A refractory brick standing brick conveying and palletizing robot

Abstract

This invention relates to the field of palletizing technology and discloses a refractory brick upright conveying and palletizing robot, comprising: a movable arm; and a gripper mechanism including: a support portion located at the end of the movable arm; and two gripping portions symmetrically arranged on both sides of the support portion. Each gripping portion includes at least two retractable gripping bodies, a telescopic drive component for driving the gripping bodies to extend and retract vertically, and a spacing adjustment component for adjusting the horizontal spacing between the gripping bodies. The refractory brick upright conveying and palletizing robot of this invention effectively solves the problems of brick clamping posture deviation and slippage caused by conveying vibration and slippage through an adaptive algorithm model and the coordinated cooperation of various mechanisms. When dealing with refractory bricks of different temperatures, contours, and surface roughnesses, it can precisely adjust the gripping spacing, elongation, and gripping force, improving the stability and accuracy of palletizing.

Description

Technical Field

[0001] This invention relates to the field of palletizing technology, and more specifically, to a refractory brick standing brick conveying and palletizing robot. Background Technology

[0002] Refractory bricks are a key material for the lining of high-temperature industrial kilns. After firing, they need to be transported to the palletizing area via conveyor lines for stacking and storage. In recent years, palletizing robots have gradually replaced manual labor, taking charge of gripping, lifting, and stacking bricks. Using a movable arm to drive a gripper mechanism, they complete standardized operations, greatly improving palletizing efficiency and stacking stability. These systems generally consist of clamping and positioning, motion control, and vision inspection modules to meet the rhythm requirements of mass production scenarios.

[0003] Current palletizing robots still have some shortcomings when palletizing high-temperature refractory bricks that have just come out of the kiln. For example, due to the thermal expansion effect of high temperature, the actual size of the refractory bricks after firing will deviate significantly from the standard value. The fixed clamping distance of the existing palletizing robot's grippers may cause the edges and corners to break due to excessive clamping, or cause slippage and falling due to excessive clamping. In addition, the surface of the bricks that have just come out of the kiln is covered with a layer of sintering dust, which will reduce the surface friction coefficient of the bricks. The constant clamping force of the existing grippers may not be able to suppress the slippage caused by the conveying vibration, which may ultimately cause the bricks to deviate in the clamping posture or even fall directly. Summary of the Invention

[0004] The purpose of this invention is to provide a refractory brick standing brick conveying and palletizing robot to solve the above-mentioned technical problems.

[0005] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0006] This invention provides a refractory brick standing brick conveying and palletizing robot, comprising:

[0007] The movable arm, gripper mechanism, detection mechanism, and control terminal;

[0008] The gripper mechanism includes: a support portion located at the end of the movable arm, two gripping portions symmetrically located on both sides of the support portion, and a drive portion for driving the two gripping portions to perform gripping / releasing actions; each gripping portion includes at least two retractable gripping bodies, a telescopic drive member for driving the gripping bodies to extend and retract in the vertical direction, and a spacing adjustment member for adjusting the horizontal distance between the gripping bodies on the same side.

[0009] The detection mechanism is located above the conveyor line and includes: a temperature measuring device for real-time measurement of the surface temperature of the refractory brick, a contour measuring device for obtaining the three-dimensional contour parameters of the refractory brick, and a surface roughness measuring device for obtaining the surface roughness data of the refractory brick.

[0010] The control terminal is connected to the movable arm, gripper mechanism, and detection mechanism via signals, and is configured as follows:

[0011] The clamping gap compensation amount is dynamically calculated based on temperature data;

[0012] The elongation of the clamping body is calculated based on the contour data;

[0013] Dynamic clamping force is determined based on surface roughness data;

[0014] The coordinated control of the spacing adjustment component, telescopic drive component, and drive unit enables adaptive clamping actions.

[0015] Preferably, the driving unit includes symmetrically arranged linear driving devices, the driving end of which is connected to the clamping unit, and the driving method is hydraulic, pneumatic or electric.

[0016] Preferably, the spacing adjustment component is a bidirectional synchronous drive device, with its two output ends connected to the clamping body respectively.

