CN105253638B - Anti-swing suction cup movement mechanism - Google Patents

Anti-swing suction cup movement mechanism Download PDF

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Publication number
CN105253638B
CN105253638B CN201510677710.2A CN201510677710A CN105253638B CN 105253638 B CN105253638 B CN 105253638B CN 201510677710 A CN201510677710 A CN 201510677710A CN 105253638 B CN105253638 B CN 105253638B
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CN
China
Prior art keywords
axis
suction cup
crossbeam
wheel
power component
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CN201510677710.2A
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Chinese (zh)
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CN105253638A (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 motion
Technical field
The present invention relates to a kind of motion, relates generally to a kind of anti-sway sucker motion, for stacking plate.
Background technology
Application of the plate in industry and life than wide, automobile, refrigerator, washing machine, top-grade furniture, kitchen equipment, Industry and civil buildings etc. are required for using.In recent years in furniture production industry, gradually rise and use PCM Coil Coating Products as it The moulding material of side plate, panel.Therefore appearance requirement is also progressively increased, the storage and transport to plate will be avoided to plate as far as possible The scuffing on material surface, it is ensured that plate outward appearance is unaffected.The basis for effectively piling up the storage and the transport that are plate of plate.
Plate piles up the defect being primarily present in prior art is:
1st, plate is piled up irregular, and plate is piled up into after pile, straight sheet pile vertically not being aligned straight line, easily causes down Pile, that is, damage plate and also bring potential safety hazard.
2nd, plate piles up space, is not efficiently used, and straight sheet pile location interval is not of uniform size, the space utilization of plate storage Rate is low.
3rd, being piled up for plate need mostly a dead lift and check, and automatization level is not high.
4th, piling up for plate is carried out by automatic fetching equipment or belt transport equipment, easily causes panel surface and draw Wound, affects plate quality.
5th, to pile up efficiency low for plate, it is impossible to meets the requirement of quick storage and logistics.
The content of the invention
The present invention provides a kind of anti-sway sucker motion, realizes the quick block pattern row pattern of plate, improves what plate was piled up The gentle efficiency of Automated water, improves the space availability ratio of plate storage.
It is to reach above-mentioned purpose the technical solution used in the present invention:Anti-sway sucker motion, including cuboid stand The frame of shape and the Suction cup assembly for adsorbing plate, Suction cup assembly is placed in frame, it is characterised in that also including offer suction Disk component moves the Y-axis Power Component of power, provides Suction cup assembly in frame along frame in frame along frame width X-axis Power Component, the offer Suction cup assembly of length direction movement power is in frame along the Z axis of bracket height direction lifting drive Power Component and offer Suction cup assembly horizontally rotate the P axle rotary power components of power, described Y-axis Power Component, X-axis power The running status of component, Z axis Power Component, P axle rotary power components and Suction cup assembly is uniformly controlled by control system;
Described frame top is mounted on crossbeam equipped with the crossbeam across the frame left and right sides, described X-axis Power Component, Described Z axis Power Component, P axle rotary power components and Suction cup assembly are sequentially arranged at X-axis power packages along bracket height direction The lower section of part;
Described Y-axis Power Component is mounted in the left and right two ends of crossbeam, Y-axis Power Component be arranged on the frame left and right sides Y-axis stationary rack is engaged, and drives described crossbeam to move along the frame left and right sides, and described X-axis Power Component is solid with along crossbeam The X-axis stationary rack engagement of Dingan County's dress, drives X-axis Power Component along cross beam movement, described P axle rotary power components with inhale Disk component is engaged, and drives described Suction cup assembly to horizontally rotate;
Described Z axis Power Component include Z axis mounting box, Z axis motor, actively lift by crane running roller, driven lifting running roller, Timing Belt, suspender belt and anti-swinging mechanism, described Z axis mounting box is fixedly connected on the underface of X-axis Power Component, described master Dynamic lifting running roller and the arrangement of driven lifting running roller horizontal alignment are arranged in Z axis mounting box and actively lift by crane running roller with driven lifting Running roller is engaged by gear, and described Z axis motor is arranged on the lower section of Z axis mounting box, and described Timing Belt detours in Z axis The power transmission shaft of motor and actively lift by crane on the roller of running roller, described a suspender belt is along the setting of bracket height direction and quantity is Two, the one end for playing suspender belt is fixed on and actively lift by crane on running roller, and the other end is fixed on P axle rotary power components, another Root plays one end of suspender belt and is fixed on driven lifting running roller, and the other end is fixed on P axle rotary power components, starts described Z Axle motor, is driven by Timing Belt and actively lifts by crane running roller rotation, and driven lifting running roller is with the rotation for actively lifting by crane running roller Rotate backward, two are played suspender belt and rolled simultaneously or put down, and pull P axle rotary power components and Suction cup assembly to rise or fall, Described anti-swinging mechanism is arranged on Z axis mounting box and is moving to described Z axis Power Component between P axle rotary power components, is limited Swing during dynamic, it is described to play suspender belt in anti-swinging mechanism, anti-swinging mechanism with playing rolling or deforming putting down for suspender belt, Limit the swing of P axle rotary power components and Suction cup assembly in lifting process.
