CN106426151B

CN106426151B - Z-axis walking mechanism and manipulator with gravity balance mechanism

Info

Publication number: CN106426151B
Application number: CN201611016043.4A
Authority: CN
Inventors: 周继刚; 李贝; 崔永彬; 孙佩; 李�杰; 邱成辉; 李月; 陈建军
Original assignee: Individual
Current assignee: Cai Qunlong
Priority date: 2016-11-18
Filing date: 2016-11-18
Publication date: 2023-10-24
Anticipated expiration: 2036-11-18
Also published as: CN106426151A

Abstract

A z-axis traveling mechanism and a manipulator with a gravity balance mechanism belong to the technical field of automation equipment. The method is characterized in that: the lifting mechanism comprises a z-axis upright post (23), a lifting mechanism for driving the z-axis upright post (23) to lift and a gravity balancing mechanism, wherein the gravity balancing mechanism is used for balancing the weight of the z-axis upright post (23); the lifting mechanism comprises a z-axis chain and a z-axis power unit, two ends of the z-axis chain are fixedly connected with two ends of the z-axis upright post (23) respectively, and the z-axis power unit is connected with the z-axis chain through a z-axis chain wheel (30). The gravity balance mechanism of the z-axis travelling mechanism can balance the gravity of the z-axis upright post, so that the lifting mechanism is more stable when driving the z-axis upright post to lift; the z-axis travelling mechanism of the manipulator with the gravity balance mechanism can balance the gravity of the grabbed ceramic tile, and the grabbing mechanism can act according to any 3D curve, so that the manipulator with the gravity balance mechanism is convenient to use and high in flexibility.

Description

Z-axis walking mechanism and manipulator with gravity balance mechanism

Technical Field

A z-axis traveling mechanism and a manipulator with a gravity balance mechanism belong to the technical field of automation equipment.

Background

A robot refers to an automatic operating device that mimics certain functions of a human hand and arm for grasping, handling objects or operating tools in a fixed procedure. The manipulator is the earliest industrial robot, and is also the earliest modern robot, and the manipulator replaces heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

In the ceramic tile production industry, the manipulator is mainly used for transferring ceramic tiles and stacking ceramic tiles, the conventional manipulator can generally complete movement of an x axis, a y axis and a z axis, the x axis and the y axis respectively refer to movement in the horizontal longitudinal direction and the horizontal transverse direction, and the z axis refers to movement in the vertical direction, so that the ceramic tiles are transferred or stacked in a three-dimensional space. When the existing manipulator is used for transferring or stacking ceramic tiles, the following problems exist:

1. the attitude of the ceramic tile cannot be changed, and the ceramic tile can be transported only according to the original attitude of the ceramic tile, so that the ceramic tile can be stacked only in the same mode after being transported, the flexibility is poor, the requirement on the stacking environment is high, and the ceramic tile stacking device is inconvenient to use;

2. The movement of the manipulator along the x-axis, the y-axis and the z-axis can only be operated at a constant speed, so that the operation speed of the manipulator is low in order to ensure that the grabbed ceramic tiles cannot be damaged in the transferring process, and the working efficiency of the manipulator is seriously influenced;

3. when the manipulator moves along the z axis, the z axis upright post can drive the grabbed tiles to lift, and the difference of the weight of the z axis upright post during each lifting can occur due to the different quantity of the grabbed tiles, so that on one hand, the manipulator can vibrate during working, and the problem of collision caused by incapability of accurately controlling the moving speed can also occur;

4. the power device of the existing manipulator is usually a motor, the motor is usually fixed on a frame, and when the walking distance of the manipulator is too large, especially when the walking distance is far away from the motor, the problem of insufficient power can occur due to the too large transmission distance, and the running speed is also unstable;

5. when stacking the ceramic tile, in order to facilitate subsequent transportation or loading of the ceramic tile, a pallet is usually required to be placed, so that subsequent operation is facilitated, and damage to the ceramic tile can be avoided. When the existing manipulator is used for stacking, the pallet needs to be placed manually. Because the manipulator needs to cooperate with the ceramic tile production line, so in daily production process, the manipulator can not shut down, and this just needs the workman to place the pallet in manipulator working process, has the potential safety hazard. In addition, the existing manipulator has higher requirements on the position of the pallet, and the pallet is required to be accurately placed according to the working position of the manipulator when being placed, so that the pallet is inconvenient to use.

Disclosure of Invention

The invention aims to solve the technical problems that: overcomes the defects of the prior art and provides a z-axis travelling mechanism and a manipulator with a gravity balance mechanism, wherein the z-axis travelling mechanism can balance the weight of a z-axis upright post so as to enable the lifting of the z-axis upright post to be stable.

The technical scheme adopted for solving the technical problems is as follows: this z axle running gear, its characterized in that: the device comprises a z-axis upright post, a lifting mechanism for driving the z-axis upright post to lift and a gravity balancing mechanism, wherein the gravity balancing mechanism is used for balancing the weight of the z-axis upright post;

the lifting mechanism comprises a z-axis chain and a z-axis power unit, two ends of the z-axis chain are respectively and fixedly connected with two ends of the z-axis upright post, and the z-axis power unit is connected with the z-axis chain through a z-axis chain wheel; and a z-axis guiding mechanism for guiding the z-axis upright post is arranged between the z-axis upright post and the lifting mechanism.

Preferably, the gravity balance mechanism comprises a balance cylinder and a z-axis synchronous belt, the balance cylinder and the lifting mechanism are kept relatively static, the lower end of the z-axis synchronous belt is fixedly connected with the z-axis upright post, and the upper part of the z-axis synchronous belt is fixedly connected with a piston rod of the balance cylinder; the balance cylinder is connected with a pressure regulating valve.

Preferably, a balance guide mechanism is arranged between the gravity balance mechanism and the z-axis upright post.

Preferably, the balance guide mechanism comprises a guide shaft and a guide sleeve, the guide shaft is arranged on the gravity balance mechanism, the axis of the guide shaft is parallel to the axis of the z-axis upright post, and the guide sleeve is slidably sleeved on the guide shaft and synchronously ascends and descends along with the z-axis upright post.

Preferably, the gravity balance mechanism is provided with a gravity balance tensioning mechanism.

Preferably, the gravity balance tensioning mechanism comprises a z-axis synchronous belt tensioning wheel, and the z-axis synchronous belt tensioning wheel is rotatably arranged on the gravity balance mechanism and synchronously ascends and descends with the z-axis upright post.

Preferably, the z-axis chain wheels are vertically arranged, the z-axis chain wheels in the middle and the z-axis chain wheels on the upper side and the lower side are respectively arranged on the two sides of the z-axis chain and are meshed with the z-axis chain, the meshing part of the z-axis chain is in a wavy line shape, and the z-axis power unit is connected with the z-axis chain wheels in the middle.

Preferably, three z-axis guide mechanisms are arranged, one z-axis guide mechanism is arranged on one side of the z-axis upright post, on which the z-axis chain is arranged, and two z-axis guide mechanisms are arranged on the side, opposite to the side on which the z-axis chain is arranged.

Manipulator with gravity balance mechanism, its characterized in that: the device comprises a frame, a y-axis running mechanism, an x-axis running mechanism, a w-axis rotating mechanism, a grabbing mechanism and the z-axis running mechanism, wherein the y-axis running mechanism is arranged on the frame, the x-axis running mechanism is arranged on the y-axis running mechanism, a lifting mechanism of the z-axis running mechanism is arranged on the x-axis running mechanism, the lower end of a z-axis upright post is fixedly connected with the w-axis rotating mechanism, and the grabbing mechanism is arranged on the w-axis rotating mechanism.

