CN106914911A - Kiln grabbing device on multifunctional glass insulator - Google Patents
Kiln grabbing device on multifunctional glass insulator Download PDFInfo
- Publication number
- CN106914911A CN106914911A CN201710134701.8A CN201710134701A CN106914911A CN 106914911 A CN106914911 A CN 106914911A CN 201710134701 A CN201710134701 A CN 201710134701A CN 106914911 A CN106914911 A CN 106914911A
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- rotary shaft
- cylinder
- mechanical arm
- arm assembly
- piston rod
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- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses kiln grabbing device on a kind of multifunctional glass insulator, including the live spindle on robot arm is installed on, also including main frame and grasping mechanism；The grasping mechanism includes cylinder, power driving module, laser range sensor, left mechanical arm assembly, right mechanical arm assembly, and the cylinder includes piston rod single-acting cylinder, pneumatic scroll chuck formula cylinder, mini cylinder；Paw component is equipped with left mechanical arm assembly, right mechanical arm assembly；Left mechanical arm assembly is provided with pneumatic scroll chuck formula cylinder, and mini cylinder is provided with right mechanical arm assembly；Both sides respectively set a piston rod single-acting cylinder before and after main frame.Using kiln grabbing device on the multifunctional glass insulator, it is possible to achieve crawl, upset and the placement of the glass insulator placed to positive and negative.
Description
Technical field
It is multi-functional the present invention relates to toughened glass insulator process automation technical field of auxiliary equipment, more particularly to one kind
Kiln grabbing device on glass insulator.
Background technology
Toughened glass insulator is used for insulation and suspension wire in the AC and DC transmission line of electricity of high pressure and super-pressure.Tempering
Glass belongs to safety glass, and safety glass is in fact a kind of prestressed glass, be improve glass intensity, generally using chemistry or
The method of physics, compression is formed in glass surface, and glass bears to offset skin stress first during external force, so as to improve carrying
Ability, reinforcing glass itself anti-wind pressure, cold and heat, impact etc..
Just the glass insulator of shaping needs to carry out high temperature homogenization.First 300 DEG C or so will be heated to inside kiln, led to
Crossing net conveyor and being sent to glass insulator carries out homogenization inside kiln, glass insulator then is removed into kiln, makes
It is equably cooled to room temperature in its natural state, you can safety glass is obtained.This glass is in internal tension, outside compression
Stress state, once locally occurring damaged, Stress Release will occur, glass is fractured into countless fritters, and these are small broken
Piece does not have sharp corners, is difficult to hurt sb.'s feelings.
Treat that the glass insulator of kiln is stacked glass insulation sublayering by dividing plate, each equal positive and negative of layer is stacked, need
Glass insulator, the glass insulator of front placement and placement glass insulator that each layer of reverse side is placed are captured respectively
Dividing plate, after treating that the dividing plate crawl of wherein a layer of glass insulator and bearing glass insulator terminates, capture next layer
Glass insulator and dividing plate.
And the upper kiln operation of glass insulator at present is to carry to carry out kiln by manual, manually carries and exist
Longevity of service, labour intensity are big, inefficiency there are problems that simultaneously.
The content of the invention
The technical problem to be solved in the present invention is to provide kiln grabbing device on a kind of multifunctional glass insulator, it is possible to achieve
Crawl, upset and the placement of the glass insulator placed to positive and negative, can be solved existing at present using artificial using the device
Problems with existing during kiln on manual moving glass insulator：Longevity of service, labour intensity are big, inefficiency simultaneously
There is potential safety hazard etc..
In order to solve the above-mentioned technical problem, the present invention provides kiln grabbing device on a kind of multifunctional glass insulator, including
The live spindle on robot arm is installed on, also including main frame and grasping mechanism；
The grasping mechanism includes cylinder, power driving module, laser range sensor, left mechanical arm assembly, right machinery
Hand component, the cylinder includes piston rod single-acting cylinder, pneumatic scroll chuck formula cylinder, mini cylinder；
The main frame is fixedly mounted in live spindle, and laser range sensor is set on main frame；
Paw component is equipped with the left mechanical arm assembly, right mechanical arm assembly；The left mechanical arm assembly is provided with
Pneumatic scroll chuck formula cylinder, is provided with mini cylinder in right mechanical arm assembly；
Both sides respectively set a piston rod single-acting cylinder before and after main frame, and each piston rod single-acting cylinder is such as
Under：
A set of power driving module is respectively provided with the both sides of piston rod single-acting cylinder, the power driving module includes
Pitch wheel and tooth bar, the piston rod of piston rod single-acting cylinder are fixedly connected with the tooth bar of both sides；
Gear on the power driving module of piston rod single-acting cylinder homonymy is respectively arranged in same gear rotation
The two ends of rotating shaft；
Left manipulator group is respectively mounted in the middle position of the gear rotary shaft positioned at piston rod single-acting cylinder both sides
Part, right mechanical arm assembly.
As the improvement of kiln grabbing device on multifunctional glass insulator of the invention：Often set power driving module is：
Power driving module includes being formed 3 gears of right angled triangle, and the stroke of piston rod single-acting cylinder is right angled triangle
Vertical range between upper and lower gear.
As the further improvement of kiln grabbing device on multifunctional glass insulator of the invention：Left mechanical arm assembly, the right side
Mechanical arm assembly is the rotation of the axle of single-degree-of-freedom one, during piston rod single-acting cylinder deflation status, right manipulator mainboard, left machinery
Hand mainboard is parallel to each other and perpendicular to the ground.
