CN119841093A - Manipulator and belt conveying cooperative control system for building block processing - Google Patents
Manipulator and belt conveying cooperative control system for building block processing Download PDFInfo
- Publication number
- CN119841093A CN119841093A CN202510322465.7A CN202510322465A CN119841093A CN 119841093 A CN119841093 A CN 119841093A CN 202510322465 A CN202510322465 A CN 202510322465A CN 119841093 A CN119841093 A CN 119841093A
- Authority
- CN
- China
- Prior art keywords
- belt
- block
- frame
- robot
- manipulator
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1602—Program controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/60—Arrangements for supporting or guiding belts, e.g. by fluid jets
- B65G15/64—Arrangements for supporting or guiding belts, e.g. by fluid jets for automatically maintaining the position of the belts
-
- 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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/44—Belt or chain tensioning arrangements
-
- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- 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
- B65G47/905—Control arrangements
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention relates to the technical field of intelligent conveying and discloses a manipulator and belt conveying cooperative control system for block processing, which comprises a manipulator control unit, a belt control unit, a position detection unit, a visual detection unit and a quality evaluation unit, wherein the manipulator control unit is used for controlling rotation and grabbing actions of a manipulator, the belt control unit is used for controlling starting and stopping of a production process belt and a stacking process belt conveying assembly, the position detection unit is used for detecting the position of a block on the belt, the visual detection unit is arranged at a detection station of the production process belt and used for acquiring an image of the block to be transferred, and the quality evaluation unit is used for receiving image information of the block to be transferred and evaluating the molding quality of the block. The invention accurately identifies the molding defects of the building blocks, can screen unqualified products in the conveying process, avoids the waste of subsequent procedures, ensures that the whole quality of the manufactured building blocks is more uniform, and adopts the cooperation of the position detection unit, the mechanical arm control unit and the belt control unit to ensure that the building blocks are tightly and accurately connected in the conveying and transferring process, thereby improving the conveying and production efficiency.
Description
Technical Field
The invention relates to the technical field of intelligent conveying, in particular to a manipulator and belt conveying cooperative control system for block processing.
Background
The building blocks are artificial blocks made of concrete, industrial waste (slag, fly ash, tailings and the like) or local materials. The building blocks need to be transferred between adjacent working procedures in the production process, wherein after the building blocks are formed, the building blocks are packaged into orderly arranged brick piles through operations such as transferring, stacking and packaging so as to facilitate subsequent carrying, storage and the like. Along with the development of automatic production lines, unmanned yards and storage, how to quickly realize the transportation of the building blocks among working procedures and realize automatic control becomes an important research direction in the current building block transportation process.
In the prior art, as disclosed in the utility model patent with publication number CN221499664U, a conveying device for brick production is disclosed, a turnover mechanism for turning over the brick by 90 degrees is arranged between a driving wheel and a driven wheel, the turnover mechanism comprises a first mounting plate and a second mounting plate which are fixedly arranged at two ends of a frame, the first mounting plate is close to a feeding direction, the second mounting plate is close to a discharging direction, the first mounting plate and the second mounting plate are arranged between the upper side and the lower side of a conveying belt, two guide posts which are arranged in parallel are fixedly arranged between the first mounting plate and the second mounting plate, a connecting block is connected between the two guide posts in a sliding manner, an L-shaped turning plate is hinged on the connecting block, a first cylinder is fixedly arranged on the first mounting plate, an output shaft of the first cylinder is fixedly connected with the connecting block, a connecting rod is hinged on one side of the L-shaped turning plate, which is far away from the discharging direction of the conveying belt, and one side of the connecting rod is hinged with the second mounting plate. The device adopts a conveying belt to convey and transfer bricks or building blocks. However, in the actual conveying process, the device carries out indiscriminate conveying on the building blocks, unqualified or defective building blocks can be mixed into the building blocks, and the quality of finished products of subsequent stacking building blocks cannot be guaranteed.
Therefore, there is a need for a coordinated control system for block processing robot and belt transport that at least partially addresses the problems of the prior art.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problems, the present invention provides a robot and belt conveying cooperative control system for block processing, including:
the manipulator control unit is used for controlling the rotation and grabbing actions of the manipulator;
the belt control unit is used for controlling the start and stop of the production process belt and the stacking process belt conveying assembly;
the position detection unit is used for detecting the position of the building block on the belt;
The visual detection unit is arranged at a detection station of the production process belt and is used for acquiring images of the building blocks to be transferred;
And the quality evaluation unit is used for receiving the image information of the building block to be transferred and evaluating the molding quality of the building block.
