CN210884243U - A grabbing device for glass loading machine - Google Patents
A grabbing device for glass loading machine Download PDFInfo
- Publication number
- CN210884243U CN210884243U CN201822164810.7U CN201822164810U CN210884243U CN 210884243 U CN210884243 U CN 210884243U CN 201822164810 U CN201822164810 U CN 201822164810U CN 210884243 U CN210884243 U CN 210884243U
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- glass
- guide rod
- sucker
- grabbing device
- loading machine
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Abstract
The utility model discloses a grabbing device for glass loading machine, a grabbing device for glass loading piece constitute by swinging boom, bearing frame, leading sucking disc, power component, the detection switch that resets, rearmounted sucking disc, preceding probe rocking arm switch. Grabbing device install in the material loading machine, but power component adopt servo motor control crank link mechanism high accuracy control swinging boom to do the rotary motion for the material loading machine, preceding spy rocking boom switch be used for surveying and have glass on the glass frame, leading sucking disc locate grabbing device middle part, rearmounted sucking disc pass through pneumatic logic valve and judge the size of the gas flow of breathing in, realize breathing in and the exhaust automatic control of sucking disc, through the cooperation work of leading sucking disc and rearmounted sucking disc, realize not unidimensional, specification glass's the material loading of snatching, reduce piece work energy consumption, reduced glass processing cost, promoted the development of glass processing industry.
Description
Technical Field
The utility model belongs to the technical field of automation equipment, a grabbing device for glass goes up mascerating machine is related to, especially, a grabbing device for automatic mascerating machine of glass edging machine.
Background
In the glass deep processing industry, the process of chamfering and edging the cut glass is often needed to increase the manufacturability of the glass and avoid the sharp cut edge from scratching the human body. In glass handling, the workman often adopts handheld sucking disc to lift up glass and carries, and current glass belongs to nonstandard customization more, and glass size, the size of placing on same glass frame differ, adopt glass edging machine to carry out the edging, often need carry glass with the help of the instrument that many sets contain different sucking discs, the operation is extremely complicated, intensity of labour is very big, need several people simultaneous operation, waste time and energy, and cause glass breakage easily, surperficial fish tail, work is dry single. Meanwhile, the glass belongs to a smooth surface, negative pressure is easily formed between the glass blocks, the glass and the glass are piled and sucked together, when the glass is grabbed, the glass blocks are easily lifted at one time, the glass is easy to fall off in the carrying process, unnecessary economic loss and personal injury are caused, and therefore the device capable of realizing single-sheet glass feeding is urgently needed to replace manual carrying for feeding.
SUMMERY OF THE UTILITY MODEL
Therefore, to the defect that exists among the above-mentioned prior art, the utility model aims at providing a grabbing device for glass loading machine, not only can avoid polylith glass to load the piece simultaneously, but also can reduce the piece energy consumption of loading, reduce glass breakage rate, reduce workman intensity of labour to the demand of adaptation market to glass.
The purpose of the utility model can be realized by adopting the following technical scheme:
the utility model discloses a gripping device for a glass loading machine, which is characterized by comprising a rotating arm, a bearing seat, a front sucker, a power assembly, a reset detection switch, a rear sucker, a front cantilever rotating arm switch and a control system; the rotating arm is arranged on a bearing seat, the bearing seat is fixedly arranged on the moving platform, and the front sucker is fixedly arranged on the rotating arm; the front cantilever rotating arm switch is fixedly arranged in an area surrounded by the front sucker; the power assembly is driven by a servo motor.
Furthermore, the rotating arm is composed of a rotating shaft, a first fork arm and a second fork arm, bearing seats are respectively arranged at two ends of the rotating shaft, and the first fork arm and the second fork arm are fixedly arranged on the rotating shaft.
Furthermore, the gripping device is provided with at least two front suckers, and each front sucker comprises a first super-soft double-layer sucker, a first guide rod and a first guide rod seat; the first super-flexible double-layer sucker is connected with a first guide rod, the first guide rod is installed on a first guide rod seat, and the first guide rod seat is installed on the second fork arm.
Furthermore, the power assembly comprises a servo motor, a speed reducer, a crank, a tensioning sleeve, a first movable joint, a connecting rod, a second movable joint and a transmission shaft; servo motor power output shaft install in the power input end of reduction gear, the reduction gear pass through the bolt fastening on moving platform, reduction gear power take off end link firmly in the crank through the tight cover that rises, the crank other end install first freely movable joint, the first freely movable joint other end is connected in the connecting rod, the connecting rod other end connect in second freely movable joint, second freely movable joint in install the transmission shaft, the transmission shaft connect in the middle of the second yoke.
Furthermore, the reset detection switch is a normally-open photoelectric switch, and the reset detection switch is arranged on the mobile platform through a support and used for detecting whether the rotating arm is reset or not.
