The content of the invention
The technical problems to be solved in the utility model is：The deficiencies in the prior art are overcome independently to be captured there is provided one kindFor placing the pallet of ceramic tile, good, the easy to use pallet grasping mechanism of work synchronism and the manipulator of pallet can be captured.
The utility model solves the technical scheme that its technical problem used：The pallet grasping mechanism, it is characterised in that：Including finger power unit and pallet crawl finger, finger power unit is arranged in grasping mechanism main body, pallet crawl handFinger has multiple, and is symmetricly set on pallet grasping mechanism main body both sides, and finger power unit is connected with pallet crawl finger, and bandThe pallet crawl finger synchronization of dynamic grasping mechanism main body both sides is clamped or stretched out.
It is preferred that, the side of described grasping mechanism main body clamps guide plate provided with pallet, and pallet clamps oneself of guide plateBy holding as the gradually arc of indent from the bottom to top, one end of the pallet crawl finger is hinged on finger power unit, and hingeThe pallet crawl finger that contact and pallet are clamped between guide plate is provided with finger guide bearing, and finger power unit promotes palletFinger horizontal movement is captured, the free end that finger guide bearing clamps guide plate with pallet coordinates, realize pallet crawl fingerClamp or stretch out.
It is preferred that, it is provided with pallet transmission mechanism between described finger power unit and pallet crawl finger.
It is preferred that, described pallet transmission mechanism includes pallet and captures gear and pallet crawl tooth bar, pallet crawl toothWheel is rotatably installed in grasping mechanism main body, and pallet crawl tooth bar has two, is symmetricly set on pallet crawl gear both sides, twoPallet crawl tooth bar is mounted on the pallet crawl finger, and the finger power unit is connected with a pallet crawl tooth bar,And promote pallet to capture tooth bar axial movement.
It is preferred that, the side of described pallet crawl tooth bar is provided with grabs for pallet crawl tooth bar to be pressed on into the palletTake the bearing on gear.
It is preferred that, the two ends of described pallet crawl finger are upwarped, and form " V " shape.
It is preferred that, described pallet crawl finger one end is connected with finger power unit, and the other end is provided with for preventingThe baffle plate that pallet slides.
It is preferred that, described finger power unit captures cylinder, the piston rod and the stack of pallet crawl cylinder for palletPlate crawl finger is connected.
It is preferred that, described pallet crawl finger has four.
It is a kind of to capture the manipulator of pallet, it is characterised in that：Including frame, walking mechanism, w axles rotating mechanism, ceramic tileGrasping mechanism and above-mentioned pallet grasping mechanism, walking mechanism are arranged in frame, and can be respectively along x-axis, y-axis and zDirection of principal axis is moved, and w axles rotating mechanism is arranged in walking mechanism, and w axles rotating mechanism is connected with grasping mechanism main body, ceramic tile crawlMechanism and pallet grasping mechanism are installed in grasping mechanism main body.
Compared with prior art, pallet grasping mechanism of the present utility model and having of can capturing that the manipulator of pallet hasBeneficial effect is：
1st, the finger power unit of this pallet grasping mechanism drives pallet of the pallet crawl finger grip for placing ceramic tile,And crawl work can be singly completed, after installing on a robotic arm shadow will not be produced to the work of other mechanisms of manipulatorRing, pallet crawl finger synchronization is clamped or stretched out, and the synchronism of work is good, so that the crawl to pallet is firm, security performanceIt is high.
2nd, finger power unit drives pallet crawl finger horizontal movement, is oriented to when finger guide bearing departs from pallet clampingDuring plate, ceramic tile crawl finger can be in releasing orientation under gravity, when finger guide bearing and pallet clamping guide plateWhen free end coordinates, because the free end that pallet clamps guide plate can be such that finger guide bearing gradually moves upwards, so that stackPlate captures grip finger, simple in construction, long service life.
3rd, pallet transmission mechanism enables pallet to capture finger while being moved to identical or opposite direction, so that palletCrawl finger synchronization is clamped or stretched out.
4th, pallet transmission mechanism captures the engagement of gear and pallet crawl tooth bar to realize by pallet, simple in construction, passesDynamic high precision, long service life, and compact conformation, make grasping mechanism small volume, occupy little space.
5th, pallet crawl tooth bar is pressed on pallet by bearing and captured on gear, so as to ensure pallet crawl tooth bar and palletCrawl gears mate well, transmission is accurate, is not in skidding, so as to capture loosely or transport when avoiding crawl palletDuring pallet the problem of drop.
6th, pallet crawl finger two ends are upwarped, convenient crawl pallet, and pallet can be clamped by upwarping portion,Pallet is avoided to drop in transport process.
7th, the free end of pallet crawl finger is provided with baffle plate, further the pallet of crawl is fixed, it is to avoid stackPlate slides.
8th, promote pallet to capture finger by pallet grasping mechanism, be swift in motion, pallet is captured fingerClamp or unclamp, improve operating efficiency.
9th, pallet crawl finger has four, when capturing pallet, pallet can be carried out from all directions of pallet support,Clamp, and pallet will not run-off the straight, be also not in due to pallet crawl finger do not make some pallet in same planeCapture the unloaded situation of finger.
10th, the pallet grasping mechanism of the manipulator of instinct crawl pallet can independently capture and place pallet, ceramic tile crawlMechanism can be independent crawl ceramic tile and to ceramic tile carry out stacking, be not in pallet place it is not in place the problem of, so as to improveThe automaticity of this manipulator, high working efficiency, and whole work process need not manually be participated in, and security performance is high；wAxle rotating mechanism can drive grasping mechanism to be rotated around z-axis, more flexibly, so that this manipulator is while mobile ceramic tile,Line translation can also be entered to the attitude of ceramic tile, stacking can be carried out to ceramic tile as needed, it is easy to use.
Embodiment
Fig. 1 ~ 14 are most preferred embodiments of the present utility model, and 1 ~ 14 pair of the utility model is done furtherly below in conjunction with the accompanying drawingsIt is bright.
