CN212150824U - Robot brick detecting and stacking system - Google Patents
Robot brick detecting and stacking system Download PDFInfo
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- CN212150824U CN212150824U CN202020836562.0U CN202020836562U CN212150824U CN 212150824 U CN212150824 U CN 212150824U CN 202020836562 U CN202020836562 U CN 202020836562U CN 212150824 U CN212150824 U CN 212150824U
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- 239000011449 brick Substances 0.000 title claims abstract description 128
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 238000005303 weighing Methods 0.000 claims description 26
- 230000001681 protective effect Effects 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000006978 adaptation Effects 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 claims description 2
- 238000010009 beating Methods 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 239000007787 solid Substances 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 230000001737 promoting effect Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000037396 body weight Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000004040 coloring Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 239000011819 refractory material Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
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Abstract
The utility model discloses a robot brick checking and stacking system, which comprises a robot arm arranged beside a brick outlet of a brick press close to a blank car track; the brick body grabbing mechanism is connected to the robot arm and is driven by the robot arm to grab, move and stack refractory bricks in the brick press; the brick body detection mechanism is arranged beside the robot arm and used for detecting the weight and the thickness of the refractory bricks and marking and stamping the qualified refractory bricks; and the control cabinet controls the robot arm, the brick body grabbing mechanism and the brick body detecting mechanism to work. The utility model has the advantages of simple and convenient installation and layout, high working efficiency and stable operation; the automatic processing and production of the refractory bricks are realized, the labor intensity is greatly reduced, the uninterrupted work in 24 hours is realized, and the production efficiency is improved; easily accomplish the weight detection of resistant firebrick, thickness detection and beat the mark operation, promote detection efficiency, improve the accuracy that detects, guarantee product quality.
Description
Technical Field
The utility model belongs to the technical field of resistant firebrick detects technique and specifically relates to a can automated inspection resistant firebrick's robot examine brick pile up neatly system is related to.
Background
In the processing and production process of the refractory bricks, the refractory bricks pressed by a press need to be weighed, detected and detected in thickness, and the qualified refractory bricks are covered with qualified seals to be put on a blank vehicle and pushed to the next procedure. The existing firebrick processing enterprises take the firebricks out of the press by manpower, put the firebricks on a detection table for weighing, and put the firebricks in a thickness measuring groove for measuring the thickness; after weighing and thickness measurement are completed, workers manually stamp the qualified refractory bricks and stack the refractory bricks on a blank car. In addition, in the weighing and thickness measuring process, workers need to brush oil in a die groove and a pressure head of a press machine at the gap between the weighing and thickness measuring in order to be connected with the pressing of the next refractory brick, so that the refractory brick added into the die groove is prevented from being adhered to the die groove or the pressure head in the stamping process; meanwhile, after the refractory material is added into the die groove, a worker needs to manually flatten the raw material to start the press machine to press the refractory bricks. The whole process needs manual work to complete, the requirement on the operation proficiency of workers is very high, one skilled worker can only operate one press, the working efficiency is very low, the labor intensity of the workers is high, complaints are easy to occur, and the product is easily influenced by human factors to reduce the quality.
Disclosure of Invention
An object of the utility model is to provide a robot that degree of automation is high examines brick pile up neatly system.
In order to achieve the above purpose, the utility model can adopt the following technical proposal:
the utility model discloses a robot brick detecting and stacking system, which comprises a robot arm and a robot arm, wherein the robot arm is arranged beside a brick outlet of a brick press machine close to a blank car track; the brick body grabbing mechanism is connected to the robot arm and is driven by the robot arm to grab, move and stack refractory bricks in the brick press; the brick body detection mechanism is arranged beside the robot arm and used for detecting the weight and the thickness of the refractory bricks and marking and stamping the qualified refractory bricks; and the control cabinet is used for controlling the robot arm, the brick body grabbing mechanism and the brick body detecting mechanism to work.
The robot arm is a six-axis mechanical arm.
The brick body grabbing mechanism comprises a strip-shaped base plate arranged on the robot arm, and the width of the strip-shaped base plate is smaller than that of the refractory brick; a pushing cylinder which horizontally stretches along the length direction of the strip-shaped base plate is arranged on the bottom surface of the strip-shaped base plate, a movable clamping plate which is perpendicular to the strip-shaped base plate is arranged at the stretching end of the pushing cylinder, a fixed clamping plate which is matched with the movable clamping plate is vertically and fixedly connected to the bottom surface of the strip-shaped base plate, and the widths of the movable clamping plate and the fixed clamping plate are consistent with the width of the strip-shaped base plate; an oil nozzle is arranged at one end of the strip-shaped base plate, and a prismatic shifting claw which inclines downwards is connected at the other end of the strip-shaped base plate through an extension plate which extends outwards.
