CN112572873A - A robot clamp and ceramic tile pile up neatly equipment for ceramic tile pile up neatly - Google Patents

Abstract

The invention discloses a robot clamp for stacking ceramic tiles, which comprises a mounting plate, a clamping assembly and an adjusting device, wherein the clamping assembly is arranged below the mounting plate, the adjusting device is detachably connected with the upper edge part of the mounting plate, the clamping assembly comprises a fixed clamping plate, a movable clamping plate and a plurality of reciprocating linear driving devices, the fixed clamping plate is fixedly connected below the mounting plate, the movable clamping plate is detachably connected with the reciprocating linear driving devices, a clamping space formed by the movable clamping plate and the fixed clamping plate is adjusted by the reciprocating linear driving devices, and the reciprocating linear driving devices are connected with the adjusting device and controlled by the adjusting device. Can meet the requirement of ceramic code package.

Description

A robot clamp and ceramic tile pile up neatly equipment for ceramic tile pile up neatly

Technical Field

The invention relates to the field of ceramic tile packaging, in particular to a robot clamp for ceramic tile stacking and ceramic tile stacking equipment.

Background

The packaging machine is an electromechanical integrated product, can be integrated in any production line, particularly automatic stereoscopic warehouse equipment, provides intelligent, robotized and networked support for a production field, and has the main function of stacking various products such as rubber blocks, box bodies, bottle bodies and the like.

At present, the manipulator sign indicating number package machine anchor clamps of current ceramic industry, the anchor clamps of generally pressing from both sides the whole package ceramic tile of monolithic ceramic tile (unpackaged) and sign indicating number package (packaged) are realized through two kinds of different structure anchor clamps, and the clamp that need adjust anchor clamps when pressing from both sides the ceramic tile of different numbers of sheets or different specifications is got the position and is realized, the equipment for packing manipulator is when pressing from both sides the piece formula or box ceramic tile, can only press from both sides according to fixed number of sheets or package number and get, if can only realize through the size of adjusting anchor clamps when changing number of sheets or package number, and flat splint cause flaky ceramic tile to press from both sides the back easily, the bottom scatters into fan-shaped, loose when causing the ceramic.

Therefore, it is necessary to provide a robot palletizer clamp which can stack bricks in different specifications and numbers without replacing the clamp when bricks are packed in different numbers or pieces.

Disclosure of Invention

In order to solve the defects that the existing clamp has poor clamping effect and is inconvenient to transfer to production when clamping sheet type or box type tiles for stacking, the invention provides the robot clamp for stacking the tiles, which can realize automatic adjustment for stacking and packaging when stacking the tiles with different specifications, different packages or numbers, and the condition that the bottoms are scattered into a fan shape and the tiles are stacked loosely when clamping the sheet type tiles can not occur.

The technical scheme adopted by the invention is as follows:

the utility model provides a robot clamp for ceramic tile pile up neatly, includes mounting panel and centre gripping subassembly, the centre gripping subassembly sets up in the mounting panel below, still includes adjusting device, adjusting device can dismantle and connect in mounting panel top limit portion, the centre gripping subassembly includes solid fixed splint, movable clamp plate and the reciprocating type linear driving device of a plurality of, gu fixed splint fixed connection is in the mounting panel below, movable clamp plate can dismantle and connect in reciprocating type linear driving device, movable clamp plate forms the centre gripping space with solid fixed splint, reciprocating type linear driving device links to each other with adjusting device.

Preferably, the centre gripping subassembly still includes the multiunit mount pad, the mount pad includes the guide bar and sets up in the end at guide bar both ends, the end can be dismantled and connect in the mounting panel, the guide bar can be dismantled and connect in the end, movable clamp plate passes through guide bar swing joint in mount pad.

Preferably, the two opposite side surfaces of the fixed clamping plate and the movable clamping plate are respectively provided with a buffer pad, the buffer pads are detachably connected to the fixed clamping plate and the movable clamping plate, the buffer pads are provided with inclined surfaces, and the buffer pads gradually become thick along the direction away from the mounting plate.

Preferably, the reciprocating linear driving device comprises a piston rod and an air cylinder, one end of the piston rod is connected with the air cylinder, the other end of the piston rod is connected with the movable clamping plate, and the air cylinder is detachably connected to the mounting plate.