Further, described anti-swinging mechanism includes that left roller sprocket wheel, right roller sprocket wheel, two ends are separately fixed at left roller Chain, upper arm and underarm on sprocket wheel and right roller sprocket wheel, described left roller sprocket wheel and right roller sprocket wheel is installed installed in Z axis In box, and the lower section for actively lifting by crane running roller is arranged in horizontal alignment arrangement, with right roller chain on the roller of left roller sprocket wheel Fix upper arm on the roller of wheel respectively, two upper arm are symmetrical set, two are played suspender belt and are between two upper arm, two The lower end of upper arm is respectively articulated with the upper end of underarm, and the lower end of two underarms is respectively hinged on P axle rotary power components, under two To be symmetrical set, two upper arm, two underarms, Z axis mounting box and P rotary power components surround to be formed along bracket height arm The hexagonal structure in direction limits the described swing for acting band of slinging, and the corner dimension between described upper arm and underarm is with described Rise and sling and change with rolled-up or putting down, limit the described suspender belt that rises in swing rolled-up or during putting down.
Further, the synchronous belt tensioner pulley for preventing Timing Belt from jumping tooth is provided for beside described Timing Belt, in institute Two chain tension roll shafts are set between the right roller sprocket wheel stated and left roller sprocket wheel, and described chain detours in two chains On bearing up pulley axle, described synchronous belt tensioner pulley and chain tension roll shaft is mounted in Z axis mounting box.
Further, it is respectively provided with lifting in the described lower left for actively lifting by crane running roller and from the lower right of lifting running roller Band directive wheel, described lifting band is vertically connected by guiding of the lifting with directive wheel with P axle rotary power components, institute The suspender belt directive wheel that rises stated is mounted in Z axis mounting box, and the described suspender belt that rises is rolled-up or put down and drive the described suspender belt that rises to be oriented to Wheel is rotated.
Further, the left and right two ends of described crossbeam bottom are equipped with Y-axis directive wheel, in the frame of the frame top left and right sides The Y-axis guide rail corresponding with Y-axis directive wheel is housed, described Y-axis Power Component includes Y-axis motor and installed in Y on beam Y-axis drive gear on axle motor, described Y-axis motor is fixedly mounted on the left and right two ends of crossbeam, Y-axis sliding tooth Wheel is placed in the underface of Y-axis motor, described Y-axis stationary rack be attached separately to the frame top left and right sides set a roof beam in place it is outer Side is engaged with Y-axis drive gear, starts described Y-axis motor, and described Y-axis drive gear is nibbled along Y-axis stationary rack Movement is closed, driving described Y-axis directive wheel to roll along Y-axis guide rail makes crossbeam move along the frame left and right sides.
Further, described crossbeam is the cuboid frame configuration of hollow out, and crossbeam framework beam along its length is along horizontal Protrusion both sides before and after crossbeam in both sides form X-axis Power Component and install and mobile space before and after beam, described X-axis fixing tooth Bar is arranged on the outside of cross rail top framework beam along crossbeam, and described X-axis Power Component is including X-axis motor, installed in X-axis X-axis drive gear, X-axis thrust wheel and X-axis directive wheel on motor, described X-axis motor, X-axis thrust wheel and X-axis Directive wheel is mounted on support plate, and described X-axis drive gear is engaged with X-axis stationary rack, and described X-axis thrust wheel is placed in crossbeam On the framework beam of bottom, described X-axis directive wheel is arranged on crossbeam bottom, is equipped with and X-axis directive wheel on described crossbeam bottom surface Corresponding X-axis guide rail, starts described X-axis motor, and described X-axis drive gear starts along the engagement of X-axis stationary rack, Drive X-axis thrust wheel to roll on the balladeur train beam of crossbeam bottom and X-axis directive wheel is rolled along X-axis guide rail and makes X-axis Power Component edge Cross beam movement.
Further, the quantity of described X-axis thrust wheel is four, and four X-axis thrust wheels are placed in the skeleton in crossbeam portion On beam and in horizontal rectangular arrangement, two X-axis thrust wheels are distributed in the front side of crossbeam, and two other X-axis thrust wheel is distributed in horizontal stroke The rear side of beam.
Further, described P axle rotary powers component includes P shaft coupling pieces, P axles motor and drives installed in P axles P axle rotary drive gears on galvanic electricity machine, described Suction cup assembly includes horizontal suction cup carrier, sucker gear wheel, suction nozzle and to inhale Mouth provides the pneumatic control components of absorption affinity, and the top of described P shaft coupling pieces has connected the lower end of the lower end and underarm of suspender belt, Described P axles motor is arranged on the side of P shaft coupling pieces, and described P axle rotary drive gears are arranged on P axles and drive electricity The lower section of machine, rotatably installed in the bottom of P shaft coupling pieces, described sucker gear wheel is fixed on described horizontal suction cup carrier The top of horizontal suction cup carrier is engaged with P axle rotary drive gears, and described suction nozzle is mounted in horizontal suction cup carrier, described pneumatic control Element processed is mounted in the side of P shaft coupling pieces and is connected with suction nozzle by trachea, is started described P axles drive and is advised motor, described P axles rotation Turning drive gear engagement drives the rotation of described sucker bull gear drive, sucker gear wheel to drive horizontal suction cup carrier to rotate.
Further, the quantity of described suction nozzle be 20 ~ 40, and in array installed in described horizontal suction cup carrier Bottom.
Further, described pneumatic control components are divided into multigroup, four or three suctions of every group of pneumatic control components control The absorption affinity of mouth, every group of pneumatic control components are moved to valve group into described vacuum generator passes through from vacuum generator is gentle Trachea is connected with suction nozzle, and described air operated reversing valve control vacuum gives birth to the circulation and blocking of the trachea between device and suction nozzle.It is convenient For Different Weight and the plate of size, the absorbability of Suction cup assembly is adjusted.