A kind of pallet grasping mechanism, including finger power unit and pallet crawl finger 47, finger power unit are installedIn grasping mechanism main body 45, pallet crawl finger 47 has multiple, and is symmetricly set on the both sides of pallet grasping mechanism main body 45, handRefer to power unit with pallet crawl finger 47 to be connected, and drive the pallet of the both sides of grasping mechanism main body 45 to capture the synchronous folder of finger 47It is tight or stretch out.The finger power unit of this pallet grasping mechanism drives pallet crawl finger 47 to capture the stack for placing ceramic tilePlate, and crawl work, the work that installation on a robotic arm later will not be to other mechanisms of manipulator can be singly completedInfluence is produced, pallet captures the synchronous clamping of finger 47 or stretched out, and the synchronism of work is good, so that the crawl to pallet is firm,Security performance is high.
Specifically：As shown in Figure 1 and 2：Pallet crawl finger 47 is V-arrangement, and one end of pallet crawl finger 47 and finger are dynamicPower unit is connected, and the other end is provided with the baffle plate for being used for being stopped to the pallet of crawl, it is to avoid pallet slides during crawl,So as to cause danger.Pallet crawl finger 47 has four, is separately positioned on four angles of grasping mechanism main body 45.Pallet is capturedFinger 47 is arranged on finger mounted plate 43, and finger mounted plate 43 is fixedly connected with finger power unit.
Grasping mechanism main body 45 is cuboid housing, and grasping mechanism main body 45 clamps guide plate 42, pallet provided with palletClamp guide plate 42 to correspond with pallet crawl finger 47, pallet clamps the side that guide plate 42 is fixed on grasping mechanism main body 45On face.It is gradually indent arc from the bottom to top that pallet, which clamps the free end of guide plate 42,.Pallet crawl finger 47 is hinged on fingerOn installing plate 43, and torsion spring is provided between pallet crawl finger 47 and finger mounted plate 43, so that pallet crawl finger 47 existsDepart from when pallet clamps guide plate 42 and be in open configuration.Finger guide bearing 46 is rotatablely equipped with pallet crawl finger 47,Finger guide bearing 46 is arranged between pin joint and pallet clamping guide plate 42.Finger power unit promotes pallet crawl finger47 two lateral movements to the left and right respectively, so that pallet crawl finger 47 departs from pallet and clamps guide plate 42, pallet crawl finger 47Open configuration is in the presence of torsion spring and the pallet crawl gravity of finger 47；Finger power unit drives pallet crawl finger 47By two lateral intermediary movementses, finger guide bearing 46 is set to enter the free end that pallet clamps guide plate 42, pallet clamps guide plate42 pairs of pallet crawl fingers 47 are oriented to, so that the crawl completed to pallet is clamped.
As shown in Figure 3：Pallet transmission mechanism is provided between finger power unit and finger mounted plate 43.Finger power unitCylinder 51 is captured for pallet, pallet crawl cylinder 51 has one, and installed in the middle part of grasping mechanism main body 45, pallet crawl gasThe piston rod of cylinder 51 is connected with pallet transmission mechanism, and finger mounted plate 43 is connected with pallet transmission mechanism.
Pallet transmission mechanism includes pallet and captures gear 55 and pallet crawl tooth bar 56.Pallet crawl gear 55 rotates peaceIn grasping mechanism main body 45, and the axis vertical of pallet crawl gear 55 is set.Pallet crawl tooth bar 56 has two, symmetricallyThe both sides that pallet captures gear 55 are arranged on, and grasping mechanism main body 45 and and hand are stretched out in one end of two pallet crawl tooth bars 56Refer to installing plate 43 to be fixedly connected.Pallet captures cylinder 51 and is fixedly connected with a pallet crawl tooth bar 56, and promotes the pallet to grabTake tooth bar 56 to move axially, the pallet capture tooth bar 56 by pallet capture gear 55 drive another pallet capture tooth bar 56 toOpposite direction motion, so that both sides pallet captures the synchronous on-off of finger 47.
The outside of pallet crawl tooth bar 56 is provided with captures the bearing that finger 56 is pressed on pallet crawl gear 55 by pallet,Bearing is arranged in grasping mechanism main body 45 by bolt.
As shown in Figure 4：The manipulator that pallet can be captured includes frame 1, the walking mechanism in frame 1, the rotation of w axlesRotation mechanism 6 and grasping mechanism 7.Walking mechanism is arranged in frame 1, and w axles rotating mechanism 6 is arranged in walking mechanism, crawlMechanism 7 is arranged on w axles rotating mechanism 6.The bottom of frame 1 is fixed on the ground, so that the work of the manipulator is more steadyIt is fixed, it will not shake in the course of the work.
The top of frame 1 is rectangular frame, and bottom is vertically arranged support feet.Walking mechanism is arranged in frame 1On the framework in portion, and grasping mechanism 7 is driven respectively along x-axis, y-axis and z-axis direction straight line moving.
The walking of walking mechanism vertically is defined as the walking along z-axis, row of the walking mechanism along the width of frame 1Walk to be defined as the walking in x-axis direction, walking of the walking mechanism along the length direction of frame 1 is defined as the walking in y-axis direction, definition aroundThe motion for rotating to be w direction of principal axis of z-axis.
The bottom of frame 1 is provided with the pallet storehouse 8 and ceramic tile storehouse 5 for being used for placing pallet, and pallet storehouse 8 is used to place pallet,Place ceramic tile, the i.e. manipulator and ceramic tile is transported in ceramic tile storehouse 5 and stacking is carried out in ceramic tile storehouse 5.Pallet is to ceramic tile palletizingWhen, the plank in bottom is padded, on the one hand pallet can be protected to the ceramic tile of bottom, it is on the other hand convenient to the porcelain after stackingBrick is transported through.Pallet storehouse 8 is arranged on the middle part of frame 1, and ceramic tile storehouse 5 has two, is symmetricly set on the both sides in pallet storehouse 8, stackPlate storehouse 8 is equal with the distance in two ceramic tile storehouses 5, so ensure that the pallet in pallet storehouse 8 be moved to each ceramic tile storehouse 5 away fromIt is convenient to place pallet from equal.
