CN106425421A - Automatic ring taking device - Google Patents
Automatic ring taking device Download PDFInfo
- Publication number
- CN106425421A CN106425421A CN201610737926.8A CN201610737926A CN106425421A CN 106425421 A CN106425421 A CN 106425421A CN 201610737926 A CN201610737926 A CN 201610737926A CN 106425421 A CN106425421 A CN 106425421A
- Authority
- CN
- China
- Prior art keywords
- plate
- gripper
- driving means
- hook plate
- coil apparatus
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic ring taking device. The edge of glass is sleeved with a protective ring. The automatic ring taking device comprises a return hanging mechanism and at least one clamping mechanism; the clamping mechanism comprises a clamping claw for clamping the protective ring, and a first driving device driving the clamping claw to be opened and closed; the return hanging mechanism comprises a hook plate for receiving and taking the protective ring and placing the protective ring in a designated position, and a second driving device driving the hook plate to move. During working, the first driving device drives the clamping claw to clamp the protective ring at the edge of glass, by the action of an external mechanism, the protective ring is pulled outwards along the edge of glass, after the protective ring is pulled out the protective ring stays in the clamping claw, the second driving device drives the hook plate to move to space directly under the clamping claw, the first driving device drives the clamping claw to be opened, the protective ring falls onto the hook plate, and finally the second driving device drives the hook plate to send the protective ring to the designated position. Thus automatic ring taking is realized, manual ring taking is replaced, the abnormity caused by the manual ring taking is avoided, the production efficiency is improved, and the product quality is ensured.
Description
Technical field
The present invention relates to glass takes circle technical field, automatically take coil apparatus particularly to one kind.
Background technology
After laminated glass first pressing, need to take off the cushion rubber being enclosed within glass edge, be all mainly by manually carrying out taking circle,
First by glass handling to operating board or on transmission line, the cushion rubber of certain point of glass is first pulled out by operative employee, and cushion rubber is suitable
Glass edge to be pulled out, now glass needs to be rotated simultaneously, the cushion rubber that last operation work is got off getting loose is put
Put in specified position.Operated due to artificial, the randomness ratio in operating process is larger, cushion rubber glass often and is damaged
Phenomenon, and in production process, the beat speed of cushion rubber of manually taking can affect whole streamline, low production efficiency.
Content of the invention
It is an object of the invention to provide one kind takes coil apparatus automatically, can replace and manually take circle, improve production efficiency, protect
Card product quality.
For realizing the purpose of the present invention, adopt the technical scheme that：
One kind takes coil apparatus automatically, and the edge of glass is set with guard circle, and this takes coil apparatus to include hanging back mechanism and at least
One clamping device, clamping device includes the gripper and the first driving means driving gripper folding for gripping guard circle, returns
Suspension mechanism is included for accessing guard circle and guard circle being placed on the hook plate of specified location and the second drive of driving hook plate motion
Dynamic device.
During work, first driving means drive gripper to clamp the guard circle on glass edge, and the effect in external agency
Under so that guard circle is pulled out along glass edge, after guard circle pull-out, finally remaining guard circle is stayed in gripper, the second driving
Device drives hook plate movement to the underface of gripper, and first driving means drive gripper to open, and guard circle falls on hook plate, finally
Second driving means drive hook plate that guard circle is delivered to the position specified, and realize automatically taking circle, replace and manually take circle, prevent because of people
Work takes irises out existing abnormal problem, and improve production efficiency is it is ensured that product quality.
Below technical scheme is further illustrated：
It is further that the second driving means include door-plate, the activity that the first cylinder is connected with the movable end of the first cylinder
Hold the second cylinder being connected with hook plate, between the cylinder body of the second cylinder and door-plate, be connected with fixed plate, one end of door-plate and hook plate
One end be rotatably connected.Hang back after mechanism is connected to guard circle, start the first cylinder, by door-plate rotation and perpendicular to horizontal plane,
Restart the second cylinder, by hook plate rotation and perpendicular to horizontal plane it is ensured that whole guard circle departs from hook plate and drops and fall into protection
The specified location of circle, hangs back mechanism and uses two sets of cylinder linkage effects, similar arm and palm two-joint isometric flexion, make to hang back mechanism
Action more flexible.
