CN208262834U - A kind of girder device with the movement of double servo synchronizations - Google Patents
A kind of girder device with the movement of double servo synchronizations Download PDFInfo
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- CN208262834U CN208262834U CN201820057379.3U CN201820057379U CN208262834U CN 208262834 U CN208262834 U CN 208262834U CN 201820057379 U CN201820057379 U CN 201820057379U CN 208262834 U CN208262834 U CN 208262834U
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- 230000033001 locomotion Effects 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 38
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- 230000005611 electricity Effects 0.000 claims 2
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- 238000012545 processing Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
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- 241000196324 Embryophyta Species 0.000 description 3
- 239000011449 brick Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910052573 porcelain Inorganic materials 0.000 description 2
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- 240000002853 Nelumbo nucifera Species 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
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Abstract
The utility model is a kind of girder device with the movement of double servo synchronizations, including rack, control mechanism and grasping mechanism, rack includes the first x-axis disposed in parallel part and the second x-axis part, it is vertically installed in the y-axis part between the first x-axis part and the second x-axis part and with the first x-axis part and the second x-axis part slidable connection, be vertically arranged on y-axis part and on y-axis part slidable connection z-axis part, the z-axis part is connect with the grasping mechanism, and the first x-axis part and the second x-axis part are provided with servo motor.When the utility model grabs ceramic tile, kinetic moment is larger, can undertake heavier cargo, and stability is high when grabbing ceramic tile, while can smoothly slide by Double-gear-V -- belt Drive component of the first x-axis and the second x-axis, and accuracy is high when grabbing ceramic tile.
Description
Technical field
The utility model belongs to production equipment for ceramic tiles technical field, and in particular to a kind of purlin with the movement of double servo synchronizations
Rack device.
Background technique
In ceramic tile production sector, the stacking of ceramic tile is realized, due to the heavier and frangible characteristic of ceramic tile itself, select people
Power is carried and fork truck low efficiency and at high cost, therefore usually uses common six-joint robot or truss manipulator, realizes porcelain
For brick in the movement of x-axis, y-axis and z-axis, x-axis, y-axis respectively refer to the movement in horizontal longitudinal direction and horizontal cross, and z-axis refers to
Hard histogram to movement, ceramic tile is transported through in three-dimensional space or stacking to realize.But six-joint robot meeting
When by itself brachium and loading effects, especially operating distance farther out, due to being driven apart from excessive, it may appear that be short of power
The problem of, and the speed of service is also very unstable, therefore there are more defects in the stacking application of ceramic tile for common six-joint robot.
The stacking of existing ceramic tile more uses truss manipulator, as CN202943636U discloses a kind of truss-like machinery
Hand specifically discloses and is equipped with linear guide on truss, and horizontal tooth bar is arranged in linear guide, and longitudinal rack is nibbled with gear
It closes, driving mechanism respectively drives gear rotation and translates with executing agency, and executing agency links with horizontal tooth bar, longitudinal rack respectively
Connection.The truss-like manipulator drives longitudinal rack using gear, by connecting plate, executing agency is driven to move up and down, and drives
Motivation structure allows movable plate by rack and pinion engagement principle, drives movable plate translation by driving gear structure, however,
When the truss-like manipulator is applied to heavier ceramic tile palletizing, it is short of power, it is ineffective.
CN202540307U discloses truss-like manipulator, specifically discloses and is vertically arranged with one group and plays base support
The column of effect is fixed with a crossbeam on column, is equipped with a vertical dynamic beam with the direction of the beam vertical, this vertically moves beam
Bottom end connects the pneumatic clamper of grip, is designed with rack gear and guide rail on crossbeam and vertically dynamic beam, drives speed reducer control using motor
The moving direction and distance of transmission gear, to realize the operation of pneumatic clamper horizontal or vertical direction.Although however, the truss-like machine
Tool hand has two groups of servo motors, but only one crossbeam, the poor accuracy of orientation distance.
