CN108356844A - A kind of manipulator fast replacing device and quick change method for capturing glass - Google Patents
A kind of manipulator fast replacing device and quick change method for capturing glass Download PDFInfo
- Publication number
- CN108356844A CN108356844A CN201810366518.5A CN201810366518A CN108356844A CN 108356844 A CN108356844 A CN 108356844A CN 201810366518 A CN201810366518 A CN 201810366518A CN 108356844 A CN108356844 A CN 108356844A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- handgrip
- glass
- fast replacing
- replacing device
- 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.)
- Pending
Links
- 239000011521 glass Substances 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000008676 import Effects 0.000 claims abstract description 5
- 238000000926 separation method Methods 0.000 claims abstract description 5
- 239000011148 porous material Substances 0.000 claims description 5
- 238000005086 pumping Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 238000009423 ventilation Methods 0.000 claims description 3
- 238000004146 energy storage Methods 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of manipulator fast replacing devices and quick change method for capturing glass, belong to field of mechanical technique.It solves the problems, such as that the manipulator for being currently used for crawl glass can cannot be replaced.This is used to capture the manipulator fast replacing device of glass, including several length difference and for the handgrip with the detachable connection of manipulator, there are the handgrip several to be used to capture the vacuum cup of glass, it is characterized in that, the fast replacing device includes fixing end and the movable end that is arranged on each handgrip, the fixing end with manipulator for being fixedly connected with, it is detachably connected by pneuma-lock mechanism between the movable end and fixing end, and the fixing end has for using gas import for pneuma-lock mechanism gas supply, the movable end, which has, to be exported for vacuumizing with gas.It is detachably connected by pneuma-lock mechanism, and the separation of movable end and fixing end may be implemented after it is died, so as to carry out quick-replaceable to the handgrip of different length.
Description
Technical field
The invention belongs to field of mechanical technique, are related to a kind of robot device, especially a kind of machine for capturing glass
The quick-moving changing device of tool and quick change method.
Background technology
Glass automatic production line can automatically be cut, conveyed, transported and packed to glass, need band in transhipment
Suctorial manipulator is captured, and the existing manipulator with sucker is that pneumatic device is often integrated to ensure air-tightness
The non-removable structure of formula, and due to the use demand of client in glass production, the size that glass is cut is often different, when
When transhipment crawl, too short manipulator cannot capture large-sized glass, and long manipulator then can accidentally grab coherent submitting
Follow-up glass, causes maloperation.
Invention content
The purpose of the present invention is there is the above problem in view of the prior art, it is proposed that a kind of machinery for capturing glass
Quick-moving changing device and quick change method, it the technical problem to be solved is that how to enable for capture the manipulator of glass into
Row quick-replaceable adapts to the glass crawl demand of different sizes.
Object of the invention can be realized by the following technical scheme：A kind of manipulator for capturing glass changes the outfit soon
It sets, including several length are different and for the handgrip with the detachable connection of manipulator, the handgrip has several use
In the vacuum cup of crawl glass, which is characterized in that the fast replacing device includes fixing end and the activity that is arranged on each handgrip
End, the fixing end are detachable by pneuma-lock mechanism between the movable end and fixing end for being fixedly connected with manipulator
Connection, and the fixing end has for using gas import, the movable end to have true for taking out for pneuma-lock mechanism gas supply
Empty is exported with gas.
Fast replacing device is detachably connected by pneuma-lock mechanism, and movable end and fixation may be implemented after it is died
The separation at end, so as to carry out quick-replaceable to the handgrip of different length.
Above-mentioned in capturing the manipulator fast replacing device of glass, passing through electromagnetism between the movable end and fixing end
Retaining mechanism is connected, and the fixing end has for using electrical interface for the power supply of electromagnetic locking mechanism.Electromagnetism electromagnetic locking machine
Structure can further lock movable end and fixing end, simultaneously because electromagnetic locking mechanism is also detachable structure,
Quick-replaceable can be realized after power-off.
Above-mentioned in capturing the manipulator fast replacing device of glass, the end face of the fixing end and the end face of movable end
Against being connected, and the end face of the movable end is made as conical surface protrude towards fixing end, the end face of the fixing end with it is upper
State the groove that the conical surface matches.Fixing end and movable end are made as discoid, and after fixing end is powered, electromagnetic locking mechanism starts
Work, movable end are fixing end under magneticaction, are calibrated automatically to position.