As shown in Figure 5：Walking mechanism includes y-axis walking mechanism 2, x-axis walking mechanism 3 and z-axis walking mechanism 4.Y-axis rowMechanism 2 is walked in frame 1, x-axis walking mechanism 3 is arranged in y-axis walking mechanism 2, z-axis walking mechanism 4 is arranged on x-axis rowWalk in mechanism 3.W axles rotating mechanism 6 is fixedly connected with z-axis walking mechanism 4, and grasping mechanism 7 is arranged on w axles rotating mechanism 6, is madeGrasping mechanism 7 flexibly, can change the attitude of transhipment ceramic tile, so as to meet the stacking of diversified forms in transport process.
Y-axis walking mechanism 2 includes hitch, and hitch has two, is symmetricly set on the two ends of x-axis walking mechanism 3,X-axis walking mechanism 3 is arranged in frame 1 by the hitch of left and right ends.The hitch at two ends drives x-axis walking mechanism3 synchronizing movings, it is to avoid cause y-axis walking mechanism 2 because the length of frame 1 is long in the process of walking speed is unstable to askTopic.Y-axis actuating unit is connected with two hitches, and drives hitch to be moved along y-axis.
As shown in Figure 6：Hitch includes y-axis crossbeam and the y-axis guiding mechanism being arranged on y-axis crossbeam.1 liang of frameRack rail is installed above the square steel of side, y-axis guiding mechanism is connected with the machine frame at two sides guide rail of frame 1, and to hitchMotion is oriented to, and hitch is moved along a straight line.X-axis walking mechanism 3 is fixedly connected with y-axis crossbeam.
Y-axis guiding mechanism includes horizontally-guided mechanism and is vertically directed mechanism.Horizontally-guided mechanism is in the horizontal directionMotion to y-axis crossbeam is oriented to, and is vertically directed motion of the mechanism in the vertical direction to y-axis crossbeam and is oriented to.
The two ends of y-axis crossbeam are arranged with active glue coating wheel 11, and y-axis actuating unit drives active glue coating wheel 11 to rotate.TwoSynchronous pulley, active glue coating wheel 11 and synchronous pulley synchronous axial system, y-axis crossbeam two are coaxially installed with individual active glue coating wheel 11The synchronous pulley at end is connected by y-axis Timing Belt 16, and active glue coating wheel 11 is by the gravity-pressing of y-axis crossbeam in the top of frame 1.
Active glue coating wheel 11 is wholely set with synchronous pulley.Side of the synchronous pulley away from active glue coating wheel 11 passes through boltIt is fixed with rounded tabs, the diameter with diameter greater than synchronous pulley of rounded tabs.Rounded tabs are close to the outer of synchronous pulley sideEdge is stop part, and active glue coating wheel 11 also is provided with the stop part symmetrical with rounded tabs, two resistances close to the side of synchronous pulleyStopper is the radial direction of the distance between the arc of middle part evagination, and two stop parts along synchronous pulley from the inside to the outside graduallyIncrease, so as to avoid causing y-axis Timing Belt 16 to separate with synchronous pulley because the axis of the synchronous pulley at two ends is not parallel, makes yThe stable working of axle Timing Belt 16, reduces influence of the rigging error to y-axis Timing Belt 16, and does not influence the precision of work and steadyIt is qualitative.
The top of y-axis Timing Belt 16 is provided with y-axis Timing Belt strainer, and it is same that y-axis Timing Belt strainer can adjust y-axisThe tensile force of band 16 is walked, is engaged so that y-axis Timing Belt 16 can keep good with synchronous pulley, and then ensure that y-axisWalking precision.
Y-axis Timing Belt strainer includes the synchronous belt tensioner pulley 14 of y-axis and y-axis tensioning wheel swing arm 15.Y-axis tensioning wheel is putArm 15 is arranged on the top of y-axis Timing Belt 16, and the middle part of y-axis tensioning wheel swing arm 15 is hinged on y-axis crossbeam, makes y-axis tensioning wheelSwing arm 15 forms leverage, and one end of y-axis tensioning wheel swing arm 15 is rotatablely installed the synchronous belt tensioner pulley 14 of y-axis, and the other end passes throughBolt is detachably secured on y-axis crossbeam, and make the synchronous belt tensioner pulley 14 of y-axis compress be arranged with y-axis Timing Belt 16, bolt it is manyIndividual spring pad, after y-axis Timing Belt 16 is installed, is tensioned by bolt to y-axis Timing Belt 16, work a period of timeAfterwards, the tensile force of y-axis Timing Belt 16 is adjusted spring pad, it is not necessary to frequently pair be tensioned with y-axis Timing Belt 16, andAnd can avoid because the relaxation of y-axis Timing Belt 16 produces shock loading, so that the service life of y-axis Timing Belt 16 is reduced, and thenImprove the service life of y-axis Timing Belt 16 and the stability of work.Y-axis synchronization belt tensioner pulley 14 is belt wheel, y-axis tensioning wheelSwing arm 15 drives the synchronous synchronous hunting of belt tensioner pulley 14 of y-axis, and compresses y-axis Timing Belt 16.Compressed in the synchronous belt tensioner pulley 14 of y-axisAfter y-axis Timing Belt 16, y-axis tensioning wheel swing arm 15 is fixed by the bolt at the middle part of y-axis tensioning wheel swing arm 15.
