Manipulator and belt conveying cooperative control system for building block processing

Abstract

The invention relates to the technical field of intelligent conveying, and discloses a manipulator and belt conveying cooperative control system for building block processing, which comprises a manipulator control unit for controlling the rotation and grabbing actions of a manipulator; the belt control unit is used for controlling start and stop of the production process belt and the stacking process belt conveying assembly; the position detection unit is used for detecting the positions of the building blocks on the belt; the visual detection unit is arranged at a detection station of a production process belt and is used for acquiring an image of the building block to be transferred; and the quality evaluation unit is used for receiving the image information of the to-be-transferred building blocks and evaluating the forming quality of the building blocks. Forming defects of the building blocks are accurately recognized, unqualified products can be screened out in the conveying process, waste of subsequent procedures is avoided, and the overall quality of the factory building blocks is more uniform; the position detection unit, the mechanical arm control unit and the belt control unit are adopted for cooperative operation, the building block conveying and transferring process is closely linked and accurate, and the conveying and production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent conveying technology, and more specifically, to a robot and belt conveyor coordinated control system for block processing. Background Art

[0002] Blocks are man-made blocks made of concrete, industrial waste (slag, fly ash, tailings, etc.) or local materials. Blocks need to be transferred between adjacent processes during the production process; after the blocks are formed, they are transported, stacked, and packaged. Now the blocks are packaged into neatly arranged brick stacks to facilitate subsequent handling and storage. With the development of automated production lines, unmanned yards and warehousing, how to quickly realize the transportation of blocks between processes and realize automated control has become a key research direction in the current block transportation process.

[0003] In the prior art, for example, the utility model patent with the publication number CN221499664U discloses a conveying device for brick production, wherein a flipping mechanism for flipping bricks by 90 degrees is provided between the driving wheel and the driven wheel, and the flipping mechanism comprises a mounting plate 1 and a mounting plate 2 fixedly installed at both ends of the frame, wherein the mounting plate 1 is close to the feeding direction, and the mounting plate 2 is close to the discharging direction, and the mounting plate 1 and the mounting plate 2 are arranged between the upper and lower sides of the conveyor belt, and two parallel guide columns are fixedly installed between the mounting plate 1 and the mounting plate 2, and a connecting block is slidably connected between the two guide columns, and an L-shaped flap is hinged on the connecting block, and a cylinder 1 is fixedly installed on the mounting plate 1, and the output shaft of the cylinder 1 is fixedly connected to the connecting block, and a connecting rod is hinged on the side of the L-shaped flap close to the discharging direction of the conveyor belt, and the connecting rod is hinged on the mounting plate 2 on the side away from the L-shaped flap. This device uses a conveyor belt to transport and transfer bricks or building blocks. However, in the actual conveying process, this device conveys the blocks indiscriminately, and unqualified or defective blocks will be mixed in, and the quality of the subsequent stacked blocks cannot be guaranteed.

[0004] Therefore, it is necessary to propose a robot and belt conveyor coordinated control system for block processing to at least partially solve the problems existing in the prior art. Summary of the invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0006] In order to at least partially solve the above problems, the present invention provides a robot and belt conveyor coordinated control system for block processing, comprising: A manipulator control unit, used to control the rotation and grasping action of the manipulator; Belt control unit, used to control the start and stop of the production process belt and stacking process belt conveyor components; A position detection unit for detecting the position of the blocks on the belt; A visual inspection unit, which is arranged at the inspection station of the belt of the production process and is used to obtain the image of the blocks to be transferred; The quality assessment unit is used to receive image information of the blocks to be transferred and assess the molding quality of the blocks.

[0007] Preferably, the production process belt includes an inspection station and a transfer station, the inspection station is arranged at the front end of the transfer station, and a gantry is arranged in the inspection station; the position detection unit uses an infrared position sensor to detect the position of the building blocks on the belt, and the infrared position sensor is installed on the inner side of the gantry; the visual detection unit uses an image acquisition device to capture the image of the building blocks, and the image acquisition device is installed on the top of the gantry.

[0008] Preferably, a defective product collection box or a defective product belt conveyor is provided on one side of the robot.

