CN110803533A - A multi-joint robot depalletizing and packaging production line - Google Patents

Abstract

A multi-joint robot unstacking and packaging production line comprises large-span truss unstacking and loading equipment, a robot unstacking machine, a grouping machine, a stacking machine, a packaging machine and a second transfer conveyor, wherein the large-span truss unstacking and loading equipment is used for unloading a brick pile from a kiln car and conveying the brick pile to the stacking machine; the automatic continuous packaging machine realizes automatic continuous packaging, the packaged brick pile is tidy, the bricks are not easy to damage in the packaging process, and the production efficiency is greatly improved.

Description

A multi-joint robot depalletizing and packaging production line

technical field

The invention relates to the technical field of packaging machinery for brick products, in particular to a multi-joint robot destacking and packaging production line.

Background technique

Bricks need to be packaged after production for subsequent transportation. At present, due to technical limitations, the various steps of packaging have not been carried out continuously, the degree of automation is not high, and manual assistance is still required. Since different types of bricks and different batches of bricks require different stacking arrangements, a stack of bricks needs to be grouped before packing.

The current equipment for unloading bricks from kiln trucks has the following technical problems:

1. The span distance when unloading bricks is short, which leads to higher requirements for cooperation with other packaging machinery, high requirements for packaging construction sites, poor flexibility, and limits packaging efficiency;

2. The brick clamping mechanism in the equipment is unstable in clamping the bricks, and the bricks are easy to drop during transportation;

The brick clamping mechanism in the equipment is only suitable for brick types with similar strengths, and will crush bricks of lower strength wet bricks and other brick types, which has poor applicability.

When packing bricks, according to the different materials of the bricks and the requirements of subsequent packaging, the requirements for the number of columns of bricks in a group of bricks are different, and the requirements for the number of bricks in each column of bricks are also the same. The marshalling machine in the prior art has a relatively low degree of automation, and can only compile brick groups with the same number of columns and the same number of blocks in a column during marshalling, and the scope of application is narrow.

And in the marshalling process, the following technical problems will also occur, which will seriously affect the production efficiency and production quality.

1. Bricks are easy to stick together, resulting in errors in grouping;

2. The grouped bricks are not neat, and the gap between the bricks is large;

3. The belt of the transmission brick group is easy to wear and needs to be replaced and repaired frequently;

4. The upper surface of the brick group is easy to accumulate brick slag, which affects the subsequent packaging.

To sum up, the packaging production line of brick stacks will have problems such as irregular packaging of brick stacks, easy damage to bricks, and low production efficiency.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies of the above technologies, the purpose of the present invention is to provide a multi-joint robot destacking and packaging production line, which realizes automatic continuous packaging, neatly packed brick stacks, bricks are not easily damaged during the packaging process, and production efficiency is greatly improved.

The technical scheme adopted by the present invention is: a multi-joint robot unloading and packing production line, comprising a large-span truss unloading and loading equipment for unloading bricks from a kiln car and transporting them to a stacker, The brick layers sorted by the whole stacker are transported to the first transfer conveyor in turn by a robot depalletizer, a marshalling machine for grouping the brick layers transported by the transfer conveyor, and a grouping machine for assembling the grouped brick layers into brick stacks. The palletizer, the baler for packing the stacked bricks, and the second transfer conveyor for transporting the packed bricks out, the large-span truss unloading and loading equipment includes a truss, and the truss includes A beam and two first columns respectively arranged at both ends of the beam, the truss is provided with a trolley that reciprocates on the beam, and is characterized in that a ground rail is arranged between the two first columns, and the top of the ground rail is Abutting on the beam, the bottom of the trolley is fixedly connected with a fixing frame, a lifting electric hoist is arranged on the fixing frame, and a lifting and rotating plate connected with the lifting electric hoist is arranged under the fixing frame, and the lifting and rotating plate is fixed A plurality of guide posts are installed, each guide post is passed through a guide sleeve assembly, a rotary support is fixedly installed at the bottom of the lifting plate, and a brick clamping mechanism for clamping bricks is arranged below the rotary support. The brick clamping mechanism In connection with the slewing support, the ground rail includes a second column, the top of the second column is provided with a support seat, and the bottom is provided with a walking wheel.

Further, there are two sets of the robot depalletizer, and four sets of the stacker.

