A mosaic automatic brick arrangement system

Abstract

The embodiment of the present invention discloses a mosaic automatic brick arrangement system, including a feeding mechanism, a brick guiding mechanism, a brick pushing mechanism, a brick grabbing conveying mechanism and a brick laying robot; the feeding mechanism, the brick guiding mechanism, the brick pushing mechanism and the brick grabbing conveying mechanism are arranged in sequence; the feeding mechanism is used for feeding mosaic particles; the brick guiding mechanism is used for diverting and guiding mosaic particles; the brick pushing mechanism is used to control the extension and contraction of the cylinder according to the signal of the front and back recognition sensor, and remove the mosaic particles with the back facing upward; the brick grabbing conveying mechanism includes a brick grabbing conveying belt, and the brick grabbing conveying belt is used to move the mosaic particles a fixed distance; the brick laying robot is used to grab the mosaic particles with the front facing upward from the brick grabbing conveying belt and arrange them on the mosaic template. The present invention can automatically complete the loading and arranging of mosaics through the mutual cooperation of the above mechanisms, with high arrangement efficiency, good quality, saving manpower, and improving production efficiency.

Description

Technical Field

[0001] The invention relates to automatic mosaic production equipment, in particular to an automatic mosaic tile arrangement system. Background Art

[0002] In terms of mosaic laying, the existing technology uses manual brick laying, which significantly reduces production efficiency, has a single production method, and has poor results. Moreover, for customers, the uncertainty of production tasks determines that the requirements for production workers are not entirely reasonable. When the tasks are heavy, the number of production workers required is high, and it is difficult to complete the production tasks in a short time; but when the tasks are not heavy, there will be too many people, resulting in increased labor costs, and many people's work is at a standstill. Therefore, this uncertainty is difficult for customers to control.

[0003] The production method on the market is still manual, and the mosaics are laid one by one. This production method takes a lot of time and energy, and has low production efficiency. In addition, the whole process requires continuous concentration and focus to complete the arrangement and laying of mosaics, which consumes a lot of people's willpower. For the entire industry, it is also necessary to propose a device to solve this inefficient production problem to meet the needs of social development and industrial automation. Summary of the invention

[0004] The technical problem to be solved by the embodiments of the present invention is to provide a mosaic automatic tile arrangement system, which automatically completes the loading and arrangement of mosaics, has high arrangement efficiency, saves manpower, and improves production efficiency.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a mosaic automatic brick arrangement system, including a feeding mechanism, a brick guiding mechanism, a brick pushing mechanism, a brick grabbing and conveying mechanism and a brick laying robot; the feeding mechanism, the brick guiding mechanism, the brick pushing mechanism and the brick grabbing and conveying mechanism are arranged in sequence; the feeding mechanism is used for loading mosaic particles; the brick guiding mechanism is used for diverting and guiding mosaic particles; the brick pushing mechanism is used to control the extension and contraction of the cylinder according to the signal of the front and back side recognition sensor, and remove the mosaic particles with the back side facing upward; the brick grabbing and conveying mechanism includes a brick grabbing and conveying belt, which is driven by a servo motor and is used to move the mosaic particles a fixed distance; the brick laying robot is used to grab the mosaic particles with the front side facing upward from the brick grabbing and conveying belt and arrange them on the mosaic template.

[0006] As an improvement of the above solution, the feeding mechanism has a feeding conveyor belt; a baffle is provided above the feeding conveyor belt, and the baffle is at a predetermined distance from the upper surface of the feeding conveyor belt.

[0007] As an improvement of the above scheme, the brick guiding mechanism includes a brick guiding conveyor belt and a brick guiding rod located above the brick guiding conveyor belt, the brick guiding rod is formed with a diverter portion and two or more branch guide portions; the diverter portion is arranged at the front end of the branch guide portion, and is used to uniformly guide the mosaic particles into the branch guide portion; the branch guide portion is used to neatly arrange the mosaic particles in a single row.

[0008] As an improvement of the above-mentioned scheme, the brick pushing mechanism includes a brick pushing cylinder and a brick pushing plate arranged on the brick pushing cylinder; the brick pushing mechanism is arranged on one side of the branch guide part, and the movement direction of the brick pushing plate is perpendicular to the movement direction of the mosaic particles in the branch guide part; the branch guide part is provided with a waste outlet at the position corresponding to the brick pushing plate.

