CN105645106A - Humanoid automatic stacking device for automobile glass - Google Patents

Humanoid automatic stacking device for automobile glass Download PDF

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Publication number
CN105645106A
CN105645106A CN201610205593.4A CN201610205593A CN105645106A CN 105645106 A CN105645106 A CN 105645106A CN 201610205593 A CN201610205593 A CN 201610205593A CN 105645106 A CN105645106 A CN 105645106A
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China
Prior art keywords
fixing
support
connecting rod
cylinder
crank
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Granted
Application number
CN201610205593.4A
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Chinese (zh)
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CN105645106B (en
Inventor
冀世军
孙昌瑞
赵继
胡志清
任勇聪
杨松洲
刘义军
张祚华
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Jilin University
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Jilin University
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Publication of CN105645106A publication Critical patent/CN105645106A/en
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Publication of CN105645106B publication Critical patent/CN105645106B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/068Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
    • B65G49/069Means for avoiding damage to stacked plate glass, e.g. by interposing paper or powder spacers in the stack
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0033Gripping heads and other end effectors with gripping surfaces having special shapes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G49/00Conveying systems characterised by their application for specified purposes not otherwise provided for
    • B65G49/05Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
    • B65G49/06Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
    • B65G49/067Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • B65G2201/0214Articles of special size, shape or weigh
    • B65G2201/022Flat

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The invention relates to a humanoid automatic stacking device for automobile glass and belongs to the field of automatic production lines of the automobile glass. A discharging box is fixedly mounted on a bottom plate, an extruding exhaust type taking manipulator is fixedly connected with a rotating mechanism, a glass conveying belt is fixedly mounted on the bottom plate, a glass cutting device is fixedly connected with a paper roll device, the paper roll device is fixedly mounted on the bottom plate, humanoid manipulator mechanisms are fixedly connected with the bottom plate, two groups of the humanoid manipulator mechanisms are arranged on two sides of the paper roll device in parallel, each group comprise two humanoid manipulator mechanisms, and a packaging box conveying belt device is placed under the paper roll device and is fixedly connected with the bottom plate. The humanoid automatic stacking device has the advantages that the structure is novel, different working platforms are switched through the rotating mechanism, a glass packaging paper cutting device cuts packaging paper, the automatic paper spreading process for the glass is realized, and bearing, clamping and releasing of the glass are realized through humanoid manipulators.

Description

A kind of apery vehicle glass automatic docking device
Technical field
The invention belongs to vehicle glass automatic assembly line field, refer in particular to vehicle glass automatic docking device.
Background technology
Vehicle glass is the important component part of automobile, and a step crucial after vehicle glass is produced is exactly the piling of vehicle glass, packaging, transport, and the packing method of current vehicle glass mainly relies on manpower to carry out, and therefore packing cost is higher. The palletizing mechanical of glass mainly having horizontal codes stack machine at present with vertical codes stack machine, two kinds of glass palletizing mechanicals are required for manually carrying out paving paper, do not realize mechanization completely. Horizontal codes stack machine easily causes scratch and the secondary damage of glass, reduces the qualification rate of glass; Although the scratch of vertical codes stack machine glass is little, but piler can only the glass of the glass of a kind of specification of stacking and certain specific dimensions, due to the change of glass size, it is necessary to install multiple stage piler, it is big to take up an area space, is not suitable for the demand of diversified development. Various apery machines have played important effect in actual production manufacture, and its simple in construction, automaticity are high and can save human cost, and such as Apery manipulator arm, Apery manipulator refer to. And the packaging of vehicle glass, palletization are also badly in need of realizing integrated automatization, produce actual needs with satisfied, and production cost can be saved.
Summary of the invention
The present invention provides a kind of apery vehicle glass automatic docking device, carries out packaging automatically, being actually needed of piling after manufacture meeting vehicle glass, improves production efficiency.
The present invention adopts the technical scheme that: feed box Dingan County is contained on base plate, extruding exhaust material taking hand is fixing with rotating mechanism to be connected, glass conveyer belt is fixedly mounted on base plate, glass cutting device is fixing with paper rod device to be connected, and paper rod device is fixedly mounted on base plate, and Apery manipulator mechanism is fixing with base plate to be connected, and the parallel installation in paper rod device both sides 2 groups, often group 2, packing crates conveyor-belt apparatus is positioned over immediately below paper rod device, and this packing crates conveyor-belt apparatus is fixing with base plate to be connected.
The structure of extruding exhaust material taking hand of the present invention is: rubber suction cups is fixing with shell to be connected, and depression bar is fixing with spring to be connected.
The structure of rotating mechanism of the present invention is: Telescopic-cylinder device is fixing with truss structure to be connected and is installed on inside truss structure, connecting plate is fixed with Telescopic-cylinder device to be connected and fix with extruding exhaust material taking hand and is connected and is capable of the compression to depression bar, truss structure is fixing with hydraulically extensible axle to be connected, hydraulically extensible axle and rotating shaft are slidably connected and realize Z-direction and move, rotating shaft and base member case are rotationally connected and realize rotary motion, and rotating shaft electric motor is fixing with base member case to be connected.
The structure of glass packaging paper cutter device of the present invention is: Y-direction feed screw apparatus I, Y-direction feed screw apparatus II are connected by screw is fixing with paper rod support respectively, X is achieved a fixed connection to feed screw apparatus by the slide block of Y-direction feed screw apparatus I Yu Y-direction feed screw apparatus II, linear electric motors are connected to the slide block of feed screw apparatus is fixing with X, cutting tool is fixing with the axle of linear electric motors to be connected, it is achieved Z-direction moves.
The structure of paper rod device of the present invention is: paper rod is fixedly mounted on the rotation axle of paper rod support, and paper rod motor control box is fixing with paper rod support to be connected.
The structure of Apery manipulator mechanism of the present invention is: Z-direction feed screw apparatus is fixing with column to be connected, crank support I, crank support II is fixing with the slide block of Z-direction feed screw apparatus to be connected, air cylinder support I, air cylinder support II is fixing with the slide block of Z-direction feed screw apparatus to be connected, cylinder I and air cylinder support II are rotationally connected and are rotationally connected with connecting rod I, cylinder I I and air cylinder support I is rotationally connected and is rotationally connected with connecting rod II, connecting rod I and crank are rotationally connected and are rotationally connected with connecting rod block I, connecting rod II and crank are rotationally connected and are rotationally connected with connecting rod block II, the output shaft of crank motor and crank electric machine support are rotationally connected, crank is fixing with the output shaft of crank motor to be connected, chain support bracing strut I and crank support I fixes to be connected and fix with chain support axle and is connected, chain support bracing strut II and crank support II fixes to be connected and fix with chain support axle and is connected, crank electric machine support is fixing with crank support II to be connected, flexible chain set is fixing with chain to be connected, chain pitch wheel supports axle by bearing and chain and is rotationally connected, connecting rod block I, connecting rod block II is fixing with flexible chain set to be connected, connecting rod block support is fixing with flexible chain set is connected and through connecting rod block I, connecting rod block II, chain installation parallel with chain support axle, gear motion is realized by gear driven chain.
The structure of packing crates conveyor-belt apparatus of the present invention is: packing crates is positioned on packing crates conveyer belt.
The length l of cylinder I of the present invention or cylinder I I4It is:Wherein (xF,yF) it is the installation site coordinate of cylinder I or cylinder I I, (xE,yE) it is the junction point coordinate with connecting rod I or connecting rod II of cylinder I or cylinder I I, by cylinder I or cylinder I I length l4Change realize connecting rod block I or connecting rod block II straight-line displacement track.
