Stacking device for ceramic floor tiles

Abstract

The application provides a stacking device for ceramic floor tiles, belonging to the technical field of stacking, comprising a mechanical arm and a connecting bracket fixedly installed at the tail end of the mechanical arm, two linear actuators I are installed on the connecting bracket, the execution ends of the two linear actuators I are fixedly provided with main clamping jaws, the two main clamping jaws move towards each other to clamp the left and right sides of the ceramic floor tiles, the lower ends of the front and back sides of the main clamping jaws are rotatably provided with auxiliary clamping jaws, the side close to the main clamping jaws of the auxiliary clamping jaws is provided with a through hole, the inner wall of the through hole is provided with a spiral guide groove, the inner wall of the through hole is slidably provided with a sliding column, the lower end of the sliding column is rotatably connected with a convex ball, and the convex ball is slidably matched with the inner wall of the adjacent spiral guide groove; the application can solve the problems of poor fixing effect and stacking efficiency caused by the single clamping direction of the existing stacking device for ceramic floor tiles.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacking, in particular to a stacking device for ceramic floor tiles. BACKGROUND

[0002] As a ground decoration material used in the field of building decoration, ceramic floor tiles have the advantages of high hardness, strong wear resistance, waterproofness, moisture resistance and good aesthetics, and are widely used in various scenarios such as residential, commercial and public buildings. With the rapid development of the construction industry, the production scale of ceramic floor tiles is continuously expanding, and the output is showing an increasing trend year by year. In the production, storage and transportation of ceramic floor tiles, the formed ceramic floor tiles need to be regularly stacked for subsequent storage management and long-distance transportation, so efficient and stable stacking operation has become an indispensable key link in the production and supply chain of ceramic floor tiles.

[0003] In actual production, in order to avoid damage such as corner knocking and surface scratching of ceramic floor tiles during handling, a plurality of ceramic floor tiles are usually stacked into groups and bound and fixed by packaging film or carton to form regular tile bundles; then, these bound tile bundles need to be transferred from the production conveying line to the pallet for multi-layer stacking to save storage space and facilitate subsequent forklift transfer. However, the existing stacking device mostly adopts a double-sided planar clamping structure, which is limited to only fixing the tiles in a single dimension, and the overall fixing effect is poor, which is difficult to adapt to complex stacking requirements.

[0004] Referring to the Chinese patent document with publication number CN119704241B and publication date August 26, 2025, entitled "Stacking robot and stacking method for wall cloth processing", it includes a mechanical arm and a jaw mechanism, the jaw mechanism includes a top support plate, both ends of the top surface of the top support plate are installed with telescopic drive assemblies, both ends of the bottom surface of the top support plate are installed with clamping plates in transmission connection with the telescopic drive assemblies, two groups of telescopic drive assemblies can drive the clamping plates at both ends of the bottom surface of the top support plate to move towards each other to close or move in the opposite direction to open, and the clamping plates at both ends of the bottom surface of the top support plate are installed with auxiliary support mechanisms that can support and position the clamped objects.

[0005] With reference to the above technical solutions, when the clamping plate clamps and grabs the article, the auxiliary supporting claw can extend to the bottom surface of the article to provide auxiliary support, thereby enhancing the stability during grabbing and conveying and reducing the risk of article falling. However, this structure still has obvious deficiencies when actually used for stacking ceramic floor tiles. Specifically, in the actual stacking process, in order to improve the stability of the stack, the floor tiles are often placed horizontally and vertically. Although the device can effectively support the bottom of the horizontally placed floor tiles, when processing the vertically placed floor tiles, the auxiliary supporting claw cannot be rotated and adjusted due to the blocking of the tile structure, and the auxiliary supporting function is lost. At this time, in order to prevent the tiles from falling during transportation, the transportation speed often has to be reduced, which seriously restricts the overall improvement of the stacking efficiency. SUMMARY

[0006] Therefore, the present application provides a stacking device for ceramic floor tiles, which aims to solve the problem of the single clamping direction of the existing stacking device for ceramic floor tiles, which leads to poor fixing effect and affects the stacking efficiency.

[0007] To solve the above technical problems, the present application provides a stacking device for ceramic floor tiles, which comprises a mechanical arm and a connecting bracket fixedly installed at the end of the mechanical arm. Two linear actuators I are installed on the connecting bracket, and the execution ends of the two linear actuators I are fixedly provided with main clamping claws. The two main clamping claws move towards each other to clamp the left and right sides of the ceramic floor tile. Auxiliary clamping claws are rotatably arranged at the lower ends of the front and rear sides of the main clamping claws. A through hole is formed in the side of each auxiliary clamping claw close to the main clamping claw. A helical guide groove is formed in the inner wall of the through hole. A sliding column is slidably arranged in the inner wall of the through hole. A convex ball is rotatably connected to the lower end of the sliding column. The convex ball is in sliding cooperation with the inner wall of the adjacent helical guide groove. When the sliding column drives the convex ball to move vertically, the convex ball drives the auxiliary clamping claw to rotate around the axis of the through hole through the helical groove for clamping the front and rear sidewalls of the ceramic floor tile.

