.Clamping plate power unit is installed with clamping plate
Plate 308 is connected, and promotes clamping plate installing plate 308 to move horizontally, so as to realize the clamping and release of ceramic tile.Ceramic tile clamping plate 307 with
The side of ceramic tile contact is provided with rubber, on the one hand for increase and the friction of ceramic tile, on the other hand can produce cushioning effect, keep away
Exempt to collide with ceramic tile, so as to damage ceramic tile.The lower end of ceramic tile clamping plate 307 is inclined to middle part such that it is able to preferably clamped
Ceramic tile.
When through-thickness captures ceramic tile, ceramic tile clamping plate 307 may be mounted at clamping plate installing plate 308 near mechanical hand master
One end in the middle part of body 304, when along width or length direction crawl ceramic tile, ceramic tile clamping plate 307 is leaned on installed in clamping plate installing plate 308
One end on the outside of nearly mechanical hand main body 304.Two pieces of ceramic tile clamping plates 307 that ceramic tile is clamped for cooperating are a pair, ceramic tile folder
Plate 307 has two pairs, and clamping plate installing plate 308 is corresponded with ceramic tile clamping plate 307.
Ceramic tile crawl position-limiting unit is provided with the top of mechanical hand main body 304.Ceramic tile crawl position-limiting unit is that clamping plate is spacing
Photoswitch 303, every a pair of clamping plates limiting photoelectric switch 303 have two, and two clamping plate limiting photoelectric switch 303 are respectively used to inspection
Enlightenment position and the final position of clamping plate power unit are surveyed, it is spacing so as to complete.Clamping plate limiting photoelectric switch 303 has two pairs, point
The other clamping plate power unit that two pairs are driven with two pairs of motions of ceramic tile clamping plate 307 carries out spacing.
This mechanical hand 3 can either complete the crawl to pallet, can realize the crawl to ceramic tile again, high degree of automation,
And the high precision that pallet is placed, incline will not ceramic tile when piling up, it is easy to use.
As shown in Figure 5：Pallet drive mechanism is provided between finger power unit and finger mounted plate 302.Finger power list
Unit captures cylinder 310 for pallet, and pallet crawl cylinder 310 has one, and installed in the middle part of mechanical hand main body 304, pallet is grabbed
The piston rod for taking cylinder 310 is connected with pallet drive mechanism, and finger mounted plate 302 is connected with pallet drive mechanism.
Pallet drive mechanism includes pallet crawl gear 314 and pallet crawl tooth bar 315.Pallet captures 314 turns of gear
It is dynamic to be arranged in mechanical hand main body 304, and the axis vertical setting of pallet crawl gear 314.Pallet crawl tooth bar 315 has two
It is individual, the both sides that pallet captures gear 314 are symmetricly set on, and mechanical hand main body is stretched out in one end of two pallet crawl tooth bars 315
304 and it is fixedly connected with finger mounted plate 302.Pallet is captured cylinder 310 and is fixedly connected with a pallet crawl tooth bar 315, and
The pallet crawl tooth bar 315 is promoted to move axially, the pallet crawl tooth bar 315 captures gear 314 by pallet and drives another
Pallet crawl tooth bar 315 is moved in the opposite direction, so as to both sides pallet captures the synchronous on-off of finger 306.
The outside of pallet crawl tooth bar 315 is provided with and for pallet to capture the axle that tooth bar 315 is pressed on pallet crawl gear 314
Hold, bearing is arranged in mechanical hand main body 304 by bolt.
Clamping plate power unit has two, and two clamping plate power units are separately positioned on the both sides that pallet captures cylinder 310, and
The folding of two pairs of ceramic tile clamping plates 307 is driven respectively.Each clamping plate power unit includes two clamping plate folding cylinders 309, and two
The piston rod of individual clamping plate folding cylinder 309 is fixedly connected, and is synchronized with the movement.Clamping plate limiting photoelectric switch 303 is by detecting clamping plate
The position of the piston rod of folding cylinder 309, it is spacing to carry out to ceramic tile clamping plate 307.
