CN109761059B - Green brick stacking robot - Google Patents
Green brick stacking robot Download PDFInfo
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- CN109761059B CN109761059B CN201910204506.7A CN201910204506A CN109761059B CN 109761059 B CN109761059 B CN 109761059B CN 201910204506 A CN201910204506 A CN 201910204506A CN 109761059 B CN109761059 B CN 109761059B
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Abstract
The invention relates to a green brick stacking robot which comprises a gantry frame, a large manipulator, a small manipulator and a belt conveyor, wherein the large manipulator and the small manipulator are vertically and downwards arranged on the gantry frame; the ground at the front part in the gantry frame is provided with a green brick crossed vertical stacking device; an outer upright post capable of moving up and down is arranged in the middle of the base support, a lifting driving rack is also vertically and fixedly arranged on the outer side wall of the outer upright post, and a lifting driving motor is arranged on the base support; the upper port of the outer upright post is also provided with a steel wire pulley; an inner upright post is sleeved in the outer upright post, and a flexible steel wire rope is fixedly led out of the outer wall of the bottom of the inner upright post; the green brick stacking machine is simple and practical in structural design, and has more stable, reliable and efficient green brick stacking compared with the existing green brick stacking mechanical equipment, and good practical use and popularization values.
Description
Technical Field
The invention relates to the technical field of automatic green brick stacking equipment, in particular to a green brick stacking robot.
Background
At present, many brickyards adopt manpower to match with brick machines to stack green bricks, so that the labor intensity is very high and the working environment is severe; meanwhile, manual stacking is not uniform, air permeability is poor, so that the green bricks are heated unevenly and are cooked unevenly when being steamed, and finally the quality of finished bricks is unstable. The automatic green brick stacking device has the advantages that the automatic green brick stacking device is used for grabbing green bricks for stacking, manual labor is replaced, however, the green brick grabbing mechanical arm adopts 2-level gear transmission and adopts a sitting installation structure, so that the problems that a mechanical arm system is large in size, low in repeated positioning precision, action deviation occurs, uneven green brick stacking occurs, green bricks are broken and the like can be caused. Meanwhile, the ground fixing and mounting structure occupies originally narrow brick machine and track space, is difficult to match with special machines with different heights, and is complex and difficult to mount, poor in compatibility and bulky in appearance. Moreover, the existing stacking manipulator adopts a single-upright-column cantilever structure, is unevenly stressed, can cause eccentric wear of a track, sealing damage, high failure rate, difficult maintenance, influences on production efficiency and greatly increases use cost; the problems of loss of operation precision, oil leakage and the like are caused in the later period, and the service life is shortened; in view of the above situation, the present applicant developed a new green brick stacking apparatus and a control operation method thereof as described in patent No. 201410102646.0, but the new stacking apparatus still has disadvantages, i.e. firstly, the driving lifting member of the manipulator has defects, and the installation space occupied by the same lifting stroke is too large; the second is the problem of placing and transferring green bricks, which is the biggest problem of the prior equipment, that is, green bricks can be stacked only in one direction and cannot be stacked in a cross way when stacked on a green brick stacking workbench, so that the green bricks cannot be stacked neatly in the same amount up and down in the transferring process, and the green bricks are easy to drop due to instability caused by vibration, collision and the like in the transferring process; thirdly, the small manipulator is unreasonable in turning and lifting stroke due to the problem of the connecting structure of the small manipulator; fourth, the belt conveyor and the frame part in the original equipment are separately arranged, which can cause the equipment to be easy to have deviation when being installed and positioned, and the use is influenced.
Disclosure of Invention
The invention aims to solve the problems of the existing automatic brick making and green brick stacking equipment, and provides a green brick stacking robot which is novel in structure improvement, can obviously improve green brick stacking efficiency and is high in stability and reliability.
