CN106272407A - A kind of x-axis walking mechanism and the mechanical hand that can move along x-axis speed change - Google Patents
A kind of x-axis walking mechanism and the mechanical hand that can move along x-axis speed change Download PDFInfo
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- CN106272407A CN106272407A CN201611016313.1A CN201611016313A CN106272407A CN 106272407 A CN106272407 A CN 106272407A CN 201611016313 A CN201611016313 A CN 201611016313A CN 106272407 A CN106272407 A CN 106272407A
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- axis
- walking
- crossbeam
- power unit
- installing rack
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of x-axis walking mechanism and the mechanical hand that can move along x-axis speed change, belong to technical field of automation equipment.A kind of x-axis walking mechanism, it is characterized in that: include x-axis Timing Belt (21) and x-axis power unit, x-axis power unit is arranged on x-axis crossbeam (22), walking installing rack (20) it is slidably fitted with on x-axis crossbeam (22), x-axis power unit is connected with x-axis Timing Belt (21), and x-axis Timing Belt (21) is fixing with walking installing rack (20) to be connected；X-axis power unit is provided with for detecting x-axis power unit rotating speed and the encoder of angle turned over.The rotating speed of x-axis power unit and the angle that turns over are detected by the encoder of this x-axis walking mechanism, make walking installing rack be capable of speed change and move, easy to use；The grasping mechanism of the mechanical hand that instinct moves along x-axis speed change achieves variable motion on x-axis direction of travel, and w axle rotating mechanism adds the degree of freedom of grasping mechanism.
Description
Technical field
A kind of x-axis walking mechanism and the mechanical hand that can move along x-axis speed change, belong to technical field of automation equipment.
Background technology
Mechanical hand refers to imitate staff and some function of arm, in order to capture by fixed routine, to carry object or behaviour
Make the automatic pilot of instrument.Mechanical hand is the industrial robot occurred the earliest, is also the modern machines people occurred the earliest, machine
Tool hands replaces the heavy labor of people to realize the mechanization and the automatization that produce, can operate with protection person peace under hostile environment
Entirely, mechanical hand is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
In ceramic tile production sector, mechanical hand Main Function is transhipment and the piling of ceramic tile of ceramic tile, existing machinery hands
Usually completing the movement of x-axis, y-axis and z-axis, x-axis, y-axis refer to the movement in level longitudinal direction and horizontal cross, z respectively
Axle refers to the movement at vertical direction, thus realizes being transported through ceramic tile or piling in three dimensions.Existing machinery
Hands is being transported through ceramic tile or during piling, and there are the following problems:
1, the attitude of ceramic tile cannot be changed, transport only in the original attitude of ceramic tile, therefore after transhipment, ceramic tile is entered
During row piling, being merely able to, according to same mode, ceramic tile is carried out piling, motility is poor, to the requirement of the environment of piling relatively
Height, in-convenience in use；
2, mechanical hand runs along x-axis, y-axis, the movement of z-axis only in constant speed, in order to ensure in transport process not
Can damage the ceramic tile captured, the speed of service needing mechanical hand is relatively low, has had a strong impact on the work efficiency of mechanical hand；
3, when mechanical hand is moved along the z-axis, z-axis column can drive the ceramic tile of crawl to lift, the quantity of the ceramic tile owing to capturing every time
Difference, therefore there will be weight when z-axis column lifts every time and there are differences, and so on the one hand makes mechanical hand operationally may
Produce vibrations, it is also possible to there will be the problem collided owing to accurately translational speed cannot be controlled；
4, the power set of existing machinery hands are usually motor, and motor is typically fixed in frame, walk at mechanical hand
Apart from excessive, especially distance motor farther out time, owing to transmission is apart from excessive, it may appear that the problem being short of power, and run
Speed is the most unstable；
5, when ceramic tile is carried out piling, the rear on-carriage of ceramic tile or entrucking for convenience, it usually needs place pallet, both facilitated
Follow-up operation, again it can be avoided that ceramic tile is caused damage.Existing machinery hands is when piling, and pallet needs artificial placement.By
Needing to coordinate with ceramic tile production line in mechanical hand, therefore in daily production process, mechanical hand can not be shut down, and this is accomplished by workman
During robot work, place pallet, there is potential safety hazard.And the requirement of the position of pallet is compared by existing machinery hands
Height, needs accurately to place pallet according to the position of robot work when placing, uses very inconvenient.
Summary of the invention
The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, it is provided that one can detect x-axis power list
Unit rotating speed and the angle turned over, convenient the speed of travel and travel distance are carried out x-axis walking mechanism that detection controls and
The mechanical hand that can move along x-axis speed change.
The technical solution adopted for the present invention to solve the technical problems is: this x-axis walking mechanism, it is characterised in that: include x
Axle Timing Belt and x-axis power unit, x-axis power unit is arranged on x-axis crossbeam, and x-axis crossbeam is slidably fitted with walking peace
Shelving, x-axis power unit is connected with x-axis Timing Belt, and x-axis Timing Belt is fixing with walking installing rack to be connected；Set on x-axis power unit
Have for detecting x-axis power unit rotating speed and the encoder of angle turned over.
Preferably, the x-axis for walking installing rack is guided it is provided with between described x-axis crossbeam and walking installing rack
Guiding mechanism.
Preferably, described x-axis guiding mechanism includes slide rail and the slide block matched with slide rail, and slide rail is axially disposed within
On described x-axis crossbeam, described walking installing rack is fixedly connected with a slide block.
Preferably, described x-axis guiding mechanism has two groups, is separately positioned on the both sides up and down of x-axis crossbeam.
Preferably, described x-axis power unit is x-axis motor, and the two ends of described x-axis crossbeam are equipped with same with described x-axis
The synchronous pulley that step band is meshed, x-axis motor is connected with synchronous pulley and drives synchronous pulley to rotate, and described encoder is with synchronization
Belt wheel is coaxially connected and synchronous axial system.
Preferably, the outfan of described x-axis motor is arranged on downwards above x-axis crossbeam, and it is right that the two ends of x-axis crossbeam are provided with
The axis governor motion that the axis of synchronous pulley is adjusted.
Preferably, described x-axis crossbeam is provided with and described walking installing rack is carried out spacing x-axis position-limit mechanism.
Preferably, described x-axis position-limit mechanism includes the limited block being arranged on described x-axis crossbeam two ends.
A kind of mechanical hand that can move along x-axis speed change, it is characterised in that: include frame, y-axis walking mechanism, z-axis vehicle with walking machine
Structure, w axle rotating mechanism, grasping mechanism and above-mentioned x-axis walking mechanism, y-axis walking mechanism is arranged in frame, and x-axis is walked
The x-axis crossbeam of mechanism is arranged in y-axis walking mechanism, and z-axis walking mechanism is arranged on the walking installing rack of x-axis walking mechanism, w
Axle rotating mechanism is arranged in z-axis walking mechanism, and grasping mechanism is arranged on w axle rotating mechanism.
Preferably, described y-axis walking mechanism includes hitch and y-axis actuating unit, and hitch has two, right
Claiming the two ends being arranged on described x-axis crossbeam, y-axis actuating unit is connected with hitch, and drives hitch to move.