[0009] Preferably, the quality assessment unit of the controller receives the image information of the building block to be transferred, and compares it with the preset building block image information; when the deviation value of the image information exceeds the preset value, the quality assessment unit of the controller assesses the building block as a defective product, and the manipulator control unit controls the movement of the manipulator to grab the building block and place it in a defective product collection box or a defective product belt conveyor; when the deviation value of the image information is within a preset range, the quality assessment unit of the controller assesses the building block as a qualified product, and the manipulator control unit controls the movement of the manipulator to grab the building block and place it on the stacking process belt.

[0010] Preferably, the image acquisition device comprises: A support frame, the top of the support frame is close to the side of the manipulator; A supporting cylinder, the supporting cylinder being vertically connected to the end of the supporting frame; The camera body is connected to the bottom end of the supporting cylinder, and the camera body is electrically connected to the controller for acquiring images of the blocks below.

[0011] Preferably, a limit assembly is provided on the support cylinder, and the limit assembly includes: A telescopic driving member, the telescopic driving member is connected to the top of the supporting cylinder, a bending rod is connected to the top of the telescopic driving member, and the telescopic driving member is electrically connected to the controller; A limit plate, the limit plate is vertically connected to the bottom end of the bent rod, and a plurality of fill light strips are arranged on the limit plate; The limit slider is connected to the side of the supporting cylinder close to the manipulator, the two groups of limit sliders are symmetrically arranged, and the limit plate is slidably connected between the two groups of limit sliders.

[0012] Preferably, a cleaning assembly is provided on the supporting cylinder, and the cleaning assembly comprises: The duct rack is connected to the side of the supporting cylinder close to the manipulator, and the limit plate passes through the duct rack; The air duct is installed on the air duct rack, the air inlet end of the air duct is connected to the air source pump body, the air outlet end of the air duct is arranged downward, and the air duct is located on the side of the limit plate close to the manipulator.

[0013] Preferably, the cleaning component also includes: A bellows, which is connected to the air outlet of the air duct and can be retracted; Sliding columns, two sliding columns are symmetrically connected to both sides of the limit plate, and the sliding columns are arranged horizontally; The air outlet frame is connected to the bottom end of the corrugated pipe, and lugs are arranged on both sides of the air outlet frame. The lugs are slidably connected to the sliding column, and a spring is connected between the lugs and the end of the sliding column.

[0014] Preferably, the cleaning component also includes: The motor is connected to the limit plate and arranged close to the air outlet frame; The lever is connected to the output shaft of the motor and is located between the air outlet frame and the limit plate.

[0015] Preferably, a deviation correction component is provided at the bottom end of the limiting plate, and the deviation correction component includes: A deflection correction frame connected to the bottom end of the limiting plate; Correction wheels: two correction wheels are rotatably connected to both sides of the correction frame, and the distance between the two correction wheels is greater than the width of the production process belt; The tension wheel is connected to the deviation correction frame, and the tension wheel and the two deviation correction wheels are not arranged on the same horizontal line; A correction belt, which is arranged around the correction wheel and the tension wheel; The anti-collision plate is connected to the middle part of the correction belt and corresponds to the position of the building block.

[0016] Preferably, the correction component also includes: A guide seat is connected to the deviation correction frame and is located inside the deviation correction wheel. The deviation correction belt passes through the two guide seats and is arranged parallel to the edge of the block. A slide groove is arranged in the middle of the deviation correction frame, and a tensioning slider is slidably connected in the slide groove, a tensioning wheel is installed on the tensioning slider, and a pressure sensor is arranged on the tensioning wheel; A tensioning hydraulic cylinder is connected to the deviation correcting frame, and an output end of the tensioning hydraulic cylinder is connected to the tensioning slider.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: The present invention provides a robot and belt conveyor coordinated control system for block processing. Through a visual detection and quality assessment unit, the molding defects of the blocks can be accurately identified, and unqualified products can be screened out during the conveying process, thereby avoiding waste in subsequent processes and making the overall quality of the blocks leaving the factory more uniform. The position detection unit, the robot control unit and the belt control unit are coordinated to ensure that the block conveying and transfer processes are closely connected and accurate, thereby improving the conveying and production efficiency.

