1-to-2 robot line body detection and stacking station

Abstract

The utility model relates to automatic production equipment technical field discloses a 1 pair 2 robot line body detection stacking workstation, including two press machines and fixed in its front take brick detection line body, the front of two press machines middle is equipped with robot base and four axle robots, and the ground track and kiln car are laid in base both sides, and take brick detection line body includes frame, fixed frame, cylinder drive's take brick platform and conveyer, and the frame end is equipped with the rotating shaft and L shape material taking folding plate by speed reducer motor drive, and the frame top is equipped with detector, and through take brick platform automatic material taking, conveyer delivery detection, folding plate overturning positioning and robot centralized capture. The utility model through a robot gives consideration to the operation of two press machines, and realizes the efficient material taking, detection and accurate positioning stacking of brick blank through cooperation end overturning mechanism, effectively improves the equipment integration and production efficiency, and reduces the production cost.

Description

Technical Field

[0001] This utility model relates to the field of automated production equipment technology, and in particular to a 1-to-2 robot line inspection and palletizing workstation. Background Technology

[0002] In the existing automated production process of brick blanks, multiple continuous processes are usually required, such as pressing and molding, material picking, quality inspection, and stacking and loading.

[0003] Traditional production line layouts often adopt a single-correspondence model, where one forming press is paired with a separate material handling mechanism and palletizing equipment. This decentralized layout not only results in a large factory area occupied by the equipment, increasing infrastructure costs, but also leads to the waste of equipment resources because the pressing cycle of the press and the palletizing cycle of the robot are often mismatched, resulting in the palletizing robot's working capacity not being fully utilized. In addition, existing material handling and conveying devices often lack effective posture adjustment and precise positioning mechanisms when transporting brick blanks to the end, resulting in the brick blanks having a single posture or large positional deviation when they reach the gripping position, increasing the difficulty of robot gripping and the complexity of path planning, making it difficult to meet the needs of efficient, compact and automated modern production.

[0004] Therefore, this utility model proposes a 1-to-2 robotic line inspection and palletizing workstation to address the shortcomings of existing technologies. Utility Model Content

[0005] In view of the problems in the existing technology, such as the low space utilization rate and high cost of single machine equipment due to the dispersed layout of brick production line equipment, and the low robot grasping efficiency due to the lack of an effective flipping and positioning mechanism when the bricks are transported to the end, this utility model aims to provide a 1-to-2 robot line inspection and palletizing workstation with an improved structure that can effectively solve the above problems.

[0006] This utility model provides a 1-to-2 robotic inspection and palletizing workstation, including two presses, two brick-picking and inspection lines fixed in front of the two presses, a robot base located in front of the middle of the two presses, a four-axis robot fixed to the top surface of the robot base, ground tracks distributed on the left and right sides of the robot base, and a kiln car slidably engaged on the ground tracks. Each brick-picking and inspection line includes a frame, with a fixed frame fixed to one end of the frame near the presses. A sliding frame is fixed to the top surface of the fixed frame, and a first cylinder is fixed to the top surface of the sliding frame. The telescopic end of the first cylinder is fixedly connected to... The system includes a connecting frame, with a second cylinder fixed to its top surface. The output shaft of the second cylinder is fixedly connected to a brick-picking platform, which slides against the side wall of the connecting frame. A conveyor is mounted on the top surface of the frame, located below the fixed frame. A rotating shaft is rotatably connected to one end of the frame away from the fixed frame. A geared motor is mounted on one side of the frame, driving the rotating shaft to rotate. Several material-picking baffles are fixed to the outer wall of the rotating shaft. The four-axis robot, the brick-picking and detection line, and the kiln car form a compact spatial relationship through the robot base and the ground track.

[0007] Preferably, the material-receiving folding plate has an L-shaped structure, and the inner sidewall of the material-receiving folding plate forms a right-angled space for accommodating the brick blank. The conveying end of the conveyor extends into the rotation trajectory range of the material-receiving folding plate, thereby enabling the brick blank output by the conveyor to be smoothly received and rotated 180 degrees for positioning.