[0017] Preferably, the clamping body includes a fixed section and a telescopic section, the telescopic section sliding vertically relative to the fixed section.

[0018] Preferably, the telescopic drive component includes a power source and a transmission assembly, and the output end of the power source is connected to the telescopic section through the transmission assembly.

[0019] Preferably, the contact surface of the clamping body is provided with a wear-resistant composite pad, the surface hardness of which is higher than the hardness of the substrate.

[0020] Preferably, the temperature measuring element is an infrared temperature measuring device, the profile measuring element is an optical profile scanning device, and the surface roughness measuring element is a non-contact roughness sensor.

[0021] Preferably, when the control terminal performs clamping gap compensation, the compensation amount increases with the increase of temperature, and the compensation direction is opposite to the direction of thermal expansion.

[0022] Preferably, when the control terminal calculates the elongation of the clamping body, it controls the corresponding clamping body to extend for detected concave areas and controls the corresponding clamping body to retract for convex areas.

[0023] Preferably, when determining the dynamic clamping force, the greater the surface roughness value of the brick, the greater the clamping force; and the more effective contact points, the smaller the clamping force.

[0024] The beneficial effects of this invention are as follows:

[0025] The refractory brick vertical conveying and palletizing robot of this invention effectively solves the problems of brick clamping posture deviation and slippage caused by conveying vibration and slippage through an adaptive algorithm model and the coordinated cooperation of various mechanisms. When dealing with refractory bricks of different temperatures, contours and surface roughness, it can accurately adjust the clamping spacing, elongation and clamping force, thereby improving the stability and accuracy of palletizing. Attached Figure Description

[0026] Figure 1 This is a structural schematic diagram of a refractory brick vertical brick conveying and palletizing robot provided by the present invention;

[0027] Figure 2 This is a schematic diagram of the gripper mechanism in a refractory brick stacking and conveying robot provided by the present invention;

[0028] Figure 3 This is a schematic diagram of a partial position of the gripper mechanism in a refractory brick standing and palletizing robot provided by the present invention;

[0029] Figure 4 This is a block diagram showing the relationship between the various modules in a refractory brick standing brick conveying and palletizing robot provided by the present invention;

[0030] Figure 5 This is a control flowchart of the control end of a refractory brick standing brick conveying and palletizing robot provided by the present invention.

[0031] In the diagram: 100, movable arm; 200, gripper mechanism; 201, linear drive device; 202, clamping body; 2021, fixed section; 2022, telescopic section; 2023, wear-resistant composite liner; 203, bidirectional synchronous drive device; 204, power source; 205, limit rod; 206, sleeve; 300, detection mechanism; 301, temperature measuring component; 302, contour measuring component; 303, surface roughness measuring component; 400, conveyor line. Detailed Implementation

[0032] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0033] Please refer to the following: Figures 1 to 5A refractory brick stacking and conveying robot includes: a movable arm 100, a gripper mechanism 200, a detection mechanism 300, and a control terminal. The movable arm 100 is a conventional six-degree-of-freedom industrial robot body, capable of multi-directional movements. The gripper mechanism 200 is connected to the end of the movable arm 100 and is mainly used for gripping refractory bricks. It includes: a support part, two clamping parts, and a drive part. The support part is connected to the end of the movable arm 100, and the two clamping parts are symmetrically arranged on both sides of the support part. The output end of the drive part is correspondingly connected to the two clamping parts and is mainly used to drive the two clamping parts to perform clamping / releasing actions. The drive part includes two symmetrically arranged linear drive devices 201, whose drive ends are connected to the corresponding clamping parts. The drive method is hydraulic, pneumatic, or electric, such as hydraulic cylinders, pneumatic cylinders, or electric push rods.

[0034] Each clamping part includes at least two retractable clamping bodies 202 (two are provided in this invention), a telescopic drive for driving the clamping bodies 202 to extend and retract in the vertical direction, and a spacing adjustment component for adjusting the horizontal distance between the clamping bodies 202. The spacing adjustment component is a bidirectional synchronous drive device 203, such as a bidirectional cylinder or a bidirectional electric actuator, whose two output ends are respectively connected to the two clamping bodies 202 on corresponding sides. By extending and retracting the bidirectional synchronous drive device 203, the two clamping bodies 202 on the same side can be moved horizontally towards each other, thereby adjusting the distance between the two clamping bodies 202 on the same side to accommodate the clamping needs of bricks of different lengths. The clamping body 202 can be in the form of a rectangular plate, comprising a fixed section 2021 and a telescopic section 2022. The telescopic section 2022 slides vertically relative to the fixed section 2021. The two telescopic ends of the bidirectional synchronous drive device 203 are fixed to the fixed section 2021. A wear-resistant composite liner 2023 is provided on the contact surface of the clamping body 202. Its surface hardness is higher than that of the substrate. The wear-resistant composite liner 2023 is composed of a polyurethane substrate and a surface silicon carbide sintered layer, with a thickness ratio of 3:1. It is mainly used to increase the friction of the contact surface of the clamping body 202 and reduce damage to the brick surface. The telescopic drive component includes a power source 204 and a transmission assembly. The output end of the power source 204 is connected to the telescopic section 2022 through the transmission assembly. The power source 204 can be an electric push rod. The transmission assembly includes a limiting rod 205 and two sleeves 206. The limiting rod 205 is horizontally arranged, with its middle part connected to the telescopic end of the power source 204. The two sleeves 206 are slidably sleeved on both ends of the limiting rod 205, and the ends of the two sleeves 206 are respectively connected to the telescopic sections 2022 of the two clamping bodies 202 on the corresponding sides. By extending and retracting the power source 204, the limiting rod 205 and the sleeves 206 can be moved together, and the telescopic ends of the clamping bodies 202 can be moved synchronously to achieve clamping. The length of the holding body 202 is adjusted. When adjusting the distance between the two clamping bodies 202 on the same side, the sleeve 206 moves horizontally with the telescopic section 2022 of the corresponding clamping body 202. Under the sliding restriction of the limiting rod 205, it maintains stable sliding. In this way, the telescopic drive will not interfere with the movement of the distance adjustment component, and at the same time, the length of the clamping body 202 can be adjusted independently. The clamping part designed in this way has both clamping length and automatic clamping length adjustment function, which can adapt to the clamping needs of bricks of different sizes and has higher flexibility.

[0035] The detection mechanism 300 is located above the conveyor line, generally 20-30m away from the movable arm 100. It includes: a temperature measuring component 301 for real-time measurement of the surface temperature of the refractory bricks, a contour measuring component 302 for acquiring the three-dimensional contour parameters of the refractory bricks, and a surface roughness measuring component 303 for acquiring the surface roughness data of the refractory bricks. The temperature measuring component 301 is an infrared temperature measuring device, which can generally be an infrared thermal imager. The contour measuring component 302 is an optical contour scanning device, which can generally be a laser contour scanner. The surface roughness measuring component 303 is a non-contact roughness sensor, which can generally be a white light interferometer sensor.

[0036] The control terminal can be an industrial PLC, which integrates an adaptive algorithm model. It is connected to the movable arm 100, the gripper mechanism 200 and the detection mechanism 300 respectively. It can perform: dynamically calculate the clamping distance compensation based on temperature data, calculate the elongation of the clamping body 202 based on contour data, determine the dynamic clamping force based on surface roughness data, and coordinate the control of the spacing adjustment component, the telescopic drive component and the drive unit to perform adaptive clamping actions.

[0037] The adaptive algorithm model includes: formulas for calculating thermal expansion compensation, formulas for calculating the elongation of the holder 202, and formulas for calculating dynamic clamping force, specifically:

[0038] The formula for calculating thermal expansion compensation is: ΔL = L0 × α × (T - 25), where α is the expansion coefficient and L0 is the standard length; α = 1.2 × 10⁻⁶. -5 / ℃ (measured value of high-alumina refractory brick), output compensation distance of control terminal control spacing adjustment component: L 实际 =L 测量 +ΔL+5mm.

[0039] The formula for calculating the elongation of the clamping body 202 is: Hi = K × δ i , where δ i The depth of the local depression is given by k, which is a proportionality coefficient ranging from 0.6 to 0.8.

[0040] Furthermore, the control unit controls the clamping body 202 at the corresponding position according to the deformation mapping diagram:

[0041] Depression area (δ) i >0): Elongation Hi = 0.7 × δ i ;

[0042] Protruding area (δ) i <0): Retraction amount Hi = 0.8 × |δ i |;

[0043] For example: detecting the δ value in the central region of a brick. i =+10mm (depression), edge δ j=-4mm (protrusion); Elongation of the central clamp body H i =0.7×10=7mm; Edge clamping body retracts H j =0.8×4=3.2mm.

[0044] Additionally, it should be noted that regarding δ i The process of determining is as follows:

[0045] Three-dimensional point cloud data (10,000+ point cloud data on the surface of refractory bricks) was acquired using a laser contour scanner. Surface curvature was extracted (by fitting a reference plane using the least squares method and calculating the deviation distance of each point). Depression / protrusion regions were identified (generating a deformation depth map), and the local deformation depth δ was calculated. i .

[0046] The formula for calculating dynamic clamping force is F=(k×m×g) / (μ0×exp). (-β·Ra) ×n); where F is the dynamic clamping force (unit: Newton N), k is the safety factor (dimensionless, preferred value 1.25), m is the mass of the refractory brick (unit: kilogram kg), g is the gravitational acceleration (unit: m / s², commonly taken as 9.8), μ0 is the reference friction coefficient (dimensionless, measured value on a clean surface at room temperature), and β is the friction attenuation factor (unit: μm). -1 The effect of surface roughness on friction), Ra is the surface roughness (unit: micrometers, μm), exp () It is a natural exponential function, where n is the number of effective contact points (dimensionless, ≥2).

[0047] The implementation process of the above plan is as follows:

[0048] Example 1: Standard rectangular brick stacking

[0049] Brick type: High alumina brick L0=600mm, m=22kg;

[0050] S100. When the refractory brick is transported on the conveyor line to the area below the detection mechanism 300, the temperature measuring component 301 measures the surface temperature of the refractory brick in real time, T=380℃, the contour measuring component 302 obtains the three-dimensional contour parameters of the refractory brick and determines that δi=0, indicating that the brick body has no deformation, and the surface roughness measuring component 303 obtains the surface roughness data of the refractory brick, Ra=8μm, and transmits these data to the control terminal.

[0051] S200, Calculate adjustment parameters based on received data

[0052] Based on the received temperature data T, the control unit dynamically calculates the clamping gap compensation amount ΔL according to a pre-set algorithm to cope with the thermal expansion of refractory bricks caused by high temperature.

[0053] Actual calculation:

[0054] ΔL = 600 × 1.2 × 10 -5 ×(380-25)≈2.56mm, L 实际 =600+2.56+5=607.56mm.

[0055] The required elongation H for each clamp 202 is precisely calculated based on the contour data. i For detected recessed areas, the corresponding clamping body 202 is extended, while for raised areas, the corresponding clamping body 202 is retracted to ensure that the clamps can perfectly fit the surface of the refractory brick.

[0056] Due to the actual calculation of H i =0, therefore there is no stretch adjustment.

[0057] Based on the surface roughness data Ra, the control end determines the appropriate dynamic clamping force F. The greater the surface roughness value of the brick, the greater the clamping force; the more effective contact points, the smaller the clamping force, ensuring that the refractory brick can be stably clamped without damaging the brick due to excessive clamping force.

[0058] The actual measured effective contact point n is 2, and μ0 is taken as 0.6. The clamping force F is calculated using the formula: F = 1.25 × 22 × 9.8 / 0.6 × exp (-0.16) ×2≈263.53N.

[0059] S300 and the control terminal convert the calculated clamping distance compensation amount ΔL, the elongation amount Hi of the clamping body 202, and the dynamic clamping force F into control signals to coordinate the control of the spacing adjustment component, the telescopic drive component, and the drive unit. The spacing adjustment component precisely adjusts the horizontal spacing of the clamping body 202 according to the clamping distance compensation amount through the bidirectional synchronous drive device 203; the telescopic drive component drives the telescopic section 2022 of the clamping body 202 to extend and retract vertically according to the elongation of the clamping body 202 through the power source 204 and the transmission assembly; the drive unit drives the two clamping parts to perform clamping actions according to the dynamic clamping force, so that the gripper mechanism 200 can accurately grasp the refractory brick in an adaptive manner.

[0060] Under the command of the control terminal, the S400 and the mobile arm 100 transport the refractory bricks they have grabbed to the designated stacking position for stacking according to the preset path and actions.

[0061] The refractory brick vertical conveying and palletizing robot of this invention effectively solves the problems of brick clamping posture deviation and slippage caused by conveying vibration and slippage through an adaptive algorithm model and the coordinated cooperation of various mechanisms. When dealing with refractory bricks of different temperatures, contours and surface roughness, it can accurately adjust the clamping spacing, elongation and clamping force, thereby improving the stability and accuracy of palletizing.

[0062] Example 2

[0063] Brick type: Silica brick L0=500mm, m=15kg;

[0064] The surface temperature of the brick was measured to be T=290℃ by temperature measuring device 301, the central depression was measured to be δ=12mm, and the surface roughness measurement device 303 obtained the surface roughness data of the refractory brick Ra=15μm.

[0065] The control unit performs calculations:

[0066] ΔL = 500 × 1.2 × 10 -5 ×265=1.59mm, L actual=506.59mm;

[0067] F = 1.25 × 15 × 9.8 / 0.6 × exp (-0.3) ×3≈137.80N;

[0068] The elongation of the intermediate clamp 202 is Hi = 0.7 × 12 = 8.4 mm;

[0069] The control unit converts the calculated clamping distance compensation amount ΔL, the extension amount Hi of the clamping body 202, and the dynamic clamping force F into control signals to coordinate the control of the spacing adjustment component, the telescopic drive component, and the drive unit.

[0070] It should be noted that the above solution achieves the following technical effects:

[0071] The detection mechanism 300 of this invention monitors the surface temperature of the refractory brick in real time through the temperature measuring component 301, enabling the control terminal to dynamically calculate the clamping distance compensation amount according to the thermal expansion compensation calculation formula, ensuring accurate clamping under different temperature environments. The contour measuring component 302 acquires the three-dimensional contour parameters of the brick, and the control terminal calculates the elongation of the clamping body 202 accordingly, allowing the jaws to perfectly fit the surface of the brick and avoiding clamping instability caused by brick deformation. The surface roughness measuring component 303 acquires the surface roughness data of the brick, and the control terminal determines the appropriate clamping force according to the dynamic clamping force calculation formula, ensuring stable clamping while preventing damage to the brick.

[0072] The gripper mechanism 200 of this invention is designed to be flexible and efficient, with the support, gripping, and drive components working in tandem to adapt the gripper to bricks of different sizes. The extendable gripping body 202 and spacing adjustment components of the gripping part can automatically adjust, improving the equipment's versatility. The wear-resistant composite liner 2023 increases friction and reduces damage to the brick surface. The adaptive algorithm model integrated into the control unit is the core of the system, capable of accurately calculating parameters based on data from the detection mechanism 300, and collaboratively controlling each component to perform adaptive gripping actions, improving palletizing efficiency and quality. The robotic arm 100 is a six-degree-of-freedom industrial robot body, capable of multi-directional movement, accurately transporting refractory bricks to designated palletizing positions, and quickly and stably completing palletizing tasks under different working conditions.

[0073] In summary, this refractory brick vertical conveying and palletizing robot has significant advantages in improving palletizing stability, accuracy, and versatility, and can bring enterprises higher production efficiency and economic benefits.

[0074] The embodiments of the present invention have been described above, but the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention, all of which are within the protection scope of the present invention.

Claims

1. A refractory brick vertical conveying and palletizing robot, characterized in that, include: The movable arm, gripper mechanism, detection mechanism, and control terminal; The gripper mechanism includes: a support portion located at the end of the movable arm, two gripping portions symmetrically located on both sides of the support portion, and a drive portion for driving the two gripping portions to perform gripping / releasing actions; each gripping portion includes at least two retractable gripping bodies, a telescopic drive member for driving the gripping bodies to extend and retract in the vertical direction, and a spacing adjustment member for adjusting the horizontal distance between the gripping bodies on the same side. The detection mechanism is located above the conveyor line and includes: a temperature measuring device for real-time measurement of the surface temperature of the refractory brick, a contour measuring device for obtaining the three-dimensional contour parameters of the refractory brick, and a surface roughness measuring device for obtaining the surface roughness data of the refractory brick. The control terminal is connected to the movable arm, gripper mechanism, and detection mechanism via signals, and is configured as follows: The clamping gap compensation amount is dynamically calculated based on temperature data; The elongation of the clamping body is calculated based on the contour data; Dynamic clamping force is determined based on surface roughness data; The coordinated control of the spacing adjustment component, telescopic drive component, and drive unit enables adaptive clamping actions; The control terminal is an industrial PLC, which integrates an adaptive algorithm model; The adaptive algorithm model includes: formulas for calculating thermal expansion compensation, formulas for calculating the elongation of the clamping body, and formulas for calculating dynamic clamping force, specifically: The formula for calculating thermal expansion compensation is: ΔL = L0 × α × (T - 25); Where α is the coefficient of thermal expansion, and L0 is the standard length; in the formula, α = 1.2 × 10⁻⁶. -5 / ℃, the output compensation distance of the control terminal control spacing adjustment component is: L 实际 =L 测量 +ΔL+5mm; Formula for calculating the elongation of the clamping body: H i =K×δ i ; Where, δ i The depth of the local depression is given by k, which is a proportionality coefficient ranging from 0.6 to 0.

8. Furthermore, the control unit controls the clamping body at the corresponding position based on the deformation mapping diagram: Depression region δ i >0: Elongation H i =0.7×δ i ; convex region δ i <0: Retraction amount H i =0.8×|δ i |; Regarding δ i The process of determining is as follows: 3D point cloud data is acquired using a laser contour scanner, surface curvature is extracted, concave / convex regions are identified, and the local deformation depth δ is calculated. i ; The formula for calculating dynamic clamping force is: F = (k × m × g) / (μ0 × exp (-β·Ra) ×n); Where F is the dynamic clamping force, k is the safety factor, m is the mass of the refractory brick, g is the gravitational acceleration, μ0 is the reference friction coefficient, β is the friction attenuation factor, Ra is the surface roughness, and exp () It is a natural exponential function, where n is the number of effective contact points; When the control terminal performs clamping gap compensation, the compensation amount increases with the increase of temperature, and the compensation direction is opposite to the direction of thermal expansion. When the control terminal calculates the elongation of the clamping body, it controls the corresponding clamping body to extend for the detected concave area and controls the corresponding clamping body to retract for the convex area. When determining the dynamic clamping force, the control terminal determines the clamping force based on the surface roughness of the brick: the greater the surface roughness, the greater the clamping force; and based on the number of effective contact points, the smaller the clamping force.

2. The refractory brick standing brick conveying and palletizing robot according to claim 1, characterized in that, The driving unit includes symmetrically arranged linear driving devices, the driving end of which is connected to the clamping unit, and the driving method is hydraulic, pneumatic or electric.

3. The refractory brick standing brick conveying and palletizing robot according to claim 1, characterized in that, The spacing adjustment component is a bidirectional synchronous drive device, and its two output ends are respectively connected to the clamping body.

4. The refractory brick standing brick conveying and palletizing robot according to claim 1, characterized in that, The clamping body includes a fixed section and a telescopic section, with the telescopic section sliding vertically relative to the fixed section.

5. A refractory brick standing brick conveying and palletizing robot according to claim 4, characterized in that, The telescopic drive component includes a power source and a transmission assembly, and the output end of the power source is connected to the telescopic section through the transmission assembly.

6. The refractory brick standing brick conveying and palletizing robot according to claim 4, characterized in that, The contact surface of the clamping body is provided with a wear-resistant composite liner, the surface hardness of which is higher than that of the base material.

7. A refractory brick standing brick conveying and palletizing robot according to claim 1, characterized in that, The temperature measuring element is an infrared temperature measuring device, the profile measuring element is an optical profile scanning device, and the surface roughness measuring element is a non-contact roughness sensor.

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