Clamping plate drive mechanism is provided between clamping plate power unit and clamping plate installing plate 308.Clamping plate drive mechanism includes clamping plate
Folding gear 311 and clamping plate folding tooth bar 312.Clamping plate folding gear 311 is rotatably installed in mechanical hand main body 304, and is pressed from both sides
The axis vertical of plate folding gear 311 is arranged.Clamping plate folding tooth bar 312 has two, is symmetricly set on 311 liang of clamping plate folding gear
Side, two clamping plate folding tooth bars 312 are fixedly connected with the clamping plate installing plate 308 of a pair of ceramic tile clamping plates 307 with installing respectively.Two
The piston rod of clamping plate folding cylinder 309 is connected with a clamping plate folding tooth bar 312, and drives the clamping plate folding tooth bar 312 to move,
The clamping plate folding tooth bar 312 drives another clamping plate folding tooth bar 312 to transport in the opposite direction by clamping plate folding gear 311
It is dynamic.The bearing for being respectively provided on two sides with 312 compression clamping plate folding gear 311 of promotion clamping plate folding tooth bar of clamping plate folding tooth bar 312.
The lower section of pallet crawl gear 314 is provided with ceramic tile induction apparatuss 313, and ceramic tile induction apparatuss 313 are used to detect ceramic tile clamping plate
Whether 307 capture ceramic tile and detect whether pallet crawl finger 306 has captured pallet.
As shown in fig. 6, method is piled up in the multistation ceramic tile transfer based on load wagon（Method is piled up in hereinafter referred to as transfer）, bag
Include following steps：
Step 1001, initialization,
System is initialized, and after initialization, mechanical hand 3 is moved to waiting station by original station, is ready for ceramic tile
Crawl.
Step 1002, transfers and performs capture program；
By host computer choose mechanical hand 3 need perform capture program, capture program select finish after, mechanical hand 3 according to
Predetermined capture program performs crawl operation.
Capture program is that the crawl flow scheme in host computer is write beforehand through upper computer software, in this transfer side of piling up
In method, will pile up and be marked using coordinate in the region of operation area, to piling up after working area completes coordinate labelling, it is determined that
Load wagon parks the coordinate of station 4, while determine the coordinate of 3 original station of mechanical hand and waiting station.Grab in write
When taking flow scheme, while setting to the rule of piling up of ceramic tile on load wagon loading plate.It is being actually written into crawl flow process side
During case, disposing way of various ceramic tiles on load wagon can be arranged as required to.
Step 1003, judges that all load wagons park in station 4 whether nothing stops having load wagon；
According to load wagon detection switch 5 is arranged on, slave computer judges that two load wagons are parked and have loading
Car, if two load wagons are parked in station 4 is not stopped have load wagon, execution step 1005, when at least one load wagon stops
Put when stopping having load wagon in station 4, execution step 1004；
Step 1004, scans load wagon；
Slave computer control machinery hand 3 is moved, and starts the 3D vision modules on mechanical hand 3 load wagon is integrally scanned.
After mechanical hand 3 carries out entire scan to load wagon, load wagon is obtained and has piled up the actual bit in operation area
Put, determine the actual coordinate of load wagon loading plate, and the actual height of load wagon loading plate upper surface, if load wagon is sailed
Enter when load wagon parks 4 inside of station relative to X-axis（Or Y-axis）Direction there are angle of inclination, and host computer is filled by load wagon
The actual coordinate of support plate, it can be deduced that load wagon loading plate is piling up the angle of inclination in operation area.Determining load wagon dress
After the physical location of support plate, rule is piled up according to ceramic tile set in advance, host computer is calculated each on loading plate simultaneously
The X-axis coordinate and Y-axis coordinate of actually piling up position of bag ceramic tile.
Step 1005, reports to the police；
Slave computer starts alarm device, points out staff's load wagon to park in station 4 and does not stop having load wagon.
Whether step 1006, have ceramic tile in ceramic tile station turning 2；
Slave computer judges whether be placed with ceramic tile in ceramic tile station turning 2, if being placed with ceramic tile, execution step 1007, if
No ceramic tile in ceramic tile station turning 2, return to step 1003；
Step 1007, determines ceramic tile grade；
Host computer is determined to the grade of every bag ceramic tile, and every grade for wrapping ceramic tile to be piled up is delivered to slave computer.
After ceramic tile is sent to ceramic tile station turning 2 by transporter 1, the grade of the report ceramic tile is delivered to by host computer
In slave computer, the bag ceramic tile is sent into into corresponding load wagon by slave computer control machinery hand 3 then and is parked in station 4, so as to protect
Demonstrate,proved the ceramic tile that the ceramic tile for placement in station 4 being parked in each load wagon is same grade.
