CN110842971B - A manipulator for glass transport - Google Patents
A manipulator for glass transport Download PDFInfo
- Publication number
- CN110842971B CN110842971B CN201911222692.3A CN201911222692A CN110842971B CN 110842971 B CN110842971 B CN 110842971B CN 201911222692 A CN201911222692 A CN 201911222692A CN 110842971 B CN110842971 B CN 110842971B
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- CN
- China
- Prior art keywords
- glass
- control module
- mechanical arm
- bracket
- detection device
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 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
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The invention discloses a manipulator for glass carrying, which comprises: the glass size detection device comprises a base, an upright column, a mechanical arm and a bearing bracket, wherein the upright column is arranged on the base, the mechanical arm is arranged on the upright column, the mechanical arm is arranged on the mechanical arm, the bearing bracket is arranged on the upright column and matched with the mechanical arm, a pulley is arranged below the base, and a size detection device for detecting the size of glass is arranged on the mechanical arm; the support bracket is internally provided with a transverse connecting rod, a bracket and a glass position detection device, the transverse connecting rod adopts an electric telescopic connecting rod and is arranged on the upright post for connection, the bracket is arranged at the end part of the transverse connecting rod, and the glass position detection device is arranged on the bracket. According to the invention, the glass position detection device is arranged on the manipulator to detect the position of the glass, the manipulator grabs the glass according to the position, and the grabbed glass is supported by the support bracket, so that the glass is prevented from falling in the middle of carrying, a good protection effect is achieved on the glass, and the carrying efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a manipulator for carrying glass.
Background
With the rapid development of social economy, the living standard and the living quality of people are continuously improved, the rhythm of people is continuously accelerated no matter in production or life, all walks of life realize automation and intellectualization, and the growth of manipulators and robots is promoted.
Glass belongs to fragile article, and it is different with other goods in the transport, and its handling needs unusual careful, can not collide with, therefore hardly realizes that the machine carries it, and the manual handling is all adopted to most, this not only great improvement workman's work load, the efficiency of its transport of also serious influence simultaneously, therefore how express delivery, safe transport glass is the technical problem who urgently needs the solution.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects, the invention aims to provide the mechanical hand for glass carrying, which has the advantages of simple structure, reasonable design and convenient installation, and greatly improves the glass carrying efficiency while ensuring the carrying quality.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a robot for glass handling, comprising: the glass size detection device comprises a base, an upright column, a mechanical arm and a bearing bracket, wherein the upright column is arranged on the base, the mechanical arm is arranged on the upright column, the mechanical arm is arranged on the mechanical arm, the bearing bracket is arranged on the upright column and matched with the mechanical arm, a pulley is arranged below the base, and a size detection device for detecting the size of glass is arranged on the mechanical arm;
the glass position detection device comprises a support bracket, a transverse connecting rod, a bracket and a glass position detection device, wherein the transverse connecting rod is an electric telescopic connecting rod and is arranged on an upright post, the bracket is arranged at the end part of the transverse connecting rod, and the glass position detection device is arranged on the bracket.
According to the manipulator for carrying the glass, the glass position detection device is arranged on the manipulator to detect the position of the glass, then the manipulator grabs the glass according to the position, and the grabbed glass is supported by the support bracket while the manipulator grabs, so that the grabbed glass is prevented from falling in the middle of carrying, a good protection effect is achieved on the glass, the carrying safety is guaranteed, the carrying efficiency is greatly improved, and the production requirement is better met.
According to the invention, the manipulator is internally provided with a grabbing frame and a sucker for grabbing glass, the grabbing frame is connected with the mechanical arm, the sucker is arranged on the grabbing frame through a sucker mounting frame, the sucker mounting frame is connected with the grabbing frame in a sliding manner, and the size detection device is arranged on the grabbing frame. The sucking disc mounting bracket is connected with the grabbing frame in a sliding mode, so that the position of the sucking disc mounting bracket can be adjusted.
The sucker mounting frame is internally provided with a mounting seat and a group of mounting frames, wherein the mounting frames are internally provided with a group of transverse supports and a group of longitudinal supports, the transverse supports are arranged around the mounting seat, the longitudinal supports are arranged at the end parts of the transverse supports and are connected in a sliding manner, the transverse supports adopt telescopic transverse rods, the longitudinal supports are arc-shaped, and suckers are arranged on the mounting seat, the transverse supports and the longitudinal supports. Vertical support and horizontal support adopt sliding type to connect, let it can carry out length to it according to the needs of reality and adjust, vertical support adopts the arc setting, can its and glass's area of contact of effectual improvement, the security of great improvement glass transport.
