CN106364910B

CN106364910B - Manipulator capable of working in any 3D curve and action process thereof

Info

Publication number: CN106364910B
Application number: CN201611016056.1A
Authority: CN
Inventors: 谢东; 周继刚; 李建华; 崔永彬; 孙文才; 马冬冬; 邱羽
Original assignee: Shandong Aiersheng Intelligent Technology Co ltd
Current assignee: Shandong Aiersheng Intelligent Technology Co ltd
Priority date: 2016-11-18
Filing date: 2016-11-18
Publication date: 2022-10-11
Anticipated expiration: 2036-11-18
Also published as: CN106364910A

Abstract

A manipulator capable of working in any 3D curve and an action process thereof belong to the technical field of automation equipment. The utility model provides a manipulator of 3D curve work wantonly which characterized in that: the device comprises a rack (1), a traveling mechanism, a w-axis rotating mechanism (6) and a grabbing mechanism (7), wherein the traveling mechanism is arranged on the rack (1) and can move along an x axis, a y axis and a z axis respectively, the w-axis rotating mechanism (6) is arranged on the traveling mechanism, and the grabbing mechanism (7) is arranged on the w-axis rotating mechanism (6); the grabbing mechanism (7) comprises a grabbing mechanism body (45), and a pallet grabbing mechanism and a ceramic tile grabbing mechanism which are installed on the grabbing mechanism body (45). The grabbing mechanism of the manipulator is more flexible, and the ceramic tile grabbing mechanism and the pallet grabbing mechanism can respectively grab the ceramic tile and the pallet; the action process of the manipulator capable of working on any 3D curve can be better matched with a ceramic tile production line.

Description

Manipulator capable of working in any 3D curve and action process thereof

Technical Field

A mechanical arm capable of working in any 3D curve and an action process thereof belong to the technical field of automation equipment.

Background

A manipulator refers to an automatic operating device that can imitate some functions of a human hand and arm to grab, carry objects or operate tools according to a fixed procedure. The manipulator is the earliest industrial robot and the earliest modern robot, replaces heavy labor of people to realize mechanization and automation of production, can operate in a harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light power, atomic energy and the like.

In the ceramic tile production industry, the main effect of manipulator is the transportation of ceramic tile and the pile up neatly of ceramic tile, and the removal of x axle, y axle and z axle can be accomplished usually to current manipulator, and x axle, y axle indicate respectively at horizontal vertical and horizontal removal, and the z axle indicates the removal in vertical direction to the realization is transported or is piled up neatly the ceramic tile in three-dimensional space. The existing manipulator has the following problems in transferring or stacking ceramic tiles:

1. the posture of the ceramic tile cannot be changed, and the ceramic tile can only be transported according to the original posture of the ceramic tile, so that the ceramic tile can only be stacked according to the same mode when being stacked after being transported, the flexibility is poor, the requirement on stacking environment is high, and the use is inconvenient;

2. the movement of the manipulator along the x axis, the y axis and the z axis can only be operated at a constant speed, and in order to ensure that the captured ceramic tiles cannot be damaged in the transferring process, the operation speed of the manipulator is required to be low, so that the working efficiency of the manipulator is seriously influenced;

3. when the manipulator moves along the z axis, the z axis upright post can drive the captured tiles to lift, and because the number of the captured tiles is different every time, the weight of the z axis upright post during lifting is different every time, so that on one hand, the manipulator can vibrate during working, and on the other hand, the problem of collision caused by the fact that the moving speed cannot be accurately controlled can also occur;

4. the power device of the existing manipulator is usually a motor, and the motor is usually fixed on a rack, so that when the manipulator travels too far, especially far away from the motor, the problem of insufficient power can occur due to too long transmission distance, and the running speed is also very unstable;

5. when carrying out the pile up neatly to the ceramic tile, for the follow-up transportation or the loading of ceramic tile, need place the pallet usually, both made things convenient for subsequent operation, can avoid again causing the damage to the ceramic tile. When the existing mechanical arm is used for stacking, the pallet needs to be manually placed. Because the manipulator needs with the cooperation of ceramic tile production line, consequently in daily production process, the manipulator can not shut down, and this just needs the workman to place the pallet in manipulator working process, has the potential safety hazard. And the requirement of current manipulator to the position of pallet is than higher, need place the pallet according to the position accuracy of manipulator work when placing, uses very inconveniently.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, and the manipulator which can rotate around the vertical direction, has high flexibility and can independently grab the pallet and the ceramic tiles and work on any 3D curve and the action process thereof are provided.

The technical scheme adopted by the invention for solving the technical problems is as follows: this manipulator of 3D curve work wantonly, its characterized in that: the automatic grabbing device comprises a rack, a travelling mechanism, a w-axis rotating mechanism and a grabbing mechanism, wherein the travelling mechanism is arranged on the rack and can move along an x axis, a y axis and a z axis respectively; the grabbing mechanism comprises a grabbing mechanism body, a pallet grabbing mechanism and a ceramic tile grabbing mechanism, wherein the pallet grabbing mechanism and the ceramic tile grabbing mechanism are installed on the grabbing mechanism body.

Preferably, the bottom of frame be equipped with pallet storehouse and ceramic tile storehouse.

Preferably, the running mechanism comprises a y-axis running mechanism, an x-axis running mechanism and a z-axis running mechanism, the y-axis running mechanism is installed on the rack, the x-axis running mechanism is installed on the y-axis running mechanism, the z-axis running mechanism is installed on the x-axis running mechanism, and the w-axis rotating mechanism is installed on the z-axis running mechanism.

Preferably, the y-axis travelling mechanism comprises two suspension mechanisms and two y-axis power mechanisms, the two suspension mechanisms are symmetrically arranged at two ends of the x-axis travelling mechanism, and the y-axis power mechanisms are arranged on the suspension mechanisms and drive the suspension mechanisms to move linearly.

Preferably, the tile grabbing mechanism comprises tile clamping plates and clamping plate power units, and a clamping plate transmission mechanism is arranged between the clamping plate power units and the tile clamping plates.

Preferably, one side of the tile clamping plate, which is used for clamping the tile, is provided with rubber, and the lower end of the tile clamping plate inclines towards one side close to the tile.

Preferably, the grabbing mechanism body is provided with a tile grabbing limiting unit for limiting the tile grabbing mechanism.

Preferably, the pallet grabbing mechanism comprises a pallet grabbing finger and a finger power unit, and a pallet transmission mechanism is arranged between the pallet grabbing finger and the finger power unit.

Preferably, the side of snatching the mechanism main part is equipped with pallet and presss from both sides tight deflector, and the free end that the pallet pressed from both sides tight deflector is by the arc of supreme indent gradually down, the pallet snatchs the one end of finger and articulates on finger power unit, and the pallet between hinge point and the pallet clamp tight deflector snatchs and is equipped with finger direction bearing on the finger, and finger power unit promotes the pallet and snatchs finger horizontal migration, and finger direction bearing presss from both sides the free end cooperation of tight deflector with the pallet, realizes that the pallet snatchs the clamp of finger tightly pressing from both sides or stretch out.

The motion process of the manipulator capable of working on any D curve is characterized in that: the method comprises the following steps:

the pallet grabbing mechanism grabs the pallet, and the travelling mechanism drives the grabbing mechanism body to move and place the pallet;

the walking mechanism drives the grabbing mechanism body to move, so that the ceramic tile grabbing mechanism grabs the ceramic tiles, and the grabbed ceramic tiles are sequentially placed on the pallet to stack the ceramic tiles;

the pallet grabbing mechanism and the ceramic tile grabbing mechanism travel and position according to the coordinates of the three-dimensional space, and the traveling mechanism and the w-axis rotating mechanism automatically adjust the speed and optimize the moving route.

