CN106429482B

CN106429482B - Manipulator capable of moving along y-axis at variable speed

Info

Publication number: CN106429482B
Application number: CN201611016034.5A
Authority: CN
Inventors: 蔡群龙; 李贝; 周继刚; 陈建军; 杨德钢; 李�杰; 杨知山
Original assignee: Individual
Current assignee: Cai Qunlong
Priority date: 2016-11-18
Filing date: 2016-11-18
Publication date: 2023-04-14
Anticipated expiration: 2036-11-18
Also published as: CN106429482A

Abstract

A mechanical arm capable of moving along a y-axis at variable speed belongs to the technical field of automation equipment. The method is characterized in that: the y-axis driving mechanism comprises a plurality of idler wheels and a y-axis power mechanism driving the idler wheels to rotate, the idler wheels are rotatably arranged at two ends of a y-axis beam, a synchronous belt pulley is coaxially arranged on each idler wheel, the idler wheels and the synchronous belt pulleys synchronously rotate, the plurality of synchronous belt pulleys are connected through a y-axis synchronous belt (16), and the y-axis power mechanism is connected with one synchronous belt pulley; a y-axis synchronous belt tensioning mechanism is arranged on one side of the y-axis synchronous belt (16); and an encoder is arranged on the y-axis power mechanism. The y-axis driving mechanism is convenient to disassemble and assemble, can be installed without arranging a guide rail on the rack, is stable to walk, and can control the moving speed of the y-axis beam; the manipulator capable of moving along the y-axis at variable speed has adjustable walking speed, high displacement accuracy along the y-axis and stable work.

Description

Manipulator capable of moving along y-axis at variable speed

Technical Field

A mechanical arm capable of moving along a y-axis at variable speed belongs to the technical field of automation equipment.

Background

A robot refers to an automatic operating device that can simulate some functions of a human hand and arm to grasp, carry objects or operate tools according to a fixed program. The mechanical arm is an industrial robot which appears earliest and a modern robot which appears earliest, 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 power, atomic energy and the like.

In the ceramic tile production industry, the main effect of manipulator is the transportation of ceramic tile and the pile up neatly of ceramic tile, and the removal of x axle, y axle and z axle can be accomplished usually to current manipulator, and x axle, y axle indicate respectively at horizontal vertical and horizontal removal, and the z axle indicates the removal in vertical direction to the realization transports or pile up neatly the ceramic tile in three-dimensional space. The existing manipulator has the following problems in transferring or stacking ceramic tiles:

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

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, and in order to ensure that the captured ceramic tiles cannot be damaged in the transferring process, the operation speed of the manipulator is required to be low, so that 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 captured tiles to lift, and because the number of the captured tiles is different every time, the weight of the z axis upright post during lifting is different every time, so that on one hand, the manipulator can vibrate during working, and on the other hand, the problem of collision caused by the fact that the moving speed cannot be accurately controlled can also occur;

4. the power device of the existing manipulator is usually a motor, and the motor is usually fixed on a rack, so that when the manipulator travels too far, especially far away from the motor, the problem of insufficient power can occur due to too long transmission distance, and the running speed is also very unstable;

5. when pile up neatly to the ceramic tile, for the follow-up transportation or the loading of convenient ceramic tile, the pallet need be placed usually, has both made things convenient for subsequent operation, can avoid again causing the damage to the ceramic tile. When the existing mechanical arm is used for stacking, the pallet needs to be manually placed. Because the manipulator need with the cooperation of ceramic tile production line, consequently in daily production process, the manipulator can not shut down, and this just needs the workman to place the pallet in the manipulator working process, has the potential safety hazard. And the requirement of current manipulator to the position of pallet is than higher, need place the pallet according to the position accuracy of manipulator work when placing, uses very inconveniently.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, and the manipulator which is adjustable in moving speed, high in moving precision and convenient to disassemble and assemble and can move along the y axis in a variable speed mode is provided.

The technical scheme adopted by the invention for solving the technical problems is as follows: this y axle actuating mechanism, its characterized in that: the device comprises a plurality of rollers and a y-axis power mechanism for driving the rollers to rotate, wherein the rollers are rotatably arranged at two ends of a y-axis beam, a synchronous belt pulley is coaxially arranged on each roller, the rollers and the synchronous belt pulleys synchronously rotate, the plurality of synchronous belt pulleys are connected through a y-axis synchronous belt, and the y-axis power mechanism is connected with one synchronous belt pulley; a y-axis synchronous belt tensioning mechanism is arranged on one side of the y-axis synchronous belt; and an encoder is arranged on the y-axis power mechanism.

Preferably, the roller is a driving rubber coating wheel.

Preferably, one side of the synchronous pulley is connected with the roller, and the other side of the synchronous pulley is fixed with a circular baffle plate with the diameter larger than that of the synchronous pulley.

Preferably, the y-axis synchronous belt tensioning mechanism comprises a y-axis synchronous belt tensioning wheel and a y-axis tensioning wheel swinging arm, the middle part of the y-axis tensioning wheel swinging arm is hinged on the y-axis beam, one end of the y-axis tensioning wheel swing arm is rotatably provided with a y-axis synchronous belt tensioning wheel, the other end of the y-axis tensioning wheel swing arm is detachably fixed on a y-axis beam, and the y-axis synchronous belt tensioning wheel compresses the y-axis synchronous belt.

Preferably, the y-axis beam on rotate and install wrap angle regulation band pulley and wrap angle regulation synchronous pulley, wrap angle regulation synchronous pulley set up wrap angle regulation band pulley with between the y-axis synchronous belt straining device, wrap angle regulation band pulley, wrap angle regulation synchronous pulley and y-axis synchronous belt straining device all compress tightly the y-axis synchronous belt to make the y-axis synchronous belt become the wave line shape.

Preferably, the axes of the roller and the synchronous pulley are both horizontally arranged.

A manipulator capable of moving along a y-axis at variable speed is characterized in that: the Y-axis driving mechanism is installed above the rack through rollers, the X-axis walking mechanism is installed on a Y-axis beam, the Z-axis walking mechanism is installed on the X-axis walking mechanism, the W-axis rotating mechanism is installed on the Z-axis walking mechanism, and the grabbing mechanism is installed on the W-axis rotating mechanism.