Compared with prior art, the present invention x-axis walking mechanism and can be along having that the mechanical hand that x-axis speed change moves is had
Benefit effect is:
1, this x-axis walking mechanism drives walking installing rack to move by Timing Belt, and transmission accuracy is high, thus ensure that walking is installed
The displacement of frame is accurate, and x-axis power unit is provided with encoder, thus to the rotating speed of x-axis power unit and the angle that turns over
Degree detects, thus the convenient speed of travel controlling walking installing rack and the distance of walking, enable walking installing rack real
Existing speed change moves, easy to use.
2, x-axis guiding mechanism can enable walking installing rack straight line moving, it is to avoid walking installing rack is in moving process
Moving direction deviate, thus the walking range accuracy that moves of installing rack is produced impact.
3, walking installing rack realizes guiding by slide rail and slide block, simple in construction, easy accessibility, convenient maintenance.
4, guiding mechanism is arranged on the both sides up and down of x-axis crossbeam, it is possible to very well to walking installing rack one side load subjected to
It is balanced, further increases the precision and stability of this x-axis walking mechanism.
5, the axis of two synchronous pulleys can be adjusted by axis governor motion, makes the axis of synchronous pulley with vertical
There is angle in face, so that x-axis Timing Belt is by a thrust upwards, offsets the gravity of x-axis Timing Belt, make x-axis Timing Belt
Remain at the middle part of synchronous pulley, it is to avoid x-axis Timing Belt comes off.
6, the movement of walking installing rack can be carried out spacing by x-axis position-limit mechanism, thus protects this x-axis walking mechanism
Protect, it is to avoid walking installing rack is beyond stroke.
7, walking installing rack is stopped by two limited blocks respectively, thus is limited the stroke of walking installing rack
Fixed, and the stroke of walking installing rack, simple in construction, regulation side can be changed by the spacing between two limited blocks of regulation
Just.
8, the speed of the movement of the x-axis walking mechanism of the mechanical hand that instinct moves along x-axis speed change is adjustable, makes grasping mechanism exist
Achieving variable motion on x-axis direction of travel, when near ceramic tile, translational speed is relatively slow, and when away from ceramic tile, translational speed is relatively
Hurry up, thus improve work efficiency, and do not have the problem collided with ceramic tile due to excessive velocities；W axle rotating mechanism
Grasping mechanism can be driven to rotate around z-axis, add the degree of freedom of grasping mechanism, make grasping mechanism more flexible, so that this
Mechanical hand is while mobile ceramic tile, additionally it is possible to convert the attitude of ceramic tile such that it is able to carry out ceramic tile as required
Piling, easy to use.
9, y-axis walking mechanism includes hitch and y-axis actuating unit, and hitch is symmetricly set on x-axis crossbeam
Two ends, it is ensured that in the work process of this mechanical hand, do not have owing to walking installing rack is positioned at the diverse location of x-axis crossbeam
And cause x-axis crossbeam run-off the straight, thus ensure that the operating accuracy of this mechanical hand is high.
Accompanying drawing explanation
Fig. 1 is the schematic front view of x-axis walking mechanism.
Fig. 2 is the schematic perspective view of the mechanical hand that can move along x-axis speed change.
Fig. 3 is the schematic front view of walking mechanism.
Fig. 4 is the schematic front view of y-axis walking mechanism.
Fig. 5 is the schematic top plan view of y-axis walking mechanism.
Fig. 6 is the schematic front view of synchronizing shaft.
Fig. 7 is the schematic front view of z-axis walking mechanism.
Fig. 8 is the schematic perspective view of z-axis actuating unit.
Fig. 9 is the partial enlarged drawing in Fig. 8 at A.
Figure 10 is the schematic front view of w axle rotating mechanism.
Figure 11 is the cross-sectional schematic in the B-B direction of Figure 10.
Figure 12 is the schematic front view of grasping mechanism.
Figure 13 is the schematic top plan view of grasping mechanism.
Figure 14 is the schematic perspective view capturing drive mechanism.
In figure: 1, frame 2, y-axis walking mechanism 3, x-axis walking mechanism 4, z-axis walking mechanism 5, ceramic tile storehouse 6, w axle
Rotating mechanism 7, grasping mechanism 8, pallet storehouse 9, adjustable glue coating wheel 10, directive wheel 11, active pack rubber tire 12, cornerite regulation
Belt wheel 13, cornerite regulation synchronous pulley 14, y-axis Timing Belt regulating wheel 15, y-axis regulating wheel swing arm 16, y-axis Timing Belt 17,
Synchronizing shaft 18, y-axis motor 19, x-axis motor 20, walking installing rack 21, x-axis Timing Belt 22, x-axis crossbeam 23, z-axis column
24, the axis of guide 25, z-axis Timing Belt regulating wheel 26, fairlead 27, balance cylinder 28, z-axis Timing Belt 29, z-axis motor
30, z-axis sprocket wheel 31, w spindle motor 32, photoswitch installing plate 33, buffering detection photoswitch 34, rotation detection light are established by cable
Pass 35, rotating mounting rack 36, postive stop baffle 37, cushion collar 38, stop collar 39, w axle column 40, carrying set 41, w axle
Chain 42, pallet clamping guide plate 43, finger mounted plate 44, clamping plate limiting photoelectric switch 45, grasping mechanism main body 46,
Finger guide bearing 47, pallet capture finger 48, ceramic tile clamping plate 49, clamping plate installing plate 50, clamping plate folding cylinder 51, pallet
Capture cylinder 52, clamping plate folding gear 53, clamping plate folding tooth bar 54, ceramic tile induction apparatus 55, pallet crawl gear 56, stack
Plate captures tooth bar.
Detailed description of the invention
Fig. 1 ~ 14 are highly preferred embodiment of the present invention, and 1 ~ 14 the present invention will be further described below in conjunction with the accompanying drawings.
A kind of x-axis walking mechanism, including x-axis Timing Belt 21 and x-axis power unit, it is horizontal that x-axis power unit is arranged on x-axis
On beam 22, x-axis crossbeam 22 being slidably fitted with walking installing rack 20, x-axis power unit is connected with x-axis Timing Belt 21, and x-axis synchronizes
Band 21 is fixing with walking installing rack 20 to be connected；X-axis power unit is provided with for detecting x-axis power unit rotating speed and turning over
The encoder of angle.This x-axis walking mechanism drives walking installing rack 20 to move by Timing Belt, and transmission accuracy is high, thus ensures
The displacement of walking installing rack 20 is accurate, and x-axis power unit is provided with encoder, thus rotating speed to x-axis power unit
And the angle turned over detects, thus the convenient speed of travel controlling walking installing rack 20 and the distance of walking, make row
Walk installing rack 20 to be capable of speed change and move, easy to use.
Concrete: as shown in Figure 1: x-axis power unit is x-axis motor 19, x-axis motor 19 is fixed on a left side for x-axis crossbeam 22
End, the output shaft of x-axis motor 19 is provided with synchronous pulley, and the other end at x-axis crossbeam 22 is also provided with synchronous pulley.Walking
Being provided with x-axis guiding mechanism between installing rack 20 and x-axis crossbeam 22, x-axis guiding mechanism can make walking installing rack 20 linearly transport
Dynamic, thus ensure that the stability that grasping mechanism 7 moves.The Timing Belt at x-axis crossbeam 22 two ends is walked around at the two ends of x-axis Timing Belt 21
All fix with walking installing rack 20 after wheel and be connected, and drive walking installing rack 20 with x-axis Timing Belt 21 synchronizing moving.
