CN105600559B - Engagement type driving sucker motion - Google Patents
Engagement type driving sucker motion Download PDFInfo
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- CN105600559B CN105600559B CN201510677738.6A CN201510677738A CN105600559B CN 105600559 B CN105600559 B CN 105600559B CN 201510677738 A CN201510677738 A CN 201510677738A CN 105600559 B CN105600559 B CN 105600559B
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- power component
- suction cup
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- frame
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Abstract
Engagement type driving sucker motion, frame including cuboid stand shape and the Suction cup assembly for adsorbing plate, Suction cup assembly is placed in frame, it is characterised in that also including provide Suction cup assembly in frame along frame width move the Y-axis Power Component of power, provide Suction cup assembly in frame along frame length direction move the X-axis Power Component of power, provide Suction cup assembly in frame along bracket height direction lifting drive Z axis Power Component and Suction cup assembly be provided horizontally rotate the P axle rotary power components of power；Described Y-axis Power Component, X-axis Power Component, Z axis Power Component, the running status of P axle rotary power components and Suction cup assembly are uniformly controlled by control system.The engagement type driving sucker motion that the present invention is provided, realizes the quick block pattern row pattern of plate, improves the gentle efficiency of Automated water that plate is piled up, and improves the space availability ratio of plate storage.
Description
Technical field
The present invention relates to a kind of motion, a kind of engagement type driving sucker motion is related generally to, for Automatic Code
Put 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 to be used 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
Expect the scuffing on 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, which piles up the defect being primarily present, in the 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, piling up for plate needs manual freight handling and checked mostly, 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, influences 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 engagement type driving sucker motion, realizes the quick block pattern row pattern of plate, improves plate
The gentle efficiency of Automated water piled up, improves the space availability ratio of plate storage.
To reach above-mentioned purpose, the technical solution adopted by the present invention is：Engagement type driving sucker motion, including it is rectangular
The frame of body stand shape and the Suction cup assembly for adsorbing plate, Suction cup assembly are placed in frame, it is characterised in that also included
Suction cup assembly is provided to move the Y-axis Power Component of power along frame width in frame, provide Suction cup assembly in frame
The X-axis Power Component of power, offer Suction cup assembly are moved along frame length direction to lift and move along bracket height direction in frame
The Z axis Power Component and offer Suction cup assembly of power horizontally rotate the P axle rotary power components of power；
Described frame top is equipped with the crossbeam across the frame left and right sides, and described X-axis Power Component is mounted on crossbeam,
Described Z axis Power Component, P axle rotary power components and Suction cup assembly is 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 ends of crossbeam, and Y-axis Power Component is with being arranged on the frame left and right sides
Y-axis stationary rack is engaged, and the described crossbeam of driving is moved along the frame left and right sides, and described X-axis Power Component along crossbeam with consolidating
The X-axis stationary rack engagement of Dingan County's dress, driving X-axis Power Component is along cross beam movement, and described P axle rotary power components are with inhaling
Disk component is engaged, and the described Suction cup assembly of driving horizontally rotates；
Described Z axis Power Component includes Z axis mounting box, Z axis motor, lifting disk roller and along support height direction
The steel wire rope of setting, described Z axis mounting box is fixedly connected on the underface of X-axis Power Component, and described lifting disk roller is installed
In Z axis mounting box, described Z axis motor is fixed on below Z axis mounting box, and the quantity of described lifting disk roller is two
And horizontal alignment is arranged, the gear engagement of two lifting disk rollers, described Z axis motor plays messenger by Timing Belt and one
Steel wire rope is fixed respectively on wheel connection, two lifting disk rollers, and steel wire rope one end is fixed on the roller of lifting disk roller, and the other end is solid
It is scheduled on P axle rotary power components, starts described Z axis motor, the lifting disk roller of two engagements is driven by Timing Belt
Reversely rotated, two steel wire ropes are rolled or put down simultaneously by the roller of two reversely rotated lifting disk rollers, pull described P axles
Rotary power component and Suction cup assembly rise or fall;
Described Y-axis Power Component, X-axis Power Component, Z axis Power Component, P axle rotary power components and Suction cup assembly
Running status is uniformly controlled by control system.