Preferably, the device also comprises a y-axis suspension mechanism, wherein the y-axis suspension mechanism comprises a y-axis beam, a horizontal guide mechanism and a vertical guide mechanism, the horizontal guide mechanism and the vertical guide mechanism are arranged on the y-axis beam, and the y-axis beam is arranged on the rack through the horizontal guide mechanism and the vertical guide mechanism.

Preferably, the number of the y-axis suspension mechanisms is two, and the two y-axis suspension mechanisms are symmetrically arranged at two ends of the x-axis travelling mechanism.

Preferably, the grabbing mechanism comprises a pallet grabbing mechanism and a ceramic tile grabbing mechanism which are arranged on a grabbing mechanism main body, and the w-axis rotating mechanism is connected with the grabbing mechanism main body.

Compared with the prior art, the manipulator capable of moving along the y axis in a variable speed manner has the beneficial effects that:

1. the y-axis power mechanism of the y-axis driving mechanism drives the rollers to rotate, walking is realized through the rollers, the assembly and disassembly are convenient, the walking is stable, the plurality of rollers are arranged on the y-axis beam, the bearing capacity of the y-axis beam is improved, the plurality of synchronous belt wheels are connected through the y-axis synchronous belt, the motion synchronism of each roller is ensured, the y-axis beam is more stable, and the walking accuracy is high; install the encoder on the y axle power device, the encoder can detect the rotational speed of y axle power device and feed back to the converter to control the rotational speed of y axle power device, and then control the translation rate of y axle crossbeam, the encoder can also detect the displacement of y axle crossbeam walking, thereby the displacement of accurate control y axle crossbeam removal.

2. The idler wheel is an active rubber-coated wheel, so that slipping after installation is avoided, and the moving accuracy of the y-axis beam is guaranteed.

3. The idler wheel and the circular blocking piece can limit the y-axis synchronous belt, so that the y-axis synchronous belt and the synchronous belt wheel which are not parallel to each other at the two ends are prevented from being separated, and the working stability of the y-axis synchronous belt is ensured.

4. The middle part of the swing arm of the y-axis tension pulley is hinged on the y-axis beam, so that the swing arm of the y-axis tension pulley forms a lever mechanism, and the y-axis synchronous belt tension pulley is driven to compress the synchronous belt, thereby avoiding the slipping phenomenon between the synchronous belt and the synchronous belt pulley and ensuring the moving accuracy of the y-axis beam.

5. The wrap angle adjusting belt wheel and the wrap angle adjusting synchronous belt wheel are matched with the y-axis synchronous belt tensioning mechanism, so that the y-axis synchronous belt is in a wavy line shape, the wrap angle between the y-axis synchronous belt and the synchronous belt wheel is increased, the length of a meshing part of the synchronous belt wheel and the y-axis synchronous belt is increased, and the bearing capacity between the y-axis synchronous belt and the synchronous belt wheel is improved.

6. The equal level of axis of gyro wheel and synchronous pulley sets up, makes things convenient for the transmission of gyro wheel and synchronous pulley to when y axle crossbeam has a plurality ofly, conveniently link to each other the synchronous pulley of a plurality of y axle crossbeams through drive mechanism, thereby can drive through a y axle power mechanism, it is convenient to drive.

7. This can follow y axle variable speed manipulator's the y axle actuating mechanism and pass through the gyro wheel and install in the frame, and walking speed is adjustable, and the walking is stable, and along the displacement accuracy height of y axle to the gravity of the ceramic tile or the pallet that have born the weight of each mechanism and snatched well, thereby make this manipulator job stabilization, the work precision height.

8. Each mechanism is installed in the frame through y axle suspension mechanism, has improved bearing capacity greatly, makes y axle actuating mechanism's walking can not receive the influence of the gravity of each mechanism and the pallet or the ceramic tile gravity of snatching, and the walking precision is higher.

9. The y-axis suspension mechanism is provided with two symmetrically arranged at two ends of the x-axis travelling mechanism, and the x-axis travelling mechanism is installed from two ends of the x-axis travelling mechanism, so that the stability of the x-axis travelling mechanism is ensured, and the bearing capacity of the x-axis travelling mechanism is also ensured.

10. Snatch to be equipped with the ceramic tile in the mechanism and snatch the mechanism and the pallet snatchs the mechanism, can snatch ceramic tile and pallet respectively, convenient to use does not need the manual work to place the pallet moreover when carrying out the pile up neatly to the ceramic tile, and the precision that the pallet was placed is high, and the pallet snatchs the mechanism and snatchs the mechanism with the ceramic tile and can the autonomous working, and can not exert an influence each other, has improved this kind that snatchs the mechanism and snatch article, convenient to use.

Drawings

Fig. 1 is a front view of a y-axis traveling mechanism.

Fig. 2 is a schematic top view of the y-axis traveling mechanism.

Fig. 3 is a perspective view of a robot movable along the y-axis at variable speeds.

Fig. 4 is a front view of the traveling mechanism.

Fig. 5 is a front view of the synchronizing shaft.

Fig. 6 is a front view of the x-axis traveling mechanism.

Fig. 7 is a front view of the z-axis traveling mechanism.

Fig. 8 is a perspective view of a z-axis power mechanism.

Fig. 9 is a partial enlarged view of a portion a in fig. 8.

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

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

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

Fig. 13 is a top view of the grasping mechanism.

Fig. 14 is a perspective view of the grasping drive mechanism.

In the figure: 1. the automatic tile storage machine comprises a rack 2, a y-axis travelling mechanism 3, an x-axis travelling mechanism 4, a z-axis travelling mechanism 5, a tile storage 6, a w-axis rotating mechanism 7, a grabbing mechanism 8, a pallet storage 9, an adjustable rubber coating wheel 10, a guide wheel 11, a driving rubber coating wheel 12, a wrap angle adjusting belt wheel 13, a wrap angle adjusting synchronous 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 travelling mounting rack 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 chain wheel 31, a tile storage box w axle motor 32, photoelectric switch mounting panel 33, buffering detection photoelectric switch 34, rotation detection photoelectric switch 35, rotation mounting bracket 36, limit baffle 37, cushion collar 38, stop collar 39, w axle stand 40, bearing sleeve 41, w axle chain 42, pallet clamping guide plate 43, finger mounting panel 44, splint limit photoelectric switch 45, grabbing mechanism body 46, finger guide bearing 47, pallet grabbing finger 48, tile splint 49, splint mounting panel 50, splint open and close cylinder 51, pallet grabbing cylinder 52, splint open and close gear 53, splint open and close rack 54, tile sensor 55, pallet grabbing gear 56, pallet grabbing rack.

