CN106516798B - A kind of multistation ceramic tile transfer stacking method based on load wagon - Google Patents
A kind of multistation ceramic tile transfer stacking method based on load wagon Download PDFInfo
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- CN106516798B CN106516798B CN201611016338.1A CN201611016338A CN106516798B CN 106516798 B CN106516798 B CN 106516798B CN 201611016338 A CN201611016338 A CN 201611016338A CN 106516798 B CN106516798 B CN 106516798B
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- ceramic tile
- manipulator
- load wagon
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- station
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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
Abstract
A kind of multistation ceramic tile transfer stacking method based on load wagon, belongs to production equipment for ceramic tiles field.It is characterized by comprising pile up operation area, load wagon, which is provided with, in stacking operation area parks station (4), the rear end for piling up operation area is provided with the transmission device (1) for transporting ceramic tile, manipulator (3) are provided with above operation area piling up, the vehicle body scan module judged the position of the loading plate of load wagon and height is internally provided with piling up operation area, it is provided with control cabinet outside operation area piling up, is provided with control unit in control cabinet.Stacking method is shifted by the ceramic tile of this load wagon, ceramic tile is realized by the transmission device of baling line end to the automatic clamping of load wagon loading plate, movement and placement, avoid a large amount of wastes of manpower and material resources, the possibility for substantially increasing labor efficiency while colliding with when avoiding manual handling to product, ensure that the quality of product.
Description
Technical field
A kind of multistation ceramic tile transfer stacking method based on load wagon, belongs to production equipment for ceramic tiles field.
Background technique
Currently, the increasingly increase against society to ceramic tile demand, output also increase sharply.In the prior art, porcelain
Brick enters baling line after kiln sintering, and multi-disc ceramic tile is loaded into packing box in baling line, is being bundled, is being packaged
It is sent out after step from the end of baling line.Packaged ceramic tile sent out by baling line after by manually by ceramic tile carry out carry and
It piles up.Meanwhile in the production process for carrying out ceramic tile, due to production technology the problem of often burns out different grades of production
Product, therefore the product that can not will have to grade during the packaging process carries out class wrapping, consequently facilitating the storage of ceramic tile and with not
Same price sells different grades of product.
As described above, in the prior art, generally requiring that manually packaged ceramic tile is carried and piled up, due to porcelain
The heavier-weight of brick itself, therefore a large amount of man power and material can be manually wasted when being carried and being piled up, efficiency is extremely low
Under.It since ceramic tile is friable product, often will appear the phenomenon that colliding with during carrying, cause damage of product and nothing
Method is sold, therefore also increases production cost to a certain extent.Simultaneously it can be seen from the above, can be burnt during ceramic tile is fired
Different grades of product is produced, therefore is to avoid confusion, needs to pile up different grades of tile typology when piling up, therefore into
One step increases the labor intensity of manual handling.
Summary of the invention
It is pressed from both sides automatically the technical problem to be solved by the present invention is overcoming the deficiencies of the prior art and provide a kind of pair of ceramic tile
Take, shift and pile up, avoid a large amount of wastes of manpower and material resources, improve labor efficiency and meanwhile ensure that product it is intact based on
The multistation ceramic tile of load wagon shifts stacking method.
The technical solution adopted by the present invention to solve the technical problems is: should the multistation ceramic tile branch code based on load wagon
Put method, characterized by the following steps:
Step 1001, system is initialized, and manipulator is moved to waiting station, is ready for the crawl of ceramic tile；
Step 1002, the capture program that manipulator needs to be implemented is chosen by host computer, after capture program selection finishes,
Manipulator executes crawl operation according to scheduled capture program；
Step 1003, slave computer judges that two load wagons park in station whether load wagon is not parked, if two dresses
Carrier vehicle, which is parked, is not parked load wagon in station, execute step 1005, park when at least one load wagon and dress is parked in station
When carrier vehicle, step 1004 is executed；
Step 1004, slave computer controls robot movement, and starts mechanical 3D vision module on hand to load wagon entirety
It is scanned；
Step 1005, slave computer starts warning device, prompts staff's load wagon to park and load wagon is not parked in station；
Step 1006, slave computer judges whether be placed with ceramic tile in ceramic tile station turning, if being placed with ceramic tile, executes step
Rapid 1007, if without ceramic tile, return step 1003 in ceramic tile station turning；
Step 1007, host computer is determined the grade of ceramic tile, and every grade for wrapping ceramic tile to be piled up is sent under
Position machine；
Step 1008, whether slave computer judgement load wagon corresponding with the ceramic tile grade of the packet ceramic tile is parked has filled on station
Full ceramic tile executes step 1010 if being already filled with ceramic tile, if not yet filling ceramic tile, executes step 1009；
Step 1009, the ceramic tile in slave computer control manipulator crawl ceramic tile station turning；
Step 1010, slave computer judges whether there is idle load wagon according to load wagon detection switch, if there is
There is idle load wagon, step 1011 is executed, if there is no idle load wagon, return step 1005；
Step 1011, which is that load wagon corresponding to ceramic tile grade stops in step 1007 by slave computer
Station (4) are put, step 1009 is then executed；
Step 1012, ceramic tile is transferred to by slave computer control manipulator according to ceramic tile jump subroutine by ceramic tile station turning
Load wagon parks the top of load wagon in station；
Step 1013, slave computer control manipulator places subprogram according to ceramic tile and ceramic tile is placed on load wagon, then
Return step 1003.
