阅读说明：本技术 一种石膏板自动码垛生产线 (Automatic pile up neatly production line of gypsum board ) 是由 盛东营 齐思晨 王海蛟 别会滨 伯昊阳 于 2021-07-09 设计创作，主要内容包括：本发明公开了一种石膏板自动码垛生产线,该码垛生产线包括码垛机器人、第一输送机、盖板存放装置、垫腿存放装置、第二输送机,第一输送机、盖板存放装置、垫腿存放装置、第二输送机分别设置在码垛机器人四周,码垛机器人分别将垫腿存放装置中的垫腿、盖板存放装置中的盖板、第一输送机上的石膏板从下到上依次按照垫腿、盖板、石膏板、盖板、石膏板的顺序放到第二输送机上。本发明通过卷帘机构用于抓取石膏板,卷帘机构和抓取机构相互配合来抓取垫腿,吸取装置用于吸取盖板,码垛机器人可以实现多种不同的功能,码垛机器人在实现这多种功能过程中完成石膏板的自动码垛,本发明自动化程度高,一致性好,码垛效率高,解放了劳动力。(The invention discloses an automatic gypsum board stacking production line which comprises a stacking robot, a first conveyor, a cover plate storage device, a pad leg storage device and a second conveyor, wherein the first conveyor, the cover plate storage device, the pad leg storage device and the second conveyor are respectively arranged on the periphery of the stacking robot, and the stacking robot is used for respectively placing a pad leg in the pad leg storage device, a cover plate in the cover plate storage device and a gypsum board on the first conveyor onto the second conveyor from bottom to top in sequence according to the sequence of the pad leg, the cover plate, the gypsum board, the cover plate and the gypsum board. According to the invention, the roller shutter mechanism is used for grabbing gypsum boards, the roller shutter mechanism and the grabbing mechanism are mutually matched to grab the pad legs, the sucking device is used for sucking the cover plate, the stacking robot can realize various different functions, and the stacking robot can complete automatic stacking of gypsum boards in the process of realizing the various functions.)

1. The utility model provides an automatic pile up neatly production line of gypsum board which characterized in that: including pile up neatly machine people (1), first conveyer (2), apron strorage device (3), pad leg strorage device (4), second conveyer (5) set up respectively around pile up neatly machine people (1), pile up neatly machine people (1) will fill up leg among leg strorage device (4), apron among apron strorage device (3), gypsum board from the bottom up on first conveyer (2) in proper order according to filling up leg, apron, gypsum board on the second conveyer (5).

2. The automatic gypsum board stacking production line of claim 1, wherein: the stacking robot (1) comprises a mechanical arm (6) and a gripper (7), wherein the gripper (7) is arranged at one end of the mechanical arm (6), the gripper (7) comprises a first power device (71), a suction device (72), a grabbing mechanism (73), a main body part (74) and a roller shutter mechanism (75), the gripper is used for driving the first power device (71) rotating by the roller shutter mechanism (75) to be arranged on the outer side of the main body part (74), the suction device (72) is arranged inside the main body part (74), the grabbing mechanism (73) is arranged at one end inside the main body part (74), and the roller shutter mechanism (75) is arranged on the main body part (74).

3. The automatic gypsum board stacking production line according to claim 2, wherein: the main body part (74) comprises side plates (741) which are symmetrically distributed, section steel (742) which is used for connecting the upper ends of the side plates (741) on two sides and a connecting piece (743) which is used for connecting the middle parts of the side plates (741) on two sides, a connecting plate (744) is arranged at the upper end of the section steel (742), and the gripper (7) is arranged at the lower end of the mechanical arm (6) through the connecting plate (744);

the main body portion (74) is of a shell structure with an opening at the lower end and two sides.

4. The automatic gypsum board stacking production line according to claim 3, wherein: the suction device (72) is arranged on the connecting piece (743), the suction device (72) comprises a second power device (721), a double-crank mechanism (722), a suction disc (723) and a position detection device (724), the suction disc (723) is arranged at the lower end of a crank in the double-crank mechanism (722), the second power device (721) is connected with one crank in the double-crank mechanism (722), and the position detection device (724) is fixedly arranged on the connecting piece (743).

