CN108622660A - A kind of glass fixture being automatically positioned - Google Patents
A kind of glass fixture being automatically positioned Download PDFInfo
- Publication number
- CN108622660A CN108622660A CN201810312843.3A CN201810312843A CN108622660A CN 108622660 A CN108622660 A CN 108622660A CN 201810312843 A CN201810312843 A CN 201810312843A CN 108622660 A CN108622660 A CN 108622660A
- Authority
- CN
- China
- Prior art keywords
- sliding block
- track
- glass
- automatically positioned
- control unit
- 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.)
- Granted
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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
-
- 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
Abstract
The invention discloses a kind of glass fixtures being automatically positioned, it is related to glass fixture equipment technical field, including two tracks being arranged symmetrically one, horizontal positioning device and movable sliding block one are installed on track one, the both ends of sliding block one are mounted on sucker, the middle part of two tracks one is equipped with track two, the both ends of track two are separately fixed at the middle part of the sliding block one of its same side, track two is equipped with longitudinal positioning device and movable sliding block three, jointing is installed on sliding block three, it further include control unit, horizontal positioning device is electrically connected with control unit respectively with longitudinal positioning device.The present invention is by the design of orthogonal track one and track two, and realizing automatic positioning of the fixture when gripping glass laterally and longitudinally in both direction makes so as to find the center of gravity of glass in gripping glass process, and most laborsaving, Simultaneous Stabilization is best.
Description
Technical field
The present invention relates to glass fixture equipment technical field, specifically a kind of glass fixture being automatically positioned.
Background technology
Glass is amorphous inorganic non-metallic material, and usually with a variety of inorganic minerals, (such as quartz sand, borax, boric acid, weight are brilliant
Stone, barium carbonate, lime stone, feldspar, soda ash etc.) be primary raw material, additionally incorporate made of a small amount of auxiliary material, it is main at
It is divided into silica and other oxides.
The tensile strength of glass is much smaller than compression strength, is typical fragile material, needs to make during moving glass
With dedicated fixture, in the prior art, fixture includes holder, and multiple suckers, side of the holder far from sucker are equipped on holder
Equipped with erection joint, in use, being installed entire fixture on the robotic arm by erection joint, then sucker is inhaled in glass
Surface, to realize the gripping to glass.
But in the prior art, it since fixture can not position the center of gravity of glass, is deposited between the arm of force and glass center of gravity of fixture
In deviation, so causing fixture when gripping glass, not only to overcome the gravity of glass, also to overcome and be generated because of center of gravity deviation
Torque needs extra work, not only uneconomical, but also stability is poor during gripping.
Invention content
According to the above-mentioned deficiencies of the prior art, the present invention proposes a kind of glass fixture being automatically positioned, and is dedicated to solving
Certainly one or all of the technical problem in aforementioned background art.
The present invention solves its technical problem using following technical scheme to realize：
A kind of glass fixture being automatically positioned, including two tracks one being arranged symmetrically are equipped with transverse direction on track one
The both ends of positioning device and movable sliding block one, sliding block one are mounted on sucker, and the middle part of two tracks one is equipped with track two,
The both ends of track two are separately fixed at the middle part of the sliding block one of its same side, and track two is equipped with longitudinal positioning device and moves
Sliding block three, jointing is installed on sliding block three, further includes control unit, horizontal positioning device is distinguished with longitudinal positioning device
It is electrically connected with control unit.
As the further improvement of the present invention, the horizontal positioning device includes two sliding blocks two and two ranging sensings
Device, two sliding blocks two are arranged in the both ends of sliding block one, and the side of sliding block two towards sliding block one is equipped with pressure sensor, and ranging passes
Sensor is electrically connected with control unit respectively with pressure sensor.
As the further improvement of the present invention, the distance measuring sensor includes signal transmitting terminal and signal receiving end, letter
Number transmitting terminal is fixed on sliding block one, and there are one signal receiving ends for each fixation on two sliding blocks two.
As the further improvement of the present invention, the longitudinal positioning device includes two pulling force sensors, described in two
Pulling force sensor is separately mounted between the end of track two and sliding block one, two pulling force sensors respectively with control unit
It is electrically connected, pulling force sensor is used to measure the size of two both ends stress of track, and passes the measurements to control unit.