Compared with the prior art, the manipulator capable of working in any 3D curve and the action process thereof have the beneficial effects that:

1. the grabbing mechanism of the manipulator is arranged on the w-axis rotating mechanism, so that the degree of freedom of the grabbing mechanism is increased, and the grabbing mechanism is more flexible, so that the manipulator can change the posture of a ceramic tile while moving the ceramic tile, the ceramic tile can be stacked according to the requirement, and the use is convenient; the ceramic tile snatchs the mechanism and the pallet snatchs the mechanism and can snatch ceramic tile and pallet respectively, and convenient to use does not need the manual work to place the pallet moreover when carrying out the pile up neatly to the ceramic tile, and the precision that the pallet was placed is high, and the pallet snatchs the mechanism and snatchs the mechanism with the ceramic tile and can the autonomous working, and can not exert an influence each other, has improved the kind that snatchs the mechanism and snatch article, has improved the degree of automation of this manipulator, convenient to use.

2. The pallet can be stored in the pallet storehouse, and this manipulator can directly snatch the pallet in the pallet storehouse and place in the ceramic tile storehouse to snatch the ceramic tile according to this and place on the pallet in the ceramic tile storehouse, thereby carry out the pile up neatly, convenient to use, degree of automation is high moreover to the ceramic tile.

3. The x-axis travelling mechanism, the y-axis travelling mechanism and the z-axis travelling mechanism respectively drive the grabbing mechanism to travel along the directions of an x axis, a y axis and a z axis, so that the action of the grabbing mechanism is more flexible.

4. The x-axis travelling mechanism is installed on the rack through the suspension mechanism, and the y-axis power mechanism drives the suspension mechanism to move linearly, so that the y-axis power mechanism cannot be influenced by the gravity of the captured ceramic tiles or pallets, and the suspension mechanism is guaranteed to travel more stably and accurately.

5. The clamping plate power unit pushes the ceramic tile clamping plates to synchronously move in opposite directions through the clamping plate transmission mechanism, so that the ceramic tiles are clamped or loosened, the movement synchronism of the ceramic tile clamping plates is good, and the clamping is firm.

6. Rubber on the ceramic tile splint can increase the frictional force between ceramic tile splint and the ceramic tile to the in-process ceramic tile of avoiding pressing from both sides to get the ceramic tile drops, can also avoid the ceramic tile splint to cause the damage to the ceramic tile, and the ceramic tile splint slope sets up, can laminate with the ceramic tile when pressing from both sides the ceramic tile of getting, thereby makes the ceramic tile clamp get more firm.

7. The ceramic tile snatchs spacing unit and can carry on spacingly to splint power pack to carry on spacingly to the stroke of ceramic tile splint, thereby make the ceramic tile splint can be better loosen and press from both sides tight ceramic tile, avoid loosening not in place or press from both sides bad ceramic tile.

8. The pallet transmission mechanism can enable the pallet grabbing fingers to move towards the same or opposite release directions at the same time, so that the pallet grabbing fingers are synchronously clamped or stretched.

9. The power unit drives the pallet to grab the horizontal movement of the fingers, when the finger guide bearing is separated from the pallet to clamp the guide plate, the ceramic tile is grabbed and the fingers can be in a loosening state under the action of gravity, and when the finger guide bearing is matched with the free end of the pallet clamping guide plate, the free end of the pallet clamping guide plate can enable the finger guide bearing to move upwards gradually, so that the pallet is grabbed and the fingers are clamped tightly, the structure is simple, and the service life is long.

10. This action technology of manipulator of 3D curve work wantonly snatchs and places pallet and ceramic tile according to three-dimensional space's coordinate, and the accuracy of placing is high, and running gear and w axle rotary mechanism automatically regulated speed have improved work efficiency to when cooperating with the ceramic tile production line, can cooperate with the ceramic tile production line better according to the ceramic tile production speed automatically regulated moving speed of production line.

Drawings

Fig. 1 is a perspective view of a robot.

Fig. 2 is a front view of the traveling mechanism.

Fig. 3 is a front view of the y-axis traveling mechanism.

Fig. 4 is a schematic top view of the y-axis traveling mechanism.

Fig. 5 is a front view of the synchronizing shaft.

Fig. 6 is a front view of the x-axis traveling mechanism.

Fig. 7 is a front view of the z-axis traveling mechanism.

Fig. 8 is a perspective view of a z-axis power mechanism.

Fig. 9 is a partially enlarged view of a point a in fig. 8.

Fig. 10 is a front view of the w-axis rotating mechanism.

Fig. 11 is a schematic sectional view in the direction B-B of fig. 10.

Fig. 12 is a front view of the grasping mechanism.

Fig. 13 is a top view of the grasping mechanism.

Fig. 14 is a perspective view of the grasping drive mechanism.

In the figure: 1. the automatic tile storage machine comprises a rack 2, a y-axis travelling mechanism 3, an x-axis travelling mechanism 4, a z-axis travelling mechanism 5, a tile storage 6, a w-axis rotating mechanism 7, a grabbing mechanism 8, a pallet storage 9, an adjustable rubber coating wheel 10, a guide wheel 11, a driving rubber coating wheel 12, a wrap angle adjusting belt wheel 13, a wrap angle adjusting synchronous belt wheel 14, a y-axis synchronous belt tensioning wheel 15, a y-axis tensioning wheel swing arm 16, a y-axis synchronous belt 17, a synchronous shaft 18, a y-axis motor 19, an x-axis motor 20, a travelling mounting rack 21, an x-axis synchronous belt 22, an x-axis cross beam 23, a z-axis upright post 24, a guide shaft 25, a z-axis synchronous belt tensioning wheel 26, a guide sleeve 27, a balance cylinder 28, a z-axis synchronous belt 29, a z-axis motor 30, a z-axis chain wheel 31, a tile storage box w axle motor 32, photoelectric switch mounting panel 33, buffering detection photoelectric switch 34, rotation detection photoelectric switch 35, rotation mounting bracket 36, limit baffle 37, cushion collar 38, stop collar 39, w axle stand 40, bearing sleeve 41, w axle chain 42, pallet clamping guide plate 43, finger mounting panel 44, splint limit photoelectric switch 45, grabbing mechanism body 46, finger guide bearing 47, pallet grabbing finger 48, tile splint 49, splint mounting panel 50, splint open and close cylinder 51, pallet grabbing cylinder 52, splint open and close gear 53, splint open and close rack 54, tile sensor 55, pallet grabbing gear 56, pallet grabbing rack.

Detailed Description

FIGS. 1 to 14 show preferred embodiments of the present invention, and the present invention will be further described with reference to FIGS. 1 to 14.

A manipulator capable of working in any 3D curve comprises a rack 1, a travelling mechanism, a w-axis rotating mechanism 6 and a grabbing mechanism 7, wherein the travelling mechanism is installed on the rack 1 and can move along an x axis, a y axis and a z axis respectively, the w-axis rotating mechanism 6 is installed on the travelling mechanism, and the grabbing mechanism 7 is installed on the w-axis rotating mechanism 6; the grabbing mechanism 7 comprises a grabbing mechanism body 45, and a pallet grabbing mechanism and a tile grabbing mechanism which are arranged on the grabbing mechanism body 45. The grabbing mechanism 7 of the manipulator is arranged on the w-axis rotating mechanism 6, so that the degree of freedom of the grabbing mechanism 7 is increased, and the grabbing mechanism 7 is more flexible, so that the manipulator can change the posture of a ceramic tile while moving the ceramic tile, the ceramic tile can be stacked according to the requirement, and the manipulator is convenient to use; the ceramic tile snatchs the mechanism and the pallet snatchs the mechanism and can snatch ceramic tile and pallet respectively, and convenient to use does not need the manual work to place the pallet moreover when carrying out the pile up neatly to the ceramic tile, and the accuracy that the pallet was placed is high, and the pallet snatchs mechanism and ceramic tile and snatchs the mechanism and can the autonomous working, and can not exert an influence each other, has improved the kind that snatchs mechanism 7 and snatch article, has improved the degree of automation of this manipulator, convenient to use.

