CN106181984A - A kind of glass carrying manipulator - Google Patents
A kind of glass carrying manipulator Download PDFInfo
- Publication number
- CN106181984A CN106181984A CN201610676560.8A CN201610676560A CN106181984A CN 106181984 A CN106181984 A CN 106181984A CN 201610676560 A CN201610676560 A CN 201610676560A CN 106181984 A CN106181984 A CN 106181984A
- Authority
- CN
- China
- Prior art keywords
- fixed
- glass
- baffle plate
- fixed mount
- hole
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of glass carrying manipulator, including pedestal, mechanical arm, rotating mechanism, elevating mechanism and grabbing device, described rotating mechanism is fixed on described pedestal, described mechanical arm is fixed on described rotating mechanism, and described grabbing device is fixed on the end of described mechanical arm by described elevating mechanism.The grabbing device of this mechanical hand is provided with baffle plate, after glass drawn by sucker, baffle plate is mobile to overlapping with fixed mount in the through hole of gripper shoe under the drive of screw mandrel, glass is in suction process, if falling off, then glass can be held by baffle plate, effectively prevents glass from causing glass breakage because coming off.
Description
Technical field
The present invention relates to a kind of mechanical hand, in particular it relates to a kind of glass carrying manipulator.
Background technology
In glass handling, due to the weight of glass or cause sucker to glass owing to being stained with foreign body on glass surface
Adsorb insecure, thus cause glass to come off from sucker, cause economic loss to user.
Summary of the invention
The present invention is to solve drawbacks described above and deficiency present in prior art, it is provided that a kind of glass handling machinery
Hands, this mechanical hand can effectively prevent when capturing glass, and glass comes off and causes economic loss.
For solving above-mentioned technical problem, the present invention provides a kind of glass carrying manipulator, including pedestal, mechanical arm, rotation
Mechanism, elevating mechanism and grabbing device, described rotating mechanism is fixed on described pedestal, and described mechanical arm is fixed on described rotation
In mechanism, described grabbing device is fixed on the end of described mechanical arm by described elevating mechanism；
Described rotating mechanism includes fixed station and turntable, is provided with through hole, is provided with rotary shaft in described through hole in described fixed station,
One end of described rotary shaft is connected with electric rotating machine, and the other end is connected with the turntable on described fixed station, described electric rotating machine
Upper plate through described pedestal is placed in described pedestal, and described mechanical arm is fixing on a spinstand；It is provided with in described rotary shaft
Keyway, one end of described electric rotating machine is placed in described keyway；Described turntable is provided with several installing holes run through, described
Being provided with securing member in installing hole, described rotary shaft and turntable are linked together by described securing member；
Described elevating mechanism includes hoist cylinder, and the piston rod upper end of described hoist cylinder is fixedly installed on the robotic arm, described
The cylinder body lower end of hoist cylinder is fixedly linked with described grabbing device, and the cylinder body upper end of described hoist cylinder is provided with guide post, institute
Two ends stating guide post are respectively equipped with contact, respectively upper contact and lower contact, and described mechanical arm is provided with guide plate, institute
That states guide plate is respectively arranged at two ends with the travel switch matched with contact, respectively upper stroke switch and lower stroke switch；
Described grabbing device includes that fixed mount, baffle plate and drive mechanism, described fixed mount lower surface are provided with several for inhaling
Take the sucker of glass, described fixed mount be respectively arranged at two ends with a gripper shoe, described gripper shoe is vertical with described fixed mount to be set
Putting, described drive mechanism is fixed between two described gripper shoes, and described drive mechanism is fixed with described baffle plate by contiguous block
Being connected, two described gripper shoes are equipped with rectangular through holes, described baffle plate passes described through hole, parallel with described fixed mount,
Described drive mechanism drives baffle plate to move in described through hole, prevents from capturing in glass process, and glass comes off from sucker and damages
Bad glass.
Further, described drive mechanism includes the screw mandrel being arranged between described gripper shoe, is arranged under described fixed mount
Guide rail on surface one and be arranged on baffle plate upper surface the carriage one matched with described guide rail one, described baffle plate is by even
Connect block to be connected with described screw mandrel.
Further, described screw mandrel is two, is respectively placed in the both sides of described fixed mount, two described screw mandrels all with described gear
Plate is connected, and two screw mandrels are connected with two motors respectively.
Further, described carriage one is roller.
Further, the lower surface of described baffle plate is provided with two tracks two, is provided with and described track two-phase in described through hole
The carriage two joined.
Further, described carriage two includes the support column being fixed in described through hole and is fixed on described support column
Support, described support is provided with rotating shaft, and described rotating shaft is provided with ball, and described ball matches with described track two.
