CN106364910A - Mechanical hand capable of working on any 3D curve and action process for mechanical hand - Google Patents

Mechanical hand capable of working on any 3D curve and action process for mechanical hand Download PDF

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Publication number
CN106364910A
CN106364910A CN201611016056.1A CN201611016056A CN106364910A CN 106364910 A CN106364910 A CN 106364910A CN 201611016056 A CN201611016056 A CN 201611016056A CN 106364910 A CN106364910 A CN 106364910A
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CN
China
Prior art keywords
axis
pallet
ceramic tile
grasping
walking
Prior art date
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Pending
Application number
CN201611016056.1A
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Chinese (zh)
Inventor
谢东
周继刚
李建华
崔永彬
孙文才
马冬冬
邱羽
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Shandong Intelligent Technology Co Ltd
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Shandong Intelligent Technology Co Ltd
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Filing date
Publication date
Application filed by Shandong Intelligent Technology Co Ltd filed Critical Shandong Intelligent Technology Co Ltd
Priority to CN201611016056.1A priority Critical patent/CN106364910A/en
Publication of CN106364910A publication Critical patent/CN106364910A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • 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
    • B65G49/00Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/08Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for ceramic mouldings
    • 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
    • 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
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • B65G2201/0214Articles of special size, shape or weigh
    • B65G2201/022Flat

Abstract

The invention discloses a mechanical hand capable of working on any 3D curve and an action process for the mechanical hand, and belongs to the technical field of automatic equipment. The mechanical hand capable of working on any 3D curve is characterized by comprising a rack (1), a travelling mechanism, a w-axis rotating mechanism (6) and a grabbing mechanism (7), wherein the travelling mechanism is mounted on the rack (1), and can separately move along the x axis, the y axis and the z axis; the w-axis rotating mechanism (6) is mounted on the travelling mechanism; the grabbing mechanism (7) is mounted on the w-axis rotating mechanism (6); and the grabbing mechanism (7) comprises a gabbing mechanism main body (45) as well as a pallet grabbing mechanism and a ceramic tile grabbing mechanism which are mounted on the grabbing mechanism main body. The grabbing mechanism of the mechanical hand is more flexible, and the ceramic tile grabbing mechanism and the pallet grabbing mechanism can separately grab ceramic tiles and pallets. The action process of the mechanical hand capable of working on any 3D curve can be matched with a ceramic tile production line better.

Description

A kind of can arbitrarily 3d curve work mechanical hand and its action technique
Technical field
A kind of can arbitrarily 3d curve work mechanical hand and its action technique, belong to technical field of automation equipment.
Background technology
Mechanical hand is some functions of referring to imitate staff and arm, in order to capture, to carry object or behaviour by fixed routine Make the automatic pilot of instrument.Mechanical hand is the earliest industrial robot occurring, and is also the earliest modern machines people occurring, machine Tool handss replace the heavy labor of people to realize the mechanization and the automatization that produce, can operate to protect person peace under hostile environment Entirely, mechanical hand is widely used in the departments such as machine-building, metallurgy, electronics, light work(and atomic energy.
In ceramic tile production sector, mechanical hand Main Function is the transhipment of ceramic tile and the piling of ceramic tile, existing manipulator The movement of x-axis, y-axis and z-axis usually can be completed, x-axis, y-axis refer to the movement in level longitudinal direction and horizontal cross, z respectively Axle refers to the movement in vertical direction, thus realizing ceramic tile being transported through or piling in three dimensions.Existing machinery Handss are being transported through to ceramic tile or during piling, there are the following problems:
1st, the attitude of ceramic tile cannot be changed, can only be transported according to the original attitude of ceramic tile, therefore after transhipment, ceramic tile be entered During row piling, it is merely able to carry out piling according to same mode to ceramic tile, motility is poor, the requirement to the environment of piling is relatively Height, in-convenience in use;
2nd, mechanical hand can only run according to constant speed along the movement of x-axis, y-axis, z-axis, in order to ensure in transport process not The ceramic tile of crawl can be damaged, need the speed of service of mechanical hand relatively low, had a strong impact on the work efficiency of mechanical hand;
3rd, when mechanical hand is moved along the z-axis, z-axis column can drive the ceramic tile of crawl to lift, due to the quantity of the ceramic tile of each crawl Difference, weight when therefore occurring that z-axis column lifts every time has differences, and so that mechanical hand operationally may Produce vibrations, there may be due to cannot precise control translational speed and the problem that collides;
4th, the power set of existing manipulator are usually motor, and motor is typically fixed in frame, in mechanical hand walking Apart from excessive, especially apart from motor farther out when, due to transmission apart from excessive it may appear that the problem that is short of power, and run Speed is also very unstable;
5th, when piling is carried out to ceramic tile, the rear on-carriage of ceramic tile or entrucking for convenience, it usually needs place pallet, both facilitated Follow-up operation, and it can be avoided that ceramic tile caused damage.In piling, pallet needs artificial placement to existing manipulator.By Need and ceramic tile production line cooperation in mechanical hand, therefore in daily production process, mechanical hand can not be shut down, and this is accomplished by workman Place pallet during robot work, there is potential safety hazard.And the requirement of the position to pallet for the existing manipulator is compared Height, needs accurately to place pallet according to the position of robot work when placing, using very inconvenient.
Content of the invention
The technical problem to be solved in the present invention is: overcomes the deficiencies in the prior art, provides a kind of grasping mechanism can be around perpendicular Nogata is to rotating, flexibility ratio is high, can independently capture pallet and ceramic tile can mechanical hand that arbitrarily 3d curve works and its action Technique.
The technical solution adopted for the present invention to solve the technical problems is: this can arbitrarily 3d curve work mechanical hand, its It is characterised by: include frame, walking mechanism, w axle rotating mechanism and grasping mechanism, walking mechanism is arranged in frame, and energy Enough 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 whirler On structure;Grasping mechanism includes grasping mechanism main body and is arranged on the pallet grasping mechanism in grasping mechanism main body and ceramic tile crawl Mechanism.
Preferably, the bottom of described frame is provided with pallet storehouse and ceramic tile storehouse.
Preferably, described walking mechanism includes y-axis walking mechanism, x-axis walking mechanism and z-axis walking mechanism, y-axis row Walk mechanism to be arranged in described frame, x-axis walking mechanism is arranged in y-axis walking mechanism, and z-axis walking mechanism is arranged on x-axis row Walk in mechanism, described w axle rotating mechanism is arranged in z-axis walking mechanism.
Preferably, described y-axis walking mechanism includes hitch and y-axis actuating unit, and hitch has two, right Claim to be arranged on described x-axis walking mechanism two ends, y-axis actuating unit is arranged on hitch and drives hitch straight line to move Dynamic.
Preferably, described ceramic tile grasping mechanism includes ceramic tile clamping plate and clamping plate power unit, clamping plate power unit with It is provided with clamping plate drive mechanism between ceramic tile clamping plate.
Preferably, described ceramic tile clamping plate is used for gripping the side of ceramic tile and is provided with rubber, and the lower end of ceramic tile clamping plate is to leaning on The lopsidedness of nearly ceramic tile.
Preferably, described grasping mechanism main body is provided with and ceramic tile grasping mechanism is carried out with the spacing ceramic tile spacing list of crawl Unit.
Preferably, described pallet grasping mechanism includes pallet crawl finger and finger power unit, and pallet captures handss Refer to be provided with pallet drive mechanism and finger power unit between.
Preferably, the side of grasping mechanism main body is provided with pallet clamping guide plate, and the free end that pallet clamps guide plate is The arc of gradually indent from the bottom to top, one end that described pallet captures finger is hinged on finger power unit, and pin joint with The pallet crawl finger that pallet clamps between guide plate is provided with finger guide bearing, and finger power unit promotes pallet crawl handss Finger moves horizontally, and finger guide bearing and pallet clamp the free end cooperation of guide plate, realize pallet capture finger clamping or Stretch out.
A kind of above-mentioned can arbitrarily the mechanical hand of d curve work action technique it is characterised in that: comprise the steps:
Pallet grasping mechanism captures pallet, and walking mechanism drives grasping mechanism main body to move and place pallet;
Walking mechanism drives grasping mechanism main body to move, and makes ceramic tile grasping mechanism capture ceramic tile, and the ceramic tile of crawl is put successively Put on pallet, piling is carried out to ceramic tile;
Pallet grasping mechanism and ceramic tile grasping mechanism are walked according to three-dimensional coordinate, are positioned, walking mechanism and w axle whirler Structure automatically adjusts speed and optimizes mobile route.
Compared with prior art, the present invention can the arbitrarily mechanical hand of 3d curve work and its having of having of action technique Beneficial effect is:
1st, the grasping mechanism of this mechanical hand is arranged on w axle rotating mechanism, increased the degree of freedom of grasping mechanism, makes grasping mechanism More flexible so that this mechanical hand while mobile ceramic tile additionally it is possible to line translation be entered to the attitude of ceramic tile such that it is able to root According to needing to carry out piling to ceramic tile, easy to use;Ceramic tile grasping mechanism and pallet grasping mechanism can capture ceramic tile and stack respectively Plate, easy to use, and also when carrying out piling to ceramic tile it is not necessary to manually place pallet, the degree of accuracy that pallet is placed is high, pallet Grasping mechanism and ceramic tile grasping mechanism can work independently, and will not produce impact each other, improve grasping mechanism crawl The species of article, improves the automaticity of this mechanical hand, easy to use.
2nd, pallet storehouse can store pallet, and this mechanical hand can directly capture the pallet in pallet storehouse and be placed on ceramic tile storehouse Interior, and crawl ceramic tile is placed on the pallet in ceramic tile storehouse according to this, thus piling is carried out to ceramic tile, easy to use, and automatization Degree is high.
3rd, x-axis walking mechanism, y-axis walking mechanism and z-axis walking mechanism drive grasping mechanism respectively along x-axis, y-axis and z Direction of principal axis is walked, and makes the action of grasping mechanism more flexible.
4th, x-axis walking mechanism is arranged in frame by hitch, and y-axis actuating unit drives hitch straight line to move Dynamic, make the affecting, thus ensure that the walking of hitch of gravity of ceramic tile that y-axis actuating unit will not be captured or pallet More steadily, more accurate.
5th, clamping plate power unit promotes ceramic tile clamping plate synchronously to move in the opposite direction, thus pressing from both sides by clamping plate drive mechanism Tight or unclamp ceramic tile, the synchronicity of ceramic tile clamping plate motion is good, and gripping is firmly.
6th, the rubber on ceramic tile clamping plate can increase the frictional force between ceramic tile clamping plate and ceramic tile, thus avoiding gripping ceramic tile During ceramic tile come off additionally it is possible to avoid ceramic tile clamping plate ceramic tile to be caused damage, ceramic tile clamping plate is obliquely installed, in gripping ceramic tile When can fit with ceramic tile so that ceramic tile gripping more firm.
7th, ceramic tile crawl position-limiting unit clamping plate power unit can be carried out spacing, thus carrying out to the stroke of ceramic tile clamping plate Spacing, so that ceramic tile clamping plate can preferably unclamp and clamp ceramic tile, it is to avoid unclamp not in place or folder bad ceramic tile.
8th, pallet drive mechanism can enable pallet crawl finger move to identical or contrary clearance simultaneously, so that Pallet crawl finger synchronization clamps or stretchs out.
9th, referring to power unit drives pallet crawl finger horizontal to move, when finger guide bearing departs from pallet clamping guide plate When, ceramic tile crawl finger can be in releasing orientation under gravity, when finger guide bearing clamps oneself of guide plate with pallet When with end, because the free end that pallet clamps guide plate can make finger guide bearing gradually move upwards, so that pallet Crawl grip finger, structure is simple, long service life.
10th, originally the action technique of mechanical hand of arbitrarily 3d curve work can be captured according to three-dimensional coordinate and place stack Plate and ceramic tile, the degree of accuracy of placement is high, and walking mechanism and w axle rotating mechanism automatically adjust speed, improve work efficiency, and When coordinating with ceramic tile production line, translational speed can be automatically adjusted according to the ceramic tile speed of production of production line, thus preferably with Ceramic tile production line matches.
Brief description
Fig. 1 is the schematic perspective view of mechanical hand.
Fig. 2 is the schematic front view of walking mechanism.
Fig. 3 is the schematic front view of y-axis walking mechanism.
Fig. 4 is the schematic top plan view of y-axis walking mechanism.
Fig. 5 is the schematic front view of synchronizing shaft.
Fig. 6 is the schematic front view of x-axis walking mechanism.
Fig. 7 is the schematic front view of z-axis walking mechanism.
Fig. 8 is the schematic perspective view of z-axis actuating unit.
Fig. 9 is the partial enlarged drawing at a in Fig. 8.
Figure 10 is the schematic front view of w axle rotating mechanism.
Figure 11 is the cross-sectional schematic in the b-b direction of Figure 10.
Figure 12 is the schematic front view of grasping mechanism.
Figure 13 is the schematic top plan view of grasping mechanism.
Figure 14 is the schematic perspective view of crawl drive mechanism.
In figure: 1, frame 2, y-axis walking mechanism 3, x-axis walking mechanism 4, z-axis walking mechanism 5, ceramic tile storehouse 6th, w axle rotating mechanism 7, grasping mechanism 8, pallet storehouse 9, adjustable glue coating wheel 10, directive wheel 11, active glue coating wheel 12nd, cornerite adjusts belt wheel 13, cornerite regulation synchronous pulley 14, y-axis synchronization belt tensioner pulley 15, y-axis tensioning wheel swing arm 16th, y-axis Timing Belt 17, synchronizing shaft 18, y-axis motor 19, x-axis motor 20, walking installing rack 21, x-axis Timing Belt 22nd, x-axis crossbeam 23, z-axis column 24, the axis of guide 25, z-axis synchronization belt tensioner pulley 26, fairlead 27, balance cylinder 28th, 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 photoswitch 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 44th, clamping plate limiting photoelectric switch 45, grasping mechanism main body 46, finger guide bearing 47, pallet crawl finger 48, porcelain Brick clamp plate 49, clamping plate installing plate 50, clamping plate folding cylinder 51, pallet crawl cylinder 52, clamping plate folding gear 53, Clamping plate folding tooth bar 54, ceramic tile induction apparatuss 55, pallet crawl gear 56, pallet crawl tooth bar.
Specific embodiment
Fig. 1 ~ 14 are highly preferred embodiment of the present invention, and 1 ~ 14 the present invention will be further described below in conjunction with the accompanying drawings.
A kind of can arbitrarily 3d curve work mechanical hand, include frame 1, walking mechanism, w axle rotating mechanism 6 and capture 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 installed and is expert at Walk in mechanism, grasping mechanism 7 is arranged on w axle rotating mechanism 6;Grasping mechanism 7 includes grasping mechanism main body 45 and is arranged on Pallet grasping mechanism in grasping mechanism main body 45 and ceramic tile grasping mechanism.The grasping mechanism 7 of this mechanical hand is arranged on the rotation of w axle In mechanism 6, increased the degree of freedom of grasping mechanism 7, make grasping mechanism 7 more flexible, so that this mechanical hand is in mobile ceramic tile While additionally it is possible to line translation be entered to the attitude of ceramic tile such that it is able to as needed piling be carried out to ceramic tile, easy to use;Porcelain Brick grasping mechanism and pallet grasping mechanism can capture ceramic tile and pallet respectively, easy to use, and carrying out piling to ceramic tile When it is not necessary to manually place pallet, the degree of accuracy that pallet is placed is high, and pallet grasping mechanism and ceramic tile grasping mechanism being capable of independent works Make, and impact will not be produced each other, improve the species that grasping mechanism 7 captures article, improve the automatic of this mechanical hand Change degree, easy to use.
Specific: as shown in Figure 1: the bottom of frame 1 fixes on the ground, so that the work of this mechanical hand is more steady Fixed, will not shake in the course of the work.
The top of frame 1 is rectangular frame, and bottom is vertically arranged support feet.Walking mechanism is arranged in frame 1 On the framework in portion, and drive grasping mechanism 7 respectively along x-axis, y-axis and z-axis direction straight line moving.
Walking mechanism walking vertically is defined as the walking along z-axis, and walking mechanism is along the row of frame 1 width Walk 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, definition around Z-axis rotate to be the axial motion of w.
The bottom of frame 1 is provided with the pallet storehouse 8 and ceramic tile storehouse 5 for placing pallet, and pallet storehouse 8 is used for placing pallet, Ceramic tile is placed in ceramic tile storehouse 5, and that is, this mechanical hand ceramic tile is transported in ceramic tile storehouse 5 and carries out piling.Pallet is to ceramic tile palletizing When, the plank in bottom for the pad, pallet one side can be protected to the ceramic tile of bottom, on the other hand conveniently 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 2: walking mechanism includes y-axis walking mechanism 2, x-axis walking mechanism 3 and z-axis walking mechanism 4.Y-axis row Walk 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 fixedly connected with z-axis walking mechanism 4, and grasping mechanism 7 is arranged on w axle rotating mechanism 6, makes Flexibly, the attitude that can change transhipment ceramic tile in transport process is such that it is able to meet the piling of various ways for grasping mechanism 7.
Y-axis walking mechanism 2 includes hitch, and hitch has 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 left and right two ends.The hitch at two ends drives x-axis walking mechanism 3 synchronizing movings, it is to avoid lead to y-axis walking mechanism 2 unstable the asking of speed in the process of walking because the length of frame 1 is long Topic.Y-axis actuating unit is connected with two hitches, and drives hitch to move along y-axis.
As shown in Figure 3: hitch includes y-axis crossbeam and is arranged on the y-axis guiding mechanism on y-axis crossbeam.1 liang of frame Rack rail is installed above the square steel of side, y-axis guiding mechanism is connected with frame 1 machine frame at two sides guide rail, and to hitch Motion is guided, and so that hitch is moved along a straight line.X-axis walking mechanism 3 is fixedly connected with y-axis crossbeam.
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 the motion of y-axis crossbeam is guided.
The two ends of y-axis crossbeam are arranged with active glue coating wheel 11, and y-axis actuating unit drives active glue coating wheel 11 to rotate.Two Synchronous pulley, active glue coating wheel 11 and synchronous pulley synchronous axial system, y-axis crossbeam two are all coaxially installed with individual active glue coating wheel 11 The synchronous pulley at end passes through y-axis Timing Belt 16 and is connected, and active glue coating wheel 11 relies on the gravity-pressing of y-axis crossbeam above frame 1.
Active glue coating wheel 11 and synchronous pulley are wholely set.Synchronous pulley passes through bolt away from the side of active glue coating wheel 11 It is fixed with rounded tabs, the diameter with diameter greater than synchronous pulley of rounded tabs.Rounded tabs are outer near synchronous pulley side Edge is stop part, and active glue coating wheel 11 also is provided with the stop part symmetrical with rounded tabs, two resistances near the side of synchronous pulley Stopper is the arc of middle part evagination, and the distance between two stop parts along synchronous pulley radial direction from the inside to the outside gradually Increasing, thus avoiding leading to y-axis Timing Belt 16 to separate with synchronous pulley because the axis of the synchronous pulley at two ends is not parallel, making y Axle Timing Belt 16 stable working, reduces the impact to y-axis Timing Belt 16 for the rigging error, and does not affect the precision of work and steady Qualitative.
The top of y-axis Timing Belt 16 is provided with y-axis Timing Belt strainer, and it is same that y-axis Timing Belt strainer can adjust y-axis Step, with 16 tensile force, 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 synchronization belt tensioner pulley 14 and y-axis tensioning wheel swing arm 15.Y-axis tensioning wheel is put Arm 15 is arranged on the top of y-axis Timing Belt 16, and the middle part of y-axis tensioning wheel swing arm 15 is hinged on y-axis crossbeam, makes y-axis tensioning wheel Swing arm 15 forms leverage, and one end of y-axis tensioning wheel swing arm 15 rotates installs y-axis synchronization belt tensioner pulley 14, and the other end passes through Bolt is detachably secured on y-axis crossbeam, and makes y-axis synchronization belt tensioner pulley 14 compression y-axis Timing Belt 16, bolt is arranged with many Individual spring pad, after installing y-axis Timing Belt 16, carries out tensioning, work a period of time by bolt to y-axis Timing Belt 16 Afterwards, spring pad is adjusted to the tensile force of y-axis Timing Belt 16 it is not necessary to frequently carry out tensioning to y-axis Timing Belt 16, and And it can be avoided that producing shock loading because y-axis Timing Belt 16 relaxes, thus reducing 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 synchronization belt tensioner pulley 14 is belt wheel, y-axis tensioning wheel Swing arm 15 drives y-axis synchronization belt tensioner pulley 14 synchronous hunting, and compresses y-axis Timing Belt 16.Compress in y-axis synchronization belt tensioner pulley 14 After y-axis Timing Belt 16, by the bolt at y-axis tensioning wheel swing arm 15 middle part, y-axis tensioning wheel swing arm 15 is fixed.
The left side of y-axis synchronization belt tensioner pulley 14 is sequentially provided with cornerite from left to right and adjusts belt wheel 12 and cornerite regulation Timing Belt Wheel 13, cornerite adjusts belt wheel 12 and cornerite adjusts synchronous pulley 13 and is all rotatably installed on y-axis crossbeam.Cornerite adjusts belt wheel 12 He Cornerite adjusts the axis of synchronous pulley 13 and the diameter parallel of y-axis synchronization belt tensioner pulley 14.Cornerite adjusts synchronous pulley 13 and arranges Above y-axis Timing Belt 16, cornerite adjusts belt wheel 12 and is arranged between the y-axis Timing Belt 16 of upper and lower both sides, makes y-axis Timing Belt 16 upside becomes wave shape, thus increasing 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.
It is vertically directed the adjustable glue coating wheel 9 that mechanism includes being arranged on y-axis below the crossbeam, adjustable glue coating wheel 9 has two, symmetrically It is arranged on the two ends of y-axis crossbeam.Adjustable glue coating wheel 9 is arranged on the lower section of active glue coating wheel 11 by rotating shaft, and adjustable encapsulated It is provided with the bolt promoting adjustable glue coating wheel 9 lifting, bolt is by being threadably mounted on y-axis crossbeam, and promotes below the rotating shaft of wheel 9 Adjustable glue coating wheel 9 lifts, thus realizing the regulation of adjustable glue coating wheel 9 vertical direction.Adjustable glue coating wheel 9 and 11 points of active glue coating wheel It is not arranged on the both sides up and down of rack rail, and rack rail is clamped, thus in the vertical direction is led to y-axis crossbeam To.
As shown in Figure 4: horizontally-guided mechanism has two, it is symmetricly set on the two ends of y-axis crossbeam.Horizontally-guided mechanism includes It is 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 with two directive wheels 10 of one end be separately positioned on rack rail before and after both sides, and by frame Guide rail clamps, thus guiding to 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 of grasping mechanism 7 motion.
As shown in Figure 5: 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 is connected with 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 fixedly connected, and synchronizing shaft 17 ensure that the rotating speed of the active glue coating wheel 11 at two ends is equal, thus ensureing x Axle walking mechanism 3 two ends advanced in unison, will not run-off the straight.
Synchronizing shaft 17 includes the steel pipe at middle part and the spindle nose at two ends, and one end of spindle nose puts in steel pipe and and steel pipe welding Connect, the other end is co-axially mounted active glue coating wheel 11.In one end of synchronizing shaft 17, encoder is installed, 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 is additionally it is possible to detection is synchronous The angle that axle 17 turns over, thus the distance that detection is walked along the y-axis direction.
It is provided with the rear and front end of frame 1 and spacing limited block is carried out to y-axis crossbeam, thus avoiding y-axis crossbeam moving During drop.
, as shown in Figure 6: 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, the equal length of x-axis crossbeam 22 length and synchronizing shaft 17, the two ends of x-axis crossbeam 22 respectively with y-axis crossbeam Middle part be fixedly connected, 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, is also provided with same in the other end of x-axis crossbeam 22 Step belt wheel.Walking installing rack 20 is slidably fitted with 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 stablizing of grasping mechanism 7 motion Property.The two ends of x-axis Timing Belt 21 are all fixedly connected with walking installing rack 20 after bypassing the synchronous pulley at x-axis crossbeam 22 two ends, 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.
It is additionally provided with, on walking installing rack 20, the x-axis regulating bolt that the rate of tension to x-axis Timing Belt 21 is adjusted.X-axis is adjusted Section bolt one end is connected with one end of x-axis Timing Belt 21, and x-axis regulating 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, and the top of x-axis crossbeam 22 is additionally provided with to same 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 move up and down, thus adjusting 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, same for offsetting x-axis Walk the gravity with 21, thus avoiding x-axis Timing Belt 21 to depart from synchronous pulley under gravity.
Walking installing rack 20 is to be bolted by steel plate to form, and walking installing rack 20 is near the side of x-axis crossbeam 22 For the rectangular box body of both ends open, installing rack 20 of walking 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.The steel plate bottom of the steel plate top of walking installing rack 20 upside and downside is equipped with reinforcement, and plus Strong muscle is the taper being become narrow gradually by side to the opposite side near z-axis walking mechanism 4, thus ensureing the strong of installing rack 20 of walking Degree, it is to avoid unilateral load causes to damage to walking installing rack 20.
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 Put 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, so as to The enough unilateral load that walking installing rack 20 is subject to is offset it is ensured that the stability of installing rack 20 of being walked 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 " shape slide rail, and slide block is provided with The dovetail groove matching with slide rail or " t " shape chute.
Encoder is coaxially installed with the synchronous pulley of the one end away from x-axis motor 19, encoder can be by x-axis motor 19 speed feedback signal is to converter, thus passing 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 is additionally it is possible to detect the angle that x-axis motor 19 turns over, thus the distance that detection is walked along the x-axis direction.
It is provided with the two ends of x-axis crossbeam 22 and spacing limited block is carried out to walking installing rack 20.
As shown in Figure 7: the elevating mechanism that z-axis walking mechanism includes z-axis column 23 and drives 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 Axle guiding mechanism can guide to the lifting of z-axis column 23, thus ensureing the stability of z-axis column 23 lifting.W axle rotates Mechanism 6 is fixedly connected with the lower end of z-axis column 23.It is additionally provided with gravitational equilibrium mechanism, gravitational equilibrium mechanism on walking installing rack 20 For the gravity balancing z-axis column 23 and be arranged on the mechanism on z-axis column 23, thus ensureing the steady of z-axis column 23 lifting 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 Shelve on 20, the axis of balance cylinder 27 is arranged with the diameter parallel of z-axis column 23.The lower end of z-axis chain 28 and z-axis column 23 Middle part be fixedly connected, top is fixedly connected with the piston rod of balance cylinder 27, thus putting down to 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 is connected with pressure regulator valve, so that the air pressure in balance cylinder 27 maintains balance, the weight of z-axis column 23 is carried out Balance, and it can be avoided that during power-off z-axis column 23 drop, using safety.
The top of balance cylinder 27 is provided with gravitational equilibrium strainer.Gravitational equilibrium strainer includes z-axis Timing Belt Tensioning wheel 25, z-axis synchronization belt tensioner pulley 25 is rotatably installed on the piston rod of balance cylinder 27, and the piston with 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 bypassing z-axis synchronization belt tensioner pulley 25 to be connected Connect.The lower section of z-axis synchronization belt tensioner pulley 25 is provided with the bolt adjusting z-axis synchronization belt tensioner pulley 25 height, and bolt is synchronous by z-axis The axle of belt tensioner pulley 25 upwardly z-axis synchronization belt tensioner pulley 25, and by z-axis chain 28 tensioning.
It is provided with the stable steering mechanism for guiding 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 fixedly connected with the upper end of the piston rod of balance cylinder 27, and with balance The piston rod synchronization lifting of cylinder 27, and the diameter parallel of the axis of guide 24 and 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.Fairlead 26 guides to the motion of the axis of guide 24, thus protecting The piston rod vertical lifting of card balance cylinder 27, it is to avoid due to z-axis column 23 run-off the straight in 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 Protected.
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 relative both sides of z-axis column 23, 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, the load that can well z-axis column 23 be brought is allocated, thus ensureing that z-axis column 23 operates steadily.
Z-axis guiding mechanism include the slide rail being arranged on z-axis column 23 and walking installing rack 20 on slide block, slide block and Slide rail matches, thus the movement to z-axis column 23 guides.
The upper and lower ends of z-axis column 23 are equipped with limited block, thus carry out spacing to the lifting of z-axis column 23.
As shown in Fig. 8 ~ 9: z-axis power unit is z-axis motor 29, z-axis motor 29 drives z-axis column by z-axis sprocket wheel 30 23 liftings.Z-axis motor 29 is fixed on walking installing rack 20, and z-axis sprocket wheel 30 is connected with the output shaft of z-axis motor 29, z-axis sprocket wheel 30 are matched with z-axis chain, thus realizing 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 upper and lower ends opening 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 installing rack 20 of walking It is connected with z-axis sprocket wheel 30 through after ring flange and through hole, 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 the axis of z-axis sprocket wheel 30 less than 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 so that z-axis sprocket wheel 30 is 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 turning over, thus detect the speed of z-axis column 23 lifting Degree and distance.
As shown in Figure 10: the rotating unit that w axle rotating mechanism 6 includes w axle column 39, is rotatably installed on w axle column 39 And w axle power unit, w axle power unit is fixedly connected with w axle column 39, 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 carrying out for the angle that rotating unit is turned over Measurement and spacing detector unit.The power that this w axle rotating mechanism 6 is capable of output form is the rotation around w axle column 39, increases The forms of motion that grasping mechanism 7 rotates around z-axis, increased the motility of grasping mechanism 7, ceramic tile is being transported through or piling When the ceramic tile of crawl can be driven to rotate, thus changing the attitude of ceramic tile, piling, subject range can be carried out as needed 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 it is fixedly connected with w axle column 39.Rotating unit is arranged on the lower section of rotating mounting rack 35.
The upper end of w axle column 39 is provided with the buffer gear entering row buffering in vertical direction.Due under w axle rotating mechanism 6 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 the ceramic tile capturing contacts W axle rotating mechanism 6 being caused damage, grasping mechanism 7 on the other hand being enable to sense ceramic tile to be captured, thus improve The stability of grasping mechanism 7 crawl.
Buffer gear includes cushion collar 37 and axial limiting mechanism, and cushion collar 37 is slidably located in the upper of w axle column 39 End, axial limiting mechanism fixed with cushion collar 37, thus carry out spacing to the axially-movable of w axle column 39.W axle rotating mechanism 6 Cushion collar 37 be fixedly connected with the lower end of z-axis column 23.
It is provided with circumferential position-limit mechanism, circumferential position-limit mechanism is prevented from w axle and stands between cushion collar 37 and rotating mounting rack 35 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.
Circumferential position-limit mechanism includes circumferential gag lever post and Limit Bearing, and the cross section of circumferential gag lever post is rectangle, week It is arranged on rotating mounting rack 35 to the lower end of gag lever post, and circumferential 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.Circumferential gag lever post rises with w axle column 39 is synchronous Fall, Limit Bearing carries out spacing, thus avoid w axle column 39 relatively rotating with cushion collar 37 to circumferential gag lever post.
The side of w axle column 39 is provided with detects photoswitch 33, buffering detection for the buffering detecting cushion collar 37 position 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 Vertical interval 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, that is, represent that grasping mechanism 7 touches article to be captured, and is arranged on w axle rotating mechanism 6 lower section Grasping mechanism 7 stops the motion of vertical direction.The buffering detection photoswitch 33 of lower section carries out spacing to the motion of w axle column 39 Protection, thus avoiding the distance that w axle column 39 moves larger, thus cause to equipment to damage.
Detector unit includes rotation detection photoswitch 34, and the grasping mechanism 7 being connected with rotating unit for detection is turned over Angle, and the rotation of grasping mechanism 7 is carried out spacing.Rotation detection photoswitch 34 has two, two rotation detection photoelectricity Switch 34 is arranged on rotating mounting rack 35, and a rotation detection photoswitch 34 is used for detecting the angle that grasping mechanism 7 turns over, Thus carrying out precise control to the rotational angle of grasping mechanism 7, another detection switch is used for the rotation of grasping mechanism 7 is carried out Spacing, thus avoiding the rotational angle of grasping mechanism 7 to exceed the rotational angle range setting.
As shown in figure 11: axial limiting mechanism includes stop collar 38 and postive stop baffle 36.Postive stop baffle 36 is circular Plate, postive stop baffle 36 is set in outside the w axle column 39 of cushion collar 37 top, and postive stop baffle 36 is fixedly connected with cushion collar 37. The internal diameter of cushion collar 37 bottom is less than the internal diameter on top, thus forming limiting stand.The external diameter of the bottom of stop collar 38 is less than top External diameter, stop collar 38 is set on the w axle column 39 in cushion collar 37, and stop collar 38 is fixedly connected with w axle column 39 and 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 is matched with postive stop baffle 36, and stop collar 38 is carried out The fixing of axial direction, thus carry out axial spacing to w axle column 39.
Fixing nut, the limiting stand of fixing nut and cushion collar 37 are provided with the 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.It is arranged with carrying set 40, the diameter carrying set 40 tops is little on the w axle column 39 of rotating mounting rack 35 lower section In the diameter of bottom, the top carrying set 40 puts in installation in the hole, and the lower support of rotating mounting rack 35 is carrying the outer of 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 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 carrying set 40 tops is less than the internal diameter of installing hole bottom, and carries set It is provided with rolling bearing between 40 and installing hole, make carrying cover 40 and 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 40 is fixedly connected with carrying set.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 bevel gear that the output shaft of w spindle motor 31 passes through to be meshed drives actively Sprocket wheel rotates.Encoder, encoder and drive sprocket synchronous axial system are installed above drive sprocket, encoder detects drive chain The rate signal of wheel, and rate signal is fed back to converter, it is capable of the output speed of w spindle motor 31 is adjusted, Thus completing the regulation to output chain gear rotating speed, encoder can also detect the angle that drive sprocket turns over.
As shown in Figure 12 ~ 13: grasping mechanism 7 includes pallet grasping mechanism and ceramic tile grasping mechanism.Pallet grasping mechanism It is installed in grasping mechanism main body 45 with ceramic tile grasping mechanism, grasping mechanism main body 45 is cuboid housing.W axle rotating mechanism 6 output chain gear is fixedly connected with the middle part of grasping mechanism main body 45, and drives grasping mechanism 7 synchronous axial system.
Pallet grasping mechanism includes pallet and captures finger 47 and promote pallet to capture the finger that finger 47 is stretched out and clamped Power unit.Pallet crawl finger 47 is v shape, 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 being stopped to the pallet capturing, it is to avoid pallet landing during crawl, thus causing danger.Pallet Crawl finger 47 has four, is separately positioned on four angles of grasping mechanism main body 45.Pallet crawl finger 47 is arranged on finger On installing plate 43, finger mounted plate 43 is fixedly connected with finger power unit.
Grasping mechanism main body 45 is provided with pallet clamping guide plate 42, and pallet clamping guide plate 42 captures finger 47 with pallet Correspond, pallet clamping guide plate 42 is fixed on the side of grasping mechanism main body 45.Pallet clamps the freedom of guide plate 42 Hold as gradually indent arc from the bottom to top.Pallet crawl finger 47 is hinged on finger mounted plate 43, and pallet crawl finger 47 It is provided with torsion spring and finger mounted plate 43 between, so that pallet crawl finger 47 is in when departing from pallet clamping guide plate 42 opening Open state.Pallet crawl finger 47 on be 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 crawl finger 47 two lateral movement to the left and right respectively, so that Pallet crawl finger 47 departs from pallet clamping guide plate 42, and pallet captures finger 47 and captures finger 47 gravity in torsion spring and pallet It is in open configuration under effect;Finger power unit drives pallet crawl finger 47 by two lateral intermediary movementses, so that finger is guided Bearing 46 enters the free end that pallet clamps guide plate 42, and pallet clamping guide plate 42 captures finger 47 to pallet and guides, Thus completing the crawl clamping to pallet.
The clamping plate power unit that ceramic tile grasping mechanism includes ceramic tile clamping plate 48 and promotes ceramic tile clamping plate 48 axial movement.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 promote clamping plate installing plate 49 to move horizontally, thus realizing the clamping of ceramic tile and unclamping.Ceramic tile clamping plate 48 is contacted with ceramic tile Side be provided with rubber, be on the one hand used for increasing and the friction of ceramic tile, on the other hand can produce cushioning effect, it is to avoid with ceramic tile Collide, thus damaging 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 crawl ceramic tile, ceramic tile clamping plate 48 may be mounted at clamping plate installing plate 49 near grasping mechanism master The one end at body 45 middle part, when along width or length direction crawl ceramic tile, it is close that ceramic tile clamping plate 48 is arranged on clamping plate installing plate 49 The one end in grasping mechanism main body 45 outside.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, and clamping plate installing plate 49 is corresponded with ceramic tile clamping plate 48.
It is provided with ceramic tile crawl position-limiting unit above grasping mechanism main body 45.Ceramic tile crawl position-limiting unit is that clamping plate is spacing Photoswitch 44, every a pair of clamping plate limiting photoelectric switch 44 has two, and two clamping plate limiting photoelectric switch 44 are respectively used to detect 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, right respectively The clamping plate power unit that ceramic tile clamping plate 48 moves is driven to carry out spacing.
This grasping mechanism 7 can either complete the crawl to pallet, be capable of the crawl to ceramic tile, automaticity again Height, and the high precision that pallet is placed, will not make ceramic tile tilt in piling, easy to use.
As shown in figure 14: between finger power unit and finger mounted plate 43, to be provided with pallet drive mechanism.Finger power list Unit captures cylinder 51 for pallet, and pallet crawl cylinder 51 has 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 pallet crawl gear 55 and pallet crawl tooth bar 56.Pallet crawl gear 55 rotates peace It is contained in grasping mechanism main body 45, and pallet captures the axis vertical setting of gear 55.Pallet crawl tooth bar 56 has two, symmetrically It is arranged on the both sides that pallet captures gear 55, and grasping mechanism main body 45 and handss are stretched out in one end of two pallet crawl tooth bars 56 Refer to installing plate 43 to be fixedly connected.Pallet crawl cylinder 51 captures tooth bar 56 with a pallet and is fixedly connected, and promotes this pallet to grab Take tooth bar 56 to move axially, this pallet crawl tooth bar 56 by pallet capture gear 55 drive another pallet crawl tooth bar 56 to Contrary direction motion, thus both sides pallet captures the synchronous on-off of finger 47.
The outside that pallet captures tooth bar 56 is provided with the bearing being pressed on pallet crawl finger 56 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 the both sides that pallet captures 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 fixedly connected, and is synchronized with the movement.Clamping plate limiting photoelectric switch 44 is passed through to detect clamping plate folding The position of the piston rod of cylinder 50, ceramic tile clamping plate 48 is carried out spacing.
It is provided with clamping plate drive mechanism between clamping plate power unit and clamping plate installing plate 49.Clamping plate drive mechanism includes clamping plate and opens 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 is opened Close the axis vertical setting of gear 52.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 fixedly connected with the clamping plate installing plate 49 of a pair of ceramic tile clamping plate 48 with installing respectively.Two clamping plate folding gas The piston rod of cylinder 50 is connected with a clamping plate folding tooth bar 53, and drives 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 promote clamping plate folding tooth bar 53 compress clamping plate folding gear 52 bearing.
The lower section that pallet captures gear 55 is provided with ceramic tile induction apparatuss 54, and ceramic tile induction apparatuss 54 are used for detecting that ceramic tile clamping plate 48 is Whether no crawl ceramic tile and detection pallet crawl finger 47 have captured pallet.
The work process of this mechanical hand is as follows: walking mechanism drives grasping mechanism 7 crawl pallet first, and pallet is placed In specified location.Then walking mechanism drives grasping mechanism 7 to pick up ceramic tile again, and ceramic tile is placed sequentially on pallet, thus Piling is carried out to ceramic tile.This mechanical hand is compared and be increased degree of freedom with traditional mechanical hand, enables the grasping mechanism of this mechanical hand Enough rotate 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.
Because 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, when grasping mechanism 7 is near ceramic tile, the walking of grasping mechanism 7 or velocity of rotation are slower, in ceramic tile transport process, The speed of grasping mechanism 7, drastically increases work efficiency, and will not collide with ceramic tile thus damaging 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 also relatively slow, has both coordinated production line, turn avoid grasping mechanism 7 run too fast and Cause the phenomenon of energy dissipation.
Originally can arbitrarily 3d curve work mechanical hand action technique, comprise the steps:
Three-dimensional coordinate system is set first, and the coordinate of the position of pallet, ceramic tile and piling is set.If ceramic tile is entered Row is changed trains or buses, and drives grasping mechanism 7 to walk by walking mechanism, and the coordinate of automatic identification vehicle position and vehicle is big Little.
Walking mechanism drives pallet grasping mechanism to capture the pallet in pallet storehouse 8, and is placed in the ceramic tile storehouse 5 of side.
Walking mechanism drives ceramic tile grasping mechanism crawl ceramic tile, and is placed on pallet according to this, thus completing to ceramic tile Piling.And when piling highly reaches setting value, walking mechanism drives pallet grasping mechanism and ceramic tile grasping mechanism another Ceramic tile piling is placed in the ceramic tile storehouse 5 of side.
Walking mechanism and w axle rotating mechanism 6 can automatically adjust translational speed in the course of the work, and can be according to grabbing Take needs Automatic Optimal speed and mobile route, reduces speed, improves speed in transport process, improve when near ceramic tile Piling efficiency.And when this mechanical hand is coordinated with ceramic tile production line, walking mechanism and w axle rotating mechanism can be according to ceramic tiles The speed that production line produces ceramic tile carrys out automatic governing speed, thus preferably coordinating the work of ceramic tile production line, and in ceramic tile Ceramic tile on production line makes grasping mechanism 7 slowly move when less, thus avoiding grasping mechanism to be in high-speed moving state all the time And waste energy.
The above, be only presently preferred embodiments of the present invention, is not the restriction that the present invention is made with other forms, appoints What those skilled in the art possibly also with the disclosure above technology contents changed or be modified as equivalent variations etc. Effect embodiment.But every without departing from technical solution of the present invention content, according to the present invention technical spirit to above example institute Any simple modification, equivalent variations and the remodeling made, still falls within the protection domain of technical solution of the present invention.

Claims (10)

1. a kind of can arbitrarily 3d curve work mechanical hand it is characterised in that: include frame (1), walking mechanism, w axle whirler Structure (6) and grasping mechanism (7), walking mechanism is arranged in frame (1), and can move along x-axis, y-axis and z-axis respectively, w axle Rotating mechanism (6) is arranged in walking mechanism, and grasping mechanism (7) is arranged on w axle rotating mechanism (6);Grasping mechanism (7) includes Grasping mechanism main body (45) and be arranged on the pallet grasping mechanism in grasping mechanism main body (45) and ceramic tile grasping mechanism.
2. according to claim 1 can arbitrarily 3d curve work mechanical hand it is characterised in that: described frame (1) Bottom is provided with pallet storehouse (8) and ceramic tile storehouse (5).
3. according to claim 1 can arbitrarily 3d curve work mechanical hand it is characterised in that: described walking mechanism bag Include y-axis walking mechanism (2), x-axis walking mechanism (3) and z-axis walking mechanism (4), y-axis walking mechanism (2) is arranged on described machine On 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 walking mechanism (3), on, described w axle rotating mechanism (6) is arranged in z-axis walking mechanism (4).
4. according to claim 3 can arbitrarily 3d curve work mechanical hand it is characterised in that: described y-axis vehicle with walking machine Structure (2) includes hitch and y-axis actuating unit, and hitch has two, is symmetricly set on described x-axis walking mechanism (3) Two ends, y-axis actuating unit is arranged on hitch and drives hitch to move linearly.
5. according to claim 1 can arbitrarily 3d curve work mechanical hand it is characterised in that: described ceramic tile gripper Structure includes ceramic tile clamping plate (48) and clamping plate power unit, is provided with clamping plate transmission between clamping plate power unit and ceramic tile clamping plate (48) Mechanism.
6. according to claim 5 can arbitrarily 3d curve work mechanical hand it is characterised in that: described ceramic tile clamping plate (48) side being used for gripping ceramic tile is provided with rubber, and the lower end of ceramic tile clamping plate (48) is to the lopsidedness near ceramic tile.
7. according to claim 1 can arbitrarily 3d curve work mechanical hand it is characterised in that: described grasping mechanism master Body (45) is provided with and ceramic tile grasping mechanism is carried out with spacing ceramic tile crawl position-limiting unit.
8. according to claim 1 can arbitrarily 3d curve work mechanical hand it is characterised in that: described pallet gripper Structure includes pallet crawl finger (47) and finger power unit, is provided between pallet crawl finger (47) and finger power unit Pallet drive mechanism.
9. according to claim 8 can arbitrarily 3d curve work mechanical hand it is characterised in that: grasping mechanism main body (45) Side be provided with pallet clamping guide plate (42), pallet clamp guide plate (42) free end be gradually indent from the bottom to top arc Shape, one end that described pallet captures finger (47) is hinged on finger power unit, and pin joint clamps guide plate with pallet (42) pallet crawl finger (47) between is provided with finger guide bearing (46), and finger power unit promotes pallet crawl finger (47) move horizontally, finger guide bearing (46) and pallet clamp the free end cooperation of guide plate (42), realize pallet crawl handss Refer to the clamping of (47) or stretch out.
10. described in a kind of any one of claim 1 ~ 9 can any mechanical hand of 3d curve work action technique, its feature exists In: comprise the steps:
Pallet grasping mechanism captures pallet, and walking mechanism drives grasping mechanism main body (45) mobile and places pallet;
Walking mechanism drives grasping mechanism main body (45) mobile, makes ceramic tile grasping mechanism capture ceramic tile, and by the ceramic tile of crawl according to Secondary be placed on pallet, piling is carried out to ceramic tile;
Pallet grasping mechanism and ceramic tile grasping mechanism are walked according to three-dimensional coordinate, are positioned, walking mechanism and w axle whirler Structure (6) automatically adjusts speed and optimizes mobile route.
CN201611016056.1A 2016-11-18 2016-11-18 Mechanical hand capable of working on any 3D curve and action process for mechanical hand Pending CN106364910A (en)

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CN106624318A (en) * 2017-02-17 2017-05-10 东莞市建远机电有限公司 Automatic rib-penetrating device
CN108639747A (en) * 2018-03-29 2018-10-12 山东临工工程机械有限公司 Hub carrier automatic conveying device
CN106862440B (en) * 2017-02-17 2018-10-23 东莞市建远机电有限公司 Automatically muscle method is worn
CN109178856A (en) * 2018-07-26 2019-01-11 会稽山绍兴酒股份有限公司 A kind of object adjusting mechanism
CN110228678A (en) * 2019-07-26 2019-09-13 南京斯杩克机器人技术有限公司 A kind of Active Compensation formula vision is to positive Stacking Robots and its to positive compensation method

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