CN200974243Y - Ultra-thin glass clean conveying robot - Google Patents
Ultra-thin glass clean conveying robot Download PDFInfo
- Publication number
- CN200974243Y CN200974243Y CN 200620152754 CN200620152754U CN200974243Y CN 200974243 Y CN200974243 Y CN 200974243Y CN 200620152754 CN200620152754 CN 200620152754 CN 200620152754 U CN200620152754 U CN 200620152754U CN 200974243 Y CN200974243 Y CN 200974243Y
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- support
- axle
- synchronous pulley
- axle body
- shaft
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Abstract
A ultra-thin glass cleaning transfer robot, of which a frame column is arranged at two ends of a crossbeam respectively; the crossbeam component is provided with X body and Y body; the guide rail sliding of the X body and Y body is provided with a bracket; the two ends of a X synchronous tooth strip turns around a driving synchronous belt wheel and a driven synchronous belt wheel to the two ends of the bracket; the output shaft of a Z shaft servo motor positioned at the opposite is provided with the Z shaft synchronous belt wheel; the Z shaft body is connected with the bracket sliding and installed vertically. The Z synchronous tooth strip is fixed at both upper and lower ends of the Z shaft body through a tension pulley and the Z shaft synchronous tooth strip, which is shaped like a Chinese character ji circling structure; the Z shaft body is connected with the journal stirrup on a balanced cylinder rod through a hinge shaft. The lower end of the Z shaft is connected with an end picking-up device through a rapid changing device of the end picking-up device. The utility mode can meet the need of delver packing for the ultra-thin glass and also reduce glass l consumption loss and labor intensity at the time to meet the requirements of ultra-thin cleaning technology and production rhythm.
Description
Technical field
The utility model relates to the glass handling technology, specifically a kind of ultrathin glass cleaning carrying robot.
Background technology
Glass handling vanning is one important procedure in the glass industry, and the carrying of heavy sheet glass is to adopt the manually-operated haulage equipment, manually moves packing case centering position, by the manually-operated haulage equipment glass is put into the mode of box for packing glass carries out again.(0.55mm～1.1mm) haulage equipment China does not also have ultra-thin glass, China is carried out blockade on new techniques abroad.Therefore, the packing of China's ultra-thin glass also all is by a dead lift vanning at present, and the ultrathin glass cleaning specification requirement is difficult to guarantee, and people's labour intensity is big, glass fragment rate height, average per tour glass fragment direct losses are about 2000 yuans, and economic loss is big.Yet the heavy sheet glass haulage equipment is because clean technology requires not assurance, and production efficiency is low again, can not satisfy the productive temp requirement of ultra-thin glass.
The utility model content
In order to overcome above-mentioned deficiency, the purpose of this utility model is to provide a kind of carrying packing needs that can satisfy ultra-thin glass, and outside satisfying the requirement of clean technology requirement and productive temp, can also reduce the wastage, reduce the ultrathin glass cleaning carrying robot of hand labor intensity.
To achieve these goals, the technical solution of the utility model is to comprise:
The frame-type column is installed in the transverse beam assembly two ends respectively;
Transverse beam assembly is equipped with X body and Z body two parts on it; Wherein:
The X body comprises X-axis servo deceleration motor, the X guide rail, and timing belt, tension mechanism, driven synchronous pulley, support, the active synchronization belt wheel is equipped with support on the wherein said X guide rail, and X guide rail and support are slidingly connected; One end of X timing belt is connected an end of the installing plate of support, the other end walks around the active synchronization belt wheel and driven synchronous pulley passes the other end that support is connected to the installing plate of support from the bottom, the active synchronization belt wheel is installed on the output shaft of X-axis servo deceleration motor, and X-axis servo deceleration motor is installed on the transverse beam assembly;
The Z body comprises support, Z axle synchronous pulley, Z axle body, balance cylinder, expansion tightening wheel, wherein said expansion tightening wheel are two, upper and lower settings, respectively rack-mount, its opposite be provided with Z axle servo deceleration motor, also on support, its output shaft is equipped with Z axle synchronous pulley; Z axle body is by guide rail and slide block and support is vertical is installed together, and constitutes sliding connection structure; Z timing belt one end is fixed on the upper end of Z axle body, and the other end is a few font routes around structure through the lower end that two expansion tightening wheels and the Z axle synchronous pulley of upper and lower settings is fixed on Z axle body; Journal stirrup on the cylinder bar of the balance cylinder on Z axle body and the support is hinged;
Described frame-type column and transverse beam assembly and Z axle body all adopt two rectangle square tube amalgamation structures, and the square steel tube of frame-type column up and down two end surfaces add to reinforce and use steel plate, establish the reinforcing steel plate in the side of transverse beam assembly and Z axle body; Described support is a frame structure; The place adds tension mechanism at described driven synchronous pulley; Be between described timing belt and two expansion tightening wheels and the Z axle synchronous pulley a few font routes around concrete structure: Z timing belt one end is fixed on the upper end of Z axle body, the other end is upwards walked around an expansion tightening wheel that is arranged on the top, the Z axle synchronous pulley that is provided with to the opposite from the below, twine Z axle synchronous pulley, level is walked around, is fixed on the lower end of Z axle body downwards to going to another expansion tightening wheel that is arranged on the below from the expansion tightening wheel top; The terminal-collecting machine that is used for grasping the intermediary paper between glass and the glass is installed in Z axle body lower end by the terminal-collecting machine quick-changing mechanism; The terminal-collecting machine fast replacing device comprises that gathering sill, T shape piece and two locking spanners constitute, and the locking spanner has a screw rod.Wherein gathering sill is fixed on Z axle body lower end, and T shape piece and terminal-collecting machine are fixedly connected and are integral, two locking spanners by screw rod respectively with gathering sill threaded engagement, the lower end butt T shape piece of its screw rod; A side of gathering sill wherein: inwardly have a groove, with the jut and the two arm butts thereof of T shape piece; The transverse beam assembly both sides are offered and are held the fat groove.
The utlity model has following advantage:
1) the utility model has proposed new technical solution on ultra-thin glass equipment, has satisfied the ultra-thin glass demand of packing automatically.
2) cost is low.Concrete manifestation has three: one, reduces the wastage.Adopt the utility model can realize that being about 2000 yuans by average per tour glass fragment direct losses reduces to about 20 yuans; The 2nd, reduced people's labour intensity.In the continuous productive process of producing with ultra-thin glass in the prior art, productive temp height (the fastest beat is 14.17 a seconds/sheet), cause people's the very high situation of labour intensity to be compared, after adopting the utility model, automatic carrying and vanning have been realized, operating personnel only need do some back works, have alleviated people's labour intensity greatly; The 3rd, technology is simple.Transverse beam assembly adopts the welding of rectangle square steel tube, and can satisfy the rigidity requirement of span more than 8 meters in the structure of the rectangular tube upper and lower surface welding steel after the welding, and technology also has the easily characteristics of buying of raw material simply simultaneously.
3) the precision height, install easy to adjust.The utility model adopts the rolling guide slider guide, the timing belt transmission, and the servo deceleration motor-driven makes guiding and positioning accuracy height, and the timing belt transmission realizes high-speed motion easily, and is easy for installation, adjusts easily.
4) response speed is fast.Because the utility model Z axle (vertical axle) has been installed balance cylinder, has reduced the load of motor, thereby has reduced load inertia, and the motor response speed is improved.The servo deceleration motor driving apparatus response speed that is adopted is fast, and the precision height can satisfy the requirement of quick productive temp.
5) satisfy ultra-thin glass and produce the cleaning technology requirement.Open on the transverse beam assembly and hold the fat groove, unnecessary lubricating grease is left to holds in the fat groove, avoid dripping on glass, production process can guarantee handling safety, reliable.
Description of drawings
Fig. 1-1 is the utility model transverse beam assembly structural representation.
Fig. 1-2 is the left view of Fig. 1-1.
Fig. 2 is the utility model overall structure schematic diagram.
Fig. 3 is X body and a Z main body structure schematic diagram among Fig. 2.
Fig. 4 is the utility model tension mechanism structural representation.
Fig. 5 is the utility model terminal-collecting machine fast replacing device structural representation.
The specific embodiment
As shown in Figure 2, the utility model adopts the fixing and support of two framing formula columns, 1 structure as entire equipment, and span is 8.8 meters between the two framing formula columns 1.Transverse beam assembly 2 two ends connect as one with two framing formula columns 1 respectively by bolt connection mode, and transverse beam assembly 2 adopts two rectangle square steel tube weldings, and reinforce at rectangle square steel tube upper and lower surface welding steel.X guide rail 4 is installed on the transverse beam assembly 2, support 8 is installed on the X guide rail 4, support 8 is slidingly connected with support 8 for the frame structure of welding, X guide rail 4.One end of X timing belt 5 is connected an end of the installing plate of support 8, X timing belt 5 other ends walk around active synchronization belt wheel 14 and driven synchronous pulley 7 passes the other end that support 8 is connected to the installing plate of support 8 from the bottom, active synchronization belt wheel 14 is installed on the output shaft of X-axis servo deceleration motor 3, and X-axis servo deceleration motor 3 is installed on the transverse beam assembly 2.Driven synchronous pulley 7 is adjusted the expanding force of band synchronously by tension mechanism 6.
Z axle body 11 adopts two rectangular tube weldings, and simultaneously, at two steel plates of rectangular tube welding, the steel plate face is as guide rail installed surface (reinforcement effect of holding concurrently).Two expansion tightening wheel 16 upper and lower settings, be installed on the support 8 respectively, its opposite is provided with Z axle servo deceleration motor 15, also on support 8, and its output shaft is equipped with Z axle synchronous pulley 9; Z axle body 11 makes Z axle body 11 and support 8 constitute sliding connection structure by guide rail and slide block and support 8 vertical being installed together.Z timing belt 10 1 ends are fixed on the upper end of Z axle body 11, the other end is upwards walked around an expansion tightening wheel 16 that is arranged on the top, the Z axle synchronous pulley 9 that is provided with to the opposite from the below, twine Z axle synchronous pulley 9 back levels to going to another expansion tightening wheel 16 that is arranged on the below, be fixed on the lower end of Z axle body 11 downwards after the side walks around, detours from it, whole timing belt 10 is a few font routes around structure.Journal stirrup on the cylinder bar of the balance cylinder 12 on Z axle body 11 and the support 8 is hinged.The terminal-collecting machine 13 of aluminium section bar frame structure is installed in Z axle body 11 lower ends, and terminal-collecting machine 13 is used for grasping the intermediary paper between glass and the glass.Z axle body 11 is connected with terminal-collecting machine 13 by the terminal-collecting machine fast replacing device, the terminal-collecting machine fast replacing device comprises that gathering sill 23 (present embodiment is: have the groove that presents C shape substantially from a side direction inside), T shape piece 24 and two locking spanners 25 constitute, and locking spanner 25 has a screw rod.Wherein gathering sill 23 is fixed on Z axle body 11 lower ends, T shape piece 24 is fixedly connected with terminal-collecting machine 13 and is integral, the jut (main part) of T shape piece 24 stretches in the C connected in star of gathering sill 23, two arms of T shape piece 24 cooperate with the end face butt of C connected in star one side of gathering sill 23, in gathering sill 23 upper surfaces two screwed holes are arranged, two locking spanners 25 cooperate with two screwed holes of gathering sill 23 upper surfaces respectively by screw rod, pass through the lower end butt T shape piece 24 of screw rod during installation.
Because X-axis (from equipment integral body) gait of march needs 132 meters/minute, span is big again between the two framing formula columns 1, therefore require transverse beam assembly 2 will have high rigidity, adopt two rectangle square steel tube weldings in the utility model, simultaneously, reinforce at rectangle square steel tube upper and lower surface welding steel, improve rigidity (as Fig. 1).
Adopt rolling friction guidance mode between X guide rail 4 and slide block, by 5 transmissions of X timing belt, servo deceleration motor 3 drives, and realizes high-speed, high accuracy and automation, reduces manually to participate in and reduce hand labor intensity (as shown in Figure 2).
Z axle body 11 adopts two rectangular tube weldings, and is in light weight, and rigidity height and axle are installed balance cylinder 12, all help improving the response speed (as shown in Figure 2) of Z axle servo deceleration motor 15.
Z axle body 11 is connected with terminal-collecting machine 13 by the terminal-collecting machine fast replacing device, quick replacing terminal-collecting machine when being convenient to the production of ultra-thin glass of different size.
Concrete operating principle:
X-axis servo deceleration motor 3 rotates by X timing belt 5 and drives supports 8 and Z axle body 11 along 4 horizontal movements of X guide rail, X-axis servo deceleration motor 3 when other direction rotates by X timing belt 5 drive supports 8 and Z axle body 11 along X guide rail 4 to the horizontal movement of another one direction.
Z axle servo deceleration motor 15 rotates by Z timing belt 10 and drives Z axle bodies 11 along Z guide rail 17 vertical movements, Z axle servo deceleration motor 15 when other direction rotates by Z timing belt 10 drive Z axle bodies 11 along Z guide rail 17 to another one direction vertical movement.In the time of 11 motions of Z axle body, balance cylinder bar 18 elongates or shortens with the motion of Z axle body 11.Inflation to balance cylinder 12 in during balance cylinder bar 18 elongation, balance cylinder 12 outside exhausts during 18 shortenings of balance cylinder bar are used for the downward weight of balance Z axle body 11, satisfy the productive temp requirement of ultra-thin glass.
The adjustment of the expanding force of X timing belt 5: fixed block 22, driven synchronous pulley support 21 all are fixed by bolts on the transverse beam assembly 2, and driven synchronous pulley support 21 has slotted hole at the plate that transverse beam assembly 2 tightens.Bolt 19 passes fixed block 22 and is connected on the driven synchronous pulley support 21.Unclamp screw 20 when adjusting the expanding force of X timing belt 5 earlier, turn bolt 19 drives driven synchronous pulley support 21 motions then, after transferring to the appropriate location, stops turn bolt 19, screw 20 is tightened, and the tension of X timing belt 5 just is adjusted finish (as shown in Figure 4).
The operation of terminal-collecting machine fast replacing device: manually T shape piece 24 along continuous straight runs are inserted the gathering sill 23 of band C connected in star, rotation lock spanner 25 makes the screw end head of locking spanner 25 compress the upper surface of T shape piece 24, and terminal-collecting machine 13 just is fixed.When locking spanner 25 unclamps, form the gap between the screw end head of locking spanner 25 and the upper surface of T shape piece 24, manually horizontal direction is taken off terminal-collecting machine 13 (as shown in Figure 5).
Claims (9)
1. ultrathin glass cleaning carrying robot is characterized in that comprising:
Frame-type column (1) is installed in transverse beam assembly (2) two ends respectively;
Transverse beam assembly (2) is equipped with X body and Z body two parts on it; Wherein:
The X body comprises X-axis servo deceleration motor (3), X guide rail (4), timing belt (5), tension mechanism (6), driven synchronous pulley (7), support (8), active synchronization belt wheel (14) is equipped with support (8) on the wherein said X guide rail (4), X guide rail (4) is slidingly connected with support (8); One end of X timing belt (5) is connected an end of the installing plate of support (8), the other end walks around active synchronization belt wheel (14) and driven synchronous pulley (7) passes the other end that support (8) is connected to the installing plate of support (8) from the bottom, active synchronization belt wheel (14) is installed on the output shaft of X-axis servo deceleration motor (3), and X-axis servo deceleration motor (3) is installed on the transverse beam assembly (2);
The Z body, comprise support (8), Z axle synchronous pulley (9), Z axle body (11), balance cylinder (12), expansion tightening wheel (16), wherein said expansion tightening wheel (16) is two, upper and lower settings, be installed on the support (8) respectively, its opposite is provided with Z axle servo deceleration motor (15), also on support (8), and its output shaft is equipped with Z axle synchronous pulley (9); Z axle body (11) constitutes sliding connection structure by guide rail and slide block and vertical being installed together of support (8); Z timing belt (10) one ends are fixed on the upper end of Z axle body (11), and the other end is a few font routes around structure through the lower end that two expansion tightening wheels (16) and the Z axle synchronous pulley (9) of upper and lower settings is fixed on Z axle body (11); Journal stirrup on the cylinder bar of the balance cylinder (12) on Z axle body (11) and the support (8) is hinged.
2. according to the described ultrathin glass cleaning carrying robot of claim 1, it is characterized in that: described frame-type column (1) and transverse beam assembly (2) and Z axle body (11) all adopt two rectangle square tube amalgamation structures, and the square steel tube of frame-type column (1) up and down two end surfaces add to reinforce and use steel plate, establish the reinforcing steel plate in the side of transverse beam assembly (2) and Z axle body (11).
3. according to the described ultrathin glass cleaning carrying robot of claim 1, it is characterized in that: described support (8) is frame structure.
4. according to the described ultrathin glass cleaning carrying robot of claim 1, it is characterized in that: locate to add tension mechanism (6) at described driven synchronous pulley (7).
5. according to the described ultrathin glass cleaning carrying robot of claim 1, it is characterized in that: be between described timing belt (10) and two expansion tightening wheels (16) and the Z axle synchronous pulley a few font routes around concrete structure: Z timing belt (10) one ends are fixed on the upper end of Z axle body (11), the other end is upwards walked around an expansion tightening wheel (16) that is arranged on the top from the below, the Z axle synchronous pulley (9) that is provided with to the opposite, twine Z axle synchronous pulley (9), level is walked around from expansion tightening wheel (16) top to going to another expansion tightening wheel (16) that is arranged on the below, be fixed on the lower end of Z axle body (11) downwards.
6. according to the described ultrathin glass cleaning carrying robot of claim 1, it is characterized in that: the terminal-collecting machine (13) that is used for grasping the intermediary paper between glass and the glass is installed in Z axle body (11) lower end by the terminal-collecting machine quick-changing mechanism.
7. according to the described ultrathin glass cleaning carrying robot of claim 6, it is characterized in that: the terminal-collecting machine fast replacing device comprises that gathering sill (23), T shape piece (24) and two locking spanners (25) constitute, and locking spanner (25) has a screw rod.Wherein gathering sill (23) is fixed on Z axle body (11) lower end, and T shape piece (24) and terminal-collecting machine (13) are fixedly connected and are integral, two locking spanners (25) by screw rod respectively with gathering sill (23) threaded engagement, the lower end butt T shape piece (24) of its screw rod.
8. according to the described ultrathin glass cleaning carrying robot of claim 7, it is characterized in that: a side of gathering sill (23) wherein: inwardly have a groove, with the jut and the two arm butts thereof of T shape piece (24).
9. according to the described ultrathin glass cleaning carrying robot of claim 1, it is characterized in that: transverse beam assembly (2) both sides are offered and are held the fat groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620152754 CN200974243Y (en) | 2006-11-29 | 2006-11-29 | Ultra-thin glass clean conveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620152754 CN200974243Y (en) | 2006-11-29 | 2006-11-29 | Ultra-thin glass clean conveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200974243Y true CN200974243Y (en) | 2007-11-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620152754 Expired - Lifetime CN200974243Y (en) | 2006-11-29 | 2006-11-29 | Ultra-thin glass clean conveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200974243Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973460A (en) * | 2010-08-18 | 2011-02-16 | 济南德佳玻璃机器有限公司 | Thickness adjusting device of hollow glass and conveying device |
| CN101205017B (en) * | 2006-12-20 | 2011-09-28 | 沈阳新松机器人自动化股份有限公司 | Ultrathin glass cleaning carrying robot |
| CN102502259A (en) * | 2011-09-23 | 2012-06-20 | 东莞市伟创东洋自动化设备有限公司 | Automatic water testing manipulator for LED screen |
| CN102718068A (en) * | 2012-06-29 | 2012-10-10 | 苏州晟成新能源科技有限公司 | Transplanting manipulator |
| CN103195888A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Transmission device with buffering structure |
| CN103848213A (en) * | 2012-12-06 | 2014-06-11 | 苏州宏瑞达新能源装备有限公司 | Automatic glass loading machine |
| CN105619404A (en) * | 2016-04-12 | 2016-06-01 | 上海顶欣机电设备有限公司 | Translation seven-shaft structure for transferring robot |
| CN106044222A (en) * | 2016-06-08 | 2016-10-26 | 镇江奥立特机械制造有限公司 | Synchronizing wheel conveying mechanism |
-
2006
- 2006-11-29 CN CN 200620152754 patent/CN200974243Y/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101205017B (en) * | 2006-12-20 | 2011-09-28 | 沈阳新松机器人自动化股份有限公司 | Ultrathin glass cleaning carrying robot |
| CN101973460A (en) * | 2010-08-18 | 2011-02-16 | 济南德佳玻璃机器有限公司 | Thickness adjusting device of hollow glass and conveying device |
| CN101973460B (en) * | 2010-08-18 | 2012-07-04 | 济南德佳玻璃机器有限公司 | Thickness adjusting device of hollow glass and conveying device |
| CN102502259A (en) * | 2011-09-23 | 2012-06-20 | 东莞市伟创东洋自动化设备有限公司 | Automatic water testing manipulator for LED screen |
| CN102502259B (en) * | 2011-09-23 | 2014-01-22 | 东莞市伟创东洋自动化设备有限公司 | Automatic water testing manipulator for LED screen |
| CN103195888A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Transmission device with buffering structure |
| CN103195888B (en) * | 2012-01-06 | 2015-09-30 | 沈阳新松机器人自动化股份有限公司 | There is the transmission device of buffer structure |
| CN102718068A (en) * | 2012-06-29 | 2012-10-10 | 苏州晟成新能源科技有限公司 | Transplanting manipulator |
| CN103848213A (en) * | 2012-12-06 | 2014-06-11 | 苏州宏瑞达新能源装备有限公司 | Automatic glass loading machine |
| CN105619404A (en) * | 2016-04-12 | 2016-06-01 | 上海顶欣机电设备有限公司 | Translation seven-shaft structure for transferring robot |
| CN106044222A (en) * | 2016-06-08 | 2016-10-26 | 镇江奥立特机械制造有限公司 | Synchronizing wheel conveying mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20071114 Effective date of abandoning: 20061129 |