CN206318496U - A kind of grasping mechanism and the manipulator that pallet can be laid - Google Patents

Abstract

A kind of grasping mechanism and the manipulator that can lay pallet, belong to technical field of automation equipment.Including grasping mechanism main body（45）, grasping mechanism main body（45）Side and it is respectively arranged below with the pallet grasping mechanism for capturing pallet and the ceramic tile grasping mechanism for capturing ceramic tile；The pallet grasping mechanism includes pallet and captures finger（47）And finger power unit, finger power unit and pallet crawl finger（47）It is connected, and drives pallet to capture finger（47）Clamp or stretch out；The ceramic tile grasping mechanism includes ceramic tile clamping plate（48）And clamping plate power unit, clamping plate power unit and ceramic tile clamping plate（48）It is connected, and drives ceramic tile clamping plate（48）Clamp or unclamp ceramic tile.This grasping mechanism can capture pallet and ceramic tile respectively, and will not produce influence each other；The manipulator of instinct laying pallet can either capture ceramic tile so as to carry out stacking or transhipment to ceramic tile, can automatically capture again and place pallet.

Description

A kind of grasping mechanism and the manipulator that pallet can be laid

Technical field

A kind of grasping mechanism and the manipulator that can lay pallet, belong to technical field of automation equipment.

Background technology

Manipulator is some functions of referring to imitate human hand and arm, to be captured by fixed routine, carry object or behaviour Make the automatic pilot of instrument.Manipulator is the industrial robot occurred earliest, is also the modern machines people occurred earliest, machine Tool hand replaces the heavy labor of people to realize the mechanization and automation of production, can operate to protect personal peace under hostile environment Entirely, manipulator is widely used in the departments such as machine-building, metallurgy, electronics, light work(and atomic energy.

In ceramic tile production sector, manipulator main function is the transhipment of ceramic tile and the stacking of ceramic tile, existing manipulator The movement of x-axis, y-axis and z-axis usually can be completed, x-axis, y-axis refer to the movement in level longitudinal direction and horizontal cross, z respectively Axle refers to the movement in vertical direction, ceramic tile is transported through in three dimensions or stacking so as to realize.Existing machinery Hand is being transported through or during stacking, there are the following problems to ceramic tile：

1st, the attitude of ceramic tile can not be changed, can only be transported according to the original attitude of ceramic tile, therefore to porcelain after transhipment When brick carries out stacking, it is merely able to carry out stacking to ceramic tile according to same mode, flexibility is poor, the requirement to the environment of stacking It is higher, in-convenience in use；

2nd, manipulator can only be run along x-axis, y-axis, moving for z-axis according to constant speed, in order to ensure in transport process In the ceramic tile of crawl will not be damaged, it is necessary to the speed of service of manipulator is relatively low, had a strong impact on the work effect of manipulator Rate；

3rd, when manipulator is moved along the z-axis, z-axis column can drive the ceramic tile of crawl to lift, due to the ceramic tile that captures every time Quantity is different, therefore occurs that weight when z-axis column is lifted every time has differences, and so on the one hand makes manipulator operationally There may be vibrations, there may be due to can not precise control translational speed and the problem of collide；

4th, the power set of existing manipulator are usually motor, and motor is typically fixed in frame, in manipulator Travel distance is excessive, especially apart from motor farther out when, due to being driven apart from excessive, it may appear that the problem of being short of power, and The speed of service is also very unstable；

5th, when carrying out stacking to ceramic tile, the rear on-carriage of ceramic tile or entrucking for convenience, it usually needs place pallet, both Follow-up operation is facilitated, can avoid that ceramic tile is caused to damage again.Existing manipulator is in stacking, and pallet needs manually to put Put.Because manipulator needs to coordinate with ceramic tile production line, therefore in daily production process, manipulator can not be shut down, and this is just needed Want workman to place pallet during robot work, there is potential safety hazard.And existing manipulator to the position of pallet will Ask comparison high, need according to the position of robot work accurately to place pallet when placing, using very inconvenient.

The content of the invention

The technical problems to be solved in the utility model is：Ceramic tile can be captured there is provided one kind by overcoming the deficiencies in the prior art It can be worked independently with pallet and pallet grasping mechanism and ceramic tile grasping mechanism, grasping mechanism easy to use and stack can be laid The manipulator of plate.

The utility model solves the technical scheme that its technical problem used：The grasping mechanism, it is characterised in that：Including Grasping mechanism main body, grasping mechanism body side and is respectively arranged below with the pallet grasping mechanism for capturing pallet and is used for Capture the ceramic tile grasping mechanism of ceramic tile；

The pallet grasping mechanism includes pallet and captures finger and finger power unit, and finger power unit is grabbed with pallet Take finger to be connected, and drive pallet to capture grip finger or stretch out；

The ceramic tile grasping mechanism includes ceramic tile clamping plate and clamping plate power unit, clamping plate power unit and ceramic tile clamping plate phase Connect, and drive ceramic tile clamping plate to clamp or unclamp ceramic tile.

It is preferred that, clamping plate transmission mechanism is provided between described clamping plate power unit and ceramic tile clamping plate.

It is preferred that, described clamping plate transmission mechanism includes clamping plate folding gear and clamping plate folding tooth bar, clamping plate folding tooth Wheel be rotatably installed in grasping mechanism main body, clamping plate folding tooth bar has two, be symmetricly set on clamping plate folding gear both sides and with Clamping plate folding gear is engaged, and the ceramic tile clamping plate, the clamping plate power unit and one are mounted on two clamping plate folding tooth bars Individual clamping plate folding tooth bar is fixedly connected, and promotes clamping plate folding tooth bar to move axially.

It is preferred that, the side that described ceramic tile clamping plate is used to grip ceramic tile is provided with rubber.

It is preferred that, the lower end of described ceramic tile clamping plate is tilted to the side close to ceramic tile.

It is preferred that, the side of grasping mechanism main body clamps guide plate, one end hinge of the pallet crawl finger provided with pallet It is connected on finger power unit, pallet, which clamps to be provided between guide plate and pallet crawl finger, to be used to make pallet capture grip finger Grip finger guiding mechanism, finger power unit promotes pallet crawl finger horizontal movement, and grip finger guiding mechanism makes stack Plate captures grip finger or stretched out.

It is preferred that, grip finger guiding mechanism includes being arranged on the grip finger gathering sill that pallet clamps guide plate free end And finger guide bearing or finger guide post on pallet crawl finger, grip finger gathering sill is gradually indent from the bottom to top Arc, finger guide bearing or finger guide post be engaged with grip finger gathering sill, realize pallet crawl grip finger or Stretch out.

It is preferred that, it is provided with pallet transmission mechanism between described finger power unit and pallet crawl finger.

It is preferred that, described pallet transmission mechanism includes pallet and captures gear and pallet crawl tooth bar, pallet crawl tooth Wheel is rotatably installed in grasping mechanism main body, and pallet crawl tooth bar has two, is symmetricly set on pallet crawl gear both sides, two Pallet crawl tooth bar is mounted on the pallet crawl finger, and the finger power unit is connected with a pallet crawl tooth bar, And promote pallet to capture tooth bar axial movement.

It is a kind of to lay the manipulator of pallet, it is characterised in that：Including frame, walking mechanism, w axles rotating mechanism and on The grasping mechanism stated, walking mechanism is arranged in frame, and can be walked respectively along x-axis, y-axis and z-axis direction, the rotation of w axles Mechanism is arranged in walking mechanism, and the grasping mechanism main body of grasping mechanism is fixed on w axle rotating mechanisms.

