CN107139186A - A kind of robot glass japanning paw - Google Patents
A kind of robot glass japanning paw Download PDFInfo
- Publication number
- CN107139186A CN107139186A CN201710465609.XA CN201710465609A CN107139186A CN 107139186 A CN107139186 A CN 107139186A CN 201710465609 A CN201710465609 A CN 201710465609A CN 107139186 A CN107139186 A CN 107139186A
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- CN
- China
- Prior art keywords
- syringe
- paw
- support
- fixed plate
- camera
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- 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
- B25J15/0019—End effectors other than grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Coating Apparatus (AREA)
Abstract
The invention discloses a kind of robot glass japanning paw, wherein, including a paw support, the side of paw support, which is provided with the downside of a camera, camera, is fixed with a camera light source；Two syringe supports, two syringe supports are arranged on the opposite side of paw support, each syringe support and are clamped with a syringe respectively, and the lower end of syringe is fixed with brush head；Some floating guiding bars, are connected between each syringe support and paw support by some floating guiding bars.The present invention can realize the japanning of automation by the setting of two syringes, replacement between syringe can be realized by the angle for rotating paw, enable syringe to keep constant pressure relative to glass by the syringe of floating, prevent the pressure between syringe and glass is excessive from causing fragmentation.
Description
Technical field
The present invention relates to the technical field of glass japanning, more particularly to a kind of glass japanning paw.
Background technology
Paint glass, is also baking vanish glass, varnished glass, including spraying be used for the varnish that is cleaned to glass surrounding with
And the priming paint that the glass bonded adhesives applied after ensureing is fully bonded with glass.Spray painting glass and it is some other need carry out surface
The glass of processing needs the paint work automated by robot.But the existing equipment price of in the market is high, knot
Structure is complicated, without floating structure, and equipment follow-up maintenance cost is high.Therefore many situations are still manually coated.
The content of the invention
The problem of for above-mentioned generation, it is an object of the invention to provide a kind of robot glass japanning paw.
To achieve these goals, the technical scheme taken of the present invention is：
A kind of robot glass japanning paw, wherein, including：One paw support, the side of the paw support is provided with
A camera light source is fixed with the downside of one camera, the camera；Two syringe supports, syringe support is arranged on the paw described in two
A syringe is clamped with respectively on the opposite side of support, each syringe support, and the lower end of the syringe is fixed with brush head；If
Dry floating guiding bar, is connected between each syringe support and the paw support by some floating guiding bars.
Above-mentioned robot glass japanning paw, wherein, the paw support is integral type structure, and the paw support is in
" Z " font, the paw support includes：One bracket fixing plate, the bracket fixing plate is horizontally disposed with；One camera fixed plate, institute
State camera fixed plate to be vertically arranged, the upper end of the camera fixed plate is fixedly connected with one end of the bracket fixing plate, described
The side of the downside of camera fixed plate is fixed with the camera, and the camera and the bracket fixing plate are located at the same side；One pin
Cylinder fixed plate, the syringe fixed plate is horizontally disposed with, and one end of the syringe fixed plate and the lower end of the camera fixed plate are consolidated
Fixed connection, the syringe fixed plate is located at the camera fixed plate relative to the opposite side of the bracket fixing plate, the syringe
Fixed plate and some floating guiding bar slidable connections.
Above-mentioned robot glass japanning paw, wherein, each floating guiding bar includes：One guide rod, it is described
The syringe fixed plate, the guide rod and the syringe fixed plate slidable connection, the guiding are run through in the upside of guide rod
The upper end of bar is formed with a limited block, and the lower end of the guide rod is fixedly connected with the syringe support；One spring, the spring
It is set on the guide rod, the upper end of the spring is fixedly connected with the limited block, the lower end of the spring and the pin
Tube stent is fixedly connected.
Above-mentioned robot glass japanning paw, wherein, the syringe fixed plate is another relative to the camera fixed plate
The both sides of the width of one end have below side plate, each side plate respectively is provided with syringe support described in one,
It is connected between each the syringe support and the side plate by some guide rods.
Above-mentioned robot glass japanning paw, wherein, pass through two between each the syringe support and the side plate
The guide rod is connected.
Above-mentioned robot glass japanning paw, wherein, also set between the camera fixed plate and the syringe fixed plate
There is reinforcement.
Above-mentioned robot glass japanning paw, wherein, be in an acute angle between syringe described in two, syringe described in two it is described
Hairbrush is set upside down.
Above-mentioned robot glass japanning paw, wherein, syringe described in two is respectively varnish cylinder and priming paint cylinder.
Above-mentioned robot glass japanning paw, wherein, the camera is 2D cameras.
The present invention is as a result of above-mentioned technology, and the good effect for being allowed to have compared with prior art is：
(1) present invention can realize the japanning of automation by the setting of two syringes, can by the angle for rotating paw
The replacement between syringe is realized, enables syringe to keep constant pressure relative to glass by the syringe of floating, prevents pin
Pressure between cylinder and glass is excessive to cause fragmentation, while having, simple in construction, cost is low, easy care advantage.
Brief description of the drawings
Fig. 1 is the stereogram of the robot glass japanning paw of the present invention.
In accompanying drawing：1st, paw support；11st, bracket fixing plate；12nd, camera fixed plate；13rd, syringe fixed plate；131st, side plate；
14th, reinforcement；2nd, camera；3rd, camera light source；4th, syringe support；5th, syringe；51st, brush head；6th, floating guiding bar；61st, it is oriented to
Bar；62nd, spring.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
Fig. 1 is the stereogram of the robot glass japanning paw of the present invention, shown in Figure 1, is shown a kind of preferable
The robot glass japanning paw of embodiment, including：One paw support 1, the side of paw support 1 is provided with a camera 2, camera
2 downside is fixed with a camera light source 3.
In addition, as a kind of preferred embodiment, robot glass japanning paw also includes：Two syringe supports 4, two syringes
Support 4 is arranged on the opposite side of paw support 1, each syringe support 4 and is clamped with a syringe 5 respectively, and the lower end of syringe 5 is fixed
There is brush head 51.By brush head 51 by the uniform scrubbing brush of paint in syringe 5 on glass.
In addition, as a kind of preferred embodiment, robot glass japanning paw also includes：Some floating guiding bars 6, often
It is connected between one syringe support 4 and paw support 1 by some floating guiding bars 6.
Further, as a kind of preferred embodiment, paw support 1 is integral type structure, and paw support 1 is in " Z " font,
Paw support 1 includes：One bracket fixing plate 11, bracket fixing plate 11 is horizontally disposed with.By bracket fixing plate 11 by robot glass
Glass japanning paw is fixedly connected with mechanical arm.
Further, as a kind of preferred embodiment, paw support 1 also includes：One camera fixed plate 12, camera is fixed
Plate 12 is vertically arranged, and the upper end of camera fixed plate 12 is fixedly connected with one end of bracket fixing plate 11, under camera fixed plate 12
The side of side is fixed with camera 2, and camera 2 and bracket fixing plate 11 are located at the same side.
Further, as a kind of preferred embodiment, paw support 1 also includes：One syringe fixed plate 13, syringe is fixed
Plate 13 is horizontally disposed with, and one end of syringe fixed plate 13 is fixedly connected with the lower end of camera fixed plate 12, and syringe fixed plate 13 is located at
Camera fixed plate 12 is relative to the opposite side of bracket fixing plate 11, and syringe fixed plate 13 slidably connects with some floating guiding bars 6
Connect.
In addition, as a kind of preferred embodiment, each floating guiding bar 6 includes：One guide rod 61, guide rod 61
Syringe fixed plate 13, guide rod 61 and the slidable connection of syringe fixed plate 13 are run through in upside, and the upper end of guide rod 61 is formed with one
Limited block, the lower end of guide rod 61 is fixedly connected with syringe support 4.Guide rod 61 can glide relative in syringe fixed plate 13
It is dynamic.
In addition, as a kind of preferred embodiment, each floating guiding bar 6 also includes：One spring 62, spring 62 is set in
On guide rod 61, the upper end of spring 62 is fixedly connected with limited block, and the lower end of spring 62 is fixedly connected with syringe support 4.Pass through
Spring 62 enables guide rod 61 to be floated upwards in the case of the stress of syringe 5, thus avoid treating on mopping glass by
Big power, when the stress of syringe 5 disappears, spring 62 can make the homing of guide rod 61 again.
Preferred embodiments of the present invention are the foregoing is only, embodiments of the present invention and protection model is not thereby limited
Enclose.
The present invention also has on the basis of the above is implemented as follows mode：
In further embodiment of the present invention, width side of the syringe fixed plate 13 relative to the other end of camera fixed plate 12
To both sides there is side plate 131 respectively, be provided with a syringe support 4, each syringe support 4 per the lower section of side plate 131
It is connected between side plate 131 by some guide rods 61.
In further embodiment of the present invention, it is connected between each syringe support 4 and side plate 131 by two guide rods 61
Connect, it is preferable that two guide rods 61 are located at the both sides of a syringe support 4 respectively, when making syringe support 4 by the upward power of syringe 5
The balance of both sides can be kept, and freedom of the syringe 5 on certain angle, i.e. pin are realized by the floating of two guide rods 51
Cylinder 5 can be in such as Fig. 1 the certain swing of left and right directions progress, enable adaptation to the irregular of some glass to be painted
Surface configuration.
In further embodiment of the present invention, reinforcement 14 is additionally provided between camera fixed plate 12 and syringe fixed plate 13,
Reinforcement 14 is preferred to use the structure of diagonal brace, and one end of diagonal brace is fixedly connected with the middle part of camera fixed plate 12, diagonal brace it is another
End is fixedly connected with the middle part of syringe fixed plate 13.
It is in an acute angle in further embodiment of the present invention, between two syringes 5, the brush head 51 of two syringes 5 is set down,
By adjust paw support 1 angle so that two syringes 5 one of them straight down, realize two kinds paint between it is fast
The function of speed switching.The angle specifically opened between two syringes 5 can specifically be set according to actual conditions.
In further embodiment of the present invention, two syringes 5 are respectively varnish cylinder and priming paint cylinder.
In further embodiment of the present invention, camera 2 is 2D cameras.
Preferred embodiments of the present invention are the foregoing is only, embodiments of the present invention and protection model is not thereby limited
Enclose, to those skilled in the art, should can appreciate that made by all utilization description of the invention and diagramatic content
Scheme obtained by equivalent substitution and obvious change, should be included in protection scope of the present invention.
Claims (9)
- The paw 1. a kind of robot glass is painted, it is characterised in that including：One paw support, the side of the paw support, which is provided with the downside of a camera, the camera, is fixed with a camera light source；Two syringe supports, syringe support described in two, which is arranged on the opposite side of the paw support, each syringe support, to be divided A syringe is not clamped with, and the lower end of the syringe is fixed with brush head；Some floating guiding bars, pass through some floating guiding bar phases between each syringe support and the paw support Connection.
- The paw 2. robot glass according to claim 1 is painted, it is characterised in that the paw support is integral type knot Structure, the paw support is in " Z " font, and the paw support includes：One bracket fixing plate, the bracket fixing plate is horizontally disposed with；One camera fixed plate, the camera fixed plate is vertically arranged, upper end and the bracket fixing plate of the camera fixed plate One end be fixedly connected, the side of the downside of the camera fixed plate is fixed with the camera, and the camera and the support are solid Fixed board is located at the same side；One syringe fixed plate, the syringe fixed plate is horizontally disposed with, one end of the syringe fixed plate and the camera fixed plate Lower end be fixedly connected, the syringe fixed plate be located at the camera fixed plate relative to the bracket fixing plate opposite side, The syringe fixed plate and some floating guiding bar slidable connections.
- The paw 3. robot glass according to claim 2 is painted, it is characterised in that each floating guiding bar is wrapped Include：The syringe fixed plate is run through in one guide rod, the upside of the guide rod, and the guide rod can with the syringe fixed plate It is slidably connected, the upper end of the guide rod is formed with a limited block, and the lower end of the guide rod is fixed with the syringe support to be connected Connect；One spring, the spring is set on the guide rod, and the upper end of the spring is fixedly connected with the limited block, described The lower end of spring is fixedly connected with the syringe support.
- The paw 4. robot glass according to claim 3 is painted, it is characterised in that the syringe fixed plate is relative to institute State the both sides of the width of the other end of camera fixed plate has side plate respectively, is provided with below each side plate Syringe support described in one, is connected between each the syringe support and the side plate by some guide rods.
- The paw 5. robot glass according to claim 4 is painted, it is characterised in that each syringe support with it is described It is connected between side plate by guide rod described in two.
- The paw 6. robot glass according to claim 6 is painted, it is characterised in that the camera fixed plate and the pin Reinforcement is additionally provided between cylinder fixed plate.
- The paw 7. robot glass according to claim 1 is painted, it is characterised in that sharp in one between syringe described in two Angle, the hairbrush of syringe described in two is set upside down.
- The paw 8. robot glass according to claim 1 is painted, it is characterised in that syringe described in two is respectively varnish cylinder With priming paint cylinder.
- The paw 9. robot glass according to claim 1 is painted, it is characterised in that the camera is 2D cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465609.XA CN107139186B (en) | 2017-06-19 | 2017-06-19 | Robot glass painting paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710465609.XA CN107139186B (en) | 2017-06-19 | 2017-06-19 | Robot glass painting paw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107139186A true CN107139186A (en) | 2017-09-08 |
| CN107139186B CN107139186B (en) | 2023-09-12 |
Family
ID=59781700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710465609.XA Active CN107139186B (en) | 2017-06-19 | 2017-06-19 | Robot glass painting paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107139186B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247613A (en) * | 2018-02-12 | 2018-07-06 | 上海发那科机器人有限公司 | A kind of both hands pawl |
| CN110507383A (en) * | 2019-07-23 | 2019-11-29 | 江苏黛希芬生物科技有限公司 | A kind of Novel medical plasma end effector mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2655768A1 (en) * | 2008-02-29 | 2009-08-29 | Gerhard Froehlich | Arrangement for the coating of workpieces |
| CN101954341A (en) * | 2009-07-21 | 2011-01-26 | 上海发那科机器人有限公司 | Automobile roof coating robot sucker claw |
| CN202910869U (en) * | 2012-10-26 | 2013-05-01 | 东风本田发动机有限公司 | Paws of robot |
| CN106345644A (en) * | 2016-09-19 | 2017-01-25 | 东莞市尔必地机器人有限公司 | Spray manipulator device |
| CN207387669U (en) * | 2017-06-19 | 2018-05-22 | 上海发那科机器人有限公司 | A kind of robot glass japanning paw |
-
2017
- 2017-06-19 CN CN201710465609.XA patent/CN107139186B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2655768A1 (en) * | 2008-02-29 | 2009-08-29 | Gerhard Froehlich | Arrangement for the coating of workpieces |
| CN101954341A (en) * | 2009-07-21 | 2011-01-26 | 上海发那科机器人有限公司 | Automobile roof coating robot sucker claw |
| CN202910869U (en) * | 2012-10-26 | 2013-05-01 | 东风本田发动机有限公司 | Paws of robot |
| CN106345644A (en) * | 2016-09-19 | 2017-01-25 | 东莞市尔必地机器人有限公司 | Spray manipulator device |
| CN207387669U (en) * | 2017-06-19 | 2018-05-22 | 上海发那科机器人有限公司 | A kind of robot glass japanning paw |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247613A (en) * | 2018-02-12 | 2018-07-06 | 上海发那科机器人有限公司 | A kind of both hands pawl |
| CN108247613B (en) * | 2018-02-12 | 2024-01-23 | 上海发那科机器人有限公司 | Double-hand claw |
| CN110507383A (en) * | 2019-07-23 | 2019-11-29 | 江苏黛希芬生物科技有限公司 | A kind of Novel medical plasma end effector mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107139186B (en) | 2023-09-12 |
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