CN212831565U - Automatic unloading system of ceramic tile - Google Patents

Abstract

The utility model discloses an automatic ceramic tile discharging system, which comprises a ceramic tile conveying line, a ceramic tile arranging device, a pallet conveying line manipulator, a pallet releasing device and a controller; the tail end of the tile conveying line is provided with a blanking position; the ceramic tile arranging device is used for adjusting the pose of the ceramic tile so that the ceramic tile can be conveniently and accurately grabbed; the pallet conveying line is used for conveying pallets; the manipulator carries the ceramic tiles among the ceramic tile conveying line, the ceramic tile arranging device and the pallet conveying line; the pallet releasing device is used for storing the pallets and sequentially releasing the pallets to the pallet conveying line. The utility model discloses a manipulator can place the ceramic tile on the ceramic tile transmission line and snatch to the pallet on the pallet transmission line after the regular device adjustment position appearance of ceramic tile again, can neatly put things in good order the ceramic tile to the pallet on and unified unloading, and pallet release can be piled up the ceramic tile at a pallet and then put in empty pallet board to the pallet transmission line and make the unloading operation go on in succession, and degree of automation is high and the unloading is efficient.

Description

Automatic unloading system of ceramic tile

Technical Field

The utility model relates to an automatic technical field especially relates to an automatic unloading system of ceramic tile.

Background

In the ceramic tile production industry, the process of blanking and stacking from a production line after ceramic tiles are fired is generally finished manually, the labor intensity is high, and the labor cost is high.

SUMMERY OF THE UTILITY MODEL

The purpose of the invention is as follows: in order to overcome the defects existing in the prior art, the utility model provides an automatic ceramic tile discharging system which can stack and discharge ceramic tiles from a production line.

The technical scheme is as follows: in order to achieve the purpose, the utility model discloses an automatic ceramic tile discharging system, which comprises a ceramic tile conveying line, a ceramic tile regulating device, a pallet conveying line, a manipulator and a pallet releasing device; the tail end of the tile conveying line is provided with a blanking position; the ceramic tile arranging device is arranged beside the blanking position and used for adjusting the pose of the ceramic tile so as to conveniently and accurately grab the ceramic tile; the pallet conveying line is used for conveying pallets; the manipulator is used for carrying the ceramic tiles among the ceramic tile conveying line, the ceramic tile arranging device and the pallet conveying line; the pallet releasing device is used for storing the pallets and sequentially releasing the pallets to the pallet conveying line.

Further, the ceramic tile arranging device comprises a device seat body, a three-side clamping mechanism and a fourth side clamping mechanism; the device seat body is fixedly arranged; two groups of the three-side clamping mechanisms are arranged on the device seat body symmetrically; the three-side clamping mechanism can act on three side surfaces of the ceramic tile placed at the regulating station; the fourth side clamping mechanism comprises a translation unit, and the translation unit can perform reciprocating translation between two point positions relative to the device seat body so as to be matched with the two three side clamping mechanisms for use in turn.

Further, the three-side clamping mechanism comprises a clamping cylinder, a first clamping plate, a push-pull cylinder and a second clamping plate; the clamping cylinder can drive the two first clamping plates to be oppositely opened and closed; the push-pull air cylinder can push the second clamping plate to translate relative to the device base; the moving directions of the first clamping plate and the second clamping plate are relatively vertical.

Further, the translation unit comprises a translation seat arranged between the two three-side clamping mechanisms, a pair of third clamping plates are arranged on the translation seat corresponding to the three-side clamping mechanisms on the two sides, and the translation seat can be driven by a third air cylinder to translate relative to the device seat body.

Furthermore, four regulating stations are symmetrically arranged on the device seat body, and each three-side clamping mechanism and the fourth-side clamping mechanism can be matched to act on the ceramic tiles on the two regulating stations.

Further, the manipulator comprises a mechanical arm and a paw, and the paw consists of a paw seat and a sucker.

