CN112224306A - Program-controlled industrial transfer robot and control method - Google Patents
Program-controlled industrial transfer robot and control method Download PDFInfo
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- CN112224306A CN112224306A CN202010887694.0A CN202010887694A CN112224306A CN 112224306 A CN112224306 A CN 112224306A CN 202010887694 A CN202010887694 A CN 202010887694A CN 112224306 A CN112224306 A CN 112224306A
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- limiting
- block
- wheel
- pulling
- program
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- 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
Abstract
The invention discloses a program-controlled industrial transfer robot and a control method thereof, and the program-controlled industrial transfer robot comprises a supporting seat, wherein two groups of rotating wheel assemblies are symmetrically arranged at the bottom end of the supporting seat, a control panel is arranged at one side of the supporting seat, a group of supporting blocks are symmetrically arranged at the top end of the supporting seat, an installation block is arranged above the supporting seat and between the two supporting blocks, the installation block is connected with the supporting blocks through a rotating shaft, a moving cavity is formed in one side of each supporting block, which is far away from the installation block, and is positioned at the top end of the supporting seat, a pushing assembly matched with the rotating shaft is arranged in the moving cavity, the pushing assembly is connected with the inner wall of the moving cavity through a movable disc, a group of fixed shells are symmetrically arranged at two sides. Has the advantages that: by the aid of the glass carrying device, manual carrying is replaced, and the glass is prevented from being broken in the carrying process.
Description
Technical Field
The invention belongs to the field of industrial transfer robots, and particularly relates to a program-controlled industrial transfer robot and a control method.
Background
Industrial transfer robots are produced to transfer articles to be transferred instead of human labor, and industrial robots are industrial-oriented robots that automatically perform work and operate according to commands of workers or a pre-configured program. The industrial transfer robot produced and manufactured in compliance can carry materials which are harmful to the human body or can cause harm to the human body of workers in the transfer process. After the existing glass manufacturing plant finishes glass manufacturing, a plurality of workers need to be gathered, the produced large glass sheet is conveyed to another processing production line for processing and manufacturing from the production line by manpower, and the nature of the glass is fragile, so that in the process of conveying the large glass sheet by gathering manpower, the requirement on the default degree of the workers for the plurality of conveying is extremely high, if one person makes a fault in the conveying process, on one hand, the glass can be broken, on the other hand, one or more persons in the workers for the plurality of conveying can be injured, and further, the robot capable of replacing the manpower to convey the large glass is urgently needed.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
The purpose of the invention is as follows: a program-controlled industrial transfer robot and a control method thereof are provided to overcome the above technical problems of the related art.
The technical scheme is as follows: a program-controlled industrial carrying robot comprises a supporting seat, wherein two groups of rotating wheel assemblies are symmetrically arranged at the bottom end of the supporting seat, a control panel is arranged at one side of the supporting seat, a group of supporting blocks are symmetrically arranged at the top end of the supporting seat, an installation block is arranged above the supporting seat and between the two supporting blocks, the installation block is connected with the supporting blocks through a rotating shaft, a moving cavity is formed in one side of the supporting blocks, which is far away from the installation block, and is positioned at the top end of the supporting seat, a pushing assembly matched with the rotating shaft is arranged in the moving cavity, the pushing assembly is connected with the inner wall of the moving cavity through a moving disc, a group of fixed shells are symmetrically arranged at two sides of the installation block, a moving cavity matched with the installation block is formed in one side of the installation block and is positioned at the top end of the supporting seat, a group, the installation shell is connected with the first upright post and the first upright post is connected with the installation block through the pulling assembly.
In further embodiment, the installation cavity has been seted up to the inside of installation piece, a set of mounting groove has been seted up to the bilateral symmetry of installation cavity, the inner chamber bottom of installation cavity is provided with travel switch, travel switch keeps away from the even symmetry in one side in activity chamber and is provided with a plurality of groups roller components, roller component's top just is located the mounting groove and is provided with rather than the spacing subassembly of matched with, spacing subassembly is connected with the set casing through spacing cylinder, can reduce glass and be placing the frictional force of in-process, simultaneously, whether place glass and detect in the installation cavity, realize glass transporting the stability of in-process.
In further embodiment, promote the subassembly and include the promotion cylinder of being connected with the activity dish, be connected with on the piston rod of promotion cylinder and promote the axle, the one end that promotes the axle and be close to the supporting shoe is provided with the rotation handle, rotates the handle and keeps away from one side and the rotation axis connection that promote the cylinder, and the axis of rotation is located the edge that rotates the handle, can provide power to the vertical circular motion of installation piece, saves the space usable floor area of programme-controlled industry transfer robot in to the glass handling.
In further embodiment, the pulling subassembly is including setting up the pulling wheel one between stand one and stand two, the below of pulling wheel one is provided with pulling wheel two, the below of pulling wheel two is provided with the pulling shaft, one side that the installation piece was kept away from to the pulling shaft is provided with rotates the wheel, it is connected with the installation shell through rotating the motor to rotate the wheel, can cooperate with the promotion subassembly and make the installation piece more stable and quick vertical circular motion, simultaneously, can reduce the required driving force of push cylinder in the use, improve push cylinder's life.
In a further embodiment, the pulling assembly further comprises first rotating wheels which are symmetrically arranged on two sides of the mounting block and located above the fixed shell, a second rotating wheel is arranged on one side of the first rotating wheel close to the first upright post, the first pulling wheel is connected with the first rotating wheel, the first rotating wheel is connected with the second pulling wheel, the second pulling wheel is connected with the second rotating wheel, the second rotating wheel is connected with the pulling shaft, the first pulling wheel is connected with the rotating wheel through a pulling belt, the mounting block can be guaranteed to be stable in the process of longitudinal circular motion, and meanwhile, the electric energy loss of the rotating motor is reduced.
In a further embodiment, spacing subassembly is including setting up the spacing connecting rod in the mounting groove, one side that roller components was kept away from to spacing connecting rod is connected with the piston rod of spacing cylinder, one side that spacing cylinder was kept away from to spacing connecting rod evenly is provided with a plurality of stoppers, one side that the stopper is close to stand one is provided with rather than the spacing movable block of matched with, one side of spacing movable block and the top that is located spacing connecting rod are provided with spacing fixed block, spacing face one has been seted up on the top of stopper, can carry out fine spacing to the glass of placing in the mounting cavity, guarantee that glass keeps stable at the in-process of transport.
In a further embodiment, one side of the limiting moving block, which is close to the limiting block, is provided with a limiting moving cavity matched with the limiting block, the top end of the inner cavity of the limiting moving cavity is provided with a limiting surface II matched with the limiting surface I, one side of the limiting moving block, which is close to the limiting block, is provided with a limiting plate matched with the limiting fixed block, the limiting moving block is located above the limiting moving block, the limiting moving block is provided with a limiting movable groove matched with the limiting fixed block, limiting power for limiting glass can be provided for the limiting fixed block, and the glass is prevented from being damaged along with the longitudinal rotation of the mounting block.
In a further embodiment, the limiting fixing block is connected with the mounting block through a limiting fixing shaft, and a rubber layer is arranged at the bottom end of the left side of the limiting fixing block, so that the friction force between the glass and the limiting component can be increased, and the glass can be kept stable in the process of rotating along with the longitudinal circumference of the mounting block and being carried.
According to another aspect of the invention, there is provided a programmed industrial handling control method comprising the steps of:
s101, arranging the program-controlled industrial carrying robot on a fixed carrying assembly line;
s102, placing the glass to be carried on the production line in an installation cavity through a program-controlled industrial carrying robot;
s103, confirming that the glass is placed in the installation cavity when the glass placed in the installation cavity is contacted with the travel switch;
s104, operating the control panel through program control or workers, and driving the limiting air cylinder to enable the limiting assembly to limit the glass;
s105, operating the control panel through program control or workers, driving the pushing cylinder and the rotating motor to enable the pulling assembly to be matched with the pushing assembly, and longitudinally pulling up the mounting block;
and S106, operating the control panel through program control or workers to enable the program-controlled industrial transfer robot to transfer the glass to another production line.