The x-axis regulation bolt that the rate of tension to x-axis Timing Belt 21 is adjusted it is additionally provided with on walking installing rack 20.X-axis is adjusted
Joint bolt one end is connected with one end of x-axis Timing Belt 21, and x-axis regulation bolt is fixed on walking installing rack 20 by nut.
The output shaft of x-axis motor 19 down and is arranged on above x-axis crossbeam 22, being also arranged above same of x-axis crossbeam 22
The axis governor motion that the axis of step belt wheel is adjusted, axis governor motion is the bolt being arranged on x-axis crossbeam both sides, bolt
Lower end promote synchronous pulley mounting seat to move up and down, thus regulate the axis of synchronous pulley and the angle of vertical plane, make synchronization
The thrust promoting x-axis Timing Belt 21 to move up can be produced between belt wheel and x-axis Timing Belt 21, be used for offsetting x-axis same
Walk the gravity with 21, thus avoid x-axis Timing Belt 21 to depart from synchronous pulley under gravity.
Walking installing rack 20 forms for being bolted by steel plate, and walking installing rack 20 is near the side of x-axis crossbeam 22
For the rectangular box body of both ends open, walking installing rack 20 is set in the outside of x-axis crossbeam 22, and the side of walking installing rack 20 is used
Being connected in fixing with z-axis walking mechanism 4, steel plate top and the steel plate bottom of downside on the upside of walking installing rack 20 are equipped with reinforcement
Muscle, and reinforcement is by for installing the taper that side to the opposite side of z-axis walking mechanism 4 becomes narrow gradually, thus ensure walking
The intensity of installing rack 20, it is to avoid walking installing rack 20 is caused damage by unilateral load.
X-axis guiding mechanism has two, is separately positioned on the both sides up and down of x-axis crossbeam 22, and the x-axis guiding mechanism of upside sets
Putting away from the side for installing z-axis walking mechanism 4, the x-axis guiding mechanism of downside is positioned close to for installing z-axis vehicle with walking machine
The side of structure 4 such that it is able to the unilateral load being subject to walking installing rack 20 is offset, it is ensured that the steady of installing rack 20 of walking
Qualitative and precision.
X-axis guiding mechanism includes the slide block walked on installing rack 20 and is arranged on the slide rail on x-axis crossbeam 22.Slide block with
Slide rail matches, and the movement to walking installing rack 20 guides.Slide rail can be trapezoidal or "T"-shaped slide rail, and slide block is provided with
The dovetail groove matched with slide rail or "T"-shaped chute.
Encoder is mounted remotely from one end synchronous pulley of x-axis motor 19, and encoder can be by the rotating speed of x-axis motor 19
Signal feeds back to converter, thus by the rotating speed of Frequency Converter Control x-axis motor 19, and then control the walking of x-axis walking mechanism
Speed, additionally it is possible to the angle that detection x-axis motor 19 turns over, thus the distance that detection is walked along the x-axis direction.
Being provided with on x-axis crossbeam 22 and walking installing rack 20 is carried out spacing x-axis position-limit mechanism, x-axis position-limit mechanism is for setting
Put the limited block at x-axis crossbeam 22 two ends.
As shown in Figure 2: this can along the mechanical hand that x-axis speed change moves include frame 1, the walking mechanism being arranged in frame 1,
W axle rotating mechanism 6 and grasping mechanism 7.Walking mechanism is arranged in frame 1, and w axle rotating mechanism 6 is arranged in walking mechanism,
Grasping mechanism 7 is arranged on w axle rotating mechanism 6.The bottom of frame 1 fixes on the ground, so that the work of this mechanical hand is more
Add stable, will not shake in the course of the work.
The top of frame 1 is rectangular frame, and bottom is a vertically arranged spike.Walking mechanism is arranged in frame 1
On the framework in portion, and drive grasping mechanism 7 along x-axis, y-axis and z-axis direction straight line moving respectively.
Walking mechanism walking vertically is defined as the walking along z-axis, and walking mechanism is along the row of frame 1 width
Walking to be defined as the walking in x-axis direction, walking mechanism is defined as the walking in y-axis direction along the walking of frame 1 length direction, define around
Z-axis rotate to be the axial motion of w.
The bottom of frame 1 is provided with the pallet storehouse 8 for placing pallet and ceramic tile storehouse 5, and pallet storehouse 8 is used for placing pallet,
Ceramic tile is placed in ceramic tile storehouse 5, in i.e. ceramic tile is transported to ceramic tile storehouse 5 by this mechanical hand and carry out piling.Pallet is to ceramic tile palletizing
Time, the pad plank in bottom, on the one hand the ceramic tile of bottom can be protected by pallet, the most convenient to the porcelain after piling
Brick is transported through.Pallet storehouse 8 is arranged on the middle part of frame 1, and ceramic tile storehouse 5 has two, is symmetricly set on the both sides in pallet storehouse 8, stack
Plate storehouse 8 is equal with the distance in two ceramic tile storehouses 5, so ensure that the pallet in pallet storehouse 8 move to each ceramic tile storehouse 5 away from
From equal, convenient placement pallet.
As shown in Figure 3: walking mechanism includes y-axis walking mechanism 2, x-axis walking mechanism 3 and z-axis walking mechanism 4.Y-axis row
Walking mechanism 2 to be arranged in frame 1, x-axis walking mechanism 3 is arranged in y-axis walking mechanism 2, and z-axis walking mechanism 4 is arranged on x-axis row
Walk in mechanism 3.W axle rotating mechanism 6 is fixing with z-axis walking mechanism 4 to be connected, and grasping mechanism 7 is arranged on w axle rotating mechanism 6, makes
Grasping mechanism 7 is flexible, it is possible to change the attitude of transhipment ceramic tile in transport process such that it is able to meet the piling of various ways.
Y-axis walking mechanism 2 includes that hitch, hitch have two, is symmetricly set on the two ends of x-axis walking mechanism 3,
X-axis walking mechanism 3 is arranged in frame 1 by the hitch at two ends, left and right.The hitch at two ends drives x-axis walking mechanism
3 synchronizing movings, it is to avoid cause unstable the asking of y-axis walking mechanism 2 speed in the process of walking owing to the length of frame 1 is long
Topic.Y-axis actuating unit and two hitches are connected, and drive hitch to move along y-axis.
As shown in Figure 4: hitch includes y-axis crossbeam and the y-axis guiding mechanism being arranged on y-axis crossbeam.Frame 1 liang
The square steel of side is arranged above rack rail, and y-axis guiding mechanism is connected with frame 1 machine frame at two sides guide rail, and to hitch
Motion guides, and makes hitch move along a straight line.X-axis walking mechanism 3 is fixing with y-axis crossbeam to be connected.
Y-axis guiding mechanism includes horizontally-guided mechanism and is vertically directed mechanism.Horizontally-guided mechanism is in the horizontal direction
Motion to y-axis crossbeam guides, and is vertically directed mechanism's in the vertical direction and guides the motion of y-axis crossbeam.
