CN106379746A - Ceramic tile transferring and stacking method and system based on pallets - Google Patents

Abstract

A method and system for transferring and stacking ceramic tiles based on pallets, belonging to the field of ceramic tile production equipment. It is characterized in that: it includes a stacking operation area surrounded by guardrails (8), a pallet storage station (4) and a tile stacking station (6) are arranged in the stacking operation area, and a stacking operation area is provided at the rear end of the stacking operation area The transmission device (1) is provided with a manipulator (3) above the stacking operation area, and a control cabinet is provided outside the stacking operation area, and a control unit is arranged in the control cabinet. Through the tile transfer stacking system of this pallet, the automatic placement of the pallet in the tile stacking station and the automatic clamping, moving and placement of the tiles from the transmission device at the end of the packaging line to the tile stacking station are realized, avoiding A large amount of waste of manpower and material resources greatly improves labor efficiency and avoids the possibility of bumping the product during manual handling, ensuring the quality of the product.

Description

A method and system for transferring and stacking ceramic tiles based on pallets

technical field

A method and system for transferring and stacking ceramic tiles based on pallets, belonging to the field of ceramic tile production equipment.

Background technique

At present, facing the increasing demand for ceramic tiles in the society, the production volume is also increasing rapidly. In the prior art, ceramic tiles enter the packaging line after being sintered in the kiln, and multiple tiles are packed into packaging boxes in the packaging line, and are sent out from the end of the packaging line after steps such as bundling and packaging. After the packaged tiles are sent out from the packaging line, the tiles are manually moved and stacked. Due to the heavy weight of the ceramic tile itself, a lot of manpower and material resources will be wasted in manual handling and stacking. At the same time, workers will waste a lot of physical strength in the handling process, and the efficiency is extremely low. Simultaneously, because tiles are fragile products, bumps often occur in the process of handling, causing damage to the product and making it impossible to sell, thus increasing the production cost to a certain extent.

Contents of the invention

The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, to provide a stack-based stacker for automatic clamping, transfer and stacking of ceramic tiles, avoiding a lot of waste of manpower and material resources, improving labor efficiency and ensuring the integrity of the product. A tile transfer stacking method and system for boards.

The technical solution adopted by the present invention to solve the technical problem is: the pallet-based tile transfer stacking method, characterized in that: comprising the following steps

Step 1001, initialize and execute the reset subroutine,

The system is initialized, and after initialization, it is ready to grab tiles;

Step 1002, the manipulator travels to the working position,

The manipulator moves from the original position to the working position;

Step 1003, whether there are tiles in the tile turning station,

The lower computer judges whether tiles are placed in the tile turning station, if there are tiles, execute step 1008, if there is no tile in the tile turning station, execute step 1004;

Step 1004, judging whether there are vacant tile stacking stations,

The lower computer determines whether there is a tile stacking station without a pallet according to the settings in the pallet detection module. If there is a tile stacking station without a pallet, perform step 1005. If there is no tile stacking station without a pallet , return to step 1003;

Step 1005, judging whether there is a pallet in the pallet storage station,

The lower computer judges whether there is a pallet in the pallet storage station, if there is a pallet, execute step 1006, if there is no pallet in the pallet storage station, execute step 1007;

Step 1006, grab the pallet,

The lower computer controls the manipulator to grab a pallet from the pallet storage station and put it into the empty tile stacking station;

Step 1007, alarm;

The lower computer controls the alarm system to give an alarm;

Step 1008, whether there is a pallet in the tile stacking station,

The lower computer judges whether there are available pallets in the tile stacking station according to the settings in the pallet detection module, if there are available pallets, execute step 1012, if there is no available pallet in the tile stacking station, execute Step 1009;

Step 1009, judging whether there are vacant tile stacking stations,

The lower computer judges whether there is a tile stacking station without a pallet according to the settings in the pallet detection module. If there is a tile stacking station without a pallet, perform step 1010. If there is no tile stacking station without a pallet , return to step 1007;

Step 1010, judging whether there is a pallet in the pallet storage station,

The lower computer judges whether there is a pallet in the pallet storage station, if there is a pallet, execute step 1011, if there is no pallet in the pallet storage station, execute step 1007;

Step 1011, grab the pallet,

The lower computer controls the manipulator to grab a pallet from the pallet storage station and put it into the empty tile stacking station;

Step 1012, grab tiles,

The lower computer controls the manipulator to place the tiles from the tile turning station to the pallet in the tile stacking station according to the tile transfer subroutine and the tile placement subroutine, and then returns to step 1002.

Preferably, the tile transfer subroutine described in step 1012 includes the following steps:

Step 2001, calculate the total moving distance a of the manipulator;

The control unit calculates and determines the total moving distance a of the manipulator on the plane where the X-axis and the Y-axis are located according to the movement starting point and the movement end point of the manipulator;

Step 2002, dividing the moving distance a into several moving sections: section a ₁ ... section a _n ;

The control unit divides the total moving distance a of the manipulator into several moving sections from the moving starting point of the manipulator according to the principle of distance segmentation: section a ₁ ... section a _n ;

Step 2003, moving at a first speed;

The manipulator moves within the section a1 at a _first speed from the starting point;

Step 2004, whether the manipulator enters section a2 _;

The control unit judges whether the manipulator has entered section a ₂ , if it enters section a ₂ , execute step 2005, otherwise return to execute step 2003;

Step 2005, run at the second speed;

The control unit controls the manipulator to move at a _second speed lower than the first speed in section a2;

Step 2006, judging whether the manipulator enters section a _n ;

The control unit judges whether the manipulator has entered the section a _n , if it enters the section a _n , go to step 2008, otherwise go to step 2007;

Step 2007, running at the N-1th speed;

The control unit controls the N-1 speed movement of the manipulator;

Step 2008, moving at the Nth speed;

The control unit controls the manipulator to move at an Nth speed lower than the N-1th speed in the section an, and stops moving when it reaches the moving end point.

