WO2019136996A1 - 一种瓷砖桁架机械手及其行走方式 - Google Patents

一种瓷砖桁架机械手及其行走方式 Download PDF

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Publication number
WO2019136996A1
WO2019136996A1 PCT/CN2018/100130 CN2018100130W WO2019136996A1 WO 2019136996 A1 WO2019136996 A1 WO 2019136996A1 CN 2018100130 W CN2018100130 W CN 2018100130W WO 2019136996 A1 WO2019136996 A1 WO 2019136996A1
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WO
WIPO (PCT)
Prior art keywords
axis
tile
assembly
positioning assembly
positioning
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PCT/CN2018/100130
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English (en)
French (fr)
Inventor
卢振威
刘瑞
陈优飞
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广东科达洁能股份有限公司
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Application filed by 广东科达洁能股份有限公司 filed Critical 广东科达洁能股份有限公司
Priority to RU2019138637A priority Critical patent/RU2724757C1/ru
Publication of WO2019136996A1 publication Critical patent/WO2019136996A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials

Definitions

  • the invention relates to the field of ceramic tile equipment, in particular to a ceramic tile truss manipulator and a walking manner thereof.
  • the tiles used for building decoration generally need to be processed by multiple processing stations, so the tiles need to be repeatedly transferred back and forth between multiple processing stations.
  • the existing tiles are generally carried out by manual dragging, which is not only inefficient, but also difficult to ensure that the tiles are not damaged during the conveying process.
  • Today's tile robots use robots with suction cups, which are only suitable for unpacked tiles or flat surfaces. They are not ideal for already packaged and poor surface flatness, and the suction cup load is better. Small, many situations can not meet the needs.
  • one of the objects of the present invention is to provide a ceramic tile truss manipulator that enables flexible and efficient accurate positioning of the tile pallet on a safe basis.
  • a tile truss manipulator includes a control assembly, a positioning assembly and a clamp assembly, the control assembly including a PLC controller, the positioning assembly including a servo system, an X-axis positioning assembly, a Y-axis positioning assembly, a Z-axis positioning assembly, and a rotational positioning a component, the PLC controller transmitting a pulse signal to the servo system, and controlling, by the servo system, a change in spatial position of the X-axis positioning component, the Y-axis positioning component, the Z-axis positioning component, and the rotational positioning component, a rotary positioning assembly mounted on the clamp assembly to drive rotation of the clamp assembly;
  • the clamp assembly includes a clamping portion, a cylinder, a magnetic switch, the PLC controller transmitting a pulse signal to the cylinder, the cylinder drive station The clamping portion clamps and releases the tile, and the magnetic switch is used to determine the state of the cylinder.
  • the clamp assembly further includes a photoelectric sensor for identifying the tile and feeding back a packet number signal of the grab tile to the PLC controller.
  • the X-axis positioning assembly comprises a truss beam and an X-axis sliding block
  • the X-axis sliding block is disposed on the truss beam
  • the Y-axis positioning assembly comprises a Y-axis mechanical arm
  • the Z-axis positioning component The Z-axis robot arm is connected to the X-axis sliding block, and the Y-axis robot arm is provided with a Y-axis sliding groove, and the Z-axis mechanical arm is mounted on the Y-axis sliding groove
  • the Z-axis robot arm slides on the sliding groove, and the clamp assembly is mounted on the Z-axis robot arm.
  • the servo system is provided with five groups, two sets of the servo systems are connected on two sides of the X-axis positioning component, and the other three sets of the servo systems are respectively connected to the Y-axis positioning component and the Z-axis positioning component.
  • the rotary positioning assembly, the servo system includes a servo motor, a servo drive, and a planetary reducer.
  • the servo system is controlled by a pulse signal sent by a PLC controller, wherein the X-axis positioning component is connected with two sets of servo systems to operate synchronously, increasing torque, making the operation more stable and positioning more accurate, and the Y-axis positioning component and the Z-axis positioning component A set of servo systems is used for each of the rotary positioning components on the fixture.
  • the Z-axis mechanical arm is provided with a Z-axis sliding groove, and the clamp assembly moves up and down along the Z-axis sliding groove.
  • the X-axis positioning assembly comprises a truss beam and an X-axis sliding block, the X-axis sliding block is disposed on the truss beam, the Y-axis positioning assembly comprises a Y-axis mechanical arm, and the Z-axis positioning component a Z-axis mechanical arm is provided; the Z-axis mechanical arm is moved up and down along a groove or a protrusion on the X-axis sliding block, and a Y-axis sliding groove is disposed on the Y-axis mechanical arm, and the Z-axis mechanical arm is disposed on the Z-axis mechanical arm a latching member is disposed, the latching member is engaged on the Y-axis sliding groove, and the Z-axis mechanical arm slides on the Y-axis sliding groove through the engaging member, and the clamp assembly is installed in the The lower end of the Z-axis arm.