Compared with the prior art, the z-axis traveling mechanism and the manipulator with the gravity balance mechanism have the beneficial effects that:

1. the gravity balance mechanism of the z-axis travelling mechanism is used for balancing the weight of the z-axis upright post, so that the lifting mechanism is more stable when driving the z-axis upright post to lift, and the z-axis guide mechanism can guide the lifting of the z-axis upright post, so that the z-axis upright post linearly lifts, and the moving precision of the z-axis upright post in the vertical direction is ensured.

2. The weight of the z-axis upright post is balanced through the balancing cylinder, the structure is simple, the operation is convenient, the action of the cylinder is sensitive, the action of the z-axis travelling mechanism is sensitive, and the working efficiency is improved.

3. The balance guide mechanism guides the movement of the gravity balance mechanism and the z-axis upright post, thereby avoiding the damage to the gravity balance mechanism caused by the inclination of the z-axis upright post and prolonging the service life of the gravity balance mechanism.

4. The balance guide mechanism is realized through the cooperation of the guide shaft and the guide sleeve, so that the axes of the z-axis upright post and the gravity balance mechanism are always kept parallel, and the structure is simple.

5. The gravity balance tensioning mechanism can adjust the tensioning speed of the gravity balance mechanism, so that the gravity balance mechanism can just balance the gravity of the z-axis upright post, and the lifting mechanism can be further ensured to drive the z-axis upright post to lift more stably.

6. The z-axis synchronous belt tensioning wheel is rotatably arranged above the gravity balance mechanism, so that the tensioning degree of the gravity balance mechanism is adjusted, the balance effect of the gravity balance mechanism is guaranteed, the position of the z-axis synchronous belt tensioning wheel is adjustable, and the tensioning progress of the gravity balance mechanism is conveniently adjusted in the use process.

7. The three z-axis chain wheels enable the meshing part of the z-axis chain to be in a wavy line shape, so that the wrap angle between the z-axis chain and the z-axis chain wheel is increased, the length of the meshing part of the z-axis chain and the z-axis chain wheel is further increased, the bearing capacity of the meshing part of the z-axis chain wheel and the z-axis chain wheel is increased, and the z-axis chain wheel can bear large force.

8. The three z-axis guide mechanisms can guide the movement of the z-axis upright posts simultaneously, and can reasonably distribute the load of the z-axis upright posts simultaneously, so that the stable operation of the z-axis upright posts is ensured.

9. The z-axis travelling mechanism of the manipulator with the gravity balance mechanism can balance the gravity of the z-axis upright post and the tile grabbed by the grabbing mechanism, so that the influence of the difference of the weights of the tiles grabbed by the grabbing mechanism on the lifting speed of the z-axis travelling mechanism is avoided, the working stability of the manipulator is improved, the working efficiency is high, the requirements on the weight of the grabbed tile are less, and the application range is wide; the w-axis rotating mechanism can drive the grabbing mechanism to rotate, so that the grabbing mechanism can act according to any 3D curve, and the device is convenient to use and high in flexibility.

Drawings

Fig. 1 is a schematic front view of a z-axis running gear.

Fig. 2 is a schematic perspective view of a z-axis power mechanism.

Fig. 3 is a partial enlarged view at a in fig. 2.

Fig. 4 is a schematic perspective view of a manipulator with a gravity balance mechanism.

Fig. 5 is a schematic front view of the running gear.

Fig. 6 is a schematic front view of the y-axis running gear.

Fig. 7 is a schematic top view of the y-axis running gear.

Fig. 8 is a schematic front view of the synchronization shaft.

Fig. 9 is a schematic front view of the x-axis running gear.

Fig. 10 is a schematic front view of the w-axis rotation mechanism.

Fig. 11 is a schematic sectional view in the direction B-B of fig. 10.

Fig. 12 is a schematic front view of the grasping mechanism.

Fig. 13 is a schematic top view of the gripping mechanism.

Fig. 14 is a schematic perspective view of the grip driving mechanism.

In the figure: 1. the device comprises a frame 2, a y-axis running mechanism 3, an x-axis running mechanism 4, a z-axis running mechanism 5, a ceramic tile warehouse 6, a w-axis rotating mechanism 7, a grabbing mechanism 8, a pallet warehouse 9, an adjustable rubber covered wheel 10, a guide wheel 11, an active rubber covered wheel 12, a rubber covered angle adjusting belt wheel 13, a rubber covered angle adjusting belt wheel 14, a y-axis synchronous belt tensioning wheel 15, a y-axis tensioning wheel swing arm 16, a y-axis synchronous belt 17, a synchronous shaft 18, a y-axis motor 19, an x-axis motor 20, a running mounting frame 21, an x-axis synchronous belt 22, an x-axis cross beam 23, a z-axis upright post 24, a guide shaft 25, a z-axis synchronous belt tensioning wheel 26, a guide sleeve 27, a balance cylinder 28, a z-axis synchronous belt 29, a z-axis motor 30, a z-axis sprocket 31, a w-axis motor 32, a photoelectric switch mounting plate 33, a buffering detection photoelectric switch 34, a rotation detection photoelectric switch 35, a rotation 36, a limit baffle 37, a buffer sleeve 38, a limit sleeve 39, a w-axis upright post 40, a bearing sleeve 41, a w-axis chain 42, a pallet clamping guide plate 43, a finger rest plate 44, a finger rest plate 45, a finger rest body 45, a gripper brackets, a clamp plate 45, a finger rest brackets 46, a gripper brackets, a finger clamp plate brackets 54, a gripper brackets, a finger clamps 54, a guide brackets, a gripper brackets, a guide brackets, a gripper brackets, and a guide brackets, a clamp brackets, a gripper brackets, and a guide brackets, and a gripper brackets, and a clamp brackets.

Detailed Description

Fig. 1 to 14 are diagrams illustrating preferred embodiments of the present invention, and the present invention is further described below with reference to fig. 1 to 14.

The z-axis walking mechanism comprises a z-axis upright post 23, a lifting mechanism for driving the z-axis upright post 23 to lift and a gravity balancing mechanism, wherein the gravity balancing mechanism is used for balancing the weight of the z-axis upright post 23; the lifting mechanism comprises a z-axis chain and a z-axis power unit, two ends of the z-axis chain are respectively and fixedly connected with two ends of the z-axis upright post 23, and the z-axis power unit is connected with the z-axis chain through a z-axis chain wheel 30; a z-axis guiding mechanism for guiding the z-axis upright 23 is arranged between the z-axis upright 23 and the lifting mechanism. The gravity balance mechanism of the z-axis traveling mechanism 4 can balance the weight of the z-axis upright post 23, so that the lifting mechanism is more stable when driving the z-axis upright post 23 to lift, and the z-axis guide mechanism can guide the lifting of the z-axis upright post 23, so that the z-axis upright post 23 can linearly lift, and the moving precision of the z-axis upright post 23 in the vertical direction is ensured.

