WO2022088497A1 - 一种自动化地板花色无重复性的组合设备 - Google Patents

一种自动化地板花色无重复性的组合设备 Download PDF

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Publication number
WO2022088497A1
WO2022088497A1 PCT/CN2021/070172 CN2021070172W WO2022088497A1 WO 2022088497 A1 WO2022088497 A1 WO 2022088497A1 CN 2021070172 W CN2021070172 W CN 2021070172W WO 2022088497 A1 WO2022088497 A1 WO 2022088497A1
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WIPO (PCT)
Prior art keywords
floor
frame
sides
strips
automatic
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PCT/CN2021/070172
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English (en)
French (fr)
Inventor
宋锦程
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爱丽家居科技股份有限公司
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Priority to US17/772,382 priority Critical patent/US20230399181A1/en
Publication of WO2022088497A1 publication Critical patent/WO2022088497A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/08—Protective roofs or arch supports therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F15/00—Flooring
    • E04F15/02—Flooring or floor layers composed of a number of similar elements
    • E04F15/02005—Construction of joints, e.g. dividing strips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0266—Control or detection relating to the load carrier(s)
    • B65G2203/0283—Position of the load carrier
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • B65G2203/044—Optical

Definitions

  • the invention relates to the technical field of floor strip processing, in particular to a combined device for automatic floor decoration without repetition.
  • the purpose of the present invention is to provide an automatic combination device of floor decoration and color without repetition, so as to solve the problems existing in the above-mentioned prior art, and can automatically complete the combination and placement of floor decoration, with high accuracy, reducing the workload of operators, have better applicability.
  • the present invention provides a combined equipment for automatic floor design and color without repetition, including a conveying frame, a support frame, a floor strip feeding mechanism, a manipulator and a storage table, the conveying frame.
  • a conveyor belt is arranged on the top of the conveyor, and a plurality of brackets are symmetrically distributed on both sides of the conveyor, and floor strips of different colors to be combined are placed on each bracket; symmetrically arranged on the tops of the two brackets on both sides of the conveyor
  • a supporting frame is correspondingly installed, and the floor strip feeding mechanism is arranged on the supporting frame and can reciprocate along the supporting frame; the floor strip feeding mechanism is used to feed the floor strips on both sides of the conveying frame at intervals onto the conveyor belt; a storage platform is butted at the end of the conveyor belt, and the manipulator is used to grab and place the combined floor strips at the storage platform on the storage table.
  • the support frame is a rectangular frame mounted on the top of the conveying frame, the two short sides of the rectangular frame are arranged parallel to the conveying direction of the conveyor belt, and the two short sides of the rectangular frame are located outside the bracket; the rectangular frame
  • the inner sides of the two long sides of the floor are provided with racks and chute, the two sides of the fixed plate of the floor strip feeding mechanism are slidably arranged in the chute, and a gear driven by a servo motor is installed on the fixed plate.
  • the gears are matched with the racks.
  • both ends of the long sides of the support frame are provided with position sensors, and the position sensors are linked with the electrical signal of the control center.
  • the floor strip feeding mechanism includes a vacuum adsorption table, a linear guide rail and a second servo motor
  • the vacuum adsorption table is fixedly connected with a sliding block arranged on the linear guide rail
  • the second servo motor drives the sliding block. The block moves up and down along the vertically arranged linear guides.
  • the vacuum suction table includes a vacuum detector and a plurality of vacuum suction cups, the plurality of vacuum suction cups are evenly distributed on the bottom surface of the vacuum suction table and are used to tighten the floor strips, and the vacuum detector is used to detect the vacuum The pressure value of the suction cup.
  • the vacuum adsorption table further comprises a plurality of longitudinal chutes and transverse chutes, and the plurality of longitudinal chutes are fixed on the bottom working surface of the vacuum adsorption table in parallel and at equal intervals.
  • each set of the sliding blocks is fixedly connected with one of the transverse sliding grooves, a plurality of the transverse sliding grooves are parallel, and a plurality of the vacuum suction cups are slidably connected with the transverse sliding grooves.
  • baffles are provided at three sides of the storage platform.
  • the hand action end of the manipulator is provided with a floor strip clamping mechanism, and the floor strip clamping mechanism is used to clamp the assembled floor strips on the storage platform and then move them onto the storage table.
  • the floor strip clamping mechanism includes multiple rows of clamping claws arranged in parallel, the clamping claws include a clamping cylinder, a connecting rod and a clamping claw, and the clamping claws connected to the working end of the clamping cylinder
  • the connecting rod drives the jaws to clamp the floor strip.