Judgement to ceramic tile grade can be accomplished in several ways, and pile up in method in this transfer, by the side reviewed
Formula realizes that is, finished product ceramic tile completed the classification of ceramic tile grade before into transporter 1, and ceramic tile is entering transporter
After 1, it is transferred on the ceramic tile station turning 2 of 1 end of transporter by regular time, that is, realizes ceramic tile grade
Judge.
For the judgement of ceramic tile grade, it is also possible to realized by way of other forms, such as encoded in ceramic tile surface（Such as bar
Shape code, Quick Response Code）, ceramic tile after ceramic tile station turning 2 is transported to, by ceramic tile station turning 2 or mechanical hand 3 place
Barcode scanning device, you can in real time the grade of ceramic tile is judged.
Step 1008, load wagon park whether the loading in-car of station 4 fills ceramic tile；
Slave computer judgement load wagon corresponding with the ceramic tile grade of the bag ceramic tile is parked and whether have been filled with ceramic tile on station 4, if
Already filled with ceramic tile, execution step 1010, if not yet filling ceramic tile, execution step 1009.
Step 1009, captures ceramic tile；
Ceramic tile in the crawl ceramic tile of slave computer control machinery hand 3 station turning 2；
Step 1010, if there is idle load wagon；
Slave computer judges whether idle load wagon according to load wagon detection switch 5, if there is there is idle loading
Car, execution step 1011, if there is no idle load wagon, return to step 1005；
Step 1011, defines the ceramic tile grade of load wagon；
Load wagon of the slave computer by the load wagon temporary definition corresponding to ceramic tile grade in step 1007 parks station 4, then
Execution step 1009.
Step 1012, shifts ceramic tile；
Ceramic tile is transferred to load wagon by ceramic tile station turning 2 according to ceramic tile jump subroutine and is parked by slave computer control machinery hand 3
The top of load wagon in station 4；
Step 1013, places ceramic tile；
Slave computer control machinery hand 3 is placed subprogram according to ceramic tile and ceramic tile is placed on load wagon, is then back to step 1003.
During ceramic tile is constantly transferred to load wagon from ceramic tile station turning 2 by mechanical hand 3, slave computer constantly will
The state of piling up of ceramic tile is delivered in host computer, the state of piling up on load wagon is shown in real time in the display screen of host computer,
The quantity of piling up of the ceramic tile on load wagon is counted, while slave computer is delivered in the position of piling up of next bag ceramic tile constantly,
The crawl control of next bag ceramic tile is performed by slave computer control machinery hand 3.
As shown in fig. 7, above-mentioned ceramic tile jump subroutine comprises the steps：
Step 2001, is calculated displacement a of mechanical hand 3；
Host computer determines mechanical hand 3 in X-axis and Y according to the coordinate of the coordinate and the ceramic tile piled up of the waiting station of mechanical hand 3
Axle movement in the plane always apart from a.
Step 2002, is some mobile sections by displacement a point：Section a1... section an；
Host computer by mechanical hand 3 X-axis and Y-axis movement in the plane be always some mobile sections apart from a point, with mechanical hand
3 holding fix is terminal for the coordinate of starting point and ceramic tile, is divided into：Section a1... section an。
Step 2003, is moved with First Speed；
For drive mechanical hand 3 X-direction and Y direction motor under the driving of slave computer while action, drive machinery
Handss 3 are in section a1It is interior to be moved with First Speed；
Whether step 2004, mechanical hand 3 enter section a2；
Host computer judges whether mechanical hand 3 comes into section a2If entering section a2, execution step 2005 otherwise returns
Execution step 2003.
Step 2005, is run with second speed；
Mechanical hand 3 is moving into section a2Afterwards, slave computer passes through corresponding converter, to driving mechanical hand 3 in X-axis side
To the decelerating through motor with Y direction, make mechanical hand 3 and moved in section a2 with the second speed less than First Speed；
As mechanical hand 3 is constantly run under corresponding Motor drive, mechanical hand 3 sequentially enters section 3, section 4 ... area
Section a（n-1）, and moved with the third speed of decrease of speed, fourth speed ... N-1 speed in corresponding section successively, because
This process is repeated no more.
Whether step 2006, mechanical hand 3 enter section an；
Host computer judges whether mechanical hand 3 comes into section anIf entering section an, execution step 2008 otherwise performs
Step 2007.
Step 2007, is run with N-1 speed；
Mechanical hand 3 is in section a（n-1）Interior, slave computer control drives mechanical hand 3 to make machine in the motor of X-direction and Y direction
Tool handss 3 are with N-1 speed sectors a（n-1）Interior movement.
Step 2008, is moved with N speed；
Mechanical hand 3 is moving into section anAfterwards, slave computer control drives mechanical hand 3 in X-direction and the motor of Y direction
Mechanical hand 3 is made with N speed sectors anInterior movement.
Step 2009, stops；
When mechanical hand 3 is run to ceramic tile target location, slave computer makes mechanical hand 3 stop movement by corresponding motor.
Pile up in method in this transfer, by ceramic tile jump subroutine, the displacement of mechanical hand 3 is divided into into some areas
Section：Section a1... section an, and from and from section a1Beginning makes mechanical hand 3 at different rates in the form of decrease of speed
Operation, therefore the speed of its movement of initial stage is moved in mechanical hand 3, therefore 3 overall operation speed of mechanical hand is being ensure that, carry
The high operational efficiency of system, due to the gross weight of mechanical hand 3 itself and the ceramic tile of its gripping it is heavier, therefore in mechanical hand 3
Mobile latter stage, with low cruise, reduces the inertia brought by mechanical hand 3 and ceramic tile weight itself, therefore improves positioning
Accuracy and system operation stability.
Section a1... section anSetting principle be：In whole displacement a of mechanical hand 3, with the shifting of mechanical hand 3
Dynamic terminal is that starting point reversely determines a point（It is designated as point A）As section a2Starting point, the point starts to subtract for mechanical hand 3 simultaneously
The deceleration point of speed.Therefore the distance between 3 starting point of mechanical hand and point A are section a1, the mobile terminal of point A and mechanical hand 3（I.e.
Ceramic tile target location）The distance between divide equally after formed section a2~ section an.The mesh as the original position of every bag ceramic tile is identical
Cursor position is different, therefore mechanical hand 3 moved in mobile often bag ceramic tile is always variable apart from a, according to above-mentioned section partition
After principle carries out section partition, it is therefore the section a with reference to reversely determining with the terminal of mechanical hand 3 due to point A to be2~ section an
Total distance and the distance of each section be definite value, and section a1Distance change apart from the change of a with always.
As shown in figure 8, above-mentioned ceramic tile places subprogram, comprise the steps：
Step 3001, determines height of drop；
After the mechanical hand 3 that gripping has ceramic tile is moved to above load wagon, the 3D vision modules scanning being fixed on mechanical hand 3
The actual height of load wagon loading plate is obtained afterwards, determines the actual range that mechanical hand 3 falls, i.e. shifting of the mechanical hand 3 in Z-direction
Dynamic distance.
As load wagon tire is conventional pneumatic tire, therefore during ceramic tile is constantly placed on load wagon,
The height of the loading plate of load wagon can be continually changing, and by constantly, to loading the scanning of this height, host computer can obtain every bag
Ceramic tile fall before loading plate actual height, so as to avoid because of the height change of loading plate caused ceramic tile height of drop not
Accurately, effectively prevent ceramic tile from occurring damaging.
Whether step 3002, load wagon incline；
Host computer is according to judging to the scanning result of load wagon in above-mentioned steps 1005 that whether load wagon piling up in operation area be
It is no in heeling condition, if be in heeling condition, execution step 3003, if being not at heeling condition, direct execution step
3004。
Step 3003, compensates angle of inclination；
Host computer parks angle of inclination station 4 in load wagon according to load wagon, sends control signal to slave computer, by bottom
Machine drives corresponding motor action, mechanical hand 3 is rotated and load wagon identical angle.
Compensated by the angle of inclination of step 3003, it is ensured that ceramic tile after being placed on above loading plate, with loading plate
Border between be parallel or vertical relation.
Whether step 3004, ceramic tile need rotation；
Host computer piles up whether the rule judgment bag ceramic tile needs rotation before whereabouts according to presetting ceramic tile on load wagon
Turn, i.e., whether need mechanical hand 3 that action is carried out on W axles, if necessary to rotate, execution step 3005, if need not rotate,
Execution step 3006；
Step 3005, mechanical hand 3 rotate；
According to the predeterminated position of the bag ceramic tile on load wagon, host computer determines that ceramic tile needs the angle of rotation, and by control signal
Slave computer is delivered to, corresponding motor action is driven by slave computer, drive mechanical hand 3 to rotate, make ceramic tile rotate corresponding angle；
Step 3006, mechanical hand 3 fall；
Slave computer drives corresponding motor action, makes 3 whereabouts preset distance of mechanical hand, makes the bottom surface of ceramic tile be close to load wagon upper table
Face, completes the placement of ceramic tile.