The invention has the beneficial effects as follows:
1st, the present invention is by the control of Y-axis Power Component, X-axis Power Component, Z axis Power Component and P axle rotary powers component Motion of the Suction cup assembly in frame, by Suction cup assembly plate is adsorbed, and the stacking of real plate improves what plate was piled up Automatization level.
2nd, the present invention limits swing of the Z axis Power Component in moving process by the anti-swinging mechanism in Z axis Power Component, The swing of P axle rotary power components and Suction cup assembly in lifting process is limited by the deformation of anti-swinging mechanism, i.e., by anti-sway Mechanism limits swing of the plate adsorbed by Suction cup assembly in moving process, improves the stability in plate moving process, Ensure the regularity that plate is piled up, improve structural stability of the present invention in running.
3rd, Y-axis Power Component, X-axis Power Component, Z axis Power Component and P axle rotary power components pass through in the present invention The mode that engagement drives drives Suction cup assembly to move and rotate in frame, moving displacement and rotation of the Suction cup assembly in frame Angle is accurate, can real plate neat code plate, improve the space availability ratio of plate storage, greatly reduce falling after plate is piled up Stamp risk.
4th, plate is adsorbed with Suction cup assembly in the present invention, with Y-axis Power Component, X-axis Power Component, Z axis Power Component and P Axle rotary power component is moved and rotating suction disc component, is moved with control system control Y-axis Power Component, X-axis Power Component, Z axis The running status of power component, P axle rotary power components and Suction cup assembly, quickly piling up for real plate, improves piling up for plate Efficiency, meets the requirement that plate is quickly stored in a warehouse with logistics.
5th, the present invention adsorbs plate by Suction cup assembly, it is to avoid cause plate to scratch during piling up, it is ensured that outside plate See unaffected.
Description of the drawings
Fig. 1 is the 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 dimensional structure diagram of Z axis Power Component.
Fig. 4 is the structural representation that Y-axis Power Component is mounted on crossbeam.
Fig. 5 is the planar structure schematic diagram that X-axis Power Component is mounted on crossbeam.
Fig. 6 is the dimensional structure diagram that X-axis Power Component is mounted on crossbeam.
Fig. 7 is the planar structure schematic diagram that P axle rotary power components and suction group component connect.
Fig. 8 is the dimensional structure diagram that P axle rotary power components and suction group component connect.
Dimensional structure diagram when Fig. 9 is the anti-sway sucker motion absorption plate of the present invention.
Specific embodiment
Embodiments of the invention are elaborated with reference to Fig. 1 to Fig. 9.
As shown in figure 1, anti-sway sucker motion, including cuboid stand shape frame 1 and for adsorbing plate Suction cup assembly 2, Suction cup assembly 2 is placed in frame 1, also interior along the shifting of the width of frame 1 in frame 1 including Suction cup assembly 2 is provided Y-axis Power Component 3, the offer Suction cup assembly 2 of power move the X-axis power packages of power in frame 1 along the length direction of frame 1 Part 4, offer Suction cup assembly 2 are in frame 1 along the Z axis Power Component 5 and offer Suction cup assembly of the short transverse lifting drive of frame 1 The 2 P axle rotary powers components 6 for horizontally rotating power;
Equipped with the crossbeam 7 across the left and right sides of frame 1, described X-axis Power Component 4 is mounted in horizontal stroke at the described top of frame 1 On beam 7, described Z axis Power Component 5, P axle rotary powers component 6 and Suction cup assembly 2 are sequentially arranged at along the short transverse of frame 1 The lower section of X-axis Power Component 4;Described Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5, P axle rotary power groups The running status of part 6 and Suction cup assembly 2 is uniformly controlled by control system, and control system is arranged on the automatically controlled of the side of frame 1 In cabinet.
As shown in Figures 2 and 3, described Z axis Power Component 5 includes Z axis mounting box 50, Z axis motor 51, actively rises Messenger wheel 52, driven lifting running roller 53, Timing Belt 54, suspender belt 55 and anti-swinging mechanism 56, described Z axis mounting box 50 is fixed and connected The underface of X-axis Power Component 4 is connected on, described actively lifts by crane running roller 52 and driven lifting running roller 53 horizontal alignment arrangement installation Lift by crane in Z axis mounting box 50 and actively running roller 52 to engage by gear with driven lifting running roller 53, described Z axis motor 51 lower sections for being arranged on Z axis mounting box 50, power transmission shaft and actively lifting that described Timing Belt 54 detours in Z axis motor 51 On the roller of running roller 52, suspender belt 55 is arranged along the short transverse of frame 1 and quantity is two, play suspender belt 55 one for described rising End is fixed on and actively lift by crane on running roller 52, and the other end is fixed on P axle rotary powers component 6, another one end for playing suspender belt 55 It is fixed on driven lifting running roller 53, the other end is fixed on P axle rotary powers component 6, starts described Z axis motor 51, running roller 52 is actively lifted by crane by the driving of Timing Belt 54 and is rotated, driven lifting running roller 53 is anti-with the rotation for actively lifting by crane running roller To rotation, two are played suspender belts 55 and are rolled simultaneously or put down, pull P axle rotary powers component 6 and Suction cup assembly 2 to rise or under Drop, described anti-swinging mechanism 56 is arranged on Z axis mounting box 50 between P axle rotary powers component 6, limits described Z axis power Swing of the component in moving process, described plays suspender belt 55 in anti-swinging mechanism 56, and anti-swinging mechanism 56 is with a suspender belt 55 Roll or put down and deform, limit the swing of P axle rotary powers component 6 and Suction cup assembly 2 in lifting process.
