CN206842552U - Brickmaking station-service unloads brick, stacking, entrucking integrated robot - Google Patents

Abstract

The utility model discloses an integrated robot for brick unloading, stacking and loading in a brick factory, which comprises a gantry crane guide rail bracket which is arranged above the end of the kiln car guide rail. The brick unloading mechanism, stacking mechanism, and handling mechanism; the described brick unloading mechanism, stacking mechanism, and handling mechanism are respectively arranged on the brick unloading mechanism displacement frame, the stacking mechanism displacement frame and the handling mechanism displacement frame, and then realized in the gantry crane Slide vertically on the rail bracket and rotate by itself. The utility model is a complete set of automatic brick unloading equipment that can realize brick chopping and moving, brick chopping gap elimination and changing the direction of brick placement, so that the product has the characteristics of low price, easy operation and maintenance, high reliability, etc., not only solves the problem of sintered brick factory The problem of difficult recruitment and expensive labor has further reduced the labor intensity of workers in brick-making enterprises, improved the production efficiency of brick-making enterprises, saved economic costs, and enhanced the market competitiveness of brick-making enterprises.

Description

Integrated robot for brick unloading, stacking and loading in brick factory

technical field

The utility model relates to a brick palletizing moving device for a brick factory, in particular to a robot integrating brick unloading, palletizing and vehicle loading.

Background technique

With the continuous development and improvement of society, especially the continuous acceleration of urbanization, whether it is from traditional red bricks to existing environmentally friendly unburned bricks, to ceramic bricks, etc., most of the traditional methods are artificial. The fired bricks are transported out of the brick kiln. Not only is the handling efficiency low, but the high temperature brick kiln also causes great harm to the laborers. In order to meet the needs of social development, the existing bricks are no longer fired. The traditional brick kiln is fired after the kiln door is closed, but the brick is placed on the kiln car 2, and the kiln car 2 is placed on the kiln car guide rail 1 laid in the brick kiln and extending to the outside of the brick kiln at both ends; For the high-temperature bricks that have just come out of the brick kiln, either the bricks are unloaded manually, or the existing manipulators are used to unload the cooked bricks; then the cooked bricks are stacked manually, and finally the transport vehicles are loaded as needed.

The above-mentioned traditional method not only has a low degree of mechanization, but also manual transfer not only increases the input of labor, but also reduces the efficiency of block transfer, and the artificial damage rate of the brick body is greatly increased, and the brick body will be loaded again. Increases the damage rate of bricks.

Therefore, it is already a problem worth studying to provide a device that can greatly improve the transfer and loading and unloading efficiency of bricks and reduce the damage rate.

Contents of the invention

In order to overcome the deficiencies in the above-mentioned prior art, the utility model provides a brick handling robot with a simple structure, integrating brick unloading, palletizing and loading into one, and greatly improving the degree of automation.

The purpose of this utility model is achieved in that:

The brick unloading, stacking and loading integrated robot used in the brick factory includes a gantry crane guide rail support with one end arranged above the end of the kiln car guide rail. The gantry crane guide rail support is sequentially provided with a brick unloading mechanism controlled by a PLC controller. 8. Stacking mechanism 10, handling mechanism 12; described brick unloading mechanism 8, stacking mechanism 10 and handling mechanism 12 are arranged on brick unloading mechanism displacement frame 7, stacking mechanism displacement frame 9 and handling mechanism displacement frame 11 respectively , and then realize longitudinal sliding and self-rotation on the gantry crane guide rail bracket;

Described gantry crane guide rail bracket comprises two groups of vertically arranged leg square steel 5, and the lower end of leg square steel 5 is welded with the base 4 that is fixed with the ground by fastening bolt; fixed; the horizontal guide rail 6 is provided with a guide rail groove a, and a guide rail pulley or a displacement wire rope is arranged in the guide rail groove a;

Described brick unloading mechanism 8 comprises the drive control device that is arranged on the brick unloading mechanism displacement frame 7, and the upper end of the brick unloading mechanism telescopic shaft 8-1 that is connected with the drive control device, the threading of the brick unloading mechanism telescopic shaft 8-1 The suspension beam holder 8-2 is connected with the limit device 8-8; the suspension beam holder 8-2 is hinged with the left and right suspension beams 8-3, and the left and right suspension beams 8-3 are connected with the limit device 8-8 at the same time. Hinged, and the opening and closing is controlled by the hanging beam retracting rope 8-4 located at the hinge; the upper part of the limiting device 8-8 is connected to the deck 8-7, and the lower end is connected with the left and right grasping arms 8-5. One end is hinged, and at the same time, a limit block b located below the hinge of the left and right grab arms 8-5 is provided at the hinge of the left and right grab arms 8-5; the inside of the lower end of the left and right grab arms 8-5 is respectively provided with clip Holder 8-6;