Further, the brick clamping mechanism includes a U-shaped arm with an opening facing downward and two clamping components symmetrically arranged at both ends of the U-shaped arm, and the clamping components include clamping legs, webs, The bottom plate, the first spring, the first rubber plate and the second rubber plate, the middle part of the clamping leg is hinged with the end of the U-shaped arm through the first hinge shaft, and the lower part of the clamping leg is hinged with the web plate through the second hinge shaft, The bottom plate is fixedly connected with the web, the first rubber plate is attached to the upper part of the side wall on the side of the bottom plate away from the web, and the second rubber plate is attached to the lower part of the side wall of the bottom plate away from the web One end of the first spring is fixedly connected with the bottom plate, and the other end is fixedly connected with the clamping leg. Above the U-shaped arm, a clamping oil cylinder, a gear synchronizer and clamping components symmetrically arranged at both ends of the clamping oil cylinder are arranged, so The clamping assembly includes a gear, a first connecting rod and a second connecting rod. One end of the first connecting rod is fixedly connected to the center of the gear, the other end is hinged with one end of the second connecting rod, and the other end of the second connecting rod is hinged. It is hinged with the upper part of the clamping leg, the two gears in the two clamping assemblies are engaged, and the two clamping legs in the two clamping assemblies are respectively fixedly connected with the telescopic rod and the cylinder body of the clamping oil cylinder, and the bottom plate is connected with the web. Vertically arranged, the U-shaped arm is provided with a brick pressing assembly, and the brick pressing assembly includes a brick pressing plate, four fixed columns and four second springs respectively sleeved on the four fixed columns, and the brick pressing plate It is arranged below the fixing column, the upper part of the fixing column is fixedly connected with the U-shaped arm, the middle part of the fixing column is fixedly installed with a limit ring, the upper part of the second spring is against the limit ring, and the lower part is fixedly connected with the brick pressing plate . The fixing frame includes a rectangular plate arranged under the beam, and the rectangular plate is fixedly connected to the beam through four connecting rods. There are four guide posts in total, and the four guide posts are respectively penetrated at the four corners of the rectangular plate, so There are four guide sleeve assemblies in total. The guide sleeve assembly includes a first guide sleeve, a connecting pipe and a second guide sleeve that are sleeved on the guide post in sequence from top to bottom. The two ends of the connecting pipe are respectively connected to the first guide sleeve. It is fixedly connected with the second guide sleeve, and the first guide sleeve is fixedly connected with the rectangular plate.

Further, the marshalling machine includes a chain transport mechanism for transporting bricks before marshalling and a multi-stage transport mechanism for transporting bricks after marshalling, the output end of the chain transport mechanism is provided with a block number control mechanism, the chain A right-angle turning mechanism for weaving bricks into a group is arranged behind the output end of the transport mechanism, the right-angle turning mechanism is arranged in front of the input end of the multi-stage transport mechanism, and an adjustable block blocking mechanism is provided at the output end of the multi-stage transport mechanism The right-angle turning mechanism includes a base, a first lifting frame arranged on the base, a limit plate arranged on the first lifting frame, a first cylinder, a first motor, and a plurality of first motors that are driven to rotate by the first motor. A rotating roller, the limit plate is arranged on the end of the right-angle turning mechanism away from the chain transport mechanism, the cylinder body of the first air cylinder is fixedly connected with the first lifting frame, and the telescopic rod of the first air cylinder is fixedly connected with the limit plate , the plurality of first rotating rollers are arranged in parallel with each other and are arranged at intervals along the length direction of the limiting plate, the first rotating rollers and the limiting plate are vertically arranged, and the number of pieces control mechanism includes a chain The fixed plate, the push plate and the second cylinder above the transport mechanism, both ends of the fixed plate are connected with adjusting legs through the screw rod, the cylinder body of the second cylinder is fixedly connected with the fixed plate, and the telescopic The rod is fixedly connected to the push plate, and the chain transport mechanism includes a first bracket, a driving shaft and a first driven shaft respectively arranged at both ends of the first bracket, and a second motor that drives the driving shaft to rotate. The driving shaft and the first driven shaft A second driven shaft is arranged between the shafts, and a plurality of driving sprockets are arranged on the driving shaft at intervals along its axial direction. The matched driven sprockets, and the number of the driving sprockets is the same as the sum of the number of driven sprockets on the first driven shaft and the second driven shaft, and the corresponding driving sprockets and the driven sprockets are arranged around them. A transport chain, the multi-stage transport mechanism includes a second bracket, a third motor, a fourth motor and a transmission chain, and one end of the second bracket close to the input end of the multi-stage transport mechanism is provided with a driven roller, and the driven roller is connected to the adjustable stopper. A driving roller driven by a third motor is arranged between the brick mechanisms, a rubber belt is wound between the driving roller and the driven roller, and a plurality of first unpowered rollers arranged at intervals are arranged between the driving roller and the driven roller , a plurality of double-row chain rollers are arranged between the adjustable brick blocking mechanism and the active roller, and the multiple double-row chain rollers are arranged in parallel and at intervals. The double-row chain rollers are driven to rotate by a transmission chain, and the transmission chain Its movement is driven by the fourth motor, two second unpowered rollers are arranged between the double-row chain roller and the active roller, and the adjustable brick blocking mechanism includes a mounting seat and a brick blocking steel pipe fixed on the mounting seat. , the mounting seat is fixedly connected with the second bracket, the multi-stage transport mechanism is provided with a ash cleaning mechanism, and the ash cleaning mechanism includes two columns symmetrically arranged on both sides of the rubber belt, both of which are fixed to the second bracket A second lifting frame is arranged between the two vertical columns, two ends of the second lifting frame are respectively slidably connected to the two vertical columns, and a brush is fixedly installed under the lifting frame.

