CN211945378U - Robot grabbing system for precisely stacking transparent glass - Google Patents
Robot grabbing system for precisely stacking transparent glass Download PDFInfo
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- CN211945378U CN211945378U CN201922412629.8U CN201922412629U CN211945378U CN 211945378 U CN211945378 U CN 211945378U CN 201922412629 U CN201922412629 U CN 201922412629U CN 211945378 U CN211945378 U CN 211945378U
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- conveying roller
- glass frame
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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
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The utility model discloses a robot grasping system of accurate pile up neatly of clear glass, snatch system and glass frame revolving stage including visual system, conveying roller, robot, visual system comprises D camera and installing support, sets up in conveying roller's top, conveying roller is provided with a plurality of pivoted transport axle, carries epaxial being provided with to carry the rubber roll, carries the axle to be rotatory by drive mechanism and inverter motor drive, the last encoder that sets up of inverter motor, confirms glass's real-time position through the encoder, robot grasping system includes robot, anchor clamps and vacuum pump, anchor clamps are installed in the execution end of robot, be provided with a plurality of sucking disc on the frame of anchor clamps, the vacuum pump passes through pipeline and sucking disc intercommunication, the beneficial effects of the utility model: the robot grabbing system completely replaces manual grading and manual carrying, so that the glass grade distinguishing error is reduced, and the neatness of glass stacking is higher.
Description
Technical Field
The utility model belongs to the technical field of the application system of robot, concretely relates to robot grasping system of accurate pile up neatly of clear glass.
Background
Along with the continuous development of society, the yield and the usage amount of glass are increased year by year, but many enterprises mainly adopt a manual grading and manual carrying production mode on a glass production line; the manual grading makes the glass grade distinguishing error larger, the labor intensity of workers is increased by distinguishing the glass grade with high concentration for a long time, and the workers are easily damaged in the process of carrying the glass manually. Meanwhile, the labor cost is higher and higher, and the recruitment of pure labor workers in factories is more and more difficult, so that the full-automatic production mode is a necessary result of social development, and the robot grabbing system completely replaces manual grading and manual carrying, thereby reducing the glass grade distinguishing error and ensuring the glass stacking uniformity to be higher.
SUMMERY OF THE UTILITY MODEL
Aiming at the problems that the production line in the prior art is also manually graded, and the manual carrying production mode is the main mode; the manual grading makes the glass grade distinguishing error larger, the labor intensity of workers is increased due to the fact that the workers distinguish the glass grade with high concentration for a long time, and damage is easily caused to the workers in the process of carrying the glass manually, so that the robot grabbing system for the precise transparent glass stacking is provided.
A robot grabbing system for precisely stacking transparent glass comprises a vision system, a conveying roller machine, a robot grabbing system, a first glass frame rotary table and a second glass frame rotary table,
the vision system consists of a camera and a mounting bracket and is arranged above the front end of the conveying roller machine,
the conveying roller machine is provided with a plurality of rotating conveying shafts, the conveying shafts are provided with conveying rubber rollers, the conveying shafts are driven to rotate by a transmission mechanism and a variable frequency motor, the variable frequency motor is provided with an encoder, the real-time position of the glass is determined by the encoder,
the robot gripping system comprises a robot, a clamp and a vacuum pump, wherein the clamp is arranged at the execution tail end of the robot, a plurality of suckers are arranged on a frame of the clamp according to the size of glass, a first stroke readable cylinder and a second stroke readable cylinder are arranged on the frame, the first stroke readable cylinder is arranged on the side of the length direction of the clamp, the second stroke readable cylinder is arranged on the side of the width direction of the clamp, a first detection photoelectric device is arranged at the front end of the first stroke readable cylinder, a second detection photoelectric device is arranged at the front end of the second stroke readable cylinder, the first detection photoelectric device and the second detection photoelectric device detect the offset of the glass relative to the center of the clamp and transmit data to the robot, the vacuum pump is communicated with the suckers,
the first glass frame rotary table and the second glass frame rotary table are arranged at one side of the conveying roller machine.
Preferably, the robot grasping system for the precise transparent glass stacking comprises a base, a rotating mechanism and a glass support, wherein the rotating mechanism is arranged on the base and comprises a rotary support and a motor, the support comprises two placing surfaces which are symmetrical left and right and is arranged on the rotary table, and the second glass frame rotary table structure is identical to the first glass frame rotary table.
