CN208196770U - A kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system - Google Patents
A kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system Download PDFInfo
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- CN208196770U CN208196770U CN201820764570.1U CN201820764570U CN208196770U CN 208196770 U CN208196770 U CN 208196770U CN 201820764570 U CN201820764570 U CN 201820764570U CN 208196770 U CN208196770 U CN 208196770U
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Abstract
The utility model discloses a kind of large spans, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that including frame assembly, ladder component and moving assembly；The moving assembly includes Z axis component, Y-axis trolley component, X-axis overhead traveling crane component and Suction cup assembly；The spindle assemblies are fixed with Y-axis trolley component, and principal post component, strut assembly and flexible column assembly are by horizontal motor component as power source；The Suction cup assembly is connect with gyro black assembly；The Y-axis trolley component is placed on the guide rail of X-axis overhead traveling crane component by sliding block；The X-axis overhead traveling crane component is placed on frame assembly by support frame.The utility model is achieved the utility model has the advantages that the present apparatus can optimize production line, realize the automation on certain to packing case product classification, shipment, keep mechanical replacement artificial, to improve the disadvantages of whole work efficiency is not high and artificial careless, improves certain working efficiency and precision.
Description
Technical field
The utility model relates to a kind of large spans, big stroke rectangular co-ordinate stacking, unstacking robot system, belong to automation
Production technical field.
Background technique
Machinery operation gradually replaces manual work at this stage, faces dull, large labor intensity and duplicate long working,
Not only labour cost is high, and efficiency is also arrived requirements, the benefit of product thus decline.As to progress stacking after packaging products in boxes
Operation, product need to carry out it to arrange stacking and transport, these operation smallclothes packing cases are all artificial at present after the completion of packing
It is arranged, artificial hand speed is fast, and the quantity arranged every time to it will require, and big part packing case is all worker's driving
Fork truck or other running tools carry out arrangement stacking, often inefficient there is also certain danger coefficient and to have quantitative
Error.In view of the above problems, this practical utility model patent purpose be to realize product it is certain on automation, make machine
Tool replaces manual sorting, to improve insufficient artificial efficiency, carelessness and avoid the shortcomings that contingency occurs in work, improves one
Fixed production efficiency, precision and guarantee safe and civilized production.
Utility model content
To solve the deficiencies in the prior art, the purpose of this utility model is to provide a kind of large span, big stroke right angles to sit
Coding pile, unstacking robot system realize the automation on certain to packing case product classification, shipment, keep mechanical replacement artificial,
To improve the disadvantages of whole work efficiency is not high and artificial careless, certain working efficiency and precision are improved.
In order to achieve the above objectives, the utility model adopts the following technical solutions:
A kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that including frame assembly, climb
Terraced component and moving assembly；The moving assembly includes Z axis component, Y-axis trolley component, X-axis overhead traveling crane component and Suction cup assembly；
The frame assembly is fixed as benchmark and ground；The moving assembly is placed on frame assembly；The ladder
Component is bolted on frame assembly；
The Z axis component includes sequentially connected spindle assemblies, strut assembly, flexible column assembly and gyro black assembly；It is described
One end of flexible column assembly is located at turn around on component；Motor is additionally provided on the gyro black assembly；The spindle assemblies and traveller
Along the face sliding being in contact between component, strut assembly and flexible column assembly；The spindle assemblies deviate from the one of strut assembly
Sliding block is provided on face, for connecting overhead traveling crane；The spindle assemblies, strut assembly and flexible column assembly drive overhead traveling crane to do Z axis side
To sliding；The bottom of the gyro black assembly is for doing the movement of C axis；
The Y-axis trolley component includes blower, sensor module, Y-axis carriage frame, vertical electric machine assembly and horizontal motor
Component；The sensor module is located on Y-axis carriage frame；The blower, vertical electric machine assembly, horizontal motor component are respectively positioned on
On the top surface of Y-axis carriage frame；The bottom of the Y-axis carriage frame is provided with several sliding blocks, is provided with and passes at bottom margin
The sensing chip that sensor component is connected.
The X-axis overhead traveling crane component includes support frame and Y-axis platform；Rack gear and guide rail are provided on the Y-axis platform；It is described
Support frame is connected with Y-axis platform；
The spindle assemblies are fixed with Y-axis trolley component, and principal post component, strut assembly and flexible column assembly are by horizontal motor
Component is as power source；The Suction cup assembly is connect with gyro black assembly；The Y-axis trolley component is placed on X-axis day by sliding block
On the guide rail of vehicle component；The X-axis overhead traveling crane component is placed on frame assembly by support frame.
A kind of large span above-mentioned, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that the frame
Component includes lower margin component, main girder components, pedal assembly, fence assembly, step component, trolley component, rack gear, connected tank and
Oil-containing groove component；
Rack gear is provided in the main girder components, downside is provided with trolley component；The lower margin component and main girder components
Bottom connection, for adjusting height；The pedal assembly is fixedly connected with main girder components, and fence assembly is located at pedal assembly side
Edge, step component bolt are fixedly connected on pedal assembly；The fence assembly is fixedly connected in main girder components；It is described to connect oil
Bowl assembly and connected tank are each attached in main girder components.
A kind of large span above-mentioned, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that the principal post
Component further includes principal post, limited block and rack gear；One end of the limited block is fixed on the two sides of principal post, and the other end is located at traveller group
The two sides of part；The rack gear is located at principal post towards in the one side of strut assembly；The limited block and sliding block are symmetrical about rack gear
Distribution.
A kind of large span above-mentioned, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that the traveller
Component includes traveller, flexible idler sheave assemblies, rack gear and mechanical dead gear；
The one side for remembering the traveller towards principal post component is the back side, and the one side away from principal post component is front, described flexible
Idler sheave assemblies are located in traveller, and stretch out the back side and front；The flexible idler sheave assemblies are engaged with the rack gear in principal post component；Institute
The two sides that traveller is arranged in mechanical dead gear are stated, for limiting the motion profile of principal post component upper limit position block；Two on the back side
While being provided with guide rail；Symmetrical sliding block and Z axis locating piece are additionally provided on the front；One side of the traveller
On be additionally provided with guide rail.
A kind of large span above-mentioned, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that described flexible
Column assembly includes rack gear, guide rail and telescopic mast；The guide rail and rack gear are respectively positioned on one side of the telescopic mast towards traveller, and guide rail closes
It is symmetrical in rack gear；Mechanical dead gear is additionally provided on the two sides of the telescopic mast；The rack gear is mutually nibbled with flexible idler sheave assemblies
It closes.
A kind of large span above-mentioned, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that the revolution
Component includes link block, attachment base and sensor；The link block is located on attachment base top surface, for fixing the top of telescopic mast
Portion；Sensor and motor are additionally provided on the attachment base top surface；The bottom of the motor is connected on the bottom surface of attachment base
First gear；Second gear is connected on the bottom surface of the attachment base；The first gear and second gear are meshed, and first
The latch number of gear is less than the latch number of second gear；Mechanical dead gear is additionally provided on the bottom surface of the attachment base.
A kind of large span above-mentioned, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that the sucker
Component include valve block component, frame assembly, sucker module, in level sensor, pressure sensor and edge finder；
The flank side surface that frame assembly is each located in level sensor, edge finder；The pressure sensor is located at
On frame assembly；The frame assembly is arranged in sucker module；The top of the sucker module is connected with valve block component；Institute
Valve block component is stated to be respectively positioned in frame assembly；The sucker module includes sucker, touching switch, wind pumping channle, pressure-measuring pipe；The touching
Switch, wind pumping channle and pressure-measuring pipe is touched to be respectively positioned on sucker；The sucker module is provided with no less than one, successively arranged in parallel；
The position distribution in level sensor and sucker module correspond.
A kind of large span above-mentioned, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that the valve block
Component includes valve block cushion block, solenoid directional control valve, outer silk inner thread elbow, to silk and divides air parcel；Described point of air parcel is mounted on valve block pad
On block；The valve block cushion block is used for connecting sucker module；The solenoid directional control valve is by being fixed on point air parcel silk；The electricity
Pipe fitting is connected with by outer silk inner thread elbow on magnetic reversal valve, divides and is provided with pipe fitting at the top of air parcel；The electromagnetic switch
Valve is provided with no less than one.
A kind of large span above-mentioned, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that the frame
Component includes by side seal board, end-plate, hanging plate, aluminium frame and aluminum corner brace；The aluminum corner brace is located at the interior corners of aluminium frame；
The side seal board is located at the two sides of aluminium frame, and end-plate is located at the both ends of aluminium frame, and end-plate is alternatively arranged with side seal board；
The hanging plate is fixed on aluminium frame roof.
A kind of large span above-mentioned, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that the X-axis day
Vehicle component further includes control cabinet；Support frame as described above, Y-axis platform are provided with two groups；The setting of Y-axis platform parallel described in two groups；Institute
Support frame is stated for connecting the same end of Y-axis platform；Several Bunper assemblies and several are additionally provided on support frame as described above component
Idler sheave assemblies；The control cabinet is connect with a Y-axis platform；The bottom of support frame as described above is additionally provided with sensor module, seeks code
Device assembly, collector assembly and driving assembly.
The utility model is achieved the utility model has the advantages that the present apparatus can optimize production line, realize to packing case product classification,
Automation on shipment is certain keeps mechanical replacement artificial, to improve the disadvantages of whole work efficiency is not high and artificial careless, improves
Certain working efficiency and precision.
Detailed description of the invention
Fig. 1 is the schematic diagram of embodiment；
Fig. 2 is the moving assembly structural schematic diagram of embodiment；
Fig. 3 is the Z axis component positive structure schematic of embodiment；
Fig. 4 is the Z axis module backside structural schematic diagram of embodiment；
Fig. 5 is the Suction cup assembly external structure schematic diagram of embodiment；
Fig. 6 is the Suction cup assembly schematic diagram of internal structure of embodiment；
Fig. 7 is the Y-axis trolley component positive structure schematic of embodiment；
Fig. 8 is the Y-axis trolley component structure schematic diagram of embodiment；
Fig. 9 is the X-axis overhead traveling crane component positive structure schematic of embodiment；
Figure 10 is the X-axis overhead traveling crane module backside structural schematic diagram of embodiment；
Figure 11 is the frame assembly front-end architecture schematic diagram of embodiment；
Figure 12 is the frame assembly rear end structure schematic diagram of embodiment；
Figure 13 is the frame assembly left front end structural schematic diagram of embodiment；
Figure 14 is the left back end structure schematic diagram of frame assembly of embodiment.
The meaning of appended drawing reference in figure:
1- frame assembly, 2- ladder component, 3- moving assembly, 4-Z shaft assembly, 5-Y axis trolley component, 6-X axis overhead traveling crane group
Part, 7- Suction cup assembly, 8- motor A, 9-C axis substrate, 10- stretch column assembly, 11- strut assembly, 12- principal post component, and 13- is mechanical
The mechanical dead gear B of dead gear A, 14- pinion gear A, 15-, 16- revolving support, the small housing of 17-, 18- mechanical dead gear C, 19- connecting plate A,
20- sucker cover member, 21- sensor module A, 22- sensor module B, 23- sensor module C, 24- sucker frame, 25-
Sensor module D, 26- sensor module E, 27- sucker A, 28- air-valve assembly, the main air cavity of 29- sucker B, 30-, 31 sucker C,
32- blower, 33- sensing chip A, 34- sensor module F, 35-Y axis carriage frame, 36- sensing chip B, 37- electric machine assembly B, 38-
Electric machine assembly C, 39- sliding block A, 40- slide block B, 41- sliding block C, 42- sliding block D, 43- buffer A, 44- support frame A, 45- idle pulley group
Part A, 46-Y shaft platform A, 47- rack gear A, 48- guide rail A, 49- Bunper assembly A, 50-Y shaft platform B, 51- guide rail B, 52- sensing
Device assembly G, 53- control cabinet, 54 idler sheave assemblies B, 55- buffer B, 56- buffer C, 57- sensor module H, 58- idle pulley groups
Part C, 59- support frame B, 60- sensor module I, 61- aftercoder component, 62- sensor module J, 63- Bunper assembly B, 64-
Collector assembly, 65- idler sheave assemblies D, 66- sensor module K, 67- buffer D, 68- lower margin component, 69- main girder components A,
70- pedal assembly A, 71- end fence assembly A, 72- step component A, 73- trolley component, 74- main girder components B, 75- rack gear
The side B, 76- step component B, 77- fence assembly, 78- connected tank A, 79- oil-containing groove component A, 80 connected tank B, 81- step components
C, 82- step component D, 83- pedal assembly B, 84- end fence assembly B, 85- oil-containing groove component B, 86- connected tank C, 87- tooth
C, 88- connected tank C, 89- driving assembly A, 90- driving assembly B.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.Following embodiment is only used for clearly illustrating this
The technical solution of utility model, and cannot be used as a limitation the limitation protection scope of the utility model.
What is involved is a kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system, packets for the art of this patent scheme
Include frame assembly, ladder component, moving assembly, Z axis component, Y-axis trolley component, X-axis overhead traveling crane component, Suction cup assembly, the frame
Frame component is fixed as benchmark and ground, and moving assembly is placed in main girder components, and the ladder component is bolted
On frame assembly, its principal post component of the Z axis component is fixed with Y-axis trolley component, principal post component, strut assembly and telescopic mast group
Part, as power source, constitutes the big Distance Transmission of Z axis by rack and pinion engagement and guide rail slide block movement by electric machine assembly B, described
Suction cup assembly is connect by bolt with the revolving support in Z axis component, and the Y-axis trolley component passes through sliding block A, slide block B, sliding block
C, sliding block D is placed on X-axis overhead traveling crane package traces A, guide rail B, and the X-axis overhead traveling crane component is put by support frame A, support frame B
It sets on main girder components A, the main girder components B in frame assembly.
Preferably, Z axis component is by principal post component, strut assembly, flexible column assembly, C axis substrate, motor A, mechanical dead gear
A, pinion gear A, mechanical dead gear B, revolving support, small housing composition.Principal post component, strut assembly and flexible column assembly are by motor group
Part B constitutes the big Distance Transmission of Z axis as power source, by the way that rack and pinion engagement and guide rail slide block are mobile, and C axis substrate passes through bolt
It is fixed with flexible column assembly, small housing is fixed by bolt and C axis substrate, and mechanical dead gear A, mechanical dead gear B pass through bolt and C axis
Substrate is fixed, and motor is fixed by bolt and C axis substrate, and pinion gear is connected to motor, and revolving support and Suction cup assembly bolt connect
It is connected together.In use, engaging fortune with the rack gear on strut assembly by the gear on mobile overhead crane by the motor on overhead traveling crane
It is dynamic, so that strut assembly be driven integrally to move up and down.Flexible idler sheave assemblies in strut assembly respectively with the tooth in principal post component
Rack gear C engagement in A, flexible column assembly, since principal post is integrally fixed during strut assembly is mobile, therefore it is lazy to stretch
Wheel assembly can generate opposite rotation as strut assembly is mobile, and the rack gear simultaneously to stretch in column assembly is with respect to contracting idle pulley
Component can generate a movement identical with the strut assembly direction of motion, and the movement of distance twice is realized with this.In addition, in order to anti-
Accident only occurs and is additionally provided with Machine guarding: mechanical dead gear and Z axis positioning, in case movement overtravel falls off.In gyro black assembly
Under the drive of interior motor, by engaging for first gear and second gear, the part connecting with second gear can be done to revolution fortune
It is dynamic.It is realized due to link block and telescopic mast by bolt and connects the compound motion, it can be achieved that straight line and revolution.
Preferably, the Suction cup assembly includes mechanical dead gear C, connecting plate A, sucker cover member, sensor module
A, sensor module B, sensor module C, sucker frame, sensor module D, sensor module E, sucker A, air-valve assembly, suction
Disk B, main air cavity, sucker C, mechanical dead gear C are bolted on connecting plate A, and sucker cover member screw is connected to sucker frame
On frame, sensor module A, sensor module B, sensor module C, sensor module D, sensor module E, sucker A, sucker B,
Sucker C is bolted on sucker frame, and main air cavity is bolted on sucker B, and air-valve assembly is threaded in master
On air cavity.In use, when sucker will be close to smoke box, at this time air-valve assembly be in electricity condition, sucker A, B, C have suction energy
By tobacco case air-breathing and realize carrying, during picking up smoke box and carrying, sensor module can detect whether smoke box falls,
Then information is timely feedbacked.Edge finder can also be set in frame perimeter, the accurate location of smoke box can be found, guarantee picks up smoke box
Position be correct.
Preferably, the Y-axis trolley component, include blower, sensing chip A, sensor module F, Y-axis carriage frame,
Sensing chip B, electric machine assembly B, electric machine assembly C, sliding block A, slide block B, sliding block C, sliding block D, blower, sensing chip A, sensor module
F, sensing chip B, electric machine assembly B, electric machine assembly C, sliding block A, slide block B, sliding block C, sliding block D are bolted and are fixed on Y-axis
On trolley.