Preferably, the production process belt comprises a detection station and a transfer station, wherein the detection station is arranged at the front end of the transfer station, a portal frame is arranged in the detection station, a position detection unit detects the position of a building block on the belt by adopting an infrared position sensor, the infrared position sensor is arranged at the inner side of the portal frame, a visual detection unit acquires an image of the building block by adopting image acquisition equipment, and the image acquisition equipment is arranged at the top end of the portal frame.
Preferably, one side of the robot is provided with any one of a reject collection box and a reject belt conveyor.
Preferably, the quality evaluation unit of the controller receives the image information of the block to be transferred and compares the image information with preset block image information, when the deviation value of the image information exceeds a preset value, the quality evaluation unit of the controller evaluates the block as an unqualified product, the manipulator control unit controls the manipulator to act, the block is grabbed and placed in a unqualified product collecting box or a unqualified product belt conveying device, when the deviation value of the image information is within a preset range, the quality evaluation unit of the controller evaluates the block as a qualified product, the manipulator control unit controls the manipulator to act, and the block is grabbed and placed on a stacking procedure belt.
Preferably, the image acquisition apparatus includes:
The top end of the support frame is close to one side of the manipulator;
The support cylinder is vertically connected to the end part of the support frame;
the camera body is connected to the bottom of the supporting cylinder, and is electrically connected with the controller and used for acquiring images of the building blocks below.
Preferably, set up spacing subassembly on the support barrel, spacing subassembly includes:
the telescopic driving piece is connected to the top end of the supporting cylinder body, the top end of the telescopic driving piece is connected with a bent rod, and the telescopic driving piece is electrically connected with the controller;
the limiting plate is vertically connected to the bottom end of the bent rod and is provided with a plurality of light supplementing lamp strips;
the limiting slide blocks are connected to one side, close to the manipulator, of the supporting cylinder body, the two groups of limiting slide blocks are symmetrically arranged, and the limiting plate is connected between the two groups of limiting slide blocks in a sliding mode.
Preferably, set up the clearance subassembly on supporting the barrel, the clearance subassembly includes:
the air duct frame is connected to one side of the supporting cylinder body, which is close to the manipulator, and the limiting plate penetrates through the air duct frame;
the air pipe is arranged on the air pipe frame, the air inlet end of the air pipe is connected with the air source pump body, the air outlet end of the air pipe is arranged downwards, and the air pipe is positioned on one side of the limiting plate, which is close to the manipulator.
Preferably, the cleaning assembly further comprises:
the corrugated pipe is connected to the air outlet end of the air pipe and can be arranged in a telescopic way;
The sliding columns are symmetrically connected to two sides of the limiting plate and are horizontally arranged;
The air outlet frame is communicated with the bottom end of the corrugated pipe, lugs are arranged on two sides of the air outlet frame and are connected to the sliding column in a sliding manner, and springs are connected between the lugs and the end parts of the sliding column.
Preferably, the cleaning assembly further comprises:
the motor is connected to the limiting plate and is arranged close to the air outlet frame;
the deflector rod is connected to the output shaft of the motor and is positioned between the air outlet frame and the limiting plate.
Preferably, the limiting plate bottom sets up the subassembly of rectifying, and the subassembly of rectifying includes:
the deviation correcting frame is connected to the bottom end of the limiting plate;
the two deviation correcting wheels are connected to two sides of the deviation correcting frame in a rotating way, and the distance between the two deviation correcting wheels is larger than the width of the production process belt;
The tensioning wheels are connected to the deviation correcting frames, and the tensioning wheels and the two deviation correcting wheels are not arranged on the same horizontal line;
The deviation correcting belt is arranged around the deviation correcting wheel and the tensioning wheel;
and the anti-collision plate is connected to the middle part of the deviation correcting belt and corresponds to the position of the building block.