5. The automatic gypsum board stacking production line according to claim 4, wherein: the roller shutter mechanism (75) comprises a chain (751), a chain wheel (752) arranged on the inner side of the side plate (741), and a rod piece (753), wherein the chain (751) is in meshing transmission with the chain wheel (752), the chains (751) are symmetrically arranged at two ends of the rod piece (753), and the rod piece (753) is connected into a roller shutter through the chain (751);

the chain wheel (752) comprises a steering wheel (752a) and a tension wheel (752b), the steering wheel (752a) is arranged at a position, needing to be steered, in the motion track of the chain (751), the tension wheel (752b) is arranged between the two steering wheels, and the first power device (71) is connected with one of the steering wheels (752a) through a side plate (741).

6. The automatic gypsum board stacking production line of claim 5, wherein: the roller shutter mechanism (75) comprises a plurality of rod pieces (753) with different diameter specifications, and the rod pieces (753) are sequentially arranged according to the diameter size.

7. The automatic gypsum board stacking production line of claim 1, wherein: pad leg strorage device (4) are equipped with lifting mechanism, lifting mechanism includes support (41), lift power device (42), guide shaft (43), lifter plate (44), sets up support (41) are passed in inside lift power device (42) of support (41) and are connected with lifter plate (44), guide shaft (43) slide and pass support (41) and be connected with lifter plate (44), lifter plate (44) set up in support (41) top.

8. The automatic gypsum board stacking production line according to claim 2, wherein: the grabbing mechanism (73) comprises a hook (731), a connecting rod (732) and a third power device, the third power device is arranged on the outer side of one side plate (741), the connecting rod (732) is arranged between the two side plates (741), the third power device is rotatably connected with the connecting rod (732), and the hook (731) is fixedly arranged on the connecting rod (732).

9. The automatic gypsum board stacking production line of claim 5, wherein: the chain (751) is closed, and a part of the chain (751) is connected with a rod (753).

10. The automatic gypsum board stacking production line of claim 5, wherein: the inner side of the side plate (741) is provided with a guide mechanism (745) for guiding the gypsum board, the lower end of the inner side of the side plate (741) is provided with a through groove formed by an upper guide strip (746) and a lower guide strip (746), and the chain (751) penetrates through the through groove.

Technical Field

The invention belongs to the field of industrial intelligent manufacturing, and relates to an automatic gypsum board stacking production line.

Background

In the industrial production field, for the transportation and the storage of convenient goods, often need put the tray with goods neatly sign indicating number earlier on, whole buttress goods circulation again to improve freight efficiency and storage cost. The stacking robot and the conveying system thereof are widely applied to the industries of logistics, storage and the like, the stacking robot is simple to operate, high in working efficiency, capable of saving manpower and energy and the like, popular with enterprises, capable of stacking and conveying products according to different working condition requirements and product types, and mainly taking one machine as one line for most stacking devices, and capable of carrying and stacking one product at a time for products arranged in sequence on a production line, low in stacking efficiency and high in cost.

Disclosure of Invention

In order to overcome the defects in the background art, the invention provides an automatic gypsum board stacking production line.

The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an automatic pile up neatly production line of gypsum board, including the pile up neatly machine people, first conveyer, apron strorage device, fill up leg strorage device, the second conveyer sets up respectively around the pile up neatly machine people, the pile up neatly machine people respectively will fill up leg among the leg strorage device, apron among the apron strorage device, gypsum board from the bottom up on the first conveyer is according to filling up the leg in proper order, the apron, the gypsum board, the apron, the order of gypsum board is put on the second conveyer. Be equipped with push mechanism on the first conveyer, push mechanism is arranged in pushing away the tongs of pile up neatly machine people with the gypsum board on the first conveyer.

The stacking robot comprises a mechanical arm and a gripper, wherein the gripper is arranged at one end of the mechanical arm and comprises a first power device, a suction device, a grabbing mechanism, a main body part and a roller shutter mechanism, the first power device for driving the roller shutter mechanism to rotate is arranged on the outer side of the main body part, the suction device is arranged inside the main body part, the grabbing mechanism is arranged at one end inside the main body part, and the roller shutter mechanism is arranged on the main body part.

The main body part comprises symmetrically distributed side plates, profile steel and a connecting piece, wherein the profile steel is connected with the upper ends of the side plates at two sides, the connecting piece is connected with the middle part of the side plates at two sides, the upper end of the profile steel is provided with a connecting plate, and the gripper is arranged at the lower end of the mechanical arm through the connecting plate; the main body part is of a shell structure with an opening at the lower end and two sides.

The suction device is arranged on the connecting piece and comprises a second power device, a double-crank mechanism, a sucker and a position detection device, the sucker is arranged at the lower end of a crank in the double-crank mechanism, the second power device is connected with one crank in the double-crank mechanism, and the position detection device is fixedly arranged on the connecting piece.

The roller shutter mechanism comprises chains, chain wheels arranged on the inner sides of the side plates and rod pieces, the chains are in meshing transmission with the chain wheels, the chains are symmetrically arranged at two ends of the rod pieces respectively, and the rod pieces are connected into a roller shutter through the chains; the chain wheel comprises a steering wheel and a tension wheel, the steering wheel is arranged at a position needing to be steered in the motion track of the chain, the tension wheel is arranged between the two steering wheels, and the first power device penetrates through one side plate to be connected with one of the steering wheels. The roller shutter mechanism comprises a plurality of rod pieces with different diameter specifications, and the rod pieces are sequentially arranged according to the diameter.

The leg pad storage device is provided with a lifting mechanism, the lifting mechanism comprises a support, a lifting power device, a guide shaft and a lifting plate, the lifting power device arranged inside the support penetrates through the support to be connected with the lifting plate, the guide shaft penetrates through the support in a sliding mode to be connected with the lifting plate, and the lifting plate is arranged above the support.

The grabbing mechanism comprises a hook, a connecting rod and a third power device, the third power device is arranged on the outer side of the side plate on one side, the connecting rod is arranged between the two side plates, the third power device is rotatably connected with the connecting rod, and the hook is fixedly arranged on the connecting rod.

The chain is closed, part of the chain is connected with the rod piece, and the rod piece is connected into an open roller shutter by the chain. The rod pieces at the two ends of the roller shutter are different in diameter, and when the roller shutter moves to the upper end of the side plate through the chain, the end with the small diameter of the roller shutter is far away from the grabbing mechanism. The small-diameter end of the roller shutter and the grabbing mechanism act together to grab the pad leg. The position detection device is used for detecting the position of the roller shutter. The curb plate inboard is equipped with the guiding mechanism who plays the guide effect for the gypsum board, the inboard lower extreme of curb plate is equipped with the logical groove that constitutes by two upper and lower gibs blocks, the chain passes logical groove setting, lead to the groove and play direction and spacing effect to the chain.

The invention has the beneficial effects that: according to the invention, the roller shutter mechanism is used for grabbing gypsum boards, the roller shutter mechanism and the grabbing mechanism are mutually matched to grab the pad legs, the sucking device is used for sucking the cover plate, the stacking robot can realize various different functions, and the stacking robot can complete automatic stacking of gypsum boards in the process of realizing the various functions.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic structural view of the palletizing robot of the present invention.

Fig. 3 is a schematic structural view of the robot palletizer gripper according to the present invention.

Fig. 4 is a partial structural schematic view of the rolling shutter mechanism of the present invention.

Fig. 5 is a schematic structural view of the suction device of the present invention.

Figure 6 is a schematic diagram of the lifting mechanism of the present invention.

In the figure, 1, a stacking robot, 2, a first conveyor, 3, a cover plate storage device, 4, a pad leg storage device, 5, a second conveyor, 6, a mechanical arm, 7, a gripper, 41, a bracket, 42, a lifting power device, 43, a guide shaft, 44, a lifting plate, 71, a first power device, 72, a suction device, 73, a gripping mechanism, 74, a main body part, 75, a curtain rolling mechanism, 721, a second power device, 722, a double crank mechanism, 723, a sucker, 724, a position detection device, 731, a hook, 732, a connecting rod, 741, a side plate, 742 a section steel, 743, a connecting piece, 744, 745, a guide mechanism, 746, a guide bar, 751, a chain wheel, 752a steering wheel, 752b, a tensioning wheel, 753 a rod.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings and examples, and parts not described in the present invention can be implemented by using or referring to the prior art.