[0009] As an improvement of the above solution, the tile-laying robot includes a robotic arm and a robotic gripper, wherein the robotic gripper is arranged on the robotic arm, and the robotic arm can drive the robotic gripper to move in three dimensions and rotate around the z-axis; the robotic gripper is used to grab mosaic particles.

[0010] As an improvement of the above scheme, the robotic arm includes a fixed plate, and three swing arms are equidistantly arranged on the side of the fixed plate. The swing arms are connected to the brick picking seat through connecting arms. The brick picking seat is also connected to the rotating drive rod, and a vacuum suction cup is arranged on the brick picking seat.

[0011] As an improvement of the above solution, a lifting plate is provided below the brick taking seat, the vacuum suction cups are arranged in a row on the lifting plate, and the lifting plate is connected to the brick taking seat via a connecting rod.

[0012] As an improvement of the above solution, a mosaic template transmission and positioning mechanism is provided under the tile-laying robot, and the mosaic template transmission and positioning mechanism is used to transmit the mosaic template and fix the mosaic template to the tile-laying station.

[0013] As an improvement of the above-mentioned scheme, the mosaic template transmission and positioning mechanism includes a fixed guide side, a variable guide side and a positioning claw. One side of the mosaic template is pushed by the variable guide side so that the opposite side abuts against the fixed guide side; the positioning claw is arranged at the front and rear ends of the tile laying station, and can rotate up and down around the rotating shaft to clamp and fix the mosaic template located between the positioning claws.

[0014] As an improvement of the above solution, pulleys arranged in rows are provided on the variable guide side, and the pulleys are arranged on the elastic swing arm.

[0015] Implementing the embodiments of the present invention has the following beneficial effects:

[0016] The present invention realizes automatic loading through a loading mechanism, divides and guides mosaics through a brick guiding mechanism, and then screens the mosaics after the division according to their front direction through a brick pushing mechanism, removes the mosaic particles with the back facing upward, and recycles them by a special recycling mechanism and sends them to the loading mechanism for reloading; after screening, the remaining ones are all mosaics with the front facing upward, and the mosaic particles with the front facing upward enter the brick grabbing and conveying mechanism for step-by-step conveying; the brick laying robot sends the mosaics to the predetermined grabbing position through the brick grabbing and conveying mechanism, grabs them, and arranges them on the mosaic template. Through the mutual cooperation of the above mechanisms, the loading and arranging of mosaics can be automatically completed, the arrangement efficiency is high, the quality is good, manpower is saved, and the production efficiency is improved.

[0017] The present application adopts a solution of removing mosaics with their backs facing upward after mosaics are sorted, so that the structure of the overall system is more compact, occupies less space, has high screening efficiency, and reduces equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an automatic mosaic tile arrangement system of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the feeding mechanism of the present invention;

[0020] Figure 3 It is a structural schematic diagram of the brick guiding mechanism of the present invention;

[0021] Figure 4 It is a structural schematic diagram of the brick pushing mechanism of the present invention;

[0022] Figure 5 It is a schematic diagram of the working state of the brick guiding mechanism and the brick pushing mechanism of the present invention;

[0023] Figure 6 is a schematic diagram of the overall structure of the brick-laying robot of the present invention;

[0024] Figure 7 yes Figure 6 A magnified view of part A;

[0025] Figure 8 yes Figure 6 A magnified view of part B;

[0026] Fig. 9 It is a schematic diagram of the overall structure of the mosaic template transmission and positioning mechanism of the present invention;

[0027] Fig.10 yes Fig. 9 Enlarged view of part A. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It is hereby stated that the directional terms such as up, down, left, right, front, back, inside, outside, etc. that appear or will appear in the text of the present invention are only based on the accompanying drawings of the present invention, and are not specific limitations of the present invention.