The left side of y-axis synchronization belt tensioner pulley 14 is sequentially provided with cornerite regulation belt wheel 12 and cornerite regulation Timing Belt from left to rightWheel 13, cornerite regulation belt wheel 12 and cornerite regulation synchronous pulley 13 are rotatably installed on y-axis crossbeam.Cornerite adjusts the He of belt wheel 12The diameter parallel of the axis belt tensioner pulley 14 synchronous with y-axis of cornerite regulation synchronous pulley 13.Cornerite regulation synchronous pulley 13 is setIn the top of y-axis Timing Belt 16, cornerite regulation belt wheel 12 be arranged on above and below both sides y-axis Timing Belt 16 between, make y-axis Timing Belt16 upside, so as to increase the cornerite of Timing Belt and two ends synchronous pulley, increases synchronous pulley and y-axis into wave shapeThe bearing capacity of the engagement place of Timing Belt 16, and also ensure that the stationarity of transmission.
Being vertically directed mechanism includes being arranged on the adjustable glue coating wheel 9 of y-axis below the crossbeam, and adjustable glue coating wheel 9 has two, symmetricallyIt is arranged on the two ends of y-axis crossbeam.Adjustable glue coating wheel 9 is arranged on the lower section of active glue coating wheel 11 by rotating shaft, and adjustable encapsulatedProvided with the bolt for promoting adjustable glue coating wheel 9 to lift below the rotating shaft of wheel 9, bolt is promoted by being threadably mounted on y-axis crossbeamAdjustable glue coating wheel 9 is lifted, so as to realize the regulation of the adjustable vertical direction of glue coating wheel 9.Adjustable 11 points of glue coating wheel 9 and active glue coating wheelThe both sides up and down of rack rail are not arranged on, and rack rail is clamped, so that in the vertical direction is led to y-axis crossbeamTo.
As shown in Figure 7：Horizontally-guided mechanism has two, is symmetricly set on the two ends of y-axis crossbeam.Horizontally-guided mechanism includesThe directive wheel 10 of y-axis crossbeam both sides is arranged on, the axis of directive wheel 10 is vertical with the axis of adjustable glue coating wheel 9, and is rotatablely installedOn y-axis crossbeam.Y-axis crossbeam is separately positioned on the front and rear both sides of rack rail with two directive wheels 10 of one end, and by frameGuide rail is clamped, so as to be oriented in the horizontal direction to y-axis crossbeam.It is vertically directed mechanism and horizontally-guided mechanism is engaged,Ensure that y-axis crossbeam can move along a straight line, so as to ensure that the precision that grasping mechanism 7 is moved.
As shown in Figure 8：Y-axis actuating unit includes synchronizing shaft 17 and y-axis motor 18.Synchronizing shaft 17 is arranged on two suspensionsBetween mechanism, the length of synchronizing shaft 17 is equal along the width of x-axis with frame 1.Synchronizing shaft 17 is connected with y-axis motor 18, y-axis motor18 are arranged on the left end of synchronizing shaft 17, and the output shaft of y-axis motor 18 is connected with the installation portion of synchronizing shaft 17, and passes through gear driveSynchronizing shaft 17 is driven to rotate.On the driving section at the two ends of synchronizing shaft 17 also by tensioning sleeve respectively with corresponding position on two y-axis crossbeamsThe synchronous pulley put is fixedly connected, and synchronizing shaft 17 ensure that the rotating speed of the active glue coating wheel 11 at two ends is equal, so as to ensure x-axisThe two ends advanced in unison of walking mechanism 3, will not run-off the straight.
Synchronizing shaft 17 includes the steel pipe at middle part and the spindle nose at two ends, and one end of spindle nose is put in steel pipe and and steel pipe weldingConnect, the other end is co-axially mounted active glue coating wheel 11.Encoder is installed in one end of synchronizing shaft 17, encoder is same with synchronizing shaft 17Step is rotated, and by speed feedback signal to frequency converter, the speed of travel of convenient control y-axis walking mechanism 2, additionally it is possible to which detection is synchronousThe angle that axle 17 is turned over, so as to detect the distance walked along the y-axis direction.
It is provided with the rear and front end of frame 1 and spacing limited block is carried out to y-axis crossbeam, so as to avoids y-axis crossbeam in movementDuring drop.
As shown in Figure 9：X-axis walking mechanism 3 includes x-axis Timing Belt 21 and x-axis power unit.X-axis power unit is installedOn x-axis crossbeam 22, the equal length of the length of x-axis crossbeam 22 and synchronizing shaft 17, the two ends of x-axis crossbeam 22 respectively with y-axis crossbeamMiddle part be fixedly connected, and with y-axis crossbeam synchronizing moving.X-axis power unit is x-axis motor 19, and x-axis motor 19 is fixed on x-axisSynchronous pulley is installed on the left end of crossbeam 22, the output shaft of x-axis motor 19, is also provided with together in the other end of x-axis crossbeam 22Walk belt wheel.Walking mounting bracket 20 is slidably fitted with x-axis crossbeam 22, is led between walking mounting bracket 20 and x-axis crossbeam 22 provided with x-axisTo mechanism, x-axis guiding mechanism can make walking mounting bracket 20 move along a straight line, so as to ensure that the stabilization that grasping mechanism 7 is movedProperty.The two ends of x-axis Timing Belt 21 are fixedly connected after bypassing the synchronous pulley at the two ends of x-axis crossbeam 22 with walking mounting bracket 20, andWalking mounting bracket 20 is driven with the synchronizing moving of x-axis Timing Belt 21.Z-axis walking mechanism 4 is arranged on walking mounting bracket 20, and is accompaniedWalk the synchronizing moving of mounting bracket 20.
The x-axis regulating bolt that the rate of tension of x-axis Timing Belt 21 is adjusted is additionally provided with walking mounting bracket 20.X-axis is adjustedSection bolt one end is connected with one end of x-axis Timing Belt 21, and x-axis regulating bolt is fixed on walking mounting bracket 20 by nut.