Step 3007,3 return of mechanical hand；
Mechanical hand 3 unclamps ceramic tile, after then going up corresponding distance, returns to waiting station and continues the crawl of next bag ceramic tile and turn
Move.
Specific work process and operation principle are as follows：
Load wagon is transferred on ceramic tile station turning 2 of the ceramic tile for needing to complete packing by baling line end and parks station 4
During place, operator are selected by host computer needs the capture program for performing, and mechanical hand 3 is moved to holding fix start-up operation,
Perform crawl, transfer and the placement operation of ceramic tile.
After start-up operation, whether slave computer first determines whether that two load wagons are parked and does not place in station 4 mechanical hand 3
Load wagon, if two load wagons are parked in station 4 is not placed load wagon, host computer is reported to the police, and prompting staff will
At least one load wagon sails load wagon into and parks in station 4.
After load wagon is parked stops having load wagon in station 4, host computer drives 3 action of mechanical hand by slave computer, passes through
3D vision modules on mechanical hand 3 are scanned to load wagon car load, obtain load wagon and piling up in operation area after scanning
Physical location, determines that actual coordinate, the actual height of load wagon loading plate upper surface and the load wagon of load wagon loading plate exist
Pile up in operation area and whether incline and angle of inclination.
Then slave computer judge in ceramic tile station turning 2 it is whether existing have the ceramic tile not captured, if ceramic tile upset
The ceramic tile not captured be there is no in station 2, then do not perform action, if existing have the ceramic tile for not yet capturing, mechanical hand 3 is first
Fall before to ceramic tile station turning 2 and ceramic tile is captured, after mechanical hand 3 captures ceramic tile from ceramic tile station turning 2,
Mechanical hand 3 rises to waiting station first, then drives corresponding motor operation by slave computer, be mechanical hand 3 and meanwhile in X-axis and
Y direction is moved, and is moved to the top of the load wagon for needing to place.Mechanical hand 3 X-axis and Y direction movement before, host computer
Total distance that mechanical hand 3 is moved in X-axis and Y direction is calculated, and total distance has been divided into into some sections, mechanical hand 3
During X-axis and Y direction are moved, before the second section is moved to, slave computer drives mechanical hand 3 at full throttle to transport
OK, when into the second section, the 3rd section ..., N sections when, successively reduce mechanical hand 3 translational speed, when mechanical hand 3
After being moved to above the placement location of ceramic tile, movement of the mechanical hand 3 in X-axis and Y direction is completed.
After mechanical hand 3 is moved to above the placement location of ceramic tile, host computer is filled to load wagon again by mechanical hand 3
The height of support plate is scanned, and obtains the actual height of loading plate, and then host computer is obtained according to the scanning to load wagon car load
Load wagon is piling up the angle of inclination in working area, if there is there is angle of inclination, then passes through slave computer control machinery hand 3 first
Corresponding angle is rotated, then whether the control instruction rotated to ceramic tile will be needed to deliver to slave computer, if ceramic tile is carried out
Rotation, then slave computer controls corresponding motor action first, makes the action on W axles of mechanical hand 3, rotates respective angles, if not
Need ceramic tile to be rotated, then corresponding motor action is controlled by slave computer, drive the action on Z axis of mechanical hand 3, ceramic tile is put
Put the upper surface of load wagon.After mechanical hand 3 completes the placement of ceramic tile, unclamp ceramic tile and return to waiting station, continue next
The crawl of bag ceramic tile.
The above, is only presently preferred embodiments of the present invention, is not the restriction for making other forms to the present invention, is appointed
What those skilled in the art possibly also with the disclosure above technology contents changed or be modified as equivalent variations etc.
Effect embodiment.But it is every without departing from technical solution of the present invention content, according to the technical spirit of the present invention to above example institute
Any simple modification, equivalent variations and the remodeling made, still falls within the protection domain of technical solution of the present invention.
Claims (9)
1. method is piled up in a kind of multistation ceramic tile transfer based on load wagon, it is characterised in that：Comprise the steps：
Step 1001, system are initialized, mechanical hand（3）Waiting station is moved to, the crawl of ceramic tile is ready for；
Step 1002, chooses mechanical hand by host computer（3）After needing the capture program for performing, capture program to select to finish,
Mechanical hand（3）Crawl operation is performed according to predetermined capture program；
Step 1003, slave computer judge that two load wagons park station（4）Inside whether do not stop have load wagon, if two loadings
Car parks station（4）Inside do not stop have load wagon, execution step 1005, when at least one load wagon parks station（4）Inside stop
When having load wagon, execution step 1004；
Step 1004, slave computer control machinery hand（3）Motion, and start mechanical hand（3）On 3D vision modules it is whole to load wagon
Body is scanned；
Step 1005, slave computer start alarm device, point out staff's load wagon to park station（4）Inside do not stop have load wagon；
Step 1006, slave computer judge ceramic tile station turning（2）Inside whether ceramic tile is placed with, if being placed with ceramic tile, performs step
Rapid 1007, if ceramic tile station turning（2）Interior no ceramic tile, return to step 1003；
Step 1007, host computer are determined to the grade of ceramic tile, and every grade for wrapping ceramic tile to be piled up is delivered to slave computer；
Step 1008, slave computer judge that load wagon corresponding with the ceramic tile grade of the bag ceramic tile parks station（4）On whether fill
Full ceramic tile, if already filled with ceramic tile, execution step 1010, if not yet filling ceramic tile, execution step 1009；
Step 1009, slave computer control machinery hand（3）Crawl ceramic tile station turning（2）In ceramic tile；
Step 1010, slave computer is according to load wagon detection switch（5）Idle load wagon is judged whether, if there is having
Idle load wagon, execution step 1011, if there is no idle load wagon, return to step 1005；
Step 1011, load wagon of the slave computer by the load wagon temporary definition corresponding to ceramic tile grade in step 1007 park work
Position（4）, then execution step 1009；
Step 1012, slave computer control machinery hand（3）According to ceramic tile jump subroutine by ceramic tile by ceramic tile station turning（2）Transfer
Station is parked to load wagon（4）The top of middle load wagon；
Step 1013, slave computer control machinery hand（3）Subprogram is placed according to ceramic tile ceramic tile is placed on load wagon, then returned
Return step 1003.
2. method is piled up in the multistation ceramic tile transfer based on load wagon based on load wagon according to claim 1, and which is special
Levy and be：Ceramic tile jump subroutine described in step 1012, comprises the steps：
Step 2001, is calculated mechanical hand（3）Movement always apart from a；
Control unit is according to mechanical hand（3）Mobile starting point and mobile endpoint calculation obtain determining mechanical hand（3）In X-axis and Y-axis
Movement in the plane always apart from a；
Step 2002, is some mobile sections by displacement a point：Section a1... section an；
Control unit is according to range segment separating principle from mechanical hand（3）Mobile starting point start mechanical hand（3）Movement always apart from a
It is divided into some mobile sections：Section a1... section an；
Step 2003, is moved with First Speed；
Mechanical hand（3）Start with First Speed in section a from starting point1Interior movement；
Step 2004, mechanical hand（3）Whether section a is entered2；
Control unit judges mechanical hand（3）Whether section a is come into2If entering section a2, execution step 2005 otherwise returns
Return execution step 2003；
Step 2005, is run with second speed；
Control unit control machinery hand（3）In section a2The interior second speed with less than First Speed is moved；
Step 2006, judges mechanical hand（3）Whether section a is enteredn；
Control unit judges mechanical hand（3）Whether section a is come intonIf entering section an, execution step 2008 otherwise holds
Row step 2007；
Step 2007, is run with N-1 speed；
Control unit control machinery hand（3）N-1 speed is moved；
Step 2008, is moved with N speed；
Control unit control machinery hand（3）In section anThe interior N speed with less than N-1 speed is moved, mobile whole when being moved to
Stop movement after point.
3. method is piled up in the multistation ceramic tile transfer based on load wagon based on load wagon according to claim 2, and which is special
Levy and be：Range segment separating principle described in step 2002 is：In mechanical hand（3）Whole displacement a in determine it is any one
Point is used as deceleration point, deceleration point and mechanical hand（3）Mobile starting point between be section a1, deceleration point and mechanical hand（3）Movement
The distance between terminal forms section a after dividing equally2~ section an。
4. method is piled up in the multistation ceramic tile transfer based on load wagon based on load wagon according to claim 1, and which is special
Levy and be：Ceramic tile described in step 1013 places subprogram, comprises the steps：
Step 3001, determines height of drop；
There is the mechanical hand of ceramic tile in gripping（3）After being moved to above load wagon, load wagon is loaded by car load scan module
The actual height of plate is determined, and determines mechanical hand（3）The actual range of whereabouts；
Whether step 3002, load wagon incline；
Judge to the scanning result of load wagon in step 1005 described in control unit that whether load wagon piling up in operation area is
It is no in heeling condition, if be in heeling condition, execution step 3003, if being not at heeling condition, direct execution step
3004；
Step 3003, compensates angle of inclination；
Control unit parks station in load wagon according to load wagon（4）Interior angle of inclination, control machinery hand（3）Rotate, rotate
Angle is identical with the angle of inclination of load wagon；
Whether step 3004, ceramic tile need rotation；
Control unit piles up the rule judgment bag ceramic tile whether needs before whereabouts according to presetting ceramic tile on load wagon
Rotation, if necessary to rotate, execution step 3005, if need not rotate, execution step 3006；
Step 3005, mechanical hand（3）Rotation；
According to the predeterminated position of the bag ceramic tile on load wagon, control unit determines that ceramic tile needs the angle of rotation, and drive machinery
Handss（3）Rotate corresponding angle；
Step 3006, mechanical hand（3）Fall；
Control unit drives mechanical hand（3）Fall, make the bottom surface of ceramic tile be close to the loading plate upper surface of load wagon, complete ceramic tile
Place；
Step 3007, mechanical hand（3）Return；
Mechanical hand（3）Unclamp ceramic tile, after then going up corresponding distance, return to waiting station continue next bag ceramic tile crawl and
Transfer.
5. it is a kind of to pile up method for realizing that the multistation ceramic tile based on load wagon described in any one of claim 1 ~ 4 is shifted
Multistation ceramic tile branch code place system based on load wagon, it is characterised in that：Including by guardrail（6）What is surrounded piles up operation area,
Be provided with operation area at least one load wagon and park station piling up（4）, it is provided with for transporting in the rear end for piling up operation area
Send the transporter of ceramic tile（1）, be provided with above operation area mechanical hand piling up（3）, for by transporter（1）On porcelain
Brick is transferred on the loading plate of load wagon, pile up operation area be internally provided with the loading plate to load wagon position and height enter
The vehicle body scan module that row judges, be provided with switch board piling up, control unit is provided with switch board outside operation area.
6. the multistation ceramic tile branch code place system based on load wagon according to claim 5, it is characterised in that：Described
Control unit includes the slave computer that host computer and host computer are bi-directionally connected, and on the output port of slave computer is connected with driving machine
Tool handss（3）The VFC module of action；
It is connected with the input port of slave computer for judging that described load wagon parks station（4）Inside whether stop have load wagon
Load wagon detection module, for judging described transporter（1）End with the presence or absence of have the ceramic tile detection module of ceramic tile with
And for preventing mechanical hand（3）Movement spacing module out of control, described vehicle body scan module is installed in mechanical hand（3）On
3D vision modules, the signal output part of 3D vision modules are connected with the signal input part of slave computer simultaneously.
7. the multistation ceramic tile branch code place system based on load wagon according to claim 6, it is characterised in that：Described
Load wagon detection module parks station to be arranged on the load wagon（4）The load wagon detection switch of bottom（5）；Described ceramic tile
Detection module is to be arranged on the transporter（1）The photoswitch of end.
8. the multistation ceramic tile branch code place system based on load wagon according to claim 6, it is characterised in that：Described
Slave computer input port on be additionally provided with and prevent from being strayed into the safe grating piled up in operation area, safe grating is arranged on to be piled up
Both sides at the opening of operation area front end.
9. the multistation ceramic tile branch code place system based on load wagon according to claim 6, it is characterised in that：Described
VFC module includes four converters and four frequency conversion motors one-to-one with converter, four frequency conversion motor difference
For realizing mechanical hand（3）In X-axis, Y-axis, the linear motion of Z-direction and mechanical hand（3）Around the W axle sides that its own rotates
To rotary motion, be mounted on the encoder that encoder is connected with slave computer on four frequency conversion motors.
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| CN115450447B (en) * | 2021-06-08 | 2024-05-31 | 广东博智林机器人有限公司 | Interactive system, brickwork device, brickwork manipulator and brickwork positioning method |
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| CN106516798B (en) | 2019-05-03 |
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