CN112158604A - Combined exhaust floating type friction-free glass panel transfer robot - Google Patents
Combined exhaust floating type friction-free glass panel transfer robot Download PDFInfo
- Publication number
- CN112158604A CN112158604A CN202011088721.4A CN202011088721A CN112158604A CN 112158604 A CN112158604 A CN 112158604A CN 202011088721 A CN202011088721 A CN 202011088721A CN 112158604 A CN112158604 A CN 112158604A
- Authority
- CN
- China
- Prior art keywords
- pressure valve
- air
- cavity
- positive pressure
- negative pressure
- 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.)
- Withdrawn
Links
Images
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
- B65G49/063—Transporting devices for sheet glass
- B65G49/064—Transporting devices for sheet glass in a horizontal position
- B65G49/065—Transporting devices for sheet glass in a horizontal position supported partially or completely on fluid cushions, e.g. a gas cushion
Landscapes
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
The invention discloses a combined exhaust floating type friction-free glass panel transfer robot which comprises a feeding conveying table, a batch type transfer device and a discharging conveying table, wherein the feeding conveying table is arranged on the upper surface of the feeding conveying table; the batch type transfer device comprises a transfer driving part and a panel transfer mechanism; the panel transfer mechanism comprises a connecting plate, a right side plate, a left side plate, a right rotating frame, a left rotating frame, a rotary driving piece and an air floatation carrier; the air floating carrier is arranged between the right rotating frame and the left rotating frame and comprises an air cavity, an air blowing hole, a material blocking pin, a positive pressure valve piece and a negative pressure valve piece, the air blowing hole is communicated with the air cavity, the air blowing hole is obliquely arranged, the positive pressure valve piece and the negative pressure valve piece are respectively arranged on the air floating carrier, and the material blocking pin is arranged on the air floating carrier; the right rotating frame and the left rotating frame are eccentrically arranged, and the shaft joint of the right framework and the air floating carrier and the shaft joint of the left framework and the air floating carrier are eccentrically arranged; the invention realizes frictionless transfer of the glass panel, avoids scratching of the appearance surface of the glass panel, improves the yield of products, and has mechanical operation and high efficiency.
Description
Technical Field
The invention relates to a combined exhaust floating type friction-free glass panel transfer robot.
Background
At present, carriers for transferring or conveying high-precision glass panels are all in a contact positioning mode, so that the surface of the high-precision glass panel is in sliding friction with the carriers in the moving process, the surface of the high-precision glass panel is scratched, the appearance of the glass panel is affected, and the yield of products is reduced.
Disclosure of Invention
The invention aims to overcome the defects and provide a combined exhaust floating type friction-free glass panel transfer robot.
In order to achieve the purpose, the invention adopts the following specific scheme:
a combined exhaust floating type friction-free glass panel transfer robot comprises a plurality of feeding transfer tables arranged at intervals, a batch type transfer device and a plurality of discharging transfer tables arranged at intervals; the batch type transfer device comprises a transfer driving part and a plurality of panel transfer mechanisms which are arranged on the output end of the transfer driving part at intervals; the feeding conveying tables and the discharging conveying tables are in one-to-one correspondence with the panel transferring mechanisms.
Furthermore, each panel transfer mechanism comprises a connecting plate, a right side plate, a left side plate, a right rotating frame, a left rotating frame, a rotary driving piece and a plurality of air floatation carriers;
the connecting plate is in a shape of a Chinese character 'ji', and is fixed on the output end of the transfer driving part; the right side plate is circular, and the upper end of the right side plate is fixed on the inner side of one end of the connecting plate; the left side plate is circular, the upper end of the right side plate is fixed on the inner side of the other end of the connecting plate, and the right side plate and the left side plate are symmetrically arranged and are mutually connected together; the right rotating frame is provided with a plurality of right frameworks which are in a central emission shape respectively, and the right rotating frame is rotatably connected to the inner side of the right side plate; the left rotating frame is provided with a plurality of left frameworks which are distributed in a central emission shape, the left rotating frame is rotatably connected to the inner side of the left side plate, and the number of the left frameworks corresponds to the number of the right frameworks one by one; the rotary driving piece is arranged on the outer side of the right side plate, and the output end of the rotary driving piece is connected with the right rotary frame;
the two ends of the air floating carriers are respectively and correspondingly coupled between the right frameworks of the right rotating frame and the left frameworks of the left rotating frame in a shaft-to-shaft mode, each air floating carrier is horizontally arranged, each air floating carrier comprises an air cavity, a plurality of air blowing holes distributed in an array mode, a material blocking pin, a positive pressure valve piece and a negative pressure valve piece, the air blowing holes are communicated with the air cavity, each air blowing hole is obliquely arranged, an included angle formed between the air blowing hole and the feeding direction of a glass panel is an acute angle, the positive pressure valve piece and the negative pressure valve piece are respectively arranged at the left end and the right end of one side of the air floating carrier, and the material blocking pin is arranged between the positive pressure valve piece and the negative pressure valve piece;
the air floatation carrier comprises a feeding state and a discharging state, wherein in the feeding state, the positive pressure valve is opened firstly, the air in the air cavity is enabled to enter air, the material blocking pin is enabled to jack up, and after the feeding is finished, the negative pressure valve is opened, and the air cavity is enabled to be in a vacuum state; when the material is discharged, the positive pressure valve member enables the air in the air cavity to enter and the material blocking pin to be retracted, and the negative pressure valve member is closed; wherein, right swivel mount with left swivel mount eccentric settings, right side skeleton with the first shaft contact of air supporting carrier with left side skeleton with the second shaft contact eccentric settings of air supporting carrier, the center of right side skeleton with eccentric distance between the center of left side skeleton with first shaft contact with eccentric distance between the second shaft contact equals, just form the parallelogram structure on the center of right side skeleton, the center of left skeleton, first shaft contact, the projection of second shaft contact to the xz plane.
Furthermore, the air-floating carrier also comprises a carrier support, a carrier body, an internal positive pressure magnet and an internal negative pressure magnet, wherein two ends of the carrier support are respectively connected with the right framework and the left framework correspondingly, the carrier body is horizontally fixed at the top end of the carrier support, the air cavity is arranged in the carrier body, a plurality of air blowing holes are distributed at the top end of the carrier body, two ends of one side of the carrier body are respectively provided with a positive pressure valve cavity and a negative pressure valve cavity, one end of the positive pressure valve cavity is communicated with the air cavity, a limiting cavity is also arranged between the positive pressure valve cavity and the negative pressure valve cavity at one side of the carrier body, the limiting cavity is communicated with the other end of the positive pressure valve cavity, one end of the positive pressure valve is arranged in the positive pressure valve cavity, one end of the negative pressure valve is arranged in the negative pressure valve cavity, and a material blocking cavity is also arranged at, the bottom of the material blocking cavity is communicated with the limiting cavity, the middle of the material blocking cavity is also communicated with the air cavity, the material blocking pin is arranged in the material blocking cavity in a sealing mode, the internal positive pressure magnet is fixed to the other end of the positive pressure valve piece, and the internal negative pressure magnet is fixed to the other end of the negative pressure valve piece;
the symmetry is provided with two outer malleation magnetic part that polarity is opposite, two on the board of right side outer malleation magnetic part is used for respectively during feeding state and ejection of compact state with interior malleation magnet is mutually supported, the symmetry is provided with two outer negative pressure magnetic part that polarity is the same, two on the board of left side outer negative pressure magnetic part is used for during feeding state and ejection of compact state with interior negative pressure magnet is mutually supported, outer negative pressure magnetic part with the difference in height has between the outer malleation magnetic part.
Further, one side interval of carrier body is provided with three fender material chamber, every it all has the material stopping pin to keep off the material intracavity sealed cooperation.
Further, the positive pressure valve piece includes malleation case, first reset spring and second reset spring, first reset spring, second reset spring all are located the malleation intracavity, first reset spring cover is located the malleation case is close to the one end of interior malleation magnet, first reset spring's both ends respectively with the chamber wall of malleation case one end with the stopper portion butt of malleation case, the both ends of second reset spring butt respectively are in the chamber wall of malleation case other end with on the stopper portion of malleation case.
Further, the negative pressure valve member comprises a negative pressure valve core and a third return spring, the third return spring is sleeved on the outer wall of the negative pressure valve core, and two ends of the third return spring are respectively abutted to the cavity wall of the negative pressure valve cavity and the plug portion of the negative pressure valve core.
Furthermore, both ends of the carrier body are formed with a limiting step.
Furthermore, a plurality of the air blowing holes are distributed in a matrix array.
Furthermore, the transfer driving part comprises two rack guide rails arranged side by side at intervals, a sliding plate in sliding connection with the two rack guide rails, an orientation adjusting driving part arranged on the sliding plate, a translation driving part arranged on the sliding plate and a rotating transverse plate connected to the output end of the orientation adjusting driving part, the rotating transverse plate is positioned below the sliding plate, the output end of the translation driving part is in transmission connection with one of the rack guide rails through a gear, and the plurality of panel transfer mechanisms are arranged on the bottom surface of the rotating transverse plate at intervals.
The invention has the beneficial effects that: according to the invention, each air floating carrier is always kept in a horizontal state in the rotating motion process, and the glass panel is transferred without friction in a pneumatic mode, so that the appearance surface of the glass panel is prevented from being scratched, and the product yield is improved.
The invention has mechanical operation and high efficiency, and is suitable for transfer operation of batch glass panels.