The brick body detection mechanism comprises a support upright post longitudinally supported and fixed in the motion range of the robot arm, and a weighing part, a thickness detection part and a marking part which are arranged at the upper end of the support upright post, wherein the weighing part, the thickness detection part and the marking part are respectively positioned on different sides of the support upright post; the weighing part comprises a horizontal weighing platform with a weighing sensor, and the horizontal weighing platform is fixedly connected to the left side surface of the supporting upright post through a connecting frame; the thickness detection part comprises a pair of fixing plates which are longitudinally fixed on the supporting upright post at intervals, the two fixing plates horizontally extend forwards out of the supporting upright post, and a pair of laser displacement sensors which are matched with each other are arranged on the opposite inner side surfaces of the extending ends of the two fixing plates; beat mark portion including set up in vertical pivoted revolving cylinder on the support post right flank be provided with the guide arm cylinder on revolving cylinder's the rotation member be provided with on the flexible member of guide arm cylinder and beat the mark stamp, be located be fixed with through horizontal bracket on the support post of rotation cylinder below with beat the painted box of mark stamp looks adaptation.
The robot comprises a robot arm, a control cabinet and a protective guard, wherein the protective guard is arranged outside the motion range of the robot arm, an intelligent display screen for displaying the station information is arranged on the protective guard, and the control cabinet is positioned outside the protective guard.
The utility model discloses the advantage lies in that the installation is laid portably, and work efficiency is high, and the operation is stable. The automatic robot arm is arranged beside the brick outlet of the brick press for producing the refractory bricks, and the robot arm is provided with the special brick body grabbing mechanism, so that the refractory bricks are easily carried and stacked, the oil coating of a mould cavity of the brick press is realized, the automatic processing production of the refractory bricks is realized, the labor intensity is greatly reduced, the 24-hour uninterrupted work is realized, and the production efficiency is improved; in addition, set up in the other brick body detection mechanism of robot arm can cooperate with it, easily accomplish the weight detection of resistant firebrick, thickness detection and beat the mark operation, ensure that only qualified brick can be put things in good order on the transport base car, promote detection efficiency, improve the accuracy that detects, guarantee product quality.
Drawings
Fig. 1 is a schematic view of the arrangement structure of the present invention.
Fig. 2 is a schematic structural view of the brick grasping mechanism in fig. 1.
Fig. 3 is a perspective view of fig. 2.
Fig. 4 is a schematic structural view of the brick detecting mechanism in fig. 1.
Fig. 5 is a perspective view of fig. 4.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are implemented on the premise of the technical solution of the present invention, and the detailed embodiments and the specific operation procedures are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the robot brick detecting and stacking system of the present invention comprises a robot arm 1, wherein the robot arm 1 can adopt six mechanical arms and is arranged beside a brick outlet of a brick press 3 close to a blank car track 2; a brick body grabbing mechanism is connected to the robot arm 1 and is driven by the robot arm 1 to complete a series of operations such as grabbing, moving and stacking refractory bricks in the brick press 3; be provided with brick body detection mechanism and switch board 4 by robot arm 1, measure brick body weight and thickness through brick body detection mechanism to beat mark stamp to detecting qualified resistant firebrick, control robot arm 1, brick body through switch board 4 and snatch mechanism and brick body detection mechanism work, realize the automation of operation.
Specifically, as shown in fig. 2 and 3, the brick body grabbing mechanism comprises a strip-shaped base plate 5 installed on a robot arm 1, wherein the width of the strip-shaped base plate 5 is smaller than that of a refractory brick; be provided with on the bottom surface of bar base plate 5 along its length direction level flexible promotion cylinder 6, the flexible end of promotion cylinder 6 is provided with and bar base plate 5 looks vertically movable splint 7, link firmly perpendicularly on the bottom surface of bar base plate 5 with the supporting solid fixed splint 8 that uses of movable splint 7, the width of movable splint 7 and solid fixed splint 8 should keep unanimous with the width of bar base plate 5, and still can set up the rubber slipmat that is used for increasing frictional force on the relative medial surface of movable splint 7 with solid fixed splint 8, promote movable splint 7 to solid fixed splint 8 direction removal through promoting cylinder 6, thereby the firebrick is pressed down in the clamping under movable splint 7 and solid fixed splint 8's combined action, in order to accomplish a series of operations such as subsequent firebrick transport, detection and pile up neatly. In addition, an oil nozzle 9 is arranged at one end of the strip-shaped base plate 5, a prismatic pusher dog 11 which inclines downwards is connected at the other end of the base plate through an extension plate 10 which extends outwards, oil is sprayed to a mould groove and a pressure head of the brick press 3 through the oil nozzle 9, and refractory brick added into the brick press 3 is flattened through the prismatic pusher dog 11; in order to prevent the mutual influence among the oil spraying operation, the brick material flattening operation and the brick body grabbing operation, the oil spraying nozzle 9 is installed at the edge of the top surface of the strip-shaped base plate 5 at the front end (i.e. the telescopic end) of the pushing cylinder 6, and the extension plate 10 connected with the prismatic pusher dog 11 is fixed on the bottom surface of the strip-shaped base plate 5 at the rear end (i.e. the tail end of the cylinder) of the pushing cylinder 6 and horizontally extends towards the rear.
