CN106276293A - A kind of ceramic tile device for pilling and ceramic tile stack palletizing apparatus - Google Patents

A kind of ceramic tile device for pilling and ceramic tile stack palletizing apparatus Download PDF

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Publication number
CN106276293A
CN106276293A CN201611016280.0A CN201611016280A CN106276293A CN 106276293 A CN106276293 A CN 106276293A CN 201611016280 A CN201611016280 A CN 201611016280A CN 106276293 A CN106276293 A CN 106276293A
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CN
China
Prior art keywords
ceramic tile
axis
pilling
brick
folded brick
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CN201611016280.0A
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Chinese (zh)
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CN106276293B (en
Inventor
谢东
邱羽
崔永彬
孙文才
蔡运莲
张艳秋
陶然
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Shandong Intelligent Technology Co Ltd
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Shandong Intelligent Technology Co Ltd
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Priority to CN201611016280.0A priority Critical patent/CN106276293B/en
Publication of CN106276293A publication Critical patent/CN106276293A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Abstract

A kind of ceramic tile device for pilling and ceramic tile stack palletizing apparatus, belong to production equipment for ceramic tiles technical field.It is characterized in that: include ceramic tile conveying mechanism, ceramic tile elevating mechanism and the ceramic tile clamp system being arranged in folded brick frame, ceramic tile elevating mechanism is slidably mounted in folded brick frame, and glide direction is vertical with the conveying direction of ceramic tile conveying mechanism, folded brick guiding mechanism it is provided with between ceramic tile elevating mechanism and folded brick frame, ceramic tile elevating mechanism and ceramic tile clamp system are installed on ceramic tile conveying mechanism, ceramic tile elevating mechanism is symmetricly set on ceramic tile elevating mechanism both sides, and ceramic tile clamp system is arranged on the top of ceramic tile elevating mechanism.This ceramic tile device for pilling can regulate the spacing of ceramic tile conveying mechanism, ensure that ceramic tile conveying mechanism can adapt to the conveying of various sizes of ceramic tile, this ceramic tile stacks the ceramic tile device for pilling of palletizing apparatus and can stack ceramic tile, and the stacking and piling of the ceramic tile that can adapt to vary in size.

Description

A kind of ceramic tile device for pilling and ceramic tile stack palletizing apparatus
Technical field
A kind of ceramic tile device for pilling and ceramic tile stack palletizing apparatus, belong to production equipment for ceramic tiles technical field.
Background technology
In the production palletization of ceramic tile, in order to improve the efficiency of ceramic tile palletizing, usual mechanical hand once to capture many Ceramic tile after block packaging, so can either improve the crawl efficiency of mechanical hand, moreover it is possible to ensure that mechanical hand will not be to ceramic tile production line Cause obstruction.The ceramic tile after polylith is packed is captured, it usually needs use folded brick device in order to enable mechanical hand to accomplish once, folded Ceramic tile on ceramic tile production line is stacked by brick device, when being stacked to the quantity set, is flowing to mechanical hand, and is relying on The mechanical hand ceramic tile to folding carries out piling.Torr brick device mainly includes promoting the ceramic tile elevating mechanism of ceramic tile lifting, ceramic tile folder Tight mechanism and conveying mechanism, ceramic tile elevating mechanism drives ceramic tile lifting, and matches with ceramic tile clamp system, carries out ceramic tile Stacking, when ceramic tile clamp system reaches the ceramic tile quantity specified, ceramic tile is placed on ceramic tile elevating mechanism by ceramic tile clamp system On, ceramic tile elevating mechanism drives ceramic tile to decline, and is placed on the conveyer belt of next station, flows to mechanical hand, so that machine Tool hands can once capture polylith ceramic tile.But there are the following problems in use for existing ceramic tile device for pilling: due to ceramic tile Size vary, existing ceramic tile clamping device cannot meet various sizes of ceramic tile, therefore cannot meet different ceramic tile Production requirement, producer needs to be equipped with the folded brick device of different model, could meet production needs, so considerably increase ceramic tile raw Produce the cost of the valency of liter, and when changing ceramic tile model, need more exchange device and debug, greatly have impact on production efficiency.