It should be noted that the structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are only for the purpose of understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined by the following claims, and any modifications of the structures, changes in the proportions and adjustments of the sizes, without affecting the efficacy and attainment of the same, are intended to fall within the scope of the present disclosure.

In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

As shown in fig. 1-6, an automatic gypsum board stacking production line comprises a stacking robot 1, a first conveyor 2, a cover plate storage device 3, a leg pad storage device 4 and a second conveyor 5, wherein the first conveyor 2, the cover plate storage device 3, the leg pad storage device 4 and the second conveyor 5 are respectively arranged around the stacking robot 1, and the stacking robot 1 respectively places leg pads in the leg pad storage device 4, cover plates in the leg pad storage device 3 and gypsum boards on the first conveyor 2 from bottom to top in sequence on the second conveyor 5 according to the sequence of the leg pads, the cover plates, the gypsum boards, the cover plates and the gypsum boards. Be equipped with push mechanism on the first conveyer 2, push mechanism is arranged in pushing away the gypsum board on the first conveyer 2 to the tongs 7 of pile up neatly machine people 1.

The palletizing robot 1 comprises a mechanical arm 6 and a gripper 7, wherein the gripper 7 is arranged at one end of the mechanical arm 6, the gripper 7 comprises a first power device 71, a suction device 72, a gripping mechanism 73, a main body part 74 and a rolling curtain mechanism 75, the first power device 71 for driving the rolling curtain mechanism 75 to rotate is arranged at the outer side of the main body part 74, the suction device 72 is arranged inside the main body part 74, the gripping mechanism 73 is arranged at one end inside the main body part 74, and the rolling curtain mechanism 75 is arranged on the main body part 74.

The main body part 74 comprises side plates 741 which are symmetrically distributed, section steel 742 which is connected with the upper ends of the side plates 741 on the two sides, and a connecting piece 743 which is connected with the middle part of the side plates 741 on the two sides, wherein the upper end of the section steel 742 is provided with a connecting plate 744, and the hand grip 7 is arranged at the lower end of the mechanical arm 6 through the connecting plate 744; the body portion 74 has a shell structure opened at the lower end and both sides.

The suction device 72 is arranged on the connecting piece 743, the suction device 72 comprises a second power device 721, a double-crank mechanism 722, a suction cup 723 and a position detection device 724, the suction cup 723 is arranged at the lower end of a crank in the double-crank mechanism 722, the second power device 721 is connected with one crank in the double-crank mechanism 722, and the position detection device 724 is fixedly arranged on the connecting piece 743.

The rolling curtain mechanism 75 comprises a chain 751, a chain wheel 752 arranged inside the side plate 741, and a rod 753, wherein the chain 751 is in meshing transmission with the chain wheel 752, the chains 751 are symmetrically arranged at two ends of the rod 753, and the rod 753 is connected into a rolling curtain through the chain 751; the chain wheel 752 comprises a steering wheel 752a and a tension wheel 752b, the steering wheel 752a is arranged at a position where the chain 751 moves in a track to be steered, the tension wheel 752b is arranged between the two steering wheels, and the first power device 71 passes through the side plate 741 to be connected with one of the steering wheels 752a. The rolling mechanism 75 includes a plurality of rod members 753 having various diameters, and the rod members 753 are arranged in order according to the diameter.

The leg pad storage device 4 is provided with a lifting mechanism, the lifting mechanism comprises a support 41, a lifting power device 42, a guide shaft 43 and a lifting plate 44, the lifting power device 42 arranged inside the support 41 penetrates through the support 41 to be connected with the lifting plate 44, the guide shaft 43 penetrates through the support 41 in a sliding mode to be connected with the lifting plate 44, and the lifting plate 44 is arranged above the support 41.

The grabbing mechanism 73 comprises a hook 731, a connecting rod 732 and a third power device, wherein the third power device is arranged outside one side plate 741, the connecting rod 732 is arranged between the two side plates 741, the third power device is rotatably connected with the connecting rod 732, and the hook 731 is fixedly arranged on the connecting rod 732.