The specific scheme of the invention is as follows: a green brick stacking robot is matched with an automatic brick making machine, so that the green brick stacking robot can grab and stack green bricks from the automatic brick making machine; the green brick stacking robot comprises a gantry frame, a large manipulator vertically and downwards arranged on the gantry frame, a small manipulator arranged on the side part of the gantry frame and a belt conveyor fixedly arranged on the gantry frame, wherein the small manipulator is used for grabbing green bricks from an automatic brick making machine and placing the green bricks on the belt conveyor; the small mechanical arm is fixed on a cross beam on one side of the gantry frame close to the automatic brick making machine in an inverted suspension manner; the small manipulator main body is divided into a vertical cylinder, an arc-shaped swing arm and a clamping device on the bottom surface of the tail end of the arc-shaped swing arm from top to bottom; the vertical cylinder is provided with a vertically arranged servo motor A, the output end of the servo motor A is connected with a horizontally arranged servo motor B, the output end of the servo motor B is provided with an arc-shaped swing arm, the swing end of the arc-shaped swing arm is provided with a clamping device for clamping green bricks, the servo motor A and the servo motor B both perform 90-degree reciprocating rotation so that the arc-shaped swing arm can perform rotary swing back and forth between a brick outlet station of an automatic brick making machine and a brick receiving station of a belt conveyor, and the ground at the front part in the gantry frame is provided with a green brick cross vertical stacking device; the large manipulator comprises a base support, an outer upright post capable of moving up and down is arranged in the middle of the base support, the outer upright post is in a hollow cylinder shape, the front side wall, the rear side wall, the left side wall, the right side wall and the left side wall of the outer upright post are in rolling contact with limiting idler wheels arranged on the base support, a lifting driving rack is also vertically and fixedly arranged on the outer side wall of the outer upright post, a lifting driving motor is arranged on the base support, a driving gear is arranged on an output shaft of the lifting driving motor, and the driving gear is meshed; a steel wire pulley is also arranged at the upper port of the outer upright post; an inner upright post is sleeved in the outer upright post and moves up and down along the inner wall of the outer upright post, a flexible steel wire rope is fixedly led out from the outer wall of the bottom of the inner upright post, the flexible steel wire rope penetrates through a gap between the inner upright post and the outer upright post and is wound on a steel wire pulley upwards and fixedly connected with a base support, and a green brick clamping jaw controlled to move by a clamping cylinder is arranged at the bottom of the inner upright post; the green brick cross vertical stacking device is provided with a groined base, a cylindrical transmission case is vertically arranged at the center of the groined base, a transmission shaft is arranged in the transmission case through an upper group of bearings and a lower group of bearings, the lower end of the transmission shaft is suspended above the groined base, the upper end of the transmission shaft extends out of the transmission case and is connected with a rotating table, a green brick stacking tray is placed on the rotating table during work, and a transmission gear is also arranged on the transmission shaft; a transmission notch is arranged on the side wall of the lower part of the transmission box and is arranged right opposite to the transmission gear; the well-shaped base is also provided with a pushing cylinder, the end of a piston rod of the pushing cylinder is provided with a spur rack, and the spur rack penetrates through a transmission gap and is meshed with a transmission gear in a transmission box; the pushing cylinder is controlled to act according to a preset stroke through the singlechip motion controller; one side of the side part of the transmission case is also provided with a bidirectional damping device which is used for realizing the buffering and limiting of the rotation action of the rotating table; the bidirectional damping device comprises a damping plate arranged at the bottom of the rotating table and a rectangular damping box arranged on the groined base, two damping pins are coaxially arranged on the side walls of two sides of the damping box, one end of each damping pin is arranged in the damping box, the other end of each damping pin extends out of the corresponding damping box, a limiting step is arranged on each damping pin and positioned in the middle of the inside of the damping box, a damping spring is sleeved on each damping pin, and two ends of each damping spring respectively abut against the limiting steps on the corresponding side; the outer ends of the two damping pins correspond to the damping plate.
In the invention, the periphery of the upper part of the outer upright column and the periphery of the area between the lower part of the outer upright column and the green brick clamping jaw are provided with dustproof organ covers.
The limiting idler wheels are divided into an upper layer and a lower layer, and the limiting idler wheels on the upper layer and the lower layer are arranged in the front, back, left and right directions.
In the invention, the upper end of the inner upright post is also provided with a safety stop which is used for preventing the inner upright post and the outer upright post from being separated due to over-extension.
In the invention, the damping pin rod body far away from the damping plate in the two damping pins is connected with the damping box by adopting a thread structure, and the outer end of the damping pin is provided with a screw cap for twisting adjustment.
The lower end of the transmission shaft is connected with an end thrust bearing fixed on a transmission case.
A limiting bearing is fixed on the outer side wall of the transmission case at the position of the transmission notch and faces outwards through a screw, and the limiting bearing rolls along the back face of the spur rack.
The rotary table is circular, and the bottom surface of the rotary table is flush with the ground.
The belt conveyor is connected with the gantry frame through an adjusting bracket for height adjustment.
The two groups of adjusting supports are arranged side by side and correspond to two ends of a supporting belt conveyor; each group of adjusting supports consists of two adjusting bolts arranged side by side and a locking nut matched with each adjusting bolt, wherein the head ends of the adjusting bolts are tightly connected with the base of the belt conveyor through the locking nuts, and the tail ends of the adjusting bolts are tightly connected with the fixed supports through the locking nuts.
Compared with the prior green brick stacking device, the green brick stacking machine has the following beneficial effects:
(1) the invention relates to a large manipulator, wherein the horizontal movement is realized by driving a chain wheel to rotate by a chain wheel motor, and further the movement in a horizontal plane is realized by a manipulator translation chain arranged on a gantry frame, and the vertical lifting movement is realized by an inner upright post and an outer upright post, the invention changes the traditional integral lifting upright post into the combination of a split type outer upright post and the inner upright post, the inner upright post is sleeved in the outer upright post, the power is transmitted by a flexible steel wire rope through a steel wire pulley, one end of the flexible steel wire rope is fixed on a base bracket, the other end of the flexible steel wire rope is hung at the bottom of the inner upright post, the steel wire pulley is fixed at the upper port of the outer upright post, thus when a lifting driving motor drives a driving gear and a lifting driving rack to ascend or descend, the outer upright post can do lifting movement, the inner upright post can do lifting movement synchronously along the outer upright post while the outer upright post is lifted, but, therefore, the installation height of the whole machine can be reduced to 1/2 with the original height, the purpose of reducing the installation height of the whole machine is achieved, and the installation space is also saved.
(2) In the invention, after a layer of green bricks are stacked on a green brick stacking workbench by a large manipulator in a brick making system, the large manipulator returns to the upper part of a belt conveyor to wait for the time interval of the next grabbing action, a single chip microcomputer motion controller sends out electric control signals which are preset according to a program, and related electromagnetic valves act (the electromagnetic valves and an air source part are not shown in the attached drawing), so that an air cylinder is pushed to act, a straight rack acts and drives a transmission gear and a rotating shaft to rotate, and then a green brick stacking tray acts to rotate by an angle of 90 degrees, so that the green bricks on the next layer can be vertically staggered by 90 degrees; the rack reciprocates once every other layer, the green brick stacking tray rotates 90 degrees, thereby realizing 90 degrees rotation in every other layer of green brick stacking direction and achieving the purpose of vertically and crossly stacking green bricks; the bidirectional damping device is used for overcoming the effect of assisting 90-degree accurate positioning of a gear rack gap; the green brick cross vertical stacking device can stably and reliably stack green bricks, and is very convenient to transport and carry.
(3) In the invention, the output shaft of the servo motor B is connected with the clamping device by adopting the arc-shaped swing arm, so that the clamping device can realize a large-amplitude conversion stroke, and the clamped green bricks can be subjected to angle conversion basically without lifting.
(4) The belt conveyor and the gantry frame are connected into a whole to be manufactured and designed, so that convenience in installation and debugging is facilitated, the installation and debugging efficiency is improved, and the stability of equipment operation is facilitated.
The green brick stacking machine is simple and practical in structural design, and has more stable, reliable and efficient green brick stacking compared with the existing green brick stacking mechanical equipment, and good practical use and popularization values.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the structure of the large manipulator in the front view direction;
FIG. 4 is a schematic top view of the structure of FIG. 3;
FIG. 5 is a schematic view of the main section of the rotary device for cross-stacking cement adobe in the present invention;
FIG. 6 is a schematic top view of the structure of FIG. 5;
FIG. 7 is a schematic view showing the use state of the rotary apparatus for cross-stacking cement adobe in the present invention;
FIG. 8 is a schematic view of the construction of a small robot according to the present invention;
FIG. 9 is a schematic view of the belt conveyor of the present invention;
FIG. 10 is a schematic view of the structure of the clamping device of the present invention.
In the figure: 1-large manipulator, 2-sprocket motor, 3-small manipulator, 4-green brick, 5-automatic brick making machine, 6-green brick cross vertical stacking device, 7-belt conveyor, 8-gantry frame, 9-adjusting bracket, 10-approach switch, 11-manipulator guide bar, 12-manipulator translation chain, 13-limit roller, 14-base bracket, 15-steel wire pulley, 16-flexible steel wire rope, 17-dustproof organ cover, 18-driving gear, 19-sprocket, 20-lifting driving rack, 21-outer column, 22-inner column, 23-green brick clamping jaw, 24-clamping cylinder, 25-safety block, 26-lifting driving motor, 27-rotating table, 28-green brick stacking tray, 29-rotating bearing, 30-transmission shaft, 31-transmission box, 32-transmission gear, 33-end thrust bearing, 34-groined base, 35-limit bearing, 36-spur rack, 37-pushing cylinder, 38-nut, 39-thread structure, 40-damping spring, 41-damping box, 42-limit step, 43-damping pin, 44-damping plate, 45-vertical cylinder, 46-servo motor B, 47-arc swing arm, 48-clamping device, 49-conveying belt, 50-cylinder, 51-solenoid valve, 52-clamping plate, 53-servo motor A.
Detailed Description
Referring to fig. 1 to 10, the invention is a green brick stacking robot, which is arranged in cooperation with an automatic brick making machine 5, so that the green brick stacking robot can grab and stack green bricks from the automatic brick making machine; the green brick stacking robot comprises a gantry frame 8, a large manipulator 1 vertically arranged on the gantry frame downwards, a small manipulator 3 arranged on the side part of the gantry frame and a belt conveyor 7 fixedly arranged on the gantry frame, wherein the small manipulator is used for grabbing green bricks from an automatic brick making machine and placing the green bricks on the belt conveyor, a manipulator guide rod 11 and a manipulator translation chain 12 are arranged at the top of the gantry frame in parallel, and the large manipulator is meshed with the manipulator translation chain through a chain wheel 19 arranged on the large manipulator and is driven to translate by a chain wheel motor 2; the small mechanical arm is fixed on a cross beam on one side of the gantry frame close to the automatic brick making machine in an inverted suspension manner; the small manipulator main body is divided into a vertical cylinder 45, an arc-shaped swing arm 47 and a clamping device 48 on the bottom surface of the tail end of the arc-shaped swing arm from top to bottom; a servo motor A53 which is vertically arranged is arranged on the vertical cylinder, the output end of the servo motor A is connected with a servo motor B46 which is horizontally arranged, the output end of the servo motor B is provided with an arc-shaped swing arm, the swing end of the arc-shaped swing arm is provided with a clamping device for clamping a green brick, the servo motor A and the servo motor B both perform 90-degree reciprocating rotation so that the arc-shaped swing arm can perform rotary swing back and forth between a brick outlet station of an automatic brick making machine and a brick receiving station of a belt conveyor, and a green brick cross vertical stacking device 6 is arranged on the ground at the front part in the gantry frame; the large manipulator comprises a base support 14, an outer upright post 21 capable of moving up and down is arranged in the middle of the base support, the outer upright post is in a hollow cylinder shape, the side walls of the front, back, left and right sides of the outer upright post are in rolling contact with a limiting roller 13 arranged on the base support, a lifting driving rack 20 is also vertically and fixedly arranged on the outer side wall of the outer upright post, a lifting driving motor 26 is arranged on the base support, and a driving gear 18 is arranged on an output shaft of the lifting driving motor and is meshed with the lifting driving rack; a steel wire pulley 15 is also arranged at the upper port of the outer upright post; an inner upright column 22 is sleeved in the outer upright column and moves up and down along the inner wall of the outer upright column, a flexible steel wire rope 16 is fixedly led out from the outer wall of the bottom of the inner upright column, the flexible steel wire rope penetrates through a gap between the inner upright column and the outer upright column, is wound on a steel wire pulley upwards and is fixedly connected with a base support, and a green brick clamping jaw 23 controlled to move by a clamping cylinder 24 is arranged at the bottom of the inner upright column; the green brick cross vertical stacking device is provided with a groined base 34, a cylindrical transmission case 31 is vertically arranged at the center of the groined base, a transmission shaft 30 is arranged in the transmission case through an upper group of bearings and a lower group of bearings, the lower end of the transmission shaft is suspended above the groined base, the upper end of the transmission shaft extends out of the transmission case and is connected with a rotating table 27, a green brick stacking tray 28 is placed on the rotating table during work, and a transmission gear 32 is also arranged on the transmission shaft; a transmission notch is arranged on the side wall of the lower part of the transmission box and is arranged right opposite to the transmission gear; a pushing cylinder 37 is further arranged on the # -shaped base, a straight rack 36 is arranged at the end of a piston rod of the pushing cylinder, and the straight rack penetrates through the transmission gap and is meshed with a transmission gear in the transmission box; the pushing cylinder is controlled to act according to a preset stroke through the singlechip motion controller; one side of the side part of the transmission case is also provided with a bidirectional damping device which is used for realizing the buffering and limiting of the rotation action of the rotating table; the bidirectional damping device comprises a damping plate 44 arranged at the bottom of the rotating table and a rectangular damping box 41 arranged on the groined base, two damping pins 43 are coaxially arranged on the side walls of two sides of the damping box, one end of each damping pin is arranged in the damping box, the other end of each damping pin extends out, a limiting step 42 is arranged on each damping pin and positioned in the middle of the inside of the damping box, a damping spring 40 is sleeved on each damping pin, and two ends of each damping spring are respectively propped against the limiting steps on the corresponding side; the outer ends of the two damping pins correspond to the damping plate.
The single chip microcomputer motion controller in the embodiment is a special controller for controlling the operation mode of the motor for industrial control: for example, the motor drives an object to move upwards to reach a designated position and then to move downwards by controlling an alternating current contactor by a travel switch, or a time relay is used for controlling the motor to rotate forwards and backwards or rotate for a moment and stop for a moment and then rotate for a moment and then stop, the application of the motion control in the fields of robots and numerical control machines is more complicated than the application in special machines, because the motion form of the motor is simpler and is generally called General Motion Control (GMC), a singlechip motion controller can be directly purchased and used according to specifications on the market, and the singlechip motion controller takes a singlechip as a core processor, the control precision of the singlechip can be selected according to requirements, and the singlechip motion controller is convenient to use.
In this embodiment, the periphery of the upper part of the outer upright column and the periphery of the area between the lower part of the outer upright column and the green brick clamping jaw are provided with dustproof organ covers 17.
In this embodiment, the limiting idler wheels are divided into an upper layer and a lower layer, and the limiting idler wheels on the upper layer and the lower layer are arranged in four directions, namely, in the front, the rear, the left and the right.
In this embodiment, a safety stop 25 is further provided at the upper end of the inner column, and is used for preventing the inner column and the outer column from being separated due to over-extension.
In this embodiment, the damping pin body of the two damping pins far away from the damping plate is connected with the damping box by a thread structure 39, and the outer end of the damping pin is provided with a nut 38 for twisting adjustment.
The lower end of the drive shaft is connected in this embodiment to an end thrust bearing 33 fixed to the drive housing.
In this embodiment, a limit bearing 35 is screwed to the outer side wall of the transmission case at the transmission notch, and the limit bearing rolls against the back surface of the spur rack.
In this embodiment, the rotating table is circular, and the bottom surface of the rotating table is flush with the ground.
In the present embodiment, the belt conveyor is connected to the gantry frame via an adjusting bracket 9 for height adjustment.
In the embodiment, two groups of adjusting brackets are arranged side by side, and the two groups of adjusting brackets correspondingly support two ends of the belt conveyor; each group of adjusting supports consists of two adjusting bolts arranged side by side and a locking nut matched with each adjusting bolt, wherein the head ends of the adjusting bolts are tightly connected with the base of the belt conveyor through the locking nuts, and the tail ends of the adjusting bolts are tightly connected with the fixed supports through the locking nuts.
The belt conveyor in the embodiment comprises a planetary reducer with 90-degree double-shaft output, a driving wheel, a driven wheel and two conveying belts arranged side by side; the driving wheel adopts two synchronizing wheels with external teeth, and two output shafts of the planetary reducer are correspondingly and coaxially connected with the two synchronizing wheels with external teeth; the driven wheel adopts a synchronous wheel with two smooth wheel structures; the conveying belt adopts a chloroprene rubber substrate, anti-slip soft rubber is coated on the conveying belt, and a bearing supporting plate is arranged below the conveying belt; the input end of the belt conveyor is provided with a proximity switch for detecting the in-place information of the green bricks, and the proximity switch and the planetary reducer form electric interlocking control.
The invention discloses an integral implementation process principle of a green brick stacking machine, which comprises the following steps:
1) starting a brick making machine, and synchronously starting the whole system of the green brick stacking robot; a clamping device in the small manipulator is initially positioned at a brick receiving station above the belt conveyor; the initial position of the large manipulator is far away from the belt conveyer and is positioned on the running track between the green brick cross vertical stacking device and the belt conveyer; 2) the brick making machine makes bricks, and the brick making machine intermittently stays while the bricks are discharged by the brick making machine; meanwhile, a clamping device at the tail end of the small mechanical arm synchronously swings from the upper part of the belt conveyor to the upper part of a brick discharging position of the brick making machine in a rotating mode, after a green brick is grabbed, the small mechanical arm swings and turns back to the brick receiving position above the belt conveyor, after the green brick is released on the belt conveyor, the small mechanical arm swings again to run to the upper part of the brick discharging position of the brick making machine, and a working cycle is completed; 3) the belt of the belt conveyor moves in the direction departing from the brick making machine, and a next idle brick receiving station is reserved; 4) repeating the steps 2) -3) until the green bricks on the belt of the belt conveyor are sequentially arranged in the whole green brick queue with the set length; 5) when the green bricks are about to be arranged in the whole green brick queue with the set length in the step 4), the large manipulator moves to the belt conveyor; when the whole green brick queue with the set length is full of green bricks on the belt conveyor, the large manipulator moves to the position above the belt conveyor and faces the whole green brick queue, then the large manipulator descends to grab the whole green brick queue and then lifts the green bricks, and then the green bricks are conveyed to a waiting green brick crossing vertical stacking device below the gantry frame to be stacked; then, the large manipulator is lifted to the initial position, and a working cycle of the large manipulator is completed; 6) the large manipulator and the small manipulator work repeatedly according to the processes of the steps 2) to 5); when the number of the layers and the number of the green brick layers of the green brick transport trolley reach the preset number, the brick making machine and the green brick stacking robot system automatically stop working; the green brick stacking tray fully loaded with green bricks is transported away by a forklift, empty green brick stacking trays are placed on the tray, and after the green bricks are stacked, the whole system of the brick making machine and the green brick stacking robot is automatically started to restore normal work; and the process is continuously circulated.
The small manipulator works according to the following actions in the process: an arc-shaped swing arm on the small manipulator drives a clamping device to synchronously swing 90 degrees around the vertical direction from the position above the belt conveyor to the position above a brick discharging position of the brick making machine, and then the arc-shaped swing arm drives the clamping device to grab a green brick; the clamping device after grabbing the green bricks is turned for 90 degrees around the axis of the arc swing arm along with the arc swing arm, the arc swing arm swings to return to a brick receiving station above the belt conveyor while turning, then the clamping device releases the green bricks to place the green bricks on the belt conveyor, and then the arc swing arm of the small manipulator swings again to move to the position above a brick discharging position of the brick making machine to complete a working cycle; in the process, the position detection device detects whether the swing position of the arc-shaped swing arm meets the set requirement at any time.
In the process, the horizontal movement of the large manipulator is realized by driving a chain wheel to rotate by a chain wheel motor, and further the movement in a horizontal plane is realized by a manipulator translation chain arranged on a gantry frame, and the vertical lifting movement is realized by an inner upright post and an outer upright post, the invention changes the traditional integral lifting upright post into the combination of a split type outer upright post and the inner upright post, the inner upright post is sleeved in the outer upright post, the power is transmitted by a flexible steel wire rope through a steel wire pulley, one end of the flexible steel wire rope is fixed on a base bracket, the other end of the flexible steel wire rope is hung at the bottom of the inner upright post, the steel wire pulley is fixed at the upper port of the outer upright post, so when a lifting driving motor drives a driving gear and a lifting driving rack to ascend or descend, the outer upright post can do lifting movement, the inner upright post can also do lifting movement along the outer upright post synchronously while the outer upright post is lifted, but the, therefore, the installation height of the whole machine can be reduced to 1/2 with the original height, the purpose of reducing the installation height of the whole machine is achieved, and the installation space is also saved.
The working principle of the device for alternately and vertically stacking green bricks in the working process is as follows: when a layer of green bricks are stacked on a green brick stacking tray by a large manipulator in a brick making system, the large manipulator returns to the upper part of a belt conveyor to wait for the time interval of the next grabbing action, a single chip microcomputer motion controller sends out an electric control signal which is preset according to a program, a relevant electromagnetic valve acts (the electromagnetic valve and an air source part are not shown in the attached drawing), an air cylinder is pushed to act, a straight rack acts to drive a transmission gear and a transmission shaft to rotate, then the green brick stacking tray acts to rotate by 90 degrees, and the next layer of green bricks can be vertically staggered by 90 degrees; the rack reciprocates once every other layer, the green brick stacking workbench rotates by 90 degrees, so that the purpose of vertically and crossly stacking green bricks is achieved by rotating the green bricks by 90 degrees in every other layer of stacking direction; the bidirectional damping device is used for overcoming the effect of assisting 90-degree accurate positioning of a gear rack gap; the green brick cross vertical stacking device can stably and reliably stack green bricks, and is very convenient to transport and carry.
The above-described embodiment is merely a preferred embodiment of the present invention, and any modifications or equivalent variations using the above-described embodiments are intended to fall within the scope of the claims of the present invention.
Claims (10)
1. A green brick stacking robot is matched with an automatic brick making machine, so that the green brick stacking robot can grab and stack green bricks from the automatic brick making machine; the green brick stacking robot comprises a gantry frame, a large manipulator vertically and downwards arranged on the gantry frame, a small manipulator arranged on the side part of the gantry frame and a belt conveyor fixedly arranged on the gantry frame, wherein the small manipulator is used for grabbing green bricks from an automatic brick making machine and placing the green bricks on the belt conveyor; the small mechanical arm is fixed on a cross beam on one side of the gantry frame close to the automatic brick making machine in an inverted suspension manner; the small manipulator main body is divided into a vertical cylinder, an arc-shaped swing arm and a clamping device on the bottom surface of the tail end of the arc-shaped swing arm from top to bottom; be equipped with the vertical servo motor A who arranges on the vertical barrel, servo motor B that the output of servo motor A connected level arranged, the arc swing arm is equipped with to servo motor B's output, the clamping device who is used for centre gripping adobe is equipped with to the swing end of arc swing arm, servo motor A, 90 reciprocating rotation are all done to servo motor B to make the arc swing arm can come and go between the brick work position that connects of the play brick station to belt conveyer of automatic brick making machine and be rotatory swing, its characterized in that: the ground at the front part in the gantry frame is provided with a green brick crossed vertical stacking device; the large manipulator comprises a base support, an outer upright post capable of moving up and down is arranged in the middle of the base support, the outer upright post is in a hollow cylinder shape, the front side wall, the rear side wall, the left side wall, the right side wall and the left side wall of the outer upright post are in rolling contact with limiting idler wheels arranged on the base support, a lifting driving rack is also vertically and fixedly arranged on the outer side wall of the outer upright post, a lifting driving motor is arranged on the base support, a driving gear is arranged on an output shaft of the lifting driving motor, and the driving gear is meshed; a steel wire pulley is also arranged at the upper port of the outer upright post; an inner upright post is sleeved in the outer upright post and moves up and down along the inner wall of the outer upright post, a flexible steel wire rope is fixedly led out from the outer wall of the bottom of the inner upright post, the flexible steel wire rope penetrates through a gap between the inner upright post and the outer upright post and is wound on a steel wire pulley upwards and fixedly connected with a base support, and a green brick clamping jaw controlled to move by a clamping cylinder is arranged at the bottom of the inner upright post; the green brick cross vertical stacking device is provided with a groined base, a cylindrical transmission case is vertically arranged at the center of the groined base, a transmission shaft is arranged in the transmission case through an upper group of bearings and a lower group of bearings, the lower end of the transmission shaft is suspended above the groined base, the upper end of the transmission shaft extends out of the transmission case and is connected with a rotating table, a green brick stacking tray is placed on the rotating table during work, and a transmission gear is also arranged on the transmission shaft; a transmission notch is arranged on the side wall of the lower part of the transmission box and is arranged right opposite to the transmission gear; the well-shaped base is also provided with a pushing cylinder, the end of a piston rod of the pushing cylinder is provided with a spur rack, and the spur rack penetrates through a transmission gap and is meshed with a transmission gear in a transmission box; the pushing cylinder is controlled to act according to a preset stroke through the singlechip motion controller; one side of the side part of the transmission case is also provided with a bidirectional damping device which is used for realizing the buffering and limiting of the rotation action of the rotating table; the bidirectional damping device comprises a damping plate arranged at the bottom of the rotating table and a rectangular damping box arranged on the groined base, two damping pins are coaxially arranged on the side walls of two sides of the damping box, one end of each damping pin is arranged in the damping box, the other end of each damping pin extends out of the corresponding damping box, a limiting step is arranged on each damping pin and positioned in the middle of the inside of the damping box, a damping spring is sleeved on each damping pin, and two ends of each damping spring respectively abut against the limiting steps on the corresponding side; the outer ends of the two damping pins correspond to the damping plate.
2. The green brick stacking robot according to claim 1, wherein: and dustproof organ covers are arranged on the periphery of the upper part of the outer stand column and the periphery of the area between the lower part of the outer stand column and the green brick clamping jaw.
3. The green brick stacking robot according to claim 1, wherein: the limiting idler wheels are divided into an upper layer and a lower layer, and the limiting idler wheels on the upper layer and the lower layer are arranged in four directions, namely front, back, left and right.
4. The green brick stacking robot according to claim 1, wherein: and a safety stop is also arranged at the upper end of the inner upright post and is used for preventing the inner upright post and the outer upright post from being separated due to excessive extension.
5. The green brick stacking robot according to claim 1, wherein: the damping pin rod body and the damping box which are far away from the damping plate in the two damping pins are connected by adopting a thread structure, and the outer end of the damping pin is provided with a screw cap for twisting adjustment.
6. The green brick stacking robot according to claim 1, wherein: the lower end of the transmission shaft is connected with an end thrust bearing fixed on the transmission case.
7. The green brick stacking robot according to claim 1, wherein: and a limiting bearing is fixed on the outer side wall of the transmission case at the position of the transmission notch towards the outside through a screw and rolls along the back surface of the spur rack.
8. The green brick stacking robot according to claim 1, wherein: the rotary table is circular, and the bottom surface of the rotary table is flush with the ground.
9. The green brick stacking robot according to claim 1, wherein: the belt conveyor is connected with the gantry frame through an adjusting bracket for height adjustment.
10. The green brick stacking robot according to claim 9, wherein: two groups of adjusting brackets are arranged side by side, and the two groups of adjusting brackets correspondingly support two ends of the belt conveyor; each group of adjusting supports consists of two adjusting bolts arranged side by side and a locking nut matched with each adjusting bolt, wherein the head ends of the adjusting bolts are tightly connected with the base of the belt conveyor through the locking nuts, and the tail ends of the adjusting bolts are tightly connected with the fixed supports through the locking nuts.
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| CN201910204506.7A CN109761059B (en) | 2019-03-18 | 2019-03-18 | Green brick stacking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910204506.7A CN109761059B (en) | 2019-03-18 | 2019-03-18 | Green brick stacking robot |
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| CN109761059A CN109761059A (en) | 2019-05-17 |
| CN109761059B true CN109761059B (en) | 2020-11-17 |
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| CN111071704B (en) * | 2020-03-04 | 2021-07-16 | 南京港龙潭集装箱有限公司 | Intelligent port loading and unloading conveying equipment |
| CN112206491A (en) * | 2020-04-29 | 2021-01-12 | 叶朝霞 | Multifunctional training platform |
| CN113443195A (en) * | 2021-06-23 | 2021-09-28 | 浙江瑞港机械有限公司 | Pallet-free building block stacking and packaging assembly line |
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| US4068766A (en) * | 1976-07-21 | 1978-01-17 | Ami Industries, Inc. | Method and apparatus for stacking and blending bricks or the like |
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| CN109231087A (en) * | 2018-08-17 | 2019-01-18 | 苏州琦少工程科技有限公司 | A kind of construction equipment lifting device with anti-theft performance |
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| US4068766A (en) * | 1976-07-21 | 1978-01-17 | Ami Industries, Inc. | Method and apparatus for stacking and blending bricks or the like |
| CN101104504A (en) * | 2007-06-15 | 2008-01-16 | 盐城市宏达人工环境工程有限公司 | Tunnel type single-column cargo piling machine |
| CN203440000U (en) * | 2013-08-07 | 2014-02-19 | 上海佳冷型钢有限公司 | Hydraulic lifting device |
| CN107021431A (en) * | 2017-06-14 | 2017-08-08 | 贵州阳光兴业绿色建材有限公司 | It is a kind of can automatic discharging lift |
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| CN109761059A (en) | 2019-05-17 |
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