CN109761059A - A kind of adobe stacking robot - Google Patents

Abstract

The present invention relates to a kind of adobes to pile up robot, includes gantry frame, big manipulator, gadget hand and the belt conveyor being located in gantry frame on gantry frame are vertically arranged in downward；Device is piled up equipped with adobe intersecting vertical on forward ground in gantry frame；It is equipped with outer column moving up and down among base support, a lifting drive rack is also vertically fixed on the lateral wall of outer column, base support is equipped with lifting driving motor；A wireline pulley is also equipped at the upper port of outer column；Outer column internal sleeve is equipped with an inner column, and consolidation leads to a flexible wire ropes in the bottom outer wall of inner column；Structure of the invention design is simple and practical, and compared to existing Green brick stacking mechanical equipment, adobe stacking is more reliable and more stable efficiently, has actual use and promotional value well.

Description

A kind of adobe stacking robot

Technical field

The present invention relates to automation code base equipment technical field, robot is piled up in especially a kind of adobe.

Background technique

Adobe stacking is carried out using manpower cooperation brick machine in current many brick fields, labor intensity is very big, and working environment is disliked It is bad；Meanwhile artificial stacking is unevenly, poor air permeability, adobe uneven heating, life are ripe different when causing to steam adobe, eventually lead into Brick unstable quality.There is also some green brick stacking devices, are piled up using manipulator crawl adobe, replace artificial labor It is dynamic, however, its adobe catching robot will lead to manipulator using 2 grades of gear drives and using ground mounting structure is sat in this way Systems bulky, repetitive positioning accuracy be low, generation acts deviation, adobe occurs and piles up irregular, the problems such as staving adobe.Together When, it sits ground fixed installation structure and occupies natively narrow brick machine, orbit space, be difficult same different height special plane matching, installation Complicated difficulty, poor compatibility, shape are too fat to move ugly.Moreover, the existing mechanical hand getting of stacking is single column cantilever design, by Power is uneven, will lead to track eccentric wear, and seal break-off, high failure rate, maintenance, maintenance are difficult, influence production efficiency, greatly increasing makes Use cost；The problems such as later period causes running precision to be lost, oil leak shortens the working life；For above situation, our company is developed Equipment and its control operating method are piled up in the new adobe that a kind of patent No. 201410102646.0 is introduced, but this new It piles up mechanical equipment and still has shortcoming, first is that the driving lifting part existing defects of manipulator, go in identical lifting The installation space occupied under journey is excessive；Second is that the problem of placement transhipment of adobe, this is also maximum existing for pervious equipment Problem, that is, adobe can only pile up in a direction when adobe is piled up and piled up on workbench, not can be carried out intersection Pile up, such stacking will lead to adobe in transport process cannot quantity unanimous between the higher and lower levels block pattern row pattern, and transporting Easily appearance is unstable due to vibration collision etc. in journey, falls；Third is that gadget hand asking due to its connection structure Topic causes its overturning and lifting travel unreasonable；Fourth is that the belt conveyor in original equipment is all to separate with rack section Be arranged, this will lead to equipment install positioning when be easy to appear deviation, influence using.

Summary of the invention

The purpose of the present invention is to existing automation brickmaking and the above problem existing for the equipment of adobe is piled up, is mentioned It is novel to improve for a kind of structure, can be obviously improved that efficiency is piled up in adobe and robot is piled up in the high adobe of reliability.