The two ends of y-axis crossbeam are arranged with active pack rubber tire 11, and y-axis actuating unit drives active pack rubber tire 11 to rotate.Two
Synchronous pulley, active pack rubber tire 11 and synchronous pulley synchronous axial system, y-axis crossbeam two all it is coaxially installed with on individual active pack rubber tire 11
The synchronous pulley of end is connected by y-axis Timing Belt 16, and active pack rubber tire 11 relies on the gravity-pressing of y-axis crossbeam above frame 1.
Active pack rubber tire 11 is wholely set with synchronous pulley.Synchronous pulley passes through bolt away from the side of active pack rubber tire 11
Being fixed with rounded tabs, the diameter of rounded tabs is more than the diameter of synchronous pulley.Rounded tabs is outside synchronous pulley side
Edge is stop part, the stop part that active pack rubber tire 11 also is provided with near the side of synchronous pulley and rounded tabs is symmetrical, two resistances
Stopper be middle part evagination arc, and the distance between two stop parts along synchronous pulley radial direction the most gradually
Increase, thus avoid that the axis of the synchronous pulley due to two ends is not parallel causes y-axis Timing Belt 16 to separate with synchronous pulley, make y
Axle Timing Belt 16 stable working, reduces the rigging error impact on y-axis Timing Belt 16, and don't affects the precision of work with steady
Qualitative.
Y-axis Timing Belt 16 be arranged over y-axis Timing Belt strainer, y-axis Timing Belt strainer can regulate y-axis with
Walk the tensile force with 16, so that y-axis Timing Belt 16 can keep good engaging with synchronous pulley, and then ensure that y-axis
Walking precision.
Y-axis Timing Belt strainer includes y-axis Timing Belt regulating wheel 14 and y-axis regulating wheel swing arm 15.Y-axis regulating wheel is put
Arm 15 is arranged on the top of y-axis Timing Belt 16, and the middle part of y-axis regulating wheel swing arm 15 is hinged on y-axis crossbeam, makes y-axis regulating wheel
Swing arm 15 forms leverage, and one end of y-axis regulating wheel swing arm 15 rotates installs y-axis Timing Belt regulating wheel 14, and the other end passes through
Bolt is detachably secured on y-axis crossbeam, and makes y-axis Timing Belt regulating wheel 14 compress y-axis Timing Belt 16, bolt is arranged with many
Individual spring pad, after installing y-axis Timing Belt 16, carries out tensioning by bolt to y-axis Timing Belt 16, works a period of time
After, the tensile force of y-axis Timing Belt 16 is adjusted by spring pad, it is not necessary to carry out tensioning to y-axis Timing Belt 16 frequently, and
And it can be avoided that produce shock loading owing to y-axis Timing Belt 16 is lax, thus reduce the service life of y-axis Timing Belt 16, and then
Improve the service life of y-axis Timing Belt 16 and the stability of work.Y-axis Timing Belt regulating wheel 14 is belt wheel, y-axis regulating wheel
Swing arm 15 drives y-axis Timing Belt regulating wheel 14 synchronous hunting, and compresses y-axis Timing Belt 16.Compress at y-axis Timing Belt regulating wheel 14
After y-axis Timing Belt 16, by the bolt in the middle part of y-axis regulating wheel swing arm 15, y-axis regulating wheel swing arm 15 is fixed.
The left side of y-axis Timing Belt regulating wheel 14 is sequentially provided with cornerite regulation belt wheel 12 and cornerite regulation Timing Belt from left to right
Wheel 13, cornerite regulation belt wheel 12 and cornerite regulation synchronous pulley 13 are all rotatably installed on y-axis crossbeam.Cornerite regulation belt wheel 12 He
The axis of cornerite regulation synchronous pulley 13 is parallel with the axis of y-axis Timing Belt regulating wheel 14.Cornerite regulation synchronous pulley 13 is arranged
Above y-axis Timing Belt 16, cornerite regulation belt wheel 12 is arranged between the y-axis Timing Belt 16 of upper and lower both sides, makes y-axis Timing Belt
The upside of 16 becomes wave shape, thus increases the cornerite of Timing Belt and two ends synchronous pulley, increases synchronous pulley and y-axis
The bearing capacity of Timing Belt 16 engagement place, and also ensure that the stationarity of transmission.
Being vertically directed the adjustable glue coating wheel 9 that mechanism includes being arranged on below y-axis crossbeam, adjustable glue coating wheel 9 has two symmetries
It is arranged on the two ends of y-axis crossbeam.Adjustable glue coating wheel 9 is arranged on the lower section of active pack rubber tire 11 by rotating shaft, and adjustable encapsulated
Being provided with the bolt promoting the lifting of adjustable glue coating wheel 9 below the rotating shaft of wheel 9, bolt is by being threadably mounted on y-axis crossbeam, and promotes
Adjustable glue coating wheel 9 lifts, thus realizes the regulation of adjustable glue coating wheel 9 vertical direction.Adjustable glue coating wheel 9 and active pack rubber tire 11 points
It is not arranged on the both sides up and down of rack rail, and rack rail is clamped, thus y-axis crossbeam is led by the vertical direction
To.
As shown in Figure 5: horizontally-guided mechanism has two, it is symmetricly set on the two ends of y-axis crossbeam.Horizontally-guided mechanism includes
Being arranged on the directive wheel 10 of y-axis crossbeam both sides, the axis of directive wheel 10 is vertical with the axis of adjustable glue coating wheel 9, and rotates installation
On y-axis crossbeam.Y-axis crossbeam is separately positioned on both sides before and after rack rail with two directive wheels 10 of one end, and by frame
Guide rail clamps, thus guides y-axis crossbeam in the horizontal direction.It is vertically directed mechanism and horizontally-guided mechanism matches,
Ensure that y-axis crossbeam can move along a straight line, thus ensure that the precision that grasping mechanism 7 moves.
As shown in Figure 6: y-axis actuating unit includes synchronizing shaft 17 and y-axis motor 18.Synchronizing shaft 17 is arranged on two suspensions
Between mechanism, the length of synchronizing shaft 17 is equal along the width of x-axis with frame 1.Synchronizing shaft 17 connects y-axis motor 18, y-axis motor
18 left ends being arranged on synchronizing shaft 17, the output shaft of y-axis motor 18 is connected with the installation portion of synchronizing shaft 17, and passes through gear drive
Synchronizing shaft 17 is driven to rotate.On the driving section at synchronizing shaft 17 two ends also by tensioning sleeve respectively with corresponding position on two y-axis crossbeams
The synchronous pulley put is fixing to be connected, and synchronizing shaft 17 ensure that the rotating speed of the active pack rubber tire 11 at two ends is equal, thus ensures x
Axle walking mechanism 3 two ends advanced in unison, will not run-off the straight.
Synchronizing shaft 17 includes steel pipe and the spindle nose at two ends at middle part, and one end of spindle nose puts in steel pipe and and steel pipe welding
Connecing, the other end is co-axially mounted active pack rubber tire 11.Being provided with encoder in one end of synchronizing shaft 17, encoder is same with synchronizing shaft 17
Step rotates, and by speed feedback signal to converter, the convenient speed of travel controlling y-axis walking mechanism 2, additionally it is possible to detection synchronizes
The angle that axle 17 turns over, thus the distance that detection is walked along the y-axis direction.
Before and after frame 1, two ends are provided with and y-axis crossbeam carry out spacing limited block, thus avoid y-axis crossbeam moving
During drop.
As shown in Figure 7: z-axis walking mechanism includes z-axis column 23 and drives the elevating mechanism of z-axis column 23 lifting.Z-axis
Column 23 is slidably mounted on walking installing rack 20, and is provided with z-axis guiding mechanism, z between z-axis column 23 and walking installing rack 20
The lifting of z-axis column 23 can be guided by axle guiding mechanism, thus ensures the stability that z-axis column 23 lifts.W axle rotates
Mechanism 6 is fixing with the lower end of z-axis column 23 to be connected.It is additionally provided with gravitational equilibrium mechanism, gravitational equilibrium mechanism on walking installing rack 20
For balancing z-axis column 23 and the gravity of mechanism being arranged on z-axis column 23, thus it is steady to ensure that z-axis column 23 lifts
Fixed.
Gravitational equilibrium mechanism includes balance cylinder 27 and z-axis chain 28, and the lower end of balance cylinder 27 is arranged on walking peace
Shelving on 20, the axis of balance cylinder 27 be arranged in parallel with the axis of z-axis column 23.The lower end of z-axis chain 28 and z-axis column 23
Middle part fixing connect, top is fixed with the piston rod of balance cylinder 27 and is connected, thus puts down the gravity of z-axis column 23
Weighing apparatus, reduces the power that elevating mechanism bears, so that the walking of elevating mechanism is more steady, and then ensure that the precision of work.
Balance cylinder 27 connects pressure regulator valve, so that the air pressure in balance cylinder 27 maintains balance, carries out the weight of z-axis column 23
Balance, and it can be avoided that during power-off z-axis column 23 drop, use safety.
Balance cylinder 27 be arranged above gravitational equilibrium strainer.Gravitational equilibrium strainer includes z-axis Timing Belt
Regulating wheel 25, z-axis Timing Belt regulating wheel 25 is rotatably installed on the piston rod of balance cylinder 27, and with the piston of balance cylinder 27
Bar synchronization lifting, the upper end of z-axis chain 28 is fixing with the piston rod of balance cylinder 27 after walking around z-axis Timing Belt regulating wheel 25 to be connected
Connect.The lower section of z-axis Timing Belt regulating wheel 25 is provided with the bolt of regulation z-axis Timing Belt regulating wheel 25 height, and bolt is synchronized by z-axis
The axle of belt tensioner pulley 25 upwardly z-axis Timing Belt regulating wheel 25, and by z-axis chain 28 tensioning.
The stable steering mechanism for guiding it is provided with between balance cylinder 27 and z-axis column 23.Stable steering mechanism includes
The axis of guide 24 and fairlead 26, the lower end of the axis of guide 24 is fixing with the upper end of the piston rod of balance cylinder 27 to be connected, and with balance
The piston rod synchronization lifting of cylinder 27, and the axis of guide 24 is parallel with the axis of balance cylinder 27.Fairlead 26 is solid with z-axis column 23
Fixed connection, fairlead 26 is slidably located in outside the axis of guide 24.The motion of the axis of guide 24 is guided by fairlead 26, thus protects
The piston rod vertical lifting of card balance cylinder 27, it is to avoid due to z-axis column 23 run-off the straight when lifting, balance cylinder 27 is made
Become to damage.
Stable steering mechanism has two, is symmetricly set on the both sides of balance cylinder 27, thus preferably to balance cylinder 27
Protect.
Elevating mechanism includes z-axis chain and z-axis power unit.The upper end of z-axis chain is fixed on the top of z-axis column 23
End, the lower end of z-axis chain is fixed on the bottom of z-axis column 23.Z-axis power unit is connected with z-axis chain by z-axis sprocket wheel 30,
And drive z-axis column 23 to lift.
Z-axis guiding mechanism has three, and z-axis guiding mechanism is separately positioned on the both sides that z-axis column 23 is relative, z-axis column 23
The side installing z-axis chain is provided with a guiding mechanism, and the side relative with the side installing z-axis chain is provided with two z-axis
Guiding mechanism, it is possible to the load brought z-axis column 23 well is allocated, thus ensure that z-axis column 23 operates steadily.
Z-axis guiding mechanism includes being arranged on the slide rail on z-axis column 23 and the slide block on walking installing rack 20, slide block and
Slide rail matches, thus the movement to z-axis column 23 guides.
The two ends up and down of z-axis column 23 are equipped with limited block, thus the lifting to z-axis column 23 carries out spacing.
As shown in Fig. 8 ~ 9: z-axis power unit is z-axis motor 29, z-axis motor 29 drives z-axis column by z-axis sprocket wheel 30
23 liftings.Z-axis motor 29 is fixed on walking installing rack 20, and z-axis sprocket wheel 30 is connected with the output shaft of z-axis motor 29, z-axis sprocket wheel
30 match with z-axis chain, thus realize the lifting of z-axis column 23.Z-axis chain has three rows.Walking installing rack 20 stands near z-axis
The side of post 23 is the rectangular box body of the both ends open up and down being bolted to connection by steel plate, and z-axis column 23 sets
Put in walking installing rack 20 side.Z-axis sprocket wheel 30 is arranged in walking installing rack 20.The upside of walking installing rack 20 offers
Also by bolt, the ring flange coaxial with this through hole, the output shaft of z-axis motor 29 are installed on the upside of through hole, and walking installing rack 20
It is connected with z-axis sprocket wheel 30 after through hole through ring flange, and is bolted on ring flange, both facilitated z-axis motor 29
Demolition and maintenance, turn avoid and mutually hinder between each mechanism.
Z-axis sprocket wheel 30 has vertically arranged three, and the output shaft of z-axis motor 29 is coaxially connected with the z-axis sprocket wheel 30 at middle part,
And drive middle part z-axis sprocket wheel 30 to rotate.The z-axis sprocket wheel 30 of the upper side and lower side is separately positioned on z-axis chain away from z-axis column 23
Side, the z-axis sprocket wheel 30 at middle part is arranged between z-axis chain and z-axis column 23, the axis of the z-axis sprocket wheel 30 of the upper side and lower side
Equal with the distance between z-axis column 23, and it is less than the axis of the z-axis sprocket wheel 30 at middle part and the distance of z-axis column 23, increase
Cornerite between z-axis sprocket wheel 30 and z-axis chain, thus improve the joggled strength between z-axis sprocket wheel 30 and z-axis chain, thus
Ensure that and make z-axis sprocket wheel 30 can be lifted by z-axis chain-driving z-axis column 23.The z-axis sprocket wheel 30 at middle part is co-axially mounted
There is encoder, the rotating speed that encoder can detect z-axis motor 29 and the angle turned over, thus detect the speed of z-axis column 23 lifting
Degree and distance.
As shown in Figure 10: w axle rotating mechanism 6 includes w axle column 39, the rotating unit being rotatably installed on w axle column 39
And w axle power unit, w axle power unit is fixing with w axle column 39 to be connected, and w axle power unit is connected with rotating unit, and carries
Dynamic rotating unit rotates, and rotating unit is coaxially disposed with w axle column 39；Also include that the angle for turning over rotating unit is carried out
Measure and spacing detector unit.This w axle rotating mechanism 6 can the power of output form be the rotation around w axle column 39, increases
The forms of motion that grasping mechanism 7 rotates around z-axis, adds the motility of grasping mechanism 7, is being transported through ceramic tile or piling
Time the ceramic tile of crawl can be driven to rotate, thus change the attitude of ceramic tile, piling, subject range can be carried out as required
Extensively；Detector unit can detect the angle that rotating unit turns over, thus ensure that the degree of accuracy of grasping mechanism 7.
W axle power unit is w spindle motor 31, and w spindle motor 31 is arranged on rotating mounting rack 35.Rotating mounting rack 35 is arranged
In the bottom of w axle column 39, and fixing with w axle column 39 it is connected.Rotating unit is arranged on the lower section of rotating mounting rack 35.
The upper end of w axle column 39 is provided with and carries out, at vertical direction, the buffer gear that buffers.Due to w axle rotating mechanism 6 times
Grasping mechanism 7 is installed by side, and in work process, when grasping mechanism touches the ceramic tile of crawl, buffer gear can allow for w axle and stands
Post 39 in the vertical direction carries out small displacement, on the one hand it can be avoided that grasping mechanism 7 with when contacting wait the ceramic tile captured
W axle rotating mechanism 6 is caused damage, on the other hand grasping mechanism 7 can be made can to sense ceramic tile to be captured, thus improve
The stability that grasping mechanism 7 captures.
Buffer gear includes that cushion collar 37 and axial limiting mechanism, cushion collar 37 are slidably located in the upper of w axle column 39
End, axial limiting mechanism fixes with cushion collar 37, thus the axially-movable to w axle column 39 carries out spacing.W axle rotating mechanism 6
The lower end of cushion collar 37 and z-axis column 23 fixing be connected.
Being provided with circumference position-limit mechanism between cushion collar 37 and rotating mounting rack 35, circumference position-limit mechanism is prevented from w axle and stands
Post 39 and cushion collar 37 relatively rotate, thus improve the precision of the work of w axle rotating mechanism 6, it is to avoid operationally send out
Error in raw rotation direction.
Circumference position-limit mechanism includes circumference gag lever post and Limit Bearing, and the cross section of circumference gag lever post is rectangle, week
It is arranged on rotating mounting rack 35 to the lower end of gag lever post, and circumference gag lever post is vertically arranged.Limit Bearing is symmetricly set on week
To the both sides of gag lever post, Limit Bearing is bolted on outside cushion collar 37.Circumference gag lever post synchronizes to rise with w axle column 39
Fall, circumference gag lever post is carried out spacing, thus avoids w axle column 39 and relatively rotate with cushion collar 37 by Limit Bearing.
The side of w axle column 39 is provided with the buffering detection photoswitch 33 for detecting cushion collar 37 position, buffering detection
Photoswitch 33 is arranged on photoswitch installing plate 32, and the lower end of photoswitch installing plate 32 is arranged on rotating mounting rack 35
On, and photoswitch installing plate 32 is vertically arranged.Buffering detection photoswitch 33 has two, two buffering detection photoswitches 33
Vertically it is spaced setting.When there is axial relative movement with cushion collar 37 in w axle column 39, the buffering detection photoswitch of top
33 when detecting cushion collar 37, i.e. represents that grasping mechanism 7 touches article to be captured, is arranged on below w axle rotating mechanism 6
Grasping mechanism 7 stops the motion of vertical direction.The motion of w axle column 39 is carried out spacing by the buffering detection photoswitch 33 of lower section
Protection, thus the distance avoiding w axle column 39 to move is relatively big, thus equipment is caused damage.
Detector unit includes rotating detection photoswitch 34, and the grasping mechanism 7 being connected with rotating unit for detection turns over
Angle, and the rotation to grasping mechanism 7 carries out spacing.Rotating detection photoswitch 34 and have two, two rotate detection photoelectricity
Switch 34 is arranged on rotating mounting rack 35, and one rotates detection photoswitch 34 and is used for detecting the angle that grasping mechanism 7 turns over,
Thus the rotational angle of grasping mechanism 7 is accurately controlled, another detection switch is for carrying out the rotation of grasping mechanism 7
Spacing, thus avoid the rotational angle of grasping mechanism 7 beyond the rotational angle range set.
As shown in figure 11: axial limiting mechanism includes stop collar 38 and postive stop baffle 36.Postive stop baffle 36 is circular
Plate, postive stop baffle 36 is set in outside the w axle column 39 above cushion collar 37, and postive stop baffle 36 is fixed with cushion collar 37 and is connected.
The internal diameter of cushion collar 37 bottom is less than the internal diameter on top, thus forms limiting stand.The external diameter of the bottom of stop collar 38 is less than top
External diameter, on the w axle column 39 that stop collar 38 is set in cushion collar 37, stop collar 38 and w axle column 39 is fixing to be connected also and w
Axle column 39 synchronization lifting.The external diameter of w axle column 39 is less than the internal diameter of cushion collar 37, and stop collar 38 bottom puts in cushion collar 37
Bottom, the length of stop collar 38 is less than the length of cushion collar 37, and limiting stand matches with postive stop baffle 36, carries out stop collar 38
Axial fixing, thus w axle column 39 is carried out axial spacing.
It is provided with fixing nut, fixing nut and the limiting stand of cushion collar 37 on w axle column 39 above postive stop baffle 36
Match, the gravity of w axle column 39 and the rotating mounting rack 35 being arranged on w axle column 39 is offset, so that w axle stands
Post 39 is arranged on cushion collar 37.W axle rotating mechanism 6 is connected with the walking mechanism of mechanical hand by cushion collar 37.
Rotating mounting rack 35 is provided with for being arranged on the installing hole on w axle column 39, and the internal diameter of installing hole is more than w axle
The external diameter of column 39.Being arranged with carrying set 40 on w axle column 39 below rotating mounting rack 35, the diameter on carrying set 40 tops is little
In the diameter of bottom, the top of carrying set 40 puts in installing hole, and the lower support of rotating mounting rack 35 is outside carrying set 40
On the boss of side.The lower end of w axle column 39 is fixed with thrust bearing by fixing nut, and the lower support of carrying set 40 is in thrust
On bearing, the w axle column 39 on rotating mounting rack 35 top is provided with nut, and rotating mounting rack 35 is pressed on thrust bearing
On, complete the fixed installation of rotating mounting rack 35.The external diameter on carrying set 40 tops is less than the internal diameter of installing hole bottom, and carrying set
It is provided with rolling bearing between 40 and installing hole, makes carrying set 40 can relatively rotate with rotating mounting rack 35.
Rotating unit is output chain gear, and output chain gear is coaxially disposed with w axle column 39, and the internal diameter of output chain gear is more than w axle
The external diameter of column 39, and the top of output chain gear is fixing with carrying set 40 is connected.It is also equipped with drive chain on rotating mounting rack 35
Wheel, drive sprocket is connected with output chain gear by w axle chain 41, and drives output chain gear to rotate.The bottom of output chain gear with grab
Take mechanism 7 to be connected, and drive grasping mechanism 7 to rotate.
The output shaft of w spindle motor 31 is horizontally disposed with, and the output shaft of w spindle motor 31 is driven actively by the bevel gear being meshed
Sprocket wheel rotates.It is arranged above encoder, encoder and drive sprocket synchronous axial system, encoder detection drive chain at drive sprocket
The rate signal of wheel, and rate signal is fed back to converter, it is possible to realize the output speed of w spindle motor 31 is adjusted,
Thus completing the regulation to output chain gear rotating speed, encoder can also detect the angle that drive sprocket turns over.
As shown in Figure 12 ~ 13: grasping mechanism 7 includes pallet grasping mechanism and ceramic tile grasping mechanism.Pallet grasping mechanism
Being installed in grasping mechanism main body 45 with ceramic tile grasping mechanism, grasping mechanism main body 45 is cuboid housing.W axle rotating mechanism
The output chain gear of 6 is fixing with the middle part of grasping mechanism main body 45 to be connected, and drives grasping mechanism 7 synchronous axial system.
Pallet grasping mechanism includes that pallet captures finger 47 and promotes pallet to capture the finger that finger 47 is stretched out and clamped
Power unit.It is V-arrangement that pallet captures finger 47, and one end of pallet crawl finger 47 is connected with finger power unit, the other end
It is provided with the baffle plate for the pallet captured is stopped, it is to avoid pallet landing during capturing, thus causes danger.Pallet
Capture finger 47 and have four, be separately positioned on four angles of grasping mechanism main body 45.Pallet captures finger 47 and is arranged on finger
On installing plate 43, finger mounted plate 43 is fixing with finger power unit to be connected.
Grasping mechanism main body 45 is provided with pallet clamping guide plate 42, and pallet clamping guide plate 42 captures finger 47 with pallet
One_to_one corresponding, pallet clamping guide plate 42 is fixed on the side of grasping mechanism main body 45.The freedom of pallet clamping guide plate 42
End is the most gradually indent arc.Pallet captures finger 47 and is hinged on finger mounted plate 43, and pallet captures finger 47
And it is provided with torsion spring between finger mounted plate 43, opens so that pallet crawl finger 47 is in when departing from pallet clamping guide plate 42
Open state.Pallet captures on finger 47 and is rotatablely equipped with finger guide bearing 46, finger guide bearing 46 be arranged on pin joint with
Between pallet clamping guide plate 42.Finger power unit promotes pallet to capture finger 47 two lateral movement to the left and right respectively, so that
Pallet captures finger 47 and departs from pallet clamping guide plate 42, and pallet captures finger 47 and captures finger 47 gravity at torsion spring and pallet
It is in open configuration under effect；Finger power unit drives pallet crawl finger 47 by two lateral intermediary movementses, makes finger guide
Bearing 46 enters the free end of pallet clamping guide plate 42, and pallet clamping guide plate 42 captures finger 47 to pallet and guides,
Thus complete the clamping of the crawl to pallet.
Ceramic tile grasping mechanism includes ceramic tile clamping plate 48 and the clamping plate power unit promoting ceramic tile clamping plate 48 to move axially.Porcelain
The upper end of brick clamp plate 48 is arranged on clamping plate installing plate 49, and the other end is free end.Clamping plate power unit and clamping plate installing plate 49
It is connected, and promotes clamping plate installing plate 49 to move horizontally, thus realize the clamping of ceramic tile and unclamp.Ceramic tile clamping plate 48 contact with ceramic tile
Side be provided with rubber, on the one hand for increasing the friction with ceramic tile, on the other hand can produce cushioning effect, it is to avoid with ceramic tile
Collide, thus damage ceramic tile.The lower end of ceramic tile clamping plate 48 tilts to middle part such that it is able to preferably clamp ceramic tile.
When through-thickness captures ceramic tile, ceramic tile clamping plate 48 may be mounted at clamping plate installing plate 49 near grasping mechanism master
One end in the middle part of body 45, when capturing ceramic tile along width or length direction, it is close that ceramic tile clamping plate 48 are arranged on clamping plate installing plate 49
One end outside grasping mechanism main body 45.Two pieces of ceramic tile clamping plate 48 for the clamping ceramic tile that cooperates are a pair, ceramic tile clamping plate
48 have two right, clamping plate installing plate 49 and ceramic tile clamping plate 48 one_to_one corresponding.
The ceramic tile that is arranged in grasping mechanism main body 45 captures position-limiting unit.It is that clamping plate are spacing that ceramic tile captures position-limiting unit
Photoswitch 44, every a pair clamping plate limiting photoelectric switch 44 has two, and two clamping plate limiting photoelectric switch 44 are respectively used to detection
The original position of clamping plate power unit and final position, thus complete spacing.It is two right that clamping plate limiting photoelectric switch 44 has, the most right
The clamping plate power unit driving ceramic tile clamping plate 48 motion carries out spacing.
This grasping mechanism 7 can either complete the crawl to pallet, is capable of again the crawl to ceramic tile, automaticity
Height, and the precision that pallet is placed is high, and ceramic tile will not be made to tilt when piling, easy to use.
As shown in figure 14: between finger power unit and finger mounted plate 43, be provided with pallet drive mechanism.Finger power list
Unit captures cylinder 51 for pallet, and pallet captures cylinder 51 one, and is arranged on the middle part of grasping mechanism main body 45, and pallet captures
The piston rod of cylinder 51 is connected with pallet drive mechanism, and finger mounted plate 43 is connected with pallet drive mechanism.
Pallet drive mechanism includes that pallet captures gear 55 and pallet captures tooth bar 56.Pallet captures gear 55 and rotates peace
It is contained in grasping mechanism main body 45, and pallet captures the axis vertical setting of gear 55.Pallet captures tooth bar 56 two, symmetrical
It is arranged on pallet and captures the both sides of gear 55, and grasping mechanism main body 45 and hands are stretched out in one end of two pallet crawl tooth bars 56
Refer to that installing plate 43 is fixing connect.Pallet crawl cylinder 51 is fixed with a pallet crawl tooth bar 56 and is connected, and promotes this pallet to grab
Take tooth bar 56 to move axially, this pallet capture tooth bar 56 by pallet capture gear 55 drive another pallet capture tooth bar 56 to
Contrary direction motion, thus both sides pallet captures the synchronous on-off of finger 47.
The outside of pallet crawl tooth bar 56 is provided with and pallet captures the bearing that finger 56 is pressed on pallet crawl gear 55,
Bearing is arranged in grasping mechanism main body 45 by bolt.
Clamping plate power unit has two, and two clamping plate power units are separately positioned on pallet and capture the both sides of cylinder 51, and
Drive two foldings to ceramic tile clamping plate 48 respectively.Each clamping plate power unit includes two clamping plate folding cylinders 50, and two
The piston rod of clamping plate folding cylinder 50 is fixing to be connected, and is synchronized with the movement.Clamping plate limiting photoelectric switch 44 is by detection clamping plate folding
Ceramic tile clamping plate 48 are carried out spacing by the position of the piston rod of cylinder 50.