Above-mentioned in capturing the manipulator fast replacing device of glass, the handgrip to be inhaled in strip, each vacuum
Disk is arranged along the length direction interval of manipulator.
It is mutually interconnected above-mentioned in capturing the manipulator fast replacing device of glass, the front end and both sides of the handgrip to have
Logical air exhaust duct, the vacuum cup is separately positioned on the front end and both sides of handgrip, and vacuum cup passes through ventilating column and pumping
Road is connected.Each vacuum cup is distributed in by Position Design on non-same straight line, can avoid the glass of crawl that side occurs
It moves.
Above-mentioned in capturing the manipulator fast replacing device of glass, the pneuma-lock mechanism to include cylinder and top
Bar, the air passage that connection air exhaust duct is provided in the movable end and is exported with gas, the air passage are vertically plugged with connection block,
There is the connection block intercommunicating pore, one end of the mandril to be connected with the piston rod of cylinder, and the other end is resisted against connection block
The other end of one end end, the connection block is connected with resetting spring.
Above-mentioned in capturing the manipulator fast replacing device of glass, the pneuma-lock mechanism and the electromagnetic locking
Mechanism is powered respectively by non-interference power supply one and power supply two.It can ensure pneuma-lock mechanism and electromagnetic locking machine
Structure will not simultaneously switch off connection, to ensure the connection reliability of movable end and fixing end.
Above-mentioned in capturing the manipulator fast replacing device of glass, the power supply one and/or power supply two to be UPS electricity
Source.Ups power, i.e. uninterruptible power supply are that one kind containing energy storage device, using inverter as the constant voltage constant frequency of chief component
Uninterruptible power supply is powered by ups power and can further ensure that pneuma-lock mechanism and electromagnetic locking mechanism will not be same
When disconnect.
A kind of quick change method of manipulator fast replacing device applied to above-mentioned crawl glass, which is characterized in that by following step
Rapid composition：
Step a, manipulator is moved at handgrip to be assembled, and after fixing end and movable end align, energization makes
It obtains movable end and handgrip is adsorbed onto on manipulator；
Step b, ventilation is so that movable end and fixing end are further locked；
Step c, it dies so that movable end and fixing end initial gross separation；
Step d, power-off is so that handgrip and manipulator are mutually disengaged.
Above-mentioned in capturing the manipulator quick change method of glass, in step b, after ventilation, the air exhaust duct of handgrip to be logical
Being exported with gas in movable end is crossed with vacuum pumping pump to be connected.
Compared with prior art, the present invention can realize handgrip and machinery by pneumatic locking device and electromagnetic locking device
The fast assembling-disassembling of hand, while vacuum pumping can also could be carried out after ensureing to connect, it is safe.
Description of the drawings
Fig. 1 is the structural schematic diagram one of the present invention.
Fig. 2 is the structural schematic diagram two of the present invention.
Fig. 3 is the sectional view of the present invention.
Fig. 4 is the structural schematic diagram one that the present invention is connected with long handgrip.
Fig. 5 is the structural schematic diagram two that the present invention is connected with long handgrip.
Fig. 6 is the structural schematic diagram one that the present invention is connected with short handgrip.
Fig. 7 is the structural schematic diagram two that the present invention is connected with short handgrip.
In figure, 1, handgrip；2, vacuum cup；3, fixing end；4, movable end；5, with gas import；6, it is exported with gas；7, it is evacuated
Road；8, ventilating column；9, cylinder；10, mandril；11, air passage；12, it is connected to block；121, intercommunicating pore；13, resetting spring；14, electricity consumption
Interface；15, intake valve；16, electromagnetism ring 16；17, iron hoop is positioned.
Specific implementation mode
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
- Fig. 3 referring to Fig.1, the present embodiment are a kind of manipulator fast replacing device for capturing glass, including several length
Different and for the handgrip 1 with the detachable connection of manipulator, there are handgrip 1 several to be used to capture the vacuum cup of glass
2, fast replacing device includes fixing end 3 and the movable end 4 that is arranged on each handgrip 1, and fixing end 3 is for the connecting flange with manipulator
It is fixedly connected with, is detachably connected by electromagnetic locking mechanism and pneuma-lock mechanism between movable end 4 and fixing end 3, and fixing end 3
It is living with using electrical interface 14 with gas import 5 and for what is powered for electromagnetic locking mechanism for what is supplied for pneuma-lock mechanism
Moved end 4 has exports 6 for vacuumizing with gas.
Specifically, the end face of fixing end 3 and the end face of movable end 4 be against being connected, and the end face of movable end 4 is made as towards solid
The conical surface that fixed end 3 is protruded, the end face of fixing end 3 have the groove to match with the above-mentioned conical surface.
In conjunction with Fig. 4-Fig. 7, handgrip 1 is in strip, and the front end and both sides of handgrip 1 have interconnected air exhaust duct 7, vacuum
Sucker 2 is separately positioned on the front end and both sides of handgrip 1, and vacuum cup 2 is connected by ventilating column 8 with air exhaust duct 7, each vacuum
Sucker 2 is arranged along the length direction interval of manipulator, and each vacuum cup 22 is distributed in non-same straight line by Position Design
On, it can avoid the glass of crawl that sidesway occurs.
Specifically, electromagnetic locking mechanism includes the positioning iron hoop positioned at the electromagnetism ring 16 of fixing end 3 and positioned at movable end 4
17, positioning iron hoop 17 is identical with the structure of electromagnetism ring 16, in the same size, can be further to movable end 4 during absorption
It is corrected with the position of fixing end 3, can better ensure that the location consistency after movable end 4 is connected with fixing end 3.Pneumatically
Retaining mechanism includes cylinder 9 and mandril 10, and connection air exhaust duct 7 and the air passage 11 with gas outlet 6 are provided in movable end 4, is led to
Air flue 11 is vertically plugged with connection block 12, and connection block 12 has intercommunicating pore 121, one end of mandril 10 and the piston rod phase of cylinder 9
Connection, the other end are resisted against one end end of connection block 12, and the other end of connection block 12 is connected with resetting spring 13.
Pneuma-lock mechanism and electromagnetic locking mechanism are powered respectively by non-interference power supply one and power supply two.Electricity
At least one in source one and power supply two is ups power, is powered by setting ups power and can further ensure that pneuma-lock
Mechanism and electromagnetic locking mechanism will not simultaneously switch off connection.
The quick change method of the manipulator fast replacing device of this crawl glass is as follows：
Step a, manipulator is moved at handgrip 1 to be assembled, after fixing end 3 and movable end 4 align, is powered
So that electromagnetic locking mechanism connection makes movable end 4 and required handgrip 1 be adsorbed onto on manipulator；
Step b, ventilate, the piston rod of cylinder 9 will be connected to block 12 by mandril 10 and inwardly push up, movable end 4 and fixing end 3 into
One step is locked, at this time so that the intercommunicating pore 121 on connection block 12 is connected with air passage 11, and the air exhaust duct 7 of handgrip 1 passes through work
Being connected with vacuum pumping pump with gas outlet 6 in moved end 4；
Step c, it after operation, dies, the related mandril 10 of piston rod of cylinder 9 bounces back, and connection block 12 is in resetting spring
13 effects are lower to be resetted, and air passage 11 is closed, while 3 initial gross separation of movable end 4 and fixing end；
Step d, power-off is so that handgrip 1 and manipulator are mutually disengaged.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of manipulator fast replacing device for capturing glass, including several length are different and are used for detachable with manipulator
The handgrip (1) of connection is replaced, there are the handgrip (1) several to be used to capture the vacuum cup (2) of glass, which is characterized in that
The fast replacing device includes the movable end (4) of fixing end (3) and setting on each handgrip (1), and the fixing end (3) is used for and machine
Tool palmistry is connected, and is detachably connected by pneuma-lock mechanism between the movable end (4) and fixing end (3), and the fixation
End (3) has for using gas import (5), the movable end (4) to have the use for vacuumizing for pneuma-lock mechanism gas supply
Gas exports (6).
2. the manipulator fast replacing device according to claim 1 for capturing glass, which is characterized in that the movable end
(4) it is connected by electromagnetic locking mechanism between fixing end (3), the fixing end (3) has for being electromagnetic locking mechanism
Electrical interface (14) is used in power supply.
3. the manipulator fast replacing device according to claim 2 for capturing glass, which is characterized in that the fixing end
(3) end face and the end face of movable end (4) are against being connected, and the end face of the movable end (4) is made as protruding towards fixing end (3)
The conical surface, the end face of the fixing end (3) has the groove to match with the above-mentioned conical surface.
4. the manipulator fast replacing device according to claim 3 for capturing glass, which is characterized in that the handgrip (1)
In strip, each vacuum cup (2) is arranged along the length direction interval of manipulator.
5. the manipulator fast replacing device according to claim 4 for capturing glass, which is characterized in that the handgrip (1)
Front end and both sides there is interconnected air exhaust duct (7), the vacuum cup (2) be separately positioned on handgrip (1) front end and
Both sides, and vacuum cup (2) is connected by ventilating column (8) with air exhaust duct (7).
6. the manipulator fast replacing device according to claim 5 for capturing glass, which is characterized in that the pneuma-lock
Mechanism includes cylinder (9) and mandril (10), and connection air exhaust duct (7) is provided in the movable end (4) and exports the logical of (6) with gas
Air flue (11), the air passage (11) are vertically plugged with connection block (12), and the connection block (12) has intercommunicating pore (121), institute
The one end for stating mandril (10) is connected with the piston rod of cylinder (9), and the other end is resisted against one end end of connection block (12), described
The other end of connection block (12) is connected with resetting spring (13).
7. the manipulator fast replacing device according to claim 1 for capturing glass, which is characterized in that the pneuma-lock
Mechanism and the electromagnetic locking mechanism are powered respectively by non-interference power supply one and power supply two.
8. the manipulator fast replacing device according to claim 7 for capturing glass, which is characterized in that the power supply one
And/or power supply two is ups power.Ups power, i.e. uninterruptible power supply are that one kind containing energy storage device, with inverter for main group
At the uninterruptible power supply of the constant voltage constant frequency of part, be powered by ups power can further ensure that pneuma-lock mechanism and
Electromagnetic locking mechanism will not simultaneously switch off connection.
9. a kind of quick change method of manipulator fast replacing device applied to above-mentioned crawl glass, which is characterized in that by following steps
Composition：
Step a, manipulator is moved at handgrip to be assembled (1), after fixing end (3) and movable end (4) align, leads to
Electricity is so that movable end (4) and handgrip (1) are adsorbed onto on manipulator；
Step b, ventilation is so that movable end (4) and fixing end (3) are further locked；
Step c, it dies so that movable end (4) and fixing end (3) initial gross separation；
Step d, power-off is so that handgrip (1) and manipulator are mutually disengaged.
10. the manipulator quick change method according to claim 7 for capturing glass, which is characterized in that in step b, lead to
After gas, the air exhaust duct (7) of handgrip (1) with gas outlet (6) in movable end (4) with vacuum pumping pump by being connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366518.5A CN108356844A (en) | 2018-04-23 | 2018-04-23 | A kind of manipulator fast replacing device and quick change method for capturing glass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366518.5A CN108356844A (en) | 2018-04-23 | 2018-04-23 | A kind of manipulator fast replacing device and quick change method for capturing glass |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108356844A true CN108356844A (en) | 2018-08-03 |
Family
ID=63009432
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810366518.5A Pending CN108356844A (en) | 2018-04-23 | 2018-04-23 | A kind of manipulator fast replacing device and quick change method for capturing glass |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108356844A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732630A (en) * | 2019-01-11 | 2019-05-10 | 武汉中安佳通装备技术有限公司 | A kind of contact network cantilever clamp for assembling |
| CN110171711A (en) * | 2019-05-15 | 2019-08-27 | 安徽胜利精密制造科技有限公司 | A kind of spider sucker and its replacement tooling |
| CN112743563A (en) * | 2020-12-14 | 2021-05-04 | 联宝(合肥)电子科技有限公司 | Assembly structure and assembly method for tail end of manipulator |
| CN116141361A (en) * | 2022-12-16 | 2023-05-23 | 滁州康佳精密智造科技有限公司 | Change convenient robot paw device |
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| CN208529133U (en) * | 2018-04-23 | 2019-02-22 | 福莱特玻璃集团股份有限公司 | It is a kind of for grabbing the manipulator fast replacing device of glass |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109732630A (en) * | 2019-01-11 | 2019-05-10 | 武汉中安佳通装备技术有限公司 | A kind of contact network cantilever clamp for assembling |
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| CN116141361A (en) * | 2022-12-16 | 2023-05-23 | 滁州康佳精密智造科技有限公司 | Change convenient robot paw device |
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