Compared with the prior art, the present invention has the following beneficial effects: a multi-joint robot destacking and packing production line is provided, which realizes automatic continuous packing, the packed brick stacks are neat, the bricks are not easily damaged during the packing process, and the production efficiency is greatly improved; Among them, the large-span truss unloading brick loading equipment sets a large-span truss, and supports the ground rail in the middle of the truss to strengthen the stability of the truss, so that the transportation of bricks is more convenient, more flexible, and easy to use with other packaging machinery. Matching, the packing efficiency is greatly improved; the brick clamping mechanism included in the present invention makes the transportation of bricks more stable, not easy to drop bricks, can clamp bricks of various strengths, and will not crush bricks with low strength, and has wider applicability ;The marshalling machine can prepare different number of brick groups, and it is easy to adjust when changing the number of brick groups. .

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural representation of the large-span truss unloading brick loading equipment in the present invention;

Fig. 3 is the partial enlarged view of A place in Fig. 2;

Fig. 4 is the structural representation of the marshalling machine in the present invention;

Fig. 5 is the structural representation of right-angle turning mechanism in the present invention;

Fig. 6 is the structural representation of the block number control mechanism in the present invention;

Fig. 7 is the structural representation of the chain transport mechanism in the present invention;

Fig. 8 is the structural representation of the multi-stage transport mechanism in the present invention;

Fig. 9 is the structural representation of the adjustable block block mechanism in the present invention;

FIG. 10 is a schematic structural diagram of the ash cleaning mechanism in the present invention.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1 to 10, a multi-joint robot unloading and packaging production line includes a large-span truss unloading and loading equipment for unloading bricks from a kiln car and transporting them to a stacker 2. 1, A robot depalletizer 4 for sequentially transporting the brick layers sorted by the stacker 2 to the first transfer conveyor 3; a grouping machine 5 for grouping the brick layers transported by the transfer conveyor 3; The assembled brick layers are assembled into a stacker 8 for brick stacks, a baler 6 for packing the stacked brick stacks, and a second transfer conveyor 7 for transporting the packed brick stacks out.

The large-span truss unloading brick loading equipment 101 includes a truss 1010, the truss 1010 includes a beam 11001 and two first columns 11002 respectively arranged at both ends of the beam 11001, and the truss 1010 is provided with reciprocating walking on the beam 11001 trolley 101.

A ground rail 102 is arranged between the two first uprights 11002 , the top of the ground rail 102 abuts on the beam 11001 , the ground rail 102 includes a second upright post 1201 , and a support seat 1202 is provided on the top of the second upright post 1201 , and a walking wheel 1203 is arranged at the bottom. The support base 1202 bears against the beam 11001 , and there are two second uprights 1201 . By setting the running wheels 1203, the ground rail 102 is easy to move, and it is convenient to disassemble, install and change positions.

A fixing frame 109 is fixedly connected to the bottom of the trolley 101 . The fixing frame 109 includes a rectangular plate 1901 disposed under the beam 11001 , and the rectangular plate 1901 is fixedly connected to the beam 11001 through four connecting rods 1902 .

A lifting electric hoist 108 is arranged on the fixing frame 109, and a lifting rotary plate 107 connected to the lifting electric hoist 108 is arranged below the fixing frame 109. Four guide posts 106 are fixedly installed on the lifting rotary plate 107, each of which is The guide posts 106 are all penetrated in one guide sleeve assembly 105, and the four guide posts 106 are respectively penetrated at the four corners of the rectangular plate 1901. There are four guide sleeve assemblies 105 in total, and the guide sleeve assemblies 105 include from top to The first guide sleeve 1501, the connecting pipe 1502 and the second guide sleeve 1503 are sequentially sleeved on the guide post 106. The two ends of the connecting pipe 1502 are respectively fixedly connected with the first guide sleeve 1501 and the second guide sleeve 1503. The first guide sleeve 1501 is fixedly connected with the rectangular plate 1901 . The guide sleeve assembly 105 prevents the position of the lift-rotating plate 107 from being displaced when ascending or descending in the axial direction of the guide post 106 .

A slewing support 104 is fixedly installed at the bottom of the lifting and rotating plate 107, and a brick clamping mechanism 103 for clamping bricks is arranged below the slewing support 104. The brick clamping mechanism 103 is connected with the slewing support 104, and the slewing support 104 is widely used in the prior art. , the slewing support 104 drives the brick clamping mechanism 103 to rotate, so that the angle can be easily adjusted when bricks are clamped or unloaded. When the lifting and rotating plate 107 rises or falls, it drives the slewing support 104 and the brick clamping mechanism 103 to rise or fall.

