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 PDFInfo
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- 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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- 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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Abstract
一种瓷砖叠放装置及瓷砖叠放码垛装置,属于瓷砖生产设备技术领域。其特征在于:包括安装在叠砖机架上的瓷砖输送机构、瓷砖升降机构以及瓷砖夹紧机构,瓷砖升降机构滑动安装在叠砖机架上,且滑动方向与瓷砖输送机构的输送方向垂直,瓷砖升降机构与叠砖机架之间设有叠砖导向机构,瓷砖升降机构以及瓷砖夹紧机构均安装在瓷砖输送机构上,瓷砖升降机构对称设置在瓷砖升降机构两侧,瓷砖夹紧机构设置在瓷砖升降机构的上方。本瓷砖叠放装置能够调节瓷砖输送机构的间距,保证瓷砖输送机构能够适应不同尺寸的瓷砖的输送,本瓷砖叠放码垛装置的瓷砖叠放装置能够对瓷砖进行叠放,并且能够适应大小不同的瓷砖的叠放并码垛。
A tile stacking device and a tile stacking and stacking device belong to the technical field of tile production equipment. It is characterized in that it includes a tile conveying mechanism, a tile lifting mechanism and a tile clamping mechanism installed on the brick stacking frame, the tile lifting mechanism is slidably installed on the stacking brick frame, and the sliding direction is perpendicular to the conveying direction of the tile conveying mechanism, There is a stacking guide mechanism between the tile lifting mechanism and the stacking brick frame. The tile lifting mechanism and the tile clamping mechanism are installed on the tile conveying mechanism. The tile lifting mechanism is symmetrically arranged on both sides of the tile lifting mechanism. The tile clamping mechanism is set Above the tile lifting mechanism. The tile stacking device can adjust the spacing of the tile conveying mechanism to ensure that the tile conveying mechanism can adapt to the transportation of tiles of different sizes. The tile stacking device of the tile stacking and stacking device can stack tiles and can adapt to different sizes The stacking and palletizing of ceramic tiles.
Description
技术领域technical field
一种瓷砖叠放装置及瓷砖叠放码垛装置,属于瓷砖生产设备技术领域。A tile stacking device and a tile stacking and stacking device belong to the technical field of tile production equipment.
背景技术Background technique
在瓷砖的生产码垛过程中,为了提高瓷砖码垛的效率,通常机械手要一次抓取多块包装后的瓷砖,这样既能够提高机械手的抓取效率,还能保证机械手不会对瓷砖生产线造成阻碍。为了使机械手能够做到一次抓取多块包装后的瓷砖,通常需要用到叠砖装置,叠砖装置对瓷砖生产线上的瓷砖进行堆叠,当堆叠到设定的数量时,在输送给机械手,并依靠机械手对叠好的瓷砖进行码垛。托砖装置主要包括推动瓷砖升降的瓷砖升降机构、瓷砖夹紧机构以及输送机构,瓷砖升降机构带动瓷砖升降,并与瓷砖夹紧机构相配合,对瓷砖进行叠放,瓷砖夹紧机构上达到指定的瓷砖数量时,瓷砖夹紧机构将瓷砖放置在瓷砖升降机构上,瓷砖升降机构带动瓷砖下降,并放置在下一工位的输送带上,输送给机械手,从而使机械手能够一次抓取多块瓷砖。但是现有的瓷砖叠放装置在使用时存在如下问题:由于瓷砖的尺寸有大有小,现有瓷砖夹紧装置无法满足不同尺寸的瓷砖,因此无法满足不同瓷砖的生产要求,厂家需要配备不同型号的叠砖装置,才能满足生产需要,这样大大增加了瓷砖生产升价的成本,而且在更换瓷砖型号时,需要更换设备并调试,极大地影响了生产效率。During the palletizing process of ceramic tiles, in order to improve the efficiency of tile palletizing, the manipulator usually grabs multiple packed tiles at a time, which can not only improve the grasping efficiency of the manipulator, but also ensure that the manipulator will not cause damage to the tile production line. hinder. In order for the manipulator to grab multiple packaged tiles at one time, it is usually necessary to use a brick stacking device. The brick stacking device stacks the tiles on the tile production line. When the stack reaches the set number, it is delivered to the manipulator. And rely on the manipulator to palletize the stacked tiles. The brick supporting device mainly includes a tile lifting mechanism, a tile clamping mechanism and a conveying mechanism that promote the lifting of tiles. The tile lifting mechanism drives the tiles to rise and fall, and cooperates with the tile clamping mechanism to stack the tiles. When the number of tiles is large, the tile clamping mechanism places the tiles on the tile lifting mechanism, and the tile lifting mechanism drives the tiles down, and places them on the conveyor belt of the next station, and transports them to the manipulator, so that the manipulator can grab multiple tiles at a time . However, the existing tile stacking device has the following problems in use: due to the size of the tiles, the existing tile clamping device cannot meet the tiles of different sizes, so it cannot meet the production requirements of different tiles, and manufacturers need to be equipped with different tiles. Only the best model of brick stacking device can meet the production needs, which greatly increases the cost of ceramic tile production and price increase, and when changing the tile model, it is necessary to replace the equipment and debug, which greatly affects the production efficiency.
发明内容Contents of the invention
本发明要解决的技术问题是:克服现有技术的不足,提供一种能够对瓷砖输送机构之间的距离进行调整、从而能够适应不同尺寸瓷砖的瓷砖叠放装置及瓷砖叠放码垛装置。The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a tile stacking device and a tile stacking and stacking device capable of adjusting the distance between tile conveying mechanisms so as to adapt to tiles of different sizes.
本发明解决其技术问题所采用的技术方案是:该瓷砖叠放装置,其特征在于:包括安装在叠砖机架上的瓷砖输送机构、瓷砖升降机构以及瓷砖夹紧机构,瓷砖升降机构滑动安装在叠砖机架上,且滑动方向与瓷砖输送机构的输送方向垂直,瓷砖升降机构与叠砖机架之间设有叠砖导向机构,瓷砖升降机构以及瓷砖夹紧机构均安装在瓷砖输送机构上,瓷砖升降机构对称设置在瓷砖升降机构两侧,瓷砖夹紧机构设置在瓷砖升降机构的上方。The technical solution adopted by the present invention to solve the technical problem is: the tile stacking device, which is characterized in that: it includes a tile conveying mechanism, a tile lifting mechanism and a tile clamping mechanism installed on the tile stacking frame, and the tile lifting mechanism is slidably installed On the brick stacking frame, and the sliding direction is perpendicular to the conveying direction of the tile conveying mechanism, there is a stacking brick guiding mechanism between the tile lifting mechanism and the stacking brick frame, and the tile lifting mechanism and the tile clamping mechanism are installed on the tile conveying mechanism Above, the tile lifting mechanism is arranged symmetrically on both sides of the tile lifting mechanism, and the tile clamping mechanism is arranged above the tile lifting mechanism.
优选的,所述的叠砖导向机构包括调节支撑腿以及间距调节导轨,调节支撑腿有多个,对称设置在瓷砖输送机构的下方两侧,间距调节导轨水平设置在调节支撑腿下方,且间距调节导轨的轴线与瓷砖输送机构输送的方向垂直,调节支撑腿的下部设有与间距调节导轨相配合的轨道轮。Preferably, the brick stacking guide mechanism includes adjustable support legs and spacing adjustment guide rails, there are multiple adjustment support legs, symmetrically arranged on both sides below the tile conveying mechanism, the spacing adjustment guide rails are horizontally arranged under the adjustment support legs, and the spacing The axis of the adjustment guide rail is perpendicular to the direction of the tile conveying mechanism, and the bottom of the adjustment support leg is provided with a track wheel matched with the spacing adjustment guide rail.
优选的,所述的瓷砖升降机构有两个。Preferably, there are two tile lifting mechanisms.
优选的,所述的瓷砖升降机构包括升降电机以及托砖手指,升降电机设置在瓷砖输送机构一侧,升降电机通过齿轮传动机构与托砖手指连接,并带动托砖手指升降。Preferably, the tile lifting mechanism includes a lifting motor and a brick-holding finger, the lifting motor is arranged on one side of the tile conveying mechanism, the lifting motor is connected with the brick-holding finger through a gear transmission mechanism, and drives the brick-holding finger to lift.
优选的,所述的齿轮传动机构包括升降齿条以及与升降齿条相配合的齿轮,齿轮安装在升降电机的输出轴上,升降齿条滑动安装在瓷砖输送机构上,升降齿条竖向设置,托砖手指安装在升降齿条上。Preferably, the gear transmission mechanism includes a lifting rack and a gear matched with the lifting rack, the gear is installed on the output shaft of the lifting motor, the lifting rack is slidably installed on the tile conveying mechanism, and the lifting rack is vertically arranged , The brick-supporting finger is installed on the lifting rack.
优选的,所述的瓷砖夹紧机构包括夹紧气缸以及叠砖夹板,夹紧气缸有两个,对称设置在瓷砖输送机构两侧,叠砖夹板安装在夹紧气缸的活塞杆上,两侧的夹紧气缸推动叠砖夹板水平移动,从而对瓷砖夹紧或松开。Preferably, the tile clamping mechanism includes a clamping cylinder and a brick stacking splint. There are two clamping cylinders, which are symmetrically arranged on both sides of the tile conveying mechanism. The brick stacking splint is installed on the piston rod of the clamping cylinder, and the two sides The clamping cylinder pushes the brick stacking splint to move horizontally, so as to clamp or loosen the tiles.
优选的,所述的叠砖夹板与瓷砖输送机构之间设有叠砖摆臂,叠砖摆臂一端转动安装在瓷砖输送机构上,另一端与叠砖夹板转动连接。Preferably, a brick stacking swing arm is provided between the brick stacking splint and the tile conveying mechanism, one end of the brick stacking swing arm is rotatably mounted on the tile conveying mechanism, and the other end is rotatably connected to the brick stacking splint.
优选的,所述的瓷砖输送机构上可拆卸的安装有用于检测瓷砖的叠砖检测单元,叠砖检测单元设置在瓷砖夹紧机构的上方。Preferably, a tile stacking detection unit for detecting tiles is detachably installed on the tile conveying mechanism, and the tile stacking detection unit is arranged above the tile clamping mechanism.
一种瓷砖叠放码垛装置,其特征在于:包括机械手、瓷砖翻转装置以及上述的瓷砖叠放装置,机械手包括机架、行走机构、w轴旋转机构以及抓取机构,行走机构安装在机架上,并能够分别沿x轴、y轴和z轴移动,w轴旋转机构安装在行走机构上,抓取机构安装在w轴旋转机构上,瓷砖叠放装置设置在机械手的一侧,瓷砖翻转装置设置在瓷砖叠放装置和机械手之间,并对瓷砖叠放装置叠放好的瓷砖进行翻转,从而方便机械手抓取。A tile stacking and palletizing device, characterized in that it includes a manipulator, a tile turning device and the above-mentioned tile stacking device, the manipulator includes a frame, a walking mechanism, a w-axis rotating mechanism and a grabbing mechanism, and the walking mechanism is installed on the frame , and can move along the x-axis, y-axis and z-axis respectively, the w-axis rotation mechanism is installed on the walking mechanism, the grabbing mechanism is installed on the w-axis rotation mechanism, the tile stacking device is set on one side of the manipulator, and the tiles are turned over The device is arranged between the tile stacking device and the manipulator, and turns over the tiles stacked by the tile stacking device, so as to facilitate the grabbing of the manipulator.
与现有技术相比,本发明所具有的有益效果是:Compared with prior art, the beneficial effect that the present invention has is:
1、本瓷砖叠放装置的瓷砖输送机构滑动安装在叠砖机架上,从而能够调节瓷砖输送机构的间距,保证瓷砖输送机构能够适应不同尺寸的瓷砖的输送,在生产不同大小的瓷砖时,可以直接调节瓷砖输送机构的间距,调节方便,既能降低瓷砖生产厂家的成本,又能够提高设备的调试效率,使用方便。1. The tile conveying mechanism of this tile stacking device is slidably installed on the brick stacking frame, so that the distance between the tile conveying mechanism can be adjusted to ensure that the tile conveying mechanism can adapt to the transportation of tiles of different sizes. When producing tiles of different sizes, The distance between the tile conveying mechanism can be directly adjusted, and the adjustment is convenient, which can not only reduce the cost of the tile manufacturer, but also improve the debugging efficiency of the equipment, and is convenient to use.
2、通过轨道轮和间距调节轨道相配合,来对瓷砖输送机构的移动进行导向,从而能够保证调整时瓷砖输送机构能够始终保持平行,从而保证瓷砖输送机构的工作稳定。2. The movement of the tile conveying mechanism is guided by the cooperation of the track wheel and the spacing adjustment track, so as to ensure that the tile conveying mechanism can always be kept parallel during adjustment, thereby ensuring the stable operation of the tile conveying mechanism.
3、瓷砖升降机构通过电机带动托转手指来实现瓷砖的升降,保证瓷砖能够稳定的升降,避免在升降过程中发生震动,升降电机通过齿轮传动机构与托砖手指相连,从而使托砖手指的升降速度适中。3. The tile lifting mechanism realizes the lifting of the tiles through the motor to drive the fingers to ensure that the tiles can be lifted and lowered stably and avoid vibration during the lifting process. The lifting speed is moderate.
4、齿轮传动机构包括齿轮和升降齿条,托砖齿轮安装在升降齿条上,升降电机通过齿轮带动升降齿条同步升降,从而实现瓷砖的升降,升降齿条和齿轮既能够承载更大的重量,又能够对升降齿条的转速进行调节。4. The gear transmission mechanism includes gears and lifting racks. The brick supporting gear is installed on the lifting racks. The lifting motor drives the lifting racks to lift synchronously through the gears, so as to realize the lifting of tiles. The lifting racks and gears can carry larger loads. The weight can also adjust the speed of the lifting rack.
5、托砖气缸推动托砖夹板对瓷砖的两侧进行夹紧,从而实现托砖,托砖气缸动作灵敏,能够快速的对瓷砖进行夹紧和松开。5. The brick support cylinder pushes the brick support splint to clamp both sides of the tiles, so as to realize the brick support. The brick support cylinder is sensitive and can quickly clamp and loosen the tiles.
6、托砖夹板通过叠砖摆臂安装在瓷砖输送机构上,是托砖夹板在托砖气缸的作用下摆动,并夹紧瓷砖。6. The brick support splint is installed on the tile conveying mechanism through the brick stacking swing arm, and the brick support splint swings under the action of the brick support cylinder to clamp the tiles.
7、叠砖检测单元能够检测瓷砖夹紧机构上的瓷砖的数量,由于叠砖检测单元可拆卸的安装,因此方便调节瓷砖加紧机构上的瓷砖的数量。7. The brick stacking detection unit can detect the number of tiles on the tile clamping mechanism. Since the brick stacking detection unit is detachably installed, it is convenient to adjust the number of tiles on the tile clamping mechanism.
8、本瓷砖叠放码垛装置的瓷砖叠放装置能够对瓷砖进行叠放,叠放至指定数量后输送给瓷砖翻转装置,瓷砖翻转装置能够带动瓷砖翻转,从而方便抓取机构从不同的角度对瓷砖进行抓取,从而既能够对瓷砖进行竖向的码垛,也能够水平的对瓷砖进行码垛,码垛方式灵活,更好地满足了生产现场或者装车的需求。8. The tile stacking device of this tile stacking and palletizing device can stack the tiles, and after stacking to a specified number, it is sent to the tile turning device. The tile turning device can drive the tiles to turn over, so as to facilitate the grabbing mechanism from different angles. Grab the tiles, so that the tiles can be stacked vertically and horizontally. The stacking method is flexible, which better meets the needs of the production site or loading.
附图说明Description of drawings
图1为瓷砖叠放装置的立体示意图。Fig. 1 is a three-dimensional schematic diagram of a tile stacking device.
图2为机械手的立体示意图。Fig. 2 is a three-dimensional schematic diagram of the manipulator.
图3为行走机构的主视示意图。Fig. 3 is a schematic front view of the running mechanism.
图4为y轴行走机构的主视示意图。Fig. 4 is a schematic front view of the y-axis traveling mechanism.
图5为y轴行走机构的俯视示意图。Fig. 5 is a schematic top view of the y-axis traveling mechanism.
图6为同步轴的主视示意图。Fig. 6 is a schematic front view of the synchronous shaft.
图7为x轴行走机构的主视示意图。Fig. 7 is a schematic front view of the x-axis traveling mechanism.
图8为z轴行走机构的主视示意图。Fig. 8 is a schematic front view of the z-axis traveling mechanism.
图9为z轴动力机构的立体示意图。FIG. 9 is a schematic perspective view of a z-axis power mechanism.
图10为图9中A处的局部放大图。FIG. 10 is a partial enlarged view of A in FIG. 9 .
图11为w轴旋转机构的主视示意图。Fig. 11 is a schematic front view of the w-axis rotation mechanism.
图12为图11的B-B方向的剖视示意图。FIG. 12 is a schematic cross-sectional view along the B-B direction of FIG. 11 .
图13为抓取机构的主视示意图。Fig. 13 is a schematic front view of the grabbing mechanism.
图14为抓取机构的俯视示意图。Fig. 14 is a schematic top view of the grabbing mechanism.
图15为抓取驱动机构的立体示意图。Fig. 15 is a three-dimensional schematic diagram of the grab driving mechanism.
图16为瓷砖翻转装置的立体示意图。Fig. 16 is a three-dimensional schematic diagram of a tile turning device.
图中:1、机架 2、y轴行走机构 3、x轴行走机构 4、z轴行走机构 5、瓷砖库 6、w轴旋转机构 7、抓取机构 8、栈板库 9、可调包胶轮 10、导向轮 11、主动包胶轮 12、包角调节带轮 13、包角调节同步带轮 14、y轴同步带张紧轮 15、y轴张紧轮摆臂 16、y轴同步带 17、同步轴 18、y轴电机 19、x轴电机 20、行走安装架 21、x轴同步带 22、x轴横梁 23、z轴立柱24、导向轴 25、z轴同步带张紧轮 26、导向套 27、平衡气缸 28、z轴同步带 29、z轴电机30、z轴链轮 31、w轴电机 32、光电开关安装板 33、缓冲检测光电开关 34、旋转检测光电开关 35、旋转安装架 36、限位挡板 37、缓冲套 38、限位套 39、w轴立柱 40、承载套 41、w轴链条 42、栈板夹紧导向板 43、手指安装板 44、夹板限位光电开关 45、抓取机构主体 46、手指导向轴承 47、栈板抓取手指 48、瓷砖夹板 49、夹板安装板 50、夹板开合气缸 51、栈板抓取气缸 52、夹板开合齿轮 53、夹板开合齿条 54、瓷砖感应器 55、栈板抓取齿轮 56、栈板抓取齿条 57、翻转机架 58、翻转台 59、挡板 60、挡板安装架 61、翻转台限位板 62、连杆 63、翻转电机 64、曲柄 65、间距调节导轨 66、调节支撑腿 67、输送电机 68、叠砖夹板 69、托砖手指 70、夹紧气缸 71、升降电机 72、固定支撑腿。In the figure: 1. Rack 2, y-axis traveling mechanism 3, x-axis traveling mechanism 4, z-axis traveling mechanism 5, tile library 6, w-axis rotating mechanism 7, grabbing mechanism 8, pallet library 9, adjustable rubber coating Wheel 10, guide wheel 11, active rubber-coated wheel 12, wrap angle adjustment pulley 13, wrap angle adjustment timing belt pulley 14, y-axis timing belt tensioner 15, y-axis tensioner swing arm 16, y-axis timing belt 17. Synchronous shaft 18, y-axis motor 19, x-axis motor 20, walking installation frame 21, x-axis synchronous belt 22, x-axis beam 23, z-axis column 24, guide shaft 25, z-axis synchronous belt tensioner 26, Guide sleeve 27, balance cylinder 28, z-axis timing belt 29, z-axis motor 30, z-axis sprocket 31, w-axis motor 32, photoelectric switch mounting plate 33, buffer detection photoelectric switch 34, rotation detection photoelectric switch 35, rotation installation Frame 36, limit baffle 37, buffer sleeve 38, limit sleeve 39, w-axis column 40, bearing sleeve 41, w-axis chain 42, pallet clamping guide plate 43, finger mounting plate 44, splint limit photoelectric switch 45. Grabbing mechanism main body 46, finger guide bearing 47, pallet grabbing finger 48, tile splint 49, splint mounting plate 50, splint opening and closing cylinder 51, pallet grabbing cylinder 52, splint opening and closing gear 53, splint opening and closing Coupling rack 54, tile sensor 55, pallet grabbing gear 56, pallet grabbing rack 57, overturning frame 58, overturning platform 59, baffle 60, baffle mounting frame 61, overturning platform limiting plate 62 , connecting rod 63, overturning motor 64, crank 65, spacing adjustment guide rail 66, adjustment support leg 67, conveying motor 68, stacking brick splint 69, brick supporting finger 70, clamping cylinder 71, lifting motor 72, fixed support leg.
具体实施方式detailed description
图1~16是本发明的最佳实施例,下面结合附图1~16对本发明做进一步说明。Fig. 1~16 is the preferred embodiment of the present invention, below in conjunction with accompanying drawing 1~16 the present invention is described further.
一种瓷砖叠放装置,包括安装在叠砖机架上的瓷砖输送机构、瓷砖升降机构以及瓷砖夹紧机构,瓷砖升降机构滑动安装在叠砖机架上,且滑动方向与瓷砖输送机构的输送方向垂直,瓷砖升降机构与叠砖机架之间设有叠砖导向机构,瓷砖升降机构以及瓷砖夹紧机构均安装在瓷砖输送机构上,瓷砖升降机构对称设置在瓷砖升降机构两侧,瓷砖夹紧机构设置在瓷砖升降机构的上方。本瓷砖叠放装置的瓷砖输送机构滑动安装在叠砖机架上,从而能够调节瓷砖输送机构的间距,保证瓷砖输送机构能够适应不同尺寸的瓷砖的输送,在生产不同大小的瓷砖时,可以直接调节瓷砖输送机构的间距,调节方便,既能降低瓷砖生产厂家的成本,又能够提高设备的调试效率,使用方便。A tile stacking device, comprising a tile conveying mechanism installed on a brick stacking frame, a tile lifting mechanism and a tile clamping mechanism, the tile lifting mechanism is slidably installed on the stacking brick frame, and the sliding direction is the same as that of the tile conveying mechanism. The direction is vertical. There is a brick stacking guide mechanism between the tile lifting mechanism and the stacking brick frame. The tile lifting mechanism and the tile clamping mechanism are installed on the tile conveying mechanism. The tightening mechanism is arranged above the tile lifting mechanism. The tile conveying mechanism of the tile stacking device is slidably installed on the brick stacking frame, so that the distance between the tile conveying mechanism can be adjusted to ensure that the tile conveying mechanism can adapt to the conveying of tiles of different sizes. When producing tiles of different sizes, it can directly The distance between the tile conveying mechanism is adjusted, and the adjustment is convenient, which can not only reduce the cost of the tile manufacturer, but also improve the debugging efficiency of the equipment, and is convenient to use.
具体的:如图1所示:瓷砖输送机构包括两侧的输送机构安装架,以及安装在两侧输送机构安装架上的输送链条,输送机构安装架上安装有与输送链条相配合的链轮,每个输送机构安装架上均安装有输送电机72,输送电机72的输出轴与链轮相连,并带动链轮转动,进而带动输送链条转动,从而实现瓷砖的输送。Specifically: as shown in Figure 1: the tile conveying mechanism includes conveying mechanism mounting racks on both sides, and the conveying chain installed on the conveying mechanism mounting racks on both sides, and the conveying mechanism mounting frame is equipped with a sprocket that matches the conveying chain , each conveying mechanism mounting bracket is equipped with a conveying motor 72, the output shaft of the conveying motor 72 is connected with the sprocket, and drives the sprocket to rotate, and then drives the conveying chain to rotate, thereby realizing the conveying of tiles.
每个输送机构安装架的下方后端设有固定支撑腿72,固定支撑腿72安装在输送机构安装架的后侧,固定支撑腿72的轴线竖直设置。叠砖导向机构包括调节支撑腿66以及间距调节导轨65,间距调节导轨65水平设置,且间距调节导轨65的轴线与瓷砖输送机构的输送方向相互垂直。活动支撑腿66设置在输送机构安装架的前端下方,活动支撑腿66竖向设置,活动支撑腿66的下端设有轨道轮,轨道轮与间距调节导轨65相配合,从而对输送机构安装架进行导向。The lower rear end of each conveying mechanism mounting frame is provided with a fixed support leg 72, and the fixed supporting leg 72 is installed on the rear side of the conveying mechanism mounting frame, and the axis of the fixed supporting leg 72 is vertically arranged. The stacking guide mechanism includes adjustable support legs 66 and spacing adjustment guide rails 65, the spacing adjustment guide rails 65 are horizontally arranged, and the axis of the spacing adjustment guide rails 65 is perpendicular to the conveying direction of the tile conveying mechanism. Movable support leg 66 is arranged on the front end below of conveying mechanism installation frame, and movable support leg 66 is vertically arranged, and the lower end of movable support leg 66 is provided with orbital wheel, and orbital wheel cooperates with spacing adjustment guide rail 65, thereby conveying mechanism mounting frame is carried out. guide.
瓷砖升降机构有两个,两个瓷砖升降机构对称设置在两个输送机构安装架的外侧,瓷砖升降机构包括升降电机71以及托砖手指69,升降电机71安装在输送机构安装架的外侧,升降电机71与托砖手指69之间设有齿轮传动机构。齿轮传动机构包括升降齿条以及齿轮,输送机构安装架上还设有减速机,升降电机71的输出轴与减速机的输入轴相连,减速机的输出轴上安装有齿轮,升降齿条滑动安装在固定支撑腿72的外侧,托砖手指69安装在升降齿条的上端,并随升降齿条同步升降。There are two ceramic tile lifting mechanisms, and the two ceramic tile lifting mechanisms are symmetrically arranged on the outside of the two conveying mechanism mounting frames. The ceramic tile lifting mechanism includes a lifting motor 71 and a brick supporting finger 69. A gear transmission mechanism is provided between the motor 71 and the brick holder finger 69 . The gear transmission mechanism includes a lifting rack and a gear, and a speed reducer is also arranged on the conveying mechanism mounting frame. The output shaft of the lifting motor 71 is connected with the input shaft of the speed reducer. On the outside of the fixed support leg 72, the brick supporting finger 69 is installed on the upper end of the elevating rack, and rises and falls synchronously with the elevating rack.
瓷砖夹紧机构包括夹紧气缸70以及叠砖夹板68,每个输送机构安装架上放均间隔设有两个夹紧气缸安装板,夹紧气缸安装板竖向设置。夹紧气缸70安装在两个夹紧气缸安装板的中部,叠砖夹板68安装在夹紧气缸70的活塞杆上。每个叠砖夹板68的下方设有两个叠砖摆臂,叠砖摆臂的上端与叠砖夹板68转动连接,叠砖摆臂的下端与输送机构安装架转动连接,夹紧气缸70推动叠砖夹板68摆动,从而实现对瓷砖的夹紧和松开。The ceramic tile clamping mechanism comprises clamping cylinder 70 and stacking brick splint 68, puts on every conveying mechanism mounting frame and is evenly provided with two clamping cylinder mounting plates at intervals, and clamping cylinder mounting plate is vertically arranged. Clamping cylinder 70 is installed in the middle part of two clamping cylinder mounting plates, and stacking brick splint 68 is installed on the piston rod of clamping cylinder 70. The bottom of each brick stacking splint 68 is provided with two stacking brick swing arms, the upper end of the stacking brick swing arm is rotationally connected with the brick stacking splint 68, the lower end of the brick stacking swing arm is rotationally connected with the mounting frame of the conveying mechanism, and the clamping cylinder 70 pushes Stacking brick splint 68 swings, thereby realizes the clamping and unclamping of ceramic tile.
每个气缸安装板上设有竖向的长孔,气缸安装板上可拆卸的安装有叠砖检测单元,叠砖检测单元为叠砖检测光电开关,叠砖检测光电开关通过螺栓安装在气缸安装板的长孔内,从而方便调节叠砖检测光电开关的位置,进而调节每次叠砖的数量。There is a vertical long hole on the mounting plate of each cylinder. The brick stacking detection unit is detachably installed on the cylinder mounting plate. The brick stacking detection unit is a photoelectric switch for brick stacking detection. In the long hole of the board, it is convenient to adjust the position of the photoelectric switch for brick stacking detection, and then adjust the number of bricks stacked each time.
本瓷砖叠放装置的工作过程如下:首先瓷砖输送机构将瓷砖输送至瓷砖输送机构上方,瓷砖输送机构推动瓷砖上升,上升至瓷砖夹紧机构之间时,瓷砖夹紧机构动作,将瓷砖夹紧,然后瓷砖升降机构下降,继续将输送的瓷砖推动上升,上升后,瓷砖夹紧机构松开,并夹紧下下侧的瓷砖两侧,从而实现瓷砖的叠放。当叠砖检测光电开关检测到瓷砖时,所有的瓷砖由瓷砖升降机构带动并下降至输送带上,输送至下一工位。The working process of the tile stacking device is as follows: first, the tile conveying mechanism transports the tiles to the top of the tile conveying mechanism, and the tile conveying mechanism pushes the tiles up, and when they rise to between the tile clamping mechanisms, the tile clamping mechanism acts to clamp the tiles , and then the tile lifting mechanism descends, and continues to push the transported tiles up. After rising, the tile clamping mechanism releases and clamps both sides of the lower and lower tiles, thereby realizing the stacking of tiles. When the tiles are detected by the brick stacking detection photoelectric switch, all the tiles are driven by the tile lifting mechanism and dropped onto the conveyor belt to be transported to the next station.
如图2所示:一种瓷砖叠放码垛装置,包括机械手以及上述的瓷砖翻转装置,瓷砖翻转装置设置在机械手的一侧,机械手包括机架1、行走机构、w轴旋转机构6以及抓取机构7,行走机构安装在机架1上,并能够分别沿x轴、y轴和z轴移动,w轴旋转机构6安装在行走机构上,抓取机构7安装在w轴旋转机构6上,瓷砖叠放装置设置在机械手的一侧,瓷砖翻转装置设置在瓷砖叠放装置和机械手之间,并对瓷砖叠放装置叠放好的瓷砖进行翻转,从而方便机械手抓取。抓取机构7包括抓取机构主体45以及安装在抓取机构主体45上的栈板抓取机构和瓷砖抓取机构,抓取机构7安装在w轴旋转机构6上,增加了抓取机构7的自由度,使抓取机构7更加灵活,从而机械手在移动瓷砖的同时,还能够对瓷砖的姿态进行变换,从而能够根据需要对瓷砖进行码垛,使用方便;瓷砖抓取机构和栈板抓取机构能够分别抓取栈板和瓷砖,使用方便,而且在对瓷砖进行码垛时,不需要人工放置栈板,栈板放置的精确度高,栈板抓取机构和瓷砖抓取机构能够独立工作,且相互之间不会产生影响,提高了抓取机构7抓取物品的种类,提高了本机械手的自动化程度,使用方便。As shown in Figure 2: a stacking and stacking device for tiles, including a manipulator and the above-mentioned tile turning device, the tile turning device is arranged on one side of the manipulator, and the manipulator includes a frame 1, a walking mechanism, a w-axis rotating mechanism 6 and a gripper The fetching mechanism 7, the traveling mechanism is installed on the frame 1, and can move along the x-axis, y-axis and z-axis respectively, the w-axis rotating mechanism 6 is installed on the traveling mechanism, and the grabbing mechanism 7 is installed on the w-axis rotating mechanism 6 , The tile stacking device is arranged on one side of the manipulator, and the tile turning device is arranged between the tile stacking device and the manipulator, and turns over the tiles stacked by the tile stacking device, so as to facilitate the grabbing of the manipulator. The grabbing mechanism 7 includes a grabbing mechanism main body 45 and a pallet grabbing mechanism and a tile grabbing mechanism installed on the grabbing mechanism main body 45. The grabbing mechanism 7 is installed on the w-axis rotating mechanism 6, and the grabbing mechanism 7 is added. The degree of freedom makes the grasping mechanism 7 more flexible, so that the manipulator can also change the posture of the tiles while moving the tiles, so that the tiles can be stacked according to needs, which is convenient to use; the tile grasping mechanism and the pallet grasping The picking mechanism can grab pallets and tiles separately, which is easy to use, and when stacking tiles, it does not need to manually place the pallets, the pallets are placed with high accuracy, and the pallet grabbing mechanism and the tile grabbing mechanism can be independent work, and will not affect each other, improve the types of items grabbed by the grabbing mechanism 7, improve the degree of automation of the manipulator, and are easy to use.
机架1的下部固定在地面上,从而使该机械手的工作更加稳定,在工作过程中不会发生晃动。The bottom of frame 1 is fixed on the ground, thereby the work of this manipulator is more stable, can not shake during work.
机架1的上部为长方形框架,下部为竖向设置的支撑脚。行走机构安装在机架1上部的框架上,并分别带动抓取机构7沿x轴、y轴和z轴方向直线行走。The upper part of the frame 1 is a rectangular frame, and the lower part is a supporting foot arranged vertically. The traveling mechanism is installed on the upper frame of the frame 1, and drives the grasping mechanism 7 to travel linearly along the x-axis, y-axis and z-axis respectively.
行走机构沿竖直方向的行走定义为沿z轴的行走,行走机构沿机架1宽度方向的行走定义为x轴方向的行走,行走机构沿机架1长度方向的行走定义为y轴方向的行走,定义绕z轴的旋转为w轴方向的运动。The walking of the traveling mechanism along the vertical direction is defined as walking along the z-axis, the walking of the traveling mechanism along the width direction of the frame 1 is defined as the walking along the x-axis direction, and the walking of the traveling mechanism along the length direction of the frame 1 is defined as the walking along the y-axis direction. For walking, define the rotation around the z-axis as the motion in the direction of the w-axis.
机架1的底部设有用于放置栈板的栈板库8以及瓷砖库5,栈板库8用于放置栈板,瓷砖库5放置瓷砖,即该机械手将瓷砖转运到瓷砖库5内并进行码垛。栈板为在对瓷砖码垛时,垫在底部的木板,栈板一方面能够对底部的瓷砖进行保护,另一方面方便对码垛后的瓷砖进行转运。栈板库8设置在机架1的中部,瓷砖库5有两个,对称设置在栈板库8的两侧,栈板库8与两个瓷砖库5的距离相等,这样能够保证栈板库8内的栈板移动到每个瓷砖库5的距离相等,方便放置栈板。The bottom of the frame 1 is provided with a pallet warehouse 8 and a tile warehouse 5 for placing pallets, the pallet warehouse 8 is used for placing pallets, and the tile warehouse 5 places tiles, that is, the manipulator transfers the tiles into the tile warehouse 5 and performs Palletizing. The pallet is a wooden board placed at the bottom when stacking tiles. On the one hand, the pallet can protect the tiles at the bottom, and on the other hand, it is convenient to transfer the stacked tiles. Pallet warehouse 8 is arranged on the middle part of frame 1, and there are two tile warehouses 5, which are symmetrically arranged on both sides of pallet warehouse 8, and the distance between pallet warehouse 8 and two tile warehouses 5 is equal, so that the pallet warehouse can be guaranteed The pallets in 8 are moved to the equal distance of each tile storehouse 5, which is convenient for placing pallets.
如图3所示:行走机构包括y轴行走机构2、x轴行走机构3以及z轴行走机构4。y轴行走机构2安装在机架1上,x轴行走机构3安装在y轴行走机构2上,z轴行走机构4安装在x轴行走机构3上。w轴旋转机构6与z轴行走机构4固定连接,抓取机构7安装在w轴旋转机构6上,使抓取机构7灵活,能够在转运过程中改变转运瓷砖的姿态,从而能够满足多种形式的码垛。As shown in FIG. 3 , the traveling mechanism includes a y-axis traveling mechanism 2 , an x-axis traveling mechanism 3 and a z-axis traveling mechanism 4 . The y-axis traveling mechanism 2 is installed on the frame 1 , the x-axis traveling mechanism 3 is installed on the y-axis traveling mechanism 2 , and the z-axis traveling mechanism 4 is installed on the x-axis traveling mechanism 3 . The w-axis rotating mechanism 6 is fixedly connected with the z-axis traveling mechanism 4, and the grasping mechanism 7 is installed on the w-axis rotating mechanism 6, so that the grasping mechanism 7 is flexible, and the attitude of the transfer tiles can be changed during the transfer process, thereby meeting various requirements. form of palletizing.
y轴行走机构2包括悬挂机构,悬挂机构有两个,对称设置在x轴行走机构3的两端,x轴行走机构3通过左右两端的悬挂机构安装在机架1上。两端的悬挂机构带动x轴行走机构3同步移动,避免了由于机架1的长度过长导致y轴行走机构2在行走过程中速度不稳定的问题。y轴动力机构与两个悬挂机构相连,并带动悬挂机构沿y轴移动。The y-axis traveling mechanism 2 includes a suspension mechanism, and there are two suspension mechanisms, which are symmetrically arranged at the two ends of the x-axis traveling mechanism 3, and the x-axis traveling mechanism 3 is installed on the frame 1 by the suspension mechanisms at the left and right ends. The suspension mechanisms at both ends drive the x-axis traveling mechanism 3 to move synchronously, which avoids the problem that the speed of the y-axis traveling mechanism 2 is unstable during the walking process due to the length of the frame 1 being too long. The y-axis power mechanism is connected with the two suspension mechanisms and drives the suspension mechanisms to move along the y-axis.
如图4所示:悬挂机构包括y轴横梁以及设置在y轴横梁上的y轴导向机构。机架1两侧的方钢上方安装有机架导轨,y轴导向机构与机架1两侧机架导轨相连,并对悬挂机构的运动进行导向,使悬挂机构沿直线运动。x轴行走机构3与y轴横梁固定连接。As shown in FIG. 4 : the suspension mechanism includes a y-axis beam and a y-axis guide mechanism arranged on the y-axis beam. Frame guide rails are installed above the square steel on both sides of the frame 1, and the y-axis guide mechanism is connected with the frame guide rails on both sides of the frame 1, and guides the movement of the suspension mechanism so that the suspension mechanism moves along a straight line. The x-axis traveling mechanism 3 is fixedly connected with the y-axis beam.
y轴导向机构包括水平导向机构以及竖直导向机构。水平导向机构在水平方向上对y轴横梁的运动进行导向,竖直导向机构在竖直方向上对y轴横梁的运动进行导向。The y-axis guide mechanism includes a horizontal guide mechanism and a vertical guide mechanism. The horizontal guide mechanism guides the movement of the y-axis beam in the horizontal direction, and the vertical guide mechanism guides the movement of the y-axis beam in the vertical direction.
y轴横梁的两端对称设有主动包胶轮11,y轴动力机构带动主动包胶轮11转动。两个主动包胶轮11上均同轴安装有同步带轮,主动包胶轮11与同步带轮同步转动,y轴横梁两端的同步带轮通过y轴同步带16相连,主动包胶轮11依靠y轴横梁的重力压紧在机架1上方。Both ends of the y-axis beam are symmetrically provided with active rubberized wheels 11, and the y-axis power mechanism drives the active rubberized wheels 11 to rotate. Both active rubberized wheels 11 are coaxially equipped with synchronous pulleys. The active rubberized wheels 11 rotate synchronously with the synchronous pulleys. Rely on the gravity of the y-axis crossbeam to press on the top of the frame 1.
主动包胶轮11与同步带轮一体设置。同步带轮远离主动包胶轮11的一侧通过螺栓固定有圆形挡片,圆形挡片的直径大于同步带轮的直径。圆形挡片靠近同步带轮一侧的外沿为阻挡部,主动包胶轮11靠近同步带轮的一侧也设有与圆形挡片对称的阻挡部,两个阻挡部均为中部外凸的弧形,且两个阻挡部之间的距离沿同步带轮的半径方向由内至外逐渐增大,从而避免由于两端的同步带轮的轴线不平行导致y轴同步带16与同步带轮分离,使y轴同步带16工作平稳,降低了装配误差对y轴同步带16的影响,而又不影响工作的精度和稳定性。The active rubberized wheel 11 is integrally arranged with the synchronous pulley. The side of the synchronous pulley away from the driving rubber-covered wheel 11 is fixed with a circular catch by bolts, and the diameter of the circular catch is greater than the diameter of the synchronous pulley. The outer edge of the circular block near the side of the synchronous pulley is a blocking portion, and the side of the driving rubber wheel 11 near the synchronous pulley is also provided with a blocking portion symmetrical to the circular blocking, both of which are outside the middle. Convex arc, and the distance between the two blocking parts gradually increases from the inside to the outside along the radial direction of the synchronous pulley, so as to avoid the y-axis synchronous belt 16 and the synchronous belt due to the non-parallel axis of the synchronous pulley at both ends. Wheel separation makes the y-axis synchronous belt 16 work smoothly, reduces the influence of assembly errors on the y-axis synchronous belt 16, and does not affect the accuracy and stability of the work.
y轴同步带16的上方设有y轴同步带张紧机构,y轴同步带张紧机构能够调节y轴同步带16的张紧力,从而使y轴同步带16能够与同步带轮保持良好的啮合,进而保证了y轴的行走精度。A y-axis synchronous belt tensioning mechanism is provided above the y-axis synchronous belt 16, which can adjust the tension of the y-axis synchronous belt 16, so that the y-axis synchronous belt 16 can keep in good condition with the synchronous pulley The meshing, thus ensuring the walking accuracy of the y-axis.
y轴同步带张紧机构包括y轴同步带张紧轮14以及y轴张紧轮摆臂15。y轴张紧轮摆臂15设置在y轴同步带16的上方,y轴张紧轮摆臂15的中部铰接在y轴横梁上,使y轴张紧轮摆臂15形成杠杆机构,y轴张紧轮摆臂15的一端转动安装y轴同步带张紧轮14,另一端通过螺栓可拆卸固定在y轴横梁上,并使y轴同步带张紧轮14压紧y轴同步带16,螺栓上套设有多个弹簧垫,在安装好y轴同步带16以后,通过螺栓对y轴同步带16进行张紧,工作一段时间后,弹簧垫对y轴同步带16的张紧力进行调节,不需要频繁的对与y轴同步带16进行张紧,而且能够避免由于y轴同步带16松弛产生冲击载荷,从而降低y轴同步带16的使用寿命,进而提高了y轴同步带16的使用寿命以及工作的稳定性。y轴同步带张紧轮14为带轮,y轴张紧轮摆臂15带动y轴同步带张紧轮14同步摆动,并压紧y轴同步带16。在y轴同步带张紧轮14压紧y轴同步带16后,通过y轴张紧轮摆臂15中部的螺栓对y轴张紧轮摆臂15进行固定。The y-axis timing belt tensioning mechanism includes a y-axis timing belt tensioning wheel 14 and a y-axis tensioning wheel swing arm 15 . The y-axis tensioning wheel swing arm 15 is arranged above the y-axis synchronous belt 16, and the middle part of the y-axis tensioning wheel swing arm 15 is hinged on the y-axis beam, so that the y-axis tensioning wheel swing arm 15 forms a lever mechanism, and the y-axis One end of the tensioning wheel swing arm 15 is rotated to install the y-axis synchronous belt tensioner 14, and the other end is detachably fixed on the y-axis beam through bolts, and the y-axis synchronous belt tensioner 14 is pressed against the y-axis synchronous belt 16, A plurality of spring pads are set on the bolts. After the y-axis timing belt 16 is installed, the y-axis timing belt 16 is tensioned by the bolts. Adjustment does not require frequent tensioning of the y-axis synchronous belt 16, and can avoid the impact load caused by the slack of the y-axis synchronous belt 16, thereby reducing the service life of the y-axis synchronous belt 16, thereby improving the y-axis synchronous belt 16 service life and work stability. The y-axis timing belt tensioner 14 is a pulley, and the y-axis tensioner swing arm 15 drives the y-axis timing belt tensioner 14 to swing synchronously, and compresses the y-axis timing belt 16 . After the y-axis timing belt tensioning wheel 14 presses the y-axis timing belt 16, the y-axis tensioning wheel swing arm 15 is fixed by the bolt in the middle of the y-axis tensioning wheel swing arm 15 .
y轴同步带张紧轮14的左侧由左至右依次设有包角调节带轮12和包角调节同步带轮13,包角调节带轮12和包角调节同步带轮13均转动安装在y轴横梁上。包角调节带轮12和包角调节同步带轮13的轴线与y轴同步带张紧轮14的轴线平行。包角调节同步带轮13设置在y轴同步带16的上方,包角调节带轮12设置在上下两侧的y轴同步带16之间,使y轴同步带16的上侧成波浪线形状,从而增大了同步带与两端同步带轮的包角,增大了同步带轮与y轴同步带16啮合处的承载能力,而且也保证了传动的平稳性。The left side of the y-axis synchronous belt tensioner 14 is sequentially provided with a wrap angle adjustment pulley 12 and a wrap angle adjustment synchronous pulley 13 from left to right, and the wrap angle adjustment pulley 12 and the wrap angle adjustment synchronous pulley 13 are all rotated and installed on the y-axis beam. The axes of wrap angle adjustment pulley 12 and wrap angle adjustment synchronous pulley 13 are parallel to the axis of y-axis synchronous belt tensioner 14 . Wrap angle adjustment synchronous pulley 13 is arranged above the y-axis timing belt 16, and wrap angle adjustment pulley 12 is arranged between the y-axis timing belts 16 on the upper and lower sides, so that the upper side of the y-axis timing belt 16 becomes a wave shape , thereby increasing the wrap angle between the synchronous belt and the synchronous pulleys at both ends, increasing the bearing capacity of the synchronous belt wheel and the y-axis synchronous belt 16 meshing, and also ensuring the stability of the transmission.
竖直导向机构包括设置在y轴横梁下方的可调包胶轮9,可调包胶轮9有两个,对称设置在y轴横梁的两端。可调包胶轮9通过转轴安装在主动包胶轮11的下方,且在可调包胶轮9的转轴下方设有推动可调包胶轮9升降的螺栓,螺栓通过螺纹安装在y轴横梁上,并推动可调包胶轮9升降,从而实现可调包胶轮9竖直方向的调节。可调包胶轮9和主动包胶轮11分别设置在机架导轨的上下两侧,并将机架导轨夹紧,从而在竖直方向上对y轴横梁进行导向。The vertical guide mechanism includes an adjustable rubberized wheel 9 arranged below the y-axis crossbeam. There are two adjustable rubberized wheels 9, which are symmetrically arranged at both ends of the y-axis crossbeam. The adjustable rubberized wheel 9 is installed under the active rubberized wheel 11 through the rotating shaft, and a bolt that promotes the adjustable rubberized wheel 9 to go up and down is provided under the rotating shaft of the adjustable rubberized wheel 9, and the bolt is installed on the y-axis beam through threads, and Promote the adjustable rubber-coated wheel 9 to lift, thereby realizing the adjustment of the vertical direction of the adjustable rubber-coated wheel 9. The adjustable rubberized wheels 9 and the active rubberized wheels 11 are respectively arranged on the upper and lower sides of the frame guide rails, and clamp the frame guide rails so as to guide the y-axis beam in the vertical direction.
如图5所示:水平导向机构有两个,对称设置在y轴横梁的两端。水平导向机构包括设置在y轴横梁两侧的导向轮10,导向轮10的轴线与可调包胶轮9的轴线垂直,并转动安装在y轴横梁上。y轴横梁同一端的两个导向轮10分别设置在机架导轨的前后两侧,并将机架导轨夹紧,从而在水平方向上对y轴横梁进行导向。竖直导向机构和水平导向机构相配合,保证y轴横梁能够沿直线运动,从而保证了抓取机构7运动的精度。As shown in Figure 5: there are two horizontal guide mechanisms, which are symmetrically arranged at both ends of the y-axis beam. The horizontal guide mechanism includes guide wheels 10 arranged on both sides of the y-axis crossbeam. The axis of the guide wheels 10 is perpendicular to the axis of the adjustable rubberized wheel 9 and is rotatably mounted on the y-axis crossbeam. The two guide wheels 10 at the same end of the y-axis beam are respectively arranged on the front and rear sides of the rack guide rail, and clamp the rack guide rail so as to guide the y-axis beam in the horizontal direction. The vertical guiding mechanism cooperates with the horizontal guiding mechanism to ensure that the y-axis beam can move along a straight line, thereby ensuring the accuracy of the movement of the grasping mechanism 7 .
如图6所示:y轴动力机构包括同步轴17以及y轴电机18。同步轴17设置在两个悬挂机构之间,同步轴17的长度与机架1沿x轴的宽度相等。同步轴17连接有y轴电机18,y轴电机18设置在同步轴17的左端,y轴电机18的输出轴与同步轴17的安装部相连,并通过齿轮传动带动同步轴17转动。同步轴17两端的传动部上还通过张紧套分别与两个y轴横梁上对应位置的同步带轮固定连接, 同步轴17能够保证两端的主动包胶轮11的转速相等,从而保证x轴行走机构3两端同步前进,不会发生倾斜。As shown in FIG. 6 : the y-axis power mechanism includes a synchronous shaft 17 and a y-axis motor 18 . The synchronous shaft 17 is arranged between the two suspension mechanisms, and the length of the synchronous shaft 17 is equal to the width of the frame 1 along the x-axis. Synchronous shaft 17 is connected with y-axis motor 18, and y-axis motor 18 is arranged on the left end of synchronous shaft 17, and the output shaft of y-axis motor 18 is connected with the installation part of synchronous shaft 17, and drives synchronous shaft 17 to rotate by gear transmission. The transmission parts at both ends of the synchronous shaft 17 are also fixedly connected to the synchronous pulleys at the corresponding positions on the two y-axis beams through tension sleeves. The synchronous shaft 17 can ensure that the rotational speeds of the active rubberized wheels 11 at both ends are equal, thereby ensuring the x-axis The two ends of the traveling mechanism 3 advance synchronously, and no inclination can take place.
同步轴17包括中部的钢管以及两端的轴头,轴头的一端伸进钢管内并与钢管焊接,另一端同轴安装主动包胶轮11。在同步轴17的一端安装有编码器,编码器随同步轴17同步转动,并将转速信号反馈给变频器,方便控制y轴行走机构2的行走速度,还能够检测同步轴17转过的角度,从而检测沿y轴方向行走的距离。The synchronous shaft 17 comprises the steel pipe in the middle part and the shaft head at two ends, and one end of the shaft head stretches into the steel pipe and is welded with the steel pipe, and the other end coaxially installs the active rubberized wheel 11. An encoder is installed at one end of the synchronous shaft 17, and the encoder rotates synchronously with the synchronous shaft 17, and feeds the speed signal to the frequency converter, which is convenient for controlling the walking speed of the y-axis traveling mechanism 2, and can also detect the angle at which the synchronous shaft 17 turns , so as to detect the distance traveled along the y-axis direction.
在机架1的前后两端设有对y轴横梁进行限位的限位块,从而避免y轴横梁在移动过程中掉落。The front and rear ends of the frame 1 are provided with limit blocks for limiting the y-axis beam, so as to prevent the y-axis beam from falling during the movement.
,如图7所示:x轴行走机构3包括x轴同步带21以及x轴动力单元。x轴动力单元安装在x轴横梁22上,x轴横梁22长度与同步轴17的长度相等,x轴横梁22的两端分别与y轴横梁的中部固定连接,并随y轴横梁同步移动。x轴动力单元为x轴电机19,x轴电机19固定在x轴横梁22的左端,x轴电机19的输出轴上安装有同步带轮,在x轴横梁22的另一端也安装有同步带轮。x轴横梁22上滑动安装有行走安装架20,行走安装架20与x轴横梁22之间设有x轴导向机构,x轴导向机构能够使行走安装架20沿直线运动,从而保证了抓取机构7运动的稳定性。x轴同步带21的两端绕过x轴横梁22两端的同步带轮后均与行走安装架20固定连接,并带动行走安装架20随x轴同步带21同步移动。z轴行走机构4安装在行走安装架20上,并随行走安装架20同步移动。, as shown in FIG. 7 : the x-axis traveling mechanism 3 includes an x-axis synchronous belt 21 and an x-axis power unit. The x-axis power unit is installed on the x-axis beam 22, the length of the x-axis beam 22 is equal to the length of the synchronous shaft 17, and the two ends of the x-axis beam 22 are respectively fixedly connected with the middle part of the y-axis beam, and move synchronously with the y-axis beam. The x-axis power unit is an x-axis motor 19, and the x-axis motor 19 is fixed on the left end of the x-axis beam 22. The output shaft of the x-axis motor 19 is equipped with a timing belt pulley, and the other end of the x-axis beam 22 is also equipped with a timing belt. wheel. The x-axis beam 22 is slidably installed with a walking mounting frame 20, and an x-axis guide mechanism is arranged between the walking mounting frame 20 and the x-axis beam 22. The x-axis guiding mechanism can make the walking mounting frame 20 move along a straight line, thus ensuring the grasping Stability of mechanism 7 movement. Both ends of the x-axis synchronous belt 21 bypass the synchronous pulleys at the two ends of the x-axis beam 22 and are fixedly connected with the walking installation frame 20, and drive the walking installation frame 20 to move synchronously with the x-axis synchronous belt 21. The z-axis traveling mechanism 4 is installed on the traveling mounting frame 20 and moves synchronously with the traveling mounting frame 20 .
行走安装架20上还设有对x轴同步带21的张紧度进行调节的x轴调节螺栓。x轴调节螺栓一端与x轴同步带21的一端相连,x轴调节螺栓通过螺母固定在行走安装架20上。An x-axis adjusting bolt for adjusting the tension of the x-axis synchronous belt 21 is also provided on the walking mounting frame 20 . One end of the x-axis adjusting bolt is connected with one end of the x-axis synchronous belt 21, and the x-axis adjusting bolt is fixed on the walking installation frame 20 through a nut.
x轴电机19的输出轴朝下并安装在x轴横梁22上方,x轴横梁22的上方还设有对同步带轮的轴线进行调节的轴线调节机构,轴线调节机构为设置在x轴横梁两侧的螺栓,螺栓的下端推动同步带轮安装座上下移动,从而调节同步带轮的轴线与竖直面的角度,使同步带轮与x轴同步带21之间能够产生一个推动x轴同步带21向上移动的推力,用来抵消x轴同步带21的重力,从而避免x轴同步带21在重力作用下脱离同步带轮。The output shaft of the x-axis motor 19 faces down and is installed on the top of the x-axis crossbeam 22. An axis adjustment mechanism for adjusting the axis of the synchronous pulley is also provided above the x-axis crossbeam 22. The axis adjustment mechanism is arranged on both sides of the x-axis crossbeam. side bolt, the lower end of the bolt pushes the synchronous pulley mounting seat to move up and down, thereby adjusting the angle between the axis of the synchronous pulley and the vertical plane, so that a push x-axis synchronous belt can be generated between the synchronous pulley and the x-axis synchronous belt 21 The thrust of the upward movement of 21 is used to counteract the gravity of the x-axis synchronous belt 21, thereby preventing the x-axis synchronous belt 21 from detaching from the synchronous pulley under the action of gravity.
行走安装架20为由钢板通过螺栓连接而成,行走安装架20靠近x轴横梁22的一侧为两端开口的长方体箱体,行走安装架20套设在x轴横梁22的外侧,z轴行走机构4安装在行走安装架20的一侧。行走安装架20上侧的钢板上部和下侧的钢板下部均设有加强筋,且加强筋为由靠近z轴行走机构4的一侧至另一侧逐渐变窄的锥形,从而保证行走安装架20的强度,避免单侧的载荷对行走安装架20造成损坏。The walking mounting frame 20 is made of steel plates connected by bolts. The side of the walking mounting frame 20 close to the x-axis beam 22 is a cuboid box with two ends open. The walking mounting frame 20 is sleeved on the outside of the x-axis beam 22. The z-axis Traveling mechanism 4 is installed on one side of walking mounting frame 20 . The upper part of the steel plate on the upper side of the walking installation frame 20 and the lower part of the lower side of the steel plate are all provided with reinforcing ribs, and the reinforcing ribs are tapered from one side near the z-axis traveling mechanism 4 to the other side, thereby ensuring walking installation. The strength of the frame 20 can avoid the damage caused to the walking mounting frame 20 by the load on one side.
x轴导向机构有两个,分别设置在x轴横梁22的上下两侧,且上侧的x轴导向机构设置远离z轴行走机构4的一侧,下侧的x轴导向机构设置在靠近z轴行走机构4的一侧,从而能够对行走安装架20受到的单侧载荷进行抵消,保证了行走安装架20的稳定性与精度。There are two x-axis guide mechanisms, which are respectively arranged on the upper and lower sides of the x-axis beam 22, and the upper x-axis guide mechanism is arranged on the side away from the z-axis traveling mechanism 4, and the lower x-axis guide mechanism is arranged on the side near the z axis. One side of the axis traveling mechanism 4, so that the unilateral load received by the traveling mounting frame 20 can be offset, ensuring the stability and precision of the traveling mounting frame 20.
x轴导向机构包括行走安装架20上的滑块以及设置在x轴横梁22上的滑轨。滑块与滑轨相配合,对行走安装架20的移动进行导向。滑轨可以为梯形或“T”形滑轨,滑块上设有与滑轨相配合的燕尾槽或“T”形滑槽。The x-axis guide mechanism includes a slider on the traveling mounting frame 20 and a slide rail arranged on the x-axis beam 22 . The slide block cooperates with the slide rail to guide the movement of the walking installation frame 20 . The slide rail can be trapezoidal or "T"-shaped slide rail, and the slide block is provided with a dovetail groove or "T"-shaped slide groove matched with the slide rail.
在远离x轴电机19的一端的同步带轮上同轴安装有编码器,编码器能够将x轴电机19的转速信号反馈给变频器,从而通过变频器控制x轴电机19的转速,进而控制x轴行走机构3的行走速度,还能够检测x轴电机19转过的角度,从而检测沿x轴方向行走的距离。An encoder is coaxially installed on the synchronous pulley at one end away from the x-axis motor 19, and the encoder can feed back the speed signal of the x-axis motor 19 to the frequency converter, thereby controlling the speed of the x-axis motor 19 through the frequency converter, and then controlling The traveling speed of the x-axis traveling mechanism 3 can also detect the angle at which the x-axis motor 19 turns, thereby detecting the traveling distance along the x-axis direction.
在x轴横梁22的两端设有对行走安装架20进行限位的限位块。The two ends of the x-axis beam 22 are provided with limiting blocks for limiting the walking installation frame 20 .
如图8所示:z轴行走机构包括z轴立柱23以及带动z轴立柱23升降的升降机构。z轴立柱23滑动安装在行走安装架20上,且z轴立柱23与行走安装架20之间设有z轴导向机构,z轴导向机构能够对z轴立柱23的升降进行导向,从而保证z轴立柱23升降的稳定性。w轴旋转机构6与z轴立柱23的下端固定连接。行走安装架20上还设有重力平衡机构,重力平衡机构用于平衡z轴立柱23以及安装在z轴立柱23上的机构的重力,从而保证z轴立柱23升降的稳定。As shown in FIG. 8 , the z-axis traveling mechanism includes a z-axis column 23 and a lifting mechanism that drives the z-axis column 23 to rise and fall. The z-axis column 23 is slidably installed on the walking mounting frame 20, and a z-axis guiding mechanism is provided between the z-axis column 23 and the walking mounting frame 20. The z-axis guiding mechanism can guide the lifting of the z-axis column 23, thereby ensuring z The stability of shaft column 23 lifting. The w-axis rotation mechanism 6 is fixedly connected with the lower end of the z-axis column 23 . The walking installation frame 20 is also provided with a gravity balance mechanism, which is used to balance the gravity of the z-axis column 23 and the mechanism installed on the z-axis column 23, thereby ensuring the stability of the z-axis column 23 lifting.
重力平衡机构包括平衡气缸27以及z轴链条28,平衡气缸27的下端安装在行走安装架20上,平衡气缸27的轴线与z轴立柱23的轴线平行设置。z轴链条28的下端与z轴立柱23的中部固定连接,上部与平衡气缸27的活塞杆固定连接,从而对z轴立柱23的重力进行平衡,减小了升降机构承受的力,从而使升降机构的行走更加平稳,进而保证了工作的精度。平衡气缸27连接有调压阀,从而使平衡气缸27内的气压维持平衡,对z轴立柱23的重量进行平衡,而且能够避免断电时z轴立柱23掉落,使用安全。The gravity balance mechanism includes a balance cylinder 27 and a z-axis chain 28. The lower end of the balance cylinder 27 is installed on the walking mounting frame 20, and the axis of the balance cylinder 27 is arranged parallel to the axis of the z-axis column 23. The lower end of the z-axis chain 28 is fixedly connected to the middle part of the z-axis column 23, and the upper part is fixedly connected to the piston rod of the balance cylinder 27, thereby balancing the gravity of the z-axis column 23 and reducing the force borne by the lifting mechanism. The running of the mechanism is more stable, thereby ensuring the precision of the work. The balance cylinder 27 is connected with a pressure regulating valve, so that the air pressure in the balance cylinder 27 is kept balanced, the weight of the z-axis column 23 is balanced, and the z-axis column 23 can be prevented from falling when the power is cut off, so it is safe to use.
平衡气缸27的上方安装有重力平衡张紧机构。重力平衡张紧机构包括z轴同步带张紧轮25,z轴同步带张紧轮25转动安装在平衡气缸27的活塞杆上,并随平衡气缸27的活塞杆同步升降,z轴链条28的上端绕过z轴同步带张紧轮25后与平衡气缸27的活塞杆固定连接。z轴同步带张紧轮25的下方设有调节z轴同步带张紧轮25高度的螺栓,螺栓通过z轴同步带张紧轮25的轴向上推动z轴同步带张紧轮25,并将z轴链条28张紧。The top of the balance cylinder 27 is equipped with a gravity balance tensioning mechanism. The gravity balance tensioning mechanism includes a z-axis synchronous belt tensioner 25, and the z-axis synchronous belt tensioner 25 is rotated and installed on the piston rod of the balance cylinder 27, and rises and falls synchronously with the piston rod of the balance cylinder 27, and the z-axis chain 28 The upper end is fixedly connected with the piston rod of the balance cylinder 27 after bypassing the z-axis synchronous belt tensioner 25 . The bottom of the z-axis synchronous belt tensioner 25 is provided with a bolt for adjusting the height of the z-axis synchronous belt tensioner 25, and the bolt pushes the z-axis synchronous belt tensioner 25 upward through the axial direction of the z-axis synchronous belt tensioner 25, and Tension the z-axis chain 28.
平衡气缸27和z轴立柱23之间设有用于导向的平衡导向机构。平衡导向机构包括导向轴24和导向套26,导向轴24的下端与平衡气缸27的活塞杆的上端固定连接,并随平衡气缸27的活塞杆同步升降,且导向轴24与平衡气缸27的轴线平行。导向套26与z轴立柱23固定连接,导向套26滑动套设在导向轴24外侧。导向套26对导向轴24的运动进行导向,从而保证平衡气缸27的活塞杆竖直升降,避免由于z轴立柱23在升降时发生倾斜,对平衡气缸27造成损坏。A balance guiding mechanism for guiding is provided between the balance cylinder 27 and the z-axis column 23 . The balance guiding mechanism comprises a guide shaft 24 and a guide sleeve 26. The lower end of the guide shaft 24 is fixedly connected to the upper end of the piston rod of the balance cylinder 27, and moves up and down synchronously with the piston rod of the balance cylinder 27, and the axis of the guide shaft 24 and the balance cylinder 27 parallel. The guide sleeve 26 is fixedly connected with the z-axis column 23 , and the guide sleeve 26 is slidably arranged on the outside of the guide shaft 24 . The guide sleeve 26 guides the movement of the guide shaft 24, thereby ensuring the vertical lift of the piston rod of the balance cylinder 27, avoiding damage to the balance cylinder 27 due to the inclination of the z-axis column 23 during lifting.
平衡导向机构有两个,对称设置在平衡气缸27的两侧,从而更好地对平衡气缸27进行保护。There are two balance guiding mechanisms, which are symmetrically arranged on both sides of the balance cylinder 27, thereby better protecting the balance cylinder 27.
升降机构包括z轴链条以及z轴动力单元。z轴链条的上端固定在z轴立柱23的顶端,z轴链条的下端固定在z轴立柱23的底端。z轴动力单元通过z轴链轮30与z轴链条相连,并带动z轴立柱23升降。The lifting mechanism includes a z-axis chain and a z-axis power unit. The upper end of the z-axis chain is fixed on the top of the z-axis column 23 , and the lower end of the z-axis chain is fixed on the bottom end of the z-axis column 23 . The z-axis power unit is connected with the z-axis chain through the z-axis sprocket 30, and drives the z-axis column 23 to rise and fall.
z轴导向机构有三个,z轴导向机构分别设置在z轴立柱23相对的两侧,z轴立柱23安装z轴链条的一侧设有一个导向机构,与安装z轴链条的一侧相对的一侧安装有两个z轴导向机构,能够很好地对z轴立柱23带来的载荷进行分配,从而保证z轴立柱23运行平稳。There are three z-axis guide mechanisms, and the z-axis guide mechanisms are respectively arranged on the opposite sides of the z-axis column 23. The side of the z-axis column 23 where the z-axis chain is installed is provided with a guide mechanism, and the side opposite to the side where the z-axis chain is installed Two z-axis guide mechanisms are installed on one side, which can well distribute the load brought by the z-axis column 23, thereby ensuring the smooth operation of the z-axis column 23.
z轴导向机构包括设置在z轴立柱23上的滑轨以及行走安装架20上的滑块,滑块和滑轨相配合,从而对z轴立柱23的移动进行导向。The z-axis guiding mechanism includes a slide rail arranged on the z-axis column 23 and a slider on the walking installation frame 20 , the slide block and the slide rail cooperate to guide the movement of the z-axis column 23 .
z轴立柱23的上下两端均设有限位块,从而对z轴立柱23的升降进行限位。Both upper and lower ends of the z-axis column 23 are provided with limiting blocks, so as to limit the lifting of the z-axis column 23 .
如图9~10所示:z轴动力单元为z轴电机29,z轴电机29通过z轴链轮30带动z轴立柱23升降。z轴电机29固定在行走安装架20上,z轴链轮30与z轴电机29的输出轴相连,z轴链轮30与z轴链条相配合,从而实现z轴立柱23的升降。z轴链条有三排。行走安装架20靠近z轴立柱23的一侧为由钢板通过螺栓固定连接而成的上下两端开口的长方体箱体,z轴立柱23设置在行走安装架20一侧内。z轴链轮30安装在行走安装架20内。行走安装架20的上侧开设有通孔,且行走安装架20上侧还通过螺栓安装有与该通孔同轴的法兰盘,z轴电机29的输出轴穿过法兰盘和通孔后与z轴链轮30相连,并通过螺栓固定在法兰盘上,既方便了z轴电机29的拆卸维护,又避免了各个机构之间相互妨碍。As shown in FIGS. 9-10 , the z-axis power unit is a z-axis motor 29 , and the z-axis motor 29 drives the z-axis column 23 to rise and fall through the z-axis sprocket 30 . The z-axis motor 29 is fixed on the walking mounting frame 20, the z-axis sprocket 30 is connected with the output shaft of the z-axis motor 29, and the z-axis sprocket 30 cooperates with the z-axis chain to realize the lifting of the z-axis column 23. The z-axis chain has three rows. The side of the walking installation frame 20 close to the z-axis column 23 is a cuboid box body with upper and lower ends opened by steel plates fixedly connected by bolts, and the z-axis column 23 is arranged in one side of the walking installation frame 20 . The z-axis sprocket 30 is installed in the traveling installation frame 20 . The upper side of the walking mounting frame 20 is provided with a through hole, and the upper side of the walking mounting frame 20 is also equipped with a flange coaxial with the through hole through bolts, and the output shaft of the z-axis motor 29 passes through the flange plate and the through hole. Finally, it is connected with the z-axis sprocket 30, and is fixed on the flange by bolts, which not only facilitates the disassembly and maintenance of the z-axis motor 29, but also avoids mutual interference between various mechanisms.
z轴链轮30有竖向设置的三个,z轴电机29的输出轴与中部的z轴链轮30同轴连接,并带动中部z轴链轮30转动。上侧和下侧的z轴链轮30分别设置在z轴链条远离z轴立柱23的一侧,中部的z轴链轮30设置在z轴链条和z轴立柱23之间,上侧和下侧的z轴链轮30的轴线与z轴立柱23之间的距离相等,且小于中部的z轴链轮30的轴线与z轴立柱23的距离,增大了z轴链轮30与z轴链条之间的包角,从而提高了z轴链轮30与z轴链条之间的啮合强度,从而保证了使z轴链轮30能够通过z轴链条带动z轴立柱23升降。在中部的z轴链轮30上同轴安装有编码器,编码器能够检测z轴电机29的转速和转过的角度,从而检测z轴立柱23升降的速度和距离。There are three z-axis sprockets 30 arranged vertically, and the output shaft of the z-axis motor 29 is coaxially connected with the z-axis sprocket 30 in the middle, and drives the z-axis sprocket 30 in the middle to rotate. The z-axis sprockets 30 on the upper and lower sides are respectively arranged on the side of the z-axis chain away from the z-axis column 23, and the z-axis sprocket 30 in the middle is arranged between the z-axis chain and the z-axis column 23. The distance between the axis of the z-axis sprocket 30 on the side and the z-axis column 23 is equal, and is smaller than the distance between the axis of the z-axis sprocket 30 in the middle and the z-axis column 23, increasing the distance between the z-axis sprocket 30 and the z-axis The wrapping angle between the chains improves the engagement strength between the z-axis sprocket 30 and the z-axis chain, thereby ensuring that the z-axis sprocket 30 can drive the z-axis column 23 up and down through the z-axis chain. An encoder is installed coaxially on the z-axis sprocket 30 in the middle, and the encoder can detect the speed and angle of rotation of the z-axis motor 29, thereby detecting the speed and distance of the z-axis column 23 rising and falling.
如图11所示:w轴旋转机构6包括w轴立柱39、转动安装在w轴立柱39上的转动单元以及w轴动力单元,w轴动力单元与w轴立柱39固定连接,w轴动力单元与转动单元相连,并带动转动单元转动,转动单元与w轴立柱39同轴设置;还包括用于对转动单元转过的角度进行测量和限位的检测单元。本w轴旋转机构6能够输出形式的动力为绕w轴立柱39的转动,增加了抓取机构7绕z轴转动的运动形式,增加了抓取机构7的灵活性,在对瓷砖进行转运或码垛时可以带动抓取的瓷砖转动,从而改变了瓷砖的姿态,可以根据需要进行码垛,适应范围广;检测单元能够检测转动单元转过的角度,从而保证了抓取机构7的精确度。As shown in Figure 11: the w-axis rotating mechanism 6 includes a w-axis column 39, a rotating unit mounted on the w-axis column 39 and a w-axis power unit, the w-axis power unit is fixedly connected with the w-axis column 39, and the w-axis power unit It is connected with the rotation unit and drives the rotation unit to rotate, and the rotation unit is coaxially arranged with the w-axis column 39; it also includes a detection unit for measuring and limiting the rotation angle of the rotation unit. The w-axis rotation mechanism 6 can output power in the form of rotation around the w-axis column 39, which increases the movement form of the grasping mechanism 7 around the z-axis, increases the flexibility of the grasping mechanism 7, and can be used for transferring or moving tiles. When stacking, it can drive the grabbed tiles to rotate, thereby changing the posture of the tiles, and can be stacked according to needs, with a wide range of applications; the detection unit can detect the angle at which the rotating unit turns, thus ensuring the accuracy of the grabbing mechanism 7 .
w轴动力单元为w轴电机31,w轴电机31安装在旋转安装架35上。旋转安装架35设置在w轴立柱39的下部,并与w轴立柱39固定连接。转动单元设置在旋转安装架35的下方。The w-axis power unit is a w-axis motor 31 , and the w-axis motor 31 is installed on a rotating mount 35 . The rotating mounting frame 35 is arranged on the lower part of the w-axis column 39 and is fixedly connected with the w-axis column 39 . The rotating unit is arranged below the rotating mounting frame 35 .
w轴立柱39的上端设有在竖直方向进行缓冲的缓冲机构。由于w轴旋转机构6的下方安装抓取机构7,工作过程中,在抓取机构碰触到抓取的瓷砖时,缓冲机构能够允许w轴立柱39在竖直方向上进行微小的位移,一方面能够避免在抓取机构7与待抓取的瓷砖接触时对w轴旋转机构6造成损坏,另一方面能够使抓取机构7能够感应待抓取的瓷砖,从而提高了抓取机构7抓取的稳定性。The upper end of the w-axis column 39 is provided with a buffer mechanism for buffering in the vertical direction. Since the grasping mechanism 7 is installed below the w-axis rotating mechanism 6, during the working process, when the grasping mechanism touches the tiles grasped, the buffer mechanism can allow the w-axis column 39 to carry out a small displacement in the vertical direction. On the one hand, it can avoid damage to the w-axis rotating mechanism 6 when the grabbing mechanism 7 is in contact with the tiles to be grabbed; take the stability.
缓冲机构包括缓冲套37以及轴向限位机构,缓冲套37滑动套设在w轴立柱39的上端,轴向限位机构与缓冲套37卡固,从而对w轴立柱39的轴向运动进行限位。w轴旋转机构6的缓冲套37与z轴立柱23的下端固定连接。The buffer mechanism includes a buffer sleeve 37 and an axial limit mechanism. The buffer sleeve 37 is slidably sleeved on the upper end of the w-axis column 39, and the axial limit mechanism is fixed with the buffer sleeve 37, thereby controlling the axial movement of the w-axis column 39. limit. The buffer sleeve 37 of the w-axis rotating mechanism 6 is fixedly connected with the lower end of the z-axis column 23 .
缓冲套37和旋转安装架35之间设有周向限位机构,周向限位机构能够防止w轴立柱39和缓冲套37发生相对转动,从而提高了w轴旋转机构6的工作的精度,避免在工作时发生转动方向上的误差。A circumferential limit mechanism is provided between the buffer sleeve 37 and the rotating mounting bracket 35, and the circumferential limit mechanism can prevent the relative rotation of the w-axis column 39 and the buffer sleeve 37, thereby improving the working accuracy of the w-axis rotation mechanism 6. Avoid errors in the direction of rotation during work.
周向限位机构包括周向限位杆以及限位轴承,周向限位杆的横截面为长方形,周向限位杆的下端安装在旋转安装架35上,且周向限位杆竖直设置。限位轴承对称设置在周向限位杆的两侧,限位轴承通过螺栓固定在缓冲套37外侧。周向限位杆随w轴立柱39同步升降,限位轴承对周向限位杆进行限位,从而避免了w轴立柱39与缓冲套37发生相对转动。Circumferential spacing mechanism comprises circumferential spacing bar and spacing bearing, and the cross section of circumferential spacing bar is rectangular, and the lower end of circumferential spacing bar is installed on the rotating mount 35, and circumferential spacing bar is vertical set up. Limit bearings are symmetrically arranged on both sides of the circumferential limit rod, and the limit bearings are fixed on the outside of the buffer sleeve 37 by bolts. The circumferential limit rod moves up and down synchronously with the w-axis column 39, and the limit bearings limit the circumferential limit rod, thereby avoiding the relative rotation between the w-axis column 39 and the buffer sleeve 37.
w轴立柱39的一侧设有用于检测缓冲套37位置的缓冲检测光电开关33,缓冲检测光电开关33安装在光电开关安装板32上,光电开关安装板32的下端安装在旋转安装架35上,且光电开关安装板32竖直设置。缓冲检测光电开关33有两个,两个缓冲检测光电开关33竖向间隔设置。在w轴立柱39与缓冲套37发生轴向的相对移动时,上方的缓冲检测光电开关33检测到缓冲套37时,即表示抓取机构7接触到待抓取的物品,安装在w轴旋转机构6下方的抓取机构7停止竖直方向的运动。下方的缓冲检测光电开关33对w轴立柱39的运动进行限位保护,从而避免w轴立柱39运动的距离较大,从而对设备造成损坏。One side of the w-axis column 39 is provided with a buffer detection photoelectric switch 33 for detecting the position of the buffer sleeve 37, the buffer detection photoelectric switch 33 is installed on the photoelectric switch mounting plate 32, and the lower end of the photoelectric switch mounting plate 32 is installed on the rotating mounting frame 35 , and the photoelectric switch mounting plate 32 is vertically arranged. There are two buffer detection photoelectric switches 33, and the two buffer detection photoelectric switches 33 are vertically spaced apart. When the w-axis column 39 and the buffer sleeve 37 move axially relative to each other, when the buffer detection photoelectric switch 33 above detects the buffer sleeve 37, it means that the grasping mechanism 7 touches the object to be grasped, and is installed on the w-axis to rotate The catch mechanism 7 below the mechanism 6 stops the motion in the vertical direction. The buffer detection photoelectric switch 33 below provides limit protection for the movement of the w-axis column 39, so as to prevent the movement distance of the w-axis column 39 from being relatively large, thereby causing damage to the equipment.
检测单元包括旋转检测光电开关34,用于检测与转动单元相连的抓取机构7转过的角度,并对抓取机构7的转动进行限位。旋转检测光电开关34有两个,两个旋转检测光电开关34安装在旋转安装架35上,一个旋转检测光电开关34用于检测抓取机构7转过的角度,从而对抓取机构7的转动角度进行精确控制,另一个检测开关用于对抓取机构7的转动进行限位,从而避免抓取机构7的转动角度超出设定的转动角度范围。The detection unit includes a rotation detection photoelectric switch 34, which is used to detect the angle of rotation of the grasping mechanism 7 connected with the rotation unit, and limit the rotation of the grasping mechanism 7. There are two rotation detection photoelectric switches 34, two rotation detection photoelectric switches 34 are installed on the rotation mount 35, and one rotation detection photoelectric switch 34 is used to detect the angle that the grabbing mechanism 7 turns over, so as to control the rotation of the grabbing mechanism 7. The angle is precisely controlled, and another detection switch is used to limit the rotation of the grab mechanism 7, so as to prevent the rotation angle of the grab mechanism 7 from exceeding the set rotation angle range.
如图12所示:轴向限位机构包括限位套38以及限位挡板36。限位挡板36为圆环状板,限位挡板36套设在缓冲套37上方的w轴立柱39外,且限位挡板36与缓冲套37固定连接。缓冲套37下部的内径小于上部的内径,从而形成限位台。限位套38的下部的外径小于上部的外径,限位套38套设在缓冲套37内的w轴立柱39上,限位套38与w轴立柱39固定连接并与w轴立柱39同步升降。w轴立柱39的外径小于缓冲套37的内径,限位套38下部伸进缓冲套37的下部,限位套38的长度小于缓冲套37的长度,限位台与限位挡板36相配合,对限位套38进行轴向的卡固,从而对w轴立柱39进行轴向的限位。As shown in FIG. 12 , the axial limit mechanism includes a limit sleeve 38 and a limit baffle 36 . The limit baffle 36 is an annular plate, and the limit baffle 36 is sleeved outside the w-axis column 39 above the buffer sleeve 37 , and the limit baffle 36 is fixedly connected to the buffer sleeve 37 . The inner diameter of the lower part of the buffer sleeve 37 is smaller than that of the upper part, thereby forming a limiting platform. The outer diameter of the lower part of the limit sleeve 38 is smaller than the outer diameter of the upper part, and the limit sleeve 38 is sleeved on the w-axis column 39 in the buffer sleeve 37, and the limit sleeve 38 is fixedly connected with the w-axis column 39 and is connected with the w-axis column 39 Synchronous lifting. The outer diameter of the w-axis column 39 is less than the inner diameter of the buffer sleeve 37, the bottom of the limit sleeve 38 extends into the bottom of the buffer sleeve 37, the length of the limit sleeve 38 is less than the length of the buffer sleeve 37, and the limit platform and the limit baffle plate 36 correspond to each other. Cooperate, the limit sleeve 38 is axially clamped, so that the w-axis column 39 is axially limited.
