CN108483044A - A kind of device automatically correcting an angle - Google Patents
A kind of device automatically correcting an angle Download PDFInfo
- Publication number
- CN108483044A CN108483044A CN201810510542.1A CN201810510542A CN108483044A CN 108483044 A CN108483044 A CN 108483044A CN 201810510542 A CN201810510542 A CN 201810510542A CN 108483044 A CN108483044 A CN 108483044A
- Authority
- CN
- China
- Prior art keywords
- plane
- pedestal
- industrial robot
- sucking disk
- sucker stand
- 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
Classifications
-
- 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
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
-
- 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
- B65G2249/00—Aspects relating to conveying systems for the manufacture of fragile sheets
- B65G2249/04—Arrangements of vacuum systems or suction cups
- B65G2249/045—Details of suction cups suction cups
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to a kind of devices automatically correcting upper piece angle, including industrial robot and it is arranged in industrial robot free end and by the Shang Pian mechanisms of its drive, the Shang Pian mechanisms include the plane sucker stand that intermediate position is connect with the industrial robot movable, plane sucker stand rotation is driven to adjust the drive component of upper piece angle, and the controller of control the driving component operation, it is additionally provided with sucker on the plane sucker stand, the ultrasonic sensor of at least three connections controller is additionally provided on plane sucker stand, the ultrasonic sensor is not complete on the same line and in the same plane parallel with plane sucker stand and in same and plane.Compared with prior art, the angle when present invention is without manually multiple adjusting device crawl glass, realizes automatic regulating function, and adjust posterior sucker frame and glass almost 0 angular deviation, reduces the glass fragment problem generated by angle difference.
Description
Technical field
The invention belongs to vehicle glass production equipment technology, be related to it is a kind of can self-correction upper piece angle device.
Background technology
Sheet glass size is larger, and corner is sharp is easy to hurt sb.'s feelings, and needs it using dedicated equipment from former horse
Taking-up one by one is put on the transmission line.Sheet glass is usually 100 and is needed online before upper with wooden-box package
Wooden case is hung and leans against on L-type frame by external application driving, removes wooden-box package, is then pitched L-type frame into upper piece position with fork truck.Due to
Position difference of the row dead-wood case on L framves causes the angle on glass and ground to change, and fork truck placement L-type rack position also has difference
It is different, the above sheet devices suction cup carrier needed when capturing glass adjust sucker and glass angle.Traditional angle adjusts
It is realized by test multiple manually, efficiency is low, is operated to personnel and requires height.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind automatically correcting upper piece
The device of angle.
The purpose of the present invention can be achieved through the following technical solutions：
The present invention proposes a kind of device automatically correcting an angle, including industrial robot and setting in industrial machine
People free end and the Shang Pian mechanisms driven by it, the Shang Pian mechanisms include that intermediate position is connect with the industrial robot movable
Plane sucker stand, drive plane sucker stand rotation to adjust the drive component of upper piece angle, and described in control
The controller of drive component operation, is additionally provided with sucker on the plane sucker stand, be additionally provided on plane sucker stand to
The ultrasonic sensor of few three connections controller, the ultrasonic sensor be not complete on the same line and positioned at same
In the plane parallel with plane sucker stand and in same and plane；Before upper piece, controller real-time reception supersonic sensing
The distance signal for itself and workpiece to be drawn that device measures, and drive component is sent a signal to, the rotation of plane sucker stand is driven, directly
Until the distance signal of each ultrasonic sensor feedback is equal.
Further, the plane sucker stand is in I-shaped comprising is located at the left and right sides and relatively parallel two
Root sucking disk bar is fixed between two sucking disk bars using the supporting rod being connect with the industrial robot movable, in two sucking disk bars
It is equipped with the sucker.
Further, it is connected using sliding seat between the supporting rod and industrial robot, the sliding seat includes
First pedestal and the second pedestal, wherein the first pedestal is fixedly connected with the supporting rod, and the first pedestal and the second pedestal pass through
One shaft is rotatablely connected, and the second pedestal and industrial robot be rotatablely connecteds by the second shaft, the first rotating shaft and second turn
Axis is mutually perpendicular to；
The driving mechanism includes first for driving that the first pedestal and the second pedestal relatively rotate around first rotating shaft
Actuator, and the second actuator that driving the second pedestal and industrial robot are relatively rotated around the second shaft.
