CN113511509B - Front-end feeding manipulator for porous brick assembly and working method thereof - Google Patents
Front-end feeding manipulator for porous brick assembly and working method thereof Download PDFInfo
- Publication number
- CN113511509B CN113511509B CN202110928055.9A CN202110928055A CN113511509B CN 113511509 B CN113511509 B CN 113511509B CN 202110928055 A CN202110928055 A CN 202110928055A CN 113511509 B CN113511509 B CN 113511509B
- Authority
- CN
- China
- Prior art keywords
- main shaft
- air bag
- clamping jaw
- manipulator
- air
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 16
- 239000011449 brick Substances 0.000 title abstract description 20
- 239000011470 perforated brick Substances 0.000 claims abstract description 138
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 239000000463 material Substances 0.000 claims abstract description 47
- 230000005484 gravity Effects 0.000 claims abstract description 27
- 210000000078 claw Anatomy 0.000 claims description 42
- 230000009471 action Effects 0.000 claims description 25
- 238000007599 discharging Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 5
- 230000008093 supporting effect Effects 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000000853 adhesive Substances 0.000 claims description 3
- 230000001070 adhesive effect Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000009413 insulation Methods 0.000 description 12
- 238000009434 installation Methods 0.000 description 9
- 238000004321 preservation Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
- 239000010439 graphite Substances 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 239000012774 insulation material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- -1 specifically Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
- E04C1/00—Building elements of block or other shape for the construction of parts of buildings
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
- E04C1/00—Building elements of block or other shape for the construction of parts of buildings
- E04C1/40—Building elements of block or other shape for the construction of parts of buildings built-up from parts of different materials, e.g. composed of layers of different materials or stones with filling material or with insulating inserts
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/24—Structural elements or technologies for improving thermal insulation
- Y02A30/244—Structural elements or technologies for improving thermal insulation using natural or recycled building materials, e.g. straw, wool, clay or used tires
Abstract
The invention provides a front end feeding manipulator for perforated brick assembly, which comprises: the mounting bracket is used as a mounting carrier for mounting other components; the material moving mechanism is rotationally mounted on the mounting bracket, a main shaft of the material moving mechanism can realize radial rotation and axial movement, and the end part of the main shaft extends out of the mounting bracket; the manipulator body is mounted at the end part of the output shaft, the gravity center of the manipulator body is positioned on the axis of the main shaft, four elastic clamping jaws which are arranged in a square form are arranged on the manipulator, and an air bag is arranged on the side wall of each elastic clamping jaw; when the manipulator body is in a vertical state, the manipulator body is a material taking station, and when the manipulator body is in a horizontal state, the manipulator body is a material placing station. The front-end feeding manipulator for porous brick assembly has the advantages of compact structure, low manufacturing cost, reliable and stable operation and good carrying effect.
Description
Technical Field
The invention relates to a perforated brick production device, in particular to a front end feeding manipulator for perforated brick assembly and a working method thereof.
Background
After the existing wall body is built, the heat insulation layer is arranged on the outer wall or the inner wall to achieve the heat insulation function, but the heat insulation layer arranged on the outer wall is very easy to fall off from the wall surface after being blown by wind and exposed to the sun for a long time, so that objects falling from the high place are very dangerous, and the whole heat insulation performance and the whole water resistance of the wall body are influenced after the heat insulation layer falls off. In order to solve the problems, I have developed a perforated brick 9 with an insulation board, refer to fig. 1, which includes a perforated brick, where the perforated brick 9 has a main hole 901 with a large size, the main hole penetrates through the perforated brick, the main hole is rectangular, the length direction of the main hole is parallel to the length direction of the perforated brick, when building a wall or building a masonry, the hole on the perforated brick is in the up-and-down direction, the length direction of the main hole is parallel to the wall surface, an insulation board 91 is embedded in the main hole, the insulation board is made of an insulation material, and the whole body is a cuboid and has the same shape as the main hole; simultaneously still be equipped with the less aperture 902 of a plurality of sizes on the perforated brick, on the one hand can alleviate whole weight, and on the other hand also has certain heat preservation sound insulation function, and above-mentioned problem has effectively been solved to this product, has improved the heat preservation effect of wall body, avoids traditional outer wall heat preservation to drop, has improved the wall security, and has reduced the construction cost of heat preservation, and its is whole effectual, is suitable for the popularization.
At present, this product assembles through artifical mode, installs the heated board to the porous brick in through artifical mode promptly, and inefficiency and with high costs, consequently, urgently need a device that can realize the automatic equipment of porous brick to improve assembly efficiency and reduction in production cost, increase of production. The traditional multi-axis robot or manipulator has a complex structure and high cost, needs specialized personnel for debugging and is inconvenient to maintain.
Disclosure of Invention
【1】 Technical problem to be solved
The invention aims to provide a front-end feeding manipulator for assembling perforated bricks, which has a simple and compact structure and can directionally place the perforated bricks.
【2】 Means for solving the problems
The invention provides a front end feeding manipulator for porous brick assembly, which is arranged on a rack between a feeding conveying line and a discharging conveying line and comprises:
a mounting bracket 2 as a mounting carrier for mounting other components;
the material moving mechanism 5 is rotationally mounted on the mounting bracket 2, a main shaft 53 of the material moving mechanism 5 can realize radial rotation and axial movement, and the end part of the main shaft extends out of the mounting bracket 2;
the manipulator body 4 is installed at the end part of the output shaft 53, the gravity center of the manipulator body 4 is positioned on the axis of the main shaft 53, four elastic clamping jaws which are arranged in a square form are arranged on the manipulator 4, and an air bag 7 is arranged on the side wall of each elastic clamping jaw;
when the manipulator body is in a vertical state, the manipulator body is a material taking station, and when the manipulator body is in a horizontal state, the manipulator body is a material placing station.
Further, when the material taking station is located and the elastic clamping jaws 49 are located right above the main holes of the perforated bricks, the elastic clamping jaws 49 can move downwards along with the material moving mechanism and are inserted into the main holes of the perforated bricks, and air bags of the elastic clamping jaws are communicated with an air source and tightly clamp the inner walls of the main holes; when the material taking station is positioned and the elastic claw 49 is positioned obliquely above the main hole of the perforated brick, the elastic claw generates elastic compression along with the downward movement of the moving mechanism, and the air bag of the elastic claw is not communicated with the air source.
Further, the material moving mechanism comprises a rotating support 61, a sleeve 51, a main shaft 53, a sliding block 64, a pushing mechanism, a driven friction wheel 531 and a driving friction wheel 22, the rotating support 61 is rotatably mounted on the mounting support 2 through a rotating shaft 511, the rotating shaft 511 is horizontally arranged and connected with a driving mechanism, the sleeve 51 is fixed on the rotating support 61, the main shaft 53 is sleeved in the sleeve 51 and can realize radial rotation and axial sliding, and the axis of the main shaft 53 is perpendicular to the rotating axis of the rotating support; the two ends of the spindle 53 extend out of the sleeve, the sliding block 64 is coaxial with the spindle 53 and is arranged on the rotating support 61 in a sliding mode, the sliding direction of the sliding block is parallel to the axis of the spindle 53, the sliding block 64 is in end face contact with the tail of the spindle 53, the output end of the pushing mechanism is connected with the sliding block 64 and used for pushing the sliding block to slide axially, the driven friction wheel is fixed at the tail of the spindle, the driving friction wheel 22 is connected with a driving motor 23, and when the spindle 53 rotates to the horizontal state, the driving friction wheel 22 is in contact with the driven friction wheel 531 and can drive the driven friction wheel to rotate 90 degrees.