205043770 U of CN discloses Gantry-type double-arm truss robot, specifically discloses gantry frame and mechanical arm,
The top of gantry frame has Y-axis crossbeam, and the lower end of mechanical arm is equipped with processing unit (plant) and positioning device, and wherein processing unit (plant) is processed
Workpiece to be added below mechanical arm, positioning device detect the spacing between processing unit (plant) and workpiece to be added, mechanical arm and Y-axis crossbeam
Between be equipped with driving mechanical arm around the axis oscillating for being parallel to Y-axis crossbeam.However, the both arms truss robot is lifting compared with heavy burden
It when lotus, is short of power, is short of enough safeties and accuracy.
To sum up, the prior art lack it is a kind of can use a variety of Service Environments, and while undertaking compared with heavy load have it is enough
Safety, accuracy ceramic tile palletizing girder device.
Utility model content
The utility model aim is to be made that some improvement on the basis of existing ceramic tile palletizing girder device, can be compared with
Defect of the existing technology is solved well, a kind of ceramic tile palletizing girder device with bi-motor, double truss is provided, so that porcelain
The stacking of brick is more safe and accurate.
The technical solution of the utility model is as follows:
A kind of girder device with the movement of double servo synchronizations, including rack, control mechanism and grasping mechanism, the rack
Including the first x-axis disposed in parallel part and the second x-axis part, be vertically installed in the first x-axis part and the second x-axis part it
Between and the y-axis part with the first x-axis part and the second x-axis part slidable connection, be vertically arranged on y-axis part and in y
The z-axis part of slidable connection on shaft portion, the z-axis part are connect with the grasping mechanism, the first x shaft portion, institute
The second x-axis part, the y-axis part, the z-axis part and the grasping mechanism is stated to connect with the control mechanism；It is described
The first x axis Double-gear-V-belt biography that first x-axis part is provided with the first x-axis mechanical arm, is arranged on the first x-axis mechanical arm
Dynamic component and with the sequentially connected first x-axis planetary reducer of the first x-axis mechanical arm, the first x axis servo motor, the first x-axis
Servo-driver, it is double that second x-axis part is provided with the second x-axis mechanical arm, the right x-axis being arranged on the second x-axis mechanical arm
It gear-V -- belt Drive component and is watched with the sequentially connected 2nd x axis planetary reducer of the second x-axis mechanical arm, the second x-axis
Take motor, the second x-axis servo-driver.
The control mechanism can control the first x-axis servo motor driving synchronous with the second x-axis servo motor, real
The synchronous operation of existing first x-axis and the second x-axis servo motor, passes through the first x-axis Double-gear-V -- belt Drive component and the 2nd x
Axis Double-gear-V -- belt Drive component drives y-axis part to slide along x-axis length direction.Therefore, girder device can pass through control machine
Structure drives two servo motors, realizes the synchronous operation of two servo motors, and then can increase x-axis driving moment,
Heavier cargo can be undertaken, while stabilization of equipment performance can be improved in two x-axis parts, while increasing accuracy.
Preferably, the second x-axis planetary reducer, the second x-axis servo motor and the second x-axis servo are driven
Dynamic device is located at the same side of second x-axis part；The first x-axis planetary reducer, the first x-axis servo motor and institute
State the same side that the first x-axis servo-driver is located at first x-axis part.Entire girder device space layout is relatively reasonable,
The operation of grasping mechanism is not influenced.
Preferably, the y-axis part includes y-axis mechanical arm, the y-axis being arranged on y-axis mechanical arm Double-gear-V-belt
Transmission component and with the sequentially connected y-axis planetary reducer of y-axis mechanical arm, y-axis servo motor, y-axis servo-driver, it is described
Control mechanism can control the movement of y-axis servo motor described in y-axis servo driver drives.
Preferably, the z-axis part includes z-axis mechanical arm, the z-axis being arranged on z-axis mechanical arm Double-gear-V-belt
Transmission component and with the sequentially connected z-axis planetary reducer of z-axis mechanical arm, z-axis servo motor, z-axis servo-driver, it is described
Control mechanism can control the movement of z-axis driver described in z-axis servo driver drives.
Preferably, the grasping mechanism includes rolling clamp and its rotating part, the rolling clamp includes cylinder, institute
Stating rotating part includes revolving planet speed reducer, rotating servo motor, rotating servo driver.
Preferably, the rolling clamp further includes magnetic switch, the magnetic switch is fixed on the rolling clamp gas
Cylinder both ends, the magnetic switch, to detect clamping in place and reset signal.
