CN104842348B - Glass bulb catching robot - Google Patents
Glass bulb catching robot Download PDFInfo
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- CN104842348B CN104842348B CN201510307907.7A CN201510307907A CN104842348B CN 104842348 B CN104842348 B CN 104842348B CN 201510307907 A CN201510307907 A CN 201510307907A CN 104842348 B CN104842348 B CN 104842348B
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Abstract
The present invention provides a kind of glass bulb catching robot setting and improving production efficiency.Comprising: X-axis moving parts, supporting the X-axis guide rail on seat and can be along the X-axis slide block of X-axis slide including being arranged on X-axis, X-axis guide rail connects X-axis drive mechanism；Y-axis moving parts, supports the Y-axis guide rail on seat and can be along the Y-axis slide block of Y-axis slide including being arranged on Y-axis, and Y-axis guide rail connects Y-axis drive mechanism；Z axis moving parts, supports the Z axis guide rail on seat and can be along the Z axis slide block of Z axis slide including being arranged on Z axis, and Z axis guide rail connects Z axis drive mechanism；With sucker group, including multiple sucking disc mechanisms, it is connected to Z axis and supports on seat；Wherein Y-axis support seat arranges above X-axis support seat by connecting X-axis slide block, and Z axis supports seat and is connected with Y-axis support seat by connecting Y-axis slide block.
Description
Technical field
The present invention relates to a kind of mechanical hand, be specifically related to a kind of glass bulb catching robot, for complete to be placed on glass bulb annealing furnace guipure.
Background technology
At present, glass shell production line is continuous online production, yield 22-30 per minute, because expecting in production process that cap is removed, and product center is moved, adding difficulty to steady placement, considerably increasing labor strength simultaneously.
Summary of the invention
It is an object of the present invention to provide a kind of reasonable in design, and improve the glass bulb catching robot of production efficiency.
To achieve these goals, the present invention uses below scheme:
A kind of glass bulb catching robot, including
X-axis moving parts, supports the X-axis guide rail on seat and can be along the X-axis slide block of X-axis slide including being arranged on X-axis, and X-axis guide rail connects X-axis drive mechanism；
Y-axis moving parts, supports the Y-axis guide rail on seat and can be along the Y-axis slide block of Y-axis slide including being arranged on Y-axis, and Y-axis guide rail connects Y-axis drive mechanism；
Z axis moving parts, supports the Z axis guide rail on seat and can be along the Z axis slide block of Z axis slide including being arranged on Z axis, and Z axis guide rail connects Z axis drive mechanism；With
Sucker group, including multiple sucking disc mechanisms, is connected to Z axis and supports on seat；
Wherein Y-axis support seat arranges above X-axis support seat by connecting X-axis slide block, and Z axis supports seat and is connected with Y-axis support seat by connecting Y-axis slide block.
Preferentially, sucking disc mechanism includes sucker bar, bearing, fixed block, locking nut, fixing seat, spring, positioning seat and sucker to above-mentioned glass bulb catching robot；Sucker bar supports seat by bearing and Z axis and connects as one, and sucker bar one end passes fixed block and fixing seat connecting sucker, and the other end connects vacuum solenoid by pipeline, and sucker bar is threaded connection with fixed block, and sucker bar is slidably matched with fixing seat；Fixing seat is connected with bearing through locking nut；Spring housing is contained on sucker bar, and spring one end is connected with fixing seat, and the other end is connected with positioning seat；Locating piece is positioned at below positioning seat and connects as one with positioning seat.
Preferentially, locating piece is circular ring to above-mentioned glass bulb catching robot, and material is polytetrafluoro.
Preferentially, positioning seat includes multiple L shaped plate along the distribution of locating piece circumferencial direction to above-mentioned glass bulb catching robot.
Preferentially, X-axis drive mechanism includes X-axis servomotor and rack and pinion assembly to above-mentioned glass bulb catching robot.
Preferentially, Y-axis drive mechanism includes Y-axis servomotor, Y-axis synchronous belt pulley transmission assembly and ball screw assembly, to above-mentioned glass bulb catching robot, and ball screw assembly, is arranged on Y-axis and supports on seat.
