CN107984485A - A kind of grip device of coated glass gripping manipulator - Google Patents
A kind of grip device of coated glass gripping manipulator Download PDFInfo
- Publication number
- CN107984485A CN107984485A CN201711246245.2A CN201711246245A CN107984485A CN 107984485 A CN107984485 A CN 107984485A CN 201711246245 A CN201711246245 A CN 201711246245A CN 107984485 A CN107984485 A CN 107984485A
- Authority
- CN
- China
- Prior art keywords
- clamp hand
- gripping
- support plate
- glass
- fixed
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03C—CHEMICAL COMPOSITION OF GLASSES, GLAZES OR VITREOUS ENAMELS; SURFACE TREATMENT OF GLASS; SURFACE TREATMENT OF FIBRES OR FILAMENTS MADE FROM GLASS, MINERALS OR SLAGS; JOINING GLASS TO GLASS OR OTHER MATERIALS
- C03C17/00—Surface treatment of glass, not in the form of fibres or filaments, by coating
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- General Chemical & Material Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Materials Engineering (AREA)
- Organic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of grip device of coated glass gripping manipulator, including multiple gripping folders, substrate, support plate, photoelectric recognition device, substrate is connected with the mechanical arm of coated glass gripping manipulator, support crab bolt is fixed on substrate, for multiple gripping folder distributing installations in support plate surrounding and between support plate and substrate, photoelectric recognition device is fixed on the side of support plate along upper；Gripping folder includes clamp hand, clamp hand stent and pneumatic device, and pneumatic device is fixed on support back, and clamp hand is fixed on pneumatic device, realizes the clamping of clamp hand by pneumatic device driving and unclasps, clamp hand can move in the space that clamp hand stent is surrounded.The present invention can clamp glass from side, will not touch glass surface, ensure the cleaning of glass surface, and clamping force is appropriate.
Description
Technical field
The present invention relates to a kind of grip device of coated glass gripping manipulator, it is mainly used for the production process of coated glass
In, for the glass before and after plated film to be captured by mechanical arm, while make coating film on glass up (there cannot be any contact),
It is placed into glass carrier vehicle.
Background technology
Coated glass is widely used in the industries such as building, automobile, decorations, furniture, computer cell phone screen.Coated glass
It is to use vacuum coating technology, in glass surface coating one or more layers metal, alloy or metal compound film, to change glass
The optical property of glass, to meet the requirement in some performances.But during before and after the coating film on glass, either carry or place
All need the cleaning on guarantee coating film on glass surface.Traditional coating process carrys out moving glass, it is necessary to use using sucking disc type mechanical hand
The reverse side (i.e. non-coated surface) of sucker suction glass, is then transported to designated position, but this method is it is difficult to ensure that glass surface
Cleaning, reduce coating quality.
The content of the invention
In order to ensure the cleaning of glass surface, make smoothly be transported to designated position before and after coating film on glass, the present invention carries
Go out a kind of grip device of coated glass gripping manipulator, it can clamp glass from side, will not touch glass surface, ensure
The cleaning of glass surface, clamping force is appropriate, is unlikely to make glass (thickness 0.3-1.1mm) folder occur and splits or be caught broken etc. damage, and
It can accurately and effectively realize glass handling.
The purpose of invention adopts the following technical scheme that realization, with reference to attached drawing：
A kind of grip device of coated glass gripping manipulator, including multiple gripping folders, substrate 2, support plate 3, photoelectricity are known
Other device 6, substrate 2 are connected with the mechanical arm of coated glass gripping manipulator, and 3 bolt of support plate is fixed on a substrate 2, support plate
Gap is left between 3 and 2 plane of substrate, multiple gripping folder distributing installations in 3 surrounding of support plate and are located at support plate 3 and substrate 2
Between, photoelectric recognition device 6 is fixed on the side of support plate 3 along upper, for judging whether clamp hand 1 grips glass；It is each described
Gripping folder includes clamp hand 1, clamp hand stent 4 and pneumatic device 5, and pneumatic device 5 is fixed on 3 back side of support plate, and clamp hand 1 is fixed on gas
On dynamic device 5, driven by pneumatic device 5 and realize the clamping of clamp hand 1 and unclasp, 4 one end of clamp hand stent is fixed on outside support plate 3
Lateral edges, the other end are fixed on 2 inside edge of substrate, and clamp hand 1 can move in the space that clamp hand stent 4 is surrounded.
Further, the clamp hand 1 is made of collet 7, spring 9, mandril 8, the front portion that collet 7 presss from both sides for gripping, and mandril 8 is
The rear portion of folder is gripped, mandril 8 is socketed with collet 7, and spring 9 is equipped between collet 7 and mandril 8.
Further, 7 front end of collet, which is used to gripping the head of glass, is serrated, after the first half of sawtooth is less than
Half part, sawtooth both sides junction are equipped with rectangular channel, the position as gripping glass.
Further, two parts, are fixed together by the corresponding position perforate in collet 7 and mandril 8 with bolt, and
Hole on collet 7 is slot hole, collet 7 is moved relative to mandril 8.
Further, pneumatic device 5 includes air compressor machine, air inlet-outlet pipe, single-acting formula cylinder, and single-acting formula cylinder is installed on
The back side of support plate 3, the piston portion of the clamp hand 1 and single-acting formula cylinder are fixed, and clamp hand is realized by the movement of piston
Clamping and unclasp.
Compared with prior art the beneficial effects of the invention are as follows：
1. compared with sucked type, glass surface is not contacted, ensures that glass surface is clean, ensures the quality of plated film.
2. clamping force is appropriate, guarantee cannot make glass come off, and cannot occur that clamping force is excessive to cause glass to split
Line or the damage of fragmentation.
3. can be accurate to the position up to glass crawl, glass is accurately gripped, and be accurately put into designated position.
Brief description of the drawings
Fig. 1 is apparatus of the present invention axonometric drawing；
Fig. 2 is clamp hand decomposition axonometric drawing；
Fig. 3 is clamp hand axonometric drawing；
Fig. 4 (a) is clamp hand assembling front view；
Fig. 4 (b) is clamp hand assembling front view；
Fig. 5 fixes detail view for gripping folder with piston；
Fig. 6 (a) is the rack front view for being used to place glass after capturing；
Fig. 6 (b) is the rack side view for being used to place glass after capturing；
Fig. 7 (a) is coated glass gripping manipulator structure front view；
Fig. 7 (b) is coated glass gripping manipulator structural side view.
Embodiment
The grip device of the present invention includes three parts, when gripping body, second, identification mechanism, third, motion control machine
Structure.Identification mechanism is by installing photoelectric recognition device, identifying whether there is glass；Motion control mechanism be using pneumatic principle come
The action realized the clamping of gripping body and unclasped；The structure of gripping body is the core content of the present invention.Below in conjunction with attached drawing
Technical scheme is discussed in detail：
As shown in Figure 1, a kind of grip device of coated glass gripping manipulator, comprising：Gripping folder, photoelectric recognition device 6,
Wherein, gripping folder includes clamp hand 1, substrate 2, support plate 3, clamp hand stent 4 and pneumatic device 5.Clamp hand 1 is bolted on gas
On dynamic device 5, specifically it is integrally fixed on the piston of executive component single-acting formula cylinder of pneumatic device 5, passes through piston
Move to realize the clamping of clamp hand and unclasp, clamp glass edge with clamp hand, avoid and touch coated glass surface；Clamp hand
4 one end of stent is fixed by bolts to 3 outer ledge of support plate, and another side is fixed on 2 inside edge of substrate.Clamp hand 1 can be in clamp hand
With piston motion in the space that stent 4 is surrounded.At the same time in the side of support plate 3 along upper fixed photoelectric recognition device 6, for judging
Whether fixture clips to glass.Support plate 3 is fixed on a substrate 2 with stay bolt, should be left between support plate 3 and substrate 2 enough
Pneumatic device 5 is placed in gap；Pneumatic device 5 is fixed on the back side of support plate 2, substrate 2 and coated glass gripping manipulator
Mechanical arm connects.Whole device is to realize the automatic transporting of glass.
As shown in Figure 2, Figure 3, Figure 4, clamp hand 1 is made of collet 7, spring 9,8 three parts of mandril, and collet 7 is gripping folder
Front portion, for shape as shown in Fig. 2, the head that collet 7 is used to grip glass in front end should make zigzag, the first half of sawtooth should
Slightly below latter half, sawtooth both sides junction should polish the rectangular channel of about 1.3mm or so one wide, as gripping glass
Position.The rear portion that mandril 8 presss from both sides for gripping, mandril 8 are socketed with collet 7, spring 9 are equipped between collet 7 and mandril 8, in collet 7
With the corresponding position perforate of mandril 8, two parts are fixed together with bolt, and the hole on collet 7 is slot hole, makes collet 7 can
Moved relative to mandril 8.The screw thread of M6 is equipped with the cylindrical end of mandril 8, for gripping folder threaded connection to be fixed on pneumatic device 5
On.Spring 9 selects the less spring of coefficient of elasticity, also to ensure that spring can only do the flexible of vertical direction, will not rotate.
Spring 9 is placed in collet 7, and then mandril 8 is pressed on spring 9.Installation spring can realize the flexible of gripping folder, the reason is that
Picked up coated glass very thin thickness, generally in 0.3-1.1mm, in order not to damage glass during gripping, gripping is pressed from both sides
Make can carry out it is flexible.The material of gripping folder is aluminium alloy.In whole device, 6 gripping folders, 6 gripping folders need to be installed
It is arranged in 2 edge of substrate.
2 structure of substrate is box body, and material is aluminium alloy.The effect of substrate 2 is to connect mechanical arm, while clamp hand stent 4 one
Side is fixed on the inside edge of substrate 2, and support plate 3 is fixed on the middle part of substrate 2.
Support plate 3 is planar structure, and surface is rectangle, and material is aluminium alloy.It is fixed by bolts on support cover, bolt
Spread pattern is circular array.Stay bolt connecting substrate 2 is used on four angles of support plate 3.Respectively pacify in the long side of support plate 3
Two clamp hands 1 are filled, a clamp hand 1 is respectively installed on short side.Distance between two clamp hands 1 should be solid in advance according to the size for gripping glass
Set.
The fixed clip hand stent 4 on the four edges of support plate 3, makes clamp hand 1 in the space that clamp hand stent 4 is surrounded with work
Fill in reciprocating.This rectangular configuration is as shown in Figure 6.4 one end of clamp hand stent is fixed on the outer ledge of support plate 3, the other end
The inside edge of substrate 2 is fixed on, bearing is connected with.Each pickup folder is both needed to be furnished with a clamp hand stent, therefore
It is each in two long sides to fix two, it is each on two short sides to fix one.Clamp hand timbering material is aluminium alloy.
In addition, the present invention needs motion control mechanism to control collet, and control mechanism is realized using pneumatic principle.
Pneumatic device 5 mainly includes air compressor machine, air inlet-outlet pipe, single-acting formula cylinder etc..Single-acting formula cylinder is installed on the back of the body of support plate 3
Face.Single-acting formula cylinder is the executive component of pneumatic device, and the piston portion at the collet 8 of clamp hand 1 with single-acting formula cylinder is consolidated
It is fixed, therefore in the cylindrical portion of collet 8, to set up the screw thread of M6 separately be exactly to be fixed with piston portion, then is fixed tightly with bolt.Clamp hand 1 is transported
Dynamic principle：In cylinder side, supply cumulative produces air pressure during gripping, promotes piston motion, since clamp hand is fixed on piston,
Clamp hand is with piston to movement.6 cylinders are needed to be used for connecting 6 clamp hands.
Photoelectric recognition device 6 is installed on the side of support plate 3 along upper using stent, for judging whether mechanical arm grips glass
Glass, while signal is transmitted to glass carrier vehicle, signal receiving device is also provided with glass carrier vehicle, for receiving the letter of glass in place
Number, and promptly glass, at this time, the fixture on mechanical arm can unclamp, and continue to capture next block of glass.Photoelectric recognition device is known
The principle of other glass is：Photoelectric recognition device be by by light intensity change transitions for the change of electric signal come realize its control work(
Energy.First, the continual transmitting light beam of the transmitter alignment target of photoelectric recognition device, when there is glass, receiver receives anti-
Irradiating light beam, and the control system that electric signal is transmitted to manipulator is translated into, manipulator is come into operation.
It should be noted that pneumatic device 5 and photoelectric recognition device 6 are not required to be designed, only need to buy, install, debug
The function can be realized after good.
In addition, glass is placed in glass carrier vehicle after glass gripping.Also consolidated in glass carrier vehicle using same device
Determine glass, therefore details are not described herein for the device in glass carrier vehicle.
After whole device of the present invention assembles, the clamp device course of work is：Glass conveyer transports glass in place
Afterwards, photoelectric recognizer is housed on glass conveyer, after photoelectric recognizer has recognized glass in place, signal is sent to mechanical arm,
Mechanical arm starts running after being connected to signal, stops after reaching designated position, and pneumatic device is started to work, and cylinder piston promotes clamp hand
Gripping glass is removed, photoelectric recognition device, which recognizes, grabs glass, and mechanical arm operating, glass carrier vehicle position is transported to by glass,
Behind in-position, a signal is sent to glass carrier vehicle.The reception device being equipped with the same time in glass carrier vehicle receives signal, stretches out folder
Hand clamps glass, while the clamp hand on mechanical arm unclamps, and mechanical arm continues return crawl glass.
Above procedure realizes the automation of glass gripping, ensure that the cleaning of glass surface, while glass can be from
Damage.
Claims (5)
1. a kind of grip device of coated glass gripping manipulator, it is characterised in that including multiple gripping folders, substrate (2), support
Plate (3), photoelectric recognition device (6), substrate (2) are connected with the mechanical arm of coated glass gripping manipulator, and support plate (3) bolt is solid
It is scheduled on substrate (2), gap is left between support plate (3) and substrate (2) plane, multiple gripping folder distributing installations are in support plate
(3) surrounding and between support plate (3) and substrate (2), photoelectric recognition device (6) are fixed on the side of support plate (3) along upper, use
To judge whether clamp hand (1) grips glass；Each gripping folder includes clamp hand (1), clamp hand stent (4) and pneumatic device
(5), pneumatic device (5) is fixed on support plate (3) back side, and clamp hand (1) is fixed on pneumatic device (5), is passed through pneumatic device (5)
Driving realizes the clamping of clamp hand (1) and unclasps that clamp hand stent (4) one end is fixed on support plate (3) outer ledge, and the other end is fixed
In substrate (2) inside edge, moved in the space that clamp hand (1) can be surrounded in clamp hand stent (4).
A kind of 2. grip device of coated glass gripping manipulator as claimed in claim 1, it is characterised in that the clamp hand
(1) it is made of collet (7), spring (9), mandril (8), collet (7) is the front portion of gripping folder, and mandril (8) is the rear portion of gripping folder,
Mandril (8) is socketed with collet (7), and spring (9) is equipped between collet (7) and mandril (8).
A kind of 3. grip device of coated glass gripping manipulator as claimed in claim 2, it is characterised in that the collet
(7) front end is serrated for gripping the head of glass, and the first half of sawtooth is less than latter half, and sawtooth both sides junction is set
There is rectangular channel, the position as gripping glass.
4. a kind of grip device of coated glass gripping manipulator as claimed in claim 2, it is characterised in that described in collet
(7) and mandril (8) corresponding position perforate, two parts are fixed together with bolt, and the hole on collet (7) is slot hole, is made
Collet (7) can be mobile relative to mandril (8).
A kind of 5. grip device of coated glass gripping manipulator as claimed in claim 1, it is characterised in that the pneumatic dress
Putting (5) includes air compressor machine, air inlet-outlet pipe, single-acting formula cylinder, and single-acting formula cylinder is installed on the back side of support plate (3), described
Clamp hand (1) and the piston portion of single-acting formula cylinder are fixed, and are realized the clamping of clamp hand by the movement of piston and are unclasped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711246245.2A CN107984485B (en) | 2017-12-01 | 2017-12-01 | Coated glass presss from both sides fixture device who gets manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711246245.2A CN107984485B (en) | 2017-12-01 | 2017-12-01 | Coated glass presss from both sides fixture device who gets manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107984485A true CN107984485A (en) | 2018-05-04 |
| CN107984485B CN107984485B (en) | 2021-04-02 |
Family
ID=62034976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711246245.2A Active CN107984485B (en) | 2017-12-01 | 2017-12-01 | Coated glass presss from both sides fixture device who gets manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN107984485B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11254374A (en) * | 1998-03-10 | 1999-09-21 | Toray Ind Inc | Substrate carrying hand, substrate carrying method, and device and method for manufacturing color filter |
| CN102126612A (en) * | 2011-01-18 | 2011-07-20 | 东莞宏威数码机械有限公司 | Position correcting device |
| CN202321564U (en) * | 2011-08-18 | 2012-07-11 | 浙江正泰太阳能科技有限公司 | Equipment for feeding thin film battery glass substrate |
| CN104108605A (en) * | 2014-07-08 | 2014-10-22 | 深圳市华星光电技术有限公司 | Glass substrate taking and placing device |
| CN204701900U (en) * | 2015-04-09 | 2015-10-14 | 拓志光机电股份有限公司 | Clipping handling fixture |
| CN205312632U (en) * | 2016-01-27 | 2016-06-15 | 天津中晟达科技有限公司 | Plate glass presss from both sides and gets device |
| CN106903668A (en) * | 2017-04-18 | 2017-06-30 | 武汉知青年教育咨询有限公司 | A kind of universal mechanical arm robot teaching aid |
-
2017
- 2017-12-01 CN CN201711246245.2A patent/CN107984485B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11254374A (en) * | 1998-03-10 | 1999-09-21 | Toray Ind Inc | Substrate carrying hand, substrate carrying method, and device and method for manufacturing color filter |
| CN102126612A (en) * | 2011-01-18 | 2011-07-20 | 东莞宏威数码机械有限公司 | Position correcting device |
| CN202321564U (en) * | 2011-08-18 | 2012-07-11 | 浙江正泰太阳能科技有限公司 | Equipment for feeding thin film battery glass substrate |
| CN104108605A (en) * | 2014-07-08 | 2014-10-22 | 深圳市华星光电技术有限公司 | Glass substrate taking and placing device |
| CN204701900U (en) * | 2015-04-09 | 2015-10-14 | 拓志光机电股份有限公司 | Clipping handling fixture |
| CN205312632U (en) * | 2016-01-27 | 2016-06-15 | 天津中晟达科技有限公司 | Plate glass presss from both sides and gets device |
| CN106903668A (en) * | 2017-04-18 | 2017-06-30 | 武汉知青年教育咨询有限公司 | A kind of universal mechanical arm robot teaching aid |
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| Publication number | Publication date |
|---|---|
| CN107984485B (en) | 2021-04-02 |
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