It is further to be connected by first rotating shaft between hook plate and door-plate, the back of hook plate is provided with connecting plate, connecting plate
And second cylinder movable end between by second rotating shaft connect.
It is further automatically to take coil apparatus also to include main frame and the slide mechanism being fixed on main frame, skate machine
Structure includes the 3rd driving means and the cross bar being fixed on main frame, and cross bar is provided with the guide rail being slidably connected with gripper, and the 3rd
Driving means drive gripper along slide.3rd driving means drive gripper movement to corresponding position, first driving means
So that gripper is opened, make the guard circle of glass edge accurately enter the position of gripper, make the position adjustments of gripper more flexible, control more
Accurately, production efficiency is higher.
It is further automatically to take coil apparatus also to include controller, slide mechanism also includes corresponding with clamping device
Induction apparatuss, induction apparatuss are fixed on main frame and towards gripper side, induction apparatuss, first driving means, the second driving means
All it is electrically connected with controller with the 3rd driving means.3rd driving means drive gripper along guide rail movement to sensor location
When, controller controls the 3rd driving means to quit work, and controls first driving means so that gripper is opened, and glass makes folder after sending into
Grab closing, after gripper takes out guard circle, controller controls the second driving means work, makes hook plate movement to the underface of gripper,
Controller controls first driving means so that gripper is opened, and after guard circle falls into hook plate, controller controls the second driving means to make again
Guard circle is delivered to the position specified by hook plate, makes automatically to take coil apparatus control more accurate.
It is further that the 3rd driving means include being fixed on two transmission being located at guide rail two ends on cross bar and respectively
The motor that wheel, the belt being socketed on two transmission wheels and driving transmission wheel rotate, belt is connected with gripper.Passed by motor
Dynamic belt, belt drive gripper moves along guide rail.
Further that slide mechanism also includes the link plate being connected with slide, gripper is fixed on link plate, link plate with
Belt connects.Belt makes gripper move along guide rail by driving link plate.
It is further, pull bar that the first column that main frame includes being fixed on ground, one end are connected with the first column,
The second column and the top board being fixed on the second column other end that one end is connected with the top of pull bar, the first column and pull bar it
Between, be respectively connected with hound between the first column and the second column, cross bar is fixed on pull bar.
It is further that gripper includes two clamping plate being oppositely arranged, and the end of clamping plate is equipped with gripping block.Clamping device
Simulate two grip finger or unclamp guard circle, using more flexible.
It is further that clamping device has two.By two clamping devices, the guard circle on glass is taken out, make to guarantor
The clamping of guard ring is more stable.
Compared with prior art, the invention has the advantages that：
Operationally, first driving means drive gripper to clamp the guard circle on glass edge to the present invention, and in outside machine
Guard circle is made to pull out along glass edge in the presence of structure, after guard circle pull-out, finally remaining guard circle is stayed in gripper,
Second driving means drive hook plate movement to the underface of gripper, and first driving means drive gripper to open, and guard circle falls into hook
On plate, the second last driving means drive hook plate that guard circle is delivered to the position specified, and realize automatically taking circle, replace and manually take
Circle, prevents from irising out existing abnormal problem because manually taking, and improve production efficiency is it is ensured that product quality.
Brief description
Fig. 1 is the structural representation that the embodiment of the present invention takes coil apparatus automatically；
Fig. 2 is the A direction view of Fig. 1；
Fig. 3 is the B direction view of Fig. 1.
Description of reference numerals：
10. hang back mechanism, 110. hook plates, 120. first cylinders, 130. second cylinders, 140. door-plates, 150. rolling bearings,
160. first rotating shafts, 170. connecting plates, 180. fixed plates, 190. second rotating shafts, 20. clamping devices, 210. grippers, 211. folders
Plate, 212. gripping blocks, 30. main frames, 310. first columns, 320. pull bars, 330. second columns, 340. top boards, 350. diagonal braces
Bar, 40. slide mechanisms, 410. cross bars, 420. guide rails, 430. transmission wheels, 440. motors, 450. belts, 460. induction apparatuss, 470.