Specifically, the method comprises the following steps: as shown in fig. 1: the lower part of the frame 1 is fixed on the ground, so that the manipulator can work more stably and cannot shake in the working process.

The upper part of the frame 1 is a rectangular frame, and the lower part is a supporting leg which is vertically arranged. The traveling mechanism is arranged on a frame on the upper part of the frame 1 and respectively drives the grabbing mechanism 7 to travel linearly along the directions of an x axis, a y axis and a z axis.

The walking of the walking mechanism along the vertical direction is defined as the walking along the z-axis, the walking of the walking mechanism along the width direction of the rack 1 is defined as the walking along the x-axis, the walking of the walking mechanism along the length direction of the rack 1 is defined as the walking along the y-axis, and the rotation around the z-axis is defined as the motion along the w-axis.

The bottom of frame 1 is equipped with pallet storehouse 8 and the ceramic tile storehouse 5 that is used for placing the pallet, and pallet storehouse 8 is used for placing the pallet, and ceramic tile is placed to ceramic tile storehouse 5, and this manipulator transports the ceramic tile in the ceramic tile storehouse 5 promptly and carries out the pile up neatly. The pallet is for when the pile up neatly to the ceramic tile, fills up the plank in the bottom, and the pallet can protect the ceramic tile of bottom on the one hand, and on the other hand is convenient to be transported the ceramic tile after the pile up neatly. The pallet storehouse 8 sets up in the middle part of frame 1, and ceramic tile storehouse 5 has two, and the symmetry sets up in the both sides of pallet storehouse 8, and pallet storehouse 8 equals with two ceramic tile storehouse 5's distance, can guarantee like this that the pallet in the pallet storehouse 8 removes the distance in every ceramic tile storehouse 5 and equals, conveniently places the pallet.

As shown in fig. 2: the travelling mechanism comprises a y-axis travelling mechanism 2, an x-axis travelling mechanism 3 and a z-axis travelling mechanism 4. The y-axis travelling mechanism 2 is installed on the rack 1, the x-axis travelling mechanism 3 is installed on the y-axis travelling mechanism 2, and the z-axis travelling mechanism 4 is installed on the x-axis travelling mechanism 3. The w-axis rotating mechanism 6 is fixedly connected with the z-axis travelling mechanism 4, and the grabbing mechanism 7 is installed on the w-axis rotating mechanism 6, so that the grabbing mechanism 7 is flexible, the posture of the transferred ceramic tiles can be changed in the transferring process, and stacking in various forms can be met.

The y-axis travelling mechanism 2 comprises two suspension mechanisms which are symmetrically arranged at two ends of the x-axis travelling mechanism 3, and the x-axis travelling mechanism 3 is arranged on the rack 1 through the suspension mechanisms at the left end and the right end. The suspension mechanisms at the two ends drive the x-axis travelling mechanism 3 to move synchronously, so that the problem that the speed of the y-axis travelling mechanism 2 is unstable in the travelling process due to the overlong length of the rack 1 is solved. The y-axis power mechanism is connected with the two suspension mechanisms and drives the suspension mechanisms to move along the y-axis.

As shown in fig. 3: the suspension mechanism comprises a y-axis beam and a y-axis guide mechanism arranged on the y-axis beam. And rack guide rails are arranged above the square steel at two sides of the rack 1, and the y-axis guide mechanism is connected with the rack guide rails at two sides of the rack 1 and used for guiding the motion of the suspension mechanism so as to enable the suspension mechanism to move along a straight line. The x-axis travelling mechanism 3 is fixedly connected with the y-axis beam.

The y-axis guide mechanism comprises a horizontal guide mechanism and a vertical guide mechanism. The horizontal guide mechanism guides the movement of the y-axis beam in the horizontal direction, and the vertical guide mechanism guides the movement of the y-axis beam in the vertical direction.

Two ends of the y-axis beam are symmetrically provided with driving rubber coating wheels 11, and a y-axis power mechanism drives the driving rubber coating wheels 11 to rotate. Synchronous belt wheels are coaxially arranged on the two driving rubber-coated wheels 11, the driving rubber-coated wheels 11 and the synchronous belt wheels rotate synchronously, the synchronous belt wheels at two ends of the y-axis beam are connected through a y-axis synchronous belt 16, and the driving rubber-coated wheels 11 are pressed above the rack 1 by means of the gravity of the y-axis beam.

The driving rubber coating wheel 11 and the synchronous belt wheel are integrally arranged. One side of the synchronous belt wheel, which is far away from the driving rubber-covered wheel 11, is fixed with a circular blocking piece through a bolt, and the diameter of the circular blocking piece is larger than that of the synchronous belt wheel. The outer edge that circular separation blade is close to synchronous pulley one side is the stop part, one side that initiative rubber-coated wheel 11 is close to synchronous pulley also is equipped with the stop part with circular separation blade symmetry, two stop parts are the arc of middle part evagination, and the distance between two stop parts is crescent along synchronous pulley's radius direction from inside to outside, thereby avoid leading to y axle hold-in range 16 and synchronous pulley separation because synchronous pulley's at both ends axis nonparallel, make y axle hold-in range 16 job stabilization, the influence of assembly error to y axle hold-in range 16 has been reduced, and do not influence the precision and the stability of work.

The y-axis synchronous belt tensioning mechanism is arranged above the y-axis synchronous belt 16 and can adjust the tensioning force of the y-axis synchronous belt 16, so that the y-axis synchronous belt 16 can be well meshed with a synchronous belt wheel, and the travelling precision of the y axis is further ensured.

The y-axis synchronous belt tensioning mechanism comprises a y-axis synchronous belt tensioning wheel 14 and a y-axis tensioning wheel swing arm 15.y axle take-up pulley swing arm 15 sets up the top at y axle hold-in range 16, the middle part of y axle take-up pulley swing arm 15 articulates on y axle crossbeam, make y axle take-up pulley swing arm 15 form lever mechanism, y axle take-up pulley swing arm 15's one end is rotated installation y axle hold-in range take-up pulley 14, the other end can be dismantled through the bolt and fix on y axle crossbeam, and make y axle hold-in range take-in pulley 14 compress tightly y axle hold-in range 16, the cover is equipped with a plurality of spring pads on the bolt, after installing y axle hold-in range 16, take-up y axle hold-in range 16 through the bolt, after working a period, the spring pad is adjusted y axle hold-in range 16's tensile force, do not need frequent to take-up with y axle hold-in range 16, and can avoid producing impact load because y axle hold-in range 16 relaxes, thereby reduce y axle hold-in range 16's life, and the stability of work have further been improved y axle hold-in range 16. The y axle hold-in range take-up pulley 14 is the band pulley, and y axle take-up pulley swing arm 15 drives the synchronous swing of y axle hold-in range take-up pulley 14 to compress tightly y axle hold-in range 16. After the y-axis synchronous belt tensioning wheel 14 compresses the y-axis synchronous belt 16, the y-axis tensioning wheel swing arm 15 is fixed through a bolt in the middle of the y-axis tensioning wheel swing arm 15.

The left side of the y-axis synchronous belt tensioning wheel 14 is sequentially provided with a wrap angle adjusting belt wheel 12 and a wrap angle adjusting synchronous belt wheel 13 from left to right, and the wrap angle adjusting belt wheel 12 and the wrap angle adjusting synchronous belt wheel 13 are rotatably arranged on a y-axis beam. The axes of the wrap angle adjusting pulley 12 and the wrap angle adjusting synchronous pulley 13 are parallel to the axis of the y-axis synchronous belt tension pulley 14. Wrap angle adjusting synchronous belt wheel 13 is arranged above y-axis synchronous belt 16, wrap angle adjusting belt wheel 12 is arranged between the y-axis synchronous belt 16 on the upper side and the lower side, so that the upper side of the y-axis synchronous belt 16 is in a wavy line shape, wrap angles of the synchronous belt and synchronous belt wheels at two ends are increased, bearing capacity of the meshing position of the synchronous belt wheels and the y-axis synchronous belt 16 is increased, and transmission stability is guaranteed.

The vertical guide mechanism comprises two adjustable rubber coating wheels 9 arranged below the y-axis beam, and the two adjustable rubber coating wheels 9 are symmetrically arranged at two ends of the y-axis beam. The adjustable rubber coating wheel 9 is arranged below the driving rubber coating wheel 11 through a rotating shaft, a bolt for pushing the adjustable rubber coating wheel 9 to lift is arranged below the rotating shaft of the adjustable rubber coating wheel 9, the bolt is arranged on a y-axis cross beam through threads, and the adjustable rubber coating wheel 9 is pushed to lift, so that the adjustment of the adjustable rubber coating wheel 9 in the vertical direction is realized. The adjustable rubber coating wheel 9 and the driving rubber coating wheel 11 are respectively arranged on the upper side and the lower side of the rack guide rail and clamp the rack guide rail, so that the y-axis beam is guided in the vertical direction.

As shown in fig. 4: the two horizontal guide mechanisms are symmetrically arranged at two ends of the y-axis beam. The horizontal guide mechanism comprises guide wheels 10 arranged on two sides of the y-axis beam, and the axis of each guide wheel 10 is perpendicular to the axis of the adjustable rubber coating wheel 9 and is rotatably arranged on the y-axis beam. Two guide wheels 10 at the same end of the y-axis beam are respectively arranged at the front side and the rear side of the rack guide rail and clamp the rack guide rail, so that the y-axis beam is guided in the horizontal direction. The vertical guide mechanism is matched with the horizontal guide mechanism to ensure that the y-axis beam can move along a straight line, so that the movement precision of the grabbing mechanism 7 is ensured.

As shown in fig. 5: the y-axis power mechanism includes a synchronizing shaft 17 and a y-axis motor 18. A synchronizing shaft 17 is arranged between the two suspension means, the length of the synchronizing shaft 17 being equal to the width of the frame 1 along the x-axis. The synchronizing shaft 17 is connected with a y-axis motor 18, the y-axis motor 18 is arranged at the left end of the synchronizing shaft 17, and an output shaft of the y-axis motor 18 is connected with an installation part of the synchronizing shaft 17 and drives the synchronizing shaft 17 to rotate through gear transmission. The transmission parts at the two ends of the synchronizing shaft 17 are fixedly connected with the synchronizing belt wheels at the corresponding positions on the two y-axis beams through tensioning sleeves respectively, and the synchronizing shaft 17 can ensure that the rotating speeds of the driving rubber covered wheels 11 at the two ends are equal, so that the two ends of the x-axis travelling mechanism 3 synchronously advance without inclination.

The synchronizing shaft 17 comprises a steel pipe in the middle and shaft heads at two ends, one end of each shaft head extends into the steel pipe and is welded with the steel pipe, and the other end of each shaft head is coaxially provided with a driving rubber-coated wheel 11. The encoder is installed at the one end of synchronizing shaft 17, and the encoder rotates along with synchronizing shaft 17 synchronization to give the converter with rotational speed signal feedback, conveniently control y axle running gear 2's walking speed, can also detect the angle that synchronizing shaft 17 rotated, thereby detect the distance of walking along y axle direction.

Limiting blocks for limiting the y-axis beam are arranged at the front end and the rear end of the rack 1, so that the y-axis beam is prevented from falling off in the moving process.

As shown in fig. 6: the x-axis traveling mechanism 3 includes an x-axis timing belt 21 and an x-axis power unit. The x-axis power unit is arranged on an x-axis beam 22, the length of the x-axis beam 22 is equal to that of the synchronizing shaft 17, and two ends of the x-axis beam 22 are respectively fixedly connected with the middle of the y-axis beam and move synchronously with the y-axis beam. The x-axis power unit is an x-axis motor 19, the x-axis motor 19 is fixed at the left end of an x-axis beam 22, a synchronous belt wheel is installed on an output shaft of the x-axis motor 19, and a synchronous belt wheel is also installed at the other end of the x-axis beam 22. The walking mounting frame 20 is arranged on the x-axis cross beam 22 in a sliding mode, an x-axis guide mechanism is arranged between the walking mounting frame 20 and the x-axis cross beam 22, the x-axis guide mechanism enables the walking mounting frame 20 to move along a straight line, and therefore the motion stability of the grabbing mechanism 7 is guaranteed. The two ends of the x-axis synchronous belt 21 are fixedly connected with the walking mounting frame 20 after bypassing the synchronous belt pulleys at the two ends of the x-axis beam 22, and the walking mounting frame 20 is driven to move synchronously along with the x-axis synchronous belt 21. The z-axis traveling mechanism 4 is mounted on the traveling mount 20 and moves synchronously with the traveling mount 20.

The walking mounting frame 20 is further provided with an x-axis adjusting bolt for adjusting the tension of the x-axis synchronous belt 21. One end of the x-axis adjusting bolt is connected with one end of the x-axis synchronous belt 21, and the x-axis adjusting bolt is fixed on the walking mounting frame 20 through a nut.

The output shaft of x axle motor 19 is down and install in x axle crossbeam 22 top, x axle crossbeam 22's top still is equipped with the axis adjustment mechanism who carries out the regulation to synchronous pulley's axis, axis adjustment mechanism is the bolt that sets up in x axle crossbeam both sides, the lower extreme of bolt promotes the synchronous pulley mount pad and reciprocates, thereby adjust synchronous pulley's axis and the angle of vertical face, make and to produce the thrust that promotes x axle hold-in range 21 rebound between synchronous pulley and the x axle hold-in range 21, be used for offsetting the gravity of x axle hold-in range 21, thereby avoid x axle hold-in range 21 to break away from synchronous pulley under the action of gravity.

Walking mounting bracket 20 is formed by the steel sheet through bolted connection, and one side that walking mounting bracket 20 is close to x axle crossbeam 22 is both ends open-ended cuboid box, and walking mounting bracket 20 cover is established in the outside of x axle crossbeam 22, and z axle running gear 4 installs in one side of walking mounting bracket 20. The steel sheet upper portion of walking mounting bracket 20 upside and the steel sheet lower part of downside all are equipped with the strengthening rib, and the strengthening rib is for the toper by being close to one side to the opposite side taper of z axle running gear 4 to guarantee walking mounting bracket 20's intensity, avoid the load of unilateral to cause the damage to walking mounting bracket 20.

The x-axis guide mechanisms are arranged on the upper side and the lower side of the x-axis beam 22 respectively, the x-axis guide mechanisms on the upper side are arranged on one side away from the z-axis travelling mechanism 4, and the x-axis guide mechanisms on the lower side are arranged on one side close to the z-axis travelling mechanism 4, so that unilateral loads received by the travelling mounting frame 20 can be offset, and the stability and the precision of the travelling mounting frame 20 are guaranteed.

The x-axis guide mechanism comprises a slide block on the walking mounting frame 20 and a slide rail arranged on the x-axis beam 22. The slider cooperates with the slide rail to guide the movement of the walking mount 20. The slide rail can be a trapezoid or T-shaped slide rail, and the slide block is provided with a dovetail groove or a T-shaped sliding groove matched with the slide rail.