Furthermore, the gripping device comprises a plurality of rear suckers, each rear sucker comprises a second super-soft double-layer sucker, a second guide rod seat and a pneumatic logic valve, the second super-soft double-layer sucker is connected with the second guide rod, the second guide rod is installed on the second guide rod seat, and the pneumatic logic valve is connected with the second guide rod; when the flow of the air sucked by the pneumatic logic valve is greater than the set threshold value, the valve of the pneumatic logic valve is closed, and when the flow of the air sucked by the pneumatic logic valve is less than the set threshold value, the valve of the pneumatic logic valve is opened.
Furthermore, the front cantilever arm switch consists of a fixed seat and a cantilever arm contact, and the fixed seat is fixedly arranged on the second forked arm.
Furthermore, the height of the rotating arm contact is higher than that of the first super-soft double-layer sucker, and a height difference h exists; the height of the first super soft double-layer sucker is higher than that of the second super soft double-layer sucker, and a height difference H exists.
Still further, the method of operating a gripping device for a glass loading machine, wherein the gripping of glass from a glass rack to a transfer platform, comprises:
s1: the whole machine is debugged, the grabbing device is reset to a horizontal position, the control system sends a working signal, the servo motor drives the rotating arm to turn towards the glass frame, a rotating arm contact arranged on a front detection rotating arm switch touches the glass, the control system sends a command to the front sucker, the front sucker sucks the air from inside to outside, the servo motor continues to rotate by a set angle theta, the front sucker sucks the glass, the rear sucker rotates by a chord length H, the servo motor stops working, and the rear sucker starts to blow the air from inside to outside;
s2: when a second super-soft double-layer sucker arranged on the rear sucker contacts large-size glass, the air pressure flow sucked by the second super-soft double-layer sucker is increased, a valve in the pneumatic logic valve is opened, the rear sucker is changed from air blowing to air suction, the front sucker and the rear sucker simultaneously keep the air suction state, and the large-size glass is sucked and grabbed; if the front sucker contacts the small-size glass and the second super-soft double-layer sucker arranged on the rear sucker cannot contact the surface of the glass, the air pressure flow sucked by the rear sucker is unchanged, the rear sucker still keeps blowing from inside to outside, the small-size glass is separated from the large-size glass by the pressure of the blown gas, the front sucker keeps sucking the air, and the small-size glass is sucked and grabbed;
s3: when the glass is grabbed, the control system controls the moving platform to move upwards to drive the rotating arm to slightly shake to eliminate negative pressure between the glass and the surface of the glass, then the servo motor rotates away from the glass frame, when the rotating arm moves to a horizontal position, the reset detection switch is triggered, the control system sends a signal to stop the servo motor, the grabbing device is positioned at an initial station, the front sucking disc and the rear sucking disc exhaust outwards to loosen the glass, and the glass is conveyed to an edge grinding station;
s4: and repeating the process to complete the next glass grabbing.
Advantageous effects
The utility model provides a grabbing device for glass loading machine compares with prior art, and the beneficial effect who has is as follows:
(1) the front sucker and the rear sucker are matched, and the pneumatic logic valve is used for controlling the switching of the air sucking and blowing working conditions of the rear sucker, so that the grabbing of single glass is ensured, and the grabbing of glass with multiple sizes and specifications is realized.
(2) The servo motor is adopted to drive the rotating arm, so that the grabbing accuracy and stability are guaranteed, the full automation of glass grabbing is realized, the chip feeding energy consumption is reduced, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive work.
Fig. 1 is a schematic structural diagram of the gripping device for a glass loading machine of the present invention.
Fig. 2 is an overall appearance view of the gripping device for a glass loading machine shown in fig. 1 according to the present invention.
Fig. 3 is a front view of the gripping device for a glass loading machine according to the present invention.
Fig. 4 is a schematic structural diagram of a power assembly of the gripping device for a glass loading machine according to the present invention.
Fig. 5 is a schematic diagram of the structure of the reset detection switch of the gripping device for the glass loading machine of the present invention.
Fig. 6 is a schematic diagram of a rear suction cup structure of a gripping device for a glass loading machine according to the present invention.
Fig. 7 is a schematic diagram of a grabbing operating state of the grabbing device for a glass loading machine of the present invention.
Fig. 8 is a schematic view of a working flow of the gripping device for a glass loading machine according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. As shown in fig. 1 and 2, a gripping device for a glass loading machine is characterized by comprising a rotating arm 100, a bearing seat 200, a front sucker 300, a power assembly 400, a reset detection switch 500, a rear sucker 600, a front cantilever arm switch 700 and a control system 900; the rotating arm 100 is mounted on the bearing seat 200, and the front suction cup 300 is fixedly arranged on the rotating arm 100; the front cantilever arm switch 700 is fixedly arranged in the area surrounded by the front sucker 300; the power assembly 400 is driven by a servo motor 401.