Preferably, the deviation rectifying assembly further comprises:
The guide seats are connected to the deviation correcting frame, are positioned on the inner sides of the deviation correcting wheels, and the deviation correcting belt passes through the two guide seats and is arranged in parallel with the edges of the building blocks;
The sliding chute is arranged in the middle of the deviation correcting frame, a tensioning sliding block is connected in a sliding manner in the sliding chute, a tensioning wheel is arranged on the tensioning sliding block, and a pressure sensor is arranged on the tensioning wheel;
and the tensioning hydraulic cylinder is connected to the deviation rectifying frame, and the output end of the tensioning hydraulic cylinder is connected with the tensioning sliding block.
Compared with the prior art, the invention at least comprises the following beneficial effects:
the invention provides a coordinated control system for the mechanical arm and belt conveying for processing building blocks, which can accurately identify the forming defects of the building blocks through a visual detection and quality evaluation unit, screen unqualified products in the conveying process, avoid the waste of subsequent procedures and ensure that the whole quality of the manufactured building blocks is more uniform, and the coordinated operation of a position detection unit, a mechanical arm control unit and a belt control unit is adopted to ensure that the building block conveying and transferring process is tightly and accurately linked and the conveying and production efficiency is improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a block diagram of a robot and belt conveyor coordinated control system for block processing in accordance with the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a schematic view of the structure of the end of the belt in the production process of the present invention;
FIG. 4 is a schematic diagram of an image capturing device according to the present invention;
FIG. 5 is a schematic view of a limiting plate assembly according to the present invention;
FIG. 6 is a schematic view of a cleaning assembly according to the present invention;
FIG. 7 is a schematic view of the bottom structure of the deviation correcting frame according to the present invention;
fig. 8 is a schematic diagram of a partial structure of the deviation rectifying frame at the tensioning wheel in the present invention.
The production process belt, the stacking process belt, the mechanical arm, the portal frame, the infrared position sensor, the image acquisition equipment, the supporting frame, the supporting cylinder, the camera body, the telescopic driving piece, the bent rod, the limiting plate, the limiting sliding block, the light supplementing lamp bar, the air pipe frame, the air pipe, the corrugated pipe, the sliding column, the air outlet frame, the lug, the motor, the driving rod, the deviation rectifying frame, the deviation rectifying wheel, the tension pulley, the deviation rectifying belt, the collision preventing plate, the guide seat, the sliding groove, the tension hydraulic cylinder and the tension sliding block.
Detailed Description
The present invention is described in further detail below with reference to the drawings and examples to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
Example 1:
As shown in fig. 1, the present invention provides a robot and belt conveying cooperative control system for block processing, comprising:
a robot control unit for controlling rotation and gripping actions of the robot 3;
The belt control unit is used for controlling the start and stop of the conveying components of the production process belt 1 and the stacking process belt 2;
the position detection unit is used for detecting the position of the building block on the belt;
the visual detection unit is arranged at a detection station of the production process belt 1 and is used for acquiring images of the building blocks to be transferred;
And the quality evaluation unit is used for receiving the image information of the building block to be transferred and evaluating the molding quality of the building block.
The working principle and the beneficial effects of the technical scheme are as follows:
A manipulator and belt conveying cooperative control system for block processing adopts a mode of cooperative control of the manipulator and belt conveying when blocks are transferred between working procedures. The adjacent working procedures adopt a belt conveying mode, when the building block moves to the tail end of the production working procedure belt 1, the building block firstly moves to a detection station, after the position detection unit detects an in-place signal of the building block, the vision detection unit is started to acquire an image of the building block to be transferred, the quality evaluation unit compares the image with a preset image, compares the actual size and the standard size of the building block, checks whether flaws such as cracks and air holes exist on the surface, evaluates the molding quality of the building block, continuously moves the building block after detection, controls the action of a mechanical arm according to an evaluation structure, moves the qualified building block to the stacking working procedure belt 2, and moves the unqualified building block to a manual detection station or other shunting procedures.
The invention provides a coordinated control system for the mechanical arm and belt conveying for processing building blocks, which can accurately identify the forming defects of the building blocks through a visual detection and quality evaluation unit, screen unqualified products in the conveying process, avoid the waste of subsequent procedures and ensure that the whole quality of the manufactured building blocks is more uniform, and the coordinated operation of a position detection unit, a mechanical arm control unit and a belt control unit is adopted to ensure that the building block conveying and transferring process is tightly and accurately linked and the conveying and production efficiency is improved.
