CN206418018U - A kind of glass of Dual-robot coordination operation breaks piece system - Google Patents
A kind of glass of Dual-robot coordination operation breaks piece system Download PDFInfo
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- CN206418018U CN206418018U CN201720030597.3U CN201720030597U CN206418018U CN 206418018 U CN206418018 U CN 206418018U CN 201720030597 U CN201720030597 U CN 201720030597U CN 206418018 U CN206418018 U CN 206418018U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P40/00—Technologies relating to the processing of minerals
- Y02P40/50—Glass production, e.g. reusing waste heat during processing or shaping
- Y02P40/57—Improving the yield, e-g- reduction of reject rates
Abstract
Piece system, including original sheet glass input table, glass severing table, glass slice output table and glass waste paper output table are broken the utility model discloses a kind of glass of Dual-robot coordination operation；The original sheet glass input table and glass slice output table are respectively arranged at the two ends of the glass severing table；Severing machine device people, flow robot and Liang Tiao robots slide rail are provided with the glass severing table, the severing machine device people and flow robot are each installed on a robot slide rail.The glass of the Dual-robot coordination operation breaks piece system and the original sheet glass with line of cut is carried out breaking piece by severing machine device people and glass slice output table is carried to breaking the glass slice after piece by flow robot, realize the automation for breaking piece and flow, and the severing machine device people can be directed at line of cut automatically, without manually operating, the artificial input of piece is broken in reduction, and raising breaks piece efficiency and breaks tablet stability.
Description
Technical field
The utility model is related to glass and breaks piece apparatus field, more particularly to a kind of glass of Dual-robot coordination operation breaks piece
System.
Background technology
During glass processing, it must generally be met after dicing by breaking piece process so that the glass after cutting is separated into
It is required that size, shape.It is that glass is placed on glass severing machine that existing glass, which breaks piece,.Glass severing machine is provided with push rod
And fixing component, usually require manually to move sheet glass to be broken the push rod alignment so that line of cut and glass severing machine during operation,
Then fixing component acts on the upper surface of glass to fix glass, and push rod then below glass is moved line of cut upwards
The glass roof of left and right is opened, so that sheet glass to be broken is separated.Therefore, active force is acted on respectively during existing glass severing machine operation
In the upper and lower surface of glass, belong to double cropping industry plane, glass severing machine is fixed on a position, breaks a line of cut into two with one's hands every time all
Movable glass is needed, piece efficiency is broken low.And the usual more than one of line of cut of a piece of former block glass, be also divided into transverse cut and
Longitudinally cutting line.When all lines of cut are broken into two with one's hands successively on a table glass severing machine, it is necessary to constantly mobile former block glass
Glass, so that line of cut is directed at push rod, plenty of time and manpower spent by this process.Also, there is larger error in manual-alignment,
Easily because break piece position wander off and to glass caused by damage, break tablet quality and to break tablet stability poor.Moreover, the operation of pipeline system
Platform area occupied is big, and completing a job step then needs roundabout operation, directly reduces enterprises production efficiency, restricts enterprise
Production.
Utility model content
The purpose of this utility model is to propose that one kind can save area occupied, without movable glass position when breaking piece, i.e.,
Automatic alignment line of cut and the automatic glass broken piece, improve the Dual-robot coordination operation broken piece efficiency and break tablet stability can be achieved
Glass breaks piece system.
For up to this purpose, the utility model uses following technical scheme：
A kind of glass of Dual-robot coordination operation breaks piece system, including original sheet glass input table, glass severing table, glass
Section output table and glass waste paper output table；
The original sheet glass input table and glass slice output table are respectively arranged at the two ends of the glass severing table；
Severing machine device people, flow robot and Liang Tiao robots slide rail are provided with the glass severing table, it is described to break piece
Robot and flow robot are each installed on a robot slide rail；Two the robot slide rail be arranged in parallel,
The length of the robot slide rail ensures that the severing machine device people and flow robot can be stretched over the original sheet glass input
Platform and glass slice output table；
The glass waste paper output table is arranged in the extending range of the flow robot of the glass severing table；
The flow robot includes robot body and flow actuator, and the flow actuator is inhaled including flow vacuum
Disk, the flow vacuum cup is installed on the output shaft of the robot body；
The severing machine device people includes the robot body and breaks piece actuator, and the piece actuator of breaking includes breaking piece control
Hydraulic cylinder processed, break piece power push-rod, break piece connection mounting bracket, break piece bar and two glass handling modules；
It is described to break the output shaft that piece control hydraulic cylinder is arranged on the robot body, the upper end for breaking piece power push-rod
With the piston rod connection for breaking piece control hydraulic cylinder, the lower end for breaking piece power push-rod and the top surface for breaking piece bar connect
Connect, it is described to break piece power push-rod and break piece bar and be mutually perpendicular to；
The upper end for breaking piece connection mounting bracket and the piece control hydraulic cylinder of breaking are connected, and the piece of breaking connects mounting bracket
Axis and the axis coincidence for breaking piece control hydraulic cylinder；The piece connection mounting bracket of breaking is hollow structure, described to break piece power
Push rod is connected through the inside for breaking piece connection mounting bracket and the piece bar of breaking, and two glass handling modules are symmetrically set
It is placed in and breaks the both sides that piece connects mounting bracket；
The glass handling module includes stiffness connecting rod, stiffness contiguous block, stiffness rocking bar, breaks piece sucker installing plate and break piece
Vacuum cup；The middle part of the stiffness rocking bar is provided with stiffness branch bar；The power end of the stiffness rocking bar is installed with piece connection is broken
Frame is hinged, and the power end of the stiffness connecting rod is hinged with the upper end for breaking piece power push-rod, the swinging end and strength of the stiffness connecting rod
The end of property branch bar is hinged；
The piece vacuum cup of breaking is arranged at the bottom for breaking piece sucker installing plate, and the top for breaking piece sucker installing plate leads to
The stiffness contiguous block is crossed to be fixedly connected with the sucker end of stiffness rocking bar；
The bottom for breaking piece bar is wedge angle.