Preferably, the robot grabbing system for precisely stacking the transparent glass further comprises a safety protection system, wherein the safety protection system comprises a safety door and a protective guard, the robot is enclosed, and when the robot works, personnel are prevented from entering the robot.
The utility model has the advantages that:
the robot grabbing system completely replaces manual grading and manual carrying, so that the glass grade distinguishing error is reduced, and the neatness of glass stacking is higher.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is a schematic perspective view of a robot according to an embodiment of the present invention;
fig. 3 is a schematic view of a glass frame and a turntable according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be further explained with reference to the drawings in the embodiments of the present invention.
As shown in fig. 1, a robot gripping system for precisely stacking transparent glass mainly comprises a vision system 1, a conveying roller machine 2, a robot gripping system, a first glass frame rotary table 4 and a second glass frame rotary table 7,
the vision system 1 consists of a 2D camera and a mounting bracket, is arranged above the front end of the conveying roller machine 2, divides scanned glass into A-level glass, B-level glass and unqualified glass, and transmits information to the robot.
The conveying roller machine 2 is provided with a plurality of rotating conveying shafts, conveying rubber rollers are arranged on the conveying shafts, the conveying shafts are driven to rotate by a transmission mechanism and a variable frequency motor, an encoder is arranged on the variable frequency motor, and the real-time position of the glass is determined by the encoder.
As shown in fig. 2, the robot gripping system includes a robot 9, a jig 8, and a vacuum pump 5, the jig 8 is mounted at an execution end of the robot 9, a plurality of suction pads 83 are provided on a frame 82 of the jig 8 according to a size of glass, a first stroke readable cylinder 81 and a second stroke readable cylinder 85 are provided on the frame 82, the first stroke readable cylinder 81 is provided on a longitudinal direction side of the jig 8, the second stroke readable cylinder 85 is provided on a width direction side of the jig 8, a first detection photoelectric 86 is provided at a front end of the first stroke readable cylinder 81, a second detection photoelectric 84 is provided at a front end of the second stroke readable cylinder 85, and they detect an offset amount of the glass with respect to a center of the jig 8 and transmit data to the robot, and the vacuum pump 5 is communicated with the suction pads 83 through a pipe.
The first and second glass stand turntables 4 and 7 are provided at one side position of the conveyor drum 2. And the positions of two sides of the robot 9 are used for placing A-level glass and B-level glass.
As shown in fig. 3, the glass holder turntable 4 includes a base 43, a rotating mechanism 42 and a glass holder 41, the rotating mechanism 42 is disposed on the base 43 and is composed of a rotary support and a motor drive, and the holder 41 includes two placement surfaces, is bilaterally symmetrical, and is disposed on the turntable 42.
The glass frame rotary table 7 is identical to the glass frame rotary table 4 in structure.
The robot safety protection system further comprises a safety door 6 and a protective guard 3, the robot 9 is enclosed, and when the robot 9 works, people are prevented from entering the robot safety protection system. When the robot enters the working range of the robot, the robot automatically stops working.
The working principle is as follows: glass is conveyed by a roller conveyor 2, after being scanned by a vision system 1, the system automatically divides the glass into A level, B level and unqualified products, simultaneously identifies the relative position of the glass on the roller conveyor 2, then transmits all information to a robot 9, a robot clamp 8 waits at a pre-grabbing position in advance, when an in-place photoelectricity 87 at the front end of the clamp 8 detects that the glass is in place, the clamp 8 is downwards attracted on the glass, the clamp synchronously moves along with the glass on the roller conveyor 2, a vacuum pump 5 starts to act and vacuumize, when the vacuum of a suction cup 83 reaches the pressure set by a pressure sensor, the robot 9 obtains a signal, the robot clamp 8 grabs the glass to be separated from the roller conveyor 2, in the moving process of the clamp 8, a stroke readable cylinder 81 on the clamp 8 drives a detection photoelectricity 86 and a stroke readable cylinder 85 drives the detection photoelectricity 84 to detect the relative position of the glass relative to the center of a gripper of the robot, and the robot 9 compensates the position and the size of the glass according to the obtained information, then the A-grade glass and the B-grade glass are respectively placed on the glass frame rotary table 4 and the glass frame rotary table 7 to be orderly stacked, and unqualified products are conveyed to the tail end of the line body through the roller conveyor 2 and are manually processed. After the stacking on one side of the glass frame rotary table is finished, the stacking on the other side is started by rotating 180 degrees.