Furthermore, the paw also comprises a fixed seat fixedly arranged on the paw seat and a lifting rod capable of lifting relative to the fixed seat; the sucker is arranged at the lower end of the lifting rod, the lifting rod slides in a set sliding range relative to the fixed seat, and the lifting rod is provided with a detection end; and a sensor for detecting the detection end is further installed on the paw seat.

Further, the pallet releasing device comprises a pallet storage rack, a distributing device, a lifter and a conveying device, wherein the pallets can be stacked in the pallet storage rack; the conveying device is arranged at the lower side of the pallet storage rack; the lifter can drive all pallets in the pallet storage rack to vertically lift, and the material distribution device comprises a stop lever capable of entering and exiting the pallet storage rack.

Has the advantages that: the utility model discloses an automatic unloading system of ceramic tile, through setting up the ceramic tile transmission line, the regular device of ceramic tile, pallet transmission line and manipulator, the manipulator can place the ceramic tile on the ceramic tile transmission line and snatch to the pallet on the pallet transmission line after the regular device adjustment position appearance of ceramic tile again, can neatly put things in good order the ceramic tile to the pallet on and unified unloading, and pallet release device can be piled up the ceramic tile at a pallet and then put in empty pallet board to the pallet transmission line and make the unloading operation go on in succession, and degree of automation is high and the unloading is efficient.

Drawings

FIG. 1 is a general layout of an automatic tile feeding system;

FIG. 2 is a first view structural diagram of a tile organizing device;

FIG. 3 is a second view structural diagram of the tile collating device;

FIG. 4 is a structural view of a robot;

FIG. 5 is a cross-sectional view of a robot;

fig. 6 is a block diagram of a pallet release mechanism;

fig. 7 is a front view of the pallet release apparatus;

fig. 8 is a structural view of the feed divider.

In the figure: 1-a tile conveying line; 2-a tile arranging device; 21-a device base; 22-a three-sided clamping mechanism; 221-a clamping cylinder; 222-a first splint; 223-push-pull cylinder; 224-a second splint; 225-slip table; 23-a fourth side clamping mechanism; 231-a translation stage; 232-third splint; 233-third cylinder; 3-pallet conveying line; 4-a manipulator; 41-a mechanical arm; 42-paw; 421-paw seat; 422-sucking disc; 423-fixed seat; 424-lifting rod; 425-a sensor; 5-pallet releasing means; 51-pallet storage rack; 52-a material separating device; 521-a gear lever; 522-a translation bar; 523-translation cylinder; 524-connecting rod; 525-a gear lever seat; 53-a lift; 531-lifting table; 532-screw rod jacking unit; 533-horizontal link; 534-a first tilting bar; 535-second tilting bar; 54-a conveyor; 55-a machine base; 6-camera.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The automatic blanking system for ceramic tiles as shown in fig. 1 comprises a ceramic tile conveying line 1, a ceramic tile arranging device 2, a pallet conveying line 3, a manipulator 4, a pallet releasing device 5, a camera 6 and a controller.

Wherein the tile conveying line 1 passes through the baking oven, and the tail end of the tile conveying line is provided with a blanking position; the ceramic tile arranging device 2 is arranged beside the blanking position, and the ceramic tile arranging device 2 is used for adjusting the pose of a ceramic tile to enable the ceramic tile to be conveniently and accurately grabbed by the manipulator 4; the pallet conveying line 3 is used for conveying pallets; the manipulator 4 is used for transporting ceramic tiles among the ceramic tile conveying line 1, the ceramic tile regularizing device 2 and the pallet conveying line 3; the pallet releasing device 5 is used for storing the pallets and sequentially releasing the pallets to the pallet conveying line 3; the camera 6 is arranged above the blanking position and used for acquiring an image of the tail end of the tile conveying line 1; the controller is electrically connected with the ceramic tile arranging device 2, the pallet transmission line 3, the pallet releasing device 5, the camera 6 and the pallet transmission line 3.

Above-mentioned unloading equipment, through setting up regular device 2 of ceramic tile, make manipulator 4 before piling up the ceramic tile to the pallet, can place the regular device 2 of ceramic tile and go up the adjustment position appearance, when making manipulator 4 snatch the ceramic tile once more, the relative position of manipulator 4 and ceramic tile is fixed, so be favorable to manipulator 4 to pile up the ceramic tile neatly and the pile up closely with the ceramic tile when piling up the pallet with the ceramic tile on, if not regular to the ceramic tile, it is possible loose and can produce the collision between the ceramic tile when piling up.

Specifically, as shown in fig. 2-3, the tile arranging device 2 includes a device base 21, a three-side clamping mechanism 22, and a fourth side clamping mechanism 23. The device seat body 21 is fixedly arranged and provided with four symmetrically arranged regulating stations, and the four regulating stations are uniformly divided into two groups which are symmetrically arranged at two symmetrical sides of the device seat body 21 respectively; two groups of three-side clamping mechanisms 22 are provided, the two groups of three-side clamping mechanisms 22 are symmetrically arranged on the device seat body 21 (for convenience of description below, the two groups of three-side clamping mechanisms 22 are respectively arranged on the first side and the second side of the device seat body 21), each three-side clamping mechanism 22 corresponds to two regulating stations and can act on the ceramic tiles at the two regulating stations, and the three-side clamping mechanisms 22 can act on three side surfaces of the ceramic tiles placed at the regulating stations where the three-side clamping mechanisms are located; the fourth side holding mechanism 23 can act on the fourth side of the arranging station, and when it is used in cooperation with any one of the three side holding mechanisms 22, the tile can be completely positioned, and the fourth side holding mechanism 23 includes a translation unit which can be reciprocally translated between two positions relative to the device base 21 so as to be alternately used in cooperation with the two three side holding mechanisms 22.

By adopting the design, when the fourth side clamping mechanism 23 and the first side three-side clamping mechanism 22 are matched to use the ceramic tiles at the regulating station corresponding to the three-side clamping mechanism 22 for regulating, the manipulator 4 can grab the regulated ceramic tiles at the regulating station corresponding to the second side three-side clamping mechanism 22 to the pallet, and then grab new ceramic tiles from the ceramic tile conveying line 1 to the regulating station at the second side; then, the fourth side clamping mechanism 23 cooperates with the third side clamping mechanism 22 of the second side to regulate the tiles at the regulating stations corresponding to the third side clamping mechanism 22, and the manipulator 4 takes the regulated tiles of the first side away and takes new tiles to place at the two regulating stations of the first side. The circulation is reciprocal like this, and manipulator 4 need not stop and wait for the ceramic tile by regular completion, but continuous operation promotes the operation beat of system greatly, promotes unloading efficiency.

The three-side clamping mechanism 22 comprises a sliding table 225, the sliding table 225 is driven by a push-pull air cylinder 223 to slide relative to the device base body 21, two groups of clamping assemblies are mounted on the sliding table 225, and each group of clamping assemblies comprises a clamping air cylinder 221, two first clamping plates 222 and a second clamping plate 224; the clamping cylinder 221 can drive the two first clamping plates 222 to open and close oppositely; the first clamping plate 222 and the second clamping plate 224 move in opposite vertical directions. The translation unit includes a translation seat 231 disposed between the two three-side clamping mechanisms 22, a pair of third clamping plates 232 is disposed on the translation seat 231 corresponding to the two three-side clamping mechanisms 22, and the translation seat 231 can be driven by a third air cylinder 233 to translate relative to the device seat 21.

With the above structure, when the controller controls the third air cylinder 233 to drive the translation seat 231 to feed to the first three-sided clamping mechanism 22 and controls the clamping air cylinder 221 and the push-pull air cylinder 223 of the first three-sided clamping mechanism 2 to operate, the third clamping plate 232 on the translation seat 231, which is close to the first side, and the first clamping plate 222 and the second clamping plate 224 of the first three-sided clamping mechanism 22 act on the tiles on the arranging station on the first side together; meanwhile, the controller controls the manipulator 4 to perform the operation of taking away the ceramic tiles on the second side arranging station, stacking the ceramic tiles to the pallet, and grabbing new ceramic tiles from the ceramic tile conveying line 1 to the second side arranging station.

When the controller controls the third air cylinder 233 to drive the translation seat 231 to feed to the second-side three-sided clamping mechanism 22 and controls the clamping air cylinder 221 and the push-pull air cylinder 223 of the second-side three-sided clamping mechanism 2 to operate, the third clamping plate 232 on the translation seat 231 close to the second side and the first clamping plate 222 and the second clamping plate 224 of the second-side three-sided clamping mechanism 22 act on the ceramic tiles on the regulating station of the second side together. Therefore, as the third air cylinder 233 drives the translation seat 231 to translate in a reciprocating manner, the ceramic tile arranging device 2 is matched with the two three-side clamping mechanisms 22 in turn to execute arranging operation; meanwhile, the controller controls the manipulator 4 to perform the operation of taking away the ceramic tiles on the first side arranging station, stacking the ceramic tiles to the pallet, and grabbing new ceramic tiles from the ceramic tile conveying line 1 to the first side arranging station.

The manipulator 4 comprises a mechanical arm 41 and a gripper 42, as shown in fig. 4-5, the gripper 42 is composed of a gripper seat 421 and two suction cups 422 symmetrically installed at two sides of the gripper seat 421, so that the manipulator 4 can grasp two tiles at a time to supply two regulating stations on the same side of the tile regulating device 2. The gripper 42 further comprises a fixing base 423 fixedly mounted on the gripper seat 421 and a lifting rod 424 capable of lifting relative to the fixing base 423; the suction cup 422 is mounted at the lower end of the lifting rod 424, the lifting rod 424 slides in a set sliding range relative to the fixing base 423 (a sliding cavity is arranged in the fixing base 423, a shoulder is arranged on the lifting rod 424, the shoulder slides in the sliding cavity, the two ends of the sliding cavity limit the movement of the shoulder), and the lifting rod 424 is provided with a detection end; a sensor 425 for detecting the detection end is further installed on the paw seat 421.

Through the structure, when the manipulator 4 grabs the ceramic tile, the controller controls (in the following process, the execution main body is the controller) the mechanical arm 41 to operate to enable the sucker 422 of the gripper 42 to hover above the ceramic tile to be grabbed, then the mechanical arm 41 is controlled to operate to enable the gripper 42 to vertically feed the ceramic tile downwards, after the sucker 422 is contacted with the ceramic tile, the mechanical arm 41 still enables the gripper 42 to move downwards until the sensor 425 detects the detection end, then the controller controls the sucker 422 to operate to adsorb the ceramic tile again, so that the sucker 422 is enabled to be contacted with the ceramic tile and then suck air, and successful grabbing is guaranteed. When the manipulator 4 puts down the ceramic tile, the manipulator 41 is controlled to operate to enable the ceramic tile grabbed by the gripper 42 to hover above the position to be placed, then the manipulator 41 is controlled to operate to enable the gripper 42 to vertically downwards place the ceramic tile, after the ceramic tile is contacted with the part to be placed, the manipulator 41 still enables the gripper 42 to downwards move until the sensor 425 detects the detection end, then the controller controls the suction disc 422 to stop sucking to release the ceramic tile, so that the stable release of the ceramic tile can be ensured, and the ceramic tile is still in a suspended state when the ceramic tile is placed and released.

As shown in fig. 6-7, the pallet releasing apparatus 5 includes a base 55, a pallet storage rack 51 for stacking pallets therein, a distributing apparatus 52, a lifter 53, and a conveying apparatus 54; the conveyor 54 is disposed on the underside of the pallet storage rack 51; the lift 53 can drive and arrange in all pallet vertical lift in the pallet storage frame 51, as shown in fig. 8, feed divider 52 includes that two can advance the inside shelves pole 521, a tie rod 522, a translation cylinder 523, two connecting rods 524 and two shelves pole seat 525 of pallet storage frame 51, two shelves pole seat 525 are all fixed on frame 55, and two shelves poles 521 rotate respectively and install on two shelves pole seats 525, and the tie rod 522 is driven by translation cylinder 523 and is translated for frame 55, and two shelves poles 521 are connected through connecting rod 524 respectively at the tie rod 522 both ends. Through the setting of above-mentioned link mechanism, when the operation of tie rod 522, can drive shelves pole 521 and rotate the inside of business turn over pallet storage frame 51, above-mentioned structure makes only need use the cylinder that the stroke is very short just can make the inside that shelves pole 521 passed in and out pallet storage frame 51 fast, for the method that generally adopts the cylinder directly to promote the translation, the cylinder of long stroke has been avoided using to this structure for the action beat is fast, and overall structure is compact, and occupation space is little.

