CN108340390A - A kind of loading and unloading of hot-bending machine and glass inspecting manipuator - Google Patents
A kind of loading and unloading of hot-bending machine and glass inspecting manipuator Download PDFInfo
- Publication number
- CN108340390A CN108340390A CN201810146093.7A CN201810146093A CN108340390A CN 108340390 A CN108340390 A CN 108340390A CN 201810146093 A CN201810146093 A CN 201810146093A CN 108340390 A CN108340390 A CN 108340390A
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- China
- Prior art keywords
- ontology
- glass
- hot
- bending machine
- fixed
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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
- B25J15/0052—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
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
-
- 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
Abstract
A kind of loading and unloading of hot-bending machine and glass inspecting manipuator solve existing hot-bending machine line outer circulation work and are only capable of being worked long hours by being accomplished manually to will produce the problem of fatigue the present invention relates to hot-bending machine line outer mold cycle and glass defect detection manipulator.It includes ontology, manipulator connector, clamp assemblies, cantilever support, pick-up component and grabbing assembly；Ontology is plate body, and manipulator connector is fixed on the edges of boards of ontology upper end, and clamp assemblies are arranged in a plate face of ontology, and cantilever support, pick-up component and grabbing assembly are arranged in another plate face of ontology；The side that sheet glass is clamped by clamp assemblies, carries out cleaning to sheet glass, sheet glass is sucked by pick-up component, and transport is carried out to sheet glass, passes through grabbing assembly crawl, cleaning and positioning mold upper cover.Since invention replaces artificial, outer circulation work only needs 30 seconds or so time, meets the beat requirement of hot-bending machine technology.
Description
Technical field
The present invention relates to hot-bending machine line outer mold cycle and glass defect detection manipulators, belong to glass processing device
Field.
Background technology
Hot-bending machine line outer mold recycle and glass defect detection with manipulator be complete hot-bending machine line outer mold carry and glass
Glass detects and the integrating device of gripping.It can carry out the carrying, cleaning, positioning of mold and glass life clinker when glass heat bending machining
Gripping, cleaning, positioning and placement and clinker glass defect detection.Hot-bending machine line outer circulation at present works only by artificial
It completes.The outer circulation work being accomplished manually takes around 45 seconds.With the development of hot-bending machine technology, pressing mold pitch time constantly contracts
Short, line outer circulation work is relatively difficult by being accomplished manually, and cannot meet the requirement of the prior art, and artificial long-time high-frequency
Work will produce fatigue.
Invention content
The purpose of the present invention is to solve existing hot-bending machine line outer circulation work to be only capable of by being accomplished manually, and cannot meet existing
There is the beat requirement of hot-bending machine technology, and artificial long-time high-frequency operation will produce the problem of fatigue, to provide one kind
The loading and unloading of hot-bending machine and glass inspecting manipuator.
A kind of loading and unloading of hot-bending machine of the present invention and glass inspecting manipuator, including ontology (1), manipulator connector
(10), clamp assemblies (2), cantilever support (4), pick-up component (5) and grabbing assembly (6)；
Ontology (1) is plate body, and manipulator connector (10) is fixed on the edges of boards of ontology (1) upper end, and clamp assemblies (2) are set
It sets in a plate face of ontology (1), cantilever support (4), pick-up component (5) and grabbing assembly (6) are arranged in the another of ontology (1)
In one plate face；
Clamp assemblies (2) are made of hold assembly and tilting member, and the hold assembly is realized clamping and loosens sheet glass
Action, the tilting member realizes that driving hold assembly lifts the action of station in pendency station or side；The tilting member
Static part fitting is fixed on the plate body of ontology (1)；
One end of cantilever support (4) is fixed in the plate face of ontology (1), the other end and pick-up component of cantilever support (4)
(5) it is connected, the pick-up component (5) with sucker (5-1), which has, is parallel to ontology (1) and two works perpendicular to ontology (1)
Position is to realize that the sheet glass posture that sucker (5-1) is drawn changes；
The static part fitting of grabbing assembly (6) is fixed under the plate face of ontology (1) on one side of something, the folder of grabbing assembly (6)
It attaches together to set and sentences realization to the clamping of glass forming die upper cover outside the lower end edges of boards for extending downwardly ontology (1) and loosen.
At work, the manipulator connector (10) in the present invention is connect with articulated arm robots.Pass through ontology (1) and pass
Six axis connection of joint arm robot can realize 360 degree rotation, meet each position demand.Sheet glass is clamped by clamp assemblies (2)
Side, carries out cleaning to sheet glass, sheet glass is sucked by pick-up component (5), carries out transport to sheet glass, passes through
Grabbing assembly (6) crawl, cleaning and positioning mold upper cover.Since invention replaces manpower intervention, outer circulation work only needs
30 seconds or so time met the beat requirement of hot-bending machine technology, solves artificial long-time high-frequency operation and will produce fatigue
The problem of.
Description of the drawings
Fig. 1 is a kind of loading and unloading of hot-bending machine as viewed from a direction and the structural schematic diagram of glass inspecting manipuator；
Fig. 2 is a kind of loading and unloading of hot-bending machine as viewed from another direction and the structural representation of glass inspecting manipuator
Figure；
Fig. 3 is a kind of loading and unloading of hot-bending machine and the structural schematic diagram of glass inspecting manipuator clamp assemblies；
Fig. 4 is a kind of loading and unloading of hot-bending machine and the structural schematic diagram of glass inspecting manipuator pick-up component；
Fig. 5 is a kind of loading and unloading of hot-bending machine and the structural schematic diagram of glass inspecting manipuator grabbing assembly；
Fig. 6 is the A direction views of Fig. 3；
Fig. 7 is the working state schematic representation of specific implementation mode five.
Specific implementation mode
Specific implementation mode one：Present embodiment is illustrated in conjunction with Fig. 1 to Fig. 5, a kind of hot-bending machine of present embodiment
Loading and unloading and glass inspecting manipuator, including ontology (1), manipulator connector (10), clamp assemblies (2), cantilever support (4),
Pick-up component (5) and grabbing assembly (6)；
Ontology (1) is plate body, and manipulator connector (10) is fixed on the edges of boards of ontology (1) upper end, and clamp assemblies (2) are set
It sets in a plate face of ontology (1), cantilever support (4), pick-up component (5) and grabbing assembly (6) are arranged in the another of ontology (1)
In one plate face；
Clamp assemblies (2) are made of hold assembly and tilting member, and the hold assembly is realized clamping and loosens sheet glass
Action, the tilting member realizes that driving hold assembly lifts the action of station in pendency station or side；The tilting member
Static part fitting is fixed at the left and right middle separated time on the plate body of ontology (1) and positioned at plate body；
One end of cantilever support (4) is fixed in the plate face of ontology (1), the other end and pick-up component of cantilever support (4)
(5) it is connected, the pick-up component (5) with sucker (5-1), which has, is parallel to ontology (1) and two works perpendicular to ontology (1)
Position is to realize that the sheet glass posture that sucker (5-1) is drawn changes；
The static part fitting of grabbing assembly (6) is fixed on half of upper and positioned at plate body left and right under the plate face of ontology (1)
At middle separated time, the clamping device of grabbing assembly (6) extends downwardly and sentences realization to forming of glass outside the lower end edges of boards of ontology (1)
It mold upper cover clamping and loosens.
So set, manipulator connector (10) is connect with the articulated arm robots positioned at its top, ontology (1) plate body
Divide equally workpiece in two plate faces, and grabbing assembly (6) pendency meets setting for mechanical requirements and manipulator to the bottom end of plate body
Count principle.