  • the limit switch is used to define the working range of the tile arm, and to avoid equipment damage and other safety hazards caused by the
  • a limit switch is further disposed on the positioning component, and the limit switch is eight, and the limit switch is respectively installed in an X-axis positioning component, a Y-axis positioning component, a Z-axis positioning component, and a rotation positioning component.
  • the limit switch defines a range of spatial motion of the robot.
  • control component further comprises a touch screen for setting the fixture start coordinates and displaying the real-time state of the robot arm.
  • Another object of the present invention is to provide a method for synchronously dividing a tile.
  • the technical solution adopted by the present invention is as follows:
  • a walking method of a tile truss manipulator includes the following steps:
  • the servo system starts working, the servo system drives the X-axis positioning component, the Y-axis positioning component, the Z-axis positioning component, and the rotation positioning component to move over the tile, where the fixture component
  • the clamping portion clamps the tile rise at the initial tile space coordinate position, and transports the tile to the tile placement end space coordinate position;
  • the servo system controls the robot to move up vertically for the next cycle, and the PLC controller calculates the start coordinate and the end point coordinate of the next cycle according to the tile number signal in the previous cycle, so that the reciprocating, Until the work is completed.
  • the step S2 includes: the clamp assembly travels obliquely above the initial tile space coordinate, and then vertically moves down to the same horizontal line as the initial tile space coordinate, and adjusts the angle of the clamp assembly to be parallel to the tile.
  • the X-axis positioning assembly moves horizontally in the direction of the tile, stops when the photosensor detects the tile, confirms that the cylinder drives the clamping portion to clamp the tile after arrival, and the magnetic switch feeds back the PLC controller Cylinder position clamping signal, photoelectric sensor feedback tile number signal, the servo system continues to work, transport the tile to the tile placement end space coordinates, and then move down to the tile placement end space coordinates, after reaching the end point The cylinder drives the clamping portion to release the tile.
  • the tile truss manipulator control system of the invention comprises a PLC controller and a touch screen, and is the control core of the entire tile truss manipulator.
  • the PLC controller performs data reception, information processing and pulse signal transmission according to the program;
  • the touch screen can perform simple human-computer interaction, and can realize coordinate setting and display of real-time status of the tile robot arm.
  • the positioning assembly enables the clamp assembly to move in the X-axis, Y-axis, Z-axis, and rotational directions over a spatial range.
  • the clamp assembly can be rotated, and the appropriate angle is used to clamp and transport the tile, thereby avoiding the high requirements of the suction surface of the suction cup on the smoothness of the tile surface.
  • the manipulator of the invention has simple overall structure, reliable operation, flexible application, strong applicability and accurate positioning, and can efficiently and safely palletize tiles, save labor cost and create higher efficiency.
  • FIG. 1 is a schematic structural view of a tile truss manipulator disclosed in the present invention.
  • a ceramic tile truss manipulator includes a control component, a positioning component and a clamp component 3 .
  • the control component includes a PLC controller.
  • the positioning component includes a servo system 2 , an X-axis positioning component, a Y-axis positioning component, and a Z-axis positioning.
  • the component and the rotary positioning component, the PLC controller sends a pulse signal to the servo system 2, and controls the change of the spatial position of the X-axis positioning component, the Y-axis positioning component, the Z-axis positioning component and the rotation positioning component through the servo system 2, and the rotation positioning component is installed.
  • the rotation of the clamp assembly 3 is driven on the clamp assembly 3;
  • the clamp assembly 3 includes a clamping portion, a cylinder, a magnetic switch, the PLC controller sends a pulse signal to the cylinder, the cylinder drive clamping portion clamps and releases the ceramic tile 1, and the magnetic switch is used for Determine the state of the cylinder.
  • the clamp assembly 3 further includes a photoelectric sensor for identifying the tile 1 and feeding back the packet number signal of the grab tile 1 to the PLC controller.
  • the control assembly also includes a touch screen for setting the fixture start coordinates and displaying the real-time status of the robot arm.
  • the tile truss manipulator is mounted on a truss consisting of a truss beam 5 and two vertical truss vertical beams.
  • the X-axis positioning assembly includes a truss beam and an X-axis sliding block 7 disposed on the truss beam
  • the Y-axis positioning assembly includes a Y-axis robot
  • the Z-axis positioning assembly includes a Z-axis arm 4 and a Y-axis arm Connected to the X-axis slide block 7, the Y-axis arm is provided with a Y-axis slide groove
  • the Z-axis arm 4 is mounted on the Y-axis slide groove
  • the Z-axis arm 4 slides on the slide groove
  • the clamp assembly 3 is mounted on the Z
  • a Z-axis sliding groove is disposed on the Z-axis arm 4, and the clamp assembly 3 is moved up and down along the Z-axis sliding groove.