Coaxially mounted on the synchronous pulley of the one end of keeping away from x axle motor 19 has an encoder, and the encoder can feed back the rotational speed signal of x axle motor 19 to the converter to through the rotational speed of converter control x axle motor 19, and then control x axle running gear 3's walking speed, can also detect the angle that x axle motor 19 rotated, thereby detect the distance of walking along the x axle direction.

Limiting blocks for limiting the walking mounting frame 20 are arranged at two ends of the x-axis beam 22.

As shown in fig. 7: the z-axis travelling mechanism comprises a z-axis upright column 23 and a lifting mechanism for driving the z-axis upright column 23 to lift. Z axle stand 23 slidable mounting is on walking mounting bracket 20, and is equipped with z axle guiding mechanism between z axle stand 23 and the walking mounting bracket 20, and z axle guiding mechanism can lead the lift of z axle stand 23 to guarantee the stability that z axle stand 23 goes up and down. The w-axis rotating mechanism 6 is fixedly connected with the lower end of the z-axis upright post 23. The walking mounting frame 20 is further provided with a gravity balance mechanism, and the gravity balance mechanism is used for balancing the z-axis upright post 23 and the gravity of the mechanism installed on the z-axis upright post 23, so that the lifting stability of the z-axis upright post 23 is ensured.

The gravity balance mechanism comprises a balance cylinder 27 and a z-axis chain 28, the lower end of the balance cylinder 27 is mounted on the walking mounting frame 20, and the axis of the balance cylinder 27 is parallel to the axis of the z-axis upright 23. The lower end of the z-axis chain 28 is fixedly connected with the middle part of the z-axis upright post 23, and the upper part of the z-axis chain is fixedly connected with the piston rod of the balance cylinder 27, so that the gravity of the z-axis upright post 23 is balanced, the force born by the lifting mechanism is reduced, the lifting mechanism can walk more stably, and the working precision is further ensured. The balance cylinder 27 is connected with a pressure regulating valve, so that the air pressure in the balance cylinder 27 is kept balanced, the weight of the z-axis column 23 is balanced, the z-axis column 23 can be prevented from falling off in the power failure, and the use is safe.

A gravity balance tensioning mechanism is arranged above the balance cylinder 27. The gravity balance tensioning mechanism comprises a z-axis synchronous belt tensioning wheel 25, the z-axis synchronous belt tensioning wheel 25 is rotatably mounted on a piston rod of the balance cylinder 27 and synchronously ascends and descends along with the piston rod of the balance cylinder 27, and the upper end of the z-axis chain 28 is fixedly connected with the piston rod of the balance cylinder 27 after bypassing the z-axis synchronous belt tensioning wheel 25. A bolt for adjusting the height of the z-axis synchronous belt tension pulley 25 is arranged below the z-axis synchronous belt tension pulley 25, and the bolt pushes the z-axis synchronous belt tension pulley 25 in the axial direction of the z-axis synchronous belt tension pulley 25 and tensions a z-axis chain 28.

A balance guide mechanism for guiding is arranged between the balance cylinder 27 and the z-axis upright 23. The balance guide mechanism comprises a guide shaft 24 and a guide sleeve 26, the lower end of the guide shaft 24 is fixedly connected with the upper end of a piston rod of the balance cylinder 27 and synchronously ascends and descends along with the piston rod of the balance cylinder 27, and the axis of the guide shaft 24 is parallel to that of the balance cylinder 27. The guide sleeve 26 is fixedly connected with the z-axis upright post 23, and the guide sleeve 26 is sleeved outside the guide shaft 24 in a sliding manner. The guide sleeve 26 guides the movement of the guide shaft 24, so that the piston rod of the balance cylinder 27 is ensured to vertically lift, and the balance cylinder 27 is prevented from being damaged due to the fact that the z-axis upright post 23 inclines during lifting.

The balance guide mechanisms are two and are symmetrically arranged on two sides of the balance cylinder 27, so that the balance cylinder 27 is better protected.

The lifting mechanism comprises a z-axis chain and a z-axis power unit. The upper end of the z-axis chain is fixed at the top end of the z-axis upright post 23, and the lower end of the z-axis chain is fixed at the bottom end of the z-axis upright post 23. The z-axis power unit is connected with the z-axis chain through a z-axis sprocket 30 and drives the z-axis upright post 23 to lift.

The number of the z-axis guide mechanisms is three, the z-axis guide mechanisms are respectively arranged on two opposite sides of the z-axis upright post 23, one side, where the z-axis chain is installed, of the z-axis upright post 23 is provided with one guide mechanism, and the other side, opposite to the side, where the z-axis chain is installed, of the z-axis upright post 23 is provided with two z-axis guide mechanisms, so that loads brought by the z-axis upright post 23 can be well distributed, and the z-axis upright post 23 is guaranteed to run stably.

The z-axis guiding mechanism comprises a slide rail arranged on the z-axis upright post 23 and a slide block arranged on the walking mounting rack 20, and the slide block is matched with the slide rail so as to guide the movement of the z-axis upright post 23.

The upper end and the lower end of the z-axis column 23 are provided with limit blocks, so that the lifting of the z-axis column 23 is limited.

As shown in FIGS. 8 to 9: the z-axis power unit is a z-axis motor 29, and the z-axis motor 29 drives the z-axis upright post 23 to lift through a z-axis sprocket 30. The z-axis motor 29 is fixed on the walking mounting frame 20, the z-axis chain wheel 30 is connected with an output shaft of the z-axis motor 29, and the z-axis chain wheel 30 is matched with the z-axis chain, so that the z-axis upright post 23 is lifted. The z-axis chain has three rows. One side of the walking mounting frame 20 close to the z-axis upright column 23 is a cuboid box body which is formed by fixedly connecting steel plates through bolts and is provided with openings at the upper end and the lower end, and the z-axis upright column 23 is arranged in one side of the walking mounting frame 20. The z-axis sprocket 30 is mounted within the travel mount 20. The upper side of the walking mounting frame 20 is provided with a through hole, a flange plate coaxial with the through hole is further mounted on the upper side of the walking mounting frame 20 through a bolt, an output shaft of the z-axis motor 29 penetrates through the flange plate and the through hole and then is connected with the z-axis chain wheel 30, and the output shaft is fixed on the flange plate through the bolt, so that the z-axis motor 29 is convenient to disassemble and maintain, and mutual interference among mechanisms is avoided.

The number of the z-axis sprockets 30 is three, and an output shaft of the z-axis motor 29 is coaxially connected with the middle z-axis sprocket 30 and drives the middle z-axis sprocket 30 to rotate. The upper side and the lower side of the z-axis chain wheel 30 are respectively arranged on one side of the z-axis chain far away from the z-axis upright post 23, the middle z-axis chain wheel 30 is arranged between the z-axis chain and the z-axis upright post 23, the distance between the axis of the upper side and the lower side of the z-axis chain wheel 30 and the z-axis upright post 23 is equal, the distance is smaller than the distance between the axis of the middle z-axis chain wheel 30 and the z-axis upright post 23, the wrap angle between the z-axis chain wheel 30 and the z-axis chain is increased, the meshing strength between the z-axis chain wheel 30 and the z-axis chain is improved, and therefore the fact that the z-axis chain wheel 30 can drive the z-axis upright post 23 to lift through the z-axis chain is guaranteed. An encoder is coaxially installed on the z-axis sprocket 30 in the middle, and the encoder can detect the rotating speed and the rotating angle of the z-axis motor 29, so that the lifting speed and the lifting distance of the z-axis upright 23 can be detected.

As shown in fig. 10: the w-axis rotating mechanism 6 comprises a w-axis upright post 39, a rotating unit rotatably mounted on the w-axis upright post 39 and a w-axis power unit, the w-axis power unit is fixedly connected with the w-axis upright post 39, the w-axis power unit is connected with the rotating unit and drives the rotating unit to rotate, and the rotating unit and the w-axis upright post 39 are coaxially arranged; the device also comprises a detection unit for measuring and limiting the rotating angle of the rotating unit. The w-axis rotating mechanism 6 can output power in a mode of rotating around the w-axis upright post 39, increases the motion mode of the grabbing mechanism 7 rotating around the z axis, increases the flexibility of the grabbing mechanism 7, and can drive the grabbed tiles to rotate when the tiles are transferred or stacked, so that the postures of the tiles are changed, the stacking can be carried out as required, and the application range is wide; the detection unit can detect the angle of rotation of the rotation unit, thereby ensuring the accuracy of the gripping mechanism 7.

The w-axis power unit is a w-axis motor 31, and the w-axis motor 31 is arranged on the rotary mounting frame 35. The rotary mounting frame 35 is arranged at the lower part of the w-axis upright post 39 and is fixedly connected with the w-axis upright post 39. The turning unit is disposed below the rotation mount 35.

The upper end of the w-axis column 39 is provided with a buffer mechanism for buffering in the vertical direction. Because the grabbing mechanism 7 is installed below the w-axis rotating mechanism 6, in the working process, when the grabbing mechanism touches the grabbed ceramic tiles, the buffer mechanism can allow the w-axis upright post 39 to slightly displace in the vertical direction, so that the w-axis rotating mechanism 6 can be prevented from being damaged when the grabbing mechanism 7 contacts the ceramic tiles to be grabbed, and the grabbing mechanism 7 can sense the ceramic tiles to be grabbed, thereby improving the grabbing stability of the grabbing mechanism 7.

The buffer mechanism comprises a buffer sleeve 37 and an axial limiting mechanism, the buffer sleeve 37 is sleeved at the upper end of the w-axis stand column 39 in a sliding mode, and the axial limiting mechanism is clamped and fixed with the buffer sleeve 37, so that the axial movement of the w-axis stand column 39 is limited. The buffer sleeve 37 of the w-axis rotating mechanism 6 is fixedly connected with the lower end of the z-axis upright post 23.

Be equipped with circumference stop gear between cushion collar 37 and the rotating installation frame 35, circumference stop gear can prevent that w axle stand 39 and cushion collar 37 from taking place relative rotation to improve the precision of w axle rotary mechanism 6's work, avoided taking place the ascending error of rotation direction at the during operation.

The circumference stop gear includes circumference gag lever post and spacing bearing, and the cross section of circumference gag lever post is the rectangle, and the lower extreme of circumference gag lever post is installed on swivel mount 35, and the vertical setting of circumference gag lever post. The limiting bearings are symmetrically arranged on two sides of the circumferential limiting rod and are fixed on the outer side of the buffer sleeve 37 through bolts. The circumferential limiting rod synchronously ascends and descends along with the w-axis upright post 39, and the limiting bearing limits the circumferential limiting rod, so that the w-axis upright post 39 and the buffer sleeve 37 are prevented from relatively rotating.

One side of w axle stand 39 is equipped with the buffering detection photoelectric switch 33 that is used for detecting the cushion collar 37 position, and buffering detection photoelectric switch 33 is installed on photoelectric switch mounting panel 32, and the lower extreme of photoelectric switch mounting panel 32 is installed on rotatory mounting bracket 35, and the vertical setting of photoelectric switch mounting panel 32. There are two buffer detection photoelectric switches 33, and the two buffer detection photoelectric switches 33 are vertically arranged at intervals. When the w-axis column 39 and the buffer sleeve 37 move relatively in the axial direction and the upper buffer detection photoelectric switch 33 detects the buffer sleeve 37, that is, when the gripping mechanism 7 comes into contact with an article to be gripped, the gripping mechanism 7 mounted below the w-axis rotating mechanism 6 stops moving in the vertical direction. The buffer below detects the photoelectric switch 33 and carries out limit protection on the movement of the w-axis stand column 39, so that the phenomenon that the movement distance of the w-axis stand column 39 is large and the equipment is damaged is avoided.

The detection unit comprises a rotation detection photoelectric switch 34 for detecting the rotation angle of the grabbing mechanism 7 connected with the rotation unit and limiting the rotation of the grabbing mechanism 7. Rotatory detection photoelectric switch 34 has two, and two rotatory detection photoelectric switch 34 are installed on rotatory mounting bracket 35, and a rotatory detection photoelectric switch 34 is used for detecting the angle that snatchs mechanism 7 and rotate to carry out accurate control to the turned angle who snatchs mechanism 7, another detection switch is used for carrying on spacingly to the rotation of snatching mechanism 7, thereby avoids the turned angle who snatchs mechanism 7 to exceed the turned angle scope of settlement.

As shown in fig. 11: the axial limiting mechanism comprises a limiting sleeve 38 and a limiting baffle plate 36. The limiting baffle plate 36 is a circular ring-shaped plate, the limiting baffle plate 36 is sleeved outside the w-axis upright post 39 above the buffer sleeve 37, and the limiting baffle plate 36 is fixedly connected with the buffer sleeve 37. The inner diameter of the lower portion of the cushion collar 37 is smaller than the inner diameter of the upper portion, thereby forming a stopper. The outer diameter of the lower part of the limiting sleeve 38 is smaller than that of the upper part, the limiting sleeve 38 is sleeved on a w-axis upright post 39 in the buffer sleeve 37, and the limiting sleeve 38 is fixedly connected with the w-axis upright post 39 and ascends and descends synchronously with the w-axis upright post 39. The outer diameter of the w-axis upright post 39 is smaller than the inner diameter of the buffer sleeve 37, the lower part of the limiting sleeve 38 extends into the lower part of the buffer sleeve 37, the length of the limiting sleeve 38 is smaller than that of the buffer sleeve 37, the limiting table is matched with the limiting baffle 36, the limiting sleeve 38 is clamped and fixed in the axial direction, and therefore the w-axis upright post 39 is limited in the axial direction.

Be equipped with fixation nut on the w axle stand 39 of spacing baffle 36 top, fixation nut cooperatees with the spacing platform of cushion collar 37, offsets w axle stand 39 and the gravity of installing at the rotatory mounting bracket 35 of w axle stand 39 to make w axle stand 39 install on cushion collar 37. The w-axis rotating mechanism 6 is connected with a walking mechanism of the manipulator through a buffer sleeve 37.

The rotary mounting frame 35 is provided with a mounting hole for mounting on the w-axis column 39, and the inner diameter of the mounting hole is larger than the outer diameter of the w-axis column 39. The w-axis upright post 39 below the rotary mounting frame 35 is sleeved with a bearing sleeve 40, the diameter of the upper part of the bearing sleeve 40 is smaller than that of the lower part, the upper part of the bearing sleeve 40 extends into the mounting hole, and the lower part of the rotary mounting frame 35 is supported on a boss on the outer side of the bearing sleeve 40. The lower end of the w-axis upright post 39 is fixed with a thrust bearing through a fixing nut, the lower part of the bearing sleeve 40 is supported on the thrust bearing, the w-axis upright post 39 on the upper part of the rotary mounting frame 35 is provided with a nut, the rotary mounting frame 35 is pressed on the thrust bearing, and the fixed mounting of the rotary mounting frame 35 is completed. The outer diameter of the upper portion of the bearing sleeve 40 is smaller than the inner diameter of the lower portion of the mounting hole, and a rolling bearing is arranged between the bearing sleeve 40 and the mounting hole, so that the bearing sleeve 40 and the rotary mounting frame 35 can rotate relatively.

The rotating unit is an output chain wheel, the output chain wheel and the w-axis upright post 39 are coaxially arranged, the inner diameter of the output chain wheel is larger than the outer diameter of the w-axis upright post 39, and the upper part of the output chain wheel is fixedly connected with the bearing sleeve 40. The rotating mounting frame 35 is further provided with a driving sprocket which is connected with the output sprocket through a w-axis chain 41 and drives the output sprocket to rotate. The lower part of the output chain wheel is connected with the grabbing mechanism 7 and drives the grabbing mechanism 7 to rotate.

The output shaft of the w-axis motor 31 is horizontally arranged, and the output shaft of the w-axis motor 31 drives the driving sprocket to rotate through the engaged bevel gears. Install the encoder in the drive sprocket top, encoder and drive sprocket synchronous revolution, the encoder detects drive sprocket's speed signal to feed back speed signal to the converter, can realize adjusting w axle motor 31's output rotational speed, thereby accomplish the regulation to the output sprocket rotational speed, the encoder can also detect the angle that drive sprocket rotated.

As shown in FIGS. 12 to 13: the grabbing mechanism 7 comprises a pallet grabbing mechanism and a ceramic tile grabbing mechanism. The pallet grabbing mechanism and the ceramic tile grabbing mechanism are both installed on the grabbing mechanism body 45, and the grabbing mechanism body 45 is a cuboid shell. An output chain wheel of the w-axis rotating mechanism 6 is fixedly connected with the middle part of the grabbing mechanism main body 45 and drives the grabbing mechanism 7 to rotate synchronously.

The pallet grabbing mechanism comprises pallet grabbing fingers 47 and a finger power unit for pushing the pallet grabbing fingers 47 to extend and clamp. The pallet snatchs finger 47 and is the V-arrangement, and the pallet snatchs the one end of finger 47 and links to each other with finger power unit, and the other end is equipped with and is used for carrying out the baffle that blocks to the pallet of snatching, avoids snatching the in-process pallet landing to cause danger. The pallet grabbing fingers 47 are four and are respectively arranged at four corners of the grabbing mechanism body 45. The pallet grabbing fingers 47 are mounted on the finger mounting plate 43, and the finger mounting plate 43 is fixedly connected with the finger power unit.

The pallet clamping guide plates 42 are arranged on the grabbing mechanism body 45, the pallet clamping guide plates 42 correspond to the pallet grabbing fingers 47 one by one, and the pallet clamping guide plates 42 are fixed on the side face of the grabbing mechanism body 45. The free end of the pallet clamping guide plate 42 is in an arc shape which is gradually concave inwards from bottom to top. The pallet grabbing fingers 47 are hinged to the finger mounting plate 43, and a torsion spring is provided between the pallet grabbing fingers 47 and the finger mounting plate 43, so that the pallet grabbing fingers 47 are in an open state when being separated from the pallet clamping guide plate 42. The pallet gripping fingers 47 are pivotally mounted with finger guide bearings 46, the finger guide bearings 46 being disposed between the hinge point and the pallet clamping guide plate 42. The finger power unit pushes the pallet grabbing fingers 47 to move towards the left side and the right side respectively, so that the pallet grabbing fingers 47 are separated from the pallet clamping guide plate 42, and the pallet grabbing fingers 47 are in an open state under the action of the torsional springs and the gravity of the pallet grabbing fingers 47; the finger power unit drives the pallet grabbing fingers 47 to move from two sides to the middle, so that the finger guide bearings 46 enter the free ends of the pallet clamping guide plates 42, and the pallet clamping guide plates 42 guide the pallet grabbing fingers 47, thereby completing the grabbing and clamping of the pallet.

The tile gripping mechanism comprises tile grippers 48 and a gripper power unit for pushing the tile grippers 48 to move axially. The upper end of the tile clamping plate 48 is mounted on the clamping plate mounting plate 49, and the other end is a free end. The clamp power unit is connected to the clamp mounting plate 49 and pushes the clamp mounting plate 49 to move horizontally, thereby clamping and releasing the tile. One side that ceramic tile splint 48 and ceramic tile contacted is equipped with rubber, is used for the friction of increase and ceramic tile on the one hand, and on the other hand can produce the cushioning effect, avoids bumping with the ceramic tile to damage the ceramic tile. The lower end of the tile clamping plate 48 is inclined toward the middle to better clamp the tile.

When grabbing the tile along thickness direction, tile splint 48 can be installed at the one end of splint mounting plate 49 near the middle of grabbing mechanism body 45, and when grabbing the tile along width or length direction, tile splint 48 is installed at the one end of splint mounting plate 49 near the outside of grabbing mechanism body 45. Two tile clamping plates 48 for mutually matching and clamping tiles are in a pair, the tile clamping plates 48 are in two pairs, and the clamping plate mounting plates 49 correspond to the tile clamping plates 48 one by one.

A tile grabbing limiting unit is arranged above the grabbing mechanism main body 45. The tile grabbing limiting unit is a clamping plate limiting photoelectric switch 44, two clamping plate limiting photoelectric switches 44 are arranged in each pair, and the two clamping plate limiting photoelectric switches 44 are used for detecting the initial position and the final position of the clamping plate power unit respectively, so that limiting is completed. The two pairs of the clamping plate limit photoelectric switches 44 are respectively used for limiting the clamping plate power unit which drives the tile clamping plates 48 to move.

This snatch mechanism 7 can enough accomplish snatching of pallet, can realize again snatching of ceramic tile, and degree of automation is high, and the precision that the pallet was placed is high moreover, can not make the ceramic tile slope when the pile up neatly, convenient to use.

As shown in fig. 14: a pallet transmission mechanism is provided between the finger power unit and the finger mounting plate 43. The finger power unit snatchs cylinder 51 for the pallet, and the pallet snatchs cylinder 51 has one, and installs at the middle part of snatching mechanism main part 45, and the pallet snatchs cylinder 51's piston rod and pallet drive mechanism link to each other, and finger mounting panel 43 links to each other with pallet drive mechanism.

The pallet drive mechanism includes a pallet grabbing gear 55 and a pallet grabbing rack 56. The pallet grabbing gear 55 is rotatably mounted in the grabbing mechanism body 45, and the axis of the pallet grabbing gear 55 is vertically arranged. The pallet grabbing racks 56 are two, symmetrically arranged on two sides of the pallet grabbing gear 55, and one ends of the two pallet grabbing racks 56 extend out of the grabbing mechanism main body 45 and are fixedly connected with the finger mounting plate 43. The pallet grabbing cylinder 51 is fixedly connected with one pallet grabbing rack 56, and pushes the pallet grabbing rack 56 to move axially, the pallet grabbing rack 56 drives the other pallet grabbing rack 56 to move in the opposite direction through the pallet grabbing gear 55, and therefore the pallets on the two sides grab the pallet and the fingers 47 are synchronously opened and closed.

The outside of the pallet grabbing rack 56 is provided with a bearing for pressing the pallet grabbing finger 56 onto the pallet grabbing gear 55, and the bearing is mounted on the grabbing mechanism main body 45 through a bolt.

The two clamping plate power units are respectively arranged at two sides of the pallet grabbing cylinder 51 and respectively drive the two pairs of ceramic tile clamping plates 48 to open and close. Each clamping plate power unit comprises two clamping plate opening and closing air cylinders 50, and piston rods of the two clamping plate opening and closing air cylinders 50 are fixedly connected and move synchronously. The clamp plate limit photoelectric switch 44 limits the tile clamp plates 48 by detecting the positions of the piston rods of the clamp plate opening and closing air cylinders 50.

A splint transmission mechanism is arranged between the splint power unit and the splint mounting plate 49. The splint transmission mechanism includes a splint opening and closing gear 52 and a splint opening and closing rack 53. The splint opening and closing gear 52 is rotatably mounted on the grasping mechanism main body 45, and the axis of the splint opening and closing gear 52 is vertically arranged. The two splint opening and closing racks 53 are symmetrically arranged on two sides of the splint opening and closing gear 52, and the two splint opening and closing racks 53 are respectively fixedly connected with the splint mounting plate 49 for mounting the same pair of tile splints 48. The piston rods of the two splint opening and closing cylinders 50 are connected to one splint opening and closing rack 53 and drive the splint opening and closing rack 53 to move, and the splint opening and closing rack 53 drives the other splint opening and closing rack 53 to move in the opposite direction through the splint opening and closing gear 52. Two sides of the splint opening and closing rack 53 are respectively provided with a bearing for pushing the splint opening and closing rack 53 to press the splint opening and closing gear 52.

The pallet grabbing gear 55 is provided with a tile sensor 54 below, and the tile sensor 54 is used for detecting whether the tile clamping plate 48 grabs tiles and detecting whether the pallet grabbing finger 47 grabs the pallet.

The working process of the manipulator is as follows: firstly, the walking mechanism drives the grabbing mechanism 7 to grab the pallet, and the pallet is placed at a designated position. Then the travelling mechanism drives the grabbing mechanism 7 to grab the ceramic tiles and place the ceramic tiles on the pallet in sequence, so that the ceramic tiles are stacked. This manipulator is compared and has been increased the degree of freedom with traditional manipulator, makes the mechanism that snatchs of this manipulator can wind the rotation of z axle to it is various to make the pile up neatly mode of this manipulator, and the mode of pile up neatly can be set for according to the user's demand.

Because y axle running gear 2, x axle running gear 3, z axle running gear 4 and w axle rotary mechanism 6 all install the encoder, when snatching mechanism 7 and being close to the ceramic tile, the walking or the slew velocity of snatching mechanism 7 is slower, to the ceramic tile transportation in-process, snatch mechanism 7's speed very fast, greatly improved work efficiency, thereby can not collide the damage ceramic tile with the ceramic tile in addition. In addition, when grabbing mechanism 7 and production line cooperation, when the production of ceramic tile is faster, the motion of grabbing mechanism 7 is also faster, when the production of ceramic tile is slower, the motion of grabbing mechanism 7 is also slower, has both cooperated the production line, has avoided again that snatching mechanism 7 and having run too fast and cause the extravagant phenomenon of energy.

The action process of the manipulator capable of working on any 3D curve comprises the following steps:

firstly, a three-dimensional space coordinate system is set, and coordinates of positions of the pallet, the ceramic tiles and the stacking are set. If the ceramic tiles are turned, the walking mechanism drives the grabbing mechanism 7 to walk, and coordinates of the position of the vehicle and the size of the vehicle are automatically identified.

The running mechanism drives the pallet grabbing mechanism to grab the pallet in the pallet warehouse 8 and place the pallet in the ceramic tile warehouse 5 on one side.

The running gear drives the ceramic tile to snatch the mechanism and snatch the ceramic tile to place on the pallet according to this, thereby accomplish the pile up neatly to the ceramic tile. And when the stacking height reaches a set value, the traveling mechanism drives the pallet grabbing mechanism and the ceramic tile grabbing mechanism to place and stack ceramic tiles in the ceramic tile warehouse 5 on the other side.

Running gear and w axle rotary mechanism 6 can automatically regulated translation rate in the course of the work to can be according to the needs automatic optimization speed and the line of movement that snatchs, reduce speed when being close to the ceramic tile, improve speed at the transportation in-process, improved pile up neatly efficiency. And when this manipulator and ceramic tile production line were in coordination, running gear and w axle rotary mechanism can come automatically regulated speed according to the speed of ceramic tile production line production ceramic tile to the work of ceramic tile production line is coordinated better, and make when the ceramic tile on the ceramic tile production line is less snatch mechanism 7 slow moving, thereby avoid snatching the mechanism and be in high-speed moving state and extravagant energy all the time.

The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides a manipulator of 3D curve work wantonly which characterized in that: the automatic grabbing device comprises a rack (1), a traveling mechanism, a w-axis rotating mechanism (6) and a grabbing mechanism (7), wherein the traveling mechanism is installed on the rack (1) and can move along an x axis, a y axis and a z axis respectively, the w-axis rotating mechanism (6) is installed on the traveling mechanism, and the grabbing mechanism (7) is installed on the w-axis rotating mechanism (6); snatch mechanism (7) and snatch the mechanism including snatching mechanism main part (45) and installing the pallet on snatching mechanism main part (45) and ceramic tile, the pallet snatch the mechanism and include that the pallet snatch finger (47) and finger power unit, the pallet snatch and is equipped with pallet drive mechanism between finger (47) and the finger power unit, the side of snatching mechanism main part (45) is equipped with pallet clamp guide plate (42), the free end that the pallet presss from both sides tight guide plate (42) is the arc of indent gradually from bottom to top, the one end that the pallet snatched finger (47) articulates on finger power unit, and articulated point and pallet between the pallet clamp guide plate (42) snatch and be equipped with finger guide bearing (46) on finger (47), the pallet snatchs and is equipped with the torsional spring between finger (47) and finger mounting panel (43), finger power unit promotes and snatchs finger (47) horizontal migration, finger guide bearing (46) and the free end cooperation that pallet clamped guide plate (42), the clamping or stretching out of pallet (47) is realized snatching, the bottom of frame (1) be equipped with porcelain storehouse (8) and ceramic tile storehouse (5).

2. The manipulator of claim 1, further comprising: the traveling mechanism comprises a y-axis traveling mechanism (2), an x-axis traveling mechanism (3) and a z-axis traveling mechanism (4), the y-axis traveling mechanism (2) is installed on the rack (1), the x-axis traveling mechanism (3) is installed on the y-axis traveling mechanism (2), the z-axis traveling mechanism (4) is installed on the x-axis traveling mechanism (3), and the w-axis rotating mechanism (6) is installed on the z-axis traveling mechanism (4).

3. The manipulator of claim 2, further comprising: the Y-axis travelling mechanism (2) comprises two suspension mechanisms and two Y-axis power mechanisms, the two suspension mechanisms are symmetrically arranged at two ends of the X-axis travelling mechanism (3), and the Y-axis power mechanisms are arranged on the suspension mechanisms and drive the suspension mechanisms to move linearly.

4. The manipulator of claim 1, further comprising: the tile grabbing mechanism comprises tile clamping plates (48) and a clamping plate power unit, and a clamping plate transmission mechanism is arranged between the clamping plate power unit and the tile clamping plates (48).

5. The robotic arm of claim 4, operable with arbitrary 3D curves, characterized in that: one side of the tile clamping plate (48) used for clamping the tile is provided with rubber, and the lower end of the tile clamping plate (48) inclines to one side close to the tile.

6. The manipulator of claim 1, further comprising: and a tile grabbing limiting unit for limiting the tile grabbing mechanism is arranged on the grabbing mechanism main body (45).

7. An action process of the manipulator capable of working in any 3D curve, which is described in any one of claims 1 to 6, is characterized in that: the method comprises the following steps:

the pallet grabbing mechanism grabs the pallet, and the traveling mechanism drives the grabbing mechanism main body (45) to move and place the pallet;

the walking mechanism drives the grabbing mechanism main body (45) to move, so that the ceramic tile grabbing mechanism grabs the ceramic tiles, and the grabbed ceramic tiles are sequentially placed on the pallet to stack the ceramic tiles;

the pallet grabbing mechanism and the ceramic tile grabbing mechanism travel and position according to the coordinates of the three-dimensional space, and the traveling mechanism and the w-axis rotating mechanism (6) automatically adjust the speed and optimize the moving route.