The output shaft of x-axis motor 19 is down and installed in the top of x-axis crossbeam 22, and the top of x-axis crossbeam 22 is additionally provided with to sameThe axis governor motion that the axis of step belt wheel is adjusted, axis governor motion is the bolt for being arranged on x-axis crossbeam both sides, boltLower end promote synchronous pulley mounting seat move up and down, so as to adjust the axis of synchronous pulley and the angle of vertical plane, make synchronizationThe thrust for promoting x-axis Timing Belt 21 to move up can be produced between belt wheel and x-axis Timing Belt 21, it is same for offsetting x-axisThe gravity of band 21 is walked, so as to avoid x-axis Timing Belt 21 from departing from synchronous pulley under gravity.
Walking mounting bracket 20 forms to be bolted by steel plate, and walking mounting bracket 20 is close to the side of x-axis crossbeam 22For the rectangular box body of both ends open, walking mounting bracket 20 is set in the outside of x-axis crossbeam 22, and z-axis walking mechanism 4, which is installed, is expert atWalk the side of mounting bracket 20.The steel plate top of the upside of walking mounting bracket 20 and the steel plate bottom of downside are equipped with reinforcement, and addStrengthening tendons is the taper by being become narrow gradually close to side to the opposite side of z-axis walking mechanism 4, so as to ensure the strong of mounting bracket 20 of walkingDegree, it is to avoid unilateral load causes to damage to walking mounting bracket 20.
X-axis guiding mechanism has two, is separately positioned on the both sides up and down of x-axis crossbeam 22, and the x-axis guiding mechanism of upside is setThe side away from z-axis walking mechanism 4 is put, the x-axis guiding mechanism of downside is positioned close to the side of z-axis walking mechanism 4, so as toIt is enough that the unilateral load that walking mounting bracket 20 is subject to is offset, it is ensured that the stability and precision of walking mounting bracket 20.
X-axis guiding mechanism includes the sliding block on walking mounting bracket 20 and the slide rail being arranged on x-axis crossbeam 22.Sliding block withSlide rail is engaged, and walking the mobile of mounting bracket 20 is oriented to.Slide rail can be provided with for trapezoidal or "T"-shaped slide rail, sliding blockThe dovetail groove or "T"-shaped chute being engaged with slide rail.
Encoder is coaxially installed with the synchronous pulley of one end away from x-axis motor 19, encoder can be by x-axis motor19 speed feedback signal is to frequency converter, so that by the rotating speed of Frequency Converter Control x-axis motor 19, and then controls x-axis vehicle with walking machineThe speed of travel of structure 3, additionally it is possible to detect the angle that x-axis motor 19 is turned over, so as to detect the distance walked along the x-axis direction.
It is provided with the two ends of x-axis crossbeam 22 and spacing limited block is carried out to walking mounting bracket 20.
As shown in Figure 10：Z-axis walking mechanism includes z-axis column 23 and drives the elevating mechanism of the lifting of z-axis column 23.zAxle column 23 is slidably mounted on walking mounting bracket 20, and is provided with z-axis Guiding machine between z-axis column 23 and walking mounting bracket 20Structure, z-axis guiding mechanism can be oriented to the lifting of z-axis column 23, so as to ensure the stability that z-axis column 23 is lifted.W axlesRotating mechanism 6 is fixedly connected with the lower end of z-axis column 23.Gravitational equilibrium mechanism, gravitational equilibrium are additionally provided with walking mounting bracket 20Mechanism is used for the gravity for balancing z-axis column 23 and the mechanism on z-axis column 23, so as to ensure that z-axis column 23 is liftedStabilization.
Gravitational equilibrium mechanism includes balance cylinder 27 and z-axis chain 28, and the lower end of balance cylinder 27 is arranged on walking and pacifiedShelve on 20, the axis of balance cylinder 27 is set with the diameter parallel of z-axis column 23.The lower end of z-axis chain 28 and z-axis column 23Middle part be fixedly connected, top is fixedly connected with the piston rod of balance cylinder 27, so as to be put down to the gravity of z-axis column 23Weighing apparatus, reduces the power that elevating mechanism is born, so that the walking of elevating mechanism is more steady, and then ensure that the precision of work.Balance cylinder 27 is connected with pressure regulator valve, so that the air pressure in balance cylinder 27 maintains balance, the weight to z-axis column 23 is carried outBalance, and z-axis column 23 during power-off can be avoided to drop, use safety.
The top of balance cylinder 27 is provided with gravitational equilibrium strainer.Gravitational equilibrium strainer includes z-axis Timing BeltTensioning wheel 25, z-axis synchronization belt tensioner pulley 25 is rotatably installed on the piston rod of balance cylinder 27, and with the piston of balance cylinder 27Bar synchronization lifting, the upper end of z-axis chain 28, which bypasses to fix with the piston rod of balance cylinder 27 after the synchronous belt tensioner pulley 25 of z-axis, to be connectedConnect.Bolt of the lower section provided with the synchronous height of belt tensioner pulley 25 of regulation z-axis of z-axis synchronization belt tensioner pulley 25, bolt is synchronous by z-axisBelt tensioner pulley 25 axially pushes the synchronous belt tensioner pulley 25 of z-axis, and z-axis chain 28 is tensioned.
The stable steering mechanism for being oriented to is provided between balance cylinder 27 and z-axis column 23.Stable steering mechanism includesThe axis of guide 24 and fairlead 26, the lower end of the axis of guide 24 are fixedly connected with the upper end of the piston rod of balance cylinder 27, and with balanceThe piston rod synchronization lifting of cylinder 27, and the diameter parallel of the axis of guide 24 and balance cylinder 27.Fairlead 26 is consolidated with z-axis column 23Fixed connection, fairlead 26 is slidably located on the outside of the axis of guide 24.Motion of the fairlead 26 to the axis of guide 24 is oriented to, so as to protectDemonstrate,prove the piston rod vertical lifting of balance cylinder 27, it is to avoid due to the run-off the straight in lifting of z-axis column 23, balance cylinder 27 is madeInto damage.
Stable steering mechanism has two, is symmetricly set on the both sides of balance cylinder 27, so that preferably to balance cylinder 27Protected.