  • the outer side of the bracket, the outer side of the conveying frame and the outer side of the storage table are all surrounded with isolation nets.
  • the automatic combination device of the floor pattern and color in the present invention can complete the interval feeding of floor strips of different designs and colors from both sides of the conveying frame through the floor strip feeding mechanism, and combine and set the floor strips of different designs and colors according to predetermined requirements. After the combination is completed, they are uniformly placed on the storage table, which is convenient for the subsequent paving of the color-matched floor strips, which saves a lot of time and brings great convenience to the construction personnel.
  • Fig. 1 is a schematic diagram of the overall structure of the combined equipment of the automatic floor color without repetition
  • Fig. 2 is a structural composition diagram of a clamping claw
  • 1 support frame 1 support frame; 2 conveyor frame; 3 conveyor belt; 4 fixed plate; 5 isolation net; 6 bracket; 7 vacuum adsorption table; 8 storage table; 9 storage platform; 10 floor strip clamping mechanism; 11 manipulator; 12 clamping cylinder; 13 connecting rod; 14 clamping jaw.
  • the purpose of the present invention is to provide an automatic combination device of floor decoration and color without repetition, so as to solve the problems existing in the above-mentioned prior art, and can automatically complete the combination and placement of floor decoration, with high accuracy, reducing the workload of operators, have better applicability.
  • the present embodiment provides an automatic floor design and color combination device without repetition, including a conveying frame 2, a supporting frame 1, a floor strip feeding mechanism, a manipulator 11, a storage table 8, and a conveying frame 2
  • a conveyor belt 3 is arranged on the top of the conveyor frame 2, and a plurality of brackets 6 are symmetrically distributed on both sides of the conveyor frame 2.
  • the conveyor belt 3 is in a state of running all the time, and the floor strip feeding mechanism is controlled by the control center to separate the floor strips of different colors.
  • the racks 6 are respectively the bracket 6 three and the bracket 6 four.
  • the servo motor in the floor strip feeding mechanism is controlled by the control center to realize the bracket 6 one, the bracket 6 two, the bracket 6 three and the bracket 6 four.
  • the floor strips are fed to the conveyor belt 3 at intervals; the conveyor belt 3 transports the non-repetitively combined floor strips to the storage platform 9, and then the manipulator 11 grabs the floor strips from the storage platform 9 and moves them to the storage platform 9. on the table 8.
  • the support frame 1 in order to feed the floor strips on each bracket 6 at intervals, is a rectangular frame installed on the top of the conveyor frame 2, and the two short sides of the rectangular frame are arranged parallel to the conveying direction of the conveyor belt 3, And the two short sides of the rectangular frame are located on the outer side of the bracket 6; the inner sides of the two long sides of the rectangular frame are provided with a rack and a chute, and the two sides of the fixing plate 4 of the floor strip feeding mechanism are slidably arranged in the chute, and the fixing plate 4.
  • a gear driven by a servo motor is installed on the gear, and the gear is matched with the rack.
  • Both ends of the two long sides of the support frame 1 are provided with position sensors, which are linked with the electrical signal of the control center.
  • the floor strip feeding mechanism moves to the position where the position sensors are located, it starts to return.
  • the rack and pinion transmission between the fixed plate 4 and the support frame 1 is realized by the servo motor, so that the fixed plate 4 can reciprocate left and right along the length direction of the support frame 1.
  • the chute plays an auxiliary guiding role, preventing the fixing The plate 4 deviates during the movement. Since there are two brackets 6 corresponding to the same support frame 1, the floor strips on the two brackets 6 must be fed at intervals on the premise that there is only one floor strip feeding mechanism.
  • brackets 6 in Figure 1 there are four brackets 6 in Figure 1, that is, there are two floor strip feeding mechanisms, and the left and right movements of the two floor strip feeding mechanisms are asynchronous, so as to ensure that the four positions of the feeding mechanism are Intermittently, the floor strips are finally fed to the conveyor belt 3 without repeating the design and color.
  • the floor strip feeding mechanism includes a vacuum adsorption table 7, a linear guide rail and a second servo motor.
  • the vacuum adsorption table 7 is fixedly connected with the slider set on the linear guide rail, and the servo
  • the second motor drives the slider to move up and down along the vertical linear guide rail, the vacuum adsorption table 7 moves down to suck up the floor strips, and then the vacuum adsorption table 7 moves up and left and right together with the fixed plate 4, and after reaching the top of the conveyor belt 3,
  • the vacuum adsorption table 7 then discharges the material downward, and returns to its position after the discharge is completed.