As shown in fig. 4 and 5, the brick body detection mechanism comprises a support upright 12 longitudinally supported in the motion range of the robot arm 1, and a weighing part, a thickness detection part and a marking part which are arranged at the upper end of the support upright 12; the supporting column 12 is preferably disposed between the brick press 3 and the robot arm 1, and the weighing part, the thickness detecting part, and the marking part are respectively located on different sides of the supporting column 12. Specifically, the weighing part comprises a horizontal weighing platform 14 with a weighing sensor 13, and the horizontal weighing platform 14 is fixedly connected to the left side surface of the support upright 12 through a connecting frame 15. The thickness detection part comprises a pair of fixing plates 16 which are longitudinally fixed on the supporting upright post 12 at intervals, the two fixing plates 16 horizontally extend forwards out of the supporting upright post 12, a pair of mutually matched laser displacement sensors 17 are arranged on the opposite inner side surfaces of the extending ends of the two fixing plates 16, and the distance between the two laser displacement sensors 17 is larger than the thickness of the refractory bricks. The marking part comprises a rotary cylinder 18 which is arranged on the right side surface of the supporting upright post 12 and longitudinally rotates, a guide rod cylinder 19 is arranged on a rotary rod piece of the rotary cylinder 18, a telescopic rod piece of the guide rod cylinder 19 vertically faces downwards, a marking stamp 20 is arranged at the lower end part of the telescopic rod piece, and a coloring box 22 which is matched with the marking stamp 20 is fixed on the supporting upright post 12 below the rotary cylinder 18 through a horizontal bracket 21.
In addition, in order to improve the regularity of the overall layout of the workshop, a protective guard 23 is arranged outside the movement range of the robot arm 1, an intelligent display screen 24 for displaying the station information is arranged on the protective guard 23, and the control cabinet 4 is positioned outside the protective guard 23; specifically, as shown in fig. 1, the guard rails 23 are segmented and respectively disposed on the front side and the left side of the robot arm 1 and the other side of the blank car track 2 opposite to the robot arm 1, and the smart display 24 is disposed on the guard rail 23 on the left side of the robot arm 1.
The utility model discloses a work flow as follows:
firstly, when a brick press 3 presses a refractory brick, the control cabinet 4 controls the robot arm 1 to work, the grabbing side (namely the movable clamping plate 7 and the fixed clamping plate 8 side) of the brick grabbing mechanism extends into a brick outlet of the brick press 3, the pressed refractory brick is grabbed, and oil is sprayed to a mould groove and a pressure head of the brick press 3 through an oil spray nozzle 9 to prepare for the next brick press; then the robot arm 1 drives the brick body grabbing mechanism to move out of the brick press 3, and moves to a position right above a horizontal weighing platform 14 of the brick body detection mechanism, and the refractory bricks are placed on the horizontal weighing platform 14 for weighing; in the weighing gap, the brick material of the next refractory brick is added into a mould groove of a brick press 3, at the moment, in order to prevent each corner or each edge of the refractory brick pressed by the brick press 3 from being loose, the robot arm 1 moves to the brick outlet of the brick press 3 again, the prismatic pusher dog 11 of the brick grabbing mechanism extends into the brick press 3 to stir the brick material, the brick material is spread into a shape with high periphery and low middle, then the brick material is moved out, returns to the brick detection mechanism again to grab the weighed refractory brick, the refractory brick is moved to the thickness detection part to carry out thickness detection, the thickness of four corners of the refractory brick is generally required to be detected when the thickness of the refractory brick is detected, so that the brick grabbing mechanism grabs the refractory brick, and horizontally extends four corners of the refractory brick between two laser displacement sensors 17 for four times respectively, thereby completing the measurement; after the measurement is finished, the brick body detection mechanism transmits the measured weight data and thickness data to the control cabinet 4, and the control cabinet 4 compares the weight data and the thickness data to determine whether the refractory brick is qualified; when the product is qualified: controlling the robot arm 1 to move the refractory bricks to the marking part for marking, and stacking the refractory bricks into the blank car 15 on the blank car track 2 from left to right and from far to near in sequence after marking; when the product is unqualified: then, the refractory bricks are not marked, and the robot arm 1 is directly placed in the unqualified brick stacking area beside the refractory bricks. Compared with the condition that a skilled worker can only operate one brick press, the system can realize that one person opens an account for at least four brick presses, the time for producing and detecting one refractory brick is improved from the original 52 seconds to 48 seconds, and meanwhile, the system can work without stopping for 24 hours, thereby greatly improving the processing efficiency of the refractory brick, lightening the labor intensity, liberating the labor force and promoting the automatic development of the refractory brick production industry.
Claims (8)
1. The utility model provides a robot examines brick pile up neatly system which characterized in that: comprises that
The robot arm is arranged beside a brick outlet of the brick press close to the track of the blank car;
the brick body grabbing mechanism is connected to the robot arm and is driven by the robot arm to grab, move and stack refractory bricks in the brick press;
the brick body detection mechanism is arranged beside the robot arm and used for detecting the weight and the thickness of the refractory bricks and marking and stamping the qualified refractory bricks; and
and the control cabinet is used for controlling the robot arm, the brick body grabbing mechanism and the brick body detection mechanism to work.
2. The robotic tile palletizing system according to claim 1, wherein: the robot arm is a six-axis mechanical arm.
3. The robotic tile palletizing system according to claim 1 or 2, wherein: the brick body grabbing mechanism comprises a strip-shaped base plate arranged on the robot arm, and the width of the strip-shaped base plate is smaller than that of the refractory brick; a pushing cylinder which horizontally stretches along the length direction of the strip-shaped base plate is arranged on the bottom surface of the strip-shaped base plate, a movable clamping plate which is perpendicular to the strip-shaped base plate is arranged at the stretching end of the pushing cylinder, a fixed clamping plate which is matched with the movable clamping plate is vertically and fixedly connected to the bottom surface of the strip-shaped base plate, and the widths of the movable clamping plate and the fixed clamping plate are consistent with the width of the strip-shaped base plate; an oil nozzle is arranged at one end of the strip-shaped base plate, and a prismatic shifting claw which inclines downwards is connected at the other end of the strip-shaped base plate through an extension plate which extends outwards.
4. The robotic tile palletizing system according to claim 1 or 2, wherein: brick body detection mechanism including vertically prop admittedly in the support post in the robot arm motion range, and set up in portion of weighing, thickness detection portion and the mark portion of beating of support post upper end, portion of weighing, thickness detection portion and beating the mark portion and be located the different sides of support post respectively.
5. The robotic tile palletizing system according to claim 4, wherein: the weighing part comprises a horizontal weighing platform with a weighing sensor, and the horizontal weighing platform is fixedly connected to the left side surface of the supporting upright post through a connecting frame.
6. The robotic tile palletizing system according to claim 4, wherein: the thickness detection part comprises a pair of fixing plates which are longitudinally fixed on the supporting upright post at intervals, the two fixing plates horizontally extend forwards out of the supporting upright post, and a pair of laser displacement sensors which are matched with each other are arranged on the opposite inner side surfaces of the extending ends of the two fixing plates.
7. The robotic tile palletizing system according to claim 4, wherein: beat mark portion including set up in vertical pivoted revolving cylinder on the support post right flank be provided with the guide arm cylinder on revolving cylinder's the rotation member be provided with on the flexible member of guide arm cylinder and beat the mark stamp, be located be fixed with through horizontal bracket on the support post of revolving cylinder below with beat the painted box of mark stamp looks adaptation.
8. The robotic tile palletizing system according to claim 1, wherein: the robot comprises a robot arm, a control cabinet and a protective guard, wherein the protective guard is arranged outside the motion range of the robot arm, an intelligent display screen for displaying the station information is arranged on the protective guard, and the control cabinet is positioned outside the protective guard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020836562.0U CN212150824U (en) | 2020-05-19 | 2020-05-19 | Robot brick detecting and stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020836562.0U CN212150824U (en) | 2020-05-19 | 2020-05-19 | Robot brick detecting and stacking system |
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| Publication Number | Publication Date |
|---|---|
| CN212150824U true CN212150824U (en) | 2020-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020836562.0U Active CN212150824U (en) | 2020-05-19 | 2020-05-19 | Robot brick detecting and stacking system |
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| CN (1) | CN212150824U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112875280A (en) * | 2021-01-15 | 2021-06-01 | 何泽平 | Transformer core presss from both sides and gets handling device |
-
2020
- 2020-05-19 CN CN202020836562.0U patent/CN212150824U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112875280A (en) * | 2021-01-15 | 2021-06-01 | 何泽平 | Transformer core presss from both sides and gets handling device |
| CN112875280B (en) * | 2021-01-15 | 2022-11-18 | 嵊州市光宇实业有限公司 | A transformer iron core clamping and conveying device |
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