CN202862210U - Stacking manipulator for solar glass tube - Google Patents

Stacking manipulator for solar glass tube Download PDF

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Publication number
CN202862210U
CN202862210U CN 201220584258 CN201220584258U CN202862210U CN 202862210 U CN202862210 U CN 202862210U CN 201220584258 CN201220584258 CN 201220584258 CN 201220584258 U CN201220584258 U CN 201220584258U CN 202862210 U CN202862210 U CN 202862210U
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CN
China
Prior art keywords
guide rail
motor
manipulator
longitudinal movement
rail
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Active
Application number
CN 201220584258
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Chinese (zh)
Inventor
张艳芳
郅健斌
肖永飞
李文广
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Institute of Automation Shandong Academy of Sciences
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Institute of Automation Shandong Academy of Sciences
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Application filed by Institute of Automation Shandong Academy of Sciences filed Critical Institute of Automation Shandong Academy of Sciences
Priority to CN 201220584258 priority Critical patent/CN202862210U/en
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Publication of CN202862210U publication Critical patent/CN202862210U/en
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Abstract

The utility model discloses a stacking manipulator for a solar glass tube. The stacking manipulator comprises a supporting frame, wherein a transverse moving guide rail device is arranged on the supporting frame, a longitudinal moving guide rail device capable of moving along the transverse moving guide rail device is arranged on the transverse moving guide rail device, a manipulator device capable of moving along the longitudinal moving guide rail device is arranged on the longitudinal moving guide rail device, a photoelectric sensor is arranged on the longitudinal moving guide rail device, and the transverse moving guide rail device, the longitudinal moving guide rail device, the manipulator device and the photoelectric sensor are all connected with a control system in an electrical mode. The solar manipulator has the advantages of being strong in practicality, efficient and stable in operation, remarkable in control effect and the like.

Description

The solar energy glass pipe is piled up manipulator
Technical field
The utility model belongs to technical field of automation, relate to a kind of manipulator of piling up, a kind of rectilinear motion by guide rail and cylinder specifically, regulate the position of manipulator, reach the adjusting of three degree of freedom, and the sucker of handgrip can be regulated according to the demand of glass tube, satisfies the solar energy glass pipe of the product crawl of different size and piles up manipulator.
Background technology
Palletizing mechanical arm is industrial inevitable outcome, it is a kind of partial function that imitates human upper limb, automation device according to pre-provisioning request conveying workpieces and gripping tool operate to realizing industrial production automation, promotes industrial further developing and plays an important role.The solar energy glass pipe belongs to specialities, piles up for it and has relatively high expectations, and consume manpower.
Summary of the invention
The purpose of this utility model is for overcoming above-mentioned the deficiencies in the prior art, providing a kind of solar energy glass pipe to pile up manipulator.
For achieving the above object, the utility model adopts following technical proposals:
A kind of solar energy glass pipe is piled up manipulator, comprise support frame, described support frame is provided with the transverse shifting track-type facilities, described transverse shifting track-type facilities is provided with can be along its longitudinal movement rail device that moves, described longitudinal movement rail device is provided with can be along its robot device that moves, described longitudinal movement rail device is provided with photoelectric sensor, and described transverse shifting track-type facilities, longitudinal movement rail device, robot device and photoelectric sensor all are electrically connected with control system.
Described transverse shifting track-type facilities comprises two horizontal closed slides that are arranged on the support frame, one of them horizontal closed slide one end is provided with the first motor, the output shaft of the first motor links to each other by the first Timing Belt with the first synchronous pulley that is arranged at this horizontal closed slide other end, and described the first Timing Belt links to each other with the longitudinal movement rail device.
Described longitudinal movement rail device comprises two parallel longitudinal guide rails, one end of described parallel longitudinal guide rail is provided with the second motor, the output shaft of the second motor links to each other by the second Timing Belt with the second synchronous pulley that is arranged at this parallel longitudinal guide rail other end, and described the second Timing Belt links to each other with robot device.
Described robot device comprises perpendicular lifting apparatus and sucker gripper, perpendicular lifting apparatus comprises the 3rd motor, the 3rd motor is installed on the upright guide rail, and the 3rd motor links to each other with sucker gripper by rack-and-pinion, and the drive sucker gripper moves along upright guide rail in vertical plane.
When using, the photoelectric sensor on the longitudinal movement rail device is used for detecting the position of piling up of glass tube, and position signalling is transferred to control system, and position adjustments is carried out in the order that control system provides by analysis afterwards, and reaches final adjusting target; By adjusting the free degree of transverse shifting guide rail and longitudinal movement rail, make handgrip be positioned at the centre position of whole solar energy glass pipe as far as possible, just formed the motion of two frees degree by these two groups of guide rails; The 3rd motor 3 main being responsible for move to object to be transported top with handgrip, by control system control sucker glass tube is sucked again, last motor promotes handgrip, making glass tube be in the safety zone moves, can regulate the crawl height of handgrip by regulating the 3rd motor, so its product type that is fit to is wider.
It is the position of regulating horizontal and vertical moving guide rail according to the requirement of control system that described solar energy glass pipe is piled up manipulator, is come the position signalling of the feedback response free degree by position sensor, reaches final control target by closed-loop adjustment.
The beneficial effects of the utility model are that the advantages such as practical, operation high efficiency smooth, control successful are arranged.
Description of drawings
Fig. 1 is the utility model structural representation;
Wherein 1. first motors, 2. the second motor, 3. the 3rd motor, 4. support frame, 5. the first Timing Belt, 6. the second Timing Belt, 7. laterally closed slide, 8. transverse shifting track-type facilities, 9. longitudinal movement rail device, 10. robot device, 11. parallel longitudinal guide rails.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further specified.
As shown in Figure 1 pile up manipulator for a kind of solar energy glass pipe, comprise support frame 4, described support frame 4 is provided with transverse shifting track-type facilities 8, described transverse shifting track-type facilities 8 is provided with can be along its longitudinal movement rail device 9 that moves, described longitudinal movement rail device 9 is provided with can be along its robot device that moves 10, described longitudinal movement rail device 9 is provided with photoelectric sensor, and described transverse shifting track-type facilities 8, longitudinal movement rail device 9, robot device 10 and photoelectric sensor all are electrically connected with control system.
The transverse shifting track-type facilities comprises two horizontal closed slides 7 that are arranged on the support frame 4, one of them horizontal closed slide 7 one end is provided with the first motor 1, the output shaft of the first motor 1 links to each other by the first Timing Belt 5 with the first synchronous pulley that is arranged at these horizontal closed slide 7 other ends, and the first Timing Belt 5 links to each other with longitudinal movement rail device 9.
Longitudinal movement rail device 9 comprises two parallel longitudinal guide rails 11, one end of parallel longitudinal guide rail 1 is provided with the second motor 2, the output shaft of the second motor 2 links to each other by the second Timing Belt 6 with the second synchronous pulley that is arranged at these parallel longitudinal guide rail 11 other ends, and described the second Timing Belt 6 links to each other with robot device 10.
Robot device 10 comprises perpendicular lifting apparatus and sucking disc tongs device, perpendicular lifting apparatus comprises the 3rd motor 3, the 3rd motor 3 is installed on the upright guide rail, and the 3rd motor 3 links to each other with sucker gripper by rack-and-pinion, and the drive sucker gripper moves along upright guide rail in vertical plane.
When using, the photoelectric sensor on the longitudinal movement rail device 9 is used for detecting the position of piling up of glass tube, and position signalling is transferred to control system, and position adjustments is carried out in the order that control system provides by analysis afterwards, and reaches final adjusting target; By adjusting the free degree of transverse shifting guide rail and longitudinal movement rail, make handgrip be positioned at the centre position of whole solar energy glass pipe as far as possible, just formed the motion of two frees degree by these two groups of guide rails; The 3rd motor 3 main being responsible for move to object to be transported top with handgrip, by control system control sucker glass tube is sucked again, last motor promotes handgrip, making glass tube be in the safety zone moves, can regulate the crawl height of handgrip by regulating the 3rd motor, so its product type that is fit to is wider.
It is the position of regulating horizontal and vertical moving guide rail according to the requirement of control system that the solar energy glass pipe is piled up manipulator, is come the position signalling of the feedback response free degree by position sensor, reaches final control target by closed-loop adjustment.
Although above-mentionedly by reference to the accompanying drawings the specific embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.

Claims (4)

1. a solar energy glass pipe is piled up manipulator, it is characterized in that, comprise support frame, described support frame is provided with the transverse shifting track-type facilities, described transverse shifting track-type facilities is provided with can be along its longitudinal movement rail device that moves, described longitudinal movement rail device is provided with can be along its robot device that moves, described longitudinal movement rail device is provided with photoelectric sensor, and described transverse shifting track-type facilities, longitudinal movement rail device, robot device and photoelectric sensor all are electrically connected with control system.
2. solar energy glass pipe as claimed in claim 1 is piled up manipulator, it is characterized in that, described transverse shifting track-type facilities comprises two horizontal closed slides that are arranged on the support frame, one of them horizontal closed slide one end is provided with the first motor, the output shaft of the first motor links to each other by the first Timing Belt with the first synchronous pulley that is arranged at this horizontal closed slide other end, and described the first Timing Belt links to each other with the longitudinal movement rail device.
3. solar energy glass pipe as claimed in claim 1 is piled up manipulator, it is characterized in that, described longitudinal movement rail device comprises two parallel longitudinal guide rails, one end of described parallel longitudinal guide rail is provided with the second motor, the output shaft of the second motor links to each other by the second Timing Belt with the second synchronous pulley that is arranged at this parallel longitudinal guide rail other end, and described the second Timing Belt links to each other with robot device.
4. solar energy glass pipe as claimed in claim 1 is piled up manipulator, it is characterized in that, described robot device comprises perpendicular lifting apparatus and sucker gripper, perpendicular lifting apparatus comprises the 3rd motor, the 3rd motor is installed on the upright guide rail, the 3rd motor links to each other with sucker gripper by rack-and-pinion, and the drive sucker gripper moves along upright guide rail in vertical plane.
CN 201220584258 2012-11-08 2012-11-08 Stacking manipulator for solar glass tube Active CN202862210U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220584258 CN202862210U (en) 2012-11-08 2012-11-08 Stacking manipulator for solar glass tube

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220584258 CN202862210U (en) 2012-11-08 2012-11-08 Stacking manipulator for solar glass tube

Publications (1)

Publication Number Publication Date
CN202862210U true CN202862210U (en) 2013-04-10

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CN (1) CN202862210U (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104289621A (en) * 2014-08-01 2015-01-21 徐州德坤电气科技有限公司 Air conditioner fin assembly automatic tube expansion system based on digital bus
CN104891346A (en) * 2015-05-25 2015-09-09 株洲南车时代电气股份有限公司 Hanging locating device and using method thereof
CN106181981A (en) * 2016-09-28 2016-12-07 天津工业大学 A kind of three-dimensional machinery arm configuration measured for camera scanning steel plate
CN106903707A (en) * 2017-03-14 2017-06-30 中山市科力高自动化设备有限公司 Four axis robot control systems
CN107587704A (en) * 2017-08-17 2018-01-16 东北大学 A kind of automatic equipment that ceramic tile is pasted for PC components
CN108338806A (en) * 2017-01-24 2018-07-31 上海西门子医疗器械有限公司 Medical image with orthogonal guide rail tests system

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104289621A (en) * 2014-08-01 2015-01-21 徐州德坤电气科技有限公司 Air conditioner fin assembly automatic tube expansion system based on digital bus
CN104891346A (en) * 2015-05-25 2015-09-09 株洲南车时代电气股份有限公司 Hanging locating device and using method thereof
CN104891346B (en) * 2015-05-25 2017-03-15 株洲南车时代电气股份有限公司 Hanging positioner and its using method
CN106181981A (en) * 2016-09-28 2016-12-07 天津工业大学 A kind of three-dimensional machinery arm configuration measured for camera scanning steel plate
CN108338806A (en) * 2017-01-24 2018-07-31 上海西门子医疗器械有限公司 Medical image with orthogonal guide rail tests system
CN106903707A (en) * 2017-03-14 2017-06-30 中山市科力高自动化设备有限公司 Four axis robot control systems
CN107587704A (en) * 2017-08-17 2018-01-16 东北大学 A kind of automatic equipment that ceramic tile is pasted for PC components

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