CN114474009A - Multi-station efficient manipulator glass discharging table - Google Patents
Multi-station efficient manipulator glass discharging table Download PDFInfo
- Publication number
- CN114474009A CN114474009A CN202111490884.XA CN202111490884A CN114474009A CN 114474009 A CN114474009 A CN 114474009A CN 202111490884 A CN202111490884 A CN 202111490884A CN 114474009 A CN114474009 A CN 114474009A
- Authority
- CN
- China
- Prior art keywords
- assembly
- fixed
- glass
- guide rail
- walking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011521 glass Substances 0.000 title claims abstract description 105
- 238000007599 discharging Methods 0.000 title claims description 6
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 63
- 238000005259 measurement Methods 0.000 claims description 25
- 238000005096 rolling process Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 9
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- 241000252254 Catostomidae Species 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 239000005357 flat glass Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/06—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness specially adapted for measuring length or width of objects while moving
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-station efficient manipulator glass unloading platform which comprises a manipulator assembly, a detection platform assembly and a movable glass frame assembly, wherein the manipulator assembly is arranged on the detection platform assembly; the manipulator assembly comprises an X-axis moving component, a Y-axis moving component, a Z-axis moving component, an angle adjusting component, a rotating component and a lifting auxiliary component; the detection table assembly is arranged on one side of the manipulator assembly. According to the invention, the upper and lower film tables of the manipulator replace manpower, so that the labor cost can be saved; the corresponding sucker can be opened according to the size of glass by the sucker on the manipulator sucker bracket to replace a mechanical joint arm; different glass processing equipment can be matched through adjustable parameters, the whole application range is expanded, meanwhile, a movable glass frame assembly is also configured, when the glass frame is full, the current glass frame is moved for a certain distance, the next glass frame reaches the upper and lower sheet positions, the normal operation of the whole machine is ensured, and the automatic processing capacity of the whole machine is improved.
Description
Technical Field
The invention belongs to the technical field of glass processing, and particularly relates to a multi-station efficient manipulator glass unloading table.
Background
With the continuous update of intelligent processing equipment such as hollow building glass processing equipment, vertical glass processing equipment and the like, the requirements for upper and lower glass during glass processing are also continuously improved. For hollow line and vertical glass production line, the existing horizontal upper and lower piece platforms can not meet the requirements of vertical upper and lower pieces due to different structural principles.
The existing vertical glass loading and unloading mode mainly comprises manual glass loading and unloading, vertical sheet loading and unloading tables, and mechanical joint arm glass loading and unloading. Wherein the traditional manual glass loading and unloading not only consumes the labor cost, but also has certain personal safety problem for operating large plates and thick plate glass. The vertical upper and lower glass-processing tables can not meet some special requirements due to no rotary joints. In addition, the structure principle simultaneously limits the speed of the upper piece and the speed of the lower piece. The upper glass and the lower glass of the mechanical joint arm can replace the manpower, but the cost and the later maintenance cost are high, and certain technical capability requirements are provided for operators; the glass has certain limitation on large plate and thick plate glass: the heavier the mechanical joint arm grabs an object, the higher the requirement on the mechanical joint arm is, the higher the cost is, but the size and the specification of the processed glass are various, the weight of the glass is dispersed, and the type selection of the mechanical joint arm is not facilitated.
Therefore, in order to solve the above technical problems, a need exists for a multi-station high-efficiency manipulator glass unloading table.
Disclosure of Invention
The invention aims to provide a multi-station high-efficiency manipulator glass unloading table, which aims to solve the problem that the manual glass unloading and loading speed is low; the vertical upper and lower piece platforms can not rotate joints and the structure principle of the vertical upper and lower piece platforms limits the upper and lower piece speeds of the glass; the upper and lower glass of the mechanical joint arm has high technical requirements on operators, high maintenance cost, poor adaptability of large and small glass and no movable glass frame in various processing modes.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions:
a multi-station efficient manipulator glass unloading table comprises a manipulator assembly, a detection table assembly and a movable glass frame assembly;
the manipulator assembly comprises an X-axis moving component, a Y-axis moving component, a Z-axis moving component, an angle adjusting component, a rotating component and a lifting auxiliary component;
the detection table assembly is arranged on one side of the manipulator assembly and used for measuring the length and width parameters of the glass and transmitting the parameters to the manipulator assembly, so that the manipulator assembly can perform sheet discharging operation conveniently;
the movable glass frame assembly is arranged on one side of the detection table assembly and used for transporting glass.
Further, the X-axis moving part comprises a stand column, a cross beam, a sliding beam, rolling wheels, a guide rail and an X-axis motor reducer assembly, wherein the rolling wheels are installed on two sides of the sliding beam and fixed on the cross beam through bolts and move on the guide rail, the X-axis motor reducer assembly is used for providing power for the rolling wheels, a gear is installed at the shaft end of the X-axis motor reducer assembly, the gear and a rack fixed on the cross beam form gear-rack transmission, and the rack is fixed on the cross beam through bolts.
Furthermore, the Y-axis moving part comprises a sliding plate, a first linear guide rail and a Y-axis motor reducer assembly, the first linear guide rail is installed on the sliding beam, the sliding plate is fixed on the sliding beam through a linear guide rail sliding block, the Y-axis motor reducer assembly is fixed on the sliding beam, a gear is installed at the shaft end of the Y-axis motor reducer assembly, and the gear and a rack fixed on the sliding beam form gear-rack transmission.
Further, the Y-axis moving part comprises a sliding beam for longitudinal movement of the Y-axis moving part, the Z-axis moving part comprises a vertical beam, a second linear guide rail and a Z-axis motor reducer assembly, the second linear guide rail is mounted on the vertical beam, the vertical beam is fixed on the sliding plate through a linear guide rail slider, the Z-axis motor reducer assembly is fixed on the sliding plate, a gear is mounted at the shaft end of the Z-axis motor reducer assembly, and the gear and a rack fixed on the vertical beam form a rack and pinion transmission.
Further, Z axle moving part includes the fixed plate for the installation is fixed third axle motor speed reducer unit spare, angle adjustment part includes angle fixed plate, bearing box, electronic jar seat and angle motor assembly, the angle fixed plate passes through the bearing box to be fixed on erecting the roof beam, the angle fixed plate passes through the flake bearing and is fixed with electronic jar, electronic jar is installed on electronic jar seat, electronic jar seat passes through the bolt fastening and erects on the roof beam, angle motor assembly is used for providing power source for electronic jar.
Further, rotary part includes rotating electrical machines speed reducer assembly, roating seat, sucking disc fixed plate and sucking disc, the roating seat passes through the bolt fastening with the angle fixed plate, the front end at the roating seat is fixed to the sucking disc fixed plate, the sucking disc is installed on the sucking disc fixed plate, rotating electrical machines speed reducer assembly provides power for the rotation of roating seat.
Further, it promotes the seat to promote to include vacuum pump, cylinder and cylinder, the vacuum pump provides the adsorption affinity for the sucking disc, air piping connection is used between vacuum pump and the sucking disc, the cylinder promotes the seat to fix on the sliding plate through the cylinder, the cylinder rod end promotes the seat to be connected with the cylinder of fixing on erecting the roof beam through the fisheye bearing.
Furthermore, examine test table subassembly and include frame, bracing piece, backplate, backing wheel, survey wide roof beam, survey wide sliding plate, driving synchronization wheel, survey wide motor speed reducer assembly, survey long synchronization wheel, survey long motor speed reducer assembly and survey wide contact, the backplate passes through the bracing piece with survey wide roof beam and fixes in the frame, the backing wheel is installed on the backplate, survey fixedly connected with third linear guide on the wide roof beam, it is fixed with surveying wide roof beam through the linear guide slider to survey wide sliding plate, survey wide contact and install on surveying wide sliding plate, survey wide motor speed reducer assembly and drive the opening hold-in range through driving synchronization wheel, the opening hold-in range passes through bolted connection with surveying wide sliding plate for it reciprocates to drive survey wide contact.
Furthermore, the movable glass frame assembly comprises a glass frame, a walking driving guide wheel, a walking driven guide wheel, a walking guide rail fixing plate, a walking motor reducer part, a driving chain wheel, a driven chain wheel, a tensioning chain wheel, a universal joint coupler, a limiting block, a walking frame and a bearing seat.
Furthermore, the bearing frame is fixed on the walking frame, the walking driving guide wheel and the walking driven guide wheel are fixed on the bearing frame through an optical axis, the walking guide rail fixing plate is fixed on the ground through expansion bolts, the walking guide rail is fixed on the walking guide rail fixing plate, the walking guide rail fixing plate is provided with an adjusting threaded hole, the adjusting threaded hole is used for adjusting the levelness of the walking guide rail, the walking motor reducer component is fixed on the walking frame, the driving sprocket is installed on an output shaft of the walking motor reducer component, and the driven sprocket is connected with the universal joint coupler and the walking driving guide wheel through the optical axis.
Compared with the prior art, the invention has the following advantages:
the automatic production line can be combined with vertical glass processing equipment to form an automatic production line, so that the production efficiency is improved, the labor is saved, the vertical glass processing equipment can be independently matched, the whole machine can be connected with various vertical processing equipment, the application range is wide, the manual work is replaced by a mechanical arm, the safety is improved, and the labor cost is saved; suckers are distributed on the manipulator sucker support, and the corresponding suckers are opened according to the size of glass to replace mechanical joint arms, so that the manipulator sucker support is suitable for glasses of different sizes; the adjustable parameters can be matched with different vertical glass processing equipment, a vertical detection table is configured during sheet discharging, the parameters are transmitted to the mechanical arm through detection of the vertical detection table, the processing of different glass on a production line can be adapted, and the production capacity of the sheets is improved; the movable glass frame is configured, the glass frames can be placed on the movable glass frame, when the first glass frame is full of sheets, the current glass frame is moved for a certain distance, the next glass frame reaches the sheet discharging position, the whole production line can normally run at the moment, the full glass frame can be manually moved away, the production line is not stopped, and the automatic processing capacity of the whole machine is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a front view of a glass run platform of a multi-station high efficiency robot in one embodiment of the present disclosure;
FIG. 2 is a side view of a multi-station high efficiency robot glass run station in accordance with one embodiment of the present disclosure;
FIG. 3 is a side view of a robot assembly in accordance with an embodiment of the present invention;
FIG. 4 is an elevation view of a robot assembly in accordance with an embodiment of the present invention;
FIG. 5 is a front view of an inspection station assembly according to an embodiment of the present invention;
FIG. 6 is a side view of an inspection station assembly in accordance with an embodiment of the present invention;
FIG. 7 is a top view of a moving glass shelf assembly in accordance with one embodiment of the present invention;
FIG. 8 is a front view of a moving glass shelf assembly in an embodiment of the present invention.
In the figure: 1. the robot comprises a manipulator assembly, 101 rack columns, 102 cross beams, 103 sliding beams, 104 sliding plates, 105 first linear guide rails, 106 vertical beams, 107 rolling wheels, 108 guide rails, 109X-axis motor reducer assemblies, 110Y-axis motor reducer assemblies, 111 second linear guide rails, 112Z-axis motor reducer assemblies, 113 angle fixing plates, 114 bearing boxes, 115 electric cylinders, 116 electric cylinder seats, 117 angle motor assemblies, 118 rotary motor reducer assemblies, 119 rotary seats, 120 sucker fixing plates, 121 suckers, 122 vacuum pumps, 123 cylinders, 124 cylinder lifting seats, 2 detection table assemblies, 201 rack, 202 support rods, 203 back plates, 204 backrest wheels, 205 width measurement beams, 206 width measurement sliding plates, 207 driving synchronizing wheels, 208 width measurement motor reducer assemblies, 209 length measurement synchronizing wheels, 210. The length measuring motor speed reducer comprises a length measuring motor speed reducer assembly 211, a width measuring contact, 3, a moving glass frame assembly 301, a glass frame 302, a walking driving guide wheel 303, a walking driven guide wheel 303, a 304, a walking guide rail, 305, a walking guide rail fixing plate 306, a walking motor speed reducer part 306, 307, a driving chain wheel, 308, a driven chain wheel, 309, a tensioning chain wheel, 310, a universal joint coupler 311, a limiting block, 312, a walking frame 313 and a bearing seat.
Detailed Description
The present invention will be described in detail below with reference to embodiments shown in the drawings. The embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to the embodiments are included in the scope of the present invention.
The invention discloses a multi-station efficient manipulator glass unloading platform, which comprises a manipulator assembly 1, a detection platform assembly 2 and a movable glass frame assembly 3, and is shown in figures 1-8.
The manipulator assembly 1 includes an X-axis moving member, a Y-axis moving member, a Z-axis moving member, an angle adjusting member, a rotating member, and a lift assisting member.
In addition, the X-axis moving part comprises a rack upright post 101, a cross beam 102, a sliding beam 103, rolling wheels 107, a guide rail 108 and an X-axis motor reducer assembly 109, wherein the rolling wheels 107 are arranged on two sides of the sliding beam 103, are fixed on the cross beam 102 through bolts and move on the guide rail 108, the X-axis motor reducer assembly 109 is used for providing power for the rolling wheels 107, gears are arranged at the shaft ends of the X-axis motor reducer assembly 109, the gears and racks fixed on the cross beam 102 form gear-rack transmission, and the racks are fixed on the cross beam 102 through bolts.
Specifically, the Y-axis moving part includes a sliding plate 104, a first linear guide rail 105 and a Y-axis motor reducer assembly 110, the first linear guide rail 105 is installed on the sliding beam 103, the sliding plate 104 is fixed on the sliding beam 103 through a linear guide rail slider, the Y-axis motor reducer assembly 110 is fixed on the sliding beam 103, a gear is installed at the shaft end of the Y-axis motor reducer assembly 110, and the gear and a rack fixed on the sliding beam 103 form a rack-and-pinion transmission.
In addition, the Z-axis moving part comprises a vertical beam 106, a second linear guide rail 111 and a Z-axis motor reducer assembly 112, the second linear guide rail 111 is installed on the vertical beam 106, the vertical beam 106 is fixed on the sliding plate 104 through a linear guide rail slider, the Z-axis motor reducer assembly 112 is fixed on the sliding plate 104, a gear is installed at the shaft end of the Z-axis motor reducer assembly 112, and the gear and a rack fixed on the vertical beam 106 form a rack-and-pinion transmission.
Referring to fig. 1 to 8, the Z-axis moving component includes a fixing plate for mounting and fixing the third axis motor reducer assembly, the angle adjusting component includes an angle fixing plate 113, a bearing box 114, an electric cylinder 115, an electric cylinder base 116, and an angle motor assembly 117, the angle fixing plate 113 is fixed on the vertical beam 106 through the bearing box 114, the angle fixing plate 113 is fixed with the electric cylinder 115 through a fisheye bearing, the electric cylinder 115 is mounted on the electric cylinder base 116, the electric cylinder base 116 is fixed on the vertical beam 106 through a bolt, and the angle motor assembly 117 is used for providing a power source for the electric cylinder 115.
Wherein, rotary part includes rotating electrical machines speed reducer assembly 118, roating seat 119, sucking disc fixed plate 120 and sucking disc 121, and roating seat 119 passes through the bolt fastening with angle fixed plate 113, and sucking disc fixed plate 120 is fixed at the front end of roating seat 119, and sucking disc 121 installs on sucking disc fixed plate 120, and rotating electrical machines speed reducer assembly 118 provides power for the rotation of roating seat 119.
In addition, the lifting aid comprises a vacuum pump 122, an air cylinder 123 and an air cylinder lifting seat 124, the vacuum pump 122 provides suction force for the suction cup 121, the vacuum pump 122 is connected with the suction cup 121 through an air pipe, the air cylinder 123 is fixed on the sliding plate 104 through the air cylinder lifting seat 124, and the rod end of the air cylinder 123 is connected with the air cylinder lifting seat 124 fixed on the vertical beam 106 through a fisheye bearing.
Referring to fig. 1-8, the detection table assembly 2 is disposed on one side of the robot assembly 1, and is configured to measure the length and width parameters of the glass and transmit the parameters to the robot assembly 1, so as to facilitate the robot assembly 1 to perform a sheet unloading operation.
The detection table component 2 comprises a frame 201, a support rod 202, a back plate 203, a backing wheel 204, a width measurement beam 205, a width measurement sliding plate 206, a driving synchronizing wheel 207, a width measurement motor reducer assembly 208, a length measurement synchronizing wheel 209, a length measurement motor reducer assembly 210 and a width measurement contact 211.
In addition, the back plate 203 and the width measuring beam 205 are fixed on the frame 201 through the support rod 202, the back rest wheel 204 is installed on the back plate 203, the third linear guide rail is fixedly connected to the width measuring beam 205, the width measuring sliding plate 206 is fixed with the width measuring beam 205 through a linear guide rail sliding block, the width measuring contact 211 is installed on the width measuring sliding plate 206, the width measuring motor reducer assembly 208 drives an opening synchronous belt through the driving synchronous wheel 207, and the opening synchronous belt is connected with the width measuring sliding plate 206 through a bolt and used for driving the width measuring contact 211 to move up and down.
Referring to fig. 1 to 8, a moving glass shelf assembly 3 is provided at one side of the inspection table assembly 2 for transporting glass.
The movable glass frame assembly 3 comprises a glass frame 301, a walking driving guide wheel 302, a walking driven guide wheel 303, a walking guide rail 304, a walking guide rail fixing plate 305, a walking motor speed reducer part 306, a driving chain wheel 307, a driven chain wheel 308, a tensioning chain wheel 309, a universal joint coupler 310, a limiting block 311, a walking frame 312 and a bearing seat 313.
In addition, a bearing seat 313 is fixed on a traveling frame 312, a traveling driving guide wheel 302 and a traveling driven guide wheel 303 are fixed on the bearing seat 313 through an optical axis, a traveling guide rail fixing plate 305 is fixed on the ground through an expansion bolt, a traveling guide rail 304 is fixed on the traveling guide rail fixing plate 305, an adjusting threaded hole is formed in the traveling guide rail fixing plate 305 and used for adjusting the levelness of the traveling guide rail 304, a traveling motor reducer part 306 is fixed on the traveling frame 312, a driving sprocket 307 is installed on an output shaft of the traveling motor reducer part 306, and a driven sprocket 308 is connected with a universal joint coupler 310 and the traveling driving guide wheel 302 through an optical axis.
When the glass is used, the glass is firstly conveyed to the detection table assembly 2 through vertical glass processing equipment, the size of the glass is conveyed to the mechanical arm assembly 1, the glass is conveyed to a proper position, the Y-axis moving part in the mechanical arm assembly 1 moves forwards to enable the suction disc 121 to be in contact with the surface of the glass, the vacuum pump 122 is started, and the glass is firmly sucked by sucking air;
the Y-axis moving part retreats, after the Y-axis moving part moves a corresponding distance according to the size of the glass, the Z-axis motor reducer assembly 112 in the Z-axis moving part in the mechanical arm component 1 works to lower the glass, and the glass stops descending when the glass is lowered to the corresponding height of the glass frame 301, and corresponding parameters are required to be input when the corresponding height is the height of the glass frame 301;
an angle motor assembly 117 in an angle adjusting part in the manipulator assembly 1 drives an electric cylinder 115 to extend out, the glass is swung to the direction parallel to the glass frame 301, the vacuum pump 122 is stopped, the sucking disc 121 is deflated, and the glass is placed on the glass frame 301, so that the glass unloading is completed;
when the glass is fully loaded, the walking motor reducer component 306 in the movable glass frame component 3 is started to drive the driving sprocket 307 and the driven sprocket 308, the driven sprocket 308 drives the walking driving guide wheel 302 and simultaneously drives the walking driven guide wheel 303 to move the current glass frame 301 for a certain distance under the action of the universal joint coupler 310, so that the next glass frame 301 reaches the loading position, the whole production line normally runs, and the full glass is manually moved away.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a piece platform under high-efficient manipulator glass of multistation, its characterized in that includes:
a manipulator assembly (1);
the manipulator assembly (1) comprises an X-axis moving component, a Y-axis moving component, a Z-axis moving component, an angle adjusting component, a rotating component and a lifting auxiliary component;
the detection table assembly (2) is arranged on one side of the manipulator assembly (1) and is used for measuring the length and width parameters of the glass and transmitting the parameters to the manipulator assembly (1), so that the manipulator assembly (1) can perform sheet discharging operation;
and the movable glass frame assembly (3) is arranged on one side of the detection table assembly (2) and is used for transporting glass.
2. The glass unloading table of the multi-station high-efficiency manipulator of claim 1, wherein the X-axis moving part comprises a rack upright (101), a cross beam (102), a sliding beam (103), rolling wheels (107), a guide rail (108) and an X-axis motor reducer assembly (109), the rolling wheels (107) are installed on two sides of the sliding beam (103), fixed on the cross beam (102) through bolts and move on the guide rail (108), the X-axis motor reducer assembly (109) is used for providing power for the rolling wheels (107), gears are installed at shaft ends of the X-axis motor reducer assembly (109), the gears and racks fixed on the cross beam (102) form a gear-rack transmission, and the racks are fixed on the cross beam (102) through bolts.
3. The glass feeding table of the multi-station high-efficiency mechanical arm of claim 2, wherein the Y-axis moving part comprises a sliding plate (104), a first linear guide rail (105) and a Y-axis motor reducer assembly (110), the first linear guide rail (105) is installed on the sliding beam (103), the sliding plate (104) is fixed on the sliding beam (103) through a linear guide rail sliding block, the Y-axis motor reducer assembly (110) is fixed on the sliding beam (103), a gear is installed at the shaft end of the Y-axis motor reducer assembly (110), and the gear and a rack fixed on the sliding beam (103) form a rack-and-pinion transmission.
4. The glass unloading table of the multi-station high-efficiency mechanical arm of claim 3, wherein the Z-axis moving part comprises a vertical beam (106), a second linear guide rail (111) and a Z-axis motor reducer assembly (112), the second linear guide rail (111) is installed on the vertical beam (106), the vertical beam (106) is fixed on the sliding plate (104) through a linear guide rail slider, the Z-axis motor reducer assembly (112) is fixed on the sliding plate (104), a gear is installed at the shaft end of the Z-axis motor reducer assembly (112), and the gear and a rack fixed on the vertical beam (106) form a rack-and-pinion transmission.
5. The glass unloading table of the multi-station high-efficiency mechanical arm according to claim 4, wherein the angle adjusting component comprises an angle fixing plate (113), a bearing box (114), an electric cylinder (115), an electric cylinder seat (116) and an angle motor assembly (117), the angle fixing plate (113) is fixed on the vertical beam (106) through the bearing box (114), the angle fixing plate (113) is fixed with the electric cylinder (115) through a fisheye bearing, the electric cylinder (115) is installed on the electric cylinder seat (116), the electric cylinder seat (116) is fixed on the vertical beam (106) through bolts, and the angle motor assembly (117) is used for providing a power source for the electric cylinder (115).
6. The glass unloading table of the multi-station high-efficiency manipulator of claim 5, wherein the rotating component comprises a rotating motor reducer assembly (118), a rotating base (119), a sucker fixing plate (120) and a sucker (121), the rotating base (119) is fixed to the angle fixing plate (113) through a bolt, the sucker fixing plate (120) is fixed to the front end of the rotating base (119), the sucker (121) is installed on the sucker fixing plate (120), and the rotating motor reducer assembly (118) provides power for rotation of the rotating base (119).
7. The glass unloading table of claim 6, wherein the lifting aid comprises a vacuum pump (122), an air cylinder (123) and an air cylinder lifting seat (124), the vacuum pump (122) provides suction force for the suction cup (121), the vacuum pump (122) and the suction cup (121) are connected through an air pipe, the air cylinder (123) is fixed on the sliding plate (104) through the air cylinder lifting seat (124), and the rod end of the air cylinder (123) is connected with the air cylinder lifting seat (124) fixed on the vertical beam (106) through a fisheye bearing.
8. The glass unloading table of the multi-station high-efficiency manipulator of claim 1, wherein the detection table assembly (2) comprises a frame (201), a support rod (202), a back plate (203), a back rest wheel (204), a width measurement beam (205), a width measurement sliding plate (206), a driving synchronizing wheel (207), a width measurement motor reducer assembly (208), a length measurement synchronizing wheel (209), a length measurement motor reducer assembly (210) and a width measurement contact (211), wherein the back plate (203) and the width measurement beam (205) are fixed on the frame (201) through the support rod (202), the back rest wheel (204) is installed on the back plate (203), the width measurement beam (205) is fixedly connected with a third linear guide rail, the width measurement sliding plate (206) is fixed with the width measurement beam (205) through a linear guide rail slider, and the width measurement contact (211) is installed on the width measurement sliding plate (206), the width measurement motor speed reducer assembly (208) drives an opening synchronous belt through a driving synchronous wheel (207), and the opening synchronous belt is connected with a width measurement sliding plate (206) through a bolt and used for driving a width measurement contact (211) to move up and down.
9. The glass unloading table of a multi-station high-efficiency manipulator as claimed in claim 1, wherein the moving glass frame assembly (3) comprises a glass frame (301), a walking driving guide wheel (302), a walking driven guide wheel (303), a walking guide rail (304), a walking guide rail fixing plate (305), a walking motor reducer part (306), a driving sprocket (307), a driven sprocket (308), a tensioning sprocket (309), a universal joint coupler (310), a limiting block (311), a walking frame (312) and a bearing seat (313).
10. The glass run platform of claim 9, wherein the glass run platform comprises a plurality of support arms, the bearing seat (313) is fixed on the walking frame (312), the walking driving guide wheel (302) and the walking driven guide wheel (303) are fixed on the bearing seat (313) through an optical axis, the walking guide rail fixing plate (305) is fixed on the ground through an expansion bolt, the walking guide rail (304) is fixed on the walking guide rail fixing plate (305), the walking guide rail fixing plate (305) is provided with an adjusting threaded hole which is used for adjusting the levelness of the walking guide rail (304), the walking motor speed reducer component (306) is fixed on the walking frame (312), the driving chain wheel (307) is arranged on an output shaft of a speed reducer part (306) of the walking motor, and the driven chain wheel (308) is connected with the universal joint coupler (310) and the walking driving guide wheel (302) through an optical axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111490884.XA CN114474009A (en) | 2021-12-08 | 2021-12-08 | Multi-station efficient manipulator glass discharging table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111490884.XA CN114474009A (en) | 2021-12-08 | 2021-12-08 | Multi-station efficient manipulator glass discharging table |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114474009A true CN114474009A (en) | 2022-05-13 |
Family
ID=81492701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111490884.XA Pending CN114474009A (en) | 2021-12-08 | 2021-12-08 | Multi-station efficient manipulator glass discharging table |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114474009A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0336332A2 (en) * | 1988-04-04 | 1989-10-11 | Torgauer Maschinenbau GmbH | Apparatus for picking-up, stacking and destacking and transporting glass-panes |
| CN107309135A (en) * | 2017-07-12 | 2017-11-03 | 北京蓝天新海科技有限公司 | The full-automatic double glazing glue spreader of two-component |
| CN207107871U (en) * | 2017-03-25 | 2018-03-16 | 佛山市顺德区高力威机械有限公司 | Vertical glass detects transport platform |
| CN207566472U (en) * | 2017-10-13 | 2018-07-03 | 东莞市银锐精密机械有限公司 | A kind of shifting mechanical arm |
| CN207636025U (en) * | 2017-12-28 | 2018-07-20 | 佛山市大拓玻璃机械有限公司 | A kind of automatic high speed glass monitor station |
| CN211362316U (en) * | 2019-12-25 | 2020-08-28 | 山东通疆机械科技有限公司 | Vertical glass is piece platform about fast |
| CN214725379U (en) * | 2020-11-06 | 2021-11-16 | 广东高力威机械科技有限公司 | Full-automatic glass cutting and grinding production line |
-
2021
- 2021-12-08 CN CN202111490884.XA patent/CN114474009A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0336332A2 (en) * | 1988-04-04 | 1989-10-11 | Torgauer Maschinenbau GmbH | Apparatus for picking-up, stacking and destacking and transporting glass-panes |
| CN207107871U (en) * | 2017-03-25 | 2018-03-16 | 佛山市顺德区高力威机械有限公司 | Vertical glass detects transport platform |
| CN107309135A (en) * | 2017-07-12 | 2017-11-03 | 北京蓝天新海科技有限公司 | The full-automatic double glazing glue spreader of two-component |
| CN207566472U (en) * | 2017-10-13 | 2018-07-03 | 东莞市银锐精密机械有限公司 | A kind of shifting mechanical arm |
| CN207636025U (en) * | 2017-12-28 | 2018-07-20 | 佛山市大拓玻璃机械有限公司 | A kind of automatic high speed glass monitor station |
| CN211362316U (en) * | 2019-12-25 | 2020-08-28 | 山东通疆机械科技有限公司 | Vertical glass is piece platform about fast |
| CN214725379U (en) * | 2020-11-06 | 2021-11-16 | 广东高力威机械科技有限公司 | Full-automatic glass cutting and grinding production line |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107934544B (en) | Automatic plate feeding equipment and using method thereof | |
| CN107934543B (en) | Frame type plate conveying equipment | |
| CN112678542B (en) | Chain-driven parallel distributed automatic unstacking robot with sucker grippers | |
| CN107414446A (en) | A kind of automatic turning frock for the assembling of brake drum wheel hub assembly | |
| CN111572871A (en) | New energy automobile battery packing transportation equipment | |
| CN115924504A (en) | Feeding push plate mechanism | |
| CN111891608A (en) | Feeding and discharging mechanism for layered materials | |
| CN211140731U (en) | Eccentric lifting equipment for skid conveying | |
| CN110814732B (en) | Automatic frame overturning machine | |
| CN211033958U (en) | Rotary drum line | |
| CN114474009A (en) | Multi-station efficient manipulator glass discharging table | |
| CN113920871A (en) | Bubble removing equipment for display panel | |
| CN109704058B (en) | Stable and reliable pallet clamping and moving equipment and working method thereof | |
| CN107838939B (en) | Five-linked sucker manipulator system | |
| CN113135405A (en) | Panel material loading platform with automated inspection specification | |
| CN111392423A (en) | Glass plate blanking conveying table | |
| CN219116617U (en) | Special glass of super-huge goes up piece platform down | |
| CN220006617U (en) | Movable overturning centering mechanism for horizontal assembly of H-shaped steel | |
| CN212863034U (en) | Logistics line jacking transfer machine | |
| CN110757121B (en) | Installation line suitable for installation of large glass | |
| CN216303181U (en) | Hydraulic lifting flat car | |
| CN112224884B (en) | Vertical overturning and conveying device for glass substrates | |
| CN220412689U (en) | Plate suction crane | |
| CN219429092U (en) | Lifting conveying mechanism for mechanical part production | |
| CN210213967U (en) | Lifting device with power roller way |
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 |