CN210025872U - Automatic stone typesetting system - Google Patents
Automatic stone typesetting system Download PDFInfo
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- CN210025872U CN210025872U CN201920176891.4U CN201920176891U CN210025872U CN 210025872 U CN210025872 U CN 210025872U CN 201920176891 U CN201920176891 U CN 201920176891U CN 210025872 U CN210025872 U CN 210025872U
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Abstract
The utility model provides an automatic composing system of stone material, include the cart along longitudinal movement, the top of cart is equipped with the crossbeam along horizontal extension, be equipped with the dolly on the crossbeam, the dolly is along crossbeam lateral shifting, install the lift truck along vertical movement on the crossbeam, the bottom of lift truck is connected with the sucking disc frame through horizontal rotation part and vertical upset part, a plurality of vacuum chuck that are used for adsorbing the stone material are installed to the bottom of sucking disc frame, through the control cart, the removal of dolly and lift truck, drive the removal of sucking disc frame, make vacuum chuck adsorb the stone material and carry the composing, through controlling horizontal rotation part or vertical upset part, it is rotatory to take the stone material with the control sucking disc frame. The utility model discloses an automation of stone material composing has practiced thrift expensive hand labor cost, and can adjust the position of stone material at any time, selects the best route of placing the stone material automatically, has improved work efficiency greatly, and operating personnel's safety has also obtained the guarantee.
Description
Technical Field
The utility model relates to a stone material processing technology field especially relates to an automatic typesetting system of stone material.
Background
The stone material as a high-grade building decoration material is widely applied to indoor and outdoor decoration design, curtain wall decoration and public facility construction. The stone processing industry is changing day by day, and high requirements are put forward on the high efficiency of stone processing technology and process flow. In order to avoid the environmental pollution caused by dust generated by secondary processing of the stone in the engineering construction, the typesetting is indispensable in the stone process flow, and high requirements are also put forward on the technology and efficiency of the stone typesetting.
The existing stone typesetting methods mainly comprise two methods, one is simple manual carrying typesetting, the other is manual operation machine, and the stone is hung by using a crown block and a rope for typesetting or manually carried back and forth by a forklift to finish typesetting. Both the two typesetting modes consume a large amount of manpower and material resources, the typesetting efficiency is low, and potential safety hazards are caused to operators.
SUMMERY OF THE UTILITY MODEL
Problem to prior art existence, the utility model provides an improve stone material composing efficiency, save the cost of labor, the automatic system of composing of stone material of guarantee operating personnel's security.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an automatic composing system of stone material, includes the cart along longitudinal movement, the top of cart is equipped with the crossbeam along horizontal extension, be equipped with the dolly on the crossbeam, the dolly is followed crossbeam lateral movement, install the lift truck along vertical movement on the crossbeam, the bottom of lift truck is connected with the sucking disc frame through horizontal rotation part and vertical upset part, a plurality of vacuum chuck that are used for adsorbing the stone material are installed to the bottom of sucking disc frame, through control the cart the dolly reaches the removal of lift truck drives the removal of sucking disc frame makes vacuum chuck adsorbs the stone material and carries the composing, through control horizontal rotation part or vertical upset part, in order to control the sucking disc frame is taking the stone material is rotatory.
Furthermore, a scanner and a laser sensor are arranged at the edge of the suction disc frame, the scanner is used for scanning an identification code on the stone material and identifying the information of the stone material, and the laser sensor is used for detecting the outline and the position of the stone material.
Further, the vacuum chuck is connected to the vacuum station, proximity switches are arranged around the chuck frame, when the chuck frame moves to the stone position, the proximity switches send signals, and the vacuum station starts to vacuumize until the set vacuum degree is reached, so that stone adsorption is completed.
Further, the vacuum chuck is connected to an electromagnetic valve, and when the chuck frame carries the stone to move to a destination position, the electromagnetic valve is opened to place the stone.
Further, a control cabinet is installed at the bottom beam of the cart, a motion controller, a power supply, an industrial personal computer and a touch display are arranged in the control cabinet, the motion controller is used for controlling the cart, the trolley and the lifting vehicle to move and the sucker frame to rotate, and the touch display is used for operating and sending out an instruction.