Specific: as shown in fig. 1: the z-axis upright post 23 is slidably mounted on the walking mounting frame 20, and a z-axis guide mechanism is arranged between the z-axis upright post 23 and the walking mounting frame 20, and can guide the lifting of the z-axis upright post 23, so that the lifting stability of the z-axis upright post 23 is ensured. The walking mounting frame 20 is further provided with a gravity balance mechanism for balancing the gravity of the z-axis upright 23 and a mechanism mounted on the z-axis upright 23, thereby ensuring the stability of the lifting of the z-axis upright 23.

The gravity balance mechanism comprises a balance cylinder 27 and a z-axis chain 28, the lower end of the balance cylinder 27 is arranged on the walking mounting frame 20, and the axis of the balance cylinder 27 is parallel to the axis of the z-axis upright 23. The lower extreme of z axle chain 28 and the middle part fixed connection of z axle stand 23, upper portion and the piston rod fixed connection of balanced cylinder 27 to balance the gravity of z axle stand 23, reduced elevating system's bearing power, thereby make elevating system's walking more steady, and then guaranteed the precision of work. The balance cylinder 27 is connected with a pressure regulating valve, so that the air pressure in the balance cylinder 27 is kept balanced, the weight of the z-axis upright post 23 is balanced, and the z-axis upright post 23 can be prevented from falling off when power is off, so that the use is safe.

A gravity balance tensioning mechanism is arranged above the balance cylinder 27. The gravity balance tensioning mechanism comprises a z-axis synchronous belt tensioning wheel 25, the z-axis synchronous belt tensioning wheel 25 is rotatably arranged on a piston rod of the balance cylinder 27 and synchronously rises and falls along with the piston rod of the balance cylinder 27, and the upper end of a z-axis chain 28 bypasses the z-axis synchronous belt tensioning wheel 25 and is fixedly connected with the piston rod of the balance cylinder 27. A bolt for adjusting the height of the z-axis synchronous belt tensioning wheel 25 is arranged below the z-axis synchronous belt tensioning wheel 25, and pushes the z-axis synchronous belt tensioning wheel 25 upwards through the axial direction of the z-axis synchronous belt tensioning wheel 25 and tightens the z-axis chain 28.

A balance guide mechanism for guiding is arranged between the balance cylinder 27 and the z-axis upright 23. The balance guide mechanism comprises a guide shaft 24 and a guide sleeve 26, the lower end of the guide shaft 24 is fixedly connected with the upper end of a piston rod of the balance cylinder 27 and synchronously rises and falls along with the piston rod of the balance cylinder 27, and the guide shaft 24 is parallel to the axis of the balance cylinder 27. The guide sleeve 26 is fixedly connected with the z-axis upright 23, and the guide sleeve 26 is slidably sleeved outside the guide shaft 24. The guide sleeve 26 guides the movement of the guide shaft 24, so that the piston rod of the balance cylinder 27 is ensured to vertically lift, and damage to the balance cylinder 27 due to the fact that the z-axis upright 23 tilts during lifting is avoided.

The balance guide mechanisms are symmetrically arranged on two sides of the balance cylinder 27, so that the balance cylinder 27 is better protected.

The lifting mechanism comprises a z-axis chain and a z-axis power unit. The upper end of the z-axis chain is fixed at the top end of the z-axis upright 23, and the lower end of the z-axis chain is fixed at the bottom end of the z-axis upright 23. The z-axis power unit is connected with a z-axis chain through a z-axis chain wheel 30 and drives the z-axis upright 23 to lift.

The three z-axis guide mechanisms are arranged on two opposite sides of the z-axis upright post 23, one side of the z-axis upright post 23, on which the z-axis chain is mounted, is provided with a guide mechanism, and two z-axis guide mechanisms are mounted on the side opposite to the side on which the z-axis chain is mounted, so that loads brought by the z-axis upright post 23 can be well distributed, and the stable operation of the z-axis upright post 23 is ensured.

The z-axis guiding mechanism comprises a sliding rail arranged on the z-axis upright 23 and a sliding block arranged on the walking mounting frame 20, and the sliding block is matched with the sliding rail so as to guide the movement of the z-axis upright 23.

Limiting blocks are arranged at the upper end and the lower end of the z-axis upright post 23, so that lifting of the z-axis upright post 23 is limited.

As shown in fig. 2 to 3: the z-axis power unit is a z-axis motor 29, and the z-axis motor 29 drives the z-axis upright post 23 to lift through a z-axis chain wheel 30. The z-axis motor 29 is fixed on the walking mounting frame 20, and a z-axis sprocket 30 is connected with an output shaft of the z-axis motor 29, and the z-axis sprocket 30 is matched with a z-axis chain, so that lifting of the z-axis upright post 23 is realized. The z-axis chain has three rows. The side of the walking installation frame 20, which is close to the z-axis upright post 23, is a cuboid box body with openings at the upper end and the lower end, which is formed by fixedly connecting steel plates through bolts, and the z-axis upright post 23 is arranged in one side of the walking installation frame 20. A z-axis sprocket 30 is mounted within the travel mount 20. Through holes are formed in the upper side of the walking installation frame 20, a flange plate coaxial with the through holes is further arranged on the upper side of the walking installation frame 20 through bolts, and an output shaft of the z-axis motor 29 penetrates through the flange plate and the through holes and then is connected with the z-axis chain wheel 30, and is fixed on the flange plate through bolts, so that the disassembly and maintenance of the z-axis motor 29 are facilitated, and mutual interference among various mechanisms is avoided.

The z-axis chain wheel 30 has three vertically arranged, and an output shaft of the z-axis motor 29 is coaxially connected with the middle z-axis chain wheel 30 and drives the middle z-axis chain wheel 30 to rotate. The upper side and the lower side's z axle sprocket 30 set up respectively in the one side that the z axle chain kept away from z axle stand 23, and the z axle sprocket 30 at middle part sets up between z axle chain and z axle stand 23, and the axis of upper side and the lower side's z axle sprocket 30 equals with the distance between the z axle stand 23, and is less than the axis of middle part's z axle sprocket 30 and the distance of z axle stand 23, has increased the wrap angle between z axle sprocket 30 and the z axle chain 23 to improve the meshing intensity between z axle sprocket 30 and the z axle chain, thereby guaranteed to make the z axle sprocket 30 drive the lift of z axle stand 23 through the z axle chain. An encoder is coaxially mounted on the middle z-axis sprocket 30, and can detect the rotational speed and the rotated angle of the z-axis motor 29, thereby detecting the lifting speed and the lifting distance of the z-axis column 23.

As shown in fig. 4: the manipulator with the gravity balance mechanism comprises a frame 1, a travelling mechanism, a w-axis rotating mechanism 6 and a grabbing mechanism 7, wherein the travelling mechanism, the w-axis rotating mechanism 6 and the grabbing mechanism 7 are arranged on the frame 1. The walking mechanism is arranged on the frame 1, the w-axis rotating mechanism 6 is arranged on the walking mechanism, and the grabbing mechanism 7 is arranged on the w-axis rotating mechanism 6. The lower part of the frame 1 is fixed on the ground, so that the manipulator works more stably, and shaking can not occur in the working process.

The upper part of the frame 1 is a rectangular frame, and the lower part is a vertically arranged supporting leg. The travelling mechanism is arranged on a frame at the upper part of the stand 1 and respectively drives the grabbing mechanism 7 to linearly travel along the directions of the x axis, the y axis and the z axis.

The travel of the travelling mechanism along the vertical direction is defined as the travel along the z-axis, the travel of the travelling mechanism along the width direction of the frame 1 is defined as the travel along the x-axis, the travel of the travelling mechanism along the length direction of the frame 1 is defined as the travel along the y-axis, and the rotation around the z-axis is defined as the movement along the w-axis.

The bottom of the frame 1 is provided with a pallet warehouse 8 for placing pallets and a tile warehouse 5, the pallet warehouse 8 is used for placing pallets, the tile warehouse 5 is used for placing tiles, namely, the manipulator is used for transporting the tiles into the tile warehouse 5 and stacking the tiles. The pallet is when stacking the ceramic tile, fills up the plank in the bottom, and the pallet can protect the ceramic tile of bottom on the one hand, and on the other hand is convenient to transport the ceramic tile after the pile up neatly. The pallet warehouse 8 sets up in the middle part of frame 1, and tile warehouse 5 has two, and the symmetry sets up in the both sides of pallet warehouse 8, and the pallet warehouse 8 equals with the distance of two tile warehouses 5, can guarantee like this that the pallet in the pallet warehouse 8 removes the distance of every tile warehouse 5 equal, conveniently places the pallet.

As shown in fig. 5: the travelling mechanism comprises a y-axis travelling mechanism 2, an x-axis travelling mechanism 3 and a z-axis travelling mechanism 4. The y-axis travelling mechanism 2 is arranged on the frame 1, the x-axis travelling mechanism 3 is arranged on the y-axis travelling mechanism 2, and the z-axis travelling mechanism 4 is arranged on the x-axis travelling mechanism 3. The w-axis rotating mechanism 6 is fixedly connected with the z-axis traveling mechanism 4, and the grabbing mechanism 7 is installed on the w-axis rotating mechanism 6, so that the grabbing mechanism 7 is flexible, the posture of the transported ceramic tiles can be changed in the transportation process, and accordingly stacking of various forms can be met.

The y-axis travelling mechanism 2 comprises two suspension mechanisms which are symmetrically arranged at two ends of the x-axis travelling mechanism 3, and the x-axis travelling mechanism 3 is arranged on the frame 1 through the suspension mechanisms at the left end and the right end. The suspension mechanisms at the two ends drive the x-axis travelling mechanism 3 to synchronously move, so that the problem that the speed of the y-axis travelling mechanism 2 is unstable in the travelling process due to overlong length of the frame 1 is avoided. The y-axis power mechanism is connected with the two suspension mechanisms and drives the suspension mechanisms to move along the y-axis.

As shown in fig. 6: the suspension mechanism comprises a y-axis beam and a y-axis guide mechanism arranged on the y-axis beam. The frame guide rails are arranged above square steel on two sides of the frame 1, and the y-axis guide mechanism is connected with the frame guide rails on two sides of the frame 1 and guides the motion of the suspension mechanism so that the suspension mechanism moves along a straight line. The x-axis travelling mechanism 3 is fixedly connected with the y-axis cross beam.

The y-axis guide mechanism comprises a horizontal guide mechanism and a vertical guide mechanism. The horizontal guide mechanism guides the movement of the y-axis beam in the horizontal direction, and the vertical guide mechanism guides the movement of the y-axis beam in the vertical direction.

The two ends of the y-axis beam are symmetrically provided with active rubber coating wheels 11, and the y-axis power mechanism drives the active rubber coating wheels 11 to rotate. The synchronous pulleys are coaxially arranged on the two driving rubber covered wheels 11, the driving rubber covered wheels 11 and the synchronous pulleys synchronously rotate, the synchronous pulleys at the two ends of the y-axis cross beam are connected through the y-axis synchronous belt 16, and the driving rubber covered wheels 11 are pressed above the frame 1 by means of the gravity of the y-axis cross beam.

The driving rubber covered wheel 11 and the synchronous pulley are integrally arranged. One side of the synchronous pulley, which is far away from the driving rubber coating wheel 11, is fixedly provided with a circular baffle through a bolt, and the diameter of the circular baffle is larger than that of the synchronous pulley. The outer edge of one side of the round baffle plate, which is close to the synchronous pulley, is a blocking part, the blocking part symmetrical to the round baffle plate is also arranged on one side of the driving rubber covered wheel 11, which is close to the synchronous pulley, the two blocking parts are arc-shaped with the middle part protruding outwards, and the distance between the two blocking parts is gradually increased from inside to outside along the radial direction of the synchronous pulley, so that the separation of the y-axis synchronous belt 16 and the synchronous pulley due to the non-parallel axes of the synchronous pulleys at the two ends is avoided, the y-axis synchronous belt 16 works stably, the influence of assembly errors on the y-axis synchronous belt 16 is reduced, and the working precision and stability are not influenced.

The y-axis synchronous belt tensioning mechanism is arranged above the y-axis synchronous belt 16, and can adjust the tensioning force of the y-axis synchronous belt 16, so that the y-axis synchronous belt 16 can be well meshed with the synchronous belt pulley, and the walking precision of the y-axis is further ensured.

The y-axis synchronous belt tensioning mechanism comprises a y-axis synchronous belt tensioning wheel 14 and a y-axis tensioning wheel swinging arm 15. The y-axis tension pulley swing arm 15 is arranged above the y-axis synchronous belt 16, the middle of the y-axis tension pulley swing arm 15 is hinged to the y-axis cross beam, so that the y-axis tension pulley swing arm 15 forms a lever mechanism, one end of the y-axis tension pulley swing arm 15 is rotatably installed, the y-axis synchronous belt tension pulley 14 is detachably fixed on the y-axis cross beam through a bolt, the y-axis synchronous belt tension pulley 14 is tightly pressed against the y-axis synchronous belt 16, a plurality of spring pads are sleeved on the bolt, after the y-axis synchronous belt 16 is installed, the y-axis synchronous belt 16 is tensioned through the bolt, after a period of working, the tensioning force of the spring pads on the y-axis synchronous belt 16 is adjusted, frequent tensioning on the y-axis synchronous belt 16 is not needed, and impact load caused by looseness of the y-axis synchronous belt 16 can be avoided, so that the service life of the y-axis synchronous belt 16 is shortened, and the service life of the y-axis synchronous belt 16 is prolonged, and the working stability is improved. The y-axis synchronous belt tensioning wheel 14 is a belt wheel, and the y-axis tensioning wheel swing arm 15 drives the y-axis synchronous belt tensioning wheel 14 to swing synchronously and tightly press the y-axis synchronous belt 16. After the y-axis synchronous belt tensioning wheel 14 presses the y-axis synchronous belt 16, the y-axis tensioning wheel swinging arm 15 is fixed through a bolt in the middle of the y-axis tensioning wheel swinging arm 15.

The left side of the y-axis synchronous belt tensioning wheel 14 is provided with a wrap angle adjusting belt pulley 12 and a wrap angle adjusting synchronous belt pulley 13 in sequence from left to right, and the wrap angle adjusting belt pulley 12 and the wrap angle adjusting synchronous belt pulley 13 are both rotatably installed on the y-axis cross beam. The axes of the wrap angle adjusting pulley 12 and the wrap angle adjusting synchronous pulley 13 are parallel to the axis of the y-axis synchronous belt tensioning pulley 14. The wrap angle adjusting synchronous pulley 13 is arranged above the y-axis synchronous belt 16, the wrap angle adjusting belt pulley 12 is arranged between the y-axis synchronous belts 16 on the upper side and the lower side, so that the upper side of the y-axis synchronous belt 16 is in a wavy line shape, the wrap angle of the synchronous belt and the synchronous pulleys on the two ends is increased, the bearing capacity of the meshing part of the synchronous pulleys and the y-axis synchronous belt 16 is increased, and the transmission stability is ensured.

The vertical guide mechanism comprises two adjustable rubber coating wheels 9 arranged below the y-axis beam, and the two adjustable rubber coating wheels 9 are symmetrically arranged at two ends of the y-axis beam. The adjustable rubber covered wheel 9 is arranged below the driving rubber covered wheel 11 through a rotating shaft, a bolt for pushing the adjustable rubber covered wheel 9 to lift is arranged below the rotating shaft of the adjustable rubber covered wheel 9, the bolt is arranged on the y-axis cross beam through threads, and the adjustable rubber covered wheel 9 is pushed to lift, so that the adjustment of the vertical direction of the adjustable rubber covered wheel 9 is realized. The adjustable rubber coating wheel 9 and the driving rubber coating wheel 11 are respectively arranged on the upper side and the lower side of the frame guide rail and clamp the frame guide rail, so that the y-axis cross beam is guided in the vertical direction.

As shown in fig. 7: the two horizontal guide mechanisms are symmetrically arranged at two ends of the y-axis cross beam. The horizontal guiding mechanism comprises guiding wheels 10 arranged on two sides of the y-axis beam, the axis of the guiding wheels 10 is perpendicular to the axis of the adjustable rubber covered wheel 9, and the guiding wheels are rotatably arranged on the y-axis beam. Two guide wheels 10 at the same end of the y-axis beam are respectively arranged at the front side and the rear side of the frame guide rail and clamp the frame guide rail, so that the y-axis beam is guided in the horizontal direction. The vertical guide mechanism is matched with the horizontal guide mechanism, so that the y-axis beam can move along a straight line, and the motion precision of the grabbing mechanism 7 is guaranteed.

As shown in fig. 8: the y-axis power mechanism includes a synchronizing shaft 17 and a y-axis motor 18. The synchronizing shaft 17 is arranged between the two suspension mechanisms, and the length of the synchronizing shaft 17 is equal to the width of the frame 1 along the x-axis. The synchronous shaft 17 is connected with a y-axis motor 18, the y-axis motor 18 is arranged at the left end of the synchronous shaft 17, and an output shaft of the y-axis motor 18 is connected with an installation part of the synchronous shaft 17 and drives the synchronous shaft 17 to rotate through gear transmission. The transmission parts at the two ends of the synchronizing shaft 17 are fixedly connected with the synchronizing pulleys at the corresponding positions on the two y-axis cross beams respectively through tensioning sleeves, and the synchronizing shaft 17 can ensure that the rotating speeds of the driving rubber covered wheels 11 at the two ends are equal, so that the two ends of the x-axis travelling mechanism 3 advance synchronously and cannot incline.

The synchronizing shaft 17 comprises a steel pipe in the middle and shaft heads at two ends, one end of the shaft head stretches into the steel pipe and is welded with the steel pipe, and the other end of the shaft head is coaxially provided with the active rubber coating wheel 11. An encoder is arranged at one end of the synchronous shaft 17, the encoder synchronously rotates along with the synchronous shaft 17, and a rotating speed signal is fed back to the frequency converter, so that the travelling speed of the y-axis travelling mechanism 2 can be conveniently controlled, the rotating angle of the synchronous shaft 17 can be detected, and the travelling distance along the y-axis direction can be detected.

Limiting blocks for limiting the y-axis beam are arranged at the front end and the rear end of the frame 1, so that the y-axis beam is prevented from falling off in the moving process.

As shown in fig. 9: the x-axis running gear 3 includes an x-axis timing belt 21 and an x-axis power unit. The x-axis power unit is arranged on the x-axis beam 22, the length of the x-axis beam 22 is equal to that of the synchronous shaft 17, and two ends of the x-axis beam 22 are fixedly connected with the middle part of the y-axis beam respectively and synchronously move along with the y-axis beam. The x-axis power unit is an x-axis motor 19, the x-axis motor 19 is fixed at the left end of an x-axis beam 22, a synchronous pulley is arranged on an output shaft of the x-axis motor 19, and the other end of the x-axis beam 22 is also provided with the synchronous pulley. The x-axis cross beam 22 is provided with the walking installation frame 20 in a sliding manner, an x-axis guide mechanism is arranged between the walking installation frame 20 and the x-axis cross beam 22, and the x-axis guide mechanism can enable the walking installation frame 20 to move along a straight line, so that the stability of the movement of the grabbing mechanism 7 is guaranteed. The two ends of the x-axis synchronous belt 21 are fixedly connected with the walking installation frame 20 after bypassing synchronous pulleys at the two ends of the x-axis cross beam 22, and the walking installation frame 20 is driven to synchronously move along with the x-axis synchronous belt 21. The z-axis traveling mechanism 4 is mounted on the traveling mount 20 and moves synchronously with the traveling mount 20.

The walking mounting frame 20 is also provided with an x-axis adjusting bolt for adjusting the tension of the x-axis synchronous belt 21. One end of an x-axis adjusting bolt is connected with one end of an x-axis synchronous belt 21, and the x-axis adjusting bolt is fixed on the walking mounting frame 20 through a nut.

The output shaft of the x-axis motor 19 faces downwards and is arranged above the x-axis beam 22, an axis adjusting mechanism for adjusting the axis of the synchronous pulley is further arranged above the x-axis beam 22, the axis adjusting mechanism is a bolt arranged on two sides of the x-axis beam, the lower end of the bolt pushes the synchronous pulley mounting seat to move up and down, and accordingly the angle between the axis of the synchronous pulley and the vertical surface is adjusted, a thrust for pushing the x-axis synchronous pulley 21 to move upwards can be generated between the synchronous pulley and the x-axis synchronous pulley 21 and used for counteracting the gravity of the x-axis synchronous pulley 21, and the fact that the x-axis synchronous pulley 21 is separated from the synchronous pulley under the action of gravity is avoided.

The walking mounting frame 20 is formed by connecting steel plates through bolts, one side of the walking mounting frame 20, which is close to the x-axis beam 22, is a cuboid box body with two open ends, the walking mounting frame 20 is sleeved on the outer side of the x-axis beam 22, and the z-axis walking mechanism 4 is arranged on one side of the walking mounting frame 20. The steel plate upper portion of walking mounting bracket 20 upside and the steel plate lower part of downside all are equipped with the strengthening rib, and the strengthening rib is by the one side that is close to z axle running gear 4 to the toper that the opposite side narrows gradually to guarantee the intensity of walking mounting bracket 20, avoid unilateral load to cause the damage to walking mounting bracket 20.

The X-axis guide mechanisms are two, are respectively arranged on the upper side and the lower side of the X-axis beam 22, and are arranged on one side far away from the z-axis travelling mechanism 4, and the X-axis guide mechanism on the lower side is arranged on one side close to the z-axis travelling mechanism 4, so that unilateral load borne by the travelling mounting frame 20 can be counteracted, and the stability and the precision of the travelling mounting frame 20 are ensured.