The drive control device is provided with a hoist at the same time, and the hoist is connected to the drive rope of the brick unloading mechanism arranged in the guide rail groove a, and the brick unloading mechanism displacement frame 7 is provided along the guide rail groove a by retracting and releasing the drive rope of the brick unloading mechanism. The horizontal direction movement of the horizontal guide rail 6;

The palletizing mechanism 10 includes a lifting control mechanism 10-1 arranged above the palletizing mechanism displacement frame 9, and lifting auxiliary cylinders 10-2 are arranged on both sides of the lifting control mechanism 10-1; the lifting control mechanism 10- 1 is provided with a lifting cylinder 10-3; the two ends of the lifting cylinder 10-3 and the lifting auxiliary cylinder 10-2 are respectively fixed with the rotating bracket 10-4, and the lower part of the rotating bracket 10-4 is equipped with a rotating cylinder controlled by PLC. Drive 10-6; the lower part of the rotating drive 10-6 is connected to the clamping arm to connect to the fixed plate 10-5, and the lower end of the clamping arm connected to the fixed plate 10-5 is provided with a clamping arm 107;

The structure of described conveying mechanism 12 is the same as the structure of brick unloading mechanism 8, and is controlled by PLC controller simultaneously, and its distance from the horizontal guide rail 6 that conveying mechanism displacement frame 11 place end is near is provided with brick body carrier 13 below.

Positive and beneficial effects: the utility model can realize the complete set of automatic brick unloading equipment for brick chopping and moving, brick chopping gap elimination and changing the direction of brick placement, so that the product has the characteristics of low price, easy operation and maintenance, high reliability, etc., through this The implementation of the project not only solves the problem of difficult recruitment and expensive labor in sintered brick factories, but also further reduces the labor intensity of workers in brick-making enterprises, improves the production efficiency of brick-making enterprises, saves economic costs, and enhances the productivity of brick-making enterprises. Market Competitiveness.

Description of drawings

Fig. 1 is a structural schematic diagram 1 of the present invention;

Fig. 2 is a structural schematic diagram II of the present invention;

Fig. 3 is a structural schematic diagram three of the present invention;

Fig. 4 is the structural representation of stacking mechanism of the present invention;

Fig. 5 is the structural representation one of unloading brick mechanism;

Fig. 6 is the structural representation two of unloading brick mechanism;

Fig. 7 is the structural representation three of unloading brick mechanism;

In the figure: kiln car guide rail 1, kiln car 2, brick stack 3, base 4, outrigger square steel 5, horizontal guide rail 6, brick unloading mechanism displacement frame 7, brick unloading mechanism 8, brick unloading mechanism telescopic shaft 8-1 , Hanging beam deck 8-2, left and right hanging beam 8-3, hanging beam retractable rope 8-4, left and right grabbing arm 8-5, clamping plate 8-6, deck 8-7, limit device 8 -8. Palletizing mechanism displacement frame 9, palletizing mechanism 10, lifting control mechanism 10-1, lifting auxiliary cylinder 10-2, lifting cylinder 10-3, rotating bracket 10-4, clamping arm connection fixed plate 10-5 , Rotary drive 10-6, clamping arm 107, transport mechanism displacement frame 11, transport mechanism 12, brick body transport vehicle 13, automatic lifting platform 14, guide rail groove a, limit block b.

detailed description

Below in conjunction with accompanying drawing, the utility model is described further:

As shown in Figure 1, Figure 2, Figure 4, and Figure 4, the brick unloading, stacking, and loading integrated robot used in the brick factory includes a gantry crane guide rail bracket that is arranged above the end of the kiln car guide rail. A brick unloading mechanism 8, a stacking mechanism 10, and a handling mechanism 12 controlled by a PLC controller are sequentially arranged on the guide rail bracket; 7. On the displacement frame 9 of the palletizing mechanism and the displacement frame 11 of the conveying mechanism, and then realize longitudinal sliding and self-rotation on the guide rail bracket of the gantry crane;

Described gantry crane guide rail bracket comprises two groups of vertically arranged leg square steel 5, and the lower end of leg square steel 5 is welded with the base 4 that is fixed with the ground by fastening bolt; fixed; the horizontal guide rail 6 is provided with a guide rail groove a, and a guide rail pulley or a displacement wire rope is arranged in the guide rail groove a;

