CN105645106B - A kind of apery vehicle glass automatic docking device - Google Patents
A kind of apery vehicle glass automatic docking device Download PDFInfo
- Publication number
- CN105645106B CN105645106B CN201610205593.4A CN201610205593A CN105645106B CN 105645106 B CN105645106 B CN 105645106B CN 201610205593 A CN201610205593 A CN 201610205593A CN 105645106 B CN105645106 B CN 105645106B
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- support
- connecting rod
- cylinder
- crank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying 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
- B65G49/068—Stacking or destacking devices; Means for preventing damage to stacked sheets, e.g. spaces
- B65G49/069—Means for avoiding damage to stacked plate glass, e.g. by interposing paper or powder spacers in the stack
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying 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
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The present invention relates to a kind of apery vehicle glass automatic docking device, belong to vehicle glass automatic assembly line field.Feed box Dingan County is on bottom plate, extruding exhaust material taking hand is fixedly connected with rotating mechanism, glass conveyer belt is fixedly mounted on bottom plate, glass cutting device is fixedly connected with paper rod device, and paper rod device is fixedly mounted on bottom plate, and Apery manipulator mechanism is fixedly connected with bottom plate, and in parallel 2 groups of the installation in paper rod device both sides, every group 2, packing case conveyor-belt apparatus is positioned over immediately below paper rod device, and the packing case conveyor-belt apparatus is fixedly connected with bottom plate.Advantage is：Structure is novel, realizes that different workbenches switch by rotating mechanism, glass packaging paper cutter device realizes the cutting to wrapping paper, realizes automation to the process that glass spread paper, Apery manipulator realizes the undertaking, clamping, release of glass.
Description
Technical field
The invention belongs to vehicle glass automatic assembly line field, vehicle glass automatic docking device is referred in particular to.
Background technology
Vehicle glass is the important component of automobile, and a crucial step is exactly automobile after vehicle glass is produced
The stacking of glass, packaging, transport, the packing method of current vehicle glass are mainly carried out by manpower, thus packing cost compared with
It is high.Mainly there is horizontal stacking machine with vertical stacking machine to the palletizing mechanical of glass at present, two kinds of glass palletizing mechanicals are required for people
Work carries out paving paper, and complete mechanization is not realized.Horizontal stacking machine easily causes scratch and the secondary damage of glass, reduction
The qualification rate of glass；Although vertical stacking machine glass wipe wound is small, piler can only a kind of specification of stacking glass and certain
The glass of specific dimensions is planted, because the change of glass size is, it is necessary to install many pilers, floor space is big, is not suitable for various
Change the demand of development.Various apery machines have played important, its simple in construction, automaticity in actual production manufacture
High and can save human cost, such as Apery manipulator arm, Apery manipulator refer to.And packaging, the stacking of vehicle glass
Process is also badly in need of realizing integrated automation, the need for meeting produce reality, and can save production cost.
The content of the invention
The present invention provides a kind of apery vehicle glass automatic docking device, is carried out after manufacture automatically with meeting vehicle glass
Packaging, stacking are actually needed, and improve production efficiency.
The present invention is adopted the technical scheme that：Feed box Dingan County is on bottom plate, extruding exhaust material taking hand and whirler
Structure is fixedly connected, and glass conveyer belt is fixedly mounted on bottom plate, and glass cutting device is fixedly connected with paper rod device, paper rod device
Be fixedly mounted on bottom plate, Apery manipulator mechanism is fixedly connected with bottom plate, and paper rod device both sides it is parallel install 2 groups, often
Group 2, packing case conveyor-belt apparatus is positioned over immediately below paper rod device, and the packing case conveyor-belt apparatus is fixedly connected with bottom plate.
It is of the present invention extruding exhaust material taking hand structure be：Rubber suction cups is fixedly connected with shell, depression bar and bullet
Spring is fixedly connected.
