CN205969019U - Glass carrying manipulator - Google Patents
Glass carrying manipulator Download PDFInfo
- Publication number
- CN205969019U CN205969019U CN201620890531.7U CN201620890531U CN205969019U CN 205969019 U CN205969019 U CN 205969019U CN 201620890531 U CN201620890531 U CN 201620890531U CN 205969019 U CN205969019 U CN 205969019U
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- CN
- China
- Prior art keywords
- glass
- baffle plate
- fixed
- hole
- fixed mount
- 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.)
- Expired - Fee Related
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Abstract
The utility model provides a glass carrying manipulator, including base, arm, rotary mechanism, elevating system and grabbing device, rotary mechanism fixes on the base, the arm is fixed rotary mechanism is last, grabbing device passes through elevating system fixes the tip of arm. Be equipped with the baffle on the grabbing device of this manipulator, after glass was absorb to the sucking disc, the baffle removed in the through -hole in the backup pad under the drive of lead screw to coinciding with the mount, and glass is in suction process, if take place to drop, then the baffle can be held glass, prevents effectively that glass from leading to glass to damage because of droing.
Description
Technical field
This utility model is related to a kind of mechanical hand, in particular it relates to a kind of glass carrying manipulator.
Background technology
In glass handling, lead to sucker to glass due to the weight of glass or due to being stained with foreign body on glass surface
Absorption is insecure, thus leading to glass to come off from sucker, causes economic loss to user.
Utility model content
This utility model is in order to solve drawbacks described above present in prior art and deficiency, there is provided a kind of glass-carrying machine
Tool handss, this mechanical hand can effectively prevent when capturing glass, and glass comes off and causes economic loss.
For solve above-mentioned technical problem, this utility model provide a kind of glass carrying manipulator, including pedestal, mechanical arm,
Rotating mechanism, elevating mechanism and grabbing device, described rotating mechanism is fixed on described pedestal, and described mechanical arm is fixed on described
On rotating mechanism, described grabbing device is fixed on the end of described mechanical arm by described elevating mechanism；
Described rotating mechanism includes fixed station and turntable, is provided with through hole in described fixed station, is provided with rotation in described through hole
Rotating shaft, one end of described rotary shaft is connected with electric rotating machine, and the other end is connected with the turntable on described fixed station, described rotation
Motor passes through the upper plate of described pedestal to be placed in described pedestal, and described mechanical arm is fixing on a spinstand；In described rotary shaft
It is provided with keyway, one end of described electric rotating machine is placed in described keyway；It is provided with the installing hole that several run through in described turntable,
Described installation in the hole is provided with securing member, and described rotary shaft and turntable are linked together by described securing member；
Described elevating mechanism includes hoist cylinder, and the piston rod upper end of described hoist cylinder is fixedly installed on the robotic arm,
The cylinder body lower end of described hoist cylinder and described grabbing device are fixedly linked, and the cylinder body upper end of described hoist cylinder is provided with guiding
Bar, two ends of described guide post are respectively equipped with contact, respectively upper contact and lower contact, and described mechanical arm is provided with guiding
Plate, described guide plate be respectively arranged at two ends with the travel switch matching with contact, respectively upper stroke switch and lower stroke switch；
Described grabbing device includes fixed mount, baffle plate and drive mechanism, and described fixed mount lower surface is provided with several use
In the sucker drawing glass, described fixed mount be respectively arranged at two ends with a gripper shoe, described gripper shoe is hung down with described fixed mount
Straight setting, described drive mechanism is fixed between two described gripper shoes, and described drive mechanism passes through contiguous block and described baffle plate
It is fixedly linked, two described gripper shoes are equipped with rectangular through holes, described baffle plate passes through described through hole, put down with described fixed mount
OK, described drive mechanism drives baffle plate to move in described through hole, prevents from capturing in glass process, glass come off from sucker and
Damage glass.
Further, described drive mechanism includes being arranged between described gripper shoe screw mandrel, it is arranged under described fixed mount
Guide rail one on surface and be arranged on the carriage one match on baffle plate upper surface with described guide rail one, described baffle plate passes through even
Connect block to be connected with described screw mandrel.
Further, described screw mandrel is two, is respectively placed in the both sides of described fixed mount, two described screw mandrels all with described gear
Plate is connected, and two screw mandrels are connected with two motors respectively.
Further, described carriage one is roller.
Further, the lower surface of described baffle plate is provided with two tracks two, is provided with and described track two-phase in described through hole
The carriage two joined.
Further, described carriage two includes the support column being fixed in described through hole and is fixed on described support column
Support, described support is provided with rotating shaft, and described rotating shaft is provided with ball, and described ball is matched with described track two.
Further, described baffle plate one end is provided with drawstring, and one end of described drawstring is fixed on described baffle plate, the other end with set
The automatic retraction device put on the supporting plate is fixedly linked.
Further, the upper surface of described fixed mount is provided with installed part, and the cylinder body of described installed part and hoist cylinder is fixed
It is connected.
The Advantageous Effects that this utility model is reached：The glass carrying manipulator that this utility model provides, crawl dress
Put and be provided with baffle plate, after glass drawn by sucker, baffle plate under the drive of screw mandrel in the through hole of gripper shoe mobile to fixation
Frame overlaps, and glass is in suction process, if falling off, glass can be held by baffle plate, effectively prevent glass because coming off and
Lead to glass breakage.
Brief description
Fig. 1 this utility model structural representation；
The grabbing device present invention looks up structural representation of Fig. 2 this utility model；
The grabbing device main structure diagram of Fig. 3 this utility model；
The grabbing device right side structural representation of Fig. 4 this utility model；
Carriage two structural representation of Fig. 5 this utility model；
The rotating mechanism structural representation of Fig. 6 this utility model.
Wherein：1 fixed mount；2 guide rails one；3 suckers；4 screw mandrels；5 gripper shoes；6 baffle plates；7 contiguous blocks；8 guide rails two；9 balls；
10 drawstrings；11 installed parts；12 automatic retraction devices；13 support columns；14 supports；15 rotating shafts；301 pedestals；302 installing holes；303 is tight
Firmware；304 turntables；305 fixed stations；306 through holes；307 keyways；308 rotary shafts；309 electric rotating machines；310 mechanical arms；311
Hoist cylinder；312 guide posts；313 upper contacts；314 lower contacts；315 guide plates；316 upper stroke switch；317 lower stroke switch.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described.Following examples are only used for this is clearly described
The technical scheme of utility model, and can not be limited the scope of the invention with this.
As shown in figures 1 to 6, this utility model provides a kind of glass carrying manipulator, including pedestal 301, mechanical arm 310, rotation
Rotation mechanism, elevating mechanism and grabbing device, described rotating mechanism is fixed on described pedestal 301, and described mechanical arm 310 is fixed on
On described rotating mechanism, described grabbing device is fixed on the end of described mechanical arm by described elevating mechanism；
Described rotating mechanism includes fixed station 305 and turntable 304, is provided with through hole, described through hole in described fixed station 305
Inside it is provided with rotary shaft 308, one end of described rotary shaft 308 is connected with electric rotating machine 309, on the other end and described fixed station 305
Turntable 304 be connected, described electric rotating machine 309 pass through described pedestal 301 upper plate be placed in described pedestal 301, described
Mechanical arm 310 is fixed on turntable 304；It is provided with keyway 307, one end of described electric rotating machine 309 is put in described rotary shaft 308
In described keyway 307；It is provided with the installing hole 302 that several run through in described turntable 304, be provided with described installing hole 302
Securing member 303, described rotary shaft 308 and turntable 304 are linked together by described securing member 303；
Described elevating mechanism includes hoist cylinder 311, and the piston rod upper end of described hoist cylinder 311 is fixedly installed on machinery
On arm 310, the cylinder body lower end of described hoist cylinder 311 and described grabbing device are fixedly linked, the cylinder body of described hoist cylinder 311
Upper end is provided with guide post 312, and two ends of described guide post 312 are respectively equipped with contact, respectively upper contact 313 and lower contact
314, described mechanical arm 310 is provided with guide plate 315, described guide plate 315 be respectively arranged at two ends with the stroke matching with contact
Switch, respectively upper stroke switch 316 and lower stroke switch 317；
Described grabbing device fixed mount 1, baffle plate 6 and drive mechanism, described fixed mount 1 lower surface is provided with several and is used for
Draw the sucker 3 of glass, described fixed mount 1 be respectively arranged at two ends with a gripper shoe 5, described gripper shoe 5 and described fixed mount 1
Be vertically arranged, described drive mechanism is fixed between two described gripper shoes 5, described drive mechanism pass through contiguous block 7 with described
Baffle plate 6 is fixedly linked, and two described gripper shoes 5 are equipped with rectangular through holes, and described baffle plate 6 passes through described through hole, and described
Fixed mount 1 is parallel, and described drive mechanism drives baffle plate 6 to move in described through hole, prevents from capturing in glass process, glass is from suction
Come off on disk and damage glass.
Screw mandrel 4 that described drive mechanism includes being arranged between described gripper shoe 5, it is arranged on described fixed mount 1 lower surface
On guide rail 1 and the carriage one matched with described guide rail 1 is arranged on baffle plate 6 upper surface, described baffle plate 6 passes through even
Connect block 7 to be connected with described screw mandrel 4.Described screw mandrel 4 is two, is respectively placed in the both sides of described fixed mount 1, two described screw mandrels 4
All it is connected with described baffle plate 6, two screw mandrels 4 are connected with two motors respectively.Described carriage one is roller.During work,
After glass drawn by sucker 3, baffle plate 6 is mobile in the through hole of gripper shoe 5 under the drive of screw mandrel 4 extremely to be overlapped with fixed mount 1, glass
In suction process, if falling off, glass can be held by baffle plate 6, effectively prevents glass from leading to glass to damage because coming off
Bad.
In order to reduce the frictional force in baffle plate 6 and through hole, the lower surface of described baffle plate 6 is provided with two tracks 28, described
It is provided with the carriage two matching with described track 28 in through hole.Described carriage two includes being fixed in described through hole
Support column 13 and the support 14 being fixed on described support column 13, described support 14 is provided with rotating shaft 15, described rotating shaft 15 sets
There is ball 9, described ball 9 is matched with described track 28.Change sliding friction is rolling friction, substantially reduces screw mandrel 4 to baffle plate
6 active force.
Described baffle plate 6 one end is provided with drawstring 10, and one end of described drawstring 10 is fixed on described baffle plate 6, the other end with set
The automatic retraction device 12 put in gripper shoe 5 is fixedly linked, and when baffle plate 6 is driven by screw mandrel 4 and moves in through hole, automatically receives
Put device 12 and automatic deploying and retracting is carried out to drawstring 10, certain pulling force is produced to the end of baffle plate 6, anti-baffle plate 6 is turned on one's side.
The upper surface of described fixed mount 1 is provided with installed part 11, the cylinder body fixing phase of described installed part 11 and hoist cylinder
Even, and by installed part 11, grabbing device can be connected with the mechanical arm of different model.