Preferably, ceramic tile jump subroutine described in step 1012, includes the following steps:
Step 2001, the mobile total distance a of manipulator is calculated；
Control unit obtains determining manipulator in X-axis and Y-axis institute according to the mobile starting point and mobile endpoint calculation of manipulator
Mobile total distance a in the plane；
Step 2002, moving distance a is divided for several mobile sections: section a1... section an；
Control unit is according to range segment separating principle by the mobile total distance a of manipulator points since the mobile starting point of manipulator
For several mobile sections: section a1... section an；
Step 2003, mobile with First Speed；
Manipulator is since the starting point with First Speed in section a1Interior movement；
Step 2004, whether manipulator enters section a2；
Control unit judges whether manipulator comes into section a2If into section a2, step 2005 is executed, otherwise
Return to step 2003；
Step 2005, it is run with second speed；
Control unit controls manipulator in section a2It is interior mobile with the second speed lower than First Speed；
Step 2006, judge whether manipulator enters section an；
Control unit judges whether manipulator comes into section anIf into section an, step 2008 is executed, otherwise
Execute step 2007；
Step 2007, with the operation of N-1 speed；
It is mobile that control unit controls manipulator N-1 speed；
Step 2008, mobile with N speed；
Control unit controls manipulator in section anIt is interior mobile with the N speed lower than N-1 speed, when being moved to movement
Stop movement after terminal.
Preferably, range segment separating principle described in step 2002 are as follows: determine and appoint in the entire moving distance a of manipulator
Meaning is a little used as deceleration point, is section a between deceleration point and the mobile starting point of manipulator1, the mobile end of deceleration point and manipulator
The distance between point forms section a after dividing equally2~ section an。
Preferably, ceramic tile jump subroutine described in step 1013, includes the following steps:
Step 3001, height of drop is determined；
After the manipulator that clamping has ceramic tile is moved to above load wagon, load wagon is loaded by vehicle scan module
The actual height of plate is determined, and determines the actual range that manipulator falls；
Step 3002, whether load wagon tilts；
Whether load wagon, which is piling up operation area, is judged to the scanning result of load wagon in step 1005 described in control unit
Inside whether it is in heeling condition, if being in heeling condition, executes step 3003, if being not at heeling condition, directly executed
Step 3004.
Step 3003, tilt angle is compensated；
Control unit parks the tilt angle in station, control manipulator rotation, angle of rotation in load wagon according to load wagon
It spends identical as the tilt angle of load wagon；
Step 3004, whether ceramic tile needs to rotate；
Control unit according to stacking rule of the presetting ceramic tile on load wagon judge the packet ceramic tile before whereabouts whether
It needs to rotate, if necessary to rotate, executes step 3005, if you do not need to rotation, executes step 3006；
Step 3005, manipulator rotates；
Control unit determines the angle that ceramic tile needs to rotate according to the predeterminated position of the packet ceramic tile on load wagon, and drives
Manipulator rotates corresponding angle；
Step 3006, manipulator falls；
Control unit driving manipulator falls, and so that the bottom surface of ceramic tile is close to the loading plate upper surface of load wagon, completes ceramic tile
Placement；
Step 3007, manipulator return；
Manipulator unclamps ceramic tile, after then rising distance accordingly, returns to the crawl that waiting station continues next packet ceramic tile
And transfer.
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, at least one load wagon is provided in stacking operation area and parks station, is provided in the rear end for piling up operation area
For transporting the transmission device of ceramic tile, it is provided with manipulator above operation area piling up, for by the ceramic tile on transmission device
It is transferred on the loading plate of load wagon, is internally provided in stacking operation area and the position of the loading plate of load wagon and height are carried out
The vehicle body scan module of judgement is provided with control cabinet outside operation area piling up, is provided with control unit in control cabinet.
Preferably, the control unit includes the slave computer that host computer and host computer are bi-directionally connected, in the defeated of slave computer
The frequency control module of driving manipulator movement is connected in exit port；
It is connected on the input port of slave computer for judging that the load wagon parks loading whether is parked in station
The load wagon detection module of vehicle, for judge the transmission device end whether there is the ceramic tile detection module for having ceramic tile and
For preventing the mobile limit module out of control of manipulator, the vehicle body scan module is the 3D vision mould of installation on a robotic arm
The signal output end of block, 3D vision module is connected with the signal input part of slave computer simultaneously.
Preferably, the load wagon detection module is the load wagon detection that the load wagon is arranged in and parks station bottom
Switch；The ceramic tile detection module is the optoelectronic switch that the transmission device end is arranged in.
Preferably, being additionally provided on the input port of the slave computer prevents from being strayed into the safety light piled up in operation area
The opening two sides for piling up operation area front end are arranged in grid, safe grating.
Preferably, the frequency control module include four frequency converters and with one-to-one four frequency conversions of frequency converter
Motor, four variable-frequency motors are respectively used to realize manipulator in X-axis, Y-axis, the linear motion of Z-direction and manipulator around it
The rotary motion of the W axis direction of itself rotation, is mounted on the encoder that encoder is connect with slave computer on four variable-frequency motors.
Compared with prior art, the present invention has the beneficial effects that
1, stacking method is shifted by the ceramic tile of this load wagon, realizes ceramic tile and is extremely filled by the transmission device of baling line end
Automatic clamping, movement and the placement of carrier vehicle loading plate avoid a large amount of wastes of manpower and material resources, substantially increase labor efficiency
The possibility collided with when avoiding manual handling simultaneously to product, ensure that the quality of product.
2, the load wagon whether its inside has load wagon to be detected is detected by parking to place in station in load wagon
Module, ceramic tile caused by can be effectively prevented when placing ceramic tile due to load wagon parks and do not park load wagon in station damage.
3, by the way that ceramic tile detection module is arranged in the end of transmission device, after ceramic tile is transported at transmission device, control is single
Member can be detected immediately upon, therefore avoid delay of the ceramic tile at transmission device.
4, the both 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 of grid stroke is formed at the front opening in area, if piled up after staff accidentally swarms into stacking operation area in operation
It stops operation immediately in operation area, effectively prevents causing danger.
5, in this transfer stacking method, by ceramic tile jump subroutine, the moving distance of manipulator is divided into several areas
Section: section a1... section an, and from and from section a1Start to transport manipulator at different rates in the form of decrease of speed
Row, thus in the fast speed of mobile its movement of initial stage of manipulator, therefore ensure that manipulator overall operation speed, it improves
The operational efficiency of system, since the total weight of manipulator itself and the ceramic tile of its clamping is heavier, mobile in manipulator
Latter stage is run with low speed, reduces inertia brought by manipulator and ceramic tile itself weight, therefore improves the accurate of positioning
The operation stability of property and system.