Described anti-swinging mechanism 56 includes that left roller sprocket wheel 56.1, right roller sprocket wheel 56.2, two ends are separately fixed at left roller Chain 56.3, upper arm 56.4 and underarm 56.5 on cylinder sprocket wheel 56.1 and right roller sprocket wheel 56.2, described left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 be arranged in Z axis mounting box 50, and be arranged on and actively lift by crane the lower section of running roller 52 in level Alignment, on the roller of left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 roller on respectively fix upper arm 56.4, two Individual upper arm 56.4 is symmetrical set, and two are played suspender belt 55 between two upper arm 56.4, and the lower end of two upper arm 56.4 is divided The upper end of underarm 56.5 is not hinged, the lower end of two underarms 56.5 is respectively hinged on P axle rotary powers component 6, two underarms 56.5 to be symmetrical set, and two upper arm, 56.4, two underarms 56.5, Z axis mounting box 50 and P rotary powers component 6 surround Form rising described in the hexagonal structure restriction along the short transverse of frame 1 to sling with 55 swing, described upper arm 56.4 is with Corner dimension between arm 56.5 is rolled-up or change putting down with the described band 55 of slinging that rises, and limits the described suspender belt 55 that rises and exists Swing rolled-up or during putting down.
The synchronous belt tensioner pulley 54.1 for preventing Timing Belt 54 from jumping tooth is provided on the described side of Timing Belt 54, described Right roller sprocket wheel 56.1 and left roller sprocket wheel 56.2 between arrange two chain tension roll shafts 56.31, described chain 56.3 Detour on two chain tension wheel shafts 56.31, described synchronous belt tensioner pulley 54.1 and chain tension roll shaft 56.31 is mounted in In Z axis mounting box 50.
In the described lower left for actively lifting by crane running roller 52 and from the lower right of lifting running roller 53 is respectively provided with, suspender belt is led To wheel 55.1, it is described rise suspender belt 55 by rise the guiding of suspender belt directive wheel 55.1 vertically with P axle rotary powers component 6 Connection, the described suspender belt directive wheel 55.1 that rises is mounted in Z axis mounting box 50, and the described suspender belt 55 that rises is rolled-up or put down drive The described suspender belt directive wheel 55.1 that rises is rotated.
From figure 3, it can be seen that it is rolled-up in a suspender belt 55, when P axle rotary powers component 6 rises, drive underarm 56.5 Lower end rise, two underarms 56.4 rotate backward, and the angle between upper arm 56.4 and underarm 56.5 is gradually reduced, and will rotate Upper arm 56.4 is passed to, the upper end of two upper arm 56.4 is separately fixed on left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 On, because left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 are fixed on immovable in Z axis mounting box, therefore two upper arm 56.4 rotate rotating around left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2, and the two ends of chain 56.3 are separately fixed at left roller chain On wheel 56.1 and right roller sprocket wheel 56.2, the transmission of chain 56.3, it is ensured that left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 to Opposite direction is rotated at the same speed, therefore ensures that two upper arm 56.4 keep symmetrical in rotation process, has limited suspender belt 55 in quilt Swing in turn-up process, so as to ensure the stability of P axle rotary powers component 6 and Suction cup assembly 5 in uphill process.Rising Suspender belt 55 is laid down, and when P axles put the decline of rotatory force component 6, the angle between upper arm 56.4 and underarm 56.5 gradually increases, P axles Rotary power component 6 declines, and the lower end for driving underarm 56.5 declines, and two underarms 56.4 are rotated backward, and rotation is passed to Upper arm 56.4, the upper end of two upper arm 56.4 be separately fixed on left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 on, due to Left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 are fixed on immovable in Z axis mounting box, therefore two upper arm 56.4 distinguish Rotate around left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2, the two ends of chain 56.3 are separately fixed at the left He of roller sprocket wheel 56.1 On right roller sprocket wheel 56.2, the transmission of chain 56.3, it is ensured that left roller sprocket wheel 56.1 and right roller sprocket wheel 56.2 are same to opposite direction Speed is rotated, therefore ensures that two upper arm 56.4 keep symmetrical in rotation process, has been limited suspender belt 55 and has been laid down process In swing, so as to ensure the stability of P axle rotary powers component 6 and Suction cup assembly 2 during decline.
When Z axis Power Component 5 is moved with X-axis Power Component 4 and Y-axis Power Component 3 along the width of frame 1 and length direction When dynamic, two upper arm in Z axis Power Component 5,56.4, two underarms 56.5 and Z axis mounting box 50 and P rotary powers component 6 Surround the hexagonal structure to be formed along the short transverse of frame 1 and limit described rising and sling with 55 swing, so as to ensure to be connected to Z The P axle rotary powers component 6 and Suction cup assembly 2 of the lower section of axle Power Component 2 is being moved through along the length direction of frame 1 and width Stability in journey.Thus, P axles rotary power component 6 and Suction cup assembly 2 are along the length of frame 1, width and height three directions Mobile stability is guaranteed by anti-swinging mechanism 56, i.e., limit the plate adsorbed by Suction cup assembly by anti-swinging mechanism 56 Swing of the material in moving process, improves the stability in plate moving process, it is ensured that the regularity that plate is piled up, and improves anti- Structural stability of the pendulum sucker motion in running.
As shown in figure 4, the left and right two ends of the described bottom of crossbeam 7 are equipped with Y-axis directive wheel 72, in the top of frame 1 left and right two Setting a roof beam in place for side is upper equipped with the Y-axis guide rail 12 corresponding with Y-axis directive wheel 72, and described Y-axis Power Component 3 includes that Y-axis drives electricity Machine 31 and the Y-axis drive gear 32 on Y-axis motor 31, described Y-axis motor 31 is fixedly mounted on crossbeam 7 Left and right two ends, Y-axis drive gear 32 is placed in the underface of Y-axis motor 31, and described Y-axis stationary rack 11 is attached separately to The lateral surface set a roof beam in place of the top left and right sides of frame 1 is engaged with Y-axis drive gear 32, starts described Y-axis motor 31, institute The Y-axis drive gear 32 stated is moved along the engagement of Y-axis stationary rack 11, drives described Y-axis directive wheel 72 to roll along Y-axis guide rail 12 Crossbeam 7 is set to move along the left and right sides of frame 1.Crossbeam 7 is by the Y-axis on Y-axis directive wheel 72 and the top left and right side frames beam of frame 1 Guide rail 12 coordinates along the movement of the left and right sides of frame 1, Y-axis directive wheel 72 and the cooperation of Y-axis guide rail 12, increased the movement of crossbeam 7 Stability, is moved by engagement of the Y-axis drive gear 32 along Y-axis stationary rack 11, and the rolling for Y-axis directive wheel 72 provides dynamic Power, the mobile displacement of gear engagement is accurate, it is ensured that the precision of the moving displacement of crossbeam, X-axis Power Component 4, Z axis power packages Part 5, P axles Power Component 6 and Suction cup assembly 2 are moved with the movement of crossbeam 7, so as to ensure X-axis Power Component 4, Z axis power packages The moving displacement precision of part 5, P axles Power Component 6 and Suction cup assembly 2 along the width of frame 1.
As shown in Figure 5 and Figure 6, described crossbeam 7 for hollow out cuboid frame configuration, the bone along its length of crossbeam 7 Setting a roof beam in place along both sides protrusion before and after crossbeam 7, both sides formation X-axis Power Component 4 is installed and mobile space before and after crossbeam 7, described X-axis stationary rack 71 outside of the top framework beam of crossbeam 7 is arranged on along crossbeam 7, described X-axis Power Component 4 drives including X-axis Galvanic electricity machine 41, the X-axis drive gear 42 on X-axis motor 41, X-axis thrust wheel 43 and X-axis directive wheel 44, it is described X-axis motor 41, X-axis thrust wheel 43 and X-axis directive wheel 44 be mounted on support plate 45, described X-axis drive gear 42 and X Axle stationary rack 71 is engaged, and described X-axis thrust wheel 43 is placed on the framework beam of the bottom of crossbeam 7, and described X-axis directive wheel 44 sets Put in the bottom of crossbeam 7, the X-axis guide rail 73 corresponding with X-axis directive wheel 44 is housed on the described bottom surface of crossbeam 7, start described X Axle motor 41, described X-axis drive gear 42 starts along the engagement of X-axis stationary rack 71, drives X-axis thrust wheel 43 in crossbeam Roll on the balladeur train beam of 7 bottoms and X-axis directive wheel 44 is rolled along X-axis guide rail 73 and X-axis Power Component 4 is moved along crossbeam 7.Institute The quantity of the X-axis thrust wheel 43 stated is four, and four X-axis thrust wheels 43 are placed on the framework beam of the bottom of crossbeam 7 and in level Rectangular arranged, two X-axis thrust wheels 43 are distributed in the front side of crossbeam 7, and two other X-axis thrust wheel 43 is distributed in after crossbeam 7 Side.
X-axis Power Component is oriented in the X-axis guide rail 73 for being moved through X-axis directive wheel 44 and the bottom surface of crossbeam 7 along crossbeam 7, Ensure the stability that X-axis Power Component is moved on crossbeam 7, furthermore, because the lower section of X-axis Power Component 4 is connected to Z axis power packages Part 5, P axles Power Component 6 and Suction cup assembly 2, therefore the load-bearing of X-axis Power Component 4 is larger, and by X-axis thrust wheel 43 weight is carried Amount, increases stability of the X-axis Power Component 4 in moving process, when plate is adsorbed on Suction cup assembly 2, X-axis Power Component 4 Carrying it is bigger, four X-axis thrust wheels 43 can have compared with share load-carrying, it is ensured that Suction cup assembly 2 when heavier plate is adsorbed, X-axis Power Component can still keep stable movement, greatly improve described in the mobile stationarity and embodiment of X-axis Power Component Engagement type driving sucker motion structural stability and reliability.
As shown in Figure 7 and Figure 8, described P axle rotary powers component 6 includes P shaft coupling pieces 61, the and of P axles motor 62 P axles rotary drive gear 63 on P axles motor 62, described Suction cup assembly 2 includes horizontal suction cup carrier 21, sucker Gear wheel 22, suction nozzle 23 and the pneumatic control components 24 for providing absorption affinity for suction nozzle 23, the top of described P shaft coupling pieces 61 connects The lower end of suspender belt 55 and the lower end of underarm 56.5 are picked up, described P axles motor 62 is arranged on the side of P shaft coupling pieces 61, Described P axles rotary drive gear 63 is arranged on the lower section of P axles motor 62, and described horizontal suction cup carrier 21 is rotatable Installed in the bottom of P shaft coupling pieces 61, described sucker gear wheel 22 is fixed on the top of horizontal suction cup carrier 21 and the rotation of P axles is driven Moving gear 63 is engaged, and described suction nozzle 23 is mounted in horizontal suction cup carrier 21, and described pneumatic control components 24 are mounted in P shaft coupling pieces 61 side is connected by trachea with suction nozzle 23, is started described P axles drive and is advised motor 62, described P axles rotary drive gear 63 Engagement drives described sucker gear wheel 23 to rotate, and the horizontal suction cup carrier 21 of rotation drive of sucker gear wheel 22 is rotated.Level is inhaled Plate rail 21 is rotated with the rotation of sucker gear wheel 22, and the rotation of sucker gear wheel 22 engages drive by P axles rotary drive gear 63 It is dynamic, by the working condition for controlling P axles motor 62, the angle of the rotation of P axles rotary drive gear 63 is controlled, so as to control The rotational angle of the 22 of sucker gear wheel, makes the rotational angle of sucker gear wheel 22 precisely, and the angle of horizontal suction cup carrier 21 can turn It is dynamic, facilitate the position difference absorption of plate and piling up for the various angles of plate.
As shown in figure 8, the quantity of described suction nozzle 23 be 30, and in array installed in described horizontal sucker The bottom of frame 21.24 points described of pneumatic control components are eight groups, and described suction nozzle 23 is also classified into eight groups, along horizontal suction cup carrier 21 The suction nozzle 23 of fore-and-aft direction alignment is divided into one group, and every group of pneumatic control components control one group of suction nozzle, every group of pneumatic control unit Part 24 is made up of vacuum generator 24.1 and air operated reversing valve 24.2, and described vacuum generator 24.1 is by trachea and suction nozzle 23 Connection, the described control vacuum of air operated reversing valve 24.2 gives birth to the circulation and blocking of the trachea between device 24.1 and suction nozzle 23.Inhaling During attached plate material, according to the weight and size of plate, the quantity that air operated reversing valve is opened is controlled, when adsorbing weight large scale and being big, Air operated reversing valve 24.2 is all turned on or most of unlatching, and many with the quantity of suction nozzle 23 for inhaling negative capability, absorption affinity is big, works as plate When the weight of material is less, if air operated reversing valve quantity it is relatively small, the suction nozzle quantity with energy of adsorption is few, absorption affinity It is little, reduce the energy energy dissipating during plate is piled up.
As shown in figure 9, when plate is piled up using above-mentioned engagement type driving sucker motion, frame 1 by it The mounting seat of bottom is arranged on work surface, the position of fixed frame 1, it is ensured that during plate 100 is piled up, and frame 1 will not be sent out Raw movement.
The advantage of above-described anti-sway sucker motion is:
1. inhaled by the control of Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axle rotary powers component 6 Motion of the disk component 2 in frame, by Suction cup assembly 2 plate is adsorbed, and the stacking of real plate improves what plate was piled up Automatization level.
2. swing of the Z axis Power Component 5 in moving process is limited by the anti-swinging mechanism 56 in Z axis Power Component 5, led to The deformation for crossing anti-swinging mechanism 56 limits the swing of P axle rotary powers component 6 and Suction cup assembly 2 in lifting process, i.e., by anti- Swinging mechanism 56 limits swing of the plate 100 adsorbed by Suction cup assembly 2 in moving process, in improving plate moving process Stability, it is ensured that the regularity that plate is piled up, improves structural stability of the present invention in running.
3.Y axles Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axle rotary powers component 6 are by engagement The mode of driving drives Suction cup assembly 2 to move and rotate in frame, moving displacement and angle of rotation of the Suction cup assembly 2 in frame Degree is accurate, can real plate neat code plate, improve the space availability ratio of plate storage, greatly reduce stamping after plate is piled up Risk.
4. adsorb plate with Suction cup assembly 2, revolved with Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axles Rotatory force component 6 is moved and rotating suction disc component, with control system control Y-axis Power Component 3, X-axis Power Component 4, Z axis power The running status of component 5, P axle rotary powers component 6 and Suction cup assembly 2, quickly piling up for real plate, improves piling up for plate Efficiency, meets the requirement that plate is quickly stored in a warehouse with logistics.
5. the present invention adsorbs plate by Suction cup assembly 2, it is to avoid cause plate to scratch during piling up, it is ensured that outside plate See unaffected.
The technical scheme of embodiments of the invention is completely described above in association with accompanying drawing, it should be noted that described Embodiment be only the present invention a part of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art exist The every other embodiment obtained on the premise of not making creative work, belongs to the scope of protection of the invention.

Claims (9)

1. the frame of anti-sway sucker motion, including cuboid stand shape(1)With for adsorbing the Suction cup assembly of plate (2), Suction cup assembly(2)It is placed in frame(1)It is interior, it is characterised in that also including offer Suction cup assembly(2)In frame(1)It is interior along frame (1)Width moves the Y-axis Power Component of power(3), provide Suction cup assembly(2)In frame(1)It is interior along frame(1)Length side To the X-axis Power Component of mobile power(4), provide Suction cup assembly(2)In frame(1)It is interior along frame(1)Short transverse lifting is dynamic The Z axis Power Component of power(5)With offer Suction cup assembly(2)Horizontally rotate the P axle rotary power components of power(6), described Y-axis Power Component(3), X-axis Power Component(4), Z axis Power Component(5), P axle rotary power components(6)And Suction cup assembly(2)Fortune Row state is uniformly controlled by control system;
Described frame(1)Top is equipped with across frame(1)The crossbeam of the left and right sides(7), described X-axis Power Component(4)Dress In crossbeam(7)On, described Z axis Power Component(5), P axle rotary power components(6)And Suction cup assembly(2)Along frame(1)Highly Direction is sequentially arranged at X-axis Power Component(4)Lower section;
Described Y-axis Power Component(3)It is mounted in crossbeam(7)Left and right two ends, Y-axis Power Component(3)With installed in frame(1)It is left The Y-axis stationary rack of right both sides(11)Engagement, drives described crossbeam(7)Along frame(1)The left and right sides is moved, described X-axis Power Component(4)With along crossbeam(7)Hard-wired X-axis stationary rack(71)Engagement, drives X-axis Power Component(4)Along crossbeam (7)Mobile, described P axle rotary power components(6)With Suction cup assembly(2)Engagement, drives described Suction cup assembly(2)Level Rotate;
Described Z axis Power Component(5)Including Z axis mounting box(50), Z axis motor(51), actively lift by crane running roller(52)、 Driven lifting running roller(53), Timing Belt(54), rise suspender belt(55)With anti-swinging mechanism(56), described Z axis mounting box(50)It is fixed It is connected to X-axis Power Component(4)Underface, described actively lifts by crane running roller(52)With driven lifting running roller(53)Horizontal alignment Arrangement is arranged on Z axis mounting box(50)It is interior and actively lift by crane running roller(52)With driven lifting running roller(53)Engaged by gear, institute The Z axis motor stated(51)Installed in Z axis mounting box(50)Lower section, described Timing Belt(54)Detour and drive electricity in Z axis Machine(51)Power transmission shaft and actively lift by crane running roller(52)Roller on, it is described to play suspender belt(55)Along frame(1)Short transverse sets Put and quantity is two, one is played suspender belt(55)One end be fixed on and actively lift by crane running roller(52)On, the other end is fixed on the rotation of P axles Rotatory force component(6)On, another is played suspender belt(55)One end be fixed on driven lifting running roller(53)On, the other end is fixed on P Axle rotary power component(6)On, start described Z axis motor(51), driven by Timing Belt (54) and actively lift by crane running roller (52)Rotate, driven lifting running roller(53)Rotate backward with the rotation of running roller is actively lifted by crane, two are played suspender belt(55)By simultaneously Roll or put down, pull P axle rotary power components(6)And Suction cup assembly(2)Rise or fall, described anti-swinging mechanism(56)Peace It is mounted in Z axis mounting box(50)To P axle rotary power components(6)Between, the described Z axis Power Component of restriction is in moving process Swing, it is described to play suspender belt(55)In anti-swinging mechanism(56)In, anti-swinging mechanism(56)With a suspender belt(55)Roll or put Deform down, limit P axle rotary power components(6)And Suction cup assembly(2) swing in lifting process;
Described anti-swinging mechanism(56)Including left roller sprocket wheel(56.1), right roller sprocket wheel(56.2), two ends be separately fixed at a left side Roller sprocket wheel(56.1)With right roller sprocket wheel(56.2) chain on(56.3), upper arm(56.4)And underarm(56.5), it is described Left roller sprocket wheel(56.1)With right roller sprocket wheel(56.2) installed in Z axis mounting box(50)It is interior, and be arranged on and actively rise messenger Wheel(52)Lower section in horizontal alignment arrange, left roller sprocket wheel(56.1)Roller on and right roller sprocket wheel(56.2)Roller It is upper to fix upper arm respectively(56.4), two upper arm(56.4)It is symmetrical set, two are played suspender belt(55)In two upper arm (56.4)Between, two upper arm(56.4)Lower end be respectively articulated with underarm(56.5)Upper end, two underarms(56.5)Lower end It is respectively hinged at P axle rotary power components(6)On, two underarms(56.5)To be symmetrical set, two upper arm(56.4), two Individual underarm (56.5), Z axis mounting box(50)With P rotary power components(6)Surround to be formed along frame(1) six sides of short transverse Shape structure limits a described suspender belt(55)Swing, described upper arm(56.4)And underarm(56.5)Between corner dimension with Described plays suspender belt(55)It is rolled-up or put down and change, limit and described play suspender belt(55)Rolled-up or during putting down Swing.
2. anti-sway sucker motion according to claim 1, it is characterised in that set on described Timing Belt (54) side Put for preventing Timing Belt(54)Jump the synchronous belt tensioner pulley of tooth(54.1), in described right roller sprocket wheel(56.1)With left roller Sprocket wheel(56.2)Between arrange two chain tension roll shafts(56.31), described chain(56.3)Detour in two chain tensions Wheel shaft(56.31)On, described synchronous belt tensioner pulley(54.1)With chain tension roll shaft(56.31)It is mounted in Z axis mounting box (50)It is interior.
3. anti-sway sucker motion according to claim 2, it is characterised in that actively lift by crane running roller in described(52) Lower left and from lifting running roller(53)Lower right be respectively provided with suspender belt directive wheel(55.1), described plays suspender belt(55)It is logical Suspender belt directive wheel is crossed(55.1)Guiding vertically with P axle rotary power components(6)Connection, the described suspender belt that rises is oriented to Wheel(55.1)It is mounted in Z axis mounting box(50)Interior, described plays suspender belt(55)The suspender belt that rises that is rolled-up or putting down described in drive is oriented to Wheel(55.1)Rotate.
4. anti-sway sucker motion according to claim 3, it is characterised in that described crossbeam(7)The left and right two of bottom End is equipped with Y-axis directive wheel(72), in frame(1)Upper being equipped with and Y-axis directive wheel of setting a roof beam in place of the top left and right sides(72)Corresponding Y Axis rail(12), described Y-axis Power Component(3)Including Y-axis motor(31)With installed in Y-axis motor(31)On Y-axis drive gear(32), described Y-axis motor(31)It is fixedly mounted on crossbeam(7)Left and right two ends, Y-axis drive gear (32)It is placed in Y-axis motor(31)Underface, described Y-axis stationary rack(11)It is attached separately to frame(1)Top left and right The lateral surface set a roof beam in place of both sides and Y-axis drive gear(32)Engagement, starts described Y-axis motor(31), described Y-axis drives Moving gear(32)Along Y-axis stationary rack(11)Engagement movement, drives described Y-axis directive wheel(72)Along Y-axis guide rail(12)Roll Make crossbeam(7)Along frame(1)Move the left and right sides.
5. anti-sway sucker motion according to claim 4, it is characterised in that described crossbeam(7)For the rectangular of hollow out Body frame configuration, crossbeam(7)Framework beam along its length is along crossbeam(7) both sides protrusion is in crossbeam before and after(7)Before and after both sides Form X-axis Power Component(4)Install and mobile space, described X-axis stationary rack(71)Along crossbeam(7)Installed in crossbeam (7)The outside of top framework beam, described X-axis Power Component(4)Including X-axis motor(41), installed in X-axis motor (41)On X-axis drive gear(42), X-axis thrust wheel(43)With X-axis directive wheel(44), described X-axis motor(41)、X Axle thrust wheel(43)With X-axis directive wheel(44)It is mounted in support plate(45)On, described X-axis drive gear(42)With X-axis fixing tooth Bar(71)Engagement, described X-axis thrust wheel(43)It is placed in crossbeam(7)On the framework beam of bottom, described X-axis directive wheel(44)If Put in crossbeam(7)Bottom, described crossbeam(7)It is equipped with and X-axis directive wheel on bottom surface(44)Corresponding X-axis guide rail(73), open Move described X-axis motor(41), described X-axis drive gear(42)Along X-axis stationary rack(71)Engagement starts, and drives X Axle thrust wheel(43)In crossbeam(7)Roll and X-axis directive wheel on the balladeur train beam of bottom(44)Along X-axis guide rail(73)Rolling makes X-axis Power Component(4)Along crossbeam(7)It is mobile.
6. the anti-sway sucker motion according to right wants 5, it is characterised in that described X-axis thrust wheel(43)Quantity be Four, four X-axis thrust wheels(43)It is placed in crossbeam(7)On the framework beam of bottom and in horizontal rectangular arrangement, two X-axis Zhi Chong Wheel(43)It is distributed in crossbeam(7)Front side, two other X-axis thrust wheel(43)It is distributed in crossbeam(7)Rear side.
7. anti-sway sucker motion according to claim 6, it is characterised in that described P axle rotary power components(6) Including P shaft coupling pieces(61), P axle motors(62)With installed in P axle motors(62)On P axle rotary drive gears (63), described Suction cup assembly(2)Including horizontal suction cup carrier(21), sucker gear wheel(22), suction nozzle(23)With for suction nozzle(23) The pneumatic control components of absorption affinity are provided(24), described P shaft coupling pieces(61)Top connected suspender belt(55)Lower end and Underarm(56.5)Lower end, described P axle motors(62)Installed in P shaft coupling pieces(61)Side, described P axles rotation Turn drive gear(63)It is arranged on P axle motors(62)Lower section, described horizontal suction cup carrier(21)Rotatably it is arranged on P Shaft coupling piece(61)Bottom, described sucker gear wheel(22)It is fixed on horizontal suction cup carrier(21)The rotation of top and P axles drive Moving gear(63)Engagement, described suction nozzle(23)It is mounted in horizontal suction cup carrier(21)On, described pneumatic control components(24)It is mounted in P Shaft coupling piece(61)Side by trachea and suction nozzle(23)Connection, starts described P axle motors(62), described P axles Rotary drive gear(63)Engagement drives described sucker gear wheel(22)Rotate, sucker gear wheel(22)Rotation drive level Suction cup carrier(21)Rotate.
8. anti-sway sucker motion according to claim 7, it is characterised in that described suction nozzle(23)Quantity be 20 ~ 40, and in array installed in described horizontal suction cup carrier(21)Bottom.
9. anti-sway sucker motion according to claim 8, it is characterised in that described pneumatic control components(24)Point For multigroup, every group of pneumatic control components(24)Control four or three suction nozzles(23)Absorption affinity, every group of pneumatic control components (24)By vacuum generator(24.1)And air operated reversing valve(24.2)Composition, described vacuum generator(24.1)By trachea with Suction nozzle(23)Connection, described air operated reversing valve control vacuum life device(24.1)With suction nozzle(23)Between trachea circulation with resistance It is disconnected.
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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