Magnesite-carbon brick stacking robot

Abstract

The utility model discloses a kind of magnesium-carbon brick stacking manipulators, including six-axis robot arm, and the work clamp jaw being set on six-axis robot arm;Work clamp jaw includes the clamp jaw base plate being connected to the work end pivot of six-axis robot arm, vertically set with connecting sleeve pipe on clamp jaw base plate, lifting rod is slidably arranged in connecting sleeve pipe, the limiting stopper that lifting rod upper end is provided with and is blocked in the upper side of connecting sleeve pipe, and its lower end is connected with vacuum chuck;Signal detection sensor is arranged on the clamp jaw base plate of one side of connecting sleeve pipe.The utility model is characterized in that magnesium-carbon brick pressed into shape can be firmly grabbed and accurately stacked on transfer bracket, and lifting assembly formed by connecting sleeve pipe and lifting rod is cooperated to make vacuum chuck have lifting function, when there is obstacle in certain stacking position under the real-time monitoring of signal detection sensor, six-axis robot arm can be stopped in time, six-axis robot arm is prevented from forcibly displacing downward, and brick blank is prevented from being damaged or cornered by extrusion.

Description

Technical Field

[0001] This utility model relates to the field of shaped magnesia-carbon brick production technology, and in particular to a magnesia-carbon brick stacking robot that can firmly grasp and accurately place the bricks. Background Technology

[0002] With the popularization of industrial automation and intelligent manufacturing, industrial robots (such as robotic arms) have been widely promoted and applied. Processes that were originally done manually can now be easily completed by industrial robots. In the production process of shaped magnesia-carbon bricks, after the press completes the rolling of the product, the industrial robotic arm will pick up the magnesia-carbon bricks from the press table and place them on the transfer tray according to the program settings of the number of layers, the number of bricks, and the placement position, under the programming control of the industrial PLC.

[0003] Since the program has already set the position, order, and number of layers for stacking magnesia-carbon bricks, the robotic arm can only place the magnesia-carbon bricks one by one according to the program. If there is an obstacle at a certain stacking position on the transfer tray, or if a magnesia-carbon brick has already been placed at that stacking position, the robotic arm will not be able to recognize it and will still forcibly place it at that position according to the original program. This can easily cause the brick blanks to be squeezed and damaged or the edges and corners of the brick blanks to be chipped and damaged. In severe cases, it can also damage the robotic arm, which greatly affects the production efficiency and product quality of magnesia-carbon bricks. Summary of the Invention

[0004] The purpose of this utility model is to address the shortcomings of existing technologies by providing a magnesia-carbon brick stacking robot that can firmly grasp and accurately place magnesia-carbon bricks, effectively preventing brick blanks from being crushed and damaged during stacking.

[0005] To achieve the above objectives, the present invention can adopt the following technical solution: The magnesia-carbon brick palletizing robot of this utility model includes a six-axis robotic arm and a working gripper mounted on the six-axis robotic arm. The working gripper includes a gripper base plate connected to the working end shaft of the six-axis robotic arm. A connecting sleeve is vertically mounted on the gripper base plate. A lifting rod is slidably inserted through the connecting sleeve. A limiting block is provided at the upper end of the lifting rod, which is locked above the connecting sleeve. A vacuum suction cup for gripping magnesia-carbon bricks is connected to the lower end of the lifting rod. A signal detection sensor for detecting the rising height of the lifting rod is provided on the gripper base plate located on one side of the connecting sleeve.

[0006] Furthermore, the connecting sleeves are arranged in four rectangular arrays, and each connecting sleeve has a lifting rod slidably inserted inside. The lower ends of the four lifting rods are fixed to the top surface of the vacuum suction cup, which can improve the stability of the vacuum suction cup.

[0007] Furthermore, the working end shaft of the six-axis robotic arm is provided with an adjustment plate, and a translation slide is provided on the lower surface of the adjustment plate. An electric slider connected to the gripper base plate is slidably arranged on the translation slide, which can be driven to translate and adjust the working gripper.

[0008] Furthermore, a mounting base is provided at the bottom of the six-axis robotic arm to facilitate the installation and fixation of the six-axis robotic arm on the working surface.

[0009] Furthermore, the connecting sleeve is disposed at one end of the gripper base plate, and the other end of the gripper base plate is provided with a downwardly bent L-shaped lever. The lower end of the L-shaped lever has a lever head for feeding material. The bottom of the lever head has a conical structure, enabling the working gripper to have a feeding function. This allows for automatic feeding of the powder added to the mold slot before the press presses the magnesia-carbon bricks, ensuring that the powder in the mold slot is spread evenly to the four corners. This makes the density of the magnesia-carbon bricks pressed by the press more uniform and consistent, avoids loose edges and corners of the magnesia-carbon bricks, and improves product quality. In addition, since the existing press has two mold slots arranged side by side with intervals, there are two sets of L-shaped levers. The two sets of L-shaped levers are arranged side by side with intervals along the width direction of the gripper base plate.

[0010] The advantage of this invention lies in the fact that by equipping a six-axis robotic arm with a working gripper equipped with a vacuum suction cup, it can firmly grasp the pressed magnesia-carbon bricks and accurately stack them onto a transfer tray. Simultaneously, a lifting assembly consisting of a connecting sleeve and a lifting rod connects to the vacuum suction cup, enabling the vacuum suction cup to lift. Under real-time monitoring by a signal detection sensor, the six-axis robotic arm can be stopped promptly when an obstacle is present at a stacking position, preventing forced downward displacement and avoiding damage to the brick blanks due to compression or chipping of the edges. This ensures the production efficiency and product quality of the magnesia-carbon bricks and extends the service life of the six-axis robotic arm. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model.

[0012] Figure 2 yes Figure 1 Enlarged axial view of the working gripper. Detailed Implementation

[0013] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0014] like Figure 1 , 2 As shown, the magnesia-carbon brick stacking robot of this utility model includes a six-axis robotic arm 1 and a working gripper set on the six-axis robotic arm 1. The working gripper is driven by the six-axis robotic arm 1 and can automatically grab the magnesia-carbon bricks pressed in the press 100 according to the control instructions of the PLC programming controller and stack them onto the transfer tray 200.

[0015] Specifically, the working gripper includes a gripper base plate 2 connected to the working end pivot (i.e., the sixth pivot) of the six-axis robotic arm 1. The gripper base plate 2 is a rectangular strip-shaped plate. A connecting sleeve 3 is vertically arranged on the gripper base plate 2. A lifting rod 4 with the same diameter as its cavity is slidably inserted inside the connecting sleeve 3. The lifting rod 4 and the connecting sleeve 3 together constitute a lifting assembly that can be freely raised and lowered. A limiting block 5 is provided at the upper end of the lifting rod 4, which is locked above the connecting sleeve 3. A vacuum suction cup 6 located below the gripper base plate 2 is connected to its lower end. The vacuum suction cup 6 uses vacuum suction to firmly grip the magnesium carbon brick. A signal detection sensor 7 is also provided on the upper surface of the gripper base plate 2 on one side of the connecting sleeve 3. Sensor 7 is used to detect the rising height of lifting rod 4 in real time. When vacuum suction cup 6 picks up magnesia-carbon bricks and places them on the designated stacking position on transfer bracket 200 according to the control instructions of PLC programming controller, if there is an obstacle at the stacking position (or a magnesia-carbon brick has been placed at the stacking position in advance), the brick-placing action of vacuum suction cup 6 will be pushed upward by the support of the obstacle. At this time, the signal detection sensor 7 detects the rising of lifting rod 4 and can stop the six-axis robotic arm 1 in time to prevent the six-axis robotic arm 1 from moving downward forcibly, avoiding the phenomenon of brick blank being squeezed and damaged or the brick blank edge and corner being bumped and damaged, ensuring the production efficiency and product quality of magnesia-carbon bricks, and extending the service life of six-axis robotic arm 1.

[0016] Furthermore, in order to improve the stability of the vacuum suction cup 6, four sets of connecting sleeves 3 should be provided. The four sets of connecting sleeves 3 are arranged in a rectangular array. A lifting rod 4 is slidably inserted in each connecting sleeve 3. The lower ends of the four lifting rods 4 are simultaneously fixed to the top surface of the vacuum suction cup 6.

[0017] In order to achieve translational adjustment of the entire working gripper, an adjustment plate 8 can be set on the working end shaft of the six-axis robotic arm 1, and a translational slide 9 can be set on the lower surface of the adjustment plate 8. An electric slider 10 that can slide along its length direction is set on the translational slide 9. At this time, the gripper base plate 2 should be fixed to the electric slider 10, so that the gripper base plate 2 can be driven to translate left and right by the electric slider 10.

[0018] To facilitate the installation and fixation of the six-axis robotic arm 1 on the working surface within the working area around the press 100, a mounting base 11 can be provided at the bottom of the six-axis robotic arm 1. The upper surface of the mounting base 11 is fixedly connected to the base of the six-axis robotic arm 1, and its lower surface can be firmly fixed to the working surface between the press 100 and the transfer bracket 200 by anchor bolts, ensuring that the movement radius of the six-axis robotic arm 1 can cover the press 100 and the transfer bracket 200.

[0019] In addition, the connecting sleeve 3 can be set at one end of the gripper base plate 2, and an L-shaped lever 12 with the distal end bent downward can be set at the other end of the gripper base plate 2. The lower end of the L-shaped lever 12 has a lever head 13 for feeding material. The bottom of the lever head 13 has a conical structure, so that the working gripper can also have the function of feeding material. Since the existing press 100 has two mold slots 300 arranged side by side, the L-shaped lever 12 is in two sets. The two sets of L-shaped levers 12 are arranged side by side along the width direction of the gripper base plate 2 and are adapted to correspond to the two mold slots 300. After the material powder is fed into the mold groove 300 from the feeding end of the press 100, before pressing the brick, the six-axis robotic arm 1 is used to control the L-shaped lever 12 to extend into the mold groove 300 and move the material powder in the mold groove 300 horizontally in front, back, left and right to complete the automatic feeding action. This ensures that the powder in the mold groove 300 is spread evenly to the four corners, making the density of the magnesia-carbon bricks pressed by the press 100 more uniform and consistent, avoiding loose edges and corners of the magnesia-carbon bricks, and improving product quality.

[0020] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0021] Furthermore, in this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A magnesia-carbon brick stacking robot, comprising a six-axis robotic arm and working grippers mounted on the six-axis robotic arm; characterized in that: The working gripper includes a gripper base plate connected to the working end shaft of the six-axis robotic arm. A connecting sleeve is vertically arranged on the gripper base plate. A lifting rod is slidably inserted inside the connecting sleeve. A limiting block is provided at the upper end of the lifting rod, which is locked above the connecting sleeve. A vacuum suction cup for gripping magnesia-carbon bricks is connected to its lower end. A signal detection sensor for detecting the rising height of the lifting rod is provided on the gripper base plate located on one side of the connecting sleeve.

2. The magnesium-carbon brick stacking robot according to claim 1, characterized in that: The connecting sleeves are arranged in four rectangular arrays, and each connecting sleeve has a lifting rod that slides through it. The lower ends of the four lifting rods are fixed to the top surface of the vacuum suction cup.

3. The magnesium-carbon brick stacking robot according to claim 1, characterized in that: An adjustment plate is provided on the working end shaft of the six-axis robotic arm, and a translation slide is provided on the lower surface of the adjustment plate. An electric slider connected to the gripper base plate is slidably arranged on the translation slide.

4. The magnesium-carbon brick stacking robot according to claim 1, characterized in that: The bottom of the six-axis robotic arm is provided with a mounting base for fixing it to the working surface.

5. The magnesia-carbon brick stacking robot according to claim 1, characterized in that: The connecting sleeve is disposed at one end of the gripper base plate, and the other end of the gripper base plate is provided with a downwardly bent L-shaped lever. The lower end of the L-shaped lever has a lever head for feeding material, and the bottom of the lever head has a conical structure.

6. The magnesia-carbon brick stacking robot according to claim 5, characterized in that: The L-shaped levers are in two sets, and the two sets of L-shaped levers are arranged side by side at intervals along the width direction of the gripper base plate.

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