Development And Application Of Automatic Stacking And Unloading System For The Firebrick

Firebricks are widely used in industries such as steel,cement and glass.With the continuous improvement of social productive forces,various industries continuously put forward new requirements for high temperature resistant materials.The importance of firebricks to economic development and industrial progress is growing.However,the current production of firebricks,the lower degree of automation limits the development of the industry in a certain extent.In the dissertation,based on the status of the Houying company,development and application automatic of stacking and unloading system was carried out.According to the design requirements,complete palletizing system of the overall program design.Based on the palletizing robot,the delivery platform,the alignment adjustment device and the claws were designed as auxiliary equipment to carry out the transmission of firebricks,attitude adjustment and spacing adjustment to complete the automatic stacking and placing of firebricks.The entire workflow of the system and the beat of each process were analyzed in detail to verify the rationality of the system scheme and to meet the design requirements.On the basement of the overall plan,a new type of firebricks retrofit device was designed,which can finish the correction and flip of five firebricks at the same time.Through comparing and analyzing the paw function and various schemes,a sucker-type claw driven by a timing belt equipped a buffer device was designed,which can accomplish the grasping and stacking of firebricks of various postures and.Through the analysis of the working process about the equipment in the system,the control requirements of the system were raised.Finally,the control system based on "PLC + touch screen" was established according to the advantages and disadvantages of various control schemes,and the control system was designed in detail to meet the control of each equipment demand.For the actual production of firebricks placed in the diversity,the analysis and research work have carried out.For the various requirements of the palletizing,a variety of palletizing modes were analyzed and compared to establish the optimal palletizing mode.According to the robot’s various interpolation methods,the palletizing program was optimized,and the palletizing path of the robot was optimized by a combination of multiple interpolation methods to improve the palletizing efficiency.In the dissertation,a new type of program structure was researched,which can select and plan the stacking mode to the current position,and can start from any position stack type stacking.It is convenient for us to write and debug programs on the pallet.Undertake the preliminary research and development of unloading brick system based on vision system,the automatic unloading system was designed.The combination of PV200 vision system and robotics technology was used in unloading brick work.The calibration of the camera was completed,and the process of unloading the brick was analyzed in detail,and a reasonable scheme was established to unload the brick.