CN109987415A - A kind of glass transfer robot - Google Patents
A kind of glass transfer robot Download PDFInfo
- Publication number
- CN109987415A CN109987415A CN201910391595.0A CN201910391595A CN109987415A CN 109987415 A CN109987415 A CN 109987415A CN 201910391595 A CN201910391595 A CN 201910391595A CN 109987415 A CN109987415 A CN 109987415A
- Authority
- CN
- China
- Prior art keywords
- motor
- bracket
- mobile framework
- pivoted arm
- transfer robot
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- 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
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
- B65G49/06—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles for fragile sheets, e.g. glass
- B65G49/061—Lifting, gripping, or carrying means, for one or more sheets forming independent means of transport, e.g. suction cups, transport frames
Landscapes
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
Abstract
The present invention provides a kind of glass transfer robot, including being equipped with positioning protrusion in internal on the left of I-shaped bracket, one rack gear is installed on the positioning protrusion, mobile framework bottom is consolidated with several sliding blocks through bolt, linear guide on the sliding block and the bracket cooperates, the mobile framework left side is equipped with one speed reducer, the reducer input shaft is connect with third motor output shaft, the reducer output shaft is equipped with a gear, the gear is engaged with the rack gear, mobile framework right side two sides have been respectively and fixedly connected with a reinforcing rib, a vacuum pumping pump is connected on the mobile framework right side, the present invention can automatic air blowing clean glass surface, remove the dust impurity of glass surface, avoid influencing the adsorption capacity of vacuum chuck, with the first swing arm shaft, second swing arm shaft axis is the swing in the center of circle, utilize cylinder Piston rod is flexible, realizes lifting, putting down movement for glass, robot motion is rapid, and work efficiency is high fastly for transporting velocity.
Description
Technical field
The present invention is used for robotic technology field, especially a kind of glass transfer robot.
Background technique
Glass is amorphous inorganic non-metallic material, is usually primary raw material with a variety of inorganic minerals, is additionally incorporated a small amount of
Made of auxiliary material.Glass is widely used in building, is used to every wind light transmission, glass passes through during the actual manufacturing
Frequently with manually carrying out carrying movement, one achievable carrying, transfer for the glass small for some sizes, but for one
A little big glass of dimensions, generally require two people or more and cooperate, and since glass is breakables, because touching in handling process
It hits, glass breaking caused by the reasons such as external shock, and fragment glass is easy to incised wound carrying personnel, therefore uses manual handling
The mode of glass, risk is high, and inefficiency.
Intelligence manufacture has become the important trends and core content of the following development of manufacturing, and accelerates development mode and turn
The man-machine integration intelligence system that change, high intelligence machine and human expert collectively constitute, it can be carried out intelligence in the fabrication process
Activity, an important representative of the intelligent robot as intelligence manufacture, gradually steps into practical application, especially in automobile manufacture, boat
How the fields such as empty space flight are the one of current most of manufacturing firms using the safe and efficient Serve the production manufacture of intelligent robot
A significant concern point.
Therefore, glass production manufacture in utilize robot moving glass, to improve glass production process safety and
Working efficiency is of great significance, and is very necessary so inventing a kind of glass transfer robot.
Summary of the invention
For defect existing for airport glass transfer robot in the prior art, a primary object of the present invention is to mention
For a kind of glass transfer robot.