Preferably, adjusting device includes governing valve and adjusting bracket, adjusting bracket can dismantle and connect in the mounting panel, adjusting valve can dismantle and connect in adjusting bracket.

Preferably, the four side edges of the mounting plate are fixedly connected with baffle plates, the height of each baffle plate is lower than that of the fixed clamping plate and that of the movable clamping plate, and the baffle plates are connected with each other to form a rectangular square frame.

Preferably, the outer side of the baffle is detachably connected with a detection device, and the projection of the detection device on the horizontal plane is located at a position close to the projection of the fixed clamping plate between the projections of the fixed clamping plate and the movable clamping plate on the horizontal plane.

Preferably, the mounting panel top is provided with the connecting piece, the connecting piece is located the mounting panel middle part, the connecting piece can be dismantled and connect in the mounting panel, the connecting piece is robot flange.

Preferably, the mounting panel top can be dismantled and be connected with a plurality of control valves, the control valve links to each other and one-to-one with the cylinder, the control valve specifically is the solenoid valve.

The invention also discloses a ceramic tile stacking device applying the robot clamp, which comprises a plurality of bearing tilting devices, a stacking robot, a plurality of horizontal bundling and rolling machines, a plurality of chain conveying lines, a pallet taking and placing robot, a first pallet conveying part, a pallet warehouse part, a second pallet conveying part and a confluence conveying line, wherein the plurality of bearing tilting devices are respectively butted with the plurality of chain conveying lines, the stacking robot is arranged between two adjacent bearing tilting devices, the plurality of horizontal bundling and rolling machines are respectively arranged at the connecting positions of the bearing tilting devices and the chain conveying lines, the pallet taking and placing robot is arranged between the plurality of chain conveying lines and used for grabbing pallets and then placing the pallets on the chain conveying lines, the stacking robot grabs and places the bricks on the pallets to form a brick pile, and the horizontal bundling and rolling machines are used for bundling the brick pile above the bearing tilting devices after the pile is finished, first pallet transport unit, pallet storehouse part and second pallet transport unit connect gradually, the transfer chain that converges sets up between chain transfer chain and second pallet transport unit, the chain transfer chain is close to the one end of second pallet transport unit and the butt joint of transfer chain that converges, the stacking robot includes stacking robot base, industrial robot and robot clamp, industrial robot is six industrial robot, robot clamp sets up in industrial robot arm end.

Advantageous effects

1. The invention provides a robot clamp for ceramic tile stacking, which comprises a mounting plate, an adjusting device and a clamping assembly, wherein the clamping assembly is arranged below the mounting plate, the adjusting device is detachably connected to the upper edge part of the mounting plate, the clamping assembly comprises a fixed clamping plate, a movable clamping plate and a plurality of reciprocating linear driving devices, the fixed clamping plate is fixedly connected below the mounting plate, the movable clamping plate is detachably connected to the reciprocating linear driving devices, a clamping space formed by the movable clamping plate and the fixed clamping plate is adjusted by the reciprocating linear driving devices, the reciprocating linear driving devices are connected with the adjusting device and are controlled by the adjusting device, so that the clamp can be automatically adjusted according to the size of an object to be clamped, the clamp can be automatically adjusted to stack bricks when piling bricks with different specifications, different numbers of packages or pieces of bricks, and the bottom of the clamp can not be scattered into a fan shape when clamping, the condition of loose ceramic tile stacking;

2. the buffer pads are arranged on the two opposite side surfaces of the fixed clamping plate and the movable clamping plate, the buffer pads are detachably connected to the fixed clamping plate and the movable clamping plate, the buffer pads are provided with inclined surfaces, and the buffer pads gradually become thicker along the direction far away from the mounting plate, so that the fixed clamping plate and the movable clamping plate can clamp articles more stably, and the safety of the clamping process is improved;

3. through can dismantling in the baffle outside and be connected with detection device, detection device's projection on the horizontal plane is located and presses close to the projected position of solid fixed splint between solid fixed splint and the projection of activity splint on the horizontal plane, when pressing from both sides the brick package, can bronze drum detection device judge whether the brick package presss from both sides steadily, in the unexpected condition that appears, when pressing from both sides the article of getting between solid fixed splint and the activity splint and drop, detection device can in time discover, avoids unexpected the expansion, causes more serious consequence.