The structure of rotating mechanism of the present invention is：Telescopic-cylinder device is fixedly connected with truss structure and is installed on purlin
Frame inside configuration, connecting plate is fixedly connected with Telescopic-cylinder device and is fixedly connected and can be real with extruding exhaust material taking hand
Now to the compression of depression bar, truss structure is fixedly connected with hydraulically extensible axle, and hydraulically extensible axle and rotating shaft are slidably connected and realize Z-direction
Mobile, rotating shaft is rotated with base member case to be connected and realizes rotary motion, and rotating shaft electric motor is fixedly connected with base member case.
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 distinguish
It is fixedly connected with paper rod support by screw, X is real by Y-direction feed screw apparatus I and Y-direction feed screw apparatus II sliding block to feed screw apparatus
Now it is fixedly connected, linear electric motors are fixedly connected with X to the sliding block of feed screw apparatus, the axle of cutting tool and linear electric motors, which is fixed, to be connected
Connect, realize that Z-direction is moved.
The structure of paper rod device of the present invention is：Paper rod is fixedly mounted in the rotary shaft of paper rod support, paper rod electricity
Machine control cabinet is fixedly connected with paper rod support.
The structure of Apery manipulator mechanism of the present invention is：Z-direction feed screw apparatus is fixedly connected with column, crank support
I, crank support II are fixedly connected with the sliding block of Z-direction feed screw apparatus, air cylinder support I, air cylinder support II and Z-direction feed screw apparatus cunning
Block is fixedly connected, and cylinder I is rotated to be connected and rotate with connecting rod I with air cylinder support II and is connected, and cylinder I I and air cylinder support I, which is rotated, to be connected
Connect and rotated with connecting rod II and is connected, connecting rod I is rotated to be connected and rotate with connecting rod block I with crank and is connected, and connecting rod II is rotated with crank
Connect and rotated with connecting rod block II and is connected, the output shaft of crank motor is rotated with crank electric machine support to be connected, crank and crank electricity
The output shaft of machine is fixedly connected, and chain support bracing strut I is fixedly connected with crank support I and is fixedly connected with chain support shaft,
Chain support bracing strut II is fixedly connected with crank support II and is fixedly connected with chain support shaft, crank electric machine support and crank
Support II is fixedly connected, and flexible chain set is fixedly connected with chain, and chain pitch wheel is rotated with chain support shaft by bearing and is connected,
Connecting rod block I, connecting rod block II are fixedly connected with flexible chain set, and connecting rod block support is fixedly connected with flexible chain set and passes through connecting rod
Block I, connecting rod block II, chain is parallel with chain support shaft to be installed, and drives chain to realize gear motion by gear.
The structure of packing case conveyor-belt apparatus of the present invention is：Packing case is positioned on packing case conveyer belt.
Cylinder I or cylinder I I of the present invention length l4It is：Wherein (xF,yF)
It is cylinder I or cylinder I I installation site coordinate, (xE,yE) be cylinder I or cylinder I I with connecting rod I or connecting rod II tie point
Coordinate, passes through cylinder I or cylinder I I length l4Change realize connecting rod block I or connecting rod block II straight-line displacements track.
