CN218753542U - Glass placing and scratch detecting device for manipulator - Google Patents
Glass placing and scratch detecting device for manipulator Download PDFInfo
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- CN218753542U CN218753542U CN202223475150.7U CN202223475150U CN218753542U CN 218753542 U CN218753542 U CN 218753542U CN 202223475150 U CN202223475150 U CN 202223475150U CN 218753542 U CN218753542 U CN 218753542U
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Abstract
The utility model relates to a glass is placed to manipulator and inspection fish tail device belongs to the automatic technical field that detects of glass. The glass grabbing device comprises a glass grabbing mechanism, an operating platform and a detection mechanism, wherein the detection mechanism is arranged on one side of the operating platform; the glass grabbing mechanism comprises evenly arranged grippers, the tail ends of the grippers are connected with the connecting frame through the telescopic device, and the head ends of the grippers extend towards one side far away from the center of the connecting frame to form an L shape. The utility model discloses a glass snatchs with the automation of inspection, has prevented that glass from dropping, has improved the accuracy of glass inspection.
Description
Technical Field
The utility model relates to a glass is placed to manipulator and inspection fish tail device belongs to the automatic technical field that detects of glass.
Background
At present, a small amount of glass still exists in the glass industry and is carried and checked by manpower, so that a large amount of labor force can be wasted, the labor efficiency is low, and the production efficiency is reduced. With the popularization of industrial internet, some work with high repeatability and high working strength is gradually replaced by robots. The robot can save the cost, more conveniently supervise, improves product production efficiency, and the security is high, also is more fit for automated production.
In glass production process, need carry the glass that produces to the inspection mechanism on from the production line, carry out the glass fish tail inspection, what adopt at present is vacuum grabbing device, adsorb glass through vacuum grabbing device, moving to the inspection mechanism on, then whether artifical inspection glass has the mar, the vacuum grabbing device appears the not enough condition that leads to glass to drop of suction easily, perhaps because electric power breaks off suddenly, lead to glass to drop, and simultaneously, to slight mar, during the manual inspection, be difficult for discovering, cause great potential safety hazard.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is: overcome prior art's not enough, provide a manipulator and place glass and inspection fish tail device, realized the automation that glass snatched and was examined, prevented that glass from dropping, improved the accuracy of glass inspection.
The utility model provides a manipulator glass placing and scratch detecting device, which comprises a glass grabbing mechanism, an operating platform and a detecting mechanism, wherein the detecting mechanism is arranged on one side of the operating platform, the glass grabbing mechanism is arranged on a manipulator, and the manipulator and the detecting mechanism are not arranged on the same side of the operating platform;
the glass grabbing mechanism comprises evenly arranged grippers, the tail ends of the grippers are connected with the connecting frame through the telescopic device, and the head ends of the grippers extend towards one side far away from the center of the connecting frame to form an L shape.
When the gripper grabs glass, the telescopic device stretches out to drive the gripper to move, the gripper which is close to each other is separated, the gripper is close to the glass, the telescopic device retracts, the glass is clamped with the head end of the gripper, then the glass is moved to the operating platform, the gripper is loosened, the operating platform moves the glass to the position below the detection mechanism, and the detection mechanism starts to detect.
The inner side of the head end of the hand grip is provided with a groove, and the shape of the groove is matched with that of glass. When the glass is grabbed by the hand grab, the groove in the hand grab is clamped with the glass, so that the glass is prevented from falling.
And a position checking device is arranged on the connecting frame and used for detecting the position of the glass. And after the position checking device detects the glass, the signal is transmitted to the control system, the control system sends out the signal, and the gripper grips the glass.
The operation platform comprises an operation table, the operation table is connected with the bottom plate in a sliding mode through a sliding rail, a limiting table is arranged on the operation table, the top end of the limiting table is lower than the top end of the operation table, and a positioning groove is formed in the operation table and corresponds to the gripper. When the gripper places glass on the limiting table, the gripper is placed in the positioning groove, and the gripper is prevented from colliding with the operating table.
And the operating platform is provided with a correcting device along the horizontal direction and the vertical direction of the limiting platform. The correcting device is used for correcting the position of the glass on the limiting table.
The detection mechanism comprises a glass scratch detection device, a light source is arranged on one side of the glass scratch detection device, the glass scratch detection device is connected with a connecting plate through a lifting device, and the connecting plate is connected with a bottom plate through a support frame. When the operation table moves to the position below the detection mechanism, the lifting device drives the glass scratch detection device to move downwards, and glass inspection is carried out.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) The utility model discloses a set up glass and snatch mechanism, operation platform and detection mechanism to carry out automated control, realized glass and snatched the automation with the inspection, through setting up the tongs, make glass snatch more firm, prevented that glass from dropping, detection mechanism has improved the accuracy of glass inspection.
(2) The inner side of the head end of the hand grip is provided with a groove, and the shape of the groove is matched with that of the glass. When the glass is grabbed by the hand grab, the groove in the hand grab is clamped with the glass, so that the glass is prevented from falling.
(3) And the operating platform is provided with a correcting device along the horizontal direction and the vertical direction of the limiting platform. The correcting device is used for correcting the position of the glass on the limiting table.
Drawings
Fig. 1 is a schematic front view of embodiment 1 of the present invention;
fig. 2 is a schematic top view of embodiment 1 of the present invention;
FIG. 3 is a schematic view of the glass gripping mechanism of the present invention;
fig. 4 is a schematic top view of the operation platform of the present invention;
fig. 5 is a schematic view of the operating platform of the present invention.
In the figure: 1. a mechanical arm; 2. a glass gripping mechanism; 201. a connecting frame; 202. a telescopic device; 203. a gripper; 204. a silica gel pad; 205. a position checking device; 3. an operating platform; 301. a base plate; 302. an operation table; 303. a limiting table; 304. a slide rail; 305. positioning a groove; 306. a corrective device; 4. a light source; 5. a support frame; 6. a lifting device; 7. a connecting plate; 8. a glass scratch detection device; 9. and (3) glass.
Detailed Description
The present invention will be further described with reference to the following examples:
example 1
As shown in fig. 1 to 5, the device for placing glass and inspecting scratches on a manipulator of the present invention comprises a glass grabbing mechanism 2, an operating platform 3 and a detecting mechanism, wherein the detecting mechanism is disposed on one side of the operating platform 3, the glass grabbing mechanism 2 is disposed on the mechanical arm 1, and the mechanical arm 1 is disposed on the other side of the operating platform 3, so as to prevent the mechanical arm 1 from colliding with the detecting mechanism during the working process;
the glass grabbing mechanism 2 comprises grippers 203 which are uniformly arranged, the number of the grippers 203 is 4, the 4 grippers 203 are circumferentially arranged in an array mode, the tail ends of the grippers 203 are connected with a connecting frame 201 through a telescopic device 202, the telescopic device 202 is an air cylinder, the tail ends of the grippers 203 are connected with an air cylinder piston rod, the head ends of the grippers 203 extend towards one side away from the center of the connecting frame 201 to form an L shape, grooves are formed in the inner sides of the head ends of the grippers 203, the shapes of the grooves are matched with those of glass 9, a silica gel pad 204 is arranged on the inner sides of the head ends of the grippers 203 to prevent the grippers 203 from being scratched with the glass 9 to cause scratching of the glass 9, a position checking device 205 is arranged on the connecting frame 201, the position checking device 205 is a vision checking camera, the vision checking camera is located in the circumferential center surrounded by the grippers 203, and the vision checking camera is used for detecting the position of the glass 9.
Detection mechanism includes glass fish tail detection device 8, and glass fish tail detection device 8 is the camera, and camera one side sets up light source 4, and the camera passes through elevating gear 6 to be connected with connecting plate 7, and elevating gear 6 is the cylinder, and connecting plate 7 passes through support frame 5 to be connected with bottom plate 301.
Working process or working principle:
the mechanical arm 1 drives the gripper 203 to move to a production line, the vision inspection camera detects that glass 9 exists on a station, a cylinder piston rod extends out to drive the gripper 203 to move, the gripper 203 which is close to each other is separated, the mechanical arm 1 moves downwards, the gripper 203 is close to the glass 9, the cylinder piston rod retracts, the glass 9 is clamped with the head end of the gripper 203, the mechanical arm 1 rotates to move the glass 9 to the limiting table 303, the gripper 203 is loosened, when the position of the glass 9 on the limiting table 303 deviates, the correcting device 306 corrects the position of the glass 9, the operating platform 3 moves the glass 9 to the lower side of the camera, the cylinder piston rod connected with the camera extends out, the camera moves downwards, the glass 9 is photographed, and detection is started.
The utility model discloses in to the description of the direction and the relative position relation of structure, about all around description about, do not constitute right the utility model discloses a restriction only is the description convenient.
Claims (6)
1. The device for placing glass and detecting scratches of the manipulator is characterized by comprising a glass grabbing mechanism (2), an operating platform (3) and a detection mechanism, wherein the detection mechanism is arranged on one side of the operating platform (3), the glass grabbing mechanism (2) is arranged on a mechanical arm (1), and the mechanical arm (1) and the detection mechanism are not arranged on the same side of the operating platform (3);
the glass grabbing mechanism (2) comprises evenly-arranged grippers (203), the tail ends of the grippers (203) are connected with the connecting frame (201) through the telescopic device (202), and the head ends of the grippers (203) extend to one side far away from the center of the connecting frame (201) to form an L shape.
2. The manipulator glass placement and scratch detection device according to claim 1, wherein the gripper (203) is provided with a groove inside the head end, and the shape of the groove is matched with the shape of the glass (9).
3. The robot glass placement and scratch detection device according to claim 1, wherein a position detection device (205) is provided on the link frame (201) for detecting the position of the glass (9).
4. The manipulator glass placing and scratch inspecting device according to any one of claims 1 to 3, wherein the operation platform (3) comprises an operation table (302), the operation table (302) is slidably connected with the bottom plate (301) through a slide rail (304), a limiting table (303) is arranged on the operation table (302), the top end of the limiting table (303) is lower than the top end of the operation table (302), and a positioning groove (305) is arranged on the operation table (302) corresponding to the hand grip (203).
5. The manipulator glass placing and scratch inspecting device as claimed in claim 4, wherein the correcting device (306) is disposed on the operation table (302) along the horizontal direction and the vertical direction of the limit table (303).
6. The manipulator glass placing and scratch inspecting device according to any one of claims 1 to 3, wherein the detecting mechanism comprises a glass scratch detecting device (8), a light source (4) is arranged on one side of the glass scratch detecting device (8), the glass scratch detecting device (8) is connected with the connecting plate (7) through a lifting device (6), and the connecting plate (7) is connected with the bottom plate (301) through a supporting frame (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223475150.7U CN218753542U (en) | 2022-12-26 | 2022-12-26 | Glass placing and scratch detecting device for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223475150.7U CN218753542U (en) | 2022-12-26 | 2022-12-26 | Glass placing and scratch detecting device for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218753542U true CN218753542U (en) | 2023-03-28 |
Family
ID=85687188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223475150.7U Active CN218753542U (en) | 2022-12-26 | 2022-12-26 | Glass placing and scratch detecting device for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218753542U (en) |
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2022
- 2022-12-26 CN CN202223475150.7U patent/CN218753542U/en active Active
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