CN110682410A - Stacking and unstacking system for producing fiber pressure cement boards and sucker tongs of stacking and unstacking system - Google Patents
Stacking and unstacking system for producing fiber pressure cement boards and sucker tongs of stacking and unstacking system Download PDFInfo
- Publication number
- CN110682410A CN110682410A CN201911148608.8A CN201911148608A CN110682410A CN 110682410 A CN110682410 A CN 110682410A CN 201911148608 A CN201911148608 A CN 201911148608A CN 110682410 A CN110682410 A CN 110682410A
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- Prior art keywords
- hole
- sucker
- stacking
- tail handle
- cone portion
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/52—Producing shaped prefabricated articles from the material specially adapted for producing articles from mixtures containing fibres, e.g. asbestos cement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a stacking unstacking system for producing a fiber pressure cement board and a sucker gripper thereof. The tail handle of the sucker gripper can be relatively vertically slidably arranged in a through hole formed in the tray frame in a penetrating mode, an annular bag filled with magnetorheological fluid is embedded in the hole wall of the through hole, a working coil embedded in the hole wall of the through hole is arranged on the outer ring of the annular bag, and the inner wall of the annular bag can elastically deform and is fixedly connected with a convex part arranged on the periphery of the tail handle in a buckling mode or integrally arranged on the outer periphery of the tail handle. By utilizing the characteristic that the magnetorheological fluid can be converted from a liquid state to a solid state under the power-on state, on one hand, when the position of a single sucker body is uncertain, all the sucker bodies can be adsorbed on a target object in a matched manner through the annular bag which can deform elastically; on the other hand, after the position of each sucker body is determined, the position of the sucker body can be locked in a mode of electrifying the working coil, and compared with a traditional mode of manually adjusting, the mode of locking by means of materials and power is more accurate and more labor-saving.
Description
Technical Field
The invention belongs to the field of fiber pressure cement board production equipment, and particularly relates to a stacking unstacking system for fiber pressure cement board production and a sucker gripper of the stacking unstacking system.
Background
Fiber pressure cement boards are widely used in the construction field. The product is manufactured by adopting a stacking and pressing process in China. Namely, a template is arranged under a product, the product is stacked to a certain height and enters a hydraulic press for slow pressing, the moisture is discharged, and then the next stripper plate process is carried out. The disadvantages of the above process are that the water must be drained through the periphery of the plate stack, so the dewatering time is long, and the thickness of the plate sheet is not uniform; therefore, the single-piece pressing process is also adopted abroad, the plate blank is put on a plurality of templates with small holes for pressing, water is vertically drained, then the templates are removed, and the stacking oxygen evaporation process is carried out, but the required motor power is high, the process is complex, and the single-piece pressing process cannot be widely applied.
At present, a domestic fiber pressure cement plate stacking/unstacking system is similar to a fiber cement corrugated tile stacking system in the prior patent CN2015206714166, and comprises a frame, a suction mold suction cup, a blank suction cup, a first lifting platform, a second lifting platform and a controller; the rack is provided with a first distance detector and a second distance detector which are used for respectively detecting the vertical distance between the template of the corrugated tile wet blank on the first lifting platform and the template of the second lifting platform and the rack, and the controller is connected with the first distance detector, the second distance detector, the actuator of the first lifting platform and the actuator of the second lifting platform. The stacking system can realize automatic lifting of the lifting platform. Manual regulation is not needed, and the labor cost is reduced; and the rule that the heights of the first lifting platform and the second lifting platform are equal to each other in the production process can be overcome, and the smaller strokes of the suction mold suction disc and the blank suction disc are provided, so that the blank ejection rate of the fiber reinforced cement corrugated tile is improved, and the machine abrasion loss is reduced.
However, since the stress of each part of the fiber pressure cement board horizontally placed is different (even under the condition that all parts of the plane are adsorbed by the suction cups), after the stacking/unstacking system is adopted, the belly of the fiber pressure cement board is recessed compared with the periphery in the process of transferring in the air, on one hand, the situation that the lifting platform and the suction cups are not matched due to the fact that the field judgment of an operator is influenced is caused, and on the other hand, the load of the suction cups is increased, so that the energy consumption of the whole production line is increased.
Disclosure of Invention
The invention aims to provide a sucker gripper capable of reducing energy consumption, which adopts the following technical scheme:
the sucker gripper comprises a disk frame and a hollow tail handle connected with the disk frame, wherein the lower end of the tail handle is connected with a sucker body capable of being elastically folded and unfolded in an air guide mode, the tail handle can be relatively installed in a through hole formed in the disk frame in a penetrating mode in a vertical sliding mode, an annular bag filled with magnetorheological fluid is embedded in the wall of the through hole, a working coil embedded in the wall of the through hole is arranged on the outer ring of the annular bag, the inner wall of the annular bag can elastically deform and is fixedly connected with or integrally arranged on the periphery of the tail handle in a buckling mode.
The through hole is a stepped hole with a small upper part and a large lower part, the small hole section of the through hole is in sliding fit with the outer wall of the tail handle, the annular bag is positioned at the large hole section of the through hole, the large hole section is also provided with a retaining ring which is fixed at the position of a hole opening at the lower end and used for stopping the convex part from being separated from the through hole, and a return spring used for pressing the convex part downwards.
The adjusting nut capable of entering the through hole is connected to the periphery of the tail handle in a threaded mode, the periphery of the adjusting nut is in a stepped shaft shape with the upper portion being thin and the lower portion being thick, the thin section of the adjusting nut is connected with the fixing ring abutting against the lower portion of the reset spring in a threaded mode, the outer ring edge of the fixing ring is exposed out of the periphery of the thick section of the adjusting nut, the exposed portion is stopped above the retaining ring, a plurality of mounting blind holes evenly distributed in the circumferential direction are formed in the periphery of the fixing ring, the positioning sliding blocks are assembled in the mounting blind holes in an axial sliding mode, the protruding portion is located at the outer end of the positioning sliding block.
The convex part is a hemispherical boss convexly arranged on the outer section of the positioning sliding block.
The sucker body comprises an upper cone part, a middle cone part and a lower cone part which are sequentially arranged from top to bottom, the large openings of the upper cone part and the lower cone part face downwards, the large opening of the middle cone part faces upwards, and a buffer belt with a circular arc-shaped section is transitionally connected between the upper cone part and the middle cone part.
The upper end of the upper cone part is connected with a sucker joint in a hot melting mode, and the sucker joint is detachably connected with the tail handle in an air guiding mode.
The invention also aims to provide a stacking unstacking system for producing the fiber pressure cement board by using the suction cup gripper, which adopts the technical scheme that:
the stacking unstacking system for producing the fiber pressure cement plate comprises a rack and a movable support which is installed in a left-right moving mode and can move up and down, a sucker gripper is installed on the movable support and can move up and down, the sucker gripper comprises a plate frame and a hollow tail handle connected with the plate frame, the lower end of the tail handle is connected with a sucker body capable of being elastically folded and unfolded in an air guide mode, the tail handle can be installed in a through hole formed in the plate frame in a penetrating mode in a vertical sliding mode, an annular bag filled with magnetorheological fluid is embedded in the hole wall of the through hole, a working coil embedded in the hole wall of the through hole is arranged on the outer ring of the annular bag, the inner wall of the annular bag can be elastically deformed.
The through hole is a stepped hole with a small upper part and a large lower part, the small hole section of the through hole is in sliding fit with the outer wall of the tail handle, the annular bag is positioned at the large hole section of the through hole, the large hole section is also provided with a retaining ring which is fixed at the position of a hole opening at the lower end and used for stopping the convex part from being separated from the through hole, and a return spring used for pressing the convex part downwards.
The adjusting nut capable of entering the through hole is connected to the periphery of the tail handle in a threaded mode, the periphery of the adjusting nut is in a stepped shaft shape with the upper portion being thin and the lower portion being thick, the thin section of the adjusting nut is connected with the fixing ring abutting against the lower portion of the reset spring in a threaded mode, the outer ring edge of the fixing ring is exposed out of the periphery of the thick section of the adjusting nut, the exposed portion is stopped above the retaining ring, a plurality of mounting blind holes evenly distributed in the circumferential direction are formed in the periphery of the fixing ring, the positioning sliding blocks are assembled in the mounting blind holes in an axial sliding mode, the protruding portion is located at the outer end of the positioning sliding block.
The convex part is a hemispherical boss convexly arranged on the outer section of the positioning sliding block.
The sucker body comprises an upper cone part, a middle cone part and a lower cone part which are sequentially arranged from top to bottom, the large openings of the upper cone part and the lower cone part face downwards, the large opening of the middle cone part faces upwards, and a buffer belt with a circular arc-shaped section is transitionally connected between the upper cone part and the middle cone part.
The upper end of the upper cone part is connected with a sucker joint in a hot melting mode, and the sucker joint is detachably connected with the tail handle in an air guiding mode.
The frame is the portal frame, and frame crossbeam and movable support transmission are connected with electric putter device, and electric putter device is including connecting ball on the frame crossbeam, ball extend along left right direction, and ball screw helical transmission is connected with the transmission screw, and the transmission screw is connected with and can drives transmission screw pivoted driving motor, and driving motor is located movable support, and movable support still is connected with and fixes in the frame and the T shape guide rail parallel with ball.
The drive motor is conductively connected with cable drag chains laid on the left and the right.
Travel switches are arranged on the frame beam and are positioned at the limit positions of the left end and the right end of the movable support, and the travel switches are connected in series in a control circuit of the driving motor.
The invention has the following beneficial effects:
by utilizing the characteristic that the magnetorheological fluid can be converted from a liquid state to a solid state under the power-on state, on one hand, when the position of a single sucker body is uncertain, all the sucker bodies can be adsorbed on a target object in a matched manner through the annular bag which can deform elastically; on the other hand, after the position of each sucker body is determined, the position of the sucker body can be locked in a mode of electrifying the working coil, and compared with a traditional mode of utilizing manual alignment, the mode of relying on materials and electric power for locking is more accurate and more labor-saving, so that the problem of energy consumption caused by the fact that the suckers cannot be matched and adsorbed in the prior art is solved.
Drawings
In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings needed to be used in the embodiment will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts;
FIG. 1 is a schematic structural view of a stacking unstacking system for producing fiber pressure cement boards according to the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a rear view of FIG. 1;
FIG. 4 is a schematic structural view of the suction cup unit of FIG. 3;
fig. 5 is a schematic view of the connection structure of the tail handle and the tray frame in fig. 4.
Detailed Description
In order to make the technical purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention are further described below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 3, there are shown schematic structural views of the stacking unstacking system for producing fiber pressure cement boards in the present embodiment. The stacking and unstacking system for producing the fiber pressure cement board in the embodiment is not a set of special system, but a set of general system, and is different in that the stacking and unstacking system can be used for stacking boards and also can be used for unstacking the boards. The concrete structure is as follows:
the stacking unstacking system for producing the fiber pressure cement board mainly comprises a rack 1, a movable trolley 2 and a sucker gripper 3.
The frame 1 is a portal support, and the lower ends of two upright posts of the portal support are respectively provided with a triangular base 101.
The movable trolley 2 comprises a movable support 201 which can move left and right and is installed on a cross beam of the rack 1, the cross beam of the rack 1 and the movable support 201 are in transmission connection with an electric push rod device, the electric push rod device comprises a ball screw 202 connected to the cross beam of the rack 1, the ball screw 202 extends along the left and right directions, the ball screw 202 is in screw transmission connection with a transmission screw nut, the transmission screw nut is connected with a driving motor 203 capable of driving the transmission screw nut to rotate, the driving motor 203 is located on the movable support 201, and the movable support 201 is further connected with a T-shaped guide rail 204 which is fixed on the rack 1 and is parallel. The driving motor 203 is conductively connected with cable drag chains laid left and right. Travel switches 205 positioned at the limit positions of the left end and the right end of the movable support 201 are arranged on the cross beam of the machine frame 1, and the travel switches 205 are connected in series in a control circuit of the driving motor 203. The two ends of the beam of the frame 1 are also connected with buffer stoppers 206 for preventing the moving bracket 201 from falling off. The movable support 201 is further connected with a cross slide block, the downward moving part of the cross slide block is connected with two air cylinders 207, and piston rods of the two air cylinders 207 are connected with the sucker tongs 3.
Referring to fig. 4 and 5, the suction cup gripper 3 includes a tray frame 301 fixed on the piston rod of the cylinder 207, a hollow tail handle 302 is connected on the tray frame 301, the lower end of the tail handle 302 is connected with a suction cup body 303 capable of elastically expanding and contracting in an air guide manner, the tail handle 302 can be relatively installed in a through hole formed on the tray frame 301 in a penetrating manner in a vertical sliding manner, an annular bag 304 filled with magnetorheological fluid is embedded on the wall of the through hole, a working coil embedded in the wall of the through hole is arranged on the outer ring of the annular bag 304, and the inner wall of the annular bag 304 can elastically deform and is fixedly connected with or integrally arranged on a convex part on the outer periphery of the tail. The through hole is a stepped hole with a small upper part and a large lower part, the small hole section of the through hole is in sliding fit with the outer wall of the tail handle 302, the annular bag 304 is positioned at the large hole section of the through hole, the large hole section is further provided with a retainer ring 305 which is fixed at the position of the hole opening at the lower end and used for stopping the convex part from being separated from the through hole, and a return spring 306 used for pressing the convex part downwards. An adjusting nut 307 capable of entering the through hole is connected to the outer periphery of the tail handle 302 in a threaded manner, the outer periphery of the adjusting nut 307 is in a stepped shaft shape with a thin upper part and a thick lower part, a thin section of the adjusting nut 307 is connected with a fixing ring 308 abutting against the lower part of the return spring 306 in a threaded manner, the outer ring edge of the fixing ring 308 is exposed from the thick section of the adjusting nut 307, the exposed part is stopped above the retainer ring 305, a plurality of mounting blind holes uniformly distributed in the circumferential direction are formed in the outer periphery of the fixing ring 308, a positioning slider 309 is assembled in the mounting blind holes in an axial sliding manner, the convex part is located at the outer end of the positioning slider 309, and the inner end of the. The convex part is a hemispherical boss convexly arranged at the outer section of the positioning slide block 309. The sucker body 303 comprises an upper cone part 311, a middle cone part 312 and a lower cone part 313 which are sequentially arranged from top to bottom, the large openings of the upper cone part 311 and the lower cone part 313 face downwards, the large opening of the middle cone part 312 faces upwards, and a buffer belt 314 with an arc-shaped cross section is transitionally connected between the upper cone part 311 and the middle cone part 312; the upper end of the upper cone part 311 is connected with a sucker joint 315 in a hot melting way, and the sucker joint 315 is detachably connected with the tail handle 302 in an air guide way.
When the magnetic current variable liquid sucker is used, by utilizing the characteristic that the magnetic current variable liquid can be changed from a liquid state to a solid state under the power-on state, on one hand, when the position of a single sucker body 303 is uncertain, the sucker bodies 303 can be adsorbed on a target object in a matched manner through the annular bag 304 which can be elastically deformed; on the other hand, after the position of each sucker body 303 is determined, the position of the sucker body 303 can be locked by energizing the work coil.
Finally, it should be noted that: the above embodiments are merely illustrative and not restrictive of the technical solutions of the present invention, and any equivalent substitutions and modifications or partial substitutions made without departing from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. The sucker gripper comprises a disk frame and a hollow tail handle connected with the disk frame, wherein the lower end of the tail handle is connected with a sucker body capable of being elastically folded and unfolded in an air guide mode.
2. The suction cup gripper as claimed in claim 1, wherein the through hole is a stepped hole with a small upper part and a large lower part, the small hole section of the through hole is in sliding fit with the outer wall of the tail handle, the annular bag is located at the large hole section of the through hole, the large hole section is further provided with a retainer ring which is fixed at the position of the lower hole opening and used for stopping the convex part from being separated from the through hole, and a return spring used for pressing the convex part downwards.
3. The sucker gripper as claimed in claim 2, wherein the outer periphery of the tail handle is in a threaded connection with an adjusting nut capable of entering the through hole, the outer periphery of the adjusting nut is in a stepped shaft shape with a thin upper part and a thick lower part, the thin section of the adjusting nut is in a threaded connection with a fixing ring abutting against the lower part of the return spring, the outer ring edge of the fixing ring is exposed from the thick section of the adjusting nut, the exposed part of the outer ring edge is stopped above the retaining ring, the outer periphery of the fixing ring is provided with a plurality of mounting blind holes uniformly distributed in the circumferential direction, the mounting blind holes are internally provided with positioning sliders in an axial sliding mode, the convex parts are located at the outer ends of the positioning sliders, and the inner ends.
4. The suction cup gripper as claimed in claim 3, wherein the protrusions are hemispherical protrusions protruding from the outer section of the positioning slider.
5. The suction cup gripper as claimed in any one of claims 1 to 4, wherein the suction cup body comprises an upper cone portion, a middle cone portion and a lower cone portion which are arranged in sequence from top to bottom, the large openings of the upper cone portion and the lower cone portion face downwards, the large opening of the middle cone portion faces upwards, and a buffer belt with a circular arc-shaped cross section is connected between the upper cone portion and the middle cone portion in a transition mode.
6. The suction cup gripper as claimed in claim 5, wherein the upper end of the upper cone portion is thermally fused with a suction cup connector, the suction cup connector being detachably connected to the air guide of the tail handle.
7. A stacking unstacking system for producing fiber pressure cement boards, comprising a frame and a movable support which is arranged on the frame and can move left and right, wherein the movable support is provided with a sucker gripper as claimed in any one of claims 1 to 6 and can move up and down.
8. The stacking unstacking system for producing the fiber pressure cement boards as claimed in claim 7, wherein the rack is a portal-type support, the rack beam and the movable support are in transmission connection with an electric push rod device, the electric push rod device comprises a ball screw connected to the rack beam, the ball screw extends in the left-right direction, the ball screw is in screw transmission connection with a transmission nut, the transmission nut is connected with a driving motor capable of driving the transmission nut to rotate, the driving motor is located on the movable support, and the movable support is further connected with a T-shaped guide rail which is fixed to the rack and parallel to the ball screw.
9. The stacking unstacking system for producing fiber pressure cement boards as claimed in claim 8, wherein the driving motor is conductively connected with cable drag chains laid left and right.
10. The stacking unstacking system for producing the fiber pressure cement boards as claimed in claim 8, wherein travel switches are arranged on the cross beam of the rack at the limit positions of the left end and the right end of the movable support and are connected in series in a control circuit of the driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911148608.8A CN110682410A (en) | 2019-11-21 | 2019-11-21 | Stacking and unstacking system for producing fiber pressure cement boards and sucker tongs of stacking and unstacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911148608.8A CN110682410A (en) | 2019-11-21 | 2019-11-21 | Stacking and unstacking system for producing fiber pressure cement boards and sucker tongs of stacking and unstacking system |
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| Publication Number | Publication Date |
|---|---|
| CN110682410A true CN110682410A (en) | 2020-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911148608.8A Pending CN110682410A (en) | 2019-11-21 | 2019-11-21 | Stacking and unstacking system for producing fiber pressure cement boards and sucker tongs of stacking and unstacking system |
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| CN (1) | CN110682410A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620119A (en) * | 2020-05-29 | 2020-09-04 | 苏州天准科技股份有限公司 | Suction nozzle device |
-
2019
- 2019-11-21 CN CN201911148608.8A patent/CN110682410A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620119A (en) * | 2020-05-29 | 2020-09-04 | 苏州天准科技股份有限公司 | Suction nozzle device |
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