Drawings
FIG. 1 is a view of a batch-type transfer device of the present invention in use with a feed conveyor;
FIG. 2 is a view of the batch-type transfer apparatus of the present invention in use with an outfeed conveyor station;
FIG. 3 is a perspective view of the panel transfer mechanism of the present invention;
FIG. 4 is a perspective view of another perspective of the panel transfer mechanism of the present invention;
FIG. 5 is a right side view of a portion of the construction of the panel transfer mechanism of the present invention;
FIG. 6 is a perspective view of the air bearing carrier of the present invention;
FIG. 7 is a cross-sectional view from a perspective of an air bearing carrier of the present invention;
FIG. 8 is an enlarged partial schematic view at I of FIG. 7;
FIG. 9 is an enlarged partial schematic view at II of FIG. 7;
FIG. 10 is a schematic structural diagram of a carrier body according to the present invention;
description of reference numerals: a1, a feeding and conveying table; a2, batch transfer device; a21, transfer drive means; a211, a rack guide rail; a212, a sliding plate; a213, an orientation adjusting driving piece; a214, a translational driving member; a215, rotating the transverse plate; a22, panel transfer mechanism; a3, a discharge conveying table;
1. a connecting plate; 2. a right side plate; 21. an external positive pressure magnetic member; 3. a left side plate; 31. an external negative pressure magnetic member; 4. a right rotating frame; 41. a right skeleton; 5. a left rotating frame; 51. a left framework; 6. a rotary drive member; 7. an air floatation carrier; 71. a carrier support; 72. a carrier body; 721. an air cavity; 722. a gas blowing hole; 723. a positive pressure valve cavity; 724. a negative pressure valve cavity; 725. a limiting cavity; 726. a material blocking cavity; 73. a material blocking pin; 74. a positive pressure valve member; 741. a positive pressure spool; 742. a first return spring; 743. a second return spring; 75. a negative pressure valve member; 751. a negative pressure valve core; 752. a third return spring; 76. an internal positive pressure magnet; 77. an internal negative pressure magnet.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 10, the combined exhaust floating frictionless glass panel transfer robot of the present embodiment includes a plurality of spaced apart infeed conveyors a1, a batch-type transfer device a2, and a plurality of spaced apart outfeed conveyors a 3; the batch type transfer device a2 comprises a transfer driving component a21 and a plurality of panel transfer mechanisms a22 arranged on the output end of the transfer driving component at intervals; the number of the plurality of feeding conveying tables a1 and the number of the plurality of discharging conveying tables a3 are all in one-to-one correspondence with the number of the plurality of panel transfer mechanisms a 22.
Specifically, the number of the feeding conveying table a1, the number of the discharging conveying table a3 and the number of the panel transfer mechanisms a22 are all 6, and an included angle between the feeding conveying table a1 and the discharging conveying table a3 is 90 degrees; in practical use, the four feeding and conveying tables a1 convey glass panels at the same time, the transfer driving component a21 drives the four panel transfer mechanisms a22 to adjust to match with the four feeding and conveying tables a1 in a one-to-one correspondence, then the panel transfer mechanism a22 is matched with the feeding and conveying table a1, the glass panels conveyed by the feeding and conveying tables a1 are transferred to the panel transfer mechanism a22 in a suspension state, then the transfer driving component a21 drives the four panel transfer mechanisms a22 carrying the glass panels to translate and then rotate in one direction, namely 90 degrees, so that the four panel transfer mechanisms a22 are respectively corresponding to the four discharging and conveying tables a3 in a one-to-one correspondence, then the four panel transfer mechanisms a22 are matched with the four discharging and conveying tables a3, the glass panels carried on the panel transfer mechanisms a22 are transferred to the discharging and conveying tables a3 in a suspension state, then the discharging and conveying tables a3 transfer the glass panels out of a working area, therefore, the glass panels are transferred between the feeding conveying table a1 and the discharging conveying table a3, the mechanical operation is realized, the efficiency is high, and the glass panel transfer machine is suitable for transfer operation of batch glass panels.
Based on the above embodiment, further, each of the panel transfer mechanisms a22 includes a connection plate 1, a right panel 2, a left panel 3, a right rotary frame 4, a left rotary frame 5, a rotary driving element 6, and a plurality of air floatation carriers 7; the connecting plate 1 is in a shape of a Chinese character 'ji', and the connecting plate 1 is fixed on the output end of the transfer driving component a 21; the right side plate 2 is circular, and the upper end of the right side plate 2 is fixed on the inner side of one end of the connecting plate 1; the left side plate 3 is circular, the upper end of the right side plate 2 is fixed on the inner side of the other end of the connecting plate 1, and the right side plate 2 and the left side plate 3 are symmetrically arranged and are mutually connected together; the right rotating frame 4 is provided with a plurality of right frameworks 41 which are respectively in a central emission shape, and the right rotating frame 4 is rotatably connected to the inner side of the right side plate 2; the left rotating frame 5 is provided with a plurality of left frameworks 51 distributed in a central emission shape, the left rotating frame 5 is rotatably connected to the inner side of the left side plate 3, and the number of the left frameworks 51 corresponds to the number of the right frameworks 41 one by one; the rotary driving piece 6 is arranged on the outer side of the right side plate 2, and the output end of the rotary driving piece is connected with the right rotary frame 4;
the two ends of the air-floating carriers 7 are respectively and correspondingly coupled between the right frameworks 41 of the right rotary frame 4 and the left frameworks 51 of the left rotary frame 5, each air-floating carrier 7 is horizontally arranged, the air-floating carrier 7 comprises an air cavity 721, a plurality of air blowing holes 722 distributed in an array manner, a material blocking pin 73, a positive pressure valve 74 and a negative pressure valve 75, the air blowing holes 722 are all communicated with the air cavity 721, each air blowing hole 722 is obliquely arranged, an included angle between the air blowing hole 722 and the feeding direction of the glass panel is an acute angle, the positive pressure valve 74 and the negative pressure valve 75 are respectively arranged at the left end and the right end of one side of the air-floating carrier 7, and the material blocking pin 73 is arranged between the positive pressure valve 74 and the negative pressure valve 75;
the air-float carrier 7 comprises a feeding state and a discharging state, wherein in the feeding state, the positive pressure valve 74 is firstly opened to enable the air cavity 721 to be inflated and enable the material blocking pin 73 to be jacked up, and after the feeding is completed, the negative pressure valve 75 is opened to enable the air cavity 721 to be in a vacuum state; in the discharging state, the positive pressure valve 74 allows the air in the air cavity 721 to enter and the stop pin 73 to retract, and the negative pressure valve 75 is closed; wherein, right swivel mount 4 with 5 eccentric settings of left swivel mount, right side skeleton 41 with the first axle contact of air supporting carrier 7 with left side skeleton 51 with the second axle contact eccentric settings of air supporting carrier 7, the center of right side skeleton 41 with eccentric distance between the center of left side skeleton 51 with first axle contact with eccentric distance between the second axle contact equals, just form parallelogram structure on the center of right side skeleton 41, the center of left skeleton 51, first axle contact, the projection of second axle contact to the xz plane.
In this embodiment, further, the number of the plurality of air-floating carriers 7 is six, the right rotating frame 4 has six right frames 41, and the left rotating frame 5 has six left frames 51; so be convenient for transfer in batches, efficiency is higher. In this embodiment, the rotary drive member 6 is a motor.
The working mode of the embodiment is as follows: the glass panel is conveyed to a feeding station of the manipulator through a feeding conveying table a1, the other side of the air floating carrier 7 is close to the conveying front end of a feeding conveying table a1, so that the glass panel moves towards the air floating carrier 7 under the driving of the feeding conveying table a1 and gradually transits to the air floating carrier 7 under the action of inertia, meanwhile, a positive pressure valve 74 on the air floating carrier 7 is opened, air enters an air cavity 721, meanwhile, the air extends out a blocking pin 73, the air enters the air cavity 721 and is blown out through each air blowing hole 722, because an included angle between the inclined direction of each air blowing hole 722 and the moving direction of the glass panel is an acute angle, after the air is blown out through the air blowing holes 722, an acting force in the same conveying direction (i.e. in the x direction) as the glass panel is applied to the glass panel, so that the glass panel transits to the carrier 7, and meanwhile, an upward (i.e. in the z, the glass panel is suspended on the surface of the air floating carrier 7, so that the glass panel completely floats from the feeding conveying table a1 and horizontally transits to the air floating carrier 7 until the glass panel is contacted with the material blocking pin 73, the material blocking pin 73 limits the glass panel to continue moving, the glass panel is prevented from deviating from the air floating carrier 7, and the feeding process of the glass panel is completed;
after the feeding is finished, the positive pressure valve 74 is closed, the negative pressure valve 75 is opened, and then the inside of the air cavity 721 is vacuumized, so that the inside of the air cavity 721 is kept in a vacuum state, thus the glass panel is adsorbed by each blow-up hole under the action of vacuum adsorption force, the panel is placed and dropped, after the completion, the right rotating frame 4 is driven by the rotating driving piece 6 to rotate clockwise, the right rotating frame 4 drives each air floatation carrier 7 and the left rotating frame 5 to rotate, and because the right rotating frame 4 and the left rotating frame 5 are eccentrically arranged, the first axial joint of the right framework 41 and the air floatation carrier 7 and the second axial joint of the left framework 51 and the air floatation carrier 7 are eccentrically arranged, the eccentric distance between the center of the right framework 41 and the center of the left framework 51 is equal to the eccentric distance between the first axial joint and the second axial joint, and the center of the right framework 41 and the eccentric distance, The center of the left framework 51, the first axis joint and the second axis joint are projected to an xz plane to form a parallelogram structure, so that the air floating carrier 7 is always kept in a horizontal state in the rotary motion process, the glass panel is prevented from shifting and shifting in the rotary motion process, when the air floating carrier 7 loaded on the glass panel rotates clockwise 180 degrees, the air floating carrier 7 moves to a discharging station of a manipulator, one side of the air floating carrier 7 is close to a discharging conveying table a3, the other side of the air floating carrier 7 is far away from a discharging conveying table a3, then a positive pressure valve 74 is opened, air enters an air cavity 721, the glass panel is blown up and suspended through each air blowing hole 722, a blocking pin 73 is retracted under the pressure of the air, the glass panel is transited to the discharging conveying table a3 in a suspended state, and the frictionless transfer of the glass panel is completed.
This embodiment is through setting up each air supporting carrier 7 and keeping the horizontality throughout in the rotary motion process, and the cooperation pneumatic mode makes glass panels realize not having the friction and shifts, avoids glass panels's outward appearance face fish tail, promotes the product yield.
Based on the above embodiments, further, the air-floating carrier 7 further includes a carrier bracket 71, a carrier body 72, an internal positive pressure magnet 76 and an internal negative pressure magnet 77, two ends of the carrier bracket 71 are respectively coupled to the right frame 41 and the left frame 51, the carrier body 72 is horizontally fixed at the top end of the carrier bracket 71, the air cavity 721 is disposed in the carrier body 72, the plurality of air blowing holes 722 are distributed at the top end of the carrier body 72, two ends of one side of the carrier body 72 are respectively provided with a positive pressure valve cavity 723 and a negative pressure valve cavity 724, one end of the positive pressure valve cavity 723 is communicated with the air cavity 721, one side of the carrier body 72 is further provided with a limiting cavity 725 between the positive pressure valve cavity 723 and the negative pressure valve cavity 724, the limiting cavity 725 is communicated with the other end of the positive pressure valve cavity 723, one end of the positive pressure valve 74 is disposed in the positive pressure valve cavity 723, one end of the negative pressure valve member 75 is arranged in the negative pressure valve cavity 724, one side of the carrier body 72 is further provided with a material blocking cavity 726, the bottom of the material blocking cavity 726 is communicated with the limiting cavity 725, the middle of the material blocking cavity 726 is further communicated with the air cavity 721, the material blocking pin 73 is hermetically arranged in the material blocking cavity 726, the internal positive pressure magnet 76 is fixed at the other end of the positive pressure valve member 74, and the internal negative pressure magnet 77 is fixed at the other end of the negative pressure valve member 75;
the symmetry is provided with two opposite outer malleation magnetic part 21 of polarity, two on the board of right side 2 outer malleation magnetic part 21 is used for respectively during feeding state and ejection of compact state with interior malleation magnet 76 is mutually supported, the symmetry is provided with two outer negative pressure magnetic part 31 that polarity is the same on the board of left side 3, two outer negative pressure magnetic part 31 is used for during feeding state and ejection of compact state with interior negative pressure magnet 77 is mutually supported, outer negative pressure magnetic part 31 with the difference in height has between the outer malleation magnetic part 21.
