CN203372460U - Holding device for interval paper laying robot - Google Patents

Holding device for interval paper laying robot Download PDF

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Publication number
CN203372460U
CN203372460U CN201320476278.7U CN201320476278U CN203372460U CN 203372460 U CN203372460 U CN 203372460U CN 201320476278 U CN201320476278 U CN 201320476278U CN 203372460 U CN203372460 U CN 203372460U
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China
Prior art keywords
paper
clamping
robot
supporting
swing arm
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CN201320476278.7U
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Chinese (zh)
Inventor
杨军
任书明
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Dongxu Optoelectronic Technology Co Ltd
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Tunghsu Group Co Ltd
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Priority to CN201320476278.7U priority Critical patent/CN203372460U/en
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Abstract

The utility model discloses a holding device for an interval paper laying robot. The holding device for the interval paper laying robot structurally comprises a profile material supporting beam and a flange which is installed on the profile material supporting beam and connected with the tail end of a movable shaft of the paper laying robot, wherein sucker components and clamping claw air cylinder components are installed at the two sides under the profile material supporting beam in pairs, and the clamping claw air cylinder components and the sucker components are arranged at intervals. Each clamping claw air cylinder component structurally comprises two sets of swing arms provided with clamping terminals, each set of swing arm has the freedom degree of rotating around the rotation axis through driving of a driving mechanism, and the sucker components and the clamping claw air cylinder components form a clamping mechanism firstly sucking the interval paper and then clamping the interval paper at the lateral sides of the interval paper. The holding device for the interval paper laying robot adopts vacuum suckers for sucking the paper, adopts double connected air cylinders for clamping paper, is simple and efficient in structure and process motion, adopts clamping terminals for clamping paper, is high in paper-taking reliability, improves the efficiency of laying the paper, and breaks through the efficiency bottleneck of a packaging end.

Description

Paving feeding spaced papers robot is with supporting device
Technical field
The utility model relates to plasma glass production line equipment, is specifically related in plasma glass substrate package section packaging process, between two glass substrates spread the feeding spaced papers robot with supporting device.
Background technology
PDP(Plasma Display Panel) plasma display is very high to the requirement of glass substrate, has not allowed scuffing, pollution etc. in production, packing, transportation, and the requirement of links is only second to sanitation-grade.Do not allow direct contact during packing between glass substrate, in order to avoid cause wiping mutual between glass substrate to scratch.Need to lay one deck feeding spaced papers as protection, this just need to spread a feeding spaced papers in packing end placing glass substrate.
At present, in the operation of paving feeding spaced papers, common paving paper equipment is applied is coil paper, and its space taken is large, and the paper feeding loop is long; Curling phenomenon due to the characteristic of self, can occur in coil paper in process of deployment, has reduced paving paper efficiency.
The processing transmission efficiency of glass substrate automatic production line is all very high, but packing end efficiency is relatively low again, and therefore the work efficiency of efficient, compact solution packing end has just become very important problem.
summary of the invention
The technical problems to be solved in the utility model is to provide a kind of paving feeding spaced papers robot with supporting device, this supports the feeding spaced papers that device is based on tiling and designs, it can be inhaled paper, holding paper in the both sides of feeding spaced papers, thereby when glass substrate is put in the both sides along glass substrate production line, can realize at both sides pavings feeding spaced papers, the efficiency of packing department and the reliability of paving paper have been improved.
In order to solve the problems of the technologies described above, the technical scheme that the utility model is taked is:
A kind of paving feeding spaced papers robot is with supporting device, this structure that supports device comprises the section bar support beam and is arranged on the section bar support beam, the flange be connected with the movable axis end of paving paper robot, be provided with to bilateral symmetry below the section bar support beam Suction cup assembly, and the jaw cylinder assembly spaced with Suction cup assembly, the structure of described jaw cylinder assembly comprises and is symmetricly set on section bar support beam both sides, one group of swing arm with clamping terminal, described swing arm has the degree of freedom rotated around rotating shaft separately by driver train, form clamp structure with the clamping terminal of opposite side, form and first inhale the clamping device pressed from both sides afterwards at the side of feeding spaced papers by Suction cup assembly and jaw cylinder assembly.
The structure of described driver train comprise by cylinder block be fixed on section bar support beam lower end the duplex cylinder, be fixed on the adapter plate of duplex cylinder bottom surface and be symmetricly set on two gears on adapter plate by rotating shaft, two piston-rod ends at the duplex cylinder are respectively equipped with tooth bar, the formative gear rack-driving pair meshed with described gear, described swing arm and rotating shaft are fixed, by the fore and aft motion of piston rod corresponding swing arm have take rotary freedom that rotating shaft is the center of circle, form the holding paper structure with the clamping terminal in the opposite side swing arm.
At the manufacturing line packing department, in order to raise the efficiency, glass substrate to be put along the manufacturing line both sides, this just need to all spread feeding spaced papers on the glass substrate of both sides.The utility model just is being based on the design that above-mentioned layout is carried out.Centered by glass substrate production line, put glass substrate in its left and right sides, when needs spread paper on right side, the Suction cup assembly that is positioned at section bar support beam left side picks up certain altitude by feeding spaced papers, the swing arm rotation that is positioned at right side coordinates, forms the holding paper structure with the swing arm of opposite side, then spreads the paper robot feeding spaced papers is mentioned, spread to glass substrate.
The beneficial effect that adopts technique scheme to produce is: 1. the utility model adopts vacuum cup to inhale paper, adopts duplex cylinder holding paper, and its structure and technological action are succinct, efficient, adopts the clamping terminal holding paper, to get the paper reliability high; 2. can be spread paper in the both sides of manufacturing line, improved the efficiency of paving paper, solved the efficiency bottle neck of packing end; 3. the utility model adopts the feeding spaced papers of tiling, has overcome that the space that coil paper takies is large, the paper feeding loop is long, curling shortcoming easily occurs.
The accompanying drawing explanation
Fig. 1 is main TV structure schematic diagram of the present utility model;
Fig. 2 is the left TV structure schematic diagram of Fig. 1;
Fig. 3 is the structural representation of removing in Fig. 2 after flange and jaw cylinder assembly;
Fig. 4 is the backsight structural representation of removing in Fig. 2 after flange and Suction cup assembly;
Fig. 5 is the structural representation that the utility model is inhaled paper and holding paper state;
Wherein, 1, optical fiber transducer, 2, flange, 2-1, flange, 2-2, flange sleeve, 3, the section bar support beam, 4, jaw cylinder assembly, 4-1, duplex cylinder, 4-2, clamping terminal, 4-3, piston rod, 4-4, adapter plate, 4-5, rotating shaft, 4-6, swing arm, 4-7, gear, 4-8, position-limited lever, 5, Suction cup assembly, 5-1, sucker disk seat, 6, feeding spaced papers.
The specific embodiment
Referring to Fig. 1 ~ Fig. 5, paving feeding spaced papers robot of the present utility model comprises section bar support beam 3 and is arranged on section bar support beam 3 with supporting the device structure, the flange 2 be connected with the movable axis end of paving paper robot, both sides below section bar support beam 3 are provided with Suction cup assembly 5 in couples, and the jaw cylinder assembly 4 spaced with Suction cup assembly 5, the structure of described jaw cylinder assembly 4 comprises and is symmetricly set on section bar support beam (3) both sides, one group of swing arm with clamping terminal, described swing arm has the degree of freedom rotated around rotating shaft (4-5) separately by driver train, form clamp structure with the clamping terminal of opposite side, form and first inhale the clamping device pressed from both sides afterwards at the side of feeding spaced papers by Suction cup assembly 5 and jaw cylinder assembly 4.Described flange 2 adopts the cast aluminium flange, and flange 2-1 is connected with section bar support beam 3 by flange sleeve 2-2.
Also be provided with optical fiber transducer 1 on section bar support beam 3.For detection of to supporting device apart from the distance of feeding spaced papers and having or not of assay intervals paper.
Both sides, composition that described Suction cup assembly 5 is arranged on section bar support beam 3 belows by the sucker disk seat 5-1 that is provided with double-vane are inhaled paper structure.Described sucker disk seat 5-1 is symmetrical structure, Suction cup assembly 5 symmetries are arranged on the both sides of sucker disk seat 5-1, Suction cup assembly 5 adopts two groups of control cock to be controlled, on the one hand prevent part Suction cup assembly vacuum failure and cause whole suction paper action to be lost efficacy, control on the other hand different Suction cup assemblies, this supports the feeding spaced papers that device goes for different size.When the specification of feeding spaced papers hour, the pile-up valve of control interval paper two ends Suction cup assembly can cut out, in the time of will avoiding like this Suction cup assembly to draw the small dimension feeding spaced papers, Suction cup assembly all lost efficacy and can not work.
The structure of described driver train comprises the duplex cylinder 4-1 that is fixed on section bar support beam 3 lower ends by cylinder block, be fixed on the adapter plate 4-4 of duplex cylinder 4-1 bottom surface, and be symmetricly set on two gear 4-7 on adapter plate 4-4 by rotating shaft 4-5, two piston rod 4-3 ends at duplex cylinder 4-1 are respectively equipped with the tooth bar meshed with described gear 4-7, formative gear rack-driving pair, described swing arm 4-6 and rotating shaft 4-5 fix, by the fore and aft motion of piston rod 4-3, corresponding swing arm has and take the rotary freedom that rotating shaft 4-5 is the center of circle, form the holding paper structure with the clamping terminal 4-2 in the opposite side swing arm.Be equipped with two clamping terminals in each swing arm, the symmetrical configuration of two swing arm 4-6, when one of them swing arm is rotated, the clamping face of its outer end clamping terminal just overlaps with the clamping face of the inner clamping terminal of another swing arm, and feeding spaced papers is clipped in the middle.
On adapter plate 4-4, swing arm above be provided with spacing lever 4-8.Prevent the direction rotation of swing arm to section bar support beam 3.
The clamping plane that described clamping terminal forms is higher than Suction cup assembly 5 bottom surface 8 ~ 15mm.Like this, when Suction cup assembly 5 is inhaled paper, the clamping face of clamping terminal can not destroy the vacuum of Suction cup assembly 5.
Adopt working process of the present utility model as follows:
1. after spreading feeding spaced papers robot (hereinafter to be referred as robot) and receiving the signal of paving paper action, support device paper stack near feeding spaced papers 6 under the control of robot, by optical fiber transducer 1, measure and support the distance between paper between device and the superiors; When reach setting apart from the time, robot drives that to support device slowly descending, slowly near the superiors' feeding spaced papers;
2. under the programming control of setting, support the distance of device downstream settings, sucker compresses feeding spaced papers, vacuum source is through the pile-up valve assembly work of pneumatic system, sucker sucks feeding spaced papers, moves on to afterwards the distance of setting on slowly, if the excessive height of this distance, feeding spaced papers easily comes off, and effect is undesirable; Spend lowly as too high, affect holding paper action;
3. under above-mentioned height, control the duplex cylinder, make clamping terminal under the drive of duplex cylinder, complete the holding paper action; After this, the source of the gas be communicated with Suction cup assembly acts on Suction cup assembly through pile-up valve, destroys vacuum, and vacuum source is closed simultaneously.Now optical fiber transducer 1 task again, detect clamping terminal and whether clip to feeding spaced papers; When not clipping to feeding spaced papers, system alarm, human intervention, when clipping to feeding spaced papers, signal is normal, continues next action.
4. clamping terminal clip feeding spaced papers under the drive of robot by the feeding spaced papers lay to the glass baseplate surface that will place, after the device of putting glass substrate of being correlated with presses on feeding spaced papers by glass substrate, the duplex cylinder action, unclamp clamping terminal.Then robot is got back to original position, waits for the action that repeats next circulation.

Claims (6)

1. a paving feeding spaced papers robot is with supporting device, this structure that supports device comprises section bar support beam (3) and is arranged on section bar support beam (3), the flange (2) be connected with the movable axis end of paving paper robot, it is characterized in that the bilateral symmetry of section bar support beam (3) below be provided with Suction cup assembly (5), and the jaw cylinder assembly (4) spaced with Suction cup assembly (5), the structure of described jaw cylinder assembly (4) comprises and is symmetricly set on section bar support beam (3) both sides, one group of swing arm with clamping terminal, described swing arm has the degree of freedom rotated around rotating shaft (4-5) separately by driver train, form clamp structure with the clamping terminal of opposite side, form and first inhale the clamping device pressed from both sides afterwards at the side of feeding spaced papers by Suction cup assembly (5) and jaw cylinder assembly (4).
2. paving feeding spaced papers robot according to claim 1, with supporting device, is characterized in that also being provided with optical fiber transducer (1) on section bar support beam (3).
3. paving feeding spaced papers robot according to claim 1, with supporting device, is characterized in that described Suction cup assembly (5) is positioned at both sides, the formation vacuum paper-absorbing structure of section bar support beam (3) below by the sucker disk seat that is provided with double-vane (5-1).
4. paving feeding spaced papers robot according to claim 1 is with supporting device, the structure that it is characterized in that described driver train comprises the duplex cylinder (4-1) that is fixed on section bar support beam (3) lower end by cylinder block, be fixed on the adapter plate (4-4) of duplex cylinder (4-1) bottom surface, and be symmetricly set on two gears (4-7) on adapter plate (4-4) by rotating shaft (4-5), two piston rods (4-3) end at duplex cylinder (4-1) is respectively equipped with the tooth bar meshed with described gear (4-7), formative gear rack-driving pair, described swing arm and rotating shaft (4-5) are fixing, have and take the rotary freedom that rotating shaft (4-5) is the center of circle by the corresponding swing arm of fore and aft motion of piston rod (4-3), form the holding paper structure with the clamping terminal (4-2) in the opposite side swing arm.
5. paving feeding spaced papers robot according to claim 4, with supporting device, is characterized in that top upper at adapter plate (4-4), swing arm is provided with spacing lever (4-8).
6. paving feeding spaced papers robot according to claim 4, with supporting device, is characterized in that the clamping plane of described clamping terminal formation is higher than Suction cup assembly (5) bottom surface 8 ~ 15mm.
CN201320476278.7U 2013-08-06 2013-08-06 Holding device for interval paper laying robot Active CN203372460U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320476278.7U CN203372460U (en) 2013-08-06 2013-08-06 Holding device for interval paper laying robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320476278.7U CN203372460U (en) 2013-08-06 2013-08-06 Holding device for interval paper laying robot

Publications (1)

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320476278.7U Active CN203372460U (en) 2013-08-06 2013-08-06 Holding device for interval paper laying robot

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106742193A (en) * 2016-11-30 2017-05-31 郑州旭飞光电科技有限公司 The packing control method and device of glass substrate
CN109502395A (en) * 2018-11-19 2019-03-22 营口金辰机械股份有限公司 Glass pile every paper automatic arranging recyclable device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106742193A (en) * 2016-11-30 2017-05-31 郑州旭飞光电科技有限公司 The packing control method and device of glass substrate
CN106742193B (en) * 2016-11-30 2019-05-28 郑州旭飞光电科技有限公司 The packing control method, apparatus and system of glass substrate
CN109502395A (en) * 2018-11-19 2019-03-22 营口金辰机械股份有限公司 Glass pile every paper automatic arranging recyclable device

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C14 Grant of patent or utility model
GR01 Patent grant
LICC Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model
EE01 Entry into force of recordation of patent licensing contract

Assignee: Fuzhou Dongxu Photoelectric Technology Co., Ltd.|Dongxu photoelectric Polytron Technologies Inc

Assignor: Tungsu Group Co., Ltd.

Contract record no.: 2016990000110

Denomination of utility model: Paving feeding spaced papers robot is with supporting device

Granted publication date: 20140101

License type: Common License

Record date: 20160318

Assignee: Fuzhou Dongxu Photoelectric Technology Co., Ltd.|Dongxu photoelectric Polytron Technologies Inc

Assignor: Tungsu Group Co., Ltd.

Contract record no.: 2016990000110

Denomination of utility model: Paving feeding spaced papers robot is with supporting device

Granted publication date: 20140101

License type: Common License

Record date: 20160318

PP01 Preservation of patent right
PP01 Preservation of patent right

Effective date of registration: 20191212

Granted publication date: 20140101

PD01 Discharge of preservation of patent
PD01 Discharge of preservation of patent

Date of cancellation: 20200804

Granted publication date: 20140101

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20200924

Address after: 050035 No. 9, the Yellow River Avenue, hi tech Zone, Hebei, Shijiazhuang

Patentee after: DONGXU OPTOELECTRONIC TECHNOLOGY Co.,Ltd.

Address before: 050000 Zhujiang Road 369, hi tech Zone, Hebei, Shijiazhuang

Patentee before: TUNGHSU GROUP Co.,Ltd.