The invention have the advantage that novel structure, different work platforms switchings is realized by rotating mechanism, glass packaging paper cutter device realizes the cutting to wrapping paper, and the process that glass carries out paving paper achieves automatization, and Apery manipulator realizes the undertaking of glass, clamping, release. The track of Apery manipulator connecting rod block can pass through crank-motion, link motion, cylinder elongation realize controlling in real time, be changed into the control to chain movement, simple in construction, efficiently, it is achieved the motion planning to track.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of the present invention;
Fig. 2 is that the present invention extrudes exhaust material taking hand part sectioned view;
Fig. 3 is the schematic diagram of rotating mechanism of the present invention;
Fig. 4 (a) is glass packaging paper cutter device of the present invention, paper rod device, packing crates conveyor-belt apparatus schematic diagram;
Fig. 4 (b) is cutting tool partial enlarged drawing of the present invention;
Fig. 5 (a) is Apery manipulator mechanism of the present invention front view schematic diagram;
Fig. 5 (b) is Apery manipulator mechanism of the present invention rearview schematic diagram;
Fig. 5 (c) is Apery manipulator grasping mechanism schematic diagram of the present invention;
Fig. 6 (a) accepts vehicle glass Apery manipulator view;
Fig. 6 (b) is that vehicle glass carries downwards Apery manipulator view;
Fig. 6 (c) is vehicle glass vanning Apery manipulator view;
Fig. 7 is that Apery manipulator grasping mechanism principle realizes schematic diagram;
Wherein: feed box 1, extruding exhaust material taking hand 2, glass conveyer belt 3, rotating mechanism 4, glass packaging paper cutter device 5, paper rod device 6, Apery manipulator mechanism 7, packing crates conveyor-belt apparatus 8, vehicle glass 9, base plate 10, shell 201, rubber suction cups 202, depression bar 203, spring 204, Telescopic-cylinder device 401, truss structure 402, connecting plate 403, hydraulically extensible axle 404, rotating shaft 405, rotating shaft electric motor 406, base member case 407, Y-direction feed screw apparatus I501, X is to feed screw apparatus 502, Y-direction feed screw apparatus II503, linear electric motors 504, cutting tool 505, cutter motor 504, paper rod 601, paper rod support 602, paper rod motor control box 603, Z-direction feed screw apparatus 701, column 702, crank support I703, air cylinder support I704, air cylinder support II705, cylinder I 706, connecting rod I707, crank motor 708, chain supports bracing strut I709, crank 710, connecting rod II711, cylinder I I712, chain supports bracing strut II713, crank electric machine support 714, crank support II715, flexible chain set 716, chain pitch wheel 717, bearing 718, chain supports axle 719, connecting rod block I720, connecting rod block support 721, chain 722, connecting rod block II723, packing crates conveyer belt 801, packing crates 802.
Detailed description of the invention
Feed box 1 is fixedly mounted on base plate 10, extruding exhaust material taking hand 2 is fixing with rotating mechanism 4 to be connected, glass conveyer belt 3 is fixedly mounted on base plate 10, glass cutting device 5 is fixing with paper rod device 6 to be connected, paper rod device 6 is fixedly mounted on base plate 10, and Apery manipulator mechanism 7 is fixing with base plate 10 to be connected, and the parallel installation in paper rod device 6 both sides 2 groups, often group 2, it is achieved the steady clamping to vehicle glass; Packing crates conveyor-belt apparatus 8 is positioned over immediately below paper rod device 6, and this packing crates conveyor-belt apparatus 8 is fixing with base plate 10 to be connected.
The structure of extruding exhaust material taking hand 2 of the present invention is: include shell 201, rubber suction cups 202, depression bar 203, spring 204, and described rubber suction cups 202 is fixing with shell 201 to be connected, and depression bar 203 is fixing with spring 204 to be connected.
The structure of rotating mechanism 4 of the present invention is: Telescopic-cylinder device 401 is fixing with truss structure 402 to be connected and is installed on truss structure 402 inside, connecting plate 403 and Telescopic-cylinder device 401 be fixing to be connected and fixes with extruding exhaust material taking hand 2 and be connected and be capable of the compression to depression bar 203, the Z-direction realizing depression bar 203 moves, truss structure 402 is fixing with hydraulically extensible axle 404 to be connected, hydraulically extensible axle 404 and rotating shaft 405 are slidably connected and realize Z-direction and move, rotating shaft 405 and base member case 407 are rotationally connected and realize rotary motion, rotating shaft electric motor 406 is fixing with base member case 407 to be connected.