Further, the side wall of the main shaft 53 is provided with an annular boss 532, the annular boss 532 is located in the sleeve 51, a first elastic component is arranged between the annular boss 532 and the sleeve 51, the first elastic component pushes the main shaft to move backwards and enables the end part of the main shaft to be attached to the sliding block 64, and a thrust bearing is arranged between the end part of the main shaft 53 and the contact surface of the sliding block.
Furthermore, two or four first magnets 532a are uniformly distributed on the side wall of the main shaft in the circumferential direction, second magnets 51a with opposite polarity to the first magnets 532a are uniformly distributed on the inner wall of the sleeve 51 in the circumferential direction, and when the first magnets 532a and the second magnets 51a correspond to each other, a connecting line between two adjacent elastic clamping jaws is perpendicular to or parallel to the conveying direction of the feeding conveying line.
Further, the manipulator body 4 comprises a support plate 41 connected with the material moving mechanism and four elastic clamping jaws fixed at the lower end of the support plate 41 in a square form, each elastic clamping jaw comprises a valve seat 42 fixed at the lower end of the support plate 41, a clamping jaw support fixed at the lower end of the valve seat 42, and a clamping jaw body 49 matched with the lower end of the clamping jaw support in a sliding manner, the sliding direction of the clamping jaw body 49 is parallel to the axis of the spindle, at least 3 guide rods 46 are arranged at the top of the clamping jaw body 49, and a first sliding sleeve 45 allowing the guide rods 46 to be inserted to realize the matching in a sliding manner and a second elastic part enabling the clamping jaw body to move downwards are arranged on the clamping jaw support; a rigid air pipe 47 is vertically arranged at the top of the jaw body 49, the top of the rigid air pipe 47 is sealed, an air inlet hole 471 is formed in the side wall of the rigid air pipe 47, and the rigid air pipe is communicated with an air bag arranged on the side wall of the jaw body through a pipeline; the clamping jaw is characterized in that a valve hole is formed in the valve seat, the rigid air pipe 47 is inserted into the valve hole and matched with the valve hole in a sliding mode, an air outlet hole 420a connected with an air source through a reversing valve is formed in the side wall of the valve hole, when the clamping jaw body is located at the lower limit position, the air inlet hole 471 is communicated with the air outlet hole 420a, and when the clamping jaw body is pressed to move upwards, the air outlet hole 420a is attached to the side wall of the rigid air pipe 47 and blocks the communication between the air source and the air bag.
Further, the jaw body 49 includes a jaw body with a square cross section, air bag grooves 492 with the same depth are formed in four side walls of the jaw body, and the air bags are installed in the air bag grooves 492; the airbag comprises an airbag body 71 fixed on the bottom surface of the airbag groove 492 through an adhesive, a sealed cavity is formed between the airbag body and the bottom surface of the airbag groove, a rubber supporting sheet 72 is attached to the inner surface of the airbag body, and a third elastic component which enables the airbag body to approach the airbag groove to discharge gas in the sealed cavity is arranged between the rubber supporting sheet 72 and the bottom surface of the airbag groove; the center of the top surface of the clamping jaw body is provided with a main gas flow passage 490 which is used for being connected with a steel ball gas pipe, and the bottom surface of the gas bag groove is provided with an auxiliary gas flow passage 491 which is communicated with the main gas flow passage.
Further, when no air pressure exists in the sealing cavity, the third elastic part pulls the air bag body to be positioned in the air bag groove, and the distance between the side wall of the air bag body and the surface of the clamping jaw body is larger than or equal to 1mm and smaller than or equal to 5 mm; when the sealed cavity is filled with pressure, the side wall of the air bag body is positioned outside the air bag groove, and the distance between the side wall of the air bag and the surface of the clamping jaw body is greater than or equal to 5mm and less than or equal to 20 mm; and after inflation, the air bags on the two adjacent claws are not contacted.
Further, an auxiliary friction plate 21 is arranged on the mounting bracket, the auxiliary friction plate 21 is located on a rotating path of the rotating bracket and can be in contact with a driven friction wheel on the main shaft 53, the effective length of the auxiliary friction plate 21 is 1/180-1/72 of the circumference of the driven friction wheel, so that the main shaft 53 rotates by 2-5 degrees when in contact, and an included angle between the auxiliary friction plate 21 and the main shaft 53 located at the material taking station is greater than or equal to 10 degrees and less than or equal to 20 degrees.
Meanwhile, the invention also provides a feeding method of the front end feeding manipulator for porous brick assembly, which comprises the following steps:
s1, initial reset:
the rotary support rotates to a material taking station so that the main shaft is in a vertical state, and the manipulator body is positioned right above the perforated bricks at the tail end of the feeding conveying line;
meanwhile, the pushing mechanism pushes the sliding block and enables the sliding block to move to the upper limit position, so that the main shaft and the manipulator body move to the upper limit position under the action of elastic force;
under the action of magnetic force, the first magnet and the second magnet are made to correspond to each other, so that a connecting line between two adjacent elastic claws on the manipulator body is perpendicular to or parallel to the length direction of the main hole of the perforated brick, see fig. 9;
s2, pushing the slide block to slide downwards and move to a lower limit position by a pushing mechanism (air cylinder), wherein in the process:
two elastic claws which are positioned right above the main hole of the perforated brick are inserted into the main hole of the perforated brick, the side walls of the claw bodies on the elastic claws are basically parallel to the inner wall of the main hole of the perforated brick, and the air inlet holes 471 on the rigid air pipes on the elastic claws are communicated with the air outlet holes 420a on the valve seat 42;
the bottoms of two elastic clamping jaws which are positioned obliquely above the main hole of the perforated brick are contacted with the surface of the perforated brick, and the clamping jaw bodies on the elastic clamping jaws move upwards under the action of pressure, so that the air inlet holes of the rigid air pipes on the elastic clamping jaws are staggered with the air outlet holes on the valve seat and the communication with an air source is blocked;
s3, compressed gas of a gas source enters the valve seat through the reversing valve, and the gas bag on the elastic claw in the main hole is inflated to enable the side wall of the gas bag to be tightly clamped on the inner wall of the main hole; the air bag positioned outside the main hole is not inflated because the air bag is not communicated with the air outlet;
s4, a pushing mechanism (air cylinder) pushes the sliding block to slide upwards and move to an upper limit position, the air bag swells and is in contact with the inner wall of the main hole, and under the action of friction force, the porous brick is lifted by the manipulator body to move upwards and is separated from the feeding conveying line;
s5, a driving mechanism (motor) drives a rotating support to rotate clockwise by 90 degrees (taking figure 4 as an example), in the rotating process, a driven friction wheel on a main shaft 53 is in contact with an auxiliary friction plate 21 and enables the main shaft to rotate by 2-5 degrees, so that the integral gravity center of a manipulator body is shifted, the gravity center of a perforated brick is prevented from being positioned right above the main shaft or the axis of the manipulator, namely the gravity center of the perforated brick is prevented from being positioned on a vertical plane where the axis of the main shaft is positioned to influence the rotation of the perforated brick, and the action is directed at the lower end of a main hole of the perforated brick;
in the subsequent rotation, the main shaft rotates under the action of the gravity center of the perforated brick and the magnetic force, and finally the gravity center of the perforated brick is positioned right below the main shaft;
s6, when the rotating support rotates to the discharging station, the main shaft 53 is in a horizontal state, the driven friction wheel on the main shaft is in contact with the driving friction wheel on the mounting support, and the driving friction wheel drives the driven friction wheel to rotate 90 degrees and enable the perforated bricks on the manipulator body to be in a vertical state;
s7, the pushing mechanism pushes the slide block to move downwards and move to a lower limit position, so that the perforated brick is positioned on a discharge conveying line, the connection between an air source and a valve seat is blocked by a reversing valve, and the valve seat is in a pressure relief state;
the air bag positioned in the main hole of the perforated brick loses pressure and is separated from the inner wall of the main hole, and the air bag is pulled into the air bag groove under the action of the pulling force of the third elastic part;
when the claw body positioned in the main hole is separated from the inner wall of the main hole, the claw body positioned outside the main hole pushes the perforated brick to move outwards under the action of elasticity;
meanwhile, the pushing mechanism pushes the sliding block to move upwards and move to the upper limit position, so that the manipulator body is separated from the perforated brick;
and S8, driving the rotating support to rotate by the driving mechanism and enabling the spindle to be in a vertical state, wherein in the rotating process of the rotating support, the driven friction disc on the spindle is in contact with the auxiliary friction disc and enables the spindle to rotate, and radial positioning of the spindle and the manipulator body is realized under the action of magnetic force.
【3】 Advantageous effects
The front-end feeding manipulator for assembling the perforated bricks can carry out self-adaptive grabbing on the perforated bricks entering the feeding conveying line in different directions, the manipulator rotates under the self gravity of the perforated bricks and enables the perforated brick hole bodies to be positioned at the upper ends, and the perforated bricks are conveyed to the discharging conveying line in a vertical state after being rotated by 90 degrees through the manipulator so as to carry out the next step of heat insulation board assembling; the jaw bodies are arranged in a rectangular mode, an elastic telescopic structure is adopted, the jaw bodies can be inserted into main holes of perforated bricks placed in the forward direction or the reverse direction, the self-adaptive capacity is good, and the structure is convenient for gravity center control during production, so that the gravity center of the manipulator body is positioned on the axis of the main shaft; the connecting rod of the pushing mechanism is arranged in an offset manner, so that the stroke of the air cylinder is reduced, the installation space and the overall weight of the air cylinder are reduced, the movement stroke of the sliding block is increased, and the response is fast; the rotating bracket is driven to rotate by the synchronous pulley, so that the operation is reliable and the precision is high; the auxiliary friction plate is arranged, so that the main shaft deflects at a certain angle, the influence on the automatic alignment of the perforated brick due to the fact that the gravity center of the perforated brick is positioned right to the left (right above when the perforated brick is horizontal) of the main shaft is avoided, and the integral operation stability and reliability are improved; the side wall of the main shaft is provided with the magnets which are uniformly distributed in the circumferential direction, so that the main shaft can automatically rotate and reset, the running reliability of the main shaft is further improved, micro deflection caused by the influence of vibration or other factors when the main shaft rotates vertically horizontally is avoided, the resetting accuracy of the clamping jaw body is ensured, and the idle stroke is avoided; the side wall of the clamping jaw adopts an air bag structure, so that the clamping jaw can be quickly inflated and expanded to clamp the inner wall of the main hole, the grabbing is realized, the structure is compact, and the grabbing effect is good; the hidden air bag is adopted, so that the friction between the air bag and the inner wall of the main hole is avoided when the air bag is inserted, the air bag is protected, the abrasion caused by long-term friction is avoided, and the service life of the air bag is prolonged; the elastic component is arranged to assist the release of gas in the air bag, so that the pressure relief efficiency is improved, the air bag can be conveniently and quickly separated from the inner wall of the main hole and pulled into the air bag groove, the working efficiency is improved, and the air bag is further protected; the rigid air pipe moves synchronously along with the jaw body, automatic connection or disconnection is realized during expansion, the air bag positioned on the outer side is prevented from being inflated, waste is avoided, the inflation efficiency of the air bag positioned in the main hole is improved, and the integral working efficiency is further improved; the front-end feeding manipulator for porous brick assembly has the advantages of compact structure, low manufacturing cost, reliable and stable operation and good carrying effect.
Drawings
FIG. 1 is a schematic structural view of a perforated brick applied to the present invention;
FIG. 2 is a schematic diagram of the structure of a feed conveyor line used in the present invention;
FIG. 3 is a schematic structural view of a front end loading robot for perforated brick assembly according to the present invention;
FIG. 4 is an installation schematic diagram of the material moving mechanism of the front end loading manipulator for perforated brick assembly of the present invention;
FIG. 5 is a schematic structural view of a material moving mechanism of the front end loading robot for perforated brick assembly according to the present invention;
FIG. 6 is a cross-sectional view of the material transfer mechanism of the front end loading robot for perforated brick assembly of the present invention;
fig. 7 is a schematic structural view of a robot body of a front end loading robot for perforated brick assembly according to the present invention;
FIG. 8 is a schematic view of the installation distribution of the elastic claws of the front end loading robot for perforated brick assembly according to the present invention;
fig. 9 is a schematic view showing a state of gripping perforated bricks of the front-end feeding robot for perforated brick assembly of the present invention;
FIG. 10 is a cross-sectional view of the resilient jaws of the front end loading robot for perforated brick assembly of the present invention;
FIG. 11 is a schematic structural view of a jaw support of the front end loading robot for perforated brick assembly according to the present invention;
FIG. 12 is an enlarged view of portion A of FIG. 10;
FIG. 13 is a schematic view of the blocked state of the rigid air tube of the front end loading robot for perforated brick assembly of the present invention;
FIG. 14 is a schematic view of the mounting of the spindle magnets of the front end loading robot for perforated tile assembly of the present invention;
FIG. 15 is a cross-sectional view of the jaw body of the front end loading robot for perforated brick assembly of the present invention;
FIG. 16 is a schematic structural view of the jaws of the front end loading robot for perforated brick assembly of the present invention;
FIG. 17 is an enlarged view of portion B of FIG. 15;
fig. 18 is a schematic view showing an air bag tension state of a front end loading robot for perforated brick assembly according to the present invention.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
I have developed a perforated brick with heated board, refer to fig. 1, it includes the perforated brick, the perforated brick 9 has a major hole 91 with bigger size, the major hole runs through the perforated brick, the major hole is a rectangle, its length direction is parallel to the length direction of the perforated brick, when building a wall or making the masonry, the hole on the perforated brick is the upper and lower orientation, the length direction of the major hole is parallel to the wall, inlay the heated board in the major hole, the heated board is made of heat insulating material, its whole is a cuboid, the shape the same as major hole; meanwhile, the perforated brick is also provided with a plurality of small holes with small sizes, so that the whole weight can be reduced, and the perforated brick also has a certain heat-insulating and sound-insulating function.
In order to realize automatic assembly of the heat-insulating plate in the perforated brick, the invention provides an assembly system for assembling the heat-insulating plate in the heat-insulating perforated brick, which is used for inserting the heat-insulating plate into a main hole 91 of the perforated brick 9, and the assembly system is used for realizing a directional vertical state after the perforated brick (the hole body is vertically oriented) horizontally input on a conveying line is adjusted, so that later-stage assembly is facilitated.
The feeding conveyor line 1 is used for aligning the direction of entering perforated bricks, and the structure thereof refers to fig. 2, specifically, perforated bricks entering transversely (the length direction of the perforated bricks is perpendicular to the conveying direction of the conveyor line) are aligned in an axial (the length direction of the perforated bricks is parallel to the conveying direction of the conveyor line) form after being adjusted by baffles, specifically, the feeding conveyor line 1 comprises a conveyor line body, a first baffle 11 is arranged on the right side of the conveyor line body, the length direction of the first baffle 11 is parallel to the conveying direction, a first effective conveying area is formed on the left side of the first baffle, a second baffle 12 parallel to the conveying direction is arranged at the front end (discharging direction) of the conveyor line body, a second effective conveying area with the width smaller than that of the first effective conveying area is formed on the left side of the second baffle 12, a third baffle 13 is arranged on the left side of the front end of the second effective conveying area, the third baffle 13 separates the second effective conveying area into a third effective conveying area, the width of the third effective conveying area is the same as the width of the perforated bricks, the perforated bricks can be axially arranged in the third effective conveying area (the length direction of the perforated bricks is parallel to the conveying direction), an end plate 14 is arranged at the end part of the third effective conveying area and used for positioning the end part of the perforated bricks on the conveying line, a contact switch is arranged on the end plate and faces towards the inlet end of the perforated bricks, and the perforated bricks at the end part can trigger the contact switch.