Link plate.
Specific embodiment
Below in conjunction with the accompanying drawings embodiments of the invention are described in detail：
As depicted in figs. 1 and 2, one kind takes coil apparatus automatically, and the edge of glass is set with guard circle, and this takes coil apparatus to include
Hang back mechanism 10 and at least one clamping device 20, clamping device 20 includes the gripper 210 for gripping guard circle and drives folder
Grab the first driving means (accompanying drawing does not identify) of 210 foldings, hang back mechanism 10 and include for accessing guard circle and putting guard circle
Put specified location hook plate 110 and drive hook plate 110 motion the second driving means.
During work, first driving means drive gripper 210 to clamp the guard circle on glass edge, and the work in external agency
With under so that guard circle is pulled out along glass edge, after guard circle pull-out, finally remaining guard circle is stayed in gripper 210, the
Two driving means drive the mobile underface to gripper 210 of hook plate 110, and first driving means drive gripper 210 to open, guard circle
Fall on hook plate 110, the second last driving means drive hook plate 110 that guard circle is delivered to the position specified, realize automatically taking circle,
Replace and manually take circle, prevent from irising out existing abnormal problem because manually taking, improve production efficiency is it is ensured that product quality.
As shown in Figure 1 to Figure 3, coil apparatus are automatically taken also to include main frame 30, main frame 30 includes being fixed on ground
The second column that pull bar 320 that first column 310, one end are connected with the first column 310, one end are connected with the top of pull bar 320
330 and the top board 340 that is fixed on the second column 330 other end, between the first column 310 and pull bar 320, the first column 310 and
It is respectively connected with hound 350 between second column 330.Whole main frame 30 is installed on the ground by setscrew, main frame
The centre of 30 top installs back suspension mechanism 10, and slide mechanism 40 is installed in the front of the top of main frame 30, and in slide mechanism
40 the right and left respectively installs a set of clamping device 20.
As shown in Figure 1 to Figure 3, live starting device button, slide mechanism 40 automatic running, slide mechanism 40 slides into finger
Positioning is put, and slide mechanism 40 is linked together with the pull bar 320 of main frame 30 by cross bar 410, cross bar 410 is installed straight line and leads
Rail 420, two transmission wheels 430 of the 3rd driving means are installed at the left and right two ends of cross bar 410, and one end of cross bar 410 installs the 3rd
The motor 440 of driving means, link plate 470 one side is arranged on line slideway 420 by screw, and belt 450 is arranged on two biographies
The screw that is upper and passing through link plate 470 of defeated wheel 430, is linked to be an entirety with link plate 470, by motor 440 driving belt 450,
Belt 450 drives link plate 470 to carry out side-to-side movement, and spacing come control process by induction apparatuss 460.3rd driving means are also
Other forms can be adopted according to actual needs.
In the present embodiment, induction apparatuss 460 are electronic valve, and induction apparatuss 460 can also adopt other to feel according to actual needs
Answer equipment.
When slide mechanism 40 runs to corresponding position, and the first driving means of clamping device 20 drive gripper 210
Open, wait the guard circle of glass edge to enter the position of gripper 210, and the guard circle clamping by glass edge, now glass
Pulled out by peripheral mechanical hand, finally remaining guard circle is stayed in gripper 210.Every takes coil apparatus to install two folders automatically
Hold mechanism 20, clamping device 20 is directly installed on the link plate of slide mechanism 40 by gripper 210, this gripper 210 is grabbed for gas, folder
The end installation two grabbing 210 is oppositely arranged clamping plate 211, and installs two gripping blocks 212 in the end of clamping plate 211, simulates two
Root grip finger or unclamp guard circle, gripping block 212 preferentially selects plastics or quality of rubber materials, to the protected effect of guard circle more
Good.Clamping device 20 can also arrange more than one according to actual needs, and gripper 210 can also other structures according to actual needs
Form.
Now hang back mechanism 10 will reset, hook plate 110 is stretched to the underface of clamping device 20 by the second driving means, etc.
Guard circle on clamping device 20 to be accessed, after the gripping block 212 of clamping device 20 is unclamped, guard circle can drop and hang back mechanism
On 10 hook plate 110, the second driving means include the first cylinder 120 and the second cylinder 130.It is connected to guard circle when hanging back mechanism 10
Afterwards, meeting across-the-line starting the first cylinder 120, door-plate 140 is rotated and perpendicular to horizontal plane, restarts the second cylinder 130, by hook plate
110 rotate and perpendicular to horizontal plane, and ensure that whole guard circle departs from hook plate 110 and drops.First cylinder 120 is fixed on main frame
On the top board 340 of frame 30, the first cylinder 120 end connects door-plate 140, and door-plate 140 passes through rolling bearing 150 and forms fixation, rolling
Dynamic bearing 150 is contained on the hound 350 of main frame 30, and hook plate 110 is installed in the end of plate door, and plate door and hook plate 110 pass through the
One rotating shaft 160 connects.A connecting plate 170 is installed at the back of hook plate 110, and door-plate 140 lower semisection installs a fixed plate 180,
It is used for fixing the second cylinder 130, the second cylinder 130 is connected by the second rotating shaft 190 with connecting plate 170, and by the second cylinder 130
Control the motion of connecting plate 170 and hook plate 110.Hang back mechanism 10 and use two sets of cylinder linkage effects, similar arm is double with palm
Joint motions, make the action hanging back mechanism 10 more flexible.
Automatically take coil apparatus also to include controller (accompanying drawing does not identify), induction apparatuss 460, motor 440, first driving means,
First cylinder 120, the second cylinder 130 are all electrically connected with controller.Motor 440 drives gripper 210 mobile extremely along guide rail 420
During induction apparatuss 460 position, controller controlled motor 440 quits work, and controls first driving means so that gripper 210 is opened, glass
Glass makes gripper 210 close after sending into, and after gripper 210 takes out guard circle, controller controls the first cylinder 120 and the second cylinder 130
Work, makes the mobile underface to gripper 210 of hook plate 110, and controller controls first driving means so that gripper 210 is opened, protection
After circle falls into hook plate 110, controller controls the first cylinder 120 again and the second cylinder 130 successively work makes hook plate 110 by guard circle
Deliver to the position specified, make automatically to take coil apparatus control more accurate.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic applied in example is all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope of this specification record.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
Say, without departing from the inventive concept of the premise, some deformation can also be made and improve, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (10)
1. one kind takes coil apparatus automatically, and the edge of glass is set with guard circle it is characterised in that including hanging back mechanism and at least one
Individual clamping device, described clamping device includes the gripper for gripping guard circle and the first driving driving described gripper folding
Device, the described mechanism that hangs back is included for accessing guard circle and guard circle being placed on the hook plate of specified location and drives described
Second driving means of hook plate motion.
2. according to claim 1 automatically take coil apparatus it is characterised in that described second driving means include the first gas
The second cylinder that door-plate that cylinder is connected with the movable end of described first cylinder, movable end are connected with described hook plate, described second gas
It is connected with fixed plate, one end of described door-plate is rotatably connected with one end of described hook plate between the cylinder body of cylinder and described door-plate.
3. according to claim 2 automatically take coil apparatus it is characterised in that passing through the between described hook plate and described door-plate
One rotating shaft connects, and the back of described hook plate is provided with connecting plate, passes through between the movable end of described connecting plate and described second cylinder
Second rotating shaft connects.
4. according to claim 1 automatically take coil apparatus it is characterised in that also including main frame and be fixed on described main frame
Slide mechanism on frame, described slide mechanism includes the 3rd driving means and the cross bar being fixed on described main frame, described horizontal stroke
Bar is provided with the guide rail being slidably connected with described gripper, and described 3rd driving means drive described gripper along described slide.
5. according to claim 4 automatically take coil apparatus it is characterised in that also including controller, described slide mechanism is also
Including induction apparatuss one-to-one with described clamping device, described induction apparatuss are fixed on described main frame and towards described gripper
Side, described induction apparatuss, described first driving means, described second driving means and described 3rd driving means all with described control
Device processed is electrically connected with.
6. according to claim 4 automatically take coil apparatus it is characterised in that described 3rd driving means include being fixed on institute
State two transmission wheels being located at described guide rail two ends on cross bar and respectively, the belt being socketed on two described transmission wheels and drive
The motor that dynamic described transmission wheel rotates, described belt is connected with described gripper.
7. according to claim 6 automatically take coil apparatus, described slide mechanism also includes being connected with described slide
Link plate, described gripper is fixed on described link plate, and described link plate is connected with described belt.
8. according to claim 4 automatically take coil apparatus it is characterised in that described main frame includes being fixed on ground
The second column that pull bar that first column, one end are connected with described first column, one end are connected with the top of described pull bar and solid
Due to the top board of the described second column other end, between described first column and described pull bar, described first column and described
It is respectively connected with hound, described cross bar is fixed on described pull bar between two columns.
9. automatically take coil apparatus it is characterised in that described gripper includes relatively setting according to any one of claim 1 to 8
Two clamping plate put, the end of described clamping plate is equipped with gripping block.
10. according to claim 9 automatically take coil apparatus it is characterised in that described clamping device has two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610737926.8A CN106425421B (en) | 2016-08-26 | 2016-08-26 | It is a kind of to take coil apparatus automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610737926.8A CN106425421B (en) | 2016-08-26 | 2016-08-26 | It is a kind of to take coil apparatus automatically |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106425421A true CN106425421A (en) | 2017-02-22 |
| CN106425421B CN106425421B (en) | 2019-03-26 |
Family
ID=58182280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610737926.8A Active CN106425421B (en) | 2016-08-26 | 2016-08-26 | It is a kind of to take coil apparatus automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106425421B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201253848Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
| CN102172748A (en) * | 2011-03-29 | 2011-09-07 | 天津赛象科技股份有限公司 | Steel wire ring disassembling device for winding machine |
| CN102716884A (en) * | 2012-06-22 | 2012-10-10 | 江苏港星方能超声洗净科技有限公司 | Double-span suspension arm device |
| CN103395624A (en) * | 2013-07-29 | 2013-11-20 | 江阴市锦明玻璃技术有限公司 | Robotic auto-handling combined gripping system |
| CN103752736A (en) * | 2013-11-30 | 2014-04-30 | 天津隆达伟业橡胶机械有限公司 | Automatic receiving and taking device for steel rings |
| CN203612627U (en) * | 2013-11-26 | 2014-05-28 | 李凤杨 | Automatic board taking-out and putting-away mechanism for handling PCB |
| CN105292900A (en) * | 2015-11-19 | 2016-02-03 | 哈尔滨理工大学 | Automatic collection and storage device |
| CN206010352U (en) * | 2016-08-26 | 2017-03-15 | 广州福耀玻璃有限公司 | One kind takes coil apparatus automatically |
-
2016
- 2016-08-26 CN CN201610737926.8A patent/CN106425421B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201253848Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
| CN102172748A (en) * | 2011-03-29 | 2011-09-07 | 天津赛象科技股份有限公司 | Steel wire ring disassembling device for winding machine |
| CN102716884A (en) * | 2012-06-22 | 2012-10-10 | 江苏港星方能超声洗净科技有限公司 | Double-span suspension arm device |
| CN103395624A (en) * | 2013-07-29 | 2013-11-20 | 江阴市锦明玻璃技术有限公司 | Robotic auto-handling combined gripping system |
| CN203612627U (en) * | 2013-11-26 | 2014-05-28 | 李凤杨 | Automatic board taking-out and putting-away mechanism for handling PCB |
| CN103752736A (en) * | 2013-11-30 | 2014-04-30 | 天津隆达伟业橡胶机械有限公司 | Automatic receiving and taking device for steel rings |
| CN105292900A (en) * | 2015-11-19 | 2016-02-03 | 哈尔滨理工大学 | Automatic collection and storage device |
| CN206010352U (en) * | 2016-08-26 | 2017-03-15 | 广州福耀玻璃有限公司 | One kind takes coil apparatus automatically |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106425421B (en) | 2019-03-26 |
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