In order to solve the above technical problems, the present invention provides a kind of glass transfer robot, including cylinder, piston rod, tune
Pressure valve divides air parcel, mounting blocks, polyurethane collision block, bracket, vacuum chuck, connecting plate, vacuum pumping pump, reinforcing rib, mounting plate,
One motor, the first pivoted arm, the second motor, the second pivoted arm, positioning protrusion, rack gear, gear, retarder, third motor, straight line are led
Rail, sliding block, mobile framework, tracheae and anchor (bolt) hole；It is equipped with positioning protrusion in inside on the left of I-shaped bracket, it is described fixed
A rack gear is installed in the protrusion of position, mobile framework bottom is consolidated with several sliding blocks through bolt, on the sliding block and the bracket
Linear guide cooperation, the mobile framework left side are equipped with one speed reducer, and the reducer input shaft and third motor export
Axis connection, the reducer output shaft are equipped with a gear, and the gear is engaged with the rack gear, the mobile framework right side
Two sides have been respectively and fixedly connected with a reinforcing rib, and a vacuum pumping pump, the mobile framework top are connected on the mobile framework right side
One mounting plate is installed, a first motor is installed on the mounting plate, is mounted on first turn on the first motor output shaft
Arm right end is equipped with second pivoted arm on the second motor output shaft, and second motor is mounted on first pivoted arm
Left end, the second pivoted arm left side upper end are connected with a cylinder, and the piston rod on the cylinder passes through on second pivoted arm
Through-hole and bottom are connected with a connecting plate, and a pressure regulator valve, one point of air parcel, the pressure regulator valve transtracheal are connected on the connecting plate
Be connected to the air inlet of the vacuum pumping pump, the pressure regulator valve air inlet be connected to by the road described in divide air parcel gas outlet, the pressure regulation
One pressure gauge is installed, several vacuum chucks for dividing air parcel air inlet to be connected on the connecting plate by the road are described on valve
Rear and front end has been respectively and fixedly connected with a mounting blocks on the right side of bracket, and a polyurethane collision block, the branch have been respectively and fixedly connected on the mounting blocks
Frame two sides of the bottom are evenly equipped with several anchor (bolt) holes, and ground pre-embedded bolt, which passes through the anchor (bolt) hole, is fixed on the bracket
On ground.
Preferably, the bracket vertical axis is overlapped with the linear guide axis.
Preferably, several vacuum chuck bottom chucks are opening down and are located in same level.
Preferably, the vacuum pumping pump gas outlet connection spray head is fixed on the connecting plate and Open Side Down.
Preferably, the connection sprinkler height is open higher than the vacuum chuck.
Preferably, board width is 2-3 times of board width above below the bracket.
Preferably, the first motor, the second motor and third motor are all made of band band-type brake motor.
The invention has the benefit that
1, the spray head at the removable vacuum pumping pump gas outlet of the present invention is arranged on connecting plate, can before carrying automatic air blowing it is clear
Clean glass surface removes the dust impurity of glass surface, avoids the adsorption capacity for influencing vacuum chuck, robot entirety adsorption capacity
Greatly, reliable operation；
2, the present invention is swung using first motor, second the first swing arm of motor driven, the second swing arm, is realized respectively with the first swing arm
Shaft, the swing that the second swing arm shaft axis is the center of circle, it is flexible using cylinder piston rod, realize lifting, putting down movement for glass,
Robot motion is rapid, and work efficiency is high fastly for transporting velocity；
3, ground pre-embedded bolt of the present invention, which passes through anchor (bolt) hole, fixes bracket on the ground, and bracket front and rear sides are respectively equipped with
Polyurethane collision block, to limit mobile framework shift position, robot overall operation frame structure is stablized, safe to use.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is facing structure figure of the present invention.
Fig. 2 is left view structure chart of the present invention.
Fig. 3 is overlooking structure figure of the present invention.
Fig. 4 is three-dimensional shaft side structure figure of the present invention.
In figure,
1- cylinder, 2- piston rod, 3- pressure regulator valve, 4- divide air parcel, 5- mounting blocks, 6- polyurethane collision block, 7- bracket, 8- vacuum to inhale
Disk, 9- connecting plate, 10- vacuum pumping pump, 11- reinforcing rib, 12- mounting plate, 13- first motor, the first pivoted arm of 14-, the second electricity of 15-
Machine, the second pivoted arm of 16-, 17- positioning protrusion, 18- rack gear, 19- gear, 20- retarder, 21- third motor, 22- linear guide,
23- sliding block, 24- mobile framework, 25- tracheae, 26- anchor (bolt) hole.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and embodiments of the present invention include but is not limited to
The following example.