Referring to fig. 3 to 18, the present invention provides a front end loading manipulator for perforated brick assembly, which is used for directional placement of perforated bricks, specifically, perforated bricks horizontally placed on a feeding conveyor line (the perforated bodies are oriented up and down, and the length direction of the perforated bricks is parallel to the conveying direction of the conveyor line) are adjusted by the manipulator to be vertical, the axes of the perforated bodies are perpendicular to the conveying direction of the discharging conveyor line, and the main holes of the perforated bricks are located at the rear end of the conveying direction.
The front-end feeding manipulator is arranged between the outlet end of a feeding conveying line and the inlet end of a discharging conveying line and comprises an installation support 2, a material moving mechanism 5 and a manipulator body 4, wherein the installation support 2 is used as an installation carrier for installing other components, the material moving mechanism 5 is rotationally arranged on the installation support 2, the rotation axis of the material moving mechanism is horizontally arranged, a main shaft 53 is arranged on the material moving mechanism 5, the main shaft 53 can realize radial rotation and axial movement, the axis of the main shaft 53 is perpendicular to the rotation axis of the material moving mechanism, and the end part of the main shaft extends out of the installation support 2; the manipulator body 4 is arranged at the end part of the output shaft 53, the gravity center of the manipulator body 4 is positioned on the axis of the main shaft 53, four elastic clamping jaws which are arranged in a square form (the distance between every two elastic clamping jaws is the same, and the connecting line of the centers of the elastic clamping jaws forms a square) are arranged on the manipulator 4, and the side walls of the elastic clamping jaws are provided with air bags 7; when the manipulator body (or the main shaft) is in a vertical state, the manipulator body (or the main shaft) is in a horizontal state, the manipulator is in a material taking station, and when the manipulator body (or the main shaft) is in a horizontal state, the manipulator realizes automatic angular rotation of the main shaft and the manipulator through the gravity center of the perforated brick, and directional discharging of the perforated brick is realized through quantitative 90-degree rotation.
When the material taking station is positioned (the main shaft is in a vertical state) and the elastic clamping jaw 49 is positioned right above the main hole of the perforated brick, the elastic clamping jaw 49 can move downwards along with the material moving mechanism and is inserted into the main hole of the perforated brick, and the air bag of the elastic clamping jaw is communicated with an air source and tightly clamps the inner wall of the main hole; when the material taking station is positioned and the elastic claw 49 is positioned obliquely above the main hole of the perforated brick, the elastic claw generates elastic compression along with the downward movement of the moving mechanism, and the air bag of the elastic claw is not communicated with the air source.
The structure of each mechanism is explained in detail below:
referring to fig. 3-6, the material moving mechanism includes a rotating bracket 61, a sleeve 51, a main shaft 53, a slider 64, a pushing mechanism, a driven friction wheel 531 and a driving friction wheel 22, and for convenience of description, the main shaft is illustrated in a vertical state; the rotating bracket 61 is rotatably mounted on the mounting bracket 2 through a rotating shaft 511, the rotating shaft 511 is horizontally arranged, the axis of the rotating shaft 511 is parallel to the conveying direction of the feeding conveying line, a driving wheel 3 is fixed at the end part of the rotating shaft 511, the driving wheel is positioned on a gear or a synchronous pulley and is connected with a driving mechanism (a motor) through a chain or a synchronous belt, the rotating shaft is driven by the driving mechanism to rotate, and then the rotating bracket is driven to rotate; the sleeve 51 is fixed on the rotating bracket 61, two ends of the sleeve are penetrated with sleeve holes 510, the axis of the sleeve hole 510 is perpendicular to the rotating axis of the rotating bracket, the sleeve is sleeved in the sleeve hole and can realize radial rotation and axial sliding, two ends of the main shaft 53 extend out of the sleeve, concretely, the side wall of the main shaft is provided with an annular bulge and an annular boss 532, the annular boss is positioned in the sleeve 51, the main shaft 53 is divided into an upper shaft body and a lower shaft body by the annular boss 532, the upper shaft body extends upwards and the lower shaft body extends out of the sleeve 51 downwards, two ends of the sleeve are provided with sliding bearings 51a which are connected with the main shaft and are used for realizing radial rotation and axial movement, each sliding bearing comprises a cylindrical bearing body, the inner wall of the bearing body is attached to the outer wall of the main shaft, the main shaft can radially rotate and axially move in the bearing body, the inner wall of the bearing body is provided with a hole body or a groove body, graphite is filled in the hole body or the groove body, and the end part of the bearing body is radially bent outwards by 90 degrees to form a connecting part for connecting with the sleeve 51; a first elastic component is arranged in the sleeve 51 and sleeved on the lower shaft body, the first elastic component in the embodiment is a spring, the upper end of the first elastic component is in contact with the lower bottom surface of the annular boss, and when the main shaft moves downwards, the first elastic component has a tendency of enabling the main shaft to move upwards; the slide block 64 is arranged on the rotating bracket in a sliding way, is positioned at the upper end of the main shaft and is coaxial with the main shaft, meanwhile, the sliding direction of the slide block 64 is parallel to the axis of the main shaft, the lower bottom surface of the slide block 64 is contacted with the end surface of the tail part (the tail part of the upper shaft body) of the main shaft 53, and in order to reduce the friction between the slide block and the main shaft, a thrust bearing is arranged between the slide block and the end surface of the upper shaft body, can bear the axial thrust, and simultaneously allows the main shaft to realize radial rotation; the output end of the pushing mechanism is connected with a sliding block 64 and used for pushing the sliding block to axially slide, specifically, the pushing mechanism comprises a cylinder 62 and a connecting rod 63, the cylinder 62 is fixed on a rotating bracket 62, the axis of the cylinder is parallel to the axis of the main shaft, the connecting rod is rotatably hinged on the rotating bracket, the distance from a hinge point of the connecting rod to the head of the connecting rod is less than that to the tail of the connecting rod, for example, the distance from the hinge point of the connecting rod to the head of the connecting rod is L1, the distance from the hinge point of the connecting rod to the tail of the connecting rod is L2, and L1 is less than L2, the ratio of the two is 1/3-1/2, strip-shaped guide grooves are respectively arranged at the head and the tail of the connecting rod, the length direction of the strip-shaped guide grooves is parallel to the length of the connecting rod, a first pin shaft is arranged on the output shaft of the cylinder, the first pin is sleeved in the strip-shaped guide groove at the head of the connecting rod, a second pin shaft is arranged on the sliding block, and the second pin shaft is sleeved in the strip-shaped guide groove at the tail of the connecting rod, the up-and-down motion of the sliding block is realized through the expansion and contraction of the air cylinder, the stroke of the air cylinder is smaller than that of the sliding, the large stroke is controlled through the small stroke, and the response is fast; the driven friction wheel is fixed at the tail part of the main shaft and is fixed on the upper shaft body, the driving friction wheel 22 is connected with a driving motor 23, when the main shaft 53 rotates to a horizontal state, the driving friction wheel 22 is contacted with the driven friction wheel 531, the driving friction wheel can drive the driven friction wheel to realize 90-degree rotation, and the driving friction wheel and the driven friction wheel in the embodiment are straight gears; in order to avoid over-stroke of rotation, a positioning protrusion 512 is arranged on the side wall of the rotating support, the cross section of the positioning protrusion is circular, the axis of the positioning protrusion is parallel to the axis of the rotating support, an arc-shaped groove 201 which is used for allowing the positioning protrusion to be sleeved in to realize positioning is arranged on the mounting support, and the circle center of the arc-shaped groove is located on the rotating axis of the rotating support.
Referring to fig. 6 and 14, in order to realize the radial automatic rotation resetting of the main shaft, two or four first magnets 532a are uniformly distributed on the circumferential direction of the side wall of the main shaft, and a second magnet 51a with opposite polarity to the first magnet 532a is uniformly distributed on the circumferential direction of the inner wall of the casing 51, when the first magnet 532a corresponds to the second magnet 51a, the connecting line between two adjacent elastic claws is perpendicular to or parallel to the conveying direction of the feeding conveying line, see fig. 8-9; in this embodiment, the first magnet is mounted on the side wall of the annular boss.
Referring to fig. 7-9, the manipulator body 4 includes a support plate 41 for connecting with a lower shaft of the material moving mechanism and four elastic jaws fixed at the lower end of the support plate 41 in a square (array) manner, the elastic jaws include a valve seat 42 fixed at the lower end of the support plate 41, a jaw support fixed at the lower end of the valve seat 42, and a jaw body 49 slidably fitted at the lower end of the jaw support, the sliding direction of the jaw body 49 is parallel to the axis of the spindle, at least 3 guide rods 46 are arranged at the top of the jaw body 49, and a first sliding sleeve 45 into which the guide rods 46 are inserted to realize sliding fitting and a second elastic member making the jaw body move downward are arranged on the jaw support; the claw support comprises an upper base plate 431 and a lower base plate 432 which are arranged in parallel, a first sliding sleeve is vertically fixed between the upper base plate and the lower base plate, second sliding bearings 44 are arranged at the upper end and the lower end of the first sliding sleeve, a guide rod is matched in the second sliding bearings in a sliding mode, an annular bulge 461 is arranged on the side wall of the guide rod and is positioned in the first sliding sleeve, and a second elastic component is arranged in the first sliding sleeve; meanwhile, a rigid air pipe 47 is vertically arranged at the top of the claw body 49, in order to improve the smoothness of operation, a second sleeve 482 for allowing the rigid air pipe to pass through is arranged on the claw support, the top of the rigid air pipe 47 is sealed, an air inlet hole 471 is formed in the side wall of the upper end of the rigid air pipe, and the rigid air pipe 47 is communicated with an air bag arranged on the side wall of the claw body.
Referring to fig. 10, 12-13, a valve hole is formed in the bottom surface of the lower end of the valve seat, the valve hole is used for allowing the rigid air pipe 47 to be inserted and to realize sliding fit, an air outlet hole 420a connected with an air source through a reversing valve is formed in the side wall of the valve hole, a sealing ring 422a is arranged on the valve hole, at least two sealing rings are arranged at the upper end and the lower end of the air outlet hole, specifically, an air flow channel 420 is formed in the valve seat, one end of the air flow channel is communicated with the air inlet hole, and the other end of the air flow channel is connected with the air source through the reversing valve; when the claw body is located at the lower limit position, the air inlet hole 471 is communicated with the air outlet hole 420a, when the claw body is pressed to move upwards, the air outlet hole 420a is attached to the side wall of the rigid air pipe 47, and the air inlet hole and the air outlet hole are staggered, so that the communication between an air source and the air bag is blocked.
Referring to fig. 15-18, the jaw body 49 includes a jaw body having a square cross section, a width smaller than a height of a main hole of the perforated brick, a size difference between the two is 10mm-30mm, edges of the jaw body are chamfered, opposite surfaces of the four jaw bodies are parallel, air bag grooves 492 having the same depth are formed in four side walls of the jaw body, the air bag grooves are rounded rectangles, and an air bag is installed in the air bag grooves 492; specifically, the airbag comprises an airbag body 71 fixed on the bottom surface of an airbag groove 492 through an adhesive, a sealed cavity is formed between the airbag body and the bottom surface of the airbag groove, a rubber support sheet 72 is attached to the inner surface of the airbag body, the thickness of the rubber support sheet is 1mm-3mm, a plurality of small holes are formed in the rubber support sheet in a matrix mode, a third elastic part 73 is arranged between the rubber support sheet 72 and the bottom surface of the airbag groove and can enable the airbag body to approach the airbag groove to discharge gas in the sealed cavity, specifically, a plurality of screw holes 493 are formed in the bottom surface of the airbag groove, bolts are arranged in the screw holes, holes are formed in the heads of the bolts, a hook is arranged at the end part of the third elastic part, one end of the third elastic part penetrates through the holes in the head part of the bolts, the other end of the third elastic part is connected with the holes formed in the inner surface of the rubber support sheet, and the third elastic part can pull the airbag body to move inwards, when the porous brick is inflated, the air pressure is greater than the spring force, and the air bag body overcomes the spring force and bulges outwards to be contacted with the inner wall of the main hole of the porous brick; when the air bag is released, the pressure inside the air bag is lost, the third elastic component pulls the air bag body to move inwards, redundant gas is discharged, and the air bag body is pulled into the air bag groove; in the embodiment, when no air pressure exists in the sealing cavity, the third elastic part pulls the air bag body and enables the air bag body to be positioned in the air bag groove, and the distance between the outer wall of the air bag body and the surface of the jaw body is greater than or equal to 1mm and less than or equal to 5 mm; when the sealed cavity is filled with pressure, the side wall of the air bag body is positioned outside the air bag groove, and the distance h1 between the outer wall of the air bag and the surface of the jaw body is more than or equal to 5mm and less than or equal to 20 mm; after inflation, the air bags on the two adjacent clamping claws are not contacted, so that the influence of the generated thrust on the guide rod is avoided; a main gas flow passage 490 connected with the steel ball gas pipe is arranged at the center of the top surface of the claw body, and an auxiliary gas flow passage 491 communicated with the main gas flow passage is arranged at the bottom surface of the air bag groove.
In order to avoid the influence of the gravity center of the brick body on the automatic rotation jump caused by the fact that the gravity center of the brick body is located right above a main shaft (manipulator) during transportation, in the embodiment, an auxiliary friction plate 21 is arranged on a mounting bracket, referring to fig. 4, the auxiliary friction plate 21 is located on the rotation path of the rotation bracket and can be in contact with a driven friction wheel on the main shaft 53, the effective length of the auxiliary friction plate 21 (the contact length with the driven friction wheel) is 1/180-1/72 of the circumference of the driven friction wheel, so that the main shaft 53 rotates by 2-5 degrees during contact, the whole gravity center of the manipulator body can be deflected, and the included angle between the auxiliary friction plate 21 and the main shaft 53 located at a material taking station (when vertical) is greater than or equal to 10 degrees and less than or equal to 20 degrees.
Meanwhile, the invention also provides a feeding method of the front end feeding manipulator for porous brick assembly, which comprises the following steps:
s1, initial reset:
the rotary support rotates to a material taking station so that the main shaft is in a vertical state and the manipulator body is positioned right above the perforated brick at the tail end of the feeding conveyor line;
meanwhile, the pushing mechanism pushes the sliding block and enables the sliding block to move to the upper limit position, so that the main shaft and the manipulator body move to the upper limit position under the action of elastic force;
under the action of magnetic force, the first magnet and the second magnet are mutually corresponding, so that a connecting line between two adjacent elastic claws on the manipulator body is vertical to or parallel to the length direction of a main hole of the perforated brick;
s2, the pushing mechanism pushes the sliding block to slide downwards and move to a lower limit position, and in the process:
two elastic claws which are positioned right above the main hole of the perforated brick are inserted into the main hole of the perforated brick, and an air inlet hole 471 on a rigid air pipe on the elastic claws is communicated with an air outlet hole 420a on the valve seat 42;
the bottoms of two elastic clamping jaws which are positioned obliquely above the main hole of the perforated brick are contacted with the surface of the perforated brick, and the clamping jaw bodies on the elastic clamping jaws move upwards under the action of pressure, so that the air inlet holes of the rigid air pipes on the elastic clamping jaws are staggered with the air outlet holes on the valve seat and the communication with an air source is blocked;
s3, compressed gas of a gas source enters the valve seat through the reversing valve, and the gas bag on the elastic claw in the main hole is inflated to enable the side wall of the gas bag to be tightly clamped on the inner wall of the main hole;
the air bag positioned outside the main hole is not inflated;
s4, the pushing mechanism pushes the sliding block to slide upwards and move to an upper limit position, and under the action of friction force, the manipulator body extracts the perforated bricks to move upwards and separate the perforated bricks from the feeding conveying line;
s5, the driving mechanism drives the rotating support to rotate, and in the rotating process, the driven friction wheel on the main shaft is in contact with the auxiliary friction plate and enables the main shaft to rotate by 2-5 degrees, so that the integral gravity center of the manipulator body shifts;
in the subsequent rotation, the main shaft rotates under the action of the gravity center of the perforated brick and the magnetic force, and finally the gravity center of the perforated brick is positioned right below the main shaft;
s6, when the driving motor drives the rotating support to rotate 90 degrees to the material placing station, the spindle 53 is in a horizontal state, the driven friction wheel 531 on the spindle 53 is in contact with the driving friction wheel 22 on the mounting support, the driving friction wheel drives the driven friction wheel to rotate 90 degrees under the driving of the motor 23, and the perforated brick on the manipulator body synchronously rotates 90 degrees and is in a vertical state or close to a vertical state;
s7, a pushing mechanism (air cylinder) pushes a slide block to move downwards and move to a lower limit position, so that the perforated brick is positioned on a discharging conveying line, the connection between an air source and a valve seat is blocked by a reversing valve, and the valve seat is in a pressure relief state;
the air bag positioned in the main hole of the perforated brick loses pressure and is separated from the inner wall of the main hole, and the air bag is pulled into the air bag groove under the action of the pulling force of the third elastic part;
when the claw body positioned in the main hole is separated from the inner wall of the main hole, the claw body positioned outside the main hole pushes the perforated brick to move outwards under the action of elasticity, the claw body (positioned outside the main hole) generates a thrust force to avoid the thrust force from pushing the perforated brick in a vertical state, therefore, a baffle plate is vertically arranged at the inlet end of the discharging conveying line, when the perforated brick is placed on the discharging conveying line by a manipulator, the side wall (parallel to the insertion side of the claw) of the perforated brick is contacted with the baffle plate, and meanwhile, the thrust force generated by the claw positioned outside the main hole can have a supporting effect to prevent the perforated brick from falling under stress, and meanwhile, the baffle plate generates a positioning effect on the perforated brick to facilitate the assembly of the heat insulation board in the next step;
meanwhile, the pushing mechanism pushes the sliding block to move upwards (rightwards relative to the drawing 4) and move to an upper limit (rightwards relative to the drawing 4), so that the manipulator body is separated from the perforated brick;
s8, the driving mechanism drives the rotating support to rotate for 90 degrees in the opposite direction, the main shaft is in a vertical state, in the rotating process of the rotating support, the driven friction disc on the main shaft is in contact with the auxiliary friction disc to enable the main shaft to rotate, the radial positioning of the main shaft and the manipulator body is realized under the action of magnetic force, and the connecting line of the jaw bodies on the manipulator body is parallel to the conveying direction of the feeding conveying line
The front end feeding manipulator for porous brick assembly can carry out self-adaptive grabbing on porous bricks entering a feeding conveying line and facing different directions, the manipulator rotates under the self gravity of the porous bricks, the porous brick bodies are positioned at the upper ends, and the porous bricks are conveyed to a discharging conveying line in a vertical state after being rotated by 90 degrees through the manipulator so as to carry out the next insulation board assembly process; the jaw bodies are arranged in a rectangular mode, an elastic telescopic structure is adopted, the jaw bodies can be inserted into main holes of perforated bricks placed in the forward direction or the reverse direction, the self-adaptive capacity is good, and the structure is convenient for gravity center control during production, so that the gravity center of the manipulator body is positioned on the axis of the main shaft; the connecting rod of the pushing mechanism is arranged in an offset manner, so that the stroke of the air cylinder is reduced, the installation space and the overall weight of the air cylinder are reduced, the movement stroke of the sliding block is increased, and the response is fast; the rotating bracket is driven to rotate by the synchronous pulley, so that the operation is reliable and the precision is high; the auxiliary friction plate is arranged, so that the main shaft deflects at a certain angle, the influence on the automatic alignment of the perforated brick due to the fact that the gravity center of the perforated brick is positioned right to the left (right above in the horizontal state) of the main shaft is avoided, and the integral operation stability and reliability are improved; the side wall of the main shaft is provided with the magnets which are uniformly distributed in the circumferential direction, so that the main shaft can automatically rotate and reset, the running reliability of the main shaft is further improved, micro deflection caused by the influence of vibration or other factors when the main shaft rotates vertically horizontally is avoided, the resetting accuracy of the clamping jaw body is ensured, and the idle stroke is avoided; the side wall of the clamping jaw adopts an air bag structure, so that the clamping jaw can be inflated and expanded quickly to clamp the inner wall of the main hole, the grabbing is realized, the structure is compact, and the grabbing effect is good; the hidden air bag is adopted, so that the friction between the air bag and the inner wall of the main hole during insertion is avoided, the air bag is protected, the abrasion caused by long-term friction is avoided, and the service life of the air bag is prolonged; the elastic component is arranged to assist the release of gas in the air bag, so that the pressure relief efficiency is improved, the air bag can be conveniently and quickly separated from the inner wall of the main hole and pulled into the air bag groove, the working efficiency is improved, and the air bag is further protected; the rigid air pipe moves synchronously along with the jaw body, automatic connection or disconnection is realized during expansion, the air bag positioned on the outer side is prevented from being inflated, waste is avoided, the inflation efficiency of the air bag positioned in the main hole is improved, and the integral working efficiency is further improved; the front-end feeding manipulator for porous brick assembly has the advantages of compact structure, low manufacturing cost, reliable and stable operation and good carrying effect.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the technical principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A front end material loading manipulator for perforated brick assembly installs in the frame between feeding transfer chain and ejection of compact transfer chain, its characterized in that includes:
the mounting bracket is used as a mounting carrier for mounting other components;
the material moving mechanism is rotationally mounted on the mounting bracket, a main shaft of the material moving mechanism can realize radial rotation and axial movement, and the end part of the main shaft extends out of the mounting bracket;
the manipulator body is arranged at the end part of the spindle, the gravity center of the manipulator body is positioned on the axis of the spindle, four elastic clamping jaws which are arranged in a square form are arranged on the manipulator, and an air bag is arranged on the side wall of each elastic clamping jaw;
the manipulator is a material taking station when the manipulator body is in a vertical state, and is a material discharging station when the manipulator body is in a horizontal state;
the material moving mechanism comprises a rotating support, a sleeve, a main shaft, a sliding block, a pushing mechanism, a driven friction wheel and a driving friction wheel, the rotating support is rotatably mounted on the mounting support through a rotating shaft, the rotating shaft is horizontally arranged and is connected with a driving mechanism, the sleeve is fixed on the rotating support, the main shaft is sleeved in the sleeve and can realize radial rotation and axial sliding, and the axis of the main shaft is perpendicular to the rotating axis of the rotating support; the two ends of the main shaft extend out of the sleeve, the sliding block is coaxial with the main shaft and is matched on the rotating support in a sliding mode, the sliding direction of the sliding block is parallel to the axis of the main shaft, the sliding block is in contact with the end face of the tail of the main shaft, the output end of the pushing mechanism is connected with the sliding block and is used for pushing the sliding block to slide axially, the driven friction wheel is fixed at the tail of the main shaft, the driving friction wheel is connected with a driving motor, and when the main shaft rotates to the horizontal state, the driving friction wheel is in contact with the driven friction wheel and can drive the driven friction wheel to rotate 90 degrees;
when the material taking device is positioned at a material taking station and the elastic clamping jaw is positioned right above the main hole of the perforated brick, the elastic clamping jaw can move downwards along with the material moving mechanism and is inserted into the main hole of the perforated brick, and an air bag of the elastic clamping jaw is communicated with an air source and clamps the inner wall of the main hole; when the material taking device is positioned at a material taking station and the elastic clamping jaw is positioned obliquely above the main hole of the perforated brick, the elastic clamping jaw generates elastic compression along with the downward movement of the material moving mechanism, and the air bag of the elastic clamping jaw is not communicated with an air source;
the manipulator body comprises a support plate connected with the material moving mechanism and four elastic clamping jaws fixed at the lower end of the support plate in a square form, each elastic clamping jaw comprises a valve seat fixed at the lower end of the support plate, a clamping jaw support fixed at the lower end of the valve seat and a clamping jaw body matched with the lower end of the clamping jaw support in a sliding mode, the sliding direction of the clamping jaw body is parallel to the axis of the main shaft, at least 3 guide rods are arranged at the top of the clamping jaw body, and a first sliding sleeve used for allowing the guide rods to be inserted to realize the matching in the sliding mode and a second elastic part enabling the clamping jaw body to move downwards are arranged on the clamping jaw support; the top of the claw body is vertically provided with a rigid air pipe, the top of the rigid air pipe is sealed, the side wall of the rigid air pipe is provided with an air inlet hole, and the rigid air pipe is communicated with an air bag arranged on the side wall of the claw body through a pipeline; the clamping jaw is characterized in that a valve hole is formed in the valve seat, the rigid air pipe is inserted into the valve hole and matched with the valve hole in a sliding mode, an air outlet hole connected with an air source through a reversing valve is formed in the side wall of the valve hole, when the clamping jaw body is located at the lower limit position, the air inlet hole is communicated with the air outlet hole, and when the clamping jaw body is pressed to move upwards, the air outlet hole is attached to the side wall of the rigid air pipe and blocks the communication between the air source and the air bag.
2. A front end loading manipulator for perforated brick assembly as claimed in claim 1 wherein: the side wall of the main shaft is provided with an annular boss, the annular boss is positioned in the sleeve, a first elastic component is arranged between the annular boss and the sleeve, the first elastic component pushes the main shaft to move backwards and enable the end part of the main shaft to be attached to the sliding block, and a thrust bearing is arranged between the end part of the main shaft and the contact surface of the sliding block.
3. A front-end loading robot for perforated brick assembly as claimed in claim 2, wherein: two or four first magnets are uniformly distributed on the circumferential direction of the side wall of the main shaft, second magnets with opposite polarities to the first magnets are uniformly distributed on the circumferential direction of the inner wall of the sleeve, and when the first magnets correspond to the second magnets, a connecting line between every two adjacent elastic clamping jaws is perpendicular to or parallel to the conveying direction of the feeding conveying line.
4. A front-end loading robot for perforated brick assembly as claimed in claim 3, wherein: the clamping jaw body comprises a clamping jaw body with a square cross section, air bag grooves with the same depth are formed in four side walls of the clamping jaw body, and the air bags are installed in the air bag grooves; the air bag comprises an air bag body fixed on the bottom surface of the air bag groove through an adhesive, a sealed cavity is formed between the air bag body and the bottom surface of the air bag groove, a rubber supporting sheet is attached to the inner surface of the air bag body, and a third elastic component which enables the air bag body to approach the air bag groove to discharge gas in the sealed cavity is arranged between the rubber supporting sheet and the bottom surface of the air bag groove; the center of the top surface of the clamping claw body is provided with a main gas flow passage used for being connected with the steel ball gas pipe, and the bottom surface of the air bag groove is provided with an auxiliary gas flow passage communicated with the main gas flow passage.
5. A front end loading manipulator for perforated brick assembly as claimed in claim 4 wherein: when no air pressure exists in the sealing cavity, the third elastic part pulls the air bag body and enables the air bag body to be located in the air bag groove, and the distance between the side wall of the air bag body and the surface of the clamping jaw body is larger than or equal to 1mm and smaller than or equal to 5 mm; when the sealed cavity is filled with pressure, the side wall of the air bag body is positioned outside the air bag groove, and the distance between the side wall of the air bag and the surface of the clamping jaw body is greater than or equal to 5mm and less than or equal to 20 mm; and after inflation, the air bags on the two adjacent claws are not contacted.
6. A front-end loading robot for perforated brick assembly as claimed in claim 5 wherein: the mounting bracket is provided with an auxiliary friction plate, the auxiliary friction plate is positioned on the rotating path of the rotating bracket and can be in contact with a driven friction wheel on the main shaft, the effective length of the auxiliary friction plate is 1/180-1/72 of the perimeter of the driven friction wheel, so that the main shaft can rotate by 2-5 degrees when in contact, and the included angle between the auxiliary friction plate and the main shaft positioned at the material taking station is more than or equal to 10 degrees and less than or equal to 20 degrees.
7. A method of loading a front-end loading robot for perforated brick assembly according to claim 6, comprising the steps of:
s1, initial reset:
the rotary support rotates to a material taking station so that the main shaft is in a vertical state, and the manipulator body is positioned right above the perforated bricks at the tail end of the feeding conveying line;
meanwhile, the pushing mechanism pushes the sliding block and enables the sliding block to move to the upper limit position, so that the main shaft and the manipulator body move to the upper limit position under the action of elastic force;
under the action of magnetic force, the first magnet and the second magnet are mutually corresponding, so that a connecting line between two adjacent elastic clamping claws on the manipulator body is vertical to or parallel to the length direction of a main hole of the perforated brick;
s2, pushing the slide block to slide downwards and move to a lower limit position by the pushing mechanism, wherein in the process:
two elastic clamping jaws positioned right above the main hole of the perforated brick are inserted into the main hole of the perforated brick, and an air inlet hole on a rigid air pipe on each elastic clamping jaw is communicated with an air outlet hole on the valve seat;
the bottoms of two elastic clamping jaws which are positioned obliquely above a main hole of the perforated brick are contacted with the surface of the perforated brick, and the clamping jaw bodies on the elastic clamping jaws move upwards under the action of pressure, so that the air inlet holes of the rigid air pipes on the elastic clamping jaws are staggered with the air outlet holes on the valve seat and the communication with an air source is blocked;
s3, compressed gas of a gas source enters the valve seat through the reversing valve, and the gas bag on the elastic claw in the main hole is inflated to enable the side wall of the gas bag to be tightly clamped on the inner wall of the main hole;
the air bag positioned outside the main hole is not inflated;
s4, the pushing mechanism pushes the sliding block to slide upwards and move to an upper limit position, and under the action of friction force, the manipulator body extracts the perforated bricks to move upwards and separate the perforated bricks from the feeding conveying line;
s5, the driving mechanism drives the rotating support to rotate, and in the rotating process, the driven friction wheel on the main shaft is in contact with the auxiliary friction plate and enables the main shaft to rotate by 2-5 degrees, so that the integral gravity center of the manipulator body shifts;
in subsequent rotation, the main shaft rotates under the action of the gravity center of the perforated brick and the magnetic force, and finally the gravity center of the perforated brick is positioned right below the main shaft;
s6, when the rotating support rotates to the discharging station, the main shaft is in a horizontal state, the driven friction wheel on the main shaft is in contact with the driving friction wheel on the mounting support, and the driving friction wheel drives the driven friction wheel to rotate 90 degrees and enable the perforated bricks on the manipulator body to be in a vertical state;
s7, pushing the slide block to move downwards and move to a lower limit position by the pushing mechanism, so that the perforated brick is positioned on the discharging conveying line, the connection between the air source and the valve seat is blocked by the reversing valve, and the valve seat is in a pressure relief state;
the air bag positioned in the main hole of the perforated brick loses pressure and is separated from the inner wall of the main hole, and the air bag is pulled into the air bag groove under the action of the pulling force of the third elastic part;
when the claw body positioned in the main hole is separated from the inner wall of the main hole, the claw body positioned outside the main hole pushes the perforated brick to move outwards under the action of elasticity;
meanwhile, the pushing mechanism pushes the sliding block to move upwards and move to the upper limit position, so that the manipulator body is separated from the perforated brick;
and S8, driving the rotating support to rotate by the driving mechanism and enabling the spindle to be in a vertical state, wherein in the rotating process of the rotating support, the driven friction disc on the spindle is in contact with the auxiliary friction disc and enables the spindle to rotate, and radial positioning of the spindle and the manipulator body is realized under the action of magnetic force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110928055.9A CN113511509B (en) | 2021-08-13 | 2021-08-13 | Front-end feeding manipulator for porous brick assembly and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110928055.9A CN113511509B (en) | 2021-08-13 | 2021-08-13 | Front-end feeding manipulator for porous brick assembly and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113511509A CN113511509A (en) | 2021-10-19 |
| CN113511509B true CN113511509B (en) | 2022-07-12 |
Family
ID=78068380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110928055.9A Active CN113511509B (en) | 2021-08-13 | 2021-08-13 | Front-end feeding manipulator for porous brick assembly and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113511509B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100798930B1 (en) * | 2006-07-25 | 2008-01-29 | 주식회사 티에스 | Probe robot through a pipe using moving way of inchworm |
| CN102069496A (en) * | 2010-12-15 | 2011-05-25 | 天津大学 | Linearly-driven four-degree of freedom hybrid mechanical arm |
| CN204487583U (en) * | 2015-01-22 | 2015-07-22 | 南京理工大学 | Software drives radial open-close type pneumatic gripping device |
| CN107891436A (en) * | 2017-11-24 | 2018-04-10 | 重庆市永川区红石建材有限公司 | A kind of porous brick stacking paw |
| CN111300388A (en) * | 2020-04-07 | 2020-06-19 | 安徽爱力特装备科技有限公司 | Self-locking magnetic reset plane arbitrary angular displacement compensator |
| CN211002545U (en) * | 2019-11-18 | 2020-07-14 | 上杭县金竹建材有限公司 | Anti-cracking device for transfer of sintered porous bricks |
| CN212193226U (en) * | 2020-11-12 | 2020-12-22 | 烟台大学 | Mechanical arm and pneumatic soft clamp holder thereof |
| CN112554379A (en) * | 2020-12-11 | 2021-03-26 | 上海萌砖节能材料科技有限公司 | Pouring type prefabricated wallboard frame |
-
2021
- 2021-08-13 CN CN202110928055.9A patent/CN113511509B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100798930B1 (en) * | 2006-07-25 | 2008-01-29 | 주식회사 티에스 | Probe robot through a pipe using moving way of inchworm |
| CN102069496A (en) * | 2010-12-15 | 2011-05-25 | 天津大学 | Linearly-driven four-degree of freedom hybrid mechanical arm |
| CN204487583U (en) * | 2015-01-22 | 2015-07-22 | 南京理工大学 | Software drives radial open-close type pneumatic gripping device |
| CN107891436A (en) * | 2017-11-24 | 2018-04-10 | 重庆市永川区红石建材有限公司 | A kind of porous brick stacking paw |
| CN211002545U (en) * | 2019-11-18 | 2020-07-14 | 上杭县金竹建材有限公司 | Anti-cracking device for transfer of sintered porous bricks |
| CN111300388A (en) * | 2020-04-07 | 2020-06-19 | 安徽爱力特装备科技有限公司 | Self-locking magnetic reset plane arbitrary angular displacement compensator |
| CN212193226U (en) * | 2020-11-12 | 2020-12-22 | 烟台大学 | Mechanical arm and pneumatic soft clamp holder thereof |
| CN112554379A (en) * | 2020-12-11 | 2021-03-26 | 上海萌砖节能材料科技有限公司 | Pouring type prefabricated wallboard frame |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113511509A (en) | 2021-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5103524A (en) | Apparatus for cleaning the inner surfaces of tubes in operating multi-tube heat transfer devices | |
| CN210068040U (en) | Oil field is junk fishing tool in pit | |
| CN206779494U (en) | A kind of Lathe chuck jaw structure | |
| CN113511509B (en) | Front-end feeding manipulator for porous brick assembly and working method thereof | |
| US9573106B2 (en) | Installation tools for structured catalysts | |
| CN111003485B (en) | Automatic conveying equipment for multiple workpieces | |
| CN115106794B (en) | Pipe forming device, pipe assembling device, pipe forming method and pipe assembling method | |
| CN111076580B (en) | Device and method for processing heat pipe in flow line production | |
| CN107309567A (en) | A kind of welder for being used to realize reverse battery welding | |
| CN110640358A (en) | Deep rotary pipeline welding robot | |
| CN100475501C (en) | Soft tube device for assembling the working station | |
| CN116587220B (en) | Full-automatic four-station assembly device for slurry pump framework oil seal | |
| CN114734087A (en) | Robot production is with spare part raw materials cutting equipment that has locate function | |
| CN113277290A (en) | Stack type single pipe conveying mechanism for building pipes | |
| CN104681469A (en) | Automatic positioning and collection device of turnover reversing semiconductor tube | |
| CN113232701B (en) | Conveyer is used in tubular pump motor drive production | |
| CN207014286U (en) | A kind of device of automatic press-in sleeve pipe | |
| CN115816130B (en) | Automobile power generation machine shell adds clamping apparatus | |
| CN216137570U (en) | A even fat machine for even fat of bearing is fast | |
| CN218311924U (en) | Pipe fitting posture adjusting device | |
| CN113042994B (en) | Computer hard disk gasket assembling equipment and method | |
| CN117248844B (en) | Oil gas well tail pipe hanger | |
| CN117168692B (en) | Automatic airtight detection equipment | |
| CN217254340U (en) | Sealing washer automatic feeding assembly device of cylindric part | |
| CN116399525B (en) | Self-sealing differential mechanism semi-axis gear gland and airtight detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A front-end loading robot arm and its working method for porous brick assembly Effective date of registration: 20231218 Granted publication date: 20220712 Pledgee: Shanghai Rural Commercial Bank Co.,Ltd. Jinshan sub branch Pledgor: SHANGHAI MENGZHUAN ENERGY SAVING MATERIALS TECHNOLOGY CO.,LTD. Registration number: Y2023310000872 |