[0008] Preferably, a detector is fixed at the middle position of the top surface of the frame. The detector is located above the conveyor and is used to perform online surface quality inspection on the brick blanks flowing through the conveyor.

[0009] Preferably, the movable end of the four-axis robot is fixedly connected to a suction cup claw, and the lower surface of the suction cup claw is provided with several vacuum suction cups for flexibly grasping the brick blank by means of negative pressure adsorption.

[0010] Preferably, a waste brick platform is fixedly installed at the right rear of the four-axis robot. The waste brick platform is located on one side of the robot base and is used to store waste brick blanks that have been determined to be unqualified after inspection.

[0011] Preferably, a car-stopping positioning block is fixedly installed at the middle position of the ground track. The car-stopping positioning block protrudes from the upper surface of the ground track to block the kiln car, thereby ensuring the positional stability of the kiln car during stacking operations.

[0012] Preferably, safety guardrails are fixedly erected on the rear side of the four-axis robot and the outer side of the kiln car. The safety guardrails have openings for the kiln car to pass through, and safety light curtains are installed on the sides of the openings to trigger an emergency stop signal when foreign objects are detected.

[0013] This utility model has the following beneficial effects:

[0014] 1. This utility model solves the problems of large space occupation, high equipment investment cost and dispersed production process caused by setting a four-axis robot between two presses and forming a symmetrical workstation layout with two brick picking and inspection lines. It achieves the goal of using one robot to handle the picking, inspection and palletizing of two production lines at the same time, which significantly improves equipment utilization and production efficiency, while saving factory floor space.

[0015] 2. This utility model solves the problem in the prior art that the single posture and unstable position of the brick blank when it is transported to the end of the conveying mechanism, which leads to the complex grasping path or unstable grasping of the robot, by setting a flipping mechanism consisting of a rotating shaft driven by a geared motor and an L-shaped material picking baffle at the end of the conveying mechanism. It achieves the effect of automatically flipping the transported brick blank 180 degrees and accurately positioning it to the farthest grasping point, thus optimizing the robot's motion trajectory and improving the stability of grasping and the overall stacking rhythm.

[0016] 3. This utility model solves the problems of high labor intensity, high risk and low efficiency of manual brick picking in traditional production by using a multi-stage cylinder driven brick picking platform in conjunction with an online detector above the conveyor belt. It achieves fully automated operation from brick output, material picking, conveying, testing to stacking, realizing real-time quality monitoring of each brick blank and automatic diversion of waste products, while effectively reducing labor costs and operational risks. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a 1-to-2 robot line inspection and palletizing workstation proposed in this utility model;

[0018] Figure 2 This is a front view structural diagram of a 1-to-2 robot line inspection and palletizing workstation proposed in this utility model;

[0019] Figure 3 for Figure 1 Enlarged view of a portion of point A in the middle;

[0020] Figure 4 for Figure 1 Enlarged view of a portion of point B in the middle;

[0021] Figure 5This is a schematic diagram of the brick-picking detection line of a 1-to-2 robot line inspection and palletizing workstation proposed in this utility model.

[0022] Legend:

[0023] 1. Press; 2. Brick picking and inspection line; 201. Detector; 202. Fixing frame; 203. First cylinder; 204. Brick picking platform; 205. Second cylinder; 206. Conveyor; 207. Rotary shaft; 208. Gear motor; 209. Material picking baffle; 210. Frame; 211. Sliding frame; 212. Connecting frame; 3. Robot base; 301. Four-axis robot; 302. Suction cup claw; 4. Safety guardrail; 401. Safety light curtain; 5. Ground track; 501. Kiln car; 502. Car stop positioning block; 6. Waste brick platform. Detailed Implementation

[0024] 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.

[0025] Please refer to Figures 1 to 5 This utility model provides a 1-to-2 robotic line inspection and palletizing workstation, which aims to solve the problems of scattered and independent material picking, inspection and palletizing processes, low degree of automation integration and insufficient space utilization in the existing brick production process.

[0026] like Figure 1 and Figure 2 As shown, the 1-to-2 robot line inspection and palletizing workstation mainly consists of a forming area, a transmission and inspection area, a palletizing area, and a logistics area. The overall structure includes two parallel presses 1. The brick picking and inspection line 2 is fixedly connected to the front of the brick outlet of each of the two presses 1 by anchor bolts. The brick picking and inspection line 2 is used to receive the brick blanks produced by the presses 1 and carry them out for subsequent transportation. A robot base 3 is fixedly installed on the ground in front of the middle of the two presses 1. The robot base 3 is located between the output ends of the two brick picking and inspection line 2. A four-axis robot 301 is fixedly connected to the top surface of the robot base 3 by bolts. The flange of the movable arm of the four-axis robot 301 is fixedly connected to a suction cup claw 302. Several vacuum suction cups are evenly arranged on the lower surface of the suction cup claw 302. The four-axis robot 301 uses the suction cup claw 302 to simultaneously perform the gripping operation of the brick picking and inspection line 2 on both sides. Ground tracks 5 are laid on the ground on the left and right sides of the robot base 3. The ground tracks 5 are arranged parallel to the brick picking and inspection line 2.

[0027] A kiln car 501 slides on the ground track 5. A car-stopping positioning block 502 is welded and fixed in the middle of the ground track 5. The car-stopping positioning block 502 protrudes from the upper surface of the ground track 5 and is used to physically limit and block the wheels of the kiln car 501 as it moves to the stacking station. A waste brick platform 6 is fixedly installed to the right rear of the four-axis robot 301. The waste brick platform 6 is located on one side of the robot base 3 and within the working arm radius of the four-axis robot 301. It is used to store brick blanks that have been judged to be unqualified after inspection. Safety guardrails 4 are fixedly erected in the rear area of ​​the four-axis robot 301 and the outer area of ​​the kiln car 501. The safety guardrails 4 enclose the closed working area. The safety guardrails 4 have openings for the kiln car 501 to enter and exit. A safety light curtain 401 is fixedly installed on the side column of the opening. The safety light curtain 401 is used to monitor whether there are personnel or foreign objects intruding into the opening area and to control the four-axis robot 301 to stop suddenly.

[0028] The core components of the brick-collecting and inspection line 2 include a frame 210. A fixed frame 202 is bolted to the top surface of the end of the frame 210 near the brick outlet of the press 1. A sliding frame 211 is welded to the top surface of the fixed frame 202. A first cylinder 203 is bolted to the top surface of the sliding frame 211 along the horizontal width direction. The first cylinder 203 serves as the power source for horizontal displacement. A connecting frame 212 is fixedly connected to the end of the telescopic rod of the first cylinder 203. Driven by the first cylinder 203, the connecting frame 212 can reciprocate horizontally to extend into or retract from the press 1. In the brick outlet area, a second cylinder 205 is fixedly installed on the top surface of the connecting frame 212. The output shaft of the second cylinder 205 passes vertically downward through the top plate of the connecting frame 212 and is fixedly connected to the upper surface of the brick picking platform 204 below. The two sides of the brick picking platform 204 are slidably fitted on the vertical guide rails set on the inner side wall of the connecting frame 212. The second cylinder 205 drives the brick picking platform 204 to make vertical lifting and lowering movements relative to the connecting frame 212. This lifting and lowering movement, combined with the horizontal movement of the first cylinder 203, realizes the continuous action sequence of the robot arm picking up bricks, lifting, retracting and lowering to place bricks.

[0029] Meanwhile, a conveyor 206 is installed on the top surface of the frame 210 and directly below the fixed frame 202. The conveyor 206 extends along the length of the frame 210. When the connecting frame 212 carries the brick blank back to the top of the frame 210, and the second cylinder 205 drives the brick picking platform 204 to move down, the brick blank is stably placed on the feed end of the conveyor 206. The conveyor 206 starts to transport the brick blank backward. A detector 201 is fixedly installed in the middle of the top surface of the frame 210 by a bracket. The detector 201 is suspended directly above the conveyor belt of the conveyor 206. The detection probe of the detector 201 is vertically aligned with the brick blank flowing below, and is used to collect the surface quality data of the brick blank in real time and feed it back to the control system so as to distinguish between qualified products and waste products in the future.