It is an advantage of the invention that：Structure is novel, realizes that different workbenches switch by rotating mechanism, glass packaging paper
Cutter device realizes the cutting to wrapping paper, realizes automation to the process that glass spread paper, Apery manipulator realizes glass
Undertaking, clamping, the release of glass.The track of Apery manipulator connecting rod block can pass through crank-motion, link motion, the elongation of cylinder
Control in real time is realized, is changed into the control to chain movement, it is simple in construction, efficient, realize the motion planning to track.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is present invention extruding 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 case 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 front view schematic diagram of the present invention；
Fig. 5 (b) is Apery manipulator mechanism rearview schematic diagram of the present invention；
Fig. 5 (c) is Apery manipulator grasping mechanism schematic diagram of the present invention；
Fig. 6 (a) is to accept vehicle glass Apery manipulator view；
Fig. 6 (b) is that vehicle glass conveys 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 cutting dress
Put 5, paper rod device 6, Apery manipulator mechanism 7, packing case conveyor-belt apparatus 8, vehicle glass 9, bottom plate 10, shell 201, rubber
Sucker 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 are 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 support bracing strut I709, crank 710, connecting rod II711, cylinder I I712, chain support
Bracing strut II713, crank electric machine support 714, crank support II715, flexible chain set 716, chain pitch wheel 717, bearing 718,
Chain support shaft 719, connecting rod block I720, connecting rod block support 721, chain 722, connecting rod block II723, packing case conveyer belt 801, bag
Vanning 802.
Embodiment
Feed box 1 is fixedly mounted on bottom plate 10, and extruding exhaust material taking hand 2 is fixedly connected with rotating mechanism 4, and glass is passed
Band 3 is sent to be fixedly mounted on bottom plate 10, glass cutting device 5 is fixedly connected with paper rod device 6, paper rod device 6 is fixedly mounted on
On bottom plate 10, Apery manipulator mechanism 7 is fixedly connected with bottom plate 10, and in parallel 2 groups, every group 2 of the installation in 6 both sides of paper rod device
Part, realizes the steady clamping to vehicle glass；Packing case conveyor-belt apparatus 8 is positioned over immediately below paper rod device 6, and the packing case is passed
Work-feeding means 8 are fixedly connected with bottom plate 10.
The structure of extruding exhaust material taking hand 2 of the present invention is：Including shell 201, rubber suction cups 202, depression bar
203rd, spring 204, the rubber suction cups 202 is fixedly connected with shell 201, and depression bar 203 is fixedly connected with spring 204.
The structure of rotating mechanism 4 of the present invention is：Telescopic-cylinder device 401 is fixedly connected simultaneously with truss structure 402
It is installed on inside truss structure 402, connecting plate 403 is fixedly connected with Telescopic-cylinder device 401 and with extruding exhaust material taking hand 2
It is fixedly connected and the compression to depression bar 203 can be realized, realize the Z-direction movement of depression bar 203, truss structure 402 is stretched with hydraulic pressure
Contracting axle 404 is fixedly connected, and hydraulically extensible axle 404 is slidably connected with rotating shaft 405 and realizes that Z-direction is moved, rotating shaft 405 and base member case
407 rotate connection and realize rotary motion, and rotating shaft electric motor 406 is fixedly connected with base member case 407.
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 is fixedly connected with paper rod support 602 by screw respectively, and X passes through Y-direction feed screw apparatus I501 and Y-direction to feed screw apparatus 502
Feed screw apparatus II503 sliding block is achieved a fixed connection, and linear electric motors 504 are fixedly connected with the sliding block of X to feed screw apparatus 502, are cut
Cutter tool 505 is fixedly connected with the axle of linear electric motors 504, realizes that Z-direction is moved.
The structure of paper rod device 6 of the present invention is：Paper rod 601 is fixedly mounted in the rotary shaft of paper rod support 602,
Paper rod motor control box 603 is fixedly connected with paper rod support 602, and wherein paper rod motor drives paper rod 601 to realize rotary motion.