Preferably, the glass handling module also includes connecting block and stiffness auxiliary rod, and the connecting block is socketed on described
The middle part of piece power push-rod is broken, the power end and connecting block of the stiffness auxiliary rod are hinged, the sucker end of the stiffness auxiliary rod
It is hinged with the sucker end of stiffness rocking bar.
Preferably, the piece bar of breaking is triangular prism structure, and the piece bar of breaking breaks unilateral and the including push rod joint face, first
Two break unilateral, the push rod joint face, first break it is unilateral and second break it is unilateral join end to end into triangular prism structure break piece bar
Three sides, the lower end of the power push-rod and the push rod joint face connection for breaking piece bar, described first breaks unilateral and the
Two break it is unilateral between formed break piece angle；
The piece angle of breaking is 50 ° -70 °.
Preferably, the flow actuator include flow control hydraulic cylinder, flow power push-rod, flow connection mounting bracket and
Flow sucker installing plate, the flow control hydraulic cylinder is installed on the output shaft of the robot body；
The upper end of the flow power push-rod and the piston rod connection of flow control hydraulic cylinder, the flow power are pushed away
The lower end of bar and the top surface connection of flow sucker installing plate, the flow vacuum cup are arranged on the bottom of flow sucker installing plate
Face；
The top surface of the flow connection mounting bracket and flow control hydraulic cylinder connection, the flow connect mounting bracket and are
Hollow structure, the flow power push-rod connects the inside of mounting bracket through the flow and the flow sucker installing plate connects
Connect.
Preferably, the robot body includes pedestal, turntable and mechanical arm, and the base runner is connected in robot
On slide rail, the turntable is installed on the pedestal, and the mechanical arm is installed on turntable, the turntable driving mechanical
Arm rotates；
The mechanical arm include lower limb arm motor, lower limb arm, upper limbs arm, connecting shaft motor, limb arm connecting shaft,
Forelimb arm motor, forelimb arm and actuator mounting flange；
The lower limb arm motor is installed on turntable, the lower end of the lower limb arm and lower limb arm motor it is defeated
Shaft is connected, and the lower limb arm motor drives the lower limb arm to swing up and down；
The output shaft connection of the limb arm connecting shaft and connecting shaft motor, the connecting shaft motor drives limb arm
Connecting shaft is rotated；
The upper end of the lower limb arm is hinged by the limb arm connecting shaft and upper limbs arm；
The forelimb arm motor is installed on upper limbs arm, the front end of the forelimb arm and the output of forelimb arm motor
Axle is connected, and the forelimb arm motor driving forelimb arm is moved forward and backward；
The actuator mounting flange is installed on the end of forelimb arm；
For severing machine device people, the piece control hydraulic cylinder of breaking is installed on forelimb arm by the actuator mounting flange,
And the piece of breaking controls hydraulic cylinder and forelimb arm to be mutually perpendicular to；
For flow robot, the flow control hydraulic cylinder is installed on forelimb arm by the actuator mounting flange,
And the flow control hydraulic cylinder and forelimb arm are mutually perpendicular to.
Preferably, in addition to polylith air supporting plate, the original sheet glass input table, glass severing table, glass slice output table
The air supporting plate is equipped with glass waste paper output table；
The air supporting plate is provided with multiple air supporting holes, is distributed on the air supporting plate to the air supporting hole array formula；
Also include a plurality of glass conveyer belt, the original sheet glass input table, glass slice output table and the output of glass waste paper
Platform is equipped with one glass conveyer belt of setting between the glass conveyer belt, and adjacent two blocks of air supporting plates.
It is former to the glass with line of cut by severing machine device people that the glass of the Dual-robot coordination operation breaks piece system
Piece is carried out breaking piece and is carried to glass slice output table to breaking the glass slice after piece by flow robot, and piece and stream are broken in realization
The automation of piece, and the severing machine device people can be directed at line of cut automatically, and without artificial operation, the artificial throwing of piece is broken in reduction
Enter, raising breaks piece efficiency and breaks tablet stability.The flow robot meets the glass of production requirement by size shape after piece is broken
Section is carried to glass slice output table, and glass waste paper is carried into glass waste paper output table, so as to realize oneself of glass slice
Dynamic classification discharging, prevents glass waste paper from entering next manufacturing procedure.It is former for the glass with a plurality of line of cut differed in length and breadth
For piece, the severing machine device people is realized without movable glass in the position of glass severing table, only breaks piece actuator by movement
Position original sheet glass can be carried out to break piece, without artificial operation, the artificial input of piece is broken in reduction, and raising is broken piece efficiency and broken
Piece flexibility.
Brief description of the drawings
Accompanying drawing is described further to the utility model, but the content in accompanying drawing is not constituted to any limit of the present utility model
System.
Fig. 1 is that the glass of the one of embodiment of the utility model breaks piece system structure diagram；
Fig. 2 is that the glass of the one of embodiment of the utility model breaks piece system top view；
Fig. 3 is flow robot architecture's schematic diagram of the one of embodiment of the utility model；
Fig. 4 is the flow actuator structure schematic diagram of the one of embodiment of the utility model；
Fig. 5 is severing machine device people's structural representation of the one of embodiment of the utility model；
Fig. 6 is that the one of embodiment of the utility model breaks piece actuator structure schematic diagram；
Fig. 7 is that the one of embodiment of the utility model breaks piece actuator front view；
Fig. 8 is that the one of embodiment of the utility model breaks piece bar sectional view；
Fig. 9 is that the one of embodiment of the utility model breaks piece actuator fundamental diagram.