In practical use, when the air floating carrier 7 is at the feeding station, the outer positive pressure magnetic component 21 opposite to the inner positive pressure magnetic component 76 magnetically adsorbs the inner positive pressure magnetic component 76, so that the inner positive pressure magnetic component 76 drives the positive pressure valve component 74 to move to the right, the limiting cavity 725 is communicated with the outside through the positive pressure valve cavity 723, then gas is injected into the positive pressure valve cavity 723, the gas enters the limiting cavity 725 through the positive pressure valve cavity 723, the bottom of the material blocking cavity 726 is communicated with the limiting cavity 725, therefore, the gas pushes the material blocking pin 73 to eject, when the bottom end of the material blocking pin 73 passes through the bottom end of the junction between the material blocking cavity 726 and the gas cavity 721, the gas cavity 721 is communicated with the limiting cavity 725 through the material blocking cavity 726, so that the gas enters the gas cavity 721, and is blown out through the gas blowing holes 722 to push the glass panel to move and suspend the glass panel, after the transition of the glass panel is completed, the, so that the inner positive pressure magnet 76 is separated from the magnetic adsorption of the outer positive pressure magnetic part 21, the positive pressure valve 74 is reset to close the inlet of the positive pressure valve cavity 723, and at the same time, the outer negative pressure magnetic part 31 is opposite to the inner negative pressure magnet 77, the outer negative pressure magnetic part 31 magnetically adsorbs the inner negative pressure magnet 77, so that the inner negative pressure magnet 77 drives the negative pressure valve 75 to move left, thereby opening the negative pressure valve cavity 724, then the inside of the air cavity 721 is vacuumized through the negative pressure valve cavity 724, then the air floatation carrier 7 continues to rotate, so that the inner negative pressure magnet 77 is separated from the magnetic adsorption of the outer negative pressure magnetic part 31, the negative pressure valve 75 closes the negative pressure valve cavity 724 again, thereby keeping the inside of the air cavity 721 in a vacuum state, further vacuum-adsorbing the glass panel, and the air floatation carrier 7 enters the discharging station through rotating 180 degrees, at this time, at first, the other outer negative pressure magnetic part 31 magnetically adsorbs the inner, then, the glass panel descends for a certain distance to enable the other outer positive pressure magnetic part 21 to be opposite to the inner positive pressure magnet 76 and generate repulsive force to the inner positive pressure magnet 76, so that the positive pressure valve part 74 moves leftwards, the air cavity 721 is directly communicated with the outside through the positive pressure valve cavity 723, then air enters the air cavity 721 through the positive pressure valve cavity 723, the air enters the upper end of the material blocking cavity 726 through the air cavity 721, the material blocking pin 73 is pressed downwards, the material blocking pin 73 is retracted, and then the glass panel is transited to the discharging conveying table a3 in a suspension state under the blowing of the air; so through above-mentioned structural setting for glass panels realizes the suspension transition, realizes frictionless transfer, protects glass panels's outward appearance face better, utilizes gaseous entering to keep off the directional control material pin 73 action of material chamber 726 simultaneously, structural design is ingenious and practice thrift the cost greatly, the simplified structure, and there is the difference in height between positive pressure magnetic part 21 and the outer negative pressure magnetic part 31 outside setting up, thereby make positive pressure valve member 74 and negative pressure valve member 75 work in proper order when feeding station and ejection of compact station.
Based on the above embodiment, further, three material blocking cavities 726 are arranged on one side of the carrier body 72 at intervals, and a material blocking pin 73 is hermetically matched in each material blocking cavity 726. Through the structure, the stress of the glass panel is more balanced, and the glass panel is prevented from deviating under the blocking effect of the single material blocking pin 73 and under the pushing of gas.
Based on the above embodiment, further, the positive pressure valve element 74 includes a positive pressure valve spool 741, a first return spring 742 and a second return spring 743, the first return spring 742 and the second return spring 743 are both located in the positive pressure valve spool 723, the first return spring 742 is sleeved at one end of the positive pressure valve spool 741 close to the internal positive pressure magnet 76, two ends of the first return spring 742 respectively abut against a cavity wall of one end of the positive pressure valve spool 723 and a plug portion of the positive pressure valve spool 741, and two ends of the second return spring 743 respectively abut against a cavity wall of the other end of the positive pressure valve spool 723 and a plug portion of the positive pressure valve spool 741. With the above arrangement, when the internal positive pressure magnet 76 is disengaged from the external positive pressure magnetic member 21, the positive pressure spool 741 can be returned by the elastic force of the first return spring 742 and the second return spring 743.
Based on the above embodiment, further, the negative pressure valve element 75 includes a negative pressure valve core 751 and a third return spring 752, the third return spring 752 is sleeved on an outer wall of the negative pressure valve core 751, and two ends of the third return spring 752 are respectively abutted against a cavity wall of the negative pressure valve cavity 724 and a plug portion of the negative pressure valve core 751. With the above-described structural arrangement, the negative pressure spool 751 can be reset by the elastic action of the third return spring 752 in the case where the internal negative pressure magnet 77 is disengaged from the external negative pressure magnetic member 31.
Based on the above embodiments, further, both ends of the carrier body 72 are formed with a limiting step. Through the structure, the glass panel can be limited to shake left and right, so that the glass panel is more stable in the transfer process, and meanwhile, the glass panel can provide guidance for the glass panel when entering the carrier body 72 and moving out the carrier body 72.
Based on the above embodiment, further, the plurality of blowing holes 722 are distributed in a matrix array. Through the structure, the stress of the glass panel is more balanced.
Based on the above embodiment, further, the right plate 2 and the left plate 3 are fixedly connected together by a plurality of support rods distributed in a circumferential array. The supporting rods are arranged at intervals so as to facilitate the entering and the moving out of the glass panel.
Based on the above embodiment, the transfer driving member a21 further includes two rack rails a211 arranged side by side at intervals, a sliding plate a212 slidably connected to the two rack rails, an orientation adjusting driving member a213 arranged on the sliding plate a212, a translational driving member a214 arranged on the sliding plate a212, and a rotational horizontal plate a215 connected to an output end of the orientation adjusting driving member a213, wherein the rotational horizontal plate a215 is located below the sliding plate a212, the output end of the translational driving member a214 is in transmission connection with one of the rack rails a211 through a gear, and the plurality of panel transfer mechanisms a22 are arranged at intervals on a bottom surface of the rotational horizontal plate a 215.
Specifically, four panel transfer mechanisms a22 are fixed on the rotating transverse plate a215 at intervals, the orientation adjustment driving member a213 is a motor, and the translation driving member a214 is a motor; in practical use, the translation driving part a214 is matched with the rack guide rail a211 through a gear to drive the sliding plate a212 to slide along the rack guide rail a211, so that the four panel transfer mechanisms a22 translate to be matched with the four feeding conveying tables a1 in a one-to-one correspondence manner, thereby realizing feeding operation of the glass panel, after feeding is completed, the translation driving part a214 drives the four panel transfer mechanisms a22 to translate to be matched between the feeding conveying tables a1 and the discharging conveying tables a3, then the orientation adjusting driving part a213 drives the four panel transfer mechanisms a22 to rotate for 90 degrees through the rotation transverse plate a215, then the translation driving part a214 drives the four panel transfer mechanisms a22 to translate to be matched with the four discharging conveying tables a3 in a one-to-one correspondence manner, so as to transfer the glass panel to the discharging conveying tables a3, so as to complete discharging operation, and then the discharging conveying tables a3 are used for transferring the glass panel out of a.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (9)
1. The utility model provides a joint exhaust floating frictionless glass panels transfer robot which characterized in that: comprises a plurality of feeding conveying tables (a1) arranged at intervals, a batch type transfer device (a2) and a plurality of discharging conveying tables (a3) arranged at intervals; the batch type transfer device (a2) comprises a transfer driving component (a21) and a plurality of panel transfer mechanisms (a22) arranged on the output end of the transfer driving component at intervals; the number of the plurality of feeding conveying tables (a1) and the number of the plurality of discharging conveying tables (a3) are in one-to-one correspondence with the number of the plurality of panel transfer mechanisms (a 22).
2. The co-exhausting floating frictionless glass panel transfer robot of claim 1, wherein: each panel transfer mechanism (a22) comprises a connecting plate (1), a right panel (2), a left panel (3), a right rotating frame (4), a left rotating frame (5), a rotating driving piece (6) and a plurality of air floatation carriers (7);
the connecting plate (1) is in a shape of 'T', and the connecting plate (1) is fixed on the output end of the transfer driving part (a 21); the right side plate (2) is circular, and the upper end of the right side plate (2) is fixed on the inner side of one end of the connecting plate (1); the left side plate (3) is circular, the upper end of the right side plate (2) is fixed on the inner side of the other end of the connecting plate (1), the right side plate (2) and the left side plate (3) are symmetrically arranged and are mutually connected together; the right rotating frame (4) is provided with a plurality of right frameworks (41) which are respectively in a central emission shape, and the right rotating frame (4) is rotatably connected to the inner side of the right side plate (2); the left rotating frame (5) is provided with a plurality of left frameworks (51) distributed in a central emission shape, the left rotating frame (5) is rotatably connected to the inner side of the left side plate (3), and the number of the left frameworks (51) corresponds to the number of the right frameworks (41) one by one; the rotary driving piece (6) is arranged on the outer side of the right side plate (2), and the output end of the rotary driving piece is connected with the right rotary frame (4);
two ends of the air-floating carriers (7) are respectively and correspondingly coupled between a plurality of right skeletons (41) of the right rotating frame (4) and a plurality of left skeletons (51) of the left rotating frame (5), each air-floating carrier (7) is horizontally arranged, the air floating carrier (7) comprises an air cavity (721), a plurality of air blowing holes (722) distributed in an array manner, a material blocking pin (73), a positive pressure valve piece (74) and a negative pressure valve piece (75), wherein the air blowing holes (722) are all communicated with the air cavity (721), each air blowing hole (722) is obliquely arranged, and an included angle between the air blowing hole (722) and the feeding direction of the glass panel is an acute angle, the positive pressure valve (74) and the negative pressure valve (75) are respectively arranged at the left end and the right end of one side of the air floatation carrier (7), the material blocking pin (73) is arranged between the positive pressure valve piece (74) and the negative pressure valve piece (75);
the air floating carrier (7) comprises a feeding state and a discharging state, wherein in the feeding state, the positive pressure valve (74) is firstly opened to enable the air in the air cavity (721) to enter air and enable the stop pin (73) to jack up, and after feeding is completed, the negative pressure valve (75) is opened to enable the air cavity (721) to be in a vacuum state; in the discharging state, the positive pressure valve (74) enables the air in the air cavity (721) to be fed and the material blocking pin (73) to be retracted, and the negative pressure valve (75) is closed; wherein, right swivel mount (4) with left swivel mount (5) eccentric settings, right skeleton (41) with the first shaft contact of air supporting carrier (7) with left skeleton (51) with the second shaft contact eccentric settings of air supporting carrier (7), the center of right skeleton (41) with eccentric distance between the center of left skeleton (51) with first shaft contact with eccentric distance between the second shaft contact equals, just form the parallelogram structure on center, the center of left skeleton (51), first shaft contact, the projection of second shaft contact of right skeleton (41) to the xz plane.
3. The co-exhausting floating frictionless glass panel transfer robot of claim 2, wherein: the air-floating carrier (7) further comprises a carrier support (71), a carrier body (72), an internal positive pressure magnet (76) and an internal negative pressure magnet (77), wherein two ends of the carrier support (71) are respectively and correspondingly coupled to the right framework (41) and the left framework (51), the carrier body (72) is horizontally fixed to the top end of the carrier support (71), the air cavity (721) is arranged in the carrier body (72), the plurality of air blowing holes (722) are distributed on the top end of the carrier body (72), a positive pressure valve cavity (723) and a negative pressure valve cavity (724) are respectively arranged at two ends of one side of the carrier body (72), one end of the positive pressure valve cavity (723) is communicated with the air cavity (721), and a limiting cavity (725) is further arranged between the positive pressure valve cavity (723) and the negative pressure valve cavity (724) at one side of the carrier body (72), the limiting cavity (725) is communicated with the other end of the positive pressure valve cavity (723), one end of the positive pressure valve piece (74) is arranged in the positive pressure valve cavity (723), one end of the negative pressure valve piece (75) is arranged in the negative pressure valve cavity (724), a material blocking cavity (726) is further arranged on one side of the carrier body (72), the bottom of the material blocking cavity (726) is communicated with the limiting cavity (725), the middle of the material blocking cavity (726) is further communicated with the air cavity (721), the material blocking pin (73) is hermetically arranged in the material blocking cavity (726), the inner positive pressure magnet (76) is fixed to the other end of the positive pressure valve piece (74), and the inner negative pressure magnet (77) is fixed to the other end of the negative pressure valve piece (75);
the symmetry is provided with two opposite outer malleation magnetic part of polarity (21), two on right side board (2) outer malleation magnetic part (21) are used for respectively during feeding state and ejection of compact state with interior malleation magnet (76) mutually support, the symmetry is provided with two outer negative pressure magnetic part (31) that the polarity is the same on left side board (3), two outer negative pressure magnetic part (31) are used for during feeding state and ejection of compact state with interior negative pressure magnet (77) mutually support, outer negative pressure magnetic part (31) with the difference in height has between outer malleation magnetic part (21).
4. The co-exhausting floating frictionless glass panel transfer robot of claim 3, wherein: one side interval of carrier body (72) is provided with three fender material chamber (726), every it all has material stopping pin (73) to seal fit in fender material chamber (726).
5. The co-exhausting floating frictionless glass panel transfer robot of claim 3, wherein: the positive pressure valve piece (74) comprises a positive pressure valve core (741), a first return spring (742) and a second return spring (743), the first return spring (742) and the second return spring (743) are located in the positive pressure valve cavity (723), the first return spring (742) is sleeved at one end, close to the inner positive pressure magnet (76), of the positive pressure valve core (741), two ends of the first return spring (742) are respectively abutted to the cavity wall at one end of the positive pressure valve cavity (723) and the plug portion of the positive pressure valve core (741), and two ends of the second return spring (743) are respectively abutted to the cavity wall at the other end of the positive pressure valve cavity (723) and the plug portion of the positive pressure valve core (741).
6. The co-exhausting floating frictionless glass panel transfer robot of claim 3, wherein: the negative pressure valve piece (75) comprises a negative pressure valve core (751) and a third return spring (752), the outer wall of the negative pressure valve core (751) is sleeved with the third return spring (752), and two ends of the third return spring (752) are respectively abutted to the cavity wall of the negative pressure valve cavity (724) and the plug portion of the negative pressure valve core (751).
7. The co-exhausting floating frictionless glass panel transfer robot of claim 3, wherein: both ends of the carrier body (72) are formed with a limiting step.
