CN106426151A - Z-axial walking mechanism and gravitational balance mechanism with manipulator - Google Patents
Z-axial walking mechanism and gravitational balance mechanism with manipulator Download PDFInfo
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- CN106426151A CN106426151A CN201611016043.4A CN201611016043A CN106426151A CN 106426151 A CN106426151 A CN 106426151A CN 201611016043 A CN201611016043 A CN 201611016043A CN 106426151 A CN106426151 A CN 106426151A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 306
- 230000001360 synchronised effect Effects 0.000 claims description 36
- 230000003028 elevating effect Effects 0.000 claims description 17
- 239000000919 ceramic Substances 0.000 abstract description 80
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 31
- 239000011248 coating agent Substances 0.000 description 22
- 238000000576 coating method Methods 0.000 description 22
- 239000003292 glue Substances 0.000 description 22
- 238000001514 detection method Methods 0.000 description 17
- 229910000831 Steel Inorganic materials 0.000 description 8
- 230000003139 buffering effect Effects 0.000 description 8
- 230000005484 gravity Effects 0.000 description 8
- 239000010959 steel Substances 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000001965 increasing effect Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 230000033228 biological regulation Effects 0.000 description 4
- 239000011449 brick Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 229910052573 porcelain Inorganic materials 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000004899 motility Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
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- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
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- 238000005303 weighing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
Abstract
Provided is a Z-axial walking mechanism and gravitational balance mechanism with manipulator, and belongs to the technical field of automatic equipment. The mechanism is characterized by comprising a Z-axial vertical column (23), a lifting mechanism driving the Z-axial vertical column (23) to ascend and descend, and a gravitational balance mechanism. The gravitational balance mechanism is used to balance the weight of the Z-axial vertical column (23). The lifting mechanism comprises a Z-axial chain and a Z-axial power unit. Both sides of the Z-axial chain are connected fixedly with both sides of the Z-axial vertical column. The Z-axial power unit is connected with Z-axial chain through a Z-axial sprocket wheel (30). The mechanism can balance the gravitation of a Z-axial vertical column to stabilize a lifting process of the Z-axial vertical column driven by a lifting mechanism. The mechanism can balance the gravitation of grabbed ceramic tiles. A grabbing mechanism can move by following any random 3D curve. The mechanism has the advantage of convenient use and strong flexibility.
Description
Technical field
A kind of z-axis walking mechanism and the mechanical hand with gravitational equilibrium mechanism, 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 industry 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：Overcome the deficiencies in the prior art, provide a kind of can be to the weight of z-axis column
Amount is balanced the mechanical hand lifting stable z-axis walking mechanism and carrying gravitational equilibrium mechanism so that z-axis column.
The technical solution adopted for the present invention to solve the technical problems is：This z-axis walking mechanism it is characterised in that：Including z
Axle column, the elevating mechanism driving z-axis column up-down and gravitational equilibrium mechanism, gravitational equilibrium mechanism is used for z-axis column
Weight is balanced；
Elevating mechanism includes z-axis chain and z-axis power unit, and the two ends of z-axis chain are solid with the two ends of described z-axis column respectively
Fixed connection, z-axis power unit is connected with z-axis chain by z-axis sprocket wheel；It is provided with to z-axis column between z-axis column and elevating mechanism
The z-axis guiding mechanism being guided.
Preferably, described gravitational equilibrium mechanism includes balance cylinder and z-axis Timing Belt, balance cylinder and described lifting
Mechanism keeps geo-stationary, and the lower end of z-axis Timing Belt is fixedly connected with described z-axis column, the piston rod of top and balance cylinder
It is fixedly connected；Balance cylinder is connected with pressure regulator valve.
Preferably, it is provided with stable steering mechanism between described gravitational equilibrium mechanism and z-axis column.
Preferably, described stable steering mechanism includes the axis of guide and fairlead, and the axis of guide is arranged on described gravitational equilibrium
In mechanism, and the diameter parallel of the axis of the axis of guide and described z-axis column, fairlead is slidably located on the axis of guide, and with z-axis
Column synchronization lifting.
Preferably, described gravitational equilibrium mechanism is provided with gravitational equilibrium strainer.
Preferably, described gravitational equilibrium strainer includes z-axis synchronization belt tensioner pulley, and z-axis synchronization belt tensioner pulley rotates
Be arranged on described gravitational equilibrium mechanism, and with z-axis column synchronization lifting.
Preferably, described z-axis sprocket wheel has vertically arranged three, the z-axis sprocket wheel at middle part and the z-axis sprocket wheel of upper and lower both sides
It is separately positioned on the both sides of described z-axis chain, and all engages with z-axis chain, and make z-axis chain engaging piece be in wave wire, institute
State z-axis power unit to be connected with the z-axis sprocket wheel at middle part.
Preferably, described z-axis guiding mechanism has three, and the side of z-axis column installation z-axis chain is provided with a z-axis and leads
To mechanism, the side relative with installing z-axis chain is provided with two z-axis guiding mechanisms.
A kind of mechanical hand with gravitational equilibrium mechanism it is characterised in that：Including frame, y-axis walking mechanism, x-axis walking
Mechanism, w axle rotating mechanism, grasping mechanism and above-mentioned z-axis walking mechanism, y-axis walking mechanism is arranged in frame, x-axis row
Walk mechanism to be arranged in y-axis walking mechanism, the elevating mechanism of z-axis walking mechanism is arranged in x-axis walking mechanism, z-axis column
Lower end is fixedly connected with w axle rotating mechanism, and grasping mechanism is arranged on w axle rotating mechanism.
Compared with prior art, the z-axis walking mechanism of the present invention and the mechanical hand with gravitational equilibrium mechanism have
Beneficial effect is：
1st, the gravitational equilibrium mechanism of this z-axis walking mechanism is used for the weight of z-axis column being balanced, so that elevating mechanism exists
Drive more steady during z-axis column up-down, z-axis guiding mechanism can guide to the lifting of z-axis column, so that z-axis is stood
Post straight line lifting it is ensured that z-axis column vertical direction movement precision.
2nd, by balance cylinder, the weight of z-axis column is balanced, structure is simple, and easy to operate, and cylinder
It is active in one's movements, make being active in one's movements of this z-axis walking mechanism, improve work efficiency.
3rd, stable steering mechanism guides to the motion of gravitational equilibrium mechanism and z-axis column, thus avoiding z-axis column to send out
Raw inclination causes to gravitational equilibrium mechanism to damage, and improves the service life of gravitational equilibrium mechanism.
4th, stable steering mechanism is realized it is ensured that z-axis column and gravitational equilibrium by the cooperation of the axis of guide and fairlead
The axis of mechanism remains parallel, and structure is simple.
5th, gravitational equilibrium strainer can be adjusted to the Zhang Jindu of gravitational equilibrium mechanism, thus ensureing gravitational equilibrium
Mechanism can be balanced to the gravity of z-axis column just, and then ensures that elevating mechanism can more smoothly drive z-axis column
Lifting.
6th, the top of gravitational equilibrium mechanism is rotatablely equipped with z-axis synchronization belt tensioner pulley, thus opening to gravitational equilibrium mechanism
Tightness is adjusted, and to ensure the counterbalance effect of gravitational equilibrium mechanism, the position of z-axis synchronization belt tensioner pulley is adjustable, thus convenient
Adjust the Zhang Jindu of gravitational equilibrium mechanism in use.
7th, three z-axis sprocket wheels make the engaging piece of z-axis chain is in wave wire, thus increase z-axis chain and z-axis sprocket wheel it
Between cornerite, and then increase the length of the engaging piece of z-axis chain and z-axis sprocket wheel, increase z-axis sprocket wheel and the engagement of z-axis chain
The bearing capacity in portion, enables z-axis chain and z-axis sprocket wheel to bear big power.
8th, three z-axis guiding mechanisms can guide simultaneously in the motion to z-axis column, simultaneously again can be to z-axis column
Load is reasonably distributed, thus ensure that operating steadily of z-axis column.
9th, the z-axis walking mechanism that this carries the mechanical hand of gravitational equilibrium mechanism can be grabbed to z-axis column and grasping mechanism
The gravity of the ceramic tile taking is balanced, thus avoiding the difference of ceramic tile weight of grasping mechanism crawl and affecting z-axis vehicle with walking machine
The rising or falling speed of structure, improves the stability of robot work, and high working efficiency, the requirement to the weight of the ceramic tile of crawl
Less, range is wide；W axle rotating mechanism can drive grasping mechanism to rotate, and enables grasping mechanism bent according to arbitrary 3D
Line action, easy to use, motility is strong.
Brief description
Fig. 1 is the schematic front view of z-axis walking mechanism.
Fig. 2 is the schematic perspective view of z-axis actuating unit.
Fig. 3 is the partial enlarged drawing at A in Fig. 2.
Fig. 4 is the schematic perspective view of the mechanical hand with gravitational equilibrium mechanism.
Fig. 5 is the schematic front view of walking mechanism.
Fig. 6 is the schematic front view of y-axis walking mechanism.
Fig. 7 is the schematic top plan view of y-axis walking mechanism.
Fig. 8 is the schematic front view of synchronizing shaft.
Fig. 9 is the schematic front view of x-axis walking mechanism.
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：1st, 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 z-axis walking mechanism, the elevating mechanism including z-axis column 23, driving z-axis column 23 lifting and gravitational equilibrium
Mechanism, gravitational equilibrium mechanism is used for the weight of z-axis column 23 is balanced；Elevating mechanism includes z-axis chain and z-axis power
Unit, the two ends of z-axis chain are fixedly connected with the two ends of described z-axis column 23 respectively, and z-axis power unit passes through z-axis sprocket wheel 30
It is connected with z-axis chain；It is provided with the z-axis guiding mechanism that z-axis column 23 is guided between z-axis column 23 and elevating mechanism.This z
The gravitational equilibrium mechanism of axle walking mechanism 4 can be balanced to the weight of z-axis column 23, so that elevating mechanism is driving z
More steady during axle column 23 lifting, z-axis guiding mechanism can guide to the lifting of z-axis column 23, so that z-axis column
23 straight lines lifting it is ensured that z-axis column 23 vertical direction movement precision.
Specifically：As shown in Figure 1：Z-axis column 23 is slidably mounted on walking installing rack 20, and z-axis column 23 and walking
It is provided with z-axis guiding mechanism, z-axis guiding mechanism can guide to the lifting of z-axis column 23, thus ensureing between installing rack 20
The stability of z-axis column 23 lifting.Walking installing rack 20 is additionally provided with gravitational equilibrium mechanism, and gravitational equilibrium mechanism is used for balancing z-axis
Column 23 and the gravity being arranged on the mechanism on z-axis column 23, thus ensure stablizing of z-axis column 23 lifting.
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. 2 ~ 3：Z-axis power unit is z-axis motor 29, and 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 23, thus improve the joggled strength between z-axis sprocket wheel 30 and z-axis chain, from
And 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 coaxially pacified
Equipped with encoder, the rotating speed that z-axis motor 29 can be detected and the angle turning over, thus detecting the rising or falling speed of z-axis column 23
And the distance of lifting.
As shown in Figure 4：Frame 1, the vehicle with walking machine being arranged in frame 1 should be included by mechanical hand with gravitational equilibrium mechanism
Structure, w axle rotating mechanism 6 and grasping mechanism 7.Walking mechanism is arranged in frame 1, and w axle rotating mechanism 6 is arranged on walking mechanism
On, grasping mechanism 7 is arranged on w axle rotating mechanism 6.The bottom of frame 1 fixes on the ground, so that the work of this mechanical hand
More stable, 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 5：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 6：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 7：Horizontally-guided mechanism has two, 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 8：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 9：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 provided with for trapezoidal or "T"-shaped slide rail, slide block
The dovetail groove matching with slide rail or "T"-shaped 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 10：W axle rotating mechanism 6 includes w axle column 39, the rotating unit being rotatably installed on w axle column 39
And w axle power unit, w axle power unit is 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-arrangement, 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：It is provided with pallet drive mechanism between finger power unit and finger mounted plate 43.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.
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 (9)
1. a kind of z-axis walking mechanism it is characterised in that：Including z-axis column（23）, drive z-axis column（23）The elevator of lifting
Structure and gravitational equilibrium mechanism, gravitational equilibrium mechanism is used for z-axis column（23）Weight be balanced；
Elevating mechanism includes z-axis chain and z-axis power unit, the two ends of z-axis chain respectively with described z-axis column（23）Two
End is fixedly connected, and z-axis power unit passes through z-axis sprocket wheel（30）It is connected with z-axis chain；Z-axis column（23）And elevating mechanism between
It is provided with to z-axis column（23）The z-axis guiding mechanism being guided.
2. z-axis walking mechanism according to claim 1 it is characterised in that：Described gravitational equilibrium mechanism includes Balance Air
Cylinder（27）And z-axis Timing Belt（28）, balance cylinder（27）Keep geo-stationary, z-axis Timing Belt with described elevating mechanism（28）
Lower end and described z-axis column（23）It is fixedly connected, top and balance cylinder（27）Piston rod be fixedly connected；Balance cylinder
（27）It is connected with pressure regulator valve.
3. z-axis walking mechanism according to claim 1 and 2 it is characterised in that：Described gravitational equilibrium mechanism is stood with z-axis
Post（23）Between be provided with stable steering mechanism.
4. z-axis walking mechanism according to claim 3 it is characterised in that：Described stable steering mechanism includes the axis of guide
（24）And fairlead（26）, the axis of guide（24）It is arranged on described gravitational equilibrium mechanism, and the axis of guide（24）Axis and described z
Axle column（23）Diameter parallel, fairlead（26）Be slidably located in the axis of guide（24）On, and with z-axis column（23）Synchronous liter
Fall.
5. z-axis walking mechanism according to claim 1 and 2 it is characterised in that：Described gravitational equilibrium mechanism is provided with weight
Dynamic balance strainer.
6. z-axis walking mechanism according to claim 5 it is characterised in that：Described gravitational equilibrium strainer includes z-axis
Synchronous belt tensioner pulley（25）, z-axis synchronization belt tensioner pulley（25）Be rotatably installed on described gravitational equilibrium mechanism, and with z-axis column
（23）Synchronization lifting.
7. z-axis walking mechanism according to claim 1 it is characterised in that：Described z-axis sprocket wheel（30）Have vertically arranged
Three, the z-axis sprocket wheel at middle part（30）Z-axis sprocket wheel with upper and lower both sides（30）It is separately positioned on the both sides of described z-axis chain, and all
Engage with z-axis chain, and make z-axis chain engaging piece be in wave wire, the z-axis sprocket wheel at described z-axis power unit and middle part（30）
It is connected.
8. z-axis walking mechanism according to claim 1 it is characterised in that：Described z-axis guiding mechanism has three, and z-axis is stood
Post（23）The side installing z-axis chain is provided with a z-axis guiding mechanism, and the side relative with installing z-axis chain is provided with two z
Axle guiding mechanism.
9. a kind of mechanical hand with gravitational equilibrium mechanism it is characterised in that：Including frame（1）, y-axis walking mechanism（2）, x-axis
Walking mechanism（3）, w axle rotating mechanism（6）, grasping mechanism（7）And the z-axis walking mechanism described in any one of claim 1 ~ 8
（4）, y-axis walking mechanism（2）It is arranged on frame（1）On, x-axis walking mechanism（3）It is arranged on y-axis walking mechanism（2）On, z-axis row
Walk mechanism（4）Elevating mechanism be arranged on x-axis walking mechanism（3）On, z-axis column（23）Lower end and w axle rotating mechanism（6）Gu
Fixed connection, grasping mechanism（7）It is arranged on w axle rotating mechanism（6）On.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611016043.4A CN106426151B (en) | 2016-11-18 | 2016-11-18 | Z-axis walking mechanism and manipulator with gravity balance mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611016043.4A CN106426151B (en) | 2016-11-18 | 2016-11-18 | Z-axis walking mechanism and manipulator with gravity balance mechanism |
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| Publication Number | Publication Date |
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| CN106426151A true CN106426151A (en) | 2017-02-22 |
| CN106426151B CN106426151B (en) | 2023-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107491094A (en) * | 2017-07-04 | 2017-12-19 | 苏州博众精工科技有限公司 | A kind of method of real-time accurate balance Z axis weight |
| CN108217193A (en) * | 2018-01-26 | 2018-06-29 | 绵阳汇久机器人有限公司 | A kind of handling system with anti-skidding elevation and subsidence mechanical hand |
| CN112728045A (en) * | 2020-12-28 | 2021-04-30 | 浙江中烟工业有限责任公司 | Gravity self-balancing exhaust device for mechanical arm gear box |
| CN113772440A (en) * | 2021-09-28 | 2021-12-10 | 大连华锐重工集团股份有限公司 | Walking positioning detection device of rail-mounted mobile equipment |
| CN113954056A (en) * | 2021-11-22 | 2022-01-21 | 山东精瑞自动化设备有限公司 | Pneumatic balance manipulator applied to narrow space and method for transferring glass fibers by using same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107491094A (en) * | 2017-07-04 | 2017-12-19 | 苏州博众精工科技有限公司 | A kind of method of real-time accurate balance Z axis weight |
| CN107491094B (en) * | 2017-07-04 | 2020-11-24 | 博众精工科技股份有限公司 | Method for precisely balancing Z-axis weight in real time |
| CN108217193A (en) * | 2018-01-26 | 2018-06-29 | 绵阳汇久机器人有限公司 | A kind of handling system with anti-skidding elevation and subsidence mechanical hand |
| CN112728045A (en) * | 2020-12-28 | 2021-04-30 | 浙江中烟工业有限责任公司 | Gravity self-balancing exhaust device for mechanical arm gear box |
| CN113772440A (en) * | 2021-09-28 | 2021-12-10 | 大连华锐重工集团股份有限公司 | Walking positioning detection device of rail-mounted mobile equipment |
| CN113954056A (en) * | 2021-11-22 | 2022-01-21 | 山东精瑞自动化设备有限公司 | Pneumatic balance manipulator applied to narrow space and method for transferring glass fibers by using same |
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