Wherein：Original sheet glass input table 1；Glass severing table 2；Robot body 3；Severing machine device people 5；Flow robot 6；
Robot slide rail 4；Glass slice output table 7；Flow actuator 61；Flow vacuum cup 614；Break piece actuator 51；Break piece control
Hydraulic cylinder 511 processed；Break piece power push-rod 512；Break piece connection mounting bracket 521；Break piece bar 513；Stiffness connecting rod 516；Stiffness is connected
Block 518；Stiffness rocking bar 517；Break piece sucker installing plate 519；Break piece vacuum cup 510；Connecting block 514；Stiffness auxiliary rod 515；
Push rod joint face 5131；First breaks unilateral 5132；Second breaks unilateral 5133；Break piece angle A；Flow controls hydraulic cylinder 611；Flow
Power push-rod 612；Flow connects mounting bracket 614；Flow sucker installing plate 613；Glass waste paper output table 9；Pedestal 31；Turntable
32；Lower limb arm motor 33；Lower limb arm 34；Upper limbs arm 35；Limb arm connecting shaft 36；Forelimb arm motor 37；Forelimb arm 38；
Actuator mounting flange 39；Air supporting plate 21；Air supporting hole 211；Glass conveyer belt 11；Line of cut 91；Stiffness branch bar 201.
Embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by embodiment.
The glass of the Dual-robot coordination operation of the present embodiment breaks piece system, as shown in Figure 1 and Figure 2, including original sheet glass is defeated
Enter platform 1, glass severing table 2, glass slice output table 7 and glass waste paper output table 9；
The original sheet glass input table 1 and glass slice output table 7 are respectively arranged at the two ends of the glass severing table 2；
Severing machine device people 5, flow robot 6 and Liang Tiao robots slide rail 4 are provided with the glass severing table 2, it is described
Severing machine device people 5 and flow robot 6 are each installed on a robot slide rail 4；Two the robot slide rail 4 is flat
Row is set, and the length of the robot slide rail 4 ensures that the severing machine device people 5 and flow robot 6 can be stretched over the glass
Glass original piece input table 1 and glass slice output table 7；
The glass waste paper output table 9 is arranged in the extending range of the flow robot 6 of the glass severing table 2；
As shown in figure 3, the flow robot 6 includes robot body 3 and flow actuator 61, the flow actuator
61 include flow vacuum cup 614, and the flow vacuum cup 614 is installed on the output shaft of the robot body 3；
As shown in figure 5, the severing machine device people 5 includes the robot body 3 and breaks piece actuator 51, the piece of breaking is held
Row device 51 includes breaking piece control hydraulic cylinder 511, breaks piece power push-rod 512, break piece connection mounting bracket 521, break piece bar 513 and two
Glass handling module；
As shown in fig. 6, the output shaft for breaking piece control hydraulic cylinder 511 installed in the robot body 3, described to break piece
The upper end of power push-rod 512 and the piston rod connection for breaking piece control hydraulic cylinder 511, it is described to break under piece power push-rod 512
End and the top surface connection for breaking piece bar 513, it is described to break piece power push-rod 512 and break piece bar 513 and be mutually perpendicular to；
As shown in fig. 7, the upper end for breaking piece connection mounting bracket 521 and the piece control hydraulic cylinder 511 of breaking are connected, institute
The axis stated the axis for breaking piece connection mounting bracket 521 and break piece control hydraulic cylinder 511 is overlapped；It is described to break piece connection mounting bracket
521 be hollow structure, described to break piece power push-rod 512 through the inside for breaking piece connection mounting bracket 521 and described break piece bar
513 connections, two glass handling modules, which are symmetrically disposed on, breaks the both sides that piece connects mounting bracket 521；
As shown in fig. 7, the glass handling module include stiffness connecting rod 516, stiffness contiguous block 518, stiffness rocking bar 517,
Break piece sucker installing plate 519 and break piece vacuum cup 510；The middle part of the stiffness rocking bar 517 is provided with stiffness branch bar 201；Institute
State the power end of stiffness rocking bar 517 and break piece connection mounting bracket 521 and be hinged, the power end of the stiffness connecting rod 516 is moved with piece is broken
The upper end for pushing bar 512 is hinged, and the swinging end of the stiffness connecting rod 516 and the end of stiffness branch bar 201 are hinged；
The piece vacuum cup 510 of breaking is arranged at the bottom for breaking piece sucker installing plate 519, described to break piece sucker installing plate
519 top is fixedly connected by the stiffness contiguous block 518 with the sucker end of stiffness rocking bar 517；
The bottom for breaking piece bar 513 is wedge angle.
The glass of the Dual-robot coordination operation breaks piece system and passes through 5 pairs of glass with line of cut 91 of severing machine device people
Glass original piece break piece and be carried to glass slice output table 7 by 6 pairs of glass slices broken after piece of flow robot, and realization is broken
Piece and the automation of flow, and the severing machine device people 5 can be directed at line of cut 91 automatically, and without artificial operation, piece is broken in reduction
Artificial input, raising, which is broken, piece efficiency and breaks tablet stability.
The original sheet glass input table 1 is used to the original sheet glass with line of cut 91 being delivered to glass severing table 2, glass
The piece process of breaking of glass original piece is completed in the glass severing table 2.The severing machine device people 5 and flow robot 6 pass through robot
Slide rail 4 is moved in glass severing table 2, in order to moving glass, and whole operation process is without artificial moving glass, and reduction is artificial
Input, improves production efficiency.The flow robot 6 is provided with flow vacuum cup 614, is captured by flow vacuum cup 614
Glass slice is to realize the carrying to glass slice.The glass waste paper output table 9 is broken size shape after piece for output and is not inconsistent
The glass slice for closing production requirement is glass waste paper.The flow robot 6 will break size shape after piece and meet production requirement
Glass slice is carried to glass slice output table 7, and glass waste paper is carried into glass waste paper output table 9, so as to realize that glass is cut
The automatic classification discharging of piece, prevents glass waste paper from entering next manufacturing procedure.
The severing machine device people 5 controls to break the movement of piece actuator 51 by robot body 3, described to break piece actuator 51
By break piece control hydraulic cylinder 511 piston rod stretching motion, drive and break piece power push-rod 512 connection break on piece bar 513
Lower motion, the bottom for breaking piece bar 513 is wedge angle, increases the pressure to original sheet glass, for breaking original sheet glass into two with one's hands.It is described
The axis broken the axis of piece connection mounting bracket 521 and break piece control hydraulic cylinder 511 is overlapped, two glass handling modules
It is symmetrically disposed on and breaks the both sides that piece connects mounting bracket 521, so as to breaks piece bar 513 acts on line of cut 91 or so two when breaking piece
Power on burst glass is regardless of size or direction all same, it is to avoid damage glass because stress differs.The stiffness rocking bar 517
Middle part is provided with stiffness branch bar 201, so that the stiffness connecting rod 516 is by stiffness branch bar 201, when breaking piece power push-rod 512
When moving down, the stiffness rocking bar 517 is propped, the stiffness rocking bar 517 is upturned around the one end of its own, so that
Stiffness rocking bar 517 drives connected piece sucker installing plate 519 of breaking to move upwards.
Break before piece operation, original sheet glass can first be overturn, making the line of cut 91 of glass, Open Side Down, so that when breaking piece
Break the top that piece bar 513 acts on the opening of line of cut 91, it is easier to break glass into two with one's hands；Then, original sheet glass is placed on glass
In severing table 2.
When breaking piece operation, the drive of robot body 3 of severing machine device people 5 is broken piece actuator 51 and is moved to above glass, and
And break the line of cut 91 of piece bar 513 and original sheet glass and be aligned；Then, piece actuator 51 is broken to move down and by breaking piece vacuum cup
510 suck original sheet glass；
Then, moved to as shown in figure 9, breaking on piece actuator 51 after certain altitude, break the piece control driving of hydraulic cylinder 511 and break
Piece power push-rod 512 is extended downwardly from, and with moving down for piece power push-rod 512 is broken, the piece bar 513 of breaking is moved down
And contacted with original sheet glass, the piece bar 513 of breaking produces one in the position of line of cut 91 of original sheet glass downwards to original sheet glass
Directed force F 1；At the same time, stiffness rocking bar 517 and stiffness connecting rod 516 hinged place produces an active force obliquely
F2, and the stiffness rocking bar 517 breaks one work obliquely of generation of piece sucker installing plate 519 for 518 pairs by stiffness contiguous block
Firmly.Due to now breaking piece bar 513 and original sheet glass offsets and fails to continue to move down so that break piece sucker installing plate 519
Can not upwards move but move horizontally outward, thus original sheet glass at line of cut 91 by a downward directed force F 1,
Simultaneously original sheet glass in the both sides of line of cut 91 by a directed force F 3 horizontally outward, and then original sheet glass directed force F 1,
Broken into two with one's hands in the presence of F3；
Finally, severing machine device people 5 will break the glass slice that is formed after piece and put back to the glass severing table 2.
Piece job step is broken more than to understand, for the original sheet glass with a plurality of line of cut 91 differed in length and breadth,
The severing machine device people 5 is realized without movable glass in the position of glass severing table 2, only passes through the mobile position for breaking piece actuator 51
Putting can be carried out breaking piece to original sheet glass, without artificial operation, and the artificial input of piece is broken in reduction, and raising breaks piece efficiency and breaks piece spirit
Activity.And entirely break piece operation all to complete in the air, robot body 3, which drives, breaks any movement in the air of piece actuator 51,
Break the glass after piece and put back to origin-location, space needed for piece is broken so as to greatly reduce, improve space availability ratio.The severing machine
Device people 5 acts on the upper surface of original sheet glass all the time when breaking piece operation, belong to single job plane, without the former piece of movable glass
In the position of glass severing table 2, only glass can be carried out by the mobile position for breaking piece actuator 51 to break piece.Moreover, only setting
Put a power source (breaking piece control hydraulic cylinder 511), you can a downward directed force F 1 and two is produced simultaneously to original sheet glass
Individual directed force F 3 horizontally outward, saves power consumption, and structure is more compact, and acts holding synchronously, and piece ability is broken in raising.
Preferably, as shown in Figure 6, Figure 7, the glass handling module also includes connecting block 514 and stiffness auxiliary rod 515,
The connecting block 514 is socketed on the middle part for breaking piece power push-rod 512, the power end of the stiffness auxiliary rod 515 and link
Block 514 is hinged, and the sucker end of the stiffness auxiliary rod 515 and the sucker end of stiffness rocking bar 517 are hinged.