As the further improvement of the present invention, telescopic rod two, telescopic rod are equipped between the jointing and sliding block three
Two both ends are separately fixed on jointing and sliding block three.
As the further improvement of the present invention, the both ends of the track one are respectively and fixedly provided with limited block.
Further include at least one set of connecting rod, the quantity of one group of connecting rod is two, two as the further improvement of the present invention
Connecting rod is arranged symmetrically on the both sides of track two, and the both ends of connecting rod are separately fixed on the sliding block one of both sides, uniformly divide on connecting rod
It is furnished with multiple suckers.
As the further improvement of the present invention, telescopic rod one is equipped between the sucker and sliding block one, telescopic rod one
Both ends are separately connected sucker and sliding block one.
The beneficial effects of the invention are as follows：
The present invention by the design of orthogonal track one and track two, realize fixture when gripping glass laterally with
Automatic positioning in longitudinal both direction makes so as to find the center of gravity of glass in gripping glass process, most laborsaving, simultaneously
Optimal stability.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the front view of present embodiment；
Fig. 2 is the portions the A detail drawing in Fig. 1.
In figure：1- tracks one, 2- tracks two, 3- sliding blocks one, 4- sliding blocks two, 5- telescopic rods two, 6- suckers, 7- connecting rods, 8-
Limited block, 9- glass, 10- telescopic rods one, 11- signal transmitting terminals.
Specific implementation mode
Below by the description to embodiment, the shape of for example involved each component of specific implementation mode of the invention, structure
It makes, the mutual alignment between each section and connection relation, the effect of each section and operation principle, manufacturing process and the side of operating with
Method etc., is described in further detail, completeer to help those skilled in the art to have the inventive concept of the present invention, technical solution
Whole, accurate and deep understanding.
As shown in Figure 1, a kind of glass fixture being automatically positioned, including two tracks 1 being arranged symmetrically, track 1
On sliding block 1 and two sliding blocks 24 are movably installed, two sliding blocks 24 are arranged in the both ends of sliding block 1,24 court of sliding block
Pressure sensor is installed to the side of sliding block 1, specifically, sliding block 1 and sliding block 24 are electronic sliding block.Sliding block 1 is in
The both ends of strip, sliding block 1 are mounted on sucker 6, and telescopic rod 1 is equipped between sucker 6 and sliding block 1, telescopic rod 1
Both ends are separately connected sucker 6 and sliding block 1.Specific telescopic rod 1 is electrohydraulic cylinder.
Further include two distance measuring sensors, for measuring distance of the sliding block 24 apart from sliding block 1.Specifically, ranging senses
Device includes signal transmitting terminal 11 and signal receiving end, and signal transmitting terminal 11 is each attached on sliding block 1, each on two sliding blocks 24
Fixed there are one signal receiving ends, in use, signal transmitting terminal 11 connects to signal receiving end transmitting signal according to signal receiving end
The time difference of the signal received judges relative distance of two sliding blocks 24 apart from sliding block 1.
The middle part of two tracks 1 is equipped with track 22, and the both ends of track 22 are separately fixed at the sliding block 1 of its same side
Middle part, pulling force sensor is installed, pulling force sensor is for measuring 22 liang of track between the end and sliding block 1 of track 22
The size of stress is held, sliding block three is movably installed on track 22, jointing is fixed on sliding block three, jointing is used
It is connect in mechanical arm, telescopic rod 25 is equipped between jointing and sliding block three, the both ends of telescopic rod 25 are separately fixed at company
On connector and sliding block three.Specifically, telescopic rod 25 is electrohydraulic cylinder.
Further include control unit, pressure sensor, distance measuring sensor, pulling force sensor, sliding block 1, sliding block 24, sliding block
Three telescopic rods 1, telescopic rod 25 and sucker 6 are electrically connected with control unit respectively, and control unit is for receiving pressure sensing
The detection signal and control slide block 1 of device, distance measuring sensor and pulling force sensor, sliding block three, telescopic rod 1, are stretched sliding block 24
Contracting bar 25 and sucker 6 act.
Sliding block 1 is skidded off with sliding block 24 from track 1 in order to prevent, and the both ends of track 1 are respectively and fixedly provided with limited block
8。
Further, further include at least one set of connecting rod 7, the quantity of one group of connecting rod 7 is two, two 7 symmetrical cloth of connecting rod
It sets in the both sides of track 22, the both ends of connecting rod 7 are separately fixed on the sliding block 1 of both sides, are evenly distributed on connecting rod 7 multiple
Sucker 6, multiple suckers 6 can share the stress of each sucker 6, reduce the loss of single sucker 6, reduce maintenance and the guarantor of equipment
The demand of supporting.
The present invention operation principle be：The glass fixture that can be automatically positioned first is moved to the upper of glass 9 to be gripped
Side, estimates it and is located substantially at the centre of glass 9, then sliding block 24 is moved to the both ends of track 1, move down this
The glass fixture that can be automatically positioned, and ensure that sliding block 24 will not be encountered during the glass fixture that can be automatically positioned declines
The upper surface of glass 9, when the lower end that the glass fixture that can be automatically positioned drops to sliding block 24 is less than the upper surface of glass 9
Stop, then the sliding block 24 of one 3 both sides of control unit control slide block is moved towards sliding block 1, when pressure sensor detects pressure
Force signal, and signal is passed into control unit, illustrate that sliding block 24 encounters the side wall of glass 9, sliding block 24 stops movement.Then
Distance measuring sensor measures the distance apart from sliding block 1 respectively of sliding block 24 of both sides, and signal is passed to control unit, controls
Unit control slide block 1 moves the middle for the sliding block 24 for making sliding block 1 be located at both sides, since track 22 is located at sliding block 1
Middle, so track 22 is located on a wherein central axes for glass 9 at this time, then control unit controls telescopic rod one
10 elongations, sucker 6 are adsorbed on the upper surface of glass 9.Then control unit control telescopic rod 25 shortens, and pulling force passes at this time
Sensor detects the stressing conditions of 22 both sides of track, if the stress of 22 one end of track is more than the other end, illustrates the center of gravity of glass 9
On central axes and it is partial to the larger one end of stress, then control unit control slide block three is larger towards 22 stress of track
One end movement, until 22 both sides of track stress difference be in allow threshold range in, illustrate jointing be in wait pressing from both sides
The surface of the glass 9 taken, at this time optimal stability.
It is horizontal when gripping glass 9 to realize fixture by the design of orthogonal track 1 and track 22 by the present invention
It during making gripping glass 9, is most saved to the automatic positioning in longitudinal both direction so as to find the center of gravity of glass 9
Power, Simultaneous Stabilization are best.Suitable for gripping the glass 9 of the regular shapes such as rectangle, parallelogram.
The present invention is exemplarily described above, it is clear that present invention specific implementation is not subject to the restrictions described above,
As long as using the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress, or not improved this is sent out
Bright design and technical solution directly applies to other occasions, within protection scope of the present invention.The protection of the present invention
Range should be determined by the scope of protection defined in the claims.
Claims (8)
1. a kind of glass fixture being automatically positioned, it is characterised in that：Including two tracks being arranged symmetrically one, pacify on track one
Equipped with horizontal positioning device and movable sliding block one, the both ends of sliding block one are mounted on sucker, and the middle part of two tracks one is set
There are track two, the both ends of track two to be separately fixed at the middle part of the sliding block one of its same side, track two is filled equipped with longitudinal register
Set with movable sliding block three, jointing is installed on sliding block three, further includes control unit, horizontal positioning device with it is longitudinal fixed
Position device is electrically connected with control unit respectively.
2. the glass fixture according to claim 1 being automatically positioned, it is characterised in that：The horizontal positioning device includes
Two sliding blocks two and two distance measuring sensors, two sliding blocks two are arranged in the both ends of sliding block one, sliding block two towards sliding block one one
Side is equipped with pressure sensor, and distance measuring sensor is electrically connected with control unit respectively with pressure sensor.
3. the glass fixture according to claim 2 being automatically positioned, it is characterised in that：The distance measuring sensor includes letter
Number transmitting terminal and signal receiving end, signal transmitting terminal are fixed on sliding block one, on two sliding blocks two each fixation connect there are one signal
Receiving end.
4. the glass fixture according to claim 1 being automatically positioned, it is characterised in that：The longitudinal positioning device includes
Two pulling force sensors, two pulling force sensors are separately mounted between the end of track two and sliding block one, described in two
Pulling force sensor is electrically connected with control unit respectively, and pulling force sensor is used to measure the size of two both ends stress of track, and will
Measurement result passes to control unit.
5. the glass fixture according to claim 1 being automatically positioned, it is characterised in that：The jointing and sliding block three
Between be equipped with telescopic rod two, the both ends of telescopic rod two are separately fixed on jointing and sliding block three.
6. the glass fixture according to claim 1 being automatically positioned, it is characterised in that：The both ends of the track one are solid
Surely there is limited block.
7. the glass fixture according to claim 1 being automatically positioned, it is characterised in that：Further include at least one set of connecting rod,
The quantity of one group of connecting rod is two, and two connecting rods are arranged symmetrically on the both sides of track two, and the both ends of connecting rod are separately fixed at two
On the sliding block one of side, multiple suckers are evenly distributed on connecting rod.
8. the glass fixture according to claim 1 or claim 7 being automatically positioned, it is characterised in that：The sucker and sliding block one
Between be equipped with telescopic rod one, the both ends of telescopic rod one are separately connected sucker and sliding block one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312843.3A CN108622660B (en) | 2018-04-09 | 2018-04-09 | A kind of glass fixture being automatically positioned |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312843.3A CN108622660B (en) | 2018-04-09 | 2018-04-09 | A kind of glass fixture being automatically positioned |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108622660A true CN108622660A (en) | 2018-10-09 |
| CN108622660B CN108622660B (en) | 2019-10-01 |
Family
ID=63704913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810312843.3A Expired - Fee Related CN108622660B (en) | 2018-04-09 | 2018-04-09 | A kind of glass fixture being automatically positioned |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108622660B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59227348A (en) * | 1983-06-07 | 1984-12-20 | Nichiden Mach Ltd | Pick and place unit |
| CN101677078A (en) * | 2008-09-19 | 2010-03-24 | 富士迈半导体精密工业（上海）有限公司 | Substrate positioning device |
| CN203665357U (en) * | 2013-12-11 | 2014-06-25 | 中国电子科技集团公司第二研究所 | Automatic material locating clamp |
| CN104992919A (en) * | 2015-07-21 | 2015-10-21 | 合肥鑫晟光电科技有限公司 | Positioning foot, positioning device and positioning method |
| CN106976724A (en) * | 2016-01-18 | 2017-07-25 | 仪征耀皮汽车玻璃有限公司 | A kind of mobilizable glass positioning device for glass |
| CN206532765U (en) * | 2017-02-28 | 2017-09-29 | 深圳中科飞测科技有限公司 | A kind of adjustable wafer is from center positioning device |
| CN107285008A (en) * | 2017-06-15 | 2017-10-24 | 迅得机械（东莞）有限公司 | A kind of pick device of adjustable size |
-
2018
- 2018-04-09 CN CN201810312843.3A patent/CN108622660B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59227348A (en) * | 1983-06-07 | 1984-12-20 | Nichiden Mach Ltd | Pick and place unit |
| CN101677078A (en) * | 2008-09-19 | 2010-03-24 | 富士迈半导体精密工业（上海）有限公司 | Substrate positioning device |
| CN203665357U (en) * | 2013-12-11 | 2014-06-25 | 中国电子科技集团公司第二研究所 | Automatic material locating clamp |
| CN104992919A (en) * | 2015-07-21 | 2015-10-21 | 合肥鑫晟光电科技有限公司 | Positioning foot, positioning device and positioning method |
| CN106976724A (en) * | 2016-01-18 | 2017-07-25 | 仪征耀皮汽车玻璃有限公司 | A kind of mobilizable glass positioning device for glass |
| CN206532765U (en) * | 2017-02-28 | 2017-09-29 | 深圳中科飞测科技有限公司 | A kind of adjustable wafer is from center positioning device |
| CN107285008A (en) * | 2017-06-15 | 2017-10-24 | 迅得机械（东莞）有限公司 | A kind of pick device of adjustable size |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108622660B (en) | 2019-10-01 |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191001 Termination date: 20210409 |
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| CF01 | Termination of patent right due to non-payment of annual fee |