[0029] like Figure 1 , Figure 3 and Figure 5 As shown, a specific embodiment of the present invention provides a mosaic automatic brick arrangement system, including a feeding mechanism 1, a brick guiding mechanism 3, a brick pushing mechanism 4, a brick grabbing and conveying mechanism 5 and a brick laying robot 2; the feeding mechanism 1, the brick guiding mechanism 3, the brick pushing mechanism 4 and the brick grabbing and conveying mechanism 5 are arranged in sequence; the feeding mechanism 1 is used for loading mosaic particles; the brick guiding mechanism 3 is used for diverting and guiding mosaic particles; the brick pushing mechanism 4 is used to control the extension and contraction of the cylinder according to the signal of the front and back side recognition sensor 6, and remove the mosaic particles with the back side facing upward; the brick grabbing and conveying mechanism 5 includes a brick grabbing and conveying belt 51, and the brick grabbing and conveying belt 51 is used to move the mosaic particles a fixed distance; the brick laying robot 2 is used to grab the mosaic particles with the front side facing upward from the brick grabbing and conveying belt 51 and arrange them on the mosaic template.

[0030] The present invention realizes automatic loading through a loading mechanism 1, divides and guides mosaics through a brick guiding mechanism 3, and then screens the mosaics after the division according to their front orientation through a brick pushing mechanism 4, removes the mosaic particles with the back facing upward, and recycles them by a special recycling mechanism and sends them to the loading mechanism 1 for reloading; after screening, the remaining ones are all mosaics with the front facing upward, and the mosaic particles with the front facing upward enter the brick grabbing and conveying mechanism 5 for step-by-step conveying; the brick laying robot 2 sends the brick grabbing and conveying mechanism 5 to the mosaics at the predetermined grabbing position to grab and arrange them on the mosaic template. Through the mutual cooperation of the above mechanisms, the loading and arranging of mosaics can be automatically completed, the arrangement efficiency is high, the quality is good, manpower is saved, and the production efficiency is improved.

[0031] The specific structure of this application is described in detail below:

[0032] In order to sort the mosaic particles stacked together during the feeding stage, such as Figure 2 As shown, the feeding mechanism 1 has a feeding conveyor belt 11; a baffle 12 is provided above the feeding conveyor belt 11, and the baffle 12 is at a predetermined distance from the upper surface of the feeding conveyor belt 11. The distance between the baffle 12 and the upper surface of the feeding conveyor belt 11 only allows one layer of mosaic to pass through, so after the mosaic particles pass through the baffle 12, they will be laid flat on the feeding conveyor belt 11 in the form of a single layer.

[0033] After the initial arrangement by the feeding mechanism 1, the mosaic particles enter the tile guiding mechanism 3. Figure 3 As shown, the brick guide mechanism 3 includes a brick guide conveyor belt 31 and a brick guide rod 32 located above the brick guide conveyor belt 31. It should be noted that the brick guide mechanism can be independently arranged between the feeding mechanism 1 and the brick grabbing conveyor mechanism 5, or it can be directly arranged above the feeding mechanism 1 as in the present embodiment, in which case the brick guide conveyor belt 31 and the feeding conveyor belt 11 are the same conveyor belt. The brick guide rod 32 is formed with a diverter 321 and two or more branch guides 322; the diverter 321 is arranged at the front end of the branch guide 322, and is used to evenly guide the mosaic particles into the branch guide 322; the branch guide 322 is used to neatly arrange the mosaic particles in a single row. Specifically, the diverter 321 is formed with a conical surface, and the tiled mosaic particles will be diverted to the branch guide 322 behind the diverter 321 after passing through the conical surface. The conical surface contacts the side of the mosaic and also guides the direction of the mosaic, so that the mosaic slowly rotates to the same direction as the conveying direction of the branch guide 322, preventing the four corners of the mosaic from being damaged by rigid collision with the separation guide. The branch guide 322 is composed of two parallel guide rods, which contact the two side surfaces of the mosaic, so that the mosaic particles are transported forward in a single row.

[0034] After the mosaic particles are further arranged by the tile guide mechanism 3, the screening operation can be started to ensure that the orientation of the mosaic particles is the same before arrangement. Figure 4 and Figure 5, the brick pushing mechanism 4 is arranged on one side of the branch guide part 322, and the movement direction of the brick pushing plate is perpendicular to the movement direction of the mosaic particles in the branch guide part 322. The brick pushing mechanism 4 includes a brick pushing cylinder 41 and a brick pushing plate 42 arranged on the brick pushing cylinder 41; the branch guide part 322 is provided with a waste outlet 323 corresponding to the position where the brick pushing plate 42 is located. A front and back side recognition sensor 6 for sensing the orientation of mosaic particles is arranged above the brick pushing mechanism 4. The front and back side recognition sensor 6 identifies the orientation of mosaic particles by sensing the difference in physical parameters between the front and back sides of the mosaic. For example, the front side of some mosaic particles is smoother than the back side, so the front and back side recognition sensor 6 may include a laser generator and a receiver, and the front and back sides are determined by receiving the difference in laser intensity reflected from the mosaic surface. The front and back side recognition sensor 6 may also be a camera, which directly analyzes the image data of the mosaic through a computer to determine its front and back sides. This method can adapt to more types of mosaics and is more flexible to use, but the equipment cost is higher. When the front and back side identification sensor 6 determines that the mosaic particle currently passing through is back-facing, the brick pushing cylinder 41 drives the brick pushing plate 42 to extend, pushing the mosaic particle out of the waste outlet 323 and dropping it into a special recycling mechanism.

[0035] The screened mosaic particles enter the grabbing and conveying mechanism 5 for mosaic arrangement. The grabbing and conveying mechanism 5 controls the frequent start and stop of the conveyor belt through a servo motor, and moves a fixed distance each time to achieve a stepping effect of the mosaic particles, so that the mosaic particles enter the predetermined grabbing position in batches.

[0036] like Figure 6-Figure 8 As shown, the brick-laying robot 2 includes a mechanical arm 21 and a mechanical gripper 22. The mechanical gripper 22 is arranged on the mechanical arm 21. The mechanical arm 21 can drive the mechanical gripper 22 to move in three dimensions and rotate around the z-axis; the mechanical gripper 22 is used to grab mosaic particles. Among them, the mechanical arm 21 includes a fixed plate 211, and three swing arms 212 are equidistantly arranged on the side of the fixed plate 211. The swing arm 212 is connected to the brick-taking seat 221 through a connecting arm 213, and the connecting arm 213 is connected to the swing arm 212 through a ball head universal joint 214. The brick-taking seat 221 is also connected to a rotating drive rod 215, and a vacuum suction cup 222 is arranged on the brick-taking seat 221. The upper end of the rotating drive rod 215 is connected to a motor, which can drive the brick-taking seat 221 to rotate around the z-axis. A lifting plate 223 is provided below the brick taking seat 221, and the vacuum suction cups 222 are arranged in a row on the lifting plate 223, and the lifting plate 223 is connected to the brick taking seat 221 through a connecting rod 224. When the three swing arms 212 swing up and down in coordination with each other, the brick taking seat 221 can be controlled to move between a predetermined grabbing position and the mosaic template 8. The vacuum suction cups 222 use the vacuum principle to absorb and release mosaic particles.

[0037] In order to accurately place the mosaic particles into the mosaic template 8 and efficiently replace the mosaic template with arranged mosaics, the mosaic template 8 must be able to be efficiently and accurately transmitted and fixed at a predetermined position. Therefore, the present application designs a special mosaic template transmission and positioning mechanism 7. The mosaic template transmission and positioning mechanism 7 is arranged below the tile laying robot 2 and is located on one side of the conveying mechanism 5. The mosaic template transmission and positioning mechanism 7 is used to transmit the mosaic template 8 and fix the mosaic template 8 at the tile laying station.

[0038] Specifically, Fig. 9 and Fig.10 As shown, the mosaic template transmission positioning mechanism 7 includes a fixed guide side 71, a variable guide side 72 and positioning claws (73a, 73b), one side of the mosaic template 8 is pushed by the variable guide side 72 so that the opposite side abuts against the fixed guide side 71; the positioning claws (73a, 73b) are arranged at the front and rear ends of the paving station, and can rotate around the rotation axis up and down to clamp and fix the mosaic template 8 located between the positioning claws (73a, 73b). Preferably, the variable guide side 72 is provided with pulleys 721 arranged in rows, and the pulleys 721 are arranged on the elastic swing arm 722. The positioning claw 73a is arranged on the rotation axis 74, and the rotation axis 74 is connected to the rotation axis rotating cylinder 75; the driving structure of the positioning claw 73b is similar to it. The elastic swing arm 722 will swing toward the variable guide side 72 when subjected to pressure to meet the positioning requirements of mosaic templates of different sizes. The elastic swing arm 722 applies pressure to the side of the mosaic template 8 through the pulley 721, so that the mosaic template 8 moves close to the fixed guide side 71. When the mosaic template moves to a predetermined position, the rotating cylinder 75 drives the rotating shaft 74 to rotate, so that the positioning claws (73a, 73b) are turned up from the front and rear of the mosaic template 8 to clamp and fix the mosaic template 8. The left and right positions of the mosaic template are positioned by the fixed guide side 71 and the variable guide side 72, and then the front and rear directions are positioned by the positioning claws (73a, 73b). The positioning is accurate, which can improve the arrangement quality of the mosaic. After the arrangement is completed, the mosaic template 8 can be quickly discharged forward to proceed to the subsequent process. The next mosaic template 8 can quickly pass over the positioning claws (73a, 73b) and enter the predetermined arrangement position. The switching of the mosaic template 8 is fast and smooth, and the working reliability is high.

[0039] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A mosaic automatic brick laying system, characterized in that: It includes a feeding mechanism, a brick guiding mechanism, a brick pushing mechanism, a brick grabbing and conveying mechanism and a brick laying robot; The feeding mechanism, brick guiding mechanism, brick pushing mechanism and brick grabbing and conveying mechanism are arranged in sequence; The feeding mechanism is used for feeding mosaic particles; The brick guiding mechanism is used for diverting and guiding the mosaic particles; The brick pushing mechanism is used to control the extension and retraction of the cylinder according to the signal of the front and back recognition sensor, so as to remove the mosaic particles with the back side facing upward; The brick grabbing and conveying mechanism comprises a brick grabbing and conveying belt, and the brick grabbing and conveying belt is used to move the mosaic particles a fixed distance; The tile laying robot is used to grab the mosaic particles facing upward from the tile grabbing conveyor belt and arrange them on the mosaic template; The feeding mechanism has a feeding conveyor belt; a baffle is provided above the feeding conveyor belt, and the baffle is at a predetermined distance from the upper surface of the feeding conveyor belt; The brick guiding mechanism comprises a brick guiding conveyor belt and a brick guiding rod located above the brick guiding conveyor belt, wherein the brick guiding rod is formed with a diverter and two or more branch guides; the diverter is arranged at the front end of the branch guide, and is used to evenly guide the mosaic particles into the branch guide; the branch guide is used to neatly arrange the mosaic particles in a single row; The brick pushing mechanism comprises a brick pushing cylinder and a brick pushing plate arranged on the brick pushing cylinder; the brick pushing mechanism is arranged on one side of the branch guide part, and the movement direction of the brick pushing plate is perpendicular to the movement direction of the mosaic particles in the branch guide part; the branch guide part is provided with a waste outlet at a position corresponding to the brick pushing plate; A mosaic template transmission and positioning mechanism is provided below the tile-laying robot, and the mosaic template transmission and positioning mechanism is used to transmit the mosaic template and fix the mosaic template to the tile-laying station; The mosaic template transmission and positioning mechanism includes a fixed guide side, a variable guide side and a positioning claw. One side of the mosaic template is pushed by the variable guide side so that the opposite side abuts against the fixed guide side. The positioning claw is arranged at the front and rear ends of the tile laying station and can rotate up and down around the rotating shaft to clamp and fix the mosaic template located between the positioning claws.

2. The automatic mosaic tile arrangement system according to claim 1, characterized in that: The tile-laying robot comprises a mechanical arm and a mechanical gripper, wherein the mechanical gripper is arranged on the mechanical arm, and the mechanical arm can drive the mechanical gripper to move in three dimensions and rotate around the z-axis; the mechanical gripper is used to grab mosaic particles.

3. The automatic mosaic tile arrangement system according to claim 2, characterized in that: The mechanical arm comprises a fixed plate, and three swing arms are equidistantly arranged on the side of the fixed plate. The swing arms are connected to a brick taking seat through a connecting arm. The brick taking seat is also connected to a rotating driving rod. A vacuum suction cup is arranged on the brick taking seat.

4. The automatic mosaic tile arrangement system according to claim 3, characterized in that: A lifting plate is provided below the brick taking seat, the vacuum suction cups are arranged in a row on the lifting plate, and the lifting plate is connected to the brick taking seat through a connecting rod.

5. The automatic mosaic tile arrangement system according to claim 1, characterized in that: The variable guide side is provided with pulleys arranged in rows, and the pulleys are arranged on the elastic swing arm.

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