As shown in Fig. 5, Fig. 6, and Fig. 7, the described brick unloading mechanism 8 is a gravity automatic opening and closing type brick moving device, including a drive control device arranged on the displacement frame 7 of the brick unloading mechanism, and a drive control device connected to the drive control device. The upper end of the brick unloading mechanism telescopic shaft 8-1, the brick unloading mechanism telescopic shaft 8-1 passes through the hanging beam deck 8-2 and is connected with the limit device 8-8; the hanging beam deck 8-2 is connected with the left and right The hanging beam 8-3 is hinged, and the left and right hanging beams 8-3 are hinged with the limit device 8-8 at the same time, and the opening and closing are controlled by the lifting beam retracting rope 8-4 located at the hinge; the limit device 8 The top of -8 is connected to the deck 8-7, and the lower end is hinged with one end of the left and right grasping arms 8-5, and simultaneously the left and right grasping arms 8-5 hinges are provided with a limiter located below the left and right grasping arms 8-5 hinges. Block b; the inner sides of the lower ends of the left and right grasping arms 8-5 are respectively provided with clamping plates 8-6;

The drive control device is provided with a hoist at the same time, and the hoist is connected to the drive rope of the brick unloading mechanism arranged in the guide rail groove a, and the brick unloading mechanism displacement frame 7 is provided along the guide rail groove a by retracting and releasing the drive rope of the brick unloading mechanism. The horizontal direction movement of the horizontal guide rail 6;

The palletizing mechanism 10 includes a lifting control mechanism 10-1 arranged above the palletizing mechanism displacement frame 9, and lifting auxiliary cylinders 10-2 are arranged on both sides of the lifting control mechanism 10-1; the lifting control mechanism 10- 1 is provided with a lifting cylinder 10-3; the two ends of the lifting cylinder 10-3 and the lifting auxiliary cylinder 10-2 are respectively fixed with the rotating bracket 10-4, and the lower part of the rotating bracket 10-4 is equipped with a rotating cylinder controlled by PLC. Drive 10-6; the lower part of the rotating drive 10-6 is connected to the clamping arm to connect to the fixed plate 10-5, and the lower end of the clamping arm connected to the fixed plate 10-5 is provided with a clamping arm 107;

The structure of described conveying mechanism 12 is the same as the structure of brick unloading mechanism 8, and is controlled by PLC controller simultaneously, and its distance from the horizontal guide rail 6 that conveying mechanism displacement frame 11 place end is near is provided with brick body carrier 13 below.

The design of the control system of the utility model is mainly composed of four parts: machinery, pneumatics, control and sensors, so that it can realize the movement, accurate positioning and reliable clamping of the moving parts of the handling robot.

The brick unloading mechanism 8 is a gravity automatic opening and closing brick moving device, which can realize the cycle process of automatic clamping and releasing by relying on its own gravity, and can realize grabbing and lifting undeconstructed brick stacks 3 from the kiln car, And transfer to the function on the automatic lifting workbench 14;

The stacking mechanism 10 can deconstruct and re-stack the brick stacks transferred by the brick unloading mechanism 8, realize the layered grabbing of irregular brick stacks and eliminate the gap between bricks, and re-stack to On the transfer platform; the transfer mechanism 12 can transfer the brick stacks re-stacked on the transfer platform to the brick carrier 13;

The handling robot of the utility model belongs to the point-position type, and only needs to consider the movement target point of the end effector, and does not need to care about its movement track. The handling robot system is composed of multiple movements, and each movement is a mechatronics system that moves under the coordination of the motion controller. The design of the motion control system of this project is mainly composed of four parts: machinery, pneumatics, control, and sensors. The mechanical part is mainly the mechanical transmission design and mechanical structure design of the robot; the pneumatic part is mainly the shaping device and the end effector manipulator of the robot. The action design is composed of an electromagnetic control valve and a cylinder; the control part is mainly composed of a motion controller, a motor driver, a PLC controller, etc.; the sensor is mainly divided into three parts: one is installed on the positioning guide column, and the other is to measure and detect Whether the movement of the manipulator is in place, you can use a photoelectric sensor: the second is at the limit position of each motion axis to control the maximum range of motion of the robot; the third is to use a closed-loop or semi-closed-loop motion system, you need to install a position detection sensor (such as speed measuring power generation) machine, photoelectric encoder) to detect the position of the motion axis and feed back the position information to the motion controller.

The utility model can make the clamping plate of the automatic hoisting equipment automatically open when the brick unloading mechanism is lowered to the parking position, and the clamping plate can be automatically tightened when the brick is lifted up, and the tightening force of the clamping plate can ensure that the bricks are cut in the hoisting position. It will not fall off or loosen during the moving process.