Compared with prior art, grasping mechanism of the present utility model and the beneficial effect that the manipulator of pallet has can be laid It is really：

1st, this grasping mechanism is provided with ceramic tile grasping mechanism and pallet grasping mechanism, and pallet and ceramic tile can be captured respectively, It is easy to use, and when carrying out stacking to ceramic tile, it is not necessary to pallet is manually placed, the accuracy that pallet is placed is high, and pallet is grabbed Taking mechanism and ceramic tile grasping mechanism can work independently, and will not produce influence each other, improve the crawl of this grasping mechanism The species of article, it is easy to use.

2nd, clamping plate transmission mechanism can pass to the power of clamping plate power unit on ceramic tile clamping plate, and enable ceramic tile clamping plate It is synchronous to move in the opposite direction, so as to realize the clamping and release to ceramic tile.

3rd, clamping plate transmission mechanism is realized by the engagement of clamping plate folding tooth bar and clamping plate folding gear, simple in construction, is passed Dynamic high precision, and do not allow fragile, and compact conformation, make grasping mechanism small volume, occupy little space.

4th, on the one hand the rubber of side of the ceramic tile clamping plate for gripping ceramic tile can cross increase and the friction of ceramic tile, it is to avoid in folder Ceramic tile slides when taking ceramic tile, moreover it is possible to avoid ceramic tile clamping plate from causing to damage to ceramic tile.

5th, ceramic tile clamping plate lower end is tilted to the side close to ceramic tile, when gripping ceramic tile, can make ceramic tile clamping plate preferably Fitted with ceramic tile, and then enable the gripping of ceramic tile clamping plate more firm.

6th, finger power unit drives pallet crawl finger horizontal movement, when finger guide bearing or the disengaging of finger guide post When pallet clamps guide plate, ceramic tile crawl finger can be in releasing orientation under gravity, when finger guide bearing or finger When the grip finger gathering sill that guide post clamps guide plate with pallet coordinates, because grip finger gathering sill can make the finger axis of guide Hold or finger guide post is gradually moved upwards, so that pallet captures grip finger, simple in construction, long service life.

7th, pallet transmission mechanism can enable pallet capture finger while being moved to identical or opposite direction, so that Pallet crawl finger synchronization is clamped or stretched out.

8th, pallet transmission mechanism captures the engagement of gear and pallet crawl tooth bar to realize by pallet, simple in construction, passes Dynamic high precision, long service life, and compact conformation, make grasping mechanism small volume, occupy little space.

9th, the manipulator of instinct laying pallet can either capture ceramic tile so as to carry out stacking or transhipment to ceramic tile, again can be certainly It is dynamic to capture and place pallet, be not in the problem of pallet places not in place, so that the automaticity of this manipulator is improved, High working efficiency, and whole work process need not participate in manually, and security performance is high；W axles rotating mechanism can drive crawl Mechanism is rotated around z-axis, is added the free degree of grasping mechanism, is made grasping mechanism more flexible, so that this manipulator is being moved While dynamic ceramic tile, additionally it is possible to which the attitude to ceramic tile enters line translation, so as to carry out stacking, user to ceramic tile as needed Just.

Brief description of the drawings

Fig. 1 is the schematic front view of grasping mechanism.

Fig. 2 is the partial enlarged drawing at A in Fig. 1.

Fig. 3 is the schematic top plan view of grasping mechanism.

Fig. 4 is the schematic perspective view of crawl drive mechanism.

Fig. 5 is the schematic perspective view for the manipulator that can lay pallet.

Fig. 6 is the schematic front view of walking mechanism.

Fig. 7 is the schematic front view of y-axis walking mechanism.

Fig. 8 is the schematic top plan view of y-axis walking mechanism.

Fig. 9 is the schematic front view of synchronizing shaft.

Figure 10 is the schematic front view of x-axis walking mechanism.

Figure 11 is the schematic front view of z-axis walking mechanism.

Figure 12 is the schematic perspective view of z-axis actuating unit.

Figure 13 is the partial enlarged drawing at B in Figure 12.

Figure 14 is the schematic front view of w axle rotating mechanisms.

Figure 15 is the schematic cross-sectional view in Figure 14 C-C directions.

In figure：1st, frame 2, y-axis walking mechanism 3, x-axis walking mechanism 4, z-axis walking mechanism 5, ceramic tile storehouse 6th, w axles rotating mechanism 7, grasping mechanism 8, pallet storehouse 9, adjustable glue coating wheel 10, directive wheel 11, active glue coating wheel 12nd, cornerite regulation belt wheel 13, cornerite regulation synchronous pulley 14, the synchronous belt tensioner pulley 15 of y-axis, y-axis tensioning wheel swing arm 16th, y-axis Timing Belt 17, synchronizing shaft 18, y-axis motor 19, x-axis motor 20, walking mounting bracket 21, x-axis Timing Belt 22nd, the synchronous belt tensioner pulley 26 of x-axis crossbeam 23, z-axis column 24, the axis of guide 25, z-axis, fairlead 27, balance cylinder 28th, z-axis Timing Belt 29, z-axis motor 30, z-axis sprocket wheel 31, w spindle motors 32, optoelectronic switch installing plate 33, buffering Detect optoelectronic switch 34, rotation detection optoelectronic switch 35, rotating mounting rack 36, postive stop baffle 37, cushion collar 38, Stop collar 39, w axles column 40, carrying set 41, w axles chain 42, pallet clamp guide plate 43, finger mounted plate 44th, clamping plate limiting photoelectric switch 45, grasping mechanism main body 46, finger guide bearing 47, pallet crawl finger 48, porcelain Brick clamp plate 49, clamping plate installing plate 50, clamping plate folding cylinder 51, pallet crawl cylinder 52, clamping plate folding gear 53, Clamping plate folding tooth bar 54, ceramic tile inductor 55, pallet crawl gear 56, pallet crawl tooth bar.

Embodiment

Fig. 1 ~ 15 are most preferred embodiments of the present utility model, and 1 ~ 15 pair of the utility model is done furtherly below in conjunction with the accompanying drawings It is bright.

A kind of grasping mechanism, including grasping mechanism main body 45, the side of grasping mechanism main body 45 and being respectively arranged below with is used for Capture the pallet grasping mechanism of pallet and the ceramic tile grasping mechanism for capturing ceramic tile；

Pallet grasping mechanism includes pallet and captures finger 47 and finger power unit, and finger power unit is captured with pallet Finger 47 is connected, and drives pallet crawl finger 47 to clamp or stretch out；

Ceramic tile grasping mechanism includes ceramic tile clamping plate 48 and clamping plate power unit, clamping plate power unit and the phase of ceramic tile clamping plate 48 Connect, and drive ceramic tile clamping plate 48 to clamp or unclamp ceramic tile.

This grasping mechanism is provided with ceramic tile grasping mechanism and pallet grasping mechanism, and pallet and ceramic tile can be captured respectively, is made With convenient, and when carrying out stacking to ceramic tile, it is not necessary to manually place pallet, the accuracy that pallet is placed is high, pallet crawl Mechanism and ceramic tile grasping mechanism can work independently, and will not produce influence each other, improve this grasping mechanism crawl thing The species of product, it is easy to use.