In a further embodiment, the method further comprises the steps of:
s101', arranging the program-controlled industrial carrying robot on a fixed carrying production line;
s102', placing the glass to be carried on the production line in an installation cavity through a program-controlled industrial carrying robot;
and S103', stopping working when the glass placed in the mounting cavity is not contacted with the travel switch.
Has the advantages that: according to the glass conveying device, the limiting assembly, the pushing assembly and the pulling assembly are matched, so that in the specific use process, large glass can be conveyed from one assembly line to another assembly line instead of manpower, the situation that the large glass is broken in the conveying process can be reduced, and the situation that workers are injured due to the fact that the large glass is conveyed by concentrated manpower is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of an architecture according to an embodiment of the present invention;
FIG. 2 is a schematic view of a mounting block structure according to an embodiment of the invention;
FIG. 3 is a schematic structural diagram of a spacing assembly according to an embodiment of the invention;
fig. 4 is a structural schematic diagram of a mounting case according to an embodiment of the present invention.
In the figure:
1. a supporting seat; 2. a rotating wheel assembly; 3. a control panel; 4. a support block; 5. mounting blocks; 501. a mounting cavity; 502. a travel switch; 503. a roller assembly; 504. a limiting cylinder; 505. mounting grooves; 6. a rotating shaft; 7. a pushing assembly; 701. a push cylinder; 702. pushing the shaft; 703. rotating the handle; 8. a movable tray; 9. a stationary case; 10. a movable cavity; 11. a first upright post; 12. a second upright post; 13. mounting a shell; 14. a pulling assembly; 1401. pulling the first wheel; 1402. pulling a second wheel; 1403. pulling a shaft; 1404. a rotating wheel; 1405. a first rotating wheel; 1406. a second rotating wheel; 1407. pulling the belt; 15. a limiting component; 1501. a limit connecting rod; 1502. a limiting block; 1503. a limiting moving block; 1504. a limit fixing block; 1505. a first limiting surface; 1506. a limiting moving cavity; 1507. a second limiting surface; 1508. a limiting plate; 1509. a limiting movable groove; 1510. a limiting fixed shaft; 1511. a rubber layer; 16. rotating the motor; 17. the chamber is moved.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
According to an embodiment of the present invention, a programmed industrial transfer robot and a control method are provided.
As shown in fig. 1-4, the program-controlled industrial transfer robot according to the embodiment of the present invention comprises a supporting base 1, two sets of wheel assemblies 2 are symmetrically disposed at the bottom end of the supporting base 1, a control panel 3 is disposed at one side of the supporting base 1, a set of supporting blocks 4 is symmetrically disposed at the top end of the supporting base 1, an installation block 5 is disposed above the supporting base 1 and between the two supporting blocks 4, the installation block 5 is connected to the supporting blocks 4 through a rotating shaft 6, a moving cavity 17 is disposed at one side of the supporting block 4 away from the installation block 5 and at the top end of the supporting base 1, a pushing component 7 is disposed in the moving cavity 17 and matched with the rotating shaft 6, the pushing component 7 is connected to the inner wall of the moving cavity 17 through a movable disc 8, a set of fixed shells 9 is symmetrically disposed at two sides of the installation block 5, a, a group of first upright posts 11 are symmetrically arranged on two sides of the movable cavity 10, one side, far away from the movable cavity 10, of each first upright post 11 is provided with a second upright post 12 matched with the first upright post, one side, far away from the mounting block 5, of each first upright post 11 is provided with a mounting shell 13, and the mounting shell 13 and the first upright posts 11 and the mounting block 5 are connected through pulling assemblies 14 respectively.
By means of the technical scheme, larger glass can be conveyed from one assembly line to the next assembly line for processing on line instead of manpower in the specific using process, so that the manpower loss is reduced, the situation that the glass is broken in the carrying process is also reduced, and the situation that workers are injured in the glass carrying process is also avoided; meanwhile, the program-controlled industrial carrying robot can carry the glass longitudinally, and occupied space in the carrying process is saved.
In an example, the installation cavity 501 has been seted up to the inside of installation piece 5, a set of mounting groove 506 has been seted up to the bilateral symmetry of installation cavity 501, the inner chamber bottom of installation cavity 501 is provided with travel switch 502, when receiving great glass from the assembly line, through roller components 503, after touching travel switch, can place the stabilizer completely to glass, travel switch 502 keeps away from the even symmetry of one side in activity chamber 10 and is provided with a plurality of groups roller components 503, can reduce the frictional force that great glass got into the installation cavity 501 from the assembly line, avoid glass the condition of wearing and tearing to appear in the in-process of placing, roller components 503's top just is located the mounting groove 505 and is provided with rather than matched with spacing subassembly 15, spacing subassembly 15 is connected with set casing 9 through spacing cylinder 504 (can provide power to spacing subassembly 15 and carry out the spacing to glass).
In one example, the pushing assembly 7 includes a pushing cylinder 701 connected to the movable disk 8, and is capable of providing power for the longitudinal circumferential rotation of the mounting block 5 after the glass is placed, so as to reduce the space occupied by the programmable industrial transfer robot during the glass transfer process, a pushing shaft 702 is connected to a piston rod of the pushing cylinder 701, a rotating handle 703 is disposed at one end of the pushing shaft 702 close to the supporting block 4, one side of the rotating handle 703 far away from the pushing cylinder 701 is connected to the rotating shaft 6, and the rotating shaft 6 is located at the edge of the rotating handle 703.
In one example, the pulling assembly 14 comprises a first pulling wheel 1401 arranged between a first upright post 11 and a second upright post 12, a second pulling wheel 1402 is arranged below the first pulling wheel 1401, a pulling shaft 1403 is arranged below the second pulling wheel 1402, a rotating wheel 1404 is arranged on one side of the pulling shaft 1403 far away from the mounting block 5, and the rotating wheel 1404 is connected with the mounting shell 13 through a rotating motor 16 and can provide power in cooperation with the pushing assembly 7 for pulling the mounting block 5 to move circularly in the longitudinal direction.
In one example, the pulling assembly 14 further includes a first rotating wheel 1405 symmetrically disposed on two sides of the mounting block 5 and located above the fixed housing 9, a second rotating wheel 1406 is disposed on a side of the first rotating wheel 1405 close to the first upright post 11, and the first pulling wheel 1401 and the first rotating wheel 1405, the first rotating wheel 1405 and the second pulling wheel 1402, the second pulling wheel 1402 and the second rotating wheel 1406, the second rotating wheel 1406 and the pulling shaft 1403, and the first pulling wheel 1401 and the rotating wheel 1404 are respectively connected by a pulling belt 1407, and the rotating motor 16 provides power to drive the pulling belt 1407 to rotate, so that power loss of the mounting block 5 during longitudinal and circumferential rotation can be reduced, and the service life of the pushing cylinder 701 can be prolonged.
In one example, the limiting assembly 15 includes a limiting connecting rod 1501 arranged in the mounting groove 506, one side of the limiting connecting rod 1501, which is far away from the roller assembly 503, is connected with a piston rod of the limiting cylinder 504, one side of the limiting connecting rod 1501, which is far away from the limiting cylinder 504, is uniformly provided with a plurality of limiting blocks 1502, one side of the limiting blocks 1502, which is close to the first upright post 11, is provided with a limiting moving block 1503 matched with the first upright post, one side of the limiting moving block 1503 is provided with a limiting fixing block 1504 above the limiting connecting rod 1501, the top end of the limiting blocks 1502 is provided with a first limiting surface 1505 (the surface of the first limiting surface 1505 is relatively smooth), the glass placed in the mounting cavity 501 can be limited under the condition that the limiting cylinder 504 provides power.
In one example, a limiting moving cavity 1506 matched with the limiting block 1502 is formed in one side, close to the limiting block 1502, of the limiting moving block 1503, a second limiting surface 1507 matched with the first limiting surface 1505 is arranged at the top end of an inner cavity of the limiting moving cavity 1506, a limiting plate 1508 matched with the limiting fixing block 1504 is arranged on one side, close to the limiting block 1502, of the limiting moving block 1503 and above the limiting block 1502, a limiting movable groove 1509 matched with the limiting fixing block 1504 is formed in the limiting moving block 1503, and the glass can be prevented from being damaged in the longitudinal circumferential rotation process and the carrying process.
In one example, the limiting fixing block 1504 is connected with the mounting block 5 through the limiting fixing shaft 1510, and a rubber layer 1511 is arranged at the bottom end of the left side of the limiting fixing block 1504, so that the friction force between the limiting fixing block 1504 and glass can be increased, and the stability of the glass in the transportation process is improved.
According to an embodiment of the present invention, there is also provided a program-controlled industrial handling control method, including the steps of:
s101, arranging the program-controlled industrial carrying robot on a fixed carrying assembly line;
s102, placing the glass to be carried on the production line into an installation cavity 501 through a program-controlled industrial carrying robot;
s103, confirming that the glass is placed in the installation cavity 501 when the glass placed in the installation cavity 501 is contacted with the travel switch 502;
s104, operating the control panel through program control or workers, and driving the limiting cylinder 504 to enable the limiting assembly 15 to limit the glass;
s105, operating the control panel through program control or workers, driving the pushing cylinder 701 and the rotating motor 16 to enable the pulling assembly 14 to be matched with the pushing assembly 7, and longitudinally pulling up the mounting block 5;
and S106, operating the control panel through program control or workers to enable the program-controlled industrial transfer robot to transfer the glass to another production line.
In one example, the method further comprises the steps of:
s101', arranging the program-controlled industrial carrying robot on a fixed carrying production line;
s102', placing the glass to be carried on the production line in the installation cavity 501 through the program-controlled industrial carrying robot;
s103', when the glass placed in the mounting cavity 501 is not in contact with the travel switch 502, the operation is stopped.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In practical application, according to the setting of a program or a worker on the control panel 3 (a controller is arranged in the operation panel 3), the industrial transfer robot moves into a working area, one end of the installation cavity 501, which is far away from the first upright post 11, faces the assembly line, under the power action of the assembly line, glass moves into the installation cavity 501 from one end of the installation cavity 501 under the action of the roller component 503, after the glass enters the installation cavity 501 and touches the travel switch 502, the switch sends information to the controller, at the moment, under the control of the program or under the operation of the worker, the limit cylinder 504 is driven, the piston rod of the limit cylinder 504 pushes the limit connecting rod 1501 to move towards the inner side of the installation block 5, at the moment, the first limit surface 1505 of the limit connecting rod 1501 is matched with the second limit surface 1507 of the limit moving block 1503 to move the limit moving block upwards, at this time, the limiting moving block 1503 drives the limiting plate 1508 to move upwards, so that the limiting plate 1508 pushes one end of the limiting fixed block 1504 to move upwards, at this time, the limiting fixed block 1504 moves circularly downwards under the action of the limiting fixed shaft 1510 while making the other end of the limiting fixed block move downwards to limit the glass, after the limiting is finished, under the control of a program or under the operation of a worker, the pushing cylinder 701 and the rotating motor 16 are simultaneously driven, at this time, the piston rod of the pushing cylinder 701 contracts and drives the pushing shaft 702 to contract, the pushing shaft 702 drives one end of the rotating handle 703 to move, the end of the rotating handle 703 far away from the pushing shaft 702 drives the rotating shaft 6 to rotate, the rotating column 6 drives the mounting block 5 to rotate from the left lower direction to the right upper direction, at the same time, the rotating motor 16 drives the rotating wheel 1404 to rotate, the rotating wheel 1404 contracts the pulling belt 1407, at this time, the pulling belt 1407 between the, The pulling belt 1407 between the first rotating wheel 1405 and the second pulling wheel 1402, the pulling belt 1407 between the second pulling wheel 1402 and the second rotating wheel 1406, and the pulling belt 1407 between the second rotating wheel 1406 and the pulling shaft 1403 are gradually shortened, when the pulling belt 1407 between the first pulling wheel 1401 and the first rotating wheel 1405, the pulling belt 1407 between the first rotating wheel 1405 and the second pulling wheel 1402, the pulling belt 1407 between the second pulling wheel 1402 and the second rotating wheel 1406, and the pulling belt 1407 between the second rotating wheel 1406 and the pulling shaft 1403 are gradually shortened to the minimum, and when the piston rod of the pushing cylinder 701 is retracted to the initial position, the mounting block 5 is located in the movable chamber 10, at this time, under the control of a program or the operation of a worker, the program-controlled industrial transfer robot transfers the glass to another glass operation line, and when the glass is transferred to another line, under the control of the program or the operation of the worker, the rotating motor 16 and the pushing cylinder 701 are driven to work, when slowly placing glass on the assembly line to under the control of procedure or staff's operation, spacing subassembly 15 places glass, and glass removes from installation cavity 501 under the power of assembly line, and then accomplishes glass's transport.
In summary, by means of the technical scheme, the limiting assembly, the pushing assembly and the pulling assembly are arranged and matched, so that in a specific use process, large glass can be conveyed from one assembly line to another assembly line instead of manual work, the situation that the large glass is broken in the conveying process can be reduced, and the situation that workers are injured due to the fact that the large glass is conveyed by concentrated manpower is avoided.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The program-controlled industrial carrying robot is characterized by comprising a supporting seat (1), wherein two groups of rotating wheel assemblies (2) are symmetrically arranged at the bottom end of the supporting seat (1), an operation panel (3) is arranged at one side of the supporting seat (1), a group of supporting blocks (4) are symmetrically arranged at the top end of the supporting seat (1), an installation block (5) is arranged above the supporting seat (1) and between the two supporting blocks (4), the installation block (5) is connected with the supporting blocks (4) through a rotating shaft (6), a moving cavity (17) is formed in one side, away from the installation block (5), of the supporting blocks (4) and at the top end of the supporting seat (1), a pushing assembly (7) matched with the rotating shaft (6) is arranged in the moving cavity (17), the pushing assembly (7) is connected with the inner wall of the moving cavity (17) through a movable disc (8), the bilateral symmetry of installation piece (5) is provided with a set of set casing (9), one side of installation piece (5) just is located rather than matched with movable chamber (10) is seted up on the top of supporting seat (1), the bilateral symmetry in activity chamber (10) is provided with a set of stand (11), stand (11) are kept away from one side in activity chamber (10) is provided with rather than matched with stand two (12), stand (11) are kept away from one side of installation piece (5) is provided with installation shell (13), installation shell (13) with between the stand (11) with all connect through pulling subassembly (14) respectively between installation piece (5).
2. The program-controlled industrial handling robot according to claim 1, wherein a mounting cavity (501) is formed in the mounting block (5), a set of mounting grooves (506) are symmetrically formed in two sides of the mounting cavity (501), a travel switch (502) is arranged at the bottom end of the inner cavity of the mounting cavity (501), a plurality of groups of roller assemblies (503) are uniformly and symmetrically arranged on one side, away from the movable cavity (10), of the travel switch (502), the roller assemblies (503) are arranged above and in the mounting groove (505) and are provided with limiting assemblies (15) matched with the roller assemblies, and the limiting assemblies (15) are connected with the fixed shell (9) through limiting air cylinders (504).
3. The programmed industrial handling robot according to claim 1, wherein the pushing assembly (7) comprises a pushing cylinder (701) connected to the movable plate (8), a pushing shaft (702) is connected to a piston rod of the pushing cylinder (701), a rotating handle (703) is disposed at an end of the pushing shaft (702) close to the supporting block (4), a side of the rotating handle (703) far away from the pushing cylinder (701) is connected to the rotating shaft (6), and the rotating shaft (6) is located at an edge of the rotating handle (703).
4. The programmed industrial handling robot according to claim 1, wherein the pulling assembly (14) comprises a first pulling wheel (1401) disposed between the first column (11) and the second column (12), a second pulling wheel (1402) is disposed below the first pulling wheel (1401), a pulling shaft (1403) is disposed below the second pulling wheel (1402), a turning wheel (1404) is disposed on a side of the pulling shaft (1403) away from the mounting block (5), and the turning wheel (1404) is connected to the mounting housing (13) through a turning motor (16).
5. The programmed industrial handling robot according to claim 4, wherein said pulling assembly (14) further comprises first wheels (1405) symmetrically disposed on both sides of said mounting block (5) and above said stationary housing (9), wherein a second wheel (1406) is disposed on a side of said first wheels (1405) adjacent to said first column (11), and wherein said first wheel (1401) and said first wheel (1405), said first wheel (1405) and said second wheel (1402), said second wheel (1402) and said second wheel (1406), said second wheel (1406) and said pulling shaft (1403), and said first wheel (1401) and said rotating wheel (1404) are connected by a pulling band (1407), respectively.
6. The programmable industrial transfer robot of claim 2, wherein the limiting assembly (15) comprises a limiting connecting rod (1501) arranged in the mounting groove (506), one side of the limiting connecting rod (1501) far away from the roller assembly (503) is connected with a piston rod of the limiting cylinder (504), a plurality of limiting blocks (1502) are uniformly arranged on one side of the limiting connecting rod (1501) far away from the limiting cylinder (504), a limiting moving block (1503) matched with the limiting block is arranged on one side of the limiting blocks (1502) close to the first upright post (11), a limiting fixing block (1504) is arranged on one side of the limiting moving block (1503) and above the limiting connecting rod (1501), and a first limiting face (1505) is arranged at the top end of the limiting block (1502).
7. The program controlled industrial transfer robot according to claim 6, wherein a limiting moving cavity (1506) matched with the limiting block (1502) is formed in one side, close to the limiting block (1502), of the limiting moving block (1503), a second limiting surface (1507) matched with the first limiting surface (1505) is arranged at the top end of the inner cavity of the limiting moving cavity (1506), a limiting plate (1508) matched with the limiting fixing block (1504) is arranged above the limiting plate (1508) and above the limiting moving block (1503), and a limiting movable groove (1509) matched with the limiting fixing block (1504) is formed in one side, close to the limiting block (1502), of the limiting moving block (1503).
8. The programmed industrial handling robot according to claim 6, wherein the fixed limit block (1504) is connected to the mounting block (5) by a fixed limit shaft (1510), and a rubber layer (1511) is provided at the bottom end of the left side of the fixed limit block (1504).
9. A programmed industrial handling control method for a programmed industrial handling robot according to any one of claims 1-8 to perform programmed industrial handling, the method comprising the steps of:
s101, arranging the program-controlled industrial carrying robot on a fixed carrying assembly line;
s102, placing the glass to be carried on the production line in an installation cavity (501) through a program-controlled industrial carrying robot;
s103, confirming that the glass is placed in the mounting cavity (501) when the glass placed in the mounting cavity (501) is contacted with the travel switch (502);
s104, operating the control panel through program control or workers, and driving the limiting air cylinder (504) to enable the limiting assembly (15) to limit the glass;
s105, operating the control panel through program control or workers, driving the pushing cylinder (701) and the rotating motor (16) to enable the pulling assembly (14) to be matched with the pushing assembly (7), and longitudinally pulling up the mounting block (5);
and S106, operating the control panel through program control or workers to enable the program-controlled industrial transfer robot to transfer the glass to another production line.
10. The programmed industrial handling control method of claim 9, further comprising the steps of:
s101', arranging the program-controlled industrial carrying robot on a fixed carrying production line;
s102', placing the glass to be carried on the production line in an installation cavity (501) through a program-controlled industrial carrying robot;
s103', when the glass placed in the installation cavity (501) is not contacted with the travel switch (502), the work is stopped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010887694.0A CN112224306B (en) | 2020-08-28 | 2020-08-28 | Program-controlled industrial transfer robot and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010887694.0A CN112224306B (en) | 2020-08-28 | 2020-08-28 | Program-controlled industrial transfer robot and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112224306A true CN112224306A (en) | 2021-01-15 |
| CN112224306B CN112224306B (en) | 2021-11-19 |
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| CN204124808U (en) * | 2014-04-04 | 2015-01-28 | 深圳市骏腾发机器人自动化有限公司 | A kind of robot glass handling automation system |
| CN107381051A (en) * | 2017-08-24 | 2017-11-24 | 德阳市聚阳特种玻璃有限公司 | Prevent the workpiece conveying arrangement impaired when carrying |
| CN207312637U (en) * | 2017-09-15 | 2018-05-04 | 山东美达建工集团股份有限公司 | A kind of glass curtain wall transport vehicle |
| CN209796813U (en) * | 2019-03-19 | 2019-12-17 | 成都格拉斯曼科技有限公司 | Glass loading machine |
| CN210060455U (en) * | 2019-03-30 | 2020-02-14 | 深圳启帆智能科技有限公司 | Device is used in processing of shuttle chassis |
| CN210214088U (en) * | 2019-06-25 | 2020-03-31 | 陕西美泰节能科技有限公司 | Hollow machine feeding device |
| CN210972986U (en) * | 2019-11-14 | 2020-07-10 | 南京瀚江工贸实业有限公司 | Auxiliary glass blanking device |
| CN211168916U (en) * | 2019-10-29 | 2020-08-04 | 陆银燕 | Conveyer for glass wholesale |
| CN211337935U (en) * | 2019-10-25 | 2020-08-25 | 冯修一 | Glass panels conveyer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2007130734A (en) * | 2005-11-14 | 2007-05-31 | Yaskawa Electric Corp | Conveying robot including vertical mechanism |
| CN204124808U (en) * | 2014-04-04 | 2015-01-28 | 深圳市骏腾发机器人自动化有限公司 | A kind of robot glass handling automation system |
| CN107381051A (en) * | 2017-08-24 | 2017-11-24 | 德阳市聚阳特种玻璃有限公司 | Prevent the workpiece conveying arrangement impaired when carrying |
| CN207312637U (en) * | 2017-09-15 | 2018-05-04 | 山东美达建工集团股份有限公司 | A kind of glass curtain wall transport vehicle |
| CN209796813U (en) * | 2019-03-19 | 2019-12-17 | 成都格拉斯曼科技有限公司 | Glass loading machine |
| CN210060455U (en) * | 2019-03-30 | 2020-02-14 | 深圳启帆智能科技有限公司 | Device is used in processing of shuttle chassis |
| CN210214088U (en) * | 2019-06-25 | 2020-03-31 | 陕西美泰节能科技有限公司 | Hollow machine feeding device |
| CN211337935U (en) * | 2019-10-25 | 2020-08-25 | 冯修一 | Glass panels conveyer |
| CN211168916U (en) * | 2019-10-29 | 2020-08-04 | 陆银燕 | Conveyer for glass wholesale |
| CN210972986U (en) * | 2019-11-14 | 2020-07-10 | 南京瀚江工贸实业有限公司 | Auxiliary glass blanking device |
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| CN112224306B (en) | 2021-11-19 |
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