[0008] The main clamping claws are fixedly provided with linear actuators II, and the actuators of the linear actuators II are fixedly installed with pressing plates. The pressing plates are fixedly connected to the top ends of the two sliding columns corresponding to the front and rear directions, respectively, for driving the sliding columns to move vertically.

[0009] By adopting the technical scheme, when the mechanical arm drives the connecting support to move to the side of the ceramic floor tile, the two linear actuators I are started to drive the two main clamping jaws to move towards each other until the main clamping jaws contact the left and right sides of the ceramic floor tile and exert clamping force, thereby preliminarily fixing the ceramic floor tile in the left and right directions. The linear actuator II is started, the actuator of the linear actuator II is retracted to drive the pressing plate to move downward, the pressing plate acts on the top ends of the two slide columns corresponding in the front and back directions synchronously to push the slide columns to slide downward in the vertical direction. The convex ball connected to the lower end of the slide column moves downward together with the slide column, and since the convex ball is in sliding fit with the spiral guide groove in the inner wall of the auxiliary clamping jaw through hole, during the downward movement of the convex ball, the convex ball exerts circumferential force on the spiral guide groove to drive the auxiliary clamping jaw to rotate around the axis of the through hole to a position abutting against the front and back side walls of the ceramic floor tile and exert clamping force on the front and back side walls. During the process, the left and right clamping of the main clamping jaws and the front and back clamping of the auxiliary clamping jaws cooperate with each other to form surrounding fixation of the ceramic floor tile from four sides, so that the ceramic floor tile is prevented from being deviated left and right or shaken front and back during the carrying process due to unstable clamping in a single direction, the stability and safety of the ceramic floor tile during the carrying process are significantly improved, and it is ensured that the stacking operation can be accurately and efficiently performed.

[0010] Optionally, the auxiliary clamping jaw is movably inserted with vertically distributed clamping teeth, the clamping teeth are all fixedly connected with springs I, one end of the spring I away from the clamping tooth is all fixedly connected with the auxiliary clamping jaw, and the spring I is used for pushing the clamping tooth to reset.

[0011] By adopting the technical scheme, when the auxiliary clamping jaw approaches and clamps the front and back side walls of the ceramic floor tile, the clamping tooth first contacts the surface of the ceramic floor tile, and as the auxiliary clamping jaw continuously exerts pressure, the ceramic floor tile exerts reverse pushing force on the clamping tooth to move the clamping tooth in the direction of being movably inserted into the auxiliary clamping jaw, the clamping tooth is in close contact with the surface of the ceramic floor tile during clamping, the friction between the auxiliary clamping jaw and the floor tile is increased, and relative sliding of the floor tile during clamping is avoided; and the automatic resetting function driven by the spring I can quickly restore the clamping tooth to the clamped state, so that the next clamping of the ceramic floor tile is prepared, and the continuous operation efficiency of the device is improved.

[0012] Optionally, the clamping tooth is all fixedly provided with a connecting shaft, the connecting shaft is all in sliding fit with the auxiliary clamping jaw, and the spring I is respectively sleeved on the outside of the connecting shaft.

[0013] By adopting the technical scheme, since the connecting shaft is in sliding fit with the auxiliary clamping jaw, the connecting shaft always moves along the preset sliding path of the auxiliary clamping jaw and cannot deviate, and meanwhile, the extension direction of the spring I is limited by the connecting shaft and can only contract or extend in the axial direction of the connecting shaft and cannot deviate or be twisted and deformed in the transverse direction due to external force.

[0014] Optionally, the auxiliary clamping jaw is fixedly provided with an electromagnet, and the tooth is fixedly provided with an iron block.

[0015] By adopting the above technical scheme, the electromagnet generates magnetism after being electrified, and generates an adsorption force on the iron block fixed on the tooth. The iron block moves towards the electromagnet under the action of the adsorption force. The iron block drives the tooth fixed thereto to move synchronously towards the inside of the auxiliary clamping jaw until the tooth is completely withdrawn into the inside of the auxiliary clamping jaw and no longer protrudes from the clamping surface of the auxiliary clamping jaw. This avoids the tooth from colliding with or hooking ceramic tiles, pallets and the like in a non-clamping state, ensures smooth operation of the stacking process, and also protects the tooth from being damaged.

[0016] Optionally, the side of the tooth away from the auxiliary clamping jaw is tapered.

[0017] By adopting the above technical scheme, in the case that the clamping force applied by the auxiliary clamping jaw is the same, the smaller the contact area is, the greater the pressure generated by the tooth on the surface of the ceramic tile is. The greater pressure enables the tapered surface to be more closely attached to the surface of the tile, and even slightly embedded in the packaging (such as a carton) of the surface of the tile, thereby significantly enhancing the engagement between the tooth and the ceramic tile and reducing the possibility of relative sliding between the two. Even when the mechanical arm moves quickly or encounters slight vibration, the tapered structure can effectively prevent the displacement of the tile in the clamping direction, further improving the stability of the auxiliary clamping jaw in clamping the ceramic tile and ensuring that the position of the tile remains fixed during the entire handling process.