Specifically：As shown in Fig. 1 ~ 3：Grasping mechanism main body 45 is cuboid housing, and ceramic tile clamping plate 48 is arranged on gripper The lower section of structure main body 45, clamping plate power unit is arranged in grasping mechanism main body 47, and pallet crawl finger 47 is symmetricly set on crawl The both sides of mechanism body 45.

Pallet captures finger 47 for V-arrangement, and one end of pallet crawl finger 47 is connected with finger power unit, and the other end is set There is the baffle plate stopped for the pallet to crawl, it is to avoid pallet slides during crawl, so as to cause danger.Pallet is grabbed Taking finger 47 has four, is separately positioned on four angles of grasping mechanism main body 45.Pallet captures finger 47 pacifies installed in finger Fill on plate 43, finger mounted plate 43 is fixedly connected with finger power unit.

Grasping mechanism main body 45 clamps guide plate 42 provided with pallet, and pallet clamps guide plate 42 and captures finger 47 with pallet Correspond, pallet clamps guide plate 42 and is fixed on the side of grasping mechanism main body 45.Pallet captures guide plate 42 and pallet Grip finger guiding mechanism is provided between crawl finger 47, grip finger guiding mechanism includes being arranged on pallet clamping guide plate 42 The grip finger gathering sill and pallet of free end capture the finger guide bearing 46 of finger 47.Grip finger gathering sill is under Supreme gradually indent arc.Pallet crawl finger 47 is hinged on finger mounted plate 43, and pallet crawl finger 47 is pacified with finger Torsion spring is provided between dress plate 43, so that pallet captures finger 47 and departed from when pallet clamps guide plate 42 in open configuration. Finger guide bearing 46 is rotatablely equipped with pallet crawl finger 47, finger guide bearing 46 is arranged on pin joint and clamped with pallet Between guide plate 42.Finger power unit promotes the both sides horizontal movement to the left and right respectively of pallet crawl finger 47, so that pallet Capture finger 47 and depart from pallet clamping guide plate 42, pallet captures the effect that finger 47 captures the gravity of finger 47 in torsion spring and pallet Open configuration is in down；Finger power unit drives pallet to capture finger 47 by two lateral intermediary movementses, makes finger guide bearing 46, which enter pallet, clamps in the grip finger gathering sill of guide plate 42, and pallet clamps guide plate 42 and pallet crawl finger 47 is carried out It is oriented to, so that the crawl completed to pallet is clamped.

The upper end of ceramic tile clamping plate 48 is arranged on clamping plate installing plate 49, and the other end is free end.Clamping plate power unit and folder Plate installing plate 49 is connected, and promotes clamping plate installing plate 49 to move horizontally, so as to realize the clamping and release of ceramic tile.Ceramic tile clamping plate 48 The side contacted with ceramic tile is provided with rubber, on the one hand for increasing the friction with ceramic tile, on the other hand can produce cushioning effect, Avoid colliding with ceramic tile, so as to damage ceramic tile.The lower end of ceramic tile clamping plate 48 is tilted to middle part, so as to preferably clamping Ceramic tile.

When through-thickness captures ceramic tile, ceramic tile clamping plate 48 may be mounted at clamping plate installing plate 49 close to grasping mechanism master The one end at the middle part of body 45, when capturing ceramic tile along width or length direction, it is close that ceramic tile clamping plate 48 is arranged on clamping plate installing plate 49 The one end in the outside of grasping mechanism main body 45.Two pieces of ceramic tile clamping plates 48 that ceramic tile is clamped for cooperating are a pair, ceramic tile clamping plate 48 have two pairs, and clamping plate installing plate 49 is corresponded with ceramic tile clamping plate 48.

In the top of grasping mechanism main body 45 position-limiting unit is captured provided with ceramic tile.Ceramic tile crawl position-limiting unit is that clamping plate is spacing Optoelectronic switch 44, every a pair of clamping plates limiting photoelectric switch 44 has two, and two clamping plate limiting photoelectric switch 44 are respectively used to detection The original position and final position of clamping plate power unit, so as to complete spacing.Clamping plate limiting photoelectric switch 44 has two pairs, right respectively Drive the clamping plate power unit progress of the motion of ceramic tile clamping plate 48 spacing.

This grasping mechanism 7 can either complete the crawl to pallet, and the crawl to ceramic tile, automaticity can be realized again Height, and the high precision that pallet is placed, will not tilt ceramic tile in stacking, easy to use.

As shown in Figure 4：Pallet transmission mechanism is provided between finger power unit and finger mounted plate 43.Finger power unit Cylinder 51 is captured for pallet, pallet crawl cylinder 51 has one, and installed in the middle part of grasping mechanism main body 45, pallet crawl gas The piston rod of cylinder 51 is connected with pallet transmission mechanism, and finger mounted plate 43 is connected with pallet transmission mechanism.

Pallet transmission mechanism includes pallet and captures gear 55 and pallet crawl tooth bar 56.Pallet crawl gear 55 rotates peace In grasping mechanism main body 45, and the axis vertical of pallet crawl gear 55 is set.Pallet crawl tooth bar 56 has two, symmetrically The both sides that pallet captures gear 55 are arranged on, and grasping mechanism main body 45 and and hand are stretched out in one end of two pallet crawl tooth bars 56 Refer to installing plate 43 to be fixedly connected.Pallet captures cylinder 51 and is fixedly connected with a pallet crawl tooth bar 56, and promotes the pallet to grab Take tooth bar 56 to move axially, the pallet capture tooth bar 56 by pallet capture gear 55 drive another pallet capture tooth bar 56 to Opposite direction motion, so that both sides pallet captures the synchronous on-off of finger 47.

The outside of pallet crawl tooth bar 56 is provided with captures the bearing that finger 56 is pressed on pallet crawl gear 55 by pallet, Bearing is arranged in grasping mechanism main body 45 by bolt.

Clamping plate power unit has two, and two clamping plate power units are separately positioned on the both sides that pallet captures cylinder 51, and The folding of two pairs of ceramic tile clamping plates 48 is driven respectively.Each clamping plate power unit includes two clamping plate folding cylinders 50, and two The piston rod of clamping plate folding cylinder 50 is fixedly connected, and is synchronized with the movement.Clamping plate limiting photoelectric switch 44 is by detecting clamping plate folding The position of the piston rod of cylinder 50, it is spacing to be carried out to ceramic tile clamping plate 48.

Clamping plate transmission mechanism is provided between clamping plate power unit and clamping plate installing plate 49.Clamping plate transmission mechanism is opened including clamping plate Close gear 52 and clamping plate folding tooth bar 53.Clamping plate folding gear 52 is rotatably installed in grasping mechanism main body 45, and clamping plate is opened The axis vertical for closing gear 52 is set.Clamping plate folding tooth bar 53 has two, is symmetricly set on the both sides of clamping plate folding gear 52, two Clamping plate folding tooth bar 53 is fixedly connected with the clamping plate installing plate 49 installed with a pair of ceramic tile clamping plates 48 respectively.Two clamping plate folding gas The piston rod of cylinder 50 is connected with a clamping plate folding tooth bar 53, and drives the clamping plate folding tooth bar 53 to move, the clamping plate folding tooth Bar 53 drives another clamping plate folding tooth bar 53 to move in the opposite direction by clamping plate folding gear 52.Clamping plate folding tooth bar 53 Be respectively provided on two sides with the bearing for promoting clamping plate folding tooth bar 53 to compress clamping plate folding gear 52.

The lower section of pallet crawl gear 55 is provided with ceramic tile inductor 54, and ceramic tile inductor 54 is used to detect that ceramic tile clamping plate 48 is Whether no crawl ceramic tile and detection pallet crawl finger 47 have captured pallet.

As shown in Figure 5：The manipulator that pallet can be laid includes frame 1, the walking mechanism in frame 1, the rotation of w axles Rotation mechanism 6 and grasping mechanism 7.Walking mechanism is arranged in frame 1, and w axles rotating mechanism 6 is arranged in walking mechanism, crawl Mechanism 7 is arranged on w axles rotating mechanism 6.The bottom of frame 1 is fixed on the ground, so that the work of the manipulator is more steady It is fixed, it will not shake in the course of the work.

The top of frame 1 is rectangular frame, and bottom is vertically arranged support feet.Walking mechanism is arranged in frame 1 On the framework in portion, and grasping mechanism 7 is driven respectively along x-axis, y-axis and z-axis direction straight line moving.

The walking of walking mechanism vertically is defined as the walking along z-axis, row of the walking mechanism along the width of frame 1 Walk to be defined as the walking in x-axis direction, walking of the walking mechanism along the length direction of frame 1 is defined as the walking in y-axis direction, definition around The motion for rotating to be w direction of principal axis of z-axis.

The bottom of frame 1 is provided with the pallet storehouse 8 and ceramic tile storehouse 5 for being used for placing pallet, and pallet storehouse 8 is used to place pallet, Place ceramic tile, the i.e. manipulator and ceramic tile is transported in ceramic tile storehouse 5 and stacking is carried out in ceramic tile storehouse 5.Pallet is to ceramic tile palletizing When, the plank in bottom is padded, on the one hand pallet can be protected to the ceramic tile of bottom, it is on the other hand convenient to the porcelain after stacking Brick is transported through.Pallet storehouse 8 is arranged on the middle part of frame 1, and ceramic tile storehouse 5 has two, is symmetricly set on the both sides in pallet storehouse 8, stack Plate storehouse 8 is equal with the distance in two ceramic tile storehouses 5, so ensure that the pallet in pallet storehouse 8 be moved to each ceramic tile storehouse 5 away from It is convenient to place pallet from equal.

As shown in Figure 6：Walking mechanism includes y-axis walking mechanism 2, x-axis walking mechanism 3 and z-axis walking mechanism 4.Y-axis row Mechanism 2 is walked in frame 1, x-axis walking mechanism 3 is arranged in y-axis walking mechanism 2, z-axis walking mechanism 4 is arranged on x-axis row Walk in mechanism 3.W axles rotating mechanism 6 is fixedly connected with z-axis walking mechanism 4, and grasping mechanism 7 is arranged on w axles rotating mechanism 6, is made Grasping mechanism 7 flexibly, can change the attitude of transhipment ceramic tile, so as to meet the stacking of diversified forms in transport process.

Y-axis walking mechanism 2 includes hitch, and hitch has two, is symmetricly set on the two ends of x-axis walking mechanism 3, X-axis walking mechanism 3 is arranged in frame 1 by the hitch of left and right ends.The hitch at two ends drives x-axis walking mechanism 3 synchronizing movings, it is to avoid cause y-axis walking mechanism 2 because the length of frame 1 is long in the process of walking speed is unstable to ask Topic.Y-axis actuating unit is connected with two hitches, and drives hitch to be moved along y-axis.

As shown in Figure 7：Hitch includes y-axis crossbeam and the y-axis guiding mechanism being arranged on y-axis crossbeam.1 liang of frame Rack rail is installed above the square steel of side, y-axis guiding mechanism is connected with the machine frame at two sides guide rail of frame 1, and to hitch Motion is oriented to, and hitch is moved along a straight line.X-axis walking mechanism 3 is fixedly connected with y-axis crossbeam.

Y-axis guiding mechanism includes horizontally-guided mechanism and is vertically directed mechanism.Horizontally-guided mechanism is in the horizontal direction Motion to y-axis crossbeam is oriented to, and is vertically directed motion of the mechanism in the vertical direction to y-axis crossbeam and is oriented to.

The two ends of y-axis crossbeam are arranged with active glue coating wheel 11, and y-axis actuating unit drives active glue coating wheel 11 to rotate.Two Synchronous pulley, active glue coating wheel 11 and synchronous pulley synchronous axial system, y-axis crossbeam two are coaxially installed with individual active glue coating wheel 11 The synchronous pulley at end is connected by y-axis Timing Belt 16, and active glue coating wheel 11 is by the gravity-pressing of y-axis crossbeam in the top of frame 1.

Active glue coating wheel 11 is wholely set with synchronous pulley.Side of the synchronous pulley away from active glue coating wheel 11 passes through bolt It is fixed with rounded tabs, the diameter with diameter greater than synchronous pulley of rounded tabs.Rounded tabs are close to the outer of synchronous pulley side Edge is stop part, and active glue coating wheel 11 also is provided with the stop part symmetrical with rounded tabs, two resistances close to the side of synchronous pulley Stopper is the radial direction of the distance between the arc of middle part evagination, and two stop parts along synchronous pulley from the inside to the outside gradually Increase, so as to avoid causing y-axis Timing Belt 16 to separate with synchronous pulley because the axis of the synchronous pulley at two ends is not parallel, makes y The stable working of axle Timing Belt 16, reduces influence of the rigging error to y-axis Timing Belt 16, and does not influence the precision of work and steady It is qualitative.

The top of y-axis Timing Belt 16 is provided with y-axis Timing Belt strainer, and it is same that y-axis Timing Belt strainer can adjust y-axis The tensile force of band 16 is walked, is engaged so that y-axis Timing Belt 16 can keep good with synchronous pulley, and then ensure that y-axis Walking precision.

Y-axis Timing Belt strainer includes the synchronous belt tensioner pulley 14 of y-axis and y-axis tensioning wheel swing arm 15.Y-axis tensioning wheel is put Arm 15 is arranged on the top of y-axis Timing Belt 16, and the middle part of y-axis tensioning wheel swing arm 15 is hinged on y-axis crossbeam, makes y-axis tensioning wheel Swing arm 15 forms leverage, and one end of y-axis tensioning wheel swing arm 15 is rotatablely installed the synchronous belt tensioner pulley 14 of y-axis, and the other end passes through Bolt is detachably secured on y-axis crossbeam, and make the synchronous belt tensioner pulley 14 of y-axis compress be arranged with y-axis Timing Belt 16, bolt it is many Individual spring pad, after y-axis Timing Belt 16 is installed, is tensioned by bolt to y-axis Timing Belt 16, work a period of time Afterwards, the tensile force of y-axis Timing Belt 16 is adjusted spring pad, it is not necessary to frequently pair be tensioned with y-axis Timing Belt 16, and And can avoid because the relaxation of y-axis Timing Belt 16 produces shock loading, so that the service life of y-axis Timing Belt 16 is reduced, and then Improve the service life of y-axis Timing Belt 16 and the stability of work.Y-axis synchronization belt tensioner pulley 14 is belt wheel, y-axis tensioning wheel Swing arm 15 drives the synchronous synchronous hunting of belt tensioner pulley 14 of y-axis, and compresses y-axis Timing Belt 16.Compressed in the synchronous belt tensioner pulley 14 of y-axis After y-axis Timing Belt 16, y-axis tensioning wheel swing arm 15 is fixed by the bolt at the middle part of y-axis tensioning wheel swing arm 15.