The chain 751 is endless, and parts of the chain 751 are connected to a rod 753, which is connected by the chain 751 to form an open roller shutter. The rod members 753 at both ends of the roller shutter have different diameters, and when the roller shutter moves to the upper end of the side plate 741 through the chain 751, the end with the smaller diameter of the roller shutter is far away from the grabbing mechanism 73. The smaller diameter end of the roller blind cooperates with a gripping mechanism 73 to grip the legging. The position detecting device 724 is used for detecting the position of the roller shutter. The inner side of the side plate 741 is provided with a guide mechanism 745 for guiding the gypsum board, the lower end of the inner side of the side plate 741 is provided with a through groove formed by an upper guide strip 746 and a lower guide strip 746, the chain 751 passes through the through groove, and the through groove plays a role in guiding and limiting the chain 751.

When the gypsum boards are stacked, the gypsum boards are alternately placed according to the pad legs, the cover plate, the gypsum boards, the cover plate and the pad legs. The palletizing robot 1 firstly picks the pad legs from the pad leg storage device 4 and places the pad legs on the second conveyor 5, and the operation is as follows: the lifting power device 42 of the lifting mechanism of the pad leg storage device 4 drives the lifting plate 44 to move up and down, the pad legs placed on the lifting plate 44 are lifted, the rod member 753 in the rolling mechanism 75 of the palletizing robot 1 moves to the upper end of the side plate 741 along with the chain 751, then the hooks 731 of the grabbing mechanism 73 hook the pad legs from one side, the rod member 753 moves continuously along with the chain 751, then the rod member 753 moves to the other side of the pad legs, and the pad legs are placed on the second conveyor 5 by the palletizing robot 1 through the mutual matching of the rod member 753 and the hooks 731, and the picking and placing of the pad legs are completed.

Subsequently, the suction device 72 of the palletizing robot 1 sucks the cover plates in the cover plate storage device 3 to be placed above the pad legs on the second conveyor 5, and the operation is as follows: the double-crank mechanism 722 rotates to be parallel to the connecting piece 743 under the action of the second power device 721, when a cover plate needs to be sucked, the second power device 721 does not act on the double-crank mechanism 722, the double-crank mechanism 722 vertically faces downwards under the action of gravity, the suction disc 723 on the double-crank mechanism 722 also vertically faces downwards, the suction disc 723 sucks the cover plate on the cover plate storage device 3 under the action of the prior art, then the cover plate is placed above the upper pad leg of the second conveyor 5, and then the double-crank mechanism 722 of the palletizing robot 1 rotates to be parallel to the connecting piece 743 under the action of the second power device 721.

Then, a rod member 753 of the rolling curtain mechanism 75 of the palletizing robot 1 moves to the lower end of a side plate 741 along with a chain 751, a frame structure with openings on two sides is formed in a hand grip 7 at the moment, the hand grip 7 moves to one side of a first conveyor 2, a pushing mechanism on the other side of the first conveyor 2 pushes gypsum boards on the first conveyor 2 to the hand grip 7, when the palletizing robot 1 places the gypsum boards in the hand grip 7 on a second conveyor 5, the chain 751 drives the rolling curtain to rotate upwards, the lower end of the gypsum boards is not supported by the rolling curtain, the gypsum boards are placed on the second conveyor 5, the hand grip 7 can place 4 gypsum boards on the second conveyor 5 at one time, the hand grip 7 places the gypsum boards on an upper cover plate of the second conveyor 5, and placement of the 4 gypsum boards is completed.

Repeat above-mentioned operation, can accomplish placing of leg, apron, gypsum board to accomplish the pile up neatly of gypsum board, the number of piles of gypsum board and apron, the quantity of leg of pad all can utilize prior art to adjust according to actual need. The robot palletizer 1 has multiple functions of taking pad legs, taking cover plates and packing gypsum boards, the sequence of the pad legs, the cover plates and the gypsum boards is operated according to actual stacking and packing requirements, and a power device, a control program required by realizing related functions and related visual detection technologies related to the robot palletizer can be realized by utilizing the prior art, and are not described again here.

The roller shutter mechanism 75 and the main body part 74 are matched with each other to grab gypsum boards, the roller shutter mechanism 75 and the grabbing mechanism 73 are matched with each other to grab pad legs, the suction device 72 sucks the cover plate, the stacking robot 1 can achieve various different functions, and the stacking robot 1 completes automatic stacking of gypsum boards in the process of achieving the various functions.