CN103640930B - It is applicable to automatic transferring machine people and method of work thereof that glass unloads cylinder automatically - Google Patents

It is applicable to automatic transferring machine people and method of work thereof that glass unloads cylinder automatically Download PDF

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Publication number
CN103640930B
CN103640930B CN201310668078.6A CN201310668078A CN103640930B CN 103640930 B CN103640930 B CN 103640930B CN 201310668078 A CN201310668078 A CN 201310668078A CN 103640930 B CN103640930 B CN 103640930B
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China
Prior art keywords
glass
hopper
flexible
rotating
hoisting appliance
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CN201310668078.6A
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Chinese (zh)
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CN103640930A (en
Inventor
李波
郭明兵
陈杰
陈刚
吴军
胡天链
赖健
Original Assignee
巨石集团成都有限公司
绵阳福德机器人有限责任公司
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Priority to CN201310668078.6A priority Critical patent/CN103640930B/en
Publication of CN103640930A publication Critical patent/CN103640930A/en
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Abstract

The present invention discloses and is applicable to the automatic transferring machine people that glass unloads cylinder automatically, it comprises travel mechanism (1), rotating mechanism (2), hoisting appliance (3), flexible mechanism (4) and hopper (5), the rotating mechanism (2) rotated around vertical axis is installed in travel mechanism (1), hoisting appliance (3) is installed on rotating mechanism (2), hoisting appliance (3) comprises the sliding part (6) of VTOL (vertical take off and landing), flexible mechanism (4) is fixedly installed on sliding part (6), flexible mechanism (4) comprises the flexible telescopic arm (7) of horizontal direction, hopper (5) is fixedly installed in the end of telescopic boom, also disclose its method of work. the invention has the beneficial effects as follows: Full-automatic glass fiber can be realized and unload cylinder work, it is possible to adapt to existing glass production unit to greatest extent, level of automation height, Product processing consistence is good, it is to increase production efficiency, alleviates the working strength of staff.

Description

It is applicable to automatic transferring machine people and method of work thereof that glass unloads cylinder automatically

Technical field

The present invention relates to glass transfer equipment technical field, particularly it is applicable to automatic transferring machine people and method of work thereof that glass unloads cylinder automatically.

Background technology

At present; the glass that drawing wire machine coiling is good is manually taken out and puts into logistics dolly by the many uses of glass-fiber industry; making glass unload cylinder work is by manual operation completely; complete that glass is separated with drawing wire machine by hand by operator, glass transfer, glass and the pairing of logistics dolly, deposit the series of processes such as glass; operator's working strength is big, and consistence is not high, affects Product processing efficiency and quality product; adopt simultaneously and manually cause production cost to improve, restriction large-scale production.

Summary of the invention

It is an object of the invention to overcome the shortcoming of prior art, it is provided that what a kind of level of automation height, Product processing consistence were good is applicable to automatic transferring machine people and the method for work thereof that glass unloads cylinder automatically.

The object of the present invention is achieved through the following technical solutions: be applicable to the automatic transferring machine people that glass unloads cylinder automatically, it comprises travel mechanism, rotating mechanism, hoisting appliance, flexible mechanism and hopper, the rotating mechanism rotated around vertical axis is installed in travel mechanism, hoisting appliance is installed on rotating mechanism, hoisting appliance comprises the sliding part of VTOL (vertical take off and landing), flexible mechanism is fixedly installed on sliding part, flexible mechanism comprises the flexible telescopic arm of horizontal direction, and hopper is fixedly installed in the end of telescopic boom.

Described travel mechanism comprises supporting substrate and is arranged at the wheel of the multiple walking bottom supporting substrate, and walking wheel is by transmission mechanism connecting drive device A;

Described rotating mechanism comprises rotating disk, rotating shaft holder and drive unit B, rotating disk is fixedly connected with vertical rotation axis, vertical rotation axis is installed in rotating shaft holder by bearing, and vertical rotation axis is also by transmission mechanism connecting drive device B, and bearing support is fixedly installed on supporting substrate;

Described hoisting appliance comprises the drive unit C of frame, sliding part and driving sliding part VTOL (vertical take off and landing), and frame is provided with vertical liner, and sliding part is by transmission mechanism connecting drive device C, and frame is fixedly installed on rotating disk;

Described flexible mechanism comprise two symmetrically arranged active rotation arms, two from swing arm, connect block and drive unit D, one end of each active rotation arm is all fixedly installed a drive shaft, drive shaft is installed on sliding part by bearing rotary, drive shaft is also by transmission mechanism connecting drive device D, the other end of corresponding active rotation arm it is articulated with respectively from swing arm, from the other end of swing arm, all by rotating shaft, block connects with being connected, also being fixedly installed gear part from the end of swing arm, two gear part from swing arm end are meshed;

The detecting sensor that described hopper is feeding pallet and is arranged on feeding pallet, block is fixedly connected with feeding pallet with being connected.