When breaking piece operation, when breaking the piece control driving of hydraulic cylinder 511 and breaking piece power push-rod 512 and extend downwardly from, the stiffness
Auxiliary rod 515 is upturned with moving down for piece power push-rod 512 is broken around the power end of its own.Due to stiffness auxiliary rod
515 sucker end and the sucker end of stiffness rocking bar 517 are hinged, so that the stiffness auxiliary rod 515 and stiffness rocking bar 517 are breaking piece
Synchronously be upturned in the folding process of power push-rod 512, thus stiffness auxiliary rod 515 and common pair of stiffness rocking bar 517 and its
The piece sucker installing plate 519 of breaking of connection produces a directed force F 3 obliquely, so both greatly improved and breaks the installation of piece sucker
Plate 519 is more easy to break glass into two with one's hands to the active force of glass；The fatigue strength of glass handling module is reduced again, is increased the glass and is grabbed
The service life of modulus block.
Preferably, as shown in figure 8, the piece bar 513 of breaking is triangular prism structure, the piece bar 513 of breaking is connected including push rod
Face 5131, first break unilateral 5132 and second and break unilateral 5133, and the push rod joint face 5131, first break unilateral 5132 and second
Break unilateral 5133 and join end to end into three sides for breaking piece bar 513 in triangular prism structure, the lower end of the power push-rod 16 and
The push rod joint face 5131 for breaking piece bar 513 is connected, described first break unilateral 5132 and second break unilateral 5133 between formed
Break piece angle A；The piece angle A that breaks is 50 ° -70 °.
The piece bar 513 of breaking for triangular prism structure, described first break unilateral 5132 and second break unilateral 5133 between formed
Piece angle A is broken, so that the contact area that piece bar 513 and original sheet glass are broken described in when breaking piece is less, it is accordingly described to break 513 pairs of piece bar
The directed force F 1 of original sheet glass is bigger, it is easier to break glass into two with one's hands.The piece angle A that breaks is smaller, and the piece bar 513 of breaking is to glass
Directed force F 1 is bigger, and the piece angle A that breaks is preferably 60 °, so as to break the directed force F 1 that piece bar 513 is produced to glass described in when breaking piece
It is that obliquely, according to force resolution principle, the piece bar 513 of breaking both had produced a component vertically downward to original sheet glass,
A component horizontally outward is produced to original sheet glass again, piece intensity is broken so as to improve, it is easier to break glass into two with one's hands.
Preferably, as shown in figure 4, the flow actuator 61 includes flow control hydraulic cylinder 611, flow power push-rod
612nd, flow connection mounting bracket 614 and flow sucker installing plate 613, the flow control hydraulic cylinder 611 are installed on the machine
The output shaft of human body 3；The upper end of the flow power push-rod 612 and the piston rod connection of flow control hydraulic cylinder 611,
The lower end of the flow power push-rod 612 and the top surface connection of flow sucker installing plate 613, the flow vacuum cup 614 are pacified
Mounted in the bottom surface of flow sucker installing plate 613；The top surface and flow control hydraulic cylinder of the flow connection mounting bracket 614
611 connections, the flow connection mounting bracket 614 is hollow structure, and the flow power push-rod 612 connects peace through the flow
The inside and the flow sucker installing plate 613 for shelving 614 are connected.The flow actuator 61 controls hydraulic cylinder provided with flow
611, the piston rod stretching motion of hydraulic cylinder 611 is controlled by flow, the flow sucker being connected with flow power push-rod 612 is driven
Installing plate 613 moves up and down, and in order to draw glass installed in the flow vacuum cup 614 of flow sucker installing plate 613, completes
Flow operation.
Preferably, as shown in figure 5, the robot body 3 includes pedestal 31, turntable 32 and mechanical arm, the pedestal
31 activities are connected on robot slide rail 4, and the turntable 32 is installed on the pedestal 31, and the mechanical arm is installed on rotation
On platform 32, the driving mechanical arm of turntable 32 rotation；
The mechanical arm includes lower limb arm motor 33, lower limb arm 34, upper limbs arm 35, connecting shaft motor, limb arm
Connecting shaft 36, forelimb arm motor 37, forelimb arm 38 and actuator mounting flange 39；
The lower limb arm motor 33 is installed on turntable 32, the lower end of the lower limb arm 34 and lower limb arm driving electricity
The output shaft connection of machine 33, the lower limb arm motor 33 drives the lower limb arm 34 to swing up and down；
The output shaft connection of the limb arm connecting shaft 36 and connecting shaft motor, the connecting shaft motor drives limb
Arm connecting shaft 36 is rotated；
The upper end of the lower limb arm 34 is hinged by the limb arm connecting shaft 36 and upper limbs arm 35；
The forelimb arm motor 37 is installed on upper limbs arm 35, the front end of the forelimb arm 38 and forelimb arm motor
37 output shaft connection, the driving forelimb of forelimb arm motor 37 arm 38 is moved forward and backward；
The actuator mounting flange 39 is installed on the end of forelimb arm 38；
For severing machine device people 5, the piece control hydraulic cylinder 511 of breaking is installed on by the actuator mounting flange 39
Forelimb arm 38, and the piece of breaking controls hydraulic cylinder 511 and forelimb arm 38 to be mutually perpendicular to；
For flow robot 6, the flow control hydraulic cylinder 611 is installed on by the actuator mounting flange 39
Forelimb arm 38, and the flow controls hydraulic cylinder 611 and forelimb arm 38 to be mutually perpendicular to.