Detailed Description

FIGS. 1 to 14 are preferred embodiments of the present invention, and the present invention will be further described with reference to FIGS. 1 to 14.

A y-axis driving mechanism comprises a plurality of rollers and a y-axis power mechanism driving the rollers to rotate, wherein the rollers are rotatably arranged at two ends of a y-axis beam, synchronous belt wheels are coaxially arranged on each roller and synchronously rotate with the synchronous belt wheels, the plurality of synchronous belt wheels are connected through a y-axis synchronous belt 16, and the y-axis power mechanism is connected with one synchronous belt wheel; a y-axis synchronous belt tensioning mechanism is arranged on one side of the y-axis synchronous belt 16; and an encoder is arranged on the y-axis power mechanism. The y-axis power mechanism of the y-axis driving mechanism drives the rollers to rotate, walking is realized through the rollers, the assembly and disassembly are convenient, the walking is stable, the plurality of rollers are arranged on the y-axis beam, the bearing capacity of the y-axis beam is improved, the plurality of synchronous belt wheels are connected through the y-axis synchronous belt 16, the motion synchronism of each roller is ensured, the y-axis beam is more stable, and the walking accuracy is high; install the encoder on the y axle power device, the encoder can detect the rotational speed of y axle power device and feed back to the converter to control the rotational speed of y axle power device, and then control the translation rate of y axle crossbeam, the encoder can also detect the displacement of y axle crossbeam walking, thereby the displacement of accurate control y axle crossbeam removal.

Specifically, the method comprises the following steps: as shown in fig. 1~2: the roller is a driving rubber coating wheel 11, the driving rubber coating wheel 11 is rotatably arranged on a y-axis beam, and a y-axis power mechanism is connected with the driving rubber coating wheel 11 and drives the driving rubber coating wheel 11 to rotate, so that the driving rubber coating wheel 11 drives the y-axis beam to move linearly. The driving rubber coating wheel 11 can increase friction, so that slipping is avoided, and the precision of linear movement of the y-axis beam is improved.

Two ends of the y-axis beam are symmetrically provided with driving rubber-covered wheels 11, synchronous belt wheels are coaxially mounted on the two driving rubber-covered wheels 11, the driving rubber-covered wheels 11 rotate synchronously with the synchronous belt wheels, the synchronous belt wheels at two ends of the y-axis beam are connected through a y-axis synchronous belt 16, and the driving rubber-covered wheels 11 are pressed above the rack 1 by means of gravity of the y-axis beam.

The driving rubber-covered wheel 11 and the synchronous belt wheel are integrally arranged. One side of the synchronous belt wheel, which is far away from the driving rubber-coated wheel 11, is fixed with a circular separation blade through a bolt, and the diameter of the circular separation blade is larger than that of the synchronous belt wheel. The outer edge that circular separation blade is close to synchronous pulley one side is the stop part, one side that initiative rubber-coated wheel 11 is close to synchronous pulley also is equipped with the stop part with circular separation blade symmetry, two stop parts are the arc of middle part evagination, and the distance between two stop parts is crescent along synchronous pulley's radius direction from inside to outside, thereby avoid leading to y axle hold-in range 16 and synchronous pulley separation because synchronous pulley's at both ends axis nonparallel, make y axle hold-in range 16 job stabilization, the influence of assembly error to y axle hold-in range 16 has been reduced, and do not influence the precision and the stability of work.

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 a synchronous belt wheel, and the travelling 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 swing arm 15.y axle take-up pulley swing arm 15 sets up the top at y axle hold-in range 16, the middle part of y axle take-up pulley swing arm 15 articulates on y axle crossbeam, make y axle take-up pulley swing arm 15 form lever mechanism, y axle take-up pulley swing arm 15's one end is rotated installation y axle hold-in range take-up pulley 14, the other end can be dismantled through the bolt and fix on y axle crossbeam, and make y axle hold-in range take-in pulley 14 compress tightly y axle hold-in range 16, the cover is equipped with a plurality of spring pads on the bolt, after installing y axle hold-in range 16, take-up y axle hold-in range 16 through the bolt, after working a period, the spring pad is adjusted y axle hold-in range 16's tensile force, do not need frequent to take-up with y axle hold-in range 16, and can avoid producing impact load because y axle hold-in range 16 relaxes, thereby reduce y axle hold-in range 16's life, and the stability of work have further been improved y axle hold-in range 16. The y-axis synchronous belt tensioning wheel 14 is a belt wheel, and the y-axis tensioning wheel swinging 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 compresses the y-axis synchronous belt 16, the y-axis tensioning wheel swing arm 15 is fixed through a bolt in the middle of the y-axis tensioning wheel swing arm 15.

And the left side of the y-axis synchronous belt tensioning wheel 14 is sequentially provided with a wrap angle adjusting belt wheel 12 and a wrap angle adjusting synchronous belt wheel 13 from left to right, and the wrap angle adjusting belt wheel 12 and the wrap angle adjusting synchronous belt wheel 13 are both rotatably arranged on a y-axis 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 tension pulley 14. The wrap angle adjusting synchronous belt wheel 13 is arranged above the y-axis synchronous belt 16, and the wrap angle adjusting belt wheel 12 is arranged between the y-axis synchronous belt 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 belt wheels at the two ends is increased, the bearing capacity of the meshing part of the synchronous belt wheels and the y-axis synchronous belt 16 is increased, and the transmission stability is ensured.

As shown in fig. 3: the manipulator capable of moving along the y axis in a variable speed mode comprises a rack 1, a travelling mechanism, a w-axis rotating mechanism 6 and a grabbing mechanism 7, wherein the travelling mechanism is installed on the rack 1. The travelling mechanism is installed on the frame 1, the w-axis rotating mechanism 6 is installed on the travelling mechanism, and the grabbing mechanism 7 is installed on the w-axis rotating mechanism 6. The lower part of the frame 1 is fixed on the ground, so that the mechanical arm can work more stably and cannot shake in the working process.

