CN113716353A - Robot kettle-loading stacking method, computer equipment and robot kettle-loading stacking system - Google Patents
Robot kettle-loading stacking method, computer equipment and robot kettle-loading stacking system Download PDFInfo
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- CN113716353A CN113716353A CN202110909907.XA CN202110909907A CN113716353A CN 113716353 A CN113716353 A CN 113716353A CN 202110909907 A CN202110909907 A CN 202110909907A CN 113716353 A CN113716353 A CN 113716353A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses a robot kettle loading and stacking method, which comprises the following steps: driving a press to press the green bricks, and outputting the green bricks to a green brick receiving machine to form green brick teams; the driving robot sequentially clamps and takes green brick groups from a green brick receiving machine according to a preset rule, and sequentially stacks the green brick groups on the steam curing trolley to form a target brick pile, the cross section of each green brick group is square, each green brick group comprises N rows of green brick teams, when the green brick groups are clamped and taken, the robot clamps the N rows of green brick teams each time, when the green brick groups are stacked, the robot places the N rows of green brick teams or (1/2) N rows of green brick teams each time, and N is an even number; the target brick pillar includes the benchmark brick pillar and stacks the supplementary brick pillar directly over the benchmark brick pillar, and the benchmark brick pillar is the cuboid, and supplementary brick pillar is the quadrangular frustum of prism structure. The invention also discloses computer equipment and a robot kettle loading and stacking system. By adopting the invention, the internal space of the steam curing kettle can be fully utilized, and the stability of the standard brick pillar can be ensured.
Description
Technical Field
The invention relates to the technical field of stacking, in particular to a robot kettle-loading stacking method, computer equipment and a robot kettle-loading stacking system.
Background
At present, in the field of brick making of novel wall bricks, green bricks are stacked on a steam curing trolley 3 'layer by layer through a stacker crane after being pressed and formed, and then the green bricks are pushed into a steam curing kettle through the steam curing trolley 3' for steam curing treatment.
As shown in fig. 1, in the conventional stacking method, a manipulator grabs six rows of green brick teams at a time and places the six rows of green brick teams on a steam-curing trolley 3 ', and accordingly, after grabbing and placing for multiple times, a brick pile 2 ' with a rectangular structure can be formed on the steam-curing trolley 3 '. However, the internal space 1 'of the steam curing kettle is not in a rectangular structure (the top is in an arc shape), so the internal space 1' of the steam curing kettle is low in utilization; meanwhile, because the green bricks on each layer in the brick pillar 2' are in the same direction, the brick falling condition is easy to occur, and the safety is low.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a robot autoclave stacking method, computer equipment and a robot autoclave stacking system, which can realize the full utilization of the internal space of a steam curing kettle and ensure the stability of a reference brick pile.
In order to solve the technical problem, the invention provides a robot kettle loading and stacking method, which comprises the following steps: driving a press to press green bricks, and outputting the green bricks to a green brick receiving machine to form green brick teams; the driving robot sequentially clamps and takes green brick groups from the green brick receiving machine according to a preset rule, the green brick groups are sequentially stacked on the steam curing trolley to form a target brick pile, the cross section of each green brick group is square, each green brick group comprises N rows of green brick teams, when the green brick groups are clamped, the robot clamps the N rows of green brick teams each time, when the green brick groups are stacked, the robot places the N rows of green brick teams or (1/2) the N rows of green brick teams each time, and N is an even number; target brick pillar include the benchmark brick pillar and stack in the supplementary brick pillar directly over the benchmark brick pillar, the benchmark brick pillar is the cuboid, it is the quadrangular frustum of a prism structure to supply the brick pillar.
As an improvement of the scheme, the reference brick pile comprises M layers of brick pile modules which are sequentially stacked from bottom to top, each layer of brick pile module comprises a bottom layer reference unit, a middle layer reference unit and a top layer reference unit which are sequentially stacked from bottom to top, the bottom layer reference unit, the middle layer reference unit and the top layer reference unit respectively comprise a plurality of brick blank teams which are longitudinally and/or transversely placed, and M is a multiple of 3; the supplementary brick pillar comprises a bottom supplementary unit, a middle supplementary unit and a top supplementary unit which are sequentially stacked from bottom to top, wherein the bottom supplementary unit, the middle supplementary unit and the top supplementary unit all comprise a plurality of green brick teams which are arranged longitudinally and/or transversely.