It also comprises housing, and described supporting substrate is provided with encoder locating device, and housing is by cable connecting drive device A, drive unit B, drive unit C, drive unit D, encoder locating device and detecting sensor respectively.

The both sides of described supporting substrate are provided with Overthrow preventing device, and supporting substrate is provided with damping device.

Being applicable to the method for work that glass unloads the automatic transferring machine people of cylinder automatically, it comprises the following steps:

Glass is got from drawing wire machine by S1, robot: travel mechanism moves to the corresponding station position of drawing wire machine, rotating mechanism rotates, hopper is moved to the side of glass, hopper is moved to below glass by hoisting appliance, hopper is stretched to the position that can hold glass completely by flexible mechanism, hoisting appliance rises through hopper and is promoted to by glass and is separated with drawing wire machine, and flexible mechanism retracts, and glass success is got by robot;

Glass is placed on logistics dolly by S2, robot: travel mechanism moves to logistics dolly position, rotating mechanism rotates, hopper moving to the side of logistics dolly, the room that hoisting appliance is elevated on logistics dolly, the hopper being loaded with glass is reached in logistics dolly by flexible mechanism, glass is set in the top hanging up position, hoisting appliance declines, hopper and Glass Separation, and glass is placed on logistics dolly, flexible mechanism retracts and leaves logistics dolly, completes to place work.

The present invention has the following advantages: the present invention provides a kind of can fully automatically realize that glass unloads that glass in a flow process is separated with drawing wire machine, glass transfer, glass and the pairing of logistics dolly, the shifting apparatus of depositing the work such as glass, simulation workman's operating process, adapt to existing glass production unit to greatest extent, level of automation height, Product processing consistence is good, improve production efficiency, compare existing manual operation, alleviate the working strength of staff, greatly reduce manual intervention degree thus make production equipment be more suitable for the demand of automatic production.

Further, the present invention has data and automatically transmits, provides the functions such as monitoring interface, can the working order of each unit of observer robot, for the monitoring of products production quality, the monitoring of device steady running provide conveniently.

Accompanying drawing explanation

Fig. 1 is the structural representation of the present invention

Fig. 2 is the structural representation of the travel mechanism of the present invention

Fig. 3 is the structural representation of the rotating mechanism of the present invention

Fig. 4 is the structural representation of the hoisting appliance of the present invention

Fig. 5 is the structural representation of the flexible mechanism of the present invention

Fig. 6 is the structural representation of the hopper of the present invention

Fig. 7 is the structural representation that the present invention gets glass from drawing wire machine

Fig. 8 is the structural representation that glass is placed on logistics dolly by the present invention

In figure, 1-travel mechanism, 2-rotating mechanism, 3-hoisting appliance, 4-stretches mechanism, 5-hopper, 6-sliding part, 7-telescopic arm, 8-supporting substrate, 9-walks wheel, 10-drive unit A, 11-rotating disk, 12-rotating shaft holder, 13-drive unit B, 14-frame, 15-drive unit C, the vertical liner of 16-, 17-active rotation arm, 18-is from swing arm, 19-connects block, 20-drive unit D, 21-gear part, 22-housing, 23-encoder locating device, 24-detecting sensor, 25-Overthrow preventing device, 26-damping device, 27-drawing wire machine, 28-glass, 29-logistics dolly.

Embodiment

Below in conjunction with accompanying drawing, the present invention will be further described, and protection scope of the present invention is not limited to the following stated:

As shown in Figure 1, it is applicable to the automatic transferring machine people that glass unloads cylinder automatically, it comprises travel mechanism 1, rotating mechanism 2, hoisting appliance 3, flexible mechanism 4 and hopper 5, the rotating mechanism 2 rotated around vertical axis is installed in travel mechanism 1, hoisting appliance 3 is installed on rotating mechanism 2, and hoisting appliance 3 comprises the sliding part 6 of VTOL (vertical take off and landing), and flexible mechanism 4 is fixedly installed on sliding part 6, flexible mechanism 4 comprises the flexible telescopic arm 7 of horizontal direction, and hopper 5 is fixedly installed in the end of telescopic boom. Travel mechanism 1 can be moved on ground or track; Rotating mechanism 2 is fixed in travel mechanism 1 to move at plane space inner periphery; Hoisting appliance 3 is arranged on rotating mechanism 2 upper end, can be lifting; Flexible mechanism 4 is arranged on hoisting appliance 3, scalable; Hopper 5 is integrated with the sensor of induction contact condition.

As shown in Figure 2, described travel mechanism 1 comprises supporting substrate 8 and is arranged at the multiple walking wheels 9 bottom supporting substrate 8, walking wheel 9, by transmission mechanism connecting drive device A10, ground is provided with and the track that wheel 9 of walking matches, and walking wheel 9 is arranged on track; In the present embodiment, the rear and front end of supporting substrate 8 is respectively arranged with a wheel shaft, and the two ends of wheel shaft are separately installed with a walking wheel 9, and the wheel shaft being positioned at rear side is by transmission mechanism connecting drive device A10.

As shown in Figure 3, described rotating mechanism 2 comprises rotating disk 11, rotating shaft holder 12 and drive unit B13, rotating disk is fixedly connected with vertical rotation axis, vertical rotation axis is installed in rotating shaft holder 12 by bearing, vertical rotation axis is also by transmission mechanism connecting drive device B13, bearing support is fixedly installed on supporting substrate 8, and the transmission mechanism described in the present embodiment is the sprocket wheel being installed on vertical rotation axis, the sprocket wheel being installed on drive unit B13 output shaft and the chain connecting two sprocket wheels.

As shown in Figure 4, described hoisting appliance 3 comprises frame 14, the drive unit C15 of sliding part 6 and driving sliding part 6 VTOL (vertical take off and landing), frame 14 is provided with vertical liner, sliding part 6 is by transmission mechanism connecting drive device C15, frame 14 is fixedly installed on rotating disk 11, in the present embodiment, drive unit C15 is arranged at the bottom of frame 14 and connection reducer, described transmission mechanism comprises the sprocket wheel A being arranged at frame 14 top, the sprocket wheel B being arranged on speed reduction unit output shaft, the input shaft of the output shaft connection reducer of drive unit C15, chain one end is fixedly connected with sliding part 6, the other end of chain connects sprocket wheel B after walking around sprocket wheel A, described vertical liner is the vertical slide rail being arranged on two columns of frame 14, described sliding part 6 is two vertical panels and the leveling board connecting two vertical panels, two vertical panels slide in the vertical slide rail being arranged at respective side respectively, chain is fixedly connected on leveling board.

As shown in Figure 5, described flexible mechanism 4 comprises two symmetrically arranged active rotation arms 17, two from swing arm 18, connect block 19 and drive unit D20, one end of each active rotation arm 17 is all fixedly installed a drive shaft, drive shaft is installed on sliding part 6 by bearing rotary, drive shaft is also by transmission mechanism connecting drive device D20, the other end of corresponding active rotation arm 17 it is articulated with respectively from swing arm 18, from the other end of swing arm 18, all by rotating shaft, block 19 connects with being connected, gear part 21 also it is fixedly installed from the end of swing arm 18, two gear part 21 from swing arm 18 end are meshed, transmission mechanism in the present embodiment comprises a double output shaft driver, the output shaft of drive unit D20 connects the input shaft of double output shaft driver, two output shafts of double output shaft driver connect the drive shaft of respective side respectively by driver.

As shown in Figure 6, the detecting sensor 24 that described hopper 5 is feeding pallet and is arranged on feeding pallet, block 19 is fixedly connected with feeding pallet with being connected.

Described it be applicable to the automatic transferring machine people that glass unloads cylinder automatically and also comprise housing 22, described supporting substrate 8 is provided with encoder locating device 23, can accurately being located in walking orientation, housing 22 is by cable connecting drive device A10, drive unit B13, drive unit C15, drive unit D20, encoder locating device 23 and detecting sensor 24 respectively.

The both sides of described supporting substrate 8 are provided with Overthrow preventing device 25, and supporting substrate 8 is provided with damping device 26; Described track is T font guide rail, and described Overthrow preventing device 25 comprises the vertical panel being installed on supporting substrate 8 side and is arranged at the roller inside vertical panel, and walking wheel 9 is pressed in the upper surface of T font guide rail, and roller compression is in the lower surface of T font guide rail.

Being applicable to the method for work that glass unloads the automatic transferring machine people of cylinder automatically, it comprises the following steps:

S1, glass is got from drawing wire machine by robot: when glass unloads tin, as shown in Figure 7, robot receives after wanting machine signal, travel mechanism 1 moves to the corresponding station position sending signal of drawing wire machine 27, rotating mechanism 2 rotates, flexible mechanism 4 is turned to drawing wire machine right opposite parallel position by rotating mechanism 2, the side of glass 28 is moved to by hopper 5, hopper 5 is moved to below glass 28 by hoisting appliance 3, hopper 5 is moved to by flexible mechanism 4 gets glass 28 position, stretch to the position that can hold glass 28 completely by hopper 5, hoisting appliance 3 rises through hopper 5 and is promoted to by glass 28 and is separated with drawing wire machine 27, hopper 5 is provided with sensor, the contact situation of glass 28 with hopper 5 can be sensed, after reaching set(ting)value, flexible mechanism 4 retracts, glass 28 success is got by robot,

S2, glass is placed on logistics dolly 29 by robot: when glass 28 is deposited, as shown in Figure 8, glass model and logistics dolly 29 are matched and are identified logistics dolly 29 room by robot automatically, travel mechanism 1 moves to logistics dolly 29 position, rotating mechanism 2 rotates, hopper 5 is moved to the side of logistics dolly 29, the room that hoisting appliance 3 is elevated on logistics dolly 29, the hopper 5 being loaded with glass 28 is reached in logistics dolly 29 by flexible mechanism 4, glass 28 is set in the top hanging up position, hoisting appliance 3 declines, hopper 5 is separated with glass 28, glass 28 is placed on logistics dolly 29, flexible mechanism 4 retracts and leaves logistics dolly 29, complete to place work.

Described housing 22 can receive the data automatically transmitted by cable, and is provided with display screen on housing 22, can provide monitoring interface, can the working order of each unit of observer robot.

Further, it is desirable that illustrate, the specific embodiment described in this specification sheets, the shape of its parts and components, be named title etc. can difference, the above content described in this specification sheets is only to present configuration example explanation. All equivalences done according to the structure described in inventional idea of the present invention, feature and principle change or simple change, are included in the protection domain of patent of the present invention. Described specific embodiment can be made various amendment or supplements or adopt similar mode to substitute by those skilled in the art; as long as not deviateing the structure of the present invention or surmounting this scope as defined in the claims, protection scope of the present invention all should be belonged to.

Claims (4)