Further, described baffle plate one end is provided with stay cord, and one end of described stay cord is fixed on described baffle plate, the other end with set
Put automatic retraction device on the supporting plate to be fixedly linked.
Further, the upper surface of described fixed mount is provided with installed part, and the cylinder body of described installed part and hoist cylinder is fixed
It is connected.
The Advantageous Effects that the present invention is reached: the glass carrying manipulator that the present invention provides, grabbing device is provided with
Baffle plate, after glass drawn by sucker, baffle plate is mobile to overlapping with fixed mount in the through hole of gripper shoe under the drive of screw mandrel, glass
Glass is in suction process, if falling off, then glass can be held by baffle plate, effectively prevents glass from causing glass to damage because coming off
Bad.
Accompanying drawing explanation
Fig. 1 present configuration schematic diagram；
Structural representation looked up by the grabbing device of Fig. 2 present invention；
The grabbing device main TV structure schematic diagram of Fig. 3 present invention；
The grabbing device right TV structure schematic diagram of Fig. 4 present invention；
Carriage two structural representation of Fig. 5 present invention；
The rotating mechanism structural representation of Fig. 6 present invention.
Wherein: 1 fixed mount；2 guide rails one；3 suckers；4 screw mandrels；5 gripper shoes；6 baffle plates；7 contiguous blocks；8 guide rails two；9 balls；
10 stay cords；11 installed parts；12 automatic retraction devices；13 support columns；14 supports；15 rotating shafts；301 pedestals；302 installing holes；303 is tight
Firmware；304 turntables；305 fixed stations；306 through holes；307 keyways；308 rotary shafts；309 electric rotating machines；310 mechanical arms；311
Hoist cylinder；312 guide posts；313 upper contacts；314 lower contacts；315 guide plates；316 upper stroke switch；317 lower stroke switch.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention
Technical scheme, and can not limit the scope of the invention with this.
As shown in figures 1 to 6, the present invention provides a kind of glass carrying manipulator, including pedestal 301, mechanical arm 310, whirler
Structure, elevating mechanism and grabbing device, described rotating mechanism is fixed on described pedestal 301, and described mechanical arm 310 is fixed on described
On rotating mechanism, described grabbing device is fixed on the end of described mechanical arm by described elevating mechanism；
Described rotating mechanism includes fixed station 305 and turntable 304, is provided with through hole, sets in described through hole in described fixed station 305
Rotary shaft 308, one end of described rotary shaft 308 is had to be connected with electric rotating machine 309, the other end and the rotation on described fixed station 305
Turntable 304 is connected, and described electric rotating machine 309 is placed in described pedestal 301 through the upper plate of described pedestal 301, described machinery
Arm 310 is fixed on turntable 304；Being provided with keyway 307 in described rotary shaft 308, one end of described electric rotating machine 309 is placed in institute
State in keyway 307；Described turntable 304 is provided with several installing holes 302 run through, in described installing hole 302, is provided with fastening
Part 303, described rotary shaft 308 and turntable 304 are linked together by described securing member 303；
Described elevating mechanism includes that hoist cylinder 311, the piston rod upper end of described hoist cylinder 311 are fixedly installed on mechanical arm
On 310, the cylinder body lower end of described hoist cylinder 311 is fixedly linked with described grabbing device, on the cylinder body of described hoist cylinder 311
End is provided with guide post 312, and two ends of described guide post 312 are respectively equipped with contact, respectively upper contact 313 and lower contact
314, described mechanical arm 310 is provided with guide plate 315, described guide plate 315 be respectively arranged at two ends with the stroke matched with contact
Switch, respectively upper stroke switch 316 and lower stroke switch 317；
Described grabbing device fixed mount 1, baffle plate 6 and drive mechanism, described fixed mount 1 lower surface is provided with several for drawing
The sucker 3 of glass, described fixed mount 1 be respectively arranged at two ends with a gripper shoe 5, described gripper shoe 5 is vertical with described fixed mount 1
Arranging, described drive mechanism is fixed between two described gripper shoes 5, and described drive mechanism is by contiguous block 7 and described baffle plate 6
Being fixedly linked, two described gripper shoes 5 are equipped with rectangular through holes, described baffle plate 6 is through described through hole, with described fixed mount
1 is parallel, and described drive mechanism drives baffle plate 6 to move in described through hole, prevents from capturing in glass process, and glass is de-from sucker
Fall and damage glass.