Preferably, the distance segmentation principle described in step 2002 is _: determine a deceleration point in the entire moving distance a of the manipulator as the starting point of section a2, and the section a1 between the deceleration point and the starting point of movement _of the manipulator , the distance between the deceleration point and the moving end point of the manipulator is equally divided to form a section a ₂ ~ a section a _n .

Preferably, the tile transfer subroutine described in step 1012 includes the following steps:

Step 3001, determine the falling height;

The control unit determines the falling distance of the manipulator according to the height of the pallet surface and the height of the bottom of the tile;

Step 3002, whether the tile needs to be rotated;

The control unit judges whether the package of tiles needs to be rotated before falling, if it needs to be rotated, execute step 3003, if it does not need to rotate, execute step 3004;

Step 3003, the manipulator rotates;

The control unit determines the angle at which the tiles need to be rotated according to the preset position of the package of tiles on the pallet, and drives the manipulator to rotate at the corresponding angle;

Step 3004, whereabouts of the manipulator;

The control unit controls the falling of the manipulator, so that the bottom surface of the tile is close to the upper surface of the pallet, and the placement of the tile is completed;

Step 3005, returning the manipulator;

The manipulator releases the tiles, then resets to continue grabbing and transferring the next pack of tiles.

A tile transfer stacking system based on pallets, characterized in that it includes a stacking operation area surrounded by guardrails, and a pallet storage station for storing pallets and at least one tile stacking station are arranged in the stacking operation area. The rear end of the stacking operation area is equipped with a conveyor for transporting tiles, and a manipulator is installed above the stacking operation area to put the pallets in the pallet storage station into the tile stacking station, and place the pallets on the transfer device The tiles are transferred to the pallet in the tile stacking station, and a control cabinet is arranged outside the stacking operation area, and a control unit is arranged in the control cabinet.

Preferably, the control unit includes a host computer, a lower computer bidirectionally connected with the upper computer, and an output port of the lower computer is connected with a frequency conversion control module for driving the action of the manipulator;

The input port of the lower computer is connected with a pallet detection module for judging whether a pallet is placed in the tile stacking station, a tile detection module for judging whether there is a tile at the end of the conveying device, and a tile detection module for A limit module that limits the movement of the manipulator.

Preferably, the pallet detection module is a photoelectric switch arranged at the bottom of the tile stacking station; the tile detection module is a photoelectric switch arranged at the end of the conveying device.

Preferably, a safety grating is further arranged on the input port of the lower computer, and the safety grating is arranged on both sides of the opening at the front end of the stacking operation area.

Preferably, the frequency conversion control module includes four frequency converters and four frequency conversion motors corresponding to the frequency converters one by one, and the four frequency conversion motors are respectively used to realize the linear motion of the manipulator in the X-axis, Y-axis and Z-axis directions and The manipulator rotates around its own rotation in the direction of the W axis, and the four frequency conversion motors are equipped with encoders connected to the lower computer.

Compared with prior art, the beneficial effect that the present invention has is:

1. Through the tile transfer stacking system of this pallet, the automatic placement of the pallet in the tile stacking station and the automatic clamping, moving and placement of the tiles from the transmission device at the end of the packaging line to the tile stacking station are realized. It avoids a lot of waste of manpower and material resources, greatly improves labor efficiency and avoids the possibility of bumping the product during manual handling, ensuring the quality of the product.

2. By placing a pallet detection module in the tile stacking station to detect whether there is a pallet inside, it can effectively prevent tile damage caused by not placing pallets in the tile stacking station when placing tiles.

3. By installing a tile detection module at the end of the conveyor, the control unit can detect immediately after the tiles are transported by the conveyor, thus avoiding the stagnation of tiles at the conveyor.

4. A set of safety gratings are installed at both ends of the front opening of the stacking operation area. The safety grating forms a grating line at the front opening of the stacking operation area. Immediately stop working in the work area, effectively avoiding danger.

5. In this transfer stacking method, through the tile transfer subroutine, the moving distance of the manipulator is divided into several sections: section a ₁ ... section a _n , and the speed decreases from and from section a ₁ The form makes the manipulator run at different speeds, so it moves faster at the initial stage of the manipulator movement, so the overall running speed of the manipulator is guaranteed and the operating efficiency of the system is improved. Because the total weight of the manipulator itself and the tiles it grips is relatively small Heavy, so it runs at a low speed at the end of the manipulator movement, which reduces the inertia brought by the weight of the manipulator and the tile itself, thus improving the positioning accuracy and system operation stability.

Description of drawings

Figure 1 is a top view of a pallet-based tile transfer stacking system.

Fig. 2 is a schematic block diagram of the control unit of the tile transfer stacking system based on pallets.

Figure 3 is a schematic front view of the manipulator.

Fig. 4 is a schematic top view of the manipulator.

Fig. 5 is a perspective view of the driving mechanism of the manipulator.

Fig. 6 is a flow chart of a method for transferring and stacking tiles based on pallets.

Fig. 7 is a flow chart of the tile transfer subroutine of the tile transfer stacking method based on pallets.

Fig. 8 is a tile placement subroutine flow chart of the pallet-based tile transfer code placement method.

Fig. 9 is a tile placement subroutine flow chart of the pallet-based tile transfer code placement method.

Among them: 1. Transmission device 2. Tile turning station 3. Manipulator 301. Pallet clamping guide plate 302. Finger mounting plate 303. Plywood limit photoelectric switch 304. Main body of grabbing mechanism 305. Finger guide bearing 306. Pallet Grabbing finger 307, tile splint 308, splint mounting plate 309, splint opening and closing cylinder 310, pallet grabbing cylinder 311, splint opening and closing gear 312, splint opening and closing rack 313, tile sensor 314, pallet grabbing gear 315. Pallet grabbing rack 4, pallet storage station 5, pallet 6, tile stacking station 7, pallet detection switch 8, guardrail 9, safety grating.

detailed description

Fig. 1～9 is the preferred embodiment of the present invention, below in conjunction with accompanying drawing 1～9 the present invention is described further.

As shown in Figure 1, a pallet-based tile transfer stacking system (hereinafter referred to as the transfer stacking system) includes a rectangular area surrounded by guardrails 8, inside the rectangular area is the stacking work area for tiles, and one end of the rectangular area It is an open end, and the open end is set as the front end of the stacking operation area. By setting an opening at the front end of the stacking operation area, it is convenient for the transportation tool to enter the interior of the stacking operation area and transport the stacked tiles out.

Inside the stacking operation area, a pallet storage station 4 with several pallets 5 and at least one tile stacking station 6 are arranged. A manipulator 3 is set up above the stacking operation area, and ceramic tiles are placed behind the stacking operation area. The conveyor device 1 of the packaging line, the manipulator 3 transfers the tiles sent by the conveyor device 1 to the pallet storage station 4 for stacking. In this transfer stacking system, there are two tile stacking stations 6. They are arranged symmetrically on both sides of the pallet storage station 4 respectively. At the end of the transfer device 1 is a tile turning station 2, which is used to turn the tiles placed horizontally on the transfer device 1 into vertical placement, so as to facilitate the gripping of the manipulator 3. In this transfer stacking system, the long side direction of the rectangular stacking operation area is taken as the X-axis direction when the manipulator 3 moves, and the short side direction of the stacking work area is taken as the Y-axis direction when the manipulator 3 moves. The direction of moving up and down in the work area is taken as the direction of the Z-axis for the movement of the manipulator 3, and the manipulator 3 can also realize the movement of rotating (W-axis) around itself at the same time.

A group of safety gratings 9 are arranged at both ends of the front opening of the stacking operation area. The safety grating 9 forms a grating line at the front opening of the stacking operation area. Immediately stop working in the work area, effectively avoiding danger. A photoelectric switch is arranged at the bottom of the tile turning station 2 to detect whether there are untransferred tiles in the tile turning station 2, and a pallet detection switch 7 is arranged at the bottom of the tile stacking station 6 for detecting Whether a pallet 5 is placed inside the tile stacking station 6. A control cabinet (not shown in the figure) of the transfer stacking system is arranged outside the stacking operation area, and a control unit for controlling the working state of the transfer stacking system is arranged in the control cabinet.

As shown in Figure 2, the control unit of this transfer stacking system includes: an upper computer, a lower computer and a frequency converter. The upper computer is realized by a touch screen installed on the control cabinet door, and the lower computer is realized by a PLC installed in the control cabinet. Two-way connection between upper computer and lower computer. The lower computer controls four frequency converters at the same time, and each frequency converter corresponds to a variable frequency motor. Encoders are correspondingly installed, and the output terminals of the encoders are connected to the signal input terminals of the lower computer.

A proximity switch, a limit switch, a grating module, a ceramic tile detection switch and a pallet detection module are respectively connected to the signal input terminals of the lower computer, wherein the ceramic tile detection module is the above-mentioned photoelectric switch installed at the bottom of the tile turning station 2, It is used to detect whether there are untransferred tiles in the tile turning station 2; the pallet detection module is the above-mentioned pallet detection switch 7 installed at the bottom of the tile stacking station 6, and is used to detect the tiles inside the tile stacking station 6. Whether a pallet 5 is placed; the grating module is a safety grating 9 arranged at the front opening of the stacking operation area. When the safety grating 9 is blocked, the lower computer controls the manipulator 3 to stop. The proximity switch and the limit switch are switches for position detection when the manipulator 3 moves in the X-axis and Y-axis directions respectively, and are used to prevent the manipulator 3 from moving out of control during the movement.

As shown in FIGS. 3-4 , the manipulator 3 includes a pallet grabbing mechanism and a tile grabbing mechanism. Both the pallet grabbing mechanism and the tile grabbing mechanism are installed on the grabbing mechanism main body 304, and the grabbing mechanism main body 304 is a cuboid shell. The output sprocket of the frequency conversion motor corresponding to the w-axis is fixedly connected with the middle part of the grasping mechanism main body 304, and drives the manipulator 3 to rotate synchronously.

The pallet grabbing mechanism includes a pallet grabbing finger 306 and a finger power unit that pushes the pallet grabbing finger 306 to stretch and clamp. The pallet grabbing finger 306 is V-shaped, and one end of the pallet grabbing finger 306 is connected to the finger power unit, and the other end is provided with a baffle plate for blocking the pallet 5 to be grabbed, so as to avoid stacking during the grabbing process. The board could slip and fall, posing a hazard. There are four pallet grabbing fingers 306 , which are respectively arranged on the four corners of the grabbing mechanism main body 304 . The pallet grabbing fingers 306 are installed on the finger mounting plate 302, and the finger mounting plate 302 is fixedly connected with the finger power unit.

The main body 304 of the grasping mechanism is provided with a pallet clamping guide plate 301, which corresponds to the pallet grasping fingers 306 one by one, and the pallet clamping guide plate 301 is fixed on the side of the grasping mechanism main body 304 superior. The free end of the pallet clamping guide plate 301 has a gradually concave arc shape from bottom to top. The pallet grabbing finger 306 is hinged on the finger mounting plate 302, and a torsion spring is arranged between the pallet grabbing finger 306 and the finger mounting plate 302, so that the pallet grabbing finger 306 is separated from the pallet clamping guide plate 301 is in the open state. A finger guide bearing 305 is rotatably installed on the pallet grabbing finger 306 , and the finger guide bearing 305 is arranged between the hinge point and the pallet clamping guide plate 301 . The finger power unit pushes the pallet grabbing fingers 306 to move to the left and right sides respectively, so that the pallet grabbing fingers 306 are separated from the pallet clamping guide plate 301, and the pallet grabbing fingers 306 are in contact with the torsion spring and the pallet grabbing fingers 306 It is in an open state under the action of gravity; the finger power unit drives the pallet grabbing fingers 306 to move from both sides to the middle, so that the finger guide bearing 305 enters the free end of the pallet clamping guide plate 301, and the pallet clamping guide plate 301 The pallet grasping fingers 306 are guided to complete the grasping and clamping of the pallet.

The tile grabbing mechanism includes a tile splint 307 and a splint power unit that pushes the tile splint 307 to move axially. The upper end of the ceramic tile splint 307 is installed on the splint mounting plate 308, and the other end is a free end. The splint power unit is connected with the splint mounting plate 308, and pushes the splint mounting plate 308 to move horizontally, thereby realizing the clamping and loosening of the tiles. The side of the ceramic tile splint 307 in contact with the ceramic tile is provided with rubber, on the one hand, it is used to increase the friction with the ceramic tile, and on the other hand, it can produce a buffering effect to avoid collision with the ceramic tile, thereby damaging the ceramic tile. The lower end of the tile splint 307 is inclined to the middle, so that the tiles can be better clamped.

When grabbing tiles along the thickness direction, the tile splint 307 can be installed on the end of the splint mounting plate 308 close to the middle of the grabbing mechanism main body 304. One end on the outside of the gripping mechanism body 304 . There are two pairs of tile splints 307 for cooperating with each other to clamp the tiles.

Above the main body 304 of the grabbing mechanism, a ceramic tile grabbing limiting unit is arranged. The ceramic tile grasping limit unit is a splint limit photoelectric switch 303, and each pair of splint limit photoelectric switches 303 has two, and the two splint limit photoelectric switches 303 are used to detect the initial position and end position of the splint power unit respectively. This completes the limit. There are two pairs of splint limit photoelectric switches 303, which respectively limit the splint power units driving the movement of two pairs of ceramic tile splints 307.

The manipulator 3 can not only grasp the pallet 5, but also grasp the ceramic tiles, with a high degree of automation, and the precision of placing the pallet 5 is high, and the tiles will not be tilted during stacking, so it is easy to use.

As shown in FIG. 5 : a pallet transmission mechanism is provided between the finger power unit and the finger mounting plate 302 . The power unit of the finger is a pallet grabbing cylinder 310. There is one pallet grabbing cylinder 310, and it is installed in the middle of the grabbing mechanism main body 304. The piston rod of the pallet grabbing cylinder 310 is connected with the pallet transmission mechanism, and the finger mounting plate 302 links to each other with pallet transmission mechanism.

The pallet transmission mechanism includes a pallet grabbing gear 314 and a pallet grabbing rack 315 . The pallet grabbing gear 314 is rotatably installed in the grabbing mechanism main body 304, and the axis of the pallet grabbing gear 314 is vertically arranged. There are two pallet grabbing racks 315, which are arranged symmetrically on both sides of the pallet grabbing gear 314, and one end of the two pallet grabbing racks 315 protrudes from the grabbing mechanism main body 304 and is fixed to the finger mounting plate 302 connect. The pallet grabbing cylinder 310 is fixedly connected with a pallet grabbing rack 315, and pushes the pallet grabbing rack 315 to move axially, and the pallet grabbing rack 315 drives another pallet grabbing gear 314. The pallet grabbing racks 315 move in opposite directions, so that the pallet grabbing fingers 306 on both sides are opened and closed synchronously.

The outer side of the pallet grabbing rack 315 is provided with a bearing that presses the pallet grabbing rack 315 on the pallet grabbing gear 314 , and the bearing is installed on the grabbing mechanism main body 304 through bolts.

There are two splint power units, and the two splint power units are respectively arranged on both sides of the pallet grabbing cylinder 310, and drive the opening and closing of two pairs of tile splints 307 respectively. Each splint power unit includes two splint opening and closing cylinders 309, and the piston rods of the two splint opening and closing cylinders 309 are fixedly connected and move synchronously. The splint limit photoelectric switch 303 limits the position of the tile splint 307 by detecting the position of the piston rod of the splint opening and closing cylinder 309 .

A splint transmission mechanism is provided between the splint power unit and the splint installation plate 308 . The splint transmission mechanism includes a splint opening and closing gear 311 and a splint opening and closing rack 312 . The splint opening and closing gear 311 is rotatably mounted on the grasping mechanism main body 304, and the axis of the splint opening and closing gear 311 is vertically arranged. There are two splint opening and closing racks 312, symmetrically arranged on both sides of the splint opening and closing gear 311, and the two splint opening and closing racks 312 are respectively fixedly connected with the splint mounting plate 308 of the same pair of tile splints 307 installed. The piston rods of the two splint opening and closing cylinders 309 are connected to a splint opening and closing rack 312, and drive the splint opening and closing rack 312 to move, and the splint opening and closing rack 312 drives the other splint opening and closing gear 311 to open and close the splint The rack 312 moves in the opposite direction. Both sides of the splint opening and closing rack 312 are respectively provided with bearings that push the splint opening and closing rack 312 to press the splint opening and closing gear 311 .

A tile sensor 313 is arranged below the pallet grabbing gear 314 , and the tile sensor 313 is used to detect whether the tile splint 307 grabs a tile and detects whether the pallet grabbing finger 306 grabs a pallet 5 .

As shown in Figure 6, the pallet-based tile transfer stacking method (hereinafter referred to as the transfer stacking method) includes the following steps:

Step 1001, initialize and execute the reset subroutine;

The system is initialized, and after initialization, it is ready to grab tiles.

Before initialization, the grasping program to be executed by the manipulator 3 is selected through the host computer. After the grasping program is selected, the manipulator 3 executes the grasping operation according to the predetermined grasping program.

The grabbing program is a grabbing process plan written into the host computer through the host computer software in advance. In this transfer stacking method, the area of the stacking work area is marked with coordinates. After the coordinate marking of the stacking work area is completed, determine The coordinates of the tile stacking station 6 and the pallet storage station 4 on both sides are determined, and the original position of the manipulator 3 and the coordinates of the working station are determined at the same time. When writing the grabbing process plan, set the stacking rules of the tiles on each pallet 5 at the same time. After completing the stacking rules of the tiles on the pallet 5, it is determined that each pack of tiles is placed in the stacking work area The coordinates within, and the relative positional relationship (parallel or vertical) with the X axis (or Y axis). When actually writing the grasping process scheme, various ways of placing tiles on the pallet 5 can be set as required.

Step 1002, manipulator 3 travels to the working position;

Manipulator 3 moves from the original position to the working position.

Step 1003, whether there are tiles in the tile turning station 2;

The lower computer judges whether tiles are placed in the tile turning station 2, if there are tiles, execute step 1008, if there is no tile in the tile turning station 2, execute step 1004;

Step 1004, judging whether there is an empty tile stacking station 6;

The lower computer judges whether there is a tile stacking station 6 without a pallet 5 according to the setting in the pallet detection module, if there is a tile stacking station 6 without a pallet 5, execute step 1005, if there is no pallet 5 tile stacking station 6, return to step 1003;

Step 1005, judging whether there is a pallet 5 in the pallet storage station 4;

The lower computer judges whether there is a pallet 5 in the pallet storage station 4, if there is a pallet 5, execute step 1006, if there is no pallet 5 in the pallet storage station 4, execute step 1007.

Step 1006, grab pallet 5;

The lower computer controls the manipulator 3 to grab a pallet 5 from the pallet storage station 4 and put it into the vacant tile stacking station 6 .

Step 1007, alarm;

The lower computer controls the alarm system (such as alarm lights, alarms) to alarm, which is handled manually.

Step 1008, whether there is a pallet 5 in the tile stacking station 6;

The lower computer judges whether there is an available pallet 5 in the tile stacking station 6 according to the setting in the pallet detection module, if there is an available pallet 5, execute step 1012, if there is no available pallet 5 in the tile stacking station 6 Pallet 5, go to step 1009.

Available pallets 5 represent pallets 5 that are not filled with tiles in the tile stacking station 6 .

Step 1009, judging whether there is an empty tile stacking station 6;

The lower computer determines whether there is a tile stacking station 6 without a pallet 5 according to the setting in the pallet detection module, if there is a tile stacking station 6 without a pallet 5, execute step 1010, if there is no pallet 5 tile stacking station 6, return to step 1007.

Step 1010, judging whether there is a pallet 5 in the pallet storage station 4;

The lower computer judges whether there is a pallet 5 in the pallet storage station 4, if there is a pallet 5, execute step 1011, if there is no pallet 5 in the pallet storage station 4, execute step 1007.

Step 1011, grab pallet 5;

The lower computer controls the manipulator 3 to grab a pallet 5 from the pallet storage station 4 and put it into the vacant tile stacking station 6 .

Step 1012, grab tiles;

The lower computer controls the manipulator 3 to place the tiles from the tile turning station 2 onto the pallet 5 in the tile stacking station 6 according to the tile transfer subroutine and the tile placement subroutine, and then returns to step 1002.

During the process that the manipulator 3 continuously transfers the tiles from the tile turning station 2 to the pallet 5, the lower computer continuously sends the stacking state of the tiles to the upper computer, and the stacking state on the pallet 5 is compared on the display screen of the upper computer. Perform real-time display, count the number of stacked tiles on the pallet 5, and continuously send the stacking position of the next pack of tiles to the lower computer, and the lower computer controls the manipulator 3 to execute the grabbing control of the next pack of tiles.

As shown in Figure 7, the above-mentioned tile transfer subroutine includes the following steps:

Step 2001, calculate the movement distance a of the manipulator 3;

The upper computer determines the total moving distance a of the manipulator 3 on the plane where the X-axis and Y-axis are located according to the coordinates of the working position of the manipulator 3 and the coordinates of the stacked tiles.

Step 2002, dividing the moving distance a into several moving sections: section a ₁ ... section a _n ;

The host computer divides the total moving distance a of the manipulator 3 on the plane where the X-axis and Y-axis are located into several moving sections, with the waiting position of the manipulator 3 as the starting point and the coordinates of the tiles as the end point, which are divided into sections a ₁ ... ...section a _n .

Step 2003, moving at a first speed;

The motors used to drive the manipulator 3 in the X-axis direction and the Y-axis direction act simultaneously under the drive of the lower computer, and the manipulator 3 is driven to move at the _first speed in the section a1;

Step 2004, whether the manipulator ₃ enters section a2;

The host computer judges whether the manipulator 3 has entered section a ₂ , if it has entered section a ₂ , execute step 2005 , otherwise return to execute step 2003 .

Step 2005, run at the second speed;

After the manipulator ₃ moves into section a2, the lower computer decelerates the motors driving the manipulator 3 in the X-axis direction and the Y-axis direction through the corresponding frequency converter, so that the manipulator 3 moves at a second speed lower than the first speed. Move within section a2;

As the manipulator 3 continues to run under the corresponding motor drive, the manipulator 3 enters section 3, section 4 ... section a _(n-1) in turn, and in the corresponding section, the speed decreases successively for the third time. speed, the fourth speed... the N-1th speed moves, so this process will not be repeated.

Step 2006, run at the N-1th speed;

After the manipulator 3 moves into section a _(n-1) , the lower computer controls the motors driving the manipulator 3 in the X-axis direction and the Y-axis direction to make the manipulator 3 move in the N-1th speed section a _(n-1) ;

Step 2007, whether the manipulator 3 enters section a _n ;

The host computer judges whether the manipulator 3 has entered section a _n , if it has entered section a _n , execute step 2008 , otherwise return to execute step 2006 .

Step 2008, moving at the Nth speed;

After the manipulator 3 moves into the section a _n , the lower computer controls the motors driving the manipulator 3 in the X-axis direction and the Y-axis direction to make the manipulator 3 move in the Nth speed section a _n ;

Step 2009, stop;

When the manipulator 3 moves to the tile target position, the lower computer stops the manipulator 3 through the corresponding motor.

In this transfer code placement method, through the tile transfer subroutine, the moving distance of the manipulator 3 is divided into several sections: section a ₁ ... section a _n , and starting from section a ₁ , the speed of the manipulator is gradually reduced. 3 runs at different speeds, so it moves faster at the initial stage of the movement of the manipulator 3, thus ensuring the overall operating speed of the manipulator 3 and improving the operating efficiency of the system. Heavy, so it runs at a low speed at the end of the movement of the manipulator 3, which reduces the inertia caused by the weight of the manipulator 3 and the tile itself, thus improving the positioning accuracy and system operation stability.

The principle of section a ₁ ... section a _n is as follows: in the entire moving distance a of the manipulator 3, a point (denoted as point A) is reversely determined as the starting point of the movement end of the manipulator 3 as the section a ₂ The starting point, so the distance between the starting point of manipulator 3 and point A is section a ₁ , and the distance between point A and the moving end point of manipulator 3 (ie, the target position of the tile) is divided equally to form section a ₂ ~ section a _n . Since the starting position of each pack of tiles is the same and the target position is different, the total distance a moved by the manipulator 3 when moving each pack of tiles is a variable. The end point of 3 is determined with reference to the reverse direction, so the total distance of section a ₂ ~ section a _n and the distance of each section are fixed values, while the distance of section a ₁ changes with the change of the total distance a .

As shown in Figure 8, the above tile placement subroutine includes the following steps:

Step 3001, determine the falling height;

After the manipulator 3 gripping the tile moves above the pallet 5, the host computer determines the distance that the manipulator 3 needs to fall according to the height of the surface of the pallet 5 and the height of the bottom of the tile, that is, the moving distance of the manipulator 3 on the Z axis.

Step 3002, whether the tile needs to be rotated;

The host computer judges whether the package of tiles needs to be rotated before falling according to the pre-set rules of laying tiles on the pallet 5, that is, whether the manipulator 3 needs to move on the W axis. If rotation is required, execute step 3003; if not Rotate, execute step 3004;

Step 3003, manipulator 3 rotates;

The upper computer determines the angle at which the tiles need to be rotated according to the preset position of the package of tiles on the pallet 5, and sends the control signal to the lower computer, which drives the corresponding motor to move, and drives the manipulator 3 to rotate, so that the tiles rotate accordingly. Angle;

Step 3004, whereabouts of manipulator 3;

The lower computer drives the corresponding motor to move, so that the manipulator 3 falls a predetermined distance, so that the bottom surface of the ceramic tile is close to the upper surface of the pallet 5, and the placement of the ceramic tile is completed.

Step 3005, manipulator 3 returns to position;

Manipulator 3 releases the tiles, then rises for a corresponding distance, and then returns to the working position to continue grabbing and transferring the next pack of tiles.

As shown in Figure 9, the above-mentioned reset subroutine includes the following steps:

Step 4001, the device has no alarm, reset and start;

The lower computer determines that the system has no alarm state, and then the manipulator 3 is reset and started.

Step 4002, whether the Z-axis has been reset;

The lower computer judges whether the Z-axis of the manipulator 3 has been reset. If the Z-axis has not been reset, execute step 4003. If the Z-axis has been reset, execute step 4004.

Step 4003, the Z axis completes the reset;

The Z-axis of the manipulator completes the reset and rises to the origin.

Step 4004, reset other axes;

The lower computer controls the reset of the X-axis, Y-axis and W-axis;

Step 4005, the reset ends;

The reset subroutine ends.

The specific working process and working principle are as follows:

When it is necessary to transfer the packaged tiles from the tile turning station 2 at the end of the packaging line to the tile stacking station 6, the operator selects the grabbing program to be executed through the host computer, and the manipulator 3 moves to the waiting position to start working , to perform grabbing, transferring, and placing of tiles.

After the manipulator 3 starts working, the lower computer first judges whether there is no pallet 5 placed in the two tile stacking stations 6. If no pallet 5 is placed in the two tile stacking stations 6, the manipulator 3 first deposits Clamp a pallet 5 in the station 4 and put it in one of the tile stacking stations 6. Since the height of each pallet 5 is a fixed value, after the pallet 5 is put into the tile stacking station 6, the upper position The machine automatically records the height of the surface of the pallet 5 in the tile stacking station 6, as a reference when placing tiles.

After the manipulator 3 completes the operation of putting the pallet 5 into the tile stacking station 6, the lower computer first judges whether there are ungrabbed tiles in the tile turning station 2. For ceramic tiles, the manipulator 3 first descends to the tile turning station 2 to grab the tiles. If there are no ungrabbed tiles in the tile turning station 2, the manipulator 3 continues to grab the pallet from the pallet storage station 4 5 is put into the ceramic tile stacking station 6 that has not placed pallet 5 yet. The above judgment and the grabbing of pallets 5 are repeated until pallets 5 are placed in each tile stacking station 6 .

After the manipulator 3 grabs the tiles from the tile turning station 2, the manipulator 3 first rises to the waiting station, and then the lower computer drives the corresponding motor to run, so that the manipulator 3 moves in the X-axis and Y-axis directions at the same time, and moves to the desired position. Placed on top of pallet 5. Before the manipulator 3 moves in the X-axis and Y-axis directions, the host computer has calculated the total distance that the manipulator 3 moves in the X-axis and Y-axis directions, and divides the total distance into several sections. The manipulator 3 moves in the X-axis and Y-axis directions In the process of moving in the direction, before moving to the second section, the lower computer drives the manipulator 3 to run at the highest speed, and when entering the second section, the third section, ..., the Nth section, lower the manipulator 3 in turn When the manipulator 3 moves above the placement position of the tile, the movement of the manipulator 3 in the X-axis and Y-axis directions is completed.

After the manipulator 3 moves above the placement position of the tiles, the upper computer sends the calculated falling height of the manipulator 3 and the control command of whether the tiles need to be rotated to the lower computer. If the tiles are rotated, the lower computer first controls the corresponding The motor moves to make the manipulator 3 move on the W axis and rotate the corresponding angle. If the tiles are not required to rotate, the lower computer controls the corresponding motor action to drive the manipulator 3 to move on the Z axis to place the tiles on the pallet 5. upper surface. After the manipulator 3 completes the placement of the tiles, it releases the tiles and gets back to the work position to continue grabbing the next pack of tiles.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention to other forms. Any skilled person who is familiar with this profession may use the technical content disclosed above to change or remodel it into an equivalent change. Example. However, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims (9)

1. A method for stacking tiles based on pallet transfer, characterized in that: comprising the following steps Step 1001, the system is initialized, and after initialization, it is ready to grab tiles; Step 1002, the manipulator (3) moves from the original position to the working position; Step 1003, the lower computer judges whether there are tiles placed in the tile turning station (2), if there are tiles, go to step 1008, if there is no tile in the tile turning station (2), go to step 1004; Step 1004, the lower computer judges whether there is a tile stacking station (6) without a pallet (5), if there is a tile stacking station (6) without a pallet (5), execute step 1005, if there is no stacking station (6) Place the tile stacking station (6) on the pallet (5), return to step 1003; Step 1005, the lower computer judges whether there is a pallet (5) in the pallet storage station (4), if there is a pallet (5), execute step 1006, if there is no pallet in the pallet storage station (4) (5), execute step 1007; Step 1006, the lower computer controls the manipulator (3) to grab a pallet (5) from the pallet storage station (4) and put it into the empty tile stacking station (6); Step 1007, the lower computer controls the alarm system to give an alarm; Step 1008, the lower computer determines whether there are available pallets (5) placed in the tile stacking station (6) according to the settings in the pallet detection module, if there are available pallets (5), execute step 1012, if There is no available pallet (5) in the tile stacking station (6), go to step 1009; Step 1009, the lower computer judges whether there is a tile stacking station (6) without a pallet (5), if there is a tile stacking station (6) without a pallet (5), execute step 1010, if there is no tile stacking station (6) without a pallet (5) Place the tile stacking station (6) of the pallet (5), return to step 1007; Step 1010, the lower computer judges whether there is a pallet (5) in the pallet storage station (4), if there is a pallet (5), execute step 1011, if there is no pallet in the pallet storage station (4) (5), execute step 1007; Step 1011, the lower computer controls the manipulator (3) to grab a pallet (5) from the pallet storage station (4) and put it into the empty tile stacking station (6); Step 1012, the lower computer controls the manipulator (3) to place the tiles from the tile turning station (2) onto the pallet (5) in the tile stacking station (6) according to the tile transfer subroutine and the tile placement subroutine, and then returns Step 1002. 2. The tile transfer stacking method based on pallet according to claim 1, characterized in that: the tile transfer subroutine described in step 1012 comprises the following steps: Step 2001, calculate the total moving distance a of the manipulator (3); The control unit calculates and determines the total moving distance a of the manipulator (3) on the plane where the X-axis and the Y-axis are located according to the movement starting point and the movement end point of the manipulator (3); Step 2002, dividing the moving distance a into several moving sections: section a ₁ ... section a _n ; The control unit divides the total moving distance a of the manipulator (3) into several moving sections from the moving starting point of the manipulator (3) according to the principle of distance segmentation: section a ₁ ... section a _n ; Step 2003, moving at a first speed; The manipulator (3) moves in section a1 at a _first speed from the starting point; Step 2004, whether the manipulator (3) enters section a ₂ ; The control unit judges whether the manipulator (3) has entered section a ₂ , if it has entered section a ₂ , execute step 2005, otherwise return to execute step 2003; Step 2005, run at the second speed; The control unit controls the manipulator (3) to move at a _second speed lower than the first speed in section a2; Step 2006, judging whether the manipulator (3) enters section a _n ; The control unit judges whether the manipulator (3) has entered the section a _n , if it enters the section a _n , go to step 2008, otherwise go to step 2007; Step 2007, running at the N-1th speed; The control unit controls the manipulator (3) to move at N-1 speed; Step 2008, moving at the Nth speed; The control unit controls the manipulator (3) to move at an Nth speed lower than the N-1th speed in the section an, and stop moving when it reaches the moving end point. 3. The tile transfer stacking method based on pallets according to claim 2, characterized in that: the distance segmentation principle described in step 2002 is: determine a deceleration point in the entire moving distance a of the manipulator (3) as The starting point of section a ₂ , between the deceleration point and the moving starting point of the manipulator (3) is section a ₁ , and the distance between the deceleration point and the moving end point of the manipulator (3) is divided equally to form section a ₂ ~ section a _n . 4. The tile transfer stacking method based on pallet according to claim 1, characterized in that: the tile transfer subroutine described in step 1012 comprises the following steps: Step 3001, determine the falling height; The control unit determines the falling distance of the manipulator (3) according to the height of the surface of the pallet (5) and the height of the bottom of the tile; Step 3002, whether the tile needs to be rotated; The control unit judges whether the package of tiles needs to be rotated before falling, if it needs to be rotated, execute step 3003, if it does not need to rotate, execute step 3004; Step 3003, the manipulator (3) rotates; The control unit determines the angle at which the tiles need to be rotated according to the preset position of the pack of tiles on the pallet (5), and drives the manipulator (3) to rotate at the corresponding angle; Step 3004, whereabouts of the manipulator (3); The control unit controls the falling of the manipulator (3), so that the bottom surface of the tiles is close to the upper surface of the pallet (5), and the placement of the tiles is completed; Step 3005, the manipulator (3) returns to its position; The manipulator (3) releases the tiles, then resets to continue grabbing and transferring the next pack of tiles. 5. A pallet-based tile transfer stacking system for realizing the pallet-based tile transfer stacking method according to any one of claims 1 to 4, characterized in that: it includes a stacking system surrounded by guardrails (8) In the operation area, there are pallet storage stations (4) for storing pallets (5) and at least one tile stacking station (6) in the stacking operation area, and a conveyor for transporting tiles is provided at the rear end of the stacking operation area. The device (1) is equipped with a manipulator (3) above the stacking operation area, which is used to put the pallet (5) in the pallet storage station (4) into the tile stacking station (6), and transfer the conveying device The tiles on (1) are transferred to the pallet (5) in the tile stacking station (6), and a control cabinet is set outside the stacking operation area, and a control unit is set inside the control cabinet. 6. The tile transfer stacking system based on pallets according to claim 5, characterized in that: the control unit includes a host computer, a lower computer bidirectionally connected with the upper computer, and a driver is connected to the output port of the lower computer The frequency conversion control module for the action of the manipulator (3); The input port of the lower computer is connected with a pallet detection module for judging whether there is a pallet (5) in the tile stacking station (6), and for judging whether the end of the transmission device (1) exists There is a tile detection module for tiles and a limit module for limiting the movement of the manipulator (3). 7. The tile transfer stacking system based on pallets according to claim 6, characterized in that: the pallet detection module is a photoelectric switch arranged at the bottom of the tile stacking station (6); the tiles The detection module is a photoelectric switch arranged at the end of the transmission device (1). 8. The tile transfer stacking system based on pallets according to claim 6, characterized in that: a safety grating (9) is also set on the input port of the lower computer, and the safety grating (9) is set in the stacking operation Both sides of the opening at the front end of the zone. 9. The tile transfer stacking system based on pallets according to claim 6, characterized in that: the frequency conversion control module includes four frequency converters and four frequency conversion motors corresponding to the frequency converters one by one, and the four frequency conversion motors They are respectively used to realize the linear motion of the manipulator (3) in the directions of X-axis, Y-axis and Z-axis and the rotational movement of the manipulator (3) in the direction of the W-axis around itself. The four frequency conversion motors are equipped with encoders and lower Encoder connected to the machine.