Furthermore, the cart or/and the trolley is provided with a servo motor and a speed reducer for driving the cart or/and the trolley to move, and travel switches, a buffer and a limiting block are arranged on two sides of the cart or/and the trolley for limiting the travel of the cart or/and the trolley.
Further, the side of cart is equipped with the material frame that is used for placing the stone material, the tip of material frame is installed ground plug positioning mechanism and the stone material and is placed the gib block, ground plug positioning mechanism is used for right the material frame is fixed a position, the stone material is placed the gib block and is used for leading just the position of placing of stone material.
Furthermore, the vacuum chucks are arranged into a plurality of groups capable of working independently, and one or more groups of the vacuum chucks are controlled to adsorb the stone according to the size of the stone.
The utility model has the advantages that:
through the removal of control cart, dolly and lift truck, drive the removal of sucking disc frame, make vacuum chuck adsorb the stone material and carry the composing, through control rotary part to the required angle or position are taken the stone material rotation to control sucking disc frame, the utility model discloses an automation of stone material composing has practiced thrift expensive hand labor cost, and can adjust the position of stone material at any time, selects the best route of placing the stone material automatically, has improved work efficiency greatly, and operating personnel's safety has also obtained the guarantee.
Drawings
FIG. 1 is a front view of the automatic stone typesetting system of the present invention;
FIG. 2 is a top view of the automatic stone typesetting system of the present invention;
FIG. 3 is a schematic structural view of a cart in the automatic stone typesetting system of the present invention;
FIG. 4 is a schematic structural view of a cart in the automatic stone layout system of the present invention;
FIG. 5 is a schematic structural view of a lift truck in the automatic stone layout system of the present invention;
FIG. 6 is a schematic structural view of a horizontal rotation component in the automatic stone material composition system of the present invention;
fig. 7 is a side view of the suction cup holder in the automatic stone material composing system of the present invention;
fig. 8 is a top view of the suction cup holder in the automatic stone material composition system of the present invention;
fig. 9 is a schematic diagram of the grouping of the vacuum suction cups on the suction cup holder according to the embodiment of the present invention;
in the figure, 1-cart, 2-beam, 3-longitudinal guide rail, 4-first servo motor, 5-first speed reducer, 6-first travel switch, 7-first buffer, 8-encoder, 9-trolley, 10-transverse guide rail, 11-second travel switch, 12-limiting block, 13-lift truck, 14-vertical guide rail, 15-second servo motor, 16-second speed reducer, 17-second buffer, 18-horizontal rotating component, 19-third servo motor, 20-third speed reducer, 21-first proximity switch, 22-vertical turnover component, 23-suction cup frame, 24-second proximity switch, 25-scanner, 26-laser sensor, 27-pressure sensor, 28-electromagnetic valve, 29-vacuum suction cup, 30-control cabinet, 31-material frame, 32-stone placing guide strip.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
As fig. 1 and 8, the utility model provides an automatic composing system of stone material, include cart 1 along longitudinal movement, the top of cart 1 is equipped with along horizontal extension's crossbeam 2, is equipped with dolly 9 on crossbeam 2, and dolly 9 is along 2 lateral shifting of crossbeam, installs lift truck 13 along vertical shifting on crossbeam 2, and lift truck 13's bottom is connected with sucking disc frame 23 through horizontal rotation part 18 and vertical upset part 22, and a plurality of vacuum chuck 29 that are used for adsorbing the stone material are installed to sucking disc frame 23's bottom.
