CN205272017U - Mechanical hand device of full -automatic sheet material installation - Google Patents

Mechanical hand device of full -automatic sheet material installation Download PDF

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Publication number
CN205272017U
CN205272017U CN201520883948.6U CN201520883948U CN205272017U CN 205272017 U CN205272017 U CN 205272017U CN 201520883948 U CN201520883948 U CN 201520883948U CN 205272017 U CN205272017 U CN 205272017U
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CN
China
Prior art keywords
plate
manipulator
fully
crossbeam
mentioned
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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.)
Withdrawn - After Issue
Application number
CN201520883948.6U
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Chinese (zh)
Inventor
罗良维
杨春燕
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Guangdong University of Technology
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Guangdong University of Technology
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Priority to CN201520883948.6U priority Critical patent/CN205272017U/en
Application granted granted Critical
Publication of CN205272017U publication Critical patent/CN205272017U/en
Withdrawn - After Issue legal-status Critical Current
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Abstract

The utility model relates to a mechanical hand device of full -automatic sheet material installation. Including protal frame, drive arrangement, manipulator clamping device and sheet material conveyer, wherein manipulator clamping device installs on protal frame, and drive arrangement and manipulator clamping device are connected, the drive arrangement robot arm clamping device motion, and sheet material conveyer installs in protal frame's below, and manipulator clamping device can pick the sheet material that sheet material conveyer went up the conveying. The utility model relates to a reasonable in design, safe and reliable, the practicality is strong, efficient mechanical hand device of full -automatic sheet material installation.

Description

Fully-automatic plate installation manipulator device
Technical field
The utility model is a kind of fully-automatic plate installation manipulator device, belongs to the innovative technology of fully-automatic plate installation manipulator device.
Background technology
In the industries such as glass door frame, loading in the making of framework by glass, existing technology adopts manually or the flexible clamping device of lifting table. The shape of present plate and vary in weight, particularly the popularization of large-sized sheet material and irregular small-sized sheet material etc. use on a large scale and popularization makes the device such as craft and the lifting table difficulty that operates strengthen, efficiency is low, the assembly quality of product is difficult to control, even cannot complete safety and complete to make smoothly. Random device man-based development, more and more robot arms is applied in the industries such as glass door frame. Usually needing to use large-sized sheet material at some special occasions, ordinary robot cannot realize this function; Robot arm use cost single in the use procedure of tiny sheet material is too high, it does not have obtain general employing.
Summary of the invention
The purpose of this utility model is to consider the problems referred to above and provide a kind of safe and reliable, practical, the fully-automatic plate installation manipulator device that efficiency is high.
The technical solution of the utility model is: fully-automatic plate installation manipulator device of the present utility model, include gantry support, drive unit, manipulator clamping device and plate transport unit, wherein manipulator clamping device is arranged on the support of gantry, drive unit is connected with manipulator clamping device, drive unit drives manipulator clamping device motion, plate transport unit is installed in the lower section of gantry support, and manipulator clamping device can capture the plate of plate transport unit transfer.
The utility model drives robot device to make expanding-contracting action by straight line cylinder, realize being picked up by board-like material or putting down, robot device captures attitude by the adjustment of three degree of freedom rotating machine, coordinate the grabbing of sucker, put action, coordinate the guiding mechanism on horizontal conveying belt to realize transporting plate simultaneously, and be placed in set installation position, the utility model has the following advantages:
1) the utility model structure is simple, and cost is low;
2) the utility model is without the need to manual operation, safe and reliable;
3) gantry of the present utility model support adopts slide block assembling mode, easy for installation, it is possible to convert arbitrarily the bulk of gantry support according to plate size, practical;
4) the three degree of freedom rotating machine control shrinking connecting-rod of the flexible guide rod of the utility model can convert clamping attitude;
5) the sucker composition robot device of the utility model three three degree of freedom rotating machines, three shrinking connecting-rods and end, 3 of non-conllinear determine a plane, it is to increase the stability of heavy sheet material motion;
6) robot device is by three shrinking connecting-rods and three three degree of freedom rotating machines, and flexible multi-purpose, similar staff, is applicable to the installation of small-sized irregular sheet material;
The utility model is a kind of fully-automatic plate installation manipulator device that can greatly improve board-like material and produce and install efficiency.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the schematic diagram of the utility model manipulator clamping device when capturing plate;
Fig. 3 is the schematic diagram of the utility model manipulator clamping device when placing plate;
Fig. 4 is the schematic diagram of the utility model gantry support;
Fig. 5 is the schematic diagram of the utility model plate transport vehicle;
Fig. 6 is the schematic diagram of output shaft belt wheel;
Fig. 7 is the schematic diagram of outer support bar;
Fig. 8 is the schematic diagram of inner bracing piece;
Fig. 9 is the schematic diagram of spherical bearing;
Figure 10 is the schematic diagram that spherical bearing turns over another angle.
Embodiment
Embodiment:
Structural representation of the present utility model as shown in Figure 1,2,3, 4, below will select glass for board-like material, in detail constructional feature of the present utility model is described but actual use range of the present utility model is not limited to so.
Fully-automatic plate installation manipulator device of the present utility model, include and comprise gantry support, drive unit, manipulator clamping device and plate transport unit 8, wherein manipulator clamping device is arranged on the support of gantry, drive unit is connected with manipulator clamping device, drive unit drives manipulator clamping device motion, plate transport unit 8 is installed in the lower section of gantry support, and manipulator clamping device can capture the plate 10 of plate transport unit 8 transfer.
In the present embodiment, above-mentioned plate transport unit 8 is belt transporting apparatus, and the travelling belt of plate transport unit 8 is installed the discharging frame frame 9 for placing plate 10.
In the present embodiment, the travelling belt of above-mentioned plate transport unit 8 is provided with horizontal liner and vertical liner, and X, Y that horizontal liner realizes horizontal direction correct, and vertical liner completes the rectification of Z-direction.
In the present embodiment, the lower end of above-mentioned gantry support is also provided with plate transport vehicle 19, and plate transport vehicle 19 is installed in the end of plate transport unit 8, the bottom installing wheel 191 of plate transport vehicle 19.
In the present embodiment, above-mentioned gantry support includes base 6, crossbeam 12, two outer support bars 111 and two inner bracing pieces 112, wherein the upper end of the upper end of an outer support bar 111 and an inner bracing piece 112 all one end with crossbeam 12 is connected, the lower end of this outer support bar 111 and this inner bracing piece 112 is connected with base 6, form stable triangle structure, the upper end of another root outer support bar 111 and the upper end of another root inner bracing piece 112 are connected with the other end of crossbeam 12, the lower end of this outer support bar 111 and this inner bracing piece 112 is connected with base 6, form stable triangle structure.
In the present embodiment, the two ends of above-mentioned crossbeam 12 are connected with the axis hole set by outer support bar 111 upper end and inner bracing piece 112 upper end respectively, and the lower end of outer support bar 111 and the lower end of inner bracing piece 112 are fixed on base 6 by screw 5 and nut 7. Axis hole set by outer support bar 111 and inner bracing piece 112 also can be equiped with cylindrical shaft bearing sleeve, and cylindrical bearing cover is installed in the axis hole set by outer support bar 111 and inner bracing piece 112. Base 6 is provided with installs groove and elongated slot, the lower end of outer support bar 111 and the lower end of inner bracing piece 112 are placed in the installation groove that base 6 is provided with, screw 5 passes the elongated slot that base 6 is provided with and the connection hole being provided with through the lower end of outer support bar 111 and the lower end of inner bracing piece 112, and nut 7 is twisted solid in the end of screw 5. Above-mentioned straight line cylinder 15 is arranged on the middle part of crossbeam 12.
The utility model can convert arbitrarily the bulk of gantry support according to plate size, then is fixed with screw and nut, easy for installation, it is to increase the resistance to overturning of whole device.
In the present embodiment, above-mentioned drive unit includes straight line cylinder 15, stepper-motor 1 and transmission mechanism thereof, wherein the output shaft of stepper-motor 1 is connected with the driving link of transmission mechanism, the driven member of transmission mechanism is connected with crossbeam 12, straight line cylinder 15 is installed on crossbeam 12, and the piston rod of straight line cylinder 15 is connected with guide rod 16, the piston rod drive leader 16 of straight line cylinder 15 vertically slides, and manipulator clamping device is installed in the two ends of guide rod 16.
In the present embodiment, above-mentioned transmission mechanism is belt transmission, includes driving pulley 3, driven belt pulley 4 and belt 2, and wherein the output shaft of stepper-motor 1 is connected with driving pulley 3, and driven belt pulley 4 is connected with crossbeam 12. Stepper-motor 1 is installed on the pedestal 11.
In the present embodiment, above-mentioned manipulator clamping device comprises clamper 14, three degree of freedom rotating machine 17, shrinking connecting-rod 18 and ball-joint bearing 13, ball-joint bearing 13 includes the guide rod axis hole 131 being arranged in the middle part of bearing body and the some spherical bearings 132 being installed in bearing body, the wherein guide rod axis hole 131 of ball-joint bearing 13 and guide rod 16 shrink-fit, three degree of freedom rotating machine 17 is arranged in spherical bearing 132, the output shaft of three degree of freedom rotating machine 17 connects shrinking connecting-rod 18, and clamper 14 is arranged on the end of shrinking connecting-rod 18. Driven belt pulley 4 is connected with crossbeam 12 by the race 42 arranged on its axis hole 41, transmits power.
In the present embodiment, ball-joint bearing 13 is provided with 3 three degree of freedom rotating machines 17, the output shaft of each three degree of freedom rotating machine 17 connects shrinking connecting-rod 18,3 clampers 14 are arranged on the end of 3 shrinking connecting-rods 18 respectively, 3 not conllinear determine a plane, the position of centre of gravity of adjustment plate, it is determined that plate is centrally located at the control area of mechanical manipulator, it is to increase the high efficiency of plate Auto-mounting and stability.
In the present embodiment, clamper 14 is preferably sucker.
In the present embodiment, the cross-sectional shape of plate transport vehicle 19 is 7 fonts, and plate 10 leans against the side of plate transport vehicle 19, keeps certain angle parallel between plate 10, and plate transport vehicle 19 automatically controls wheel 191 and enters predetermined position. Plate transport vehicle 19 can move automatically, is loaded with plate, the angled inclination of its plate, and in the present embodiment, the driving of whole device adopts the technological operation sequential of PLC electrical control stepper-motor and air pump.
Gantry support of fully-automatic plate installation manipulator device adopts triangle stability to fix, sucker robot device 3 not conllinear determine that plane captures plate, realize fully-automatic plate efficiently and safely by the liner of horizontal conveyor belt and drive unit and install. The utility model fully-automatic plate installation manipulator device comprises driving element, walking unit, adsorption unit and gantry support, adopt PLC electric control method, size according to the plate size detected, by 3 rotating machine control mechanical manipulators of guide rod, 3 not conllinear determine a plane, the position of centre of gravity of adjustment plate, it is determined that plate is centrally located at the control area of mechanical manipulator, it is to increase the high efficiency of plate Auto-mounting and stability. The utility model discloses the device that a kind of automatic placement board-like material enters framework, for the transport assembling field of board-like material, wherein gantry support comprises base, support bar and crossbeam, and crossbeam is provided with straight line cylinder and guide rod; Driving element comprises stepper-motor, belt pulley and belt; Walking unit comprises straight line cylinder, horizontal conveying belt, plate transport vehicle, and horizontal conveying belt is provided with guiding mechanism; Adsorption unit comprises sucker and mechanical manipulator dress arm device makes expanding-contracting action, can be picked up by board-like material or put down, and robot device is put connecting by 3DOF rotating machine. In this device, at the vertical sliding support of gantry Bracket setting, vertical sliding support relies on the straight line cylinder on crossbeam that the swing adjustment of mechanical shaft is captured attitude, coordinate the grabbing of sucker, put action, coordinate the guiding mechanism on horizontal conveying belt to realize transporting doorframe simultaneously, and it being placed in set installation position, the utility model substantially increases, while relying on above-mentioned design to substitute manpower making, the production efficiency that board-like material enters framework.
Working process of the present utility model is as follows: stepper-motor 1 rotates, drive crossbeam 12 rotary motion, enter the attitude of predetermined installation, plate transport vehicle 19 automatically controls wheel 191 and enters predetermined position, straight line cylinder 15 drive leader 16 installed on crossbeam 12 vertically slides, the three degree of freedom rotating machine 17 of guide rod 16 one end sucker robot device rotates, control shrinking connecting-rod 18 end 3 motion forms a face, the sucker 14 of control shrinking connecting-rod 18 one end is fitted in plate 10 surface, PLC device control air pump air-breathing, mention plate 10, complete grasping movement. Motor 1 rotates, control crossbeam 12 rotary motion, and the other end absorption robot device of crossbeam 12 completes grasping movement. Continue control motor 1 to rotate, make one end absorption robot device of crossbeam 12 enter predetermined plate and place attitude, straight line cylinder 15 drive leader 16 of control crossbeam 12 vertically slides, X, Y that the framework 9 being simultaneously placed on the travelling belt of plate transport unit 8 realizes horizontal direction by the horizontal liner of plate transport unit 8 correct, place plate 10, plate 10 is delivered to predetermined position, plate 10 placed by sucker 14, again correct under the vertical liner effect of plate 10 on horizontal conveying belt device 8, complete Z-direction and place installation. Described rotary motion keeps a direction.
Iterative cycles like this, the absorption robot device at crossbeam 12 two ends works simultaneously, raising efficiency.
In addition, the utility model is relative to existing design, suitability is stronger, whether heavy plate or irregular small-sized sheet material can be installed, simultaneously for irregular small-sized sheet material, the assembling of various words can be realized by control 3DOF rotating machine, save place, space, it is to increase the stability of machine and durability.

Claims (10)

1. a fully-automatic plate installation manipulator device, it is characterized in that including gantry support, drive unit, manipulator clamping device and plate transport unit, wherein manipulator clamping device is arranged on the support of gantry, drive unit is connected with manipulator clamping device, drive unit drives manipulator clamping device motion, plate transport unit is installed in the lower section of gantry support, and manipulator clamping device can capture the plate of plate transport unit transfer.
2. fully-automatic plate installation manipulator device according to claim 1, it is characterised in that above-mentioned plate transport unit is belt transporting apparatus, the travelling belt of plate transport unit is installed the discharging frame frame for placing plate.
3. fully-automatic plate installation manipulator device according to claim 1, it is characterized in that the travelling belt of above-mentioned plate transport unit is provided with horizontal liner and vertical liner, X, Y that horizontal liner realizes horizontal direction correct, and vertical liner completes the rectification of Z-direction.
4. fully-automatic plate installation manipulator device according to claim 1, it is characterised in that the lower end of above-mentioned gantry support is also provided with plate transport vehicle, and plate transport vehicle is installed in the end of plate transport unit, the bottom installing wheel of plate transport vehicle.
5. fully-automatic plate installation manipulator device according to claim 1, it is characterized in that above-mentioned gantry support includes base, crossbeam, two outer support bars and two inner bracing pieces, wherein the upper end of an outer support bar and the upper end of an inner bracing piece are all connected with one end of crossbeam, the lower end of this outer support bar and this inner bracing piece is connected with base, form stable triangle structure, the upper end of another root outer support bar and the upper end of another root inner bracing piece are connected with the other end of crossbeam, the lower end of this outer support bar and this inner bracing piece is connected with base, form stable triangle structure.
6. fully-automatic plate installation manipulator device according to the arbitrary item of claim 1 to 5, it is characterized in that above-mentioned drive unit includes straight line cylinder, stepper-motor and transmission mechanism thereof, wherein the output shaft of stepper-motor is connected with the driving link of transmission mechanism, the driven member of transmission mechanism is connected with crossbeam, straight line cylinder is installed on crossbeam, and the piston rod of straight line cylinder is connected with guide rod, the piston rod drive leader of straight line cylinder vertically slides, and manipulator clamping device is installed in the two ends of guide rod.
7. fully-automatic plate installation manipulator device according to claim 6, it is characterized in that above-mentioned transmission mechanism is belt transmission, including driving pulley, driven belt pulley and belt, wherein the output shaft of stepper-motor is connected with driving pulley, and driven belt pulley is connected with crossbeam.
8. fully-automatic plate installation manipulator device according to claim 6, it is characterized in that above-mentioned manipulator clamping device comprises some clampers, three degree of freedom rotating machine, shrinking connecting-rod and ball-joint bearing, ball-joint bearing includes the guide rod axis hole being arranged in the middle part of bearing body and the some spherical bearings being installed in bearing body, the wherein guide rod axis hole of ball-joint bearing and crossbeam shrink-fit, three degree of freedom rotating machine is arranged in spherical bearing, the output shaft of three degree of freedom rotating machine connects shrinking connecting-rod, clamper is arranged on the end of shrinking connecting-rod.
9. fully-automatic plate installation manipulator device according to claim 8, it is characterised in that above-mentioned clamper is sucker.
10. fully-automatic plate installation manipulator device according to claim 4, it is characterised in that the cross-sectional shape of above-mentioned plate transport vehicle is 7 fonts, and plate leans against the side of plate transport vehicle, keeps certain angle parallel between plate.
CN201520883948.6U 2015-11-05 2015-11-05 Mechanical hand device of full -automatic sheet material installation Withdrawn - After Issue CN205272017U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520883948.6U CN205272017U (en) 2015-11-05 2015-11-05 Mechanical hand device of full -automatic sheet material installation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520883948.6U CN205272017U (en) 2015-11-05 2015-11-05 Mechanical hand device of full -automatic sheet material installation

Publications (1)

Publication Number Publication Date
CN205272017U true CN205272017U (en) 2016-06-01

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520883948.6U Withdrawn - After Issue CN205272017U (en) 2015-11-05 2015-11-05 Mechanical hand device of full -automatic sheet material installation

Country Status (1)

Country Link
CN (1) CN205272017U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105538300A (en) * 2015-11-05 2016-05-04 广东工业大学 Full-automatic plate installation manipulator device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105538300A (en) * 2015-11-05 2016-05-04 广东工业大学 Full-automatic plate installation manipulator device
CN105538300B (en) * 2015-11-05 2017-07-07 广东工业大学 A kind of fully-automatic plate installation manipulator device

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C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20160601

Effective date of abandoning: 20170707

AV01 Patent right actively abandoned