The x-axis guide mechanism includes a slider on the walking mount 20 and a slide rail disposed on the x-axis beam 22. The slide cooperates with the slide rail to guide the movement of the walking mount 20. The sliding rail can be a trapezoid or T-shaped sliding rail, and a dovetail groove or a T-shaped sliding groove matched with the sliding rail is arranged on the sliding block.

An encoder is coaxially arranged on a synchronous pulley at one end far away from the x-axis motor 19, and can feed back a rotating speed signal of the x-axis motor 19 to a frequency converter, so that the rotating speed of the x-axis motor 19 is controlled through the frequency converter, the traveling speed of the x-axis traveling mechanism 3 is further controlled, the rotating angle of the x-axis motor 19 can be detected, and the traveling distance along the x-axis direction is detected.

Limiting blocks for limiting the walking installation frame 20 are arranged at two ends of the x-axis beam 22.

As shown in fig. 10: the w-axis rotating mechanism 6 comprises a w-axis upright post 39, a rotating unit and a w-axis power unit, wherein the rotating unit is rotatably arranged on the w-axis upright post 39, the w-axis power unit is fixedly connected with the w-axis upright post 39, the w-axis power unit is connected with the rotating unit and drives the rotating unit to rotate, and the rotating unit and the w-axis upright post 39 are coaxially arranged; the device also comprises a detection unit for measuring and limiting the rotating angle of the rotating unit. The w-axis rotating mechanism 6 can output power in a form of rotating around the w-axis upright post 39, so that the movement form of the grabbing mechanism 7 rotating around the z-axis is increased, the flexibility of the grabbing mechanism 7 is increased, and the grabbed tiles can be driven to rotate when the tiles are transported or piled, so that the postures of the tiles are changed, the tiles can be piled according to the requirements, and the application range is wide; the detection unit can detect the angle through which the rotation unit rotates, thereby ensuring the accuracy of the grasping mechanism 7.

The w-axis power unit is a w-axis motor 31, and the w-axis motor 31 is mounted on a rotary mounting frame 35. The rotary mounting frame 35 is disposed at the lower portion of the w-axis upright 39 and fixedly connected with the w-axis upright 39. The rotating unit is disposed below the rotating mount 35.

The upper end of the w-axis upright post 39 is provided with a buffer mechanism for buffering in the vertical direction. Because the below installation of w axle rotary mechanism 6 snatchs mechanism 7, in the course of the work, when snatchs the ceramic tile that the mechanism touched snatchs, buffer gear can allow w axle stand 39 to carry out tiny displacement in vertical direction, can avoid on the one hand causing the damage to w axle rotary mechanism 6 when snatching mechanism 7 and waiting to snatch ceramic tile contact, on the other hand can make snatch mechanism 7 can respond to the ceramic tile that waits to snatch mechanism 7 snatch stability has been improved.

The buffer mechanism comprises a buffer sleeve 37 and an axial limiting mechanism, the buffer sleeve 37 is slidably sleeved at the upper end of the w-axis upright post 39, and the axial limiting mechanism is clamped with the buffer sleeve 37, so that the axial movement of the w-axis upright post 39 is limited. The buffer sleeve 37 of the w-axis rotating mechanism 6 is fixedly connected with the lower end of the z-axis upright post 23.

The buffer sleeve 37 and the rotary mounting frame 35 are provided with a circumferential limiting mechanism, and the circumferential limiting mechanism can prevent the w-axis upright post 39 and the buffer sleeve 37 from rotating relatively, so that the working precision of the w-axis rotary mechanism 6 is improved, and errors in the rotation direction during working are avoided.

The circumference stop gear includes circumference gag lever post and limit bearing, and the cross section of circumference gag lever post is rectangle, and the lower extreme of circumference gag lever post is installed on rotatory mounting bracket 35, and the vertical setting of circumference gag lever post. The limit bearings are symmetrically arranged on two sides of the circumferential limit rod, and the limit bearings are fixed on the outer side of the buffer sleeve 37 through bolts. The circumferential limiting rod synchronously rises and falls along with the w-axis upright post 39, and the limiting bearing limits the circumferential limiting rod, so that the relative rotation of the w-axis upright post 39 and the buffer sleeve 37 is avoided.

One side of the w-axis upright post 39 is provided with a buffer detection photoelectric switch 33 for detecting the position of the buffer sleeve 37, the buffer detection photoelectric switch 33 is mounted on the photoelectric switch mounting plate 32, the lower end of the photoelectric switch mounting plate 32 is mounted on the rotary mounting frame 35, and the photoelectric switch mounting plate 32 is vertically arranged. The buffer detection photoelectric switches 33 are two, and the two buffer detection photoelectric switches 33 are vertically arranged at intervals. When the buffer sleeve 37 is detected by the buffer detection photoelectric switch 33 at the upper part when the w-axis upright post 39 and the buffer sleeve 37 axially move relatively, namely, the grabbing mechanism 7 contacts an object to be grabbed, the grabbing mechanism 7 arranged below the w-axis rotating mechanism 6 stops moving in the vertical direction. The buffer detection photoelectric switch 33 at the lower part limits and protects the movement of the w-axis upright post 39, so that the movement distance of the w-axis upright post 39 is prevented from being larger, and the equipment is damaged.

The detection unit includes a rotation detection photoelectric switch 34 for detecting the angle through which the grabbing mechanism 7 connected to the rotation unit rotates, and limiting the rotation of the grabbing mechanism 7. The rotation detection photoelectric switches 34 are two, the two rotation detection photoelectric switches 34 are mounted on the rotation mounting frame 35, one rotation detection photoelectric switch 34 is used for detecting the rotating angle of the grabbing mechanism 7, so that the rotating angle of the grabbing mechanism 7 is accurately controlled, and the other detection switch is used for limiting the rotation of the grabbing mechanism 7, so that the rotating angle of the grabbing mechanism 7 is prevented from exceeding the set rotating angle range.

As shown in fig. 11: the axial stop mechanism includes a stop collar 38 and a stop plate 36. The limit baffle 36 is a circular plate, the limit baffle 36 is sleeved outside the w-axis upright post 39 above the buffer sleeve 37, and the limit baffle 36 is fixedly connected with the buffer sleeve 37. The inner diameter of the lower portion of the buffer sheath 37 is smaller than that of the upper portion, thereby forming a stopper. The external diameter of the lower part of the stop collar 38 is smaller than that of the upper part, the stop collar 38 is sleeved on the w-axis upright post 39 in the buffer collar 37, and the stop collar 38 is fixedly connected with the w-axis upright post 39 and synchronously ascends and descends with the w-axis upright post 39. The external diameter of the w-axis upright post 39 is smaller than the internal diameter of the buffer sleeve 37, the lower part of the limit sleeve 38 extends into the lower part of the buffer sleeve 37, the length of the limit sleeve 38 is smaller than the length of the buffer sleeve 37, and the limit table is matched with the limit baffle 36 to axially clamp and fix the limit sleeve 38, so that the w-axis upright post 39 is axially limited.

The w-axis upright post 39 above the limit baffle 36 is provided with a fixing nut, and the fixing nut is matched with the limit table of the buffer sleeve 37 to offset the gravity of the w-axis upright post 39 and the rotary mounting frame 35 arranged on the w-axis upright post 39, so that the w-axis upright post 39 is arranged on the buffer sleeve 37. The w-axis rotating mechanism 6 is connected with a travelling mechanism of the manipulator through a buffer sleeve 37.

The rotary mounting frame 35 is provided with a mounting hole for mounting on the w-axis upright 39, and the inner diameter of the mounting hole is larger than the outer diameter of the w-axis upright 39. The w axle stand 39 of rotatory mounting bracket 35 below is gone up the cover and is equipped with and bears the cover 40, bears the diameter of cover 40 upper portion and is less than the diameter of lower part, bears the upper portion of cover 40 and stretches into the mounting hole in, and rotatory mounting bracket 35's lower part supports on the boss of bearing the outside of cover 40. The lower extreme of w axle stand 39 is fixed with thrust bearing through fixation nut, and the lower part of bearing bush 40 supports on thrust bearing, is equipped with the nut on the w axle stand 39 of rotatory mounting bracket 35 upper portion to compress tightly rotatory mounting bracket 35 on thrust bearing, accomplish rotatory mounting bracket 35's fixed mounting. The outer diameter of the upper part of the bearing sleeve 40 is smaller than the inner diameter of the lower part of the mounting hole, and a rolling bearing is arranged between the bearing sleeve 40 and the mounting hole, so that the bearing sleeve 40 and the rotary mounting frame 35 can rotate relatively.

The rotation unit is an output sprocket, the output sprocket and the w axle stand 39 are coaxial, the internal diameter of the output sprocket is greater than the external diameter of the w axle stand 39, and the upper portion of the output sprocket is fixedly connected with the bearing sleeve 40. The rotary mounting frame 35 is further provided with a driving sprocket which is connected with the output sprocket through a w-axis chain 41 and drives the output sprocket to rotate. The lower part of the output chain wheel is connected with the grabbing mechanism 7 and drives the grabbing mechanism 7 to rotate.

The output shaft of the w-axis motor 31 is horizontally arranged, and the output shaft of the w-axis motor 31 drives the driving sprocket to rotate through the engaged bevel gear. An encoder is arranged above the driving sprocket and synchronously rotates with the driving sprocket, the encoder detects a speed signal of the driving sprocket and feeds the speed signal back to the frequency converter, and the output rotating speed of the w-axis motor 31 can be adjusted, so that the rotating speed of the output sprocket is adjusted, and the encoder can also detect the rotating angle of the driving sprocket.

As shown in fig. 12 to 13: the gripping mechanism 7 includes a pallet gripping mechanism and a tile gripping mechanism. The pallet grabbing mechanism and the tile grabbing mechanism are both arranged on the grabbing mechanism body 45, and the grabbing mechanism body 45 is a cuboid shell. The output chain wheel of the w-axis rotating mechanism 6 is fixedly connected with the middle part of the grabbing mechanism main body 45 and drives the grabbing mechanism 7 to synchronously rotate.

The pallet grabbing mechanism comprises pallet grabbing fingers 47 and a finger power unit for pushing the pallet grabbing fingers 47 to stretch and clamp. The pallet grabs the finger 47 and is V-arrangement, and the one end that the pallet grabs the finger 47 links to each other with the finger power unit, and the other end is equipped with the baffle that is used for blockking the pallet of snatching, avoids grabbing the in-process pallet landing to cause danger. The pallet gripping fingers 47 are provided at four corners of the gripping mechanism body 45, respectively. The pallet grabbing fingers 47 are mounted on the finger mounting plate 43, and the finger mounting plate 43 is fixedly connected with the finger power unit.

The gripping mechanism body 45 is provided with pallet clamping guide plates 42, the pallet clamping guide plates 42 are in one-to-one correspondence with pallet gripping fingers 47, and the pallet clamping guide plates 42 are fixed on the side surfaces of the gripping mechanism body 45. The free end of the pallet clamping guide plate 42 is gradually concave arc-shaped from bottom to top. The pallet grabbing finger 47 is hinged to the finger mounting plate 43, and a torsion spring is provided between the pallet grabbing finger 47 and the finger mounting plate 43, so that the pallet grabbing finger 47 is in an open state when disengaged from the pallet clamping guide plate 42. The pallet gripping fingers 47 are rotatably mounted with finger guide bearings 46, the finger guide bearings 46 being disposed between the hinge points and the pallet gripping guide plates 42. The finger power unit pushes the pallet grabbing fingers 47 to move leftwards and rightwards respectively, so that the pallet grabbing fingers 47 are separated from the pallet clamping guide plate 42, and the pallet grabbing fingers 47 are in an open state under the action of the gravity of the torsion springs and the pallet grabbing fingers 47; the finger power unit drives the pallet grabbing fingers 47 to move from two sides to the middle, so that the finger guide bearings 46 enter the free ends of the pallet clamping guide plates 42, and the pallet clamping guide plates 42 guide the pallet grabbing fingers 47, so that the pallet grabbing and clamping are completed.

The tile gripping mechanism includes a tile clamping plate 48 and a clamping plate power unit that urges the tile clamping plate 48 to move axially. The upper end of the tile clamping plate 48 is mounted on a clamping plate 49, and the other end is a free end. The clamping plate power unit is connected with the clamping plate mounting plate 49 and pushes the clamping plate mounting plate 49 to move horizontally, so that the clamping and loosening of the ceramic tile are realized. The side of the tile clamping plate 48, which is in contact with the tile, is provided with rubber, which is used for increasing friction with the tile on the one hand, and can produce a buffer effect on the other hand, so that the tile is prevented from being collided with the tile, and the tile is damaged. The lower end of the tile clamping plate 48 is inclined toward the middle so that the tile can be better clamped.

The tile clamping plate 48 may be installed at an end of the clamping plate mounting plate 49 near the middle of the gripping mechanism body 45 when gripping tiles in the thickness direction, and the tile clamping plate 48 is installed at an end of the clamping plate mounting plate 49 near the outer side of the gripping mechanism body 45 when gripping tiles in the width or length direction. The two tile clamping plates 48 for mutually matching and clamping the tiles are in a pair, the two pairs of tile clamping plates 48 are arranged, and the clamping plate mounting plates 49 are in one-to-one correspondence with the tile clamping plates 48.

A tile gripping limit unit is provided above the gripping mechanism body 45. The tile grabbing limiting units are clamping plate limiting photoelectric switches 44, two clamping plate limiting photoelectric switches 44 are arranged in each pair, and the two clamping plate limiting photoelectric switches 44 are respectively used for detecting the starting position and the ending position of the clamping plate power unit, so that limiting is completed. There are two pairs of clamping plate limiting photoelectric switches 44, and the clamping plate power units for driving the ceramic tile clamping plates 48 to move are limited respectively.

This snatch mechanism 7 can enough accomplish snatching the pallet, can realize snatching the ceramic tile again, and degree of automation is high, and the precision that the pallet was placed moreover is high, can not make the ceramic tile slope when the pile up neatly, convenient to use.

As shown in fig. 14: a pallet drive mechanism is provided between the finger power unit and the finger mounting plate 43. The finger power unit is a pallet grabbing cylinder 51, one pallet grabbing cylinder 51 is arranged in the middle of the grabbing mechanism main body 45, a piston rod of the pallet grabbing cylinder 51 is connected with a pallet transmission mechanism, and the finger mounting plate 43 is connected with the pallet transmission mechanism.