  • the servo system 2 controls the X-axis sliding block 7 to move in the X-axis direction of the truss beam, thereby driving the clamp assembly 3 to move in the X-axis direction, and controlling the Z-axis arm 4 to move along the Y-axis direction on the Y-axis sliding groove by the servo system 2 , thereby driving the clamp assembly 3 to move in the Y-axis direction, and the servo assembly 2 controls the clamp assembly 3 to perform the lifting movement in the Z-axis direction in the Z-axis sliding groove, and the servo system 2 can control the clamp assembly 3 to rotate to adjust the clamping portion. angle.
  • the servo system 2 can be set to four groups or five groups.
  • the preferred servo system 2 of the embodiment is provided with five groups, two sets of servo systems 2 are connected on both sides of the X-axis positioning assembly, and the other three groups of servo systems 2 are respectively connected to the Y-axis positioning.
  • the servo system 2 includes a servo motor, a servo drive, and a planetary reducer on the assembly, the Z-axis positioning assembly, and the rotary positioning assembly.
  • the servo system 2 is controlled by the pulse signal sent by the PLC controller.
  • the X-axis positioning component is connected with two sets of servo system 2 to run synchronously, increasing the torque, making the operation more stable and positioning more accurate.
  • the Y-axis positioning component and the Z-axis positioning component A set of servo system 2 is used for each of the rotary positioning components on the fixture.
  • a limit switch is also arranged on the positioning component, and the limit switch is eight, and the limit switch is respectively installed at two extreme positions in the X-axis positioning component, the Y-axis positioning component, the Z-axis positioning component and the rotation positioning component, that is, The two extreme positions of the truss beam 5, the Y-axis arm, the Z-axis arm 4, and the clamp assembly 3 are respectively provided with switches, and the movement range of the manipulator in the X-axis, the Y-axis, the Z-axis, and the rotation direction is limited. .
  • the limit switch is used to define the working range of the tile arm to avoid equipment damage and other safety hazards caused by over-position.
  • the PLC controller is responsible for receiving the signals input by the limit switch, the magnetic switch and the photoelectric sensor, and processing and calculating these signals, and transmitting pulse signals to the servo system 2 and the cylinder according to the result to determine the motion mode.
  • the working principle of the tile truss manipulator of the present invention is as follows: firstly, after confirming the environmental condition, the power is turned on, and the three parameters of the initial tile space coordinate, the placement end space coordinate and the clamp component 3 angle are set, and the start button is pressed to start positioning.
  • the servo system 2 works, and then moves the fixture to the point A above the initial tile space coordinate according to the space coordinate, and the clamp assembly 3 moves vertically downward to reach the B point of the same horizontal line as the tile 1, and the angle of the clamping portion is parallel to the tile 1 Then, the clamp assembly 3 moves to the horizontal direction of the initial tile space coordinate in the tile shelf 6.
  • the cylinder works, driving the clamping portion to clamp the tile 1, the magnetic switch and the photoelectric sensor feedback status signal to the servo system 2, the servo system 2 continues to work, the clamp assembly 3 rises to the point D directly above the C point, and then moves to the placement end point. At the upper E point, the clamp assembly 3 adjusts the angle according to the position of the placement frame, and then moves downward to reach the placement end point F.
  • the cylinder drive clamping portion releases the tile 1, and the tile 1 is lowered and moved vertically upward.
  • the PLC controller calculates the next cycle based on the packet number signal in the previous cycle and the thickness per package. Start coordinates and end point coordinates, then perform the loop work. So reciprocating until the work is completed, press the return origin on the touch screen to return the tile robot to the initial state, then press to stop the power off, and the work ends.
  • the tile truss manipulator control system of the invention comprises a PLC controller and a touch screen, and is the control core of the entire tile truss manipulator.
  • the PLC controller performs data reception, information processing and pulse signal transmission according to the program;
  • the touch screen can perform simple human-computer interaction, and can realize coordinate setting and display of real-time status of the tile robot arm.
  • the positioning assembly enables the clamp assembly 3 to perform movement in the X-axis, the Y-axis, the Z-axis, and the rotational direction in a spatial range.
  • the clamp assembly 3 can be rotated, and the ceramic tile 1 is clamped and transported by selecting an appropriate angle, thereby avoiding the high requirements for the smoothness of the surface of the ceramic tile 1 by the suction chuck.
  • the manipulator of the invention has simple overall structure, reliable operation, flexible application, strong applicability and accurate positioning, and can efficiently and safely palletize the ceramic tile 1 to save labor cost and create higher efficiency.
  • the X-axis positioning assembly includes a truss beam and an X-axis sliding block 7 disposed on the truss beam
  • the Y-axis positioning assembly includes a Y-axis robot arm
  • the Z-axis positioning assembly includes a Z-axis robot arm 4
  • the groove or the bump on the X-axis sliding block 7 is used for lifting movement
  • the Y-axis mechanical arm is provided with the Y-axis sliding groove
  • the Z-axis mechanical arm 4 is provided with the engaging member
  • the engaging member is engaged with the Y-axis sliding groove.
  • the Z-axis robot arm 4 slides on the Y-axis sliding groove by the snap member
  • the clamp assembly 3 is screwed to the Z-axis robot arm 4 to fix the clamp assembly 3 to the lower end of the Z-axis robot arm 4.
  • the truss consists of two truss beams 5 and four vertical truss vertical beams, which are arranged between the two truss beams 5.
  • the invention also discloses a walking manner of a tile truss manipulator, comprising the following steps:
  • the servo system 2 starts working, the servo system 2 drives the X-axis positioning component, the Y-axis positioning component, the Z-axis positioning component and the rotation positioning component to move over the tile 1, the clamp component
  • the clamping portion of 3 holds the tile 1 up at the initial tile space coordinate position, and transports the tile to the tile placement end space coordinate position;
  • the servo system 2 controls the robot to move up vertically for the next cycle, and the PLC controller calculates the start coordinate and the end point coordinate of the next cycle according to the number of tiles 1 packet in the previous cycle. Reciprocate until the work is completed.
  • step S2 includes: the clamp assembly 3 travels obliquely above the initial tile space coordinate, and then vertically moves down to the same horizontal line as the initial tile space coordinate, and adjusts the angle of the clamp assembly 3 to the tile 1 Parallel to each other, the X-axis positioning assembly moves horizontally in the direction of the tile 1 and stops when the photosensor detects the tile 1.
  • the magnetic switch After confirming that the cylinder drives the clamping portion to clamp the tile 1, the magnetic switch is The PLC controller feeds back the cylinder position clamping signal, the photoelectric sensor feeds back the tile 1 packet number signal, the servo system 2 continues to work, transports the tile 1 to the tile placement end space coordinates, and then moves down to the The tile places the end space coordinates, and after reaching the end point, the cylinder drives the clamping portion to release the tile 1.

Abstract

一种瓷砖桁架机械手，包括控制组件、定位组件和夹具组件（3），控制组件包括PLC控制器，定位组件包括伺服系统（2）、X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件，PLC控制器通过伺服系统（2）来控制X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件在空间位置的改变，旋转定位组件安装在夹具组件（3）上驱动夹具组件（3）的旋转；以及一种瓷砖桁架机械手的机械手行走方式。

Description

一种瓷砖桁架机械手及其行走方式 技术领域
本发明涉及瓷砖设备领域，具体涉及一种瓷砖桁架机械手及其行走方式。
背景技术
建筑装饰用的瓷砖在生产加工成型过程中，一般需要经过多个加工工位的加工，因而瓷砖需要在多个加工工位之间来回反复转送。现有的瓷砖在上述转移过程中，一般通过人工拖拉的方式进行，不仅工作效率低下，而且难以保证瓷砖在输送过程不被损坏。而现如今的瓷砖机械手多使用机械手配合吸盘抓取方式，仅适用于未包装瓷砖或包装面平整的条件，对于已经包装好且表面平整度欠佳的情况效果不甚理想，且吸盘式载荷较小，很多情况不能满足需要。而另外一种用复杂的机械结构进行输送、翻转、码垛的方式，虽然码垛效果可以满足实际需要，但是适用性差，在特殊情况下无法满足码垛对轨迹的需求，灵活性不佳，且结构复杂不易维修。
发明内容
为了解决上述技术问题，本发明的目的之一是提供一种瓷砖桁架机械手，使瓷砖的码垛在安全的基础上实现灵活高效的准确定位。
为实现上述发明目的，本发明采取的技术方案如下：
一种瓷砖桁架机械手，包括控制组件、定位组件和夹具组件，所述控制组件包括PLC控制器，所述定位组件包括伺服系统、X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件，所述PLC控制器对所述伺服系统发送脉冲信号，通过所述伺服系统控制所述X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件在空间位置的改变，所述旋转定位组件安装在所述夹具组件上驱动所述夹具组件的旋转；所述夹具组件包括夹持部、气缸、磁性开关，所述PLC控制器对所述气缸发送脉冲信号，所述气缸驱动所述夹持部夹紧松开瓷砖，所述磁性开关用以判断所述气缸的状态。
优选的，所述夹具组件还包括光电传感器，所述光电传感器用于识别瓷砖并将抓取瓷砖的包数信号反馈给所述PLC控制器。
优选的，所述X轴定位组件包括桁架横梁和X轴滑动块，所述X轴滑动块设置在所述 桁架横梁上，所述Y轴定位组件包括Y轴机械臂，所述Z轴定位组件包括Z轴机械臂，所述Y轴机械臂连接在所述X轴滑动块上，所述Y轴机械臂上设置Y轴滑动槽，所述Z轴机械臂安装在所述Y轴滑动槽上，所述Z轴机械臂在所述滑动槽上滑动，所述夹具组件安装在所述Z轴机械臂上。
优选的，所述伺服系统设置五组，两组所述伺服系统连接在所述X轴定位组件的两侧，其余三组所述伺服系统分别连接在所述Y轴定位组件、Z轴定位组件和旋转定位组件上，所述伺服系统包括伺服电机、伺服驱动器、行星减速机。所述伺服系统由PLC控制器发送的脉冲信号控制，其中X轴定位组件连接有两套伺服系统同步运行，增加转矩，使运行更加稳定，定位更加准确，Y轴定位组件、Z轴定位组件、夹具上的旋转定位组件各使用一套伺服系统。
优选的，所述Z轴机械臂上设置Z轴滑动槽，所述夹具组件沿所述Z轴滑动槽做升降运动。