The brick clamping mechanism 103 includes a U-shaped arm 1301 with an opening facing downward and two clamping components symmetrically arranged at both ends of the U-shaped arm 1301. The plate 1303, the bottom plate 1304, the first spring 1305, the first rubber plate 1306 and the second rubber plate 1307, the middle part of the clamping leg 1302 is hinged with the end of the U-shaped arm 1301 through the first hinge shaft The lower part is hinged with the web 1303 through the second hinge shaft 13018, the bottom plate 1304 is fixedly connected with the web 1303, the first rubber plate 1306 is attached to the upper part of the side wall of the bottom plate 1304 away from the web 1303, the The second rubber plate 1307 is attached to the lower part of the side wall of the bottom plate 1304 away from the web 1303. One end of the first spring 1305 is fixedly connected to the bottom plate 1304, and the other end is fixedly connected to the clamping leg 1302. The U-shaped arm Above 1301 are provided a clamping cylinder 13013, a gear synchronizer 13014 and clamping assemblies symmetrically arranged at both ends of the clamping cylinder 13013. The clamping assemblies include a gear 13015, a first connecting rod 13016 and a second connecting rod 13017. One end of the first link 13016 is fixedly connected with the center of the gear 13015, the other end is hinged with one end of the second link 13017, and the other end of the second link 13017 is hinged with the upper part of the clamping leg 1302. The two gears 13015 are meshed with each other, and the two clamping legs 1302 in the two clamping assemblies are respectively fixedly connected with the telescopic rod and the cylinder body of the clamping oil cylinder 13013 .

When the brick clamping mechanism 103 clamps the bricks, the telescopic rod of the clamping oil cylinder 13013 stretches out and pushes the upper part of the two clamping legs 1302 to move outward, and the lower parts of the two clamping legs 1302 are close to each other at this time, so that the bricks are clamped, and the bottom of the brick stack is clamped. Between the two bottom plates 1304, and the first rubber sheet 1306 and the second rubber sheet 1307 are attached to the bricks at the bottom of the brick stack, the first rubber sheet 1306 and the second rubber sheet 1307 play the role of anti-skid and buffer, so that the A variety of bricks with different strengths are clamped; when clamping bricks, the first spring 1305 tightens the bottom plate 1304, giving the bottom plate 1304 a vertical upward force, so that the bottom plate 1304 drags the bottom of the brick stack. The provided gear synchronizer 13014, gear 13015, first link 13016 and second link 13017 ensure that the two clamping legs 1302 move synchronously. When unloading the bricks, the telescopic rod of the clamping cylinder 13013 is retracted, so that the lower parts of the clamping legs 1302 are separated from each other, and the bricks are removed.

The bottom plate 1304 and the web plate 1303 are vertically arranged.

The U-shaped arm 1301 is provided with a brick pressing assembly, and the brick pressing assembly includes a brick pressing plate 1309, four fixing columns 13010 and four second springs 13011 respectively sleeved on the four fixing columns 13010. The plate 1309 is arranged under the fixing column 13010, the upper part of the fixing column 13010 is fixedly connected with the U-shaped arm 1301, the middle part of the fixing column 13010 is fixedly installed with a limit ring 13012, and the upper part of the second spring 13011 abuts against the limit ring 13012 The upper and lower parts are fixedly connected with the pressing brick plate 1309. After the brick pressing mechanism 103 clamps the bricks, the top layer of the bricks abuts against the brick pressing plate 1309. Under the force of the second spring 13011, the brick pressing plate 1309 presses on the top layer of the brick stack, and moves while moving. It is more stable when bricking, reduces the amplitude of shaking, and is not easy to drop bricks.

There are two robot depalletizers 104 , and four stackers 102 . Each robot depalletizer 104 cooperates with two stackers 102 to work.