Drawings

FIG. 1 is a schematic structural diagram of a first embodiment of the present invention;

FIG. 2 is a schematic view of the structure below the mounting plate after the baffle is removed;

FIG. 3 is a schematic view showing the connection relationship between the air tube, the control valve, the regulating valve and the cylinder;

FIG. 4 is a schematic structural diagram of a second embodiment of the present invention;

FIG. 5 is a schematic view of a supporting and tilting device according to a second embodiment of the present invention;

FIG. 6 is a schematic diagram of a second mid-chain conveyor line according to an embodiment of the present invention;

fig. 7 is a schematic view of the first pallet transport unit according to a second embodiment of the present invention;

fig. 8 is a schematic diagram of the structure of a pallet library component according to a second embodiment of the present invention;

fig. 9 is a schematic view of the second pallet transport unit according to a second embodiment of the present invention;

fig. 10 is a schematic diagram of the jacking height of the pallet jacking component in the second embodiment of the invention.

Wherein, the technical characteristics that each reference numeral refers to are as follows:

1. mounting a plate; 11. a baffle plate; 2. a clamping assembly; 21. fixing the clamping plate; 22. a movable splint; 23. a reciprocating linear drive; 231. a piston rod; 232. a cylinder; 24. a mounting seat; 241. a guide bar; 242. a tip; 25. a cushion pad; 3. an adjustment device; 31. adjusting the bracket; 32. adjusting a valve; 4. a detection device; 5. a connecting member; 6. a control valve; 7. an air tube; 100. a supporting tilting device; 101. brick wrapping; 102. piling bricks; 103. a pallet; 104. stacking the plates; 110. a patting component; 111. a buttress frame; 112. a centering plate; 113. an adjustment assembly; 120. a jacking assembly; 130. a guide conveying assembly; 140. a drive assembly; 150. a bearing base; 200. a bag loader robot; 201. a stacker robot base; 202. an industrial robot; 203. a robot clamp; 300. a horizontal bundle rolling mill; 400. a chain conveyor line; 401. a conveyor frame; 402. a chain conveyor motor; 403. a chain; 404. an alignment member; 405. a transmission member; 406. a guide member; 500. a pallet picking and placing robot; 600. a first pallet transport component; 601. a first pallet conveyor frame; 602. a first pallet stop; 603. a first pallet conveyor line; 604. a first pallet conveying motor; 700. a pallet library component; 701. a pallet warehouse rack; 702. a pallet jacking component; 703. a pallet warehouse conveying line; 704. a pallet clamping member; 705. a pallet warehouse conveying motor; 800. a second pallet transport component; 801. a second pallet conveyor frame; 802. a second pallet conveyor line; 803. a second pallet conveyor motor; 900. a confluence conveying line; p1, position one; p2, position two.

Detailed Description

In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. The aspects of the present invention described generally herein and illustrated in the accompanying drawings may be arranged, substituted, combined, and split in a wide variety of configurations, all of which fall within the scope of the present invention, without departing from the principles and scope of the inventive subject matter presented herein.

The first embodiment is as follows:

as shown in fig. 1 to 3, the invention discloses a robot clamp for stacking ceramic tiles, which comprises a mounting plate 1, a clamping assembly 2 and an adjusting device 3, wherein the clamping assembly 2 is detachably connected below the mounting plate 1, and the adjusting device 3 is detachably connected to the upper edge of the mounting plate 1.

The clamping assembly 2 comprises a fixed clamping plate 21, a movable clamping plate 22, a plurality of reciprocating linear driving devices 23 and a plurality of groups of mounting seats 24, the number of the reciprocating linear driving devices 23 is two in the embodiment, the number of the mounting seats 24 is two, the fixed clamping plate 21 is fixedly connected below the mounting plate 1, the movable clamping plate 22 is detachably connected to the reciprocating linear driving devices 23, and the movable clamping plate 22 and the fixed clamping plate 21 form a clamping space which is adjusted by the reciprocating linear driving devices 23.

Two sides that fixed splint 21 is relative with movable splint 22 all are provided with blotter 25, blotter 25 can dismantle to be connected in fixed splint 21 and movable splint 22, blotter 25 is the blotter 25 of taking the inclined plane, blotter 25 thickens gradually along the direction of keeping away from mounting panel 1, reciprocating type linear drive device 23 includes piston rod 231 and cylinder 232, fixed splint 21 all opens the through-hole that supplies piston rod 231 to pass with movable splint 22 middle part, piston rod 231 passes fixed splint 21 and movable splint 22 and one end and cylinder 232 fixed connection together, the piston rod 231 other end can be dismantled with movable splint 22 and link together, cylinder 232 can dismantle to be connected in mounting panel 1.

The adjusting device 3 comprises an adjusting valve 32 and an adjusting bracket 31, the adjusting bracket 31 is detachably connected to the upper side portion of the mounting plate 1, the adjusting valve 32 is detachably connected to the adjusting bracket 31, and the reciprocating linear driving device 23 is connected with the adjusting device 3 and is controlled by the adjusting device 3.

The clamping assembly 2 further includes a plurality of sets of mounting seats 24, in this embodiment, the mounting seats 24 are two sets, the mounting seats 24 include guide rods 241 and end heads 242 disposed at two ends of the guide rods 241, the end heads 242 are detachably connected to the mounting plate 1, the guide rods 241 are detachably connected to the end heads 242, through holes for the guide rods 241 to pass through are formed in positions of the fixed clamping plate 21 and the movable clamping plate 22 close to the edge portion, the guide rods 241 pass through the fixed clamping plate 21 and the movable clamping plate 22, and the movable clamping plate 22 is movably connected to the mounting seats 24 through the guide rods 241.

The equal fixedly connected with baffle 11 in four sides of mounting panel 1, baffle 11 highly is less than solid fixed splint 21 and movable splint 22, and baffle 11 interconnect encloses into the rectangle square frame, and the baffle 11 outside can be dismantled and be connected with detection device 4, and detection device 4 projection on the horizontal plane lies in and presses close to the position of solid fixed splint 21 projection between the projection of solid fixed splint 21 and movable splint 22 on the horizontal plane, and detection device is photoelectric detection device.

Still be provided with connecting piece 5 and a plurality of control valve 6 above mounting panel 1, in this embodiment, control valve 6 is total two, connecting piece 5 is located mounting panel 1 middle part, connecting piece 5 can be dismantled and connect in mounting panel 1, connecting piece 5 is the robot flange, control valve 6 links to each other and the one-to-one with cylinder 232, control valve 6 can be dismantled and connect on the roof of cylinder 232 top, control valve 6 specifically is the solenoid valve, control valve 6, governing valve 32 and cylinder 232 link together in proper order through trachea 7.

The working principle of the embodiment is as follows: firstly, the device is connected with an industrial robot through a connecting piece 5;

before clamping a tile brick package, the control valve 6 is opened, compressed gas enters the air cylinder 232 through the air pipe 7 under the control of the regulating valve 32, the air cylinder 232 starts to work, the piston rod 231 pushes the movable clamping plate 22 to move along the guide rod 241, and the positions of the fixed clamping plate 21 and the movable clamping plate 22 are adjusted, so that the distance between the cushion pads 25 fixed between the fixed clamping plate 21 and the movable clamping plate 22 is larger than the thickness of the tile brick package to be clamped, and the tile brick package is ready to be clamped;

when clamping a tile brick package, the positions of the fixed clamping plate 21 and the movable clamping plate 22 are adjusted through the adjusting valve 32, so that the fixed clamping plate 21 and the movable clamping plate 22 clamp the tile brick package, and the industrial robot is convenient to transport;

after the tile brick package is clamped, the detection device 4 is shielded by the tile brick package and cannot receive optical signals, the detection device 4 transmits the information that the tile brick package is clamped to an industrial robot in an electric signal mode, the industrial robot conveys the tile brick package to a preset position, and the adjusting valve 32 adjusts the positions of the fixed clamp plate 21 and the movable clamp plate 22 to enable the fixed clamp plate 21 and the movable clamp plate 22 to loosen the tile brick package and then return to the initial position to clamp the next round of tile brick package;

when the ceramic tile package drops from between fixed splint 21 and the movable splint 22 in the accident, detection device 4 receives the light signal again, and detection device 4 transmits the information that the ceramic tile package dropped for industrial robot, industrial robot stop work through the mode of the signal of telecommunication.

Example two:

referring to fig. 4, the present embodiment discloses a tile stacking apparatus using a robot clamp according to an embodiment, including a plurality of bearer tilting devices 100, a palletizing robot 200, a plurality of horizontal binding machines 300, a plurality of chain conveyors 400, a pallet picking and placing robot 500, a first pallet conveying part 600, a pallet warehouse 700, a second pallet conveying part 800, and a confluence conveyor 900, in the present embodiment, the number of the bearer tilting devices 100, the number of the horizontal binding machines 300, and the number of the chain conveyors 400 are two and are all symmetrically arranged along the same straight line, the bearer tilting devices 100 are respectively butted against the chain conveyors 400, the palletizing robot 200 is arranged between the two bearer tilting devices 100, the two horizontal binding machines 300 are respectively arranged at the junctions between the bearer tilting devices 100 and the chain conveyors 400, the horizontal binding machines 300 are used for binding the tile stacks 102 directly above the bearer tilting devices 100 after the stacking is finished, first pallet transport unit 600, pallet warehouse part 700 and second pallet transport unit 800 connect gradually, the pallet is got and is put robot 500 and set up between two chain conveyor lines 400, two chain conveyor lines 400 get through the pallet and put robot 500 intercommunication second pallet transport unit 800, it gets the one end butt joint of robot 500 to be close to the pallet with chain conveyor line 400 to converge conveyor line 900, the packing robot 200 includes packing robot base 201, industrial robot 202 and robot anchor clamps 203, industrial robot 202 is six industrial robot, robot anchor clamps 203 can dismantle to be connected in industrial robot 202 arm end.

Referring to fig. 4 and 5, the supporting tilting apparatus 100 includes a flapping assembly 110, a jacking assembly 120, a guiding conveying assembly 130, two driving assemblies 140 and a supporting base 150, the flapping assembly 110, the jacking assembly 120, the guiding conveying assembly 130, and the two driving assemblies 140 are all disposed on the supporting base 150, the guiding conveying assembly 130 is located in the middle of the upper side of the supporting base 150, the jacking assembly 120 is located below the guiding conveying assembly 130, the flapping assembly 110 is located on the peripheral side of the guiding conveying assembly 130, the flapping assembly 110, the jacking assembly 120, and the guiding conveying assembly 130 are all connected to the driving assembly 140 and controlled by the driving assembly 140. The aligning assembly 110 comprises a buttress frame 111, a centering plate 112, an adjusting assembly 113 and a limiting plate 114, wherein the adjusting assembly 113 and the limiting plate 114 are used for adjusting the positions of the buttress frame 111 and the centering plate 112, the adjusting assembly 113 further comprises a centering block 1131, the centering plate 112 is arranged on one side of the guide conveying assembly 130 away from the chain conveying line 400 and on the left side and the right side of the movement direction, the buttress frame 111 is positioned on one side of the centering plate 112 away from the guide conveying assembly 130, the buttress frame 111 is positioned on one side of the guide conveying assembly 130 away from the chain conveying line 400 and one side of the guide conveying assembly 130 away from the palletizing robot 200, the vertical cross section of the limiting plate 114 is in an L shape, the limiting plate 114 is positioned on one side of the guide conveying assembly 130 close to the chain conveying line 400, the guide conveying assembly 130 is specifically a, the centering block 1131 is located outside of the centering plate 112 that is remote from the packer robot 200.

Referring to fig. 6, the chain conveyor line 400 includes a conveyor frame 401, a chain conveyor motor 402, a chain 403, an alignment member 404, a transmission member 405, and a guide member 406, the chain conveyor motor 402 is fixedly connected to a side surface of the conveyor frame 401, the guide member 406 is disposed at a middle portion of the conveyor frame 401, the chain 403 is detachably connected to the conveyor frame 401 through the guide member 406, the chain 403 is connected to the chain conveyor motor 402 through the transmission member 405, the alignment member 404 is fixedly connected to the conveyor frame 401, and the alignment member 404 is disposed opposite to an outer side of the chain 403.

Referring to fig. 7, the first pallet transport component 600 includes a first pallet transport frame 601, a first pallet baffle bracket 602, a first pallet transport line 603 and a first pallet transport motor 604, the first pallet transport line 603 is disposed on the first pallet transport frame 601, the first pallet transport motor 604 is connected to the first pallet transport line 603 and provides power for the first pallet transport line 603, the first pallet baffle bracket 602 is fixedly connected to the first pallet transport frame 601, and the first pallet baffle bracket 602 is located on one side of the first pallet transport line 603.

Referring to fig. 4 and 8, the pallet warehouse 7 includes a pallet warehouse frame 701, a pallet jacking component 702, a pallet warehouse conveyor line 703, a pallet clamping component 704 and a pallet warehouse conveyor motor 705, the pallet warehouse conveyor line 703 is disposed on the pallet warehouse frame 701, the pallet warehouse conveyor motor 705 is connected to the pallet warehouse conveyor line 703 and provides power for the pallet warehouse conveyor line 703, the pallet jacking component 702 is fixedly connected to the pallet warehouse frame 701, the pallet jacking component 702 is disposed relatively below the middle of the pallet warehouse conveyor line 703, the pallet clamping component 704 is fixedly connected to the pallet warehouse frame 701, and the pallet clamping component 704 is disposed at two sides of the pallet warehouse frame 701.

Referring to fig. 4 and 9, the second pallet transport component 800 includes a second pallet transport rack 801, a second pallet transport line 802, and a second pallet transport motor 803, the second pallet transport line 802 being disposed on the second pallet transport rack 801, the second pallet transport motor 803 being coupled to the second pallet transport line 802 and providing power to the second pallet transport line 802.

The working principle of the embodiment is as follows:

s1, pallet preparation: the stack 104 of single pallets 103 is placed by a forklift into the first pallet transport unit 600 and the splitting of the stack 104 is started after the stack 104 has entered the pallet magazine 700 by means of the first pallet transport unit 600. The first pallet transport unit 600 is provided with a pallet stack movement reminding device for reminding the process of entering the pallet warehouse 700 through the first pallet transport unit 600;

s2, splitting a single pallet: the pallet jacking component 702 jacks the stacked pallet stack 104 upwards to enable the stack 104 to leave the pallet library conveying line 703, then the pallet clamping component 704 clamps the position of a second single pallet 103 in the jacking direction of the pallet jacking component 702 in the pallet stack 104, the pallet positioned at the bottommost layer in the pallet stack 104 is lowered along with the pallet jacking component 702, the pallet attached to the pallet jacking component 702 is lowered onto the pallet library conveying line 703, the splitting of the single pallet is completed, and the single pallet 103 split in the pallet library 700 is conveyed to the position to be taken of the second pallet conveying component 800 through the pallet library conveying line 703. In which the pallet stack 104 is singulated by the cooperation of the pallet jacking members 702 and the pallet clamping members 704. Specifically, the pallet jacking component 702 is driven by the cylinder, and there are two jacking heights of the pallet jacking component 702, referring to fig. 10, one jacking height position is a position P1 that is level with the lower end face of the clamp of the pallet jacking component 702, and the other jacking height position is a position two P2 that is below the clamp of the pallet jacking component 702 and is a height of the pallet 103 from the lower end face of the clamp. The pallet jacking component 702 is equipped with a margin detection device for reminding the first pallet conveying component 600 to convey the pallet stack 104 formed by stacking the single pallets 103 to the pallet warehouse 700 when only the last pallet 103 is left in the pallet 103 clamped by the pallet clamping component 704 of the pallet warehouse 700, and the specific splitting process comprises the following steps:

s21, a first pallet splitting process: the pallet jacking part 702 rises to the position two P2, the pallet clamping part 704 clamps the pallet stack 104, and the pallet jacking part 702 descends to return and simultaneously lowers the first pallet 103 onto the pallet warehouse conveying line 703, so that the splitting of the first pallet is completed;

s22, splitting the middle pallet: the pallet jacking part 72 rises to a position I P1, the pallet clamping part 704 releases the pallet stack, the pallet jacking part 702 descends to a position II P2, the pallet clamping part 704 clamps the pallet stack 104, the pallet jacking part 702 descends to return and simultaneously lowers the lowermost pallet 103 in the pallet stack 104 onto the pallet warehouse conveying line 703, and the middle pallet splitting process is circulated in this way to complete splitting of the middle pallet;

s23, a final pallet splitting process: the pallet jacking part 702 rises to the position P1, the pallet clamping part 704 releases the pallet stack, and the pallet jacking part 702 lowers to return and simultaneously lowers the last pallet 103 onto the pallet warehouse conveyor line 703, so that the splitting of the last pallet 103 is completed.