As an improvement of the above scheme, the bottom layer reference unit comprises (3/2) N rows of laterally placed green brick teams, the middle layer reference unit comprises (1/2) N rows of laterally placed green brick teams and N rows of longitudinally placed green brick teams, and the top layer reference unit comprises N rows of longitudinally placed green brick teams and (1/2) N rows of laterally placed green brick teams; the bottom layer supplement unit comprises N rows of green brick teams which are longitudinally arranged, the middle layer supplement unit comprises N rows of green brick teams which are longitudinally arranged, and the top layer supplement unit comprises (1/2) N rows of green brick teams which are transversely arranged.
As an improvement of the scheme, the green bricks in the same vertical direction rotate once for each layer or two layers to form a crisscross structure in the vertical direction.
As an improvement of the scheme, the stacking step of odd-level brick pile modules comprises the following steps: constructing a bottom layer reference unit of the odd-layer brick pile module: grabbing N rows of green brick teams and transversely placing the N rows of green brick teams at one end of the brick pile module, then grabbing (1/2) the N rows of green brick teams and transversely placing the N rows of green brick teams at the other end of the brick pile module, and placing the green brick teams continuously placed twice side by side to form a rectangular structure; constructing a middle-layer reference unit of the odd-layer brick pile module: placing (1/2) N rows of green bricks at one end of the brick pile module along the transverse direction, then grabbing the N rows of green bricks and rotating the N rows of green bricks, then placing the N rows of green bricks at the other end of the brick pile module along the longitudinal direction, and placing the green bricks which are continuously placed twice side by side to form a rectangular structure; constructing a top layer reference unit of an odd layer brick pile module: snatch N row's row of adobe team and vertically place N row of adobe team in the one end of brick pillar module after the rotation, snatch N row of adobe team again and along transversely placing (1/2) N row of adobe team in the other end of brick pillar module, the adobe team of twice continuous placing is placed side by side in order to form the rectangle structure.
As an improvement of the scheme, the stacking step of the brick pillar modules of the even-numbered layer comprises the following steps: constructing a bottom layer reference unit of the brick pile module with even number of layers: placing (1/2) N rows of adobe teams at one end of the brick pile module along the transverse direction, then grabbing the N rows of adobe teams and placing the N rows of adobe teams at the other end of the brick pile module along the transverse direction, and placing the two-time continuously placed adobe teams side by side to form a rectangular structure; constructing middle-layer reference units of even-layer brick pile modules: grabbing N rows of green brick teams, rotating, then longitudinally placing the N rows of green brick teams at one end of the brick pillar module, grabbing the N rows of green brick teams, transversely placing (1/2) the N rows of green brick teams at the other end of the brick pillar module, and placing the green brick teams continuously placed twice side by side to form a rectangular structure; constructing a top layer reference unit of an even-number layer brick pile module: and (8) placing (1/2) N rows of green bricks at one end of the brick pile module along the transverse direction, then grabbing the N rows of green bricks and rotating the N rows of green bricks to place the N rows of green bricks at the other end of the brick pile module along the longitudinal direction, and placing the green bricks in parallel to form a rectangular structure.
As an improvement of the scheme, the stacking step of the supplementary brick piles comprises the following steps: constructing a bottom-layer supplementary unit: after rotating, longitudinally placing (1/2) N rows of green brick queues, then grabbing the N rows of green brick queues, after rotating, longitudinally placing (1/2) the N rows of green brick queues, and placing the green brick queues continuously placed twice side by side to form a rectangular structure; constructing a middle-layer supplementary unit: placing (1/2) N rows of green brick queues along the longitudinal direction, grabbing the N rows of green brick queues, rotating, placing (1/2) the N rows of green brick queues along the longitudinal direction, and placing the green brick queues continuously placed twice side by side to form a rectangular structure; constructing a top-level supplementary unit: and (8) transversely placing (1/2) N rows of brick rows after the rotation.
As a modification of the above, N has a value of 4 and M has a value of 3.
Correspondingly, the invention further provides a computer device, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer device is characterized in that the processor implements the steps of the method when executing the computer program.
Correspondingly, the invention also provides a robot kettle loading and stacking system which is characterized by comprising the computer equipment, a press, a blank receiving machine, a steam curing trolley and a robot.
The implementation of the invention has the following beneficial effects:
according to the robot kettle loading and stacking method, under the condition that a green brick clamping mode and a green brick placing mode are changed, a flexible target brick pile is built, the stability is stronger, and the internal space of the steam curing kettle can be effectively utilized. Specifically, the method comprises the following steps:
according to the invention, the clamping of square green brick groups is realized by clamping N rows of green brick teams each time and placing the N rows of green brick teams or (1/2) N rows of green brick teams each time, and a reference brick pile with each layer of green bricks being rectangular is formed (each layer is composed of (3/2) N rows of green brick teams), so that the change of the brick pile structure is possible, and the flexibility is strong.
The invention combines the rotation means to rotate the green bricks, and can ensure the stability of the target brick pile and prevent the bricks from falling down easily through the interaction between the longitudinally and transversely placed green bricks.
The invention also adopts a mode of combining a plurality of layers of brick pile modules and supplementary brick piles, can form a targeted brick pile structure and is convenient for realizing the stacking step.
Drawings
FIG. 1 is a schematic view showing the utilization of the internal space of a conventional steam-curing kettle;
FIG. 2 is a flow chart of a first embodiment of a robotic palletizing method for loading kettles according to the present disclosure;
FIG. 3 is a schematic diagram illustrating the utilization of the internal space of a steam curing kettle in the method for loading and stacking the kettle by a robot according to the present invention;
FIG. 4 is a flow chart of a second embodiment of the robotic palletizing method with tank loading according to the present disclosure;
FIGS. 5-16 are schematic views showing the placement of layers of green bricks in the robotic palletizing and loading method of the present invention;
fig. 17 is a schematic structural diagram of the robotic palletizing system for loading kettles in accordance with the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. It is only noted that the invention is intended to be limited to the specific forms set forth herein, including any reference to the drawings, as well as any other specific forms of embodiments of the invention.
Referring to fig. 2, fig. 2 shows a flow chart of a first embodiment of the robotic palletizing and loading method according to the present invention, which comprises:
and S101, driving the press to press the green bricks, and outputting the green bricks to a green brick receiving machine to form a green brick team.
When the press presses green bricks, a plurality of rows of green bricks are pressed each time, each row of green bricks consists of a plurality of green bricks, and the pressed green bricks are synchronously output to the green brick receiving machine. In the present invention, a row of green bricks is defined as a green brick team, and preferably, each green brick team is composed of 18 green bricks, but not limited thereto, and can be set according to the specific situation and production requirement of the press.
And S102, driving the robot to sequentially clamp the green brick groups from the green brick receiving machine according to a preset rule, and sequentially stacking the green brick groups on the steam curing trolley to form a target brick pile (see figure 3).
In the invention, the cross section of each green brick group is square, each green brick group comprises N rows of green brick queues, and N is an even number. Preferably, the value of N is 4, but not limited thereto, and can be adjusted according to the size of each green brick and the size of the steam-curing kettle.
It should be noted that arrangement of green bricks on the green brick receiving machine is not regular, and when the robot clamps the green brick group, the green brick group needs to be folded in two directions to adjust a gap between the green bricks, so that the gap between the green bricks meets requirements after the robot releases the green brick group, and stacking is facilitated.
In the prior art, when the robot clamps the green brick group, N rows of green brick teams are clamped every time, and correspondingly, when the green brick group is stacked, the robot also places N rows of green brick teams every time, so that a rectangular brick stack with a regular structure is formed, and the space of the steam curing kettle is wasted because a certain space is still reserved between the rectangular brick stack and the top inner wall of the steam curing kettle. Different from the prior art, when clamping a green brick group, the robot clamps N rows of green bricks at each time; when the green brick groups are stacked, the robot places N rows of green brick queues or (1/2) N rows of green brick queues at a time. Therefore, the invention can lead the structure of the brick pile to be more flexible by adjusting the stacking mode.
As shown in fig. 3, the target brick pile 2 of the present invention comprises a reference brick pile 2a and a supplementary brick pile 2b stacked right above the reference brick pile 2a, wherein the reference brick pile 2a is a rectangular body, and the supplementary brick pile 2b is a quadrangular frustum structure. Therefore, by adopting the structure of the target brick pile 2, the internal space 1 of the steam curing kettle can be fully utilized under the condition of ensuring that the green bricks do not interfere with the steam curing kettle, and the production efficiency is improved.
Furthermore, the reference brick pillar comprises M layers of brick pillar modules which are sequentially stacked from bottom to top, each layer of brick pillar module comprises a bottom layer reference unit, a middle layer reference unit and a top layer reference unit which are sequentially stacked from bottom to top, the bottom layer reference unit, the middle layer reference unit and the top layer reference unit respectively comprise a plurality of brick blank teams which are longitudinally and/or transversely placed, and M is a multiple of 3; preferably, the value of M is 3, but not limited thereto, and can be adjusted according to the size of each green brick and the size of the steam-curing kettle. Meanwhile, the supplementary brick pile comprises a bottom supplementary unit, a middle supplementary unit and a top supplementary unit which are sequentially stacked from bottom to top, and the bottom supplementary unit, the middle supplementary unit and the top supplementary unit all comprise a plurality of green brick teams which are arranged longitudinally and/or transversely.
It should be noted that the stability of the target brick pile can be ensured through the interaction between the longitudinally and transversely placed green brick teams, and bricks are not easy to fall. Meanwhile, a mode of combining a plurality of layers of brick pile modules and a supplementary brick pile is adopted, a targeted brick pile structure can be formed, and the realization of the subsequent stacking step is facilitated.
Specifically, the bottom-layer datum unit comprises (3/2) N rows of horizontally placed green brick teams, the middle-layer datum unit comprises (1/2) N rows of horizontally placed green brick teams and N rows of longitudinally placed green brick teams, and the top-layer datum unit comprises N rows of longitudinally placed green brick teams and (1/2) N rows of horizontally placed green brick teams; the bottom tier supplemental units include N longitudinally disposed rows of green brick teams, the middle tier supplemental units include N longitudinally disposed rows of green brick teams, and the top tier supplemental units include (1/2) N laterally disposed rows of green brick teams.
Therefore, the invention realizes the clamping of the square green brick groups by clamping N rows of green brick teams each time and placing the N rows of green brick teams or (1/2) N rows of green brick teams each time, and forms the reference green brick pile with each layer of green bricks being rectangular (each layer is composed of (3/2) N rows of green brick teams), thereby enabling the change of the green brick pile structure to be possible and having strong flexibility.
In addition, for better assurance brick pillar's stability, the pile up neatly in-process needs make every layer of the ascending adobe of same vertical direction or two-layer rotation once to form vertically and horizontally staggered structure in vertical direction, thereby realize that the brick pillar is difficult to fall the brick, the security is high.
Therefore, the robot kettle loading and stacking method provided by the invention can be used for building a flexible target brick pile by changing the green brick clamping mode and the green brick placing mode, has stronger stability and can effectively utilize the internal space of the steam curing kettle.
Referring to fig. 4, fig. 4 shows a flow chart of a second embodiment of the robotic palletizing method by loading autoclaves according to the present invention, in which N has a value of 4 and M has a value of 3, the robotic palletizing method by loading autoclaves comprises the following steps:
s201, driving a press to press the green bricks, and outputting the green bricks to a green brick receiving machine to form a green brick team.
S202, the first grab grabs 4 rows of green brick teams and transversely places the 4 rows of green brick teams at the right end of the brick pile module, and the second grab grabs 4 rows of green brick teams and transversely places the right 2 rows of green brick teams at the left end of the brick pile module (see figure 5).
It should be noted that the placement position of the adobe team in the present embodiment is not necessarily limited. For example, in step S202, the first grabbed 4 rows of green brick teams can be placed at the left end of the brick pile module in the transverse direction, and then the second grabber can grab 4 rows of green brick teams and place the left 2 rows of green brick teams at the right end of the brick pile module in the transverse direction.
Meanwhile, as shown in step S202, the bottom reference unit in this embodiment is composed of 6 rows of laterally placed adobe teams.
S203, placing the left 2 rows of green brick teams at the right end of the brick pile module along the transverse direction, grabbing 4 rows of green brick teams by the third grab, rotating and then placing 4 rows of green brick teams at the left end of the brick pile module along the longitudinal direction (see figure 6).
The 4 rows of green brick teams in the second grab are released in two, wherein the right 2 rows of green brick teams are released in step S202 and become part of the bottom level reference cell, and the left 2 rows of green brick teams are released in step S203 and become part of the middle level reference cell.
Meanwhile, the green brick team placed along the transverse direction does not need to be subjected to rotation treatment, namely the default direction of the green brick team on the green brick receiving machine is the transverse direction; while the corresponding green brick team placed in the longitudinal direction needs to be rotated by 90 deg.. Accordingly, as shown in step S203, the middle-layer reference unit in the present embodiment includes 2 rows of laterally arranged green brick lines and 4 rows of longitudinally arranged green brick lines.
S204, the fourth grabs 4 rows of green brick teams and rotates to place the 4 rows of green brick teams at the right end of the brick pile module along the longitudinal direction, and the fifth grabs 4 rows of green brick teams and places the right 2 rows of green brick teams at the left end of the brick pile module along the transverse direction (see figure 7).
Accordingly, as shown in step S203, the top level reference unit in this embodiment includes 4 rows of longitudinally disposed green brick rows and 2 rows of laterally disposed green brick rows. In conclusion, the construction of the first brick pile module is completed through steps S202-204.
S205, placing the left 2 rows of green brick teams at the right end of the brick pile module along the transverse direction, grabbing 4 rows of green brick teams by the sixth grab, and placing 4 rows of green brick teams at the left end of the brick pile module along the transverse direction (see figure 8).
It should be noted that the structure of the bottom layer reference unit formed in step S205 is the same as that of the bottom layer reference unit formed in step S202, and is composed of 6 rows of laterally placed green bricks, but the specific operation steps of step S205 and step S202 are different.
And S206, grabbing 4 rows of green brick teams by the seventh grab, rotating, and then longitudinally placing 4 rows of green brick teams at the left end of the brick pile module, grabbing 4 rows of green brick teams by the eighth grab, and transversely placing the left 2 rows of green brick teams at the right end of the brick pile module (see figure 9).
Similarly, the structure of the middle layer reference unit formed in step S206 is the same as that of the middle layer reference unit formed in step S203, and is composed of 2 rows of laterally arranged green brick rows and 4 rows of longitudinally arranged green brick rows, but the specific operation steps of step S206 and step S203 are different.
S207, placing the right 2 rows of green brick teams at the left end of the brick pile module in the transverse direction, grabbing 4 rows of green brick teams by the ninth gripper, rotating, and then placing 4 rows of green brick teams at the right end of the brick pile module in the longitudinal direction (see figure 10).
Similarly, the structure of the top reference unit formed in step S207 is the same as that of the top reference unit formed in step S204, and is composed of 4 rows of longitudinally arranged green bricks and 2 rows of transversely arranged green bricks, but the specific operation steps of step S207 and step S204 are different.
In conclusion, the construction of the second brick pile module is completed through steps S205-207.
And S208, grabbing 4 rows of green brick teams in the tenth mode and placing 4 rows of green brick teams at the right end of the brick pile module along the transverse direction, grabbing 4 rows of green brick teams in the eleventh mode and placing 2 rows of green brick teams at the right end of the brick pile module along the transverse direction (see figure 11).
It should be noted that the structure of the bottom layer reference unit formed in step S208 is the same as that of the bottom layer reference unit formed in step S202, and both are composed of 6 rows of laterally placed green bricks, and the specific operation steps of step S208 and step S202 are the same.
S209, placing the left 2 rows of green brick teams at the right end of the brick pile module along the transverse direction, grabbing 4 rows of green brick teams in the twelfth way, rotating and then placing 4 rows of green brick teams at the left end of the brick pile module along the longitudinal direction (see figure 12).
Similarly, the structure of the middle layer reference unit formed in step S209 is the same as that of the middle layer reference unit formed in step S203, and is composed of 2 rows of laterally placed green brick rows and 4 rows of longitudinally placed green brick rows, and the specific operation steps of step S209 and step S203 are the same.
S210, grabbing 4 rows of green brick rows by the thirteenth grab, rotating, then placing 4 rows of green brick rows at the right end of the brick pile module along the longitudinal direction, grabbing 4 rows of green brick rows by the fourteenth grab, and placing the right 2 rows of green brick rows at the left end of the brick pile module along the transverse direction (see figure 13).
Similarly, the structure of the top reference unit formed in step S210 is the same as that of the top reference unit formed in step S204, and is composed of 4 rows of longitudinally arranged green brick rows and 2 rows of transversely arranged green brick rows, and the specific operation steps of step S210 and step S204 are the same.
In conclusion, the construction of the third brick pile module is completed through steps S208-210.
In conjunction with steps S202-210, the stacking step of odd-numbered courses of brick piles includes:
(1) constructing a bottom layer reference unit of the odd-layer brick pile module: grabbing N rows of green brick teams and transversely placing the N rows of green brick teams at one end of the brick pile module, then grabbing (1/2) the N rows of green brick teams and transversely placing the N rows of green brick teams at the other end of the brick pile module, and placing the green brick teams continuously placed twice side by side to form a rectangular structure;
(2) constructing a middle-layer reference unit of the odd-layer brick pile module: placing (1/2) N rows of green bricks at one end of the brick pile module along the transverse direction, then grabbing the N rows of green bricks and rotating the N rows of green bricks, then placing the N rows of green bricks at the other end of the brick pile module along the longitudinal direction, and placing the green bricks which are continuously placed twice side by side to form a rectangular structure;
(3) constructing a top layer reference unit of an odd layer brick pile module: snatch N row's row of adobe team and vertically place N row of adobe team in the one end of brick pillar module after the rotation, snatch N row of adobe team again and along transversely placing (1/2) N row of adobe team in the other end of brick pillar module, the adobe team of twice continuous placing is placed side by side in order to form the rectangle structure.
Correspondingly, the stacking step of the brick pillar modules of the even-numbered layers comprises the following steps:
(1) constructing a bottom layer reference unit of the brick pile module with even number of layers: placing (1/2) N rows of adobe teams at one end of the brick pile module along the transverse direction, then grabbing the N rows of adobe teams and placing the N rows of adobe teams at the other end of the brick pile module along the transverse direction, and placing the two-time continuously placed adobe teams side by side to form a rectangular structure;
(2) constructing middle-layer reference units of even-layer brick pile modules: grabbing N rows of green brick teams, rotating, then longitudinally placing the N rows of green brick teams at one end of the brick pillar module, grabbing the N rows of green brick teams, transversely placing (1/2) the N rows of green brick teams at the other end of the brick pillar module, and placing the green brick teams continuously placed twice side by side to form a rectangular structure;
(3) constructing a top layer reference unit of an even-number layer brick pile module: and (8) placing (1/2) N rows of green bricks at one end of the brick pile module along the transverse direction, then grabbing the N rows of green bricks and rotating the N rows of green bricks to place the N rows of green bricks at the other end of the brick pile module along the longitudinal direction, and placing the green bricks in parallel to form a rectangular structure.
Therefore, by the construction method, the repeated and multi-level construction of the reference brick pillar can be realized, the operation is convenient, and the stability of the reference brick pillar can be ensured by the vertically and horizontally arranged placing mode.
And S211, longitudinally placing the left 2 rows of green bricks after rotating, grabbing 4 rows of green bricks at the fifteenth position, and longitudinally placing the left 2 rows of green bricks after rotating (see figure 14).
As shown in step S211, the bottom supplementary unit in this embodiment includes 4 rows of longitudinally arranged adobe teams.
S212, placing the right 2 rows of green brick teams in the longitudinal direction, grabbing the 4 rows of green brick teams in the sixteenth mode, rotating and then placing the left 2 rows of green brick teams in the longitudinal direction (see figure 15).
As shown in step S212, the middle layer supplement unit in this embodiment includes 4 rows of longitudinally arranged green brick rows.
And S213, transversely placing the right 2 rows of green brick teams after rotation (see figure 16).
As shown in step S213, the middle layer supplement unit in this embodiment includes 2 rows of laterally arranged green bricks.
In conclusion, the construction of the supplementary brick piles is completed through steps S211-213. Accordingly, the stacking step of the supplementary brick pile comprises:
(1) constructing a bottom-layer supplementary unit: placing (1/2) N rows of green brick queues longitudinally after rotating, then grabbing the N rows of green brick queues and placing 1/2) the N rows of green brick queues longitudinally after rotating, wherein the green brick queues continuously placed twice are placed side by side to form a rectangular structure;
(2) constructing a middle-layer supplementary unit: placing (1/2) N rows of green brick queues along the longitudinal direction, grabbing the N rows of green brick queues, rotating, placing (1/2) the N rows of green brick queues along the longitudinal direction, and placing the green brick queues continuously placed twice side by side to form a rectangular structure;
(3) constructing a top-level supplementary unit: and (8) transversely placing (1/2) N rows of brick rows after the rotation.
Therefore, by the construction method, the supplementary brick pillar with the quadrangular frustum pyramid structure can be constructed, the internal space of the steam curing kettle can be fully utilized, and the stability of the reference brick pillar can be ensured by the vertically and horizontally arranged placing mode.
In conclusion, the robot kettle-loading stacking method can realize quick stacking of brick stacks and is high in flexibility.
Referring to fig. 17, fig. 17 shows a specific structure of the robotic palletizing system 100 for loading kettles, which comprises a computer device, a press, a blank receiving machine, a steam curing trolley 3 and a robot. The computer equipment is used for controlling the robot, the press is used for pressing green bricks, the green brick receiving machine is used for transmitting the green bricks, the steam curing trolley is used for loading piled bricks, the robot comprises a robot body and a gripper assembly arranged at the front end of the robot body, the gripper assembly is used for executing the operations of gripping the bricks, folding the green bricks, placing the bricks and the like, and the robot body can drive the gripper assembly to realize the stacking process from the green brick receiving machine to the steam curing trolley.
The green brick clamping device is used for clamping green bricks on the green brick receiving machine onto the steam curing trolley for stacking so as to form a target brick pile.
The computer device includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the above robot palletizing method by loading kettles when executing the computer program.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A robot kettle-loading stacking method is characterized by comprising the following steps:
driving a press to press green bricks, and outputting the green bricks to a green brick receiving machine to form green brick teams;
the driving robot sequentially clamps and takes green brick groups from the green brick receiving machine according to a preset rule, the green brick groups are sequentially stacked on the steam curing trolley to form a target brick pile, the cross section of each green brick group is square, each green brick group comprises N rows of green brick teams, when the green brick groups are clamped, the robot clamps the N rows of green brick teams each time, when the green brick groups are stacked, the robot places the N rows of green brick teams or (1/2) the N rows of green brick teams each time, and N is an even number;
target brick pillar include the benchmark brick pillar and stack in the supplementary brick pillar directly over the benchmark brick pillar, the benchmark brick pillar is the cuboid, it is the quadrangular frustum of a prism structure to supply the brick pillar.
2. The robotic palletizing method as in claim 1, wherein,
the standard brick pillar comprises M layers of brick pillar modules which are sequentially stacked from bottom to top, each layer of brick pillar module comprises a bottom layer standard unit, a middle layer standard unit and a top layer standard unit which are sequentially stacked from bottom to top, the bottom layer standard unit, the middle layer standard unit and the top layer standard unit respectively comprise a plurality of green brick teams which are longitudinally and/or transversely placed, and M is a multiple of 3;
the supplementary brick pillar comprises a bottom supplementary unit, a middle supplementary unit and a top supplementary unit which are sequentially stacked from bottom to top, wherein the bottom supplementary unit, the middle supplementary unit and the top supplementary unit all comprise a plurality of green brick teams which are arranged longitudinally and/or transversely.
3. The robotic palletizing method as in claim 2, wherein,
the bottom layer datum unit comprises (3/2) N rows of horizontally placed green brick queues, the middle layer datum unit comprises (1/2) N rows of horizontally placed green brick queues and N rows of longitudinally placed green brick queues, and the top layer datum unit comprises N rows of longitudinally placed green brick queues and (1/2) N rows of horizontally placed green brick queues;
the bottom layer supplement unit comprises N rows of green brick teams which are longitudinally arranged, the middle layer supplement unit comprises N rows of green brick teams which are longitudinally arranged, and the top layer supplement unit comprises (1/2) N rows of green brick teams which are transversely arranged.
4. A robotic palletization method as in claim 2 or 3, wherein the green bricks in the same vertical direction are rotated once per layer or two layers to form a criss-cross structure in the vertical direction.
5. The robotic palletizing method as in claim 2 or 3, wherein the step of stacking odd-numbered courses of brick work modules comprises:
constructing a bottom layer reference unit of the odd-layer brick pile module: grabbing N rows of green brick teams and transversely placing the N rows of green brick teams at one end of the brick pile module, then grabbing (1/2) the N rows of green brick teams and transversely placing the N rows of green brick teams at the other end of the brick pile module, and placing the green brick teams continuously placed twice side by side to form a rectangular structure;
constructing a middle-layer reference unit of the odd-layer brick pile module: placing (1/2) N rows of green bricks at one end of the brick pile module along the transverse direction, then grabbing the N rows of green bricks and rotating the N rows of green bricks, then placing the N rows of green bricks at the other end of the brick pile module along the longitudinal direction, and placing the green bricks which are continuously placed twice side by side to form a rectangular structure;
constructing a top layer reference unit of an odd layer brick pile module: snatch N row's row of adobe team and vertically place N row of adobe team in the one end of brick pillar module after the rotation, snatch N row of adobe team again and along transversely placing (1/2) N row of adobe team in the other end of brick pillar module, the adobe team of twice continuous placing is placed side by side in order to form the rectangle structure.
6. The robotic palletizing method as recited in claim 5, wherein the step of stacking the brick work modules in an even number of courses comprises:
constructing a bottom layer reference unit of the brick pile module with even number of layers: placing (1/2) N rows of adobe teams at one end of the brick pile module along the transverse direction, then grabbing the N rows of adobe teams and placing the N rows of adobe teams at the other end of the brick pile module along the transverse direction, and placing the two-time continuously placed adobe teams side by side to form a rectangular structure;
constructing middle-layer reference units of even-layer brick pile modules: grabbing N rows of green brick teams, rotating, then longitudinally placing the N rows of green brick teams at one end of the brick pillar module, grabbing the N rows of green brick teams, transversely placing (1/2) the N rows of green brick teams at the other end of the brick pillar module, and placing the green brick teams continuously placed twice side by side to form a rectangular structure;
constructing a top layer reference unit of an even-number layer brick pile module: and (8) placing (1/2) N rows of green bricks at one end of the brick pile module along the transverse direction, then grabbing the N rows of green bricks and rotating the N rows of green bricks to place the N rows of green bricks at the other end of the brick pile module along the longitudinal direction, and placing the green bricks in parallel to form a rectangular structure.
7. The robotic palletizing method as recited in claim 5, wherein the step of stacking the supplemental brick stacks comprises:
constructing a bottom-layer supplementary unit: after rotating, longitudinally placing (1/2) N rows of green brick queues, then grabbing the N rows of green brick queues, after rotating, longitudinally placing (1/2) the N rows of green brick queues, and placing the green brick queues continuously placed twice side by side to form a rectangular structure;
constructing a middle-layer supplementary unit: placing (1/2) N rows of green brick queues along the longitudinal direction, grabbing the N rows of green brick queues, rotating, placing (1/2) the N rows of green brick queues along the longitudinal direction, and placing the green brick queues continuously placed twice side by side to form a rectangular structure;
constructing a top-level supplementary unit: and (8) transversely placing (1/2) N rows of brick rows after the rotation.
8. The robotic palletizing method as in claim 2, wherein N has a value of 4 and M has a value of 3.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 8.
10. A robotic pot loading palletizing system, characterized in that it comprises the computer equipment, press, blank receiving machine, steam curing trolley and robot of claim 9.
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