Concrete scheme of the invention is: a kind of adobe stacking robot, the adobe are piled up robot and are matched with automatic brick-equipment Setting is closed, so that robot is piled up in adobe can grab adobe and be piled up from automatic brick-equipment；Machine is piled up in adobe People includes gantry frame, the big manipulator being vertically arranged in downward on gantry frame, the small machine that gantry frame side is arranged in Tool hand and the fixed belt conveyor being located on gantry frame, wherein gadget hand from automatic brick-equipment for grabbing adobe It is placed on belt conveyor, is disposed with manipulator guide rod and manipulator translation chain at the top of gantry frame in parallel, it is described big Manipulator passes through the sprocket wheel installed thereon and engages with manipulator translation chain and sprocket motors is used to carry out driving translation；It is described small Manipulator, which is hung by the feet, to be fixed on gantry frame on the crossbeam of automatic brick-equipment side；Gadget hand main body is from top to bottom divided into Vertical cylinder, arc swing arm, the clamping device in arc swing arm end face；Equipped with the servo electricity arranged vertically on vertical cylinder The output end of machine A, servo motor A connect horizontally disposed servo motor B, and the output end of servo motor B is equipped with arc swing arm, arc The swinging end of shape swing arm makees 90 ° of reciprocating rotations equipped with the clamping device for clamping adobe, servo motor A, servo motor B, So that arc swing arm can be in brick output station the connecing to do back and forth between brickwork position and rotate to belt conveyor of automatic brick-equipment It swings, piles up device equipped with adobe intersecting vertical on forward ground in the gantry frame；The big manipulator includes pedestal Bracket, the base support centre are equipped with outer column moving up and down, and outer column is hollow tube-shape, and outer column is all around Four sides side wall is in rolling contact with the limited roller being arranged on base support, is also vertically fixed with one on the lateral wall of outer column Root goes up and down drive rack, and base support is equipped with lifting driving motor, goes up and down and driving gear is housed on the output shaft of driving motor, The driving gear engages connection with the lifting drive rack；A wireline pulley is also equipped at the upper port of the outer column； Outer column internal sleeve is equipped with an inner column, which moves up and down along the inner wall of outer column, solid in the bottom outer wall of inner column Knot leads to a flexible wire ropes, the flexible wire ropes across interior outer column gap upwards about being mounted on wireline pulley simultaneously It is fixedly connected with base support, the bottom of the inner column is equipped with the adobe clamping jaw by clamping cylinder control action；The adobe Intersecting vertical, which piles up device, has groined type pedestal, and cylindrical transmission case is vertically housed at groined type base center, transmission case Internal that transmission shaft is housed by upper and lower three groups of bearings, vacantly above groined type pedestal, transmission shaft upper end is stretched for the lower end of transmission shaft Transmission case and it is connected with a turntable out, is placed with an adobe on turntable when work and piles up pallet, be also equipped with one on transmission shaft Transmission gear；A transmission notch is offered on the lower sides of transmission case, which faces transmission gear arrangement；It is described It is also equipped with a pusher cylinder on groined type pedestal, a spur rack is housed on the tailpiece of the piston rod of pusher cylinder, the spur rack is worn It crosses transmission notch and engages connection with the transmission gear in transmission case；Pusher cylinder is by the control of single-chip microcontroller motion controller by predetermined Stroke action；The side side of the transmission case is additionally provided with a two-way damping unit, the bidirectional damper device for realizing to turn The buffering of the spinning movement of dynamic platform, limit；The bidirectional damper device includes to be located at the damping sheet of turntable bottom and be mounted in Rectangular-shape damping box on groined type pedestal, it is coaxially arranged on the both sides side wall of damping box to have two damping pins, two damping pins It is that one end is placed in other end stretching in damping box, is located at damping box bosom on every damping pin and is provided with a limit Position step, is set with a damping spring on two damping pins, the both ends of damping spring withstand on the limiting stand of respective side respectively jointly On rank；The outer end of two damping pins is corresponding with the damping sheet.

Region surrounding between heretofore described outer column top surrounding and outer column lower part and adobe clamping jaw is respectively provided with There is dust-proof organ cover.

Heretofore described limited roller is divided into upper layer and lower layer, and the limited roller of upper and lower level is arranged all around four On a direction.

Top end point in the present invention in inner column is additionally provided with safety catch, and the safety catch is for preventing interior outer column excessive Elongation is detached from.

It is carried out between damping pin stick body and damping box in the present invention in two damping pins far from damping sheet using helicitic texture The outer end of connection, the damping pin is equipped with for twisting the nut adjusted.

The lower end of heretofore described transmission shaft is connect with the end face thrust bearing being fixed on transmission case.

