CN107472909B - A kind of glass handling machine people with laser detection function - Google Patents
A kind of glass handling machine people with laser detection function Download PDFInfo
- Publication number
- CN107472909B CN107472909B CN201710640516.6A CN201710640516A CN107472909B CN 107472909 B CN107472909 B CN 107472909B CN 201710640516 A CN201710640516 A CN 201710640516A CN 107472909 B CN107472909 B CN 107472909B
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- China
- Prior art keywords
- clamping device
- plc controller
- attachment base
- glass
- joint axis
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/067—Sheet handling, means, e.g. manipulators, devices for turning or tilting sheet glass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- Manipulator (AREA)
Abstract
The invention discloses a kind of glass handling machine people with laser detection function, is related to the technical field of mechanical equipment；First joint shaft, second joint axis and clamping device are driven by the servo motor that fuselage interior is equipped with, and second joint axis top is connected to attachment base；The telescopic top passes through second joint axis and attachment base is cooperatively connected, and top is connected to cylinder；The clamping device is connected by shaft coupling with telescopic, is equipped with V-block on the inside of the clamping device both ends；The fuselage roof is connected to PLC controller；Combined aural and visual alarm is connected at the top of the PLC controller；The clamping device bottom is equipped with four laser heads being connected with PLC controller；The attachment base side is equipped with LED light；Robot manipulation of the present invention is simple, is damaged when carrying to glass small, and working efficiency and positioning accuracy are high, and glass position judgement is accurate, ensure that glass handling work long hours efficiently and stably carry out.
Description
Technical field
The present invention relates to the technical field of mechanical equipment, specifically a kind of glass handling machine with laser detection function
People.
Background technique
Manipulator is the certain holding functions that can imitate human arm, to by fixed routine crawl, carrying object or operation
The automatic pilot of tool.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can
The mechanization and automation of production are realized instead of the heavy labor of people, and can be operated under hostile environment, thus are answered extensively
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Transfer robot is produced by electric or pneumatic mode
Lively power alleviates the working strength of personnel to replace frequently manual carrying movement to a certain extent.Wherein, glass is removed
Fortune robot realizes automatic transporting of the glass from cleaning machine to baking oven, again by robot automatic transporting to conveying after glass baking
It takes.
However, with the development of science and technology transfer robot while continuously improving there is also certain drawbacks, such as it is existing
There is also following defects by some glass handling machine people:
1, the impact force that clamping device is generated when carrying is easy to damage glass；
2, staff's real-time perfoming is needed to operate, working efficiency is low, and the amount of labour is still very big；
3, positioning accuracy is low, and when carrying is easy to appear the deviation on position.
Summary of the invention
Goal of the invention: in order to overcome the above deficiency, the object of the present invention is to provide a kind of glass with laser detection function
Glass transfer robot, the robot manipulation is simple, is damaged when carrying to glass small, and working efficiency and positioning accuracy are high, glass
The judgement of glass position is accurate, ensure that glass handling work long hours efficiently and stably carry out.
Technical solution: in order to achieve the goal above, a kind of glass handling with laser detection function of the present invention
Robot includes fuselage, attachment base, telescopic, clamping device and PLC controller；First joint shaft both ends respectively with it is described
Fuselage, second joint axis are cooperatively connected, and first joint shaft, second joint axis and clamping device are set by fuselage interior
Some servo motor drivings, second joint axis top is connected to attachment base；The telescopic top pass through second joint axis with
Attachment base is cooperatively connected, and top is connected to cylinder；The clamping device is connected by shaft coupling with telescopic, the clamping device
V-block is equipped on the inside of both ends；The fuselage roof is connected to PLC controller；Sound-light alarm is connected at the top of the PLC controller
Device；The clamping device bottom is equipped with four laser heads being connected with PLC controller；The attachment base side is equipped with LED light.This
Invention carries out intelligent control to entire robot by PLC controller, and each joint shaft carries out accurately automatically according to PLC control program
Positioning is operated without staff's real-time perfoming, therefore work efficiency is high, and personnel's amount of labour is small；And it passes through in clamping machine
It is provided with the V-block of pad of silica gel on the inside of structure, to play good shock absorbing effect, clamping device is avoided and is removing
To the damage of glass when fortune；On the other hand, four laser rangings for utilizing clamping device bottom, to accurately judge glass
Posture and distance ensure that the quality of carrying, and when deviation occurs in positioning, combined aural and visual alarm makes an immediate response, to mention
Awake staff is adjusted in time, greatly ensure that glass handling work long hours efficiently and stably carry out；In addition its LED light
Good illumination effect greatly facilitates the monitoring of staff, further ensures the accuracy of carrying.
Heretofore described PLC controller has color touch display screen, and it is convenient that staff manipulates, can be in real time to machine
People's running parameter is monitored.
Heretofore described second joint axis bottom is equipped with the vision-based detection mechanism being connected with PLC controller.It passes through view
Testing agency is felt to identify the profile of glass, thus judge the specific location of glass, the accurate profile for determining glass, positioning accuracy
It is very high.
Heretofore described LED light end is equipped with self-luminous lampshade, and the inner wall of the self-luminous lampshade is covered with one layer by growing
Light emitting layer made of afterglow materials.Its self-luminous lampshade night illumination effect is good, greatly facilitates the behaviour of staff
Make, while significantly reducing load, it is low in cost.
Cooling body is equipped in the middle part of heretofore described clamping device；The cooling body passes through plastic tube, water pump and outer
Portion's water tank is connected, and the cooling body head can 360 ° of rotations.It is by rotatable cooling body in time to clamping device table
Face is rinsed, to play the role of good cool, it is therefore prevented that the generation of the fortuitous events such as fire, securely and reliably.
Heretofore described cooling body is equipped with regulating valve and protects well so as to the flow of precision controlling cooling liquid
Demonstrate,prove the effect to cool.
The utility model has the advantages that compared with prior art, the invention has the following advantages that
1, heretofore described a kind of glass handling machine people with laser detection function, passes through PLC controller
Intelligent control is carried out to entire robot, each joint shaft is accurately positioned automatically according to PLC control program, is not necessarily to staff
Real-time perfoming operation, therefore work efficiency is high, personnel's amount of labour is small；And it on the inside of clamping device by being provided with silica gel
The V-block of liner avoids damage of the clamping device when carrying to glass to play good shock absorbing effect.
2, heretofore described a kind of glass handling machine people with laser detection function, passes through vision testing machine
Structure identifies the profile of glass, to judge the specific location of glass, the accurate profile for determining glass, positioning accuracy is very high.
3, heretofore described a kind of glass handling machine people with laser detection function, LED light illuminating effect
It is good, the monitoring of staff is greatly facilitated, ensure that the accuracy of carrying；In addition its PLC controller is aobvious with color touch
Display screen, it is convenient that staff manipulates, and can be monitored in real time to robot running parameter.
4, heretofore described a kind of glass handling machine people with laser detection function utilizes clamping device bottom
Four laser rangings in portion ensure that the quality of carrying, and occur in positioning to accurately judge the posture and distance of glass
When deviation, combined aural and visual alarm makes an immediate response, so that staff be reminded to be adjusted in time, greatly ensure that glass handling work
Make efficiently and stably to carry out for a long time.
5, heretofore described a kind of glass handling machine people with laser detection function, by rotatable cold
But mechanism is in time rinsed clamping device surface, to play the role of good cool, it is therefore prevented that the meaning such as fire
The occurrence of outer, securely and reliably.
Detailed description of the invention
Fig. 1 is the overall structure diagram of robot in the present invention.
In figure: fuselage 1, the first joint shaft 2, second joint axis 3, attachment base 4, cylinder 5, telescopic 6, shaft coupling 7, LED
Lamp 8, clamping device 9, V-block 10, PLC controller 11, combined aural and visual alarm 12, cooling body 13, vision-based detection mechanism 14, laser
First 15.
Specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail, but illustrates protection scope of the present invention simultaneously simultaneously
It is not limited to the specific range of the present embodiment, based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
As shown in Figure 1, a kind of glass handling machine people with laser detection function of the present embodiment, include fuselage 1,
First joint shaft 2, second joint axis 3, attachment base 4, cylinder 5, telescopic 6, shaft coupling 7, LED light 8, clamping device 9, V-block
10, PLC controller 11, combined aural and visual alarm 12, cooling body 13, vision-based detection mechanism 14 and laser head 15.
The connection relationship of above-mentioned each component is as follows: matching respectively with the fuselage 1, second joint axis 3 at 2 both ends of the first joint shaft
Close connection, the servo motor of first joint shaft 2, second joint axis 3 and clamping device 9 by being equipped with inside fuselage 1
Driving, 3 top of second joint axis is connected to attachment base 4；6 top of telescopic passes through second joint axis 3 and matches with attachment base 4
Connection is closed, and top is connected to cylinder 5；The clamping device 9 is connected by shaft coupling 7 with telescopic 6,9 liang of the clamping device
End inside is equipped with V-block 10；PLC controller 11 is connected at the top of the fuselage 1；Acousto-optic is connected at the top of the PLC controller 11
Alarm 12；9 bottom of clamping device is equipped with four laser heads 15 being connected with PLC controller 11；4 side of attachment base
Equipped with LED light 8.
The PLC controller 11 has color touch display screen；3 bottom of second joint axis is equipped with and PLC controller
11 connected vision-based detection mechanisms 14.
8 end of LED light is equipped with self-luminous lampshade, and the inner wall of the self-luminous lampshade is covered with one layer by long-persistence luminous
Light emitting layer made of material.
Cooling body 13 is equipped in the middle part of the clamping device 9；The cooling body 13 passes through plastic tube, water pump and external water
Case is connected, and 13 head of cooling body can 360 ° of rotations；The cooling body 13 is equipped with regulating valve.
The embodiment of the present invention is given for the purpose of illustration and description, and is not exhaustively or by this to send out
It is bright to be limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Choosing
Selecting and describe embodiment is and to make those skilled in the art to more preferably illustrate the principle of the present invention and practical application
It will be appreciated that the present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (1)
1. a kind of glass handling machine people with laser detection function, it is characterised in that: include: fuselage (1), attachment base
(4), telescopic (6), clamping device (9) and PLC controller (11)；
First joint shaft (2) both ends are cooperatively connected with the fuselage (1), second joint axis (3) respectively, first joint shaft
(2), second joint axis (3) and clamping device (9) are driven by the servo motor being equipped with inside fuselage (1), and described second
Joint shaft (3) top is connected to attachment base (4)；Telescopic (6) top passes through second joint axis (3) and attachment base (4) and cooperates
Connection, and top is connected to cylinder (5)；The clamping device (9) is connected by shaft coupling (7) with telescopic (6), the clamping machine
V-block (10) are equipped on the inside of structure (9) both ends；PLC controller (11) are connected at the top of the fuselage (1)；
Combined aural and visual alarm (12) are connected at the top of the PLC controller (11)；Clamping device (9) bottom is equipped with to be controlled with PLC
Four connected laser heads (15) of device (11)；Attachment base (4) side is equipped with LED light (8)；PLC controller (11) band
Chromatic colour touch display screen；Second joint axis (3) bottom is equipped with the vision-based detection mechanism being connected with PLC controller (11)
(14)；LED light (8) end is equipped with self-luminous lampshade, and the inner wall of the self-luminous lampshade is covered with one layer by long-persistence luminous
Light emitting layer made of material；Cooling body (13) are equipped in the middle part of the clamping device (9)；The cooling body (13) passes through
Plastic tube, water pump are connected with outer tank, and cooling body (13) head can 360 ° of rotations；The cooling body (13) sets
There is regulating valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710640516.6A CN107472909B (en) | 2017-07-31 | 2017-07-31 | A kind of glass handling machine people with laser detection function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710640516.6A CN107472909B (en) | 2017-07-31 | 2017-07-31 | A kind of glass handling machine people with laser detection function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107472909A CN107472909A (en) | 2017-12-15 |
| CN107472909B true CN107472909B (en) | 2019-04-30 |
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ID=60597339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710640516.6A Active CN107472909B (en) | 2017-07-31 | 2017-07-31 | A kind of glass handling machine people with laser detection function |
Country Status (1)
| Country | Link |
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| CN (1) | CN107472909B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108906185A (en) * | 2018-07-06 | 2018-11-30 | 太仓市鼎祥五金制品厂 | A kind of Taw crushing apparatus with refrigerating function |
Citations (8)
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| US6741912B2 (en) * | 2001-07-02 | 2004-05-25 | Microbotic A/S | Flexible tool for handling small objects |
| KR20120009275A (en) * | 2010-07-23 | 2012-02-01 | 삼성중공업 주식회사 | Apparatus and method of pivot management for robot |
| CN105364927A (en) * | 2015-12-15 | 2016-03-02 | 天津立德尔智能装备科技有限公司 | Robot carrying visual system and robot carrying quick positioning method |
| CN105377513A (en) * | 2013-05-17 | 2016-03-02 | 罗信2002有限公司 | Head and automated mechanized method with vision |
| CN105699235A (en) * | 2016-04-28 | 2016-06-22 | 西安交通大学 | Gradient thermal shock test device based on halogen lamp cofocal heating technology |
| CN205816858U (en) * | 2016-06-21 | 2016-12-21 | 南昌工程学院 | A kind of shockproof from Cooling fixture radial drilling machine |
| CN205889185U (en) * | 2016-07-15 | 2017-01-18 | 长春职业技术学院 | Carrying robot |
| CN106607891A (en) * | 2015-10-21 | 2017-05-03 | 李仲男 | Travelling mechanical gripper |
-
2017
- 2017-07-31 CN CN201710640516.6A patent/CN107472909B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6741912B2 (en) * | 2001-07-02 | 2004-05-25 | Microbotic A/S | Flexible tool for handling small objects |
| KR20120009275A (en) * | 2010-07-23 | 2012-02-01 | 삼성중공업 주식회사 | Apparatus and method of pivot management for robot |
| CN105377513A (en) * | 2013-05-17 | 2016-03-02 | 罗信2002有限公司 | Head and automated mechanized method with vision |
| CN106607891A (en) * | 2015-10-21 | 2017-05-03 | 李仲男 | Travelling mechanical gripper |
| CN105364927A (en) * | 2015-12-15 | 2016-03-02 | 天津立德尔智能装备科技有限公司 | Robot carrying visual system and robot carrying quick positioning method |
| CN105699235A (en) * | 2016-04-28 | 2016-06-22 | 西安交通大学 | Gradient thermal shock test device based on halogen lamp cofocal heating technology |
| CN205816858U (en) * | 2016-06-21 | 2016-12-21 | 南昌工程学院 | A kind of shockproof from Cooling fixture radial drilling machine |
| CN205889185U (en) * | 2016-07-15 | 2017-01-18 | 长春职业技术学院 | Carrying robot |
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| Publication number | Publication date |
|---|---|
| CN107472909A (en) | 2017-12-15 |
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