The left side of y-axis synchronization belt tensioner pulley 14 is sequentially provided with cornerite regulation belt wheel 12 and cornerite regulation Timing Belt from left to right Wheel 13, cornerite regulation belt wheel 12 and cornerite regulation synchronous pulley 13 are rotatably installed on y-axis crossbeam.Cornerite adjusts the He of belt wheel 12 The diameter parallel of the axis belt tensioner pulley 14 synchronous with y-axis of cornerite regulation synchronous pulley 13.Cornerite regulation synchronous pulley 13 is set In the top of y-axis Timing Belt 16, cornerite regulation belt wheel 12 be arranged on above and below both sides y-axis Timing Belt 16 between, make y-axis Timing Belt 16 upside, so as to increase the cornerite of Timing Belt and two ends synchronous pulley, increases synchronous pulley and y-axis into wave shape The bearing capacity of the engagement place of Timing Belt 16, and also ensure that the stationarity of transmission.

Being vertically directed mechanism includes being arranged on the adjustable glue coating wheel 9 of y-axis below the crossbeam, and adjustable glue coating wheel 9 has two, symmetrically It is arranged on the two ends of y-axis crossbeam.Adjustable glue coating wheel 9 is arranged on the lower section of active glue coating wheel 11 by rotating shaft, and adjustable encapsulated Provided with the bolt for promoting adjustable glue coating wheel 9 to lift below the rotating shaft of wheel 9, bolt is promoted by being threadably mounted on y-axis crossbeam Adjustable glue coating wheel 9 is lifted, so as to realize the regulation of the adjustable vertical direction of glue coating wheel 9.Adjustable 11 points of glue coating wheel 9 and active glue coating wheel The both sides up and down of rack rail are not arranged on, and rack rail is clamped, so that in the vertical direction is led to y-axis crossbeam To.

As shown in Figure 8：Horizontally-guided mechanism has two, is symmetricly set on the two ends of y-axis crossbeam.Horizontally-guided mechanism includes The directive wheel 10 of y-axis crossbeam both sides is arranged on, the axis of directive wheel 10 is vertical with the axis of adjustable glue coating wheel 9, and is rotatablely installed On y-axis crossbeam.Y-axis crossbeam is separately positioned on the front and rear both sides of rack rail with two directive wheels 10 of one end, and by frame Guide rail is clamped, so as to be oriented in the horizontal direction to y-axis crossbeam.It is vertically directed mechanism and horizontally-guided mechanism is engaged, Ensure that y-axis crossbeam can move along a straight line, so as to ensure that the precision that grasping mechanism 7 is moved.

As shown in Figure 9：Y-axis actuating unit includes synchronizing shaft 17 and y-axis motor 18.Synchronizing shaft 17 is arranged on two suspensions Between mechanism, the length of synchronizing shaft 17 is equal along the width of x-axis with frame 1.Synchronizing shaft 17 is connected with y-axis motor 18, y-axis motor 18 are arranged on the left end of synchronizing shaft 17, and the output shaft of y-axis motor 18 is connected with the installation portion of synchronizing shaft 17, and passes through gear drive Synchronizing shaft 17 is driven to rotate.On the driving section at the two ends of synchronizing shaft 17 also by tensioning sleeve respectively with corresponding position on two y-axis crossbeams The synchronous pulley put is fixedly connected, and synchronizing shaft 17 ensure that the rotating speed of the active glue coating wheel 11 at two ends is equal, so as to ensure x The two ends advanced in unison of axle walking mechanism 3, will not run-off the straight.

Synchronizing shaft 17 includes the steel pipe at middle part and the spindle nose at two ends, and one end of spindle nose is put in steel pipe and and steel pipe welding Connect, the other end is co-axially mounted active glue coating wheel 11.Encoder is installed in one end of synchronizing shaft 17, encoder is same with synchronizing shaft 17 Step is rotated, and by speed feedback signal to frequency converter, the speed of travel of convenient control y-axis walking mechanism 2, additionally it is possible to which detection is synchronous The angle that axle 17 is turned over, so as to detect the distance walked along the y-axis direction.

It is provided with the rear and front end of frame 1 and spacing limited block is carried out to y-axis crossbeam, so as to avoids y-axis crossbeam in movement During drop.

As shown in Figure 10：X-axis walking mechanism 3 includes x-axis Timing Belt 21 and x-axis power unit.X-axis power unit is installed On x-axis crossbeam 22, the equal length of the length of x-axis crossbeam 22 and synchronizing shaft 17, the two ends of x-axis crossbeam 22 respectively with y-axis crossbeam Middle part be fixedly connected, and with y-axis crossbeam synchronizing moving.X-axis power unit is x-axis motor 19, and x-axis motor 19 is fixed on x-axis Synchronous pulley is installed on the left end of crossbeam 22, the output shaft of x-axis motor 19, is also provided with together in the other end of x-axis crossbeam 22 Walk belt wheel.Walking mounting bracket 20 is slidably fitted with x-axis crossbeam 22, is led between walking mounting bracket 20 and x-axis crossbeam 22 provided with x-axis To mechanism, x-axis guiding mechanism can make walking mounting bracket 20 move along a straight line, so as to ensure that the stabilization that grasping mechanism 7 is moved Property.The two ends of x-axis Timing Belt 21 are fixedly connected after bypassing the synchronous pulley at the two ends of x-axis crossbeam 22 with walking mounting bracket 20, and Walking mounting bracket 20 is driven with the synchronizing moving of x-axis Timing Belt 21.Z-axis walking mechanism 4 is arranged on walking mounting bracket 20, and is accompanied Walk the synchronizing moving of mounting bracket 20.

The x-axis regulating bolt that the rate of tension of x-axis Timing Belt 21 is adjusted is additionally provided with walking mounting bracket 20.X-axis is adjusted Section bolt one end is connected with one end of x-axis Timing Belt 21, and x-axis regulating bolt is fixed on walking mounting bracket 20 by nut.

The output shaft of x-axis motor 19 is down and installed in the top of x-axis crossbeam 22, and the top of x-axis crossbeam 22 is additionally provided with to same The axis governor motion that the axis of step belt wheel is adjusted, axis governor motion is the bolt for being arranged on x-axis crossbeam both sides, bolt Lower end promote synchronous pulley mounting seat move up and down, so as to adjust the axis of synchronous pulley and the angle of vertical plane, make synchronization The thrust for promoting x-axis Timing Belt 21 to move up can be produced between belt wheel and x-axis Timing Belt 21, it is same for offsetting x-axis The gravity of band 21 is walked, so as to avoid x-axis Timing Belt 21 from departing from synchronous pulley under gravity.

Walking mounting bracket 20 forms to be bolted by steel plate, and walking mounting bracket 20 is close to the side of x-axis crossbeam 22 For the rectangular box body of both ends open, walking mounting bracket 20 is set in the outside of x-axis crossbeam 22, and z-axis walking mechanism 4, which is installed, is expert at Walk the side of mounting bracket 20.The steel plate top of the upside of walking mounting bracket 20 and the steel plate bottom of downside are equipped with reinforcement, and add Strengthening tendons is the taper by being become narrow gradually close to side to the opposite side of z-axis walking mechanism 4, so as to ensure the strong of mounting bracket 20 of walking Degree, it is to avoid unilateral load causes to damage to walking mounting bracket 20.