  • the vacuum suction table 7 includes a vacuum detector and a plurality of vacuum suction cups.
  • the plurality of vacuum suction cups are evenly distributed on the bottom surface of the vacuum suction table 7 and used to tighten the floor strips.
  • the vacuum detector is used to detect the pressure value of the vacuum suction cups; the vacuum detector detects the pressure value of the vacuum suction cups. After the vacuum pressure value of the suction cup reaches the set pressure value (the suction force between the suction cup and the floor strip is sufficient), the feeding mechanism of the floor strip moves again to move the material. Through the cooperation of the vacuum detector and the vacuum suction cup, it is guaranteed There is enough suction between the floor strip and the suction cup to suck up the floor strip, which can prevent the phenomenon of slipping and blanking during the process of loading and moving materials; it can also be preset according to the different suction power required by different floor strips. Set the set pressure value of the vacuum detector.
  • the vacuum adsorption table 7 also includes a plurality of longitudinal chutes and transverse chutes, and the plurality of longitudinal chutes are fixed on the bottom working surface of the vacuum adsorption table 7 in parallel and at equal intervals.
  • Several sets of sliding blocks are correspondingly arranged in each longitudinal chute, each set of sliding blocks is fixedly connected with a transverse chute, multiple sets of transverse chute are parallel, and a plurality of vacuum suction cups are slidably connected with the transverse chute.
  • the vacuum adsorption platform can be applied to adjust and adsorb the spacing of raw materials of different sizes.
  • the specific operations are: adjusting the position of the corresponding slider of the vacuum suction cup in the lateral chute, so as to realize the adjustment of the distance between two adjacent suction cups; adjusting the horizontal direction
  • the position of the slider at the top of the chute in the longitudinal chute can realize the adjustment of the spacing between two adjacent transverse chutes.
  • the upper and lower positions of the transverse chute and the longitudinal chute are not limited, and the transverse chute may also be arranged at the top and the longitudinal chute may be arranged at the lower portion.
  • baffles are provided on the three sides of the storage platform 9, and a plurality of infrared sensors are also arranged on the two side baffles.
  • the distance between the two adjacent infrared sensors is less than the width of the floor strips.
  • the control center controls the manipulator 11 to rotate to On the top of the storage platform 9, the floor strip clamping mechanism 10 transfers the floor strips to the storage table 8 in time.
  • the hand action end of the manipulator 11 is provided with a floor strip clamping mechanism 10 , and the floor strip clamping mechanism 10 is used to clamp the assembled floor strips on the storage platform 9 and move them to the storage table 8 .
  • the floor strip clamping mechanism 10 includes multiple rows of clamping claws arranged in parallel, and the clamping claws include a clamping cylinder 12 , a connecting rod 13 and a clamping claw 14 , the connecting rod 13 connected with the working end of the clamping cylinder 12 drives the clamping jaw 14 to clamp the floor strip.
  • the outer side of the bracket 6, the outer side of the conveying frame 2 and the outer side of the storage table 8 are surrounded by There is an isolation net 5.