Referring to fig. 1 to 3, the cart 1 is an X-axis gantry cart, the bottom of the cart 1 is connected to a longitudinal rail 3 (X-axis) on the ground, and moves along the longitudinal rail 3, and in this embodiment, the moving speed of the cart 1 is 0 to 0.8 m/s. A first servo motor 4 and a first speed reducer 5 are installed at the lower end of the cart 1 and used for driving the cart 1 to move. The tail ends of two sides of the cart 1 are respectively provided with a first travel switch 6, a first buffer 7 and a limiting block, which are used for controlling the travel of the cart 1 in the longitudinal direction (i.e. the X axis), and in this embodiment, the travel of the cart 1 in the longitudinal direction is 88 m. The driven wheels of the cart 1 are respectively provided with an encoder 8 for controlling the position and the speed of the cart 1 on the X axis in real time, and the high-precision walking distance control can be realized. Preferably, the end parts of the wheels of the cart 1 are provided with rail cleaning brushes for cleaning foreign matters on the longitudinal guide rails 3.
As shown in fig. 2 and 4, the cross member 2 of the cart 1 is provided with a cross rail 10, and the cart 9 is mounted on the cross rail 10 and moves along the cross rail. The trolley 9 is provided with a servo motor and a speed reducer for driving the trolley 9 to move. The tail ends of the two sides of the trolley are provided with a second travel switch 11, a buffer and a limiting block 12 so as to limit the travel of the trolley 9 in the transverse direction (namely the Y axis). In this embodiment, the speed of the cart 9 on the Y axis is 0-0.8 m/s, and the travel is 6 m.
As shown in fig. 1 and 5, the lift truck 13 moves along the vertical direction (i.e., the Z axis), the lift truck 13 is connected to the cross beam 2 of the cart 1, wherein the lift truck 13 is provided with a second servo motor 15, a second speed reducer 16 and a second buffer 17, and the second servo motor 15 is a power-off brake servo motor to prevent the lift truck from suddenly powering off and descending to damage the plates. The lift car 13 is provided with a vertical guide rail 14, and the lift car 13 carries the suction disc frame 23 to move along the vertical guide rail 14. In this embodiment, the lifting speed of the suction cup holder 23 is 0-0.2 m/s, and the lifting stroke is 1 m.
As shown in fig. 1, 5, 6 and 8, the suction cup holder 23 is connected to the lift car 13 via the horizontal rotation member 18 and the vertical turnover member 22. The horizontal rotation member 18 is provided with a third servomotor 19 and a third reduction gear 20 for driving the horizontal rotation member 18 to rotate in a horizontal plane (in the a-axis plane), and in the present embodiment, the horizontal rotation speed of the suction cup holder 23 is 20 °/s, and the maximum rotation angle is 180 °. The horizontal rotation part 18 is provided with a limit block to control the rotation stroke of the horizontal rotation part, and the horizontal rotation part 18 is provided with a first proximity switch 21 to send signals through the first proximity switch 21. The vertical turning part 22 is arranged at the bottom of the horizontal rotating part 18, and the vertical turning part 22 rotates in a vertical plane (B-axis plane), that is, the suction cup frame 23 is controlled to rotate around the cross beam 2, in this embodiment, the rotation speed of the suction cup frame 23 around the cross beam 2 (Y-axis) is 20 °/s, and the maximum rotation angle is 85 °.
Referring to fig. 1, 7 and 8, the suction cup holder 23 is connected to the lift car 13, and a plurality of vacuum suction cups 29 are provided at the bottom of the suction cup holder 23. The edge of suction disc frame 23 is equipped with scanner 25 and laser sensor 26, and scanner 25 is used for scanning the identification code on the stone material, for example bar code or two-dimensional code etc. to the information of discernment stone material, including information such as stone material serial number, model, laser sensor 26 is used for detecting the stone material profile (be stone material overall dimension size) and the position of locating, realizes accurately snatching. The vacuum chuck 29 is connected to the vacuum station, the second proximity switch 24 is arranged around the chuck frame 23, when the chuck frame 23 moves to the stone position, the second proximity switch 24 sends a signal, and the vacuum station starts to vacuumize the vacuum chuck 29 until the set vacuum degree is reached, so that the stone adsorption is completed. The suction cup holder 23 is further provided with a pressure sensor 27, and whether the vacuum degree reaches a required value is detected through the pressure sensor 27. The vacuum chuck 29 is further connected with an electromagnetic valve 28, and when the chuck frame 23 moves to a destination position with the stone, the electromagnetic valve 28 is opened to place the stone.