X-axis guiding mechanism has two, is separately positioned on the both sides up and down of x-axis crossbeam 22, and the x-axis guiding mechanism of upside is set The side away from z-axis walking mechanism 4 is put, the x-axis guiding mechanism of downside is positioned close to the side of z-axis walking mechanism 4, so as to It is enough that the unilateral load that walking mounting bracket 20 is subject to is offset, it is ensured that the stability and precision of walking mounting bracket 20.

X-axis guiding mechanism includes the sliding block on walking mounting bracket 20 and the slide rail being arranged on x-axis crossbeam 22.Sliding block with Slide rail is engaged, and walking the mobile of mounting bracket 20 is oriented to.Slide rail can be provided with for trapezoidal or "T"-shaped slide rail, sliding block The dovetail groove or "T"-shaped chute being engaged with slide rail.

Encoder is coaxially installed with the synchronous pulley of one end away from x-axis motor 19, encoder can be by x-axis motor 19 speed feedback signal is to frequency converter, so that by the rotating speed of Frequency Converter Control x-axis motor 19, and then controls x-axis vehicle with walking machine The speed of travel of structure 3, additionally it is possible to detect the angle that x-axis motor 19 is turned over, so as to detect the distance walked along the x-axis direction.

It is provided with the two ends of x-axis crossbeam 22 and spacing limited block is carried out to walking mounting bracket 20.

As shown in figure 11：Z-axis walking mechanism includes z-axis column 23 and drives the elevating mechanism of the lifting of z-axis column 23.z Axle column 23 is slidably mounted on walking mounting bracket 20, and is provided with z-axis Guiding machine between z-axis column 23 and walking mounting bracket 20 Structure, z-axis guiding mechanism can be oriented to the lifting of z-axis column 23, so as to ensure the stability that z-axis column 23 is lifted.W axles Rotating mechanism 6 is fixedly connected with the lower end of z-axis column 23.Gravitational equilibrium mechanism, gravitational equilibrium are additionally provided with walking mounting bracket 20 Mechanism is used for the gravity for balancing z-axis column 23 and the mechanism on z-axis column 23, so as to ensure that z-axis column 23 is lifted Stabilization.

Gravitational equilibrium mechanism includes balance cylinder 27 and z-axis chain 28, and the lower end of balance cylinder 27 is arranged on walking and pacified Shelve on 20, the axis of balance cylinder 27 is set with the diameter parallel of z-axis column 23.The lower end of z-axis chain 28 and z-axis column 23 Middle part be fixedly connected, top is fixedly connected with the piston rod of balance cylinder 27, so as to be put down to the gravity of z-axis column 23 Weighing apparatus, reduces the power that elevating mechanism is born, so that the walking of elevating mechanism is more steady, and then ensure that the precision of work. Balance cylinder 27 is connected with pressure regulator valve, so that the air pressure in balance cylinder 27 maintains balance, the weight to z-axis column 23 is carried out Balance, and z-axis column 23 during power-off can be avoided to drop, use safety.

The top of balance cylinder 27 is provided with gravitational equilibrium strainer.Gravitational equilibrium strainer includes z-axis Timing Belt Tensioning wheel 25, z-axis synchronization belt tensioner pulley 25 is rotatably installed on the piston rod of balance cylinder 27, and with the piston of balance cylinder 27 Bar synchronization lifting, the upper end of z-axis chain 28, which bypasses to fix with the piston rod of balance cylinder 27 after the synchronous belt tensioner pulley 25 of z-axis, to be connected Connect.Bolt of the lower section provided with the synchronous height of belt tensioner pulley 25 of regulation z-axis of z-axis synchronization belt tensioner pulley 25, bolt is synchronous by z-axis Belt tensioner pulley 25 axially pushes the synchronous belt tensioner pulley 25 of z-axis, and z-axis chain 28 is tensioned.

The stable steering mechanism for being oriented to is provided between balance cylinder 27 and z-axis column 23.Stable steering mechanism includes The axis of guide 24 and fairlead 26, the lower end of the axis of guide 24 are fixedly connected with the upper end of the piston rod of balance cylinder 27, and with balance The piston rod synchronization lifting of cylinder 27, and the diameter parallel of the axis of guide 24 and balance cylinder 27.Fairlead 26 is consolidated with z-axis column 23 Fixed connection, fairlead 26 is slidably located on the outside of the axis of guide 24.Motion of the fairlead 26 to the axis of guide 24 is oriented to, so as to protect Demonstrate,prove the piston rod vertical lifting of balance cylinder 27, it is to avoid due to the run-off the straight in lifting of z-axis column 23, balance cylinder 27 is made Into damage.

Stable steering mechanism has two, is symmetricly set on the both sides of balance cylinder 27, so that preferably to balance cylinder 27 Protected.

Elevating mechanism includes z-axis chain and z-axis power unit.The upper end of z-axis chain is fixed on the top of z-axis column 23 End, the lower end of z-axis chain is fixed on the bottom of z-axis column 23.Z-axis power unit is connected by z-axis sprocket wheel 30 with z-axis chain, And drive z-axis column 23 to lift.

Z-axis guiding mechanism has three, and z-axis guiding mechanism is separately positioned on the relative both sides of z-axis column 23, z-axis column 23 The side of z-axis chain is installed provided with a guiding mechanism, the side relative with the side for installing z-axis chain is provided with two z-axis Guiding mechanism, can be allocated to the load that z-axis column 23 is brought well, so as to ensure that z-axis column 23 operates steadily.

Z-axis guiding mechanism include be arranged on the slide rail on z-axis column 23 and walking mounting bracket 20 on sliding block, sliding block and Slide rail is engaged, so as to be oriented to the mobile of z-axis column 23.

The upper and lower ends of z-axis column 23 are equipped with limited block, so that the lifting progress to z-axis column 23 is spacing.

As shown in Figure 12 ~ 13：Z-axis power unit is z-axis motor 29, and z-axis motor 29 drives z-axis to stand by z-axis sprocket wheel 30 Post 23 is lifted.Z-axis motor 29 is fixed on walking mounting bracket 20, and z-axis sprocket wheel 30 is connected with the output shaft of z-axis motor 29, z-axis Sprocket wheel 30 is engaged with z-axis chain, so as to realize the lifting of z-axis column 23.Z-axis chain has three rows.Mounting bracket 20 walk close to z The side of axle column 23 is the rectangular box body for the upper and lower ends opening being bolted to connection by steel plate, z-axis column 23 are arranged in walking mounting bracket 20 side.Z-axis sprocket wheel 30 is arranged in walking mounting bracket 20.Open the upside of walking mounting bracket 20 Provided with through hole, and the upside of walking mounting bracket 20 is also provided with the ring flange coaxial with the through hole by bolt, z-axis motor 29 it is defeated Shaft is connected after passing through ring flange and through hole with z-axis sprocket wheel 30, and is bolted on ring flange, has both facilitated z-axis electricity The demolition and maintenance of machine 29, turn avoid and mutually hinder between each mechanism.

