CN106348009A - Pallet grab mechanism and machine hand capable of grabbing pallet - Google Patents

Abstract

A pallet grabbing mechanism and a manipulator capable of grabbing pallets belong to the technical field of automation equipment. It is characterized in that it includes a finger power unit and a pallet grabbing finger (47), the finger power unit is installed in the main body (45) of the grabbing mechanism, there are multiple pallet grabbing fingers (47), and they are arranged symmetrically on the pallet On both sides of the grasping mechanism (45), the finger power unit is connected with the pallet grasping fingers (47), and drives the pallet grasping fingers (47) on both sides of the grasping mechanism main body (45) to clamp or stretch out synchronously. The pallet grabbing mechanism can independently complete the work of grabbing pallets, and the synchronization of the work is good, so that the pallets can be grasped firmly and have high safety performance; the pallet grabbing mechanism of the manipulator that can grab pallets It can independently grab and place pallets, thereby improving the degree of automation of the manipulator, with high work efficiency, and the entire work process does not require manual participation, and has high safety performance.

Description

A pallet grabbing mechanism and a manipulator capable of grabbing pallets

technical field

A pallet grabbing mechanism and a manipulator capable of grabbing pallets belong to the technical field of automation equipment.

Background technique

A manipulator refers to an automatic operating device that can imitate certain functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. The manipulator is the earliest industrial robot and the first modern robot. The manipulator replaces the heavy labor of people to realize the mechanization and automation of production. It can operate in harmful environments to protect personal safety. Manipulators are widely used in machinery manufacturing, metallurgy, Departments of electronics, light work and atomic energy.

In the ceramic tile production industry, the main function of the manipulator is the transfer of tiles and the stacking of tiles. The existing manipulators can usually complete the movement of the x-axis, y-axis and z-axis. Movement, the z-axis refers to the movement in the vertical direction, so as to realize the transfer or stacking of tiles in three-dimensional space. The existing manipulators have the following problems when transferring or stacking tiles:

1. It is impossible to change the posture of the tiles, and it can only be transported according to the original posture of the tiles. Therefore, when the tiles are stacked after transshipment, the tiles can only be stacked in the same way, which is less flexible. The environment has high requirements and is inconvenient to use;

2. The movement of the manipulator along the x-axis, y-axis, and z-axis can only run at a constant speed. In order to ensure that the captured tiles will not be damaged during the transfer process, the manipulator needs to run at a low speed, which seriously affects the manipulator. work efficiency;

3. When the manipulator moves along the z-axis, the z-axis column will drive the grabbed tiles up and down. Since the number of tiles grabbed each time is different, there will be differences in the weight of the z-axis column when it is lifted each time. The manipulator may vibrate when it is working, and there may be collisions due to the inability to accurately control the moving speed;

4. The power device of the existing manipulator is usually a motor, and the motor is usually fixed on the frame. When the manipulator travels too far, especially when it is far away from the motor, there will be a problem of insufficient power due to the excessive transmission distance. And the running speed is also very unstable;

5. When stacking tiles, in order to facilitate the subsequent transfer or loading of tiles, it is usually necessary to place pallets, which not only facilitates subsequent operations, but also avoids damage to tiles. When the existing manipulators are stacking, the pallets need to be placed manually. Since the manipulator needs to cooperate with the tile production line, the manipulator cannot be stopped during the daily production process, which requires workers to place pallets during the work of the manipulator, which poses a safety hazard. Moreover, the existing manipulator has relatively high requirements on the position of the pallet, and the pallet needs to be placed precisely according to the working position of the manipulator when placing it, which is very inconvenient to use.

Contents of the invention

The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art, to provide a pallet grabbing mechanism that can independently grab pallets for placing tiles, has good working synchronization, and is easy to use and can grab pallets. manipulator.

The technical solution adopted by the present invention to solve the technical problem is: the pallet grabbing mechanism, which is characterized in that it includes a finger power unit and a pallet grabbing finger, the finger power unit is installed in the main body of the grabbing mechanism, and the pallet grabbing There are multiple fingers, which are arranged symmetrically on both sides of the pallet grabbing mechanism. The finger power unit is connected with the pallet grabbing fingers, and drives the pallet grabbing fingers on both sides of the main body of the grabbing mechanism to clamp or stretch out synchronously.

Preferably, the side of the main body of the grasping mechanism is provided with a pallet clamping guide plate, the free end of the pallet clamping guide plate is an arc gradually concave from bottom to top, and the pallet grabs one end of the finger Hinged on the finger power unit, and the pallet grasping finger between the hinge point and the pallet clamping guide plate is provided with a finger guide bearing, the finger power unit pushes the pallet grasping finger to move horizontally, and the finger guide bearing and the pallet The free end of the clamping guide plate cooperates to realize the clamping or stretching of the grasping fingers of the pallet.

Preferably, a pallet transmission mechanism is provided between the finger power unit and the pallet grabbing fingers.

Preferably, the pallet transmission mechanism includes a pallet grabbing gear and a pallet grabbing rack, the pallet grabbing gear is rotatably mounted on the main body of the grabbing mechanism, and there are two pallet grabbing racks arranged symmetrically On both sides of the pallet grabbing gear, the pallet grabbing fingers are installed on the two pallet grabbing racks, and the finger power unit is connected with a pallet grabbing rack to push the pallet grabbing teeth The bar moves axially.

Preferably, one side of the pallet grabbing rack is provided with a bearing for pressing the pallet grabbing rack against the pallet grabbing gear.

Preferably, both ends of the pallet grasping fingers are upturned to form a "V" shape.

Preferably, one end of the pallet grabbing finger is connected to the finger power unit, and the other end is installed with a baffle for preventing the pallet from slipping.

Preferably, the finger power unit is a pallet grabbing cylinder, and the piston rod of the pallet grabbing cylinder is connected with the pallet grabbing fingers.

Preferably, there are four pallet grabbing fingers.

A manipulator capable of grabbing pallets, characterized in that it includes a frame, a traveling mechanism, a w-axis rotating mechanism, a tile grabbing mechanism and the above-mentioned pallet grabbing mechanism, the traveling mechanism is installed on the frame, and can Move along the x-axis, y-axis and z-axis directions, the w-axis rotation mechanism is installed on the traveling mechanism, the w-axis rotation mechanism is connected to the main body of the grabbing mechanism, and the tile grabbing mechanism and the pallet grabbing mechanism are installed on the main body of the grabbing mechanism superior.

Compared with the prior art, the pallet grabbing mechanism of the present invention and the manipulator capable of grabbing pallets have the following beneficial effects:

1. The finger power unit of the pallet grabbing mechanism drives the pallet grabbing fingers to grab the pallet for placing tiles, and can independently complete the grabbing work. After being installed on the manipulator, it will not affect the work of other mechanisms of the manipulator. As a result, the grasping fingers of the pallet are clamped or stretched synchronously, and the synchronization of the work is good, so that the grasping of the pallet is firm and the safety performance is high.

2. The finger power unit drives the pallet grabbing finger to move horizontally. When the finger guide bearing is separated from the pallet to clamp the guide plate, the tile grabbing finger will be in a loose state under the action of gravity. When the finger guide bearing and the pallet are clamped When the free end of the guide plate is matched, since the free end of the guide plate is clamped by the pallet, the finger guide bearing will gradually move upwards, so that the pallet grabs the finger and clamps it. The structure is simple and the service life is long.

3. The pallet transmission mechanism enables the pallet grabbing fingers to move in the same or opposite directions at the same time, so that the pallet grabbing fingers are clamped or stretched synchronously.

4. The pallet transmission mechanism is realized by the meshing of the pallet grabbing gear and the pallet grabbing rack. The structure is simple, the transmission precision is high, the service life is long, and the structure is compact, so that the grabbing mechanism is small in size and occupies a small space.

5. The pallet grabbing rack is pressed tightly on the pallet grabbing gear through the bearing, so as to ensure that the pallet grabbing rack and the pallet grabbing gear are tightly meshed, the transmission is accurate, and there will be no slippage, thereby avoiding the grab The problem that the pallet is not grasped firmly when picking up the pallet or the pallet falls during the transfer process.

6. The two ends of the pallet grabbing fingers are upturned, which is convenient for grabbing the pallet, and the pallet can be clamped by the upturned part, which prevents the pallet from falling during the transfer process.

7. The free end of the pallet grabbing finger is equipped with a baffle, which further secures the pallet to be grabbed and prevents the pallet from slipping.

8. Push the pallet grabbing fingers through the pallet grabbing mechanism, and the action is fast, which can quickly clamp or loosen the pallet grabbing fingers, which improves the work efficiency.

9. There are four pallet grabbing fingers. When grabbing the pallet, it can support and clamp the pallet from all directions of the pallet, and the pallet will not be tilted, and there will be no damage caused by the pallet. The situation where the grabbing fingers are not on the same plane and the grabbing fingers of a certain pallet are empty.

10. The pallet grabbing mechanism of the manipulator capable of grabbing the pallets can independently grab and place the pallets, and the tile grabbing mechanism can independently grab and stack the tiles, and there will be no problem that the pallets are not placed in place problems, thereby improving the degree of automation of the manipulator, high work efficiency, and the entire working process does not require manual participation, and has high safety performance; the w-axis rotation mechanism can drive the grasping mechanism to rotate around the z-axis, which is more flexible, so that the manipulator can be used in While moving the tiles, the posture of the tiles can also be changed, and the tiles can be stacked according to the needs, which is convenient to use.

Description of drawings

Figure 1 is a schematic front view of the gripping mechanism.

Fig. 2 is a schematic top view of the grabbing mechanism.

Fig. 3 is a three-dimensional schematic diagram of the grab driving mechanism.

Fig. 4 is a perspective schematic diagram of a manipulator capable of grabbing pallets.

Fig. 5 is a schematic front view of the running mechanism.

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

Fig. 7 is a schematic top view of the y-axis traveling mechanism.

Fig. 8 is a schematic front view of the synchronous shaft.

Fig. 9 is a schematic front view of the x-axis traveling mechanism.

Fig. 10 is a schematic front view of the z-axis traveling mechanism.

Fig. 11 is a schematic perspective view of the z-axis power mechanism.

FIG. 12 is a partially enlarged view of A in FIG. 11 .

Fig. 13 is a schematic front view of the w-axis rotation mechanism.

FIG. 14 is a schematic cross-sectional view along the B-B direction of FIG. 13 .

In the figure: 1. Rack 2, y-axis traveling mechanism 3, x-axis traveling mechanism 4, z-axis traveling mechanism 5, tile library 6, w-axis rotating mechanism 7, grabbing mechanism 8, pallet library 9, adjustable rubber coating Wheel 10, guide wheel 11, active rubber-coated wheel 12, wrap angle adjustment pulley 13, wrap angle adjustment timing belt pulley 14, y-axis timing belt tensioner 15, y-axis tensioner swing arm 16, y-axis timing belt 17. Synchronous shaft 18, y-axis motor 19, x-axis motor 20, walking installation frame 21, x-axis synchronous belt 22, x-axis beam 23, z-axis column 24, guide shaft 25, z-axis synchronous belt tensioner 26, Guide sleeve 27, balance cylinder 28, z-axis timing belt 29, z-axis motor 30, z-axis sprocket 31, w-axis motor 32, photoelectric switch mounting plate 33, buffer detection photoelectric switch 34, rotation detection photoelectric switch 35, rotation installation Frame 36, limit baffle 37, buffer sleeve 38, limit sleeve 39, w-axis column 40, bearing sleeve 41, w-axis chain 42, pallet clamping guide plate 43, finger mounting plate 44, splint limit photoelectric switch 45. Grabbing mechanism main body 46, finger guide bearing 47, pallet grabbing finger 48, tile splint 49, splint mounting plate 50, splint opening and closing cylinder 51, pallet grabbing cylinder 52, splint opening and closing gear 53, splint opening and closing Coupling rack 54, tile sensor 55, pallet grabbing gear 56, pallet grabbing rack.

detailed description

Fig. 1～14 is the preferred embodiment of the present invention, below in conjunction with accompanying drawing 1～14 the present invention is described further.

A pallet grabbing mechanism, including a finger power unit and a pallet grabbing finger 47, the finger power unit is installed in the grabbing mechanism main body 45, there are multiple pallet grabbing fingers 47, and they are arranged symmetrically on the pallet grabbing On both sides of the mechanism 45, the finger power unit is connected with the pallet grasping fingers 47, and drives the pallet grasping fingers 47 on both sides of the grasping mechanism main body 45 to clamp or stretch out synchronously. The finger power unit of the pallet grabbing mechanism drives the pallet grabbing finger 47 to grab the pallet for placing tiles, and can independently complete the grabbing work, and will not affect the work of other mechanisms of the robot arm after being installed on the robot arm. As a result, the pallet grasping fingers 47 are clamped or stretched synchronously, and the synchronization of the work is good, so that the grasping of the pallet is firm and the safety performance is high.

Concrete: as shown in Figures 1-2: the pallet grabbing finger 47 is V-shaped, and one end of the pallet grabbing finger 47 is connected to the finger power unit, and the other end is provided with a stop for grabbing the pallet The baffle prevents the pallet from slipping off during the grabbing process, thereby causing danger. There are four pallet grabbing fingers 47, which are respectively arranged on the four corners of the grabbing mechanism main body 45. The pallet grabbing fingers 47 are installed on the finger mounting plate 43, and the finger mounting plate 43 is fixedly connected with the finger power unit.

The grabbing mechanism main body 45 is a cuboid shell, and the grabbing mechanism main body 45 is provided with a pallet clamping guide plate 42. The pallet clamping guide plate 42 corresponds to the pallet grabbing fingers 47 one by one, and the pallet clamping guide plate 42 is fixed on the side of grab mechanism main body 45. The free end of the pallet clamping guide plate 42 is gradually concave arc from bottom to top. The pallet grabbing finger 47 is hinged on the finger mounting plate 43, and a torsion spring is arranged between the pallet grabbing finger 47 and the finger mounting plate 43, so that the pallet grabbing finger 47 is separated from the pallet clamping guide plate 42 is in the open state. A finger guide bearing 46 is mounted on the pallet grasping finger 47 for rotation, and the finger guide bearing 46 is arranged between the hinge point and the pallet clamping guide plate 42 . The finger power unit pushes the pallet grabbing fingers 47 to move to the left and right sides 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 contact with the torsion spring and the pallet grabbing fingers 47 It is in an open state under the action of gravity; the finger power unit drives the pallet grabbing finger 47 to move from both sides to the middle, so that the finger guide bearing 46 enters the free end of the pallet clamping guide plate 42, and the pallet clamps the guide plate 42 The pallet grabbing fingers 47 are guided to complete the grabbing and clamping of the pallet.

As shown in FIG. 3 : a pallet transmission mechanism is provided between the finger power unit and the finger mounting plate 43 . Finger power unit is pallet grabbing cylinder 51, and pallet grabbing cylinder 51 has one, and is installed in the middle part of grabbing mechanism main body 45, and the piston rod of pallet grabbing cylinder 51 links to each other with pallet transmission mechanism, and finger mounting plate 43 links to each other with pallet transmission mechanism.

The pallet transmission mechanism includes a pallet grabbing gear 55 and a pallet grabbing rack 56 . The pallet grabbing gear 55 is rotatably installed in the grabbing mechanism main body 45, and the axis of the pallet grabbing gear 55 is vertically arranged. There are two pallet grabbing racks 56, which are symmetrically arranged on both sides of the pallet grabbing gear 55, and one end of the two pallet grabbing racks 56 protrudes from the grabbing mechanism main body 45 and is fixed with the finger mounting plate 43 connect. The pallet grabbing cylinder 51 is fixedly connected with a pallet grabbing rack 56, and pushes the pallet grabbing rack 56 to move axially, and the pallet grabbing rack 56 drives another pallet grabbing gear 55. The pallet grabbing racks 56 move in opposite directions, so that the pallet grabbing fingers 47 on both sides are opened and closed synchronously.

The outer side of the pallet grabbing rack 56 is provided with a bearing that presses the pallet grabbing finger 56 on the pallet grabbing gear 55 , and the bearing is installed on the grabbing mechanism main body 45 by bolts.

As shown in FIG. 4 : the manipulator capable of grabbing pallets includes a frame 1 , a traveling mechanism mounted on the frame 1 , a w-axis rotating mechanism 6 and a grabbing mechanism 7 . The traveling mechanism is installed on the frame 1 , the w-axis rotating mechanism 6 is installed on the traveling mechanism, and the grasping mechanism 7 is installed on the w-axis rotating mechanism 6 . The bottom of frame 1 is fixed on the ground, thereby the work of this manipulator is more stable, can not shake during work.

The upper part of the frame 1 is a rectangular frame, and the lower part is a supporting foot arranged vertically. The traveling mechanism is installed on the upper frame of the frame 1, and drives the grasping mechanism 7 to travel linearly along the x-axis, y-axis and z-axis respectively.

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

The bottom of the frame 1 is provided with a pallet warehouse 8 and a tile warehouse 5 for placing pallets, the pallet warehouse 8 is used for placing pallets, and the tile warehouse 5 places tiles, that is, the manipulator transfers the tiles into the tile warehouse 5 and performs Palletizing. The pallet is a wooden board placed at the bottom when stacking tiles. On the one hand, the pallet can protect the tiles at the bottom, and on the other hand, it is convenient to transfer the stacked tiles. Pallet warehouse 8 is arranged on the middle part of frame 1, and there are two tile warehouses 5, which are symmetrically arranged on both sides of pallet warehouse 8, and the distance between pallet warehouse 8 and two tile warehouses 5 is equal, so that the pallet warehouse can be guaranteed The pallets in 8 are moved to the equal distance of each tile storehouse 5, which is convenient for placing pallets.

As shown in FIG. 5 , the traveling mechanism includes 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 frame 1 , the x-axis traveling mechanism 3 is installed on the y-axis traveling mechanism 2 , and the z-axis traveling mechanism 4 is installed on the x-axis traveling mechanism 3 . The w-axis rotating mechanism 6 is fixedly connected with the z-axis traveling mechanism 4, and the grasping mechanism 7 is installed on the w-axis rotating mechanism 6, so that the grasping mechanism 7 is flexible, and the attitude of the transfer tiles can be changed during the transfer process, thereby meeting various requirements. form of palletizing.

The y-axis traveling mechanism 2 includes a suspension mechanism, and there are two suspension mechanisms, which are symmetrically arranged at the two ends of the x-axis traveling mechanism 3, and the x-axis traveling mechanism 3 is installed on the frame 1 by the suspension mechanisms at the left and right ends. The suspension mechanisms at both ends drive the x-axis traveling mechanism 3 to move synchronously, which avoids the problem that the speed of the y-axis traveling mechanism 2 is unstable during the walking process due to the length of the frame 1 being too long. 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. 6 : the suspension mechanism includes a y-axis beam and a y-axis guide mechanism arranged on the y-axis beam. Frame guide rails are installed above the square steel on both sides of the frame 1, and the y-axis guide mechanism is connected with the frame guide rails on both sides of the frame 1, and guides the movement of the suspension mechanism so that the suspension mechanism moves along a straight line. The x-axis traveling mechanism 3 is fixedly connected with the y-axis beam.

The y-axis guide mechanism includes 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.

Both ends of the y-axis beam are symmetrically provided with active rubberized wheels 11, and the y-axis power mechanism drives the active rubberized wheels 11 to rotate. Both active rubberized wheels 11 are coaxially equipped with synchronous pulleys. The active rubberized wheels 11 rotate synchronously with the synchronous pulleys. Rely on the gravity of the y-axis crossbeam to press on the top of the frame 1.

The active rubberized wheel 11 is integrally arranged with the synchronous pulley. The side of the synchronous pulley away from the driving rubber-covered wheel 11 is fixed with a circular catch by bolts, and the diameter of the circular catch is greater than the diameter of the synchronous pulley. The outer edge of the circular block near the side of the synchronous pulley is a blocking portion, and the side of the driving rubber wheel 11 near the synchronous pulley is also provided with a blocking portion symmetrical to the circular blocking, both of which are outside the middle. Convex arc, and the distance between the two blocking parts gradually increases from the inside to the outside along the radial direction of the synchronous pulley, so as to avoid the y-axis synchronous belt 16 and the synchronous belt due to the non-parallel axis of the synchronous pulley at both ends. Wheel separation makes the y-axis synchronous belt 16 work smoothly, reduces the influence of assembly errors on the y-axis synchronous belt 16, and does not affect the accuracy and stability of the work.

A y-axis synchronous belt tensioning mechanism is provided above the y-axis synchronous belt 16, which can adjust the tension of the y-axis synchronous belt 16, so that the y-axis synchronous belt 16 can keep in good condition with the synchronous pulley The meshing, thus ensuring the walking accuracy of the y-axis.

The y-axis timing belt tensioning mechanism includes a y-axis timing belt tensioning wheel 14 and a y-axis tensioning wheel swing arm 15 . The y-axis tensioning wheel swing arm 15 is arranged above the y-axis synchronous belt 16, and the middle part of the y-axis tensioning wheel swing arm 15 is hinged on the y-axis beam, so that the y-axis tensioning wheel swing arm 15 forms a lever mechanism, and the y-axis One end of the tensioning wheel swing arm 15 is rotated to install the y-axis synchronous belt tensioner 14, and the other end is detachably fixed on the y-axis beam through bolts, and the y-axis synchronous belt tensioner 14 is pressed against the y-axis synchronous belt 16, A plurality of spring pads are set on the bolts. After the y-axis timing belt 16 is installed, the y-axis timing belt 16 is tensioned by the bolts. Adjustment does not require frequent tensioning of the y-axis synchronous belt 16, and can avoid the impact load caused by the slack of the y-axis synchronous belt 16, thereby reducing the service life of the y-axis synchronous belt 16, thereby improving the y-axis synchronous belt 16 service life and work stability. The y-axis timing belt tensioner 14 is a pulley, and the y-axis tensioner swing arm 15 drives the y-axis timing belt tensioner 14 to swing synchronously, and compresses the y-axis timing belt 16 . After the y-axis timing belt tensioning wheel 14 presses the y-axis timing belt 16, the y-axis tensioning wheel swing arm 15 is fixed by the bolt in the middle of the y-axis tensioning wheel swing arm 15 .

The left side of the y-axis synchronous belt tensioner 14 is sequentially provided with a wrap angle adjustment pulley 12 and a wrap angle adjustment synchronous pulley 13 from left to right, and the wrap angle adjustment pulley 12 and the wrap angle adjustment synchronous pulley 13 are all rotated and installed on the y-axis beam. The axes of wrap angle adjustment pulley 12 and wrap angle adjustment synchronous pulley 13 are parallel to the axis of y-axis synchronous belt tensioner 14 . Wrap angle adjustment synchronous pulley 13 is arranged above the y-axis timing belt 16, and wrap angle adjustment pulley 12 is arranged between the y-axis timing belts 16 on the upper and lower sides, so that the upper side of the y-axis timing belt 16 becomes a wave shape , thereby increasing the wrap angle between the synchronous belt and the synchronous pulleys at both ends, increasing the bearing capacity of the synchronous belt wheel and the y-axis synchronous belt 16 meshing, and also ensuring the stability of the transmission.

The vertical guide mechanism includes an adjustable rubberized wheel 9 arranged below the y-axis crossbeam. There are two adjustable rubberized wheels 9, which are symmetrically arranged at both ends of the y-axis crossbeam. The adjustable rubberized wheel 9 is installed under the active rubberized wheel 11 through the rotating shaft, and a bolt that promotes the adjustable rubberized wheel 9 to go up and down is provided under the rotating shaft of the adjustable rubberized wheel 9, and the bolt is installed on the y-axis beam through threads, and Promote the adjustable rubber-coated wheel 9 to lift, thereby realizing the adjustment of the vertical direction of the adjustable rubber-coated wheel 9. The adjustable rubberized wheels 9 and the active rubberized wheels 11 are respectively arranged on the upper and lower sides of the frame guide rails, and clamp the frame guide rails so as to guide the y-axis beam in the vertical direction.

As shown in Figure 7: there are two horizontal guide mechanisms, which are symmetrically arranged at both ends of the y-axis beam. The horizontal guide mechanism includes guide wheels 10 arranged on both sides of the y-axis crossbeam. The axis of the guide wheels 10 is perpendicular to the axis of the adjustable rubberized wheel 9 and is rotatably mounted on the y-axis crossbeam. The two guide wheels 10 at the same end of the y-axis beam are respectively arranged on the front and rear sides of the rack guide rail, and clamp the rack guide rail so as to guide the y-axis beam in the horizontal direction. The vertical guiding mechanism cooperates with the horizontal guiding mechanism to ensure that the y-axis beam can move along a straight line, thereby ensuring the accuracy of the movement of the grasping mechanism 7 .

As shown in FIG. 8 : the y-axis power mechanism includes a synchronous shaft 17 and a y-axis motor 18 . The synchronous shaft 17 is arranged between the two suspension mechanisms, and the length of the synchronous shaft 17 is equal to the width of the frame 1 along the x-axis. Synchronous shaft 17 is connected with y-axis motor 18, and y-axis motor 18 is arranged on the left end of synchronous shaft 17, and the output shaft of y-axis motor 18 is connected with the installation part of synchronous shaft 17, and drives synchronous shaft 17 to rotate by gear transmission. The transmission parts at both ends of the synchronous shaft 17 are also fixedly connected to the synchronous pulleys at the corresponding positions on the two y-axis beams through tension sleeves. The synchronous shaft 17 can ensure that the rotational speeds of the active rubberized wheels 11 at both ends are equal, thereby ensuring the x-axis The two ends of the traveling mechanism 3 advance synchronously, and no inclination can take place.

The synchronous shaft 17 comprises the steel pipe in the middle part and the shaft head at two ends, and one end of the shaft head stretches into the steel pipe and is welded with the steel pipe, and the other end coaxially installs the active rubberized wheel 11. An encoder is installed at one end of the synchronous shaft 17, and the encoder rotates synchronously with the synchronous shaft 17, and feeds the speed signal to the frequency converter, which is convenient for controlling the walking speed of the y-axis traveling mechanism 2, and can also detect the angle at which the synchronous shaft 17 turns , so as to detect the distance traveled along the y-axis direction.

The front and rear ends of the frame 1 are provided with limit blocks for limiting the y-axis beam, so as to prevent the y-axis beam from falling during the movement.

As shown in FIG. 9 , the x-axis traveling mechanism 3 includes an x-axis synchronous belt 21 and an x-axis power unit. The x-axis power unit is installed on the x-axis beam 22, the length of the x-axis beam 22 is equal to the length of the synchronous shaft 17, and the two ends of the x-axis beam 22 are respectively fixedly connected with the middle part of the y-axis beam, and move synchronously with the y-axis beam. The x-axis power unit is an x-axis motor 19, and the x-axis motor 19 is fixed on the left end of the x-axis beam 22. The output shaft of the x-axis motor 19 is equipped with a timing belt pulley, and the other end of the x-axis beam 22 is also equipped with a timing belt. wheel. The x-axis beam 22 is slidably installed with a walking mounting frame 20, and an x-axis guide mechanism is arranged between the walking mounting frame 20 and the x-axis beam 22. The x-axis guiding mechanism can make the walking mounting frame 20 move along a straight line, thus ensuring the grasping Stability of mechanism 7 movement. Both ends of the x-axis synchronous belt 21 bypass the synchronous pulleys at the two ends of the x-axis beam 22 and are fixedly connected with the walking installation frame 20, and drive the walking installation frame 20 to move synchronously with the x-axis synchronous belt 21. The z-axis traveling mechanism 4 is installed on the traveling mounting frame 20 and moves synchronously with the traveling mounting frame 20 .

An x-axis adjusting bolt for adjusting the tension of the x-axis synchronous belt 21 is also provided on the walking mounting frame 20 . 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 installation frame 20 through a nut.

The output shaft of the x-axis motor 19 faces down and is installed on the top of the x-axis crossbeam 22. An axis adjustment mechanism for adjusting the axis of the synchronous pulley is also provided above the x-axis crossbeam 22. The axis adjustment mechanism is arranged on both sides of the x-axis crossbeam. side bolt, the lower end of the bolt pushes the synchronous pulley mounting seat to move up and down, thereby adjusting the angle between the axis of the synchronous pulley and the vertical plane, so that a push x-axis synchronous belt can be generated between the synchronous pulley and the x-axis synchronous belt 21 The thrust of the upward movement of 21 is used to counteract the gravity of the x-axis synchronous belt 21, thereby preventing the x-axis synchronous belt 21 from detaching from the synchronous pulley under the action of gravity.

The walking mounting frame 20 is made of steel plates connected by bolts. The side of the walking mounting frame 20 close to the x-axis beam 22 is a cuboid box with two ends open. The walking mounting frame 20 is sleeved on the outside of the x-axis beam 22. The z-axis Traveling mechanism 4 is installed on one side of walking mounting frame 20 . The upper part of the steel plate on the upper side of the walking installation frame 20 and the lower part of the lower side of the steel plate are all provided with reinforcing ribs, and the reinforcing ribs are tapered from one side near the z-axis traveling mechanism 4 to the other side, thereby ensuring walking installation. The strength of the frame 20 can avoid the damage caused to the walking mounting frame 20 by the load on one side.

There are two x-axis guide mechanisms, which are respectively arranged on the upper and lower sides of the x-axis beam 22, and the upper x-axis guide mechanism is arranged on the side away from the z-axis traveling mechanism 4, and the lower x-axis guide mechanism is arranged on the side near the z axis. One side of the axis traveling mechanism 4, so that the unilateral load received by the traveling mounting frame 20 can be offset, ensuring the stability and precision of the traveling mounting frame 20.

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

An encoder is coaxially installed on the synchronous pulley at one end away from the x-axis motor 19, and the encoder can feed back the speed signal of the x-axis motor 19 to the frequency converter, thereby controlling the speed of the x-axis motor 19 through the frequency converter, and then controlling The traveling speed of the x-axis traveling mechanism 3 can also detect the angle at which the x-axis motor 19 turns, thereby detecting the traveling distance along the x-axis direction.

The two ends of the x-axis beam 22 are provided with limiting blocks for limiting the walking installation frame 20 .

As shown in FIG. 10 , the z-axis traveling mechanism includes a z-axis column 23 and a lifting mechanism that drives the z-axis column 23 to rise and fall. The z-axis column 23 is slidably installed on the walking mounting frame 20, and a z-axis guiding mechanism is provided between the z-axis column 23 and the walking mounting frame 20. The z-axis guiding mechanism can guide the lifting of the z-axis column 23, thereby ensuring z The stability of shaft column 23 lifting. The w-axis rotation mechanism 6 is fixedly connected with the lower end of the z-axis column 23 . The walking installation frame 20 is also provided with a gravity balance mechanism, which is used to balance the gravity of the z-axis column 23 and the mechanism installed on the z-axis column 23, thereby ensuring the stability of the z-axis column 23 lifting.

The gravity balance mechanism includes a balance cylinder 27 and a z-axis chain 28. The lower end of the balance cylinder 27 is installed on the walking mounting frame 20, and the axis of the balance cylinder 27 is arranged parallel to the axis of the z-axis column 23. The lower end of the z-axis chain 28 is fixedly connected to the middle part of the z-axis column 23, and the upper part is fixedly connected to the piston rod of the balance cylinder 27, thereby balancing the gravity of the z-axis column 23 and reducing the force borne by the lifting mechanism. The running of the mechanism is more stable, thereby ensuring the precision of the work. 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, and the z-axis column 23 can be prevented from falling when the power is cut off, so it is safe to use.

The top of the balance cylinder 27 is equipped with a gravity balance tensioning mechanism. The gravity balance tensioning mechanism includes a z-axis synchronous belt tensioner 25, and the z-axis synchronous belt tensioner 25 is rotated and installed on the piston rod of the balance cylinder 27, and rises and falls synchronously with the piston rod of the balance cylinder 27, and the z-axis chain 28 The upper end is fixedly connected with the piston rod of the balance cylinder 27 after bypassing the z-axis synchronous belt tensioner 25 . The bottom of the z-axis synchronous belt tensioner 25 is provided with a bolt for adjusting the height of the z-axis synchronous belt tensioner 25, and the bolt pushes the z-axis synchronous belt tensioner 25 upward through the axial direction of the z-axis synchronous belt tensioner 25, and Tension the z-axis chain 28.

A balance guiding mechanism for guiding is provided between the balance cylinder 27 and the z-axis column 23 . The balance guiding mechanism comprises a guide shaft 24 and a guide sleeve 26. The lower end of the guide shaft 24 is fixedly connected to the upper end of the piston rod of the balance cylinder 27, and moves up and down synchronously with the piston rod of the balance cylinder 27, and the axis of the guide shaft 24 and the balance cylinder 27 parallel. The guide sleeve 26 is fixedly connected with the z-axis column 23 , and the guide sleeve 26 is slidably arranged on the outside of the guide shaft 24 . The guide sleeve 26 guides the movement of the guide shaft 24, thereby ensuring the vertical lift of the piston rod of the balance cylinder 27, avoiding damage to the balance cylinder 27 due to the inclination of the z-axis column 23 during lifting.

There are two balance guiding mechanisms, which are symmetrically arranged on both sides of the balance cylinder 27, thereby better protecting the balance cylinder 27.

The lifting mechanism includes a z-axis chain and a z-axis power unit. The upper end of the z-axis chain is fixed on the top of the z-axis column 23 , and the lower end of the z-axis chain is fixed on the bottom end of the z-axis column 23 . The z-axis power unit is connected with the z-axis chain through the z-axis sprocket 30, and drives the z-axis column 23 to rise and fall.

There are three z-axis guide mechanisms, and the z-axis guide mechanisms are respectively arranged on the opposite sides of the z-axis column 23. The side of the z-axis column 23 where the z-axis chain is installed is provided with a guide mechanism, and the side opposite to the side where the z-axis chain is installed Two z-axis guide mechanisms are installed on one side, which can well distribute the load brought by the z-axis column 23, thereby ensuring the smooth operation of the z-axis column 23.

The z-axis guiding mechanism includes a slide rail arranged on the z-axis column 23 and a slider on the walking installation frame 20 , the slide block and the slide rail cooperate to guide the movement of the z-axis column 23 .

Both upper and lower ends of the z-axis column 23 are provided with limiting blocks, so as to limit the lifting of the z-axis column 23 .

As shown in FIGS. 11-12 , the z-axis power unit is a z-axis motor 29 , and the z-axis motor 29 drives the z-axis column 23 to lift up and down through the z-axis sprocket 30 . The z-axis motor 29 is fixed on the walking mounting frame 20, the z-axis sprocket 30 is connected with the output shaft of the z-axis motor 29, and the z-axis sprocket 30 cooperates with the z-axis chain to realize the lifting of the z-axis column 23. The z-axis chain has three rows. The side of the walking installation frame 20 close to the z-axis column 23 is a cuboid box body with upper and lower ends opened by steel plates fixedly connected by bolts, and the z-axis column 23 is arranged in one side of the walking installation frame 20 . The z-axis sprocket 30 is installed in the traveling installation frame 20 . The upper side of the walking mounting frame 20 is provided with a through hole, and the upper side of the walking mounting frame 20 is also equipped with a flange coaxial with the through hole through bolts, and the output shaft of the z-axis motor 29 passes through the flange plate and the through hole. Finally, it is connected with the z-axis sprocket 30, and is fixed on the flange by bolts, which not only facilitates the disassembly and maintenance of the z-axis motor 29, but also avoids mutual interference between various mechanisms.

There are three z-axis sprockets 30 arranged vertically, and the output shaft of the z-axis motor 29 is coaxially connected with the z-axis sprocket 30 in the middle, and drives the z-axis sprocket 30 in the middle to rotate. The z-axis sprockets 30 on the upper and lower sides are respectively arranged on the side of the z-axis chain away from the z-axis column 23, and the z-axis sprocket 30 in the middle is arranged between the z-axis chain and the z-axis column 23. The distance between the axis of the z-axis sprocket 30 on the side and the z-axis column 23 is equal, and is smaller than the distance between the axis of the z-axis sprocket 30 in the middle and the z-axis column 23, increasing the distance between the z-axis sprocket 30 and the z-axis The wrapping angle between the chains improves the engagement strength between the z-axis sprocket 30 and the z-axis chain, thereby ensuring that the z-axis sprocket 30 can drive the z-axis column 23 up and down through the z-axis chain. An encoder is installed coaxially on the z-axis sprocket 30 in the middle, and the encoder can detect the speed and angle of rotation of the z-axis motor 29, thereby detecting the speed and distance of the z-axis column 23 rising and falling.

As shown in Figure 13: the w-axis rotating mechanism 6 includes a w-axis column 39, a rotating unit mounted on the w-axis column 39 and a w-axis power unit, the w-axis power unit is fixedly connected with the w-axis column 39, and the w-axis power unit It is connected with the rotation unit and drives the rotation unit to rotate, and the rotation unit is coaxially arranged with the w-axis column 39; it also includes a detection unit for measuring and limiting the rotation angle of the rotation unit. The w-axis rotation mechanism 6 can output power in the form of rotation around the w-axis column 39, which increases the movement form of the grasping mechanism 7 around the z-axis, increases the flexibility of the grasping mechanism 7, and can be used for transferring or moving tiles. When stacking, it can drive the grabbed tiles to rotate, thereby changing the posture of the tiles, and can be stacked according to needs, with a wide range of applications; the detection unit can detect the angle at which the rotating unit turns, thus ensuring the accuracy of the grabbing mechanism 7 .

The w-axis power unit is a w-axis motor 31 , and the w-axis motor 31 is installed on a rotating mount 35 . The rotating mounting frame 35 is arranged on the lower part of the w-axis column 39 and is fixedly connected with the w-axis column 39 . The rotating unit is arranged below the rotating mounting frame 35 .

The upper end of the w-axis column 39 is provided with a buffer mechanism for buffering in the vertical direction. Since the grasping mechanism 7 is installed below the w-axis rotating mechanism 6, during the working process, when the grasping mechanism touches the tiles grasped, the buffer mechanism can allow the w-axis column 39 to carry out a small displacement in the vertical direction. On the one hand, it can avoid damage to the w-axis rotating mechanism 6 when the grabbing mechanism 7 is in contact with the tiles to be grabbed; take the stability.

The buffer mechanism includes a buffer sleeve 37 and an axial limit mechanism. The buffer sleeve 37 is slidably sleeved on the upper end of the w-axis column 39, and the axial limit mechanism is fixed with the buffer sleeve 37, thereby controlling the axial movement of the w-axis column 39. limit. The buffer sleeve 37 of the w-axis rotating mechanism 6 is fixedly connected with the lower end of the z-axis column 23 .

A circumferential limit mechanism is provided between the buffer sleeve 37 and the rotating mounting bracket 35, and the circumferential limit mechanism can prevent the relative rotation of the w-axis column 39 and the buffer sleeve 37, thereby improving the working accuracy of the w-axis rotation mechanism 6. Avoid errors in the direction of rotation during work.

Circumferential spacing mechanism comprises circumferential spacing bar and spacing bearing, and the cross section of circumferential spacing bar is rectangular, and the lower end of circumferential spacing bar is installed on the rotating mount 35, and circumferential spacing bar is vertical set up. Limit bearings are symmetrically arranged on both sides of the circumferential limit rod, and the limit bearings are fixed on the outside of the buffer sleeve 37 by bolts. The circumferential limit rod moves up and down synchronously with the w-axis column 39, and the limit bearings limit the circumferential limit rod, thereby avoiding the relative rotation between the w-axis column 39 and the buffer sleeve 37.

One side of the w-axis column 39 is provided with a buffer detection photoelectric switch 33 for detecting the position of the buffer sleeve 37, the buffer detection photoelectric switch 33 is installed on the photoelectric switch mounting plate 32, and the lower end of the photoelectric switch mounting plate 32 is installed on the rotating mounting frame 35 , and the photoelectric switch mounting plate 32 is vertically arranged. There are two buffer detection photoelectric switches 33, and the two buffer detection photoelectric switches 33 are vertically spaced apart. When the w-axis column 39 and the buffer sleeve 37 move axially relative to each other, when the buffer detection photoelectric switch 33 above detects the buffer sleeve 37, it means that the grasping mechanism 7 touches the object to be grasped, and is installed on the w-axis to rotate The catch mechanism 7 below the mechanism 6 stops the motion in the vertical direction. The buffer detection photoelectric switch 33 below provides limit protection for the movement of the w-axis column 39, so as to prevent the movement distance of the w-axis column 39 from being relatively large, thereby causing damage to the equipment.

The detection unit includes a rotation detection photoelectric switch 34, which is used to detect the angle of rotation of the grasping mechanism 7 connected with the rotation unit, and limit the rotation of the grasping mechanism 7. There are two rotation detection photoelectric switches 34, two rotation detection photoelectric switches 34 are installed on the rotation mount 35, and one rotation detection photoelectric switch 34 is used to detect the angle that the grabbing mechanism 7 turns over, so as to control the rotation of the grabbing mechanism 7. The angle is precisely controlled, and another detection switch is used to limit the rotation of the grab mechanism 7, so as to prevent the rotation angle of the grab mechanism 7 from exceeding the set rotation angle range.

As shown in FIG. 14 , the axial limit mechanism includes a limit sleeve 38 and a limit baffle 36 . The limit baffle 36 is an annular plate, and the limit baffle 36 is sleeved outside the w-axis column 39 above the buffer sleeve 37 , and the limit baffle 36 is fixedly connected to the buffer sleeve 37 . The inner diameter of the lower part of the buffer sleeve 37 is smaller than that of the upper part, thereby forming a limiting platform. The outer diameter of the lower part of the limit sleeve 38 is smaller than the outer diameter of the upper part, and the limit sleeve 38 is sleeved on the w-axis column 39 in the buffer sleeve 37, and the limit sleeve 38 is fixedly connected with the w-axis column 39 and is connected with the w-axis column 39 Synchronous lifting. The outer diameter of the w-axis column 39 is less than the inner diameter of the buffer sleeve 37, the bottom of the limit sleeve 38 extends into the bottom of the buffer sleeve 37, the length of the limit sleeve 38 is less than the length of the buffer sleeve 37, and the limit platform and the limit baffle plate 36 correspond to each other. Cooperate, the limit sleeve 38 is axially clamped, so that the w-axis column 39 is axially limited.

The w-axis column 39 above the limit baffle plate 36 is provided with a fixed nut, and the fixed nut cooperates with the limit platform of the buffer sleeve 37, and the gravity of the w-axis column 39 and the rotating mount 35 installed on the w-axis column 39 Offset, so that the w-axis column 39 is installed on the buffer sleeve 37 . The w-axis rotating mechanism 6 is connected with the traveling mechanism of the manipulator through a buffer sleeve 37 .

The rotating mounting bracket 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 column 39 below the rotating mounting frame 35 is covered with a bearing sleeve 40. The diameter of the upper part of the bearing sleeve 40 is smaller than the diameter of the lower part. 40 on the outer boss. The lower end of the w-axis column 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, and the w-axis column 39 on the top of the rotating mount 35 is provided with a nut, and the rotating mount 35 is pressed against the thrust. On the bearing, complete the fixed installation of the rotating mount 35. The outer diameter of the upper part of the bearing sleeve 40 is smaller than the inner diameter of the lower part 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 rotating mounting frame 35 can rotate relative to each other.

The rotating unit is an output sprocket, which is arranged coaxially with the w-axis column 39 , the inner diameter of the output sprocket is larger than the outer diameter of the w-axis column 39 , and the upper part of the output sprocket is fixedly connected with the bearing sleeve 40 . A driving sprocket is also installed on the rotating mounting bracket 35, and the driving sprocket is connected with the output sprocket through the w-axis chain 41, and drives the output sprocket to rotate. The lower part of the output sprocket is fixedly connected with the middle part of the grasping mechanism main body 45, and drives the grasping mechanism 7 to rotate synchronously.

The output shaft of the w-axis motor 31 is arranged horizontally, and the output shaft of the w-axis motor 31 drives the driving sprocket to rotate through the meshed bevel gears. An encoder is installed above the drive sprocket, the encoder rotates synchronously with the drive sprocket, the encoder detects the speed signal of the drive sprocket, and feeds the speed signal back to the frequency converter, which can realize the adjustment of the output speed of the w-axis motor 31 , so as to complete the adjustment of the rotation speed of the output sprocket, and the encoder can also detect the angle at which the driving sprocket turns.

As shown in Figures 1-2: a tile grabbing mechanism is also installed on the grabbing mechanism main body 45, and the tile grabbing mechanism and the pallet grabbing mechanism together form the grabbing mechanism 7 of the manipulator.

The tile grabbing mechanism includes a tile splint 48 and a splint power unit. The splint power unit is connected to the tile splint 48 and drives the tile splint 48 to clamp or loosen the tiles. The upper end of tile clamping plate 48 is installed on the clamping plate mounting plate 49, and the other end is a free end. The splint power unit is connected with the splint mounting plate 49, and pushes the splint mounting plate 49 to move horizontally, thereby realizing the clamping and loosening of the tiles. The side of the ceramic tile splint 48 in contact with the ceramic tile is provided with rubber, on the one hand, it is used to increase the friction with the ceramic tile, and on the other hand, it can produce a buffering effect to avoid collision with the ceramic tile, thereby damaging the ceramic tile. The lower end of the tile clamping plate 48 is inclined to the middle, so that the tiles can be clamped better.

When grabbing tiles along the thickness direction, the tile splint 48 can be installed on one end of the splint mounting plate 49 close to the middle part of the grabbing mechanism main body 45. One end on the outside of the main body 45 of the grabbing mechanism. The two tile splints 48 that are used to cooperate with each other to clamp the tiles are a pair, and there are two pairs of tile splints 48, and the splint mounting plates 49 correspond to the tile splints 48 one by one.

Above the main body 45 of the grabbing mechanism, a ceramic tile grabbing limiting unit is arranged. The ceramic tile grasping limit unit is a splint limit photoelectric switch 44, each pair of splint limit photoelectric switches 44 has two, and the two splint limit photoelectric switches 44 are used to detect the initial position and the end position of the splint power unit respectively. This completes the limit. There are two pairs of splint limit photoelectric switches 44, which limit the splint power unit driving the ceramic tile splint 48 movement respectively.

The grasping mechanism 7 can not only grasp the pallets, but also grasp the ceramic tiles. It has a high degree of automation, and the pallets are placed with high precision, and the tiles will not be tilted during stacking, so it is easy to use.

As shown in Figure 3: there are two splint power units, and the two splint power units are respectively arranged on both sides of the pallet grabbing cylinder 51, and drive the opening and closing of two pairs of tile splints 48 respectively. Each splint power unit includes two splint opening and closing cylinders 50, and the piston rods of the two splint opening and closing cylinders 50 are fixedly connected and move synchronously. The splint limit photoelectric switch 44 limits the tile splint 48 by detecting the position of the piston rod of the splint opening and closing cylinder 50 .

A splint transmission mechanism is provided 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. There are two clamping plate opening and closing racks 53, symmetrically arranged on both sides of the clamping plate opening and closing gear 52, and the two clamping plate opening and closing racks 53 are fixedly connected with the clamping plate mounting plate 49 of the same pair of ceramic tile clamping plates 48 installed respectively. The piston rods of the two splint opening and closing cylinders 50 are connected with a 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 gear 52 to open and close the splint The rack 53 moves in the opposite direction. Both sides of the splint opening and closing rack 53 are respectively provided with bearings that push the splint opening and closing rack 53 to press the splint opening and closing gear 52 .

A tile sensor 54 is arranged below the pallet grabbing gear 55, and the tile sensor 54 is used to detect whether the tile splint 48 grabs a tile and detects whether the pallet grabbing finger 47 grabs a pallet.

The working process of the manipulator is as follows: first, the traveling mechanism drives the grasping mechanism 7 to grab the pallet, and place the pallet at a designated position. Then the walking mechanism drives the grasping mechanism 7 to pick up the tiles, and places the tiles on the pallet in turn, thereby stacking the tiles. Compared with the traditional manipulator, the manipulator has an increased degree of freedom, so that the grasping mechanism of the manipulator can rotate around the z-axis, so that the manipulator can stack in various ways, and the way of stacking can be set according to user needs.

Since the y-axis traveling mechanism 2, the x-axis traveling mechanism 3, the z-axis traveling mechanism 4, and the w-axis rotating mechanism 6 are all equipped with encoders, when the grasping mechanism 7 is close to the ceramic tile, the walking or rotating speed of the grasping mechanism 7 is relatively slow , in the process of transferring the tiles, the speed of the grabbing mechanism 7 is relatively fast, which greatly improves the work efficiency, and will not collide with the tiles so as to damage the tiles. In addition, when the grabbing mechanism 7 cooperates with the production line, when the production of ceramic tiles is fast, the movement of the grabbing mechanism 7 is also fast, and when the production of tiles is slow, the movement of the grabbing mechanism 7 is also slow, which not only cooperates The production line avoids the phenomenon that the grasping mechanism 7 runs too fast and causes energy waste.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention to other forms. Any skilled person who is familiar with this profession may use the technical content disclosed above to change or modify the equivalent of equivalent changes. Example. However, any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims (10)

1. A pallet grabbing mechanism, characterized in that it includes a finger power unit and a pallet grabbing finger (47), the finger power unit is installed in the main body (45) of the grabbing mechanism, and the pallet grabbing finger (47) There are several, and they are arranged symmetrically on both sides of the pallet grabbing mechanism (45). The finger power unit is connected with the pallet grabbing fingers (47) and drives the pallet grabbing fingers on both sides of the grabbing mechanism main body (45). (47) Synchronous clamping or stretching. 2. The pallet grabbing mechanism according to claim 1, characterized in that: the side of the grabbing mechanism main body (45) is provided with a pallet clamping guide plate (42), and the pallet clamping guide plate ( The free end of 42) is an arc gradually concave from bottom to top, one end of the pallet grabbing finger (47) is hinged on the finger power unit, and the hinge point is between the pallet clamping guide plate (42) The pallet grabbing finger (47) is provided with a finger guide bearing (46), the finger power unit pushes the pallet grabbing finger (47) to move horizontally, the finger guide bearing (46) and the pallet clamping guide plate (42) Cooperate with the free end of the pallet to realize the clamping or stretching of the pallet grabbing fingers (47). 3. The pallet grabbing mechanism according to claim 1, characterized in that: a pallet transmission mechanism is provided between the finger power unit and the pallet grabbing fingers (47). 4. The pallet grabbing mechanism according to claim 3, characterized in that: the pallet grabbing mechanism includes a pallet grabbing gear (55) and a pallet grabbing rack (56), and the pallet grabbing The gear (55) is rotatably mounted on the main body (45) of the grabbing mechanism. There are two pallet grabbing racks (56), which are arranged symmetrically on both sides of the pallet grabbing gear (55). The two pallet grabbing teeth The pallets (56) are all equipped with the pallet grabbing fingers (47), the finger power unit is connected with a pallet grabbing rack (56), and pushes the pallet grabbing rack (56) to move axially . 5. The pallet grabbing mechanism according to claim 4, characterized in that: one side of the pallet grabbing rack (56) is provided for pressing the pallet grabbing rack (56) against Bearings on the pallet grab gear (55). 6. The pallet grabbing mechanism according to claim 1, characterized in that: both ends of the pallet grabbing fingers (47) are upturned to form a "V" shape. 7. The pallet grabbing mechanism according to claim 1 or 6, characterized in that one end of the pallet grabbing finger (47) is connected to the finger power unit, and the other end is installed with a stopper for preventing the pallet from slipping. plate. 8. The pallet grabbing mechanism according to claim 1, characterized in that: the finger power unit is a pallet grabbing cylinder (51), and the piston rod of the pallet grabbing cylinder (51) is in contact with the pallet Plate grabbing fingers (47) are attached. 9. The pallet grabbing mechanism according to claim 1, characterized in that there are four pallet grabbing fingers (47). 10. A manipulator capable of grabbing pallets, characterized in that it includes a frame (1), a walking mechanism, a w-axis rotation mechanism (6), a tile grabbing mechanism, and any one of claims 1 to 9. The pallet grabbing mechanism, the traveling mechanism is installed on the frame (1), and can move along the directions of x-axis, y-axis and z-axis respectively, the w-axis rotating mechanism (6) is installed on the traveling mechanism, and the w-axis rotating mechanism ( 6) It is connected with the main body (45) of the grabbing mechanism, and the tile grabbing mechanism is installed on the main body (45) of the grabbing mechanism.