6, since load wagon tire is conventional pneumatic tire, the process that ceramic tile is constantly placed on load wagon
In, the height of the loading plate of load wagon can constantly change, and by the scanning constantly to this height is loaded, host computer is available every
Packet ceramic tile fall before loading plate actual height, so as to avoid the height change because of loading plate caused by ceramic tile height of drop
Inaccuracy effectively prevent ceramic tile to damage.
7, pass through tilt angle 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 relationship between boundary.
Detailed description of the invention
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.
Fig. 3 is the schematic front view of manipulator.
Fig. 4 is the schematic top plan view of manipulator.
Fig. 5 is the schematic diagram of manipulator 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 the multistation ceramic tile based on load wagon shifts stacking method ceramic tile jump subroutine flow chart.
Fig. 8 is that the multistation ceramic tile based on load wagon shifts stacking method ceramic tile placement subroutine flow chart.
Wherein: 1, transmission device 2, ceramic tile station turning 3, manipulator 301, pallet clamp guide plate 302, finger peace
Loading board 303, clamping plate limiting photoelectric switch 304, manipulator main body 305, finger guide bearing 306, pallet grab finger
307, ceramic tile clamping plate 308, clamping plate mounting plate 309, clamping plate folding cylinder 310, pallet crawl cylinder 311, clamping plate open and close tooth
Wheel 312, clamping plate folding rack gear 313, ceramic tile inductor 314, pallet crawl gear 315, pallet grab rack gear 4, load wagon
Park 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 with reference to the accompanying drawing.
As shown in Figure 1, (hereinafter referred to as system is piled up in transfer to a kind of multistation ceramic tile branch code place system based on load wagon
System), it is the stacking operation area of ceramic tile, rectangular area inside the rectangular area including the rectangular area surrounded by guardrail 6
One end is open end, and the open end is set as to pile up the front end of operation area, by the way that opening is arranged in the front end for piling up operation area,
Convenient transportation tool enters the inside for piling up operation area and transports the ceramic tile for completing to pile up.
Load wagon at least one is internally provided in stacking operation area and parks station 4, in this branch code place system, is loaded
Vehicle parks 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
It drives into and piles up inside operation area, and rest on load wagon and park in station 4.A machinery is provided with above operation area piling up
Hand 3, pile up operation area rear be ceramic tile packing line transmission device 1, manipulator 3 by transmission device 1 send to ceramic tile by
Transmission device 1 is transferred on load wagon and is piled up, and the end of transmission device 1 extends in 6 inside of guardrail from the outside of guardrail 6
Multiple load wagons park the middle position of station 4, and manipulator 3 is located at the top of 1 end of transmission device, at the end of transmission device 1
End is ceramic tile station turning 2, becomes placing vertically for the ceramic tile being horizontally arranged on transmission device 1 to be carried out overturning, so as to
In the clamping of manipulator 3.In this branch code place system, the longitudinal direction of the stacking operation area of rectangle is moved as manipulator 3
X-direction when dynamic will pile up Y direction of the short side direction of operation area as manipulator 3 when mobile, by manipulator 3 in code
Put the direction that moves up and down in the operation area Z-direction mobile as manipulator 3, manipulator 3 can realize simultaneously around its own into
The movement of row rotation (W axis).
Both 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 of grid stroke is formed at the front opening in area, if piled up after staff accidentally swarms into stacking operation area in operation
It stops operation immediately in operation area, effectively prevents causing danger.The bottom of ceramic tile station turning 2 is provided with optoelectronic switch,
For whether detecting in ceramic tile station turning 2 there are the ceramic tile not shifted, the bottom that load wagon parks station 4 be provided with by
The load wagon detection switch 5 that optoelectronic switch is realized parks whether load wagon is parked inside station 4 in load wagon for detecting.?
The outside for piling up operation area is provided with the control cabinet (being not drawn into figure) of this branch code place system, is provided with and is used in control cabinet
The control unit that this branch code place system working condition is controlled.
As shown in Fig. 2, the control unit of this branch code place system includes: host computer, slave computer and frequency converter, host computer
It is realized by the touch screen being mounted in control cabinet cabinet door, slave computer is realized by the PLC being mounted in control cabinet, host computer and bottom
It is bi-directionally connected between machine.Slave computer controls four frequency converters, the corresponding variable-frequency motor of each frequency converter, four frequency conversions simultaneously
Motor respectively corresponds the movement of the X-axis of manipulator 3, Y-axis, Z axis and W axis direction, corresponding installation on each variable-frequency motor
There is encoder, the output end of encoder is connected to the signal input part of slave computer.
It is also respectively connected on the signal input part of slave computer close to switch, limit switch, grating module, ceramic tile detection
Switch, load wagon detection module and 3D vision module, wherein ceramic tile detection module is mounted on ceramic tile station turning 2 for above-mentioned
The optoelectronic switch of bottom, for detecting, whether there are the ceramic tiles not shifted in ceramic tile station turning 2；Load wagon detection module is
It is mounted on the load wagon detection switch 5 that load wagon parks 4 bottom of station, whether is parked for detecting load wagon and parking in station 4
Load wagon；Grating module is the safe grating 7 being arranged at the front opening for piling up operation area, after safe grating 7 is blocked,
Slave computer controls 3 stopping of manipulator movement.Close to switch and limit switch respectively to manipulator 3 in X-axis, Y direction
The switch that position detection is carried out when mobile, for preventing the movement in moving process of manipulator 3 out of control.3D vision module is mounted on
The lower part of manipulator 3, manipulator 3 sweep the position of load wagon and the height of load wagon loading plate by 3D vision module
The data retouched, and scanning is obtained are sent into host computer by slave computer.
As shown in Fig. 3 ~ 4: when piling up ceramic tile onto load wagon, directly ceramic tile can be piled up onto load wagon,
It may be implemented to place pallet on load wagon, then pile up ceramic tile onto pallet, therefore manipulator 3 includes for grabbing pallet
Pallet grasping mechanism and ceramic tile grasping mechanism for grabbing ceramic tile.Pallet grasping mechanism and ceramic tile grasping mechanism are respectively mounted
In manipulator main body 304, manipulator main body 304 is cuboid housing.When needing for ceramic tile to be firstly placed on pallet, pass through
Pallet grasping mechanism first can grab pallet before grabbing ceramic tile.
Pallet grasping mechanism includes pallet crawl finger 306 and the finger power unit for pushing pallet crawl finger 306.
It is V-arrangement that pallet, which grabs finger 306, and one end of pallet crawl finger 306 is connected with finger power unit, and the other end is equipped with and is used for
To the baffle that the pallet of crawl is stopped, pallet landing in the process of grasping is avoided, to cause danger.Pallet grabs finger
There are four 306, it is separately positioned on four angles of manipulator main body 304.Pallet crawl finger 306 is mounted on finger mounted plate
On 302, finger mounted plate 302 is fixedly connected with finger power unit.
Manipulator main body 304 is equipped with pallet and clamps guide plate 301, and pallet clamps guide plate 301 and pallet grabs finger
306 correspond, and pallet clamps guide plate 301 and is fixed on the side of manipulator main body 304.Pallet clamps guide plate 301
Free end is gradually concave arc from the bottom to top.Pallet crawl finger 306 is hinged on finger mounted plate 302, and pallet grabs
Torsional spring is equipped between finger 306 and finger mounted plate 302, so that pallet crawl finger 306 be made to be detached from pallet clamping guide plate
Open configuration is in when 301.Finger guide bearing 305, finger guide bearing 305 are rotatably equipped on pallet crawl finger 306
Setting clamps between guide plate 301 in hinge joint and pallet.Finger power unit pushes pallet crawl finger 306 difference to the left and right
Two sides movement, so that so that pallet crawl finger 306 is detached from pallet clamps guide plate 301, pallet grabs finger 306 in torsional spring and stack
Plate is in open configuration under the action of grabbing 306 gravity of finger；Finger power unit drive pallet grab finger 306 from two sides to
Intermediary movements, make 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, so that the crawl completed to pallet clamps.
Ceramic tile grasping mechanism includes ceramic tile clamping plate 307 and the clamping plate power unit for pushing the axial movement of ceramic tile clamping plate 307.
The upper end of ceramic tile clamping plate 307 is mounted on clamping plate mounting plate 308, and the other end is free end.Clamping plate power unit and clamping plate are installed
Plate 308 is connected, and clamping plate mounting plate 308 is pushed to move horizontally, to realize the clamping and release of ceramic tile.Ceramic tile clamping plate 307 with
The side of ceramic tile contact is equipped with rubber, on the one hand for increasing and the friction of ceramic tile, on the other hand can generate buffer function, keep away
Exempt to collide with ceramic tile, to damage ceramic tile.The lower end of ceramic tile clamping plate 307 is tilted to middle part, so as to preferably clamp
Ceramic tile.
When through-thickness grabs ceramic tile, ceramic tile clamping plate 307 may be mounted at clamping plate mounting plate 308 close to manipulator master
The one end at 304 middle part of body, when along width or length direction crawl ceramic tile, ceramic tile clamping plate 307 is mounted on clamping plate mounting plate 308 and leans on
The one end in nearly 304 outside of manipulator main body.For the two pieces of ceramic tile clamping plates 307 for clamping ceramic tile that cooperate to be a pair of, ceramic tile folder
Plate 307 has two pairs, and clamping plate mounting plate 308 and ceramic tile clamping plate 307 correspond.
Ceramic tile, which is equipped with, in the top of manipulator main body 304 grabs position-limiting unit.Ceramic tile grabs position-limiting unit as clamping plate limit
Optoelectronic switch 303, there are two every a pair of clamping plate limiting photoelectric switch 303, and two clamping plate limiting photoelectric switch 303 are respectively used to examine
Enlightenment position and the final position for surveying clamping plate power unit, to complete to limit.Clamping plate limiting photoelectric switch 303 has two pairs, point
It is other to drive the clamping plate power unit of two pairs of ceramic tile clamping plates 307 movement to limit to two pairs.
This manipulator 3 can either complete the crawl to pallet, and can be realized the crawl to ceramic tile, high degree of automation,
And the precision that pallet is placed is high, ceramic tile will not be made to tilt when piling up, and it is easy to use.
It is as shown in Figure 5: pallet transmission mechanism is equipped between finger power unit and finger mounted plate 302.Finger power list
Member is that pallet grabs cylinder 310, and pallet crawl cylinder 310 has one, and is mounted on the middle part of manipulator main body 304, and pallet is grabbed
The piston rod of cylinder 310 is taken to be connected with pallet transmission mechanism, finger mounted plate 302 is connected with pallet transmission mechanism.
Pallet transmission mechanism includes pallet crawl gear 314 and pallet crawl rack gear 315.Pallet grabs 314 turns of gear
It is dynamic to be mounted in manipulator main body 304, and the axis vertical setting of pallet crawl gear 314.Pallet crawl rack gear 315 has two
It is a, the two sides of pallet crawl gear 314 are symmetricly set on, and manipulator main body is stretched out in one end of two pallet crawl rack gears 315
It 304 and is fixedly connected with finger mounted plate 302.Pallet grabs cylinder 310 and is fixedly connected with a pallet crawl rack gear 315, and
Pallet crawl rack gear 315 is pushed to move axially, which grabs rack gear 315 and drive another by pallet crawl gear 314
Pallet crawl rack gear 315 moves in the opposite direction, thus the synchronous on-off of two sides pallet crawl finger 306.
The outside of pallet crawl rack gear 315 is equipped with the axis being pressed on pallet crawl rack gear 315 on pallet crawl gear 314
It holds, bearing is mounted in manipulator main body 304 by bolt.
There are two clamping plate power units, and two clamping plate power units are separately positioned on the two sides of pallet crawl cylinder 310, and
Respectively drive the folding of two pairs of ceramic tile clamping plates 307.Each clamping plate power unit is including there are two clamping plates to open and close cylinder 309, and two
The piston rod of a clamping plate folding cylinder 309 is fixedly connected, and is moved synchronously.Clamping plate limiting photoelectric switch 303 passes through detection clamping plate
The position of the piston rod of cylinder 309 is opened and closed, to limit to ceramic tile clamping plate 307.
Clamping plate transmission mechanism is equipped between clamping plate power unit and clamping plate mounting plate 308.Clamping plate transmission mechanism includes clamping plate
It opens and closes gear 311 and clamping plate opens and closes rack gear 312.Clamping plate folding gear 311 is rotatably installed in manipulator main body 304, and is pressed from both sides
Plate opens and closes the axis vertical setting of gear 311.Clamping plate opens and closes there are two rack gears 312, is symmetricly set on clamping plate and opens and closes 311 liang of gear
Side, two clamping plate folding rack gears 312 are fixedly connected with installation with the clamping plate mounting plate 308 of a pair of of ceramic tile clamping plate 307 respectively.Two
The piston rod of clamping plate folding cylinder 309 is connected with a clamping plate folding rack gear 312, and clamping plate folding rack gear 312 is driven to move,
The clamping plate opens and closes rack gear 312 and drives another clamping plate folding rack gear 312 to transport in the opposite direction by clamping plate folding gear 311
It is dynamic.The two sides of clamping plate folding rack gear 312 are respectively equipped with the bearing for pushing clamping plate folding rack gear 312 to compress clamping plate folding gear 311.
The lower section that pallet grabs gear 314 is equipped with ceramic tile inductor 313, and ceramic tile inductor 313 is for detecting ceramic tile clamping plate
Whether 307 grab ceramic tile and detect whether pallet crawl finger 306 has grabbed pallet.
As shown in fig. 6, the multistation ceramic tile transfer stacking method (hereinafter referred to as transfer stacking method) based on load wagon, packet
Include following steps:
Step 1001, it initializes,
System is initialized, and after initialization, manipulator 3 is moved to waiting station by original station, is ready for porcelain
The crawl of brick.
Step 1002, it transfers and executes capture program；
The capture program that manipulator 3 needs to be implemented is chosen by host computer, after capture program selection finishes, manipulator 3
Crawl operation is executed according to scheduled capture program.
Capture program is the pre- crawl flow scheme first passed through in upper computer software write-in host computer, in this transfer stacking side
It in method, will be marked in the region for piling up operation area using coordinate, after to workspace completion coordinate label is piled up, determined
Load wagon parks the coordinate of station 4, while being determined the coordinate of the original station of manipulator 3 and waiting station.It is grabbed in write-in
When taking flow scheme, while the stacking rule of ceramic tile on load wagon loading plate is set.It is being actually written into crawl process side
When case, the disposing way that a variety of ceramic tiles are set on load wagon can according to need.
Step 1003, judge that all load wagons park in station 4 whether load wagon is parked in nothing；
Whether slave computer judges that two load wagons are parked in station 4 in load wagon detection switch 5 according to setting and is not parked
Load wagon executes step 1005 if two load wagons, which are parked, is not parked load wagon in station 4, when at least one loading
Vehicle is parked when load wagon is parked in station 4, executes step 1004；
Step 1004, load wagon is scanned；
Slave computer controls manipulator 3 and moves, and starts the 3D vision module on manipulator 3 and integrally sweep to load wagon
It retouches.
After manipulator 3 carries out entire scan to load wagon, load wagon is obtained and has piled up the actual bit in operation area
It sets, the actual coordinate of load wagon loading plate and the actual height of load wagon loading plate upper surface is determined, if load wagon is sailed
Enter when load wagon parks 4 inside of station relative to X-axis (or Y-axis) direction there are tilt angle, 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 tilt angle in operation area.Load wagon dress is being determined
After the physical location of support plate, rule is piled up according to preset ceramic tile, host computer is calculated each on loading plate simultaneously
The X axis coordinate and Y axis coordinate of the practical stacking position of packet ceramic tile.
Step 1005, it alarms；
Slave computer starts warning device, prompts staff's load wagon to park in station 4 and load wagon is not parked.
Step 1006, whether there is 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, executes step 1007,
If without ceramic tile, return step 1003 in ceramic tile station turning 2；
Step 1007, ceramic tile grade is determined；
Host computer is determined the grade of every packet ceramic tile, and every grade for wrapping ceramic tile to be piled up is sent to slave computer.
After ceramic tile is transmitted to ceramic tile station turning 2 by transmission device 1, host computer by the grade of the report ceramic tile send to
In slave computer, the packet ceramic tile is then sent into corresponding load wagon by slave computer control manipulator 3 and is parked in station 4, to protect
It has demonstrate,proved and has parked the ceramic tile that the ceramic tile placed in station 4 is same grade in each load wagon.
The judgement of ceramic tile grade can be accomplished in several ways, in this transfer stacking method, pass through the side of retrospect
Formula realizes that is, finished product ceramic tile is the classification for completing ceramic tile grade before entering transmission device 1, and ceramic tile is entering transmission device
After 1, it is transferred by regular time on the ceramic tile station turning 2 of 1 end of transmission device, that is, realizes ceramic tile grade
Judgement.
Judgement for ceramic tile grade can also be realized by way of other forms, such as be encoded in ceramic tile surface
(such as bar code, two dimensional code), ceramic tile is after being transported to ceramic tile station turning 2, by ceramic tile station turning 2 or manipulator 3
Upper placement barcode scanning device, can in real time judge the grade of ceramic tile.
Step 1008, load wagon parks in the load wagon of station 4 whether fill ceramic tile；
Slave computer judges that load wagon corresponding with the ceramic tile grade of the packet ceramic tile parks whether have been filled with ceramic tile on station 4,
If being already filled with ceramic tile, step 1010 is executed, if not yet filling ceramic tile, executes step 1009.
Step 1009, ceramic tile is grabbed；
Slave computer controls the ceramic tile in the crawl ceramic tile station turning 2 of manipulator 3；
Step 1010, if there are idle load wagons；
Slave computer judges whether there is idle load wagon according to load wagon detection switch 5, idle if there is having
Load wagon executes step 1011, if there is no idle load wagon, return step 1005；
Step 1011, the ceramic tile grade of load wagon is defined；
The load wagon temporary definition is that load wagon corresponding to ceramic tile grade parks station 4 in step 1007 by slave computer,
Then step 1009 is executed.
Step 1012, ceramic tile is shifted；
Slave computer controls manipulator 3 and ceramic tile is transferred to load wagon by ceramic tile station turning 2 according to ceramic tile jump subroutine
Park the top of load wagon in station 4；
Step 1013, ceramic tile is placed；
Slave computer controls manipulator 3 and ceramic tile is placed on load wagon according to ceramic tile placement subprogram, then return step
1003。
During ceramic tile is constantly transferred to load wagon from ceramic tile station turning 2 by manipulator 3, slave computer constantly will
The stacking state of ceramic tile is sent into host computer, carries out real-time display to the stacking state on load wagon in the display screen of host computer,
The stacking quantity of ceramic tile on load wagon is counted, while constantly sending the stacking position of next packet ceramic tile to slave computer,
The crawl control of next packet ceramic tile is executed by slave computer control manipulator 3.
As shown in fig. 7, above-mentioned ceramic tile jump subroutine includes the following steps:
Step 2001, the moving distance a of manipulator 3 is calculated；
Host computer determines manipulator 3 in X-axis according to the coordinate of the coordinate of the waiting station of manipulator 3 and the ceramic tile of stacking
With Y-axis mobile total distance a in the plane.
Step 2002, moving distance a is divided for several mobile sections: section a1... section an；
Host computer by manipulator 3 X-axis and Y-axis mobile total distance a in the plane divide for several mobile sections, with machine
The holding fix of tool hand 3 is that the coordinate of starting point and ceramic tile is terminal, is divided into: section a1... section an。
Step 2003, mobile with First Speed；
It moves at the same time, drives under the driving of slave computer in the motor of X-direction and Y direction for driving manipulator 3
Manipulator 3 is in section a1It is interior to be moved with First Speed；
Step 2004, whether manipulator 3 enters section a2；
Host computer judges whether manipulator 3 comes into section a2If into section a2, step 2005 is executed, is otherwise returned
Receipt row step 2003.
Step 2005, it is run with second speed；
Manipulator 3 is moving into section a2Later, slave computer is by corresponding frequency converter, to driving manipulator 3 in X
The decelerating through motor of axis direction and Y direction moves manipulator 3 in section a2 with the second speed lower than First Speed；
As manipulator 3 is constantly run under corresponding motor driven, manipulator 3 sequentially enters section 3, section
4 ... section a(n-1), and successively with the third speed of decrease of speed, fourth speed ... N-1 speed in corresponding section
It is mobile, therefore the process repeats no more.
Step 2006, whether manipulator 3 enters section an；
Host computer judges whether manipulator 3 comes into section anIf into section an, step 2008 is executed, is otherwise held
Row step 2007.
Step 2007, with the operation of N-1 speed；
Manipulator 3 is in section a(n-1)Interior, slave computer control driving manipulator 3 makes in the motor of X-direction and Y direction
Manipulator 3 is with N-1 speed sectors a(n-1)Interior movement.
Step 2008, mobile with N speed；
Manipulator 3 is moving into section anLater, slave computer control driving manipulator 3 is in X-direction and Y direction
Motor makes manipulator 3 with N speed sectors anInterior movement.
Step 2009, stop；
When the operation of manipulator 3 to ceramic tile target position, slave computer makes manipulator 3 stop moving by corresponding motor
It is dynamic.
In this transfer stacking method, by ceramic tile jump subroutine, the moving distance of manipulator 3 is divided into several areas
Section: section a1... section an, and from and from section a1Start to make manipulator 3 in the form of decrease of speed at different rates
Operation, thus in the fast speed of mobile its movement of initial stage of manipulator 3, therefore ensure that 3 overall operation speed of manipulator, it mentions
The high operational efficiency of system, since the total weight of manipulator 3 itself and its ceramic tile clamped is heavier, in manipulator 3
Mobile latter stage is run with low speed, reduces inertia brought by manipulator 3 and ceramic tile itself weight, therefore improves positioning
Accuracy and system operation stability.
Section a1... section anSetting principle are as follows: in the entire moving distance a of manipulator 3, with the shifting of manipulator 3
Dynamic terminal is that starting point reversely determines that a point (being denoted as point A) is used as section a2Starting point, which is simultaneously that manipulator 3 starts to subtract
The deceleration point of speed.Therefore the distance between 3 starting point of manipulator and point A are section a1, the mobile terminal of point A and manipulator 3 is (i.e.
Ceramic tile target position) the distance between divide equally after formed section a2~ section an.Since the initial position of every packet ceramic tile is identical and mesh
Cursor position is different, therefore the total distance a of the movement in the every packet ceramic tile of movement of manipulator 3 is variable, according to above-mentioned section partition
It is referring to reversely determining, section a since point A is with the terminal of manipulator 3 after principle carries out section partition2~ section an
Total distance and the distance of each section be definite value, and section a1Distance change with the variation of total distance a.
As shown in figure 8, above-mentioned ceramic tile places subprogram, include the following steps:
Step 3001, height of drop is determined；
After the manipulator 3 that clamping has ceramic tile is moved to above load wagon, the 3D vision module that is fixed on manipulator 3
The actual height that load wagon loading plate is obtained after scanning determines the actual range that manipulator 3 falls, i.e., manipulator 3 is in Z-direction
Moving distance.
Since load wagon tire is conventional pneumatic tire, ceramic tile during constantly being placed on load wagon,
The height of the loading plate of load wagon can constantly change, and pass through the scanning constantly to this height is loaded, the available every packet of host computer
Ceramic tile fall before loading plate actual height, so as to avoid the height change because of loading plate caused by ceramic tile height of drop not
Accurately, it effectively prevent ceramic tile to damage.
Step 3002, whether load wagon tilts；
Host computer judges whether load wagon is piling up operation area to the scanning result of load wagon according in above-mentioned steps 1005
Inside whether it is in heeling condition, if being in heeling condition, executes step 3003, if being not at heeling condition, directly executed
Step 3004.
Step 3003, tilt angle is compensated；
Host computer parks the tilt angle in station 4 in load wagon according to load wagon, issues control signal to slave computer, by
Slave computer drives corresponding motor action, and manipulator 3 is made to rotate angle identical with load wagon.
It is compensated by the tilt angle of step 3003, it is ensured that ceramic tile is after being placed on above loading plate, with loading plate
Boundary between be parallel or vertical relationship.
Step 3004, whether ceramic tile needs to rotate；
Host computer according to stacking rule of the presetting ceramic tile on load wagon judge the packet ceramic tile before whereabouts whether need
It rotates, i.e., whether needs manipulator 3 to be acted on W axis, if necessary to rotate, execute step 3005, if you do not need to
Rotation executes step 3006；
Step 3005, manipulator 3 rotates；
Host computer determines the angle that ceramic tile needs to rotate according to the predeterminated position of the packet ceramic tile on load wagon, and will control
Signal is sent to slave computer, drives corresponding motor action by slave computer, and driving manipulator 3 rotates, and keeps ceramic tile rotation corresponding
Angle；
Step 3006, manipulator 3 falls；
Slave computer drives corresponding motor action, makes 3 whereabouts preset distance of manipulator, and the bottom surface of ceramic tile is made to be close to load wagon
The placement of ceramic tile is completed in upper surface.
Step 3007,3 return of manipulator；
Manipulator 3 unclamps ceramic tile, after then rising distance accordingly, returns to the crawl that waiting station continues next packet ceramic tile
And transfer.
Specific work process and working principle are as follows:
Load wagon, which is transferred to, on needing ceramic tile station turning 2 of the ceramic tile completed to packing by baling line end parks work
When at position 4, operator is moved to holding fix and starts work by the selected capture program needed to be implemented of host computer, manipulator 3
Make, executes the crawl, transfer and placement operation of ceramic tile.
After start-up operation, whether slave computer first determines whether that two load wagons are parked in station 4 and does not place manipulator 3
Load wagon, if two load wagons, which are parked, is not placed load wagon in station 4, host computer is alarmed, and prompts staff will
At least a load wagon drives into load wagon and parks in station 4.
After load wagon is parked, and load wagon is parked in station 4, host computer is acted by slave computer driving manipulator 3, is passed through
3D vision module on manipulator 3 is scanned load wagon vehicle, and load wagon is obtained after scanning and is being piled up in operation area
Physical location determines that the actual coordinate of load wagon loading plate, the actual height of load wagon loading plate upper surface and load wagon exist
It piles up and whether is tilted and tilt angle in operation area.
Then slave computer judge in ceramic tile station turning 2 it is whether existing have the ceramic tile not grabbed, if ceramic tile is overturn
There is no the ceramic tile not grabbed in station 2, then movement is not executed, if existing have the ceramic tile not yet grabbed, manipulator 3 is first
It falls before to being grabbed to ceramic tile at ceramic tile station turning 2, in manipulator 3 after grabbing ceramic tile in ceramic tile station turning 2,
Manipulator 3 rises to waiting station first, then drives corresponding motor operation by slave computer, be manipulator 3 simultaneously in X-axis and
Y direction is mobile, is moved to the top for needing the load wagon placed.Manipulator 3 is before X-axis and Y direction are mobile, host computer
The total distance mobile in X-axis and Y direction of manipulator 3 has been calculated, and total distance is divided into several sections, manipulator 3
During X-axis and mobile Y direction, before being moved to the second section, slave computer driving manipulator 3 is at full throttle transported
Row, when enter the second section, third section ..., N section when, successively reduce manipulator 3 movement speed, when manipulator 3
After being moved to above the placement location of ceramic tile, manipulator 3 is completed in the movement of X-axis and Y direction.
After above the placement location that manipulator 3 is moved to ceramic tile, host computer again fills load wagon by manipulator 3
The height of support plate is scanned, and obtains the actual height of loading plate, then host computer is obtained according to the scanning to load wagon vehicle
Load wagon is piling up the tilt angle in workspace, if there is there is tilt angle, then controls manipulator 3 by slave computer first
Corresponding angle is rotated, then whether will need to send to slave computer the control instruction that ceramic tile rotates, if ceramic tile carries out
Rotation, then slave computer controls corresponding motor action first, acts manipulator 3 on W axis, respective angles is rotated, if not
It needs ceramic tile to be rotated, then corresponding motor action is controlled by slave computer, driving manipulator 3 acts on Z axis, ceramic tile is put
Set the upper surface of load wagon.After manipulator 3 completes the placement of ceramic tile, unclamps ceramic tile and return to waiting station, continue next
The crawl of packet ceramic tile.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But without departing from the technical solutions of the present invention, according to the technical essence of the invention to above embodiments institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection scope of technical solution of the present invention.
Claims (4)
1. a kind of multistation ceramic tile based on load wagon shifts stacking method, characterized by the following steps:
Step 1001, system is initialized, and manipulator (3) is moved to waiting station, is ready for the crawl of ceramic tile；
Step 1002, the capture program that manipulator (3) need to be implemented is chosen by host computer, after capture program selection finishes,
Manipulator (3) executes crawl operation according to scheduled capture program；
Step 1003, slave computer judges that two load wagons park in station (4) whether load wagon is not parked, if two loadings
Vehicle, which is parked, is not parked load wagon in station (4), execute step 1005, park in station (4) and stop when at least one load wagon
When having load wagon, step 1004 is executed；
Step 1004, slave computer control manipulator (3) movement, and the 3D vision module started on manipulator (3) is whole to load wagon
Body is scanned；
Step 1005, slave computer starts warning device, prompts staff's load wagon to park in station (4) and load wagon is not parked；
Step 1006, slave computer judges whether be placed with ceramic tile in ceramic tile station turning (2), if being placed with ceramic tile, executes step
Rapid 1007, if without ceramic tile, return step 1003 in ceramic tile station turning (2)；
Step 1007, host computer is determined the grade of ceramic tile, and every grade for wrapping ceramic tile to be piled up is sent to slave computer；
Step 1008, whether slave computer judgement load wagon corresponding with the ceramic tile grade of the packet ceramic tile is parked has filled on station (4)
Full ceramic tile executes step 1010 if being already filled with ceramic tile, if not yet filling ceramic tile, executes step 1009；
Step 1009, the ceramic tile in slave computer control manipulator (3) crawl ceramic tile station turning (2)；
Step 1010, slave computer judges whether there is idle load wagon according to load wagon detection switch (5), if there is having
Idle load wagon executes step 1011, if there is no idle load wagon, return step 1005；
Step 1011, which is that load wagon corresponding to ceramic tile grade parks work in step 1007 by slave computer
Position (4) then executes step 1009；
Step 1012, slave computer control manipulator (3) is shifted ceramic tile by ceramic tile station turning (2) according to ceramic tile jump subroutine
The top of load wagon in station (4) is parked to load wagon；
Step 1013, slave computer control manipulator (3) places subprogram according to ceramic tile and ceramic tile is placed on load wagon, then returns
Return step 1003.
2. the multistation ceramic tile according to claim 1 based on load wagon shifts stacking method, it is characterised in that: step
Ceramic tile jump subroutine, includes the following steps: described in 1012
Step 2001, the mobile total distance a of manipulator (3) is calculated；
Control unit obtains determining manipulator (3) in X-axis and Y-axis according to the mobile starting point and mobile endpoint calculation of manipulator (3)
Mobile total distance a in the plane；
Step 2002, moving distance a is divided for several mobile sections: section a1... section an；
Control unit is according to range segment separating principle by the mobile total distance a of manipulator (3) since the mobile starting point of manipulator (3)
It is divided into several mobile sections: section a1... section an；
Step 2003, mobile with First Speed；
Manipulator (3) is since the starting point with First Speed in section a1Interior movement；
Step 2004, whether manipulator (3) enters section a2；
Control unit judges whether manipulator (3) comes into section a2If into section a2, step 2005 is executed, is otherwise returned
Receipt row step 2003；
Step 2005, it is run with second speed；
Control unit controls manipulator (3) in section a2It is interior mobile with the second speed lower than First Speed；
Step 2006, judge whether manipulator (3) enters section an；
Control unit judges whether manipulator (3) comes into section anIf into section an, step 2008 is executed, is otherwise held
Row step 2007；
Step 2007, with the operation of N-1 speed；
It is mobile that control unit controls (3) N-1 speed of manipulator；
Step 2008, mobile with N speed；
Control unit controls manipulator (3) in section anIt is interior mobile with the N speed lower than N-1 speed, it is mobile whole when being moved to
Stop movement after point.
3. the multistation ceramic tile according to claim 2 based on load wagon shifts stacking method, it is characterised in that: step
Range segment separating principle described in 2002 are as follows: determine any point as deceleration in the entire moving distance a of manipulator (3)
It is section a between the mobile starting point of point, deceleration point and manipulator (3)1, between deceleration point and the mobile terminal of manipulator (3)
Distance forms section a after dividing equally2~ section an。
4. the multistation ceramic tile according to claim 1 based on load wagon shifts stacking method, it is characterised in that: step
Ceramic tile described in 1013 places subprogram, includes the following steps:
Step 3001, height of drop is determined；
After the manipulator (3) that clamping has ceramic tile is moved to above load wagon, load wagon is loaded by vehicle scan module
The actual height of plate is determined, and determines the actual range that manipulator (3) fall；
Step 3002, whether load wagon tilts；
In step 1005 described in control unit to the scanning result of load wagon judge load wagon whether pile up operation area in be
It is no to be in heeling condition, if being in heeling condition, step 3003 is executed, if being not at heeling condition, directly executes step
3004；
Step 3003, tilt angle is compensated；
Control unit parks the tilt angle in station (4), control manipulator (3) rotation, rotation in load wagon according to load wagon
Angle is identical as the tilt angle of load wagon；
Step 3004, whether ceramic tile needs to rotate；
Control unit according to stacking rule of the presetting ceramic tile on load wagon judge the packet ceramic tile before whereabouts whether needs
Rotation executes step 3005 if necessary to rotate, if you do not need to rotation, executes step 3006；
Step 3005, manipulator (3) rotates；
Control unit determines the angle that ceramic tile needs to rotate according to the predeterminated position of the packet ceramic tile on load wagon, and drives machinery
Hand (3) rotates corresponding angle；
Step 3006, manipulator (3) falls；
Control unit driving manipulator (3) falls, and so that the bottom surface of ceramic tile is close to the loading plate upper surface of load wagon, completes ceramic tile
It places；
Step 3007, manipulator (3) return；
Manipulator (3) unclamp ceramic tile, then rise accordingly distance after, return to waiting station continue next packet ceramic tile crawl and
Transfer.
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| CN108016878A (en) * | 2018-01-11 | 2018-05-11 | 广东科达洁能股份有限公司 | A kind of ceramic tile truss mechanical device with vision system |
| CN108861669B (en) * | 2018-07-23 | 2024-01-19 | 合肥泰禾光电科技股份有限公司 | Guiding mechanism and method |
| CN115450447A (en) * | 2021-06-08 | 2022-12-09 | 广东博智林机器人有限公司 | Interaction system, brick laying device, brick laying manipulator and brick laying positioning method |
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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. |