The robot body 3 is connected on robot slide rail 4 by the activity of pedestal 31, and the inside of pedestal 31 is provided with walking
Motor, the travel driving motor improves power for the slip of pedestal 31.The driving mechanical arm of turntable 32 rotation, from
And piece actuator 51 is broken in drive or flow actuator 61 rotates, the anglec of rotation is 0 ° -360 °.For severing machine device people 5, due to glass
Line of cut 91 on glass original piece differs in length and breadth, and the severing machine device people 5 is driven by turntable 32 and breaks piece actuator 51 when breaking piece
Rotation, so as in the case of not movable glass, can be achieved to break piece bar 513 and glass by the mobile position for breaking piece actuator 51
The line of cut 91 of glass original piece is aligned, and raising breaks piece efficiency and breaks piece flexibility.For flow robot 6, because glass slice is defeated
Put into effect the position of 7, glass waste paper output table 9 and glass severing table 2 not in the same horizontal line, flow robot during discharging
6 drive flow actuator 61 to rotate by turntable 32, so that glass is moved into corresponding output table, realize classification discharging；
Moreover, the flow robot 6 by rotating flow actuator 61 with prevent discharging when collided with severing machine device people 5, reality
The coordinative operation of Xian Liangge robots.
The lower limb arm motor 33 drives the lower limb arm 34 to swing up and down, so as to break piece actuator 51 described in driving
Or flow actuator 61 is moved up and down, piece actuator 51 is broken or flow actuator 61 picks and places glass in order to described.The connection
Axle motor driving limb arm connecting shaft 36 is rotated, so as to be put before and after piece actuator 51 or flow actuator 61 are broken described in driving
It is dynamic, and then make to break piece actuator 51 or flow actuator 61 is tilted, when glass is placed on the platform of an inclined-plane or an out-of-flatness
Can be driven when on face by limb arm connecting shaft 36 break piece actuator 51 or flow actuator 61 tilt to glass equal angular, from
And fully contacted with glass surface when drawing glass, it is to avoid prevent because insufficient contact during absorption from sucking glass, improve behaviour
Make security reliability.
The driving forelimb of forelimb arm motor 37 arm 38 is moved forward and backward, and piece actuator 51 or flow are broken so as to drive
Actuator 61 is moved forward and backward, and expands job area, realizes the operation to large-size glass, increases the scope of application.It is described to break piece control
Hydraulic cylinder 511 processed or flow control hydraulic cylinder 611 are installed on forelimb arm 38 by the actuator mounting flange 39, i.e., entirely break
Piece actuator 51 or flow actuator 61 are installed on forelimb arm 38 by the actuator mounting flange 39, and connection is reliable, convenient
Installation and removal.
The piece of breaking controls hydraulic cylinder 511 or flow control hydraulic cylinder 611 and forelimb arm 38 to be mutually perpendicular to, and then breaks piece bar
513 or flow vacuum cup 614 and the keeping parallelism of forelimb arm 38, it is easy to control to break piece bar 513 or flow vacuum cup 614
Operating angle, i.e., only need by limb arm connecting shaft 36 control the swing angle of forelimb arm 38 can control break piece bar 513 break piece
The glass of angle and flow vacuum cup 614 draws angle.The table top of usual glass severing table 2 keeps level, so as to only need control
Forelimb arm 38 processed keeps level, then can ensure that and break the holding level of piece bar 513 and fitted with the line of cut 91 of original sheet glass, and ensure
Flow vacuum cup 614 and glass slice surface fully contact and glass slice are sucked.Can according to the size of glass come
Determine the flow vacuum cup 614 and break the quantity of piece vacuum cup 510, the more big then flow vacuum cup 614 of glass size
It is more with the quantity for breaking piece vacuum cup 510, to improve the ability of crawl glass.
Preferably, as shown in Figure 1 and Figure 2, in addition to polylith air supporting plate 21, the original sheet glass input table 1, glass break piece
Platform 2, glass slice output table 7 and glass waste paper output table 9 are equipped with the air supporting plate 21；The air supporting plate 21 is provided with multiple gas
Floating hole 211, is distributed on the air supporting plate 21 to the array of air supporting hole 211；Also include a plurality of glass conveyer belt 11, it is described
Original sheet glass input table 1, glass slice output table 7 and glass waste paper output table 9 are equipped with the glass conveyer belt 11, and
One glass conveyer belt 11 is set between adjacent two blocks of air supporting plates 21.
The original sheet glass input table 1, glass slice output table 7 and glass waste paper output table 9 are equipped with the glass and passed
Band 11 is sent, self-feeding and self-emptying for glass.The original sheet glass input table 1, glass severing table 2, glass slice
Output table 7 and glass waste paper output table 9 are equipped with the air supporting plate 21, and air supporting plate 21 is blown upwards by air supporting hole 211 during operation
Gas, so as to make glass suspend in the presence of air-flow；One is to prevent original sheet glass to be delivered to glass from original sheet glass input table 1 and break
Occur friction with operation table top during piece platform 2 and produce impression or scuffing, improve the yield rate of glass；Two be to prevent from breaking piece
The percussion of robot 5 and flow robot 6 when picking and placeing glass to glass is excessive and ruptures glass, plays slow to glass
Rush protective effect.
The glass of the Dual-robot coordination operation breaks piece system and realizes the feeding of glass, breaks piece, sifting sort, discharging
Automation, greatly reduce artificial input, improve glass processing efficiency, severing machine device people 5 and flow robot 6 coordinate to make
Industry, breaks tablet quality and stability is high, and safe operation is reliable.The flow robot 6 will break size shape after piece meet production will
The glass slice asked is carried to glass slice output table 7, glass waste paper is carried into glass waste paper output table 9, so as to realize glass
The automatic classification discharging of glass section, prevents glass waste paper from entering next manufacturing procedure.
The piece operation of breaking of the severing machine device people 5 comprises the following steps：
Step 1, severing machine device people 5 drives the top for breaking the original sheet glass that piece actuator 51 is moved to piece to be broken, and breaks
The line of cut 91 of the original sheet glass for breaking piece bar 17 and piece to be broken of piece robot 5 is aligned；
Step 2, the drive of severing machine device people 5 is broken piece actuator 51 and moved down until described break piece vacuum cup 510 and treat
Break the original sheet glass contact of piece；
Step 3, described to break the original sheet glass that piece vacuum cup 510 adsorbs piece to be broken, then severing machine device people 5 drives and broken
Piece actuator 51 is moved up；
Step 4, it is described break piece control hydraulic cylinder 511 and drive break piece bar 513 and move down until the glass of piece to be broken is former
Piece is broken into two with one's hands, forms glass slice；
Step 5, it is described to break the piece control driving of hydraulic cylinder 511 and break piece bar 513 and be moved upward to home position；
Step 6, the drive of severing machine device people 5 is broken piece actuator 51 and moved down until glass slice is positioned over glass severing table
2, then break piece vacuum cup 510 and glass slice separation.
Only original sheet glass can be carried out by the mobile position for breaking piece actuator 51 to break piece, without artificial operation, reduction
The artificial input of piece is broken, raising breaks piece efficiency and breaks piece flexibility.And entirely break piece operation all to complete in the air, severing machine device
People 5, which drives, breaks any movement in the air of piece actuator 51, breaks the glass after piece and puts back to origin-location, piece is broken so as to greatly reduce
Required space, improves space availability ratio.The severing machine device people 5 acts on the upper surface of original sheet glass all the time when breaking piece operation,
Belong to single job plane, without the former piece of movable glass in the position of glass severing table 2, piece actuator 51 is only broken by movement
Position can to glass carry out break piece.
Technical principle of the present utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
With new principle, and the limitation to the utility model protection domain can not be construed in any way.Based on explanation herein,
Those skilled in the art, which would not require any inventive effort, can associate other embodiments of the present utility model,
These modes are fallen within protection domain of the present utility model.
Claims (6)
1. a kind of glass of Dual-robot coordination operation breaks piece system, it is characterised in that：Broken including original sheet glass input table, glass
Piece platform, glass slice output table and glass waste paper output table；
The original sheet glass input table and glass slice output table are respectively arranged at the two ends of the glass severing table；
Severing machine device people, flow robot and Liang Tiao robots slide rail, the severing machine device are provided with the glass severing table
People and flow robot are each installed on a robot slide rail；Two the robot slide rail be arranged in parallel, described
The length of robot slide rail ensure the severing machine device people and flow robot can be stretched over the original sheet glass input table and
Glass slice output table；
The glass waste paper output table is arranged in the extending range of the flow robot of the glass severing table；
The flow robot includes robot body and flow actuator, and the flow actuator includes flow vacuum cup,
The flow vacuum cup is installed on the output shaft of the robot body；
The severing machine device people includes the robot body and breaks piece actuator, and the piece actuator of breaking includes breaking piece control liquid
Cylinder pressure, break piece power push-rod, break piece connection mounting bracket, break piece bar and two glass handling modules；
It is described to break the output shaft that piece control hydraulic cylinder is arranged on the robot body, the upper end for breaking piece power push-rod and institute
State the piston rod connection for breaking piece control hydraulic cylinder, the lower end for breaking piece power push-rod and the top surface connection for breaking piece bar, institute
State to break piece power push-rod and break piece bar and be mutually perpendicular to；
The upper end for breaking piece connection mounting bracket and the piece control hydraulic cylinder of breaking are connected, described to break the axis that piece connects mounting bracket
Line and the axis coincidence for breaking piece control hydraulic cylinder；The piece connection mounting bracket of breaking is hollow structure, described to break piece power push-rod
Connected through the inside for breaking piece connection mounting bracket and the piece bar of breaking, two glass handling modules are symmetrically disposed on
Break the both sides that piece connects mounting bracket；
The glass handling module includes stiffness connecting rod, stiffness contiguous block, stiffness rocking bar, breaks piece sucker installing plate and break piece vacuum
Sucker；The middle part of the stiffness rocking bar is provided with stiffness branch bar；The power end of the stiffness rocking bar is cut with scissors with piece connection mounting bracket is broken
Connect, the power end of the stiffness connecting rod is hinged with the upper end for breaking piece power push-rod, the swinging end and stiffness point of the stiffness connecting rod
The end of pole is hinged；
The piece vacuum cup of breaking is arranged at the bottom for breaking piece sucker installing plate, and the top for breaking piece sucker installing plate passes through institute
Stiffness contiguous block is stated to be fixedly connected with the sucker end of stiffness rocking bar；
The bottom for breaking piece bar is wedge angle.
2. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:The glass is grabbed
Modulus block also includes connecting block and stiffness auxiliary rod, and the connecting block is socketed on the middle part for breaking piece power push-rod, the strength
The power end and connecting block of property auxiliary rod are hinged, and the sucker end of the stiffness auxiliary rod and the sucker end of stiffness rocking bar are hinged.
3. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:It is described to break piece bar
For triangular prism structure, the piece bar of breaking is broken unilateral and second breaks unilateral including push rod joint face, first, the push rod joint face,
First breaks unilateral and second breaks unilateral three sides for breaking piece bar joined end to end into triangular prism structure, the power push-rod
Lower end and it is described break piece bar push rod joint face connection, described first break it is unilateral and second break it is unilateral between formed break piece angle；
The piece angle of breaking is 50 ° -70 °.
4. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:The flow is held
Row device includes flow control hydraulic cylinder, flow power push-rod, flow connection mounting bracket and flow sucker installing plate, the flow control
Hydraulic cylinder processed is installed on the output shaft of the robot body；
The upper end of the flow power push-rod and the piston rod connection of flow control hydraulic cylinder, the flow power push-rod
The top surface connection of lower end and flow sucker installing plate, the flow vacuum cup is arranged on the bottom surface of flow sucker installing plate；
The top surface of the flow connection mounting bracket and flow control hydraulic cylinder connection, the flow connection mounting bracket is hollow
Structure, the flow power push-rod connects inside and the flow sucker installing plate connection of mounting bracket through the flow.
5. the glass of Dual-robot coordination operation according to claim 4 breaks piece system, it is characterised in that:The robot
Body includes pedestal, turntable and mechanical arm, and the base runner is connected on robot slide rail, and the turntable is installed on institute
State on pedestal, the mechanical arm is installed on turntable, the turntable driving mechanical arm rotation；
The mechanical arm includes lower limb arm motor, lower limb arm, upper limbs arm, connecting shaft motor, limb arm connecting shaft, forelimb
Arm motor, forelimb arm and actuator mounting flange；
The lower limb arm motor is installed on turntable, the lower end of the lower limb arm and the output shaft of lower limb arm motor
Connection, the lower limb arm motor drives the lower limb arm to swing up and down；
The output shaft connection of the limb arm connecting shaft and connecting shaft motor, the connecting shaft motor driving limb arm connection
Axle is rotated；
The upper end of the lower limb arm is hinged by the limb arm connecting shaft and upper limbs arm；
The forelimb arm motor is installed on upper limbs arm, and the front end of the forelimb arm and the output shaft of forelimb arm motor connect
Connect, the forelimb arm motor driving forelimb arm is moved forward and backward；
The actuator mounting flange is installed on the end of forelimb arm；
For severing machine device people, the piece control hydraulic cylinder of breaking is installed on forelimb arm by the actuator mounting flange, and
The piece of breaking controls hydraulic cylinder and forelimb arm to be mutually perpendicular to；
For flow robot, the flow control hydraulic cylinder is installed on forelimb arm by the actuator mounting flange, and
The flow control hydraulic cylinder and forelimb arm are mutually perpendicular to.
6. the glass of Dual-robot coordination operation according to claim 1 breaks piece system, it is characterised in that:Also include polylith
Air supporting plate, the original sheet glass input table, glass severing table, glass slice output table and glass waste paper output table are equipped with described
Air supporting plate；
The air supporting plate is provided with multiple air supporting holes, is distributed on the air supporting plate to the air supporting hole array formula；
Also include a plurality of glass conveyer belt, the original sheet glass input table, glass slice output table and glass waste paper output table are equal
Provided with one glass conveyer belt of setting between the glass conveyer belt, and adjacent two blocks of air supporting plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720030597.3U CN206418018U (en) | 2017-01-12 | 2017-01-12 | A kind of glass of Dual-robot coordination operation breaks piece system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720030597.3U CN206418018U (en) | 2017-01-12 | 2017-01-12 | A kind of glass of Dual-robot coordination operation breaks piece system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206418018U true CN206418018U (en) | 2017-08-18 |
Family
ID=59574428
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720030597.3U Withdrawn - After Issue CN206418018U (en) | 2017-01-12 | 2017-01-12 | A kind of glass of Dual-robot coordination operation breaks piece system |
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| Country | Link |
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| CN (1) | CN206418018U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865969A (en) * | 2017-01-12 | 2017-06-20 | 广东工业大学 | A kind of glass of Dual-robot coordination operation breaks piece system and its control method |
| CN108673160A (en) * | 2018-07-11 | 2018-10-19 | 江苏恒隆通新材料科技有限公司 | A kind of flowing water processing line of diffuser plate |
| CN108975671A (en) * | 2018-10-12 | 2018-12-11 | 广东工业大学 | A kind of dual robot glass breaks piece work planning method and system |
| CN110054407A (en) * | 2019-05-10 | 2019-07-26 | 蚌埠朝阳玻璃机械有限公司 | A kind of full-automatic glass severing machine |
| CN110255877A (en) * | 2019-06-30 | 2019-09-20 | 东莞市佰荣森机械设备有限公司 | A kind of high-accuracy glass, which is cut, breaks integral type cutter head |
-
2017
- 2017-01-12 CN CN201720030597.3U patent/CN206418018U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865969A (en) * | 2017-01-12 | 2017-06-20 | 广东工业大学 | A kind of glass of Dual-robot coordination operation breaks piece system and its control method |
| CN106865969B (en) * | 2017-01-12 | 2017-11-10 | 广东工业大学 | A kind of glass of Dual-robot coordination operation breaks piece system and its control method |
| CN108673160A (en) * | 2018-07-11 | 2018-10-19 | 江苏恒隆通新材料科技有限公司 | A kind of flowing water processing line of diffuser plate |
| CN108975671A (en) * | 2018-10-12 | 2018-12-11 | 广东工业大学 | A kind of dual robot glass breaks piece work planning method and system |
| CN108975671B (en) * | 2018-10-12 | 2023-07-28 | 广东工业大学 | Planning method and system for glass breaking operation of double robots |
| CN110054407A (en) * | 2019-05-10 | 2019-07-26 | 蚌埠朝阳玻璃机械有限公司 | A kind of full-automatic glass severing machine |
| CN110054407B (en) * | 2019-05-10 | 2024-03-08 | 蚌埠朝阳玻璃机械有限公司 | Full-automatic glass breaking machine |
| CN110255877A (en) * | 2019-06-30 | 2019-09-20 | 东莞市佰荣森机械设备有限公司 | A kind of high-accuracy glass, which is cut, breaks integral type cutter head |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170818 Effective date of abandoning: 20171110 |