CN105600559A - Meshing-type drive sucking disc movement mechanism - Google Patents
Meshing-type drive sucking disc movement mechanism Download PDFInfo
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- CN105600559A CN105600559A CN201510677738.6A CN201510677738A CN105600559A CN 105600559 A CN105600559 A CN 105600559A CN 201510677738 A CN201510677738 A CN 201510677738A CN 105600559 A CN105600559 A CN 105600559A
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Abstract
A meshing-type drive sucking disc movement mechanism comprises a rack shaped like a cuboid vertical frame, and a sucking disc assembly for adsorbing plate materials, wherein the sucking disc assembly is arranged in the rack; the meshing-type drive sucking disc movement mechanism is characterized by also comprising a Y-axis power assembly for providing power enabling the sucking disc assembly to move along the width direction of the rack in the rack, an X-axis power assembly for providing power enabling the sucking disc assembly to move along the length direction of the rack in the rack, a Z-axis power assembly for providing power enabling the sucking disc assembly to ascend and descend along the height direction of the rack in the rack, and a P-axis power assembly for providing power enabling the sucking disc assembly to rotate horizontally; operation states of the Y-axis power assembly, the X-axis power assembly, the Z-axis power assembly and the P-axis power assembly are all controlled by a control system uniformly. By adopting the meshing-type drive sucking disc movement mechanism provided by the invention, quick and order stacking of the plate materials is realized, the automation degree and efficiency of plate material stacking are improved, and the space use rate of plate material stacking is increased.
Description
Technical field
The present invention relates to a kind of motion, relate generally to a kind of engagement type driving sucker motion, for Automatic CodePut plate.
Background technology
The application of plate in industry and life is more extensive, automobile, refrigerator, washing machine, top-grade furniture, kitchen equipment,Industry and civil buildings etc. all need to use. At furniture production industry, rise gradually and use PCM Coil Coating Products as it in recent yearsThe moulding material of side plate, panel. Therefore appearance requirement is also progressively increased, the storage to plate and transport will be avoided plate as far as possibleExpect surperficial scuffing, 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 defect of main existence and is:
1, plate is piled up irregularly, and plate is piled up into after buttress, and vertically being aligned straight line not of straight sheet pile, easily causes collapse of setting,Damage plate and also bring potential safety hazard.
2, plate is piled up space, is not fully utilized, and straight sheet pile location interval is not of uniform size, the space utilization that plate is depositedRate 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 drawWound, affects plate quality.
5, to pile up efficiency low for plate, cannot meet the requirement of quick storage and logistics.
Summary of the invention
The invention provides a kind of engagement type driving sucker motion, realize the quick block pattern row pattern of plate, improve plateThe gentle efficiency of Automated water of piling up, improves the space availability ratio that plate is deposited.
For achieving the above object, the technical solution used in the present invention is: engagement type driving sucker motion, comprises rectangularThe frame of body stand shape and for adsorbing the Suction cup assembly of plate, Suction cup assembly is placed in frame, characterized by further comprisingProvide Suction cup assembly in frame along frame width move power Y-axis Power Component, provide Suction cup assembly in frameAlong frame length direction move power X-axis Power Component, provide Suction cup assembly moving along the lifting of bracket height direction in frameThe Z axis Power Component of power and the P axle rotary power assembly that provides Suction cup assembly to horizontally rotate power;
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, described inZ axis Power Component, P axle rotary power assembly and Suction cup assembly be arranged on successively X-axis Power Component along bracket height directionBelow;
Described Y-axis Power Component is contained in the two ends, left and right of crossbeam, Y-axis Power Component and the Y-axis that is arranged on the frame left and right sidesStationary rack engagement, drives described crossbeam to move along the frame left and right sides, described X-axis Power Component with along the fixing peace of crossbeamThe X-axis stationary rack engagement of dress, drives X-axis Power Component along cross beam movement, described P axle rotary power assembly and sucker groupPart engagement, drives described Suction cup assembly to horizontally rotate;
Described Z axis Power Component comprises Z axis mounting box, Z axis drive motors, lifting running roller and along the setting of support height directionSteel wire rope, described Z axis mounting box be fixedly connected on X-axis Power Component under, described lifting running roller is arranged on Z axisIn mounting box, described Z axis drive motors is fixed on Z axis mounting box below, and the quantity of described lifting running roller is two and waterFlat alignment is arranged, the gear engagement of two lifting running rollers, and described Z axis drive motors connects by Timing Belt and a lifting running rollerConnect, on two lifting running rollers, fix respectively steel wire rope, steel wire rope one end is fixed on the roller of lifting running roller, and the other end is fixed onOn P axle rotary power assembly, start described Z axis drive motors, drive the lifting running roller of two engagements contrary by Timing BeltRotate, the roller of two contrary lifting running rollers that rotate is rolled two steel wire ropes simultaneously or puts down, and pulls described P axle rotationPower Component and Suction cup assembly rise or decline;
The operation of described Y-axis Power Component, X-axis Power Component, Z axis Power Component, P axle rotary power assembly and Suction cup assemblyState is all unified to control by control system.