[0018] Optionally, the connecting bracket comprises an upper mounting plate and a lower mounting plate, the upper mounting plate is fixedly connected to the end of the mechanical arm, the lower mounting plate is fixedly provided with a T-shaped pin, the pin shaft of the T-shaped pin is in sliding fit with the inside of the upper mounting plate, the pin shaft of the T-shaped pin is sleeved with a spring two, the two ends of the spring two are respectively in abutment with the lower surface of the upper mounting plate and the upper surface of the lower mounting plate, and the linear driver one is fixedly installed on the lower surface of the lower mounting plate.

[0019] By adopting the above technical scheme, when the bottom of the ceramic tile contacts the pallet used for stacking, the movement is stopped, the lower mounting plate and the main clamping jaw stop moving with the ceramic tile, the upper mounting plate continues to move downward by a distance under the action of the mechanical arm, the distance between the upper mounting plate and the lower mounting plate is reduced, and the spring two is compressed by the upper mounting plate and the lower mounting plate. This avoids excessive pressure on the ceramic tile, especially during the stacking process of the horizontally placed ceramic tile. If there is a foreign matter protrusion on the bottom surface of the pallet, the placement surface is inclined, or the downward movement accuracy of the mechanical arm is deviated, the compression buffer of the spring two can fully absorb the pressure transmitted by the upper mounting plate, realize flexible placement of the tile, prevent the tile from being damaged due to local stress concentration, such as corner knocking and surface cracking, and ensure the stacking integrity of the tile in different placement states.

[0020] Optionally, the lower surface of the pressure plate abuts against the upper surface of the upper mounting plate, and the lower mounting plate is provided with strip-shaped holes, with the upper ends of the sliding columns passing through the interior of the vertically corresponding strip-shaped holes.

[0021] By adopting the above technical solution, interference between the sliding column and the lower mounting plate is avoided, ensuring the motion coordination and stability of the entire clamping mechanism.

[0022] Optionally, a limit ring is fixedly provided on the lower mounting plate to limit the vertical vibration amplitude of the lower mounting plate during the handling of ceramic floor tiles.

[0023] By adopting the above technical solution, the vertical vibration amplitude of the lower mounting plate is controlled within a preset range through the blocking effect of the limiting ring. This avoids the instability of the clamping force between the main gripper, auxiliary gripper and ceramic tile due to excessive vibration amplitude, and prevents the ceramic tile from loosening, shifting or even falling off during vibration, thus ensuring the safety and stability of the handling process.

[0024] Optionally, a guide rail is fixedly provided on the lower surface of the lower mounting plate, and the upper surface of the main gripper is fixedly connected to the slider of the guide rail.

[0025] By adopting the above technical solution, the guide rail ensures that the two main grippers can move accurately in opposite directions, and the gripping position will not be offset due to deviation in the movement direction. This ensures that the main grippers can accurately contact the left and right sides of the ceramic floor tile and apply a uniform gripping force, thereby achieving stable gripping of the ceramic floor tile in the left and right directions. This lays a good foundation for the subsequent gripping of the auxiliary grippers and the overall handling.

[0026] Optionally, the front and rear sidewalls of the main gripper are provided with linear bearings, and the sliding column is slidably engaged with the vertically corresponding linear bearing.

[0027] By adopting the above technical solution, the linear bearing plays a role in wrapping and limiting the outer circumference of the slide column.

[0028] In summary, compared with the prior art, this application includes at least one of the following beneficial technical effects:

[0029] 1、By starting two linear actuators, drive two main jaws move towards the left and right sides of the ceramic tile contact and exert clamping force, realize the preliminary fixation of ceramic tile left and right direction. Subsequently start linear actuator two, linear actuator two of the actuator shrink drive plate down, the plate push slide column along the vertical downward sliding. The slide column in the process of moving down, its end convex ball along the spiral guide groove in the auxiliary jaw hole movement, generate circumferential force, drive auxiliary jaw rotation around the hole axis, make the tooth and ceramic tile surface pressure, effectively increase the friction, prevent the brick in the clamping relative sliding. Main jaw and auxiliary jaw synergy, from four directions to realize the surrounding type fixation of ceramic tile, significantly enhance the stability of the brick in the process of handling, avoid the deviation or shaking caused by single direction clamping insufficient, guarantee the precision and efficiency of stacking operation.

[0030] 2、When the bottom of the ceramic tile contact stacking stack, the lower mounting plate and main jaw with the brick stop moving, while the upper mounting plate continues to move down under the drive of the mechanical arm, resulting in the distance between them decreases, spring two compression, can effectively avoid the excessive pressure on the ground tile, especially when dealing with horizontal placement of brick, if the surface of the stack is uneven, inclined or mechanical arm positioning deviation, the elastic deformation of spring two can absorb and disperse the stress transmitted by the upper mounting plate, realize the flexible placement of the ground tile, prevent the local stress concentration caused by the corner knock or surface cracking, ensure the stacking integrity and quality of the brick in various placement state.

