CN108044629A - A kind of ceramic tile truss manipulator and its walking manner - Google Patents

A kind of ceramic tile truss manipulator and its walking manner Download PDF

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Publication number
CN108044629A
CN108044629A CN201810027326.1A CN201810027326A CN108044629A CN 108044629 A CN108044629 A CN 108044629A CN 201810027326 A CN201810027326 A CN 201810027326A CN 108044629 A CN108044629 A CN 108044629A
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CN
China
Prior art keywords
axis
positioning component
ceramic tile
servo
mechanical arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810027326.1A
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Chinese (zh)
Inventor
卢振威
刘瑞
陈优飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Keda Clean Energy Co Ltd
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Keda Clean Energy Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Keda Clean Energy Co Ltd filed Critical Keda Clean Energy Co Ltd
Priority to CN201810027326.1A priority Critical patent/CN108044629A/en
Publication of CN108044629A publication Critical patent/CN108044629A/en
Priority to PCT/CN2018/100130 priority patent/WO2019136996A1/en
Priority to RU2019138637A priority patent/RU2724757C1/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1687Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials

Abstract

The invention discloses a kind of ceramic tile truss manipulators, including control assembly, positioning component and clamp assembly, control assembly includes PLC controller, positioning component servo-drive system, X-axis positioning component, Y-axis positioning component, Z axis positioning component and rotational positioning component, PLC controller sends pulse signal to servo-drive system, by the change of servo system control X-axis positioning component, Y-axis positioning component, Z axis positioning component and rotational positioning component in spatial position, rotational positioning component is mounted on the rotation that component is driven fixture on clamp assembly;Clamp assembly includes clamping part, cylinder, magnetic switch, and PLC controller sends cylinder pulse signal, and cylinder driving clamping part clamping and release ceramic tile, magnetic switch is judging the state of cylinder.The manipulator overall structure of the present invention is simple, reliable, using flexible, strong applicability, accurate positioning, can efficiently, safety ceramic tile is carried out to stacking, saving human cost creates higher benefit.

Description

A kind of ceramic tile truss manipulator and its walking manner
Technical field
The present invention relates to ceramic tile apparatus fields, and in particular to a kind of ceramic tile truss manipulator and its walking manner.
Background technology
The ceramic tile of architectural decoration generally requires the processing by multiple processing stations in forming process is produced and processed, Thus ceramic tile needs transfer back and forth between multiple processing stations.Existing ceramic tile is general logical in above-mentioned transfer process It crosses manually dilatory mode to carry out, not only work efficiency is low, but also is difficult to ensure that ceramic tile is not damaged in transmission process.And show Ceramic tile manipulator of today mostly coordinates sucker Grasp Modes using manipulator, is only applicable to unpackaged ceramic tile or packed surface is smooth Condition, effect is not satisfactory in the case of having packaged and surface smoothness is not good enough, and sucked type load is smaller, many feelings Condition cannot meet the needs.And another is conveyed with complicated mechanical structure, overturn, the mode of stacking, although stacking is imitated Fruit can meet actual needs, but poor for applicability, can not meet the needs of stacking is to track under special circumstances, flexibility is not It is good and complicated not easy to repair.
The content of the invention
In order to solve the above-mentioned technical problem, an object of the present invention is to provide a kind of ceramic tile truss manipulator, makes ceramic tile Stacking flexible and efficient accurate positionin is realized on the basis of safety.
For achieving the above object, the technical solution that the present invention takes is as follows:
A kind of ceramic tile truss manipulator, including control assembly, positioning component and clamp assembly, the control assembly includes PLC controller, the positioning component include servo-drive system, X-axis positioning component, Y-axis positioning component, Z axis positioning component and rotation Positioning component, the PLC controller send pulse signal to the servo-drive system, pass through X-axis described in the servo system control Positioning component, Y-axis positioning component, Z axis positioning component and rotational positioning component are in the change of spatial position, the rotational positioning group Part is mounted on the rotation that the clamp assembly is driven on the clamp assembly;The clamp assembly includes clamping part, cylinder, magnetism Switch, the PLC controller send the cylinder pulse signal, and the cylinder drives the clamping part clamping and release ceramic tile, The magnetic switch is judging the state of the cylinder.
Preferably, the clamp assembly further includes photoelectric sensor, and the photoelectric sensor is used to identify ceramic tile and will grab The bag number signal of ceramic tile is taken to feed back to the PLC controller.
Preferably, the X-axis positioning component includes truss crossbeam and X-axis sliding shoe, and the X-axis sliding shoe is arranged on described On truss crossbeam, the Y-axis positioning component includes Y-axis mechanical arm, and the Z axis positioning component includes Z axis mechanical arm, the Y-axis Mechanical arm is connected on the X-axis sliding shoe, and Y-axis sliding groove is set on the Y-axis mechanical arm, and the Z axis mechanical arm is mounted on On the Y-axis sliding groove, the Z axis mechanical arm slides on the sliding groove, and the clamp assembly is mounted on Z axis machinery On arm.
Preferably, the servo-drive system sets five groups, and servo-drive system described in two groups is connected to the two of the X-axis positioning component Side, servo-drive system described in excess-three group are connected on the Y-axis positioning component, Z axis positioning component and rotational positioning component, The servo-drive system includes servomotor, servo-driver, planetary reducer.The servo-drive system is sent by PLC controller Pulse signal controls, and wherein X-axis positioning component is connected with two sets of servo-drive system synchronous operations, increases torque, makes operation more steady Fixed, positioning is more accurate, and Y-axis positioning component, Z axis positioning component, the rotational positioning component on fixture respectively use a set of servo system System.
Preferably, Z axis sliding groove is set on the Z axis mechanical arm, and the clamp assembly is lifted along the Z axis sliding groove Movement.
Preferably, the X-axis positioning component includes truss crossbeam and X-axis sliding shoe, and the X-axis sliding shoe is arranged on described On truss crossbeam, the Y-axis positioning component includes Y-axis mechanical arm, and the Z axis positioning component includes Z axis mechanical arm;The Z axis Mechanical arm is moved up and down along the groove on the X-axis sliding shoe or convex block, and Y-axis sliding groove, institute are set on the Y-axis mechanical arm It states and shackle member is set on Z axis mechanical arm, the shackle member is connected on the Y-axis sliding groove, and the Z axis mechanical arm passes through described Shackle member is slided on the Y-axis sliding groove, and the clamp assembly is mounted on the lower end of the Z axis mechanical arm.The /V is opened It closes to limit ceramic tile mechanical arm working range, equipment damage caused by evading position and other security risks.
Preferably, limit switch is also set up on the positioning component, the limit switch is 8, the limit switch point It is not installed in X-axis positioning component, Y-axis positioning component, Z axis positioning component and rotational positioning component, the limit switch is to institute The spatial movement scope for stating manipulator defines.
Preferably, the control assembly further includes touch-screen, and touch-screen is used to set fixture origin coordinates and display machine The real-time status of tool arm.
It is a further object of the present invention to provide a kind of ceramic tile synchronization dividing methods, for achieving the above object, the present invention The technical solution taken is as follows:
A kind of walking manner of ceramic tile truss manipulator, includes the following steps:
S1. setting starting ceramic tile space coordinates, ceramic tile place terminal space coordinates and the clamp assembly on the touchscreen Angle;
S2. carry out space orientation, the servo-drive system is started to work, the servo-drive system drive the X-axis positioning component, The clamping of Y-axis positioning component, Z axis positioning component and rotational positioning component in ceramic tile upper direction, the clamp assembly Portion clamps the ceramic tile in the starting ceramic tile spatial coordinate location and rises, and the ceramic tile is transported the ceramic tile and places terminal At spatial coordinate location;
S3. manipulator pan-up described in the servo system control carries out next cycling, the PLC controller according to The origin coordinates and terminal point coordinate of ceramic tile bag number signal calculating processing subsequent cycle in a upper cyclic process, and so on, directly It is completed to work.
Preferably, step S2 includes:The clamp assembly drives to the starting ceramic tile space coordinates oblique upper, then hangs down Straight move down is in same horizontal line with the starting ceramic tile space coordinates, and it is mutually flat with ceramic tile to adjust the clamp assembly angle Row, the X-axis positioning component are moved horizontally to ceramic tile direction, stopped when photoelectric sensor detects ceramic tile, are confirmed after reaching The cylinder drives the clamping part to clamp ceramic tile, and the magnetic switch feeds back the cylinder location to the PLC controller and presss from both sides Tight signal, photo-sensor feedback ceramic tile bag number signal, the servo-drive system work on, ceramic tile are transported to the ceramic tile and is put It puts above terminal space coordinates, is then moved to the ceramic tile downwards and places terminal space coordinates, the gas after reaching home Cylinder drives the clamping part to unclamp ceramic tile.
Compared with the prior art, the present invention achieves beneficial technique effect:
Ceramic tile truss manipulator control system of the present invention includes PLC controller and touch-screen, is entire ceramic tile truss machinery The control core of hand.PLC controller carries out data receiver, information processing and pulse signal according to program and sends;Touch-screen can To carry out simple human-computer interaction, coordinate setting and the display of ceramic tile mechanical arm real-time status can be realized.Positioning component energy Clamp assembly is enough made to carry out X-axis, Y-axis, Z axis and the movement of direction of rotation in spatial dimension.Clamp assembly can be rotated, It chooses suitable angle and clamping transport is carried out to ceramic tile, avoid high request of the sucker Grasp Modes to ceramic tile surface smoothness. The manipulator overall structure of the present invention is simple, reliable, and using flexible, strong applicability, accurate positioning can efficiently, safely Ceramic tile carries out to stacking, save human cost, create higher benefit.
Description of the drawings
Fig. 1 is the structure diagram of ceramic tile truss manipulator disclosed by the invention.
Reference numeral
1. ceramic tile;2. servo-drive system;3. clamp assembly;4.Z shaft mechanical arms;5. truss crossbeam;6. ceramic tile shelf;7.X axis Sliding shoe.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments to the present invention It is further elaborated, but the scope of protection of present invention is not limited to following specific embodiments.
Embodiment 1
As shown in Figure 1, a kind of ceramic tile truss manipulator, including control assembly, positioning component and clamp assembly 3, control group Part includes PLC controller, and positioning component includes servo-drive system 2, X-axis positioning component, Y-axis positioning component, Z axis positioning component and rotation Turn positioning component, PLC controller sends pulse signal to servo-drive system 2, and X-axis positioning component, Y-axis are controlled by servo-drive system 2 Positioning component, Z axis positioning component and rotational positioning component spatial position change, rotational positioning component be mounted on clamp assembly The rotation of component 3 is driven fixture on 3;Clamp assembly 3 includes clamping part, cylinder, magnetic switch, and PLC controller sends cylinder Pulse signal, cylinder driving clamping part clamping and release ceramic tile 1, magnetic switch is judging the state of cylinder.Clamp assembly 3 also wraps Photoelectric sensor is included, photoelectric sensor is used to identify ceramic tile 1 and the bag number signal for capturing ceramic tile 1 is fed back to PLC controller.Control Component processed further includes touch-screen, and touch-screen is used to set fixture origin coordinates and shows the real-time status of mechanical arm.