The pallet jack mechanism includes a pallet grabbing gear 55 and a pallet grabbing rack 56. The pallet grabbing gear 55 is rotatably installed in the grabbing mechanism body 45, and the axis of the pallet grabbing gear 55 is vertically arranged. The pallet grabbing racks 56 are symmetrically arranged on two sides of the pallet grabbing gear 55, and one ends of the two pallet grabbing racks 56 extend out of the grabbing mechanism main body 45 and are fixedly connected with the finger mounting plate 43. The pallet grabbing cylinder 51 is fixedly connected with one pallet grabbing rack 56 and pushes the pallet grabbing rack 56 to axially move, and the pallet grabbing rack 56 drives the other pallet grabbing rack 56 to move in the opposite direction through the pallet grabbing gear 55, so that pallet grabbing fingers 47 on two sides are synchronously opened and closed.

The outer side of the pallet grabbing rack 56 is provided with a bearing for pressing the pallet grabbing finger 56 on the pallet grabbing gear 55, and the bearing is mounted on the grabbing mechanism main body 45 through a bolt.

The two clamping plate power units are respectively arranged at two sides of the pallet grabbing cylinder 51 and respectively drive the two pairs of ceramic tile clamping plates 48 to open and close. Each clamping plate power unit comprises two clamping plate opening and closing air cylinders 50, and piston rods of the two clamping plate opening and closing air cylinders 50 are fixedly connected and synchronously move. The clamp plate limiting photoelectric switch 44 limits the tile clamp plate 48 by detecting the position of the piston rod of the clamp plate opening and closing cylinder 50.

A cleat drive mechanism is provided between the cleat power unit and the cleat mounting plate 49. The cleat drive mechanism includes a cleat opening and closing gear 52 and a cleat opening and closing rack 53. The gripper opening and closing gear 52 is rotatably installed on the gripping mechanism body 45, and the axis of the gripper opening and closing gear 52 is vertically disposed. The two clamping plate opening and closing racks 53 are symmetrically arranged on two sides of the clamping plate opening and closing gear 52, and the two clamping plate opening and closing racks 53 are respectively fixedly connected with the clamping plate mounting plates 49 for mounting the same pair of ceramic tile clamping plates 48. The piston rods of the two clamping plate opening and closing cylinders 50 are connected with one clamping plate opening and closing rack 53 and drive the clamping plate opening and closing rack 53 to move, and the clamping plate opening and closing rack 53 drives the other clamping plate opening and closing rack 53 to move in the opposite direction through the clamping plate opening and closing gear 52. Bearings for pushing the clamping plate opening and closing rack 53 to press the clamping plate opening and closing gear 52 are respectively arranged on two sides of the clamping plate opening and closing rack 53.

A tile sensor 54 is arranged below the pallet grabbing gear 55, and the tile sensor 54 is used for detecting whether the tile clamping plate 48 grabs tiles or not and detecting whether the pallet grabbing finger 47 grabs pallets or not.

The working process of the manipulator is as follows: firstly, the travelling mechanism drives the grabbing mechanism 7 to grab the pallet and place the pallet at a designated position. Then the travelling mechanism drives the grabbing mechanism 7 to grab the tiles, and the tiles are placed on the pallet in sequence, so that the tiles are piled. Compared with the traditional manipulator, the manipulator has the advantages that the degree of freedom is increased, the grabbing mechanism of the manipulator can rotate around the z axis, so that the stacking mode of the manipulator is various, and the stacking mode can be set according to user requirements.

Because the encoder is all installed to y axle running gear 2, x axle running gear 3, z axle running gear 4 and w axle rotary mechanism 6, when snatch mechanism 7 is close to the ceramic tile, snatch mechanism 7's walking or rotational speed is slower, and in the transportation process to the ceramic tile, snatch mechanism 7's speed is faster, has greatly improved work efficiency, thereby can not bump with the ceramic tile in addition and damage the ceramic tile. In addition, snatch mechanism 7 when cooperating with the production line, when the production of ceramic tile is faster, snatch mechanism 7's motion is also faster, and when ceramic tile production is slower, snatch mechanism 7's motion is also slower, has both cooperated the production line, has avoided snatch mechanism 7 to move too fast and has caused the phenomenon of energy waste again.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides a z axle running gear which characterized in that: the lifting mechanism comprises a z-axis upright post (23), a lifting mechanism for driving the z-axis upright post (23) to lift and a gravity balancing mechanism, wherein the gravity balancing mechanism is used for balancing the weight of the z-axis upright post (23);

the lifting mechanism comprises a z-axis chain and a z-axis power unit, two ends of the z-axis chain are respectively and fixedly connected with two ends of the z-axis upright post (23), and the z-axis power unit is connected with the z-axis chain through a z-axis chain wheel (30); a z-axis guiding mechanism for guiding the z-axis upright post (23) is arranged between the z-axis upright post (23) and the lifting mechanism;

the gravity balance mechanism comprises a balance cylinder (27) and a z-axis synchronous belt (28), the balance cylinder (27) and the lifting mechanism are kept relatively static, the lower end of the z-axis synchronous belt (28) is fixedly connected with the z-axis upright post (23), and the upper part of the z-axis synchronous belt is fixedly connected with a piston rod of the balance cylinder (27); the balance cylinder (27) is connected with a pressure regulating valve;

A balance guide mechanism is arranged between the gravity balance mechanism and the z-axis upright post (23);

the gravity balance mechanism is provided with a gravity balance tensioning mechanism.

2. The z-axis travel mechanism of claim 1, wherein: the balance guide mechanism comprises a guide shaft (24) and a guide sleeve (26), the guide shaft (24) is arranged on the gravity balance mechanism, the axis of the guide shaft (24) is parallel to the axis of the z-axis upright post (23), and the guide sleeve (26) is slidably sleeved on the guide shaft (24) and synchronously ascends and descends along with the z-axis upright post (23).

3. The z-axis travel mechanism of claim 1, wherein: the gravity balance tensioning mechanism comprises a z-axis synchronous belt tensioning wheel (25), and the z-axis synchronous belt tensioning wheel (25) is rotatably arranged on the gravity balance mechanism and synchronously ascends and descends with the z-axis upright post (23).

4. The z-axis travel mechanism of claim 1, wherein: the three z-axis chain wheels (30) are vertically arranged, the middle z-axis chain wheel (30) and the upper and lower z-axis chain wheels (30) are respectively arranged on two sides of the z-axis chain and are meshed with the z-axis chain, the meshing part of the z-axis chain is in a wavy line shape, and the z-axis power unit is connected with the middle z-axis chain wheel (30).

5. The z-axis travel mechanism of claim 1, wherein: the three z-axis guide mechanisms are arranged, one z-axis guide mechanism is arranged on one side of the z-axis upright post (23) where the z-axis chain is arranged, and two z-axis guide mechanisms are arranged on the side opposite to the side where the z-axis chain is arranged.

6. Manipulator with gravity balance mechanism, its characterized in that: the novel lifting mechanism comprises a frame (1), a y-axis running mechanism (2), an x-axis running mechanism (3), a w-axis rotating mechanism (6), a grabbing mechanism (7) and the z-axis running mechanism (4) according to any one of claims 1-5, wherein the y-axis running mechanism (2) is arranged on the frame (1), the x-axis running mechanism (3) is arranged on the y-axis running mechanism (2), a lifting mechanism of the z-axis running mechanism (4) is arranged on the x-axis running mechanism (3), the lower end of a z-axis upright post (23) is fixedly connected with the w-axis rotating mechanism (6), and the grabbing mechanism (7) is arranged on the w-axis rotating mechanism (6).