Further, two are also equipped with described Z axis mounting box and plays suspender belt wheel, suspender belt wheel is played described in two
Horizontal alignment arranges and is arranged on the lower section of two lifting disk rollers, and two lifting disk rollers play suspender belt wheel in up-small and down-big with two
Echelon formation, two are played suspender belts wheel and are contacted respectively with steel wire rope, and steel wire rope is rolled-up or has driven suspender belt to open when putting down and takes turns
Rotate.When steel wire rope is rolled-up and put down, pressure is produced to playing suspender belt wheel, increases the kinetic stability of steel wire rope.
Further, described Z axis Power Component also includes keeping roller gear, retaining arm and tumbler gear, described
Keeping roller gear and tumbler gear to be arranged at, suspender belt opens the lower section of wheel and horizontal row is equipped in Z axis mounting box, keeps circle
The quantity of stud wheel and tumbler gear is two, and two tumbler gears are sandwiched between two holding roller gears, keep circle
Stud wheel is equal with the gear diameter of tumbler gear, and two tumbler gear engagements are contacted and contacted with keeping Cylinder Gear engagement, two
Symmetrical retaining arm is respectively provided with individual holding roller gear, described retaining arm is by length identical upper arm and underarm group
Into, the upper end of described upper arm and keep that roller gear is affixed, the lower end of upper arm is hinged by the upper end of turning joint and underarm,
The lower end of underarm is by turning joint and P axle rotary power member hinges, P axle rotary power components and sucker group described in limitation
Swing of the part in moving process, the stability of increase P axle rotary power components and Suction cup assembly in moving process, makes sucker
Component will not produce swing in moving process, and the displacement that Suction cup assembly is moved in frame is more accurate.
Further, the left and right ends of described crossbeam bottom are equipped with Y-axis directive wheel, the frame in 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 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 be rolled along Y-axis guide rail makes crossbeam be moved along the frame left and right sides.
Further, described crossbeam is the cuboid frame configuration of hollow out, and the framework beam edge of crossbeam along its length is horizontal
Protrusion both sides before and after crossbeam in both sides form X-axis Power Component and installed 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 includes 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 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, described crossbeam bottom surface and is equipped with and X-axis directive wheel
Corresponding X-axis guide rail, starts described X-axis motor, and described X-axis drive gear is moved along the engagement of X-axis stationary rack,
Drive X-axis thrust wheel to be rolled on the balladeur train beam of crossbeam bottom makes X-axis Power Component edge with X-axis directive wheel along X-axis guide rail rolling
Cross beam movement.
Further, the quantity of described X-axis thrust wheel is four, and four X-axis thrust wheels are placed in the bone of crossbeam bottom
Set a roof beam in place upper and arranged in horizontal rectangular, two X-axis thrust wheels are distributed in the front side of crossbeam, and two other X-axis thrust wheel is distributed in
The rear side of crossbeam.Four X-axis thrust wheels share the load-bearing of X-axis Power Component, X-axis Power Component is born larger coming from and hang down
Nogata to carrying, the stationarity that is moved on crossbeam of increase X-axis Power Component.
Further, described P axle rotary powers component includes P shaft coupling pieces, P axles motor and driven installed in P axles
P axle rotary drive gears on dynamic motor, described Suction cup assembly includes horizontal suction cup carrier, sucker gear wheel, suction nozzle and is suction
Mouth provides the pneumatic control components of absorption affinity, the lower end and the lower end of underarm of the top connecting steel wire ropes of described P shaft coupling pieces,
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 driving electricity
The lower section of machine, described horizontal suction cup carrier is rotatably arranged on the bottom of P shaft coupling pieces, and described sucker gear wheel is fixed on
The top of horizontal suction cup carrier is engaged with P axle rotary drive gears, and described suction nozzle is in horizontal suction cup carrier, described pneumatic control
Element processed is connected mounted in the side of P shaft coupling pieces by tracheae with sucker, starts described P axle motors, described P axles rotation
Turn the sucker bull gear drive described in drive gear engagement driving, the rotation of sucker gear wheel drives horizontal suction cup carrier to rotate.P axles
Rotary drive gear and the engagement of sucker gear wheel, it is ensured that the anglec of rotation of Suction cup assembly is accurate.
Further, the quantity of described suction nozzle is 20 ~ 40, and is arranged on described horizontal suction cup carrier in array
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
Tracheae is connected with suction nozzle, the circulation and blocking of the tracheae between described air operated reversing valve control vacuum life device and suction nozzle.It is convenient
For the plate of Different Weight and size, the adsorption capacity of Suction cup assembly is adjusted.