As the further improvement of kiln grabbing device on multifunctional glass insulator of the invention：
Six roots of sensation gear rotary shaft is set altogether, is respectively：Left outside rotary shaft, lower-left rotary shaft, upper left rotary shaft, bottom right rotation
Axle, upper right rotary shaft, right outer rotary shaft；
Left outside rotary shaft, lower-left rotary shaft, upper left rotary shaft form a right angled triangle, left outside rotary shaft, upper left rotation
Rotating shaft is located at the two ends of hypotenuse；Bottom right rotary shaft, upper right rotary shaft, right outer rotary shaft form a right angle trigonometry
Shape, right outer rotary shaft, upper right rotary shaft are located at the two ends of hypotenuse；Left outside rotary shaft, lower-left rotary shaft, bottom right rotation
Rotating shaft, right outer rotary shaft are located at sustained height, and upper left rotary shaft, upper right rotary shaft are located at sustained height；
In two ends difference one gear of each setting of above-mentioned six roots of sensation gear rotary shaft, therefore, often cover the 3 of power driving module
Individual gear forms a right angled triangle；Same side gear positioned at main frame is located in same perpendicular；
The stroke of piston rod single-acting cylinder is gear in the rotary shaft of upper left and in the rotary shaft of lower-left
The distance between gear；That is, between the gear in upper right rotary shaft and the gear in the rotary shaft of bottom right away from
From；
Left mechanical arm assembly is installed on the middle position of left outside rotary shaft, and right mechanical arm assembly is installed on right outer rotary shaft
Middle position.
As the further improvement of kiln grabbing device on multifunctional glass insulator of the invention：
Right mechanical arm assembly includes right manipulator mainboard, and right manipulator mainboard is fixedly linked with right outer rotary shaft；
Paw component comprising paw is set on the right positive edge of manipulator mainboard (that is, away from live spindle)；
Connecting plate is set in right manipulator mainboard reverse side, the connecting plate passes through the reverse side of support block and right manipulator mainboard
It is connected；
The upper surface of connecting plate is provided with mini cylinder, and mini cylinder is located at center (the right machine of right manipulator mainboard
The center of tool hand), be provided with right manipulator mainboard is used for the circular hollow region of mini cylinder, mini cylinder accordingly
Piston rod on be connected with rubber bar.
As the further improvement of kiln grabbing device on multifunctional glass insulator of the invention：Circular magnetic chuck is connect by pin
Part is connected with cylindrical bar, and the top of cylindrical bar is positioned after passing through connecting plate with nut；Spring is cased with cylindrical bar；The circle
Sucker is provided with round rubber pad.
As the further improvement of kiln grabbing device on multifunctional glass insulator of the invention：
Left mechanical arm assembly includes left manipulator mainboard, and left manipulator mainboard is fixedly linked with left outside rotary shaft；
Paw component comprising paw is set on the left positive edge of manipulator mainboard (that is, away from live spindle)；
Fixed plate is set in left manipulator mainboard front, the fixed plate passes through support block and left manipulator mainboard fixing phase
Even；
Set in left manipulator mainboard reverse side and the pneumatic scroll chuck formula cylinder of three-jaw be installed, in left manipulator mainboard and
The active tunnel of pneumatic scroll chuck formula cylinder is correspondingly provided with fixed plate.
As the further improvement of kiln grabbing device on multifunctional glass insulator of the invention：The pneumatic scroll chuck
Formula cylinder is located at the center position (center of left manipulator) of left manipulator mainboard.
As the further improvement of kiln grabbing device on multifunctional glass insulator of the invention：The gear is straight-tooth
Wheel.
In the present invention, live spindle is bolted on An Chuan robots flange face；That is, it is of the invention multi-functional
Kiln grabbing device is combined with the Genie M2560 Surface scans camera of Teledyne DALSA companies on glass insulator, is led to
Cross camera collection image and image is processed on industrial computer, the centre coordinate of glass insulator is obtained, by coordinate information
It is transferred to An Chuan robots.Laser range sensor (that is, photoelectric sensor) is installed on kiln crawl on multifunctional glass insulator
The front end of device.Laser range sensor is secured by bolts in L-shaped connection sheet, and L-shaped connection sheet is secured by bolts in master
On support member below framework, the centre distance of the glass insulator that the reverse side measured using laser range sensor is placed is long-range
The centre distance of the glass insulator placed in front, it may be determined that the positive and negative of glass insulator, is then captured again.
In the present invention, all of piston rod single-acting cylinder is fixed on square cushion block by L-shaped connection sheet, square pad
Block is fixed on the front and rear both sides of main frame, up and down each pair, pneumatic scroll chuck cylinder is fixed on the center of left mechanical arm assembly
At position, piston-rodless cylinder is fixed on the center position of right mechanical arm assembly.Gear passes through taper key and rotary shaft
It is coupled, is individually fixed in the two ends of six roots of sensation rotary shaft, the gear of the same side is installed on same plane.