The utility model first designs the hoisting mechanism for automatic unloading of bricks, so that the bricks can be transported to the automatic lifting workbench, realizing the transfer of the bricks from the kiln car to the automatic lifting worktable, and the lifting workbench realizes the automatic lifting control of the bricks . Then there is the overall design of the handling robot, so that the manipulator can move up and down, vertically and rotate. The up and down movement and rotation are driven by the cylinder as the power source, and the vertical movement is driven by the meshing of the motor and the rack. PLC, limit switch, The proximity sensor realizes the motion control of the handling robot, which eliminates the gap between the bricks and bricks and allows the bricks to be regularly arranged in one direction on the automatic lifting table on the other side. Finally, use the lifting mechanism for automatic unloading of bricks to hoist the neatly stacked and seamless bricks to the transportation tool.

The complete set of equipment products for brick chopping, stacking and handling and the preparation process and production technology data suitable for large-scale industrial production designed by the utility model enable the developed complete set of equipment products to be industrialized; compared with the current economic expenditure of brick-making enterprises, the price is low and efficient. The new type of complete equipment for brick chopping, stacking and handling can save brick-making enterprises 60% of labor costs and increase production efficiency by 50%.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.

Claims (6)

1. brickmaking station-service unloads brick, stacking, entrucking integrated robot, it is characterised in that：Kiln car guide rail end is arranged on including one end Straddle truck rail brackets above portion, it is disposed with described straddle truck rail brackets and is unloaded brick by PLC control Mechanism, stacking mechanism, carrying mechanism；Described de-hackers structure, stacking mechanism and carrying mechanism is separately positioned on de-hackers structure On displacement frame, stacking mechanism displacement frame and carrying mechanism displacement frame, so realize on straddle truck rail brackets straight skidding and Itself rotation.

2. brickmaking station-service according to claim 1 unloads brick, stacking, entrucking integrated robot, it is characterised in that：Described Straddle truck rail brackets includes two groups of longitudinally disposed supporting leg square steel, and the lower end of supporting leg square steel is welded with ground by fastening spiral shell The base that bolt is fixed；The upper end of supporting leg square steel connects fixation with horizontal guide rail；Guide groove, guide rail are provided with described horizontal guide rail Guide rollerses or displacement steel wire rope are provided with groove.

3. brickmaking station-service according to claim 1 unloads brick, stacking, entrucking integrated robot, it is characterised in that：Described De-hackers structure includes being arranged on drive dynamic control device on de-hackers structure displacement frame, and what is be connected with drive dynamic control device unload brick The upper end of mechanism telescopic shaft, de-hackers structure telescopic shaft are connected through hanging beam deck with stopping means；Described hanging beam deck with Left and right hanging beam is hinged, and left and right hanging beam is hinged with stopping means simultaneously, and folding folding and unfolding passes through the hanging beam withdrawing rope positioned at hinged place Control；The top connection deck of described stopping means, lower end and one end of left and right crawl arm are hinged, while in left and right crawl arm Hinged place is provided with the limited block below the crawl arm hinged place of left and right；The lower end inside of described left and right crawl arm is set respectively It is equipped with grip block.

4. brickmaking station-service according to claim 3 unloads brick, stacking, entrucking integrated robot, it is characterised in that：Described Hoist engine is provided with drive dynamic control device simultaneously, hoist engine connection is arranged on the de-hackers structure driving rope in guide groove, passed through De-hackers structure drives the folding and unfolding restricted to realize that horizontal direction of the de-hackers structure displacement frame along the horizontal guide rail for being provided with guide groove is moved It is dynamic.

5. brickmaking station-service according to claim 1 unloads brick, stacking, entrucking integrated robot, it is characterised in that：Described Stacking mechanism includes being arranged on the lifting controlling organization above stacking mechanism displacement frame, and lifting controlling organization both sides are provided with lifting Auxiliary cylinder；The lower section of described lifting controlling organization is provided with lift cylinder；Lift cylinder and lifting auxiliary cylinder Both ends are fixed with runing rest respectively, and the rotation driving controlled by PLC is provided with below runing rest；The lower section of rotation driving Connection clamping limb is connected plate, and the be connected lower end of plate of clamping limb is provided with clamping limb.

6. brickmaking station-service according to claim 1 unloads brick, stacking, entrucking integrated robot, it is characterised in that：Described The structure of carrying mechanism controls as the structure of de-hackers structure, while by PLC, and it is apart from carrying mechanism displacement frame institute Holding brick body carrier is provided with below nearer horizontal guide rail.