Specifically, the lifter 53 includes a lifting platform 531, a screw jacking unit 532, and two sets of stability maintaining assemblies symmetrically supported on two sides of the lifting platform 531, each stability maintaining assembly includes an upper set of parallelogram linkage mechanism and a lower set of parallelogram linkage mechanism, the two sets of parallelogram linkage mechanisms share a horizontal connecting rod 533 located in the middle, the lower parallelogram linkage mechanism further includes two first inclined rods 534 arranged in parallel, two ends of each first inclined rod 534 are respectively hinged to the base 55 and the horizontal connecting rod 533, the upper parallelogram linkage mechanism further includes two second inclined rods 535 arranged in parallel, and two ends of each second inclined rod 535 are respectively hinged to the lifting platform 531 and the horizontal connecting rod 533. So, dimension steady subassembly can effectively support elevating platform 531 for elevating platform 531 goes up and down steadily, prevents that elevating platform 531 from inclining or rocking when going up and down.

With the above structure, in the initial state, the stop lever 521 raises all pallets in the pallet storage rack 51 to be in a suspended state, and when an empty pallet needs to be put on the pallet transmission line 3, the following steps are executed (the following main execution units are all controllers): firstly, the screw jacking unit 532 is driven to operate, so that the lifting platform 531 ascends to support the pallet at the lowest end; then, the translation cylinder 523 is driven to operate, so that the shift lever 521 is retracted, and all pallets are completely supported by the lifting platform 531 at this time; then, the screw jacking unit 532 is driven to operate, so that the lifting platform 531 descends by a distance of one pallet height; then, the translation cylinder 523 is driven to operate, so that the stop lever 521 enters the interior of the pallet storage rack 51 to extend into the lower end of the pallet at the penultimate floor; then, the screw jacking unit 532 is controlled to continue to operate, so that the lifting platform 531 descends to the lowest position, at this time, the former penultimate pallet and all pallets above the former penultimate pallet are supported by the stop lever 521, and the former lowest pallet is placed on the conveying device 54; finally, the pallet is transferred to the pallet transfer line 3 by the transfer device 54.

The utility model also provides an automatic unloading method, its controller based on foretell automatic unloading system of ceramic tile, the method includes following step:

step 1), controlling the manipulator 4 to grab the ceramic tiles from the ceramic tile conveying line 1 and place the ceramic tiles to the ceramic tile arranging device 2;

in this step, the controller can carry out visual identification according to the image that camera 6 obtained and acquire the point location data of the geometric center at each ceramic tile top on ceramic tile transmission line 1, and then control manipulator 4 to go the point location that the point location data correspond and snatch the ceramic tile.

Step 2), controlling the ceramic tile arranging device 2 to arrange the positions of the ceramic tiles;

and step 3), controlling the mechanical arm 4 to grab the ceramic tiles regulated by the ceramic tile regulating device 2 and piling the ceramic tiles on the pallet conveying line 3.

Preferably, the method further comprises the steps of:

step 4), judging whether the current pallet is full of ceramic tiles, if so, executing the following steps;

step 5), controlling the pallet conveying line 3 to enable the pallet fully piled with the ceramic tiles to move forwards by a step pitch;

and 6), controlling the pallet releasing device 5 to release an empty pallet to the pallet conveying line 3.

The utility model discloses an automatic unloading system of ceramic tile, through setting up the ceramic tile transmission line, the regular device of ceramic tile, pallet transmission line and manipulator, the manipulator can place the ceramic tile on the ceramic tile transmission line and snatch to the pallet on the pallet transmission line after the regular device adjustment position appearance of ceramic tile again, can neatly put things in good order the ceramic tile to the pallet on and unified unloading, and pallet release device can be piled up the ceramic tile at a pallet and then put in empty pallet board to the pallet transmission line and make the unloading operation go on in succession, and degree of automation is high and the unloading is efficient.

The above description is only a preferred embodiment of the present invention, and it should be noted that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims (8)

1. An automatic ceramic tile discharging system is characterized by comprising a ceramic tile conveying line (1), a ceramic tile arranging device (2), a pallet conveying line (3), a manipulator (4) and a pallet releasing device (5); the tail end of the tile conveying line (1) is provided with a blanking position; the ceramic tile arranging device (2) is arranged beside the blanking position and used for adjusting the pose of the ceramic tile so as to conveniently and accurately grab the ceramic tile; the pallet conveying line (3) is used for conveying pallets; the manipulator (4) is used for carrying ceramic tiles among the ceramic tile conveying line (1), the ceramic tile arranging device (2) and the pallet conveying line (3); the pallet releasing device (5) is used for storing the pallets and sequentially releasing the pallets to the pallet conveying line (3).

2. The automatic tile blanking system according to claim 1, characterized in that said tile collating device (2) comprises a device seat (21), a three-sided gripping mechanism (22) and a fourth-sided gripping mechanism (23); the device base body (21) is fixedly arranged; two groups of the three-side clamping mechanisms (22) are arranged, and the two groups of the three-side clamping mechanisms (22) are symmetrically arranged on the device seat body (21); the three-side clamping mechanism (22) can act on three side surfaces of the ceramic tile placed at the regulating station; the fourth side clamping mechanism (23) comprises a translation unit, and the translation unit can perform reciprocating translation between two point positions relative to the device seat body (21) so as to be matched with the two three side clamping mechanisms (22) for use in turn.

3. The automatic tile blanking system according to claim 2, characterized in that said three-sided clamping mechanism (22) comprises a clamping cylinder (221), a first clamping plate (222), a push-pull cylinder (223) and a second clamping plate (224); the clamping air cylinder (221) can drive the two first clamping plates (222) to open and close relatively; the push-pull air cylinder (223) can push the second clamping plate (224) to translate relative to the device base body (21); the moving directions of the first clamping plate (222) and the second clamping plate (224) are relatively vertical.

4. The automatic tile blanking system according to claim 2, characterized in that said translation unit comprises a translation seat (231) interposed between two of said three-sided gripping mechanisms (22), said translation seat (231) being provided with a pair of third clamping plates (232) corresponding to the two-sided three-sided gripping mechanisms (22), said translation seat (231) being able to translate with respect to said device seat (21) driven by a third air cylinder (233).

5. The automatic blanking system for ceramic tiles according to claim 2, characterized in that said device seat (21) has four symmetrically arranged settling stations, each of said three-side gripping devices (22) being able to cooperate with said fourth-side gripping device (23) to act on the ceramic tiles of two of said settling stations.

6. The automatic tile blanking system according to claim 1, characterized in that said robotized arm (4) comprises a robotized arm (41) and a gripper (42), said gripper (42) being constituted by a gripper seat (421) and a suction cup (422).

7. The automatic blanking system of ceramic tiles according to claim 6, characterized in that the gripper (42) further comprises a fixed seat (423) fixedly mounted on the gripper seat (421) and a lifting rod (424) which can be lifted with respect to the fixed seat (423); the sucker (422) is arranged at the lower end of the lifting rod (424), the lifting rod (424) slides in a set sliding range relative to the fixed seat (423), and the lifting rod (424) is provided with a detection end; and a sensor (425) for detecting the detection end is also arranged on the paw seat (421).

8. The automatic tile blanking system according to claim 6, wherein the pallet release device (5) comprises a pallet storage rack (51) in which pallets can be stacked, a material distribution device (52), a lifter (53), and a conveyor device (54); the conveyor (54) is disposed on the underside of the pallet storage rack (51); the lifter (53) can drive all pallets in the pallet storage rack (51) to vertically lift, and the material distributing device (52) comprises a blocking rod (521) which can enter and exit the pallet storage rack (51).

Images