In the present invention, lower square cushion block is provided with main frame, under lower square cushion block shape cushion block above；In master
The lower section of framework sets the support frame being fixedly linked with main frame, in one U-shaped part of each side setting of support frame；Cause
This, support frame (including U-shaped part) is respectively positioned under lower square cushion block.Left mechanical arm assembly is fixedly installed to left-handed by bolt
The middle position in shaft length direction；Right mechanical arm assembly is fixedly installed in dextral shaft length direction by bolt
Between at position.Lower-left rotary shaft, bottom right rotary shaft are respectively provided with the left and right sides of support frame, in the U on the left of support frame
Left outside rotary shaft is set in shape part, right outer rotary shaft is set in the U-shaped part on the right side of support frame, on a left side for lower square cushion block
Right both sides are respectively provided with upper left rotary shaft and upper right rotary shaft；So as to realize left outside rotary shaft, lower-left rotary shaft, upper left rotary shaft
Form a right angled triangle；Bottom right rotary shaft, upper right rotary shaft, right outer rotary shaft form a right angled triangle.That is, lower-left
Rotary shaft, upper left rotary shaft are located in same vertical plane, and bottom right rotary shaft, upper right rotary shaft are located in same vertical plane.
The present invention has following technical advantage：
1st, the present invention from the cylinder with piston rod as thrust device, be good at and make reciprocating linear by the cylinder for having piston rod
Motion, carries particularly suitable for the straight line in industrial automation, can reliably work under severe conditions, and simple to operate.Utilize
Pneumatic scroll chuck formula cylinder and piston-rodless cylinder crawl glass insulator will not only damage glass insulator and crawl jail
Gu it is reliable.
2nd, structure of the present invention is reliable, capture glass insulator, the front placement that flexibly can not only realize placing reverse side
Glass insulator crawl and can to place glass insulator dividing plate capture, reached a table apparatus multiple use
Purpose, the device can be substituted manually works continuously, and realizes full-automatic operation.
In sum, the alternative artificial crawl glass insulator of kiln grabbing device on multifunctional glass insulator of the invention
Product carries out kiln, can not only realize glass insulator and placement glass that the glass insulator placed to front, reverse side are placed
The crawl of the dividing plate of glass insulator and whole process can realize full-automatic operation.
Brief description of the drawings
Specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the dimensional structure diagram of kiln grabbing device on multifunctional glass insulator of the invention；
Fig. 2 stacks situation schematic diagram for glass insulator 12；
Fig. 3 is the schematic front view under suction condition for the piston rod single-acting cylinder 4 of Fig. 1；
Fig. 4 is the schematic front view under deflation status for the piston rod single-acting cylinder 4 of Fig. 1；
Fig. 5 is the structural representation of the right mechanical arm assembly 2 in Fig. 1；
Upper figure is the upward view of right mechanical arm assembly 2；
Figure below is the front view of right mechanical arm assembly 2；
Fig. 6 is the structural representation of the left mechanical arm assembly 6 in Fig. 1；
Upper figure is the upward view of left mechanical arm assembly 6；
Figure below is the front view of left mechanical arm assembly 6.
Main parts size is as follows in figure：
1st, live spindle；2nd, right mechanical arm assembly；201st, round rubber pad；202nd, circular magnetic chuck；203rd, spring；204th, rubber
Glue stick；205th, connecting plate；206th, pin fitting；207th, right manipulator mainboard；208th, cylindrical bar；3rd, rotary shaft；4th, piston rod nonoculture
Use cylinder；401,402,403, L-shaped connection sheet；5th, square cushion block；6th, left mechanical arm assembly；601st, fixed plate；602nd, left machinery
Hand mainboard；7th, support frame；8th, main frame；9th, tooth bar；10th, gear；11st, laser range sensor；12nd, glass insulator；13rd, every
Plate；14th, supporting plate；15th, keeper；16th, l shaped gasket；17th, paw；18th, mini cylinder；19th, support block；20th, pneumatic scroll chuck
Formula cylinder；21st, three-jaw.
Specific embodiment
With reference to specific embodiment, the present invention is described further, but protection scope of the present invention is not limited in
This.
Kiln grabbing device on embodiment 1, a kind of multifunctional glass insulator, including live spindle 1, main frame 8 and crawl
Mechanism.The grasping mechanism includes cylinder, power driving module, laser range sensor 11, right mechanical arm assembly 2, left manipulator
Component 6.Cylinder includes piston rod single-acting cylinder 4, mini cylinder 18, pneumatic scroll chuck formula cylinder 20.
When actually used, live spindle 1 is external on An Chuan robots flange face by bolt.
Main frame 8 is bolted in live spindle 1.Six roots of sensation gear rotary shaft is provided with the present invention altogether, respectively
It is：Left outside rotary shaft 301, lower-left rotary shaft 303, upper left rotary shaft 302, bottom right rotary shaft 304, upper right rotary shaft 305, the right side are outer
Rotary shaft 306.
Left outside rotary shaft 301, lower-left rotary shaft 303, upper left rotary shaft 302 form a right angled triangle, left outside rotation
Axle 301, upper left rotary shaft 302 are located at the two ends of hypotenuse；Bottom right rotary shaft 304, upper right rotary shaft 305, the right side are outer
Rotary shaft 306 forms a right angled triangle, and right outer rotary shaft 306, upper right rotary shaft 305 are located at the two of hypotenuse
End.Left outside rotary shaft 301, lower-left rotary shaft 303, bottom right rotary shaft 304, right outer rotary shaft 306 are located at sustained height, upper left rotation
Rotating shaft 302, upper right rotary shaft 305 are located at sustained height.
Piston rod single-acting cylinder 4 is installed in front and rear the two of main frame 8 by L-shaped connection sheet 401,402 and bolt
Side.Two piston rod single-acting cylinders 4 work asynchronously.
Specially：Both sides are respectively fixedly installed (can realize fixing by bolt) top respectively before and after main frame 8
Shape cushion block 501, both sides respectively set a piston rod single-acting cylinder 4, each piston rod single-acting cylinder before and after main frame 8
4 are fixedly linked by a L-shaped connection sheet 401 with corresponding upper square cushion block 501.
The structure of each piston rod single-acting cylinder 4 is as follows：
A set of actuating unit is respectively set in the both sides of piston rod single-acting cylinder 4, often covering actuating unit includes
Tooth bar 9 and gear 10, by the engagement of tooth bar 9 and gear 10, transmit power.
Left outside rotary shaft 301, lower-left rotary shaft 303, the two ends of upper left rotary shaft 302 are equipped with gear 10, similarly, bottom right
Rotary shaft 304, upper right rotary shaft 305, the two ends of right outer rotary shaft 306 are also equipped with gear 10, and gear 10 can be by nose key
Key and corresponding rotational shaft.Six gears 10 positioned at the same side of main frame 8 are located on same upright plane.
Tooth bar 9 in the actuating unit in left side rotates with left outside rotary shaft 301, lower-left rotary shaft 303, upper left
Gear 10 on axle 302 is meshed；Tooth bar 9 in the actuating unit on right side rotates with bottom right rotary shaft 304, upper right
Gear 10 on axle 305, right outer rotary shaft 306 is meshed.
Tooth bar 9 in the piston rod of piston rod single-acting cylinder 4 and two sets of actuating units is respectively solid by bolt
Fixed connection, is rotated by the promotion band carry-over bar 9 and gear 10 of piston rod.
The stroke of piston rod single-acting cylinder 4 is the vertical range between upper and lower gear；That is, in upper left rotary shaft 303
Gear 10 and the distance between the gear 10 in lower-left rotary shaft 302；That is, in upper right rotary shaft 305
The distance between gear 10 and the gear in bottom right rotary shaft 304 10.
Lower square cushion block 502 is provided with main frame 8, under the shape cushion block 501 above of lower square cushion block 502；
The support frame 701 being fixedly linked with main frame 8 is set in the lower section of main frame 8, in each side setting one of support frame 701
Individual U-shaped part；Therefore, support frame 701 (including U-shaped part) is respectively positioned under lower square cushion block 502.
Lower-left rotary shaft 303, bottom right rotary shaft 304 are respectively provided with the left and right sides of support frame 701, positioned at support frame
Left outside rotary shaft 301 is set in the U-shaped part in 701 left sides, right outer rotary shaft is set in the U-shaped part positioned at the right side of support frame 701
306, it is respectively provided with upper left rotary shaft 302 and upper right rotary shaft 305 in the left and right sides of lower square cushion block 502；So as to realize a left side
Outer rotary shaft 301, lower-left rotary shaft 303, upper left rotary shaft 302 form a right angled triangle；Bottom right rotary shaft 304, upper right
Rotary shaft 305, right outer rotary shaft 306 form a right angled triangle.
Left mechanical arm assembly 6 is fixedly installed to the middle position of the length direction of left outside rotary shaft 301 by bolt；It is right
Mechanical arm assembly 2 is fixedly installed to the middle position of the length direction of right outer rotary shaft 306 by bolt.
Three paws 17 uniformly are fixedly installed in the outside (that is, away from live spindle 1) of right mechanical arm assembly 2；On a left side
The outside (that is, away from live spindle 1) of mechanical arm assembly 6 is uniformly fixedly installed three paws 17.
Left mechanical arm assembly 6, right mechanical arm assembly 2 are the rotation of the axle of single-degree-of-freedom one；That is, left-handed rotating shaft 301 can drive
Left mechanical arm assembly 6 rotates.Similarly, dextral shaft 306 can drive right mechanical arm assembly 2 to rotate.
The structure of right mechanical arm assembly 2 is as shown in figure 5, including right manipulator mainboard 207, it is fixed with dextral shaft 306
It is connected；Also include round rubber pad 201, circular magnetic chuck 202, spring 203, rubber bar 204, connecting plate 205, pin fitting 206, circle
Mast 208, keeper 15, l shaped gasket 16, paw 17, mini cylinder 18, support block 19.Wherein l shaped gasket 16 is positioned over right machine
The positive edge of tool hand mainboard 207, respectively places a keeper 15, between two keepers 15 in left and right on l shaped gasket 16
Place paw 17 in space.One l shaped gasket, 16, two keepers 15 and a paw 17 constitute one group of paw component, right machine
Tool hand component 2 is provided with altogether three groups of paw components, is bolted on the positive edge of right manipulator mainboard 207 (remote
From live spindle 1).Support block 19 is secured by bolts in the reverse side of right manipulator mainboard 207 with connecting plate 205, i.e. support block
Reverse side of 19 two ends respectively with connecting plate 205, right manipulator mainboard 207 is fixedly linked.4 fans are installed on connecting plate 205
Your cylinder 18, the underpart of the piston rod of each mini cylinder 18 is through being connected with a rubber bar 204 after connecting plate 205.
The bottom of cylindrical bar 208 is connected by pin fitting 206 with circular magnetic chuck 202, and (pin fitting 206 is secured by bolts in
The upper surface of circular magnetic chuck 202), the top of cylindrical bar 208 is positioned after passing through connecting plate 205 with nut, and nut is more than connecting plate
On 205 for the through hole that passes through cylindrical bar 208 so that cylindrical bar 208 can make certain distance relative to connecting plate 205
Move up and down.Spring 203 is cased with cylindrical bar 208, four cylindrical bars 208 and the four pin fittings for matching are set altogether
206 and four springs 203.That is, circular magnetic chuck 202, pin fitting 206 can be moved upwards with cylindrical bar 208, while compression spring
203, play a part of buffering.
When actually used, during mini 18 air-breathing of cylinder, rubber bar 204 pushes up firm circular magnetic chuck 202；Mini cylinder 18 is deflated
When, rubber bar 204 returns to initial position, and now rubber bar 204 no longer pushes up firm circular magnetic chuck 202.
The structure of left mechanical arm assembly 6 is as shown in fig. 6, including fixed plate 601, left manipulator mainboard 602, keeper 15, L
Shape pad 16, paw 17, support block 19, pneumatic scroll chuck formula cylinder 20, three-jaw 21.Wherein l shaped gasket 16 is positioned over left machine
The positive edge of tool hand mainboard 602, a keeper 15, the space between keeper 15 are respectively placed in left and right on l shaped gasket 16
Paw 17 is placed, 16, two keepers 15 of a l shaped gasket and a paw 17 constitute one group of paw component, left manipulator
Component 6 is provided with altogether three groups of paw components, is bolted on the positive edge of left manipulator mainboard 602.Right machinery
Three groups of paw components on three groups of paw components and left mechanical arm assembly 6 of hand component 2 are uniformly arranged for left and right is corresponding.Three-jaw
21 are cased with abrasive rubber.
In the positive top of left manipulator mainboard 602, fixed plate 601, one end and the phase of fixed plate 601 of support block 19 are set
Even (being bolted), the other end are fixedly linked (be bolted) in the left front of manipulator mainboard 602, fixed plate 601
Reverse side pneumatic scroll chuck formula cylinder 20 is provided with by bolt, the bottom of pneumatic scroll chuck formula cylinder 20 is provided with three-jaw
21, air-breathing and the deflation of pneumatic scroll chuck formula cylinder 20 are controlled by external vacuum pump, control the opening and closing of three-jaw 21.
Laser range sensor 11 is secured by bolts in the outside of L-shaped connection sheet 403, enables laser range sensor 11
The side of laser is enough sent towards glass insulator, L-shaped connection sheet 403 is secured by bolts in the bottom of support frame 701.
When the present invention is actually used, using laser range sensor 11 and the Genie of Teledyne DALSA companies
M2560 Surface scans camera is combined, and image is gathered and on industrial computer to image procossing by camera, obtains glass insulation in image
The centre coordinate of son, An Chuan robots are transferred to by coordinate information；The glass that the reverse side that laser range sensor 11 is measured is placed
The centre distance of insulator is much larger than the centre distance of the glass insulator that front is placed, thus may determine that glass insulator
Positive and negative；After the centre coordinate of glass insulator and the positive and negative of glass insulator have determined that, then captured.
On multifunctional glass insulator of the invention during kiln grabbing device real work, live spindle 1 is bolted
On An Chuan robots flange face；Its working environment for facing is：If on supporting plate 14 set dried layer dividing plate 13, every layer every
The glass insulator 12 that the glass insulator 12 and reverse side of front placement are placed is provided with plate 13.
The course of work is as follows：
1st, piston rod single-acting cylinder 4 is suction condition：
As shown in Figure 1, Figure 3, the piston rod of piston rod single-acting cylinder 4 is moved downward, the row of piston rod single-acting cylinder 4
Journey is exactly the vertical range between upper and lower gear, i.e. gear 10 in upper left rotary shaft 302 and positioned at lower-left rotary shaft
The distance between gear 10 on 303.That is, gear 10 in upper right rotary shaft 305 and positioned at bottom right rotary shaft 304
On the distance between gear 10.At the same time the piston rod of piston rod single-acting cylinder 4 will drive the tooth bar 9 one of both sides to start shipment
It is dynamic.
Tooth bar 9 and gear 10 positioned at the front, left side of main frame 8 turn clockwise, the tooth on right side before main frame 8
Bar 9 and the rotate counterclockwise of gear 10；The tooth bar 9 and gear 10 in left side are then synchronous behind main frame 8 turns clockwise, and is located at
The tooth bar 9 and gear 10 on the right side of main frame 8 then synchronous rotate counterclockwise.This is ensured that positioned at the arranged on left and right sides of main frame 8
Rotary shaft synchronous axial system.I.e., it is ensured that the synchronous dextrorotation of left outside rotary shaft 301, lower-left rotary shaft 303, upper left rotary shaft 302
Turn, the synchronous rotate counterclockwise of bottom right rotary shaft 304, upper right rotary shaft 305, right outer rotary shaft 306.
Under Fig. 1, Fig. 3 state, the center of the glass insulator 12 that reverse side that laser range sensor 11 is measured is placed with swash
The distance of ligh-ranging sensor 11 much larger than center and the laser range sensor 11 of the glass insulator 12 that front is placed away from
From thus may determine that the positive and negative of glass insulator 12；First carried out by the glass insulator 12 for confirmation being reverse side placement
Crawl, and place it on conveyer belt.It is specific as follows：
Before the glass insulator 12 of crawl is placed on the conveyor belt by An Chuan robots, outside vavuum pump is inhaled with circular
Disk 202 is connected, and controls the air-breathing of circular magnetic chuck 202 and deflates, the air-breathing of piston rod single-acting cylinder 4, piston rod single-acting gas
The piston rod of cylinder 4 is moved downward, and the stroke of piston rod single-acting cylinder 4 is exactly the vertical range between upper and lower gear, i.e. be located at
The distance between gear 10 in upper left rotary shaft 302 and the gear in lower-left rotary shaft 303 10.That is, being located at the right side
The distance between gear 10 in upper rotary shaft 305 and the gear in bottom right rotary shaft 304 10.At the same time piston rod
The piston rod of single-acting cylinder 4 will drive the tooth bar 9 of both sides to move together.Then the circular magnetic chuck 202 of right mechanical arm assembly 2 is
The center of the glass insulator 12 of reverse side placement can be directed at, the bowl-shape interior sky in the center of glass insulator 12 that reverse side is placed
Gas is evacuated, and forms certain external and internal pressure difference i.e. achievable absorption to glass insulator 12；While the air-breathing of mini cylinder 18, nothing
Rubber bar 204 under piston rod cylinder pushes up firm circular magnetic chuck 202, you can to realize the suction of the glass insulator 12 placed to reverse side
Take, be carried to the glass insulator 12 of absorption on conveyer belt by An Chuan robots.Then, external vacuum pump is stopped, so that
Circular magnetic chuck 202 is set to deflate；Mini cylinder 18 is deflated simultaneously, so that the rubber bar 204 under the piston rod of mini cylinder 18 is returned to
Initial position, completes the absorption and placement of the glass insulator to reverse side placement.
After treating that the whole placements of glass insulator 12 of reverse side placement are finished, remaining on dividing plate 13 is entirely that front is put
The glass insulator 12 put, carries out capturing the glass insulator 12 that front is placed by left mechanical arm assembly 6.By the true of outside
Empty pump controls the pneumatic air-breathing of scroll chuck formula cylinder 20, and three-jaw 21 is opened, and abrasive rubber is cased with three-jaw 21, to prevent from scratching
Left mechanical arm assembly 6 is moved to the center position of the glass insulator 12 of front placement for glass insulator, An Chuan robots,
Make front place glass insulator 12 bossing be placed in opening three-jaw 21 inside, make the gas of left mechanical arm assembly 6
Dynamic scroll chuck formula cylinder 20 is deflated, and three-jaw 21 is closed, you can the glass insulator 12 that crawl front is placed, in the mistake carried
Cheng Dangzhong, the air-breathing of piston rod single-acting cylinder 4, the piston rod of piston rod single-acting cylinder 4 is moved downward, piston rod single-acting gas
The stroke of cylinder 4 is exactly the vertical range between upper and lower gear, and left manipulator mainboard 602 and right manipulator mainboard 207 are in parallel shape
State, the pneumatic air-breathing of scroll chuck formula cylinder 20 of left mechanical arm assembly 6, by the three-jaw 21 dozens of pneumatic scroll chuck formula cylinder 20
Open, now the circular magnetic chuck 202 of right mechanical arm assembly 2 is just directed at the center of the glass insulator 12 of reverse side placement,
Under the control of outside vavuum pump, the bowl-shape interior evacuating air in the center of glass insulator 12 that reverse side is placed is formed certain
External and internal pressure difference is capable of achieving the absorption to glass insulator 12, while the air-breathing of mini cylinder 18, the rubber under piston-rodless cylinder
Glue stick 204 pushes up firm circular magnetic chuck 202, completes to place front the upset of glass insulator 12, the glass that An Chuan robots will draw
Glass insulator 12 is carried on conveyer belt.Then, external vacuum pump is stopped, so that circular magnetic chuck 202 is deflated；It is confused simultaneously
You deflate at cylinder 18, so that the rubber bar 204 under the piston rod of mini cylinder 18 returns to initial position, complete what front was placed
Crawl, upset and the placement of glass insulator.
2nd, piston rod single-acting cylinder 4 is deflation status：
Treat that all crawl is finished the glass insulator 12 on dividing plate 13, piston rod single-acting cylinder 4 is deflated, piston rod nonoculture
Moved upwards in the presence of own spring force with the piston rod of cylinder 4, the stroke of piston rod single-acting cylinder 4 is exactly upper and lower
Vertical range between gear, i.e. the gear 10 in upper left rotary shaft 302 and the gear in lower-left rotary shaft 303
The distance between 10.That is, the gear 10 in upper right rotary shaft 305 and the gear 10 in bottom right rotary shaft 304
The distance between.At the same time the piston rod of cylinder 4 will drive both sides tooth bar 9 to move together.Positioned at the front, left side of main frame 8
Tooth bar 9 and the rotate counterclockwise of gear 10, the tooth bar 9 and gear 10 on right side turn clockwise before main frame 8；Positioned at main frame
Tooth bar 9 and the gear 10 then synchronous rotate counterclockwise in the left side below of frame 8, the tooth bar 9 and gear 10 positioned at the right side of main frame 8 are then same
Step turns clockwise.This ensures that the rotary shaft synchronous axial system positioned at the arranged on left and right sides of main frame 8.I.e., it is ensured that left outside rotation
The synchronous rotate counterclockwise of axle 301, lower-left rotary shaft 303, upper left rotary shaft 302, bottom right rotary shaft 304, upper right rotary shaft 305,
Right outer rotary shaft 306 is synchronous to turn clockwise, final state as shown in Figure 4.Under Fig. 4 states, right mechanical arm assembly 2 and left machinery
Paw 17 on hand component 6 will be captured to the dividing plate of bearing glass insulator.
After An Chuan robots run to specified location places dividing plate 13 of crawl, the air-breathing of piston rod single-acting cylinder 4,
The piston rod of piston rod single-acting cylinder 4 is moved downward, and the stroke of piston rod single-acting cylinder 4 is exactly hanging down between upper and lower gear
Straight distance, i.e. between the gear 10 in upper left rotary shaft 302 and the gear 10 in lower-left rotary shaft 303 away from
From.That is, the distance between the gear 10 in upper right rotary shaft 305 and the gear 10 in bottom right rotary shaft 304.
At the same time the piston rod of piston rod single-acting cylinder 4 will drive the tooth bar 9 of both sides to move together.
Tooth bar 9 and gear 10 positioned at the front, left side of main frame 8 turn clockwise, the tooth on right side before main frame 8
Bar 9 and the rotate counterclockwise of gear 10；The tooth bar 9 and gear 10 in left side are then synchronous behind main frame 8 turns clockwise, and is located at
The tooth bar 9 and gear 10 on the right side of main frame 8 then synchronous rotate counterclockwise.This is ensured that positioned at the arranged on left and right sides of main frame 8
Rotary shaft synchronous axial system.I.e., it is ensured that the synchronous dextrorotation of left outside rotary shaft 301, lower-left rotary shaft 303, upper left rotary shaft 302
Turn, the synchronous rotate counterclockwise of bottom right rotary shaft 304, upper right rotary shaft 305, right outer rotary shaft 306, you can decontrol crawl every
Plate.
3rd, above-mentioned steps 1 and step 2 complete grabbing for all glass insulators 12 on one layer of dividing plate 13 and the dividing plate 13
Take；Then repeat the above steps 1 and step 2, so as to realize exhausted to all glass on next layer of dividing plate 13 and the dividing plate 13
The crawl of edge 12；Until all of dividing plate 13 and glass insulator 12 are placed on conveyer belt.
In sum, on multifunctional glass insulator of the present invention kiln grabbing device can realize full-automation to front and
The crawl and placement of the glass insulator of reverse side and the sub-dividing plate that insulated to bearing glass.Kiln is grabbed on the multifunctional glass insulator
Taking device can realize the full-automatic operation of factory, save human resources, simple to operate, reliable, high working efficiency.
Finally, in addition it is also necessary to it is noted that listed above is only several specific embodiments of the invention.Obviously, this hair
It is bright to be not limited to above example, there can also be many deformations.One of ordinary skill in the art can be from present disclosure
The all deformations directly derived or associate, are considered as protection scope of the present invention.
Claims (9)
1. kiln grabbing device on multifunctional glass insulator, including it is installed on the live spindle (1) on robot arm, its feature
It is：Also include main frame (8) and grasping mechanism；
The grasping mechanism includes cylinder, power driving module, laser range sensor (11), left mechanical arm assembly (6), right machine
Tool hand component (2), the cylinder includes piston rod single-acting cylinder (4), pneumatic scroll chuck formula cylinder (20), mini cylinder
(18)；
The main frame (8) is fixedly mounted in live spindle (1), and laser range sensor (11) is set on main frame (8)；
The left mechanical arm assembly (6), right mechanical arm assembly are equipped with paw component on (2)；On the left mechanical arm assembly (6)
Pneumatic scroll chuck formula cylinder (20) is provided with, mini cylinder (18) is provided with right mechanical arm assembly (2)；
Both sides respectively set a piston rod single-acting cylinder (4), each piston rod single-acting cylinder before and after main frame (8)
(4) it is as follows：
A set of power driving module is respectively provided with the both sides of piston rod single-acting cylinder (4), the power driving module includes
Pitch wheel (10) and tooth bar (9), the piston rod of piston rod single-acting cylinder (4) are fixed with the tooth bar (9) of both sides
Connection；
Gear (10) on the power driving module of piston rod single-acting cylinder (4) homonymy is respectively arranged in same gear
The two ends of rotary shaft；
Left mechanical arm assembly is respectively mounted in the middle position of the gear rotary shaft positioned at piston rod single-acting cylinder (4) both sides
(6), right mechanical arm assembly (2).
2. kiln grabbing device on multifunctional glass insulator according to claim 1, it is characterized in that：
Often set power driving module is：Power driving module includes being formed 3 gears (10) of right angled triangle, piston rod list
The stroke of active cylinder (4) is the vertical range between the upper and lower gear (10) of right angled triangle.
3. kiln grabbing device on multifunctional glass insulator according to claim 2, it is characterized in that：
Left mechanical arm assembly (6), right mechanical arm assembly (2) are the rotation of the axle of single-degree-of-freedom one, and piston rod single-acting cylinder (4) is put
During gaseity, right manipulator mainboard (207), left manipulator mainboard (602) are parallel to each other and perpendicular to the ground.
4. kiln grabbing device on multifunctional glass insulator according to claim 3, it is characterized in that：
Six roots of sensation gear rotary shaft is set altogether, is respectively：Left outside rotary shaft (301), lower-left rotary shaft (303), upper left rotary shaft
(302), bottom right rotary shaft (304), upper right rotary shaft (305), right outer rotary shaft (306)；
Left outside rotary shaft (301), lower-left rotary shaft (303), upper left rotary shaft (302) form a right angled triangle, left outside rotation
Rotating shaft (301), upper left rotary shaft (302) are positioned at the two ends of hypotenuse；Bottom right rotary shaft (304), upper right rotary shaft
(305), right outer rotary shaft (306) forms a right angled triangle, and right outer rotary shaft (306), upper right rotary shaft (305) are positioned at straight
The two ends of angle hypotenuse；Left outside rotary shaft (301), lower-left rotary shaft (303), bottom right rotary shaft (304), right outer rotary shaft
(306) positioned at sustained height, upper left rotary shaft (302), upper right rotary shaft (305) are positioned at sustained height；
In two ends difference one gear (10) of each setting of above-mentioned six roots of sensation gear rotary shaft, therefore, often cover the 3 of power driving module
Individual gear (10) forms a right angled triangle；Same side gear (10) positioned at main frame (8) is in same perpendicular；
The stroke of piston rod single-acting cylinder (4) is gear (10) in upper left rotary shaft (302) and positioned at lower-left rotation
The distance between gear (10) in rotating shaft (303)；
Left mechanical arm assembly (6) is installed on the middle position of left outside rotary shaft (301), and right mechanical arm assembly (2) is installed on the right side
The middle position of outer rotary shaft (306).
5. according to kiln grabbing device on any described multifunctional glass insulator of Claims 1 to 4, it is characterized in that：
Right mechanical arm assembly (2) includes right manipulator mainboard (207), and right manipulator mainboard (207) is solid with right outer rotary shaft (306)
It is fixed to be connected；
Paw component comprising paw (17) is set on the positive edge of right manipulator mainboard (207)；
Connecting plate (205) is set in right manipulator mainboard (207) reverse side, the connecting plate (205) is by support block (19) and the right side
The reverse side of manipulator mainboard (207) is connected；
The upper surface of connecting plate (205) is provided with mini cylinder (18), and mini cylinder (18) is positioned at right manipulator mainboard (207)
Center, be provided with right manipulator mainboard (207) is used for the circular hollow region of mini cylinder (18), mini gas accordingly
Rubber bar (204) is connected with the piston rod of cylinder (18).
6. kiln grabbing device on multifunctional glass insulator according to claim 5, it is characterized in that：
Circular magnetic chuck (202) is connected by pin fitting (206) with cylindrical bar (208), and the top of cylindrical bar (208) passes through connection
Plate is positioned after (205) with nut；Spring (203) is cased with cylindrical bar (208)；
The circular magnetic chuck (202) is provided with round rubber pad (201).
7. according to kiln grabbing device on any described multifunctional glass insulator of Claims 1 to 4, it is characterized in that：
Left mechanical arm assembly (6) includes left manipulator mainboard (602), and left manipulator mainboard (602) is solid with left outside rotary shaft (301)
It is fixed to be connected；
Paw component comprising paw (17) is set on the positive edge of left manipulator mainboard (602)；
Fixed plate (601) is set in left manipulator mainboard (602) front, the fixed plate (601) is by support block (19) and a left side
Manipulator mainboard (602) is fixedly linked；
The pneumatic scroll chuck formula cylinder (20) for being provided with three-jaw (21) is set in left manipulator mainboard (602) reverse side, in left machine
The active tunnel of pneumatic scroll chuck formula cylinder (20) is correspondingly provided with tool hand mainboard (602) and fixed plate (601).
8. kiln grabbing device on multifunctional glass insulator according to claim 7, it is characterized in that：
Center position of the pneumatic scroll chuck formula cylinder (20) positioned at left manipulator mainboard (602).
9. according to kiln grabbing device on any described multifunctional glass insulator of Claims 1 to 4, it is characterized in that：The tooth
Wheel (10) is spur gear.
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| CN107984490A (en) * | 2017-12-29 | 2018-05-04 | 苏州镒升机器人科技有限公司 | Vacuum cup machinery hand |
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| CN110027006A (en) * | 2019-05-16 | 2019-07-19 | 北京中航科电测控技术股份有限公司 | A kind of intelligent robot crawl structure |
| CN110524569A (en) * | 2019-08-13 | 2019-12-03 | 苏州大学 | A kind of clamp mechanism of view-based access control model identification |
| CN115535638A (en) * | 2022-11-30 | 2022-12-30 | 云南柔控科技有限公司 | Claw clamp of battery injection molding shell unstacking and stacking robot |
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Effective date of registration: 20210425 Address after: No. 1088, Huafeng East Road, Fucun Town, Jindong District, Jinhua City, Zhejiang Province 321000 Patentee after: Guoxiong electric (Zhejiang) Co.,Ltd. Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park No. 2 Street No. 5 Patentee before: Zhejiang University of Technology |
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Address after: No. 1088, Huafeng East Road, Fucun Town, Jindong District, Jinhua City, Zhejiang Province Patentee after: Zhejiang Jinlihua Electrical Equipment Co.,Ltd. Address before: No. 1088, Huafeng East Road, Fucun Town, Jindong District, Jinhua City, Zhejiang Province 321000 Patentee before: Guoxiong electric (Zhejiang) Co.,Ltd. |