Z-axis sprocket wheel 30 has vertically arranged three, and the output shaft of z-axis motor 29 and the z-axis sprocket wheel 30 at middle part are coaxially connected, And drive middle part z-axis sprocket wheel 30 to rotate.The z-axis sprocket wheel 30 of the upper side and lower side is separately positioned on z-axis chain away from z-axis column 23 Side, the z-axis sprocket wheel 30 at middle part is arranged between z-axis chain and z-axis column 23, the axis of the z-axis sprocket wheel 30 of the upper side and lower side It is equal with the distance between z-axis column 23, and it is less than the distance of the axis and z-axis column 23 of the z-axis sprocket wheel 30 at middle part, increase Cornerite between z-axis sprocket wheel 30 and z-axis chain, so that the joggled strength between z-axis sprocket wheel 30 and z-axis chain is improved, so that Ensure that enables z-axis sprocket wheel 30 to be lifted by z-axis chain-driving z-axis column 23.It is co-axially mounted on the z-axis sprocket wheel 30 at middle part There is encoder, the rotating speed that encoder can detect z-axis motor 29 and the angle turned over, so as to detect the speed that z-axis column 23 is lifted Degree and distance.

As shown in figure 14：W axles rotating mechanism 6 includes w axles column 39, the rotating unit being rotatably installed on w axles column 39 And w axle power units, w axles power unit is fixedly connected with w axles column 39, and w axle power units are connected with rotating unit, and band Dynamic rotating unit is rotated, and rotating unit is coaxially disposed with w axles column 39；The angle for also including being used to turn over rotating unit is carried out Measurement and spacing detection unit.The power that this w axles rotating mechanism 6 is capable of output form is the rotation around w axles column 39, increase The forms of motion that grasping mechanism 7 is rotated around z-axis, adds the flexibility of grasping mechanism 7, ceramic tile is being transported through or stacking When the ceramic tile of crawl can be driven to rotate, so as to change the attitude of ceramic tile, stacking, accommodation can be carried out as needed Extensively；Detection unit can detect the angle that rotating unit is turned over, so as to ensure that the accuracy of grasping mechanism 7.

W axles power unit is w spindle motors 31, and w spindle motors 31 are arranged on rotating mounting rack 35.Rotating mounting rack 35 is set It is fixedly connected in the bottom of w axles column 39, and with w axles column 39.Rotating unit is arranged on the lower section of rotating mounting rack 35.

The upper end of w axles column 39 is provided with the buffer gear for entering row buffering in vertical direction.Due under w axles rotating mechanism 6 Side is installed in grasping mechanism 7, the course of work, when grasping mechanism touches the ceramic tile of crawl, and buffer gear can allow for w axles and stand The in the vertical direction of post 39 carries out small displacement, on the one hand can avoid when grasping mechanism 7 is contacted with wait the ceramic tile captured W axles rotating mechanism 6 is caused to damage, grasping mechanism 7 on the other hand can be enable to sense ceramic tile to be captured, so as to improve The stability that grasping mechanism 7 is captured.

Buffer gear includes cushion collar 37 and axial limiting mechanism, and cushion collar 37 is slidably located in the upper of w axles column 39 End, axial limiting mechanism is fixed with cushion collar 37, so that the axial movement progress to w axles column 39 is spacing.W axles rotating mechanism 6 Cushion collar 37 be fixedly connected with the lower end of z-axis column 23.

Provided with circumferential position-limit mechanism between cushion collar 37 and rotating mounting rack 35, circumferential position-limit mechanism is prevented from w axles and stood Post 39 and cushion collar 37 relatively rotate, so as to improve the precision of the work of w axles rotating mechanism 6, it is to avoid operationally send out Error in raw rotation direction.

Circumferential position-limit mechanism includes circumferential gag lever post and Limit Bearing, and the cross section of circumferential gag lever post is rectangle, week It is arranged on to the lower end of gag lever post on rotating mounting rack 35, and circumferential gag lever post is vertically arranged.Limit Bearing is symmetricly set on week To the both sides of gag lever post, Limit Bearing is bolted on the outside of cushion collar 37.Circumferential gag lever post rises with w axles column 39 is synchronous Drop, Limit Bearing is spacing to the progress of circumferential gag lever post, is relatively rotated so as to avoid w axles column 39 with cushion collar 37.

The side of w axles column 39 is provided with the buffering detection optoelectronic switch 33 for being used to detect the position of cushion collar 37, buffering detection Optoelectronic switch 33 is arranged on optoelectronic switch installing plate 32, and the lower end of optoelectronic switch installing plate 32 is arranged on rotating mounting rack 35 On, and optoelectronic switch installing plate 32 is vertically arranged.Buffering detection optoelectronic switch 33 has two, two buffering detection optoelectronic switches 33 Vertical interval setting.When axial relative movement occurs for w axles column 39 and cushion collar 37, the buffering detection optoelectronic switch of top 33 when detecting cushion collar 37, that is, represents that grasping mechanism 7 touches article to be captured, installed in the lower section of w axles rotating mechanism 6 Grasping mechanism 7 stops the motion of vertical direction.Motion of the buffering detection optoelectronic switch 33 of lower section to w axles column 39 carries out spacing Protection, so that the in larger distance of the motion of w axles column 39 is avoided, so as to cause to damage to equipment.

Detection unit includes rotation detection optoelectronic switch 34, for detecting that the grasping mechanism 7 being connected with rotating unit is turned over Angle, and the rotation of grasping mechanism 7 carried out spacing.Rotation detection optoelectronic switch 34 has two, two rotation detection photoelectricity Switch 34 is arranged on rotating mounting rack 35, and a rotation detection optoelectronic switch 34 is used to detect the angle that grasping mechanism 7 is turned over, So as to carry out precise control to the rotational angle of grasping mechanism 7, the rotation that another detection switch is used for grasping mechanism 7 is carried out It is spacing, so as to avoid the rotational angle of grasping mechanism 7 beyond the rotational angle range of setting.

As shown in figure 15：Axial limiting mechanism includes stop collar 38 and postive stop baffle 36.Postive stop baffle 36 is annular shape Plate, postive stop baffle 36 is set in outside the w axles column 39 of the top of cushion collar 37, and postive stop baffle 36 is fixedly connected with cushion collar 37. The internal diameter of the bottom of cushion collar 37 is less than the internal diameter on top, so as to form limiting stand.The external diameter of the bottom of stop collar 38 is less than top External diameter, stop collar 38 is set on the w axles column 39 in cushion collar 37, and stop collar 38 is fixedly connected and and w with w axles column 39 The synchronization lifting of axle column 39.The external diameter of w axles column 39 is less than the internal diameter of cushion collar 37, and the bottom of stop collar 38 puts in cushion collar 37 Bottom, the length of stop collar 38 is less than the length of cushion collar 37, and limiting stand is engaged with postive stop baffle 36, stop collar 38 is carried out The fixing of axial direction, so as to be carried out to w axles column 39 axial spacing.

Fixing nut, fixing nut and the limiting stand of cushion collar 37 are provided with the w axles column 39 of the top of postive stop baffle 36 It is engaged, the gravity of the rotating mounting rack 35 to w axles column 39 and installed in w axles column 39 is offset, so that w axles are vertical Post 39 is arranged on cushion collar 37.W axles rotating mechanism 6 is connected by cushion collar 37 with the walking mechanism of manipulator.

Rotating mounting rack 35 is provided with the mounting hole for being used for being arranged on w axles column 39, and the internal diameter of mounting hole is more than w axles The external diameter of column 39.Carrying set 40 is arranged with the w axles column 39 of the lower section of rotating mounting rack 35, the diameter on 40 tops of carrying set is small Diameter in bottom, the top of carrying set 40 is put in mounting hole, and the lower support of rotating mounting rack 35 is in the outer of carrying set 40 On the boss of side.The lower end of w axles column 39 is fixed with thrust bearing by fixing nut, and the lower support of carrying set 40 is in thrust On bearing, the w axles column 39 on the top of rotating mounting rack 35 is provided with nut, and rotating mounting rack 35 is pressed on into thrust bearing On, complete the fixed installation of rotating mounting rack 35.The external diameter on 40 tops of carrying set is less than the internal diameter of mounting hole bottom, and carrying set Rolling bearing is provided between 40 and mounting hole, carrying is covered 40 can relatively rotate with rotating mounting rack 35.

Rotating unit is output chain gear, and output chain gear is coaxially disposed with w axles column 39, and the internal diameter of output chain gear is more than w axles The external diameter of column 39, and the top of output chain gear 40 is fixedly connected with carrying set.Drive chain is also equipped with rotating mounting rack 35 Wheel, drive sprocket is connected by w axles chain 41 with output chain gear, and drives output chain gear to rotate.Output chain gear bottom and crawl The middle part of mechanism body 45 is fixedly connected, and drives the synchronous axial system of grasping mechanism 7.

The output shaft of w spindle motors 31 is horizontally disposed with, and the output shaft of w spindle motors 31 is driven actively by the bevel gear being meshed Sprocket wheel is rotated.Encoder, encoder and drive sprocket synchronous axial system, encoder detection drive chain are installed above drive sprocket The rate signal of wheel, and rate signal is fed back into frequency converter, it can realize and the output speed of w spindle motors 31 is adjusted, So as to complete the regulation to output chain gear rotating speed, encoder can also detect the angle that drive sprocket is turned over.

The course of work of the manipulator is as follows：Walking mechanism drives the crawl pallet of grasping mechanism 7 first, and pallet is placed In specified location.Then walking mechanism drives grasping mechanism 7 to pick up ceramic tile again, and ceramic tile is placed sequentially on pallet, so that Stacking is carried out to ceramic tile.The manipulator enables the grasping mechanism of the manipulator compared to the free degree is added with traditional manipulator Enough to be rotated around z-axis, so that the stacking mode of this manipulator is various, the mode of stacking can be set according to user's request.

Because y-axis walking mechanism 2, x-axis walking mechanism 3, z-axis walking mechanism 4 and w axles rotating mechanism 6 are mounted on compiling Code device, when grasping mechanism 7 is close to ceramic tile, the walking of grasping mechanism 7 or velocity of rotation are slower, in ceramic tile transport process, The speed of grasping mechanism 7, drastically increases operating efficiency, and will not collide to damage ceramic tile with ceramic tile. In addition, grasping mechanism 7 with production line when coordinating, when the production of ceramic tile is very fast, the motion of grasping mechanism 7 is also very fast, works as porcelain When brick production is slower, the motion of grasping mechanism 7 is also relatively slow, has both coordinated production line, turn avoid grasping mechanism 7 run it is too fast and Cause the phenomenon of energy dissipation.

The above, is only preferred embodiment of the present utility model, is not to make other forms to the utility model Limitation, any those skilled in the art are changed or are modified as possibly also with the technology contents of the disclosure above equivalent The Equivalent embodiments of change.But it is every without departing from technical solutions of the utility model content, it is real according to technology of the present utility model Any simple modification, equivalent variations and remodeling that confrontation above example is made, still fall within the guarantor of technical solutions of the utility model Protect scope.

Claims (10)

1. a kind of grasping mechanism, it is characterised in that：Including grasping mechanism main body（45）, grasping mechanism main body（45）Side and lower section It is respectively provided with the pallet grasping mechanism of crawl pallet and the ceramic tile grasping mechanism for capturing ceramic tile；

The pallet grasping mechanism includes pallet and captures finger（47）And finger power unit, finger power unit grabs with pallet Take finger（47）It is connected, and drives pallet to capture finger（47）Clamp or stretch out；

The ceramic tile grasping mechanism includes ceramic tile clamping plate（48）And clamping plate power unit, clamping plate power unit and ceramic tile clamping plate （48）It is connected, and drives ceramic tile clamping plate（48）Clamp or unclamp ceramic tile.

2. grasping mechanism according to claim 1, it is characterised in that：Described clamping plate power unit and ceramic tile clamping plate（48） Between be provided with clamping plate transmission mechanism.

3. grasping mechanism according to claim 2, it is characterised in that：Described clamping plate transmission mechanism includes clamping plate folding tooth Wheel（52）And clamping plate folding tooth bar（53）, clamping plate folding gear（52）It is rotatably installed in grasping mechanism main body（45）On, clamping plate Folding tooth bar（53）There are two, be symmetricly set on clamping plate folding gear（52）Both sides and with clamping plate folding gear（52）Engagement, two Individual clamping plate folding tooth bar（53）On be mounted on the ceramic tile clamping plate（48）, the clamping plate power unit and a clamping plate folding tooth Bar（53）It is fixedly connected, and promotes clamping plate folding tooth bar（53）Axial movement.

4. the grasping mechanism according to claim 1,2 or 3, it is characterised in that：Described ceramic tile clamping plate（48）For gripping The side of ceramic tile is provided with rubber.

5. the grasping mechanism according to claim 1,2 or 3, it is characterised in that：Described ceramic tile clamping plate（48）Lower end to Tilted close to the side of ceramic tile.

6. grasping mechanism according to claim 1, it is characterised in that：Described grasping mechanism main body（45）Side be provided with Pallet clamps guide plate（42）, the pallet crawl finger（47）One end be hinged on finger power unit, pallet clamp lead To plate（42）Finger is captured with pallet（47）Between be provided be used for make pallet capture finger（47）The grip finger Guiding machine of clamping Structure, finger power unit promotes pallet crawl finger（47）Move horizontally, grip finger guiding mechanism makes pallet capture finger （47）Clamp or stretch out.

7. grasping mechanism according to claim 6, it is characterised in that：Described grip finger guiding mechanism includes being arranged on Pallet clamps guide plate（42）Grip finger gathering sill and pallet the crawl finger of free end（47）Finger guide bearing （46）Or finger guide post, grip finger gathering sill is the gradually arc of indent, finger guide bearing from the bottom to top（46）Or hand Refer to guide post to be engaged with grip finger gathering sill, realize that pallet captures finger（47）Clamp or stretch out.

8. grasping mechanism according to claim 1, it is characterised in that：Described finger power unit captures finger with pallet （47）Between be provided with pallet transmission mechanism.

9. grasping mechanism according to claim 8, it is characterised in that：Described pallet transmission mechanism includes pallet and captures tooth Wheel（55）And pallet crawl tooth bar（56）, pallet crawl gear（55）It is rotatably installed in grasping mechanism main body（45）On, pallet Capture tooth bar（56）There are two, be symmetricly set on pallet crawl gear（55）Both sides, two pallets capture tooth bar（56）It is respectively mounted There is the pallet crawl finger（47）, the finger power unit and a pallet capture tooth bar（56）Connection, and promote pallet Capture tooth bar（56）Axial movement.

10. a kind of can lay the manipulator of pallet, it is characterised in that：Including frame（1）, walking mechanism, w axle rotating mechanisms（6） And the grasping mechanism described in any one of claim 1 ~ 9（7）, walking mechanism is installed in frame（1）On, and can be respectively along x Axle, y-axis and the walking of z-axis direction, w axle rotating mechanisms（6）In walking mechanism, grasping mechanism（7）Grasping mechanism master Body（45）It is fixed on w axle rotating mechanisms（6）On.