Still more preferably, there are three the ultrasonic sensor is set, two of which is arranged in same root sucking disk bar
On, another is arranged in another sucking disk bar；
The first rotating shaft is parallel with sucking disk bar, second shaft and the two of which ultrasound not in same sucking disk bar
The line direction of wave sensor is parallel.
Still more preferably, first actuator and the second actuator be separately connected and drive first rotating shaft and
The driving motor of second shaft rotation.
Further, the sucker is equipped at intervals with two or more in each sucking disk bar.
Further, the controller is SIEMENS PLC controller.
Compared with prior art, the angle when present invention is without manually multiple adjusting device crawl glass, is realized certainly
Dynamic adjustment function, and posterior sucker frame and glass almost 0 angular deviation are adjusted, reduce because the glass fragment that angle difference generates is asked
Topic saves the operating time, improves production efficiency.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the schematic diagram before the correction upper piece angle of the present invention；
Fig. 3 is the schematic diagram after present invention correction upper piece angle；
Fig. 4 is the structural schematic diagram of sliding seat；
Description of symbols in figure：
1- industrial robots, 2- Shang Pian mechanisms, 21- plane sucker stands, 211- sucking disk bars, 212- supporting rods, 22- inhale
Disk, 23- ultrasonic sensors, 3- sliding seat, the first pedestals of 31-, the second pedestals of 32-, 33- first rotating shafts, the second shafts of 34-,
4- sheet glass.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
The present invention proposes a kind of device automatically correcting an angle, shown in Figure 1, including 1 He of industrial robot
It is arranged in 1 free end of industrial robot and by the Shang Pian mechanisms 2 of its drive, Shang Pian mechanisms 2 include intermediate position and industrial machine
The plane sucker stand 21 that people 1 is flexibly connected, driving plane sucker stand 21 are rotated to adjust the drive component of upper piece angle, with
And the controller of drive component operation is controlled, it is additionally provided with sucker 22 on plane sucker stand 21, on plane sucker stand 21 also
Ultrasonic sensor 23 equipped at least three connection controllers, ultrasonic sensor 23 be not complete on the same line and positioned at same
In one plane parallel with plane sucker stand 21 and in same and plane；Before upper piece, controller real-time reception ultrasonic wave
The distance signal for itself and workpiece to be drawn that sensor 23 measures, and drive component is sent a signal to, drive plane sucker stand
21 rotations, until the distance signal that each ultrasonic sensor 23 is fed back is equal.
In a kind of preferred embodiment of the present invention, plane sucker stand 21 is in I-shaped comprising is located at left and right
Both sides and two relatively parallel sucking disk bars 211, using the branch being flexibly connected with industrial robot 1 between two sucking disk bars 211
Strut 212 is fixed, and sucker 22 is equipped in two sucking disk bars 211.
Further, it is connected using sliding seat 3 between supporting rod 212 and industrial robot 1, shown in Figure 4, activity
Seat 3 includes the first pedestal 31 and the second pedestal 32, wherein the first pedestal 31 is fixedly connected with supporting rod 212, the first pedestal 31 and
Second pedestal 32 is rotatablely connected by first rotating shaft 33, and the second pedestal 32, which is rotated with industrial robot 1 by the second shaft 34, to be connected
It connects, first rotating shaft 33 is mutually perpendicular to the second shaft 34；Driving mechanism includes for driving the first pedestal 31 and the second pedestal 32
The first actuator relatively rotated around first rotating shaft 33, and the second pedestal of driving 32 and industrial robot 1 are around the second shaft 34
The second actuator relatively rotated.
Still more preferably, there are three ultrasonic sensor 23 is set, two of which is arranged in same root sucking disk bar 211
On, another is arranged in another sucking disk bar 211；First rotating shaft 33 is parallel with sucking disk bar 211, the second shaft 34 with not same
The line direction of two of which ultrasonic sensor 23 in one sucking disk bar 211 is parallel.
Still more preferably, the first actuator and the second actuator are to be separately connected and drive first rotating shaft 33 and second
The driving motor that shaft 34 rotates.