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

The walking of the walking mechanism along the vertical direction is defined as the walking along the z-axis, the walking of the walking mechanism along the width direction of the rack 1 is defined as the walking along the x-axis, the walking of the walking mechanism along the length direction of the rack 1 is defined as the walking along the y-axis, and the rotation around the z-axis is defined as the motion along the w-axis.

The bottom of frame 1 is equipped with pallet storehouse 8 and the ceramic tile storehouse 5 that is used for placing the pallet, and pallet storehouse 8 is used for placing the pallet, and ceramic tile is placed to ceramic tile storehouse 5, and this manipulator transports the ceramic tile promptly and carries out the pile up neatly in the ceramic tile storehouse 5. The pallet is for when the ceramic tile pile up neatly, 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 be transported the ceramic tile behind the pile up neatly. The pallet storehouse 8 sets up in the middle part of frame 1, and ceramic tile storehouse 5 has two, and the symmetry sets up in the both sides of pallet storehouse 8, and pallet storehouse 8 equals with two ceramic tile storehouse 5's distance, can guarantee like this that the pallet in the pallet storehouse 8 removes the distance in every ceramic tile storehouse 5 and equals, conveniently places the pallet.

As shown in fig. 4: 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 installed on the rack 1, the x-axis travelling mechanism 3 is installed on the y-axis travelling mechanism 2, and the z-axis travelling mechanism 4 is installed on the x-axis travelling mechanism 3. The w-axis rotating mechanism 6 is fixedly connected with the z-axis travelling 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 transferring process, and stacking in 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 rack 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 move synchronously, so that the problem that the speed of the y-axis travelling mechanism 2 is unstable in the travelling process due to the overlong length of the rack 1 is solved. 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. 1: the suspension mechanism comprises a y-axis beam and a y-axis guide mechanism arranged on the y-axis beam. And rack guide rails are arranged above the square steel at the two sides of the rack 1, and the y-axis guide mechanism is connected with the rack guide rails at the two sides of the rack 1 and guides the motion of the suspension mechanism to enable the suspension mechanism to move along a straight line. The x-axis travelling mechanism 3 is fixedly connected with the y-axis 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 reassuring direction, and the vertical guide mechanism guides the movement of the y-axis beam in the vertical direction.

Vertical guiding mechanism is including setting up adjustable rubber coating wheel 9 in y axle crossbeam below, and adjustable rubber coating wheel 9 has two, and the symmetry sets up the both ends at the y axle crossbeam. The adjustable rubber coating wheel 9 is arranged below the driving rubber coating wheel 11 through a rotating shaft, a bolt for pushing the adjustable rubber coating wheel 9 to lift is arranged below the rotating shaft of the adjustable rubber coating wheel 9, the bolt is arranged on a y-axis cross beam through threads, and the adjustable rubber coating wheel 9 is pushed to lift, so that the adjustment of the adjustable rubber coating wheel 9 in the vertical direction 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 rack guide rail and clamp the rack guide rail, so that the y-axis beam is guided in the vertical direction.

As shown in fig. 2: the two horizontal guide mechanisms are symmetrically arranged at two ends of the y-axis beam. The horizontal guide mechanism comprises guide wheels 10 arranged on two sides of the y-axis beam, and the axis of each guide wheel 10 is perpendicular to the axis of the adjustable rubber coating wheel 9 and is 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 rack guide rail and clamp the rack 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 to ensure that the y-axis beam can move along a straight line, so that the movement precision of the grabbing mechanism 7 is ensured.

As shown in fig. 5: the y-axis power mechanism includes a synchronizing shaft 17 and a y-axis motor 18. A synchronizing shaft 17 is arranged between the two suspension means, the length of the synchronizing shaft 17 being equal to the width of the frame 1 along the x-axis. The synchronizing shaft 17 is connected with a y-axis motor 18, the y-axis motor 18 is arranged at the left end of the synchronizing shaft 17, and an output shaft of the y-axis motor 18 is connected with an installation part of the synchronizing shaft 17 and drives the synchronizing shaft 17 to rotate through gear transmission. The transmission parts at the two ends of the synchronizing shaft 17 are respectively and fixedly connected with the synchronizing belt wheels at the corresponding positions on the two y-axis cross beams through the 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 synchronously move forward without inclination.

The synchronizing shaft 17 comprises a steel pipe in the middle and shaft heads at two ends, one end of each shaft head extends into the steel pipe and is welded with the steel pipe, and the other end of each shaft head is coaxially provided with the driving rubber-covered wheel 11. The encoder is installed at the one end of synchronizing shaft 17, and the encoder rotates along with synchronizing shaft 17 synchronization to give the converter with rotational speed signal feedback, conveniently control y axle running gear 2's walking speed, can also detect the angle that synchronizing shaft 17 rotated, thereby detect the distance of walking along y axle direction.

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

As shown in fig. 6: the x-axis traveling mechanism 3 includes an x-axis timing belt 21 and an x-axis power unit. The x-axis power unit is arranged on an x-axis beam 22, the length of the x-axis beam 22 is equal to that of the synchronizing shaft 17, and two ends of the x-axis beam 22 are respectively fixedly connected with the middle of the y-axis beam and move synchronously 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 belt pulley is installed on an output shaft of the x-axis motor 19, and a synchronous belt pulley is also installed at the other end of the x-axis beam 22. There is walking mounting bracket 20 on x axle crossbeam 22 slidable mounting, is equipped with x axle guiding mechanism between walking mounting bracket 20 and the x axle crossbeam 22, and x axle guiding mechanism can make walking mounting bracket 20 follow rectilinear motion to the stability of snatching the motion of mechanism 7 has been guaranteed. The two ends of the x-axis synchronous belt 21 are fixedly connected with the walking mounting frame 20 after bypassing the synchronous belt pulleys at the two ends of the x-axis beam 22, and the walking mounting frame 20 is driven to move synchronously 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 further 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 x axle motor 19 is down and install in x axle crossbeam 22 top, x axle crossbeam 22's top still is equipped with the axis adjustment mechanism who adjusts synchronous pulley's axis, axis adjustment mechanism is the bolt that sets up in x axle crossbeam both sides, the lower extreme of bolt promotes the synchronous pulley mount pad and reciprocates, thereby adjust synchronous pulley's axis and the angle of vertical face, make and to produce the thrust that promotes x axle hold-in range 21 rebound between synchronous pulley and the x axle hold-in range 21, be used for offsetting the gravity of x axle hold-in range 21, thereby avoid x axle hold-in range 21 to break away from synchronous pulley under the action of gravity.

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

The x-axis guide mechanisms are arranged on the upper side and the lower side of the x-axis beam 22 respectively, the x-axis guide mechanisms on the upper side are arranged on one side away from the z-axis travelling mechanism 4, and the x-axis guide mechanisms on the lower side are arranged on one side close to the z-axis travelling mechanism 4, so that unilateral loads received by the travelling mounting frame 20 can be offset, and the stability and the precision of the travelling mounting frame 20 are guaranteed.

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

Coaxially mounted on the synchronous pulley of the one end of keeping away from x axle motor 19 has an encoder, and the encoder can feed back the rotational speed signal of x axle motor 19 to the converter to through the rotational speed of converter control x axle motor 19, and then control x axle running gear 3's walking speed, can also detect the angle that x axle motor 19 rotated, thereby detect the distance of walking along the x axle direction.

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

As shown in fig. 7: the z-axis traveling mechanism comprises a z-axis upright column 23 and a lifting mechanism for driving the z-axis upright column 23 to lift. The z-axis upright column 23 is slidably mounted on the walking mounting frame 20, a z-axis guide mechanism is arranged between the z-axis upright column 23 and the walking mounting frame 20, and the z-axis guide mechanism can guide the lifting of the z-axis upright column 23, so that the lifting stability of the z-axis upright column 23 is ensured. The w-axis rotating mechanism 6 is fixedly connected with the lower end of the z-axis upright post 23. The walking mounting frame 20 is further provided with a gravity balance mechanism, and the gravity balance mechanism is used for balancing the z-axis upright post 23 and the gravity of the mechanism installed on the z-axis upright post 23, so that the lifting stability of the z-axis upright post 23 is ensured.

The gravity balance mechanism comprises a balance cylinder 27 and a z-axis chain 28, the lower end of the balance cylinder 27 is mounted 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 end of the z-axis chain 28 is fixedly connected with the middle part of the z-axis upright post 23, and the upper part of the z-axis chain is fixedly connected with the piston rod of the balance cylinder 27, so that the gravity of the z-axis upright post 23 is balanced, the force born by the lifting mechanism is reduced, the lifting mechanism can walk more stably, and the working precision is further ensured. 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, the z-axis upright post 23 can be prevented from falling off when power is off, and the use is safe.

A gravity balance tensioning mechanism is mounted 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 mounted on a piston rod of the balance cylinder 27 and synchronously ascends and descends along with the piston rod of the balance cylinder 27, and the upper end of the z-axis chain 28 is fixedly connected with the piston rod of the balance cylinder 27 after bypassing the z-axis synchronous belt tensioning wheel 25. And 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 the bolt pushes the z-axis synchronous belt tensioning wheel 25 in the axial direction of the z-axis synchronous belt tensioning wheel 25 and tensions 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 ascends and descends along with the piston rod of the balance cylinder 27, and the axis of the guide shaft 24 is parallel to that of the balance cylinder 27. The guide sleeve 26 is fixedly connected with the z-axis upright post 23, and the guide sleeve 26 is sleeved on the outer side of the guide shaft 24 in a sliding manner. 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 the balance cylinder 27 is prevented from being damaged due to the fact that the z-axis upright post 23 inclines during lifting.

The balance guide mechanisms are two and 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 post 23, and the lower end of the z-axis chain is fixed at the bottom end of the z-axis upright post 23. The z-axis power unit is connected with the z-axis chain through a z-axis sprocket 30 and drives the z-axis upright post 23 to lift.

The number of the z-axis guide mechanisms is three, the z-axis guide mechanisms are respectively arranged on two opposite sides of the z-axis upright post 23, one side, where the z-axis chain is installed, of the z-axis upright post 23 is provided with one guide mechanism, and the other side, opposite to the side, where the z-axis chain is installed, of the z-axis upright post 23 is provided with two z-axis guide mechanisms, so that loads brought by the z-axis upright post 23 can be well distributed, and the z-axis upright post 23 is guaranteed to run stably.

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

The upper end and the lower end of the z-axis upright column 23 are both provided with limiting blocks, so that the lifting of the z-axis upright column 23 is limited.

As shown in figure 8~9: 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 sprocket 30. The z-axis motor 29 is fixed on the walking mounting frame 20, the z-axis chain wheel 30 is connected with an output shaft of the z-axis motor 29, and the z-axis chain wheel 30 is matched with the z-axis chain, so that the lifting of the z-axis upright column 23 is realized. The z-axis chain has three rows. One side of the walking mounting rack 20 close to the z-axis upright column 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 column 23 is arranged in one side of the walking mounting rack 20. The z-axis sprocket 30 is mounted within the travel mount 20. The upper side of the walking mounting frame 20 is provided with a through hole, the upper side of the walking mounting frame 20 is also provided with a flange plate coaxial with the through hole through a bolt, and an output shaft of the z-axis motor 29 passes through the flange plate and the through hole and then is connected with the z-axis chain wheel 30 and is fixed on the flange plate through a bolt, so that the disassembly and maintenance of the z-axis motor 29 are facilitated, and the mutual interference among all mechanisms is avoided.

The number of the z-axis sprockets 30 is three, and an output shaft of the z-axis motor 29 is coaxially connected with the middle z-axis sprocket 30 and drives the middle z-axis sprocket 30 to rotate. The upper side and the lower side of the z-axis chain wheel 30 are respectively arranged on one side of the z-axis chain far away from the z-axis upright post 23, the middle z-axis chain wheel 30 is arranged between the z-axis chain and the z-axis upright post 23, the distance between the axis of the upper side and the lower side of the z-axis chain wheel 30 and the z-axis upright post 23 is equal, the distance is smaller than the distance between the axis of the middle z-axis chain wheel 30 and the z-axis upright post 23, the wrap angle between the z-axis chain wheel 30 and the z-axis chain is increased, the meshing strength between the z-axis chain wheel 30 and the z-axis chain is improved, and therefore the fact that the z-axis chain wheel 30 can drive the z-axis upright post 23 to lift through the z-axis chain is guaranteed. An encoder is coaxially installed on the z-axis sprocket 30 in the middle, and the encoder can detect the rotating speed and the rotating angle of the z-axis motor 29, so that the lifting speed and the lifting distance of the z-axis upright 23 can be detected.