Elevating mechanism includes z-axis chain and z-axis power unit.The upper end of z-axis chain is fixed on the top of z-axis column 23End, the lower end of z-axis chain is fixed on the bottom of z-axis column 23.Z-axis power unit is connected by z-axis sprocket wheel 30 with z-axis chain,And drive z-axis column 23 to lift.
Z-axis guiding mechanism has three, and z-axis guiding mechanism is separately positioned on the relative both sides of z-axis column 23, z-axis column 23The side of z-axis chain is installed provided with a guiding mechanism, the side relative with the side for installing z-axis chain is provided with two z-axisGuiding mechanism, can be allocated to the load that z-axis column 23 is brought well, so as to ensure that z-axis column 23 operates steadily.
Z-axis guiding mechanism include be arranged on the slide rail on z-axis column 23 and walking mounting bracket 20 on sliding block, sliding block andSlide rail is engaged, so as to be oriented to the mobile of z-axis column 23.
The upper and lower ends of z-axis column 23 are equipped with limited block, so that the lifting progress to z-axis column 23 is spacing.
As shown in Figure 11 ~ 12：Z-axis power unit is z-axis motor 29, and z-axis motor 29 drives z-axis to stand by z-axis sprocket wheel 30Post 23 is lifted.Z-axis motor 29 is fixed on walking mounting bracket 20, and z-axis sprocket wheel 30 is connected with the output shaft of z-axis motor 29, z-axisSprocket wheel 30 is engaged with z-axis chain, so as to realize the lifting of z-axis column 23.Z-axis chain has three rows.Mounting bracket 20 walk close to zThe side of axle column 23 is the rectangular box body for the upper and lower ends opening being bolted to connection by steel plate, z-axis column23 are arranged in walking mounting bracket 20 side.Z-axis sprocket wheel 30 is arranged in walking mounting bracket 20.Open the upside of walking mounting bracket 20Provided with through hole, and the upside of walking mounting bracket 20 is also provided with the ring flange coaxial with the through hole by bolt, z-axis motor 29 it is defeatedShaft is connected after passing through ring flange and through hole with z-axis sprocket wheel 30, and is bolted on ring flange, has both facilitated z-axis electricityThe demolition and maintenance of machine 29, turn avoid and mutually hinder between each mechanism.
Z-axis sprocket wheel 30 has vertically arranged three, and the output shaft of z-axis motor 29 and the z-axis sprocket wheel 30 at middle part are coaxially connected,And drive middle part z-axis sprocket wheel 30 to rotate.The z-axis sprocket wheel 30 of the upper side and lower side is separately positioned on z-axis chain away from z-axis column 23Side, the z-axis sprocket wheel 30 at middle part is arranged between z-axis chain and z-axis column 23, the axis of the z-axis sprocket wheel 30 of the upper side and lower sideIt is equal with the distance between z-axis column 23, and it is less than the distance of the axis and z-axis column 23 of the z-axis sprocket wheel 30 at middle part, increaseCornerite between z-axis sprocket wheel 30 and z-axis chain, so that the joggled strength between z-axis sprocket wheel 30 and z-axis chain is improved, so thatEnsure that enables z-axis sprocket wheel 30 to be lifted by z-axis chain-driving z-axis column 23.It is co-axially mounted on the z-axis sprocket wheel 30 at middle partThere is encoder, the rotating speed that encoder can detect z-axis motor 29 and the angle turned over, so as to detect the speed that z-axis column 23 is liftedDegree and distance.
As shown in figure 13：W axles rotating mechanism 6 includes w axles column 39, the rotating unit being rotatably installed on w axles column 39And w axle power units, w axles power unit is fixedly connected with w axles column 39, and w axle power units are connected with rotating unit, and bandDynamic rotating unit is rotated, and rotating unit is coaxially disposed with w axles column 39；The angle for also including being used to turn over rotating unit is carried outMeasurement and spacing detection unit.The power that this w axles rotating mechanism 6 is capable of output form is the rotation around w axles column 39, increaseThe forms of motion that grasping mechanism 7 is rotated around z-axis, adds the flexibility of grasping mechanism 7, ceramic tile is being transported through or stackingWhen the ceramic tile of crawl can be driven to rotate, so as to change the attitude of ceramic tile, stacking, accommodation can be carried out as neededExtensively；Detection unit can detect the angle that rotating unit is turned over, so as to ensure that the accuracy of grasping mechanism 7.
W axles power unit is w spindle motors 31, and w spindle motors 31 are arranged on rotating mounting rack 35.Rotating mounting rack 35 is setIt is fixedly connected in the bottom of w axles column 39, and with w axles column 39.Rotating unit is arranged on the lower section of rotating mounting rack 35.
The upper end of w axles column 39 is provided with the buffer gear for entering row buffering in vertical direction.Due under w axles rotating mechanism 6Side is installed in grasping mechanism 7, the course of work, when grasping mechanism touches the ceramic tile of crawl, and buffer gear can allow for w axles and standThe in the vertical direction of post 39 carries out small displacement, on the one hand can avoid when grasping mechanism 7 is contacted with wait the ceramic tile capturedW axles rotating mechanism 6 is caused to damage, grasping mechanism 7 on the other hand can be enable to sense ceramic tile to be captured, so as to improveThe stability that grasping mechanism 7 is captured.
Buffer gear includes cushion collar 37 and axial limiting mechanism, and cushion collar 37 is slidably located in the upper of w axles column 39End, axial limiting mechanism is fixed with cushion collar 37, so that the axial movement progress to w axles column 39 is spacing.W axles rotating mechanism 6Cushion collar 37 be fixedly connected with the lower end of z-axis column 23.
Provided with circumferential position-limit mechanism between cushion collar 37 and rotating mounting rack 35, circumferential position-limit mechanism is prevented from w axles and stoodPost 39 and cushion collar 37 relatively rotate, so as to improve the precision of the work of w axles rotating mechanism 6, it is to avoid operationally send outError in raw rotation direction.