[0018] The invention relates to a robot and belt conveyor coordinated control system for block processing. Other advantages, objectives and features of the invention will be reflected in part through the following description, and will also be understood by technicians in this field through research and practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 It is a system block diagram of the robot and belt conveyor coordinated control system for block processing in the present invention; Figure 2 It is a structural schematic diagram of the present invention; Figure 3 It is a structural schematic diagram of the belt end of the production process in the present invention; Figure 4 It is a structural schematic diagram of the image acquisition device in the present invention; Figure 5 It is a structural schematic diagram of the limiting plate assembly in the present invention; Figure 6 It is a schematic diagram of the structure of the cleaning component in the present invention; Figure 7 It is a schematic diagram of the bottom structure of the deviation-correcting frame in the present invention; Figure 8 It is a schematic diagram of the local structure of the deviation correction frame at the tensioning wheel in the present invention.

[0020] In the figure: 1. Production process belt; 2. Stacking process belt; 3. Robot; 4. Gantry; 5. Infrared position sensor; 6. Image acquisition equipment; 11. Support frame; 12. Support cylinder; 13. Camera body; 14. Telescopic drive member; 15. Bending rod; 16. Limit plate; 17. Limit slider; 18. Fill light strip; 19. Duct rack; 21. Duct; 22. Bellows; 23. Sliding column; 24. Air outlet frame; 25. Lug; 26. Motor; 27. Push rod; 28. Correction frame; 29. ​​Correction wheel; 31. Tensioning wheel; 32. Correction belt; 33. Anti-collision plate; 34. Guide seat; 35. Slide; 36. Tensioning hydraulic cylinder; 37. Tensioning slider. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0022] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0023] Embodiment 1: like Figure 1 As shown, the present invention provides a robot and belt conveyor coordinated control system for block processing, comprising: A manipulator control unit, used to control the rotation and grasping action of the manipulator 3; Belt control unit, used to control the start and stop of the conveying components of production process belt 1 and stacking process belt 2; A position detection unit for detecting the position of the blocks on the belt; A visual inspection unit, arranged at the inspection station of the production process belt 1, is used to obtain the image of the blocks to be transferred; The quality assessment unit is used to receive image information of the blocks to be transferred and assess the molding quality of the blocks.

[0024] The working principle and beneficial effects of the above technical solution are: A robot and belt conveyor coordinated control system for block processing, when blocks are transferred between processes, a robot and belt conveyor coordinated control mode is adopted. Belt conveyor is adopted in adjacent processes. When blocks move to the end of belt 1 of production process, blocks are first moved to the inspection station. After the position detection unit detects the block arrival signal, the visual inspection unit is started to obtain the image of the block to be transferred. The quality evaluation unit compares this image with the preset image, compares the actual size of the block with the standard size, checks whether there are cracks, pores and other defects on the surface, and evaluates the molding quality of this block. After the detection, the blocks continue to be moved, and the robot action is controlled according to the evaluation structure, and qualified blocks are moved to the stacking process belt 2, and unqualified blocks are moved to the manual inspection station or other diversion procedures.

[0025] The present invention provides a robot and belt conveyor coordinated control system for block processing. Through a visual detection and quality assessment unit, the molding defects of the blocks can be accurately identified, and unqualified products can be screened out during the conveying process, thereby avoiding waste in subsequent processes and making the overall quality of the blocks leaving the factory more uniform. The position detection unit, the robot control unit and the belt control unit are coordinated to ensure that the block conveying and transfer processes are closely connected and accurate, thereby improving the conveying and production efficiency.

[0026] Embodiment 2: like Figure 1 As shown, based on the above-mentioned embodiment 1, the production process belt 1 includes a detection station and a transfer station, the detection station is arranged at the front end of the transfer station, and a gantry 4 is arranged in the detection station; the position detection unit adopts an infrared position sensor 5 to detect the position of the building blocks on the belt, and the infrared position sensor 5 is installed on the inner side of the gantry 4; the visual detection unit adopts an image acquisition device 6 to acquire the image of the building blocks, and the image acquisition device 6 is installed on the top of the gantry 4.