The upright post is provided with a slide rail, and the mechanical arm and the transverse connecting rod are connected with the slide rail through slide blocks and are connected in a sliding manner. Let it carry out position control according to the height of required glass transport, avoid the glass high altitude to transfer, cause the unnecessary damage.
The glass position detection device comprises a bracket, a transverse connecting rod, a bearing mounting seat, a bearing support and a glass position detection device, wherein the bracket is internally provided with the bearing mounting seat and a group of bearing supports, the bearing mounting seat is rotatably connected with the transverse connecting rod, a first support frame and a bearing support are arranged in the bearing supports, the first support frame is arranged on the periphery of the bearing mounting seat, the bearing support is arranged on the first support frame, and the glass position detection device is arranged on the bearing mounting seat.
The first support frame is provided with a track, and the support frame is movably connected with the track through a sliding block. The glass adjusting device can adjust the position of the glass according to the glass with different sizes, and the applicability of the glass adjusting device is greatly improved.
The bearing support is L-shaped, the surface of the bearing support is provided with a protective pad, and the surface of the protective pad is provided with anti-skid lines. The setting of protection pad can effectually prevent that the bearing support from causing the damage to glass, and the setting of antiskid line simultaneously effectually prevents the glass landing.
The invention also comprises a control mechanism, wherein a remote control terminal and a control device are arranged in the control mechanism, the control device is arranged on one side of the upright post and is connected with the remote control terminal through a wireless network, an operation control mechanism and a display mechanism are arranged in the control device, and the mechanical arm, the bearing bracket and the display mechanism are all connected with the control device.
The mechanical arm adopts a multi-axis mechanical arm.
The glass position detection device is characterized in that a mechanical arm control module, a support bracket control module, a detection control module, a size detection control module, a display control module and a controller module are arranged in the operation control mechanism, the mechanical arm control module is connected with a mechanical arm, the support bracket control module is connected with a support bracket, the detection control module is connected with a glass position detection device, the size detection control module is connected with a size detection device, the display control module is connected with a display, and the mechanical arm control module, the support bracket control module, the detection control module, the size detection control module and the display control module are all connected with the controller module.
The technical scheme shows that the invention has the following beneficial effects:
1. according to the manipulator for carrying the glass, the glass position detection device is arranged on the manipulator to detect the position of the glass, then the manipulator grabs the glass according to the position, and the grabbed glass is supported by the support bracket while the manipulator grabs, so that the grabbed glass is prevented from falling in the middle of carrying, a good protection effect is achieved on the glass, the carrying safety is guaranteed, the carrying efficiency is greatly improved, and the production requirement is better met.
2. The longitudinal support and the transverse support are connected in a sliding mode, so that the length of the longitudinal support and the length of the transverse support can be adjusted according to actual requirements, the longitudinal support is arranged in an arc mode, the contact area between the longitudinal support and glass can be effectively increased, and the safety of glass carrying is greatly improved.
3. The upright post is provided with a slide rail, and the mechanical arm and the transverse connecting rod are connected with the slide rail through slide blocks and are connected in a sliding manner. Let it carry out position control according to the height of required glass transport, avoid the glass high altitude to transfer, cause the unnecessary damage.
4. The bearing support is L-shaped, the surface of the bearing support is provided with a protective pad, and the surface of the protective pad is provided with anti-skid lines. The setting of protection pad can effectually prevent that the bearing support from causing the damage to glass, and the setting of antiskid line simultaneously effectually prevents the glass landing.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the suction cup mounting bracket of the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Example 1
A robot for glass handling as shown in the figures, comprising: the glass size detection device comprises a base 1, an upright post 2, a mechanical arm 3, a mechanical arm 4 and a bearing bracket 5, wherein the upright post 2 is arranged on the base 1, the mechanical arm 3 is arranged on the upright post 2, the mechanical arm 4 is arranged on the mechanical arm 3, the bearing bracket 5 is arranged on the upright post 2 and matched with the mechanical arm 4, a pulley is arranged below the base 1, and a size detection device 6 for detecting the size of glass is arranged on the mechanical arm 4;
the support bracket 5 is provided with a transverse connecting rod 51, a bracket 52 and a glass position detection device 53, the transverse connecting rod 51 is an electric telescopic connecting rod and is installed on the upright post 2, the bracket 52 is installed at the end part of the transverse connecting rod 51, and the glass position detection device 53 is installed on the bracket 52.
Further, be equipped with in the manipulator 4 and snatch frame 41 and the sucking disc 42 that is used for snatching glass, it is connected with arm 3 to snatch frame 41, sucking disc 42 installs on snatching frame 41 through sucking disc mounting bracket 43, just sucking disc mounting bracket 43 is sliding type connection with snatching frame 41, size detection device 6 installs on snatching frame 41.
Further, be equipped with mount pad 431 and a set of mounting bracket 432 in the sucking disc mounting bracket 43, wherein be equipped with a set of horizontal support 433 and vertical support 434 in the mounting bracket 432, horizontal support 433 is located around the mount pad 431, vertical support 434 is installed in the tip of horizontal support 433, and both are sliding type connection, horizontal support 433 adopts the retractable horizontal pole, vertical support 434 is the arc, all be equipped with sucking disc 42 on mount pad 431 and horizontal support 433 and the vertical support 434.
Example 2
A robot for glass handling as shown in the figures, comprising: the glass size detection device comprises a base 1, an upright post 2, a mechanical arm 3, a mechanical arm 4 and a bearing bracket 5, wherein the upright post 2 is arranged on the base 1, the mechanical arm 3 is arranged on the upright post 2, the mechanical arm 4 is arranged on the mechanical arm 3, the bearing bracket 5 is arranged on the upright post 2 and matched with the mechanical arm 4, a pulley is arranged below the base 1, and a size detection device 6 for detecting the size of glass is arranged on the mechanical arm 4;
the support bracket 5 is provided with a transverse connecting rod 51, a bracket 52 and a glass position detection device 53, the transverse connecting rod 51 is an electric telescopic connecting rod and is installed on the upright post 2, the bracket 52 is installed at the end part of the transverse connecting rod 51, and the glass position detection device 53 is installed on the bracket 52.
Further, be equipped with in the manipulator 4 and snatch frame 41 and the sucking disc 42 that is used for snatching glass, it is connected with arm 3 to snatch frame 41, sucking disc 42 installs on snatching frame 41 through sucking disc mounting bracket 43, just sucking disc mounting bracket 43 is sliding type connection with snatching frame 41, size detection device 6 installs on snatching frame 41.
Further, be equipped with mount pad 431 and a set of mounting bracket 432 in the sucking disc mounting bracket 43, wherein be equipped with a set of horizontal support 433 and vertical support 434 in the mounting bracket 432, horizontal support 433 is located around the mount pad 431, vertical support 434 is installed in the tip of horizontal support 433, and both are sliding type connection, horizontal support 433 adopts the retractable horizontal pole, vertical support 434 is the arc, all be equipped with sucking disc 42 on mount pad 431 and horizontal support 433 and the vertical support 434.
Further, a slide rail 21 is arranged on the upright post 2, and the mechanical arm 3 and the transverse connecting rod 51 are connected with the slide rail 21 through a slide block and are connected in a sliding manner.
Further, a bearing mounting seat 521 and a group of bearing brackets 522 are arranged in the bracket 52, the bearing mounting seat 521 is rotatably connected with the transverse connecting rod 51, wherein a first support frame 5221 and a bearing support 5222 are arranged in the bearing brackets 522, the first support frame 5221 is arranged around the bearing mounting seat 521, the bearing support 5222 is arranged on the first support frame 5221, and the glass position detection device 53 is arranged on the bearing mounting seat 521.
Further, a rail is arranged on the first support frame 5221, and the support frame 5222 is movably connected with the rail through a sliding block.
Further, the support bracket 5222 is L-shaped, and a protective pad is disposed on the surface thereof, and anti-slip stripes are disposed on the surface of the protective pad.
Further, still include control mechanism, be equipped with remote control terminal and controlling means in the control mechanism, controlling means locates one side of stand 2, controlling means passes through wireless network and is connected with remote control terminal, be equipped with operation control mechanism and display mechanism in the controlling means, just arm 3, manipulator 4 and support bracket 5 and display mechanism all are connected with controlling means.
Further, the robot arm 3 is a multi-axis robot arm.
Further, be equipped with arm control module, manipulator control module, support bracket control module, detection control module, size detection control module, display control module and controller module among the operation control mechanism, arm control module is connected with arm 3, manipulator control module is connected with manipulator 4, support bracket control module and support bracket 5 and be connected, it is connected with glass position detection device 53 to detect control module, size detection control module is connected with size detection device 6, display control module is connected with the display, arm control module, manipulator control module, support bracket control module, detection control module, size detection control module, display control module all are connected with the controller module.
The working principle of the manipulator for glass handling in the embodiment is as follows:
1): firstly, the glass position detection device 53 detects the position of the glass, transmits the detection result to the controller module, analyzes the detection data through the data analysis processing unit in the controller module to obtain the specific position of the glass, and transmits the position information to the controller;
2): the controller commands the mechanical arm movement driving mechanism and the support bracket movement driving mechanism to respectively drive the transverse connecting rods 51 in the mechanical arm 3 and the support bracket 5 to proper heights according to the received data;
3): after the mechanical arm 3 and the transverse connecting rod 51 move to proper positions, the mechanical arm 4 starts to work, the size of glass to be conveyed is detected through the size detection device 6, detected data are transmitted to the controller module, the detected data are analyzed through the data analysis processing unit in the controller module to obtain the specific position of the glass, and position information is transmitted to the controller;
4): the controller will command the driving mechanism of the mounting rack 432 to drive the mounting rack 432 to adjust to the corresponding size according to the obtained result, i.e. the longitudinal bracket 434 moves to the proper position along the transverse bracket 433;
5): then the sucker 42 sucks the glass, and at the same time, the controller commands the transverse connecting rod 51 in the support bracket 5 to extend to a proper position through the support bracket control module and opens the support bracket 5222 to clamp the glass in the support bracket 5222;
6): after the glass is jammed, the support bracket 5222 is commanded to retract, i.e., the support bracket 5222 moves inwardly along the upper track of the first support bracket 5221;
7): after the support bracket 5222 is moved to a proper position, the robot 4 picks up the glass and transports the glass to a designated position.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (1)
1. A manipulator for glass transport which characterized in that: the method comprises the following steps: the glass size detection device comprises a base (1), an upright post (2), a mechanical arm (3), a mechanical arm (4) and a bearing bracket (5), wherein the upright post (2) is arranged on the base (1), the mechanical arm (3) is arranged on the upright post (2), the mechanical arm (4) is arranged on the mechanical arm (3), the bearing bracket (5) is arranged on the upright post (2) and matched with the mechanical arm (4), a pulley is arranged below the base (1), and a size detection device (6) for detecting the size of glass is arranged on the mechanical arm (4);
the glass position detection device comprises a support bracket (5), a transverse connecting rod (51), a bracket (52) and a glass position detection device (53), wherein the transverse connecting rod (51) is an electric telescopic connecting rod and is installed on an upright post (2), the bracket (52) is installed at the end part of the transverse connecting rod (51), and the glass position detection device (53) is installed on the bracket (52);
the glass grabbing device is characterized in that a grabbing frame (41) and a sucking disc (42) used for grabbing glass are arranged in the manipulator (4), the grabbing frame (41) is connected with the mechanical arm (3), the sucking disc (42) is installed on the grabbing frame (41) through a sucking disc installing frame (43), the sucking disc installing frame (43) is in sliding connection with the grabbing frame (41), and the size detection device (6) is installed on the grabbing frame (41);
the sucker mounting frame (43) is internally provided with a mounting base (431) and a group of mounting frames (432), wherein the mounting frames (432) are internally provided with a group of transverse supports (433) and longitudinal supports (434), the transverse supports (433) are arranged around the mounting base (431), the longitudinal supports (434) are mounted at the ends of the transverse supports (433) and are in sliding connection with each other, the transverse supports (433) adopt telescopic cross rods, the longitudinal supports (434) are arc-shaped, and suckers (42) are arranged on the mounting base (431), the transverse supports (433) and the longitudinal supports (434);
the upright post (2) is provided with a sliding rail (21), and the mechanical arm (3) and the transverse connecting rod (51) are connected with the sliding rail (21) through a sliding block and are in sliding connection;
the glass position detection device is characterized in that a bearing mounting seat (521) and a group of bearing frames (522) are arranged in the bracket (52), the bearing mounting seat (521) is rotatably connected with the transverse connecting rod (51), a first support frame (5221) and a bearing support (5222) are arranged in the bearing frames (522), the first support frame (5221) is arranged on the periphery of the bearing mounting seat (521), the bearing support (5222) is arranged on the first support frame (5221), and the glass position detection device (53) is arranged on the bearing mounting seat (521);
the first support frame (5221) is provided with a track, and the support frame (5222) is movably connected with the track through a sliding block;
the bearing support (5222) is L-shaped, the surface of the bearing support is provided with a protective pad, and the surface of the protective pad is provided with anti-skid lines; the mechanical arm (3) adopts a multi-shaft mechanical arm; the automatic control device is characterized by further comprising a control mechanism, wherein a remote control terminal and a control device are arranged in the control mechanism, the control device is arranged on one side of the stand column (2), the control device is connected with the remote control terminal through a wireless network, an operation control mechanism and a display mechanism are arranged in the control device, and the mechanical arm (3), the mechanical arm (4), the bearing bracket (5) and the display mechanism are all connected with the control device; be equipped with arm control module, manipulator control module, support bracket control module, detection control module, size detection control module, display control module and controller module among the operation control mechanism, arm control module is connected with arm (3), manipulator control module is connected with manipulator (4), it is connected with support bracket (5) to support bracket control module, it is connected with glass position detection device (53) to detect control module, size detection control module is connected with size detection device (6), display control module is connected with the display, arm control module, manipulator control module, support bracket control module, detection control module, size detection control module, display control module all are connected with the controller module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911222692.3A CN110842971B (en) | 2019-12-03 | 2019-12-03 | A manipulator for glass transport |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911222692.3A CN110842971B (en) | 2019-12-03 | 2019-12-03 | A manipulator for glass transport |
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| Publication Number | Publication Date |
|---|---|
| CN110842971A CN110842971A (en) | 2020-02-28 |
| CN110842971B true CN110842971B (en) | 2022-04-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911222692.3A Active CN110842971B (en) | 2019-12-03 | 2019-12-03 | A manipulator for glass transport |
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| Country | Link |
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| CN (1) | CN110842971B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009374A (en) * | 2012-12-14 | 2013-04-03 | 天津筑高机器人技术有限公司 | Large board carrying and mounting manipulator |
| CN108081300A (en) * | 2017-11-08 | 2018-05-29 | 江苏新光数控技术有限公司 | One kind is used for glass carrying manipulator |
| CN207511442U (en) * | 2017-12-06 | 2018-06-19 | 佛山市顺德区正意玻璃机械有限公司 | A kind of full-automatic glass relay device |
| CN109436803A (en) * | 2018-11-29 | 2019-03-08 | 马珍妮 | A kind of glass-handling equipment suitable for specification different glass |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7585145B2 (en) * | 2005-12-29 | 2009-09-08 | Chunghwa Picture Tubes, Ltd. | Panel transfer apparatus |
-
2019
- 2019-12-03 CN CN201911222692.3A patent/CN110842971B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009374A (en) * | 2012-12-14 | 2013-04-03 | 天津筑高机器人技术有限公司 | Large board carrying and mounting manipulator |
| CN108081300A (en) * | 2017-11-08 | 2018-05-29 | 江苏新光数控技术有限公司 | One kind is used for glass carrying manipulator |
| CN207511442U (en) * | 2017-12-06 | 2018-06-19 | 佛山市顺德区正意玻璃机械有限公司 | A kind of full-automatic glass relay device |
| CN109436803A (en) * | 2018-11-29 | 2019-03-08 | 马珍妮 | A kind of glass-handling equipment suitable for specification different glass |
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| Publication number | Publication date |
|---|---|
| CN110842971A (en) | 2020-02-28 |
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Effective date of registration: 20220304 Address after: 221400 No.8 Huangshan Road, Wuxi Xinyi Industrial Park, Xinyi City, Xuzhou City, Jiangsu Province Applicant after: Jiangsu Changxin Vehicle Equipment Co.,Ltd. Address before: 221400 north side of Chuk yuan toll station, 323 provincial road, Shuang Tang Town, Xinyi, Xuzhou, Jiangsu Applicant before: XUZHOU EUROPE RIPLEY INDUSTRIAL MACHINERY, LTD. |
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