Example 2:
On the basis of the above embodiment 1, as shown in fig. 1, the production process belt 1 comprises a detection station and a transfer station, wherein the detection station is arranged at the front end of the transfer station, a portal frame 4 is arranged in the detection station, a position detection unit detects the position of a building block on the belt by adopting an infrared position sensor 5, the infrared position sensor 5 is arranged at the inner side of the portal frame 4, a vision detection unit acquires an image of the building block by adopting an image acquisition device 6, and the image acquisition device 6 is arranged at the top end of the portal frame 4.
The working principle and the beneficial effects of the technical scheme are as follows:
The portal frame 4 is used as a supporting structure of the infrared position sensor 5 and the image acquisition equipment 6, the equipment layout is compact and reasonable, positioning errors are reduced, and when the building block passes through the portal frame, the infrared position sensor 5 can detect an in-place signal of the building block and is used as a time basis for controlling the image acquisition equipment 6 to acquire an image.
Example 3:
in addition to the above-described embodiment 1, any one of a reject collection box and a reject belt conveyor is provided on the side of the robot arm 3.
The working principle and the beneficial effects of the technical scheme are as follows:
The unqualified blocks are transferred to a collecting box through a manipulator 3 for scrapping and recycling treatment, or are transferred to an unqualified product belt conveying device for entering a manual detection process or recycling treatment process.
Example 4:
On the basis of the embodiment 1, the quality evaluation unit of the controller receives the image information of the block to be transferred and compares the image information with the preset block image information, the actual size of the block is compared with the standard size, whether flaws such as cracks and air holes exist on the surface or not is checked, when the deviation value (size deviation, crack area, air holes and the like) of the image information exceeds the preset value, the quality evaluation unit of the controller evaluates the block as an unqualified product, the manipulator control unit controls the manipulator 3 to act, the block is grabbed and placed in an unqualified product collecting box or an unqualified product belt conveying device, when the deviation value of the image information is within the preset range, the quality evaluation unit of the controller evaluates the block as an qualified product, and the manipulator control unit controls the manipulator 3 to act, and the block is grabbed and placed on the stacking procedure belt 2.
Example 5:
as shown in fig. 2 to 6, on the basis of the above-described embodiment 1, the image pickup apparatus 6 includes:
The support frame 11, one side that the top of the support frame 11 is close to the manipulator 3;
the support cylinder 12, the support cylinder 12 is connected to the end of the support frame 11 vertically;
the camera body 13, camera body 13 connect in supporting barrel 12 bottom, and camera body 13 is connected with the controller electricity for acquire the image of below building block.
Set up spacing subassembly on supporting cylinder 12, spacing subassembly includes:
the telescopic driving piece 14, the telescopic driving piece 14 is connected to the top end of the supporting cylinder 12, the top end of the telescopic driving piece 14 is connected with a bent rod 15, and the telescopic driving piece 14 is electrically connected with the controller;
The limiting plate 16 is vertically connected to the bottom end of the bent rod 15, and a plurality of light supplementing lamp strips 18 are arranged on the limiting plate 16;
the limiting slide blocks 17 are connected to one side, close to the manipulator 3, of the supporting cylinder 12, the two groups of limiting slide blocks 17 are symmetrically arranged, and the limiting plate 16 is connected between the two groups of limiting slide blocks 17 in a sliding mode.
The working principle and the beneficial effects of the technical scheme are as follows:
The support frame 11 provides a stable high-level support for the entire image acquisition device 6, enabling the support cylinder 12 to be suspended above the belt detection station area. The camera body 13 is mounted at the bottom end of the supporting cylinder 12, and is started under the instruction of the controller when in operation, captures images of the building blocks on the lower belt from a vertically downward view, and then transmits the image data to the controller for evaluation and analysis of the quality of the subsequent building blocks. When the infrared position sensor 5 detects the building block, the controller starts the telescopic driving piece 14 to enable the telescopic driving piece to perform shortening action, the telescopic driving piece 14 drives the limiting plate 16 to move downwards through the bent rod 15, the limiting sliding block 17 plays a role in guiding the movement of the limiting plate 16 until the limiting plate 16 approaches the production process belt 1 and blocks the building block, and the limiting plate 16 contacts with the edge of the building block to regulate the building block to a preset angle.
Through the structural design, the stable structure formed by the support frame 11 and the support cylinder 12 creates a stable shooting environment for the camera body 13, reduces image blurring risk caused by equipment shaking, the limiting plate 16 is of a height-adjustable structure, the limiting plate 16 blocks and rectifies the building blocks regularly when the building blocks move to the detection station, so that the building blocks can be arranged according to a preset angle, the difficulty of subsequent image comparison and evaluation is facilitated, the light supplementing lamp strip 18 is arranged on the limiting plate 16 and can move along with the limiting plate 16, the relative position of the light supplementing lamp strip 18 and the camera body 13 is guaranteed, sufficient illumination is provided for improving the definition of images, and visual detection and evaluation effects are improved.
Example 6:
As shown in fig. 2 to 6, in the above embodiment 5, a cleaning assembly is provided on the support cylinder 12, the cleaning assembly including:
The air pipe frame 19, the air pipe frame 19 is connected to one side of the supporting cylinder 12, which is close to the manipulator 3, and the limiting plate 16 penetrates through the air pipe frame 19;
the air pipe 21, the air pipe 21 is installed on the air pipe frame 19, the air inlet end of the air pipe 21 is connected with the air source pump body, the air outlet end of the air pipe 21 is arranged downwards, and the air pipe 21 is positioned on one side of the limiting plate 16 close to the manipulator 3.
The working principle and the beneficial effects of the technical scheme are as follows:
When the cleaning assembly is used, the air source pump body is started to convey air into the air pipe 21, air flows are blown downwards along the air pipe 21 path, dust and impurities on the limiting plate 16 and the production process belt 1 are blown to the periphery, the cleaning function of detecting station components is achieved, on one hand, impurity accumulation is prevented, the effect of the limiting plate 16 on the block correction is affected, and on the other hand, the effect of the collected impurity images on the evaluation result is prevented when the camera body 13 is used. The camera body 13, the light supplementing lamp bar 18 and the cleaning components are arranged on the same supporting structure in a centralized mode, installation deviation of the components can be reduced, light supplementing and cleaning can be achieved within a preset range, the camera body 13 is assisted in image acquisition, and the detection station is guaranteed to have an excellent visual detection environment.
Example 7:
as shown in fig. 2 to 6, the cleaning assembly further includes, on the basis of embodiment 6 described above:
the corrugated pipe 22 is connected to the air outlet end of the air pipe 21, and the corrugated pipe 22 can be arranged in a telescopic way;
The sliding columns 23, two sliding columns 23 are symmetrically connected to two sides of the limiting plate 16, and the sliding columns 23 are horizontally arranged;
The air outlet frame 24 is communicated with the bottom end of the corrugated pipe 22, lugs 25 are arranged on two sides of the air outlet frame 24, the lugs 25 are connected to the sliding column 23 in a sliding manner, and springs are connected between the lugs 25 and the end parts of the sliding column 23;
the motor 26, the motor 26 is connected to the limiting plate 16, and the motor 26 is arranged close to the air outlet frame 24;
the deflector rod 27, deflector rod 27 is connected on the output shaft of motor 26, and deflector rod 27 is located between air-out frame 24 and limiting plate 16.
The working principle and the beneficial effects of the technical scheme are as follows:
When the cleaning assembly is used, the motor 26 is started, the output shaft of the motor 26 drives the deflector rod 27 to rotate, when the deflector rod 27 rotates to one side of the air outlet frame 24, the extruded air outlet frame 24 moves forward along the sliding column 23, meanwhile, the spring on the sliding column 23 is extruded and stored, namely, the air outlet of the air outlet frame 24 moves forward, and when the deflector rod 27 rotates in a direction away from the air outlet frame 24, the deflector rod 27 pushes the air outlet frame 24 to move reversely and reset under the action of the spring, namely, the air outlet of the air outlet frame 24 moves reversely. Through the above-mentioned structural design, when the clearance subassembly is used, along with motor 26 action, realize the reciprocating motion of air-out frame 24 wind gap, to the reciprocal circulation blowing of dust impurity on limiting plate 16 and the production process belt 1, improve the clearance effect.