优选的，所述X轴定位组件包括桁架横梁和X轴滑动块，所述X轴滑动块设置在所述桁架横梁上，所述Y轴定位组件包括Y轴机械臂，所述Z轴定位组件包括Z轴机械臂；所述Z轴机械臂沿所述X轴滑动块上的凹槽或凸块做升降运动，所述Y轴机械臂上设置Y轴滑动槽，所述Z轴机械臂上设置卡接件，所述卡接件卡接在所述Y轴滑动槽上，所述Z轴机械臂通过所述卡接件在所述Y轴滑动槽上滑动，所述夹具组件安装在所述Z轴机械臂的下端。所述限位开关用以限定瓷砖机械臂工作范围，规避过位造成的设备损坏及其他安全隐患。
优选的，所述定位组件上还设置限位开关，所述限位开关为8个，所述限位开关分别安装于X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件中，所述限位开关对所述机械手的空间运动范围作出限定。
优选的，所述控制组件还包括触摸屏，触摸屏用于设置夹具起始坐标以及显示机械臂的实时状态。
本发明的另一目的是提供一种瓷砖同步分割方法，为实现上述发明目的，本发明采取的技术方案如下：
一种瓷砖桁架机械手的行走方式，包括如下步骤：
S1.在触摸屏上设定起始瓷砖空间坐标、瓷砖放置终点空间坐标及所述夹具组件角度；
S2.进行空间定位，所述伺服系统开始工作，所述伺服系统驱动所述X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件在瓷砖上方运动，所述夹具组件中的所述夹持部在所述起始瓷砖空间坐标位置夹持所述瓷砖上升，将所述瓷砖运输到所述瓷砖放置终点空间坐标位置处；
S3.所述伺服系统控制所述机械手垂直上移进行下一个循环，所述PLC控制器根据上一循环过程中的瓷砖包数信号计算处理下一循环的起始坐标及终点坐标，如此往复，直至工作完成。
优选的，步骤S2包括：所述夹具组件行驶到所述起始瓷砖空间坐标斜上方，然后垂直下移与所述起始瓷砖空间坐标处于同一水平线，调整所述夹具组件角度与瓷砖相互平行，所述X轴定位组件向瓷砖方向水平移动，当光电传感器检测到瓷砖时停止，确认到达后所述气缸驱动所述夹持部夹紧瓷砖，所述磁性开关向所述PLC控制器反馈所述气缸位置夹紧信号，光电传感器反馈瓷砖包数信号，所述伺服系统继续工作，将瓷砖运输至所述瓷砖放置终点空间坐标上方，然后向下方移动到所述瓷砖放置终点空间坐标，到达终点后所述气缸驱动所述夹持部松开瓷砖。
相对于现有技术，本发明取得了有益的技术效果：
本发明瓷砖桁架机械手控制系统包括PLC控制器和触摸屏，是整个瓷砖桁架机械手的控制核心。PLC控制器根据程序进行数据接收、信息处理以及脉冲信号发送；触摸屏可以进行简单的人机交互，能够实现坐标设置以及瓷砖机械臂实时状态的显示。定位组件能够使夹具组件在空间范围内进行X轴、Y轴、Z轴和旋转方向的运动。夹具组件可以进行旋转，选取合适的角度对瓷砖进行夹持运输，避免了吸盘抓取方式对瓷砖表面光滑度的高要求。本发明的机械手整体结构简单，运行可靠，应用灵活，适用性强，定位准确，能够高效、安全的将瓷砖进行码垛，节省人力成本，创造更高的效益。
附图说明
图1为本发明公开的瓷砖桁架机械手的结构示意图。
附图标记
1.瓷砖；2.伺服系统；3.夹具组件；4.Z轴机械臂；5.桁架横梁；6.瓷砖货架；7.X轴滑动块。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合实施例对本发明进行进一步详细说明，但本发明要求保护的范围并不局限于下述具体实施例。
实施例1
如图1所示，一种瓷砖桁架机械手，包括控制组件、定位组件和夹具组件3，控制组件包括PLC控制器，定位组件包括伺服系统2、X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件，PLC控制器对伺服系统2发送脉冲信号，通过伺服系统2控制X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件在空间位置的改变，旋转定位组件安装在夹具组件3上驱动夹具组件3的旋转；夹具组件3包括夹持部、气缸、磁性开关，PLC控制器对气缸发送脉冲信号，气缸驱动夹持部夹紧松开瓷砖1，磁性开关用以判断气缸的状态。夹具组件3还包括光电传感器，光电传感器用于识别瓷砖1并将抓取瓷砖1的包数信号反馈给PLC控制器。控制组件还包括触摸屏，触摸屏用于设置夹具起始坐标以及显示机械臂的实时状态。
瓷砖桁架机械手安装在桁架上，桁架包括桁架横梁5和两个垂直的桁架竖梁组成。X轴定位组件包括桁架横梁和X轴滑动块7，X轴滑动块7设置在桁架横梁上，Y轴定位组件包括Y轴机械臂，Z轴定位组件包括Z轴机械臂4，Y轴机械臂连接在X轴滑动块7上，Y轴机械臂上设置Y轴滑动槽，Z轴机械臂4安装在Y轴滑动槽上，Z轴机械臂4在滑动槽上滑动，夹具组件3安装在Z轴机械臂4上,Z轴机械臂4上设置Z轴滑动槽，夹具组件3沿Z轴滑动槽做升降运动。伺服系统2控制X轴滑动块7在桁架横梁沿X轴方向运动，从而带动夹具组件3在X轴方向运动，通过伺服系统2控制Z轴机械臂4在Y轴滑动槽上沿Y轴方向运动，从而带动夹具组件3在Y轴方向运动，通过伺服系统2控制夹具组件3在Z轴滑动槽沿Z轴方向做升降运动，同时伺服系统2可以控制夹具组件3进行旋转从而调整夹持部的角度。
伺服系统2可以设置四组或五组，本实施例优选的伺服系统2设置五组，两组伺服系统2连接在X轴定位组件的两侧，其余三组伺服系统2分别连接在Y轴定位组件、Z轴定位组件和旋转定位组件上，伺服系统2包括伺服电机、伺服驱动器、行星减速机。伺服系统2由PLC控制器发送的脉冲信号控制，其中X轴定位组件连接有两套伺服系统2同步运行，增加转矩，使运行更加稳定，定位更加准确，Y轴定位组件、Z轴定位组件、夹具上的旋转定位组件各使用一套伺服系统2。
定位组件上还设置限位开关，限位开关为8个，限位开关分别安装于X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件中的两个极限位置处，即在桁架横梁5、Y轴机械臂、Z轴机械臂4、夹具组件3中的两个极限位置均分别均设置开关，对机械手在X轴、Y轴、Z轴、旋转方向上的运动范围作出限定。限位开关用以限定瓷砖机械臂工作范围，规避过位造成的设备损坏及其他安全隐患。PLC控制器负责接收限位开关、磁性开关、光电传感器输入的信号，并对这些信号进行处理计算、根据结果对伺服系统2及气缸发送脉冲信号，以决定其运动方式。
本发明的瓷砖桁架机械手的工作原理如下：首先确认环境状况安全后接通电源，设定起始瓷砖空间坐标、放置终点空间坐标及夹具组件3角度三个参数，按下启动键，开始定位。伺服系统2工作，再根据空间坐标将夹具移动到起始瓷砖空间坐标斜上方A点，夹具组件3垂直向下移动到达与瓷砖1同一水平线的B点，调整夹持部角度与瓷砖1相互平行，之后夹具组件3向瓷砖货架6中的起始瓷砖空间坐标的水平方向移动，当光电传感器检测到瓷砖1时运动停止，到达取砖点C，确认到达取砖点C处后夹具组件3中的气缸工作，驱动夹持部夹紧瓷砖1，磁性开关和光电传感器反馈状态信号给伺服系统2，伺服系统2继续工作，夹具组件3上升到达C点正上方D点处，然后移动至放置终点的上方E点处，夹具组件3根据放置架的位置调整角度，然后向下方移动，到达放置终点F处，气缸驱动夹持部松开瓷砖1，放下瓷砖1再垂直上移。进入下一个循环，由于这次循环的起点和终点已经不再是上一个循环的起点和终点，所以PLC控制器根据上一循环过程中的包数信号以及每包厚度计算处理下一循环的起始坐标及终点坐标，然后进行该循环工作。如此往复，直至工作完成，在触摸屏上按下回归原点使瓷砖机械手回到初始状态，然后按下停止关闭电源，工作结束。
本发明瓷砖桁架机械手控制系统包括PLC控制器和触摸屏，是整个瓷砖桁架机械手的控制核心。PLC控制器根据程序进行数据接收、信息处理以及脉冲信号发送；触摸屏可以进行简单的人机交互，能够实现坐标设置以及瓷砖机械臂实时状态的显示。定位组件能够使夹具组件3在空间范围内进行X轴、Y轴、Z轴和旋转方向的运动。夹具组件3可以进行旋转，选取合适的角度对瓷砖1进行夹持运输，避免了吸盘抓取方式对瓷砖1表面光滑度的高要求。本发明的机械手整体结构简单，运行可靠，应用灵活，适用性强，定位准确，能够高效、安全的将瓷砖1进行码垛，节省人力成本，创造更高的效益。
实施例2
该实施例仅描述与上述实施例的不同之处，其余技术特征与上述实施例相同。X轴定位组件包括桁架横梁和X轴滑动块7，X轴滑动块7设置在桁架横梁上，Y轴定位组件包括Y轴机械臂，Z轴定位组件包括Z轴机械臂4；Z轴机械臂4沿X轴滑动块7上的凹槽或凸块做升降运动，Y轴机械臂上设置Y轴滑动槽，Z轴机械臂4上设置卡接件，卡接件卡接在Y轴滑动槽上，Z轴机械臂4通过卡接件在Y轴滑动槽上滑动，夹具组件3与Z轴机械臂4螺纹连接使夹具组件3固定安装在Z轴机械臂4的下端。
实施例3
该实施例仅描述与上述实施例的不同之处，其余技术特征与上述实施例相同。桁架包括两个桁架横梁5和四个垂直的桁架竖梁组成，Y轴机械臂设置在两个桁架横梁5之间。
本发明还公开了一种瓷砖桁架机械手的行走方式，包括如下步骤：
S1.在触摸屏上设定起始瓷砖空间坐标、瓷砖放置终点空间坐标及所述夹具组件3角度；
S2.进行空间定位，所述伺服系统2开始工作，所述伺服系统2驱动所述X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件在瓷砖1上方运动，所述夹具组件3中的所述夹持部在所述起始瓷砖空间坐标位置夹持所述瓷砖1上升，将所述瓷砖运输到所述瓷砖放置终点空间坐标位置处；
S3.所述伺服系统2控制所述机械手垂直上移进行下一个循环，所述PLC控制器根据上一循环过程中的瓷砖1包数信号计算处理下一循环的起始坐标及终点坐标，如此往复，直至工作完成。
其中步骤S2具体过程包括：所述夹具组件3行驶到所述起始瓷砖空间坐标斜上方，然后垂直下移与所述起始瓷砖空间坐标处于同一水平线，调整所述夹具组件3角度与瓷砖1相互平行，所述X轴定位组件向瓷砖1方向水平移动，当光电传感器检测到瓷砖1时停止，确认到达后所述气缸驱动所述夹持部夹紧瓷砖1，所述磁性开关向所述PLC控制器反馈所述气缸位置夹紧信号，光电传感器反馈瓷砖1包数信号，所述伺服系统2继续工作，将瓷砖1运输至所述瓷砖放置终点空间坐标上方，然后向下方移动到所述瓷砖放置终点空间坐标，到达终点后所述气缸驱动所述夹持部松开瓷砖1。