[0027] The working principle and beneficial effects of the above technical solution are: The gantry 4 is used as the supporting structure of the infrared position sensor 5 and the image acquisition device 6, and the equipment layout is compact and reasonable, reducing the positioning error; when the building block passes through the gantry, the infrared position sensor 5 can detect the arrival signal of the building block, which serves as the time basis for controlling the image acquisition device 6 to obtain the image.

[0028] Embodiment 3: On the basis of the above-mentioned embodiment 1, a defective product collection box or a defective product belt conveyor is provided on one side of the robot 3 .

[0029] The working principle and beneficial effects of the above technical solution are: The qualified blocks are transferred to the stacking process belt 2 by the robot 3; the unqualified blocks are transferred to the collection box by the robot 3 for scrapping and recycling, or moved to the unqualified product belt conveyor to enter the manual inspection process or the recycling process.

[0030] Embodiment 4: On the basis of the above-mentioned embodiment 1, the quality assessment unit of the controller receives the image information of the building blocks to be transferred, and compares it with the preset building block image information; compares the actual size of the building blocks with the standard size, and checks whether there are cracks, pores and other defects on the surface. When the deviation value of the image information (size deviation, crack area, number of pores, etc.) exceeds the preset value, the quality assessment unit of the controller assesses the building block as a defective product, and the manipulator control unit controls the manipulator 3 to move, grab the building block and place it in a defective product collection box or a defective product belt conveyor; when the deviation value of the image information is within the preset range, the quality assessment unit of the controller assesses the building block as a qualified product, and the manipulator control unit controls the manipulator 3 to move, grab the building block and place it on the stacking process belt 2.

[0031] Embodiment 5: like Figure 2-Figure 6 As shown, based on the above embodiment 1, the image acquisition device 6 includes: A support frame 11, the top of the support frame 11 is close to the side of the manipulator 3; A support cylinder 12, the support cylinder 12 is vertically connected to the end of the support frame 11; The camera body 13 is connected to the bottom end of the supporting cylinder 12 and is electrically connected to the controller for acquiring images of the blocks below.

[0032] A limit assembly is provided on the support cylinder 12, and the limit assembly includes: A telescopic driving member 14, the telescopic driving member 14 is connected to the top of the supporting cylinder 12, a bending rod 15 is connected to the top of the telescopic driving member 14, and the telescopic driving member 14 is electrically connected to the controller; A limiting plate 16, the limiting plate 16 is vertically connected to the bottom end of the bent rod 15, and a plurality of fill light strips 18 are arranged on the limiting plate 16; The limiting slider 17 is connected to a side of the supporting cylinder 12 close to the manipulator 3 . The two groups of limiting sliders 17 are symmetrically arranged, and the limiting plate 16 is slidably connected between the two groups of limiting sliders 17 .

[0033] The working principle and beneficial effects of the above technical solution are: The support frame 11 provides a stable high-position support for the entire image acquisition device 6, so that the support cylinder 12 can be suspended above the belt detection station area. The camera body 13 is installed at the bottom of the support cylinder 12. When working, it is started under the command of the controller to capture the image of the block on the belt below from a vertical downward perspective, and then transmit the image data to the controller for subsequent evaluation and analysis of the quality of the block. When the infrared position sensor 5 detects the block, the controller starts the telescopic drive 14 to shorten it. The telescopic drive 14 drives the limit plate 16 to move downward through the bending rod 15, and the limit slider 17 guides the movement of the limit plate 16; until the limit plate 16 approaches the production process belt 1 and blocks the block, the limit plate 16 contacts the edge of the block and regularizes the block to a preset angle.

[0034] Through the above-mentioned structural design, the stable structure composed of the support frame 11 and the support cylinder 12 creates a stable shooting environment for the camera body 13, reducing the risk of image blur caused by equipment shaking; the limit plate 16 is set to a height-adjustable structure. When the building blocks are moved to the detection station, the limit plate 16 blocks and straightens the building blocks so that they can be arranged at a preset angle, which is convenient for subsequent image comparison and evaluation; a fill light bar 18 is set on the limit plate 16, which can move with the limit plate 16 to ensure the relative position of the fill light bar 18 and the camera body 13, provide sufficient lighting to improve the clarity of the image, and improve the visual detection and evaluation effect.

[0035] Embodiment 6: like Figure 2-Figure 6 As shown, based on the above-mentioned embodiment 5, a cleaning assembly is provided on the support cylinder 12, and the cleaning assembly includes: The air duct frame 19 is connected to the side of the support cylinder 12 close to the manipulator 3, and the limit plate 16 passes through the air duct frame 19; The air duct 21 is installed on the air duct frame 19 , the air inlet end of the air duct 21 is connected to the air source pump body, the air outlet end of the air duct 21 is arranged downward, and the air duct 21 is located on the side of the limit plate 16 close to the manipulator 3 .

[0036] The working principle and beneficial effects of the above technical solution are: When the cleaning component is in use, the air source pump is started to deliver gas to the air duct 21, and the air flow is blown downward along the path of the air duct 21, blowing the dust and impurities on the limit plate 16 and the production process belt 1 to the surroundings, realizing the cleaning function of the detection station components. On the one hand, it prevents the accumulation of impurities and affects the correction effect of the limit plate 16 on the blocks; on the other hand, it prevents the collected impurity images from affecting the evaluation results when the camera body 13 is in use. The camera body 13, the fill light bar 18 and the cleaning component are centrally arranged on the same support structure, which can reduce the installation deviation of each component, so that the fill light and cleaning can be within the preset range, assisting the camera body 13 in image acquisition, and ensuring that the detection station has an excellent visual detection environment.

[0037] Embodiment 7: like Figure 2-Figure 6 As shown, based on the above embodiment 6, the cleaning component also includes: The bellows 22 is connected to the air outlet end of the air duct 21, and the bellows 22 is retractable; Sliding columns 23, two sliding columns 23 are symmetrically connected to both sides of the limiting plate 16, and the sliding columns 23 are arranged horizontally; The air outlet frame 24 is connected to the bottom end of the bellows 22, and lugs 25 are arranged on both sides of the air outlet frame 24. The lugs 25 are slidably connected to the sliding column 23, and a spring is connected between the lugs 25 and the end of the sliding column 23; The motor 26 is connected to the limiting plate 16 and is arranged close to the air outlet frame 24; The lever 27 is connected to the output shaft of the motor 26 and is located between the air outlet frame 24 and the limiting plate 16 .

[0038] The working principle and beneficial effects of the above technical solution are: When the cleaning assembly is in use, the motor 26 is started, and the output shaft of the motor 26 drives the lever 27 to rotate. When the lever 27 rotates to one side of the air outlet frame 24, the air outlet frame 24 is squeezed to move forward along the slide column 23, and the spring on the slide column 23 is squeezed and stored, that is, the air outlet of the air outlet frame 24 moves forward; when the lever 27 rotates in a direction away from the air outlet frame 24, the air outlet frame 24 is pushed to move in the opposite direction and reset under the action of the spring, that is, the air outlet of the air outlet frame 24 moves in the opposite direction. Through the above structural design, when the cleaning assembly is in use, as the motor 26 moves, the air outlet of the air outlet frame 24 is reciprocated, and the dust and impurities on the limit plate 16 and the production process belt 1 are blown back and forth, thereby improving the cleaning effect.

[0039] Embodiment 8: like Figure 7 , Figure 8 As shown, based on the above-mentioned embodiment 5, a deviation correction component is provided at the bottom end of the limiting plate 16, and the deviation correction component includes: A deflection correction frame 28, which is connected to the bottom end of the limiting plate 16; Correction wheels 29, two correction wheels 29 are rotatably connected to both sides of the correction frame 28, and the distance between the two correction wheels 29 is greater than the width of the production process belt 1; A tensioning wheel 31, the tensioning wheel 31 is connected to the deviation correction frame 28, and the tensioning wheel 31 and the two deviation correction wheels 29 are not arranged on the same horizontal line; A correction belt 32, the correction belt 32 is arranged around the correction wheel 29 and the tension wheel 31; The anti-collision plate 33 is connected to the middle of the deviation-correcting belt 32 and corresponds to the position of the building block.

[0040] The working principle and beneficial effects of the above technical solution are: When the building blocks are transported on the belt 1 of the production process, the building blocks may deviate from the placement or shift during transportation, resulting in a situation where the direction of the building blocks is inconsistent with the preset detection and shooting direction; when the turning head moves to the detection station, it contacts the anti-collision plate 33, and the anti-collision plate 33 is installed on the correction belt 32, and the correction belt 32 has a certain tensioning force; therefore, under the obstruction of the correction belt 32, the building blocks are corrected to the preset angle, so that they can be returned to the preset shooting angle, which is convenient for subsequent image comparison and evaluation processing; the tensioning wheel 31 and the two correction wheels 29 are not on the same horizontal line, ensuring that the correction belt 32 is in a suitable tensioning state; the anti-collision plate 33 is used to preferentially contact the building blocks, effectively avoiding the block damage caused by bumps during the correction process.

[0041] Embodiment 9: like Figure 7 , Figure 8 As shown, based on the above-mentioned embodiment 8, the correction component further includes: A guide seat 34, the guide seat 34 is connected to the deflection correction frame 28 and is located inside the deflection correction wheel 29, and the deflection correction belt 32 passes through the two guide seats 34 and is arranged parallel to the edge of the block; A slide groove 35, which is arranged in the middle of the deviation correction frame 28, and a tensioning slider 37 is slidably connected in the slide groove 35, a tensioning wheel 31 is installed on the tensioning slider 37, and a pressure sensor is arranged on the tensioning wheel 31; The tensioning hydraulic cylinder 36 is connected to the deviation correcting frame 28 , and the output end of the tensioning hydraulic cylinder 36 is connected to the tensioning slider 37 .

[0042] The working principle and beneficial effects of the above technical solution are: When the deviation correction component is in use, the pressure on the tensioning wheel 31 is detected by the pressure sensor, and the controller receives the pressure data. When the pressure value on the tensioning wheel 31 is less than the preset pressure value, it indicates that the deviation correction belt 32 is at risk of loosening; at this time, the controller starts the tensioning hydraulic cylinder 36 to drive the tensioning slider 37 to move, so that the tensioning wheel 31 is away from the two deviation correction wheels 29, and then the deviation correction belt 32 is tightened to reach the preset tension state, ensuring that the deviation correction belt 32 has sufficient tension to correct the deviation of the building blocks in a regular manner; by setting two guide seats 34, the deviation correction belt 32 after wrapping around the two deviation correction wheels 29 can be set between the two guide seats 34 at a preset angle to adapt to building blocks of different shapes.

[0043] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A robot and belt conveyor coordinated control system for block processing, characterized in that: include: A manipulator control unit, used to control the rotation and grasping action of the manipulator (3); A belt control unit, used to control the start and stop of the conveying components of the production process belt (1) and the stacking process belt (2); A position detection unit for detecting the position of the blocks on the belt; A visual inspection unit, arranged at an inspection station of the production process belt (1), for acquiring an image of the building blocks to be transferred; The quality assessment unit is used to receive image information of the blocks to be transferred and assess the molding quality of the blocks.

2. The robot and belt conveyor coordinated control system for block processing according to claim 1 is characterized in that: The production process belt (1) comprises a detection station and a transfer station, the detection station is arranged at the front end of the transfer station, and a gantry (4) is arranged in the detection station; the position detection unit uses an infrared position sensor (5) to detect the position of the building block on the belt, and the infrared position sensor (5) is installed on the inner side of the gantry (4); the visual detection unit uses an image acquisition device (6) to acquire an image of the building block, and the image acquisition device (6) is installed on the top of the gantry (4).

3. The robot and belt conveyor coordinated control system for block processing according to claim 1 is characterized in that: Either a defective product collection box or a defective product belt conveyor is arranged on one side of the robot (3).

4. The robot and belt conveyor coordinated control system for block processing according to claim 3 is characterized in that: The quality assessment unit of the controller receives image information of the building block to be transferred and compares it with preset building block image information; when the deviation value of the image information exceeds the preset value, the quality assessment unit of the controller assesses the building block as a defective product, and the robot control unit controls the robot (3) to move, grab the building block and place it in a defective product collection box or a defective product belt conveyor; when the deviation value of the image information is within a preset range, the quality assessment unit of the controller assesses the building block as a qualified product, and the robot control unit controls the robot (3) to move, grab the building block and place it on the stacking process belt (2).

5. The robot and belt conveyor coordinated control system for block processing according to claim 2 is characterized in that: The image acquisition device (6) comprises: A support frame (11), the top of the support frame (11) being close to a side of the manipulator (3); A supporting cylinder (12), the supporting cylinder (12) being vertically connected to an end of the supporting frame (11); A camera body (13) is connected to the bottom end of the supporting cylinder (12), and the camera body (13) is electrically connected to a controller and is used to obtain an image of the building blocks below.

6. A robot and belt conveyor coordinated control system for block processing according to claim 5, characterized in that: A limit assembly is provided on the support cylinder (12), and the limit assembly comprises: A telescopic driving member (14), the telescopic driving member (14) being connected to the top end of the supporting cylinder (12), a bent rod (15) being connected to the top end of the telescopic driving member (14), and the telescopic driving member (14) being electrically connected to a controller; A limiting plate (16), the limiting plate (16) being vertically connected to the bottom end of the bent rod (15), and a plurality of fill light strips (18) being arranged on the limiting plate (16); The limiting slider (17) is connected to a side of the supporting cylinder (12) close to the manipulator (3), the two groups of limiting sliders (17) are symmetrically arranged, and the limiting plate (16) is slidably connected between the two groups of limiting sliders (17).

7. A robot and belt conveyor coordinated control system for block processing according to claim 6, characterized in that: A cleaning assembly is arranged on the supporting cylinder (12), and the cleaning assembly comprises: An air duct frame (19), the air duct frame (19) is connected to a side of the support cylinder (12) close to the manipulator (3), and the limit plate (16) passes through the air duct frame (19); The air duct (21) is installed on the air duct frame (19), the air inlet end of the air duct (21) is connected to the air source pump body, the air outlet end of the air duct (21) is arranged downward, and the air duct (21) is located on a side of the limit plate (16) close to the manipulator (3).

8. The robot and belt conveyor coordinated control system for block processing according to claim 7 is characterized in that: The cleanup component also includes: A bellows (22), the bellows (22) being connected to the air outlet end of the air duct (21), and the bellows (22) being retractable; Sliding columns (23), two sliding columns (23) are symmetrically connected to both sides of the limiting plate (16), and the sliding columns (23) are arranged horizontally; An air outlet frame (24) is arranged in communication with the bottom end of the corrugated pipe (22), lugs (25) are arranged on both sides of the air outlet frame (24), the lugs (25) are slidably connected to the sliding column (23), and a spring is connected between the lugs (25) and the end of the sliding column (23).

9. A robot and belt conveyor coordinated control system for block processing according to claim 8, characterized in that: The cleanup component also includes: A motor (26), the motor (26) being connected to the limiting plate (16), and the motor (26) being arranged close to the air outlet frame (24); A lever (27) is connected to the output shaft of the motor (26), and the lever (27) is located between the air outlet frame (24) and the limiting plate (16).

10. The robot and belt conveyor coordinated control system for block processing according to claim 6, characterized in that: A deviation correction component is arranged at the bottom end of the limit plate (16), and the deviation correction component comprises: A deflection correction frame (28), the deflection correction frame (28) is connected to the bottom end of the limiting plate (16); Correction wheels (29), wherein the two correction wheels (29) are rotatably connected to both sides of the correction frame (28), and the distance between the two correction wheels (29) is greater than the width of the production process belt (1); A tensioning wheel (31), the tensioning wheel (31) is connected to the deviation correction frame (28), and the tensioning wheel (31) and the two deviation correction wheels (29) are not arranged on the same horizontal line; A deviation-correcting belt (32), the deviation-correcting belt (32) being arranged around the deviation-correcting wheel (29) and the tensioning wheel (31); An anti-collision plate (33) is connected to the middle of the deviation-correcting belt (32) and corresponds to the position of the building block.

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