Example 8:
as shown in fig. 7 and 8, on the basis of the above embodiment 5, a correction component is disposed at the bottom end of the limiting plate 16, and the correction component includes:
the deviation correcting frame 28, the deviation correcting frame 28 is connected to the bottom end of the limiting plate 16;
The deviation correcting wheels 29 are rotatably connected to two sides of the deviation correcting frame 28, and the distance between the two deviation correcting wheels 29 is larger than the width of the production process belt 1;
the tensioning wheels 31, the tensioning wheels 31 are connected to the deviation correcting frame 28, and the tensioning wheels 31 and the two deviation correcting wheels 29 are not arranged on the same horizontal line;
The deviation correcting belt 32, the deviation correcting belt 32 is arranged around the deviation correcting wheel 29 and the tensioning wheel 31;
The anti-collision plate 33, the anti-collision plate 33 is connected in the middle of the deviation correcting belt 32 and corresponds to the position of the building block.
The working principle and the beneficial effects of the technical scheme are as follows:
When the building block is transported on the production process belt 1, the situation that the direction of the building block is inconsistent with the preset detection shooting direction occurs when the building block is shifted from the placement deviation or in the transportation process, when the rotating head moves to the detection station, the building block is contacted with the anti-collision plate 33, the anti-collision plate 33 is arranged on the deviation rectifying belt 32, the deviation rectifying belt 32 has a certain tensioning force, therefore, the building block is rectified to a preset angle under the blocking of the deviation rectifying belt 32, the building block can be rectified to the preset shooting angle, the subsequent image comparison and evaluation processing are convenient, the tensioning wheel 31 and the two deviation rectifying wheels 29 are not on the same horizontal line, the deviation rectifying belt 32 is ensured to be in a proper tensioning state, and collision damage generated in the deviation rectifying process of the building block is effectively avoided by adopting the anti-collision plate 33 to be in contact with the building block preferentially.
Example 9:
As shown in fig. 7 and 8, the deviation rectifying assembly further includes, in addition to the above embodiment 8:
The guide seats 34, the guide seats 34 are connected to the deviation correcting frame 28 and positioned at the inner side of the deviation correcting wheel 29, and the deviation correcting belt 32 passes through the two guide seats 34 and is arranged in parallel with the edges of the building blocks;
The sliding chute 35 is arranged in the middle of the deviation rectifying frame 28, the tensioning sliding block 37 is connected in a sliding manner in the sliding chute 35, the tensioning wheel 31 is arranged on the tensioning sliding block 37, and the pressure sensor is arranged on the tensioning wheel 31;
the tensioning hydraulic cylinder 36, tensioning hydraulic cylinder 36 is connected to rectifying frame 28, and tensioning hydraulic cylinder 36 output is connected with tensioning slider 37.
The working principle and the beneficial effects of the technical scheme are as follows:
When the correction assembly is used, the pressure sensor is used for detecting the pressure on the tensioning wheel 31, the controller receives pressure data, when the pressure value on the tensioning wheel 31 is smaller than a preset pressure value, the controller indicates that the correction belt 32 has a loosening risk, at the moment, the controller starts the tensioning hydraulic cylinder 36 to drive the tensioning sliding block 37 to move, so that the tensioning wheel 31 is far away from the two correction wheels 29, the correction belt 32 is tensioned to reach a preset tension state, the correction belt 32 is ensured to have enough tension to regularly correct the building blocks, and the correction belt 32 surrounding the two correction wheels 29 can be arranged between the two guide seats 34 according to a preset angle by arranging the two guide seats 34, so that the correction belt 32 is suitable for building blocks with different shapes.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, or communicable with each other, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interactive relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510322465.7A CN119841093A (en) | 2025-03-19 | 2025-03-19 | Manipulator and belt conveying cooperative control system for building block processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510322465.7A CN119841093A (en) | 2025-03-19 | 2025-03-19 | Manipulator and belt conveying cooperative control system for building block processing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119841093A true CN119841093A (en) | 2025-04-18 |