Further, sucker 22 is equipped at intervals with two or more in each sucking disk bar 211.
In a kind of preferred embodiment of the present invention, controller is SIEMENS PLC controller.
Embodiment 1
A kind of device automatically correcting an angle, structure is shown in Figure 1, including industrial robot 1 and setting exist
1 free end of industrial robot and the Shang Pian mechanisms 2 driven by it, Shang Pian mechanisms 2 include intermediate position and 1 activity of industrial robot
The plane sucker stand 21 of connection, driving plane sucker stand 21 are rotated to adjust the drive component of upper piece angle, and control
The controller of drive component operation, plane sucker stand 21 is in I-shaped comprising is located at the left and right sides and relatively parallel two
Root sucking disk bar 211, using the fixation of supporting rod 212 be flexibly connected with industrial robot 1 between two sucking disk bars 211, at two
Three suckers 22 are respectively equipped in sucking disk bar 211.
It is connected using sliding seat 3 between supporting rod 212 and industrial robot 1, shown in Figure 4, sliding seat 3 includes first
Pedestal 31 and the second pedestal 32, wherein the first pedestal 31 is fixedly connected with supporting rod 212, the first pedestal 31 and the second pedestal 32
It is rotatablely connected by first rotating shaft 33, the second pedestal 32 is rotatablely connected with industrial robot 1 by the second shaft 34, first rotating shaft
33 are mutually perpendicular to the second shaft 34；Driving mechanism includes for driving the first pedestal 31 and the second pedestal 32 around first rotating shaft 33
The first actuator relatively rotated, and the second pedestal 32 of driving and industrial robot 1 relatively rotated around the second shaft 34 the
Two actuators.
The ultrasonic sensor 23 of three connection controllers, ultrasonic sensor 23 are additionally provided on plane sucker stand 21
Two of which be arranged in same root sucking disk bar 211, another be arranged in another sucking disk bar 211；First rotating shaft 33 with
Sucking disk bar 211 is parallel, the line side of the second shaft 34 and the two of which ultrasonic sensor 23 not in same sucking disk bar 211
To parallel.
First actuator and the second actuator are the drive for being separately connected and driving first rotating shaft 33 and the second shaft 34 to rotate
Dynamic motor, controller are SIEMENS PLC controller.
Before upper piece, the distance signal of itself and workpiece to be drawn that controller real-time reception ultrasonic sensor 23 measures, and
Drive component is sent a signal to, plane sucker stand 21 is driven to rotate, until the distance signal that each ultrasonic sensor 23 is fed back
Until equal.
The specific work process of the present embodiment is following (referring to Fig. 2 and Fig. 3)：
For capturing sheet glass 4, upper piece before, three ultrasonic sensors 23 measure itself and former piece to be captured in real time
The distance of glass 4, controller receive the distance signal that ultrasonic sensor 23 is fed back, and first, controller is same to being located at
The signal of the ultrasonic sensor 23 of sucking disk bar 211 is handled and is judged, if this two ultrasonic sensors 23 feed back away from
Inconsistent from signal, controller, which is then sent, executes signal to the second actuator, and the second pedestal 32 is controlled around the by the second actuator
Two shafts 34 rotate so that the distance signal of this two ultrasonic sensors 23 feedback slowly reduces and up to consistent, at this point, inhaling
Disk bar 211 and first rotating shaft 33 can guarantee parallel with glass.Then, then, controller receives and processes and the second shaft 34
The distance signal of parallel two ultrasonic sensors 23 feedback, if the distance signal of this two ultrasonic sensors 23 feedback is not
Unanimously, then controller sends and executes signal to the first actuator, is controlled by it the first pedestal 31 and is rotated around first rotating shaft 33 so that
The range difference of this two ultrasonic sensors 23 feedback slowly reduces and until the two distance is consistent, at this point, three ultrasonic waves pass
The distance signal that sensor 23 is fed back can be consistent, that is to say, that and bright plane sucker stand 21 is parallel with glass to be captured,
There is no differential seat angles, and finally, industrial robot 1 drives Shang Pian mechanisms 2 close towards glass along straight line, and the crawl for carrying out glass turns
Move operation.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general
Principle is applied in other embodiment without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be the present invention's
Within protection domain.
Claims (7)
1. a kind of device automatically correcting an angle, including industrial robot and setting are in industrial robot free end and by it
The Shang Pian mechanisms of drive, which is characterized in that the Shang Pian mechanisms include that intermediate position is connect with the industrial robot movable
Plane sucker stand drives plane sucker stand rotation to adjust the drive component of upper piece angle, and the control drive
The controller of assembly operating is moved, sucker is additionally provided on the plane sucker stand, is additionally provided at least on plane sucker stand
The ultrasonic sensors of three connection controllers, the ultrasonic sensor it is incomplete on the same line and positioned at it is same with
In the parallel plane of plane sucker stand and in same and plane.
2. a kind of device automatically correcting an angle according to claim 1, which is characterized in that the plane sucker
Holder is in I-shaped comprising is located at the left and right sides and two relatively parallel sucking disk bars, is used and institute between two sucking disk bars
The supporting rod for stating industrial robot movable connection is fixed, and the sucker is equipped in two sucking disk bars.
3. a kind of device automatically correcting an angle according to claim 2, which is characterized in that the supporting rod with
Between industrial robot using sliding seat connect, the sliding seat include the first pedestal and the second pedestal, wherein the first pedestal with
The supporting rod is fixedly connected, and the first pedestal is rotatablely connected with the second pedestal by first rotating shaft, the second pedestal and industrial machine
People is rotatablely connected by the second shaft, and the first rotating shaft is mutually perpendicular to the second shaft；
The driving mechanism includes the first driving for driving the first pedestal and the second pedestal to be relatively rotated around first rotating shaft
Part, and the second actuator that driving the second pedestal and industrial robot are relatively rotated around the second shaft.
4. a kind of device automatically correcting an angle according to claim 3, which is characterized in that the ultrasonic wave passes
There are three sensor is set, two of which is arranged in same root sucking disk bar, another is arranged in another sucking disk bar；
The first rotating shaft is parallel with sucking disk bar, and second shaft is passed with the two of which ultrasonic wave not in same sucking disk bar
The line direction of sensor is parallel.
5. a kind of device automatically correcting an angle according to claim 3, which is characterized in that first driving
Part and the second actuator are the driving motor for being separately connected and driving first rotating shaft and the second shaft to rotate.
6. a kind of device automatically correcting an angle according to claim 2, which is characterized in that the sucker is every
It is equipped at intervals with two or more in a sucking disk bar.
7. a kind of device automatically correcting an angle according to claim 1, which is characterized in that the controller is
SIEMENS PLC controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810510542.1A CN108483044A (en) | 2018-05-24 | 2018-05-24 | A kind of device automatically correcting an angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810510542.1A CN108483044A (en) | 2018-05-24 | 2018-05-24 | A kind of device automatically correcting an angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108483044A true CN108483044A (en) | 2018-09-04 |
Family
ID=63351699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810510542.1A Pending CN108483044A (en) | 2018-05-24 | 2018-05-24 | A kind of device automatically correcting an angle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108483044A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110865620A (en) * | 2019-11-27 | 2020-03-06 | 郑州旭飞光电科技有限公司 | Online sampling inspection system and method for substrate glass and packaging system |
| CN113165816A (en) * | 2018-11-19 | 2021-07-23 | 康宁公司 | Improved glass sheet holding structure |
| CN115112013A (en) * | 2021-05-07 | 2022-09-27 | 沈阳新松机器人自动化股份有限公司 | Sensor-based FPD manipulator dynamic glass deviation rectifying method |
| CN116605660A (en) * | 2023-07-14 | 2023-08-18 | 中建材智能自动化研究院有限公司 | Glass deep processing and loading system and control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102491099A (en) * | 2011-12-06 | 2012-06-13 | 中国建材国际工程集团有限公司 | Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system |