It is to be understood that although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations may be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. A robot grabbing system for precisely stacking transparent glass is characterized by comprising a vision system (1), a conveying roller machine (2), a robot grabbing system, a first glass frame rotary table (4) and a second glass frame rotary table (7),
the vision system (1) consists of a 2D camera and a mounting bracket and is arranged above the front end of the conveying roller machine (2),
the conveying roller machine (2) is provided with a plurality of rotating conveying shafts, the conveying shafts are provided with conveying rubber rollers, the conveying shafts are driven to rotate by a transmission mechanism and a variable frequency motor, the variable frequency motor is provided with an encoder, the real-time position of the glass is determined by the encoder,
the robot grabbing system comprises a robot (9), a clamp (8) and a vacuum pump (5), wherein the clamp (8) is installed at the execution tail end of the robot (9), a plurality of suckers (83) are arranged on a frame (82) of the clamp (8) according to the size of glass, a first stroke readable cylinder (81) and a second stroke readable cylinder (85) are arranged on the frame (82), the first stroke readable cylinder (81) is arranged on the length direction side of the clamp (8), the second stroke readable cylinder (85) is arranged on the width direction side of the clamp (8), a first detection photoelectric sensor (86) is arranged at the front end of the first stroke readable cylinder (81), a second detection photoelectric sensor (84) is arranged at the front end of the second stroke readable cylinder (85), the first detection photoelectric sensor and the second detection photoelectric sensor detect the offset of the glass relative to the center of the clamp (8), and transmit data to the robot, the vacuum pump (5) is communicated with the sucker (83) through a pipeline,
the first glass frame rotary table (4) and the second glass frame rotary table (7) are arranged at one side of the conveying roller (2).
2. The robot grabbing system for the precise stacking of transparent glass according to claim 1, wherein the first glass frame turntable (4) comprises a base (43), a rotating mechanism (42) and a glass support (41), the rotating mechanism (42) is arranged on the base (43) and is composed of a rotary support and a motor drive, the glass support (41) comprises two placing surfaces which are arranged on the rotating mechanism (42) in a bilateral symmetry manner, and the second glass frame turntable (7) has the same structure as the first glass frame turntable (4).
3. Robot gripping system for the precision palletization of clear glasses according to claim 2, characterized in that it comprises a safety protection system comprising safety doors (6) and protective guards (3) which enclose the robot (9) and prevent the entry of personnel when the robot (9) is in operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922412629.8U CN211945378U (en) | 2019-12-29 | 2019-12-29 | Robot grabbing system for precisely stacking transparent glass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922412629.8U CN211945378U (en) | 2019-12-29 | 2019-12-29 | Robot grabbing system for precisely stacking transparent glass |
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| Publication Number | Publication Date |
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| CN211945378U true CN211945378U (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922412629.8U Active CN211945378U (en) | 2019-12-29 | 2019-12-29 | Robot grabbing system for precisely stacking transparent glass |
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| CN (1) | CN211945378U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479646A (en) * | 2021-06-11 | 2021-10-08 | 中国建材国际工程集团有限公司 | Self-adaptive vertical stacking machine for plate glass |
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2019
- 2019-12-29 CN CN201922412629.8U patent/CN211945378U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479646A (en) * | 2021-06-11 | 2021-10-08 | 中国建材国际工程集团有限公司 | Self-adaptive vertical stacking machine for plate glass |
| CN113479646B (en) * | 2021-06-11 | 2022-11-18 | 中国建材国际工程集团有限公司 | Self-adaptive vertical stacking machine for plate glass |
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Address after: 266111 north side of Xinyue Road, east side of torch Branch Road, high tech Industrial Development Zone, Qingdao City, Shandong Province Patentee after: Qingdao Baojia Intelligent Equipment Co.,Ltd. Address before: 266111 north side of Xinyue Road, east side of torch Branch Road, high tech Industrial Development Zone, Qingdao City, Shandong Province Patentee before: QINGDAO BAOJIA AUTOMATION EQUIPMENT Co.,Ltd. |