CN215401763U - Suspension type manipulator device - Google Patents
Suspension type manipulator device Download PDFInfo
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- CN215401763U CN215401763U CN202121679834.1U CN202121679834U CN215401763U CN 215401763 U CN215401763 U CN 215401763U CN 202121679834 U CN202121679834 U CN 202121679834U CN 215401763 U CN215401763 U CN 215401763U
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Abstract
The utility model discloses a suspension type manipulator device, which comprises a base, wherein a working cavity is formed in the base, a first sliding rail is arranged at the bottom of the working cavity, a workbench is slidably arranged on the first sliding rail, a clamping mechanism is arranged on the workbench, a second sliding rail is arranged on the side wall of the upper end of the working cavity, a support is slidably arranged on the second sliding rail, and a manipulator is arranged on the support and used for grabbing glass on the clamping mechanism; and the workbench is provided with a positioning mechanism, and the manipulator grabs the glass on the clamping mechanism and places the glass on the positioning mechanism for positioning and fixing. The utility model prevents the position of the glass on the operating platform from deviating, improves the stability of the glass in the operation process, and has sensitive action and high degree of freedom.
Description
Technical Field
The utility model relates to the field of manipulators, in particular to a suspension type manipulator device.
Background
Glass often needs to carry the transportation in the production and processing process, the transportation transport mode among the prior art often adopts artifical transport, this mode is inefficient, in modern production, automation equipment is one of indispensable mechanical equipment, and the manipulator is the important equipment that can replace manual operation again, the manipulator passes through the program control operation, can be accurate carry out the clamp of spare part and get and place, follow the reduction along with the artifical intensity of labour of development of manipulator, work efficiency is also following the improvement, current glass production has following not enough with snatching the manipulator: the existing manipulator for glass production is limited by a structure, cannot move in a high-degree-of-freedom position, does not have a turnover function, cannot be adjusted in adaptability when the glass inclines, and causes the glass to be placed on a processing table to shift, so that subsequent processing operation is seriously influenced.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model provides the following technical scheme:
the utility model provides a suspension type manipulator device,
the glass clamping device comprises a machine base, wherein a working cavity is formed in the machine base, a first sliding rail is arranged at the bottom of the working cavity, a workbench is slidably arranged on the first sliding rail, a first motor is arranged on the machine base and can drive the workbench to reciprocate back and forth on the first sliding rail, a clamping mechanism is arranged on the workbench and used for positioning and clamping glass, a second sliding rail is arranged on the side wall of the upper end of the working cavity, a support is slidably arranged on the second sliding rail, a second motor is arranged on the second sliding rail and can drive the support to slide left and right on the second sliding rail, and a manipulator is arranged on the support and used for grabbing glass on the clamping mechanism;
the manipulator comprises a sliding table, a lifting cylinder, an arm mounting plate, a cylinder mounting plate, a steering plate and a corner cylinder seat, wherein the sliding table is arranged on the bracket in a vertically sliding manner, the lifting cylinder is arranged on the sliding table and can drive the sliding table to slide up and down on the surface of the bracket, one end of the arm mounting plate is vertically arranged on the surface of the sliding table, the other end of the arm mounting plate is provided with the cylinder mounting plate, the steering plate is hinged on the cylinder mounting plate, a turnover cylinder is arranged between the cylinder mounting plate and the steering plate and can drive the steering plate to rotate, the corner cylinder seat is arranged on the surface of the steering plate, a rotary cylinder is arranged on the surface of the corner cylinder seat, a vacuum pen suction box is arranged on an output shaft of the rotary cylinder, and a sucker is arranged on the vacuum pen suction box, the rotary air cylinder can drive the vacuum suction pen box to rotate, so that the glass on the sucker is driven to rotate;
and the workbench is provided with a positioning mechanism, and the manipulator grabs the glass on the clamping mechanism and places the glass on the positioning mechanism for positioning and fixing.