The rotating arm 100 is composed of a rotating shaft 101, a first fork arm 102 and a second fork arm 103, bearing seats 200 are respectively arranged at two ends of the rotating shaft 101, the bearing seats 200 are fixedly arranged on the mobile platform 800, and the first fork arm 102 and the second fork arm 103 are fixedly arranged on the rotating shaft 101.
The gripping device has at least two front suckers 300 shown in fig. 3, and the front suckers 300 include a first super-soft double-layer sucker 301, a first guide rod 302 and a first guide rod seat 303; the first super-flexible double-layer sucker 301 is connected with a first guide rod 302, the first guide rod 302 is installed on a first guide rod seat 303, the first guide rod seat 303 is installed on the second fork arm 103, and the first guide rod 302 is used for conveying gas.
The power assembly 400 shown in fig. 4 includes a servo motor 401, a reducer 402, a crank 403, a tension sleeve 404, a first movable joint 405, a connecting rod 406, a second movable joint 407, and a transmission shaft 408; the power output shaft of the servo motor 401 is mounted at the power input end of the speed reducer 402, the speed reducer 402 is fixed on the moving platform 800 through a bolt, the power output end of the speed reducer 402 is fixedly connected to a crank 403 through a tensioning sleeve 404, a first movable joint 405 is mounted at the other end of the crank 403, the other end of the first movable joint 405 is connected to a connecting rod 406, the other end of the connecting rod 406 is connected to a second movable joint 407, a transmission shaft 408 is mounted in the second movable joint 407, and the transmission shaft 408 is connected to the second middle fork arm 103 a.
The reset detection switch 500 shown in fig. 5 is a normally open photoelectric switch, and the reset detection switch 500 is mounted on the mobile platform 800 through a bracket 501 and is used for detecting whether the rotating arm 100 is reset.
The gripping device is composed of a plurality of rear suckers 600 shown in fig. 6, each rear sucker 600 comprises a second super-flexible double-layer sucker 601, a second guide rod 602, a second guide rod seat 603 and a pneumatic logic valve 604, the second super-flexible double-layer sucker 601 is connected with the second guide rod 602, the second guide rod 602 is mounted on the second guide rod seat 603, and the pneumatic logic valve 604 is connected with the second guide rod 602; when the flow rate of the air sucked by the pneumatic logic valve 604 is greater than the set threshold value, the valve of the pneumatic logic valve 604 is closed, and when the flow rate of the air sucked by the pneumatic logic valve 604 is less than the set threshold value, the valve of the pneumatic logic valve 604 is opened.
The front arm switch 700 shown in fig. 3 is composed of a fixed seat 701 and an arm contact 702, the fixed seat 701 is fixedly arranged on the second fork arm 103, and the front arm switch 700 is used for detecting whether the glass surface is touched or not and transmitting signals to the control system 900.
Wherein, the height of the rotating arm contact 702 is higher than that of the first super-soft double-layer sucker 301, and a height difference h exists; the height of the first super-soft double-layer sucker 301 is higher than that of the second super-soft double-layer sucker 601, and a height difference H exists; when the rotating arm contact 702 touches the surface of the glass and is pressed down by the glass for a height H, the glass 1001 is in contact with the first super-soft double-layer sucker 301 and adsorbs the glass, the rotating arm 100 continues to rotate for a chord length H, and the second super-soft double-layer sucker 601 is in contact with the glass and adsorbs the glass.
With reference to fig. 7 and 8, the working method of the gripping device for a glass loading machine in the present invention is described, which grips glass from a glass frame 1000 to a conveying platform, including:
s1: after the whole machine is debugged, the grabbing device is reset to the horizontal position, the control system 900 sends a working signal, the servo motor 401 drives the rotating arm 100 to turn over towards the glass frame 1000, the rotating arm contact 702 arranged on the front detection rotating arm switch 700 touches the glass 1001, the control system 900 sends an instruction to the front sucker 300, the front sucker 300 sucks air from inside to outside, the servo motor 401 continues to rotate by a set angle theta, the front sucker 300 sucks the glass, the rear sucker 600 rotates by a chord length H, the servo motor 401 stops working, and the rear sucker 600 starts blowing air from inside to outside;
s2: when the second super-soft double-layer sucker 601 arranged on the rear sucker 600 contacts the large-size glass 1001, the air pressure flow sucked by the second super-soft double-layer sucker 601 is increased, a valve inside the pneumatic logic valve 604 is opened, the rear sucker 600 sucks air from blowing, the front sucker 300 and the rear sucker 600 simultaneously keep a suction state, and the large-size glass 1001 is sucked and grabbed; if the front sucker 300 contacts the small-size glass 1002, but the second super-soft double-layer sucker 601 arranged on the rear sucker 600 cannot contact the glass surface, the air pressure flow sucked by the rear sucker 600 is unchanged, the rear sucker 600 still blows air from inside to outside, the small-size glass 1002 is separated from the large-size glass 1001 by the pressure of the blown air, the front sucker 300 keeps sucking air, and the small-size glass 1002 is sucked and grabbed;
s3: after the glass is grabbed, the control system 900 controls the moving platform 800 to move upwards to drive the rotating arm 100 to slightly shake to eliminate negative pressure between the glass and the surface of the glass, then the servo motor 401 rotates away from the glass frame 1000, the reset detection switch 500 is triggered when the rotating arm 100 moves to the horizontal position, the control system 900 sends a signal to stop the servo motor 401, the grabbing device is located at an initial station, the front sucking disc 300 and the rear sucking disc 600 exhaust outwards to loosen the glass 1001, and the glass 1001 is conveyed to an edge grinding station;
s4: the above process is repeated to complete the next glass 1001 grasping.