[0030] Based on the above embodiments, the present invention may further include the following preferred technical solutions:

[0031] As a preferred implementation method, in order to achieve automatic flipping and precise positioning of the brick blanks from the end of the conveyor to the robot gripping station, please refer to the following: Figure 4 The end of the frame 210 away from the fixed frame 202 is rotatably connected to the rotating shaft 207 via a bearing seat. A geared motor 208 is fixedly installed on one side of the outer wall of the frame 210 by bolts. The output end of the geared motor 208 is coaxially fixedly connected to one end of the rotating shaft 207 via a coupling. Several material picking baffles 209 are uniformly welded and fixed on the outer cylindrical surface of the rotating shaft 207 along the circumferential direction. The material picking baffles 209 are L-shaped metal plate structures. The inner right-angled side of the material picking baffles 209 forms a brick blank receiving cavity. The end of the conveyor belt of the conveyor 206 extends into the rotation radius of the material picking baffles 209. The geared motor 208 drives the rotating shaft 207 to rotate the material picking baffles 209, which can flip the brick blanks on the conveyor 206 outward by 180 degrees to the farthest end of the frame 210 to wait for picking.

[0032] As another preferred embodiment, in order to ensure the robot's flexible gripping of brick blanks and effective diversion of waste, a suction cup claw 302 is fixedly connected to the end flange of the four-axis robot 301. Several vacuum suction cups are installed on the bottom plane of the suction cup claw 302. The vacuum suction cups are connected to the negative pressure system through air pipes and are transported by adsorbing the surface of the brick blanks. A waste brick platform 6 is fixedly set on the ground to the right rear of the robot base 3. The waste brick platform 6 is located within the working arm span of the four-axis robot 301.

[0033] As another preferred embodiment, in order to ensure the positional stability of the kiln car 501 during the stacking process, a car-stopping positioning block 502 is welded and fixed on the rail surface of the ground track 5. The car-stopping positioning block 502 is in the shape of a boss and is used to block and limit the wheels of the kiln car 501 that are slidably fitted on the ground track 5.

[0034] The working principle of this 1-to-2 robotic line inspection and palletizing workstation is as follows:

[0035] After the workstation starts running, the presses 1 on the left and right sides begin to press the brick blanks. When the brick blanks are formed and pushed out, the brick picking and inspection line 2 enters the material picking process. The first cylinder 203, fixed on the sliding frame 211, drives the connecting frame 212 to extend horizontally toward the brick outlet of the press 1. The connecting frame 212 drives the brick picking platform 204 to move to the receiving position to receive the brick blanks. Then, the first cylinder 203 retracts and drives the connecting frame 212 to reset. The second cylinder 205 at the top of the connecting frame 212 is activated, driving the brick picking platform 204 to descend vertically along the vertical guide rail and place the brick blanks smoothly on the conveyor 206 below. The conveyor 206 starts to transport the brick blanks to the rear. During this process, the detector 201 located above scans and detects the flowing brick blanks in real time and feeds back the qualified or unqualified signals to the control system.

[0036] When the brick blank is conveyed to the end of the conveyor 206, it slides into the L-shaped material-receiving baffle 209. At this time, the side reduction motor 208 starts and drives the rotating shaft 207 to rotate 180 degrees. This rotation causes the material-receiving baffle 209 to flip the brick blank outward and move it to the farthest end of the frame 210, completing the posture adjustment and positioning of the brick blank. The four-axis robot 301, located in the center, acts according to the control command and uses the vacuum suction cup under the suction claw 302 to firmly pick up the brick blank. It then classifies the brick blank according to the previous detection results of the detector 201. If the brick blank is qualified, the four-axis robot 301 transports it and neatly stacks it into the kiln car 501 parked on the ground track 5. The kiln car 501 uses the car stop positioning block 502 to physically position it to ensure accurate stacking position. If the brick blank is unqualified, the four-axis robot 301 grabs it and places it on the waste brick platform 6 at the right rear.

