CN105253638A - Anti-swing suction cup movement mechanism - Google Patents

Anti-swing suction cup movement mechanism Download PDF

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Publication number
CN105253638A
CN105253638A CN201510677710.2A CN201510677710A CN105253638A CN 105253638 A CN105253638 A CN 105253638A CN 201510677710 A CN201510677710 A CN 201510677710A CN 105253638 A CN105253638 A CN 105253638A
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CN
China
Prior art keywords
axis
wheel
suction cup
crossbeam
assembly
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CN201510677710.2A
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Chinese (zh)
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CN105253638B (en
Inventor
高自成
李立君
阳涵疆
李舟
肖诗慧
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中南林业科技大学
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Priority to CN201510677710.2A priority Critical patent/CN105253638B/en
Publication of CN105253638A publication Critical patent/CN105253638A/en
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Publication of CN105253638B publication Critical patent/CN105253638B/en

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Abstract

An anti-swing suction cup movement mechanism comprises a machine frame shaped like a cuboid vertical frame, and a suction cup assembly used for sucking plate materials. The suction cup assembly is arranged in the machine frame. The anti-swing suction cup movement mechanism is characterized in that the anti-swing suction cup movement mechanism further comprises a Y-axis power assembly, X-axis power assemblies, a Z-axis power assembly and a P-axis rotation power assembly; the Y-axis power assembly provides power for making the suction cup assembly move in the width direction of the machine frame in the machine frame; the X-axis power assemblies provide power for making the suction cup assembly move in the length direction of the machine frame in the machine frame; the Z-axis power assembly provides power for making the suction cup assembly rise and fall in the height direction of the machine frame in the machine frame; the P-axis rotation power assembly provides power for making the suction cup assembly horizontally rotate; and the running states of the Y-axis power assembly, the X-axis power assemblies, the Z-axis power assembly, the P-axis rotation power assembly and the suction cup assembly are all controlled by a control system in a unified manner. By means of the anti-swing suction cup movement mechanism, the plate materials are rapidly stacked in order, the automation degree and efficiency of plate material stacking are improved, and the utilization rate of storage space of the plate materials is increased.

Description

Anti-sway sucker kinematic mechanism
Technical field
The present invention relates to a kind of kinematic mechanism, relate generally to a kind of anti-sway sucker kinematic mechanism, for stacking plate.
Background technology
The Application comparison of plate in industry and life is extensive, and automobile, refrigerator, laundry machine, top-grade furniture, kitchen equipment, industry and civil construction etc. all need to use.In recent years at furniture production industry, rise the formed material using PCM Coil Coating Products as its side plate, panel gradually.Therefore appearance requirement is also progressively increased, the scuffing to panel surface will be avoided to the storage of plate and transport as far as possible, ensure that plate outward appearance is unaffected.Effectively piling up of plate is the basis of depositing and transporting of plate.
In prior art, plate is piled up the main defect existed and is:
1, plate is piled up irregular, and after buttress piled up into by plate, straight sheet pile vertically not being aligned straight line, easily causes collapse of setting, namely damages plate and also brings potential safety hazard.
2, space piled up by plate, is not fully utilized, and straight sheet pile location interval is not of uniform size, and the space availability ratio that plate is deposited is low.
3, piling up of plate mostly needs a dead lift and checks, and automatization level is not high.
4, carry out piling up of plate by automation capture apparatus or belt transport equipment, easily cause panel surface to scratch, affect plate quality.
5, to pile up efficiency low for plate, cannot meet the requirement of storage and logistics fast.
Summary of the invention
The invention provides a kind of anti-sway sucker kinematic mechanism, realize the quick block pattern row pattern of plate, improve the gentle efficiency of Automated water that plate is piled up, improve the space availability ratio that plate is deposited.
In order to achieve the above object, the technical solution used in the present invention is: anti-sway sucker kinematic mechanism, comprise the frame of cuboid stand shape and the Suction cup assembly for adsorbing plate, Suction cup assembly is placed in frame, characterized by further comprising the Y-axis Power Component providing Suction cup assembly to move power along frame Width in frame, there is provided Suction cup assembly in frame, move the X-axis Power Component of power along frame length direction, there is provided Suction cup assembly in frame along the Z axis Power Component of bracket height direction lifting drive and the P axle rotary power assembly providing Suction cup assembly to horizontally rotate power, described Y-axis Power Component, X-axis Power Component, Z axis Power Component, the running state of P axle rotary power assembly and Suction cup assembly all controls by control system is unified,
Described frame top is equipped with the crossbeam across the frame left and right sides, and described X-axis Power Component is contained on crossbeam, and described Z axis Power Component, P axle rotary power assembly and Suction cup assembly are arranged on the below of X-axis Power Component successively along bracket height direction;
Described Y-axis Power Component is contained in the two ends, left and right of crossbeam, Y-axis Power Component engages with the Y-axis stationary rack being arranged on the frame left and right sides, crossbeam described in driving moves along the frame left and right sides, described X-axis Power Component engages with along the hard-wired X-axis stationary rack of crossbeam, drive X-axis Power Component along cross beam movement, described P axle rotary power assembly engages with Suction cup assembly, and the Suction cup assembly described in driving horizontally rotates;
Described Z axis Power Component comprises Z axis mounting box, Z axis drive motor, initiatively lift by crane running roller, driven lifting running roller, Timing Belt, play suspender belt and anti-swinging mechanism, described Z axis mounting box is fixedly connected on immediately below X-axis Power Component, described initiatively lift by crane running roller and the arrangement of driven lifting running roller horizontal alignment and to be arranged in Z axis mounting box and initiatively to lift by crane running roller and driven lifting running roller passes through gears meshing, described Z axis drive motor is arranged on the below of Z axis mounting box, described Timing Belt detour Z axis drive motor transmission shaft and initiatively lift by crane on the roller of running roller, a described suspender belt arranges along bracket height direction and quantity is two, one end of one suspender belt is fixed on initiatively lifts by crane on running roller, the other end is fixed on P axle rotary power assembly, one end that another root plays suspender belt is fixed on driven lifting running roller, the other end is fixed on P axle rotary power assembly, Z axis drive motor described in startup, driven by Timing Belt and initiatively lift by crane running roller rotation, driven lifting running roller rotates backward with the rotation of initiatively lifting by crane running roller, two are played suspender belt and are rolled simultaneously or put down, P axle rotary power assembly and Suction cup assembly is pulled to rise or decline, described anti-swinging mechanism is arranged between Z axis mounting box to P axle rotary power assembly, the swing of Z axis Power Component in moving process described in restriction, the described suspender belt that rises is in anti-swinging mechanism, anti-swinging mechanism is with playing rolling or put down and being out of shape of suspender belt, restriction P axle rotary power assembly and the swing of Suction cup assembly in lifting process.