S3, conveying the pallet: after the monolithic pallet 103 of the cutting of the pallet library 700 is conveyed to the position to be taken of the second pallet conveying part 800 through the pallet library conveying line 703, the pallet taking and placing robot 500 grabs and transfers the monolithic pallet 103 to the chain conveying line 400 from the second pallet conveying part 800, and then enters the bearing tilting device 100 through the chain conveying line 400 after the beating alignment, and the bearing tilting device 100 starts to carry and position the pallet 103, and the specific positioning process is: the position of the pallet 103 close to one side of the chain conveyor line 400 is determined by the limiting plate 114 through the L-shaped structure of the limiting plate, then one of the buttress frames 111 far away from the side close to the chain conveyor line 400 determines the position of the pallet 103 far away from one side of the chain conveyor line 400 through the centering plate 112 at the same position, and is matched with the limiting plate 114 to lock the pallet 103 in the moving direction of the chain conveyor line 400, then the position of the pallet 103 close to the palletizing robot 200 is determined by abutting through the centering plate 112 close to the palletizing robot 200, and finally the pallet 103 is determined by abutting through the centering block 1131 at the position far away from the palletizing robot 200 and is matched with the limiting plate 114 to lock the pallet 103 in the moving direction perpendicular to the chain conveyor line 400. The jacking assembly 120 retracts to enable the pallet 103 to keep an inclined angle, extends upwards from the two side buttress frames 111 in the inclined direction, keeps two side edges of the pallet 103 in a buttress state, and waits for the palletizing robot 200 to stack the brick packages 101 of the ceramic tiles;

s4, stacking and bundling the brick bags 101: the palletizing robot 200 stacks the brick packages 101 on the inclined pallet 103 according to a preset specification to form a brick pile 102, after the ceramic brick pile 102 is stacked, the horizontal bundling machine 300 starts to descend, the horizontal bundling machine 300 descends to a first strip (the upper end position of the brick pile), the jacking assembly 120 jacks up to enable the brick pile 102 to be kept at a horizontal position, the horizontal bundling machine 300 starts to bundle the first strip, after the bundling is completed, the position of the stack support 111 is changed through the adjusting assembly 113 to enable the stack support 111 to be flush with the ground, the horizontal bundling machine 300 descends to a second strip (the middle position of the brick pile) to bundle, after the bundling is completed, the horizontal bundling machine 300 descends to a third strip (the lower end position of the brick pile) to bundle, after the bundling is completed, the horizontal bundling machine 300 starts to ascend to the upper end (the safe height of a robot work area), and the brick pile 102 is bundled;

s5, brick pile transportation: the bundled brick piles 102 enter the chain conveyor line 400 through the guide conveyor assembly 130 of the support tilting device 100, are conveyed through the chain conveyor line 400 and are conveyed into the warehouse through the confluence conveyor line 900;

s6, repeating the processes from S1 to S5, and circulating the operation.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims (10)

1. The utility model provides a robot clamp for ceramic tile pile up neatly, includes mounting panel (1) and centre gripping subassembly (2), centre gripping subassembly (2) set up in mounting panel (1) below, its characterized in that: still include adjusting device (3), adjusting device (3) can be dismantled and connect in mounting panel (1) top, centre gripping subassembly (2) are including solid fixed splint (21), activity splint (22) and a plurality of reciprocating type linear drive device (23), gu fixed splint (21) fixed connection is in mounting panel (1) below, activity splint (22) can be dismantled and connect in reciprocating type linear drive device (23), activity splint (22) form the centre gripping space with solid fixed splint (21), reciprocating type linear drive device (23) link to each other with adjusting device (3).