Ceramic tile truss manipulator is mounted on truss, and truss includes truss crossbeam 5 and two vertical truss vertical beam compositions. X-axis positioning component includes truss crossbeam and X-axis sliding shoe 7, and X-axis sliding shoe 7 is arranged on truss crossbeam, Y-axis positioning component bag Y-axis mechanical arm is included, Z axis positioning component includes Z axis mechanical arm 4, and Y-axis mechanical arm is connected on X-axis sliding shoe 7, on Y-axis mechanical arm Y-axis sliding groove is set, and Z axis mechanical arm 4 is mounted on Y-axis sliding groove, and Z axis mechanical arm 4 slides on sliding groove, clamp assembly 3 On Z axis mechanical arm 4, Z axis sliding groove is set, clamp assembly 3 is moved up and down along Z axis sliding groove on Z axis mechanical arm 4. Servo-drive system 2 controls X-axis sliding shoe 7 to be moved in the X-axis direction in truss crossbeam, so as to which clamp assembly 3 be driven to be transported in X-direction It is dynamic, by servo-drive system 2 Z axis mechanical arm 4 is controlled to be moved on Y-axis sliding groove along Y direction, so as to drive clamp assembly 3 in Y Direction of principal axis moves, and by servo-drive system 2 clamp assembly 3 is controlled to be moved up and down in Z axis sliding groove along Z-direction, while servo System 2 can control clamp assembly 3 to be rotated the angle so as to adjust clamping part.
Servo-drive system 2 can set four groups or five groups, and the preferred servo-drive system 2 of the present embodiment sets five groups, two groups of servos System 2 is connected to the both sides of X-axis positioning component, and excess-three group servo-drive system 2 is connected to Y-axis positioning component, Z axis positioning group On part and rotational positioning component, servo-drive system 2 includes servomotor, servo-driver, planetary reducer.Servo-drive system 2 is by PLC The pulse signal control that controller is sent, wherein X-axis positioning component is connected with two sets of servo-drive systems 2 and runs simultaneously, and increases torque, Operation is made more to stablize, positioning is more accurate, and Y-axis positioning component, Z axis positioning component, the rotational positioning component on fixture respectively make With a set of servo-drive system 2.
Also set up limit switch on positioning component, limit switch is 8, limit switch be respectively arranged in X-axis positioning component, Two extreme positions in Y-axis positioning component, Z axis positioning component and rotational positioning component, i.e., in truss crossbeam 5, Y-axis machinery Two extreme positions in arm, Z axis mechanical arm 4, clamp assembly 3 are respectively respectively provided with switch, to manipulator in X-axis, Y-axis, Z Motion range on axis, direction of rotation defines.Limit switch was evaded position and was made to limit ceramic tile mechanical arm working range Into equipment damage and other security risks.PLC controller is responsible for receiving limit switch, magnetic switch, photoelectric sensor input Signal, and these signals are carried out with processing calculating, pulse signal is sent to servo-drive system 2 and cylinder according to result, to determine Its motion mode.
The operation principle of the ceramic tile truss manipulator of the present invention is as follows:Power on after first confiring that environmental aspect safety, Setting starting ceramic tile space coordinates places terminal space coordinates and clamp assembly 3 angle, three parameters, presses start key, starts Positioning.Servo-drive system 2 works, and fixture is moved to starting ceramic tile space coordinates oblique upper A points, fixture group further according to space coordinates Part 3 is moved vertically downwardly into up to the B points with 1 same horizontal line of ceramic tile, and adjustment clamping part angle is mutually parallel with ceramic tile 1, afterwards The horizontal direction movement of starting ceramic tile space coordinates of the clamp assembly 3 into ceramic tile shelf 6, when photoelectric sensor detects ceramic tile It moves and stops when 1, arrival takes brick point C, confirms the cylinder operation for reaching and taking at brick point C in rear jig component 3, driving clamping part folder Tight ceramic tile 1, magnetic switch and photo-sensor feedback status signal are to servo-drive system 2, and servo-drive system 2 works on, fixture group Part 3, which rises to reach, at D points, to be then moved to directly over C points at the top E points for placing terminal, and clamp assembly 3 is according to rack Position adjusts the angle, and then moves downwards, reaches and places at terminal F, and cylinder driving clamping part unclamps ceramic tile 1, puts down ceramic tile 1 Pan-up again.Into next cycling, since the beginning and end specifically cycled has no longer been the starting point of a upper Xun Huan And terminal, so bag number signal and often bag THICKNESS CALCULATION processing subsequent cycle of the PLC controller in a upper cyclic process Origin coordinates and terminal point coordinate, then carry out the cycle operation.And so on, until work is completed, press on the touchscreen Returning origin makes ceramic tile manipulator return to original state, then presses phase down power supply, work terminates.
Ceramic tile truss manipulator control system of the present invention includes PLC controller and touch-screen, is entire ceramic tile truss machinery The control core of hand.PLC controller carries out data receiver, information processing and pulse signal according to program and sends;Touch-screen can To carry out simple human-computer interaction, coordinate setting and the display of ceramic tile mechanical arm real-time status can be realized.Positioning component energy Clamp assembly 3 is enough made to carry out X-axis, Y-axis, Z axis and the movement of direction of rotation in spatial dimension.Clamp assembly 3 can be revolved Turn, choose suitable angle and clamping transport is carried out to ceramic tile 1, avoid height of the sucker Grasp Modes to 1 surface flatness of ceramic tile It is required that.The manipulator overall structure of the present invention is simple, reliable, using flexible, strong applicability, accurate positioning, can efficiently, Ceramic tile 1 is carried out stacking by safety, is saved human cost, is created higher benefit.
Embodiment 2
The embodiment only describes the difference with above-described embodiment, remaining technical characteristic is same as the previously described embodiments.X-axis Positioning component includes truss crossbeam and X-axis sliding shoe 7, and X-axis sliding shoe 7 is arranged on truss crossbeam, and Y-axis positioning component includes Y Shaft mechanical arm, Z axis positioning component include Z axis mechanical arm 4;Z axis mechanical arm 4 is lifted along the groove on X-axis sliding shoe 7 or convex block It moving, Y-axis sliding groove on Y-axis mechanical arm is set, shackle member is set on Z axis mechanical arm 4, shackle member is connected on Y-axis sliding groove, Z axis mechanical arm 4 is slided by shackle member on Y-axis sliding groove, and clamp assembly 3 is threadedly coupled with Z axis mechanical arm 4 makes clamp assembly 3 are fixedly mounted on the lower end of Z axis mechanical arm 4.
Embodiment 3
The embodiment only describes the difference with above-described embodiment, remaining technical characteristic is same as the previously described embodiments.Purlin Frame includes two truss crossbeams 5 and four vertical truss vertical beam compositions, and Y-axis mechanical arm is arranged between two truss crossbeams 5.
The invention also discloses a kind of walking manners of ceramic tile truss manipulator, include the following steps:
S1. setting starting ceramic tile space coordinates, ceramic tile place terminal space coordinates and the clamp assembly 3 on the touchscreen Angle;
S2. space orientation is carried out, the servo-drive system 2 is started to work, and the servo-drive system 2 drives the X-axis positioning group Part, Y-axis positioning component, Z axis positioning component and rotational positioning component are described in 1 upper direction of ceramic tile, the clamp assembly 3 Clamping part clamps the ceramic tile 1 in the starting ceramic tile spatial coordinate location and rises, and the ceramic tile is transported the ceramic tile puts It puts at terminal spatial coordinate location;
S3. the servo-drive system 2 controls the manipulator pan-up to carry out next cycling, the PLC controller root According to the origin coordinates and terminal point coordinate of the 1 bag number signal calculating processing subsequent cycle of ceramic tile in a upper cyclic process, and so on, Until work is completed.
Wherein step S2 detailed processes include:The clamp assembly 3 drives to the starting ceramic tile space coordinates oblique upper, Then vertically move down and be in same horizontal line with the starting ceramic tile space coordinates, adjust 3 angle of clamp assembly and ceramic tile 1 It is mutually parallel, the X-axis positioning component is moved horizontally to 1 direction of ceramic tile, is stopped when photoelectric sensor detects ceramic tile 1, really The cylinder drives the clamping part to clamp ceramic tile 1 after recognizing arrival, and the magnetic switch feeds back the gas to the PLC controller Cylinder position clamping signal, 1 bag number signal of photo-sensor feedback ceramic tile, the servo-drive system 2 work on, ceramic tile 1 are transported It is placed to the ceramic tile above terminal space coordinates, is then moved to the ceramic tile downwards and places terminal space coordinates, reach The cylinder drives the clamping part to unclamp ceramic tile 1 after terminal.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party Formula is changed and changed.Therefore, the invention is not limited in specific embodiment disclosed and described above, to the one of invention A little modifications and changes should also be as falling into the scope of the claims of the present invention.In addition, it although is used in this specification Some specific terms, but these terms are merely for convenience of description, do not form any restrictions to invention.

Claims (10)

1. a kind of ceramic tile truss manipulator, which is characterized in that including control assembly, positioning component and clamp assembly, the control Component includes PLC controller, and the positioning component includes servo-drive system, X-axis positioning component, Y-axis positioning component, Z axis positioning group Part and rotational positioning component, the PLC controller send pulse signal to the servo-drive system, pass through the servo system control The X-axis positioning component, Y-axis positioning component, Z axis positioning component and rotational positioning component are in the change of spatial position, the rotation Turn the rotation that positioning component drives the clamp assembly on the clamp assembly;The clamp assembly include clamping part, Cylinder, magnetic switch, the PLC controller send the cylinder pulse signal, and the cylinder drives the clamping part to clamp Ceramic tile is unclamped, the magnetic switch is judging the state of the cylinder.
2. a kind of ceramic tile truss manipulator according to claim 1, which is characterized in that the clamp assembly further includes photoelectricity Sensor, the photoelectric sensor are used to identify ceramic tile and the bag number signal for capturing ceramic tile is fed back to the PLC controller.
3. a kind of ceramic tile truss manipulator according to claim 1, which is characterized in that the X-axis positioning component includes purlin Frame crossbeam and X-axis sliding shoe, the X-axis sliding shoe are arranged on the truss crossbeam, and the Y-axis positioning component includes Y-axis machine Tool arm, the Z axis positioning component include Z axis mechanical arm, and the Y-axis mechanical arm is connected on the X-axis sliding shoe, the Y-axis Y-axis sliding groove is set on mechanical arm, and the Z axis mechanical arm is mounted on the Y-axis sliding groove, and the Z axis mechanical arm is described It is slided on sliding groove, the clamp assembly is mounted on the Z axis mechanical arm.
4. a kind of ceramic tile truss manipulator according to claim 1, which is characterized in that the servo-drive system sets five groups, Servo-drive system described in two groups is connected to the both sides of the X-axis positioning component, and servo-drive system described in excess-three group is connected to institute It states on Y-axis positioning component, Z axis positioning component and rotational positioning component, the servo-drive system includes servomotor, servo-drive Device, planetary reducer.
5. a kind of ceramic tile truss manipulator according to claim 3, which is characterized in that Z axis is set on the Z axis mechanical arm Sliding groove, the clamp assembly are moved up and down along the Z axis sliding groove.
6. a kind of ceramic tile truss manipulator according to claim 1, which is characterized in that the X-axis positioning component includes purlin Frame crossbeam and X-axis sliding shoe, the X-axis sliding shoe are arranged on the truss crossbeam, and the Y-axis positioning component includes Y-axis machine Tool arm, the Z axis positioning component include Z axis mechanical arm;The Z axis mechanical arm is along the groove or convex block on the X-axis sliding shoe It moves up and down, Y-axis sliding groove on the Y-axis mechanical arm is set, shackle member, the shackle member are set on the Z axis mechanical arm It is connected on the Y-axis sliding groove, the Z axis mechanical arm is slided by the shackle member on the Y-axis sliding groove, the folder Has the lower end that component is mounted on the Z axis mechanical arm.
7. a kind of ceramic tile truss manipulator according to claim 1, which is characterized in that limit is also set up on the positioning component Bit switch, the limit switch are 8, and it is fixed that the limit switch is respectively arranged in X-axis positioning component, Y-axis positioning component, Z axis In hyte part and rotational positioning component, the limit switch defines the spatial movement scope of the manipulator.
8. a kind of ceramic tile truss manipulator according to claim 1, which is characterized in that the control assembly further includes touch Screen, touch-screen are used to set fixture origin coordinates and show the real-time status of mechanical arm.
9. a kind of manipulator walking manner using any one of the claim 1-8 ceramic tile truss manipulators, which is characterized in that Include the following steps:
S1. setting starting ceramic tile space coordinates, ceramic tile place terminal space coordinates and the clamp assembly angle on the touchscreen;
S2. space orientation is carried out, the servo-drive system is started to work, and the servo-drive system drives the X-axis positioning component, Y-axis The clamping part of positioning component, Z axis positioning component and rotational positioning component in ceramic tile upper direction, the clamp assembly exists The starting ceramic tile spatial coordinate location clamps the ceramic tile and rises, and the ceramic tile is transported the ceramic tile and places terminal space At coordinate position;
S3. manipulator pan-up described in the servo system control carries out next cycling, and the PLC controller is according to upper one The origin coordinates and terminal point coordinate of ceramic tile bag number signal calculating processing subsequent cycle in cyclic process, and so on, until work It completes.
10. manipulator walking manner according to claim 9, which is characterized in that step S2 includes:The clamp assembly row The starting ceramic tile space coordinates oblique upper is sailed to, then vertically moves down and is in same level with the starting ceramic tile space coordinates Line adjusts the clamp assembly angle and is mutually parallel with ceramic tile, and the X-axis positioning component is moved horizontally to ceramic tile direction, works as light Electric transducer stops when detecting ceramic tile, confirms that the cylinder drives the clamping part to clamp ceramic tile after reaching, the magnetism is opened It closes to the PLC controller and feeds back the cylinder location clamping signal, photo-sensor feedback ceramic tile bag number signal, the servo System works on, and ceramic tile is transported to the ceramic tile and is placed above terminal space coordinates, is then moved to the porcelain downwards Brick places terminal space coordinates, and the cylinder drives the clamping part to unclamp ceramic tile after reaching home.
CN201810027326.1A 2018-01-11 2018-01-11 A kind of ceramic tile truss manipulator and its walking manner Pending CN108044629A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201810027326.1A CN108044629A (en) 2018-01-11 2018-01-11 A kind of ceramic tile truss manipulator and its walking manner
PCT/CN2018/100130 WO2019136996A1 (en) 2018-01-11 2018-08-11 Ceramic tile truss robot, and walking method therefor
RU2019138637A RU2724757C1 (en) 2018-01-11 2018-08-11 Robot module for suspended movement of tiles and method of operation thereof

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Application Number Priority Date Filing Date Title
CN201810027326.1A CN108044629A (en) 2018-01-11 2018-01-11 A kind of ceramic tile truss manipulator and its walking manner

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RU (1) RU2724757C1 (en)
WO (1) WO2019136996A1 (en)

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WO2019136996A1 (en) * 2018-01-11 2019-07-18 广东科达洁能股份有限公司 Ceramic tile truss robot, and walking method therefor
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