[0031] 3、In the handling of horizontal placement of ceramic tile, the mechanical arm through the upper mounting plate, T-shaped pin and lower mounting plate drive the main jaw to move to the left and right sides of the ceramic tile, and make the lowest tooth below the horizontally placed ceramic tile, start linear actuator one, linear actuator one drive two main jaws along the guide rail move towards each other, clamp the upper end of the left and right side of the ceramic tile, the tooth above the auxiliary jaw slides into the inside of the cavity under the extrusion of the ceramic tile side wall, while the lowest tooth moves to the bottom of the ceramic tile, and the ceramic tile is lifted and limited from below, so as to effectively prevent the brick from falling in the process of handling, significantly improve the operation safety.

[0032] 4、Through the synergy of main jaw and auxiliary jaw, the stability of ceramic tile in the process of handling is significantly improved, so that the mechanical arm can run at a higher speed without worrying about the brick falling or deviation, effectively shorten the single handling cycle, improve the overall stacking efficiency, while reducing the production bottleneck caused by the limitation of handling speed. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The structure diagram of the stacking device for ceramic tile of the present application;

[0034] Figure 2 The structure diagram of the stacking device for ceramic tile of the present application;Figure 1 Enlarged structural schematic view of region A;

[0035] Figure 3 Sectional view structural schematic view of the connecting bracket and auxiliary clamping jaw of the present application;

[0036] Figure 4 Sectional view structural schematic view of the connecting bracket and auxiliary clamping jaw of the present application; Figure 3 Enlarged structural schematic view of region B;

[0037] Figure 5 Sectional view structural schematic view of the connecting bracket and auxiliary clamping jaw of the present application;

[0038] Figure 6 Sectional view structural schematic view of the connecting bracket and auxiliary clamping jaw of the present application; Figure 5 Enlarged structural schematic view of region C;

[0039] Figure 7 Sectional view structural schematic view of the auxiliary clamping jaw of the present application.

[0040] Explanation of reference numerals: 1, mechanical arm; 2, connecting bracket; 21, upper mounting plate; 22, lower mounting plate; 23, T-shaped pin; 24, spring two; 25, bar-shaped hole; 3, linear driver one; 4, main clamping jaw; 5, auxiliary clamping jaw; 51, through hole; 52, helical guide groove; 53, cavity; 6, slide column; 7, convex ball; 8, linear driver two; 9, pressing plate; 10, clamping tooth; 11, spring one; 12, connecting shaft; 13, electromagnet; 14, iron block; 15, limiting ring; 16, guide rail; 17, linear bearing. DETAILED DESCRIPTION

[0041] The technical solutions of the embodiments of the present application will be described below in detail. Figures 1-7 The technical solutions of the embodiments of the present application will be described below in detail.

[0042] With reference to Figure 1 and Figure 2 , the present embodiment provides a stacking device for ceramic floor tiles, comprising a mechanical arm 1, a connecting bracket 2, a main clamping jaw 4 and an auxiliary clamping jaw 5. The connecting bracket 2 is fixedly installed at the end of the actuator of the mechanical arm 1 and provides support for the main clamping jaw 4, and the auxiliary clamping jaw 5 is rotatably arranged on the front and rear sides of the main clamping jaw 4 respectively, for improving the stability of clamping the ceramic floor tiles.

[0043] With reference to Figure 2 and Figure 3The connecting support 2 comprises an upper mounting plate 21 and a lower mounting plate 22, the upper mounting plate 21 is fixedly connected with the end of the mechanical arm 1, the T-shaped pin 23 is fixedly arranged on the upper surface of the lower mounting plate 22, the pin shaft of the T-shaped pin 23 is in sliding fit with the inner part of the upper mounting plate 21, the spring two 24 is sleeved on the pin shaft of the T-shaped pin 23, the two ends of the spring two 24 are respectively in abutment with the lower surface of the upper mounting plate 21 and the upper surface of the lower mounting plate 22, the lower mounting plate 22 can move vertically relative to the upper mounting plate 21, when the ceramic floor tile is placed, the lower mounting plate 22 plays a buffering role, so that the ceramic floor tile is prevented from being damaged due to excessive force when placed, the lower surface of the pressing plate 9 is in abutment with the upper surface of the upper mounting plate 21, the strip-shaped hole 25 is arranged on the lower mounting plate 22, the strip-shaped hole 25 extends along the left-right direction, the length of the strip-shaped hole 25 is greater than the maximum moving distance of the slide column 6 in the left-right direction, the upper end of the slide column 6 respectively penetrates through the inner part of the vertically corresponding strip-shaped hole 25, when the main clamping jaw 4 slides along the guide rail 16, the straight line bearing 17 connected with the main clamping jaw 4 and the slide column 6 move synchronously left and right, the strip-shaped hole 25 is used for providing the moving space of the slide column 6 in the left-right direction, so that the slide column 6 is prevented from interfering with the lower mounting plate 22, the limiting ring 15 is fixedly arranged on the lower mounting plate 22, the limiting ring 15 is coaxially sleeved outside the T-shaped pin 23, when the spring two 24 is compressed, the top end of the limiting ring 15 can be in abutment with the lower surface of the upper mounting plate 21.

[0044] With reference to Figure 5 And Figure 6 The lower surface of the lower mounting plate 22 is fixedly provided with two linear actuators one 3, the linear actuators one 3 are double-acting cylinders, the stroke of the linear actuators one 3 can be controlled through electromagnetic valves, the execution end of each linear actuator one 3 is fixedly provided with the main clamping jaw 4, the lower surface of the lower mounting plate 22 is fixedly provided with the guide rail 16, the upper surface of the main clamping jaw 4 is fixedly connected with the sliding block of the guide rail 16, the execution end of each linear actuator one 3 drives the two main clamping jaws 4 to move towards each other, so that the left and right sides of the ceramic floor tile are clamped, the front and rear sides of the lower end of the main clamping jaw 4 are rotatably provided with the auxiliary clamping jaw 5, the side close to the main clamping jaw 4 of the auxiliary clamping jaw 5 is provided with the through hole 51, the inner wall of the through hole 51 is provided with the spiral guide groove 52 (with reference to Figure 7 ), the inner wall of the through hole 51 is slidably provided with the slide column 6, the lower end of the slide column 6 is rotatably connected with the convex ball 7, the convex ball 7 is in sliding fit with the inner wall of the adjacent spiral guide groove 52, the slide column 6 is pressed downward, the slide column 6 drives the convex ball 7 to move downward, the convex ball 7 drives the auxiliary clamping jaw 5 to rotate around the axis of the through hole 51 through the sliding contact with the inner wall of the spiral groove, so as to clamp the front and rear side walls of the ceramic floor tile, the front and rear walls of the main clamping jaw 4 are provided with the straight line bearing 17, the slide column 6 is in sliding fit with the vertically corresponding straight line bearing 17, the stability of the slide column 6 is improved through the straight line bearing 17.

[0045] The end of the mechanical arm 1 drives the upper mounting plate 21 to move, and the upper mounting plate 21 drives the two main clamping jaws 4 to move to the left and right sides of the ceramic tiles standing after being bundled through the T-shaped pin 23, the lower mounting plate 22 and the linear driver one 3 in turn. Start the two linear driver one 3 respectively, and the linear driver one 3 drives the main clamping jaw 4 to slide along the guide rail 16, and the two main clamping jaws 4 move towards each other to clamp the upper end of the left and right sides of the ceramic tile.

[0046] With reference to Figure 3 The linear driver two 8 is fixedly arranged on the main clamping jaw 4, the linear driver two 8 is a double-acting cylinder, the stroke of which can be controlled by a solenoid valve, the execution end of the linear driver two 8 faces upwards and is fixedly connected with the pressing plate 9, the pressing plate 9 is horizontally arranged and extends above the slide column 6 on the front and rear sides of the main clamping jaw 4 at both ends, and the two linear driver two 8 are started at the same time, the execution end of the linear driver two 8 is retracted to drive the pressing plate 9 to move downwards relative to the lower mounting plate 22, the pressing plate 9 presses the top end of the slide column 6, so that the slide column 6 stably moves downwards along the linear bearing 17, the convex ball 7 at the lower end of the slide column 6 moves downwards and precisely cooperates with the spiral guide groove 52 in the inner wall of the through hole 51, thereby driving the auxiliary clamping jaw 5 to rotate ninety degrees around the axis of the through hole 51, and realizing the close clamping of the front and rear sides of the ceramic tile. The action cooperates with the clamping of the left and right sides of the tile by the main clamping jaw 4, and comprehensively improves the clamping firmness of the tile.

[0047] In this process, the lower mounting plate 22 drives the main clamping jaw 4 and the auxiliary clamping jaw 5 to approach the pressing plate 9, the pressing plate 9 moves downwards to drive the lower mounting plate 22 to move upwards and approach the upper mounting plate 21, so that the spring two 24 is compressed, and the distance between the upper mounting plate 21 and the lower mounting plate 22 can be controlled within a predetermined range (which can be adjusted according to the size of the tile) through the pressure of the pressing plate 9 on the slide column 6, effectively inhibiting the shaking amplitude of the lower mounting plate 22 due to inertia when the mechanical arm 1 quickly transports, avoiding the shaking to cause the shift of the clamping position of the tile, and further strengthening the structural stability in the process of quick transfer.

[0048] In the process of approaching the lower mounting plate 22 to the pressing plate 9, due to the abutment of the lower surface of the pressing plate 9 and the upper surface of the upper mounting plate 21, the lower mounting plate 22 approaches the upper mounting plate 21 upward and compresses the spring two 24, when the auxiliary clamping jaw 5 rotates ninety degrees around the axis of the through hole 51, the upper surface of the limiting ring 15 approaches the lower surface of the upper mounting plate 21, in the process of the mechanical arm 1 quickly transporting the ceramic floor tile through the main clamping jaw 4 and the auxiliary clamping jaw 5, the position of the lower mounting plate 22 relative to the upper mounting plate 21 may change due to inertia, at this time, due to the small gap between the upper surface of the limiting ring 15 and the lower surface of the upper pressing plate 9, when the lower mounting plate 22 moves a small displacement relative to the upper mounting plate 21, the upper surface of the limiting ring 15 abuts against the lower surface of the upper mounting plate 21, thereby limiting the further upward movement of the lower mounting plate 22 relative to the upper mounting plate 21, effectively controlling the floating range of the lower mounting plate 22, preventing the fluctuation of the ceramic floor tile clamping force caused by inertia vibration, ensuring the clamping stability, especially significantly improving the reliability of the device in high-speed handling operation.

[0049] With reference to Figure 3 And Figure 4 The auxiliary clamping jaw 5 movably inserts the vertically distributed clamping teeth 10, the clamping teeth 10 on the left and right sides are oppositely arranged, the cavities 53 are arranged in the auxiliary clamping jaw 5, the sides away from the two clamping teeth 10 correspondingly arranged are fixedly connected with the connecting shafts 12 and the springs one 11, the springs one 11 are respectively sleeved on the outer portions of the connecting shafts 12, the connecting shafts 12 are in sliding fit with the auxiliary clamping jaw 5, the connecting shafts 12 are used for limiting the springs one 11, avoiding the deformation of the springs one 11 when being compressed, the ends away from the clamping teeth 10 of the springs one 11 are fixedly connected with the inner walls of the grooves arranged on the side walls of the cavities 53, the convex ball 7 drives the auxiliary clamping jaw 5 to rotate ninety degrees around the axis of the through hole 51 through the spiral groove, so that the auxiliary clamping jaw 5 clamps the front and rear sides of the ceramic floor tile respectively, at this time, the clamping teeth 10 are subjected to the reverse thrust of the side of the ceramic floor tile and abut against the side wall away from the clamping teeth 10 of the cavity 53, the springs one 11 are compressed into the grooves, the connecting shafts 12 slide in the cavities 53, the auxiliary clamping jaw 5 pushes the clamping teeth 10 through the side wall of the cavity 53 to clamp the ceramic floor tile, the side away from the auxiliary clamping jaw 5 of the clamping teeth 10 is tapered, so as to increase the friction with the surface of the ceramic floor tile.

[0050] When the mechanical arm 1 transports the ceramic floor tile to the approaching stacking area through the main clamping jaw 4 and the auxiliary clamping jaw 5, the control linear driver two 8 works reversely, the execution end of the linear driver two 8 is elongated to drive the pressing plate 9 to move upward relative to the lower mounting plate 22, the pressing plate 9 gradually releases the pressing of the upper mounting plate 21, at this time, the lower mounting plate 22 moves downward and away from the upper mounting plate 21 under the action of the elastic force of the spring two 24 and the gravity of the lower mounting plate 22, the slide column 6 is reset upward relative to the auxiliary clamping jaw 5 under the cooperation of the convex ball 7 and the spiral guide groove 52, drives the auxiliary clamping jaw 5 to rotate reversely ninety degrees to return to the initial state, and releases the clamping of the front and rear sides of the ceramic floor tile.

[0051] The mechanical arm 1 continues to drive the ceramic floor tile downward by the main clamping jaw 4, and stops moving when the bottom of the ceramic floor tile contacts the stacker for stacking, at which time the lower mounting plate 22 and the main clamping jaw 4 stop moving, the upper mounting plate 21 moves downward and compresses the spring 24, avoiding excessive pressure on the ceramic floor tile, especially during the stacking of horizontally placed ceramic floor tiles. If there are foreign matter protrusions on the bottom surface of the stacker, the placement surface is inclined, or the downward movement accuracy of the mechanical arm 1 deviates, the compression of the spring 24 can fully absorb the pressure transmitted by the upper mounting plate 21, achieving flexible placement of the floor tile, preventing the floor tile from being damaged due to local stress concentration, such as corner knocking, surface cracking, etc., and ensuring the stacking integrity of the floor tile in different placement states.

[0052] With reference to Figure 3 and Figure 4 The electromagnet 13 is fixedly arranged on the auxiliary clamping jaw 5, and the iron block 14 is fixedly arranged on the tooth 10. After the auxiliary clamping jaw 5 is reversed to release the clamping of the front and rear sides of the ceramic floor tile, the control electromagnet 13 is energized. The electromagnet 13 has magnetism and adsorbs the adjacent iron block 14 (after the electromagnet 13 is energized, the internal coil generates a magnetic field, magnetizes the iron core and forms a magnetic pole, thereby generating an adsorption force on the nearby iron block 14). The iron block 14 overcomes the elastic force of the spring 11 and drives the tooth 10 to slide into the cavity 53, avoiding the tooth 10 extending to the outside of the auxiliary clamping jaw 5 affecting the placement of the ceramic floor tile. Then control the linear driver 3 to work in reverse, and the two linear drivers 3 drive the two main clamping jaws 4 to move reversely, releasing the clamping of the left and right sides of the ceramic floor tile. After the mechanical arm 1 drives the main clamping jaw 4 away from the stacked ceramic floor tile, the control electromagnet 13 is de-energized, and the spring 11 pushes the tooth 10 to reset.

[0053] When it is needed to carry and stack the horizontally placed ceramic tiles, the linear actuator two 8 is controlled to keep elongated state, the auxiliary clamping jaw 5 is flush with the clamping surface of the main clamping jaw 4, the end of the mechanical arm 1 drives the upper mounting plate 21 to move, the upper mounting plate 21 drives the two main clamping jaws 4 to move to the left and right sides of the horizontally placed ceramic tiles after bundling and horizontal placement through the T-shaped pin 23, the lower mounting plate 22 and the linear actuator one 3, and the lowermost tooth 10 is located below the horizontally placed ceramic tiles, the two linear actuators one 3 are started respectively, the linear actuator one 3 drives the main clamping jaw 4 to slide along the guide rail 16, the two main clamping jaws 4 move towards each other to clamp the left and right side upper ends of the ceramic tiles, the tooth 10 above the auxiliary clamping jaw 5 slides into the inside of the cavity 53 under the extrusion of the ceramic tile side wall, and the lowermost tooth 10 moves to the lower side of the ceramic tile to lift and limit the ceramic tile from the lower side, so as to eliminate the safety hazard of the ceramic tile falling during the carrying process, and after the ceramic tiles are horizontally placed and stacked, the electromagnet 13 is controlled to be electrified again, the electromagnet 13 absorbs the tooth 10 through the iron block 14, so that the lowermost tooth 10 moves to the inside of the cavity 53, and interference caused by separation of the auxiliary clamping jaw 5 and the ceramic tile is avoided.

[0054] The implementation principle of the embodiment of the tile stacking device for ceramic tiles is as follows:

[0055] The end of the mechanical arm 1 drives the upper mounting plate 21 to move, the upper mounting plate 21 drives the two main clamping jaws 4 to move to the left and right sides of the vertically placed ceramic tiles after bundling through the T-shaped pin 23, the lower mounting plate 22 and the linear actuator one 3. The two linear actuators one 3 are started, the linear actuator one 3 drives the main clamping jaw 4 to slide along the guide rail 16 on the lower surface of the lower mounting plate 22, and the two main clamping jaws 4 move towards each other to clamp the left and right side upper ends of the ceramic tiles. The mechanical arm 1 lifts the clamped ceramic tiles upwards through the main clamping jaw 4, so that the clamped ceramic tiles are separated from other unclamped ceramic tiles, and then the linear actuator two 8 on the main clamping jaw 4 is started, the linear actuator two 8 performs end contraction to drive the pressing plate 9 to move downwards, the pressing plate 9 presses the top end of the sliding column 6, so that the sliding column 6 vertically slides along the linear bearing 17 on the front and rear side walls of the main clamping jaw 4. The convex ball 7 at the lower end of the sliding column 6 moves downwards, passes through the spiral guide groove 52 on the inner wall of the through hole 51, drives the auxiliary clamping jaw 5 to rotate ninety degrees around the axis of the through hole 51, and clamps the front and rear side surfaces of the ceramic tile. In this process, the lower mounting plate 22 moves upwards to approach the upper mounting plate 21 and compresses the second spring 24, the limiting ring 15 can limit the maximum upward movement distance of the lower mounting plate 22 relative to the upper mounting plate 21, so as to avoid that the vibration of the ceramic tile affects the clamping stability, the tooth 10 on the auxiliary clamping jaw 5 is compressed by the reverse thrust of the ceramic tile side surface, and the spring one 11 is compressed through the tapered surface to increase the friction force with the surface of the ceramic tile box.

[0056] When the mechanical arm 1 drives the ceramic tile to the stacking area, the linear actuator 2 is controlled to move the main gripper 4 downward. When the bottom of the ceramic tile contacts the stack board, the main gripper 4 stops moving. The upper mounting plate 21 continues to move downward due to inertia and compresses the spring 2. Then the electromagnet 13 on the auxiliary gripper 5 is powered to attract the iron block 14 on the catch 10, so that the catch 10 is retracted against the spring 1. The linear actuator 1 is started to drive the main gripper 4 to move reversely, so as to release the clamping of the left and right sides of the ceramic tile. After the mechanical arm 1 drives the main gripper 4 to move away, the electromagnet 13 is powered off, and the spring 1 pushes the catch 10 to reset.

[0057] If the horizontal ceramic tile is to be carried, the linear actuator 2 is kept extended so that the auxiliary gripper 5 is flush with the clamping surface of the main gripper 4. When the main gripper 4 clamps the left and right sides of the ceramic tile, the lower catch 10 lifts the ceramic tile. After stacking, the catch 10 is powered to retract, and the operation is completed.

[0058] In addition, in the description of the present application, the terms "mounting", "connection", "connecting", "setting" should be understood broadly, and the specific meanings of the above terms in the present application can be understood by those skilled in the art according to the specific circumstances.

Claims

1. A piling device for ceramic floor tiles, comprising a mechanical arm (1) and a connecting bracket (2) fixedly installed at the end of the mechanical arm (1), characterized in that: two linear actuators I (3) are installed on the connecting bracket (2), the execution ends of the two linear actuators I (3) are each fixedly provided with a main jaw (4), the two main jaws (4) move towards each other to clamp the left and right sides of the ceramic floor tiles, the front and rear sides of the main jaw (4) are each rotatably provided with an auxiliary jaw (5) at the lower end, the side close to the main jaw (4) of the auxiliary jaw (5) is each provided with a through hole (51), the inner wall of the through hole (51) is each provided with a spiral guide groove (52), the inner wall of the through hole (51) is each slidably provided with a slide column (6), the lower end of the slide column (6) is each rollingly connected with a convex ball (7), the convex ball (7) is respectively in sliding fit with the inner wall of the adjacent spiral guide groove (52), when the slide column (6) drives the convex ball (7) to move vertically, the convex ball (7) drives the auxiliary jaw (5) to rotate around the axis of the through hole (51) through the spiral groove, so as to clamp the front and rear sidewalls of the ceramic floor tiles; wherein: the main jaw (4) is each fixedly provided with a linear actuator II (8), the actuator of the linear actuator II (8) is each fixedly installed with a pressing plate (9), the pressing plate (9) is respectively fixedly connected with the top end of the two slide columns (6) corresponding in front and back directions, for driving the slide column (6) to move vertically. The auxiliary jaw (5) is movably inserted with vertically distributed clamping teeth (10), the clamping teeth (10) are each fixedly connected with a spring I (11), the end away from the clamping teeth (10) of the spring I (11) is each fixedly connected with the auxiliary jaw (5), and the spring I (11) is used to push the clamping teeth (10) to reset.

2. A device for stacking ceramic floor tiles according to claim 1, characterized in that: The clamping teeth (10) are each fixedly provided with a connecting shaft (12), the connecting shaft (12) is each in sliding fit with the auxiliary jaw (5), and the spring I (11) is respectively sleeved on the outside of the connecting shaft (12).

3. A device for stacking ceramic floor tiles according to claim 2, characterized in that: The auxiliary jaw (5) is each fixedly provided with an electromagnet (13), the clamping teeth (10) are each fixedly provided with an iron block (14), and the electromagnet (13) can overcome the elastic force of the spring I (11) and attract the adjacent iron block (14) when energized.

4. A device for stacking ceramic floor tiles according to claim 3, characterized in that: The side away from the auxiliary jaw (5) of the clamping teeth (10) is tapered.

5. A device for stacking ceramic floor tiles according to claim 3, characterized in that: The connecting bracket (2) comprises an upper mounting plate (21) and a lower mounting plate (22), the upper mounting plate (21) is fixedly connected with the end of the mechanical arm (1), the lower mounting plate (22) is fixedly provided with a T-shaped pin (23), the pin shaft of the T-shaped pin (23) is in sliding fit with the inside of the upper mounting plate (21), the pin shaft of the T-shaped pin (23) is each sleeved with a spring II (24), the two ends of the spring II (24) are respectively abutted with the lower surface of the upper mounting plate (21) and the upper surface of the lower mounting plate (22), and the linear actuator I (3) is fixedly installed on the lower surface of the lower mounting plate (22).

6. A palletizing device for ceramic floor tiles according to any of claims 1-5, characterized in that: ​ 7. A device for the stacking of ceramic floor tiles according to claim 6, characterized in that: The lower surface of the pressing plate (9) is in abutment with the upper surface of the upper mounting plate (21), and the lower mounting plate (22) is provided with strip-shaped holes (25), and the upper ends of the slide columns (6) respectively pass through the interiors of the vertically corresponding strip-shaped holes (25).

8. A device for stacking ceramic floor tiles according to claim 6, characterized in that: A limiting ring (15) is fixedly arranged on the lower mounting plate (22) and used for limiting the up-down vibration amplitude of the lower mounting plate (22) during the ceramic tile carrying process.

9. A device for stacking ceramic floor tiles according to claim 6, characterized in that: The lower surface of the lower mounting plate (22) is fixedly provided with a guide rail (16), and the upper surface of the main clamping jaw (4) is fixedly connected with a sliding block of the guide rail (16).

10. A palletizing device for ceramic floor tiles according to claim 1, characterized in that: The front and rear sidewalls of the main clamping jaw (4) are respectively provided with linear bearings (17), and the slide columns (6) are respectively in sliding fit with the vertically corresponding linear bearings (17).

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