Referring to fig. 8 and 9, the vacuum suction cups 29 are provided in plural groups capable of working independently, and one or more groups of vacuum suction cups 29 are controlled to suck the stone according to the size of the stone. In this embodiment, there are 9 vacuum suction cups 29, which are divided into 5 groups, each group is controlled individually, wherein a, b, c are a group, d, e are a group, f is a group, g, h are a group, i is a group, and when the stone materials with different sizes are sucked, the required suction cup group is automatically adopted for sucking.
As shown in fig. 2, a material rack 31 for placing stone is arranged beside the cart 1, a ground plugging and positioning mechanism and a stone placing guide strip 32 are mounted at the end of the material rack 31, the ground plugging and positioning mechanism is used for positioning the material rack 31, and the stone placing guide strip 32 is used for guiding the placing position of the stone. In this embodiment, the ground inserting and pulling positioning mechanism is a female base installed on the ground, the material shelf 31 is provided with matched sub-bases, the female base on the ground is arranged every 5m, the sub-bases are installed on the side surface of the material shelf 31, and when the starting point of the typesetting area is changed, the sub-bases are inserted into the female base in the corresponding area to realize positioning. The stone placing guide strip 32 enables the stone placing position to be more accurate, and reduces the scanning time of the scanner 25.
As shown in fig. 3, a control cabinet 30 is installed at a bottom beam of the cart 1, a motion controller, a power supply, an industrial personal computer and a touch display are arranged in the control cabinet 30, the motion controller is used for controlling the movement of the cart 1, the trolley 9 and the lift truck 13 and the rotation of the suction cup frame 23, and the touch display is used for operating and sending an instruction. The front of the control cabinet 30 is a collapse table, and an operator stands on the collapse table to control and operate the collapse table and moves along with the cart 1.
The utility model also provides a method based on above-mentioned automatic typesetting system of stone material, include:
inputting a typesetting drawing into a computer system, and calibrating the starting position of typesetting;
automatically or manually controlling the cart 1, the trolley 9 and the lift truck 13 to move so that the suction disc frame 23 reaches a designated position;
the suction disc frame 23 automatically rotates to a position parallel to the stone, and after the stone is detected and identified, the vacuum suction disc 29 is controlled to adsorb the stone;
the suction disc frame 23 is automatically or manually controlled to carry the stone to the material frame 31 at the target position, the stone is placed, and one-time carrying and typesetting are completed.
After the typesetting is finished, the sucking disc frame 23 adsorbs the stones to be placed on the storage rack for recycling according to the reverse sequence of the original serial numbers of the stones.
In the automatic stone typesetting method, the typesetting operation process can be manually controlled by an operator through the control cabinet 30 or can be automatically typeset by one key. Specifically, the method comprises the following steps: inputting the layout CAD drawing into the computer system of the control cabinet 30, analyzing the layout drawing by using the layout carrying software, automatically calibrating the layout position and the serial number of each stone, and enabling the calibration position to correspond to the real coordinate one by one. The operator clicks the zero button on the operation display and the components return to the zero position. The operation display is directly clicked to carry, rotate, change and other operation instructions. The control system responds to the operation instruction, performs corresponding program calculation, automatically outputs the optimal movement and rotation action data of each axis, and controls the movement of each axis by using signals. Through the removal of control cart 1, dolly 9 and crane 13, make the sucking disc frame 23 remove before the supporter, control sucking disc frame 23 and rotate to the angle the same with the stone material, the bar code on the automatic scanning stone material, type in the information of panel, approach and attached stone material again, second proximity switch 24 output signal makes the vacuum station evacuation produce the negative pressure, and vacuum chuck 29 adsorbs the stone material. The control system calculates the distance that each shaft needs to move, and finally the suction cup frame 23 moves to the required position and descends, the negative pressure is released, and the stone is separated from the vacuum suction cup 29.
When an operator clicks a 'carrying' button, the serial number area of the stone to be carried on the drawing is selected, then the cart 1, the trolley 9 and the lifting frame 13 automatically move along the X, Y, Z shaft respectively, the suction cup frame 23 automatically rotates to the same angle with the material frame 31, the laser sensor 26 detects the distance of the stone, the scanner 25 automatically scans bar codes to confirm the information of the stone, then the vacuum suction cup 29 attaches the stone, after the second proximity switch 24 outputs a signal, the vacuum station extracts vacuum, the required vacuum degree is reached (the negative pressure detection is finished), and the stone is automatically adsorbed. And calculating an optimal path through a system algorithm, automatically reaching a target position, descending, opening the electromagnetic valve 28, changing the negative air pressure into zero air pressure, placing the stone and finishing the carrying operation. Then, the suction cup frame 23 can automatically carry and typeset only by clicking the number area of the remaining boards.
Click the serial number region at every turn, computer system can the automatic recording stone material place the position, and when follow-up needs collected the stone material and put back the supporter, only need the main points to click "retrieve" order, the sucking disc frame 23 adsorbs the stone material according to the original order of numbering the reverse of stone material automatically and puts on the supporter, really realizes "one key reduction".
If the defect of the stone is found, when a new stone needs to be replaced, the replacing key is clicked, the drawing number area needing to be replaced is clicked, the suction disc frame 23 automatically adsorbs the stone to be placed on the waste material frame, and the new stone is adsorbed from the material frame to be placed at the original position.
If the stone is required to be horizontally rotated by 180 degrees due to the reasons of stone texture, color difference and the like, the suction cup frame 23 is only required to double click the drawing number area of the typesetting drawing on the screen, the stone is automatically adsorbed by the suction cup frame 23, the lifting vehicle 13 ascends by 0.2m, the horizontal rotating component 18 is horizontally rotated by 180 degrees, and then the stone is put back to the original position to finish the horizontal rotation of the stone.
If need exchange the position to stone material 1 and 2, only need select on the screen and need change stone material serial number 1, drag serial number 1 to the position of serial number 2, realized serial number automatic switching on the drawing, the automatic stone material that adsorbs serial number 1 of suction disc frame 23 is put on the spacious composing area of temporary (the system can record the composing area that has used, the region that does not use is as the temporary placement area), adsorb the stone material of serial number 2 again and put the composing position of original serial number 1, place the composing position of original serial number 2 to the stone material of serial number 1 at last, realized the position interchange between the stone material.
When the automatic stone typesetting system and the automatic stone typesetting method are used, a cart 1 travels on a longitudinal guide rail 3, a trolley 9 travels on a cross beam 2, a suction disc frame 23 ascends and descends along a vertical guide rail 14, meanwhile, the suction disc frame 23 can rotate on a horizontal plane and turn over on a vertical plane, when the suction disc frame 23 is controlled to reach a working position, a laser sensor 26 on the suction disc frame 23 detects the distance of stone and the boundary of stone, the grouping of vacuum suction discs 29 is automatically determined, a scanner 25 on the suction disc frame 23 scans identification codes on the stone and identifies stone information, when the vacuum suction discs 29 are attached to the stone, a second proximity switch 24 outputs signals, a vacuum station vacuumizes, when the required vacuum degree is reached, the vacuum suction discs 29 automatically adsorb the stone, and after a signal is sent by a pressure sensor 27, the vacuum station stops working. The most probable path is calculated by a system algorithm in the control cabinet 30, the suction cup frame 23 moves to a target position with the stone, the electromagnetic valve 28 is opened, the vacuum suction cup 29 becomes zero air pressure, the stone is placed, one-time conveying operation is completed, and the suction cup frame 23 returns to an initial position to prepare for next conveying. Therefore, the carrying and typesetting of the stone can be completed through the control interface of the control cabinet 30, the operation is convenient and fast, the automation operation is realized, the work efficiency is improved, and the labor cost is also reduced. An operator stands on the control cabinet to operate, only the operation display of the control cabinet needs to be operated, the operation is simple, and the safety is guaranteed.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (8)
1. An automatic stone typesetting system is characterized by comprising: along longitudinal movement's cart, the top of cart is equipped with along the crossbeam of horizontal extension, be equipped with the dolly on the crossbeam, the dolly is followed crossbeam lateral shifting, install the lift truck along vertical removal on the crossbeam, the bottom of lift truck is connected with the sucking disc frame through horizontal rotary part and vertical upset part, a plurality of vacuum chuck that are used for adsorbing the stone material are installed to the bottom of sucking disc frame, through control the cart the dolly reaches the removal of lift truck drives the removal of sucking disc frame makes vacuum chuck adsorbs the stone material and carries the typesetting, through control horizontal rotary part or vertical upset part, in order to control the sucking disc frame is taking the stone material is rotatory.