The structure of glass packaging paper cutter device 5 of the present invention is: Y-direction feed screw apparatus I501, Y-direction feed screw apparatus II503 are connected by screw is fixing with paper rod support 602 respectively, X is achieved a fixed connection to feed screw apparatus 502 by the slide block of Y-direction feed screw apparatus I501 Yu Y-direction feed screw apparatus II503, linear electric motors 504 are connected to the slide block of feed screw apparatus 502 is fixing with X, cutting tool 505 is fixing with the axle of linear electric motors 504 to be connected, it is achieved Z-direction moves.
The structure of paper rod device 6 of the present invention is: paper rod 601 is fixedly mounted on the rotation axle of paper rod support 602, and paper rod motor control box 603 is fixing with paper rod support 602 to be connected, and wherein paper rod driven by motor paper rod 601 realizes rotary motion.
The structure of Apery manipulator mechanism 7 of the present invention is: Z-direction feed screw apparatus 701 is fixing with column 702 to be connected, crank support I703, crank support II715 is fixing with the slide block of Z-direction feed screw apparatus 701 to be connected, air cylinder support I704, air cylinder support II705 is fixing with the slide block of Z-direction feed screw apparatus 701 to be connected, cylinder I 706 and air cylinder support II705 are rotationally connected and are rotationally connected with connecting rod I707, cylinder I I712 and air cylinder support I704 is rotationally connected and is rotationally connected with connecting rod II711, connecting rod I707 and crank 710 are rotationally connected and are rotationally connected with connecting rod block I720, connecting rod II711 and crank 710 are rotationally connected and are rotationally connected with connecting rod block II723, the output shaft of crank motor 708 and crank electric machine support 714 are rotationally connected, crank 710 is fixing with the output shaft of crank motor 708 to be connected, chain support bracing strut I709 and crank support I703 fixes to be connected and fix with chain support axle 719 and is connected, chain support bracing strut II713 and crank support II715 fixes to be connected and fix with chain support axle 719 and is connected, crank electric machine support 714 is fixing with crank support II715 to be connected, flexible chain set 716 is fixing with chain 722 to be connected, chain pitch wheel 717 supports axle 719 by bearing 718 and chain and is rotationally connected, connecting rod block I720, connecting rod block II723 is fixing with flexible chain set 716 to be connected, connecting rod block support 721 is fixing with flexible chain set 716 is connected and through connecting rod block I720, connecting rod block II723, chain 722 installation parallel with chain support axle 719, gear motion is realized by gear driven chain.
The structure of packing crates conveyor-belt apparatus 8 of the present invention is: packing crates 802 is positioned on packing crates conveyer belt 801.
The length l of cylinder I of the present invention or cylinder I I4It is:Wherein (xF,yF) it is the installation site coordinate of cylinder I or cylinder I I, (xE,yE) it is the junction point coordinate with connecting rod I or connecting rod II of cylinder I or cylinder I I, by cylinder I or cylinder I I length l4Change realize connecting rod block I or connecting rod block II straight-line displacement track.
Illustrating connecting rod block I720, connecting rod block II723 path implementation principle below, derive for connecting rod block I720: as shown in Figure 7: AB represents crank 710, length is l1; It is cylinder I 706 installation site that EF represents cylinder I 706, F point, if coordinate is (xF,yF); BC represents connecting rod I707, and length is l3, E point is the junction point of cylinder I 706 and connecting rod I707, and BE length is l2, e represents eccentric throw, and C represents connecting rod block I720, and the rotational angle of crank 710 isThe angle of connecting rod I707 and horizontal direction isRealize moving horizontally of connecting rod block I720, it is necessary to set up the rotational angle of crank 710With the cylinder I 706 i.e. length l of EF4And angleBetween relation; If crank rotatesDuring angle, the distance between AD is S, in tetragon ABCD, has following vector relations:
That is:
It is projected to coordinate axes:
After being transplanted by (1) formula two equation, summed square eliminates:
Therefore:
Therefore:
Therefore cylinder with the coordinate of the junction point E of connecting rod is:
Therefore:
The length l of cylinder I 7064, angleAll can ask, connecting rod block I720 straight-line displacement track can be realized by the change of cylinder I 706 length, use the length change that identical method for designing can pass through cylinder I I712 to realize the control of connecting rod block II723, it is achieved the rectilinear motion of a contracting stretched by chain 722 1.
Work process is as follows: the vehicle glass of feed box 1 conveying is transported to appointment position by glass conveyer belt 3, picks up vehicle glass by extruding exhaust material taking hand 2, is placed on paper rod device 6 through rotating mechanism 4 by vehicle glass, realize the cutting to wrapping paper by glass packaging paper cutter device 5, first pass through X and realize cutting along X-axis to feed screw apparatus 502, realizing cutting along Y-axis through Y-direction feed screw apparatus I501, the cutting that so motion realizes wrapping paper for a week, through Apery manipulator mechanism 7, vehicle glass is positioned in packing crates 802, vehicle glass vanning is mainly had three shown in Fig. 6 kind state by Apery manipulator mechanism 7, Fig. 6 (a) realizes state when vehicle glass is accepted in Apery manipulator mechanism 7 by glass packaging cutter sweep 5, state when Fig. 6 (b) realizes vehicle glass clamping process and passes through Z-direction feed screw apparatus 701 along Z-direction negative movement, Fig. 6 (c) is for arriving above packing crates 802, vehicle glass is positioned over state in packing crates 802, after holding vehicles glass 10, Z-direction feed screw apparatus 701 moves to Z axis forward and gradually by Fig. 6 (c) state motion to Fig. 6 (a) state, to carry out vehicle glass undertaking next time, clamping, release process, so move in circles, eventually pass packing crates conveyer belt 801 and be transported to joint sealing place.

Claims (8)

1. an apery vehicle glass automatic docking device, it is characterized in that: feed box Dingan County is contained on base plate, extruding exhaust material taking hand is fixing with rotating mechanism to be connected, glass conveyer belt is fixedly mounted on base plate, glass cutting device is fixing with paper rod device to be connected, paper rod device is fixedly mounted on base plate, Apery manipulator mechanism is fixing with base plate to be connected, and the parallel installation in paper rod device both sides 2 groups, often group 2, packing crates conveyor-belt apparatus is positioned over immediately below paper rod device, and this packing crates conveyor-belt apparatus is fixing with base plate to be connected.
2. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterised in that: the structure of described extruding exhaust material taking hand is: rubber suction cups is fixing with shell to be connected, and depression bar is fixing with spring to be connected.
3. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterized in that: the structure of described rotating mechanism is: Telescopic-cylinder device is fixing with truss structure to be connected and is installed on inside truss structure, connecting plate is fixed with Telescopic-cylinder device to be connected and fix with extruding exhaust material taking hand and is connected and is capable of the compression to depression bar, truss structure is fixing with hydraulically extensible axle to be connected, hydraulically extensible axle and rotating shaft are slidably connected and realize Z-direction and move, rotating shaft and base member case are rotationally connected and realize rotary motion, rotating shaft electric motor is fixing with base member case to be connected.
4. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterized in that: the structure of described glass packaging paper cutter device is: Y-direction feed screw apparatus I, Y-direction feed screw apparatus II are connected by screw is fixing with paper rod support respectively, X is achieved a fixed connection to feed screw apparatus by the slide block of Y-direction feed screw apparatus I Yu Y-direction feed screw apparatus II, linear electric motors are connected to the slide block of feed screw apparatus is fixing with X, cutting tool is fixing with the axle of linear electric motors to be connected, it is achieved Z-direction moves.
5. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterised in that: the structure of described paper rod device is: paper rod is fixedly mounted on the rotation axle of paper rod support, and paper rod motor control box is fixing with paper rod support to be connected.
6. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterized in that: the structure of described Apery manipulator mechanism is: Z-direction feed screw apparatus is fixing with column to be connected, crank support I, crank support II is fixing with the slide block of Z-direction feed screw apparatus to be connected, air cylinder support I, air cylinder support II is fixing with the slide block of Z-direction feed screw apparatus to be connected, cylinder I and air cylinder support II are rotationally connected and are rotationally connected with connecting rod I, cylinder I I and air cylinder support I is rotationally connected and is rotationally connected with connecting rod II, connecting rod I and crank are rotationally connected and are rotationally connected with connecting rod block I, connecting rod II and crank are rotationally connected and are rotationally connected with connecting rod block II, the output shaft of crank motor and crank electric machine support are rotationally connected, crank is fixing with the output shaft of crank motor to be connected, chain support bracing strut I and crank support I fixes to be connected and fix with chain support axle and is connected, chain support bracing strut II and crank support II fixes to be connected and fix with chain support axle and is connected, crank electric machine support is fixing with crank support II to be connected, flexible chain set is fixing with chain to be connected, chain pitch wheel supports axle by bearing and chain and is rotationally connected, connecting rod block I, connecting rod block II is fixing with flexible chain set to be connected, connecting rod block support is fixing with flexible chain set is connected and through connecting rod block I, connecting rod block II, chain installation parallel with chain support axle, gear motion is realized by gear driven chain.
7. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterised in that: the structure of described packing crates conveyor-belt apparatus is: packing crates is positioned on packing crates conveyer belt.
8. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterised in that: the length l of described cylinder I or cylinder I I4It is:Wherein (xF,yF) it is the installation site coordinate of cylinder I or cylinder I I, (xE,yE) it is the junction point coordinate with connecting rod I or connecting rod II of cylinder I or cylinder I I, by cylinder I or cylinder I I length l4Change realize connecting rod block I or connecting rod block II straight-line displacement track.
CN201610205593.4A 2016-04-03 2016-04-03 A kind of apery vehicle glass automatic docking device Active CN105645106B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114538104A (en) * 2022-02-24 2022-05-27 路东兴 Intelligent automatic glass stacking production line

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CN203237847U (en) * 2013-03-26 2013-10-16 蚌埠凯盛工程技术有限公司 Flat glass paper paving device with rollers
CN204399529U (en) * 2014-12-26 2015-06-17 吴江南玻玻璃有限公司 A kind of glass packaging system
CN204792849U (en) * 2015-07-21 2015-11-18 宁波华顺太阳能科技有限公司 Paper device is spread in step to photovoltaic module lamination
CN205687151U (en) * 2016-04-03 2016-11-16 吉林大学 A kind of apery vehicle glass automatic docking device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4435117A (en) * 1982-02-01 1984-03-06 Cascade Corporation Lift truck paper roll clamp having automatically adjustable roll of different diameters
CN202107270U (en) * 2011-05-21 2012-01-11 佛山市南海区豪特玻璃机械有限公司 Pneumatic tower type glass station assisting mechanical arm
CN202208684U (en) * 2011-08-18 2012-05-02 蚌埠朝阳玻璃机械有限公司 Novel cantilever-type automatic special-shaped glass-cutting machine
CN102910481A (en) * 2012-10-10 2013-02-06 西安理工大学 Fast former based on laser cutting of single piece of paper
CN203237847U (en) * 2013-03-26 2013-10-16 蚌埠凯盛工程技术有限公司 Flat glass paper paving device with rollers
CN204399529U (en) * 2014-12-26 2015-06-17 吴江南玻玻璃有限公司 A kind of glass packaging system
CN204792849U (en) * 2015-07-21 2015-11-18 宁波华顺太阳能科技有限公司 Paper device is spread in step to photovoltaic module lamination
CN205687151U (en) * 2016-04-03 2016-11-16 吉林大学 A kind of apery vehicle glass automatic docking device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114538104A (en) * 2022-02-24 2022-05-27 路东兴 Intelligent automatic glass stacking production line
CN114538104B (en) * 2022-02-24 2023-12-26 兰州石化职业技术大学 Intelligent automatic glass stacking production line

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