Circumferential position-limit mechanism includes circumferential gag lever post and Limit Bearing, and the cross section of circumferential gag lever post is rectangle, weekIt is arranged on to the lower end of gag lever post on rotating mounting rack 35, and circumferential gag lever post is vertically arranged.Limit Bearing is symmetricly set on weekTo the both sides of gag lever post, Limit Bearing is bolted on the outside of cushion collar 37.Circumferential gag lever post rises with w axles column 39 is synchronousDrop, Limit Bearing is spacing to the progress of circumferential gag lever post, is relatively rotated so as to avoid w axles column 39 with cushion collar 37.
The side of w axles column 39 is provided with the buffering detection optoelectronic switch 33 for being used to detect the position of cushion collar 37, buffering detectionOptoelectronic switch 33 is arranged on optoelectronic switch installing plate 32, and the lower end of optoelectronic switch installing plate 32 is arranged on rotating mounting rack 35On, and optoelectronic switch installing plate 32 is vertically arranged.Buffering detection optoelectronic switch 33 has two, two buffering detection optoelectronic switches 33Vertical interval setting.When axial relative movement occurs for w axles column 39 and cushion collar 37, the buffering detection optoelectronic switch of top33 when detecting cushion collar 37, that is, represents that grasping mechanism 7 touches article to be captured, installed in the lower section of w axles rotating mechanism 6Grasping mechanism 7 stops the motion of vertical direction.Motion of the buffering detection optoelectronic switch 33 of lower section to w axles column 39 carries out spacingProtection, so that the in larger distance of the motion of w axles column 39 is avoided, so as to cause to damage to equipment.
Detection unit includes rotation detection optoelectronic switch 34, for detecting that the grasping mechanism 7 being connected with rotating unit is turned overAngle, and the rotation of grasping mechanism 7 carried out spacing.Rotation detection optoelectronic switch 34 has two, two rotation detection photoelectricitySwitch 34 is arranged on rotating mounting rack 35, and a rotation detection optoelectronic switch 34 is used to detect the angle that grasping mechanism 7 is turned over,So as to carry out precise control to the rotational angle of grasping mechanism 7, the rotation that another detection switch is used for grasping mechanism 7 is carried outIt is spacing, so as to avoid the rotational angle of grasping mechanism 7 beyond the rotational angle range of setting.
As shown in figure 14：Axial limiting mechanism includes stop collar 38 and postive stop baffle 36.Postive stop baffle 36 is annular shapePlate, postive stop baffle 36 is set in outside the w axles column 39 of the top of cushion collar 37, and postive stop baffle 36 is fixedly connected with cushion collar 37.The internal diameter of the bottom of cushion collar 37 is less than the internal diameter on top, so as to form limiting stand.The external diameter of the bottom of stop collar 38 is less than topExternal diameter, stop collar 38 is set on the w axles column 39 in cushion collar 37, and stop collar 38 is fixedly connected and and w with w axles column 39The synchronization lifting of axle column 39.The external diameter of w axles column 39 is less than the internal diameter of cushion collar 37, and the bottom of stop collar 38 puts in cushion collar 37Bottom, the length of stop collar 38 is less than the length of cushion collar 37, and limiting stand is engaged with postive stop baffle 36, stop collar 38 is carried outThe fixing of axial direction, so as to be carried out to w axles column 39 axial spacing.
Fixing nut, fixing nut and the limiting stand of cushion collar 37 are provided with the w axles column 39 of the top of postive stop baffle 36It is engaged, the gravity of the rotating mounting rack 35 to w axles column 39 and installed in w axles column 39 is offset, so that w axles are verticalPost 39 is arranged on cushion collar 37.W axles rotating mechanism 6 is connected by cushion collar 37 with the walking mechanism of manipulator.
Rotating mounting rack 35 is provided with the mounting hole for being used for being arranged on w axles column 39, and the internal diameter of mounting hole is more than w axlesThe external diameter of column 39.Carrying set 40 is arranged with the w axles column 39 of the lower section of rotating mounting rack 35, the diameter on 40 tops of carrying set is smallDiameter in bottom, the top of carrying set 40 is put in mounting hole, and the lower support of rotating mounting rack 35 is in the outer of carrying set 40On the boss of side.The lower end of w axles column 39 is fixed with thrust bearing by fixing nut, and the lower support of carrying set 40 is in thrustOn bearing, the w axles column 39 on the top of rotating mounting rack 35 is provided with nut, and rotating mounting rack 35 is pressed on into thrust bearingOn, complete the fixed installation of rotating mounting rack 35.The external diameter on 40 tops of carrying set is less than the internal diameter of mounting hole bottom, and carrying setRolling bearing is provided between 40 and mounting hole, carrying is covered 40 can relatively rotate with rotating mounting rack 35.
Rotating unit is output chain gear, and output chain gear is coaxially disposed with w axles column 39, and the internal diameter of output chain gear is more than w axlesThe external diameter of column 39, and the top of output chain gear 40 is fixedly connected with carrying set.Drive chain is also equipped with rotating mounting rack 35Wheel, drive sprocket is connected by w axles chain 41 with output chain gear, and drives output chain gear to rotate.Output chain gear bottom and crawlThe middle part of mechanism body 45 is fixedly connected, and drives the synchronous axial system of grasping mechanism 7.
The output shaft of w spindle motors 31 is horizontally disposed with, and the output shaft of w spindle motors 31 is driven actively by the bevel gear being meshedSprocket wheel is rotated.Encoder, encoder and drive sprocket synchronous axial system, encoder detection drive chain are installed above drive sprocketThe rate signal of wheel, and rate signal is fed back into frequency converter, it can realize and the output speed of w spindle motors 31 is adjusted,So as to complete the regulation to output chain gear rotating speed, encoder can also detect the angle that drive sprocket is turned over.
As shown in Figure 1 and 2：Ceramic tile grasping mechanism, ceramic tile grasping mechanism and pallet are also equipped with grasping mechanism main body 45Grasping mechanism collectively constitutes the grasping mechanism 7 of the manipulator.