2. The robotic clamp for tile palletizing according to claim 1, wherein the clamping assembly (2) further comprises a plurality of sets of mounting seats (24), the mounting seats (24) comprise guide rods (241) and end heads (242) arranged at two ends of the guide rods (241), the end heads (242) are detachably connected to the mounting plate (1), the guide rods (241) are detachably connected to the end heads (242), and the movable clamping plate (22) is movably connected to the mounting seats (24) through the guide rods (241).

3. A robot clamp for tile palletization according to claim 1, characterized in that two opposite sides of the fixed clamping plate (21) and the movable clamping plate (22) are provided with buffer pads (25), the buffer pads (25) are detachably connected to the fixed clamping plate (21) and the movable clamping plate (22), the buffer pads (25) are beveled buffer pads (25), and the buffer pads (25) become thicker gradually in a direction away from the mounting plate (1).

4. A robotic gripper for tile palletization according to claim 1, characterized in that said reciprocating linear drive means (23) comprises a piston rod (231) and a cylinder (232), one end of said piston rod (231) being connected to said cylinder (232), the other end of said piston rod (231) being connected to said movable clamp plate (22), said cylinder (232) being detachably connected to said mounting plate (1).

5. A robotic gripper for tile palletization according to claim 1, characterized in that said adjustment means (3) comprise an adjustment valve (32) and an adjustment bracket (31), said adjustment bracket (31) being removably connected to the mounting plate (1), said adjustment valve (32) being removably connected to the adjustment bracket (31).

6. A robotic gripper for tile palletization according to claim 1, characterized in that the mounting plate (1) is fixedly connected with a baffle (11) on each of the four sides, the height of the baffle (11) being lower than the fixed clamping plate (21) and the movable clamping plate (22), the baffles (11) being interconnected to form a rectangular box.

7. A robot clamp for tile palletization according to claim 6, characterized in that a detection device (4) is detachably connected to the outside of the baffle (11), and the projection of the detection device (4) on the horizontal plane is located between the projections of the fixed clamping plate (21) and the movable clamping plate (22) on the horizontal plane and next to the projection of the fixed clamping plate (21).

8. The robot clamp for tile stacking according to claim 1, wherein a connecting piece (5) is arranged above the mounting plate (1), the connecting piece (5) is located in the middle of the mounting plate (1), the connecting piece (5) is detachably connected to the mounting plate (1), and the connecting piece (5) is a robot connecting flange.

9. A robot clamp for tile palletization according to claim 4, characterized in that a plurality of control valves (6) are detachably connected above the mounting plate (1), and the control valves (6) are connected with the air cylinders (232) in a one-to-one correspondence.

10. A tile stacking apparatus using the robot clamp according to any one of claims 1 to 9, comprising a plurality of support tilting devices (100), a palletizer robot (200), a plurality of horizontal palletizer machines (300), a plurality of chain conveyor lines (400), a pallet picking and placing robot (500), a first pallet conveyor part (600), a pallet library part (700), a second pallet conveyor part (800), and a confluence conveyor line (900), wherein the plurality of support tilting devices (100) are respectively butted with the plurality of chain conveyor lines (400), the palletizer robot (200) is disposed between two adjacent support tilting devices (100), the plurality of horizontal palletizer machines (300) are respectively disposed at the junctions between the support tilting devices (100) and the chain conveyor lines (400), the pallet picking and placing robot (500) is disposed between the plurality of chain conveyor lines (400) for picking pallets and then disposed on the chain conveyor lines (400), the bag stacking robot (200) grabs and places the brick bags on the pallet to stack the brick piles, the horizontal bundling machine (300) is used for bundling the brick piles (102) above the bearing tilting device (100) after the stacking is finished, the first pallet transport unit (600), the pallet library unit (700), and the second pallet transport unit (800) are connected in sequence, the confluence conveyor line (900) is arranged between the chain conveyor line (400) and the second pallet conveyor part (800), one end of the chain conveyor line (400) near the second pallet conveyor component (800) is butted against the confluence conveyor line (900), the bag stacking robot (200) comprises a bag stacking robot base (201), an industrial robot (202) and a robot clamp (203), the industrial robot (202) is a six-axis industrial robot, and the robot clamp (203) is arranged at the tail end of an arm of the industrial robot (202).

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