1. it is applicable to the automatic transferring machine people that glass unloads cylinder automatically, it is characterized in that: it comprises travel mechanism (1), rotating mechanism (2), hoisting appliance (3), flexible mechanism (4) and hopper (5), the rotating mechanism (2) rotated around vertical axis is installed in travel mechanism (1), hoisting appliance (3) is installed on rotating mechanism (2), hoisting appliance (3) comprises the sliding part (6) of VTOL (vertical take off and landing), flexible mechanism (4) is fixedly installed on sliding part (6), flexible mechanism (4) comprises the flexible telescopic arm (7) of horizontal direction, hopper (5) is fixedly installed in the end of telescopic arm (7), described travel mechanism (1) comprises supporting substrate (8) and is arranged at multiple walking wheel (9) of supporting substrate (8) bottom, and walking wheel (9) is by transmission mechanism connecting drive device A(10),
Described rotating mechanism (2) comprises rotating disk (11), rotating shaft holder (12) and drive unit B(13), rotating disk is fixedly connected with vertical rotation axis, vertical rotation axis is installed in rotating shaft holder (12) by bearing, vertical rotation axis is also by transmission mechanism connecting drive device B(13), bearing support is fixedly installed on supporting substrate (8);
Described hoisting appliance (3) comprises frame (14), sliding part (6) and drives the drive unit C(15 of sliding part (6) VTOL (vertical take off and landing)), frame is provided with vertical liner on (14), sliding part (6) is by transmission mechanism connecting drive device C(15), frame (14) is fixedly installed on rotating disk (11);
Described flexible mechanism (4) comprises two symmetrically arranged active rotation arms (17), two from swing arm (18), connect block (19) and drive unit D(20), one end of each active rotation arm (17) is all fixedly installed a drive shaft, drive shaft is installed on sliding part (6) by bearing rotary, drive shaft is also by transmission mechanism connecting drive device D(20), the other end of corresponding active rotation arm (17) it is articulated with respectively from swing arm (18), from the other end of swing arm (18), all by rotating shaft, block (19) connects with being connected, gear part (21) also it is fixedly installed from the end of swing arm (18), two are meshed from the gear part (21) of swing arm (18) end,
Described hopper (5) is feeding pallet and the detecting sensor (24) being arranged on feeding pallet, and block (19) is fixedly connected with feeding pallet with being connected.
2. according to claim 1 it is applicable to the automatic transferring machine people that glass unloads cylinder automatically, it is characterized in that: it also comprises housing (22), being provided with encoder locating device (23) on described supporting substrate (8), housing (22) is by cable respectively connecting drive device A(10), drive unit B(13), drive unit C(15), drive unit D(20), encoder locating device (23) and detecting sensor (24).
3. according to claim 1 it is applicable to the automatic transferring machine people that glass unloads cylinder automatically, it is characterised in that: the both sides of described supporting substrate (8) are provided with Overthrow preventing device (25), and supporting substrate (8) is provided with damping device (26).
4. the method for work being applicable to glass and automatically unloading the automatic transferring machine people of cylinder according to claim 1, it is characterised in that: it comprises the following steps:
Glass is got from drawing wire machine by S1, robot: travel mechanism (1) moves to the corresponding station position of drawing wire machine, rotating mechanism (2) rotates, hopper (5) is moved to the side of glass, hopper (5) is moved to below glass by hoisting appliance (3), hopper (5) is stretched to the position that can hold glass completely by flexible mechanism (4), hoisting appliance (3) rises through hopper (5) and is promoted to by glass and is separated with drawing wire machine, and flexible mechanism (4) retracts, and glass success is got by robot;
S2, it is upper that glass is placed into logistics dolly (29) by robot: travel mechanism (1) moves to logistics dolly (29) position, rotating mechanism (2) rotates, hopper (5) is moved to the side of logistics dolly (29), the room that hoisting appliance (3) is elevated on logistics dolly (29), the hopper (5) being loaded with glass is reached in logistics dolly (29) by flexible mechanism (4), glass is set in the top hanging up position, hoisting appliance (3) declines, hopper (5) and Glass Separation, glass is placed on logistics dolly (29), flexible mechanism (4) retracts and leaves logistics dolly (29), complete to place work.
CN201310668078.6A 2013-12-07 2013-12-07 It is applicable to automatic transferring machine people and method of work thereof that glass unloads cylinder automatically CN103640930B (en)

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CN103896108B (en) * 2014-03-27 2016-10-05 重庆市隆泰稀土新材料有限责任公司 A kind of planer-type wire twisting machine I-beam wheel automatic handing system
CN104400778B (en) * 2014-09-26 2016-01-20 福建农林大学 A kind of control method of the carrying of the crops based on Arduino single-chip microcomputer
CN104808591A (en) * 2015-02-27 2015-07-29 张锐 Robot system for glass fiber pulling and control method
CN109987457A (en) * 2017-12-29 2019-07-09 巨石攀登电子基材有限公司 A kind of full-automatic wire drawing unloading device and its operating method
CN110550499A (en) * 2019-09-18 2019-12-10 泰安顺茂新材料技术有限公司 Intelligent glass fiber forming and winding equipment

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JPH0561375B2 (en) * 1985-07-25 1993-09-06 Osaka Bobin Kk
DE4433865A1 (en) * 1993-09-29 1995-03-30 Barmag Barmer Maschf Method for changing bobbins and apparatus for carrying out the method
CN102601783B (en) * 2012-03-28 2015-04-22 巨石集团有限公司 Intelligent manipulator device capable of automatically placing glass fiber strand barrel
CN203652946U (en) * 2013-12-07 2014-06-18 巨石集团成都有限公司 Automatic transfer robot suitable for automatically unloading glass fibers from barrels

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Address after: 610399 Datong Town, Qingbaijiang District, Chengdu City, Sichuan Province

Co-patentee after: SICHUAN FUDE ROBOT CO., LTD.

Patentee after: Jushi Group Chengdu Co., Ltd.

Address before: 610399 Datong Town, Qingbaijiang District, Chengdu City, Sichuan Province

Co-patentee before: Mianyang Fude Robot Co., Ltd.

Patentee before: Jushi Group Chengdu Co., Ltd.