8. The co-exhausting floating frictionless glass panel transfer robot of claim 1, wherein: the plurality of air blowing holes (722) are distributed in a matrix array.
9. The co-exhausting floating frictionless glass panel transfer robot of claims 1-8, wherein: the transfer driving part (a21) comprises two rack guide rails (a211) arranged side by side at intervals, a sliding plate (a212) connected with the two rack guide rails in a sliding mode, an orientation adjusting driving part (a213) arranged on the sliding plate (a212), a translation driving part (a214) arranged on the sliding plate (a212) and a rotation transverse plate (a215) connected to the output end of the orientation adjusting driving part (a213), wherein the rotation transverse plate (a215) is positioned below the sliding plate (a212), the output end of the translation driving part (a214) is in transmission connection with one rack guide rail (a211) through a gear, and the panel transfer mechanisms (a22) are arranged on the bottom surface of the rotation transverse plate (a215) at intervals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011088721.4A CN112158604A (en) | 2020-10-13 | 2020-10-13 | Combined exhaust floating type friction-free glass panel transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011088721.4A CN112158604A (en) | 2020-10-13 | 2020-10-13 | Combined exhaust floating type friction-free glass panel transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112158604A true CN112158604A (en) | 2021-01-01 |
Family
ID=73866590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011088721.4A Withdrawn CN112158604A (en) | 2020-10-13 | 2020-10-13 | Combined exhaust floating type friction-free glass panel transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112158604A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114477005A (en) * | 2022-01-05 | 2022-05-13 | 崔箫 | Adjustable receiving equipment for building construction elevator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2799549Y (en) * | 2005-05-06 | 2006-07-26 | 侯树林 | Airflow reversing arrangement for rotary glass cutting table |
| CN1875470A (en) * | 2003-11-06 | 2006-12-06 | 神钢电机株式会社 | Device for carrying in and out boards, board carrying method and device therefor |
| WO2006129385A1 (en) * | 2005-06-02 | 2006-12-07 | Ishikawajima-Harima Heavy Industries Co., Ltd. | Substrate carrying device |
| TW201217253A (en) * | 2010-10-20 | 2012-05-01 | Inotera Memories Inc | Rotating transport system and controlling method thereof |
-
2020
- 2020-10-13 CN CN202011088721.4A patent/CN112158604A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1875470A (en) * | 2003-11-06 | 2006-12-06 | 神钢电机株式会社 | Device for carrying in and out boards, board carrying method and device therefor |
| CN2799549Y (en) * | 2005-05-06 | 2006-07-26 | 侯树林 | Airflow reversing arrangement for rotary glass cutting table |
| WO2006129385A1 (en) * | 2005-06-02 | 2006-12-07 | Ishikawajima-Harima Heavy Industries Co., Ltd. | Substrate carrying device |
| CN101035725A (en) * | 2005-06-02 | 2007-09-12 | 石川岛播磨重工业株式会社 | Board conveying device |
| TW201217253A (en) * | 2010-10-20 | 2012-05-01 | Inotera Memories Inc | Rotating transport system and controlling method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114477005A (en) * | 2022-01-05 | 2022-05-13 | 崔箫 | Adjustable receiving equipment for building construction elevator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112158604A (en) | Combined exhaust floating type friction-free glass panel transfer robot | |
| CN209078229U (en) | One bulb steeps automatically dropping glue housing kludge | |
| CN113716096A (en) | Automatic boxing system for medicinal glass bottles | |
| CN112278862B (en) | Friction-free pneumatic type glass panel carrier manipulator | |
| CN110587303B (en) | Assembly method for improving metering precision of diaphragm gas meter | |
| CN117485654B (en) | Penicillin bottle high-speed split charging weighing and vacuumizing integrated machine | |
| CN117775381A (en) | Penicillin bottle high-speed split charging weighing vacuumizing nitrogen charging integrated machine | |
| CN110114930B (en) | Upper guide pin device and battery machine | |
| CN218463974U (en) | Flat-pushing vacuum packaging machine | |
| CN111268426A (en) | Material moving mechanism and material transferring system | |
| CN112239084B (en) | Suspension reversing type high-precision glass panel conveying manipulator | |
| CN217144670U (en) | Paste mark and move material book spoon and close lid equipment | |
| CN114985296B (en) | Facial mask packing screening installation | |
| CN214421764U (en) | Automatic pile up neatly automatic booster unit | |
| CN214524727U (en) | Bag feeding and packaging machine | |
| CN210284796U (en) | Novel horizontal carousel bag opening machine | |
| CN114476230A (en) | Automatic bag opening mechanism and lathe are inhaled in upset vacuum | |
| CN112550830A (en) | Bag feeding and packaging machine | |
| CN112239083B (en) | Air hole reversing type suspension high-precision glass panel conveying robot complete machine | |
| CN117068459B (en) | Pork product packagine machine | |
| CN115609483B (en) | Quartz boat sand blasting equipment | |
| CN117775403B (en) | High-speed partial shipment vary voltage vacuum machine | |
| CN217747815U (en) | Automatic glue injection equipment for lamp housing | |
| CN219906051U (en) | Product handling mechanism based on hollow shaft motor drive | |
| CN216376552U (en) | Pole feeding device |
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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210101 |
|
| WW01 | Invention patent application withdrawn after publication |