Preferably, the rolling clamp further includes limit switch, the limit switch is set on the rolling clamp.
The limit to X-axis part, Y-axis part, Z axis part and fixture rotating part, anti-locking apparatus may be implemented in the limit switch
There is position, collision, to play a protective role.
Preferably, the rolling clamp further includes photoelectric sensor, the photoelectric sensor is set to the rotating clamp
Tool lower section.The photoelectric sensor picks up ceramic tile packet number to judge, thus precisely fixed by calculating the realization when placing ceramic tile
Position.
Preferably, the control mechanism includes PLC controller, touch screen.The PLC controller class passes through PROFINET
Port carries out communication control to all servo-drivers and touch screen of girder device；The touch screen can be former by setting
Point, crawl point, set-point coordinate realize the control to girder device, can also show to the real-time coordinates of girder device.
The beneficial effects of the utility model have:
(1) this girder device uses the first x-axis and the second x-axis, and y-axis can rely on Double-gear-V-belt in the horizontal direction
Transmission component smoothly slides, and accuracy is high when grabbing ceramic tile；
(2) first x-axis of this girder device and the second x-axis driving moment are provided with servo motor, and device torque is big, energy
Heavier cargo is enough undertaken, stability is high when grabbing ceramic tile；
(3) this girder device is relative to existing girder device, and device design is simple, and at low cost, space layout is reasonable, energy
Enough realize automation control, it being capable of large-scale promotion application.
Detailed description of the invention
Fig. 1 apparatus main body structural schematic diagram；
Fig. 2 control mechanism schematic diagram figure；
Appended drawing reference: rack 1, the first x-axis part 2, the first x-axis mechanical arm 201, the first x-axis planetary reducer 202,
One x-axis servo motor 203, the first x-axis Double-gear-V -- belt Drive component 204, the second x-axis part 3, the second x-axis mechanical arm
301, the second x-axis planetary reducer 302, the second x-axis servo motor 303, the second x-axis Double-gear-V -- belt Drive component 304, y
Shaft portion 4, y-axis mechanical arm 401, y-axis planetary reducer 402, y-axis servo motor 403, z-axis part 5, z-axis mechanical arm 501, z
Axis planetary reducer 502, z-axis servo motor 503, grasping mechanism 6, rolling clamp 601, cargo 7；Control mechanism 8, PLC control
Device 801, touch screen 802, limit switch 803, photoelectric sensor 804, the first x-axis servo-driver 205, the second x-axis servo are driven
Dynamic device 305, y-axis servo-driver 404, z-axis servo-driver 504, rotating servo driver 602, rotating servo motor 603.
Specific embodiment
Specific embodiment of the present utility model is described further with reference to the accompanying drawing:
Embodiment 1
A kind of girder device with the movement of double servo synchronizations, as depicted in figs. 1 and 2, including rack 1,8 and of control mechanism
Grasping mechanism 6, rack 1 include the first x-axis part 2, the second x-axis part 3, y-axis part 4 and z-axis part 5, the first x-axis part 2
It is arranged in parallel with the second x-axis part 3, the first x-axis part 2 includes the first x-axis mechanical arm 201, is arranged in the first x-axis mechanical arm
The first x-axis Double-gear-V -- belt Drive component 204 on 201 and with sequentially connected first x of the first x-axis mechanical arm 201
Axis planetary reducer 202, the first x-axis servo motor 203, the first x-axis servo-driver 205, the first x-axis servo-driver 205
Connect with control mechanism 8, the second x-axis part 3 includes the second x-axis mechanical arm 301, be arranged on the second x-axis mechanical arm 301 the
Two x-axis Double-gears-V -- belt Drive component 304 and with the sequentially connected second x-axis planetary reduction gear of the second x-axis mechanical arm 301
Machine 302, the second x-axis servo motor 303, the second x-axis servo-driver 305, the second x-axis servo-driver 305 and control mechanism 8
Connection；The both ends of y-axis part 4 are connect with the first x-axis part 2 and the second x-axis part 3 respectively, and can be in the first x-axis part
2 and second slide on x-axis part 3, and y-axis part 4 includes y-axis mechanical arm 401, the y-axis bidentate being arranged on y-axis mechanical arm 401
Wheel-V -- belt Drive component and with the sequentially connected y-axis planetary reducer 402 of y-axis mechanical arm 401, y-axis servo motor 403,
Y-axis servo-driver 404, y-axis servo-driver 404 are connect with control mechanism 8；Z-axis part 5 is vertically set on y-axis part 4
On y-axis mechanical arm 401, z shaft portion 5 includes z-axis mechanical arm 501, the z-axis Double-gear-triangle being arranged on z-axis mechanical arm 501
V belt translation component and with the sequentially connected z-axis planetary reducer 502 of z-axis mechanical arm 501, z-axis servo motor 503, z-axis servo
Driver 504, z-axis servo-driver 504 are connect with control mechanism 8；
Control mechanism 8 can realize the by control the first x-axis servo-driver 205 and the second x-axis servo-driver 305
The synchronous operation of one x-axis servo motor 203 and the second x-axis servo motor 303 passes through the first x-axis Double-gear-V -- belt Drive group
Part 204 and the second x-axis Double-gear-V -- belt Drive component 304 drive y-axis part 4 in the first x-axis mechanical arm 201 and the second x-axis
301 synchronous slide of mechanical arm.