2. The automatic stone typesetting system as claimed in claim 1, wherein: the edge of the suction disc frame is provided with a scanner and a laser sensor, the scanner is used for scanning an identification code on the stone and identifying the information of the stone, and the laser sensor is used for detecting the outline and the position of the stone.
3. The automatic stone typesetting system as claimed in claim 1, wherein: the vacuum chuck is connected to the vacuum station, proximity switches are arranged on the periphery of the chuck frame, when the chuck frame moves to the stone position, the proximity switches send signals, and the vacuum station starts to vacuumize until the set vacuum degree is reached, so that stone adsorption is completed.
4. The automatic stone typesetting system as claimed in claim 1, wherein: the vacuum chuck is connected to an electromagnetic valve, and when the chuck frame carries the stone to move to a destination position, the electromagnetic valve is opened to place the stone.
5. The automatic stone typesetting system as claimed in claim 1, wherein: the control cabinet is installed at the bottom beam of the cart, a motion controller, a power supply, an industrial personal computer and a touch display are arranged in the control cabinet, the motion controller is used for controlling the cart, the trolley and the lifting vehicle to move and the suction disc frame to rotate, and the touch display is used for operating and sending an instruction.
6. The automatic stone typesetting system as claimed in claim 1, wherein: the large vehicle or/and the small vehicle is/are provided with a servo motor and a speed reducer and used for driving the large vehicle or/and the small vehicle to move, and travel switches, buffers and limiting blocks are arranged on two sides of the large vehicle or/and the small vehicle and used for limiting the travel of the large vehicle or/and the small vehicle.
7. The automatic stone typesetting system as claimed in claim 1, wherein: the side of cart is equipped with the material frame that is used for placing the stone material, the tip of material frame is installed ground plug positioning mechanism and stone material and is placed the gib block, ground plug positioning mechanism is used for right the material frame is fixed a position, the stone material is placed the gib block and is used for leading just the position of placing of stone material.
8. The automatic stone typesetting system as claimed in claim 1, wherein: the vacuum suction cups are arranged into a plurality of groups capable of working independently, and one or more groups of the vacuum suction cups are controlled to adsorb the stone according to the size of the stone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920176891.4U CN210025872U (en) | 2019-01-31 | 2019-01-31 | Automatic stone typesetting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920176891.4U CN210025872U (en) | 2019-01-31 | 2019-01-31 | Automatic stone typesetting system |
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| CN210025872U true CN210025872U (en) | 2020-02-07 |
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| CN201920176891.4U Active CN210025872U (en) | 2019-01-31 | 2019-01-31 | Automatic stone typesetting system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773994A (en) * | 2019-01-31 | 2019-05-21 | 云浮中科石材创新科技有限公司 | A kind of stone material automatic typesetting system and method |
| CN112573197A (en) * | 2020-11-06 | 2021-03-30 | 云浮中科石材创新科技有限公司 | Control system based on drive-control integration stone material carrying typesetting equipment |
-
2019
- 2019-01-31 CN CN201920176891.4U patent/CN210025872U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773994A (en) * | 2019-01-31 | 2019-05-21 | 云浮中科石材创新科技有限公司 | A kind of stone material automatic typesetting system and method |
| CN112573197A (en) * | 2020-11-06 | 2021-03-30 | 云浮中科石材创新科技有限公司 | Control system based on drive-control integration stone material carrying typesetting equipment |
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