Further, described anti-swinging mechanism comprises left roller sprocket wheel, right roller sprocket wheel, two ends are separately fixed at the chain on left roller sprocket wheel and right roller sprocket wheel, upper arm and underarm, described left roller sprocket wheel and right roller sprocket wheel are arranged in Z axis mounting box, and being arranged on the below of initiatively lifting by crane running roller is horizontal alignment arrangement, on the roller of left roller sprocket wheel and right roller sprocket wheel roller on fix upper arm respectively, two upper arm are symmetrical set, two are played suspender belt and are between two upper arm, the upper end of the hinged underarm of lower end difference of two upper arm, the lower end of two underarms is hinged on P axle rotary power assembly respectively, two underarms are for being symmetrical set, two upper arm, two underarms, Z axis mounting box and P rotary power assembly surround formed along bracket height direction hexagonal structure restriction described in rise sling band swing, corner dimension between described upper arm and underarm is rolled-up or put down and change with the described band of slinging that rises, a suspender belt described in restriction is in swing that is rolled-up or that put down in process.
Further, Timing Belt tension wheel for preventing Timing Belt from jumping tooth is set on described Timing Belt side, between described right roller sprocket wheel and left roller sprocket wheel, two chain tension roll shafts are set, described chain detours on two chain tension wheel shafts, and described Timing Belt tension wheel and chain tension roll shaft are all contained in Z axis mounting box.
Further, in the described lower left of initiatively lifting by crane running roller with from the lower right of lifting running roller, lifting tape guide wheel is set respectively, the described suspender belt that rises vertically is connected with P axle rotary power assembly by the guiding of lifting tape guide wheel, described lifting tape guide wheel is contained in Z axis mounting box, and described plays the lifting tape guide wheel rotation that suspender belt is rolled-up or put down described in drive.
Further, Y-axis track adjusting wheel is equipped with at two ends, left and right bottom described crossbeam, the setting a roof beam in place of the frame top left and right sides is equipped with the Y-axis guide rail corresponding with Y-axis track adjusting wheel, described Y-axis Power Component comprises Y-axis drive motor and is arranged on the Y-axis driven wheel on Y-axis drive motor, described Y-axis drive motor is fixedly mounted on the two ends, left and right of crossbeam, Y-axis driven wheel is placed in immediately below Y-axis drive motor, the lateral surface of setting a roof beam in place that described Y-axis stationary rack is contained in the frame top left and right sides respectively engages with Y-axis driven wheel, Y-axis drive motor described in startup, described Y-axis driven wheel is mobile along the engagement of Y-axis stationary rack, Y-axis track adjusting wheel described in drive is rolled along Y-axis guide rail and crossbeam is moved along the frame left and right sides.
Further, described crossbeam is the cuboid frame configuration of hollow out, crossbeam framework beam is along its length given prominence to along both sides before and after crossbeam and to be formed X-axis Power Component in the both sides, front and back of crossbeam and install and the space of movement, described X-axis stationary rack is arranged on the outside of cross rail top framework beam along crossbeam, described X-axis Power Component comprises X-axis drive motor, be arranged on the X-axis driven wheel on X-axis drive motor, X-axis caterpillar wheel and X-axis track adjusting wheel, described X-axis drive motor, X-axis caterpillar wheel and X-axis track adjusting wheel are all contained on support plate, described X-axis driven wheel engages with X-axis stationary rack, described X-axis caterpillar wheel is placed on the framework beam bottom crossbeam, described X-axis track adjusting wheel is arranged on bottom crossbeam, the X-axis guide rail corresponding with X-axis track adjusting wheel is equipped with in described crossbeam bottom surface, X-axis drive motor described in startup, described X-axis driven wheel starts along the engagement of X-axis stationary rack, driving rolling and X-axis track adjusting wheel on the balladeur train beam of X-axis caterpillar wheel bottom crossbeam to roll along X-axis guide rail makes X-axis Power Component along cross beam movement.
Further, the quantity of described X-axis caterpillar wheel is four, and on the framework beam that four X-axis caterpillar wheels are all placed in crossbeam portion and the arrangement in horizontal rectangular, two X-axis caterpillar wheels are distributed in the front side of crossbeam, and two other X-axis caterpillar wheel is distributed in the rear side of crossbeam.
Further, described P axle rotary power assembly comprises P shaft coupling piece, P axis drive motor and the P axle rotary actuation gear be arranged on P axis drive motor, described Suction cup assembly comprises horizontal suction cup carrier, sucker big gear wheel, suction nozzle and provide the pneumatic control components of adsorption affinity for suction nozzle, the top of described P shaft coupling piece has connected the lower end of suspender belt and the lower end of underarm, described P axis drive motor is arranged on the side of P shaft coupling piece, described P axle rotary actuation gear is arranged on the below of P axis drive motor, the rotating bottom being arranged on P shaft coupling piece of described horizontal suction cup carrier, described sucker big gear wheel is fixed on top and the P axle rotary actuation gears meshing of horizontal suction cup carrier, described suction nozzle is contained in horizontal suction cup carrier, the side that described pneumatic control components is contained in P shaft coupling piece is connected with suction nozzle by tracheae, P axle described in startup drives advises motor, sucker bull gear drive described in described P axle rotary actuation gears meshing drives, the rotation of sucker big gear wheel drives horizontal suction cup carrier to rotate.
Further, the quantity of described suction nozzle is 20 ~ 40, and the bottom being arranged on described horizontal suction cup carrier in array.
Further, described pneumatic control components is divided into many groups, often organize the adsorption affinity that pneumatic control components controls four or three suction nozzles, often organize pneumatic control components to be made up of vacuum generator and air operated reversing valve, described vacuum generator is connected with suction nozzle by tracheae, and described air operated reversing valve controls circulation and the blocking-up of the tracheae between the raw device of vacuum and suction nozzle.Facilitate the plate for Different Weight and size, the adsorption power of adjustment Suction cup assembly.
The invention has the beneficial effects as follows:
1, the present invention controls the motion of Suction cup assembly in frame by Y-axis Power Component, X-axis Power Component, Z axis Power Component and P axle rotary power assembly, plate is adsorbed by Suction cup assembly, the stacking of reality plate, improves the automatization level that plate is piled up.
2, the present invention is by the swing of anti-swinging mechanism restriction Z axis Power Component in moving process in Z axis Power Component, by distortion restriction P axle rotary power assembly and the swing of Suction cup assembly in lifting process of anti-swinging mechanism, namely the swing of plate in moving process of being adsorbed by Suction cup assembly is limited by anti-swinging mechanism, improve the stability in plate moving process, ensure the regularity that plate is piled up, improve the structural stability of the present invention in operational process.
3, the mode that in the present invention, Y-axis Power Component, X-axis Power Component, Z axis Power Component and P axle rotary power assembly are all driven by engagement drives Suction cup assembly move in frame and rotate, the moving displacement of Suction cup assembly in frame and rotational angle accurate, can the neat code plate of real plate, improve the space availability ratio deposited of plate, greatly reduce plate pile up after stamp risk.
4, plate is adsorbed with Suction cup assembly in the present invention, move and rotating suction disc assembly with Y-axis Power Component, X-axis Power Component, Z axis Power Component and P axle rotary power assembly, the running state of Y-axis Power Component, X-axis Power Component, Z axis Power Component, P axle rotary power assembly and Suction cup assembly is controlled by control system, piling up fast of reality plate, that improves plate piles up efficiency, meets plate and stores in a warehouse fast and the requirement of logistics.
5, the present invention adsorbs plate by Suction cup assembly, avoids in the process of piling up, cause plate to scratch, and ensures that plate outward appearance is unaffected.
Accompanying drawing explanation
Fig. 1 is planar structure schematic diagram of the present invention.
Fig. 2 is the planar structure schematic diagram of Z axis Power Component.
Fig. 3 is the perspective view of Z axis Power Component.
Fig. 4 is the structural representation that Y-axis Power Component is contained on crossbeam.
Fig. 5 is the planar structure schematic diagram that X-axis Power Component is contained on crossbeam.
Fig. 6 is the perspective view that X-axis Power Component is contained on crossbeam.
Fig. 7 is the planar structure schematic diagram that P axle rotary power assembly is connected with suction group assembly.
Fig. 8 is the perspective view that P axle rotary power assembly is connected with suction group assembly.
Perspective view when Fig. 9 is anti-sway sucker kinematic mechanism absorption plate of the present invention.
Detailed description of the invention
Below in conjunction with Fig. 1 to Fig. 9, embodiments of the invention are elaborated.
As shown in Figure 1, anti-sway sucker kinematic mechanism, comprise the frame 1 of cuboid stand shape and the Suction cup assembly 2 for adsorbing plate, Suction cup assembly 2 is placed in frame 1, also comprise provide Suction cup assembly 2 in frame 1 along frame 1 Width move power Y-axis Power Component 3, provide Suction cup assembly 2 in frame 1 along frame 1 length direction move power X-axis Power Component 4, provide Suction cup assembly 2 in frame 1 along the Z axis Power Component 5 of frame 1 short transverse lifting drive and the P axle rotary power assembly 6 that provides Suction cup assembly 2 to horizontally rotate power;
The crossbeam 7 across frame 1 left and right sides is equipped with at described frame 1 top, described X-axis Power Component 4 is contained on crossbeam 7, and described Z axis Power Component 5, P axle rotary power assembly 6 and Suction cup assembly 2 are arranged on the below of X-axis Power Component 4 successively along frame 1 short transverse; The running state of described Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5, P axle rotary power assembly 6 and Suction cup assembly 2 all controls by control system is unified, and control system is arranged in the electrical control cubicles on frame 1 side.
As shown in Figures 2 and 3, described Z axis Power Component 5 comprises Z axis mounting box 50, Z axis drive motor 51, initiatively lift by crane running roller 52, driven lifting running roller 53, Timing Belt 54, play suspender belt 55 and anti-swinging mechanism 56, described Z axis mounting box 50 is fixedly connected on immediately below X-axis Power Component 4, described initiatively lift by crane running roller 52 and the arrangement of driven lifting running roller 53 horizontal alignment and to be arranged in Z axis mounting box 50 and initiatively to lift by crane running roller 52 and driven lifting running roller 53 passes through gears meshing, described Z axis drive motor 51 is arranged on the below of Z axis mounting box 50, described Timing Belt 54 detour Z axis drive motor 51 transmission shaft and initiatively lift by crane on the roller of running roller 52, a described suspender belt 55 is along the setting of frame 1 short transverse and quantity is two, one end of one suspender belt 55 is fixed on initiatively lifts by crane on running roller 52, the other end is fixed on P axle rotary power assembly 6, one end that another root plays suspender belt 55 is fixed on driven lifting running roller 53, the other end is fixed on P axle rotary power assembly 6, Z axis drive motor 51 described in startup, initiatively lift by crane running roller 52 by Timing Belt 54 driving to rotate, driven lifting running roller 53 rotates backward with the rotation of initiatively lifting by crane running roller, two are played suspender belt 55 and are rolled simultaneously or put down, P axle rotary power assembly 6 and Suction cup assembly 2 is pulled to rise or decline, described anti-swinging mechanism 56 is arranged between Z axis mounting box 50 to P axle rotary power assembly 6, the swing of Z axis Power Component in moving process described in restriction, the described suspender belt 55 that rises is in anti-swinging mechanism 56, anti-swinging mechanism 56 is with playing rolling or put down and being out of shape of suspender belt 55, restriction P axle rotary power assembly 6 and the swing of Suction cup assembly 2 in lifting process.
Described anti-swinging mechanism 56 comprises left roller sprocket wheel 56.1, right roller sprocket wheel 56.2, two ends are separately fixed at the chain 56.3 on left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2, upper arm 56.4 and underarm 56.5, described left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 are arranged in Z axis mounting box 50, and being arranged on the below of initiatively lifting by crane running roller 52 is horizontal alignment arrangement, upper arm 56.4 is fixed respectively on the roller of left roller sprocket wheel 56.1 and on the roller of 56.2 of right roller sprocket wheel, two upper arm 56.4 are symmetrical set, two are played suspender belt 55 and are between two upper arm 56.4, the upper end of the hinged underarm 56.5 of lower end difference of two upper arm 56.4, the lower end of two underarms 56.5 is hinged on P axle rotary power assembly 6 respectively, two underarms 56.5 are for being symmetrical set, two upper arm 56.4, two underarms 56.5, Z axis mounting box 50 and P rotary power assembly 6 surround and work the swing of band 55 of slinging described in the hexagonal structure restriction that formed along frame 1 short transverse, corner dimension between described upper arm 56.4 and underarm 56.5 is rolled-up or put down and change with the described band 55 of slinging that rises, a suspender belt 55 described in restriction is in swing that is rolled-up or that put down in process.
Timing Belt tension wheel 54.1 for preventing Timing Belt 54 from jumping tooth is set on described Timing Belt 54 side, between described right roller sprocket wheel 56.1 and left roller sprocket wheel 56.2, two chain tension roll shafts 56.31 are set, described chain 56.3 detours on two chain tension wheel shafts 56.31, and described Timing Belt tension wheel 54.1 and chain tension roll shaft 56.31 are all contained in Z axis mounting box 50.
In the described lower left of initiatively lifting by crane running roller 52 with from the lower right of lifting running roller 53, lifting tape guide wheel 55.1 is set respectively, the described suspender belt 55 that rises vertically is connected with P axle rotary power assembly 6 by the guiding of lifting tape guide wheel 55.1, described lifting tape guide wheel 55.1 is contained in Z axis mounting box 50, and described plays lifting tape guide wheel 55.1 rotation that suspender belt 55 is rolled-up or put down described in drive.
As can be seen from Figure 3, rising, suspender belt 55 is rolled-up, when P axle rotary power assembly 6 rises, drive on the lower end of underarm 56.5 and rise, two underarms 56.4 rotate backward, angle between upper arm 56.4 and underarm 56.5 reduces gradually, and rotation is passed to upper arm 56.4, the upper end of two upper arm 56.4 is separately fixed on left roller sprocket wheel 56.1 with on right roller sprocket wheel 56.2, because left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 are fixed in Z axis mounting box and can not move, therefore two upper arm 56.4 rotate around left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 respectively, the two ends of chain 56.3 are separately fixed on left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2, the transmission of chain 56.3, ensure that left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 are to the synchronized rotation of reversing sense, therefore ensure that two upper arm 56.4 keep symmetrical in rotation process, limit the swing of suspender belt 55 in rolled-up process, thus ensure P axle rotary power assembly 6 and the stability of Suction cup assembly 5 in uphill process.Put down at a suspender belt 55, P axle puts turning effort assembly 6 when declining, angle between upper arm 56.4 and underarm 56.5 increases gradually, P axle rotary power assembly 6 declines, the lower end of underarm 56.5 is driven to decline, two underarms 56.4 rotate backward, and rotation is passed to upper arm 56.4, the upper end of two upper arm 56.4 is separately fixed on left roller sprocket wheel 56.1 with on right roller sprocket wheel 56.2, because left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 are fixed in Z axis mounting box and can not move, therefore two upper arm 56.4 rotate around left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 respectively, the two ends of chain 56.3 are separately fixed on left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2, the transmission of chain 56.3, ensure that left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 are to the synchronized rotation of reversing sense, therefore ensure that two upper arm 56.4 keep symmetrical in rotation process, limit suspender belt 55 by the swing put down in process, thus ensure P axle rotary power assembly 6 and the stability of Suction cup assembly 2 in decline process.
When Z axis Power Component 5 moves along frame 1 Width and length direction with X-axis Power Component 4 and Y-axis Power Component 3,56.4, two underarms 56.5 of two upper arm in Z axis Power Component 5 and Z axis mounting box 50 and P rotary power assembly 6 surround the hexagonal structure formed along frame 1 short transverse limit described in the swing of band 55 of slinging, thus the P axle rotary power assembly 6 that is connected to below Z axis Power Component 2 of guarantee and Suction cup assembly 2 are along the stability in frame 1 length direction and Width moving process.Thus, P axle rotary power assembly 6 and Suction cup assembly 2 are all guaranteed by anti-swinging mechanism 56 along the stability of the movement in frame 1 length, width and height three directions, namely the swing of plate in moving process of being adsorbed by Suction cup assembly is limited by anti-swinging mechanism 56, improve the stability in plate moving process, ensure the regularity that plate is piled up, improve the structural stability of anti-sway sucker kinematic mechanism in operational process.
As shown in Figure 4, Y-axis track adjusting wheel 72 is equipped with at two ends, left and right bottom described crossbeam 7, the setting a roof beam in place of the left and right sides, frame 1 top is equipped with the Y-axis guide rail 12 corresponding with Y-axis track adjusting wheel 72, the Y-axis driven wheel 32 that described Y-axis Power Component 3 comprises Y-axis drive motor 31 and is arranged on Y-axis drive motor 31, described Y-axis drive motor 31 is fixedly mounted on the two ends, left and right of crossbeam 7, Y-axis driven wheel 32 is placed in immediately below Y-axis drive motor 31, the lateral surface of setting a roof beam in place that described Y-axis stationary rack 11 is contained in the left and right sides, frame 1 top respectively engages with Y-axis driven wheel 32, Y-axis drive motor 31 described in startup, described Y-axis driven wheel 32 engages mobile along Y-axis stationary rack 11, Y-axis track adjusting wheel 72 described in drive is rolled along Y-axis guide rail 12 and crossbeam 7 is moved along frame 1 left and right sides.Crossbeam 7 to be coordinated with the Y-axis guide rail 12 on the side frames beam of left and right, frame 1 top by Y-axis track adjusting wheel 72 and moves along frame 1 left and right sides, Y-axis track adjusting wheel 72 coordinates with Y-axis guide rail 12, add the stability of crossbeam 7 movement, moved by the engagement of Y-axis driven wheel 32 along Y-axis stationary rack 11, for the rolling of Y-axis track adjusting wheel 72 provides power, the displacement of gears meshing movement is accurate, the precision of the moving displacement of crossbeam can be ensured, X-axis Power Component 4, Z axis Power Component 5, P axle Power Component 6 and Suction cup assembly 2 are mobile with the movement of crossbeam 7, thus ensure X-axis Power Component 4, Z axis Power Component 5, P axle Power Component 6 and Suction cup assembly 2 are along the moving displacement precision of frame 1 Width.
As shown in Figure 5 and Figure 6, described crossbeam 7 is the cuboid frame configuration of hollow out, crossbeam 7 framework beam is along its length given prominence to along both sides before and after crossbeam 7 and to be formed X-axis Power Component 4 in the both sides, front and back of crossbeam 7 and install and the space of movement, described X-axis stationary rack 71 is arranged on the outside of crossbeam 7 top framework beam along crossbeam 7, described X-axis Power Component 4 comprises X-axis drive motor 41, be arranged on the X-axis driven wheel 42 on X-axis drive motor 41, X-axis caterpillar wheel 43 and X-axis track adjusting wheel 44, described X-axis drive motor 41, X-axis caterpillar wheel 43 and X-axis track adjusting wheel 44 are all contained on support plate 45, described X-axis driven wheel 42 engages with X-axis stationary rack 71, described X-axis caterpillar wheel 43 is placed on the framework beam bottom crossbeam 7, described X-axis track adjusting wheel 44 is arranged on bottom crossbeam 7, the X-axis guide rail 73 corresponding with X-axis track adjusting wheel 44 is equipped with in described crossbeam 7 bottom surface, X-axis drive motor 41 described in startup, described X-axis driven wheel 42 engages along X-axis stationary rack 71 and starts, driving rolling and X-axis track adjusting wheel 44 on the balladeur train beam of X-axis caterpillar wheel 43 bottom crossbeam 7 to roll along X-axis guide rail 73 makes X-axis Power Component 4 move along crossbeam 7.The quantity of described X-axis caterpillar wheel 43 is four, and four X-axis caterpillar wheels 43 to be all placed on the framework beam bottom crossbeam 7 and the arrangement in horizontal rectangular, and two X-axis caterpillar wheels 43 are distributed in the front side of crossbeam 7, and two other X-axis caterpillar wheel 43 is distributed in the rear side of crossbeam 7.
X-axis Power Component is led by the X-axis guide rail 73 of X-axis track adjusting wheel 44 and crossbeam 7 bottom surface in the movement along crossbeam 7, ensure the stability of X-axis Power Component movement on crossbeam 7, moreover, owing to being connected to Z axis Power Component 5 below X-axis Power Component 4, P axle Power Component 6 and Suction cup assembly 2, therefore the load-bearing of X-axis Power Component 4 is larger, by X-axis caterpillar wheel 43 load capacity, increase the stability of X-axis Power Component 4 in moving process, when Suction cup assembly 2 adsorbs plate, the carrying of X-axis Power Component 4 is larger, four X-axis caterpillar wheels 43 can have compared with share load-carrying, ensure that Suction cup assembly 2 is when adsorb heavier plate, X-axis Power Component still can keep stable movement, greatly improve structural stability and the reliability of the mobile stationarity of X-axis Power Component and the engagement type driving sucker kinematic mechanism described in embodiment.
As shown in Figure 7 and Figure 8, described P axle rotary power assembly 6 comprises P shaft coupling piece 61, P axis drive motor 62 and the P axle rotary actuation gear 63 be arranged on P axis drive motor 62, described Suction cup assembly 2 comprises horizontal suction cup carrier 21, sucker big gear wheel 22, suction nozzle 23 and provide the pneumatic control components 24 of adsorption affinity for suction nozzle 23, the top of described P shaft coupling piece 61 has connected the lower end of suspender belt 55 and the lower end of underarm 56.5, described P axis drive motor 62 is arranged on the side of P shaft coupling piece 61, described P axle rotary actuation gear 63 is arranged on the below of P axis drive motor 62, the rotating bottom being arranged on P shaft coupling piece 61 of described horizontal suction cup carrier 21, the top that described sucker big gear wheel 22 is fixed on horizontal suction cup carrier 21 is engaged with P axle rotary actuation gear 63, described suction nozzle 23 is contained in horizontal suction cup carrier 21, the side that described pneumatic control components 24 is contained in P shaft coupling piece 61 is connected with suction nozzle 23 by tracheae, P axle described in startup drives advises motor 62, sucker big gear wheel 23 described in described P axle rotary actuation gear 63 engagement drives is rotated, the rotation of sucker big gear wheel 22 drives horizontal suction cup carrier 21 to rotate.Horizontal suction cup carrier 21 is rotated with the rotation of sucker big gear wheel 22, the rotation of sucker big gear wheel 22 engages driving by P axle rotary actuation gear 63, by the mode of operation of control P axis drive motor 62, the angle of the rotation of control P axle rotary actuation gear 63, thus control the rotational angle of 22 of sucker big gear wheel, make the rotational angle of sucker big gear wheel 22 accurate, the angle of horizontal suction cup carrier 21 is rotatable, facilitates the different absorption of plate in position and piling up of the various angle of plate.
As shown in Figure 8, the quantity of described suction nozzle 23 is 30, and the bottom being arranged on described horizontal suction cup carrier 21 in array.Described pneumatic control components 24 is divided into eight groups, described suction nozzle 23 is also divided into eight groups, suction nozzle 23 along horizontal suction cup carrier 21 fore-and-aft direction alignment is divided into one group, often organize pneumatic control components and control one group of suction nozzle, often organize pneumatic control components 24 to be made up of vacuum generator 24.1 and air operated reversing valve 24.2, described vacuum generator 24.1 is connected with suction nozzle 23 by tracheae, and described air operated reversing valve 24.2 controls circulation and the blocking-up of the tracheae between the raw device 24.1 of vacuum and suction nozzle 23.When adsorbing plate, according to weight and the size of plate, control the quantity that air operated reversing valve is opened, when adsorbing weight large scale and being large, air operated reversing valve 24.2 is all opened or major part is opened, have suction nozzle 23 quantity of inhaling negative capability many, adsorption affinity is large, when the weight of plate is less, as long as the quantity of air operated reversing valve relatively little, the suction nozzle quantity with energy of adsorption is few, and adsorption affinity is little, and the energy energy dissipating in process piled up by minimizing plate.
As shown in Figure 9, use above-mentioned engagement type driving sucker kinematic mechanism pile up plate time, frame 1 be arranged on driving surface by the mount pad bottom it, the position of fixed frame 1, ensure plate 100 pile up in process, frame 1 can not be moved.
The advantage of above-described anti-sway sucker kinematic mechanism is:
1. control the motion of Suction cup assembly 2 in frame by Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axle rotary power assembly 6, plate is adsorbed by Suction cup assembly 2, the stacking of reality plate, improves the automatization level that plate is piled up.
2. limit the swing of Z axis Power Component 5 in moving process by the anti-swinging mechanism 56 in Z axis Power Component 5, by distortion restriction P axle rotary power assembly 6 and the swing of Suction cup assembly 2 in lifting process of anti-swinging mechanism 56, namely the swing of plate 100 in moving process of being adsorbed by Suction cup assembly 2 is limited by anti-swinging mechanism 56, improve the stability in plate moving process, ensure the regularity that plate is piled up, improve the structural stability of the present invention in operational process.
The mode that 3.Y axle Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axle rotary power assembly 6 are all driven by engagement drives Suction cup assembly 2 move in frame and rotate, the moving displacement of Suction cup assembly 2 in frame and rotational angle accurate, can the neat code plate of real plate, improve the space availability ratio deposited of plate, greatly reduce plate pile up after stamp risk.
4. adsorb plate with Suction cup assembly 2, move and rotating suction disc assembly with Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axle rotary power assembly 6, the running state of Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5, P axle rotary power assembly 6 and Suction cup assembly 2 is controlled by control system, piling up fast of reality plate, that improves plate piles up efficiency, meets plate and stores in a warehouse fast and the requirement of logistics.
5. the present invention adsorbs plate by Suction cup assembly 2, avoids in the process of piling up, cause plate to scratch, and ensures that plate outward appearance is unaffected.
Below by reference to the accompanying drawings complete description is carried out to the technical scheme of embodiments of the invention, it should be noted that described embodiment is only a part of embodiment of the present invention.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.

Claims (10)

1. anti-sway sucker kinematic mechanism, comprise the frame (1) of cuboid stand shape and the Suction cup assembly (2) for adsorbing plate, Suction cup assembly (2) is placed in frame (1), characterized by further comprising the Y-axis Power Component (3) providing Suction cup assembly (2) to move power along frame (1) Width in frame (1), there is provided Suction cup assembly (2) in frame (1), move the X-axis Power Component (4) of power along frame (1) length direction, there is provided Suction cup assembly (2) in frame (1) along the Z axis Power Component (5) of frame (1) short transverse lifting drive and P axle rotary power assembly (6) that provides Suction cup assembly (2) to horizontally rotate power, described Y-axis Power Component (3), X-axis Power Component (4), Z axis Power Component (5), the running state of P axle rotary power assembly (6) and Suction cup assembly (2) all controls by control system is unified,
The crossbeam (7) across frame (1) left and right sides is equipped with at described frame (1) top, described X-axis Power Component (4) is contained on crossbeam (7), and described Z axis Power Component (5), P axle rotary power assembly (6) and Suction cup assembly (2) are arranged on the below of X-axis Power Component (4) successively along frame (1) short transverse;
Described Y-axis Power Component (3) is contained in the two ends, left and right of crossbeam (7), Y-axis Power Component (3) engages with the Y-axis stationary rack (11) being arranged on frame (1) left and right sides, crossbeam (7) described in driving moves along frame (1) left and right sides, described X-axis Power Component (4) engages with along the hard-wired X-axis stationary rack (71) of crossbeam (7), drive X-axis Power Component (4) mobile along crossbeam (7), described P axle rotary power assembly (6) engages with Suction cup assembly (2), and the Suction cup assembly (2) described in driving horizontally rotates;
Described Z axis Power Component (5) comprises Z axis mounting box (50), Z axis drive motor (51), initiatively lift by crane running roller (52), driven lifting running roller (53), Timing Belt (54), play suspender belt (55) and anti-swinging mechanism (56), described Z axis mounting box (50) is fixedly connected on immediately below X-axis Power Component (4), described initiatively lift by crane running roller (52) and the arrangement of driven lifting running roller (53) horizontal alignment and to be arranged in Z axis mounting box (50) and initiatively to lift by crane running roller (52) and driven lifting running roller (53) passes through gears meshing, described Z axis drive motor (51) is arranged on the below of Z axis mounting box (50), described Timing Belt (54) detour Z axis drive motor (51) transmission shaft and initiatively lift by crane on the roller of running roller (52), a described suspender belt (55) is along the setting of frame (1) short transverse and quantity is two, one end of one suspender belt (55) is fixed on initiatively lifts by crane on running roller (52), the other end is fixed on P axle rotary power assembly (6), one end that another root plays suspender belt (55) is fixed on driven lifting running roller (53), the other end is fixed on P axle rotary power assembly (6), Z axis drive motor (51) described in startup, driven by Timing Belt (54) and initiatively lift by crane running roller (52) rotation, driven lifting running roller (53) rotates backward with the rotation of initiatively lifting by crane running roller, two are played suspender belt (55) and are rolled simultaneously or put down, P axle rotary power assembly (6) and Suction cup assembly (2) is pulled to rise or decline, described anti-swinging mechanism (56) is arranged between Z axis mounting box (50) to P axle rotary power assembly (6), the swing of Z axis Power Component in moving process described in restriction, the described suspender belt (55) that rises is in anti-swinging mechanism (56), anti-swinging mechanism (56) is with playing rolling or put down and being out of shape of suspender belt (55), restriction P axle rotary power assembly (6) and Suction cup assembly (2) swing in lifting process.
2. anti-sway sucker kinematic mechanism according to claim 1, it is characterized in that described anti-swinging mechanism (56) comprises left roller sprocket wheel (56.1), right roller sprocket wheel (56.2), two ends are separately fixed at the chain (56.3) on left roller sprocket wheel (56.1) and right roller sprocket wheel (56.2), upper arm (56.4) and underarm (56.5), described left roller sprocket wheel (56.1) and right roller sprocket wheel (56.2) are arranged in Z axis mounting box (50), and being arranged on the below of initiatively lifting by crane running roller (52) is horizontal alignment arrangement, upper arm (56.4) is fixed respectively on the roller of left roller sprocket wheel (56.1) and on the roller of (56.2) of right roller sprocket wheel, two upper arm (56.4) are symmetrical set, two are played suspender belt (55) and are between two upper arm (56.4), the upper end of the lower end hinged underarm of difference (56.5) of two upper arm (56.4), the lower end of two underarms (56.5) is hinged on P axle rotary power assembly (6) respectively, two underarms (56.5) are for being symmetrical set, two upper arm (56.4), two underarms (56.5), Z axis mounting box (50) and P rotary power assembly (6) surround and work the swing of band (55) of slinging described in the hexagonal structure restriction that formed along frame (1) short transverse, corner dimension between described upper arm (56.4) and underarm (56.5) is rolled-up or put down and change with the described band (55) of slinging that rises, a suspender belt (55) described in restriction is in swing that is rolled-up or that put down in process.
3. anti-sway sucker kinematic mechanism according to claim 1, it is characterized in that arranging on described Timing Belt (54) side and be used for preventing Timing Belt (54) from jumping the Timing Belt tension wheel (54.1) of tooth, between described right roller sprocket wheel (56.1) and left roller sprocket wheel (56.2), two chain tension roll shafts (56.31) are set, described chain (56.3) detours on two chain tension wheel shafts (56.31), and described Timing Belt tension wheel (54.1) and chain tension roll shaft (56.31) are all contained in Z axis mounting box (50).
4. anti-sway sucker kinematic mechanism according to claim 3, it is characterized in that arranging lifting tape guide wheel (55.1) respectively in the described lower left of initiatively lifting by crane running roller (52) with from the lower right of lifting running roller (53), the described suspender belt (55) that rises vertically is connected with P axle rotary power assembly (6) by the guiding of lifting tape guide wheel (55.1), described lifting tape guide wheel (55.1) is contained in Z axis mounting box (50), and described plays lifting tape guide wheel (55.1) rotation that suspender belt (55) is rolled-up or put down described in drive.
5. anti-sway sucker kinematic mechanism according to claim 4, it is characterized in that Y-axis track adjusting wheel (72) is equipped with at the two ends, left and right of described crossbeam (7) bottom, the setting a roof beam in place of frame (1) left and right sides, top is equipped with the Y-axis guide rail (12) corresponding with Y-axis track adjusting wheel (72), described Y-axis Power Component (3) comprises Y-axis drive motor (31) and is arranged on the Y-axis driven wheel (32) on Y-axis drive motor (31), described Y-axis drive motor (31) is fixedly mounted on the two ends, left and right of crossbeam (7), Y-axis driven wheel (32) is placed in immediately below Y-axis drive motor (31), the lateral surface of setting a roof beam in place that described Y-axis stationary rack (11) is contained in frame (1) left and right sides, top respectively engages with Y-axis driven wheel (32), Y-axis drive motor (31) described in startup, described Y-axis driven wheel (32) is mobile along Y-axis stationary rack (11) engagement, Y-axis track adjusting wheel (72) described in drive is rolled along Y-axis guide rail (12) and crossbeam (7) is moved along frame (1) left and right sides.
6. anti-sway sucker kinematic mechanism according to claim 5, it is characterized in that the cuboid frame configuration that described crossbeam (7) is hollow out, crossbeam (7) framework beam along its length gives prominence to along both sides, crossbeam (7) front and back the space forming X-axis Power Component (4) installation and movement in the both sides, front and back of crossbeam (7), described X-axis stationary rack (71) is arranged on the outside of crossbeam (7) top framework beam along crossbeam (7), described X-axis Power Component (4) comprises X-axis drive motor (41), be arranged on the X-axis driven wheel (42) on X-axis drive motor (41), X-axis caterpillar wheel (43) and X-axis track adjusting wheel (44), described X-axis drive motor (41), X-axis caterpillar wheel (43) and X-axis track adjusting wheel (44) are all contained on support plate (45), described X-axis driven wheel (42) engages with X-axis stationary rack (71), described X-axis caterpillar wheel (43) is placed on the framework beam of crossbeam (7) bottom, described X-axis track adjusting wheel (44) is arranged on crossbeam (7) bottom, the X-axis guide rail (73) corresponding with X-axis track adjusting wheel (44) is equipped with in described crossbeam (7) bottom surface, X-axis drive motor (41) described in startup, described X-axis driven wheel (42) starts along X-axis stationary rack (71) engagement, driving X-axis caterpillar wheel (43) rolling and X-axis track adjusting wheel (44) on the balladeur train beam of crossbeam (7) bottom to roll along X-axis guide rail (73) makes X-axis Power Component (4) mobile along crossbeam (7).
7. want the anti-sway sucker kinematic mechanism described in 6 according to right, the quantity that it is characterized in that described X-axis caterpillar wheel (43) is four, on the framework beam that four X-axis caterpillar wheels (43) are all placed in crossbeam (7) bottom and the arrangement in horizontal rectangular, two X-axis caterpillar wheels (43) are distributed in the front side of crossbeam (7), and two other X-axis caterpillar wheel (43) is distributed in the rear side of crossbeam (7).
8. anti-sway sucker kinematic mechanism according to claim 7, it is characterized in that described P axle rotary power assembly (6) comprises P shaft coupling piece (61), P axis drive motor (62) and P axle rotary actuation gear (63) be arranged on P axis drive motor (62), described Suction cup assembly (2) comprises horizontal suction cup carrier (21), sucker big gear wheel (22), suction nozzle (23) and provide the pneumatic control components (24) of adsorption affinity for suction nozzle (23), the top of described P shaft coupling piece (61) has connected the lower end of suspender belt (55) and the lower end of underarm (56.5), described P axis drive motor (62) is arranged on the side of P shaft coupling piece (61), described P axle rotary actuation gear (63) is arranged on the below of P axis drive motor (62), the described rotating bottom being arranged on P shaft coupling piece (61) of horizontal suction cup carrier (21), the top that described sucker big gear wheel (22) is fixed on horizontal suction cup carrier (21) is engaged with P axle rotary actuation gear (63), described suction nozzle (23) is contained in horizontal suction cup carrier (21), the side that described pneumatic control components (24) is contained in P shaft coupling piece (61) is connected with suction nozzle (23) by tracheae, P axle described in startup drives advises motor (62), sucker big gear wheel (23) described in described P axle rotary actuation gear (63) engagement drives is rotated, the rotation of sucker big gear wheel (22) drives horizontal suction cup carrier (21) to rotate.
9. anti-sway sucker kinematic mechanism according to claim 8, is characterized in that the quantity of described suction nozzle (23) is 20 ~ 40, and the bottom being arranged on described horizontal suction cup carrier (21) in array.
10. anti-sway sucker kinematic mechanism according to claim 9, it is characterized in that described pneumatic control components (24) is divided into many groups, often organize the adsorption affinity that pneumatic control components (24) controls four or three suction nozzles (23), often organize pneumatic control components (24) to be made up of vacuum generator (24.1) and air operated reversing valve (24.2), described vacuum generator (24.1) is connected with suction nozzle (23) by tracheae, and described air operated reversing valve controls circulation and the blocking-up of the tracheae between the raw device (24.1) of vacuum and suction nozzle (23).
CN201510677710.2A 2015-10-20 2015-10-20 Anti-swing suction cup movement mechanism CN105253638B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0616962A1 (en) * 1993-02-22 1994-09-28 Fabriques De Tabac Reunies S.A. Method and device for detection of the number of rows of articles in the last layer of a pile on a pallet and depiling method
CN102962841A (en) * 2013-01-13 2013-03-13 中国船舶重工集团公司第七一六研究所 Overloaded manipulator of ten-shaft double-gantry
CN203439894U (en) * 2013-08-26 2014-02-19 上海中技桩业股份有限公司 Demoulding hauling hanger of concrete prefabricated part
CN104015198A (en) * 2014-06-20 2014-09-03 深圳市杨森精密机械有限公司 Joint manipulator and M-shaped both-arm robot with same
CN204414100U (en) * 2015-01-13 2015-06-24 旭东机械(昆山)有限公司 Liquid crystal panel vanning four axle arm modules

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0616962A1 (en) * 1993-02-22 1994-09-28 Fabriques De Tabac Reunies S.A. Method and device for detection of the number of rows of articles in the last layer of a pile on a pallet and depiling method
CN102962841A (en) * 2013-01-13 2013-03-13 中国船舶重工集团公司第七一六研究所 Overloaded manipulator of ten-shaft double-gantry
CN203439894U (en) * 2013-08-26 2014-02-19 上海中技桩业股份有限公司 Demoulding hauling hanger of concrete prefabricated part
CN104015198A (en) * 2014-06-20 2014-09-03 深圳市杨森精密机械有限公司 Joint manipulator and M-shaped both-arm robot with same
CN204414100U (en) * 2015-01-13 2015-06-24 旭东机械(昆山)有限公司 Liquid crystal panel vanning four axle arm modules

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