The structure of Apery manipulator mechanism 7 of the present invention is：Z-direction feed screw apparatus 701 is fixedly connected with column 702,
Crank support I703, crank support II715 are fixedly connected with the sliding block of Z-direction feed screw apparatus 701, air cylinder support I704, cylinder branch
Frame II705 is fixedly connected with the sliding block of Z-direction feed screw apparatus 701, and cylinder I 706 is rotated with air cylinder support II705 to be connected and and connecting rod
I707 rotates connection, and cylinder I I712 and air cylinder support I704, which are rotated, be connected and be connected with connecting rod II711 rotations, connecting rod I707 and
Crank 710, which rotates connection and simultaneously rotated with connecting rod block I720, be connected, the rotation of connecting rod II711 and crank 710 be connected and with connecting rod block
II723 rotates connection, and the output shaft of crank motor 708 is rotated with crank electric machine support 714 to be connected, crank 710 and crank motor
708 output shaft is fixedly connected, chain support bracing strut I709 be fixedly connected with crank support I703 and with chain support shaft 719
It is fixedly connected, chain support bracing strut II713 is fixedly connected with crank support II715 and is fixedly connected with chain support shaft 719,
Crank electric machine support 714 is fixedly connected with crank support II715, and flexible chain set 716 is fixedly connected with chain 722, chain tooth
Wheel 717 is rotated with chain support shaft 719 by bearing 718 and is connected, connecting rod block I720, connecting rod block II723 and flexible chain set 716
It is fixedly connected, connecting rod block support 721 is fixedly connected with flexible chain set 716 and passes through connecting rod block I720, connecting rod block II723, chain
Bar 722 is parallel with chain support shaft 719 to be installed, and drives chain to realize gear motion by gear.
The structure of packing case conveyor-belt apparatus 8 of the present invention is：Packing case 802 is positioned over packing case conveyer belt 801
On.
Cylinder I or cylinder I I of the present invention length l4It is：Wherein (xF,yF)
It is cylinder I or cylinder I I installation site coordinate, (xE,yE) be cylinder I or cylinder I I with connecting rod I or connecting rod II tie point
Coordinate, passes through cylinder I or cylinder I I length l4Change realize connecting rod block I or connecting rod block II straight-line displacements track.
Connecting rod block I720, connecting rod block II723 path implementation principles are illustrated below, is pushed away by taking connecting rod block I720 as an example
Lead：As shown in Figure 7：AB represents crank 710, and length is l1；EF represents cylinder I 706, and F points are the installation site of cylinder I 706, if sitting
It is designated as (xF,yF)；BC represents connecting rod I707, and length is l3, E points are cylinder I 706 and connecting rod I707 tie point, and BE length is
l2, e represents eccentric throw, and C represents connecting rod block I720, and the rotational angle of crank 710 isConnecting rod I707 and horizontal direction angle
ForRealize moving horizontally, it is necessary to set up the rotational angle of crank 710 for connecting rod block I720It is EF length with cylinder I 706
Spend l4And angleBetween relation；If crank is rotatedDuring angle, the distance between AD is S, in quadrangle ABCD, is had
Following vector relations：
I.e.：
By it to coordinate axial projection：
Summed square is eliminated after the equation of (1) formula two is transplanted：
Therefore：
Therefore：
Therefore the tie point E of cylinder and connecting rod coordinate is：
Therefore：
The length l of cylinder I 7064, angleIt can all ask, can realize that connecting rod block I720 is straight by the change of the length of cylinder I 706
Displacement of the lines track, connecting rod block II723 control can be realized using identical design method by cylinder I I712 length change
System, realizes that chain 722 1 stretches the linear motion of a contracting.
The course of work is as follows：The vehicle glass that feed box 1 is conveyed is transported to specified location by glass conveyer belt 3, passes through
Extrude exhaust material taking hand 2 and pick up vehicle glass, vehicle glass is placed on paper rod device 6 by rotating mechanism 4；Pass through glass
Glass packaging paper cutter device 5 realizes the cutting to wrapping paper, is realized cut along X-axis to feed screw apparatus 502 by X first, in warp
Cross Y-direction feed screw apparatus I501 realizations to cut along Y-axis, the cutting that so motion is realized to wrapping paper for one week；By Apery manipulator
Vehicle glass is positioned in packing case 802 by mechanism 7, and Apery manipulator mechanism 7 mainly has shown in Fig. 6 to vehicle glass vanning
Three kinds of states, Fig. 6 (a) realizes that vehicle glass is accepted shape when in Apery manipulator mechanism 7 by glass packaging cutter device 5
State, Fig. 6 (b) realizes vehicle glass clamping process and by Z-direction feed screw apparatus 701 along state during Z-direction negative movement, Fig. 6 (c)
To reach the top of packing case 802, vehicle glass is positioned over Z-direction leading screw after state in packing case 802, holding vehicles glass 10 and filled
701 are put to the movement of Z axis forward direction and gradually by Fig. 6 (c) state motions to Fig. 6 (a) states, to carry out next vehicle glass undertaking,
Clamping, discharges process, so moves in circles, eventually pass packing case conveyer belt 801 and be transported to joint sealing place.
