CN107139186B - Robot glass painting paw - Google Patents
Robot glass painting paw Download PDFInfo
- Publication number
- CN107139186B CN107139186B CN201710465609.XA CN201710465609A CN107139186B CN 107139186 B CN107139186 B CN 107139186B CN 201710465609 A CN201710465609 A CN 201710465609A CN 107139186 B CN107139186 B CN 107139186B
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- CN
- China
- Prior art keywords
- fixing plate
- camera
- needle cylinder
- bracket
- paw
- 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.)
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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 robot glass painting paw, which comprises a paw support, wherein a camera is arranged on one side of the paw support, and a camera light source is fixed on the lower side of the camera; the two needle cylinder brackets are arranged on the other side of the paw bracket, each needle cylinder bracket is respectively provided with a needle cylinder, and the lower end of the needle cylinder is fixed with a brush head; the needle cylinder support and the paw support are connected through the floating guide rods. According to the invention, automatic painting can be realized through the arrangement of the two needle cylinders, replacement between the needle cylinders can be realized through rotating the angle of the hand claw, the needle cylinders can keep constant pressure relative to the glass through the floating needle cylinders, and cracking caused by overlarge pressure between the needle cylinders and the glass is prevented.
Description
Technical Field
The invention relates to the technical field of glass painting, in particular to a glass painting paw.
Background
Lacquered glass, also known as baking-coated glass, lacquered glass, including spraying a varnish for cleaning the periphery of the glass and a primer to ensure sufficient adhesion of the subsequently applied glass cement to the glass. Lacquered glass and other glass requiring surface treatment require automated painting operations by robots. However, the existing equipment on the market is high in price, complex in structure, free of floating structures and high in subsequent maintenance cost. Many times, therefore, the coating is performed manually.
Disclosure of Invention
In view of the above-mentioned problems, an object of the present invention is to provide a robot glass painting gripper.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a robotic glass painting gripper, comprising: a camera is arranged on one side of the paw support, and a camera light source is fixed on the lower side of the camera; the two needle cylinder brackets are arranged on the other side of the paw bracket, each needle cylinder bracket is respectively provided with a needle cylinder, and the lower end of each needle cylinder is fixedly provided with a brush head; the needle cylinder support and the paw support are connected through the floating guide rods.
Foretell robot glass lacquer paw, wherein, the paw support is integrated into one piece structure, the paw support is "Z" style of calligraphy, the paw support includes: the bracket fixing plate is horizontally arranged; the camera fixing plate is vertically arranged, the upper end of the camera fixing plate is fixedly connected with one end of the bracket fixing plate, the camera is fixed on the side face of the lower side of the camera fixing plate, and the camera and the bracket fixing plate are positioned on the same side; the needle cylinder fixing plate is horizontally arranged, one end of the needle cylinder fixing plate is fixedly connected with the lower end of the camera fixing plate, the needle cylinder fixing plate is positioned on the other side of the camera fixing plate opposite to the support fixing plate, and the needle cylinder fixing plate is slidably connected with the floating guide rods.
The robot glass painting gripper described above, wherein each of the floating guide bars comprises: the upper side of the guide rod penetrates through the needle cylinder fixing plate, the guide rod is in sliding connection with the needle cylinder fixing plate, a limiting block is formed at the upper end of the guide rod, and the lower end of the guide rod is fixedly connected with the needle cylinder bracket; the spring is sleeved on the guide rod, the upper end of the spring is fixedly connected with the limiting block, and the lower end of the spring is fixedly connected with the needle cylinder bracket.
The robot glass painting paw comprises a camera fixing plate, a needle cylinder fixing plate, a plurality of guide rods and a plurality of needle cylinder supports, wherein the lateral plates are respectively arranged on two sides of the needle cylinder fixing plate in the width direction relative to the other end of the camera fixing plate, the needle cylinder supports are arranged below the lateral plates, and the needle cylinder supports are connected with the lateral plates through the guide rods.
The robot glass painting paw is characterized in that each needle cylinder bracket is connected with the side plate through two guide rods.
The robot glass painting paw is characterized in that a reinforcing rib is further arranged between the camera fixing plate and the needle cylinder fixing plate.
The robot glass painting paw comprises two needle cylinders, wherein an acute angle is formed between the two needle cylinders, and the brush heads of the two needle cylinders are arranged downwards.
The robot glass painting paw comprises two needle cylinders which are respectively a varnish cylinder and a primer cylinder.
The robot glass painting paw is characterized in that the camera is a 2D camera.
The invention adopts the technology, so that compared with the prior art, the invention has the positive effects that:
(1) According to the invention, automatic painting can be realized through the arrangement of the two needle cylinders, replacement between the needle cylinders can be realized through rotating the angle of the hand claw, the needle cylinders can keep constant pressure relative to the glass through the floating needle cylinders, and cracking caused by overlarge pressure between the needle cylinders and the glass is prevented.
Drawings
Fig. 1 is a perspective view of a robotic glass painting gripper of the present invention.
In the accompanying drawings: 1. a paw support; 11. a bracket fixing plate; 12. a camera fixing plate; 13. a needle cylinder fixing plate; 131. a side plate; 14. reinforcing ribs; 2. a camera; 3. a camera light source; 4. a needle cylinder bracket; 5. a needle cylinder; 51. a brush head; 6. a floating guide bar; 61. a guide rod; 62. and (3) a spring.
Detailed Description
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
Fig. 1 is a perspective view of a robotic glass painting hand of the present invention, and referring to fig. 1, there is shown a robotic glass painting hand of a preferred embodiment, comprising: the camera is characterized in that the camera support 1 is provided with a camera 2 on one side of the camera support 1, and a camera light source 3 is fixed on the lower side of the camera 2.
Furthermore, as a preferred embodiment, the robot glass painting gripper further comprises: the two needle cylinder brackets 4 are arranged on the other side of the paw bracket 1, each needle cylinder bracket 4 is respectively provided with a needle cylinder 5, and the lower end of the needle cylinder 5 is fixed with a brush head 51. The paint in the cylinder 5 is uniformly brushed onto the glass by the bristles 51.
In addition, as a preferred embodiment, the robot glass painting gripper further comprises: and a plurality of floating guide rods 6, wherein each needle cylinder bracket 4 is connected with the paw bracket 1 through the plurality of floating guide rods 6.
Further, as a preferred embodiment, the gripper frame 1 is of an integral structure, the gripper frame 1 is in a zigzag shape, and the gripper frame 1 includes: a support fixing plate 11, wherein the support fixing plate 11 is horizontally arranged. The robot glass painting paw is fixedly connected with the mechanical arm through the bracket fixing plate 11.
Further, as a preferred embodiment, the paw support 1 further comprises: the camera fixing plate 12 is vertically arranged, the upper end of the camera fixing plate 12 is fixedly connected with one end of the bracket fixing plate 11, the camera 2 is fixed on the side face of the lower side of the camera fixing plate 12, and the camera 2 and the bracket fixing plate 11 are located on the same side.
Still further, as a preferred embodiment, the paw support 1 further comprises: the needle cylinder fixing plate 13 is horizontally arranged, one end of the needle cylinder fixing plate 13 is fixedly connected with the lower end of the camera fixing plate 12, the needle cylinder fixing plate 13 is positioned on the other side of the camera fixing plate 12 opposite to the bracket fixing plate 11, and the needle cylinder fixing plate 13 is slidably connected with the plurality of floating guide rods 6.
Furthermore, as a preferred embodiment, each floating guide bar 6 comprises: the upper side of the guide rod 61 penetrates through the needle cylinder fixing plate 13, the guide rod 61 is slidably connected with the needle cylinder fixing plate 13, a limiting block is formed at the upper end of the guide rod 61, and the lower end of the guide rod 61 is fixedly connected with the needle cylinder support 4. The guide rod 61 can slide up and down with respect to the cylinder fixing plate 13.
In addition, as a preferred embodiment, each floating guide bar 6 further comprises: the spring 62 is sleeved on the guide rod 61, the upper end of the spring 62 is fixedly connected with the limiting block, and the lower end of the spring 62 is fixedly connected with the syringe bracket 4. The guide rod 61 can float upwards under the condition that the needle cylinder 5 is stressed by the spring 62, so that excessive force on the glass to be painted is avoided, and when the stress of the needle cylinder 5 is eliminated, the spring 62 can restore the guide rod 61 to the original position.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the embodiments and the protection scope of the present invention.
The present invention has the following embodiments based on the above description:
in a further embodiment of the present invention, two lateral sides of the syringe fixing plate 13 in the width direction opposite to the other end of the camera fixing plate 12 are respectively provided with a lateral plate 131, a syringe bracket 4 is disposed under each lateral plate 131, and each syringe bracket 4 is connected with the lateral plate 131 through a plurality of guide rods 61.
In a further embodiment of the present invention, each syringe support 4 is connected to the side plate 131 by two guide rods 61, preferably, the two guide rods 61 are located on both sides of one syringe support 4, so that the syringe support 4 can keep balance on both sides when receiving upward force of the syringe 5, and the freedom of the syringe 5 in a certain angle is realized by the floating of the two guide rods 51, i.e. the syringe 5 can swing in a certain direction left and right as in fig. 1, so that the irregular surface shape of some glass to be painted can be adapted.
In a further embodiment of the present invention, a reinforcing rib 14 is further disposed between the camera fixing plate 12 and the needle cylinder fixing plate 13, the reinforcing rib 14 preferably adopts a diagonal brace structure, one end of the diagonal brace is fixedly connected with the middle part of the camera fixing plate 12, and the other end of the diagonal brace is fixedly connected with the middle part of the needle cylinder fixing plate 13.
In a further embodiment of the invention, the two needle cylinders 5 are arranged at an acute angle, the brush heads 51 of the two needle cylinders 5 are arranged downwards, and one of the two needle cylinders 5 is vertically downwards by adjusting the angle of the paw support 1, so that the function of rapid switching between two paints is realized. The specific opening angle between the two syringes 5 can be set according to the actual situation.
In a further embodiment of the invention, the two cylinders 5 are respectively a varnish cylinder and a primer cylinder.
In a further embodiment of the invention, the camera 2 is a 2D camera.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A robotic glass painting gripper, comprising:
a camera is arranged on one side of the paw support, and a camera light source is fixed on the lower side of the camera;
the two needle cylinder brackets are arranged on the other side of the paw bracket, each needle cylinder bracket is respectively provided with a needle cylinder, and the lower end of each needle cylinder is fixedly provided with a brush head;
the needle cylinder support and the paw support are connected through the floating guide rods;
the hand claw support is integrated into a whole structure, the hand claw support is "Z" style of calligraphy, the hand claw support includes:
the bracket fixing plate is horizontally arranged;
the camera fixing plate is vertically arranged, the upper end of the camera fixing plate is fixedly connected with one end of the bracket fixing plate, the camera is fixed on the side face of the lower side of the camera fixing plate, and the camera and the bracket fixing plate are positioned on the same side;
the needle cylinder fixing plate is horizontally arranged, one end of the needle cylinder fixing plate is fixedly connected with the lower end of the camera fixing plate, the needle cylinder fixing plate is positioned on the other side of the camera fixing plate opposite to the support fixing plate, and the needle cylinder fixing plate is slidably connected with the floating guide rods.
2. The robotic glass painting gripper of claim 1, wherein each of the floating guide bars comprises:
the upper side of the guide rod penetrates through the needle cylinder fixing plate, the guide rod is in sliding connection with the needle cylinder fixing plate, a limiting block is formed at the upper end of the guide rod, and the lower end of the guide rod is fixedly connected with the needle cylinder bracket;
the spring is sleeved on the guide rod, the upper end of the spring is fixedly connected with the limiting block, and the lower end of the spring is fixedly connected with the needle cylinder bracket.
3. The robot glass painting paw according to claim 2, wherein two sides of the syringe fixing plate in the width direction opposite to the other end of the camera fixing plate are respectively provided with a side plate, one syringe bracket is arranged below each side plate, and each syringe bracket is connected with the side plate through a plurality of guide rods.
4. A robotic glazing gripper according to claim 3, wherein each syringe support is connected to the side plate by two guide bars.
5. The robotic glass painting gripper of claim 4, wherein a stiffener is further provided between the camera mounting plate and the syringe mounting plate.
6. The robotic glass painting gripper of claim 1, wherein the two syringes are disposed with the bristles facing downward at an acute angle therebetween.
7. The robotic glass painting gripper of claim 1, wherein the two syringes are a varnish cartridge and a primer cartridge, respectively.
8. The robotic glass painting gripper of claim 1, wherein the camera is a 2D camera.
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 CN107139186A (en) | 2017-09-08 |
| CN107139186B true CN107139186B (en) | 2023-09-12 |
Family
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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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107139186A (en) | 2017-09-08 |
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