It is located at transmission indentation, there on the lateral wall of heretofore described transmission case and is fixed with a Limit Bearing towards male screw thread, it should Limit Bearing is rolled close to the back side of spur rack.

Heretofore described turntable is circle, the setting concordant with ground holding of the bottom surface of turntable.

The adjusting bracket for being used for height adjustment by one between heretofore described belt conveyor and gantry frame is connected It connects.

Heretofore described adjusting bracket is equipped with two groups side by side, and two groups of adjusting brackets are corresponding to support the two of belt conveyor End；The adjusting bolt and adjust the locking nut group that bolt matches with every that every group of adjusting bracket is arranged side by side by two At wherein the head end for adjusting bolt is fastenedly connected the pedestal of belt conveyor by locking nut, the tail end for adjusting bolt passes through Locking nut is fastenedly connected fixed bracket.

Adobe arranging machine of the invention has the advantages that compared with equipment is piled up in existing adobe

(1) big manipulator of the invention, move horizontally be by sprocket motors band movable sprocket rotate, and then by be located at dragon Manipulator translation chain on door frame realizes the movement in horizontal plane, and the movement of its vertical lifting is then by inner column and outer Column realizes that traditional integrated elevator column is changed to split type outer column and inner column and combined by the present invention, by inner column It is inserted in outer column, power is transmitted by wireline pulley by flexible wire ropes, one end of flexible wire ropes is fixed on base support On, the other end hangs inner column bottom, and wireline pulley is then fixed at outer column upper port, in this way when lifting driving motor band When dynamic driving gear and lifting drive rack rise or fall, outer column will be moved up and down, and outer column is interior while lifting Column can also be synchronized along outer column and be moved up and down, but its stroke only needs the half of original integral elevating stroke can be achieved with The function of original structure, the mounting height of such complete machine can be reduced to the 1/2 of former height, and reaching reduces complete machine mounting height Purpose also saves installation space.

(2) in the present invention after the one layer of adobe of code on adobe stacking workbench of the big manipulator in brick making system, Big manipulator returns to above belt conveyor in the time interval for waiting next grasping movement, and single-chip microcontroller motion controller presses journey The sending electric control signal that sequence is pre-set, associated solenoid valve movement (solenoid valve and gas source part is attached be not shown in the figure), pushes away Then dynamic cylinder movement makes adobe pile up pallet movement so that spur rack is acted and rotated with nutating gear and rotation axis Do 90 ° of angle rotations, so that it may so that one layer of adobe below is changed and is staggeredly placed for vertical 90 °；Rack gear is reciprocal at interval of one layer Movement is primary, and adobe piles up pallet and just does 90 ° of rotations, to realize that every alternating floor Green brick stacking direction is rotated by 90 °, reaches vertical friendship Pitch the purpose of Green brick stacking；Bidirectional damper device in the present invention is for overcoming 90 ° of rack-and-pinion gap auxiliary pinpoint Effect；Such adobe intersecting vertical piles up device and steadily reliably can pile up by adobe, it is very convenient in transport and It carries.

(3) due to using arc swing arm to connect between the output shaft and the clamping device of servo motor B in the present invention, this Sample allows for the conversion stroke of clamping device realization by a relatively large margin, and basic realize can be by clamped brick without lifting Base carries out angular transition.

(4) belt conveyor is connected designing for manufacturing in the present invention with gantry frame, is conducive to installation and debugging in this way Convenience, improve installation and debugging efficiency, while be conducive to equipment operation stability.

Structure of the invention design is simple and practical, and compared to existing Green brick stacking mechanical equipment, adobe stacking is more stable can By efficient, with actual use and promotional value well.

Detailed description of the invention

Fig. 1 is general structure schematic diagram of the invention；

Fig. 2 is overlook direction structural schematic diagram of the invention；

Fig. 3 is big manipulator main view direction structural schematic diagram in the present invention；

Fig. 4 is that bowing for Fig. 3 cuts open structural schematic diagram；

Fig. 5 is that cement adobe cross code puts rotating device master and cuts open structural schematic diagram in the present invention；

Fig. 6 is the overlook direction structural schematic diagram of Fig. 5；

Fig. 7 is that cement adobe cross code puts rotating device use state diagram in the present invention；

Fig. 8 is the medium and small robot manipulator structure schematic diagram of the present invention；

Fig. 9 is belt conveyor structural schematic diagram in the present invention；

Figure 10 is clamping device structural schematic diagram in the present invention.

In figure: 1-big manipulator, 2-sprocket motors, 3-gadget hands, 4-adobes, 5-automatic brick-equipments, 6-bricks Base intersecting vertical piles up device, 7-belt conveyors, 8-gantry frames, 9-adjusting brackets, 10-close switches, 11-machines Tool hand-guided bar, 12-manipulators translate chain, and 13-limited rollers, 14-base supports, 15-wireline pulleys, 16-is flexible Wirerope, 17-dust-proof organ covers, 18-driving gears, 19-sprocket wheels, 20-lifting drive racks, 21-outer columns, 22- Inner column, 23-adobe clamping jaws, 24-clamping cylinders, 25-safety catch, 26-lifting driving motors, 27-turntables, 28- Pallet, 29-rolling bearings, 30-transmission shafts, 31-transmission cases, 32-transmission gears, 33-end face thrust shafts are piled up in adobe It holds, 34-groined type pedestals, 35-Limit Bearings, 36-spur racks, 37-pusher cylinders, 38-nuts, 39-helicitic textures, 40-damping springs, 41-damping boxes, 42-limited steps, 43-damping pins, 44-damping sheets, 45-vertical cylinders, 46- Servo motor B, 47-arc swing arms, 48-clamping devices, 49-feed belts, 50-cylinders, 51-solenoid valves, 52-clampings Plate, 53-servo motor A.

Specific embodiment

Referring to Fig. 1-Figure 10, the present invention is a kind of adobe stacking robot, which piles up robot and automatic brick-equipment 5 It is equipped with, so that robot is piled up in adobe can grab adobe and be piled up from automatic brick-equipment；Adobe arranging machine Device people includes gantry frame 8, and gantry frame side is arranged in the big manipulator 1 that is vertically arranged in downward on gantry frame Gadget hand 3 and the fixed belt conveyor 7 being located on gantry frame, wherein gadget hand from automatic brick-equipment for grabbing It takes adobe to be placed on belt conveyor, is disposed with manipulator guide rod 11 and manipulator translation chain at the top of gantry frame in parallel 12, the big manipulator passes through the sprocket wheel 19 installed thereon and engages with manipulator translation chain and sprocket motors 2 is used to be driven Dynamic translation；The gadget hand, which is hung by the feet, to be fixed on gantry frame on the crossbeam of automatic brick-equipment side；Gadget hand master Body is from top to bottom divided into vertical cylinder 45, arc swing arm 47, the clamping device 48 in arc swing arm end face；On vertical cylinder Equipped with the servo motor A53 arranged vertically, the output end of servo motor A connects horizontally disposed servo motor B 46, servo motor The output end of B is equipped with arc swing arm, servo motor A, the swinging end of arc swing arm is watched equipped with the clamping device for clamping adobe Take motor B and make 90 ° of reciprocating rotations so that arc swing arm can automatic brick-equipment brick output station to belt conveyor It connects and does rotary oscillation between brickwork position back and forth, pile up device 6 equipped with adobe intersecting vertical on forward ground in the gantry frame； The big manipulator includes base support 14, and outer column 21 moving up and down, outer column are equipped among the base support For hollow tube-shape, the side wall of four sides all around of outer column is in rolling contact with the limited roller 13 being arranged on base support, outside A lifting drive rack 20 is also vertically fixed on the lateral wall of column, base support is equipped with lifting driving motor 26, It goes up and down equipped with driving gear 18 on the output shaft of driving motor, which engages connection with the lifting drive rack；Institute It states and is also equipped with a wireline pulley 15 at the upper port of outer column；Outer column internal sleeve is equipped with an inner column 22, the inner column edge The inner wall of outer column moves up and down, and consolidation leads to a flexible wire ropes 16, the flexible steel wire in the bottom outer wall of inner column Rope gap across interior outer column is fixedly connected upwards about on wireline pulley and with base support, the bottom of the inner column Portion is equipped with the adobe clamping jaw 23 by 24 control action of clamping cylinder；The adobe intersecting vertical, which piles up device, has groined type pedestal 34, cylindrical transmission case 31 is vertically housed, the inside of transmission case is by upper and lower three groups of bearings equipped with passing at groined type base center Moving axis 30, vacantly above groined type pedestal, transmission shaft upper end stretches out transmission case and is connected with a turntable for the lower end of transmission shaft 27, an adobe is placed on turntable when work and piles up pallet 28, is also equipped with a transmission gear 32 on transmission shaft；Under transmission case A transmission notch is offered on portion's side wall, which faces transmission gear arrangement；It is also equipped on the groined type pedestal One pusher cylinder 37, a spur rack 36 is equipped on the tailpiece of the piston rod of pusher cylinder, and the spur rack passes through transmission notch and passes Transmission gear in dynamic case engages connection；Pusher cylinder is acted by the control of single-chip microcontroller motion controller by predetermined stroke；It is described The side side of transmission case is additionally provided with a two-way damping unit, and the bidirectional damper device is for realizing the spinning movement to turntable Buffering, limit；The bidirectional damper device includes to be located at the damping sheet 44 of turntable bottom and on groined type pedestal Rectangular-shape damping box 41, coaxially arranged on the both sides side wall of damping box to have two damping pins 43, two damping pins are one end It is placed in the other end in damping box to stretch out, is located at damping box bosom on every damping pin and is provided with a limited step 42, it is set with a damping spring 40 jointly on two damping pins, the both ends of damping spring withstand on the limited step of respective side respectively On；The outer end of two damping pins is corresponding with the damping sheet.

Single-chip microcontroller motion controller in the present embodiment is a kind of method of operation of control motor for Industry Control Nonshared control unit: such as motor by travel switch control A.C. contactor and realize motor run object and run up It is run down again after reaching designated position, or controls motor forward/backward rotation with the time relay or turn to stop to turn one again for a moment for a moment Can stop again, application of the motion control in the field of robot and numerically-controlled machine tool than in special purpose machinery using more complicated, Because latter movement's form is simpler, commonly known as popular motion control (GMC), single-chip microcontroller motion controller is can be in city Use to specifications is directly purchased on field, it such as is won in the market by Shenzhen using single-chip microcontroller as core processor The movement sequence controller of Qi Neng Electronics Co., Ltd. agency and sales, control precision can be selected as needed, user Just.

Region surrounding between the surrounding of outer column top described in the present embodiment and outer column lower part and adobe clamping jaw is all provided with It is equipped with dust-proof organ cover 17.

Limited roller described in the present embodiment is divided into upper layer and lower layer, and the limited roller of upper and lower level is arranged all around On four direction.

Top end point in the present embodiment in inner column is additionally provided with safety catch 25, and the safety catch is for preventing interior outer column Excessively elongation is detached from.

Helicitic texture 39 is used between damping pin stick body and damping box in the present embodiment in two damping pins far from damping sheet It is attached, the outer end of the damping pin is equipped with for twisting the nut 38 adjusted.

The lower end of transmission shaft described in the present embodiment is connect with the end face thrust bearing 33 being fixed on transmission case.

It is located at transmission indentation, there on the lateral wall of transmission case described in the present embodiment and is fixed with a Limit Bearing towards male screw thread 35, which rolls close to the back side of spur rack.

Turntable described in the present embodiment is circle, the setting concordant with ground holding of the bottom surface of turntable.

9 phase of adjusting bracket for being used for height adjustment by one between belt conveyor and gantry frame described in the present embodiment Connection.

Adjusting bracket described in the present embodiment is equipped with two groups side by side, and two groups of adjusting brackets are corresponding to support the two of belt conveyor End；The adjusting bolt and adjust the locking nut group that bolt matches with every that every group of adjusting bracket is arranged side by side by two At wherein the head end for adjusting bolt is fastenedly connected the pedestal of belt conveyor by locking nut, the tail end for adjusting bolt passes through Locking nut is fastenedly connected fixed bracket.

Planetary reducer that belt conveyor described in the present embodiment is exported by 90 ° of twin shafts, driving wheel, driven wheel and two are simultaneously The feed belt set of arranging forms；Driving wheel uses two synchronizing wheels with external tooth, and two output shafts of planetary reducer are corresponding Coaxially connected two synchronizing wheels with external tooth；Driven wheel uses the synchronizing wheel of two halo structures；Feed belt uses neoprene rubber Matrix bottom, the upper anti-skidding flexible glue of coating, feed belt is beneath to add load-bearing supporting plate；It is equipped in the input terminal of belt conveyor for detecting Adobe in place information close to switch, constitute electrical interlocks control close to switch and planetary reducer.

The whole implementation Principle of Process of adobe arranging machine of the present invention:

1) start brickmaking machine, robot whole system synchronous averaging is piled up in this adobe；Clamping device initial bit in gadget hand Brickwork position is connect above belt conveyor；Big manipulator initial position is located at adobe intersecting vertical code far from belt conveyer It puts on the running track between device and belt conveyor；2) brickmaking machine carries out brickmaking, brickmaking machine while brickmaking machine brick output Intermittently staying；At the same time, the clamping device of gadget hand end is synchronous from rotary oscillation above belt conveyor to brickmaking machine Above brick output position, is swung after crawl adobe and overturning is back to above belt conveyor and connects brickwork position, discharge adobe in belt After on conveyer, gadget hand is swung again above operation to brickmaking machine brick output station, completes a working cycles；3) belt is defeated Send the belt of machine mobile to the direction away from brickmaking machine, indwelling goes out next free time and connects brickwork position；4) step 2-3 is repeated), directly Adobe on to the belt of belt conveyor is successively booked the entire adobe queue of setting length；5) adobe is in step 4) When by the entire adobe queue for being booked setting length, big manipulator is mobile to belt conveyor；When adobe is arranged on belt conveyor When completely setting the entire adobe queue of length, big manipulator is moved to above belt conveyor and the entire adobe queue of face, it Afterwards, big manipulator decline is promoted after grabbing entire adobe queue, is then sent to the adobe intersecting vertical code waited under gantry frame It puts and is piled up on device；Then, big manipulator promotion returns to initial position, completes a working cycles of big manipulator；6) big machine Tool hand, gadget hand are according to step 2-5) process work in cycles；When adobe travelling bogie reaches preset adobe layer When several and quantity, brickmaking machine and this adobe pile up robot system and are automatically stopped operation；Pallet quilt is piled up in the adobe of fully loaded adobe Fork truck transhipment is walked, then is placed empty adobe on it and piled up pallet, and after putting well, brickmaking machine and this adobe stacking robot are entire System starts automatically, restores to work normally；So constantly recycle.

Carry out when small robot work by following movement in the above process: the arc swing arm of gadget on hand drives clamping dress Set, it is synchronous to swing 90 degree around vertical direction from belt conveyor top position and run to brickmaking machine brick output positions, backarc Shape swing arm drives clamping device to grab adobe；Clamping device after crawl adobe is turned over arc swing arm around arc swing arm own axes Turn 90 degree, simultaneously, arc swing arm swing, which is back to above belt conveyor, connects brickwork position, and then clamping device discharges for overturning Adobe is placed on belt conveyor by adobe, and the arc swing arm of gadget hand later swings operation to brickmaking machine brick output position again A working cycles are completed in top；In the process, whether the swing position that positional detecting device detects arc swing arm at any time reaches To sets requirement.

Big manipulator in the above process, move horizontally be by sprocket motors band movable sprocket rotate, and then by with The manipulator translation chain being located on gantry frame realizes the movement in horizontal plane, and the movement of its vertical lifting is then by interior vertical Column and outer column realize that traditional integrated elevator column is changed to split type outer column and inner column and combined by the present invention, will Inner column is inserted in outer column, transmits power by wireline pulley by flexible wire ropes, one end of flexible wire ropes is fixed on bottom On seat support, the other end hangs inner column bottom, and wireline pulley is then fixed at outer column upper port, in this way when lifting drives When motor drives driving gear and lifting drive rack to rise or fall, outer column will be moved up and down, outer column lifting Inner column can also be synchronized along outer column simultaneously moves up and down, but its stroke only needs the half of original integral elevating stroke just It is able to achieve the function of original structure, the mounting height of such complete machine can be reduced to the 1/2 of former height, and reaching reduces complete machine installation The purpose of height, also saves installation space.

Adobe intersecting vertical in the above-mentioned course of work piles up device working principle: when the big manipulator in brick making system exists Adobe is piled up on pallet after one layer of adobe of code, and big manipulator, which returns to, waits next grasping movement above belt conveyor In time interval, the sending electric control signal that single-chip microcontroller motion controller is pre-set by program, associated solenoid valve movement (electricity Magnet valve and gas source part is attached is not shown in the figure), pusher cylinder movement, so that spur rack movement and with nutating gear and transmission shaft Then rotation makes adobe pile up pallet movement and does 90 ° of angle rotations, so that it may so that one layer of adobe change is vertical below 90 ° are staggeredly placed；As soon as rack gear is primary at interval of layer moving back and forth, adobe piles up workbench and does 90 ° of rotations, thus realization every One layer of Green brick stacking direction is rotated by 90 °, and achievees the purpose that square crossing Green brick stacking；Bidirectional damper device in the present invention be for gram It takes rack-and-pinion gap and assists 90 ° of pinpoint effects；Such adobe intersecting vertical piles up device can be steady by adobe It is reliable to pile up, it is very convenient in transport and carrying.

Above-described embodiment is a kind of preferred embodiment of the invention, any improvement made using the above scheme or Equivalents belong to claims of the invention.

Claims (10)

1. robot is piled up in a kind of adobe, which piles up robot and is equipped with automatic brick-equipment, so that adobe is piled up Robot can grab adobe and be piled up from automatic brick-equipment；It includes gantry frame that robot is piled up in adobe, vertically The big manipulator that is arranged on gantry frame downward, the gadget hand that gantry frame side is arranged in and fixation are located at gantry frame Belt conveyor on frame, wherein gadget hand, which is used to grab adobe from automatic brick-equipment, is placed on belt conveyor, dragon Manipulator guide rod and manipulator translation chain are disposed at the top of door frame in parallel, the big manipulator passes through the chain installed thereon Wheel engages with manipulator translation chain and sprocket motors is used to carry out driving translation；The gadget hand, which is hung by the feet, is fixed on gantry frame On frame on the crossbeam of automatic brick-equipment side；Gadget hand main body is from top to bottom divided into vertical cylinder, arc swing arm, arc Clamping device in swing arm end face；Equipped with the servo motor A arranged vertically, the output end of servo motor A on vertical cylinder Horizontally disposed servo motor B is connected, the output end of servo motor B is equipped with arc swing arm, and the swinging end of arc swing arm is equipped with use In the clamping device of clamping adobe, servo motor A, servo motor B make 90 ° of reciprocating rotations, so that arc swing arm can be The brick output station of automatic brick-equipment does rotary oscillation between brickwork position to connecing for belt conveyor back and forth, it is characterised in that: described Device is piled up equipped with adobe intersecting vertical on forward ground in gantry frame；The big manipulator includes base support, described Outer column moving up and down is equipped among base support, outer column is hollow tube-shape, the four sides side wall all around of outer column It is in rolling contact with the limited roller being arranged on base support, a lifting is also vertically fixed on the lateral wall of outer column and is driven Carry-over bar, base support are equipped with lifting driving motor, go up and down on the output shaft of driving motor equipped with driving gear, the sliding tooth Wheel engages connection with the lifting drive rack；A wireline pulley is also equipped at the upper port of the outer column；In outer column Portion is set with an inner column, which moves up and down along the inner wall of outer column, and consolidation is led in the bottom outer wall of inner column A piece flexible wire ropes, the flexible wire ropes across interior outer column gap upwards about on the wireline pulley and with pedestal branch Frame is fixedly connected, and the bottom of the inner column is equipped with the adobe clamping jaw by clamping cylinder control action；The adobe intersecting vertical Piling up device has groined type pedestal, cylindrical transmission case is vertically housed at groined type base center, the inside of transmission case passes through Upper and lower three groups of bearings are equipped with transmission shaft, and vacantly above groined type pedestal, transmission case is stretched out in transmission shaft upper end for the lower end of transmission shaft And it is connected with a turntable, an adobe is placed on turntable when work and piles up pallet, is also equipped with a transmission gear on transmission shaft； A transmission notch is offered on the lower sides of transmission case, which faces transmission gear arrangement；The groined type bottom It is also equipped with a pusher cylinder on seat, a spur rack is housed on the tailpiece of the piston rod of pusher cylinder, the spur rack passes through transmission and lacks Mouth engages connection with the transmission gear in transmission case；Pusher cylinder is controlled dynamic by predetermined stroke by single-chip microcontroller motion controller Make；The side side of the transmission case is additionally provided with a two-way damping unit, and the bidirectional damper device is for realizing to turntable The buffering of spinning movement, limit；The bidirectional damper device includes to be located at the damping sheet of turntable bottom and mounted in groined type Rectangular-shape damping box on pedestal, coaxially arranged on the both sides side wall of damping box to have two damping pins, two damping pins are one End is placed in the other end in damping box and stretches out, and is located at damping box bosom on every damping pin and is provided with a limiting stand Rank is set with a damping spring on two damping pins jointly, and the both ends of damping spring are withstood on respectively on the limited step of respective side； The outer end of two damping pins is corresponding with the damping sheet.