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Abstract

一种自动化地板花色无重复性的组合设备，包括输送架（2）、支撑框架（1）、地板条上料机构、机械手（11）和储料台（8），输送架（2）顶部设置有输送带（3），输送架（2）两侧对称分布有多个托架（6），不同花色的待组合地板条分别放置在各托架（6）上；对称设置于输送架（2）两侧的两个托架（6）顶部对应安装一支撑框架（1），地板条上料机构设置在支撑框架（1）上并可沿支撑框架（1）往复运动，用于将输送架（2）两侧的地板条间隔上料至输送带（3）上；输送带（3）末端对接存放平台（9），机械手（11）用于将存放平台（9）处的组合地板条抓取并放置到储料台（8）上。该技术方案能够对不同花色的地板条进行组合设置。

Description

一种自动化地板花色无重复性的组合设备 技术领域
本发明涉及地板条加工技术领域，特别是涉及一种自动化地板花色无重复性的组合设备。
背景技术
现有的地板条生产过程中，同一批次一般只生产一种花色的地板条，在进行地板条的拼装时，往往需要多个花色的地板条共同来拼出一个或多个图案，这就需要人工挑选不同花色的地板条，选出相配合拼接的地板后才能够进行施工铺装，大大增加了工人的工作量，降低了工作效率，并且存在选择由于花色错误而导致拼接出差错的现象，影响施工进度；且目前市面上也没有专门用于地板条组合的设备。
发明内容
本发明的目的是提供一种自动化地板花色无重复性的组合设备，以解决上述现有技术存在的问题，能够自动化完成地板花色的组合摆放，精确度高，减少了操作人员的工作量，具有更好的适用性。
为实现上述目的，本发明提供了如下方案：本发明提供一种自动化地板花色无重复性的组合设备，包括输送架、支撑框架、地板条上料机构、机械手和储料台，所述输送架的顶部设置有输送带，所述输送架的两侧对称分布有多个托架，不同花色的待组合地板条分别放置在各托架上；对称设置于输送架两侧的两个托架顶部对应安装有一所述支撑框架，所述地板条上料机构设置在所述支撑框架上并可沿支撑框架往复运动；所述地板条上料机构用于将输送架两侧的地板条间隔上料至所述输送带上；所述输送带的末端对接有存放平台，所述机械手用于将所述存放平台处的组合地板条抓取并放置到所述储料台上。
优选地，所述支撑框架为安装于所述输送架顶部的矩形框架，矩形框架的两短边平行于输送带传送方向设置，且矩形框架的两短边位于所述托架的外侧；矩形框架的两长边内侧均设有齿条和滑槽，所述地板条上料机 构的固定板两侧滑动设置于所述滑槽内，所述固定板上安装有伺服电机一驱动的齿轮，所述齿轮与齿条相配合。
优选地，所述支撑框架的两长边末端均设置有位置传感器，所述位置传感器与控制中心电信号链接。
优选地，所述地板条上料机构包括真空吸附台、直线导轨和伺服电机二，所述真空吸附台与所述直线导轨上配合设置的滑块固定连接，所述伺服电机二驱动所述滑块沿竖向设置的所述直线导轨上下移动。
优选地，所述真空吸附台包括真空检测仪和多个真空吸盘，多个所述真空吸盘均布在所述真空吸附台的底面并用于吸紧地板条，所述真空检测仪用于检测真空吸盘的压力值。
优选地，所述真空吸附台还包括多个纵向滑槽和横向滑槽，多个所述纵向滑槽平行等间距固定在所述真空吸附台的底部工作面上，各个所述纵向滑槽内对应设置有若干组滑块，每组所述滑块固定连接一所述横向滑槽，多组所述横向滑槽相平行；多个所述真空吸盘与所述横向滑槽滑动连接。
优选地，所述存放平台的三个侧边处均设置有挡板。
优选地，所述机械手的手部动作端设置有地板条夹取机构，所述地板条夹取机构用于将存放平台上组合好的地板条夹取后挪放到所述储料台上。
优选地，所述地板条夹取机构包括并列设置的多排夹紧手爪，所述夹紧手爪包括夹紧气缸、连杆和夹爪，与所述夹紧气缸作业端连接的所述连杆驱动所述夹爪夹紧地板条。
优选地，所述托架外侧、输送架外侧以及储料台外侧均围设有隔离网。
本发明相对于现有技术取得了以下有益技术效果：
本发明中的自动化地板花色无重复性的组合设备，能够通过地板条上料机构从输送架的两侧完成不同花色地板条的间隔上料，按照预定要求对不同花色的地板条进行组合设置，组合完成后统一放置到储料台上，便于 后续直接对拼色的地板条进行铺装，节省了大量时间，为施工人员带来了很大的便利。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为自动化地板花色无重复性的组合设备整体结构示意图；
图2为夹紧手爪的结构组成图；
其中，1支撑框架；2输送架；3输送带；4固定板；5隔离网；6托架；7真空吸附台；8储料台；9存放平台；10地板条夹取机构；11机械手；12夹紧气缸；13连杆；14夹爪。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的目的是提供一种自动化地板花色无重复性的组合设备，以解决上述现有技术存在的问题，能够自动化完成地板花色的组合摆放，精确度高，减少了操作人员的工作量，具有更好的适用性。
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。
如图1-2所示，本实施例提供一种自动化地板花色无重复性的组合设备，包括输送架2、支撑框架1、地板条上料机构、机械手11和储料台8，输送架2的顶部设置有输送带3，输送架2的两侧对称分布有多个托架6，不同花色的待组合地板条分别放置在各托架6上；对称设置于输送架2两侧的两个托架6顶部对应安装有一支撑框架1，地板条上料机构设置在支撑框架1上并可沿支撑框架1往复运动；地板条上料机构用于将输送架2两侧的地板条间隔上料至输送带3上；输送带3的末端对接有存放平台 9，机械手11用于将存放平台9处的组合地板条抓取并放置到储料台8上。
首先将不同花色的地板条分别放置在各个托架6上，启动组合设备开始工作，输送带3处于一直运转的状态，通过控制中心来控制地板条上料机构对不同花色的地板条进行间隔上料，如图1，有四个托架6，假设远离机械手11一侧支撑框架1下的托架6分别为托架6一和托架6二，靠近机械手11一侧支撑框架1下的托架6分别为托架6三和托架6四，地板条上料机构中的伺服电机在控制中心的控制下，实现托架6一、托架6二、托架6三和托架6四上的地板条间隔上料至输送带3上；输送带3将无重复性组合好的地板条运送至存放平台9处，然后机械手11从存放平台9抓取地板条并将其移放到储料台8上。
于本实施例中，为了对各托架6上的地板条进行间隔上料，支撑框架1为安装于输送架2顶部的矩形框架，矩形框架的两短边平行于输送带3传送方向设置，且矩形框架的两短边位于托架6的外侧；矩形框架的两长边内侧均设有齿条和滑槽，地板条上料机构的固定板4两侧滑动设置于滑槽内，固定板4上安装有伺服电机一驱动的齿轮，齿轮与齿条相配合。支撑框架1的两长边末端均设置有位置传感器，位置传感器与控制中心电信号链接，地板条上料机构移动到位置传感器所在的位置后，开始返回。通过伺服电机一实现固定板4与支撑框架1的齿轮齿条传动，进而使得固定板4能够沿支撑框架1的长度方向左右往复运动，与此同时，滑槽起到了辅助导向的作用，防止固定板4在运动的过程中偏离方向。由于同一个支撑框架1对应有两个托架6，所以两个托架6上的地板条在只有一个地板条上料机构的前提下，必定是间隔上料的。结合图1，图1中共有四个托架6，也就是有两个地板条上料机构，两个地板条上料机构的左右运动是不同步的，进而能够保证四个位置的上料是间歇式的，最终上料至输送带3上地板条是花色不重复的。
为了能够保证稳定上料不掉落，本实施例中，地板条上料机构包括真空吸附台7、直线导轨和伺服电机二，真空吸附台7与直线导轨上配合设置的滑块固定连接，伺服电机二驱动滑块沿竖向设置的直线导轨上下移动，真空吸附台7向下移动将地板条吸起，然后真空吸附台7再向上随固定板 4一起左右移动，到达输送带3上方后，真空吸附台7再向下进行放料，放料完成后归位。真空吸附台7包括真空检测仪和多个真空吸盘，多个真空吸盘均布在真空吸附台7的底面并用于吸紧地板条，真空检测仪用于检测真空吸盘的压力值；真空检测仪检测吸盘的真空压力值，达到设定的压力值(吸盘与地板条之间的吸力足够)后，地板条上料机构再动作进行移料上料，通过真空检测仪和真空吸盘的配合，保证了地板条与吸盘之间有足够的吸力将地板条吸起，能够防止在上料和移料的过程中出现滑料和落料的现象；还可以根据不同地板条所需要的吸力不同，来预先设置真空检测仪的设定压力值。
为了适用于不同规格的地板条，本实施例中，真空吸附台7还包括多个纵向滑槽和横向滑槽，多个纵向滑槽平行等间距固定在真空吸附台7的底部工作面上，各个纵向滑槽内对应设置有若干组滑块，每组滑块固定连接一横向滑槽，多组横向滑槽相平行；多个真空吸盘与横向滑槽滑动连接。该真空吸附平台可以适用于不同规格大小原材料的间距调整吸附，具体操作为：调节真空吸盘在横向滑槽中的对应的滑块的位置，可以实现相邻两吸盘之间的距离调整；调节横向滑槽顶部在纵向滑槽中滑块的位置，可以实现相邻两横向滑槽之间的间距调整。其中，横向滑槽和纵向滑槽的上下位置并不局限，也可以将横向滑槽设置在顶部，纵向滑槽设置在下部。
于本实施例中，为了防止存放平台9处的地板条掉落，在存放平台9的三个侧边处均设置有挡板，且两个侧面挡板上还设置有多个红外传感器，相邻两个红外传感器之间的距离小于地板条的宽度，放多个红外传感器均监测到有信号时，说明存放平台9上的组合地板条已铺满，此时，控制中心控制机械手11转动到存放平台9顶部，地板条夹取机构10及时将地板条转移到储料台8上。机械手11的手部动作端设置有地板条夹取机构10，地板条夹取机构10用于将存放平台9上组合好的地板条夹取后挪放到储料台8上。
为了能够稳定精准的完成地板条的转移，本实施例中，地板条夹取机构10包括并列设置的多排夹紧手爪，夹紧手爪包括夹紧气缸12、连杆13和夹爪14，与夹紧气缸12作业端连接的连杆13驱动夹爪14夹紧地板条。将多排夹紧手爪下压到存放平台9上地板条位置，每个夹紧手爪的夹紧气 缸12启动，通过连杆13驱动夹爪14夹紧每个地板条，机械手11转动将地板条移放到储料台8上；夹爪14松开，所有夹紧手爪回位。
此外，为了保证操作人员的安全，以及防止其他人员靠近组合设备，本实施例中的自动化地板花色无重复性的组合设备中，托架6外侧、输送架2外侧以及储料台8外侧均围设有隔离网5。
需要说明的是，对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内，不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
本发明中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。

Claims (10)

  1. 一种自动化地板花色无重复性的组合设备，其特征在于：包括输送架、支撑框架、地板条上料机构、机械手和储料台，所述输送架的顶部设置有输送带，所述输送架的两侧对称分布有多个托架，不同花色的待组合地板条分别放置在各托架上；对称设置于输送架两侧的两个托架顶部对应安装有一所述支撑框架，所述地板条上料机构设置在所述支撑框架上并可沿支撑框架往复运动；所述地板条上料机构用于将输送架两侧的地板条间隔上料至所述输送带上；所述输送带的末端对接有存放平台，所述机械手用于将所述存放平台处的组合地板条抓取并放置到所述储料台上。
  2. 根据权利要求1所述的自动化地板花色无重复性的组合设备，其特征在于：所述支撑框架为安装于所述输送架顶部的矩形框架，矩形框架的两短边平行于输送带传送方向设置，且矩形框架的两短边位于所述托架的外侧；矩形框架的两长边内侧均设有齿条和滑槽，所述地板条上料机构的固定板两侧滑动设置于所述滑槽内，所述固定板上安装有伺服电机一驱动的齿轮，所述齿轮与齿条相配合。
  3. 根据权利要求2所述的自动化地板花色无重复性的组合设备，其特征在于：所述支撑框架的两长边末端均设置有位置传感器，所述位置传感器与控制中心电信号链接。
  4. 根据权利要求2所述的自动化地板花色无重复性的组合设备，其特征在于：所述地板条上料机构包括真空吸附台、直线导轨和伺服电机二，所述真空吸附台与所述直线导轨上配合设置的滑块固定连接，所述伺服电机二驱动滑块沿竖向设置的所述直线导轨上下移动。
  5. 根据权利要求4所述的自动化地板花色无重复性的组合设备，其特征在于：所述真空吸附台包括真空检测仪和多个真空吸盘，多个所述真空吸盘均布在所述真空吸附台的底面并用于吸紧地板条，所述真空检测仪用于检测真空吸盘的压力值。
  6. 根据权利要求5所述的自动化地板花色无重复性的组合设备，其特征在于：所述真空吸附台还包括多个纵向滑槽和横向滑槽，多个所述纵向滑槽平行等间距固定在所述真空吸附台的底部工作面上，各个所述纵向滑槽内对应设置有若干组滑块，每组滑块固定连接一所述横向滑槽，多组所述横向滑槽相平行；多个所述真空吸盘与所述横向滑槽滑动连接。
  7. 根据权利要求1所述的自动化地板花色无重复性的组合设备，其特征在于：所述存放平台的三个侧边处均设置有挡板。
  8. 根据权利要求1所述的自动化地板花色无重复性的组合设备，其特征在于：所述机械手的手部动作端设置有地板条夹取机构，所述地板条夹取机构用于将存放平台上组合好的地板条夹取后挪放到所述储料台上。
  9. 根据权利要求8所述的自动化地板花色无重复性的组合设备，其特征在于：所述地板条夹取机构包括并列设置的多排夹紧手爪，所述夹紧手爪包括夹紧气缸、连杆和夹爪，与所述夹紧气缸作业端连接的所述连杆驱动所述夹爪夹紧地板条。
  10. 根据权利要求1所述的自动化地板花色无重复性的组合设备，其特征在于：所述托架外侧、输送架外侧以及储料台外侧均围设有隔离网。
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