The marshalling machine 105 includes a chain transport mechanism 1501 for brick transport before marshalling and a multi-stage transport mechanism 1502 for brick transport after marshalling. The output end of the chain transport mechanism 1501 is provided with a block number control mechanism 1503 , a right-angle turning mechanism 1504 for knitting bricks into a group is arranged behind the output end of the chain transport mechanism 1501, and the right-angle turning mechanism 1504 is arranged in front of the input end of the multi-stage transport mechanism 1502, at the output end of the multi-stage transport mechanism 1502 An adjustable block blocking mechanism 1505 is provided, and the right-angle turning mechanism 1504 includes a base 15401, a first lifting frame 15402 set on the base 15401, a limit plate 15404 set on the first lifting frame 15402, a first cylinder 15405, The first motor 15406 and a plurality of first rotating rollers 15403 driven by the first motor 15406 to rotate, the limit plate 15404 is arranged on the end of the right-angle turning mechanism 1504 away from the chain transport mechanism 1501, the first cylinder 15405 The cylinder body is fixedly connected to the first lifting frame 15402, the telescopic rod of the first air cylinder 15405 is fixedly connected to the limit plate 15404, and the plurality of first rotating rollers 15403 are arranged in parallel with each other and in sequence along the length direction of the limit plate 15404 The first rotating roller 15403 and the limiting plate 15404 are arranged vertically. The number of pieces control mechanism 1503 includes a fixing plate 15301, a pressing plate 15302 and a second air cylinder 15303 arranged above the chain transport mechanism 1501. The Both ends of the fixing plate 15301 are connected with adjusting legs 15305 through the screw rods 15304. The cylinder body of the second air cylinder 15303 is fixedly connected to the fixing plate 15301, and the telescopic rod of the second air cylinder 15303 is fixedly connected to the pressing plate 15302. The chain transport mechanism 1501 includes a first bracket 15101, a driving shaft 15102 and a first driven shaft 15103 respectively disposed at both ends of the first bracket 15101, and a second motor 15104 that drives the driving shaft 15102 to rotate. The driving shaft 15010 and the first driven shaft A second driven shaft 15108 is arranged between the 15103, a plurality of driving sprockets 15105 are arranged on the driving shaft 15102 at intervals along its axial direction, and the first driven shaft 15103 and the second driven shaft 15108 are both provided with The driven sprocket 15106 matched with the drive sprocket 15105, and the number of the drive sprocket 15105 is the same as the sum of the number of driven sprockets 15106 on the first driven shaft 15103 and the second driven shaft 15108, the corresponding drive chain A transport chain 15107 is wound between the wheel 15105 and the driven sprocket 15106. The multi-stage transport mechanism 1502 includes a second bracket 15201, a third motor 15204, a fourth motor 15208 and a transmission chain 15209. The second bracket 15201 is close to One end of the input end of the multi-stage transport mechanism 1502 is provided with a The driving roller 15202, the driving roller 15203 driven by the third motor 15204 is arranged between the driven roller 15202 and the adjustable block blocking mechanism 1505, and the rubber belt 15205 is wound between the driving roller 15203 and the driven roller 15202, and the driving roller Between the 15203 and the driven roller 15202 are a plurality of first unpowered rollers 15206 arranged at intervals, and between the adjustable block blocking mechanism 1505 and the driving roller 15203 are arranged a plurality of double row chain rollers 15207. The chain rollers 15207 are arranged in parallel at intervals, the double-row chain rollers 15207 are driven to rotate by the transmission chain 15209, and the drive chain 15209 is driven by the fourth motor 15208 to move. Two second unpowered rollers 152010 are provided. The adjustable block blocking mechanism 1505 includes a mounting seat 15501 and a block block steel pipe 15502 fixed on the mounting seat 15501. The mounting seat 15501 is fixedly connected to the second bracket 15201. The multi-stage transport mechanism 1502 is provided with a dust cleaning mechanism 1506. The dust cleaning mechanism 1506 includes two uprights 15601 symmetrically arranged on both sides of the rubber belt 15205. The two uprights 15601 are fixedly connected to the second bracket 15201. A second lifting frame 15602 is arranged between 15601, two ends of the second lifting frame 15602 are slidably connected with two uprights 15601 respectively, and a brush 15603 is fixedly installed under the lifting frame 15602.

The marshalling machine 5 includes a chain transport mechanism 501 for brick transport before marshalling and a multi-stage transport mechanism 502 for brick transport after marshalling. The output end of the chain transport mechanism 501 is provided with a block number control mechanism 503. , a right-angle turning mechanism 504 for arranging bricks into a group is arranged behind the output end of the chain transport mechanism 501, and the right-angle turning mechanism 504 is arranged in front of the input end of the multi-stage transport mechanism 502, and the output end of the multi-stage transport mechanism 502 is An adjustable block blocking mechanism 505 is provided. The chain transport mechanism 501, the multi-level transport mechanism 502, the block number control mechanism 503, the right-angle turning mechanism 504 and the adjustable block blocking mechanism 505 are all controlled by a control system, and the control system is the prior art.

The number of pieces control mechanism 503 includes a fixed plate 5301, a push plate 5302 and a second air cylinder 5303 arranged above the chain transport mechanism 501. Both ends of the fixed plate 5301 are connected with adjusting legs 5305 through screw rods 5304. The cylinder body of the second air cylinder 5303 is fixedly connected to the fixing plate 5301 , and the telescopic rod of the second air cylinder 5303 is fixedly connected to the pressing plate 5302 . By adjusting the relative position between the adjusting leg 5305 and the lead screw 5304, the height of the fixing plate 5301 can be adjusted to suit different types of bricks. The block number control mechanism 503 is provided with a sensor connected to the control system. The sensor senses the number of bricks passing through the block number control mechanism 503. When the number reaches, the sensor transmits a signal to the control system, and the control system controls the second cylinder. The telescopic rod of 5303 is stretched out, so that the push plate 5302 pushes forward the last row of bricks passing through the number control mechanism 503, and the push plate 5302 limits the position of the bricks that have not passed the number control mechanism 503 so that they are in line with the passing bricks. Does not stick.