Claims (6)
1. a kind of apery vehicle glass automatic docking device, it is characterised in that：Feed box is fixedly mounted on bottom plate, extruding exhaust
Formula material taking hand is fixedly connected with rotating mechanism, and glass conveyer belt is fixedly mounted on bottom plate, glass packaging paper cutter device and paper
Roller arrangement is fixedly connected, and paper bowl device is fixedly mounted on bottom plate, and Apery manipulator mechanism is fixedly connected with bottom plate, and in paper bowl
Device both sides are parallel to install 2 groups, and every group 2, packing case conveyor-belt apparatus is positioned over immediately below paper bowl device, packing case transmission
Belting is fixedly connected with bottom plate；
The structure of described Apery manipulator mechanism is：Z-direction feed screw apparatus is fixedly connected with column, crank support I, crank support
II is fixedly connected with the sliding block of Z-direction feed screw apparatus, and air cylinder support I, air cylinder support II and Z-direction feed screw apparatus sliding block, which are fixed, to be connected
Connect, cylinder I is rotated to be connected and rotate with connecting rod I with air cylinder support II and is connected, cylinder I I is rotated with air cylinder support I to be connected and with connecting
Bar II rotates connection, and connecting rod I and crank, which are rotated, be connected and be connected with connecting rod block I rotations, connecting rod II be connected with crank rotation and with
Connecting rod block II rotates connection, and the output shaft of crank motor is rotated with crank electric machine support to be connected, the output of crank and crank motor
Axle is fixedly connected, and chain support bracing strut I is fixedly connected with crank support I and is fixedly connected with chain support shaft, chain support
Bracing strut II is fixedly connected with crank support II and is fixedly connected with chain support shaft, and crank electric machine support is consolidated with crank support II
Fixed connection, flexible chain set is fixedly connected with chain, and chain pitch wheel is rotated with chain support shaft by bearing and is connected, connecting rod block I,
Connecting rod block II is fixedly connected with flexible chain set, and connecting rod block support is fixedly connected with flexible chain set and passes through connecting rod block I, connecting rod
Block II, chain is parallel with chain support shaft to be installed, and drives chain to realize gear motion by gear.
2. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterised in that：Described extruding row
The structure of gas formula material taking hand is：Rubber suction cups is fixedly connected with shell, and depression bar is fixedly connected with spring.
3. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterised in that：Described whirler
The structure of structure is：Telescopic-cylinder device is fixedly connected and is installed on inside truss structure with truss structure, and connecting plate is stretched with cylinder
Compression apparatus is fixedly connected and is fixedly connected with extruding exhaust material taking hand and can realize the compression to depression bar, truss structure with
Hydraulically extensible axle is fixedly connected, and hydraulically extensible axle is slidably connected with rotating shaft and realizes that Z-direction is moved, and rotating shaft is rotated with base member case and is connected
And rotary motion is realized, rotating shaft electric motor is fixedly connected with base member case.
4. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterised in that：Described glass bag
Filling the structure of paper cutter device is：Y-direction feed screw apparatus I, Y-direction feed screw apparatus II are fixed with paper bowl support by screw respectively to be connected
Connect, X is achieved a fixed connection to feed screw apparatus by Y-direction feed screw apparatus I and Y-direction feed screw apparatus II sliding block, linear electric motors and X to
The sliding block of feed screw apparatus is fixedly connected, and cutting tool is fixedly connected with the axle of linear electric motors, realizes that Z-direction is moved.
5. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterised in that：Described paper bowl dress
The structure put is：Paper bowl is fixedly mounted in the rotary shaft of paper bowl support, and paper bowl motor control box is fixedly connected with paper bowl support.
6. a kind of apery vehicle glass automatic docking device according to claim 1, it is characterised in that：The cylinder I or
Cylinder I I length l4It is：Wherein (xF,yF) be cylinder I or cylinder I I installation site
Coordinate, (xE,yE) it is cylinder I or the cylinder I I connection point coordinates with connecting rod I or connecting rod II, pass through cylinder I or cylinder I I length
l4Change realize connecting rod block I or connecting rod block II straight-line displacements track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610205593.4A CN105645106B (en) | 2016-04-03 | 2016-04-03 | A kind of apery vehicle glass automatic docking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610205593.4A CN105645106B (en) | 2016-04-03 | 2016-04-03 | A kind of apery vehicle glass automatic docking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105645106A CN105645106A (en) | 2016-06-08 |
| CN105645106B true CN105645106B (en) | 2017-10-31 |
Family
ID=56496041
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610205593.4A Active CN105645106B (en) | 2016-04-03 | 2016-04-03 | A kind of apery vehicle glass automatic docking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105645106B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114538104B (en) * | 2022-02-24 | 2023-12-26 | 兰州石化职业技术大学 | Intelligent automatic glass stacking production line |
Family Cites Families (8)
| 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 |
| CN102910481B (en) * | 2012-10-10 | 2015-04-22 | 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 |
-
2016
- 2016-04-03 CN CN201610205593.4A patent/CN105645106B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105645106A (en) | 2016-06-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1143792C (en) | Feeder for a tube-filling machine | |
| CN104259239B (en) | A kind of tinsel manufacture method | |
| CN105691695B (en) | A kind of bottle shunting conveying and automatic packing apparatus | |
| CN107511754A (en) | A kind of automatic loading and unloading device of glass edge-grinding machine | |
| CN207155444U (en) | A kind of glass edge-grinding machine | |
| CN108581424A (en) | A kind of automatic assembly line suitable for charging box shell and fixtures for painting assembling | |
| CN109110212A (en) | A kind of automatic drop-out type bagging machine | |
| CN113636274B (en) | Material conveying device | |
| CN103227134A (en) | Carrying and screening device of battery packs and carrying and screening method | |
| CN106742248B (en) | Self-service ATM automatic packaging production line and the technology of the package for using the production line | |
| CN205687151U (en) | A kind of apery vehicle glass automatic docking device | |
| CN103921978B (en) | A kind of boxing mechanism that laterally divides into groups | |
| CN106628902A (en) | Logistics delivery robot | |
| CN105645106B (en) | A kind of apery vehicle glass automatic docking device | |
| CN207518961U (en) | A kind of pin machine | |
| CN114178716A (en) | Material receiving and removing mechanism of laser pipe cutting machine | |
| JP2010163310A5 (en) | ||
| CN106742414A (en) | A kind of many chains are automatically separated fold mechanism | |
| CN207155539U (en) | A kind of automatic loading and unloading device of glass edge-grinding machine | |
| CN212502533U (en) | Multifunctional integrated machine assembly line | |
| CN2727053Y (en) | Hard package automatic container loading machine | |
| KR101605876B1 (en) | Machine for continuously folding boxes | |
| CN205972090U (en) | Automatic folding mechanism of chain | |
| CN208556544U (en) | A kind of automatic assembly line suitable for charging box shell and fixtures for painting assembling | |
| CN214002929U (en) | Automatic Tray feeding equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |