CN206216685U - A kind of automatic plectrum device - Google Patents
A kind of automatic plectrum device Download PDFInfo
- Publication number
- CN206216685U CN206216685U CN201621277022.3U CN201621277022U CN206216685U CN 206216685 U CN206216685 U CN 206216685U CN 201621277022 U CN201621277022 U CN 201621277022U CN 206216685 U CN206216685 U CN 206216685U
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- China
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- vacuum cup
- group
- axle robots
- vision positioning
- positioning camera
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Abstract
The utility model is related to a kind of automatic plectrum device, including workbench, four axle robots, vision positioning camera, four axle robots are arranged on the upper surface of workbench, vision positioning camera is arranged on the top of four axle robots and is connected with its signal, vision positioning camera is taken pictures collection pattern, and generates liquid crystal display coordinate and angle reaches four axle robots；The Z axis lower end of four axle robots is provided with four vacuum cups, and vacuum cup is formed around hydraulic bjuffer.The beneficial effects of the utility model are：(1) can meet the short time be accurately positioned, high-speed mobile；(2) human resources have been saved, and has improve operating efficiency；(3) liquid crystal display output bas line degree is improved；(4) the applicable automatic plectrum of many size model numbers；(5) vacuum suction glass, vision and robot localization plectrum are used, accurately, quickly, environmental protection.
Description
Technical field
The utility model is related to technical field of mechanical automation, more particularly to a kind of automatic plectrum device.
Background technology
At present, into the liquid crystal display after box after cutting and sliver, overall need to separate, cleaned or detected etc. it is lower together
Operation.Traditional method is, using manual removal mode, the liquid crystal display after sliver integrally to be broken into two with one's hands, and rule is placed and formulates basket tool
In, next procedure position is carried to, again feeding production.The waste of consumption, connecting time this creates the terminal manual resource,
And the problems such as cause inefficiency.
Utility model content
Technical problem to be solved in the utility model is to provide one kind and can fast and accurately complete plectrum, and can be direct
Transfer peels off liquid crystal display to next procedure, realizes the automatic plectrum device of automated job and linking.
The technical scheme that the utility model solves above-mentioned technical problem is as follows：A kind of automatic plectrum device, including work is flat
Platform, four axle robots, vision positioning camera, the four axles robot are arranged on the upper surface of the workbench, including four axles
Robot body, drive system and master control system；The vision positioning camera be arranged on the top of the four axles robot and with
Its master control system is connected；The four axles robot body includes X-axis, Y-axis, Z axis and 360 ° of S axles；The Z axis of the four axles robot
Lower end is provided with vacuum cup group and hydraulic bjuffer group, and the hydraulic bjuffer group is arranged on the surrounding of the vacuum cup group.
On the basis of above-mentioned technical proposal, the utility model can also do following improvement.
Further：The vacuum cup group has 3-5mm differences in height with the hydraulic bjuffer group.
Further：The vacuum cup group includes four vacuum cups being uniformly arranged in the same plane, the liquid
Compression buffer group include four hydraulic bjuffers being uniformly arranged in the same plane, four hydraulic bjuffers with it is described
The position of vacuum cup is relatively fixed, and with the four axles robot motion.
Further：The vacuum cup is organ type vacuum cup.
Based on above-mentioned technical proposal, the beneficial effects of the utility model are：
(1) can meet the short time be accurately positioned, high-speed mobile；
(2) human resources have been saved, and has improve operating efficiency；
(3) liquid crystal display output bas line degree is improved；
(4) the applicable automatic plectrum of many size model numbers；
(5) vacuum suction glass, vision and robot localization plectrum are used, accurately, quickly, environmental protection.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of automatic plectrum device of the utility model.
In accompanying drawing, the list of parts representated by each label is as follows：
1- workbenches；2- states four axle robots；3- vision positioning cameras；4- vacuum cup groups；41- vacuum cups；5-
Hydraulic bjuffer group；51- hydraulic bjuffers.
Specific embodiment
Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality
It is new, it is not intended to limit scope of the present utility model.
As shown in figure 1, wherein, a kind of automatic plectrum device, including workbench 1, four axle robots 2, vision positioning phase
Machine 3, four axle robots 2 are arranged on the upper surface of the workbench 1, including four axle robot bodies, drive system and master control
System；Vision positioning camera 3 is arranged on the top of four axle robots 2 and is connected with its master control system；The body bag of four axle robot 2
Include X-axis, Y-axis, Z axis and 360 ° of S axles；The Z axis lower end of four axle robots 2 is provided with vacuum cup group 4 and hydraulic bjuffer group 5, liquid
Compression buffer group 5 is arranged on the surrounding of vacuum cup group 4.
Further：Vacuum cup group 4 has 3-5mm differences in height with hydraulic bjuffer group 5.
Further：Vacuum cup group 4 includes four vacuum cups 41 being uniformly arranged in the same plane, hydraulic cushion
Device group 5 includes four hydraulic bjuffers 51 being uniformly arranged in the same plane, four hydraulic bjuffers 51 and the vacuum
The position of sucker 4 is relatively fixed, and is moved with four axle robots 2.
Further：Vacuum cup 4 is organ type vacuum cup.Vacuum cup 4 is primarily used to adsorb liquid crystal display and placement
Liquid crystal display, absorption screen refers to that screen is adsorbed onto on vacuum cup using vacuum, and the setting of this vacuum suction mode improves
Inhale screen speed, and environmental protection.Screen is placed to refer to for screen being placed on next station.
When equipment works, vision positioning camera 3 detects the liquid crystal display on platform 1, is taken pictures, and calculates coordinate value
With angle value, transfer data to four axle robots 2, four axle robots 2 pass through before pilot teaching, calculate record own coordinate value
After the relation of angle value and vision positioning camera 3, the data that vision positioning camera 3 is transmitted are converted into own coordinate value and angle
Angle value, grasping movement is carried out with this；When carrying out grasping movement, vacuum cup group 4 declines and pushes down will capture screen, surrounding
Hydraulic bjuffer 5 is pushed down and around shielded, and vacuum cup group 4 starts to adsorb glass, because vacuum cup group 4 is inhaled using organ type vacuum
Disk, there is certain buffering capacity, so when screen is adsorbed, shield and receive upward pulling force, and the now hydraulic pressure of the surrounding of vacuum cup group 4
Buffer group 5 gives surrounding screen downward pressure simultaneously, so just goes into the effect that the screen that will be captured is peeled off with surrounding screen.
After the screen that four axle robots 2 will be peeled off places next station, movement is simultaneously captured next time, that is, complete once automatic plectrum
Process.
Preferred embodiment of the present utility model is the foregoing is only, is not used to limit the utility model, it is all in this practicality
Within new spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in guarantor of the present utility model
Within the scope of shield.
Claims (4)
1. a kind of automatic plectrum device, it is characterised in that including workbench (1), four axle robots (2), vision positioning camera
(3), the four axles robot (2) is arranged on the upper surface of the workbench (1), including four axle robot bodies, driving dress
Put and controller；The vision positioning camera (3) is arranged on the top of the four axles robot (2) and is connected with its controller；
Four axles robot (2) body includes two X-axis, the Y-axis of horizontal direction, the Z axis of vertical direction and 360 ° of S axles；Described four
The Z axis lower end of axle robot (2) is provided with vacuum cup group (4), and the surrounding of the vacuum cup group (4) is provided with hydraulic bjuffer
Group (5).
2. a kind of automatic plectrum device according to claim 1, it is characterised in that the vacuum cup group (4) with it is described
Hydraulic bjuffer group (5) has 3-5mm differences in height.
3. a kind of automatic plectrum device according to claim 1, it is characterised in that the vacuum cup group (4) is including four
The individual vacuum cup (41) being uniformly arranged in the same plane, the hydraulic bjuffer group (5) is including on four same planes
The hydraulic bjuffer (51) being uniformly arranged, four hydraulic bjuffers (51) are relative solid with the position of the vacuum cup (4)
It is fixed, and moved with the four axles robot (2).
4. a kind of automatic plectrum device according to claim any one of 1-3, it is characterised in that the vacuum cup (41)
It is organ type vacuum cup.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621277022.3U CN206216685U (en) | 2016-11-25 | 2016-11-25 | A kind of automatic plectrum device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621277022.3U CN206216685U (en) | 2016-11-25 | 2016-11-25 | A kind of automatic plectrum device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206216685U true CN206216685U (en) | 2017-06-06 |
Family
ID=58786989
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621277022.3U Active CN206216685U (en) | 2016-11-25 | 2016-11-25 | A kind of automatic plectrum device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206216685U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831700A (en) * | 2017-11-17 | 2018-03-23 | 温州大学瓯江学院 | A kind of control system and method for the more fingering Zither playing devices for playing smoothness |
-
2016
- 2016-11-25 CN CN201621277022.3U patent/CN206216685U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831700A (en) * | 2017-11-17 | 2018-03-23 | 温州大学瓯江学院 | A kind of control system and method for the more fingering Zither playing devices for playing smoothness |
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