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 be to ceramic tile conveyer Distance between structure is adjusted, enables adaptation to the ceramic tile device for pilling of different size ceramic tile and ceramic tile stacks piling dress Put.
The technical solution adopted for the present invention to solve the technical problems is: this ceramic tile device for pilling, it is characterised in that: include Being arranged on the ceramic tile conveying mechanism in folded brick frame, ceramic tile elevating mechanism and ceramic tile clamp system, ceramic tile elevating mechanism slides It is arranged in folded brick frame, and glide direction is vertical with the conveying direction of ceramic tile conveying mechanism, ceramic tile elevating mechanism and folded brick machine It is provided with folded brick guiding mechanism, ceramic tile elevating mechanism and ceramic tile clamp system between frame to be installed on ceramic tile conveying mechanism, porcelain Brick elevating mechanism is symmetricly set on ceramic tile elevating mechanism both sides, and ceramic tile clamp system is arranged on the top of ceramic tile elevating mechanism.
Preferably, described folded brick guiding mechanism includes regulating supporting leg and spacing regulation guide rail, and regulation supporting leg has Multiple, it is symmetricly set on the both sides, lower section of ceramic tile conveying mechanism, spacing regulation guide rail is horizontally set on below regulation supporting leg, and The axis of spacing regulation guide rail is vertical with the direction that ceramic tile conveying mechanism carries, and the bottom of regulation supporting leg is provided with and regulates with spacing The rail wheel that guide rail matches.
Preferably, described ceramic tile elevating mechanism has two.
Preferably, described ceramic tile elevating mechanism includes lifting motor and torr brick finger, and lifting motor is arranged on ceramic tile Conveying mechanism side, lifting motor is connected with torr brick finger by gear drive, and drives torr brick finger lifting.
Preferably, described gear drive includes lifter rack and the gear matched with lifter rack, gear Being arranged on the output shaft of lifting motor, lifter rack is slidably mounted on ceramic tile conveying mechanism, and lifter rack is vertically arranged, torr Brick finger mounted is on lifter rack.
Preferably, described ceramic tile clamp system includes clamping cylinder and folded brick clamp plate, and clamping cylinder has two, symmetrical Being arranged on ceramic tile conveying mechanism both sides, folded brick clamp plate is arranged on the piston rod of clamping cylinder, and the clamping cylinder of both sides promotes folded Brick clamp plate level moves, thus clamps ceramic tile or unclamp.
Preferably, being provided with folded brick swing arm between described folded brick clamp plate and ceramic tile conveying mechanism, folded brick swing arm one end rotates Being arranged on ceramic tile conveying mechanism, the other end is rotationally connected with folded brick clamp plate.
Preferably, dismountable folded brick detector unit being provided with for detecting ceramic tile on described ceramic tile conveying mechanism, Folded brick detector unit is arranged on the top of ceramic tile clamp system.
A kind of ceramic tile stacks palletizing apparatus, it is characterised in that: include mechanical hand, ceramic tile overturning device and above-mentioned ceramic tile Device for pilling, mechanical hand includes frame, walking mechanism, w axle rotating mechanism and grasping mechanism, and walking mechanism is arranged on frame On, and can move along x-axis, y-axis and z-axis respectively, w axle rotating mechanism is arranged in walking mechanism, and grasping mechanism is arranged on w axle On rotating mechanism, ceramic tile device for pilling is arranged on the side of mechanical hand, and ceramic tile overturning device is arranged on ceramic tile device for pilling and machine Between tool hands, and the ceramic tile stacking ceramic tile device for pilling overturns, thus facilitates mechanical hand to capture.
Compared with prior art, the present invention is had the beneficial effect that
1, the ceramic tile conveying mechanism of this ceramic tile device for pilling is slidably mounted in folded brick frame such that it is able to regulation ceramic tile conveyer The spacing of structure, it is ensured that ceramic tile conveying mechanism can adapt to the conveying of various sizes of ceramic tile, when producing different size of ceramic tile, Can directly regulate the spacing of ceramic tile conveying mechanism, easy to adjust, the cost of ceramic tile manufacturer can be reduced, can improve again The debugging efficiency of equipment, easy to use.
2, being matched by rail wheel and spacing adjustable track, the movement to ceramic tile conveying mechanism guides, thus When ensure that adjustment, ceramic tile conveying mechanism can remain parallel, thus ensures the working stability of ceramic tile conveying mechanism.
3, ceramic tile elevating mechanism changes hands the lifting referring to realize ceramic tile by driven by motor torr, it is ensured that ceramic tile can be stable Lifting, it is to avoid shake in lifting process, lifting motor is connected with torr brick finger by gear drive, so that torr The rising or falling speed of brick finger is moderate.
4, gear drive includes that gear and lifter rack, torr brick gear are arranged on lifter rack, and lifting motor leads to Cross gear driven lifter rack synchronization lifting, thus realize the lifting of ceramic tile, lifter rack and gear and can either carry bigger Weight, can be adjusted the rotating speed of lifter rack again.
5, torr brick cylinder promotes torr brick clamp plate to be clamped the both sides of ceramic tile, thus realizes holding in the palm brick, holds in the palm brick cylinder action Sensitive, it is possible to quickly ceramic tile to be clamped and unclamp.
6, torr brick clamp plate is arranged on ceramic tile conveying mechanism by folded brick swing arm, is the effect at torr brick cylinder of the torr brick clamp plate Lower swing, and clamp ceramic tile.
7, folded brick detector unit can detect the quantity of the ceramic tile on ceramic tile clamp system, owing to folded brick detector unit is removable The installation unloaded, the therefore quantity of the ceramic tile on convenient regulation ceramic tile clamping mechanism.
8, this ceramic tile stacks the ceramic tile device for pilling of palletizing apparatus and can stack ceramic tile, stacks to specified quantity Flowing to ceramic tile overturning device, ceramic tile overturning device can drive ceramic tile to overturn, thus facilitates grasping mechanism from different angles Ceramic tile is captured, thus ceramic tile can either be carried out vertical piling, it is also possible to level ceramic tile is carried out piling, piling Mode is flexible, preferably meets the demand of production scene or entrucking.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of ceramic tile device for pilling.
Fig. 2 is the schematic perspective view of mechanical hand.
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 x-axis walking mechanism.
Fig. 8 is the schematic front view of z-axis walking mechanism.
Fig. 9 is the schematic perspective view of z-axis actuating unit.
Figure 10 is the partial enlarged drawing in Fig. 9 at A.
Figure 11 is the schematic front view of w axle rotating mechanism.
Figure 12 is the cross-sectional schematic in the B-B direction of Figure 11.
Figure 13 is the schematic front view of grasping mechanism.
Figure 14 is the schematic top plan view of grasping mechanism.
Figure 15 is the schematic perspective view capturing drive mechanism.
Figure 16 is the schematic perspective view of ceramic tile overturning device.
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, stack Plate capture cylinder 52, clamping plate folding gear 53, clamping plate folding tooth bar 54, ceramic tile induction apparatus 55, pallet capture gear 56, Pallet capture tooth bar 57, overturning frame 58, roll-over table 59, baffle plate 60, baffle plate installing rack 61, roll-over table limiting plate 62, Connecting rod 63, upset motor 64, crank 65, spacing regulation guide rail 66, regulation supporting leg 67, conveying motor 68, folded brick clamp Plate 69, torr brick finger 70, clamping cylinder 71, lifting motor 72, fixing supporting legs.
Detailed description of the invention
Fig. 1 ~ 16 are highly preferred embodiment of the present invention, and 1 ~ 16 the present invention will be further described below in conjunction with the accompanying drawings.
A kind of ceramic tile device for pilling, including the ceramic tile conveying mechanism being arranged in folded brick frame, ceramic tile elevating mechanism and Ceramic tile clamp system, ceramic tile elevating mechanism is slidably mounted in folded brick frame, and the conveying of glide direction and ceramic tile conveying mechanism Direction is vertical, is provided with folded brick guiding mechanism, ceramic tile elevating mechanism and ceramic tile clamping between ceramic tile elevating mechanism and folded brick frame Mechanism is installed on ceramic tile conveying mechanism, and ceramic tile elevating mechanism is symmetricly set on ceramic tile elevating mechanism both sides, ceramic tile clamping machine Structure is arranged on the top of ceramic tile elevating mechanism.The ceramic tile conveying mechanism of this ceramic tile device for pilling is slidably mounted in folded brick frame, It is thus possible to the spacing of regulation ceramic tile conveying mechanism, it is ensured that ceramic tile conveying mechanism can adapt to the conveying of various sizes of ceramic tile, When producing different size of ceramic tile, can directly regulate the spacing of ceramic tile conveying mechanism, easy to adjust, ceramic tile can be reduced raw Produce the cost of producer, the debugging efficiency of equipment can be improved again, easy to use.
Concrete: as shown in Figure 1: ceramic tile conveying mechanism includes the conveying mechanism installing rack of both sides, and is arranged on both sides Chain on conveying mechanism installing rack, conveying mechanism installing rack is provided with the sprocket wheel matched with chain, each Being mounted on carrying motor 72 on conveying mechanism installing rack, the output shaft of conveying motor 72 is connected with sprocket wheel, and band movable sprocket turns Dynamic, and then drive chain to rotate, thus realize the conveying of ceramic tile.
The rear end, lower section of each conveying mechanism installing rack is provided with fixing supporting legs 72, and fixing supporting legs 72 is arranged on conveyer The rear side of structure installing rack, the axis vertical of fixing supporting legs 72 is arranged.Folded brick guiding mechanism include regulating supporting leg 66 and Away from regulation guide rail 65, spacing regulation guide rail 65 is horizontally disposed with, and spacing regulates the axis of guide rail 65 and the defeated of ceramic tile conveying mechanism Direction is sent to be mutually perpendicular to.Movable supporting lower limb 66 is arranged on below the front end of conveying mechanism installing rack, and movable supporting lower limb 66 vertically sets Putting, the lower end of movable supporting lower limb 66 is provided with rail wheel, and rail wheel matches with spacing regulation guide rail 65, thus pacifies conveying mechanism Shelve and guide.
Ceramic tile elevating mechanism has two, and two ceramic tile elevating mechanisms are symmetricly set on outside two conveying mechanism installing racks Side, ceramic tile elevating mechanism includes lifting motor 71 and torr brick finger 69, and lifting motor 71 is arranged on conveying mechanism installing rack Outside, is provided with gear drive between lifting motor 71 and torr brick finger 69.Gear drive include lifter rack and Gear, conveying mechanism installing rack is additionally provided with reductor, and the output shaft of lifting motor 71 is connected with the power shaft of reductor, slows down Being provided with gear on the output shaft of machine, lifter rack is slidably mounted on the outside of fixing supporting legs 72, and torr brick finger 69 is arranged on The upper end of lifter rack, and with lifter rack synchronization lifting.
Ceramic tile clamp system includes clamping cylinder 70 and folded brick clamp plate 68, each conveying mechanism installing rack is put and is all spaced Being provided with two clamping cylinder installing plates, clamping cylinder installing plate is vertically arranged.Clamping cylinder 70 is arranged on two clamping cylinder peaces The middle part of dress plate, folded brick clamp plate 68 is arranged on the piston rod of clamping cylinder 70.The lower section of each folded brick clamp plate 68 is provided with two Folded brick swing arm, the upper end of folded brick swing arm is rotationally connected with folded brick clamp plate 68, and the lower end of folded brick swing arm turns with conveying mechanism installing rack Being dynamically connected, clamping cylinder 70 promotes folded brick clamp plate 68 to swing, thus realizes the clamping to ceramic tile and unclamp.
Each cylinder mounting plate is provided with vertical elongated hole, and dismountable on cylinder mounting plate to be provided with the detection of folded brick single Unit, folded brick detector unit is folded brick detection photoswitch, and folded brick detection photoswitch is arranged on cylinder mounting plate by bolt In elongated hole, thus the position of convenient regulation folded brick detection photoswitch, and then the quantity of the most folded brick of regulation.
The work process of this ceramic tile device for pilling is as follows: ceramic tile is delivered to ceramic tile conveying mechanism by first ceramic tile conveying mechanism Top, ceramic tile conveying mechanism promotes ceramic tile to rise, and when rising between ceramic tile clamp system, ceramic tile clamp system action, by porcelain Brick clamp is tight, and then ceramic tile elevating mechanism declines, and continues to promote the ceramic tile of conveying to rise, and after rising, ceramic tile clamp system unclamps, And the ceramic tile both sides on the downside of clamping, thus realize stacking of ceramic tile.When folded brick detection photoswitch detects ceramic tile, all Ceramic tile driven by ceramic tile elevating mechanism and drop on conveyer belt, be delivered to next station.
As shown in Figure 2: a kind of ceramic tile stacks palletizing apparatus, including mechanical hand and above-mentioned ceramic tile overturning device, ceramic tile Turning device is arranged on the side of mechanical hand, and mechanical hand includes frame 1, walking mechanism, w axle rotating mechanism 6 and grasping mechanism 7, walking mechanism is arranged in frame 1, and can move along x-axis, y-axis and z-axis respectively, and w axle rotating mechanism 6 is arranged on vehicle with walking machine On structure, grasping mechanism 7 is arranged on w axle rotating mechanism 6, and ceramic tile device for pilling is arranged on the side of mechanical hand, ceramic tile upset dress Put and be arranged between ceramic tile device for pilling and mechanical hand, and the ceramic tile stacking ceramic tile device for pilling overturns, thus side Just mechanical hand captures.Grasping mechanism 7 includes that grasping mechanism main body 45 and the pallet being arranged in grasping mechanism main body 45 capture Mechanism and ceramic tile grasping mechanism, grasping mechanism 7 is arranged on w axle rotating mechanism 6, adds the degree of freedom of grasping mechanism 7, makes to grab Take mechanism 7 more flexible, thus mechanical hand is while mobile ceramic tile, additionally it is possible to the attitude of ceramic tile is converted, it is thus possible to Enough as required ceramic tile is carried out piling, easy to use;Ceramic tile grasping mechanism and pallet grasping mechanism can capture pallet respectively And ceramic tile, easy to use, and when ceramic tile is carried out piling, it is not necessary to manually placing pallet, the degree of accuracy that pallet is placed is high, Pallet grasping mechanism and ceramic tile grasping mechanism can work alone, and will not produce impact each other, improve grasping mechanism 7 Capture the kind of article, improve the automaticity of this mechanical hand, easy to use.
The bottom of frame 1 fixes on the ground, so that the work of this mechanical hand is more stable, in the course of the work will not Shake.
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, symmetrical 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: x-axis walking mechanism 3 includes x-axis Timing Belt 21 and x-axis power unit.X-axis power unit is installed On x-axis crossbeam 22, x-axis crossbeam 22 length is equal with the length of synchronizing shaft 17, the two ends of x-axis crossbeam 22 respectively with y-axis crossbeam Middle part fixing connect, and with y-axis crossbeam synchronizing moving.X-axis power unit is x-axis motor 19, and x-axis motor 19 is fixed on x-axis The left end of crossbeam 22, 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 same Step belt wheel.It is slidably fitted with walking installing rack 20 on x-axis crossbeam 22, is provided with x-axis between walking installing rack 20 and x-axis crossbeam 22 and leads To mechanism, x-axis guiding mechanism can make walking installing rack 20 move along a straight line, thus ensure that what grasping mechanism 7 moved stablizes Property.The two ends of x-axis Timing Belt 21 are all fixing with walking installing rack 20 after walking around the synchronous pulley at x-axis crossbeam 22 two ends to be connected, and Drive walking installing rack 20 with x-axis Timing Belt 21 synchronizing moving.Z-axis walking mechanism 4 is arranged on walking installing rack 20, and accompanies Walk installing rack 20 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 z-axis walking mechanism 4 is installed and is expert at Walk the side of installing rack 20.Steel plate top and the steel plate bottom of downside on the upside of walking installing rack 20 are equipped with reinforcement, and add Strong muscle is the taper become narrow gradually by side to the opposite side near z-axis walking mechanism 4, thus ensures the strong of installing rack 20 of walking Degree, 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 the side away from z-axis walking mechanism 4, the x-axis guiding mechanism of downside is positioned close to the side of z-axis walking mechanism 4, it is thus possible to The enough unilateral load being subject to walking installing rack 20 is offset, it is ensured that the stability of walking installing rack 20 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.
Being coaxially installed with encoder on the synchronous pulley of the one end away from x-axis motor 19, encoder can be by x-axis motor The speed feedback signal of 19 is to converter, thus passes through the rotating speed of Frequency Converter Control x-axis motor 19, and then controls x-axis vehicle with walking machine The speed of travel of structure 3, 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.
It is provided with at the two ends of x-axis crossbeam 22 and walking installing rack 20 is carried out spacing limited block.
As shown in Figure 8: 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. 9 ~ 10: 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 11: 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 12: 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 13 ~ 14: 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 15: 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.
As shown in figure 16: ceramic tile overturning device includes overturning frame 57 and roll-over table 58, roll-over table 58 is rotatably installed in Overturning frame 57 top, overturning frame 57 is provided with actuating unit, and actuating unit is connected with roll-over table 58, and promotes roll-over table 58 Swinging axle around level swings.The roll-over table of this ceramic tile overturning device can drive ceramic tile to overturn such that it is able at gripper of manipulator Before taking, ceramic tile on production line is made upset to occur and maintain vertical state, so that mechanical hand is convenient according to required code Buttress mode captures ceramic tile, easy to use.
The front part sides of roll-over table 58 is rotatably installed on overturning frame 57, and the top of roll-over table 58 is interval with multiple cunning Roller, the axis of multiple sliding rollers is all parallel with the swinging axle of roll-over table 58.
The rear side of roll-over table 58 is folded upward at, and forms kink, and kink is provided with the baffle plate peace for installing baffle plate 59 Dress bar, baffle plate mounting rod level and interval, the top setting of roll-over table 58.Baffle plate 59 is by the dismountable peace of screw bolt and nut Be contained on baffle plate mounting rod, and baffle plate 59 and roll-over table 58 interval arrange, ceramic tile by tape transport to roll-over table 58, and Between roll-over table 58 and baffle plate 59.
The front side of baffle plate 59 be bottom be arc the most gradually downward, thus avoid to enter roll-over table 58 porcelain Brick causes obstruction.
Actuating unit includes overturning motor 63 and turnover transmission rig, and upset motor 63 is arranged on below roll-over table 58 On overturning frame 57, between upset motor 63 and turnover transmission rig, it is provided with reductor, the output shaft of upset motor 63 and deceleration The power shaft of machine is connected, and the output shaft of reductor is connected with the outfan of turnover transmission rig, the outfan of turnover transmission rig It is connected with roll-over table 58, thus drives roll-over table 58 to swing.
Turnover transmission rig includes that connecting rod 62 and crank 64, one end of crank 64 connect with the output shaft rotation of reductor Connecing, the other end of crank 64 is rotationally connected with one end of connecting rod 62, and the other end of connecting rod 62 connects with the lower rotational of roll-over table 58 Connect, and junction point is positioned at the rear side of swinging axle of roll-over table 58, thus promote roll-over table 58 to swing.When connecting rod 62 and 64, crank In the same side of speed reducer output shaft, and when connecting rod 62 is parallel with the axis of crank 64, roll-over table 58 is in level;When even Bar 62 and crank 64 lay respectively at the both sides of speed reducer output shaft, and connecting rod 62 is parallel with the axis of crank 64, now roll-over table 58 are in vertical state, therefore when overturning motor 63 and working, roll-over table 58 can be driven to swing, thus drive ceramic tile to swing.
Being provided with roll-over table limiting plate 61 on overturning frame 57, roll-over table limiting plate 61 has two pieces, is symmetricly set on upset Frame 57 both sides.The rear side of upset limiting plate 57 is provided with rubber blanket, thus when roll-over table 58 overturns to vertical state, to upset Platform 58 carries out spacing, thus when mechanical hand captures the ceramic tile on roll-over table 58, it is ensured that roll-over table 58 remains static.
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 (9)

1. a ceramic tile device for pilling, it is characterised in that: include ceramic tile conveying mechanism, the ceramic tile lifting being arranged in folded brick frame Mechanism and ceramic tile clamp system, ceramic tile elevating mechanism is slidably mounted in folded brick frame, and glide direction and ceramic tile conveyer The conveying direction of structure is vertical, is provided with folded brick guiding mechanism between ceramic tile elevating mechanism and folded brick frame, ceramic tile elevating mechanism and Ceramic tile clamp system is installed on ceramic tile conveying mechanism, and ceramic tile elevating mechanism is symmetricly set on ceramic tile elevating mechanism both sides, porcelain Brick clamp system is arranged on the top of ceramic tile elevating mechanism.
Ceramic tile device for pilling the most according to claim 1, it is characterised in that: described folded brick guiding mechanism includes regulation Support leg (66) and spacing regulation guide rail (65), regulation supporting leg (66) has multiple, is symmetricly set under ceramic tile conveying mechanism Both sides, side, spacing regulation guide rail (65) is horizontally set on regulation supporting leg (66) lower section, and the axis of spacing regulation guide rail (65) Vertical with the direction of ceramic tile conveying mechanism conveying, the bottom of regulation supporting leg (66) is provided with matches with spacing regulation guide rail (65) Rail wheel.
Ceramic tile device for pilling the most according to claim 1, it is characterised in that: described ceramic tile elevating mechanism has two.
Ceramic tile device for pilling the most according to claim 3, it is characterised in that: described ceramic tile elevating mechanism includes lifting electricity Machine (71) and torr brick finger (69), lifting motor (71) is arranged on ceramic tile conveying mechanism side, and lifting motor (71) passes through tooth Wheel drive mechanism is connected with torr brick finger (69), and drives torr brick finger (69) lifting.
Ceramic tile device for pilling the most according to claim 4, it is characterised in that: described gear drive includes lifting tooth Bar and the gear matched with lifter rack, gear is arranged on the output shaft of lifting motor (71), and lifter rack slides and pacifies Being contained on ceramic tile conveying mechanism, lifter rack is vertically arranged, and torr brick finger (69) is arranged on lifter rack.
Ceramic tile device for pilling the most according to claim 1, it is characterised in that: described ceramic tile clamp system includes clamping gas Cylinder (70) and folded brick clamp plate (68), clamping cylinder (70) has two, is symmetricly set on ceramic tile conveying mechanism both sides, folded brick clamp plate (68) being arranged on the piston rod of clamping cylinder (70), the clamping cylinder (70) of both sides promotes folded brick clamp plate (68) to move horizontally, Thus ceramic tile is clamped or unclamps.
Ceramic tile device for pilling the most according to claim 6, it is characterised in that: described folded brick clamp plate (68) carries with ceramic tile Being provided with folded brick swing arm between mechanism, folded brick swing arm one end is rotatably installed on ceramic tile conveying mechanism, the other end and folded brick clamp plate (68) it is rotationally connected.
Ceramic tile device for pilling the most according to claim 1, it is characterised in that: dismountable on described ceramic tile conveying mechanism Being provided with the folded brick detector unit for detecting ceramic tile, folded brick detector unit is arranged on the top of ceramic tile clamp system.
9. a ceramic tile stacks palletizing apparatus, it is characterised in that: include mechanical hand, ceramic tile overturning device and claim 1 ~ 8 Ceramic tile device for pilling described in any one, mechanical hand includes frame (1), walking mechanism, w axle rotating mechanism (6) and gripper Structure (7), walking mechanism is arranged in frame (1), and can move along x-axis, y-axis and z-axis respectively, and w axle rotating mechanism (6) installs In walking mechanism, grasping mechanism (7) is arranged on w axle rotating mechanism (6), and ceramic tile device for pilling is arranged on the one of mechanical hand Side, ceramic tile overturning device is arranged between ceramic tile device for pilling and mechanical hand, and the ceramic tile stacking ceramic tile device for pilling enters Row upset, thus facilitate mechanical hand to capture.
CN201611016280.0A 2016-11-18 2016-11-18 Ceramic tile stacking device Active CN106276293B (en)

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CN106276293B CN106276293B (en) 2022-10-11

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CN106809654A (en) * 2017-03-02 2017-06-09 广东赛因迪科技股份有限公司 A kind of stacking machine with guide function
CN106865242A (en) * 2017-03-02 2017-06-20 广东赛因迪科技股份有限公司 It is a kind of be easy to align brick bag stacking machine
CN107032129A (en) * 2017-03-02 2017-08-11 广东赛因迪科技股份有限公司 A kind of stacking machine
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CN107839084A (en) * 2017-11-23 2018-03-27 广东嘉俊陶瓷有限公司 A kind of ceramic tile cutting device
CN108035234A (en) * 2017-12-14 2018-05-15 朱小英 A kind of self-propelled sidewalk ground tile retracting device
CN108942979A (en) * 2017-05-19 2018-12-07 发那科株式会社 Apparatus for controlling of supply and supply control method
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CN109850581A (en) * 2019-03-29 2019-06-07 浙江辛子精工机械股份有限公司 A kind of steel pipe automatic material stacking device
CN110144232A (en) * 2019-04-30 2019-08-20 中国一冶集团有限公司 Coke oven checker brick mounting device, mobile platform and construction method
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CN113218870A (en) * 2021-05-31 2021-08-06 武汉铁路职业技术学院 Crack microspur detection system of piezoelectric ceramic stack and working method
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CN204702225U (en) * 2015-06-24 2015-10-14 郑建村 A kind of novel intelligent stacker of ceramic tile packaging line
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CN106865242B (en) * 2017-03-02 2019-11-05 广东赛因迪科技股份有限公司 A kind of stacking machine convenient for being aligned brick packet
CN106865242A (en) * 2017-03-02 2017-06-20 广东赛因迪科技股份有限公司 It is a kind of be easy to align brick bag stacking machine
CN107032129A (en) * 2017-03-02 2017-08-11 广东赛因迪科技股份有限公司 A kind of stacking machine
CN106809654A (en) * 2017-03-02 2017-06-09 广东赛因迪科技股份有限公司 A kind of stacking machine with guide function
CN106809654B (en) * 2017-03-02 2019-11-05 广东赛因迪科技股份有限公司 A kind of stacking machine with guide function
CN107032129B (en) * 2017-03-02 2019-11-05 广东赛因迪科技股份有限公司 A kind of stacking machine
CN108942979B (en) * 2017-05-19 2019-12-13 发那科株式会社 supply control device and supply control method
CN108942979A (en) * 2017-05-19 2018-12-07 发那科株式会社 Apparatus for controlling of supply and supply control method
CN107555156B (en) * 2017-08-08 2020-08-14 Tcl王牌电器(惠州)有限公司 Material handling device
CN107555156A (en) * 2017-08-08 2018-01-09 Tcl王牌电器(惠州)有限公司 A kind of material handling apparatus
CN107839084A (en) * 2017-11-23 2018-03-27 广东嘉俊陶瓷有限公司 A kind of ceramic tile cutting device
CN108035234A (en) * 2017-12-14 2018-05-15 朱小英 A kind of self-propelled sidewalk ground tile retracting device
CN108035234B (en) * 2017-12-14 2020-04-21 朱小英 Self-propelled pavement and floor tile recovery device
CN109051843A (en) * 2018-07-12 2018-12-21 深圳智慧者机器人科技有限公司 Pcb board automatic blanking palletizing apparatus
CN109051843B (en) * 2018-07-12 2024-01-30 深圳智慧者机器人科技有限公司 Automatic unloading pile up neatly device of PCB board
CN109850581A (en) * 2019-03-29 2019-06-07 浙江辛子精工机械股份有限公司 A kind of steel pipe automatic material stacking device
CN109850581B (en) * 2019-03-29 2024-04-19 浙江辛子精工机械股份有限公司 Automatic steel pipe stacking device
CN110144232A (en) * 2019-04-30 2019-08-20 中国一冶集团有限公司 Coke oven checker brick mounting device, mobile platform and construction method
CN112108897A (en) * 2020-09-12 2020-12-22 苏州艾米欧精密机械股份有限公司 Limiting and clamping device for machining center
CN112108897B (en) * 2020-09-12 2022-07-12 苏州艾米欧精密机械股份有限公司 Limiting and clamping device for machining center
CN113218870A (en) * 2021-05-31 2021-08-06 武汉铁路职业技术学院 Crack microspur detection system of piezoelectric ceramic stack and working method
CN113218870B (en) * 2021-05-31 2023-06-23 武汉铁路职业技术学院 Crack micro-distance detection system of piezoelectric ceramic stack and working method
CN113581543A (en) * 2021-07-21 2021-11-02 佛山市金博特机械有限公司 Tile processing and stacking mechanical equipment

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