CN106078782A - A kind of glass substrate carrying robot bar palisade mechanical hand - Google Patents
A kind of glass substrate carrying robot bar palisade mechanical hand Download PDFInfo
- Publication number
- CN106078782A CN106078782A CN201610613213.0A CN201610613213A CN106078782A CN 106078782 A CN106078782 A CN 106078782A CN 201610613213 A CN201610613213 A CN 201610613213A CN 106078782 A CN106078782 A CN 106078782A
- Authority
- CN
- China
- Prior art keywords
- glass substrate
- mechanical hand
- sucker
- egr
- fourchette
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides the bar palisade mechanical hand of a kind of glass substrate carrying robot, including body supports portion, described body supports portion arranges multiple fourchette, each fourchette surface embeds and arranges sucker, described sucker passes through hose connection vacuum pump, described sucker is provided with B/P EGR Back Pressure Transducer EGR, and described B/P EGR Back Pressure Transducer EGR connects controller, and described controller connects vacuum pump.Use the present invention, fourchette is placed in below glass substrate, vacuum pump air-breathing, negative pressure value between B/P EGR Back Pressure Transducer EGR test sucker and glass substrate passes to controller, controller controls the switch of vacuum pump according to negative pressure value, sucker is made to be in close contact with glass substrate, it is to avoid the phenomenon of glass breaking during mechanical hand shakiness.The invention has the beneficial effects as follows: safety more stablized during moving glass substrate by the mechanical hand of the present invention.
Description
Technical field
The present invention relates to robotics, be specifically related to the bar palisade machinery of a kind of glass substrate carrying robot
Hands.
Background technology
Glass substrate is one of key foundation material of flat pannel display industry, and along with the development of IT industry, market is to glass
The demand of substrate is increasing, and people make great efforts to improve production automation level.
The widely used baseplate transportation robot of current glass substrate transports.Baseplate transportation robot includes robot
Main body mechanism and mechanical hand, under the control of robot body structure, by mechanical hand being inserted into the lower section of glass substrate,
And glass substrate is fixed on mechanical hand, it is achieved glass substrate transports.
The mechanical hand being widely used at present is bar palisade, and bar palisade mechanical hand is improved by the present invention so that it is safer
Reliably.
Summary of the invention
The invention provides the bar palisade mechanical hand of a kind of glass substrate carrying robot, in the process of moving glass substrate
In more stablize safety.
In order to solve above-mentioned technical problem, the present invention adopts the following technical scheme that
The bar palisade mechanical hand of a kind of glass substrate carrying robot, including body supports portion 1, in described body supports portion 1
Arranging multiple fourchette 2, each fourchette surface embeds and arranges sucker 3, and described sucker 3 is by hose connection vacuum pump, described sucker 3
Being provided with B/P EGR Back Pressure Transducer EGR 4, described B/P EGR Back Pressure Transducer EGR 4 connects controller, and described controller connects vacuum pump.
Further, described B/P EGR Back Pressure Transducer EGR 4 is internal is diffused-silicon pressure sensitive chip.
Further, it is internal that described flexible pipe is arranged at described fourchette 2, extends to described body supports portion 1.
Further, described B/P EGR Back Pressure Transducer EGR 4 be arranged at bottom described sucker 3, described fourchette 2 internal.
Further, each sucker is equipped with a B/P EGR Back Pressure Transducer EGR.
Further, described controller is PLC.
Use the present invention, fourchette is placed in below glass substrate, vacuum pump air-breathing, B/P EGR Back Pressure Transducer EGR test sucker and glass
Negative pressure value between substrate passes to controller, and controller controls the switch of vacuum pump according to negative pressure value, makes sucker and glass
Substrates into intimate contacts, it is to avoid the phenomenon of glass breaking during mechanical hand shakiness.
The invention has the beneficial effects as follows: safety more stablized during moving glass substrate by the mechanical hand of the present invention.
Accompanying drawing explanation
The invention will be further described with detailed description of the invention below in conjunction with the accompanying drawings:
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is the front view of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings:
As shown in Fig. 1 Fig. 2: the bar palisade mechanical hand of a kind of glass substrate carrying robot, including body supports portion (1), in institute
Stating and arrange multiple fourchette (2) in body supports portion (1), each fourchette (2) surface embeds and arranges sucker (3), and described sucker (3) leads to
Crossing hose connection vacuum pump, described sucker (3) is provided with B/P EGR Back Pressure Transducer EGR (4), and described B/P EGR Back Pressure Transducer EGR (4) connects controller,
Described controller connects vacuum pump.
Further, described B/P EGR Back Pressure Transducer EGR (4) is internal is diffused-silicon pressure sensitive chip.
Further, it is internal that described flexible pipe is arranged at described fourchette (2), extends to described body supports portion (1).
Further, described B/P EGR Back Pressure Transducer EGR (4) is arranged at described sucker (3) bottom, described fourchette (2) inside.
Further, each sucker is equipped with a B/P EGR Back Pressure Transducer EGR.
Further, described controller is PLC.
Use the present invention, fourchette is placed in below glass substrate, vacuum pump air-breathing, B/P EGR Back Pressure Transducer EGR test sucker and glass
Negative pressure value between substrate passes to controller, and controller controls the switch of vacuum pump according to negative pressure value, makes sucker and glass
Substrates into intimate contacts, it is to avoid the phenomenon of glass breaking during mechanical hand shakiness.
Above-described is only embodiments of the invention, it is noted that for a person skilled in the art, do not taking off
On the premise of present configuration, it is also possible to make some deformation and improvement, these also should be considered as protection scope of the present invention.
Claims (6)
1. a bar palisade mechanical hand for glass substrate carrying robot, including body supports portion (1), in described body supports portion
(1) arranging multiple fourchette (2) on, each fourchette (2) surface embeds and arranges sucker (3), it is characterised in that described sucker (3) leads to
Crossing hose connection vacuum pump, described sucker (3) is provided with B/P EGR Back Pressure Transducer EGR (4), and described B/P EGR Back Pressure Transducer EGR (4) connects controller,
Described controller connects vacuum pump.
2. the bar palisade mechanical hand of a glass substrate carrying robot, it is characterised in that described B/P EGR Back Pressure Transducer EGR (4) is internal is
Diffused-silicon pressure sensitive chip.
3. the bar palisade mechanical hand of a glass substrate carrying robot, it is characterised in that described flexible pipe is arranged at described fourchette
(2) internal, extend to described body supports portion (1).
4. the bar palisade mechanical hand of a glass substrate carrying robot, it is characterised in that described B/P EGR Back Pressure Transducer EGR (4) is arranged at
Described sucker (3) bottom, described fourchette (2) inside.
5. the bar palisade mechanical hand of a glass substrate carrying robot, it is characterised in that each sucker is equipped with a negative pressure
Sensor.
6. the bar palisade mechanical hand of a glass substrate carrying robot, it is characterised in that described controller is PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610613213.0A CN106078782A (en) | 2016-07-29 | 2016-07-29 | A kind of glass substrate carrying robot bar palisade mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610613213.0A CN106078782A (en) | 2016-07-29 | 2016-07-29 | A kind of glass substrate carrying robot bar palisade mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106078782A true CN106078782A (en) | 2016-11-09 |
Family
ID=57479278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610613213.0A Pending CN106078782A (en) | 2016-07-29 | 2016-07-29 | A kind of glass substrate carrying robot bar palisade mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078782A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH068098A (en) * | 1992-06-26 | 1994-01-18 | Amada Co Ltd | One plate taking device provided with two plate taking detecting device |
| CN104528384A (en) * | 2014-12-29 | 2015-04-22 | 合肥蓝氏特种玻璃有限责任公司 | Intelligent glass suction cup |
| CN105500392A (en) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | Manipulator capable of judging grabbing quantity of plates |
| CN205187347U (en) * | 2015-12-01 | 2016-04-27 | 杭州鸿福科技有限公司 | Glass carries tongs |
| CN206048234U (en) * | 2016-07-29 | 2017-03-29 | 苏州高通机械科技有限公司 | A kind of glass substrate carrying robot bar palisade mechanical hand |
-
2016
- 2016-07-29 CN CN201610613213.0A patent/CN106078782A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH068098A (en) * | 1992-06-26 | 1994-01-18 | Amada Co Ltd | One plate taking device provided with two plate taking detecting device |
| CN104528384A (en) * | 2014-12-29 | 2015-04-22 | 合肥蓝氏特种玻璃有限责任公司 | Intelligent glass suction cup |
| CN205187347U (en) * | 2015-12-01 | 2016-04-27 | 杭州鸿福科技有限公司 | Glass carries tongs |
| CN105500392A (en) * | 2016-02-02 | 2016-04-20 | 江苏豪林自动化科技有限公司 | Manipulator capable of judging grabbing quantity of plates |
| CN206048234U (en) * | 2016-07-29 | 2017-03-29 | 苏州高通机械科技有限公司 | A kind of glass substrate carrying robot bar palisade mechanical hand |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161109 |