To achieve the goals above, The technical solution adopted by the invention is as follows:
As shown in Figures 1 to 4, the glass transfer robot, including cylinder 1, piston rod 2, pressure regulator valve 3, divide air parcel 4, mounting blocks 5,
Polyurethane collision block 6, bracket 7, vacuum chuck 8, connecting plate 9, vacuum pumping pump 10, reinforcing rib 11, mounting plate 12, first motor 13,
First pivoted arm 14, the second motor 15, the second pivoted arm 16, positioning protrusion 17, rack gear 18, gear 19, retarder 20, third motor
21, linear guide 22, sliding block 23, mobile framework 24, tracheae 25 and anchor (bolt) hole 26；It is internal in I-shaped 7 left side of bracket
Equipped with positioning protrusion 17, a rack gear 18 is installed on positioning protrusion 17,24 bottom of mobile framework is consolidated with several cunnings through bolt
Linear guide 22 on block 23, sliding block 23 and bracket 7 cooperates, and 24 left side of mobile framework is equipped with one speed reducer 20, retarder
20 input shafts and third motor 21 export axis connection, and 20 output shaft of retarder is equipped with a gear 19, and gear 19 is nibbled with rack gear 18
It closes, 24 right side two sides of mobile framework have been respectively and fixedly connected with a reinforcing rib 11, have been connected with one on 24 right side of mobile framework and vacuumize
10 are pumped, a mounting plate 12 is installed at the top of mobile framework 24, a first motor 13 is installed, first motor 13 is defeated on mounting plate 12
It is mounted on 14 right end of the first pivoted arm on shaft, one second pivoted arm 16, the second motor 15 peace are installed on 15 output shaft of the second motor
Mounted in the left end of the first pivoted arm 14,16 left side upper end of the second pivoted arm is connected with a cylinder 1, and the piston rod 2 on cylinder 1 passes through second
Through-hole and bottom on pivoted arm 16 are connected with a connecting plate 9, and 3, one points of air parcels 4 of a pressure regulator valve, pressure regulator valve are connected on connecting plate 9
3 transtracheals 25 are connected to the air inlet of vacuum pumping pump 10, and 3 air inlet of pressure regulator valve is connected to by the road divides air parcel 4 gas outlet, pressure regulator valve 3
On a pressure gauge is installed, divide 4 air inlet of air parcel to be connected to several vacuum chucks 8 on connecting plate 9 by the road, before 7 right side of bracket
Both ends have been respectively and fixedly connected with a mounting blocks 5 afterwards, and a polyurethane collision block 6 has been respectively and fixedly connected on mounting blocks 5, and 7 two sides of the bottom of bracket are uniformly distributed
There are several anchor (bolt) holes 26, ground pre-embedded bolt, which passes through anchor (bolt) hole 26, fixes bracket 7 on the ground, and bracket 7 is vertical
Axis is overlapped with 22 axis of linear guide, and several 8 bottom chucks of vacuum chuck are opening down and are located in same level, is taken out true
Sky pump 10 gas outlets connection spray head is fixed on connecting plate 9 and Open Side Down, and connection sprinkler height is open higher than vacuum chuck 8,
Board width is 2-3 times of board width above below bracket 7.
The present invention through retarder 20 using third motor 21 with moving gear 19 in use, rotated, gear 19 and positioning protrusion
Rack gear 18 on 17 engages, using the sliding block 23 of rack pinion driving 24 lower end of mobile framework along 22 direction of linear guide
Mobile, stable drive determines mobile framework 24 in 7 position of bracket, 13 output shaft of first motor using 21 encoder of third motor
First pivoted arm 14 of upper installation drives the first pivoted arm 14 to swing, pacifies on 15 output shaft of the second motor using 13 shaft of first motor
Equipped with one second pivoted arm 16, the second motor 15 is mounted on the left end of the first pivoted arm 14, utilizes 15 shaft rotate driving of the second motor
Second pivoted arm 16 is swung, after the first pivoted arm 14, the second pivoted arm 16 swing to designated position, cylinder 1 on the second pivoted arm 16
Piston rod 2 extends, and declines the connecting plate 9 of 2 lower end of piston rod, several vacuum chucks 8 on connecting plate 9 and glass top surface
Distance is gradually reduced, and in the process, vacuum pumping pump 10 is opened via pressure regulator valve 3, air parcel 4 is divided to start to be evacuated, vacuum pumping pump 10
Gas outlet connection spray head is fixed on connecting plate 9 and Open Side Down, and the gas of 10 gas outlet of vacuum pumping pump discharge can be via spray head
It is blown glass surface to be transported, removes the impurity and dust of glass surface, when vacuum chuck 8 is contacted with glass surface, is taken out
The air of 8 bottom of vacuum chuck and glass surface inside cavity is discharged vacuum pump 10, vacuum environment is formed, so that vacuum chuck
8 are firmly adsorbed on the upper surface of glass, glass are fixed on 8 bottom of vacuum chuck using the adsorption capacity that vacuum chuck 8 generates, so
Piston rod 2 on exhaust hood 1 shortens, and glass is lifted, under the driving of first motor 13, the second motor 15 and third motor 21,
Glass is moved to right above the rack for needing to place, then the piston rod 2 on cylinder 1 extends, and glass is placed on placement
After on frame, vacuum pumping pump 10 is out of service, and gas quickly enters the inside of vacuum chuck 8, makes vacuum chuck 8 and glass surface
It is detached from, completes automatic transporting operation, ground pre-embedded bolt, which passes through anchor (bolt) hole 26, fixes bracket 7 on the ground, and bracket 7 is solid
Fixed securely robot motion is rapid, and work efficiency is high fastly for transporting velocity, and mentions lift glass using the movement of cylinder 1, and movement response is fast
Speed can clean glass surface by automatic air blowing before carrying, avoid the adsorption capacity for influencing vacuum chuck 8, and 7 front and rear sides of bracket
It is respectively equipped with polyurethane collision block 6, to limit 24 shift position of mobile framework, prevents from coming off bracket 7, therefore peace is carried by robot
Quan Xinggao, strong adsorption force.
Using technical solutions according to the invention or those skilled in the art under the inspiration of technical solution of the present invention,
Similar technical solution is designed, and reaches above-mentioned technical effect, is to fall into protection scope of the present invention.
Claims (6)
1. a kind of glass transfer robot, which is characterized in that including cylinder (1), piston rod (2), pressure regulator valve (3), divide air parcel
(4), mounting blocks (5), polyurethane collision block (6), bracket (7), vacuum chuck (8), connecting plate (9), vacuum pumping pump (10), reinforcing rib
(11), mounting plate (12), first motor (13), the first pivoted arm (14), the second motor (15), the second pivoted arm (16), positioning protrusion
(17), rack gear (18), gear (19), retarder (20), third motor (21), linear guide (22), sliding block (23), mobile framework
(24), tracheae (25) and anchor (bolt) hole (26)；Positioning protrusion (17) are equipped in internal on the left of I-shaped bracket (7), institute
It states and is equipped on positioning protrusion (17) rack gear (18), mobile framework (24) bottom is consolidated with several sliding blocks (23), institute through bolt
The linear guide (22) stated on sliding block (23) and the bracket (7) cooperates, and mobile framework (24) left side is equipped with one and subtracts
Fast device (20), retarder (20) input shaft and third motor (21) export axis connection, retarder (20) the output shaft peace
Equipped with a gear (19), the gear (19) is engaged with the rack gear (18), mobile framework (24) the right side two sides difference
It is connected with a reinforcing rib (11), is connected with a vacuum pumping pump (10), the mobile framework on mobile framework (24) right side
(24) top is equipped with a mounting plate (12), is equipped with a first motor (13), the first motor on the mounting plate (12)
(13) it is mounted on the first pivoted arm (14) right end on output shaft, second pivoted arm is installed on the second motor (15) output shaft
(16), second motor (15) is mounted on the left end of first pivoted arm (14), and upper end is solid on the left of second pivoted arm (16)
It is connected to a cylinder (1), the piston rod (2) on the cylinder (1) passes through the through-hole on second pivoted arm (16) and bottom is affixed
Have a connecting plate (9), a pressure regulator valve (3), one point of air parcel (4) is connected on the connecting plate (9), the pressure regulator valve (3) is through gas
Manage the air inlet that (25) are connected to the vacuum pumping pump (10), pressure regulator valve (3) air inlet be connected to by the road described in divide air parcel (4)
Gas outlet is equipped with a pressure gauge on the pressure regulator valve (3), described that air parcel (4) air inlet is divided to be connected to the connecting plate by the road
(9) several vacuum chucks (8) on, bracket (7) right side rear and front end have been respectively and fixedly connected with a mounting blocks (5), the installation
A polyurethane collision block (6) has been respectively and fixedly connected on block (5), bracket (7) two sides of the bottom are evenly equipped with several anchor (bolt) holes (26),
Ground pre-embedded bolt, which passes through the anchor (bolt) hole (26), fixes the bracket (7) on the ground.
2. glass transfer robot as described in claim 1, which is characterized in that bracket (7) vertical axis and described straight
Line guide rail (22) axis is overlapped.
3. glass transfer robot as described in claim 1, which is characterized in that several vacuum chuck (8) bottom chucks
It is opening down and be located at same level on.
4. glass transfer robot as described in claim 1, which is characterized in that vacuum pumping pump (10) the gas outlet connection spray
Head is fixed on the connecting plate (9) and Open Side Down.
5. glass transfer robot as claimed in claim 4, which is characterized in that the connection sprinkler height is higher than the vacuum
Sucker (8) opening.
6. glass transfer robot as described in claim 1, which is characterized in that board width is above to the bracket (7) below
2-3 times of board width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910391595.0A CN109987415A (en) | 2019-05-13 | 2019-05-13 | A kind of glass transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910391595.0A CN109987415A (en) | 2019-05-13 | 2019-05-13 | A kind of glass transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109987415A true CN109987415A (en) | 2019-07-09 |
Family
ID=67136486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910391595.0A Withdrawn CN109987415A (en) | 2019-05-13 | 2019-05-13 | A kind of glass transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109987415A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110813908A (en) * | 2019-11-08 | 2020-02-21 | 上海华力微电子有限公司 | Cleaning device and cleaning method |
| CN111326458A (en) * | 2020-03-05 | 2020-06-23 | 通歌实业(上海)有限公司 | Packaging equipment for sensor production |
| CN113651103A (en) * | 2021-09-09 | 2021-11-16 | 澳斯卡科技服务(江苏)有限公司 | Portable vacuum intelligent installation robot |
| CN113731906A (en) * | 2021-08-05 | 2021-12-03 | 珠海九通水务股份有限公司 | Automatic flushing device and trestle conveying system |
| CN114030891A (en) * | 2021-11-03 | 2022-02-11 | 深圳市晶泰玻璃科技有限公司 | Multifunctional glass moving and carrying device |
| CN115180407A (en) * | 2022-09-09 | 2022-10-14 | 江苏黛尚仪器科技有限公司 | Clamping device for glass instrument manufacturing |
-
2019
- 2019-05-13 CN CN201910391595.0A patent/CN109987415A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110813908A (en) * | 2019-11-08 | 2020-02-21 | 上海华力微电子有限公司 | Cleaning device and cleaning method |
| CN111326458A (en) * | 2020-03-05 | 2020-06-23 | 通歌实业(上海)有限公司 | Packaging equipment for sensor production |
| CN113731906A (en) * | 2021-08-05 | 2021-12-03 | 珠海九通水务股份有限公司 | Automatic flushing device and trestle conveying system |
| CN113651103A (en) * | 2021-09-09 | 2021-11-16 | 澳斯卡科技服务(江苏)有限公司 | Portable vacuum intelligent installation robot |
| CN114030891A (en) * | 2021-11-03 | 2022-02-11 | 深圳市晶泰玻璃科技有限公司 | Multifunctional glass moving and carrying device |
| CN115180407A (en) * | 2022-09-09 | 2022-10-14 | 江苏黛尚仪器科技有限公司 | Clamping device for glass instrument manufacturing |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190709 |