Preferentially, Z axis drive mechanism includes Z axis servomotor and Z axis synchronous belt pulley transmission assembly to above-mentioned glass bulb catching robot.
Beneficial effects of the present invention:
X-axis moving parts, Y-axis exercise group and Z axis moving parts achieve the movement in X-axis, Y direction and Z-direction of the glass bulb catching robot sucker group respectively, can complete automatically the capturing of glass bulb, clean, are placed on annealing furnace guipure.
Accompanying drawing explanation
Fig. 1 is that the present invention selectes embodiment schematic front view.
Fig. 2 is that the present invention selectes embodiment side schematic diagram.
Fig. 3 is sucking disc mechanism structural representation of the present invention.
In figure 1, sucking disc mechanism, 2, Z axis servomotor, 3, Z axis synchronous belt pulley transmission assembly, 4, Y-axis guide rail, 5, Y-axis ball screw assembly, 6, Y-axis supports seat, 7, Y-axis servomotor, 8, Y-axis synchronous belt pulley transmission assembly, 9, Z axis supports seat, 10, Z axis guide rail, 11, X-axis servomotor, 12, rack and pinion assembly, 13, X-axis guide rail, 14, X-axis supports seat, 15, X-axis slide block, 16, X-axis guide rail, 17, Y-axis slide block, 18, vacuum solenoid, 101, sucker bar, 102, bearing, 103, fixed block, 104, locking nut, 105, fixing seat, 106, spring, 107, positioning seat, 108, sucker, 109, locating piece.
Detailed description of the invention
Being better understood from the present invention for the ease of those skilled in the art, be described in further details the present invention with specific embodiment below in conjunction with the accompanying drawings, following is only exemplary not limit protection scope of the present invention.
With reference to accompanying drawing 1 and Fig. 2, a kind of glass bulb catching robot, including X-axis moving parts, Y-axis moving parts, Z axis moving parts and sucker group；Wherein X-axis moving parts includes being arranged on the X-axis guide rail 16 that X-axis supports on seat 14 and the X-axis slide block 15 that can slide along X-axis guide rail 16, and X-axis guide rail 16 connects X-axis drive mechanism；Y-axis moving parts, including being arranged on the Y-axis guide rail 4 that Y-axis supports on seat 6 and the Y-axis slide block 17 that can slide along Y-axis guide rail 4, Y-axis guide rail 4 connects Y-axis drive mechanism；Z axis moving parts includes the Z axis guide rail 10 being arranged on Z axis support seat 9 and can connect Z axis drive mechanism along the Z axis slide block of Z axis slide, Z axis guide rail 10；Sucker group includes multiple sucking disc mechanism, is connected to Z axis and supports on seat 9；Y-axis supports seat 6 and arranges above X-axis support seat 14 by connecting X-axis slide block 15, and Z axis support seat 9 supports seat 6 by Y-axis slide block 17 with Y-axis and is connected.
With reference to accompanying drawing 3, sucking disc mechanism includes sucker bar 101, bearing 102, fixed block 103, locking nut 104, fixing seat 105, spring 106, positioning seat 107 and sucker 108；Sucker bar 101 supports seat 9 by bearing 102 and Z axis and connects as one, sucker bar 101 one end passes fixed block 103 and fixing seat 105 connecting sucker 108, the other end connects vacuum solenoid 18 by pipeline, sucker bar 101 is threaded connection with fixed block 103, and sucker bar 101 is slidably matched with fixing seat 105；Fixing seat 105 is connected with bearing 102 through locking nut 104；Spring 106 is sleeved on sucker bar 101, and spring 106 one end is connected with fixing seat 105, and the other end is connected with positioning seat 107；Locating piece 109 is positioned at below positioning seat 107 and connects as one with positioning seat 107.
In the present embodiment, locating piece 109 is circular ring, and locating piece 109 material is polytetrafluoro, is possible to prevent to damage glass bulb.During Suction cup assembly whereabouts crawl glass bulb, locating piece 109 is to glass bulb perpendicular positioning, makes glass bulb perpendicularity rectify a deviation, keeps glass bulb and the same perpendicularity of sucker；After glass bulb is drawn in moving process, glass bulb is played Stabilization by locating piece 109, prevents glass bulb from rocking, drops.
In the present embodiment, positioning seat 107 includes multiple L shaped plate along the distribution of locating piece 109 circumferencial direction.
In the present embodiment, X-axis drive mechanism includes X-axis servomotor 11 and rack and pinion assembly 12；Y-axis drive mechanism includes Y-axis servomotor 7, Y-axis synchronous belt pulley transmission assembly 8 and ball screw assembly, 5, and ball screw assembly, 5 is arranged on Y-axis and supports on seat 6；Z axis drive mechanism includes Z axis servomotor 2 and Z axis synchronous belt pulley transmission assembly 3.
Utilize work process of the present invention as follows: X-axis moving parts, it is corresponding above glass bulb that Y-axis moving parts adjusts Suction cup assembly with Z axis moving parts action, during Suction cup assembly falls to capturing glass bulb, locating piece 109 contacts glass bulb, and hold glass bulb this completes crawl process by sucker 108, time glass bulb moves to relevant position, vacuum solenoid controls sucker 108 and comes off glass bulb, now there is little gap around locating piece 109 and glass bulb, play the effect that glass bulb is assisted in, the seat 9 of Z axis support simultaneously moves forward, identical with annealing furnace guipure movement velocity, after glass bulb complete stability is placed, glass bulb is placed on annealing furnace guipure.
During Suction cup assembly whereabouts crawl glass bulb, locating piece 109 is to glass bulb perpendicular positioning, makes glass bulb perpendicularity rectify a deviation, keeps glass bulb and the same perpendicularity of sucker；After glass bulb is drawn in moving process, glass bulb is played Stabilization by locating piece 109, prevents glass bulb from rocking, drops.
Above only describes ultimate principle and the preferred implementation of the present invention, those skilled in the art can many changes may be made and improves according to foregoing description, and these changes and improvements should belong to protection scope of the present invention.
Claims (6)
1. a glass bulb catching robot, it is characterised in that: include
X-axis moving parts, supports the X-axis guide rail on seat and can be along the X-axis slide block of X-axis slide including being arranged on X-axis, and X-axis guide rail connects X-axis drive mechanism；
Y-axis moving parts, supports the Y-axis guide rail on seat and can be along the Y-axis slide block of Y-axis slide including being arranged on Y-axis, and Y-axis guide rail connects Y-axis drive mechanism；
Z axis moving parts, supports the Z axis guide rail on seat and can be along the Z axis slide block of Z axis slide including being arranged on Z axis, and Z axis guide rail connects Z axis drive mechanism；With
Sucker group, including multiple sucking disc mechanisms, is connected to Z axis and supports on seat；
Wherein Y-axis support seat arranges above X-axis support seat by connecting X-axis slide block, and Z axis supports seat and is connected with Y-axis support seat by connecting Y-axis slide block；Sucking disc mechanism includes sucker bar, bearing, fixed block, locking nut, fixing seat, spring, positioning seat and sucker；Sucker bar supports seat by bearing and Z axis and connects as one, and sucker bar one end passes fixed block and fixing seat connecting sucker, and the other end connects vacuum solenoid by pipeline, and sucker bar is threaded connection with fixed block, and sucker bar is slidably matched with fixing seat；Fixing seat is connected with bearing through locking nut；Spring housing is contained on sucker bar, and spring one end is connected with fixing seat, and the other end is connected with positioning seat；Locating piece is positioned at below positioning seat and connects as one with positioning seat.
2. glass bulb catching robot described in claim 1, it is characterised in that: locating piece is circular ring, and material is polytetrafluoro.
3. glass bulb catching robot described in claim 1, it is characterised in that: positioning seat includes multiple L shaped plate along the distribution of locating piece circumferencial direction.
4. glass bulb catching robot described in any one of claims 1 to 3, it is characterised in that: X-axis drive mechanism includes X-axis servomotor and rack and pinion assembly.
5. glass bulb catching robot described in any one of claims 1 to 3, it is characterised in that: Y-axis drive mechanism includes Y-axis servomotor, Y-axis synchronous belt pulley transmission assembly and ball screw assembly, and ball screw assembly, is arranged on Y-axis and supports on seat.
6. glass bulb catching robot described in any one of claims 1 to 3, it is characterised in that: Z axis drive mechanism includes Z axis servomotor and Z axis synchronous belt pulley transmission assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510307907.7A CN104842348B (en) | 2015-06-08 | 2015-06-08 | Glass bulb catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510307907.7A CN104842348B (en) | 2015-06-08 | 2015-06-08 | Glass bulb catching robot |
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| Publication Number | Publication Date |
|---|---|
| CN104842348A CN104842348A (en) | 2015-08-19 |
| CN104842348B true CN104842348B (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510307907.7A Active CN104842348B (en) | 2015-06-08 | 2015-06-08 | Glass bulb catching robot |
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| Country | Link |
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| CN (1) | CN104842348B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823524A (en) * | 2016-08-04 | 2020-02-21 | 彭爱勤 | Pluggable receiving and transmitting optical module automatic detection system |
| CN106514634A (en) * | 2016-12-13 | 2017-03-22 | 福州美龙医学科技有限公司 | Automatic grabbing and discharging device of sample collecting container |
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| EP1685930A1 (en) * | 2003-11-21 | 2006-08-02 | Mitsuboshi Diamond Industrial Co., Ltd. | Vacuum suction head, and vacuum suction device and table using the same |
| CN101807437A (en) * | 2009-02-12 | 2010-08-18 | 深圳市江波龙电子有限公司 | Automatic scanning and sorting system and automatic scanning method for flash memories |
| CN103213121A (en) * | 2013-04-28 | 2013-07-24 | 苏州博实机器人技术有限公司 | Three-freedom-degree table tennis carrying mechanical arm |
| CN103538060A (en) * | 2013-10-24 | 2014-01-29 | 扬州恒佳机械有限公司 | Six-axis bending robot |
| CN103831835A (en) * | 2014-02-24 | 2014-06-04 | 东莞市楷德精密机械有限公司 | Vacuum adsorption head and adsorption device with same |
| CN204658442U (en) * | 2015-06-08 | 2015-09-23 | 山东力诺特种玻璃股份有限公司 | Glass bulb catching robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060184155A1 (en) * | 2004-12-31 | 2006-08-17 | Rafael Fernandez-Sein | Manipulator and end effector for catheter manufacture |
| IT1393030B1 (en) * | 2009-03-11 | 2012-04-11 | Gimatic Spa | SUPPORT DEVICE FOR PRENSILE BODIES |
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2015
- 2015-06-08 CN CN201510307907.7A patent/CN104842348B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1685930A1 (en) * | 2003-11-21 | 2006-08-02 | Mitsuboshi Diamond Industrial Co., Ltd. | Vacuum suction head, and vacuum suction device and table using the same |
| CN101807437A (en) * | 2009-02-12 | 2010-08-18 | 深圳市江波龙电子有限公司 | Automatic scanning and sorting system and automatic scanning method for flash memories |
| CN103213121A (en) * | 2013-04-28 | 2013-07-24 | 苏州博实机器人技术有限公司 | Three-freedom-degree table tennis carrying mechanical arm |
| CN103538060A (en) * | 2013-10-24 | 2014-01-29 | 扬州恒佳机械有限公司 | Six-axis bending robot |
| CN103831835A (en) * | 2014-02-24 | 2014-06-04 | 东莞市楷德精密机械有限公司 | Vacuum adsorption head and adsorption device with same |
| CN204658442U (en) * | 2015-06-08 | 2015-09-23 | 山东力诺特种玻璃股份有限公司 | Glass bulb catching robot |
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| CN104842348A (en) | 2015-08-19 |
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