| US20150120053A1 (en) * | 2013-10-31 | 2015-04-30 | Seiko Epson Corporation | Robot control device and robot |
| CN206066429U (en) * | 2016-09-30 | 2017-04-05 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN107200229A (en) * | 2017-06-21 | 2017-09-26 | 深圳市招科智控科技有限公司 | Harbour container level carries unmanned vehicle and accepts system and accept method |
| CN107690377A (en) * | 2017-04-27 | 2018-02-13 | 深圳配天智能技术研究院有限公司 | Part grasping means and robot system, fixture based on robot system |
| CN208560943U (en) * | 2018-05-24 | 2019-03-01 | 上海福耀客车玻璃有限公司 | A kind of device automatically correcting an angle |
-
2018
- 2018-05-24 CN CN201810510542.1A patent/CN108483044A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102491099A (en) * | 2011-12-06 | 2012-06-13 | 中国建材国际工程集团有限公司 | Method for correcting position during the glass grabbing process of manipulator of manipulator glass stacking system |
| US20150120053A1 (en) * | 2013-10-31 | 2015-04-30 | Seiko Epson Corporation | Robot control device and robot |
| CN206066429U (en) * | 2016-09-30 | 2017-04-05 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN107690377A (en) * | 2017-04-27 | 2018-02-13 | 深圳配天智能技术研究院有限公司 | Part grasping means and robot system, fixture based on robot system |
| CN107200229A (en) * | 2017-06-21 | 2017-09-26 | 深圳市招科智控科技有限公司 | Harbour container level carries unmanned vehicle and accepts system and accept method |
| CN208560943U (en) * | 2018-05-24 | 2019-03-01 | 上海福耀客车玻璃有限公司 | A kind of device automatically correcting an angle |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113165816A (en) * | 2018-11-19 | 2021-07-23 | 康宁公司 | Improved glass sheet holding structure |
| CN110865620A (en) * | 2019-11-27 | 2020-03-06 | 郑州旭飞光电科技有限公司 | Online sampling inspection system and method for substrate glass and packaging system |
| CN115112013A (en) * | 2021-05-07 | 2022-09-27 | 沈阳新松机器人自动化股份有限公司 | Sensor-based FPD manipulator dynamic glass deviation rectifying method |
| CN116605660A (en) * | 2023-07-14 | 2023-08-18 | 中建材智能自动化研究院有限公司 | Glass deep processing and loading system and control method |
| CN116605660B (en) * | 2023-07-14 | 2023-10-24 | 中建材智能自动化研究院有限公司 | Glass deep processing and loading system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108483044A (en) | A kind of device automatically correcting an angle | |
| CN111993403A (en) | Control method of manipulator with material taking and stacking functions | |
| CN105059886B (en) | A kind of switching mechanism | |
| CN203696336U (en) | Welded machine rack | |
| CN103658282A (en) | Automatic curling device for stainless steel pot | |
| CN105417066B (en) | Substrate position offset detection and means for correcting and substrate conveying system | |
| CN105538300B (en) | A kind of fully-automatic plate installation manipulator device | |
| CN206474809U (en) | A kind of four axle robot laminators | |
| CN107350792A (en) | A kind of Full-automatic screw locking machine of easily switched suction | |
| CN208560943U (en) | A kind of device automatically correcting an angle | |
| WO2021139203A1 (en) | Minimally invasive surgical robot master manipulator and slave manipulator control method | |
| CN207618539U (en) | A kind of feeding and conveying device having correction positioning function | |
| CN107433576A (en) | A kind of industrial robot based on NI Vision Builder for Automated Inspection | |
| CN104528347B (en) | A kind of online turn-over mechanism and producing line | |
| JP5091316B2 (en) | Production equipment | |
| CN215354152U (en) | Automatic paint spraying device for table tennis bat | |
| CN203889574U (en) | Positioning machine in prior to feeding into furnace | |
| CN106241401B (en) | A kind of accumulator protection valve feeding device | |
| CN205414641U (en) | Full -automatic soldering device | |
| CN208438068U (en) | A kind of axis body piece surface grinding device | |
| CN207297543U (en) | A kind of Tie Tou mechanisms for being used to mount | |
| CN207545669U (en) | A kind of energy-saving ultrafine dry powder extinguishing installation automatic assembly line | |
| WO2019237218A1 (en) | Servo edge cutting and rectification all-in-one machine | |
| CN109013963A (en) | A kind of stamping mechanical arm | |
| CN105329642A (en) | Base plate position deviation detecting and correcting method and control method for base plate carrying system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |