CN217776114U

CN217776114U - Double-robot type-setting machine

Info

Publication number: CN217776114U
Application number: CN202220600173.7U
Authority: CN
Inventors: 汝英刚
Original assignee: Suzhou Ur Intelligent Technology Co ltd
Current assignee: Suzhou Ur Intelligent Technology Co ltd
Priority date: 2022-03-19
Filing date: 2022-03-19
Publication date: 2022-11-11
Anticipated expiration: 2032-03-19

Abstract

The utility model discloses a double-robot type-setting machine, which belongs to the technical field of type-setting machines, and comprises a type-setting machine frame, wherein a conveying line frame is arranged below the type-setting machine frame, a conveying line is arranged on the conveying line frame, a front end position on the conveying line is provided with a type-setting front correcting mechanism, a tail end position of the conveying line is provided with a type-setting position correcting mechanism, a blocking mechanism at the tail end of the conveying line is arranged on the type-setting machine frame, two sides of the conveying line are respectively provided with a clamping cylinder correcting component, a string conveying line fixed on the type-setting machine frame is arranged above the conveying line, a visual component is arranged above the string conveying line, two sides of the type-setting machine frame are respectively provided with a robot frame, a robot is arranged on the robot frame, a gripper component is arranged on the hand of the robot, and an electric cabinet is arranged on one side of the type-setting machine frame; the typesetting machine adopts double robots to work, so that the typesetting efficiency is improved, the mechanical arm, the series conveying line and the visual system are completely separated, the working vibration does not influence each other, the error is reduced, and the precision is improved.

Description

Double-robot type-setting machine

Technical Field

The utility model relates to a type-setting machine field especially relates to a duplex robot type-setting machine.

Background

In the solar panel manufacturing industry, a robot type-setting machine is used for arranging electromagnetism in series on a solar glass plate so as to facilitate subsequent fixed installation operation.

The prior robot typesetter has the following problems in the use process:

(1) At present, most of robot typesetters adopt a form that one manipulator works, and the working efficiency is lower.

(2) The double-robot typesetter has a non-compact structure, so that the appearance is larger, the occupied area is increased, and the series transmission line and the visual system are not completely separated, so that the vibration generated by each part in the working process is mutually influenced, and the typesetting precision is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model provides a pair of double-robot type-setting machine has solved the form that present robot type-setting machine mostly adopted a manipulator to carry out work, and work efficiency is lower, and double-robot type-setting machine structure is compact enough, leads to the appearance great, and area increases to the cluster is defeated line and visual system is not completely separately, makes the vibration that each part produced of in-process of work influence each other, has reduced the problem of type setting precision.

In order to achieve the above purpose, the utility model adopts the following technical scheme: the utility model provides a duplex robot type-setting machine, includes the type-setting machine frame, the below of type-setting machine frame is equipped with the transfer chain frame, be equipped with the transfer chain in the transfer chain frame, the front position on the transfer chain is equipped with the just mechanism of rule before composing, the tail end position of transfer chain is equipped with the just mechanism of rule position, be equipped with the barrier mechanism who is located the transfer chain tail end in the type-setting machine frame, the both sides of transfer chain all are equipped with the tight cylinder rule subassembly, the transfer chain top is equipped with the cluster and transports the line of fixing in the type-setting machine frame, the top of cluster transport line is equipped with the vision subassembly, the both sides of type-setting machine frame all are equipped with the robot frame, install the robot on the robot frame, the gripping apparatus subassembly is all installed to the hand of robot, one side of type-setting machine frame is equipped with the electric cabinet.

Preferably, the front layout correcting mechanism comprises a cross frame fixed below the conveying line, mounting seats I are fixed at two ends of the cross frame, a first air cylinder is mounted on the mounting seats I, a piston rod of the first air cylinder is connected with side positioning plates, and the side positioning plates are located on two sides of the conveying line.

By adopting the scheme, when the conveying line conveys the solar glass plates, the two side positioning plates are driven to move by the first air cylinder, so that the two side positioning plates pre-align the solar glass plates, the deviation phenomenon of the glass in the conveying process is prevented, and the glass is ensured to accurately enter the appointed station.

Preferably, the type setting position correcting mechanism comprises a mounting frame fixed on a frame of the type setting machine, drive motors are fixed on two sides of the mounting frame, output shafts of the drive motors are provided with belt pulleys, two belts are sleeved between the belt pulleys, mounting plates fixed on the belts are arranged at two ends of the mounting frame, and positioning columns are fixed on two sides of the top of the mounting plates.

By adopting the scheme, after the glass is conveyed to the appointed station to be in place, the driving motor drives the belt pulley to drive the belt to rotate slowly, the two mounting plates on the two sides move along with the belt and approach each other until the glass is stably clamped left and right, and the left and right regulation of the glass plate is realized.

Preferably, the blocking mechanism comprises a second mounting seat which is fixed on the frame of the typesetting machine and located at the tail end of the conveying line, a second air cylinder is fixedly mounted on the second mounting seat, and a stopper is mounted at the end of a piston rod of the second air cylinder.

Adopt above-mentioned scheme, when transfer chain conveyed glass, the two drive butts of cylinder stretched out, blockked glass through the butts after the transfer chain carried glass to a certain position, made glass stop at the assigned position, prevented that glass from taking place to shift.

Preferably, the clamping cylinder leveling assembly comprises two mounting seats III fixed on two sides of the frame of the typesetter, a cylinder III is fixedly mounted on each mounting seat III, and a piston rod of the cylinder III is connected with a positioning head.

By adopting the scheme, after the glass is conveyed to the appointed station, the cylinder III of the clamping cylinder alignment assembly clamps the front and the back of the glass by driving the two positioning heads, and the typesetting position alignment mechanism is matched to align and fix the glass in an all-dimensional manner, so that the glass is ensured to be positioned at the appointed position.

Preferably, the vision subassembly includes the frame of making a video recording that is located the transfer chain top, install evenly distributed's camera on the frame of making a video recording.

By adopting the scheme, the electromagnetic strings are photographed through the plurality of arranged cameras and signals are transmitted to the robot, so that the robot can place the electromagnetic strings at the designated positions on the glass plate, and the typesetting precision is ensured.

Preferably, the gripper assembly comprises a clamp frame fixed on the robot hand, and the clamp frame is provided with uniformly distributed pneumatic chucks.

Adopt above-mentioned scheme, utilize a plurality of pneumatic chuck on the anchor clamps frame to press from both sides a plurality of electromagnetism strings simultaneously and get, make the robot place the electromagnetism string on glass.

The utility model has the advantages that:

compared with a single-robot typesetter, the double-robot typesetter adopts a mode that two manipulators work simultaneously, so that the working efficiency is increased to a great extent;

the double-robot typesetter completely separates the mechanical arm, the series conveying line and the visual system, so that the vibration generated by each part does not influence each other in the working process, the error brought to the visual system by the vibration is reduced, and the typesetting precision is improved.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic structural view of the conveyor line frame of the present invention;

FIG. 3 is a schematic structural view of the robot frame of the present invention;

FIG. 4 is a schematic structural view of the layout position restoring mechanism of the present invention;

fig. 5 is a schematic structural view of the conveying line of the present invention;

FIG. 6 is a schematic structural view of the correcting mechanism before typesetting;

fig. 7 is a schematic structural view of the clamping cylinder restoring mechanism of the present invention;

fig. 8 is a schematic structural view of the blocking mechanism of the present invention;

fig. 9 is a schematic structural view of a serial transmission line of the present invention;

fig. 10 is a schematic structural view of the vision assembly of the present invention;

fig. 11 is a schematic structural view of the gripper assembly of the present invention;

fig. 12 is a schematic structural view of the robot of the present invention.

In the figure: 1. a typesetter frame; 2. a conveyor line frame; 3. a correcting mechanism before typesetting; 31. a cross frame; 32. a first mounting seat; 33. a first cylinder; 34. a side positioning plate; 4. an electric cabinet; 5. a layout position correcting mechanism; 51. a mounting frame; 52. a drive motor; 53. a belt pulley; 54. a belt; 55. mounting a plate; 56. a positioning column; 6. a robot frame; 7. a robot; 8. a visual component; 81. a camera frame; 82. a camera; 9. a gripper assembly; 91. a clamp frame; 92. a pneumatic chuck; 10. a conveying line; 11. a serial transmission line; 12. a clamping cylinder leveling assembly; 121. a third mounting seat; 122. a third air cylinder; 123. positioning the head; 13. a blocking mechanism; 131. a second mounting seat; 132. a second air cylinder; 133. and (6) stopping the head.

Detailed Description

Examples

Referring to fig. 1-12, the utility model provides a double-robot type-setting machine, including type-setting machine frame 1, the below of type-setting machine frame 1 is equipped with transfer chain frame 2, be equipped with transfer chain 10 on the transfer chain frame 2, front position on the transfer chain 10 is equipped with the just mechanism 3 of rule before composing, the tail end position of transfer chain 10 is equipped with the just mechanism 5 of position rule of composing, be equipped with the barrier mechanism 13 that is located the transfer chain 10 tail end in the type-setting machine frame 1, the both sides of transfer chain 10 all are equipped with the tight cylinder of clamp and rule positive subassembly 12, transfer chain 10 top is equipped with the cluster line of defeated 11 of fixing on type-setting machine frame 1, the top of cluster line of defeated 11 is equipped with vision subassembly 8, the both sides of type-setting machine frame 1 all are equipped with robot frame 6, install robot 7 on the robot frame 6, gripping apparatus subassembly 9 is all installed to the hand of robot 7, one side of type-setting machine frame 1 is equipped with electric cabinet 4.

The correcting mechanism 3 comprises a cross frame 31 fixed below the conveying line 10 before typesetting, wherein two ends of the cross frame 31 are respectively fixed with a first mounting seat 32, a first air cylinder 33 is mounted on the first mounting seat 32, a piston rod of the first air cylinder 33 is connected with a side positioning plate 34, and the two side positioning plates 34 are positioned on two sides of the conveying line 10. When the conveying line 10 conveys the solar glass plates, the first air cylinder 33 drives the two side positioning plates 34 to move, so that the two side positioning plates 34 pre-calibrate the solar glass, the phenomenon of deviation of the glass in the conveying process is prevented, and the glass is guaranteed to accurately enter an appointed station.

The typesetting position correcting mechanism 5 comprises a mounting frame 51 fixed on the typesetter frame 1, driving motors 52 are fixed on two sides of the mounting frame 51, belt pulleys 53 are arranged on output shafts of the driving motors 52, a belt 54 is sleeved between the two belt pulleys 53, mounting plates 55 fixed on the belt 54 are arranged at two ends of the mounting frame 51, and positioning columns 56 are fixed on two sides of the tops of the mounting plates 55. After the glass is conveyed to a designated station to be in place, the driving motor 52 drives the belt pulley 53 to drive the belt 54 to rotate slowly, and the two mounting plates 55 on the two sides move along with the belt and approach to each other until the glass is stably clamped left and right, so that the left and right regulation of the glass plate is realized.

The blocking mechanism 13 comprises a second mounting seat 131 which is fixed on the typesetter frame 1 and located at the tail end of the conveying line 10, a second air cylinder 132 is fixedly mounted on the second mounting seat 131, and a stopper 133 is mounted at the piston rod end of the second air cylinder 132. When the conveying line 10 conveys glass, the second air cylinder 132 drives the stopper 133 to extend out, and when the conveying line 10 conveys the glass to a certain position, the stopper 133 stops the glass, so that the glass can stop at the specified position, and the glass is prevented from shifting.

The clamping cylinder correcting assembly 12 comprises two mounting seats III 121 fixed on two sides of the frame 1 of the typesetting machine, and a piston rod fixedly provided with a cylinder III 122 and a cylinder III 122 on the mounting seats III 121 is connected with a positioning head 123. After glass is conveyed to an appointed station, the cylinder three 122 of the clamping cylinder alignment assembly 12 clamps the front and the back of the glass by driving the two positioning heads 123, and the typesetting position alignment mechanism 5 is matched to align and fix the glass in all directions, so that the glass is ensured to be positioned at an appointed position.

The vision assembly 8 comprises a camera frame 81 positioned above the conveying line 10, and cameras 82 which are uniformly distributed are mounted on the camera frame 81. The electromagnetic strings are photographed by the arranged cameras 82 and signals are transmitted to the robot 7, so that the robot 7 can place the electromagnetic strings at the specified positions on the glass plate, and the typesetting precision is ensured.

The gripper assembly 9 comprises a gripper frame 91 fixed to the hand of the robot 7, and pneumatic grippers 92 are uniformly distributed on the gripper frame 91. The plurality of electromagnetic strings are simultaneously gripped by the plurality of pneumatic chucks 92 on the jig frame 91, so that the robot 7 can place the electromagnetic strings on the glass.

The working principle is as follows: when the two-robot typesetter works, a solar glass plate is conveyed through the conveying line 10 on the typesetter rack 1, in the conveying process, the first air cylinder 33 drives the two side positioning plates 34 to move, so that the two side positioning plates 34 pre-align the solar glass, the deviation phenomenon of the glass in the conveying process is prevented, the matched blocking head 133 blocks the glass, so that the glass can stop at a specified position, after the glass accurately enters a specified station, the typesetting position aligning mechanism 5 and the clamping cylinder aligning component 12 work simultaneously, the driving motor 52 drives the belt pulley 53 to drive the belt 54 to slowly rotate, the two mounting plates 55 at the two sides move along with the belt and approach each other until the glass is stably clamped left and right, the left and right alignment of the glass plate is realized, meanwhile, the third air cylinder 122 of the clamping cylinder aligning component 12 clamps the front and back of the glass by driving the two positioning heads 123, the matched typesetting position aligning mechanism 5 can be used for aligning the omnibearing and fixing the glass, the glass is ensured to be positioned at the specified position, the electromagnetic string clamps 92 on the robot 7 rack 91 at the two sides can simultaneously clamp and transmit electromagnetic string signals to the specified position, and the electromagnetic robot can transmit the electromagnetic string signals to the specified position 82 of the glass 7.

Claims

1. The utility model provides a double-robot type-setting machine, its characterized in that, includes type-setting machine frame (1), the below of type-setting machine frame (1) is equipped with transfer chain frame (2), be equipped with transfer chain (10) on transfer chain frame (2), front position on transfer chain (10) is equipped with just mechanism (3) before the type-setting, the tail end position of transfer chain (10) is equipped with just mechanism (5) of type-setting position, be equipped with blocking mechanism (13) that are located transfer chain (10) tail end on type-setting machine frame (1), the both sides of transfer chain (10) all are equipped with die clamping cylinder just subassembly (12), transfer chain (10) top is equipped with string defeated line (11) of fixing on type-setting machine frame (1), the top of string defeated line (11) is equipped with vision subassembly (8), the both sides of type-setting machine frame (1) all are equipped with robot frame (6), install robot (7) on robot frame (6), gripper subassembly (9) are all installed to the hand of robot (7), one side of type-setting machine frame (1) is equipped with electric cabinet (4).

2. The double-robot type-setting machine as claimed in claim 1, wherein the pre-setting alignment mechanism (3) comprises a cross frame (31) fixed below the conveying line (10), first mounting seats (32) are fixed at two ends of the cross frame (31), first air cylinders (33) are mounted on the first mounting seats (32), piston rods of the first air cylinders (33) are connected with side positioning plates (34), and the two side positioning plates (34) are located at two sides of the conveying line (10).

3. The double-robot type-setting machine as claimed in claim 1, wherein the type-setting position correcting mechanism (5) comprises a mounting frame (51) fixed on the type-setting machine frame (1), driving motors (52) are fixed on two sides of the mounting frame (51), belt pulleys (53) are arranged on output shafts of the driving motors (52), a belt (54) is sleeved between the belt pulleys (53), mounting plates (55) fixed on the belt (54) are arranged at two ends of the mounting frame (51), and positioning columns (56) are fixed on two sides of the top of the mounting plates (55).

4. The double-robot type-setting machine as claimed in claim 1, wherein the blocking mechanism (13) comprises a second mounting seat (131) fixed on the type-setting machine frame (1) and located at the tail end of the conveying line (10), a second air cylinder (132) is fixedly mounted on the second mounting seat (131), and a stopper (133) is mounted at the piston rod end of the second air cylinder (132).

5. The double-robot typesetter according to claim 1, wherein the clamping cylinder alignment assembly (12) comprises two mounting seats III (121) fixed on two sides of the frame (1) of the typesetter, a cylinder III (122) is fixedly mounted on the mounting seat III (121), and a piston rod of the cylinder III (122) is connected with a positioning head (123).

6. The double-robot typesetter according to claim 1, characterized in that the vision module (8) comprises a camera frame (81) above the conveyor line (10), the camera frame (81) being equipped with evenly distributed cameras (82).

7. The dual-robot typesetter as claimed in claim 1, wherein the gripper assembly (9) comprises a gripper frame (91) fixed on the hand of the robot (7), the gripper frame (91) being provided with evenly distributed pneumatic chucks (92).