Grasping mechanism 6 is arranged on the z-axis mechanical arm 501 of z-axis part 5, and the grasping mechanism 6 includes rolling clamp 601
And its rotating part, the rolling clamp 601 include cylinder, the rotating part includes rotating servo driver 602, rotates and watch
Take motor 603, revolving planet speed reducer；The rotating servo driver 602 drives rotating servo motor 603, it can be achieved that rotation
Fixture 601 rotates.
As shown in Fig. 2, control mechanism 8 includes PLC controller 801, touch screen 802；The PLC controller 801 is purlin
Core in rack device, is responsible for reading external status data and be handled, and controls servo-system fortune according to processing result
Row；The PLC controller 801 is carried out by all servo-drivers and touch screen 802 of the port PROFINET to girder device
Communication control.The touch screen 802 is human-computer interaction interface easy to operate, by this interface, can intuitively be set
Standby running state information, while touch screen 802 can also be operated, setting origin, crawl point, set-point can be passed through
Coordinate realizes the control to girder device, can also show to the real-time coordinates of girder device, realizes the control to equipment.Institute
The limit switch 803 stated can detecte the first x-axis part 2, the second x-axis part 3, Y-axis part 4, Z axis part 5, grasping mechanism
Whether 6 cross position, so that circumvention device collides existing security risk.
PLC controller 801 and the first x-axis servo-driver 205, the second x-axis servo-driver 305, y-axis servo-driver
404, z-axis servo-driver 504, rotating servo driver 602 connect, and PLC controller 801 issues arteries and veins by the port PROFINET
Punching instruction, all servo-drivers control the first x-axis servo motor 203, the second x-axis servo motor 303, y-axis further according to instruction
The motion mode of servo motor 403, z-axis servo motor 503 and rotating servo motor 603, can make girder device move to
The corresponding position of cargo 7, and crawl cargo 7.
As preferred embodiment, the rolling clamp 601 further includes the magnetism for being fixed on 601 both ends of rolling clamp
Switch, the magnetic switch, to detect clamping in place and reset signal.
As preferred embodiment, the rolling clamp 601 further includes limit switch 803.The limit switch 803 is arranged
In on the rolling clamp, can detecte the first x-axis part 2, the second x-axis part 3, Y-axis part 4, Z axis part 5, grasping mechanism
Whether 6 cross position, so that circumvention device collides existing security risk.
As preferred embodiment, rolling clamp 601 further includes photoelectric sensor 804, and the photoelectric sensor 804 is arranged
Below the rolling clamp.The photoelectric sensor 804 can once pick up the packet number of ceramic tile with measured material, and this
Number signal is sent to PLC controller 801, entire girder device is controlled again by 801 calculation processing of PLC controller, to reach
To the purpose precisely placed.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and is modified.Therefore, the utility model is not limited to specific embodiment disclosed and described above, right
Some modifications and changes of utility model should also be as falling into the protection scope of the claims of the present utility model.In addition, although
It is used some specific terms in this specification, these terms are merely for convenience of description, not to the utility model structure
At any restrictions.
Claims (9)
1. a kind of girder device with the movement of double servo synchronizations, including rack, control mechanism and grasping mechanism, feature exist
In, the rack include x-axis part, y-axis part, z-axis part, the x-axis part include the first x-axis disposed in parallel part and
Second x-axis part, the y-axis part be vertically installed between the first x-axis part and the second x-axis part and with the first x-axis part
With the second x-axis part slidable connection, the z-axis straightened portion is set on y-axis part and slidably connects on y-axis part
It connects, the grasping mechanism is connect with the z-axis part；First x-axis part is provided with the first x-axis mechanical arm, setting the
The first x-axis Double-gear-V -- belt Drive component on one x-axis mechanical arm and with sequentially connected first x of the first x-axis mechanical arm
Axis planetary reducer, the first x-axis servo motor, the first x-axis servo-driver, second x-axis part are provided with the second x-axis machine
Tool arm, the right x-axis Double-gear-V -- belt Drive component being arranged on the second x-axis mechanical arm and with the second x-axis mechanical arm successively
The second x-axis planetary reducer, the second x-axis servo motor, the second x-axis servo-driver of connection.
2. girder device according to claim 1, which is characterized in that the second x-axis planetary reducer, the 2nd x
Axis servo motor and the second x-axis servo-driver are located at the same side of second x-axis part；The first x-axis planet
Speed reducer, the first x-axis servo motor and the first x-axis servo-driver are located at the same side of first x-axis part.
3. girder device according to claim 1 or 2, which is characterized in that the y-axis part includes y-axis mechanical arm, setting
Y-axis Double-gear-V -- belt Drive component on y-axis mechanical arm and with the sequentially connected y-axis planetary reduction gear of y-axis mechanical arm
Machine, y-axis servo motor, y-axis servo-driver, the control mechanism can control y-axis servo electricity described in y-axis servo driver drives
Machine movement.
4. girder device according to claim 1 or 2, which is characterized in that the z-axis part includes z-axis mechanical arm, setting
Z-axis Double-gear-V -- belt Drive component on z-axis mechanical arm and with the sequentially connected z-axis planetary reduction gear of z-axis mechanical arm
Machine, z-axis servo motor, z-axis servo-driver, the control mechanism can control the z-axis servo driver drives z-axis servo electricity
Machine movement.
5. girder device according to claim 1 or 2, which is characterized in that the grasping mechanism include rolling clamp and its
Rotating part, the rolling clamp include cylinder, and the rotating part includes revolving planet speed reducer, rotating servo motor, rotation
Turn servo-driver.
6. girder device according to claim 5, which is characterized in that the rolling clamp further includes magnetic switch, described
Magnetic switch is fixed on rolling clamp cylinder both ends.
7. girder device according to claim 5, which is characterized in that the rolling clamp further includes limit switch, described
Limit switch is set on the rolling clamp.
8. girder device according to claim 5, which is characterized in that the grasping mechanism further includes photoelectric sensor, institute
Photoelectric sensor is stated to be set to below the rolling clamp.
9. the girder device according to claim 2 or 6, which is characterized in that the control mechanism includes PLC controller, touching
Touch screen.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820057379.3U CN208262834U (en) | 2018-01-11 | 2018-01-11 | A kind of girder device with the movement of double servo synchronizations |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820057379.3U CN208262834U (en) | 2018-01-11 | 2018-01-11 | A kind of girder device with the movement of double servo synchronizations |
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| CN208262834U true CN208262834U (en) | 2018-12-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032290A (en) * | 2018-01-11 | 2018-05-15 | 广东科达洁能股份有限公司 | A kind of girder device with double servo synchronization movements |
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- 2018-01-11 CN CN201820057379.3U patent/CN208262834U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032290A (en) * | 2018-01-11 | 2018-05-15 | 广东科达洁能股份有限公司 | A kind of girder device with double servo synchronization movements |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 528313, No. 1, West Road, Guang Long Industrial Park, Chencun Town, Shunde District, Guangdong, Foshan Patentee after: Keda Manufacturing Co., Ltd Address before: 528313, No. 1, West Road, Guang Long Industrial Park, Chencun Town, Guangdong, Foshan Patentee before: KEDA CLEAN ENERGY Co.,Ltd. |
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| CP03 | Change of name, title or address |