Claims (6)
1. A grabbing device for a glass loading machine is characterized by comprising a rotating arm (100), a bearing seat (200), a front sucker (300), a power assembly (400), a reset detection switch (500), a rear sucker (600), a front cantilever arm switch (700) and a control system (900); the rotary arm (100) is arranged on the bearing seat (200), the bearing seat (200) is fixedly arranged on the mobile platform (800), and the front sucker (300) is fixedly arranged on the rotary arm (100); the front cantilever arm switch (700) is fixedly arranged in an area surrounded by the front sucker (300); the power assembly (400) is driven by a servo motor (401).
2. The grabbing device for the glass loading machine according to claim 1, wherein the rotating arm (100) comprises a rotating shaft (101), a first fork arm (102) and a second fork arm (103), two ends of the rotating shaft (101) are respectively provided with a bearing seat (200), and the first fork arm (102) and the second fork arm (103) are fixedly arranged on the rotating shaft (101).
3. The gripping device for the glass loading machine as claimed in claim 1, wherein the gripping device has at least two front suckers (300), and the front suckers (300) comprise a first super-flexible double-layer sucker (301), a first guide rod (302) and a first guide rod seat (303); the first super-flexible double-layer sucker (301) is connected with a first guide rod (302), the first guide rod (302) is installed on a first guide rod seat (303), and the first guide rod seat (303) is installed on the second fork arm (103).
4. The grabbing device for the glass loading machine as claimed in claim 1, wherein the power assembly (400) comprises a servo motor (401), a speed reducer (402), a crank (403), a tensioning sleeve (404), a first movable joint (405), a connecting rod (406), a second movable joint (407) and a transmission shaft (408); the power output shaft of the servo motor (401) is installed at the power input end of the speed reducer (402), the speed reducer (402) is fixed on the movable platform (800) through a bolt, the power output end of the speed reducer (402) is fixedly connected to a crank (403) through a tensioning sleeve (404), a first movable joint (405) is installed at the other end of the crank (403), the other end of the first movable joint (405) is connected to a connecting rod (406), the other end of the connecting rod (406) is connected to a second movable joint (407), a transmission shaft (408) is installed in the second movable joint (407), and the transmission shaft (408) is connected to a second middle fork arm (103 a).
5. The grabbing device for a glass loading machine according to claim 1, wherein the reset detection switch (500) is a normally open photoelectric switch, and the reset detection switch (500) is mounted on the movable platform (800) through a bracket (501) and used for detecting whether the rotating arm (100) is reset or not.
6. The grabbing device for a glass loading machine according to claim 1, wherein the grabbing device comprises a plurality of rear suckers (600), the rear suckers (600) comprise a second super-flexible double-layer sucker (601), a second guide rod (602), a second guide rod seat (603) and a pneumatic logic valve (604), the second super-flexible double-layer sucker (601) is connected with the second guide rod (602), the second guide rod (602) is installed on the second guide rod seat (603), and the pneumatic logic valve (604) is connected with the second guide rod (602); when the flow rate of the air sucked by the pneumatic logic valve (604) is greater than a set threshold value, the valve of the pneumatic logic valve (604) is closed, and when the flow rate of the air sucked by the pneumatic logic valve (604) is less than the set threshold value, the valve of the pneumatic logic valve (604) is opened.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822164810.7U CN210884243U (en) | 2018-12-20 | 2018-12-20 | A grabbing device for glass loading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822164810.7U CN210884243U (en) | 2018-12-20 | 2018-12-20 | A grabbing device for glass loading machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210884243U true CN210884243U (en) | 2020-06-30 |
Family
ID=71335197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822164810.7U Expired - Fee Related CN210884243U (en) | 2018-12-20 | 2018-12-20 | A grabbing device for glass loading machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210884243U (en) |
-
2018
- 2018-12-20 CN CN201822164810.7U patent/CN210884243U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200630 Termination date: 20201220 |