在限位挡板36上方的w轴立柱39上设有固定螺母,固定螺母与缓冲套37的限位台相配合,对w轴立柱39以及安装在w轴立柱39的旋转安装架35的重力进行抵消,从而使w轴立柱39安装在缓冲套37上。w轴旋转机构6通过缓冲套37与机械手的行走机构相连。The w-axis column 39 above the limit baffle plate 36 is provided with a fixed nut, and the fixed nut cooperates with the limit platform of the buffer sleeve 37, and the gravity of the w-axis column 39 and the rotating mount 35 installed on the w-axis column 39 Offset, so that the w-axis column 39 is installed on the buffer sleeve 37 . The w-axis rotating mechanism 6 is connected with the traveling mechanism of the manipulator through a buffer sleeve 37 .
旋转安装架35上设有用于安装在w轴立柱39上的安装孔,且安装孔的内径大于w轴立柱39的外径。旋转安装架35下方的w轴立柱39上套设有承载套40,承载套40上部的直径小于下部的直径,承载套40的上部伸进安装孔内,旋转安装架35的下部支撑在承载套40的外侧的凸台上。w轴立柱39的下端通过固定螺母固定有推力轴承,承载套40的下部支撑在推力轴承上,旋转安装架35上部的w轴立柱39上设有螺母,并将旋转安装架35压紧在推力轴承上,完成旋转安装架35的固定安装。承载套40上部的外径小于安装孔下部的内径,且承载套40与安装孔之间设有滚动轴承,使承载套40与旋转安装架35可相对转动。The rotating mounting bracket 35 is provided with a mounting hole for mounting on the w-axis column 39 , and the inner diameter of the mounting hole is larger than the outer diameter of the w-axis column 39 . The w-axis column 39 below the rotating mounting frame 35 is covered with a bearing sleeve 40. The diameter of the upper part of the bearing sleeve 40 is smaller than the diameter of the lower part. 40 on the outer boss. The lower end of the w-axis column 39 is fixed with a thrust bearing through a fixing nut, the lower part of the bearing sleeve 40 is supported on the thrust bearing, and the w-axis column 39 on the top of the rotating mount 35 is provided with a nut, and the rotating mount 35 is pressed against the thrust. On the bearing, complete the fixed installation of the rotating mount 35. The outer diameter of the upper part of the bearing sleeve 40 is smaller than the inner diameter of the lower part of the mounting hole, and a rolling bearing is arranged between the bearing sleeve 40 and the mounting hole, so that the bearing sleeve 40 and the rotating mounting frame 35 can rotate relative to each other.
转动单元为输出链轮,输出链轮与w轴立柱39同轴设置,输出链轮的内径大于w轴立柱39的外径,且输出链轮的上部与承载套40固定连接。旋转安装架35上还安装有主动链轮,主动链轮通过w轴链条41与输出链轮相连,并带动输出链轮转动。输出链轮的下部与抓取机构7相连,并带动抓取机构7转动。The rotating unit is an output sprocket, which is arranged coaxially with the w-axis column 39 , the inner diameter of the output sprocket is larger than the outer diameter of the w-axis column 39 , and the upper part of the output sprocket is fixedly connected with the bearing sleeve 40 . A driving sprocket is also installed on the rotating mounting bracket 35, and the driving sprocket is connected with the output sprocket through the w-axis chain 41, and drives the output sprocket to rotate. The bottom of the output sprocket is connected with the grasping mechanism 7 and drives the grasping mechanism 7 to rotate.
w轴电机31的输出轴水平设置,w轴电机31的输出轴通过相啮合的锥齿轮带动主动链轮转动。在主动链轮上方安装有编码器,编码器与主动链轮同步转动,编码器检测主动链轮的速度信号,并将速度信号反馈给变频器,能够实现对w轴电机31的输出转速进行调节,从而完成对输出链轮转速的调节,编码器还能检测主动链轮转过的角度。The output shaft of the w-axis motor 31 is arranged horizontally, and the output shaft of the w-axis motor 31 drives the driving sprocket to rotate through the meshed bevel gears. An encoder is installed above the drive sprocket, the encoder rotates synchronously with the drive sprocket, the encoder detects the speed signal of the drive sprocket, and feeds the speed signal back to the frequency converter, which can realize the adjustment of the output speed of the w-axis motor 31 , so as to complete the adjustment of the rotation speed of the output sprocket, and the encoder can also detect the angle at which the driving sprocket turns.
如图13~14所示:抓取机构7包括栈板抓取机构以及瓷砖抓取机构。栈板抓取机构和瓷砖抓取机构均安装在抓取机构主体45上,抓取机构主体45为长方体壳体。w轴旋转机构6的输出链轮与抓取机构主体45的中部固定连接,并带动抓取机构7同步转动。As shown in Figures 13-14: the grabbing mechanism 7 includes a pallet grabbing mechanism and a tile grabbing mechanism. Both the pallet grabbing mechanism and the ceramic tile grabbing mechanism are installed on the grabbing mechanism main body 45, and the grabbing mechanism main body 45 is a cuboid shell. The output sprocket of the w-axis rotating mechanism 6 is fixedly connected with the middle part of the grasping mechanism main body 45, and drives the grasping mechanism 7 to rotate synchronously.
栈板抓取机构包括栈板抓取手指47以及推动栈板抓取手指47伸开与夹紧的手指动力单元。栈板抓取手指47为V形,且栈板抓取手指47的一端与手指动力单元相连,另一端设有用于对抓取的栈板进行阻挡的挡板,避免在抓取过程中栈板滑落,从而造成危险。栈板抓取手指47有四个,分别设置在抓取机构主体45的四个角上。栈板抓取手指47安装在手指安装板43上,手指安装板43与手指动力单元固定连接。The pallet grabbing mechanism includes a pallet grabbing finger 47 and a finger power unit that pushes the pallet grabbing finger 47 to stretch and clamp. The pallet grabbing finger 47 is V-shaped, and one end of the pallet grabbing finger 47 is connected to the finger power unit, and the other end is provided with a baffle for blocking the pallet to be grabbed, so as to prevent the pallet from being picked up during the grabbing process. slipping and causing danger. There are four pallet grabbing fingers 47, which are respectively arranged on the four corners of the grabbing mechanism main body 45. The pallet grabbing fingers 47 are installed on the finger mounting plate 43, and the finger mounting plate 43 is fixedly connected with the finger power unit.
抓取机构主体45上设有栈板夹紧导向板42,栈板夹紧导向板42与栈板抓取手指47一一对应,栈板夹紧导向板42固定在抓取机构主体45的侧面上。栈板夹紧导向板42的自由端为由下至上逐渐内凹弧形。栈板抓取手指47铰接在手指安装板43上,且栈板抓取手指47与手指安装板43之间设有扭簧,从而使栈板抓取手指47在脱离栈板夹紧导向板42时处于张开状态。栈板抓取手指47上转动安装有手指导向轴承46,手指导向轴承46设置在铰接点与栈板夹紧导向板42之间。手指动力单元推动栈板抓取手指47分别向左右两侧运动,从而使栈板抓取手指47脱离栈板夹紧导向板42,栈板抓取手指47在扭簧和栈板抓取手指47重力的作用下处于张开状态;手指动力单元带动栈板抓取手指47由两侧向中间运动,使手指导向轴承46进入栈板夹紧导向板42的自由端,栈板夹紧导向板42对栈板抓取手指47进行导向,从而完成对栈板的抓取夹紧。The gripping mechanism main body 45 is provided with a pallet clamping guide plate 42, the pallet clamping guide plate 42 corresponds to the pallet grabbing fingers 47 one by one, and the pallet clamping guide plate 42 is fixed on the side of the grabbing mechanism main body 45 superior. The free end of the pallet clamping guide plate 42 is gradually concave arc from bottom to top. The pallet grabbing finger 47 is hinged on the finger mounting plate 43, and a torsion spring is arranged between the pallet grabbing finger 47 and the finger mounting plate 43, so that the pallet grabbing finger 47 is separated from the pallet clamping guide plate 42 is in the open state. A finger guide bearing 46 is mounted on the pallet grasping finger 47 for rotation, and the finger guide bearing 46 is arranged between the hinge point and the pallet clamping guide plate 42 . The finger power unit pushes the pallet grabbing fingers 47 to move to the left and right sides respectively, so that the pallet grabbing fingers 47 are separated from the pallet clamping guide plate 42, and the pallet grabbing fingers 47 are in contact with the torsion spring and the pallet grabbing fingers 47 It is in an open state under the action of gravity; the finger power unit drives the pallet grabbing finger 47 to move from both sides to the middle, so that the finger guide bearing 46 enters the free end of the pallet clamping guide plate 42, and the pallet clamps the guide plate 42 The pallet grabbing fingers 47 are guided to complete the grabbing and clamping of the pallet.
瓷砖抓取机构包括瓷砖夹板48以及推动瓷砖夹板48轴向移动的夹板动力单元。瓷砖夹板48的上端安装在夹板安装板49上,另一端为自由端。夹板动力单元与夹板安装板49相连,并推动夹板安装板49水平移动,从而实现瓷砖的夹紧和松开。瓷砖夹板48与瓷砖接触的一侧设有橡胶,一方面用于增大与瓷砖的摩擦,另一方面能够产生缓冲作用,避免与瓷砖发生碰撞,从而损坏瓷砖。瓷砖夹板48的下端向中部倾斜,从而能够更好的夹紧瓷砖。The tile grabbing mechanism includes a tile splint 48 and a splint power unit that pushes the tile splint 48 to move axially. The upper end of tile clamping plate 48 is installed on the clamping plate mounting plate 49, and the other end is a free end. The splint power unit is connected with the splint mounting plate 49, and pushes the splint mounting plate 49 to move horizontally, thereby realizing the clamping and loosening of the tiles. The side of the ceramic tile splint 48 in contact with the ceramic tile is provided with rubber, on the one hand, it is used to increase the friction with the ceramic tile, and on the other hand, it can produce a buffering effect to avoid collision with the ceramic tile, thereby damaging the ceramic tile. The lower end of the tile clamping plate 48 is inclined to the middle, so that the tiles can be clamped better.
当沿厚度方向抓取瓷砖时,瓷砖夹板48可以安装在夹板安装板49靠近抓取机构主体45中部的一端,当沿宽度或长度方向抓取瓷砖时,瓷砖夹板48安装在夹板安装板49靠近抓取机构主体45外侧的一端。用于相互配合夹紧瓷砖的两块瓷砖夹板48为一对,瓷砖夹板48有两对,夹板安装板49与瓷砖夹板48一一对应。When grabbing tiles along the thickness direction, the tile splint 48 can be installed on one end of the splint mounting plate 49 close to the middle part of the grabbing mechanism main body 45. One end on the outside of the main body 45 of the grabbing mechanism. The two tile splints 48 that are used to cooperate with each other to clamp the tiles are a pair, and there are two pairs of tile splints 48, and the splint mounting plates 49 correspond to the tile splints 48 one by one.
在抓取机构主体45的上方设有瓷砖抓取限位单元。瓷砖抓取限位单元为夹板限位光电开关44,每一对夹板限位光电开关44有两个,两个夹板限位光电开关44分别用于检测夹板动力单元的起始位置和终止位置,从而完成限位。夹板限位光电开关44有两对,分别对驱动瓷砖夹板48运动的夹板动力单元进行限位。Above the main body 45 of the grabbing mechanism, a ceramic tile grabbing limiting unit is arranged. The ceramic tile grasping limit unit is a splint limit photoelectric switch 44, each pair of splint limit photoelectric switches 44 has two, and the two splint limit photoelectric switches 44 are used to detect the initial position and the end position of the splint power unit respectively. This completes the limit. There are two pairs of splint limit photoelectric switches 44, which limit the splint power unit driving the ceramic tile splint 48 movement respectively.
本抓取机构7既能够完成对栈板的抓取,又能够实现对瓷砖的抓取,自动化程度高,而且栈板放置的精度高,在码垛时不会使瓷砖倾斜,使用方便。The grasping mechanism 7 can not only grasp the pallets, but also grasp the ceramic tiles. It has a high degree of automation, and the pallets are placed with high precision, and the tiles will not be tilted during stacking, so it is easy to use.
如图15所示:手指动力单元与手指安装板43之间设有栈板传动机构。手指动力单元为栈板抓取气缸51,栈板抓取气缸51有一个,且安装在抓取机构主体45的中部,栈板抓取气缸51的活塞杆与栈板传动机构相连,手指安装板43与栈板传动机构相连。As shown in FIG. 15 : a pallet transmission mechanism is provided between the finger power unit and the finger mounting plate 43 . Finger power unit is pallet grabbing cylinder 51, and pallet grabbing cylinder 51 has one, and is installed in the middle part of grabbing mechanism main body 45, and the piston rod of pallet grabbing cylinder 51 links to each other with pallet transmission mechanism, and finger mounting plate 43 links to each other with pallet transmission mechanism.
栈板传动机构包括栈板抓取齿轮55以及栈板抓取齿条56。栈板抓取齿轮55转动安装在抓取机构主体45内,且栈板抓取齿轮55的轴线竖直设置。栈板抓取齿条56有两个,对称设置在栈板抓取齿轮55的两侧,且两个栈板抓取齿条56的一端伸出抓取机构主体45并与手指安装板43固定连接。栈板抓取气缸51与一个栈板抓取齿条56固定连接,并推动该栈板抓取齿条56轴向移动,该栈板抓取齿条56通过栈板抓取齿轮55带动另一个栈板抓取齿条56向相反的方向运动,从而两侧栈板抓取手指47的同步开合。The pallet transmission mechanism includes a pallet grabbing gear 55 and a pallet grabbing rack 56 . The pallet grabbing gear 55 is rotatably installed in the grabbing mechanism main body 45, and the axis of the pallet grabbing gear 55 is vertically arranged. There are two pallet grabbing racks 56, which are symmetrically arranged on both sides of the pallet grabbing gear 55, and one end of the two pallet grabbing racks 56 protrudes from the grabbing mechanism main body 45 and is fixed with the finger mounting plate 43 connect. The pallet grabbing cylinder 51 is fixedly connected with a pallet grabbing rack 56, and pushes the pallet grabbing rack 56 to move axially, and the pallet grabbing rack 56 drives another pallet grabbing gear 55. The pallet grabbing racks 56 move in opposite directions, so that the pallet grabbing fingers 47 on both sides are opened and closed synchronously.
栈板抓取齿条56的外侧设有将栈板抓取手指56压紧在栈板抓取齿轮55上的轴承,轴承通过螺栓安装在抓取机构主体45上。The outer side of the pallet grabbing rack 56 is provided with a bearing that presses the pallet grabbing finger 56 on the pallet grabbing gear 55 , and the bearing is installed on the grabbing mechanism main body 45 by bolts.
夹板动力单元有两个,两个夹板动力单元分别设置在栈板抓取气缸51的两侧,并分别驱动两对瓷砖夹板48的开合。每个夹板动力单元包括有两个夹板开合气缸50,且两个夹板开合气缸50的活塞杆固定连接,并同步运动。夹板限位光电开关44通过检测夹板开合气缸50的活塞杆的位置,来对瓷砖夹板48进行限位。There are two splint power units, and the two splint power units are respectively arranged on both sides of the pallet grabbing cylinder 51, and drive the opening and closing of two pairs of tile splints 48 respectively. Each splint power unit includes two splint opening and closing cylinders 50, and the piston rods of the two splint opening and closing cylinders 50 are fixedly connected and move synchronously. The splint limit photoelectric switch 44 limits the tile splint 48 by detecting the position of the piston rod of the splint opening and closing cylinder 50 .
夹板动力单元与夹板安装板49之间设有夹板传动机构。夹板传动机构包括夹板开合齿轮52以及夹板开合齿条53。夹板开合齿轮52转动安装在抓取机构主体45上,且夹板开合齿轮52的轴线竖直设置。夹板开合齿条53有两个,对称设置在夹板开合齿轮52两侧,两个夹板开合齿条53分别与安装同一对瓷砖夹板48的夹板安装板49固定连接。两个夹板开合气缸50的活塞杆与一个夹板开合齿条53相连,并带动该夹板开合齿条53运动,该夹板开合齿条53通过夹板开合齿轮52带动另一个夹板开合齿条53向相反的方向运动。夹板开合齿条53的两侧分别设有推动夹板开合齿条53压紧夹板开合齿轮52的轴承。A splint transmission mechanism is provided between the splint power unit and the splint mounting plate 49 . The splint transmission mechanism includes a splint opening and closing gear 52 and a splint opening and closing rack 53 . The splint opening and closing gear 52 is rotatably mounted on the grasping mechanism main body 45, and the axis of the splint opening and closing gear 52 is vertically arranged. There are two clamping plate opening and closing racks 53, symmetrically arranged on both sides of the clamping plate opening and closing gear 52, and the two clamping plate opening and closing racks 53 are fixedly connected with the clamping plate mounting plate 49 of the same pair of ceramic tile clamping plates 48 installed respectively. The piston rods of the two splint opening and closing cylinders 50 are connected with a splint opening and closing rack 53, and drive the splint opening and closing rack 53 to move, and the splint opening and closing rack 53 drives the other splint opening and closing gear 52 to open and close the splint The rack 53 moves in the opposite direction. Both sides of the splint opening and closing rack 53 are respectively provided with bearings that push the splint opening and closing rack 53 to press the splint opening and closing gear 52 .
栈板抓取齿轮55的下方设有瓷砖感应器54,瓷砖感应器54用于检测瓷砖夹板48是否抓取瓷砖以及检测栈板抓取手指47是否抓取有栈板。A tile sensor 54 is arranged below the pallet grabbing gear 55, and the tile sensor 54 is used to detect whether the tile splint 48 grabs a tile and detects whether the pallet grabbing finger 47 grabs a pallet.
该机械手的工作过程如下:首先行走机构带动抓取机构7抓取栈板,并将栈板放置在指定位置。然后行走机构再带动抓取机构7抓起瓷砖,并将瓷砖依次放置在栈板上,从而对瓷砖进行码垛。该机械手相比与传统的机械手增加了自由度,使该机械手的抓取机构能够绕z轴旋转,从而使本机械手的码垛方式多样,码垛的方式可以根据用户需求进行设定。The working process of the manipulator is as follows: first, the traveling mechanism drives the grasping mechanism 7 to grab the pallet, and place the pallet at a designated position. Then the walking mechanism drives the grasping mechanism 7 to pick up the tiles, and places the tiles on the pallet in turn, thereby stacking the tiles. Compared with the traditional manipulator, the manipulator has an increased degree of freedom, so that the grasping mechanism of the manipulator can rotate around the z-axis, so that the manipulator can stack in various ways, and the way of stacking can be set according to user needs.
由于y轴行走机构2、x轴行走机构3、z轴行走机构4以及w轴旋转机构6均安装有编码器,在抓取机构7靠近瓷砖时,抓取机构7的行走或转动速度较慢,在对瓷砖转运过程中,抓取机构7的速度较快,极大地提高了工作效率,而且不会与瓷砖发生碰撞从而损坏瓷砖。此外,抓取机构7在与生产线配合时,当瓷砖的生产较快时,抓取机构7的运动也较快,当瓷砖生产较慢时,抓取机构7的运动也较慢,既配合了生产线,又避免了抓取机构7运行过快而造成能量浪费的现象。Since the y-axis traveling mechanism 2, the x-axis traveling mechanism 3, the z-axis traveling mechanism 4, and the w-axis rotating mechanism 6 are all equipped with encoders, when the grasping mechanism 7 is close to the ceramic tile, the walking or rotating speed of the grasping mechanism 7 is relatively slow , in the process of transferring the tiles, the speed of the grabbing mechanism 7 is relatively fast, which greatly improves the work efficiency, and will not collide with the tiles so as to damage the tiles. In addition, when the grabbing mechanism 7 cooperates with the production line, when the production of ceramic tiles is fast, the movement of the grabbing mechanism 7 is also fast, and when the production of tiles is slow, the movement of the grabbing mechanism 7 is also slow, which not only cooperates The production line avoids the phenomenon that the grasping mechanism 7 runs too fast and causes energy waste.
如图16所示:瓷砖翻转装置包括翻转机架57以及翻转台58,翻转台58转动安装在翻转机架57上部,翻转机架57上设有动力机构,动力机构与翻转台58相连,并推动翻转台58绕水平的摆动轴摆动。本瓷砖翻转装置的翻转台能够带动瓷砖翻转,从而能够在机械手抓取之前,使生产线上的瓷砖发生翻转并维持竖向的状态,从而使机械手方便按照所需的码垛方式抓取瓷砖,使用方便。As shown in Figure 16: the ceramic tile overturning device comprises overturning frame 57 and overturning platform 58, and overturning platform 58 is installed in rotation on the top of overturning frame 57, and overturning frame 57 is provided with power mechanism, and power mechanism links to each other with overturning platform 58, and Promote the turning table 58 to swing around the horizontal swing axis. The turning table of the tile turning device can drive the tiles to turn over, so that the tiles on the production line can be turned over and maintained in a vertical state before the manipulator grabs them, so that the manipulator can easily grab the tiles according to the required stacking method. Convenience.
翻转台58的前部两侧转动安装在翻转机架57上,翻转台58的上部间隔设有多个滑辊,多个滑辊的轴线均与翻转台58的摆动轴平行。The both sides of the front portion of the overturning platform 58 are rotatably installed on the overturning frame 57, and the top of the overturning platform 58 is provided with a plurality of sliding rollers at intervals, and the axes of the plurality of sliding rollers are all parallel to the swing axis of the overturning platform 58.
翻转台58的后侧向上弯折,形成弯折部,弯折部上设有用于安装挡板59的挡板安装杆,挡板安装杆水平并与翻转台58的上部间隔设置。挡板59通过螺栓和螺母可拆卸的安装在挡板安装杆上,且挡板59的与翻转台58间隔设置,瓷砖由输送带输送至翻转台58上,并位于翻转台58与挡板59之间。The rear side of the overturning platform 58 is bent upwards to form a bent portion, on which a baffle installation rod for installing the baffle 59 is arranged, and the baffle installation rod is horizontal and spaced apart from the top of the overturning platform 58 . The baffle plate 59 is detachably installed on the baffle plate mounting rod through bolts and nuts, and the baffle plate 59 is spaced apart from the overturning table 58. between.
挡板59的前侧为下部为由前至后逐渐向下的弧形,从而避免对进入翻转台58的瓷砖造成阻碍。The lower part of the front side of the baffle plate 59 is arc-shaped gradually downward from front to back, so as to avoid hindering the ceramic tiles entering the turning table 58 .
动力机构包括翻转电机63以及翻转传动机构,翻转电机63设置在翻转台58下方的翻转机架57上,翻转电机63与翻转传动机构之间设有减速机,翻转电机63的输出轴与减速机的输入轴相连,减速机的输出轴与翻转传动机构的输出端相连,翻转传动机构的输出端与翻转台58相连,从而带动翻转台58摆动。Power mechanism comprises overturning motor 63 and overturning transmission mechanism, overturning motor 63 is arranged on the overturning frame 57 below overturning table 58, is provided with speed reducer between overturning motor 63 and overturning transmission mechanism, the output shaft of overturning motor 63 and speed reducer The input shaft of the reducer links to each other, the output shaft of the reducer links to each other with the output end of the overturning transmission mechanism, and the output end of the overturning transmission mechanism links to each other with the overturning platform 58, thereby driving the overturning platform 58 to swing.
翻转传动机构包括连杆 62以及曲柄64,曲柄64的一端与减速机的输出轴转动连接,曲柄64的另一端与连杆62的一端转动连接,连杆62的另一端与翻转台58的下部转动连接,且连接点位于翻转台58的摆动轴的后侧,从而推动翻转台58摆动。当连杆62和曲柄64位于减速机输出轴的同一侧,且连杆62和曲柄64的轴线平行时,翻转台58处于水平状态;当连杆62和曲柄64分别位于减速机输出轴的两侧,且连杆62和曲柄64的轴线平行,此时翻转台58处于竖直状态,因此在翻转电机63工作时,会带动翻转台58摆动,从而带动瓷砖摆动。The overturning transmission mechanism includes a connecting rod 62 and a crank 64, one end of the crank 64 is rotatably connected with the output shaft of the reducer, the other end of the crank 64 is rotatably connected with one end of the connecting rod 62, and the other end of the connecting rod 62 is connected with the bottom of the turning table 58. Rotationally connected, and the connection point is located at the rear side of the swing axis of the turning platform 58, thereby pushing the turning platform 58 to swing. When the connecting rod 62 and the crank 64 are located on the same side of the output shaft of the reducer, and the axes of the connecting rod 62 and the crank 64 are parallel, the overturn table 58 is in a horizontal state; side, and the axes of the connecting rod 62 and the crank 64 are parallel, and the overturning table 58 is in a vertical state at this moment, so when the overturning motor 63 works, it will drive the overturning table 58 to swing, thereby driving the tiles to swing.
在翻转机架57上设有翻转台限位板61,翻转台限位板61有两块,对称设置在翻转机架57两侧。翻转限位板57的后侧设有橡胶垫,从而在翻转台58翻转至竖直状态时,对翻转台58进行限位,从而在机械手抓取翻转台58上的瓷砖时,保证翻转台58处于静止状态。Turning frame 57 is provided with turning platform limiting plate 61, and turning platform limiting plate 61 has two pieces, symmetrically arranged on turning frame 57 both sides. The rear side of the overturning limit plate 57 is provided with a rubber pad, so that when the overturning platform 58 is overturned to a vertical state, the overturning platform 58 is limited, so that when the manipulator grabs the tiles on the overturning platform 58, the overturning platform 58 is guaranteed at rest.
以上所述,仅是本发明的较佳实施例而已,并非是对本发明作其它形式的限制,任何熟悉本专业的技术人员可能利用上述揭示的技术内容加以变更或改型为等同变化的等效实施例。但是凡是未脱离本发明技术方案内容,依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与改型,仍属于本发明技术方案的保护范围。The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention to other forms. Any skilled person who is familiar with this profession may use the technical content disclosed above to change or modify the equivalent of equivalent changes. Example. However, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belong to the protection scope of the technical solution of the present invention.
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