The right-angle turning mechanism 504 includes a base 5401, a first lifting frame 5402 arranged on the base 5401, a limit plate 5404 arranged on the first lifting frame 5402, a first air cylinder 5405, a first motor 5406, and a first motor 5406. 5406 drives a plurality of first rotating rollers 5403 to rotate, the limiting plate 5404 is arranged on the end of the right-angle turning mechanism 504 away from the chain transport mechanism 501, and the cylinder body of the first cylinder 5405 is fixed to the first lifting frame 5402 Connection, the telescopic rod of the first air cylinder 5405 is fixedly connected with the limiting plate 5404 , the plurality of first rotating rollers 5403 are arranged in parallel with each other and are arranged at intervals along the length direction of the limiting plate 5404 . The first rotating roller 5403 is perpendicular to the limiting plate 5404 . The bricks sent by the chain transport mechanism 501 enter the right-angle turning mechanism 504, and the distance between the limit plate 5404 and the push plate 5302 is adjusted by extending or retracting the telescopic rod of the first air cylinder 5405, thereby ensuring that when adjusting the bricks When the number of bricks in each row of the group is set, the bricks will be sandwiched between the limiting plate 5404 and the pushing plate 5302 to eliminate the gap between the bricks.

The chain transport mechanism 501 includes a first bracket 5101, a driving shaft 5102 and a first driven shaft 5103 respectively disposed at both ends of the first bracket 5101, and a second motor 5104 that drives the driving shaft 5102 to rotate. A second driven shaft 5108 is arranged between the driven shafts 5103, a plurality of driving sprockets 5105 are arranged on the driving shaft 5102 at intervals along its axial direction, and both the first driven shaft 5103 and the second driven shaft 5108 are provided There is a driven sprocket 5106 for matching with the driving sprocket 5105, and the number of the driving sprocket 5105 is the same as the sum of the number of driven sprockets 5106 on the first driven shaft 5103 and the second driven shaft 5108, corresponding to A transport chain 5107 is wound between the driving sprocket 5105 and the driven sprocket 5106 . The second motor 5104 drives the driving sprocket 5105 to rotate, so that the transport chain 5107 transports the bricks forward.

The multi-stage transport mechanism 502 includes a second bracket 5201, a third motor 5204, a fourth motor 5208 and a transmission chain 5209. A driven roller 5202 is provided on one end of the second bracket 5201 close to the input end of the multi-stage transport mechanism 502. Between the roller 5202 and the adjustable block blocking mechanism 505 is a driving roller 5203 driven by a third motor 5204, a rubber belt 5205 is wound between the driving roller 5203 and the driven roller 5202, and the driving roller 5203 and the driven roller 5202 A plurality of first unpowered rollers 5206 arranged at intervals are arranged between them, and a plurality of double-row chain rollers 5207 are arranged between the adjustable block blocking mechanism 505 and the driving roller 5203, and the plurality of double-row chain rollers 5207 are spaced and parallel in sequence. Setting, the double row chain drum 5207 is driven to rotate by a transmission chain 5209, and the transmission chain 5209 is driven by a fourth motor 5208 to move. Both the rubber belt 5205 and the transmission chain 5209 transport the bricks forward. When the number of rows of bricks to be grouped reaches the requirement, the third motor 5204 stops running. Motor 5204 continues to run.

Two second non-power rollers 52010 are arranged between the double-row chain roller 5207 and the driving roller 5203, and the two second non-power rollers 52010 play the role of deceleration and buffering.

The adjustable block blocking mechanism 505 includes an installation seat 5501 and a brick blocking steel pipe 5502 fixedly arranged on the installation seat 5501 , and the installation seat 5501 is fixedly connected with the second bracket 5201 . The brick blocking steel pipe 5502 blocks the bricks transported by the transmission chain 5209, so that there is no gap between the brick rows.

The multi-stage transport mechanism 502 is provided with a ash cleaning mechanism 506. The ash cleaning mechanism 506 includes two columns 5601 symmetrically arranged on both sides of the rubber belt 5205. The two columns 5601 are both fixedly connected to the second bracket 5201. A second lifting frame 5602 is disposed between the uprights 5601 , two ends of the second lifting frame 5602 are slidably connected to the two uprights 5601 respectively, and a brush 5603 is fixedly installed under the lifting frame 5602 . The brush 5603 sweeps the brick slag off the brick.

The above embodiments are premised on the technical solutions of the present invention, and provide detailed implementations and specific operation processes, but the protection scope of the present invention is not limited to the above embodiments.