根据上述说明书的揭示和教导，本发明所属领域的技术人员还可以对上述实施方式进行变更和修改。因此，本发明并不局限于上面揭示和描述的具体实施方式，对发明的一些修改和变更也应当落入本发明的权利要求的保护范围内。此外，尽管本说明书中使用了一 些特定的术语，但这些术语只是为了方便说明，并不对发明构成任何限制。

Claims (10)

  1. 一种瓷砖桁架机械手，其特征在于，包括控制组件、定位组件和夹具组件，所述控制组件包括PLC控制器，所述定位组件包括伺服系统、X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件，所述PLC控制器对所述伺服系统发送脉冲信号，通过所述伺服系统控制所述X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件在空间位置的改变，所述旋转定位组件安装在所述夹具组件上驱动所述夹具组件的旋转；所述夹具组件包括夹持部、气缸、磁性开关，所述PLC控制器对所述气缸发送脉冲信号，所述气缸驱动所述夹持部夹紧松开瓷砖，所述磁性开关用以判断所述气缸的状态。
  2. 根据权利要求1所述的一种瓷砖桁架机械手，其特征在于，所述夹具组件还包括光电传感器，所述光电传感器用于识别瓷砖并将抓取瓷砖的包数信号反馈给所述PLC控制器。
  3. 根据权利要求1所述的一种瓷砖桁架机械手，其特征在于，所述X轴定位组件包括桁架横梁和X轴滑动块，所述X轴滑动块设置在所述桁架横梁上，所述Y轴定位组件包括Y轴机械臂，所述Z轴定位组件包括Z轴机械臂，所述Y轴机械臂连接在所述X轴滑动块上，所述Y轴机械臂上设置Y轴滑动槽，所述Z轴机械臂安装在所述Y轴滑动槽上，所述Z轴机械臂在所述滑动槽上滑动，所述夹具组件安装在所述Z轴机械臂上。
  4. 根据权利要求1所述的一种瓷砖桁架机械手，其特征在于，所述伺服系统设置五组，两组所述伺服系统连接在所述X轴定位组件的两侧，其余三组所述伺服系统分别连接在所述Y轴定位组件、Z轴定位组件和旋转定位组件上，所述伺服系统包括伺服电机、伺服驱动器、行星减速机。
  5. 根据权利要求3所述的一种瓷砖桁架机械手，其特征在于，所述Z轴机械臂上设置Z轴滑动槽，所述夹具组件沿所述Z轴滑动槽做升降运动。
  6. 根据权利要求1所述的一种瓷砖桁架机械手，其特征在于，所述X轴定位组件包括桁架横梁和X轴滑动块，所述X轴滑动块设置在所述桁架横梁上，所述Y轴定位组件包括Y轴机械臂，所述Z轴定位组件包括Z轴机械臂；所述Z轴机械臂沿所述X轴滑动块上的凹槽或凸块做升降运动，所述Y轴机械臂上设置Y轴滑动槽，所述Z轴机械臂上设置卡接件，所述卡接件卡接在所述Y轴滑动槽上，所述Z轴机械臂通过所述卡接件在所述Y轴滑动槽上滑动，所述夹具组件安装在所述Z轴机械臂的下端。
  7. 根据权利要求1所述的一种瓷砖桁架机械手，其特征在于，所述定位组件上还设置限位开关，所述限位开关为8个，所述限位开关分别安装于X轴定位组件、Y轴定位组件、 Z轴定位组件和旋转定位组件中，所述限位开关对所述机械手的空间运动范围作出限定。
  8. 根据权利要求1所述的一种瓷砖桁架机械手，其特征在于，所述控制组件还包括触摸屏，触摸屏用于设置夹具起始坐标以及显示机械臂的实时状态。
  9. 一种应用权利要求1-8任一项所述瓷砖桁架机械手的机械手行走方式，其特征在于，包括如下步骤：
    S1.在触摸屏上设定起始瓷砖空间坐标、瓷砖放置终点空间坐标及所述夹具组件角度；
    S2.进行空间定位，所述伺服系统开始工作，所述伺服系统驱动所述X轴定位组件、Y轴定位组件、Z轴定位组件和旋转定位组件在瓷砖上方运动，所述夹具组件中的所述夹持部在所述起始瓷砖空间坐标位置夹持所述瓷砖上升，将所述瓷砖运输到所述瓷砖放置终点空间坐标位置处；
    S3.所述伺服系统控制所述机械手垂直上移进行下一个循环，所述PLC控制器根据上一循环过程中的瓷砖包数信号计算处理下一循环的起始坐标及终点坐标，如此往复，直至工作完成。
  10. 根据权利要求9所述的机械手行走方式，其特征在于，步骤S2包括：所述夹具组件行驶到所述起始瓷砖空间坐标斜上方，然后垂直下移与所述起始瓷砖空间坐标处于同一水平线，调整所述夹具组件角度与瓷砖相互平行，所述X轴定位组件向瓷砖方向水平移动，当光电传感器检测到瓷砖时停止，确认到达后所述气缸驱动所述夹持部夹紧瓷砖，所述磁性开关向所述PLC控制器反馈所述气缸位置夹紧信号，光电传感器反馈瓷砖包数信号，所述伺服系统继续工作，将瓷砖运输至所述瓷砖放置终点空间坐标上方，然后向下方移动到所述瓷砖放置终点空间坐标，到达终点后所述气缸驱动所述夹持部松开瓷砖。
PCT/CN2018/100130 2018-01-11 2018-08-11 一种瓷砖桁架机械手及其行走方式 WO2019136996A1 (zh)

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