2. robot is piled up in a kind of adobe according to claim 1, it is characterised in that: outer column top surrounding and outer Region surrounding between column lower part and adobe clamping jaw is provided with dust-proof organ cover.

3. robot is piled up in a kind of adobe according to claim 1, it is characterised in that: the limited roller is divided into upper and lower two Layer, the limited roller of upper and lower level are arranged on four direction all around.

4. robot is piled up in a kind of adobe according to claim 1, it is characterised in that: the top end point of inner column also Equipped with safety catch, which is detached from for preventing interior outer column from excessively extending.

5. robot is piled up in a kind of adobe according to claim 1, it is characterised in that: far from damping sheet in two damping pins It is attached between damping pin stick body and damping box using helicitic texture, the outer end of the damping pin is equipped with for twisting the spiral shell adjusted Cap.

6. robot is piled up in a kind of adobe according to claim 1, it is characterised in that: the lower end of the transmission shaft and fixation End face thrust bearing connection on transmission case.

7. robot is piled up in a kind of adobe according to claim 1, it is characterised in that: the lateral wall of the transmission case is upper It is fixed with a Limit Bearing towards male screw thread in transmission indentation, there, which rolls close to the back side of spur rack.

8. robot is piled up in a kind of adobe according to claim 1, it is characterised in that: the turntable is circle, rotation The setting concordant with ground holding of the bottom surface of platform.

9. robot is piled up in a kind of adobe according to claim 1, it is characterised in that: the belt conveyor and gantry frame The adjusting bracket for being used for height adjustment by one between frame is connected.

10. robot is piled up in a kind of adobe according to claim 9, it is characterised in that: the adjusting bracket is equipped with side by side Two groups, the both ends of the corresponding support belt conveyor of two groups of adjusting brackets；The adjusting that every group of adjusting bracket is arranged side by side by two Bolt and the locking nut to match with every adjusting bolt form, wherein the head end for adjusting bolt, which passes through locking nut, fastens company The pedestal of lace conveyer, the tail end for adjusting bolt are fastenedly connected fixed bracket by locking nut.