As shown in fig. 10: the w-axis rotating mechanism 6 comprises a w-axis upright post 39, a rotating unit rotatably mounted on the w-axis upright post 39 and a w-axis power unit, 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 rotation around the w-axis upright post 39, increases the motion form of the grabbing mechanism 7 rotating around the z axis, increases the flexibility of the grabbing mechanism 7, and can drive the grabbed tiles to rotate when the tiles are transferred or stacked, so that the postures of the tiles are changed, stacking can be performed as required, and the application range is wide; the detection unit can detect the angle the rotation unit has rotated, thereby ensuring the accuracy of the gripping mechanism 7.

The w-axis power unit is a w-axis motor 31, and the w-axis motor 31 is arranged on the rotary mounting frame 35. The rotary mounting bracket 35 is disposed at a lower portion of the w-axis column 39 and is fixedly connected to the w-axis column 39. The turning unit is disposed below the rotary mount 35.

The upper end of the w-axis column 39 is provided with a buffer mechanism for buffering in the vertical direction. Because the grabbing mechanism 7 is installed below the w-axis rotating mechanism 6, in the working process, when the grabbing mechanism touches the grabbed ceramic tiles, the buffer mechanism can allow the w-axis upright post 39 to slightly displace in the vertical direction, on one hand, the damage to the w-axis rotating mechanism 6 when the grabbing mechanism 7 is in contact with the ceramic tiles to be grabbed can be avoided, on the other hand, the grabbing mechanism 7 can sense the ceramic tiles to be grabbed, and therefore the grabbing stability of the grabbing mechanism 7 is improved.

The buffer mechanism comprises a buffer sleeve 37 and an axial limiting mechanism, the buffer sleeve 37 is sleeved at the upper end of the w-axis upright post 39 in a sliding mode, 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.

Be equipped with circumference stop gear between cushion collar 37 and the rotating installation frame 35, circumference stop gear can prevent that w axle stand 39 and cushion collar 37 from taking place relative rotation to improve the precision of w axle rotary mechanism 6's work, avoided taking place the ascending error of rotation direction at the during operation.

The circumference stop gear includes circumference gag lever post and spacing bearing, and the cross section of circumference gag lever post is the 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 limiting bearings are symmetrically arranged on two sides of the circumferential limiting rod and are fixed on the outer side of the buffer sleeve 37 through bolts. The circumferential limiting rod synchronously goes up and down along with the w-axis upright post 39, and the limiting bearing limits the circumferential limiting rod, so that the w-axis upright post 39 and the buffer sleeve 37 are prevented from relatively rotating.

One side of w axle stand 39 is equipped with the buffering detection photoelectric switch 33 that is used for detecting the cushion collar 37 position, and buffering detection photoelectric switch 33 is installed on photoelectric switch mounting panel 32, and the lower extreme of photoelectric switch mounting panel 32 is installed on rotatory mounting bracket 35, and the vertical setting of photoelectric switch mounting panel 32. There are two buffer sensing photoelectric switches 33, and two buffer sensing photoelectric switches 33 are vertically spaced. When the w-axis column 39 and the buffer sleeve 37 axially move relative to each other, and the buffer detection photoelectric switch 33 above detects the buffer sleeve 37, that is, when the grasping mechanism 7 comes into contact with an article to be grasped, the grasping mechanism 7 installed below the w-axis rotating mechanism 6 stops moving in the vertical direction. The buffer below detects the photoelectric switch 33 and carries out limit protection on the movement of the w-axis stand column 39, so that the phenomenon that the movement distance of the w-axis stand column 39 is large and the equipment is damaged is avoided.

The detection unit comprises a rotation detection photoelectric switch 34 for detecting the rotation angle of the grabbing mechanism 7 connected with the rotation unit and limiting the rotation of the grabbing mechanism 7. Rotatory detection photoelectric switch 34 has two, and two rotatory detection photoelectric switches 34 are installed on rotatory mounting bracket 35, and a rotatory detection photoelectric switch 34 is used for detecting the angle that snatchs mechanism 7 and rotate to carry out accurate control to the turned angle who snatchs mechanism 7, another detection switch is used for carrying on spacingly to the rotation that snatchs mechanism 7, thereby avoids the turned angle who snatchs mechanism 7 to exceed the turned angle scope of settlement.

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

Be equipped with fixation nut on the w axle stand 39 of spacing baffle 36 top, fixation nut cooperatees with the spacing platform of cushion collar 37, offsets w axle stand 39 and the gravity of installing at the rotatory mounting bracket 35 of w axle stand 39 to make w axle stand 39 install on cushion collar 37. The w-axis rotating mechanism 6 is connected with a walking 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 column 39, and the inner diameter of the mounting hole is larger than the outer diameter of the w-axis column 39. The w-axis upright post 39 below the rotary mounting frame 35 is sleeved with a bearing sleeve 40, the diameter of the upper part of the bearing sleeve 40 is smaller than that of the lower part, the upper part of the bearing sleeve 40 extends into the mounting hole, and the lower part of the rotary mounting frame 35 is supported on a boss on the outer side of the bearing sleeve 40. The lower end of the w-axis upright post 39 is fixed with a thrust bearing through a fixing nut, the lower part of the bearing sleeve 40 is supported on the thrust bearing, the w-axis upright post 39 on the upper part of the rotary mounting frame 35 is provided with a nut, the rotary mounting frame 35 is pressed on the thrust bearing, and the fixed mounting of the rotary mounting frame 35 is completed. 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 rotating unit is an output chain wheel, the output chain wheel and the w-axis upright post 39 are coaxially arranged, the inner diameter of the output chain wheel is larger than the outer diameter of the w-axis upright post 39, and the upper part of the output chain wheel is fixedly connected with the bearing sleeve 40. The rotating 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 gears. Install the encoder in the drive sprocket top, encoder and drive sprocket synchronous revolution, the encoder detects drive sprocket's speed signal to feed back speed signal to the converter, can realize adjusting w axle motor 31's output rotational speed, thereby accomplish the regulation to the output sprocket rotational speed, the encoder can also detect the angle that drive sprocket rotated.

As shown in FIGS. 12 to 13: the grabbing mechanism 7 comprises a pallet grabbing mechanism and a ceramic tile grabbing mechanism. The pallet grabbing mechanism and the ceramic tile grabbing mechanism are both installed on the grabbing mechanism body 45, and the grabbing mechanism body 45 is a cuboid shell. An 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 rotate synchronously.

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 snatchs finger 47 is the V-arrangement, and the pallet snatchs the one end of finger 47 and links to each other with finger power unit, and the other end is equipped with and is used for carrying out the baffle that blocks to the pallet that snatchs, avoids snatching in-process pallet landing to cause danger. The pallet grabbing fingers 47 are four and are respectively arranged at four corners of the grabbing mechanism body 45. The pallet grabbing finger 47 is mounted on the finger mounting plate 43, and the finger mounting plate 43 is fixedly connected with the finger power unit.

The grabbing mechanism body 45 is provided with a pallet clamping guide plate 42, the pallet clamping guide plate 42 corresponds to pallet grabbing fingers 47 one by one, and the pallet clamping guide plate 42 is fixed on the side face of the grabbing mechanism body 45. The free end of the pallet clamping guide plate 42 is gradually concave arc from bottom to top. The pallet grabbing fingers 47 are hinged to the finger mounting plate 43, and a torsion spring is provided between the pallet grabbing fingers 47 and the finger mounting plate 43, so that the pallet grabbing fingers 47 are in an open state when being separated from the pallet clamping guide plate 42. The pallet gripping fingers 47 are pivotally mounted with finger guide bearings 46, the finger guide bearings 46 being disposed between the hinge point and the pallet clamping guide plate 42. The finger power unit pushes the pallet grabbing fingers 47 to move towards the left side and the right side 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 torsional springs and the gravity of the pallet grabbing fingers 47; the finger power unit drives the pallet grabbing finger 47 to move from two sides to the middle, so that the finger guide bearing 46 enters the free end of the pallet clamping guide plate 42, and the pallet clamping guide plate 42 guides the pallet grabbing finger 47, thereby completing grabbing and clamping of the pallet.

The tile gripping mechanism includes a tile clamping plate 48 and a clamping plate power unit for pushing the tile clamping plate 48 to move axially. The upper end of the tile clamping plate 48 is mounted on the clamping plate mounting plate 49, and the other end is a free end. The clamp power unit is connected to the clamp mounting plate 49 and pushes the clamp mounting plate 49 to move horizontally, thereby clamping and releasing the tile. One side that ceramic tile splint 48 and ceramic tile contacted is equipped with rubber, is used for the friction of increase with the ceramic tile on the one hand, and on the other hand can produce the cushioning effect, avoids bumping with the ceramic tile to damage the ceramic tile. The lower end of the tile clamping plate 48 is inclined toward the middle to better clamp the tile.

When gripping a tile in the thickness direction, the tile retaining plates 48 may be mounted at one end of the retaining plate mounting plate 49 near the middle of the gripping mechanism main body 45, and when gripping a tile in the width or length direction, the tile retaining plates 48 are mounted at one end of the retaining plate mounting plate 49 near the outside of the gripping mechanism main body 45. Two tile clamping plates 48 for mutually matching and clamping tiles are in a pair, the tile clamping plates 48 are in two pairs, and the clamping plate mounting plates 49 correspond to the tile clamping plates 48 one by one.

A tile grabbing limiting unit is arranged above the grabbing mechanism main body 45. The tile grabbing limiting unit is a clamping plate limiting photoelectric switch 44, two clamping plate limiting photoelectric switches 44 are arranged in each pair, and the two clamping plate limiting photoelectric switches 44 are used for detecting the initial position and the final position of the clamping plate power unit respectively, so that limiting is completed. The two pairs of the clamping plate limit photoelectric switches 44 are respectively used for limiting the clamping plate power unit which drives the tile clamping plates 48 to move.

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

As shown in fig. 14: a pallet transmission mechanism is provided between the finger power unit and the finger mounting plate 43. The finger power unit snatchs cylinder 51 for the pallet, and the pallet snatchs cylinder 51 has one, and installs at the middle part of snatching mechanism main part 45, and the pallet snatchs cylinder 51's piston rod and pallet drive mechanism link to each other, and finger mounting panel 43 links to each other with pallet drive mechanism.

The pallet drive mechanism includes a pallet grabbing gear 55 and a pallet grabbing rack 56. The pallet grabbing gear 55 is rotatably mounted in the grabbing mechanism body 45, and the axis of the pallet grabbing gear 55 is vertically arranged. The pallet grabbing racks 56 are two, 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 move axially, the pallet grabbing rack 56 drives the other pallet grabbing rack 56 to move in the opposite direction through the pallet grabbing gear 55, and therefore the pallets on the two sides grab the pallet and the fingers 47 are synchronously opened and closed.

The outside of the pallet grabbing rack 56 is provided with a bearing for pressing the pallet grabbing finger 56 onto 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 cylinders 50, and piston rods of the two clamping plate opening and closing cylinders 50 are fixedly connected and move synchronously. The clamp plate limit photoelectric switch 44 limits the tile clamp plates 48 by detecting the position of the piston rods of the clamp plate opening and closing cylinder 50.

A splint transmission mechanism is arranged between the splint power unit and the splint mounting plate 49. The splint driving mechanism includes a splint opening and closing gear 52 and a splint opening and closing rack 53. The splint opening and closing gear 52 is rotatably mounted on the grasping mechanism main body 45, and the axis of the splint opening and closing gear 52 is vertically arranged. The two splint opening and closing racks 53 are symmetrically arranged on two sides of the splint opening and closing gear 52, and the two splint opening and closing racks 53 are respectively fixedly connected with the splint mounting plate 49 for mounting the same pair of tile splints 48. The piston rods of the two splint opening and closing cylinders 50 are connected with one splint opening and closing rack 53 and drive the splint opening and closing rack 53 to move, and the splint opening and closing rack 53 drives the other splint opening and closing rack 53 to move in the opposite direction through the splint opening and closing gear 52. Two sides of the splint opening and closing rack 53 are respectively provided with a bearing for pushing the splint opening and closing rack 53 to press the splint opening and closing gear 52.

The pallet grabbing gear 55 is provided with a tile sensor 54 below, and the tile sensor 54 is used for detecting whether the tile clamping plate 48 grabs tiles and detecting whether the pallet grabbing finger 47 grabs the pallet.

The working process of the manipulator is as follows: firstly, the walking mechanism drives the grabbing mechanism 7 to grab the pallet, and the pallet is placed at a designated position. Then the travelling mechanism drives the grabbing mechanism 7 to grab the ceramic tiles and place the ceramic tiles on the pallet in sequence, so that the ceramic tiles are stacked. This manipulator is compared and has been increased the degree of freedom with traditional manipulator, makes snatching of this manipulator mechanism can be around the z rotation of axes to the pile up neatly mode that makes this manipulator is various, and the mode of pile up neatly can set for according to the user's demand.

Because y axle running gear 2, x axle running gear 3, z axle running gear 4 and w axle rotary mechanism 6 all install the encoder, when snatching mechanism 7 and being close to the ceramic tile, the walking or the slew velocity of snatching mechanism 7 is slower, and to the ceramic tile transportation in-process, the speed of snatching mechanism 7 is very fast, has greatly improved work efficiency, thereby can not collide the damage ceramic tile with the ceramic tile moreover. In addition, when grabbing mechanism 7 and production line cooperation, when the production of ceramic tile is faster, the motion of grabbing mechanism 7 is also faster, when the production of ceramic tile is slower, the motion of grabbing mechanism 7 is also slower, has both cooperated the production line, has avoided again that snatching mechanism 7 and having run too fast and cause the extravagant phenomenon of energy.

The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention will still fall within the protection scope of the technical solution of the present invention.

Claims

1. A manipulator capable of moving along a y-axis at variable speed is characterized in that: the automatic grabbing device comprises a rack (1), an x-axis travelling mechanism (3), a z-axis travelling mechanism (4), a w-axis rotating mechanism (6), a grabbing mechanism (7) and a y-axis driving mechanism, wherein the y-axis driving mechanism is installed above the rack (1) through a roller, the x-axis travelling mechanism (3) is installed on a y-axis beam, the z-axis travelling mechanism (4) is installed on the x-axis travelling mechanism (3), the w-axis rotating mechanism (6) is installed on the z-axis travelling mechanism (4), and the grabbing mechanism (7) is installed on the w-axis rotating mechanism (6);

the y-axis driving mechanism comprises a plurality of idler wheels and a y-axis power mechanism driving the idler wheels to rotate, the idler wheels are rotatably arranged at two ends of a y-axis beam, a synchronous belt pulley is coaxially arranged on each idler wheel, the idler wheels and the synchronous belt pulleys synchronously rotate, the plurality of synchronous belt pulleys are connected through a y-axis synchronous belt (16), and the y-axis power mechanism is connected with one synchronous belt pulley; a y-axis synchronous belt tensioning mechanism is arranged on one side of the y-axis synchronous belt (16); an encoder is arranged on the y-axis power mechanism;

the y-axis synchronous belt tensioning mechanism comprises a y-axis synchronous belt tensioning wheel (14) and a y-axis tensioning wheel swing arm (15), the middle part of the y-axis tensioning wheel swing arm (15) is hinged to the y-axis beam, one end of the y-axis tensioning wheel swing arm (15) is rotatably provided with the y-axis synchronous belt tensioning wheel (14), the other end of the y-axis tensioning wheel swing arm is detachably fixed to the y-axis beam through a bolt, and the y-axis synchronous belt tensioning wheel (14) tightly presses the y-axis synchronous belt (16); a plurality of spring pads are sleeved on the bolts and used for adjusting the tension of the y-axis synchronous belt (16);

the pallet grabbing mechanism comprises pallet grabbing fingers (47) and a finger power unit for pushing the pallet grabbing fingers (47) to stretch out and clamp, one end of each pallet grabbing finger (47) is connected with the finger power unit, the other end of each pallet grabbing finger is provided with a baffle for blocking the grabbed pallet, the number of the pallet grabbing fingers (47) is four, the four pallet grabbing fingers are respectively arranged at four corners of a grabbing mechanism main body (45), the pallet grabbing fingers (47) are arranged on a finger mounting plate (43), and the finger mounting plate (43) is fixedly connected with the finger power unit; snatch and be equipped with pallet on mechanism main part (45) and press from both sides tight deflector (42), the free end that pallet pressed from both sides tight deflector (42) is for being by the lower supreme arc of indent gradually, the pallet snatchs and is equipped with the torsional spring between finger (47) and the finger mounting panel (43), make the pallet snatch finger (47) be in the state of opening when breaking away from pallet clamp tight deflector (42), the pallet snatchs and rotates on finger (47) and installs finger guide bearing (46), finger power unit drives the pallet and snatchs finger (47) and move to the centre by both sides, make finger guide bearing (46) get into the free end that pallet pressed from both sides tight deflector (42), pallet clamp tight deflector (42) snatchs finger (47) to the pallet and leads, the completion is pressed from both sides tightly to snatching of pallet.

2. The y-axis variable speed manipulator of claim 1, further comprising: the roller is a driving rubber coating wheel (11).

3. The manipulator of claim 1 or 2, being capable of variable speed movement along the y-axis, wherein: one side of the synchronous belt wheel is connected with the roller, and the other side of the synchronous belt wheel is fixed with a circular baffle plate with the diameter larger than that of the synchronous belt wheel.

4. The y-axis variable speed manipulator of claim 1, further comprising: y axle crossbeam on rotate and install cornerite and adjust band pulley (12) and cornerite and adjust synchronous pulley (13), cornerite adjust synchronous pulley (13) set up in cornerite adjust band pulley (12) and between the Y axle hold-in range straining device, cornerite adjust band pulley (12), cornerite adjust synchronous pulley (13) and Y axle hold-in range straining device and all compress tightly Y axle hold-in range (16) to make Y axle hold-in range (16) become the wave threadiness.

5. The y-axis variable speed manipulator of claim 1, further comprising: the axes of the roller and the synchronous pulley are both horizontally arranged.

6. The y-axis variable speed manipulator of claim 1, further comprising: the Y-axis suspension mechanism comprises a Y-axis beam, a horizontal guide mechanism and a vertical guide mechanism, wherein the horizontal guide mechanism and the vertical guide mechanism are arranged on the Y-axis beam, and the Y-axis beam is installed on the rack (1) through the horizontal guide mechanism and the vertical guide mechanism.

7. The y-axis variable speed manipulator of claim 6, wherein: the two y-axis suspension mechanisms are symmetrically arranged at two ends of the x-axis travelling mechanism (3).