Preferably, the X-axis overhead traveling crane component, includes buffer A, support frame A, idler sheave assemblies A, Y-axis platform A, tooth
It is A, guide rail A, Bunper assembly A, Y-axis platform B, guide rail B, sensor module G, control cabinet, idler sheave assemblies B, buffer B, slow
Rush device C, sensor module H, idler sheave assemblies C, support frame B, sensor module I, aftercoder component, sensor module J, buffer
Component B, collector assembly, idler sheave assemblies D, sensor module K, buffer D, buffer A, buffer B, Bunper assembly A,
Idler sheave assemblies A, idler sheave assemblies B are bolted on support frame A, buffer C, buffer D, Bunper assembly B, idler sheave assemblies
C, idler sheave assemblies D, sensor module H, aftercoder component, sensor module J, sensor module K are bolted to support frame B
On, Y-axis platform A, Y-axis platform A are fixedly connected with support frame A, support frame B, and control cabinet, collector assembly are bolted to Y-axis
Platform, rack gear A, guide rail A are bolted on Y-axis platform A, and guide rail B is bolted on Y-axis platform B.
Preferably, the frame assembly, includes lower margin component, main girder components A, pedal assembly A, end fence assembly
A, step component A, trolley component, main girder components B, rack gear B, step component B, side fence assembly, connected tank A, oil-containing groove group
Part A, connected tank B, step component C, step component D, pedal assembly B, end fence assembly B, oil-containing groove component B, connected tank C,
Rack gear C, connected tank D, pedal assembly A, pedal assembly B are fixedly connected with main girder components A, main girder components B bolt, end fence group
Part A, step component A are bolted on pedal assembly A, and end fence assembly B, step component D are bolted to pedal assembly B
On, lower margin component and main girder components are bolted adjustable height, and step component B, step component C are bolted to side wall column group
On part, trolley component, rack gear B, oil-containing groove component, connected tank A, connected tank B, side fence assembly are bolted to main girder components
On B, rack gear C, connected tank C, connected tank D, oil-containing groove component B are bolted on main girder components A.
As a kind of embodiment of this patent, as represented in figures 1 through 14, large span, big stroke rectangular co-ordinate device code torn open, pile
Robot system, including frame assembly 1, ladder component 2, moving assembly 3, Z axis component 4, Y-axis trolley component 5, X-axis overhead traveling crane group
Part 6 and Suction cup assembly 7.
X-axis overhead traveling crane component is placed in the main girder components in frame assembly, and main girder components B sets up fluted and idle pulley separately in top
Component A cooperation is mobile and channeling direction, when main girder components A is not provided with groove to adjust assembly idle pulley caused by error with it is recessed
Slot Caton phenomenon, driving assembly A and driving assembly B engage driving with rack gear B, the rack gear C in frame assembly simultaneously, drive movement
Component does X-axis movement, and aftercoder component bolt is fixedly connected moves Real-time Feedback movement together with moving assembly on the support frame
The position of component opposing frame component, collector assembly bolt are fixedly connected on X-axis overhead traveling crane component by cooperating with trolley
Electric power, the Y-axis trolley component are provided for X-axis overhead traveling crane component in real time, electric machine assembly B, electric machine assembly C bolt are fixedly connected on Y
On axis carriage frame, electric machine assembly C provides power by engaging with rack gear A for the movement of Y-axis trolley component entirety Y direction, sliding
Block A, slide block B, sliding block C, sliding block D bolt are fixedly connected on Y-axis carriage frame, while it is bright to be slidably matched with guide rail B, guide rail C
True moving direction, sensing chip A, sensing chip B and sensor module G, sensor module I cooperation prevent Y-axis trolley component overtravel,
Blower bolt is fixedly connected on Y-axis carriage frame, provides power, the Z axis component, principal post component bolt for Suction cup assembly
It is fixedly connected on Y-axis carriage frame, the motion mode of strut assembly and principal post component, flexible column assembly is nibbled for rack-and-pinion
It closing, direction is limited by sliding block and guide rail, electric machine assembly B and strut assembly rack and pinion engagement provide Z-direction motion-promotion force,
C axis substrate bolt is fixedly connected on telescopic mast, and motor A bolt is fixedly connected on C axis substrate, and pinion gear and motor A are coaxial
Connection, revolving support inner ring bolt are fixedly connected on C axis substrate, and revolving support outer ring bolt is fixedly connected on connecting plate A,
Pinion gear is engaged with revolving support gear under the drive of motor A does the movement of C axis direction, sucker A, the Suction cup assembly is inhaled
Disk B, sucker C are fixedly connected on sucker frame by aluminum corner brace bolt, sensor module A, sensor module B, sensor module
C, sensor module D, sensor module E are bolted on sucker frame, sensor module A, sensor module B, pass
Sensor component C is for judging whether Suction cup assembly catches product.Main air cavity bolt is fixedly connected on sucker B, air-valve assembly spiral shell
Line is connected on main air cavity, and sucker cover member is bolted on sucker frame.
Oil-containing groove component is used to connect frame assembly internal gear in frame assembly, rack gear engages the lubricant grease to drip, lubrication
Grease flows into connected tank by oil-containing groove component, is convenient for management equipment environmental aspect.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvement and deformations can also be made, these change
It also should be regarded as the protection scope of the utility model into deformation.
Claims (10)
1. a kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system, characterized in that including frame assembly, ladder
Component and moving assembly；The moving assembly includes Z axis component, Y-axis trolley component, X-axis overhead traveling crane component and Suction cup assembly；
The frame assembly is fixed as benchmark and ground；The moving assembly is placed on frame assembly；The ladder component
It is bolted on frame assembly；
The Z axis component includes sequentially connected spindle assemblies, strut assembly, flexible column assembly and gyro black assembly；It is described flexible
One end of column assembly is located at turn around on component；Motor is additionally provided on the gyro black assembly；The spindle assemblies and strut assembly,
Along the face sliding being in contact between strut assembly and flexible column assembly；The spindle assemblies are set in the one side of strut assembly
It is equipped with sliding block, for connecting overhead traveling crane；The spindle assemblies, strut assembly and flexible column assembly drive overhead traveling crane do the cunning of Z-direction
It is dynamic；The bottom of the gyro black assembly is for doing the movement of C axis；
The Y-axis trolley component includes blower, sensor module, Y-axis carriage frame, vertical electric machine assembly and horizontal motor group
Part；The sensor module is located on Y-axis carriage frame；The blower, vertical electric machine assembly, horizontal motor component are respectively positioned on Y
On the top surface of axis carriage frame；The bottom of the Y-axis carriage frame is provided with several sliding blocks, is provided with and senses at bottom margin
The sensing chip that device assembly is connected；
The X-axis overhead traveling crane component includes support frame and Y-axis platform；Rack gear and guide rail are provided on the Y-axis platform；The support
Frame is connected with Y-axis platform；
The spindle assemblies are fixed with Y-axis trolley component, and principal post component, strut assembly and flexible column assembly are by horizontal motor component
As power source；The Suction cup assembly is connect with gyro black assembly；The Y-axis trolley component is placed on X-axis overhead traveling crane group by sliding block
On the guide rail of part；The X-axis overhead traveling crane component is placed on frame assembly by support frame.
2. a kind of large span according to claim 1, big stroke rectangular co-ordinate stacking, unstacking robot system, feature
It is that the frame assembly includes lower margin component, main girder components, pedal assembly, fence assembly, step component, trolley component, tooth
Item, connected tank and oil-containing groove component；
Rack gear is provided in the main girder components, downside is provided with trolley component；The lower margin component and main girder components bottom
Connection, for adjusting height；The pedal assembly is fixedly connected with main girder components, and fence assembly is located at pedal assembly edge, platform
Rank component bolt is fixedly connected on pedal assembly；The fence assembly is fixedly connected in main girder components；The oil-containing groove group
Part and connected tank are each attached in main girder components.
3. a kind of large span according to claim 1, big stroke rectangular co-ordinate stacking, unstacking robot system, feature
It is that the principal post component further includes principal post, limited block and rack gear；One end of the limited block is fixed on the two sides of principal post, another
End is located at the two sides of strut assembly；The rack gear is located at principal post towards in the one side of strut assembly；The limited block and sliding block are equal
It is symmetrical about rack gear.
4. a kind of large span according to claim 3, big stroke rectangular co-ordinate stacking, unstacking robot system, feature
It is that the strut assembly includes traveller, flexible idler sheave assemblies, rack gear and mechanical dead gear；
The one side for remembering the traveller towards principal post component is the back side, and the one side away from principal post component is front, the flexible idle pulley
Component is located in traveller, and stretches out the back side and front；The flexible idler sheave assemblies are engaged with the rack gear in principal post component；The machine
Tool extremely keeps off the two sides that traveller is arranged in, for limiting the motion profile of principal post component upper limit position block；Both sides on the back side are set
It is equipped with guide rail；Symmetrical sliding block and Z axis locating piece are additionally provided on the front；On one side of the traveller also
It is provided with guide rail.
5. a kind of large span according to claim 4, big stroke rectangular co-ordinate stacking, unstacking robot system, feature
It is that the flexible column assembly includes rack gear, guide rail and telescopic mast；The guide rail and rack gear are respectively positioned on telescopic mast one towards traveller
Face, and guide rail is symmetrical about rack gear；Mechanical dead gear is additionally provided on the two sides of the telescopic mast；The rack gear with stretch it is lazy
Wheel assembly is meshed.
6. a kind of large span according to claim 3, big stroke rectangular co-ordinate stacking, unstacking robot system, feature
It is that the gyro black assembly includes link block, attachment base and sensor；The link block is located on attachment base top surface, for fixing
The top of telescopic mast；Sensor and motor are additionally provided on the attachment base top surface；The bottom of the motor, at the bottom of attachment base
First gear is connected on face；Second gear is connected on the bottom surface of the attachment base；The first gear and second gear phase
Engagement, and the latch number of first gear is less than the latch number of second gear；It is additionally provided on the bottom surface of the attachment base mechanical dead
Gear.
7. a kind of large span according to claim 1, big stroke rectangular co-ordinate stacking, unstacking robot system, feature
Be, the Suction cup assembly include valve block component, frame assembly, sucker module, in level sensor, pressure sensor and edge finder；
The flank side surface that frame assembly is each located in level sensor, edge finder；The pressure sensor is located at frame
On component；The frame assembly is arranged in sucker module；The top of the sucker module is connected with valve block component；The valve
Block assembly is respectively positioned in frame assembly；The sucker module includes sucker, touching switch, wind pumping channle, pressure-measuring pipe；The touching is opened
It closes, wind pumping channle and pressure-measuring pipe are respectively positioned on sucker；The sucker module is provided with no less than one, successively arranged in parallel；It is described
It is corresponded in the position distribution and sucker module of level sensor.
8. a kind of large span according to claim 7, big stroke rectangular co-ordinate stacking, unstacking robot system, feature
It is that the valve block component includes valve block cushion block, solenoid directional control valve, outer silk inner thread elbow, to silk and divides air parcel；Described point of air parcel peace
On valve block cushion block；The valve block cushion block is used for connecting sucker module；The solenoid directional control valve is by being fixed on a point gas to silk
On block；Pipe fitting is connected with by outer silk inner thread elbow on the solenoid directional control valve, divides and is provided with pipe fitting at the top of air parcel；Institute
It states solenoid directional control valve and is provided with no less than one.
9. a kind of large span according to claim 8, big stroke rectangular co-ordinate stacking, unstacking robot system, feature
It is that the frame assembly includes by side seal board, end-plate, hanging plate, aluminium frame and aluminum corner brace；The aluminum corner brace is located at aluminium frame
At interior corners；The side seal board is located at the two sides of aluminium frame, and end-plate is located at the both ends of aluminium frame, end-plate and side seal
Plate is alternatively arranged；The hanging plate is fixed on aluminium frame roof.
10. a kind of large span according to claim 1, big stroke rectangular co-ordinate stacking, unstacking robot system, feature
It is that the X-axis overhead traveling crane component further includes control cabinet；Support frame as described above, Y-axis platform are provided with two groups；Y-axis platform described in two groups
It is arranged in parallel；Support frame as described above is used to connect the same end of Y-axis platform；Several buffers are additionally provided on support frame as described above component
Component and several idler sheave assemblies；The control cabinet is connect with a Y-axis platform；The bottom of support frame as described above is additionally provided with sensor
Component, aftercoder component, collector assembly and driving assembly.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436885A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436885A (en) * | 2018-05-22 | 2018-08-24 | 南京工程学院 | A kind of large span, big stroke rectangular co-ordinate stacking, unstacking robot system |
| CN108436885B (en) * | 2018-05-22 | 2023-08-22 | 南京工程学院 | Large-span and large-stroke rectangular coordinate stacking and unstacking robot system |
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