Further, two suspender belts are also housed in described Z axis mounting box and open wheel, the suspender belt that rises described in two is opened wheelThe below of two lifting running rollers is arranged and be arranged on to horizontal alignment, and two lifting running rollers and two suspender belts are opened wheel and are up-small and down-bigTrapezoidal arrangement, two are played suspender belts and open wheel and contact with steel wire rope respectively, steel wire rope is rolled-up or driven suspender belt to open wheel while putting downRotate. Steel wire rope is rolled-up and while putting down, opens wheel and produces pressure playing a suspender belt, increases the kinetic stability of steel wire rope.
Further, described Z axis Power Component also comprises maintenance roller gear, keeping arm and tumbler gear, describedKeep roller gear and tumbler gear to be all arranged on suspender belt and open the below of wheel and horizontally fill in Z axis mounting box, keep circleThe quantity of stud wheel and tumbler gear is two, and two tumbler gears are sandwiched in two and keep, between roller gear, keeping circleStud wheel equates with the gear diameter of tumbler gear, two tumbler gears engagement contacts and contact two with keeping Cylinder Gear engagementOn individual maintenance roller gear, symmetrical keeping arm is housed respectively, described keeping arm is by the identical upper arm of length and underarm groupBecome, the upper end of described upper arm is affixed with maintenance roller gear, and the lower end of upper arm is hinged by the upper end of turning joint and underarm,Described P axle rotary power assembly and sucker group, by turning joint and P axle rotary power member hinges, are limited in the lower end of underarmThe swing of part in moving process, increases P axle rotary power assembly and the stability of Suction cup assembly in moving process, makes suckerAssembly can not produce swing in moving process, and the displacement that Suction cup assembly moves in frame is more accurate.
Further, Y-axis directive wheel is equipped with at the two ends, left and right of described crossbeam bottom, at the frame of the frame top left and right sidesThe Y-axis guide rail corresponding with Y-axis directive wheel is housed on beam, and described Y-axis Power Component comprises Y-axis drive motors and is arranged on YY-axis driven wheel on axis drive motor, described Y-axis drive motors is fixedly mounted on the two ends, left and right of crossbeam, Y-axis driving gearWheel be placed in Y-axis drive motors under, described Y-axis stationary rack be contained in respectively the frame top left and right sides set a roof beam in place outsideEngage with Y-axis driven wheel side, starts described Y-axis drive motors, and described Y-axis driven wheel is nibbled along Y-axis stationary rackClose movement, drive described Y-axis directive wheel to roll crossbeam is moved along the frame left and right sides along Y-axis guide rail.
Further, the cuboid frame configuration that described crossbeam is hollow out, crossbeam framework beam is along its length along horizontal strokeBefore and after beam, the two side-prominent both sides, front and back at crossbeam form the space that X-axis Power Component is installed and moved, described X-axis fixed teethBar is arranged on the outside of crossbeam top framework beam along crossbeam, described X-axis Power Component comprises X-axis drive motors, is arranged on X-axisX-axis driven wheel, X-axis thrust wheel and X-axis directive wheel on drive motors, described X-axis drive motors, X-axis thrust wheel and X-axisDirective wheel is all contained on support plate, and described X-axis driven wheel engages with X-axis stationary rack, and described X-axis thrust wheel is placed in crossbeamOn the framework beam of bottom, described X-axis directive wheel is arranged on crossbeam bottom, on described crossbeam bottom surface, is equipped with and X-axis directive wheelCorresponding X-axis guide rail, starts described X-axis drive motors, and described X-axis driven wheel is mobile along the engagement of X-axis stationary rack,Drive X-axis thrust wheel rolls on the balladeur train beam of crossbeam bottom and X-axis directive wheel rolls and makes X-axis Power Component edge along X-axis guide railCross beam movement.
Further, the quantity of described X-axis thrust wheel is four, and four X-axis thrust wheels are all placed in the bone of crossbeam bottomSet a roof beam in place upper and be 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 inThe rear side of crossbeam. Four X-axis thrust wheels are shared the load-bearing of X-axis Power Component, X-axis Power Component can be born larger from hanging downNogata to carrying, increase X-axis Power Component mobile stationarity on crossbeam.
Further, described P axle rotary power assembly comprises P shaft coupling piece, P axis drive motor and is arranged on P axle and drivesP axle on moving motor rotarilys actuate gear, and described Suction cup assembly comprises horizontal suction cup carrier, sucker gear wheel, suction nozzle and is suctionMouth provides the pneumatic control components of absorption affinity, the lower end of top connecting steel wire ropes of described P shaft coupling piece and the lower end of underarm,Described P axis drive motor is arranged on the side of P shaft coupling piece, and described P axle rotarilys actuate gear and is arranged on P axle driving electricityThe below of machine, the rotating bottom that is arranged on P shaft coupling piece of described horizontal suction cup carrier, described sucker gear wheel is fixed onThe top of horizontal suction cup carrier rotarilys actuate gear with P axle and engages, and described suction nozzle is contained in horizontal suction cup carrier, described pneumatic controlThe side that element processed is contained in P shaft coupling piece is connected with sucker by tracheae, starts described P axis drive motor, and described P axle revolvesTurn driven wheel engagement and drive described sucker gear wheel to rotate, the rotation of sucker gear wheel drives horizontal suction cup carrier to rotate. P axleRotarily actuate gear and the engagement of sucker gear wheel, ensure that the anglec of rotation of Suction cup assembly is accurate.
Further, the quantity of described suction nozzle is 20 ~ 40, and is the described horizontal suction cup carrier that is arranged on of arrayBottom.
Further, described pneumatic control components is divided into many groups, four or three suctions of every group of pneumatic control components controlThe absorption affinity of mouth, every group of pneumatic control components is made up of vacuum generator and air operated reversing valve, and described vacuum generator passes throughTracheae is connected with suction nozzle, circulation and the blocking-up of the tracheae between the raw device of described air operated reversing valve control vacuum and suction nozzle. ConvenientFor the plate of Different Weight and size, adjust the adsorption capacity of Suction cup assembly.
The invention has the beneficial effects as follows:
1, the present invention is by Y-axis Power Component, X-axis Power Component, Z axis Power Component and P axle rotary power assembly control suckerThe motion of assembly in frame, adsorbs plate by Suction cup assembly, the stacking of real plate, and it is automatic that raising plate is piled upChange level.
2, in the present invention, Y-axis Power Component, X-axis Power Component, Z axis Power Component and P axle rotary power assembly all pass throughThe mode that engagement drives drives Suction cup assembly in frame, move and rotate, moving displacement and the rotation of Suction cup assembly in frameAngle is accurate, and neat code plate that can real plate, improves the space availability ratio that plate is deposited, falling after greatly reducing plate and piling upStamp risk.
3, in the present invention, adsorb plate with Suction cup assembly, with Y-axis Power Component, X-axis Power Component, Z axis Power Component and PAxle rotary power assembly moves and rotating suction disc assembly, moving with control system control Y-axis Power Component, X-axis Power Component, Z axisThe running status of power assembly, P axle rotary power assembly and Suction cup assembly, piling up fast of real plate, improves piling up of plateEfficiency, meets the requirement of the quick storage of plate and logistics.
4, the present invention is adsorbed plate by Suction cup assembly, avoids causing plate to scratch in the process of piling up, and ensures outside plateSee unaffected.
Brief description of the drawings
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 while not fixing steel wire rope on lifting running roller.
Fig. 4 is that Y-axis Power Component is contained in the structural representation on crossbeam.
Fig. 5 is that X-axis Power Component is contained in the planar structure schematic diagram on crossbeam.
Fig. 6 is that X-axis Power Component is contained in the perspective view 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 engagement type driving sucker motion 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, engagement type driving sucker motion, comprise the frame 1 of cuboid stand shape and for absorptionThe Suction cup assembly 2 of plate, Suction cup assembly 2 is placed in frame 1, also comprises that Suction cup assembly 2 is provided is interior along frame 1 width in frame 1Direction move power Y-axis Power Component 3, provide Suction cup assembly 2 in the interior X-axis that moves power along frame 1 length direction of frame 1Power Component 4, provide Suction cup assembly 2 at the interior Z axis Power Component 5 along frame 1 short transverse lifting drive of frame 1 and suction is providedDish assembly 2 horizontally rotates the P axle rotary power assembly 6 of power;
The crossbeam 7 across frame 1 left and right sides is equipped with at described frame 1 top, and described X-axis Power Component 4 is contained in crossbeam 7Upper, described Z axis Power Component 5, P axle rotary power assembly 6 and Suction cup assembly 2 are arranged on X-axis successively along frame 1 short transverseThe below of Power Component 4; Described Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5, P axle rotary power assembly 6All unify to control by control system with the running status of Suction cup assembly 2, control system is arranged on the electrical control cubicles on frame 1 sideIn.
As shown in Figures 2 and 3, described Z axis Power Component 5 comprises Z axis mounting box 50, Z axis drive motors 51, liftingRunning roller 52 and the steel wire rope 53 arranging along support 1 short transverse, described Z axis mounting box 50 is fixedly connected on X-axis Power Component 4Under, described lifting running roller 52 is arranged in Z axis mounting box 50, described Z axis drive motors 51 be fixed on Z axis installBox 50 belows, the quantity of described lifting running roller 52 is two and horizontal alignment arrangement, the gears engagement of two lifting running rollers 52,Described Z axis drive motors 51 is connected with a lifting running roller 52 by Timing Belt, on two lifting running rollers 52, fixes respectively steelSilk rope 53, steel wire rope 53 one end are fixed on the roller of lifting running roller 52, and the other end is fixed on P axle rotary power assembly 6, opensMoving described Z axis drive motors 51, drives the lifting running roller 52 of two engagements to rotate on the contrary by Timing Belt, two contrary rotationsThe roller of lifting running roller 52 two steel wire ropes 53 are rolled simultaneously or are put down, pull described P axle rotary power assembly 6 and inhaleDish assembly 2 rises or declines.
In described Z axis mounting box 50, being also equipped with two plays suspender belts and opens the rise suspender belt of wheel described in 54, two and open wheel 54 levelsThe belows of two lifting running rollers 52 are arranged and are arranged in alignment, two lifting running rollers 52 and two suspender belts open take turns 54 present little underLarge trapezoidal arrangement, two are played suspender belts and open wheel 54 and contact with steel wire rope 53 respectively, and steel wire rope 53 is rolled-up or drive while putting downSuspender belt is opened wheel 54 and is rotated. Steel wire rope 53 is rolled-up and while putting down, opens wheel and produces pressure playing a suspender belt, and the motion that increases steel wire rope is steadyQualitative.
Described Z axis Power Component 5 also comprises maintenance roller gear 55, keeping arm 56 and tumbler gear 57, described guarantorHold roller gear 55 and tumbler gear 57 and be all arranged on suspender belt and open wheel 54 below and horizontally fill in Z axis mounting box 50,Keep the quantity of roller gear 55 and tumbler gear 57 to be two, two tumbler gears 57 are sandwiched in two and keep roller gearBetween 55, keep roller gear 55 to equate with the gear diameter of tumbler gear 57, two tumbler gears 57 engage contact and with guarantorHold Cylinder Gear 55 engagement contacts, symmetrical keeping arm 56, described guarantor are housed respectively on the maintenance roller gear 55 of twoGripping arm 56 is made up of the identical upper arm 56.1 of length and underarm 56.2, the upper end of described upper arm 56.1 and maintenance roller gear 55Affixed, the lower end of upper arm 56.1 is hinged by the upper end of turning joint and underarm 56.2, and rotating hinge is passed through in the lower end of underarm 56.2Chain and P axle rotary power assembly 6 are hinged, and the P axle rotary power assembly 6 that restriction is described and Suction cup assembly 2 are in motion processSwing.
As can see from Figure 3, be contained in and keep cylinder to take turns by upper arm 561.1 and the hinged keeping arm forming 56 of underarm 56.2Between the top of 55 cylinder and P axle rotary power assembly 6, wherein upper arm 56.1 is affixed with keeping cylinder wheel 55, underarm56.2 with P axle rotary power assembly 6 be hinged. In the time that P axle rotary power assembly 6 is pulled rising or declines by steel wire rope 53, P axleRotary power assembly 6 drives two underarms 56.2 to rotate backward, and rotation is passed to upper arm 56.1 by underarm 56.2, and upper arm 56.1 turnsMove and drive the maintenance cylinder wheel 55 affixed with upper arm 56.1 to rotate, engage rotation with maintenance cylinder wheel 55 tumbler gears 57 of nibbling KazakhstanEnsure that two maintenance cylinders wheel 55 keeps reverse synchronized rotations, the angle between upper arm 56.1 and underarm 56.2 reduces, on twoArm 56.1 keeps symmetrical, and two underarms 56.2 keep symmetrical, and upper arm 56.1 and underarm 56.2 are with the volume of steel wire rope 53Play or put down motion together, limited the swing of steel wire rope 53 in the time rolling or put down, thus restriction P axle rotary power assembly 6With the swing of Suction cup assembly 2 in process of rising or falling. When Z axis Power Component moves and assembly 4 with Y-axis Power Component 3 and X-axisWhile movement along the width of frame 1 and length direction, two protection arms 56 and Z axis mounting box 50 and P axle turn Power Component 6Composition hexagonal structure, increases the spatial stability of Z axis Power Component, makes Z axis Power Component along frame 1 width and lengthWhen the motion of degree direction, can not produce swing, thus, P axle rotary power assembly 6 and Suction cup assembly 2 are along frame 1 height, width and lengthThe swing of three directions of degree is all limited, and ensures P axle rotary power assembly 6 and Suction cup assembly 2 stability in mobile process,Even if the larger plate of absorption weight, also can have good spatial stability, the displacement that plate moves is more accurate, furtherImprove the regularity piled up of plate, it is higher that plate is piled up space availability ratio, and it is less that plate is stamped the risk of collapsing.
As shown in Figure 4, Y-axis directive wheel 72 is equipped with at the two ends, left and right of described crossbeam 7 bottoms, in frame 1 left and right, top twoOn the setting a roof beam in place of side, the Y-axis guide rail 12 corresponding with Y-axis directive wheel 72 is housed, described Y-axis Power Component 3 comprises that Y-axis drives electricityMachine 31 and be arranged on the Y-axis driven wheel 32 on Y-axis drive motors 31, described Y-axis drive motors 31 is fixedly mounted on crossbeam 7Two ends, left and right, Y-axis driven wheel 32 be placed in Y-axis drive motors 31 under, described Y-axis stationary rack 11 is contained in respectivelyThe lateral surface of setting a roof beam in place of frame 1 left and right sides, top engages with Y-axis driven wheel 32, starts described Y-axis drive motors 31, instituteThe Y-axis driven wheel 32 of stating is mobile along 11 engagements of Y-axis stationary rack, drives described Y-axis directive wheel 72 to roll along Y-axis guide rail 12Crossbeam 7 is moved along frame 1 left and right sides. Crossbeam 7 is by the Y-axis on Y-axis directive wheel 72 and frame 1 left and right, top side frames beamGuide rail 12 coordinates along frame 1 left and right sides and moves, Y-axis directive wheel 72 coordinates with Y-axis guide rail 12, has increased that crossbeam 7 movesStability, moves along the engagement of Y-axis stationary rack 11 by Y-axis driven wheel 32, for the rolling of Y-axis directive wheel 72 provides movingPower, the displacement that gear engagement is moved is accurate, can ensure the precision of the moving displacement of crossbeam, X-axis Power Component 4, Z axis power packagesPart 5, P axle Power Component 6 and Suction cup assembly 2 move with the movement of crossbeam 7, thereby ensure X-axis Power Component 4, Z axis power packagesPart 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, the cuboid frame configuration that described crossbeam 7 is hollow out, crossbeam 7 bone along its lengthThe side-prominent formation of the both sides, front and back at the crossbeam 7 X-axis Power Component 4 along crossbeam 7 front and back two of setting a roof beam in place is installed and mobile space, described inX-axis stationary rack 71 be arranged on the outside of crossbeam 7 top framework beams along crossbeam 7, described X-axis Power Component 4 comprises that X-axis drivesMove motor 41, be arranged on X-axis driven wheel 42, X-axis thrust wheel 43 and X-axis directive wheel 44 on X-axis drive motors 41, described inX-axis drive motors 41, X-axis thrust wheel 43 and X-axis directive wheel 44 be all contained on support plate 45, described X-axis driven wheel 42 and XAxle stationary rack 71 engages, and described X-axis thrust wheel 43 is placed on the framework beam of crossbeam 7 bottoms, and described X-axis directive wheel 44 is establishedPut in crossbeam 7 bottoms, on described crossbeam 7 bottom surfaces, the X-axis guide rail 73 corresponding with X-axis directive wheel 44 is housed, start described XAxis drive motor 41, described X-axis driven wheel 42 is mobile along 71 engagements of X-axis stationary rack, drives X-axis thrust wheel 43 at crossbeamOn the balladeur train beam of 7 bottoms, rolling and X-axis directive wheel 44 roll X-axis Power Component 4 are moved along crossbeam 7 along X-axis guide rail 73. InstituteThe quantity of the X-axis thrust wheel 43 of stating is four, and four X-axis thrust wheels 43 are all placed on the framework beam of crossbeam 7 bottoms and are levelRectangular arranged, two X-axis thrust wheels 43 are distributed in the front side of crossbeam 7, two other X-axis thrust wheel 43 be distributed in crossbeam 7 afterSide.
X-axis Power Component leads at the X-axis guide rail 73 that moves through X-axis directive wheel 44 and crossbeam 7 bottom surfaces along crossbeam 7,Ensure the stability that X-axis Power Component moves on crossbeam 7, moreover, because X-axis Power Component 4 belows have connected Z axis power packagesPart 5, P axle Power Component 6 and Suction cup assembly 2, therefore the load-bearing of X-axis Power Component 4 is larger, heavy by 43 carryings of X-axis thrust wheelAmount, increases the stability of X-axis Power Component 4 in moving process, in the time adsorbing plate on Suction cup assembly 2, and X-axis Power Component 4Carrying larger, four X-axis thrust wheels 43 can have the load-carrying of sharing, ensure that Suction cup assembly 2 is in absorption when heavier plate, X-axisPower Component still can keep stable movement, greatly improves described in the mobile stationarity and embodiment of X-axis Power ComponentStructural stability and the reliability of engagement type driving sucker motion.
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 andThe P axle being arranged on P axis drive motor 62 rotarilys actuate gear 63, and described Suction cup assembly 2 comprises horizontal suction cup carrier 21, suckerGear wheel 22, suction nozzle 23 and for suction nozzle 23 provides the pneumatic control components 24 of absorption affinity, the top of described P shaft coupling piece 61 connectsConnect the lower end of steel wire rope 53 and the lower end of underarm 56.2, 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, and described horizontal suction cup carrier 21 is rotatingBe arranged on the bottom of P shaft coupling piece 61, described sucker gear wheel 22 is fixed on top and the rotation of P axle of horizontal suction cup carrier 21 and drivesMoving gear 63 engages, and described suction nozzle 23 is contained in horizontal suction cup carrier 21, and described pneumatic control components 24 is contained in P shaft coupling piece61 side is connected with suction nozzle 23 by tracheae, starts described P axis drive motor 62, and described P axle rotarilys actuate gear 63Engagement drives described sucker gear wheel 23 to rotate, and the rotation of sucker gear wheel 22 drives horizontal suction cup carrier 21 to rotate. Level is inhaledPlate rail 21 rotates with the rotation of sucker gear wheel 22, and the rotation of sucker gear wheel 22 rotarilys actuate gear 63 engagements by P axle and drivesMoving, by controlling the duty of P axis drive motor 62, control P axle the angle that rotarilys actuate the rotation of gear 63, thereby control22 rotational angle of sucker gear wheel, makes the rotational angle of sucker gear wheel 22 accurate, and the angle of horizontal suction cup carrier 21 can turnMoving, facilitate the different absorption of plate in position and piling up of the various angles of plate.
As shown in Figure 8, the quantity of described suction nozzle 23 is 30, and is the described horizontal sucker that is arranged on of arrayThe bottom of frame 21. Described pneumatic control components 24 is divided into eight groups, and described suction nozzle 23 is also divided into eight groups, along horizontal suction cup carrier 21The suction nozzle 23 that fore-and-aft direction alignment is arranged is divided into one group, one group of suction nozzle of every group of pneumatic control components control, every group of pneumatic control unitPart 24 is made up of vacuum generator 24.1 and air operated reversing valve 24.2, and described vacuum generator 24.1 is by tracheae and suction nozzle 23Connect, described air operated reversing valve 24.2 is controlled circulation and the blocking-up of the tracheae between the raw device 24.1 of vacuum and suction nozzle 23. InhalingWhen attached plate material, according to the weight of plate and size, control the quantity that air operated reversing valve is opened, in the time that absorption weight large scale is large,Air operated reversing valve 24.2 is all opened or most of unlatching, and suction nozzle 23 quantity with suction negative capability are many, and absorption affinity is large, works as plateThe weight of material hour, as long as the quantity of air operated reversing valve relatively little, the suction nozzle quantity with energy of adsorption is few, absorption affinityLittle, reduce plate and pile up the energy energy dissipating in process.
As shown in Figure 9, when the engagement type driving sucker motion of stating is in the use piled up plate, frame 1 pass through itThe mount pad of bottom is arranged on working face, the position of fixed frame 1, and guarantee plate 100 is piled up in process, and frame 1 can not be sent outRaw mobile.
The advantage of above-described engagement type driving sucker motion is:
1. control sucker group by Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axle rotary power assembly 6The motion of part 2 in frame, adsorbs plate by Suction cup assembly 2, the stacking of real plate 100, and raising plate is piled upAutomatization level.
2.Y axle Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axle rotary power assembly 6 are all by engagementThe mode driving drives Suction cup assembly 2 in frame, move and rotate, moving displacement and the angle of rotation of Suction cup assembly 2 in frameAccurately, neat code plate that can real plate, improves the space availability ratio that plate is deposited to degree, stamping after greatly reducing plate and piling upRisk.
3. adsorb plate with Suction cup assembly 2, revolve with Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axleRotatory force assembly 6 moves and rotating suction disc assembly 2, moving with control system control Y-axis Power Component 3, X-axis Power Component 4, Z axisThe running status of power assembly 5, P axle rotary power assembly 2 and Suction cup assembly 2, piling up fast of real plate, improves the code of platePut efficiency, meet the requirement of the quick storage of plate and logistics.
4. adsorb plate by Suction cup assembly 2, avoid causing plate to scratch in the process of piling up, ensure that plate outward appearance is not subject toImpact.
Below by reference to the accompanying drawings the technical scheme of embodiments of the invention is carried out to complete description, it should be noted that describeEmbodiment be only a part of embodiment of the present invention. Based on the embodiment in the present invention, those of ordinary skill in the art existDo not make the every other embodiment obtaining under the prerequisite of creative work, all belong to the scope of protection of the invention.
Claims (9)
1. engagement type driving sucker motion, comprises the frame (1) of cuboid stand shape and for adsorbing the sucker of plateAssembly (2), Suction cup assembly (2) is placed in frame (1), characterized by further comprising Suction cup assembly (2) edge in frame (1) is providedFrame (1) width move power Y-axis Power Component (3), provide Suction cup assembly (2) long along frame (1) in frame (1)Degree direction move power X-axis Power Component (4), provide Suction cup assembly (2) in frame (1) along frame (1) short transverse literThe P axle rotary power assembly (6) that falls the Z axis Power Component (5) of power and provide 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) dressUpper at crossbeam (7), described Z axis Power Component (5), P axle rotary power assembly (6) and Suction cup assembly (2) are along frame (1) highlyDirection is arranged on the below of X-axis Power Component (4) successively;
Described Y-axis Power Component (3) is contained in the two ends, left and right of crossbeam (7), Y-axis Power Component (3) be arranged on frame (1) left sideY-axis stationary rack (11) engagement of right both sides, drives described crossbeam (7) to move along frame (1) left and right sides, described X-axisPower Component (4) with engage along the hard-wired X-axis stationary rack of crossbeam (7) (71), drive X-axis Power Component (4) along crossbeam(7) mobile, described P axle rotary power assembly (6) engages with Suction cup assembly (2), drives described Suction cup assembly (2) levelRotate;
Described Z axis Power Component (5) comprises Z axis mounting box (50), Z axis drive motors (51), lifting running roller (52) and edgeThe steel wire rope (53) that frame (1) short transverse arranges, described Z axis mounting box (50) is just being fixedly connected on X-axis Power Component (4)Below, described lifting running roller (52) is arranged in Z axis mounting box (50), and described Z axis drive motors (51) is fixed on Z axis peaceMounted box (50) below, the quantity of described lifting running roller (52) is two and horizontal alignment arrangement, two lifting running rollers (52)Gear engagement, described Z axis drive motors (51) is connected with a lifting running roller (52) by Timing Belt, two lifting running rollers(52) on, fix respectively steel wire rope (53), steel wire rope (53) one end is fixed on the roller of lifting running roller (52), and the other end is fixedUpper at P axle rotary power assembly (6), start described Z axis drive motors (51), drive the lifting of two engagements by Timing BeltRunning roller (52) rotates on the contrary, and the roller of two contrary lifting running rollers (52) that rotate is rolled two steel wire ropes (53) simultaneously or putsUnder, pull described P axle rotary power assembly (6) and Suction cup assembly (2) to rise or decline;
Described Y-axis Power Component (3), X-axis Power Component (4), Z axis Power Component (5), P axle rotary power assembly (6) and suctionThe running status of dish assembly (2) is all unified to control by control system.
2. engagement type driving sucker motion according to claim 1, is characterized in that described Z axis mounting box(50) two suspender belts are also housed in and open wheel (54), the suspender belt described in two is opened wheel (54) horizontal alignment and is arranged and be arranged on twoThe below of individual lifting running roller (52), two lifting running rollers (52) play suspender belts and open wheel (54) and be up-small and down-big trapezoidal row with twoRow, two are played suspender belts and open wheel (54) and contact with steel wire rope (53) respectively, and steel wire rope (53) is rolled-up or driven suspender belt while putting downOpening wheel (54) rotates.
3. engagement type driving sucker motion according to claim 2, is characterized in that described Z axis Power Component(5) also comprise and keep roller gear (55), keeping arm (56) and tumbler gear (57), described maintenance roller gear (55) and changingAll be arranged on suspender belt to gear (57) and opened the below of wheel (54) and be horizontally contained in Z axis mounting box (50), kept cylinderThe quantity of gear (55) and tumbler gear (57) is two, and two tumbler gears (57) are sandwiched in two and keep roller gear(55), between, keep roller gear (55) to equate with the gear diameter of tumbler gear (57), two tumbler gears (57) joggle(d) jointTouch and contact with keeping Cylinder Gear (55) engagement, two keep, on roller gear (55), symmetrical keeping arm is housed respectively(56), described keeping arm (56) is made up of the identical upper arm of length (56.1) and underarm (56.2), described upper arm (56.1)Upper end with keep roller gear (55) affixed, cut with scissors the upper end of the lower end of upper arm (56.1) by turning joint and underarm (56.2)Connect, the lower end of underarm (56.2) is hinged by turning joint and P axle rotary power assembly (6), the P axle rotary power that restriction is describedAssembly (6) and the swing of Suction cup assembly (2) in moving process.
4. engagement type driving sucker motion according to claim 3, crossbeam (7) bottom described in it is characterized in thatY-axis directive wheel (72) is equipped with at two ends, left and right, on the setting a roof beam in place of frame (1) left and right sides, top, is equipped with and Y-axis directive wheel (72) phaseCorresponding Y-axis guide rail (12), described Y-axis Power Component (3) comprises Y-axis drive motors (31) and is arranged on Y-axis drive motors(31) the Y-axis driven wheel (32) on, described Y-axis drive motors (31) is fixedly mounted on the two ends, left and right of crossbeam (7), Y-axisDriven wheel (32) be placed in Y-axis drive motors (31) under, described Y-axis stationary rack (11) is contained in respectively frame (1)The lateral surface of setting a roof beam in place of the left and right sides, top engages with Y-axis driven wheel (32), starts described Y-axis drive motors (31), instituteThe Y-axis driven wheel (32) of stating is mobile along Y-axis stationary rack (11) engagement, drives described Y-axis directive wheel (72) along Y-axis guide rail(12) roll crossbeam (7) is moved along frame (1) left and right sides.
5. engagement type driving sucker motion according to claim 4, is characterized in that described crossbeam (7) is for hollow outCuboid frame configuration, crossbeam (7) framework beam is along its length along two side-prominent before crossbeam (7) before and after crossbeam (7)Rear both sides form the space that X-axis Power Component (4) is installed and moved, and described X-axis stationary rack (71) is arranged on along crossbeam (7)The outside of crossbeam (7) top framework beam, described X-axis Power Component (4) comprises X-axis drive motors (41), is arranged on X-axis drivingX-axis driven wheel (42), X-axis thrust wheel (43) and X-axis directive wheel (44) on motor (41), described X-axis drive motors(41), X-axis thrust wheel (43) and X-axis directive wheel (44) are all contained in support plate (45) above, described X-axis driven wheel (42) and X-axisStationary rack (71) engagement, described X-axis thrust wheel (43) is placed on the framework beam of crossbeam (7) bottom, described X-axis directive wheel(44) be arranged on crossbeam (7) bottom, on described crossbeam (7) bottom surface, the X-axis guide rail corresponding with X-axis directive wheel (44) be housed(73), start described X-axis drive motors (41), described X-axis driven wheel (42) moves along X-axis stationary rack (71) engagementMoving, drive X-axis thrust wheel (43) rolls on the balladeur train beam of crossbeam (7) bottom and X-axis directive wheel (44) rolls along X-axis guide rail (73)The moving X-axis Power Component (4) that makes is mobile along crossbeam (7).
6. engagement type driving sucker motion according to claim 5, is characterized in that described X-axis thrust wheel (43)Quantity be four, four X-axis thrust wheels (43) are all placed on the framework beam of crossbeam (7) bottom and are horizontal rectangular and arrange, twoIndividual X-axis thrust wheel (43) is distributed in the front side of crossbeam (7), and two other X-axis thrust wheel (43) is distributed in the rear side of crossbeam (7).
7. engagement type driving sucker motion according to claim 6, is characterized in that described P axle rotary power groupPart (6) comprises P shaft coupling piece (61), P axis drive motor (62) and is arranged on the P axle rotary actuation on P axis drive motor (62)Gear (63), described Suction cup assembly (2) comprises horizontal suction cup carrier (21), sucker gear wheel (22), suction nozzle (23) and is suction nozzle(23) provide the pneumatic control components (24) of absorption affinity, under the top connecting steel wire ropes (53) of described P shaft coupling piece (61)The lower end of end and underarm (56.2), described P axis drive motor (62) is arranged on the side of P shaft coupling piece (61), described PAxle rotary actuation gear (63) is arranged on the below of P axis drive motor (62), the described rotating peace of horizontal suction cup carrier (21)Be contained in the bottom of P shaft coupling piece (61), top and P axle that described sucker gear wheel (22) is fixed on horizontal suction cup carrier (21) revolveTurn driven wheel (63) engagement, it is upper that described suction nozzle (23) is contained in horizontal suction cup carrier (21), described pneumatic control components (24)The side that is contained in P shaft coupling piece (61) is connected with suction nozzle (23) by tracheae, starts described P axis drive motor (62), described inP axle rotarily actuate gear (63) engagement and drive described sucker gear wheel (23) to rotate, the rotation band of sucker gear wheel (22)Moving horizontal suction cup carrier (21) is rotated.
8. engagement type driving sucker motion according to claim 7, the number of the suction nozzle (23) described in it is characterized in thatAmount is 20 ~ 40, and is the bottom that is arranged on described horizontal suction cup carrier (21) of array.
9. engagement type driving sucker motion according to claim 8, is characterized in that described pneumatic control components(24) be divided into many groups, the absorption affinity of four of every group of pneumatic control components (24) controls or three suction nozzles (23), every group of pneumatic controlElement (24) is made up of vacuum generator (24.1) and air operated reversing valve (24.2), and described vacuum generator (24.1) passes through gasPipe is connected with suction nozzle (23), the circulation of the tracheae between the described raw device of air operated reversing valve control vacuum (24.1) and suction nozzle (23)With blocking-up.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510677738.6A CN105600559B (en) | 2015-10-20 | 2015-10-20 | Engagement type driving sucker motion |
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| CN201510677738.6A CN105600559B (en) | 2015-10-20 | 2015-10-20 | Engagement type driving sucker motion |
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| WO2021017491A1 (en) * | 2019-07-26 | 2021-02-04 | 南通跃通数控设备股份有限公司 | Transport robot having large-span curved arm gantry for woodwork furniture |
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| Publication number | Publication date |
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| CN105600559B (en) | 2017-07-18 |
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