Clamping plate drive mechanism it is provided with between clamping plate power unit and clamping plate installing plate 49.Clamping plate drive mechanism includes that clamping plate are opened
Close gear 52 and clamping plate folding tooth bar 53.Clamping plate folding gear 52 is rotatably installed in grasping mechanism main body 45, and clamping plate are opened
The axis vertical closing gear 52 is arranged.Clamping plate folding tooth bar 53 has two, is symmetricly set on clamping plate folding gear 52 both sides, two
Clamping plate folding tooth bar 53 is connected with installing to fix with the clamping plate installing plate 49 of a pair ceramic tile clamping plate 48 respectively.Two clamping plate folding gas
The piston rod of cylinder 50 and a clamping plate folding tooth bar 53 are connected, and drive this clamping plate folding tooth bar 53 to move, this clamping plate folding tooth
Bar 53 drives another clamping plate folding tooth bar 53 to move in the opposite direction by clamping plate folding gear 52.Clamping plate folding tooth bar 53
Be respectively provided on two sides with and promote clamping plate folding tooth bar 53 to compress the bearing of clamping plate folding gear 52.
Pallet captures the lower section of gear 55 and is provided with ceramic tile induction apparatus 54, and ceramic tile induction apparatus 54 is used for detecting ceramic tile clamping plate 48 and is
No crawl ceramic tile and detection pallet capture whether finger 47 has captured pallet.
The work process of this mechanical hand is as follows: first walking mechanism drives grasping mechanism 7 to capture pallet, and is placed by pallet
Specifying position.Then walking mechanism drives grasping mechanism 7 to pick up ceramic tile again, and is placed sequentially on pallet by ceramic tile, thus
Ceramic tile is carried out piling.This mechanical hand is compared and is added degree of freedom with traditional mechanical hand, makes the grasping mechanism energy of this mechanical hand
Enough rotating around z-axis, so that the piling mode of this mechanical hand is various, the mode of piling can be set according to user's request.
Owing to y-axis walking mechanism 2, x-axis walking mechanism 3, z-axis walking mechanism 4 and w axle rotating mechanism 6 are mounted on compiling
Code device, grasping mechanism 7 near ceramic tile time, the walking of grasping mechanism 7 or velocity of rotation are relatively slow, in ceramic tile transport process,
The speed of grasping mechanism 7, drastically increases work efficiency, and will not collide with ceramic tile thus damage ceramic tile.
Additionally, grasping mechanism 7 is when coordinating with production line, when the production of ceramic tile is very fast, the motion of grasping mechanism 7 is also very fast, works as porcelain
When brick produces slower, the motion of grasping mechanism 7 is the slowest, has both coordinated production line, turn avoid grasping mechanism 7 run too fast and
Cause the phenomenon of energy dissipation.
The above, be only presently preferred embodiments of the present invention, is not the restriction that the present invention makees other form, appoints
What those skilled in the art changed possibly also with the technology contents of the disclosure above or be modified as equivalent variations etc.
Effect embodiment.But every without departing from technical solution of the present invention content, the technical spirit of the foundation present invention is to above example institute
Any simple modification, equivalent variations and the remodeling made, still falls within the protection domain of technical solution of the present invention.
Claims (10)
1. an x-axis walking mechanism, it is characterised in that: include x-axis Timing Belt (21) and x-axis power unit, x-axis power unit
Being arranged on x-axis crossbeam (22), x-axis crossbeam (22) is slidably fitted with walking installing rack (20), x-axis power unit is same with x-axis
Step band (21) is connected, and x-axis Timing Belt (21) is fixing with walking installing rack (20) to be connected；X-axis power unit is provided with for detecting x
Axle power unit rotating speed and the encoder of angle turned over.
X-axis walking mechanism the most according to claim 1, it is characterised in that: described x-axis crossbeam (22) and walking installing rack
(20) the x-axis guiding mechanism for walking installing rack (20) is guided it is provided with between.
X-axis walking mechanism the most according to claim 2, it is characterised in that: described x-axis guiding mechanism include slide rail and
The slide block matched with slide rail, slide rail is axially disposed within described x-axis crossbeam (22), and described walking installing rack (20) is solid with slide block
Fixed connection.
X-axis walking mechanism the most according to claim 2, it is characterised in that: described x-axis guiding mechanism has two groups, respectively
It is arranged on the both sides up and down of x-axis crossbeam (22).
X-axis walking mechanism the most according to claim 1, it is characterised in that: described x-axis power unit is x-axis motor
(19), the two ends of described x-axis crossbeam (22) are equipped with the synchronous pulley being meshed with described x-axis Timing Belt (21), x-axis motor
(19) being connected with synchronous pulley and drive synchronous pulley to rotate, described encoder and synchronous pulley be coaxially connected and synchronous axial system.
X-axis walking mechanism the most according to claim 5, it is characterised in that: the outfan of described x-axis motor (19) is downward
Being arranged on x-axis crossbeam (22) top, the two ends of x-axis crossbeam (22) are provided with the axis regulation that the axis to synchronous pulley is adjusted
Mechanism.
X-axis walking mechanism the most according to claim 1, it is characterised in that: described x-axis crossbeam (22) is provided with described
Walking installing rack (20) carries out spacing x-axis position-limit mechanism.
X-axis walking mechanism the most according to claim 7, it is characterised in that: described x-axis position-limit mechanism includes being arranged on institute
State the limited block at x-axis crossbeam (22) two ends.
9. the mechanical hand that can move along x-axis speed change, it is characterised in that: include frame (1), y-axis walking mechanism (2), z-axis row
Walk mechanism (4), w axle rotating mechanism (6), grasping mechanism (7) and the x-axis walking mechanism described in any one of claim 1 ~ 8
(3), y-axis walking mechanism (2) is arranged in frame (1), and the x-axis crossbeam (22) of x-axis walking mechanism (3) is arranged on y-axis vehicle with walking machine
On structure (2), z-axis walking mechanism (4) is arranged on the walking installing rack (20) of x-axis walking mechanism (3), and w axle rotating mechanism (6) pacifies
Being contained in z-axis walking mechanism (4), grasping mechanism (7) is arranged on w axle rotating mechanism (6).
The mechanical hand that can move along x-axis speed change the most according to claim 9, it is characterised in that: described y-axis vehicle with walking machine
Structure (2) includes hitch and y-axis actuating unit, and hitch has two, is symmetricly set on the two of described x-axis crossbeam (22)
End, y-axis actuating unit is connected with hitch, and drives hitch to move.
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| CN201611016313.1A CN106272407B (en) | 2016-11-18 | 2016-11-18 | Manipulator capable of moving along x-axis in variable speed |
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| CN108436885A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system |
| CN109571452A (en) * | 2018-12-14 | 2019-04-05 | 上海交通大学 | A kind of double freedom rope drive mechanism of a translation and a rotation |
| CN111747104A (en) * | 2020-06-11 | 2020-10-09 | 圣山集团有限公司 | Automatic grabbing and spreading device |
| CN112124825A (en) * | 2020-09-22 | 2020-12-25 | 同济大学 | Mechanical claw positioning control system of garbage transfer equipment |
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