Ceramic tile grasping mechanism includes ceramic tile clamping plate 48 and clamping plate power unit, clamping plate power unit and the phase of ceramic tile clamping plate 48Connect, and drive ceramic tile clamping plate 48 to clamp or unclamp ceramic tile.The upper end of ceramic tile clamping plate 48 is arranged on clamping plate installing plate 49, the other endFor free end.Clamping plate power unit is connected with clamping plate installing plate 49, and promotes clamping plate installing plate 49 to move horizontally, so as to realize porcelainThe clamping and release of brick.The side that ceramic tile clamping plate 48 is contacted with ceramic tile is provided with rubber, on the one hand for increasing the friction with ceramic tile,On the other hand cushioning effect can be produced, it is to avoid collided with ceramic tile, so as to damage ceramic tile.The lower end of ceramic tile clamping plate 48 is inPortion is tilted, so as to preferably clamp ceramic tile.
When through-thickness captures ceramic tile, ceramic tile clamping plate 48 may be mounted at clamping plate installing plate 49 close to grasping mechanism masterThe one end at the middle part of body 45, when capturing ceramic tile along width or length direction, it is close that ceramic tile clamping plate 48 is arranged on clamping plate installing plate 49The one end in the outside of grasping mechanism main body 45.Two pieces of ceramic tile clamping plates 48 that ceramic tile is clamped for cooperating are a pair, ceramic tile clamping plate48 have two pairs, and clamping plate installing plate 49 is corresponded with ceramic tile clamping plate 48.
In the top of grasping mechanism main body 45 position-limiting unit is captured provided with ceramic tile.Ceramic tile crawl position-limiting unit is that clamping plate is spacingOptoelectronic switch 44, every a pair of clamping plates limiting photoelectric switch 44 has two, and two clamping plate limiting photoelectric switch 44 are respectively used to detectionThe original position and final position of clamping plate power unit, so as to complete spacing.Clamping plate limiting photoelectric switch 44 has two pairs, right respectivelyDrive the clamping plate power unit progress of the motion of ceramic tile clamping plate 48 spacing.
This grasping mechanism 7 can either complete the crawl to pallet, and the crawl to ceramic tile, automaticity can be realized againHeight, and the high precision that pallet is placed, will not tilt ceramic tile in stacking, easy to use.
As shown in Figure 3：Clamping plate power unit has two, and two clamping plate power units are separately positioned on pallet crawl cylinder 51Both sides, and respectively drive two pairs of ceramic tile clamping plates 48 folding.Each clamping plate power unit includes two clamping plate folding cylinders50, and the piston rod of two clamping plate folding cylinders 50 is fixedly connected, and be synchronized with the movement.Clamping plate limiting photoelectric switch 44 passes through detectionThe position of the piston rod of clamping plate folding cylinder 50, it is spacing to be carried out to ceramic tile clamping plate 48.
Clamping plate transmission mechanism is provided between clamping plate power unit and clamping plate installing plate 49.Clamping plate transmission mechanism is opened including clamping plateClose gear 52 and clamping plate folding tooth bar 53.Clamping plate folding gear 52 is rotatably installed in grasping mechanism main body 45, and clamping plate is openedThe axis vertical for closing gear 52 is set.Clamping plate folding tooth bar 53 has two, is symmetricly set on the both sides of clamping plate folding gear 52, twoClamping plate folding tooth bar 53 is fixedly connected with the clamping plate installing plate 49 installed with a pair of ceramic tile clamping plates 48 respectively.Two clamping plate folding gasThe piston rod of cylinder 50 is connected with a clamping plate folding tooth bar 53, and drives the clamping plate folding tooth bar 53 to move, the clamping plate folding toothBar 53 drives another clamping plate folding tooth bar 53 to move in the opposite direction by clamping plate folding gear 52.Clamping plate folding tooth bar 53Be respectively provided on two sides with the bearing for promoting clamping plate folding tooth bar 53 to compress clamping plate folding gear 52.
The lower section of pallet crawl gear 55 is provided with ceramic tile inductor 54, and ceramic tile inductor 54 is used to detect that ceramic tile clamping plate 48 isWhether no crawl ceramic tile and detection pallet crawl finger 47 have captured pallet.
The course of work of the manipulator is as follows：Walking mechanism drives the crawl pallet of grasping mechanism 7 first, and pallet is placedIn specified location.Then walking mechanism drives grasping mechanism 7 to pick up ceramic tile again, and ceramic tile is placed sequentially on pallet, so thatStacking is carried out to ceramic tile.The manipulator enables the grasping mechanism of the manipulator compared to the free degree is added with traditional manipulatorEnough to be rotated around z-axis, so that the stacking mode of this manipulator is various, the mode of stacking can be set according to user's request.
Because y-axis walking mechanism 2, x-axis walking mechanism 3, z-axis walking mechanism 4 and w axles rotating mechanism 6 are mounted on compilingCode device, when grasping mechanism 7 is close to ceramic tile, the walking of grasping mechanism 7 or velocity of rotation are slower, in ceramic tile transport process,The speed of grasping mechanism 7, drastically increases operating efficiency, and will not collide to damage ceramic tile with ceramic tile.In addition, grasping mechanism 7 with production line when coordinating, when the production of ceramic tile is very fast, the motion of grasping mechanism 7 is also very fast, works as porcelainWhen brick production is slower, the motion of grasping mechanism 7 is also relatively slow, has both coordinated production line, turn avoid grasping mechanism 7 run it is too fast andCause the phenomenon of energy dissipation.
The above, is only preferred embodiment of the present utility model, is not to make other forms to the utility modelLimitation, any those skilled in the art are changed or are modified as possibly also with the technology contents of the disclosure above equivalentThe Equivalent embodiments of change.But it is every without departing from technical solutions of the utility model content, it is real according to technology of the present utility modelAny simple modification, equivalent variations and remodeling that confrontation above example is made, still fall within the guarantor of technical solutions of the utility modelProtect scope.