[0037] Throughout the automated operation, the four-axis robot 301 and the kiln car 501 are surrounded by a closed isolation zone formed by the safety guardrail 4. If any personnel or objects accidentally enter the work area through the opening of the safety guardrail 4, the safety light curtains 401 installed on both sides of the opening will immediately sense and trigger the emergency stop mechanism, controlling the four-axis robot 301 to stop running immediately, thereby effectively ensuring the personal safety and equipment safety of the production site.

[0038] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A 1-to-2 robot line inspection and palletizing workstation, comprising two presses (1), two brick picking and inspection lines (2) fixed in front of the two presses (1), a robot base (3) located in front of the middle of the two presses (1), a four-axis robot (301) fixed on the top surface of the robot base (3), ground tracks (5) distributed on the left and right sides of the robot base (3), and a kiln car (501) slidably fitted on the ground tracks (5); Its features are, The brick-picking and testing line (2) includes a frame (210). A fixed frame (202) is fixed to one end of the frame (210) near the press (1). A sliding frame (211) is fixed to the top surface of the fixed frame (202). A first cylinder (203) is fixed to the top surface of the sliding frame (211). A connecting frame (212) is fixedly connected to the telescopic end of the first cylinder (203). A second cylinder (205) is fixed to the top surface of the connecting frame (212). A brick-picking platform (204) is fixedly connected to the output shaft of the second cylinder (205). The brick platform (204) is slidably fitted to the side wall of the connecting frame (212). A conveyor (206) is installed on the top surface of the frame (210). The conveyor (206) is located below the fixed frame (202). A rotating shaft (207) is rotatably connected to one end of the frame (210) away from the fixed frame (202). A geared motor (208) is installed on one side of the frame (210). The geared motor (208) drives the rotating shaft (207) to rotate. Several material picking baffles (209) are fixed on the outer wall of the rotating shaft (207).

2. The 1-to-2 robot line inspection and palletizing workstation according to claim 1, characterized in that, The material-receiving folding plate (209) has an L-shaped structure, and the inner sidewall of the material-receiving folding plate (209) forms a right-angled space for accommodating the brick blank. The conveying end of the conveyor (206) extends into the rotation trajectory range of the material-receiving folding plate (209).

3. The 1-to-2 robot line inspection and palletizing workstation according to claim 1, characterized in that, A detector (201) is fixed at the middle position of the top surface of the frame (210). The detector (201) is located above the conveyor (206) and is used to detect the brick blanks flowing through the conveyor (206).

4. The 1-to-2 robot line inspection and palletizing workstation according to claim 1, characterized in that, The movable end of the four-axis robot (301) is fixedly connected to a suction cup claw (302), and the lower surface of the suction cup claw (302) is provided with several vacuum suction cups.

5. A 1-to-2 robot line inspection and palletizing workstation according to claim 1, characterized in that, A waste brick platform (6) is fixedly installed on the right rear side of the four-axis robot (301), and the waste brick platform (6) is located on one side of the robot base (3).

6. A 1-to-2 robotic line inspection and palletizing workstation according to claim 1, characterized in that, A car-stopping positioning block (502) is fixedly installed at the middle position of the ground track (5). The car-stopping positioning block (502) protrudes from the upper surface of the ground track (5) to block the kiln car (501).

7. A 1-to-2 robot line inspection and palletizing workstation according to claim 1, characterized in that, Safety guardrails (4) are fixedly erected on the rear side of the four-axis robot (301) and the outer side of the kiln car (501).

8. A 1-to-2 robot line inspection and palletizing workstation according to claim 7, characterized in that, The safety guardrail (4) has an opening for the kiln car (501) to pass through, and a safety light curtain (401) is installed on the side of the opening.

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