Optionally, the clamping mechanism comprises a plurality of clamping boxes, the clamping boxes are evenly arranged at intervals, a plurality of bead strips are arranged in the clamping boxes and are adjacent to grooves in the bead strips, a plurality of fixing rods are arranged on the clamping boxes and can limit the glass on the bead strips.
Optionally, the positioning mechanism includes a base, the base includes a first base and a second base, the second base is obliquely arranged at one end of the first base, an operation table is arranged on the second base, the operation table is used for placing the manipulator to grab the glass on the clamping mechanism, a clamping cylinder is arranged on the first base, an output shaft of the clamping cylinder is provided with a clamping arm, the clamping arm includes a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are arranged in an L-shaped structure, clamping plates are arranged on the upper surfaces of the first clamping arm and the second clamping arm, the output shaft of the clamping cylinder drives the clamping arms to reciprocate up and down so as to drive the clamping plates to reciprocate up and down, in the process of reciprocating up and down movement of the clamping plates, the side walls of the glass on the work table can be clamped, positioned and loosened to take, prevent the glass from shifting.
Optionally, the lateral wall of cylinder mounting panel is provided with the inductor, the inductor can discern glass on the fixture, works as the manipulator is close to when glass on the fixture, the inductor control sucking disc operation on the vacuum suction pen box, thus it is right to absorb glass on the fixture.
Optionally, the supports are at least arranged in two groups, the supports and the manipulators are arranged in a one-to-one correspondence manner, and the manipulators are at least arranged in two groups.
Optionally, the turning cylinder may drive the steering plate to rotate downward, and the rotation angle is set to 0 to 90 °.
Optionally, the positioning mechanisms are arranged in one-to-one correspondence with the manipulators, and the positioning mechanisms are at least arranged in two groups.
Optionally, an angle between the first clamping arm and the second clamping arm is adjustable.
Optionally, a protective layer is arranged on the surface of the clamping plate facing the operating table, and the protective layer is a rubber layer.
Optionally, an image photographing device is arranged on the cylinder mounting plate, an image contrast device is arranged on the base, the image photographing device is electrically connected with the image contrast device, a display screen is arranged on the image contrast device, the image photographing device is used for photographing and collecting the appearance photo of the glass on the positioning mechanism, the photo collected by the image photographing device is set as a target detection picture, the image contrast device can input a qualified glass picture, the glass picture input by the image contrast device is set as a template picture, the image contrast device can overlap the target detection picture and the template picture and display the target detection picture through the display screen, an operator can observe whether the overlapped images are completely overlapped through the display screen, and when an un-overlapped part is found, the glass can be judged to be unqualified, the operator then removes it.
The utility model has the beneficial effects
When glass wholly places the in-process and has certain inclination, the sucking disc is at the in-process of snatching glass, because the sucking disc directly absorbs the glass surface, consequently, glass also is in the tilt state on the sucking disc surface, glass under the tilt state is placed can't align with the operation panel when positioning mechanism's operation panel, consequently, through setting up revolving cylinder, revolving cylinder can drive the rotation of vacuum suction pen box, thereby drive the glass rotation on the sucking disc, thereby make the glass on the sucking disc align with the operation panel, prevent that glass from taking place the deviation in the position on the operation panel, improve the stability of glass operation in-process, the action is sensitive and the degree of freedom is high, after the manipulator puts into glass on positioning mechanism's the operation panel, the manipulator resets immediately, wait for that clamping mechanism carries next batch of glass to arrive, go round and begin.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
FIG. 2 is a schematic view of the inner structure of the working chamber according to the present invention.
Fig. 3 is a schematic structural view of the robot of the present invention.
FIG. 4 is a schematic structural diagram of a positioning mechanism according to the present invention.
Fig. 5 is a schematic diagram of the operation of the image contrast device of the present invention.
Description of reference numerals: 1-machine base, 2-working chamber, 3-working table, 4-clamping mechanism, 5-bracket, 6-mechanical arm, 7-sliding table, 8-lifting cylinder, 9-arm mounting plate, 10-cylinder mounting plate, 11-steering plate, 12-overturning cylinder, 13-corner cylinder base, 14-revolving cylinder, 15-vacuum pen box, 16-suction cup, 17-positioning mechanism, 18-clamping box, 19-bead bar, 20-fixing rod, 21-inductor, 22-first base, 23-second base, 24-clamping cylinder, 25-first clamping arm, 26-second clamping arm and 27-clamping plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
As shown in fig. 1-5, the present invention provides a suspended robot apparatus,
the glass clamping device comprises a machine base 1, wherein a working cavity 2 is formed in the machine base 1, a first sliding rail is arranged at the bottom of the working cavity 2, a workbench 3 is slidably arranged on the first sliding rail, a first motor is arranged on the machine base 1 and can drive the workbench 3 to reciprocate back and forth on the first sliding rail, a clamping mechanism 4 is arranged on the workbench 3 and used for clamping glass in a positioning mode, a second sliding rail is arranged on the side wall of the upper end of the working cavity 2, a support 5 is slidably arranged on the second sliding rail, a second motor is arranged on the second sliding rail and can drive the support 5 to slide left and right on the second sliding rail, at least two groups of supports 5 are arranged, the supports 5 and the manipulators 6 are arranged in a one-to-one correspondence mode, at least two groups of manipulators 6 are arranged, and the manipulators 6 are arranged on the support 5, the manipulator 6 is used for grabbing the glass on the clamping mechanism 4, the clamping mechanism 4 comprises a plurality of clamping boxes 18, the clamping boxes 18 are uniformly arranged at intervals, a plurality of bead strips 19 are arranged in the clamping boxes 18, grooves on the adjacent bead strips 19 are used for placing the glass, a plurality of fixing rods 20 are arranged on the clamping boxes 18, and the adjacent fixing rods 20 can limit the glass on the bead strips 19;
the manipulator 6 comprises a sliding table 7, a lifting cylinder 8, an arm mounting plate 9, a cylinder mounting plate 10, a steering plate 11 and a corner cylinder seat 13, the sliding table 7 can be arranged on the support 5 in a vertical sliding manner, the lifting cylinder 8 is arranged on the sliding table 7, the lifting cylinder 8 can drive the sliding table 7 to slide on the surface of the support 5 in a vertical manner, one end of the arm mounting plate 9 is vertically arranged on the surface of the sliding table 7, the other end of the arm mounting plate 9 is provided with the cylinder mounting plate 10, the cylinder mounting plate 10 is provided with the steering plate 11 in a hinged manner, a turnover cylinder 12 is arranged between the cylinder mounting plate 10 and the steering plate 11, the turnover cylinder 12 can drive the steering plate 11 to rotate downwards, the rotating angle is set to be 0-90 degrees, the surface of the steering plate 11 is provided with the corner cylinder seat 13, a rotary cylinder 14 is arranged on the surface of the corner cylinder seat 13, a vacuum pen box 15 is arranged on an output shaft of the rotary cylinder 14, a suction cup 16 is arranged on the vacuum pen box 15, and the rotary cylinder 14 can drive the vacuum pen box 15 to rotate so as to drive the glass on the suction cup 16 to rotate;
the glass clamping device is characterized in that a positioning mechanism 17 is arranged on the workbench 3, the positioning mechanism 17 and the manipulators 6 are arranged in a one-to-one correspondence manner, at least two groups of positioning mechanisms 17 are arranged, the manipulators 6 grab the glass on the clamping mechanism 4 and place the glass on the positioning mechanism 17 for positioning and fixing, the positioning mechanism 17 comprises a base, the base comprises a first base 22 and a second base 23, the second base 23 is obliquely arranged at one end of the first base 22, an operating platform is arranged on the second base 23 and used for placing the manipulator 6 to grab the glass on the clamping mechanism 4, a clamping cylinder 24 is arranged on the first base 22, clamping arms are arranged on output shafts of the clamping cylinders 24 and comprise a first clamping arm 25 and a second clamping arm 26, and an L-shaped structure is arranged between the first clamping arm 25 and the second clamping arm 26, the upper surfaces of the first clamping arm 25 and the second clamping arm 26 are respectively provided with a clamping plate 27, the output shaft of the clamping cylinder 24 drives the clamping arms to reciprocate up and down, so that the clamping plates 27 are driven to reciprocate up and down, and in the process of reciprocating up and down of the clamping plates 27, the side walls of the glass on the workbench 3 can be clamped, positioned, loosened and taken, so that the glass is prevented from being shifted;
the side wall of the cylinder mounting plate 10 is provided with a sensor 21, the sensor 21 can identify the glass on the clamping mechanism 4, and when the manipulator 6 approaches the glass on the clamping mechanism 4, the sensor 21 controls the operation of the suction cup 16 on the vacuum suction pen box 15 so as to suck the glass on the clamping mechanism 4;
an operator firstly puts glass to be operated between the grooves on the adjacent bead strips 19 in one step, after the glass is put in the grooves, the operator turns on a switch of a first motor, the first motor drives the workbench 3 to slide backwards until the workbench is positioned below the mechanical arm 6, the operator turns on a switch of a second motor, the second motor drives the support 5 to slide left and right until the mechanical arm 6 is positioned at the center of the surface of the glass, when the mechanical arm 6 is close to the glass on the clamping mechanism 4, the inductor 21 controls the suction disc 16 on the vacuum suction pen box 15 to operate so as to suck the glass on the clamping mechanism 4, after the suction disc 16 is sucked, the workbench 3 resets, and the overturning cylinder 12 drives the steering plate 11 to rotate downwards by 90 degrees so as to enable the surface of the glass on the suction disc 16 to face downwards and be conveniently placed on the operation table of the positioning mechanism 17;
when a certain inclination angle exists in the whole glass placing process, the sucker 16 directly sucks the surface of the glass in the process of grabbing the glass by the sucker 16, so that the glass is also in an inclined state on the surface of the sucker 16, and the glass in the inclined state cannot be aligned with an operation table when placed on the operation table of the positioning mechanism 17, so that the rotary cylinder 14 is arranged, the rotary cylinder 14 can drive the vacuum suction pen box 15 to rotate, the glass on the sucker 16 is driven to rotate, the glass on the sucker 16 is aligned with the operation table, the position deviation of the glass on the operation table is prevented, the stability in the glass operation process is improved, the action is sensitive and the degree of freedom is high, after the manipulator 6 places the glass on the operation table of the positioning mechanism 17, the manipulator 6 is immediately reset, and the next batch of glass is conveyed by the clamping mechanism 4, and the process is repeated;
when the glass is placed on the operation table, after the glass is placed, an operator turns on a switch of the clamping cylinder 24, an output shaft of the clamping cylinder 24 drives the clamping arms to move downwards, so that the clamping plate 27 is driven to move downwards, and the clamping plate 27 can clamp and fix two side walls of the glass due to the L-shaped structure arrangement between the first clamping arm 25 and the second clamping arm 26, so that the position of the clamping plate 27 is prevented from being deviated, the risk that the glass drops during operation of the glass is avoided, and the safety and the stability of the operation process are effectively improved;
the angle between the first clamping arm 25 and the second clamping arm 26 can be adjusted, and the adjustable arrangement is convenient for handling glass with different sizes, so that the flexibility of the glass is improved;
the surface of the clamping plate 27 facing the operating table is provided with a protective layer which is a rubber layer to prevent the glass surface from being damaged in the clamping process;
the glass positioning device is characterized in that an image photographing device is arranged on the cylinder mounting plate, an image contrast device is arranged on the base and electrically connected with the image contrast device, a display screen is arranged on the image contrast device, the image photographing device is used for photographing and collecting appearance photos of glass on the positioning mechanism, the photos collected by the image photographing device are set as target detection photos, the image contrast device can input qualified glass photos, the glass photos input by the image contrast device are set as template photos, the image contrast device can overlap the target detection photos with the template photos and display the target detection photos through the display screen, an operator can observe whether the overlapped images are completely overlapped through the display screen, and when a non-overlapped part is found, the glass can be judged to be unqualified, the operator then removes it.
Principle of operation
The utility model relates to a suspension type manipulator device, wherein all components are distributed as shown in figures 1-5, when in use,
an operator firstly puts glass to be operated between the grooves on the adjacent bead strips 19, after the glass is put in the grooves, the operator turns on a switch of a first motor, the first motor drives the workbench 3 to slide backwards until the workbench is positioned below the mechanical arm 6, the operator turns on a switch of a second motor, the second motor drives the bracket 5 to slide left and right until the mechanical arm 6 is positioned at the center of the surface of the glass, at the moment, the image photographing device photographs and collects a picture of the glass and conveys the picture into the image contrast device to be overlapped with the template picture, the picture is displayed by a display screen, the operator observes whether the overlapped pictures are completely overlapped together through the display screen, when an un-overlapped part is found, the glass can be judged to be unqualified, the operator takes the glass along with the glass, when the pictures are completely overlapped together, the next step of operation is carried out, the process is used for identifying the glass which is not in accordance with the production specification, the production efficiency of enterprises is effectively improved, and rework inspection is avoided;
when the manipulator 6 is close to the glass on the clamping mechanism 4, the inductor 21 controls the operation of the sucker 16 on the vacuum sucker pen box 15, so that the glass on the clamping mechanism 4 is sucked, after the sucker 16 finishes sucking, the workbench 3 is reset, the turning cylinder 12 drives the steering plate 11 to rotate downwards by 90 degrees, so that the surface of the glass on the sucker 16 faces downwards, and the glass is conveniently placed on the operating platform of the positioning mechanism 17;
when a certain inclination angle exists in the whole glass placing process, the sucker 16 is used for grabbing glass in the process, the sucker 16 directly sucks the surface of the glass, so that the glass is also in an inclined state on the surface of the sucker 16, the glass in the inclined state can not be aligned with an operation table when placed on the operation table of the positioning mechanism 17, the rotary cylinder 14 is arranged, the rotary cylinder 14 can drive the vacuum pen suction box 15 to rotate, the glass on the sucker 16 is driven to rotate, the glass on the sucker 16 is aligned with the operation table, the position of the glass on the operation table is prevented from being deviated, the stability in the glass operation process is improved, after the manipulator 6 places the glass on the operation table of the positioning mechanism 17, the manipulator 6 is immediately reset, a batch of glass is conveyed by the clamping mechanism 4, and the process is repeated.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the utility model.
Claims (10)
1. A suspended manipulator device is characterized in that,
the glass clamping device comprises a machine base, wherein a working cavity is formed in the machine base, a first sliding rail is arranged at the bottom of the working cavity, a workbench is slidably arranged on the first sliding rail, a first motor is arranged on the machine base and can drive the workbench to reciprocate back and forth on the first sliding rail, a clamping mechanism is arranged on the workbench and used for positioning and clamping glass, a second sliding rail is arranged on the side wall of the upper end of the working cavity, a support is slidably arranged on the second sliding rail, a second motor is arranged on the second sliding rail and can drive the support to slide left and right on the second sliding rail, and a manipulator is arranged on the support and used for grabbing glass on the clamping mechanism;
the manipulator comprises a sliding table, a lifting cylinder, an arm mounting plate, a cylinder mounting plate, a steering plate and a corner cylinder seat, wherein the sliding table is arranged on the bracket in a vertically sliding manner, the lifting cylinder is arranged on the sliding table and can drive the sliding table to slide up and down on the surface of the bracket, one end of the arm mounting plate is vertically arranged on the surface of the sliding table, the other end of the arm mounting plate is provided with the cylinder mounting plate, the steering plate is hinged on the cylinder mounting plate, a turnover cylinder is arranged between the cylinder mounting plate and the steering plate and can drive the steering plate to rotate, the corner cylinder seat is arranged on the surface of the steering plate, a rotary cylinder is arranged on the surface of the corner cylinder seat, a vacuum pen suction box is arranged on an output shaft of the rotary cylinder, and a sucker is arranged on the vacuum pen suction box, the rotary air cylinder can drive the vacuum suction pen box to rotate, so that the glass on the sucker is driven to rotate;
and the workbench is provided with a positioning mechanism, and the manipulator grabs the glass on the clamping mechanism and places the glass on the positioning mechanism for positioning and fixing.
2. A suspended robot device according to claim 1,
the clamping mechanism comprises a plurality of clamping boxes and a plurality of bead strips, the clamping boxes are evenly arranged at intervals, the clamping boxes are internally provided with the bead strips, the bead strips are adjacent, grooves in the bead strips are used for placing glass, a plurality of fixing rods are arranged on the clamping boxes, and the fixing rods can limit the glass on the bead strips.
3. A suspended robot device according to claim 1,
the positioning mechanism comprises a base, the base comprises a first base and a second base, the second base is obliquely arranged at one end of the first base, an operation table is arranged on the second base and used for placing the manipulator to grab the glass on the clamping mechanism, a clamping cylinder is arranged on the first base, an output shaft of the clamping cylinder is provided with a clamping arm, the clamping arm comprises a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm are arranged in an L-shaped structure, clamping plates are arranged on the upper surfaces of the first clamping arm and the second clamping arm, the output shaft of the clamping cylinder drives the clamping arms to reciprocate up and down so as to drive the clamping plates to reciprocate up and down, and in the process of reciprocating up and down movement of the clamping plates, the side walls of the glass on the work table can be clamped, positioned and loosened to take, prevent the glass from shifting.
4. A suspended robot device according to claim 1,
the lateral wall of cylinder mounting panel is provided with the inductor, the inductor discernment last glass of fixture, works as the manipulator is close to when glass on the fixture, the inductor control the sucking disc operation on the vacuum suction pen box, thus it is right glass on the fixture is absorb.
5. A suspended robot device according to claim 1,
the support sets up to two sets ofly at least, the support with the manipulator one-to-one sets up, the manipulator sets up to two sets ofly at least.
6. A suspended robot device according to claim 1,
the turning cylinder can drive the steering plate to rotate downwards, and the rotating angle is set to be 0-90 degrees.
7. A suspended robot device according to claim 1,
the positioning mechanisms are arranged in one-to-one correspondence with the manipulators, and at least two groups of positioning mechanisms are arranged.
8. A suspended robot device according to claim 3,
the angle between the first clamping arm and the second clamping arm is adjustable.
9. A suspended robot device according to claim 3,
the clamping plate faces the surface of the operating table and is provided with a protective layer, and the protective layer is a rubber layer.
10. A suspended robot device according to claim 1,
the glass positioning device is characterized in that an image photographing device is arranged on the cylinder mounting plate, an image contrast device is arranged on the base and electrically connected with the image contrast device, a display screen is arranged on the image contrast device, the image photographing device is used for photographing and collecting appearance photos of glass on the positioning mechanism, the photos collected by the image photographing device are set as target detection photos, the image contrast device can input qualified glass photos, the glass photos input by the image contrast device are set as template photos, the image contrast device can overlap the target detection photos with the template photos and display the target detection photos through the display screen, an operator can observe whether the overlapped images are completely overlapped through the display screen, and when a non-overlapped part is found, the glass can be judged to be unqualified, the operator then removes it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121679834.1U CN215401763U (en) | 2021-07-22 | 2021-07-22 | Suspension type manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121679834.1U CN215401763U (en) | 2021-07-22 | 2021-07-22 | Suspension type manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215401763U true CN215401763U (en) | 2022-01-04 |
Family
ID=79651862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121679834.1U Active CN215401763U (en) | 2021-07-22 | 2021-07-22 | Suspension type manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215401763U (en) |
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2021
- 2021-07-22 CN CN202121679834.1U patent/CN215401763U/en active Active
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