Specific implementation mode two：Present embodiment is illustrated in conjunction with Fig. 3.Present embodiment is to specific implementation mode one
A kind of loading and unloading of hot-bending machine and glass inspecting manipuator are described further, in present embodiment, clamp assemblies (2)
Middle tilting member includes tilt cylinder (2-1) and link (2-2), and hold assembly includes pneumatic gripping finger (2-3), clamping jaw (2-4) and prevents
Protection pad (2-5)；One end of link (2-2) is fixed in the rotation part of tilt cylinder (2-1), and the other end of link (2-2) is solid
It is scheduled on the shell of pneumatic gripping finger (2-3), clamping jaw (2-4) is fixed in the pneumatic part of pneumatic gripping finger (2-3), protective pad (2-
5) it is fixed on the front end of clamping jaw (2-4).Pneumatic gripping finger (2-3) drives clamping jaw (2-4) and protective pad (2-5) to complete the folder of glass
It takes and places, pneumatic gripping finger (2-3) is controlled by tilt cylinder (2-1) by link (2-2) and swings respective angles.
The present invention completes the gripping of raw material glass by tilt cylinder and the cooperation of pneumatic gripping finger, clears up and put work, compares
Manual operation, radius of clean-up bigger, primary completion action is more, and positioning accuracy is high.
Specific implementation mode three：Present embodiment is illustrated in conjunction with Fig. 4.Present embodiment is to specific implementation mode one
A kind of loading and unloading of hot-bending machine and glass inspecting manipuator are described further, in present embodiment, pick-up component by
Tilt cylinder (5-1), connecting plate (5-2), Change-over frame (5-3) and sucker (5-4) composition；The rotation of connecting plate (5-2) and tilt cylinder (5-1)
Part is mutually fixed, and one end of Change-over frame (5-3) is fixed on connecting plate (5-2), and sucker (5-4) is arranged in Change-over frame (5-3)
On the other end.
Sucker (5-4) flip angle drives connecting plate (5-2) and Change-over frame (5-3) to complete by tilt cylinder (5-1).
The present invention has controlled the absorption of pair glass by tilt cylinder and sucker combination and has put, and can regulate and control to inhale by sucker
The size of power taking degree, tilt cylinder can adjust swing position, and positioning accuracy is high, and absorption is soft, and stability is good.
Specific implementation mode four：Present embodiment is illustrated in conjunction with Fig. 5.Present embodiment is to specific implementation mode one
A kind of loading and unloading of hot-bending machine and glass inspecting manipuator are described further, in present embodiment, grabbing assembly packet
Include parallel cylinder (6-1), clamping plate connector (6-2) and clamping plate (6-3) composition；The outer wall of cylinder block of parallel cylinder (6-1) is fixed on
Under the plate face of ontology (1) on one side of something, one end of clamping plate connector (6-2) is connected on the pneumatic part of parallel cylinder (6-1), folder
The other end of plate connector (6-2) is connected to the middle of clamping plate (6-3) length direction, is driven and is pressed from both sides by parallel cylinder (6-1)
Crawl and release to mold are completed in plate connector (6-2) control.
The present invention drives clamping plate crawl, cleaning and positioning glass-pane shaping mold upper cover by parallel cylinder, with artificial hand
It holds operation operation to compare, the present invention saves and manually picks and places material and cleaning link, efficient.
Specific implementation mode five：Present embodiment is illustrated in conjunction with Fig. 3,6 and 7.Present embodiment is to specific implementation
A kind of loading and unloading of hot-bending machine described in mode two and glass inspecting manipuator are described further, in present embodiment, protection
It is polyurethane material to pad (2-5), and clamping jaw (2-4) is aluminum alloy materials, and the protective pad (2-5) is strip, protective pad (2-5)
Front surface (2-5-1) be plane, protective pad (2-5) is fixed on by screw 2-6 on clamping jaw (2-4).
One purpose of clamp assemblies (2) the gripping glass plate is cleaned, is hidden for convenience for cleaning panes face
The area for blocking glass surface is the smaller the better, therefore two pieces of protective pads are provided opposite to, and clamping the end face of glass plate makes holding area
It is minimum.Polyurethane material has certain intensity and certain deformability, can guarantee with the contact area of glass plate end face most
Glass plate is clamped while big.
Specific implementation mode six：Present embodiment is illustrated in conjunction with Fig. 1.Present embodiment is to specific implementation mode one
A kind of loading and unloading of hot-bending machine and glass inspecting manipuator are described further, and further include camera in present embodiment
(3), camera (3) is fixed in the plate face of ontology (1), and camera lens is completed towards the fixed glass plate of grabbing assembly (6) institute to ripe
Expect the detection of glass defect.
The present invention detects clinker glass, detection speed is fast, precision is high by loading high definition camera.
Specific implementation mode seven：Present embodiment is illustrated in conjunction with Fig. 5.Present embodiment is to specific implementation mode four
A kind of loading and unloading of hot-bending machine and glass inspecting manipuator are described further, and present embodiment further includes non-slip mat
(6-4), the non-slip mat (6-4) are fixed on the inner surface of the end clamping plate (6-3) of strip, the material of non-slip mat (6-4)
Matter is polyurethane material, and clamping plate (6-3) is aluminum alloy materials.
Grabbing assembly (6) is in order to clamp glass-pane shaping mold upper cover, since clamping plate (6-3) is aluminum alloy materials, directly
Shaping dies upper cover is contacted to be easy to slip, so with non-slip mat (6-4), increasing friction force.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.
Claims (9)
1. loading and unloading and the glass inspecting manipuator of a kind of hot-bending machine, which is characterized in that it includes ontology (1), manipulator connection
Body (10), clamp assemblies (2), cantilever support (4), pick-up component (5) and grabbing assembly (6)；
Ontology (1) is plate body, and manipulator connector (10) is fixed on the edges of boards of ontology (1) upper end, and clamp assemblies (2) setting exists
In one plate face of ontology (1), cantilever support (4), pick-up component (5) and grabbing assembly (6) setting ontology (1) another
In plate face；
Clamp assemblies (2) are made of hold assembly and tilting member, and the hold assembly is realized clamping and loosens the dynamic of sheet glass
Make, the tilting member realizes that driving hold assembly lifts the action of station in pendency station or side；The static state of the tilting member
Part fitting is fixed on the plate body of ontology (1)；
One end of cantilever support (4) is fixed in the plate face of ontology (1), the other end and pick-up component (5) phase of cantilever support (4)
Connection, with sucker (5-1) pick-up component (5) have be parallel to ontology (1) and perpendicular to ontology (1) two stations with reality
The sheet glass posture that existing sucker (5-1) is drawn changes；
The static part fitting of grabbing assembly (6) is fixed under the plate face of ontology (1) on one side of something, and the clamping of grabbing assembly (6) fills
It sets and sentences realization to the clamping of glass forming die upper cover outside the lower end edges of boards for extending downwardly ontology (1) and loosen.
2. loading and unloading and the glass inspecting manipuator of a kind of hot-bending machine according to claim 1, which is characterized in that the folder
The static state for holding the tilting member of component (2) is partially located at the left and right middle separated time of plate body.
3. loading and unloading and the glass inspecting manipuator of a kind of hot-bending machine according to claim 1, which is characterized in that crawl group
The static state of part (6) is partially located at the left and right middle separated time of plate body.
4. loading and unloading and the glass inspecting manipuator of a kind of hot-bending machine according to claim 1, which is characterized in that clamping group
The tilting member of part (2) includes tilt cylinder (2-1) and link (2-2), and the hold assembly of clamp assemblies (2) includes pneumatic gripping finger
(2-3), clamping jaw (2-4) and protective pad (2-5)；One end of link (2-2) is fixed in the rotation part of tilt cylinder (2-1), even
The other end for connecing frame (2-2) is fixed on the shell of pneumatic gripping finger (2-3), and clamping jaw (2-4) is fixed on the gas of pneumatic gripping finger (2-3)
In dynamic part, protective pad (2-5) is fixed on the front end of clamping jaw (2-4).
5. loading and unloading and the glass inspecting manipuator of a kind of hot-bending machine according to claim 1, which is characterized in that absorption group
Part is made of tilt cylinder (5-1), connecting plate (5-2), Change-over frame (5-3) and sucker (5-4)；Connecting plate (5-2) and tilt cylinder (5-1)
Rotation part is mutually fixed, and one end of Change-over frame (5-3) is fixed on connecting plate (5-2), and sucker (5-4) is arranged in Change-over frame (5-
3) on the other end.
6. loading and unloading and the glass inspecting manipuator of a kind of hot-bending machine according to claim 1, which is characterized in that crawl group
Part includes parallel cylinder (6-1), clamping plate connector (6-2) and clamping plate (6-3) composition；The outer wall of cylinder block of parallel cylinder (6-1) is solid
It is scheduled under the plate face of ontology (1) on one side of something, one end of clamping plate connector (6-2) is connected to the pneumatic part of parallel cylinder (6-1)
On, the other end of clamping plate connector (6-2) is connected to the middle of clamping plate (6-3) length direction.
7. loading and unloading and the glass inspecting manipuator of a kind of hot-bending machine according to claim 4, which is characterized in that protective pad
(2-5) is polyurethane material, and clamping jaw (2-4) is aluminum alloy materials, and the protective pad (2-5) is strip, protective pad (2-5)
Front surface (2-5-1) is plane, and protective pad (2-5) is fixed on by screw 2-6 on clamping jaw (2-4).
8. loading and unloading and the glass inspecting manipuator of a kind of hot-bending machine according to claim 1, which is characterized in that it is also wrapped
Camera (3) is included, camera (3) is fixed in the plate face of ontology (1), and camera lens is towards the fixed glass plate of grabbing assembly (6) institute.
9. loading and unloading and the glass inspecting manipuator of a kind of hot-bending machine according to claim 6, which is characterized in that it is also wrapped
Non-slip mat (6-4) is included, the non-slip mat (6-4) is fixed on the inner surface of the end clamping plate (6-3) of strip, non-slip mat
The material of (6-4) is polyurethane material, and clamping plate (6-3) is aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810146093.7A CN108340390A (en) | 2018-02-12 | 2018-02-12 | A kind of loading and unloading of hot-bending machine and glass inspecting manipuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810146093.7A CN108340390A (en) | 2018-02-12 | 2018-02-12 | A kind of loading and unloading of hot-bending machine and glass inspecting manipuator |
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| Publication Number | Publication Date |
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| CN108340390A true CN108340390A (en) | 2018-07-31 |
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ID=62960256
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810146093.7A Pending CN108340390A (en) | 2018-02-12 | 2018-02-12 | A kind of loading and unloading of hot-bending machine and glass inspecting manipuator |
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Cited By (4)
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| CN110394824A (en) * | 2019-07-18 | 2019-11-01 | 南京航空航天大学 | A kind of double cylinder type mechanical paws grabbing irregularly shaped object |
| CN110615603A (en) * | 2019-09-27 | 2019-12-27 | 深圳市威雄精机有限公司 | 3D glass piece auxiliary production equipment |
| CN111745669A (en) * | 2019-03-29 | 2020-10-09 | 京瓷办公信息系统株式会社 | End effector device and robot device |
| CN114474113A (en) * | 2021-12-30 | 2022-05-13 | 歌尔股份有限公司 | End effector and mechanical arm |
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| CN114474113B (en) * | 2021-12-30 | 2024-04-09 | 歌尔股份有限公司 | End effector and mechanical arm |
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Application publication date: 20180731 |