The beneficial effects of the invention are as follows：
1st, the present invention is controlled by 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, plate is adsorbed by Suction cup assembly, and the stacking of real plate improves what plate was piled up
Automatization level.
2nd, 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 of engagement driving 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.
3rd, 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, controls Y-axis Power Component, X-axis Power Component, Z axis to move with control system
The running status of power component, P axle rotary power components and Suction cup assembly, the quick of real plate is piled up, and improves piling up for plate
Efficiency, meets the requirement that plate is quickly stored in a warehouse with logistics.
4th, 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.
Brief description of the drawings
Fig. 1 is planar structure schematic diagram of the invention.
Fig. 2 is the planar structure schematic diagram of Z axis Power Component.
The dimensional structure diagram of Z axis Power Component when Fig. 3 is does not fix steel wire rope on lifting disk roller.
Fig. 4 is structural representation of the Y-axis Power Component on crossbeam.
Fig. 5 is planar structure schematic diagram of the X-axis Power Component on crossbeam.
Fig. 6 is dimensional structure diagram of the X-axis Power Component on crossbeam.
Fig. 7 is the planar structure schematic diagram that P axle rotary power components and suction group component are connected.
Fig. 8 is the dimensional structure diagram that P axle rotary power components and suction group component are connected.
Fig. 9 adsorbs dimensional structure diagram during plate for the engagement type driving sucker motion of the present invention.
Embodiment
Embodiments of the invention are elaborated with reference to Fig. 1 to Fig. 9.
As shown in figure 1, it is engagement type driving sucker motion, including cuboid stand shape frame 1 and for adsorbing
The Suction cup assembly 2 of plate, Suction cup assembly 2 is placed in frame 1, also including providing Suction cup assembly 2 in frame 1 along the width of frame 1
The Y-axis Power Component 3 of direction movement power, offer Suction cup assembly 2 move the X-axis of power in frame 1 along the length direction of frame 1
The Z axis Power Component 5 and offer suction of Power Component 4, offer Suction cup assembly 2 in frame 1 along the short transverse lifting drive of frame 1
Disk component 2 horizontally rotates the P axle rotary powers component 6 of power；
The described top of frame 1 is equipped with the crossbeam 7 across the left and right sides of frame 1, and described X-axis Power Component 4 is mounted in horizontal stroke
On beam 7, described Z axis Power Component 5, P axle rotary powers component 6 and Suction cup assembly 2 is 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, lifting
Disk roller 52 and the steel wire rope 53 set along the short transverse of support 1, described Z axis mounting box 50 are fixedly connected on X-axis Power Component 4
Underface, described lifting disk roller 52 is arranged in Z axis mounting box 50, and described Z axis motor 51 is fixed on Z axis installation
The lower section of box 50, the quantity of described lifting disk roller 52 is two and horizontal alignment is arranged, the gear engagement of two lifting disk rollers 52,
Described Z axis motor 51 is connected by Timing Belt with a lifting disk roller 52, and steel is fixed respectively on two lifting disk rollers 52
Cord 53, one end of steel wire rope 53 is fixed on the roller of lifting disk roller 52, and the other end is fixed on P axle rotary powers component 6, is opened
Described Z axis motor 51 is moved, the lifting disk rollers 52 by Timing Belt two engagements of driving are reversely rotated, and two reversely rotated
The roller of lifting disk roller 52 two steel wire ropes 53 are rolled or put down simultaneously, pull described P axle rotary powers component 6 and inhale
Disk component 2 rises or falls.
Two are also equipped with described Z axis mounting box 50 and plays suspender belt wheel 54, suspender belt 54 levels of wheel are played described in two
Alignment is simultaneously arranged on the lower sections of two lifting disk rollers 52, two lifting disk rollers 52 with two rise suspender belts take turns 54 present it is small under
Big echelon formation, two are played suspender belt wheel 54 and are contacted respectively with steel wire rope 53, and steel wire rope 53 is rolled-up or driven when putting down
Suspender belt wheel 54 is rotated.When steel wire rope 53 is rolled-up and put down, pressure is produced to playing suspender belt wheel, the motion for increasing steel wire rope is steady
It is qualitative.
Described Z axis Power Component 5 also includes keeping roller gear 55, retaining arm 56 and tumbler gear 57, described guarantor
Hold roller gear 55 and tumbler gear 57 has been arranged at the lower section of suspender belt wheel 54 and horizontal row is equipped in Z axis mounting box 50,
The quantity of roller gear 55 and tumbler gear 57 is kept to be two, two tumbler gears 57 are sandwiched in two holding roller gears
Between 55, keep roller gear 55 equal with the gear diameter of tumbler gear 57, the engagement of two tumbler gears 57 contact and with guarantor
Hold and be respectively provided with symmetrical retaining arm 56, described guarantor on the engagement contact of Cylinder Gear 55, the holding roller gear 55 of two
Gripping arm 56 is made up of length identical upper arm 56.1 and underarm 56.2, and the upper end of described upper arm 56.1 is with keeping roller gear 55
Affixed, the lower end of upper arm 56.1 is hinged by the upper end of turning joint and underarm 56.2, and the lower end of underarm 56.2 passes through rotating hinge
Chain is hinged with P axle rotary powers component 6, and the described P axle rotary powers component 6 of limitation and Suction cup assembly 2 are in motion process
Swing.
It can be seen in figure 3 that being hinged the retaining arm 56 constituted by upper arm 561.1 and underarm 56.2 mounted in holding cylinder wheel
Between 55 cylinder and the top of P axle rotary powers component 6, wherein upper arm 56.1 is affixed, underarm with keeping cylinder wheel 55
56.2 be to be hinged with P axle rotary powers component 6.When P axle rotary powers component 6 is pulled by steel wire rope 53 to be risen or fallen, P axles
Rotary power component 6 drives two underarms 56.2 to rotate backward, and rotation is passed to upper arm 56.1,56.1 turns of upper arm by underarm 56.2
It is dynamic to drive the holding cylinder wheel 55 affixed with upper arm 56.1 to rotate, nibble the engagement rotation of tumbler gear 57 of Kazakhstan with keeping cylinder wheel 55
Ensure that two holding cylinder wheels 55 keep reversely synchronized and rotated, the angle between upper arm 56.1 and underarm 56.2 reduces, on two
Arm 56.1 keeps symmetrical, and two underarms 56.2 keep symmetrical, upper arm 56.1 and underarm 56.2 with steel wire rope 53 volume
Rise or put down and move together, swing of the steel wire rope 53 when rolling or putting down is limited, so as to limit P axle rotary powers component 6
With swing of the Suction cup assembly 2 in process of rising or falling.When Z axis Power Component is moved and component 4 with Y-axis Power Component 3 and X-axis
When being moved along the width and length direction of frame 1, two shield arm 56 and Z axis mounting box 50 and P axle turns Power Component 6
Hexagonal structure is constituted, increases the spatial stability of Z axis Power Component, makes Z axis Power Component along the width of frame 1 and length
Will not produce swings during the motion of degree direction, thus, P axle rotary powers component 6 and Suction cup assembly 2 along frame 1 highly, width and length
The swing in three directions of degree is limited, it is ensured that P axle rotary powers component 6 and the stability during movement of Suction cup assembly 2,
Even if adsorbing the larger plate of weight, it is possible to have good spatial stability, the displacement of plate movement is more accurate, further
Improve the regularity piled up of plate, plate piles up that space availability ratio is higher, and it is smaller that plate stamps risk of collapsing.
As shown in figure 4, the left and right 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 Y-axis and drives electricity
Machine 31 and the Y-axis drive gear 32 on Y-axis motor 31, described Y-axis motor 31 are fixedly mounted on crossbeam 7
Left and right 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 be rolled along Y-axis guide rail 12
Crossbeam 7 is set to be moved along the left and right sides of frame 1.Crossbeam 7 passes through 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 to be moved along the left and right sides of frame 1, Y-axis directive wheel 72 and the cooperation of Y-axis guide rail 12, adds the movement of crossbeam 7
Stability, the engagement by Y-axis drive gear 32 along Y-axis stationary rack 11 is moved, and provides dynamic for the rolling of Y-axis directive wheel 72
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 is the cuboid frame configuration of hollow out, the bone of crossbeam 7 along its length
Setting a roof beam in place along both sides protrusion before and after crossbeam 7, both sides form the space that X-axis Power Component 4 is installed and moved 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 includes X-axis drive
Dynamic motor 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 on the 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 is set
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 is moved along the engagement of X-axis stationary rack 71, drives X-axis thrust wheel 43 in crossbeam
Rolled on the balladeur train beam of 7 bottoms and X-axis directive wheel 44 makes X-axis Power Component 4 be moved along crossbeam 7 along the rolling of X-axis guide rail 73.Institute
The quantity for 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 to along the X-axis guide rail 73 for being moved through X-axis directive wheel 44 and the bottom surface of crossbeam 7 of 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 weight is carried by X-axis thrust wheel 43
Amount, stability of the increase X-axis Power Component 4 in moving process, when adsorbing plate 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 adsorb heavier plate when, 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 that absorption affinity is provided for suction nozzle 23, the top of described P shaft coupling pieces 61 connects
The lower end of steel wire rope 53 and the lower end of underarm 56.2 are connect, 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 P axles rotate drive
Moving gear 63 is engaged, and described suction nozzle 23 is in horizontal suction cup carrier 21, and described pneumatic control components 24 are mounted in P shaft coupling pieces
61 side is connected by tracheae with suction nozzle 23, starts described P axles motor 62, described P axles rotary drive gear 63
Engage the sucker gear wheel 23 described in driving to rotate, 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 controlling the working condition of P axles motor 62, the angle of the rotation of control P axles rotary drive gear 63, so as to control
22 rotational angle of sucker gear wheel, make sucker gear wheel 22 rotational angle precisely, the angle of horizontal suction cup carrier 21 can turn
It is dynamic, facilitate the different absorption of plate in position and piling up for the various angles of plate.
As shown in figure 8, the quantity of described suction nozzle 23 is 30, and described horizontal sucker is arranged in array
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 member
Part 24 is made up of vacuum generator 24.1 and air operated reversing valve 24.2, and described vacuum generator 24.1 passes through tracheae and suction nozzle 23
Connection, the circulation and blocking of the tracheae between the described control vacuum life device 24.1 of air operated reversing valve 24.2 and suction nozzle 23.Inhaling
During attached plate material, according to the weight and size of plate, the quantity that control air operated reversing valve is opened, when absorption weight large scale is 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 smaller, if air operated reversing valve quantity it is relatively small, the suction nozzle quantity with energy of adsorption is few, absorption affinity
It is small, reduce the energy energy dissipating during plate is piled up.
As shown in figure 9, when piling up plate using above-mentioned engagement type driving sucker motion, frame 1 passes through it
The mounting seat of bottom is arranged on working face, 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.
It is above-described it is engagement type driving sucker motion advantage be：
1. control to inhale by 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, plate is adsorbed by Suction cup assembly 2, and the stacking of real plate 100 improves plate code
The automatization level put.
2.Y axles Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axle rotary powers component 6 pass through 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.
3. adsorbing 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 2, controls Y-axis Power Component 3, X-axis Power Component 4, Z axis to move with control system
The running status of power component 5, P axle rotary powers component 2 and Suction cup assembly 2, the quick code piled up, improve plate of real plate
Efficiency is put, the requirement that plate is quickly stored in a warehouse with logistics is met.
4. pass through Suction cup assembly 2 adsorb plate, it is to avoid cause plate to scratch during piling up, it is ensured that plate outward appearance not by
Influence.
Completely description is carried out, it is necessary to which explanation is described to the technical scheme of embodiments of the invention above in association with accompanying drawing
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 (8)
1. engagement type driving sucker motion, includes the frame of cuboid stand shape（1）With the sucker for adsorbing plate
Component（2）, Suction cup assembly（2）It is placed in frame（1）It is interior, it is characterised in that also including providing Suction cup assembly（2）In frame（1）Interior edge
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）It is long
Spend the X-axis Power Component that power is moved in direction（4）, provide Suction cup assembly（2）In frame（1）It is interior along frame（1）Short transverse liter
The Z axis Power Component of power drops（5）With offer Suction cup assembly（2）Horizontally rotate the P axle rotary power components of power（6）；
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）Mounted in crossbeam（7）Left and right 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, the described crossbeam of driving（7）Along frame（1）The left and right sides is moved, described X-axis
Power Component（4）With along crossbeam（7）The X-axis stationary rack of fixed installation（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, the described Suction cup assembly of driving（2）Level
Rotate；
Described Z axis Power Component（5）Including Z axis mounting box（50）, Z axis motor（51）, lifting disk roller（52）With along machine
Frame（1）The steel wire rope that short transverse is set（53）, described Z axis mounting box（50）It is fixedly connected on X-axis Power Component（4）Just
Lower section, described lifting disk roller（52）Installed in Z axis mounting box（50）Interior, described Z axis motor（51）It is fixed on Z axis peace
Mounted box（50）Lower section, described lifting disk roller（52）Quantity arranged for two and horizontal alignment, two lifting disk rollers（52）'s
Gear is engaged, described Z axis motor（51）Pass through Timing Belt and a lifting disk roller（52）Connection, two lifting disk rollers
（52）It is upper to fix steel wire rope respectively（53）, steel wire rope（53）One end is fixed on lifting disk roller（52）Roller on, the other end is fixed
In P axle rotary power components（6）On, start described Z axis motor（51）, the lifting of two engagements is driven by Timing Belt
Disk roller（52）It is reversely rotated, two reversely rotated lifting disk rollers（52）Roller by two steel wire ropes（53）Roll or put simultaneously
Under, pull described P axle rotary power components（6）And Suction cup assembly（2）Rise or fall；
Described Y-axis Power Component（3）, X-axis Power Component（4）, Z axis Power Component（5）, P axle rotary power components（6）And suction
Disk component（2）Running status be uniformly controlled by control system；
Described Z axis Power Component（5）Also include keeping roller gear（55）, retaining arm（56）And tumbler gear（57）, it is described
Holding roller gear（55）And tumbler gear（57）It has been arranged at suspender belt wheel（54）Lower section and it is horizontally arranged be mounted in Z axis
Mounting box（50）It is interior, keep roller gear（55）And tumbler gear（57）Quantity be two, two tumbler gears（57）Quilt
It is clipped in two holding roller gears（55）Between, keep roller gear（55）With tumbler gear（57）Gear diameter it is equal, two
Individual tumbler gear（57）Engagement is contacted and with keeping roller gear（55）Engagement contact, two holding roller gears（55）Upper difference
Equipped with symmetrical retaining arm（56）, described retaining arm（56）By length identical upper arm（56.1）And underarm（56.2）Group
Into described upper arm（56.1）Upper end with keep roller gear（55）It is affixed, upper arm（56.1）Lower end pass through turning joint
With underarm（56.2）Upper end be hinged, underarm（56.2）Lower end pass through turning joint and P axle rotary power components（6）It is hinged,
The described P axle rotary power components of limitation（6）And Suction cup assembly（2）Swing in moving process.
2. engagement type driving sucker motion according to claim 1, it is characterised in that described Z axis mounting box
（50）Inside it is also equipped with two and plays suspender belt wheel（54）, suspender belt wheel is played described in two（54）Horizontal alignment arranges and is arranged on two
Individual lifting disk roller（52）Lower section, two lifting disk rollers（52）Suspender belt wheel is played with two（54）In up-small and down-big trapezoidal row
Row, two are played suspender belt wheel（54）Respectively with steel wire rope（53）Contact, steel wire rope（53）It is rolled-up or has driven suspender belt when putting down
Open wheel（54）Rotate.
3. engagement type driving sucker motion according to claim 2, it is characterised in that described crossbeam（7）Bottom
Left and right ends are equipped with Y-axis directive wheel（72）, in frame（1）Upper be equipped with and Y-axis directive wheel of setting a roof beam in place of the top left and right sides（72）Phase
Corresponding Y-axis guide 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 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）
The lateral surface set a roof beam in place of the top left and right sides and Y-axis drive gear（32）Engagement, starts described Y-axis motor（31）, institute
The Y-axis drive gear stated（32）Along Y-axis stationary rack（11）Engagement movement, drives described Y-axis directive wheel（72）Along Y-axis guide rail
（12）Rolling makes crossbeam（7）Along frame（1）Move the left and right sides.
4. engagement type driving sucker motion according to claim 3, it is characterised in that described crossbeam（7）To engrave
Empty cuboid frame configuration, crossbeam（7）Framework beam along its length is along crossbeam（7) both sides protrusion is in crossbeam before and after（7）'s
Front and rear both sides form X-axis Power Component（4）Install and mobile space, described X-axis stationary rack（71）Along crossbeam（7）Install
In crossbeam（7）The outside of top framework beam, described X-axis Power Component（4）Including X-axis motor（41）, installed in X-axis drive
Dynamic 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-axis 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
Stationary rack（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）It is arranged on 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）, start described X-axis motor（41）, described X-axis drive gear（42）Along X-axis stationary rack（71）Engagement is moved
It is dynamic, drive X-axis thrust wheel（43）In crossbeam（7）Rolled and X-axis directive wheel on the balladeur train beam of bottom（44）Along X-axis guide rail（73）Rolling
It is dynamic to make X-axis Power Component（4）Along crossbeam（7）It is mobile.
5. engagement type driving sucker motion according to claim 4, 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
Individual X-axis thrust 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.
6. engagement type driving sucker motion according to claim 5, it is characterised in that described P axle rotary powers
Component（6）Including P shaft coupling pieces（61）, P axle motors（62）With installed in P axle motors（62）On P axles rotation drive
Moving gear（63）, described Suction cup assembly（2）Including horizontal suction cup carrier（21）, sucker gear wheel（22）, suction nozzle（23）With for inhale
Mouth（23）The pneumatic control components of absorption affinity are provided（24）, described P shaft coupling pieces（61）Top connecting steel wire ropes（53）'s
Lower end and underarm（56.2）Lower end, described P axle motors（62）Installed in P shaft coupling pieces（61）Side, it is described
P axle rotary drive gears（63）It is arranged on P axle motors（62）Lower section, described horizontal suction cup carrier（21）Rotatably
Installed in P shaft coupling pieces（61）Bottom, described sucker gear wheel（22）It is fixed on horizontal suction cup carrier（21）Top and P axles
Rotary drive gear（63）Engagement, described suction nozzle（23）Mounted in horizontal suction cup carrier（21）On, described pneumatic control components
（24）Mounted in P shaft coupling pieces（61）Side pass through tracheae and suction nozzle（23）Connection, starts described P axle motors（62）,
Described P axle rotary drive gears（63）Engage the sucker gear wheel described in driving（22）Rotate, sucker gear wheel（22）Turn
It is dynamic to drive horizontal suction cup carrier（21）Rotate.
7. engagement type driving sucker motion according to claim 6, it is characterised in that described suction nozzle（23）Number
Measure as 20 ~ 40, and described horizontal suction cup carrier is arranged in array（21）Bottom.
8. engagement type driving sucker motion according to claim 7, it is characterised in that described pneumatic control components
（24）It is divided into multigroup, every group of pneumatic control components（24）Control four or three suction nozzles（23）Absorption affinity, every group of pneumatic control
Element（24）By vacuum generator（24.1）And air operated reversing valve（24.2）Composition, described vacuum generator（24.1）Pass through gas
Pipe and suction nozzle（23）Connection, described air operated reversing valve control vacuum life device（24.1）With suction nozzle（23）Between tracheae circulation
With blocking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510677738.6A CN105600559B (en) | 2015-10-20 | 2015-10-20 | Engagement type driving sucker motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510677738.6A CN105600559B (en) | 2015-10-20 | 2015-10-20 | Engagement type driving sucker motion |
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| CN105600559B true CN105600559B (en) | 2017-07-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106044594A (en) * | 2016-08-09 | 2016-10-26 | 嘉禾县恒鑫建材有限公司 | Automatic stacking device for building boards |
| CN110683466A (en) * | 2019-07-26 | 2020-01-14 | 南通跃通数控设备股份有限公司 | Large-span crank arm gantry carrying robot for woodworking furniture |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000141346A (en) * | 1999-01-01 | 2000-05-23 | Nihon Ytong Co Ltd | Device for manufacturing designed panel |
| CN102962841B (en) * | 2013-01-13 | 2015-05-13 | 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 |
| CN203555738U (en) * | 2013-08-27 | 2014-04-23 | 常州常隆信息科技有限公司 | Three-dimensional footprint digital extraction system |
| CN103964292B (en) * | 2014-05-27 | 2016-01-20 | 广州大正新材料科技有限公司 | A kind of movable suction disc hanging apparatus |
| CN204021954U (en) * | 2014-07-02 | 2014-12-17 | 中国建材国际工程集团有限公司 | Five axle bridge glass stacking machine people |
| 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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