Family
ID=95363327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202510322465.7A Pending CN119841093A (en) | 2025-03-19 | 2025-03-19 | Manipulator and belt conveying cooperative control system for building block processing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119841093A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN121112897A (en) * | 2025-10-14 | 2025-12-12 | 福州筑福天下科技有限公司 | A visual inspection device for forming blocks |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105858187A (en) * | 2015-01-23 | 2016-08-17 | 营口金辰自动化有限公司 | Multi-axis manipulator carrying mechanism |
| CN206235575U (en) * | 2016-12-13 | 2017-06-09 | 东莞市荣旭自动化科技有限公司 | Intelligent wire testing equipment |
| CN111830052A (en) * | 2020-06-01 | 2020-10-27 | 涡阳县沪涡多孔矸石砖有限公司 | Flaw detection system for hollow brick |
| CN212024181U (en) * | 2020-04-29 | 2020-11-27 | 肇庆市佳威塑料五金制品印刷有限公司 | A deviation correction device for processing plastic bags |
| CN215247807U (en) * | 2021-01-25 | 2021-12-21 | 合肥奥斯特自动化科技有限公司 | A material attitude adjustment component of a belt conveying platform |
| CN217289370U (en) * | 2022-01-19 | 2022-08-26 | 天津天宝供应链管理有限公司 | International engineering logistics ship unloading breakage rate detection equipment |
| CN222587522U (en) * | 2024-05-14 | 2025-03-11 | 浙江安昌环保科技有限公司 | A hollow brick processing and dust cleaning device |
-
2025
- 2025-03-19 CN CN202510322465.7A patent/CN119841093A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105858187A (en) * | 2015-01-23 | 2016-08-17 | 营口金辰自动化有限公司 | Multi-axis manipulator carrying mechanism |
| CN206235575U (en) * | 2016-12-13 | 2017-06-09 | 东莞市荣旭自动化科技有限公司 | Intelligent wire testing equipment |
| CN212024181U (en) * | 2020-04-29 | 2020-11-27 | 肇庆市佳威塑料五金制品印刷有限公司 | A deviation correction device for processing plastic bags |
| CN111830052A (en) * | 2020-06-01 | 2020-10-27 | 涡阳县沪涡多孔矸石砖有限公司 | Flaw detection system for hollow brick |
| CN215247807U (en) * | 2021-01-25 | 2021-12-21 | 合肥奥斯特自动化科技有限公司 | A material attitude adjustment component of a belt conveying platform |
| CN217289370U (en) * | 2022-01-19 | 2022-08-26 | 天津天宝供应链管理有限公司 | International engineering logistics ship unloading breakage rate detection equipment |
| CN222587522U (en) * | 2024-05-14 | 2025-03-11 | 浙江安昌环保科技有限公司 | A hollow brick processing and dust cleaning device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN121112897A (en) * | 2025-10-14 | 2025-12-12 | 福州筑福天下科技有限公司 | A visual inspection device for forming blocks |
| CN121112897B (en) * | 2025-10-14 | 2026-04-24 | 福州筑福天下科技有限公司 | A visual inspection device for forming blocks |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111729869B (en) | Machine vision analysis's car power device detecting system | |
| CN206395022U (en) | New detection packing machine | |
| CN115647598A (en) | A working method for automatic marking of battery cover | |
| CN211404197U (en) | Full-automatic sign indicating number inspection adds gasket equipment of magnetizing | |
| CN115452848B (en) | Automatic detection equipment for surface flaws of artificial board | |
| CN217432334U (en) | X-ray detection system | |
| CN119841093A (en) | Manipulator and belt conveying cooperative control system for building block processing | |
| CN111595849A (en) | Defect detecting device | |
| CN217569792U (en) | Fully automatic tire marking inspection and cleaning loading equipment | |
| CN116690371A (en) | Automatic bar grinding production equipment | |
| CN116603763A (en) | Blue film appearance defect detection device of square energy storage battery package | |
| CN113507555B (en) | Computer image recognition device that can nimble multi-angle was adjusted | |
| CN119618576B (en) | Fully automatic optical inspection machine | |
| CN221796185U (en) | An AOI automatic loading and unloading device | |
| CN205890149U (en) | Location and dust collector of material processing system | |
| CN219038848U (en) | Side seam welding check out test set | |
| CN220160598U (en) | OLED module AOI detection equipment | |
| CN218945695U (en) | Visual inspection reversal equipment | |
| CN215768294U (en) | Motor vehicle license plate quality detection equipment | |
| CN118321197A (en) | Motor stator coil outward appearance dew line detection device | |
| CN215730800U (en) | Front-measuring two-in-one burning machine | |
| CN116251768A (en) | A disc-type appearance detection and screening equipment | |
| CN116116760B (en) | A visual inspection reversal device | |
| CN223225228U (en) | A visual blanking machine | |
| CN221694376U (en) | 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 |