Described drive mechanism includes the screw mandrel 4 being arranged between described gripper shoe 5, is arranged on described fixed mount 1 lower surface
On guide rail 1 and be arranged on baffle plate 6 upper surface the carriage one matched with described guide rail 1, described baffle plate 6 is by even
Connect block 7 to be connected with described screw mandrel 4.Described screw mandrel 4 is two, is respectively placed in the both sides of described fixed mount 1, two described screw mandrels 4
All being connected with described baffle plate 6, two screw mandrels 4 are connected with two motors respectively.Described carriage one is roller.During work,
After glass drawn by sucker 3, baffle plate 6 is mobile to overlapping with fixed mount 1 in the through hole of gripper shoe 5 under the drive of screw mandrel 4, glass
In suction process, if falling off, then glass can be held by baffle plate 6, effectively prevents glass from causing glass to damage because coming off
Bad.
In order to reduce baffle plate 6 and the frictional force in through hole, the lower surface of described baffle plate 6 is provided with two tracks 28, described
The carriage two matched with described track 28 it is provided with in through hole.Described carriage two includes being fixed in described through hole
Support column 13 and the support 14 being fixed on described support column 13, described support 14 is provided with rotating shaft 15, described rotating shaft 15 sets
Ball 9, described ball 9 is had to match with described track 28.Change sliding friction is rolling friction, substantially reduces screw mandrel 4 to baffle plate
The active force of 6.
Described baffle plate 6 one end is provided with stay cord 10, and one end of described stay cord 10 is fixed on described baffle plate 6, the other end with set
The automatic retraction device 12 put in gripper shoe 5 is fixedly linked, and when baffle plate 6 is driven by screw mandrel 4 and to move in through hole, automatically receives
Putting device 12 and stay cord 10 is carried out automatic deploying and retracting, the end of baffle plate 6 is produced certain pulling force, anti-baffle plate 6 is turned on one's side.
The upper surface of described fixed mount 1 is provided with installed part 11, and the cylinder body of described installed part 11 and hoist cylinder fixes phase
Even, and passing through installed part 11, grabbing device can be connected with the mechanical arm of different model.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and deformation, these improve and deformation
Also should be regarded as protection scope of the present invention.
Claims (8)
1. a glass carrying manipulator, it is characterised in that: include pedestal, mechanical arm, rotating mechanism, elevating mechanism and crawl dress
Putting, described rotating mechanism is fixed on described pedestal, and described mechanical arm is fixed on described rotating mechanism, and described grabbing device leads to
Cross described elevating mechanism and be fixed on the end of described mechanical arm；
Described rotating mechanism includes fixed station and turntable, is provided with through hole, is provided with rotary shaft in described through hole in described fixed station,
One end of described rotary shaft is connected with electric rotating machine, and the other end is connected with the turntable on described fixed station, described electric rotating machine
Upper plate through described pedestal is placed in described pedestal, and described mechanical arm is fixing on a spinstand；It is provided with in described rotary shaft
Keyway, one end of described electric rotating machine is placed in described keyway；Described turntable is provided with several installing holes run through, described
Being provided with securing member in installing hole, described rotary shaft and turntable are linked together by described securing member；
Described elevating mechanism includes hoist cylinder, and the piston rod upper end of described hoist cylinder is fixedly installed on the robotic arm, described
The cylinder body lower end of hoist cylinder is fixedly linked with described grabbing device, and the cylinder body upper end of described hoist cylinder is provided with guide post, institute
Two ends stating guide post are respectively equipped with contact, respectively upper contact and lower contact, and described mechanical arm is provided with guide plate, institute
That states guide plate is respectively arranged at two ends with the travel switch matched with contact, respectively upper stroke switch and lower stroke switch；
Described grabbing device includes that fixed mount, baffle plate and drive mechanism, described fixed mount lower surface are provided with several for inhaling
Take the sucker of glass, described fixed mount be respectively arranged at two ends with a gripper shoe, described gripper shoe is vertical with described fixed mount to be set
Putting, described drive mechanism is fixed between two described gripper shoes, and described drive mechanism is fixed with described baffle plate by contiguous block
Being connected, two described gripper shoes are equipped with rectangular through holes, described baffle plate passes described through hole, parallel with described fixed mount,
Described drive mechanism drives baffle plate to move in described through hole, prevents from capturing in glass process, and glass comes off from sucker and damages
Bad glass.
Glass carrying manipulator the most according to claim 1, it is characterised in that: described drive mechanism includes being arranged on described
Screw mandrel, the guide rail one being arranged on described fixed mount lower surface between gripper shoe and being arranged on baffle plate upper surface is led with described
The carriage one that rail one matches, described baffle plate is connected with described screw mandrel by contiguous block.
Glass carrying manipulator the most according to claim 2, it is characterised in that: described screw mandrel is two, is respectively placed in institute
Stating the both sides of fixed mount, two described screw mandrels are all connected with described baffle plate, and two screw mandrels are connected with two motors respectively.
Glass carrying manipulator the most according to claim 2, it is characterised in that: described carriage one is roller.
Glass carrying manipulator the most according to claim 1, it is characterised in that: the lower surface of described baffle plate is provided with two
Track two, is provided with the carriage two matched with described track two in described through hole.
Glass carrying manipulator the most according to claim 5, it is characterised in that: described carriage two includes being fixed on institute
Stating the support column in through hole and the support being fixed on described support column, described support is provided with rotating shaft, and described rotating shaft is provided with
Ball, described ball matches with described track two.
Glass carrying manipulator the most according to claim 1, it is characterised in that: described baffle plate one end is provided with stay cord, described
One end of stay cord is fixed on described baffle plate, and the other end is fixedly linked with the automatic retraction device arranged on the supporting plate.
Glass carrying manipulator the most according to claim 1, it is characterised in that: the upper surface of described fixed mount is provided with peace
Piece installing, described installed part is fixedly linked with the cylinder body of hoist cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610676560.8A CN106181984A (en) | 2016-08-17 | 2016-08-17 | A kind of glass carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610676560.8A CN106181984A (en) | 2016-08-17 | 2016-08-17 | A kind of glass carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106181984A true CN106181984A (en) | 2016-12-07 |
Family
ID=57521799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610676560.8A Pending CN106181984A (en) | 2016-08-17 | 2016-08-17 | A kind of glass carrying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106181984A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598952A (en) * | 2017-10-27 | 2018-01-19 | 惠州市齐力建筑工程有限公司 | A kind of manipulator mechanism being used for advertisement glass delivery |
| CN108081300A (en) * | 2017-11-08 | 2018-05-29 | 江苏新光数控技术有限公司 | One kind is used for glass carrying manipulator |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201833368U (en) * | 2010-09-28 | 2011-05-18 | 高精科技(苏州)有限公司 | Mechanical arm for loading materials |
| US20110268549A1 (en) * | 2010-04-28 | 2011-11-03 | Hon Hai Precision Industry Co., Ltd. | Palletizing robot |
| CN103624783A (en) * | 2013-12-06 | 2014-03-12 | 昆山永邦自动化设备有限公司 | Novel pneumatic manipulator |
| CN203875883U (en) * | 2014-04-18 | 2014-10-15 | 武汉奋进机电有限公司 | Mechanical hand used for grabbing and placing steel materials |
| CN204197989U (en) * | 2014-09-30 | 2015-03-11 | 苏州沃特维自动化***有限公司 | Glass shifting apparatus |
| CN105621093A (en) * | 2014-11-07 | 2016-06-01 | 湖北星云特种玻璃加工有限公司 | Adsorption type glass carrying device |
| CN205394598U (en) * | 2016-03-09 | 2016-07-27 | 上海勤达科技有限公司 | Electronic sucking disc robotic arm of scalable rotation |
| CN105836457A (en) * | 2016-05-16 | 2016-08-10 | 蒋红梅 | Picking and placing system of panel veneer |
| CN205969019U (en) * | 2016-08-17 | 2017-02-22 | 苏州市华宁机械制造有限公司 | Glass carrying manipulator |
-
2016
- 2016-08-17 CN CN201610676560.8A patent/CN106181984A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110268549A1 (en) * | 2010-04-28 | 2011-11-03 | Hon Hai Precision Industry Co., Ltd. | Palletizing robot |
| CN201833368U (en) * | 2010-09-28 | 2011-05-18 | 高精科技(苏州)有限公司 | Mechanical arm for loading materials |
| CN103624783A (en) * | 2013-12-06 | 2014-03-12 | 昆山永邦自动化设备有限公司 | Novel pneumatic manipulator |
| CN203875883U (en) * | 2014-04-18 | 2014-10-15 | 武汉奋进机电有限公司 | Mechanical hand used for grabbing and placing steel materials |
| CN204197989U (en) * | 2014-09-30 | 2015-03-11 | 苏州沃特维自动化***有限公司 | Glass shifting apparatus |
| CN105621093A (en) * | 2014-11-07 | 2016-06-01 | 湖北星云特种玻璃加工有限公司 | Adsorption type glass carrying device |
| CN205394598U (en) * | 2016-03-09 | 2016-07-27 | 上海勤达科技有限公司 | Electronic sucking disc robotic arm of scalable rotation |
| CN105836457A (en) * | 2016-05-16 | 2016-08-10 | 蒋红梅 | Picking and placing system of panel veneer |
| CN205969019U (en) * | 2016-08-17 | 2017-02-22 | 苏州市华宁机械制造有限公司 | Glass carrying manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598952A (en) * | 2017-10-27 | 2018-01-19 | 惠州市齐力建筑工程有限公司 | A kind of manipulator mechanism being used for advertisement glass delivery |
| CN108081300A (en) * | 2017-11-08 | 2018-05-29 | 江苏新光数控技术有限公司 | One kind is used for glass carrying manipulator |
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| 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: 20161207 |