CN215438702U

CN215438702U - Small-size vacuum chuck glass transfer robot

Info

Publication number: CN215438702U
Application number: CN202122332342.1U
Authority: CN
Inventors: 王晓伟; 陈旭; 高胜鲁; 张晓彬; 林朵朵; 牛景瑞
Original assignee: Shandong Jianzhu University
Current assignee: Shandong Jianzhu University
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2022-01-07
Anticipated expiration: 2031-09-26

Abstract

The invention relates to a small vacuum chuck glass carrying robot, which belongs to the technical field of carrying robots and comprises a mechanical arm, a power device, a transmission device and an execution device, wherein the mechanical arm comprises a rotary table, a machine base, a lower arm, an upper arm and a wrist part, the power device comprises five motors, a machine base motor, a motor A, a motor B, a motor C and a control box motor, the transmission device comprises a main transmission shaft, a driving gear and a rolling bearing which are arranged on the main transmission shaft, and a rack matched with the driving gear, and the execution device comprises a control box, a vacuum generator, a sucker frame, a guide rail, a sliding block, a positioning block, a pipe clamp, a connecting plate A, a connecting plate B, a fixing block, a fixing plate, an air guide pipe and a sucker. The invention has the following beneficial effects: the robot replaces manpower, the working efficiency is high, the safety is good, the occupied space of the whole robot is small, the flexibility is high, the carrying of glass at any angle can be realized, the stretching length can be automatically adjusted by the executing device, and the carrying of glass with various sizes can be realized.

Description

Small-size vacuum chuck glass transfer robot

Technical Field

The invention relates to the technical field of transfer robots, in particular to a glass transfer robot.

Background

Glass is widely used as an important inorganic non-metallic material in modern technology in many fields of daily production and life. The characteristics of high brittleness, frangibility and the like of the glass make the handling of the glass in the production process difficult. Under the general condition, in order to guarantee that glass is not damaged in the handling process, only can rely on artifical transport, even take off the simple action of shaped glass from the production line and also need two people cooperations to accomplish at least, it is inefficient, waste time and energy, the edge of glass scratches the people easily moreover, the security is poor.

In recent years, the development of robot technology has promoted the solution of this problem to a certain extent, but the existing glass carrying robot has the defects of poor flexibility, large volume, fixed and unadjustable glass carrying actuating device, single glass carrying size and the like.

Disclosure of Invention

In order to overcome the defects, the invention provides a small vacuum chuck glass carrying robot, which solves the problems that the existing glass carrying robot is poor in flexibility and large in size, a glass carrying executing device is fixed and cannot be adjusted, and the size of glass carrying is single.

In order to achieve the purpose, the invention provides the following technical scheme: a small-sized vacuum chuck glass carrying robot comprises a mechanical arm, a power device, a transmission device and an execution device, wherein the mechanical arm comprises a rotary table, a machine base, a lower arm, an upper arm and a wrist part; the power device comprises five motors, wherein a base motor arranged on the rotary table realizes the rotation of the base, a motor A arranged on the lower arm realizes the pitching of the lower arm, a motor B arranged on the upper arm realizes the pitching of the upper arm, a motor C arranged on the wrist realizes the pitching of the wrist, and a control box motor arranged on the control box realizes the rotation of the execution device and provides power for the execution device; the transmission device comprises a main transmission shaft arranged in the control box, a driving gear and a rolling bearing which are arranged on the main transmission shaft, and a rack matched with the driving gear; the execution device comprises a control box, a vacuum generator, a sucker frame, a guide rail, a sliding block, a positioning block, a pipe clamp, a connecting plate A, a connecting plate B, a fixing block, a fixing plate, a fastening bolt, a nut, an air guide pipe and a sucker.

Furthermore, the number of the racks is two, and the racks are respectively meshed with two sides of the driving gear and move relatively.

Further, the connecting plate A is connected with the rack through a screw; the guide rails are arranged on two sides of the control box, and notches with the same width are formed in the guide rails and the control box; the sliding block is arranged on the guide rail, and the sliding block extending structure penetrates through the guide rail and the notch of the control box and is connected with the connecting plate A through a screw; the positioning blocks are arranged at the two ends of the guide rail and limit the sliding block; the pipe clamp is connected with the sliding block through a bolt; the suction disc frame is connected with the sliding block through two pipe clamps and slides synchronously along with the sliding block; and the connecting plate B is connected with the suction disc frame and the connecting plate A through bolts.

Furthermore, the sucker frame is of a hollow square tube structure, and notches are formed in the two side faces of the sucker frame, so that the mass of the sucker frame is reduced, and meanwhile, air guide tube pipelines are conveniently arranged.

Furthermore, the vacuum generator is arranged at the wrist part of the mechanical arm, and the control box motor provides power to adjust the air pressure in the sucker.

Furthermore, the number of the suckers is four, the suckers are fixed on the sucker frame through fixing plates and fixing blocks, fastening bolts and nuts, the fixing plates are fixed on the sucker frame through the fastening bolts, the positions of the fixing plates are adjustable, and the suckers are clamped by the fixing blocks through the bolts; one end of the air duct is connected with an air inlet at the lower end of the sucker, the other end of the air duct is connected with the vacuum generator, and the air duct pipeline is arranged inside the sucker frame.

Compared with the prior art, the invention has the following beneficial effects: the robot has the advantages that the machine base motor is used for realizing the rotation action of the robot, the motor A, the motor B and the motor C are used for realizing the pitching action of each angle of the robot, the control box motor is used for realizing the rotation action of the robot executing device, the double-arm structure is used for increasing the overall flexibility, the robot has five degrees of freedom in total, and the carrying of each angle of glass is realized. The sucker frame is driven to stretch and retract by using a gear rack transmission and guide rail sliding block structure, so that the self stretching length of the executing device can be adjusted according to the size of glass, and the occupied space is small when the sucker frame is completely retracted. The sucker frame is of a hollow square tube structure, notches are formed in two sides of the sucker frame, the mass of the sucker frame is effectively reduced, meanwhile, the arrangement of an air duct pipeline of an internal sucker is facilitated, and the appearance is simpler. The fixing plate, the fixing block, the fastening bolt and the nut are used for fixing the sucker, the position is adjustable, and the sucker is convenient to disassemble and assemble. The small vacuum chuck glass carrying robot provided by the invention has the advantages that the robot replaces manpower, the working efficiency is high, the safety is good, the whole occupied space of the robot is small, the flexibility is high, the carrying of glass at any angle can be realized, the execution device can be automatically adjusted, and the carrying of glass with different sizes can be realized.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a front view of the present invention.

FIG. 3 is a schematic structural diagram of an actuator according to the present invention.

FIG. 4 is a schematic diagram of an extended structure of the actuator according to the present invention.

Fig. 5 is a schematic view of the retraction structure of the actuator of the present invention.

Fig. 6 is a partial view of the actuator of the present invention from direction a.

In the figure, a turntable 1, a machine base 2, a lower arm 3, an upper arm 4, a wrist part 5, a machine base motor 6, a motor A7, a motor B8, a motor C9, a control box motor 10, a control box 11, a suction cup 12, an air duct 13, a vacuum generator 14, a suction cup frame 15, a connecting plate B16, a pipe clamp 17, a positioning block 18, a rack 19, a connecting plate A20, a driving gear 21, a rolling bearing 22, a main transmission shaft 23, a nut 24, a guide rail 25, a sliding block 26, a fixing plate 27, a fastening bolt 28 and a fixing block 29.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings.

A small vacuum chuck glass handling robot as described in fig. 1-6, comprising a robot arm, a power device, a transmission device and an actuator; the mechanical arm comprises a rotary table 1, a machine base 2, a lower arm 3, an upper arm 4 and a wrist part 5; the power device comprises five motors, wherein a base motor 6 arranged on the rotary table 1 realizes the rotation of the base 2, a motor A7 arranged on the lower arm 3 realizes the pitching of the lower arm 3, a motor B8 arranged on the upper arm 4 realizes the pitching of the upper arm 4, a motor C9 arranged on the wrist 5 realizes the pitching of the wrist 5, and a control box motor 10 arranged on the control box 11 realizes the rotation of the actuating device and provides power for the actuating device; the transmission device comprises a main transmission shaft 23 arranged inside the control box 11, a driving gear 21 and a rolling bearing 22 arranged on the main transmission shaft 23, and a rack 19 matched with the driving gear 21, wherein the execution device comprises the control box 11, a vacuum generator 14, a suction cup frame 15, a guide rail 25, a sliding block 26, a positioning block 27, a pipe clamp 17, a connecting plate A20, a connecting plate B16, a fixing block 29, a fixing plate 27, a fastening bolt 28, a nut 24, an air duct 13 and a suction cup 12.

Specifically, the two racks 19 are engaged with both sides of the driving gear 21 and relatively move.

Specifically, the connecting plate a20 is connected with the rack 19 through a screw; the guide rails 25 are arranged on two sides of the control box 11, and the guide rails 25 and the control box 11 are provided with notches with the same width; the slide block 26 is arranged on the guide rail 25, and the extending structure of the slide block 26 passes through the guide rail 25 to be connected with the notch of the control box 11 through a screw and a connecting plate A20; the positioning blocks 29 are arranged at two ends of the guide rail 25 and limit the sliding block 26; the pipe clamp 17 is connected with the sliding block 26 through bolts; the sucker frame 15 is fastened through two pipe clamps 17 and slides synchronously with the sliding block 26, the sucker frame 17 is of a hollow square pipe structure, two side faces of the sucker frame are provided with notches, the weight is reduced, and a pipeline of the air guide pipe 13 is arranged inside the sucker frame; the connecting plate B16 is connected with the suction cup frame 15 and the connecting plate A20 through bolts.

Specifically, the vacuum generator 14 is mounted on the robot wrist 5 and is powered by the control box motor 10 to regulate the air pressure inside the suction cup 12.

Specifically, the suction cup 12 is fixed on the suction cup frame 15 through a fixing plate 27, a fixing block 29, a fastening bolt 28 and a nut 24, the fixing plate 27 is fixed on the suction cup frame 15 through the fastening bolt 28, the position is adjustable, and the fixing block 29 clamps the suction cup 12 through a bolt; one end of the air duct 13 is connected with an air inlet at the lower end of the suction cup 12, the other end of the air duct is connected with a vacuum generator 14, and a pipeline of the air duct 13 is arranged inside the suction cup frame 15.

The working principle is as follows: when the glass conveying device works, the mechanical arm motors (the base motor 6, the motor A7, the motor B8 and the motor C9) operate to control the mechanical arm to perform rotation and pitching actions, so that the executing device is close to the glass conveying starting point; the control box motor 10 runs, adjusts the angle of the actuating device, and drives the driving gear 21 to rotate through the main transmission shaft 23, so as to drive the rack 19 to move, and the connecting plate A20, the slide block 26, the suction cup frame 15 and the rack 19 are fixedly connected, so that the rack 19 moves synchronously, and the actuating device can adjust the stretching length according to the size of glass; the mechanical arm motor continues to operate, the executing device is close to the glass, the vacuum generator 14 works, and the sucking disc 15 adsorbs the glass; the mechanical arm motor continues to operate, the executing device conveys the glass to a glass placing point, the vacuum generator 14 stops working, the suction disc 12 is loosened, the glass is placed, and the executing device returns to the glass conveying starting point again to finish a working cycle.

It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.

The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.

Claims

1. The utility model provides a small-size vacuum chuck glass transfer robot which characterized in that: the mechanical arm comprises a rotary table, a machine base, a lower arm, an upper arm and a wrist part; the power device comprises five motors, wherein a base motor arranged on the rotary table realizes the rotation of the base, a motor A arranged on the lower arm realizes the pitching of the lower arm, a motor B arranged on the upper arm realizes the pitching of the upper arm, a motor C arranged on the wrist realizes the pitching of the wrist, and a control box motor arranged on the control box realizes the rotation of the execution device and provides power for the execution device; the transmission device comprises a main transmission shaft arranged in the control box, a driving gear and a rolling bearing which are arranged on the main transmission shaft, and a rack matched with the driving gear; the executing device comprises a control box, a vacuum generator, a sucker frame, a guide rail, a sliding block, a positioning block, a pipe clamp, a connecting plate A, a connecting plate B, a fixing block, a fixing plate, a fastening bolt, a nut, an air guide pipe and a sucker.

2. A compact vacuum chuck glass handling robot as defined in claim 1, further comprising: the two racks are respectively meshed with the two sides of the driving gear, and the two racks move relatively.

3. A compact vacuum chuck glass handling robot as defined in claim 1, further comprising: the number of the connecting plates A is two, and the connecting plates A are connected with the rack through screws; the guide rails are two and are arranged on two sides of the control box, and notches with the same width are formed in the guide rails and the control box; four sliding blocks are arranged on the guide rail, and the sliding block extending structure penetrates through the guide rail and a notch formed in the control box and is connected with the connecting plate A through screws; the four positioning blocks are arranged at two ends of the guide rail and limit the sliding block; the number of the pipe clamps is four, and the pipe clamps are connected with the sliding block through bolts; the two sucker frames are connected with the sliding block through the pipe clamp, the sucker frames slide synchronously along with the sliding block to realize the stretching and the retracting relative to the control box, the sliding block and the pipe clamp are respectively arranged on the same side of the guide rail, the stability of the sucker frame during moving is improved, and the stretching length of the sucker frame is controlled; the number of the connecting plates B is four, and the connecting plates B are connected with the suction disc frame and the connecting plates A through bolts.

4. A compact vacuum chuck glass handling robot as defined in claim 1, further comprising: the sucker frame is of a hollow square tube structure, and notches are formed in the two side faces of the sucker frame, so that the mass of the sucker frame is reduced, and meanwhile, air guide tube pipelines are conveniently arranged inside the sucker frame.

5. A compact vacuum chuck glass handling robot as defined in claim 1, further comprising: the vacuum generator is arranged at the wrist part of the mechanical arm, and is powered by a motor of the control box to adjust the air pressure in the sucker; the four suckers are fixed on the sucker frame through fixing plates, fixing blocks, fastening bolts and nuts, the fixing plates are fixed on the sucker frame through the fastening bolts, the positions of the fixing plates are adjustable, and the suckers are clamped by the fixing blocks through the bolts; one end of the air duct is connected with an air inlet at the lower end of the sucking disc, the other end of the air duct is connected with the vacuum generator, and the air duct pipeline is arranged inside the sucking disc frame.