The above is only the preferred embodiment of the present invention it is noted that ordinary skill people for the art
For member, on the premise of without departing from the technology of the present invention principle, some improvement can also be made and deform, these improve and deform
Also should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of glass carrying manipulator it is characterised in that：Including pedestal, mechanical arm, rotating mechanism, elevating mechanism and crawl dress
Put, described rotating mechanism is fixed on described pedestal, described mechanical arm is fixed on described rotating mechanism, described grabbing device leads to
Cross the end that described elevating mechanism is fixed on described mechanical arm；
Described rotating mechanism includes fixed station and turntable, is provided with through hole in described fixed station, is provided with rotary shaft in described through hole,
One end of described rotary shaft is connected with electric rotating machine, and the other end is connected with the turntable on described fixed station, described electric rotating machine
Upper plate through described pedestal is placed in described pedestal, and described mechanical arm is fixing on a spinstand；It is provided with described rotary shaft
Keyway, one end of described electric rotating machine is placed in described keyway；It is provided with the installing hole that several run through in described turntable, described
In the hole is installed and is provided with securing member, described rotary shaft and turntable are linked together by described securing member；
Described elevating mechanism includes hoist cylinder, and the piston rod upper end of described hoist cylinder is fixedly installed on the robotic arm, described
The cylinder body lower end of hoist cylinder and described grabbing device are fixedly linked, and the cylinder body upper end of described hoist cylinder is provided with guide post, institute
Two ends stating guide post are respectively equipped with contact, respectively upper contact and lower contact, and described mechanical arm is provided with guide plate, institute
That states guide plate is respectively arranged at two ends with the travel switch matching with contact, respectively upper stroke switch and lower stroke switch；
Described grabbing device includes fixed mount, baffle plate and drive mechanism, and described fixed mount lower surface is provided with several and is used for inhaling
Take the sucker of glass, described fixed mount be respectively arranged at two ends with a gripper shoe, described gripper shoe is vertical with described fixed mount to be set
Put, described drive mechanism is fixed between two described gripper shoes, and described drive mechanism is fixed with described baffle plate by contiguous block
It is connected, two described gripper shoes is equipped with rectangular through holes, described baffle plate passes through described through hole, parallel with described fixed mount,
Described drive mechanism drives baffle plate to move in described through hole, prevents from capturing in glass process, glass comes off from sucker and damages
Bad glass.
2. glass carrying manipulator according to claim 1 it is characterised in that：Described drive mechanism includes being arranged on described
Screw mandrel between gripper shoe, the guide rail one being arranged on described fixed mount lower surface and being arranged on is led with described on baffle plate upper surface
The carriage one that rail one matches, described baffle plate is connected with described screw mandrel by contiguous block.
3. glass carrying manipulator according to claim 2 it is characterised in that：Described screw mandrel is two, is respectively placed in institute
State the both sides of fixed mount, two described screw mandrels are all connected with described baffle plate, two screw mandrels are connected with two motors respectively.
4. glass carrying manipulator according to claim 2 it is characterised in that：Described carriage one is roller.
5. glass carrying manipulator according to claim 1 it is characterised in that：The lower surface of described baffle plate is provided with two
Track two, is provided with the carriage two matching with described track two in described through hole.
6. glass carrying manipulator according to claim 5 it is characterised in that：Described carriage two includes being fixed on institute
State the support column in through hole and the support being fixed on described support column, described support is provided with rotating shaft, and described rotating shaft is provided with
Ball, described ball is matched with described track two.
7. glass carrying manipulator according to claim 1 it is characterised in that：Described baffle plate one end is provided with drawstring, described
One end of drawstring is fixed on described baffle plate, and automatic retraction device on the supporting plate is fixedly linked the other end with setting.
8. glass carrying manipulator according to claim 1 it is characterised in that：The upper surface of described fixed mount is provided with peace
Piece installing, described installed part is fixedly linked with the cylinder body of hoist cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620890531.7U CN205969019U (en) | 2016-08-17 | 2016-08-17 | Glass carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620890531.7U CN205969019U (en) | 2016-08-17 | 2016-08-17 | Glass carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205969019U true CN205969019U (en) | 2017-02-22 |
Family
ID=58030838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620890531.7U Expired - Fee Related CN205969019U (en) | 2016-08-17 | 2016-08-17 | Glass carrying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205969019U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181984A (en) * | 2016-08-17 | 2016-12-07 | 苏州市华宁机械制造有限公司 | A kind of glass carrying manipulator |
-
2016
- 2016-08-17 CN CN201620890531.7U patent/CN205969019U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181984A (en) * | 2016-08-17 | 2016-12-07 | 苏州市华宁机械制造有限公司 | A kind of glass carrying manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170222 Termination date: 20170817 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |