CN219489852U - Automatic sheet taking truss manipulator for glass products - Google Patents

Abstract

The utility model discloses an automatic sheet taking truss manipulator for glass products, which comprises a stand column, wherein the stand column is hinged with one end of a beam, the other end of the beam is arranged on a portal, and a rotating assembly is arranged between the beam and the portal; a mechanical arm transverse moving assembly and a lifting moving assembly are arranged on the cross beam; and the mechanical arm is provided with a slice taking mechanical arm moving in two directions. Therefore, the automatic glass product taking truss manipulator is arranged between the four-station press and the annealing kiln, and the automatic glass product taking function of pressing the glass products is completed by controlling the transverse beam to rotate relative to the portal frame and the mechanical arm transverse moving assembly and the lifting moving assembly arranged on the transverse beam.

Description

Automatic sheet taking truss manipulator for glass products

Technical Field

The utility model relates to the field of glass profiling, in particular to an automatic glass product sheet taking truss manipulator for a four-station glass press.

Background

The glass product is formed by taking materials in a glass melting furnace, then placing the materials into a multi-station press for hot press forming, so that the temperature difference between the cold die temperature and the glass material of the multi-station press is avoided, the quality of products is influenced, the gas heating temperature of the die of the multi-station press is required, and the temperature of the glass material in the die is increased, so that the environmental temperature of the multi-station press is greatly increased. Meanwhile, the formed glass product is taken out from the mould manually and then sent to an annealing kiln 7-8M away from a multi-station press for cooling. In order to solve the problem that the operation work bears the high-temperature environment for a long time, the operator can only adopt the rotation of the operator to take the tablets. Thus, the environment temperature is high, the labor intensity of personnel is high, and the working efficiency is also influenced.

Disclosure of Invention

In view of the current state of the art, the utility model aims to provide a truss manipulator for automatically taking glass products, which effectively solves the problem of manual operation in a high-temperature environment.

In order to achieve the above object, the technical solution of the present utility model is: the automatic glass product taking truss manipulator comprises a stand column, wherein the stand column is hinged with one end of a beam, the other end of the beam is arranged on a portal, and a rotating assembly is arranged between the beam and the portal; a mechanical arm transverse moving assembly and a lifting moving assembly are arranged on the cross beam; and the mechanical arm is provided with a slice taking mechanical arm moving in two directions.

The utility model discloses in, rotating assembly between crossbeam and the portal, including crossbeam one end install the crossbeam and rotate servo motor, be equipped with the gear on this crossbeam rotates servo motor's the output shaft, through the gear with install the arc link joint chain engagement that sets up on the portal, arc link joint chain is fixed on portal arc link joint, this portal arc link joint is installed at the portal top.

In the utility model, set up robotic arm sideslip subassembly on the crossbeam, including walking platform, this walking platform is installed on the guide rail of crossbeam, installs walking servo motor on the walking platform, through the epaxial motor gear of walking servo motor and the walking rack meshing control robotic arm of symmetry setting on the crossbeam along horizontal reciprocating motion on the crossbeam.

In the utility model, set up robotic arm lift removal subassembly on the crossbeam, including walking platform, install lift servo motor on this walking platform, install the gear on this lift servo motor's the output shaft, control the relative crossbeam of robotic arm through gear and the perpendicular rack meshing of installing in robotic arm one side and do lift removal.

In the novel structure, the slice taking manipulator comprises a slice taking manipulator body and one end of the slice taking manipulator body is connected with a manipulator horizontal rotation servo motor, a machine body of the manipulator horizontal rotation servo motor is connected with a manipulator vertical rotation servo motor into a whole, and the slice taking manipulator is fixedly arranged on a manipulator through the manipulator vertical rotation servo motor; the tablet taking manipulator is provided with a sucker which is connected with a vacuum pump on the walking platform through a pipeline.

In the utility model, robotic arm is frame construction, and this frame construction's robotic arm both sides are equipped with the direction slider, through direction slider and install the guide way installation cooperation on the walking platform.

The beneficial effects of the utility model are as follows: through setting up the automatic piece truss manipulator of getting of glassware between quadruplex position press and annealing kiln, take out glassware and break away from the quadruplex position press from the mould through getting a truss manipulator, remove to annealing kiln and put on annealing kiln's conveying platform and anneal, whole operation process is controlled by servo system and is accomplished the automatic piece function of getting of suppression glassware.

Drawings

FIG. 1 is a view of the present utility model;

FIG. 2 is a top view of the cross beam and mast of FIG. 1;

FIG. 3 is a view of the robotic arm of FIG. 1;

FIG. 4 is a partial view of the robot traversing assembly of FIG. 1;

FIG. 5 is a view of the beam and mast rotation assembly of FIG. 1;

fig. 6 is a view of the robotic arm lift and move assembly of fig. 1.

In the figure: the device comprises a column 1, a servo control system 2, a beam shaft 3, a beam 4, a lifting servo motor 5, a walking platform 6, a mechanical arm 7, a vacuum pump 8, a walking servo motor 9, a power line drag chain 10, a beam rotation servo motor 11, a servo motor gear 12, a gantry arc chain plate 13, a gantry, a mechanical arm 15, a vertical rotation servo motor 16, a mechanical arm horizontal rotation servo motor 17, a slice taking mechanical arm 18, an annealing kiln 19, a motor shaft 20, a motor gear 21, a walking rack and a gantry arc chain plate 22.

Detailed Description

The utility model will be further described with reference to examples of drawings.

The truss manipulator for automatically taking glass products shown in fig. 1 to 5 comprises a stand column 1 which is fixedly arranged, and the upper end of the stand column 1 is hinged with a hinge shaft 3 at one end of a cross beam 4, so that the cross beam 4 horizontally and reciprocally rotates relative to the hinge end of the stand column 1. The other end of the beam 4 is provided with a beam rotating servo motor 11, an output shaft of the beam rotating servo motor 11 is provided with a gear 12, the gear 12 is meshed with an arc-shaped chain plate chain 22 arranged on a portal 14, the arc-shaped chain plate chain 22 is fixed on a portal arc-shaped chain plate 13, and the portal arc-shaped chain plate 13 is arranged at the top of the portal 14. The gear 12 on the beam rotation servo motor 11 mounted by the beam 4 is meshed with the arc-shaped chain plate chain 22, and the beam 4 is controlled to rotate reciprocally along the upright column 1.

In this embodiment, a traversing component and a lifting component for controlling the mechanical arm 7 to walk along the beam are installed on the beam 4. The traversing assembly of the mechanical arm 7 in this embodiment includes a walking platform 6, the walking platform 6 is mounted on a guide rail (not labeled in the figure) of the beam 4, a walking servo motor 9 is mounted on the walking platform 6, and the mechanical arm 7 is controlled to reciprocate horizontally along the beam 4 by meshing a motor gear 20 on a motor shaft 19 of the walking servo motor 9 with a walking rack 21 symmetrically arranged on the beam 4.

The lifting assembly of the mechanical arm 7 in this embodiment comprises a walking platform 6, wherein a lifting servo motor 5 is installed on the walking platform 6, a gear 24 is installed on an output shaft of the lifting servo motor 5, and the mechanical arm 7 is controlled to move up and down relative to the cross beam 4 by meshing the gear 24 with a vertical rack 23 installed on one side of the mechanical arm 7. In this embodiment, the mechanical arm 7 adopts a frame structure, and guide sliding blocks (not shown in the figure) are arranged on two sides of the frame structure, and are installed and matched with guide grooves (not shown in the figure) installed on the walking platform 6 through the guide sliding blocks.

In this embodiment, a slice taking manipulator 17 is installed at the lower end of the manipulator arm 7. The pick-up manipulator 17 in this embodiment includes a pick-up manipulator 17 body, one end of the pick-up manipulator 17 body is connected with a manipulator horizontal rotation servo motor 16, and a body of the manipulator horizontal rotation servo motor 16 is connected with a manipulator vertical rotation servo motor 15 into a whole, and is fixedly mounted on the manipulator 7 through the manipulator vertical rotation servo motor 15. The slice taking manipulator 17 of the embodiment is provided with vacuum chucks (not shown in the figure), and the vacuum chucks on the slice taking manipulator 17 are connected with the vacuum pump 8 arranged on the walking platform 6 through pipelines. This allows the glass article to be grasped by the vacuum chuck on the sheet handling robot 17.

In the above, the mechanical arm 7 and the tablet taking mechanical arm 17 are characterized in that the servo system is used for communicating with a four-station press, the position of the die is precisely positioned, the tablet taking mechanical arm 17 with the sucking disc function can be precisely placed on a glass product which is pressed, and the pressure is ensured to just meet the vacuum adsorption condition.

The sucker function of the middle slice taking manipulator 17 is to send the glass product into an annealing kiln after being turned over, so that the bottom surface of the glass product is not scratched.

The sucker of the middle slice taking manipulator 17 is made of a high-temperature-resistant composite material, and can not scratch glass products while meeting the requirements of high temperature resistance, wear resistance and good air tightness. Can realize continuous operation at a high temperature of 450 ℃.

In the above, the servo control system 2 is connected through the power line drag chain 10.

In the above, the upright 1 is disposed on one side of the four-station press a (the left side of the four-station press), the gantry 14 is mounted on the other side of the four-station press a (the right side of the four-station press), and the cross beam 4 is mounted on the upright 1 and the gantry 14.

The specific working process comprises the following steps:

when a truss manipulator for automatically taking glass products starts up to enter a waiting position, after a four-station press A enters a glass product C to be pressed into a station to be taken, a die supporting device is lifted by a cylinder B to fix a die, a cross beam 4 is positioned at a position a of a gantry arc chain plate 13 on a gantry 18, meanwhile, a mechanical arm 7 moves through coordinates of a traveling platform 6, the glass product C enters the station to be taken, a sucking disc of the sheet taking manipulator 17 is accurately placed at the top of the glass product C, a vacuum pump 8 starts to suck the glass product C after the sucking disc is pressed, a lifting servo motor 5 on the cross beam 4 is started, a lifting gear 24 on the lifting servo motor is meshed with a vertical rack 23 on the mechanical arm 7, and the mechanical arm 7 is controlled to move upwards to take the glass product C out of the die, namely the lifting servo motor 5 stops working. At the moment, the beam rotation servo motor 11 is started, the gear 12 is meshed with an arc-shaped chain plate chain 22 arranged on the portal 18, and the beam 4 is controlled to rotate on the portal 18 along the upright 1 to the entrance of the b-point annealing kiln 18 to stop rotating. The walking servo motor 9 on the walking platform 6 of the beam 4 is started, the motor gear 20 is meshed with the walking rack 21 to control the walking platform 6 and the mechanical arm 7 thereon to synchronously move horizontally to the annealing furnace 18 direction to the entrance position, and then the operation is stopped. The mechanical arm vertical rotation servo motor 15 on the mechanical arm 7 is started to rotate, the sheet taking mechanical arm 17 is controlled to rotate to the upper part of the conveying table at the inlet of the annealing kiln 18 in the clockwise direction to stop working, the mechanical arm horizontal rotation servo motor 16 connected with the mechanical arm vertical rotation servo motor 15 is synchronously rotated while the mechanical arm vertical rotation servo motor 15 rotates, at the moment, the mechanical arm horizontal rotation servo motor 16 is started to turn over by 90 degrees and then stop working, and finally the vacuum pump 8 is closed, so that the sucker on the sheet taking mechanical arm 17 is decompressed, the glass product C slides on the conveying table of the annealing kiln 18, and the inspection and packaging are finished after the annealing kiln 18 is finished. The robot returns to the waiting station and thus reciprocates the glass articles C from one to three stations of the four-station press a, respectively, into and out of the lehr 18.

The whole operation realizes communication with the four-station press through the servo system to jointly complete the automatic sheet taking function of the pressed glass products.

Claims (6)

1. The automatic glass product taking truss manipulator is characterized by comprising a stand column, wherein the stand column is hinged with one end of a beam, the other end of the beam is arranged on a portal, and a rotating assembly is arranged between the beam and the portal; a mechanical arm transverse moving assembly and a lifting moving assembly are arranged on the cross beam; and the mechanical arm is provided with a slice taking mechanical arm moving in two directions.

2. The automatic glass product taking truss manipulator according to claim 1, wherein the rotating assembly between the cross beam and the portal comprises a cross beam rotating servo motor installed at one end of the cross beam, a gear is installed on an output shaft of the cross beam rotating servo motor, the gear is meshed with an arc-shaped chain plate installed on the portal, the arc-shaped chain plate is fixed on a portal arc-shaped chain plate, and the portal arc-shaped chain plate is installed at the top of the portal.

3. The automatic glass product taking truss manipulator according to claim 1, wherein the transverse moving assembly of the mechanical arm is arranged on the cross beam and comprises a walking platform, the walking platform is arranged on a guide rail of the cross beam, a walking servo motor is arranged on the walking platform, and the mechanical arm is controlled to horizontally reciprocate on the cross beam through the engagement of a motor gear on a motor shaft of the walking servo motor and a walking rack symmetrically arranged on the cross beam.

4. The automatic glass product taking truss manipulator according to claim 1, wherein the mechanical arm lifting moving assembly is arranged on the cross beam and comprises a walking platform, a lifting servo motor is arranged on the walking platform, a gear is arranged on an output shaft of the lifting servo motor, and the mechanical arm is controlled to move up and down relative to the cross beam through meshing of the gear and a vertical rack arranged on one side of the mechanical arm.

5. The automatic glass product taking truss manipulator according to claim 1, wherein the glass product taking manipulator comprises a glass product taking manipulator body and a manipulator horizontal rotation servo motor, wherein one end of the glass product taking manipulator body is connected with the manipulator horizontal rotation servo motor, the manipulator horizontal rotation servo motor and the manipulator vertical rotation servo motor are connected into a whole, and the glass product taking manipulator is fixedly arranged on the manipulator through the manipulator vertical rotation servo motor; the tablet taking manipulator is provided with a sucker which is connected with a vacuum pump on the walking platform through a pipeline.

6. The automatic glass product taking truss manipulator of claim 1, wherein the manipulator is of a frame structure, guide sliding blocks are arranged on two sides of the manipulator of the frame structure, and the manipulator is matched with guide grooves arranged on a walking platform in a mounting manner through the guide sliding blocks.