Claims (4)

1. The utility model provides a multijoint robot destacking packing production line, including being used for unloading the brick pillar from the kiln car and transporting to large-span truss on whole buttress machine (2) destacking loading equipment (1), a robot destacking machine (4) that is used for transporting in proper order the brick layer that whole buttress machine (2) were arranged to first transfer conveyer (3), a marshalling machine (5) that is used for the brick layer marshalling that comes transmission conveyer (3) transportation, a hacking machine (8) that is used for becoming the brick pillar with the brick layer subassembly that marshalling is good, baling press (6) that pack the brick pillar that will pack and second transfer conveyer (7) that are used for transporting away the brick pillar that will pack that pack, its characterized in that: the large-span truss brick unloading and loading equipment (1) comprises a truss (1010), the truss (1010) comprises a cross beam (11001) and two first vertical columns (11002) respectively arranged at two ends of the cross beam (11001), a trolley (101) which travels on the cross beam (11001) in a reciprocating mode is arranged on the truss (1010), a ground rail (102) is arranged between the two first vertical columns (11002), the top of the ground rail (102) abuts against the cross beam (11001), a fixing frame (109) is fixedly connected to the bottom of the trolley (101), a lifting electric hoist (108) is arranged on the fixing frame (109), a lifting and rotating plate (107) connected with the lifting electric hoist (108) is arranged below the fixing frame (109), a plurality of guide columns (106) are fixedly arranged on the lifting and rotating plate (107), each guide column (106) penetrates through one guide sleeve assembly (105), and a rotating support (104) is fixedly arranged at the bottom of the lifting and rotating plate (107), the brick clamping mechanism (103) used for clamping bricks is arranged below the rotary support (104), the brick clamping mechanism (103) is connected with the rotary support (104), the ground rail (102) comprises a second upright post (1201), a supporting seat (1202) is arranged at the top of the second upright post (1201), and walking wheels (1203) are arranged at the bottom of the second upright post (1201).

2. The multi-joint robot unstacking and packing production line of claim 1, wherein: the robot unstacker (4) is provided with two, and the whole stacker (2) is provided with four.

3. The multi-joint robot unstacking and packing production line of claim 1, wherein: the brick clamping mechanism (103) comprises a U-shaped arm (1301) with a downward opening and two clamping components symmetrically arranged at two ends of the U-shaped arm (1301), the clamping components comprise a clamping leg (1302) arranged below the U-shaped arm (1301), a web (1303), a bottom plate (1304), a first spring (1305), a first rubber plate (1306) and a second rubber plate (1307), the middle part of the clamping leg (1302) is hinged with the end part of the U-shaped arm (1301) through a first hinge shaft (1308), the lower part of the clamping leg (1302) is hinged with the web (1303) through a second hinge shaft (13018), the bottom plate (1304) is fixedly connected with the web (1303), the first rubber plate (1306) is attached to the upper part of the side wall of the bottom plate (1304) far away from the web (1303), the second rubber plate (1307) is attached to the lower part of the side wall of the bottom plate (1304) far away from the web (1303), one end of the first spring (1305) is fixedly connected with the bottom plate (1304), the other end of the U-shaped arm (1301) is fixedly connected with the clamping leg (1302), a clamping oil cylinder (13013), a gear synchronizer (13014) and clamping assemblies symmetrically arranged at the two ends of the clamping oil cylinder (13013) are arranged above the U-shaped arm (1301), each clamping assembly comprises a gear (13015), a first connecting rod (13016) and a second connecting rod (13017), one end of each first connecting rod (13016) is fixedly connected with the center of the gear (13015), the other end of each first connecting rod is hinged with one end of each second connecting rod (13017), the other end of each second connecting rod (13017) is hinged with the upper portion of the clamping leg (1302), the two gears (13015) in the two clamping assemblies are meshed, the two clamping legs (1302) in the two clamping assemblies are fixedly connected with the telescopic rod and the cylinder body of the clamping oil cylinder (13013) respectively, the bottom plate (1304) and the web plate (1303) are vertically arranged, a brick pressing assembly is arranged on the U-shaped arm (1301), and comprises a brick pressing plate (1309), The tile pressing device comprises four fixing columns (13010) and four second springs (13011) which are respectively sleeved on the four fixing columns (13010), wherein a tile pressing plate (1309) is arranged below the fixing columns (13010), the upper portions of the fixing columns (13010) are fixedly connected with a U-shaped arm (1301), a limiting ring (13012) is fixedly installed in the middle of each fixing column (13010), the upper portions of the second springs (13011) abut against the limiting ring (13012), and the lower portions of the second springs (13011) are fixedly connected with the tile pressing plate (1309). The fixing frame (109) comprises a rectangular plate (1901) arranged below the cross beam (11001), the rectangular plate (1901) is fixedly connected with the cross beam (11001) through four connecting rods (1902), the number of guide pillars (106) is four, the four guide pillars (106) are respectively arranged at four corners of the rectangular plate (1901) in a penetrating mode, the number of guide sleeve assemblies (105) is four, each guide sleeve assembly (105) comprises a first guide sleeve (1501), a connecting pipe (1502) and a second guide sleeve (1503) which are sequentially sleeved on the corresponding guide pillar (106) from top to bottom, two ends of each connecting pipe (1502) are respectively fixedly connected with the first guide sleeve (1501) and the second guide sleeve (1503), and the first guide sleeve (1501) is fixedly connected with the rectangular plate (1901).

4. The multi-joint robot unstacking and packing production line of claim 1, wherein: the brick grouping machine (5) comprises a chain conveying mechanism (501) used for conveying bricks before grouping and a multi-stage conveying mechanism (502) used for conveying the bricks after grouping, a block number control mechanism (503) is arranged at the output end of the chain conveying mechanism (501), a right-angle turning mechanism (504) used for grouping the bricks into a group is arranged behind the output end of the chain conveying mechanism (501), the right-angle turning mechanism (504) is arranged in front of the input end of the multi-stage conveying mechanism (502), an adjustable brick blocking mechanism (505) is arranged at the output end of the multi-stage conveying mechanism (502), the right-angle turning mechanism (504) comprises a base (5401), a first lifting frame (5402) arranged on the base (5401), a limiting plate (5404) arranged on the first lifting frame (5402), a first air cylinder (5405), a first motor (5406) and a plurality of first rotating rollers (5403) driven to rotate by the first motor (5406), the limiting plate (5404) is arranged at one end, far away from the chain conveying mechanism (501), of the quarter turn mechanism (504), a cylinder body of the first cylinder (5405) is fixedly connected with the first lifting frame (5402), an expansion rod of the first cylinder (5405) is fixedly connected with the limiting plate (5404), the first rotating rollers (5403) are arranged in parallel and are sequentially arranged at intervals along the length direction of the limiting plate (5404), the first rotating rollers (5403) and the limiting plate (5404) are vertically arranged, the block number control mechanism (503) comprises a fixing plate (5301), a pushing plate (5302) and a second cylinder (5303) which are arranged above the chain conveying mechanism (501), two ends of the fixing plate (5301) are connected with adjusting legs (5305) through screw rods (5304), a cylinder body of the second cylinder (5303) is fixedly connected with the fixing plate (5301), and an expansion rod of the second cylinder (5303) is fixedly connected with the pushing plate (5302), chain transport mechanism (501) includes first support (5101), sets up driving shaft (5102) and first driven shaft (5103) and drive driving shaft (5102) pivoted second motor (5104) at first support (5101) both ends respectively, is provided with second driven shaft (5108) between driving shaft (5010) and first driven shaft (5103), be provided with a plurality of driving sprocket (5105) along its axial interval on driving shaft (5102), all be provided with on first driven shaft (5103) and second driven shaft (5108) and be used for with driving sprocket (5105) matched with driven sprocket (5106), and driving sprocket (5105) quantity is the same with driven sprocket (5106) quantity sum on first driven shaft (5103) and second driven shaft (5108), around being equipped with transport chain (5107) between corresponding driving sprocket (5105) and driven sprocket (5106), multistage transport mechanism (502) includes second support (5201), A third motor (5204), a fourth motor (5208) and a transmission chain (5209), wherein a driven roller (5202) is arranged at one end of the second bracket (5201) close to the input end of the multi-stage transport mechanism (502), a driving roller (5203) rotated by a driver of the third motor (5204) is arranged between the driven roller (5202) and the adjustable brick blocking mechanism (505), a rubber belt (5205) is wound between the driving roller (5203) and the driven roller (5202), a plurality of first unpowered rollers (5206) arranged at intervals are arranged between the driving roller (5203) and the driven roller (5202), a plurality of double-row chain rollers (5207) are arranged between the adjustable brick blocking mechanism (55) and the driving roller (5203) in sequence at intervals in parallel, the double-row chain rollers (5207) are driven to rotate by the transmission chain (5209), and the transmission chain (5209) is driven to move by the fourth motor (5208), be provided with two unpowered cylinders of second (52010) between double row chain cylinder (5207) and initiative cylinder (5203), adjustable fender brick mechanism (505) is including mount pad (5501) and fixed fender brick steel pipe (5502) of setting on mount pad (5501), mount pad (5501) and second support (5201) fixed connection, be provided with deashing mechanism (506) on multistage transport mechanism (502), deashing mechanism (506) include two symmetries set up stand (5601) in rubber belt (5205) both sides, two stand (5601) all with second support (5201) fixed connection, be provided with second crane (5602) between two stand (5601), the both ends of second crane (5602) respectively with two stand (5601) sliding connection, crane (5602) below fixed mounting has brush (5603).

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