CN110697420B - Glass transfer robot with dust removal function and high reliability - Google Patents
Glass transfer robot with dust removal function and high reliability Download PDFInfo
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- CN110697420B CN110697420B CN201910963538.5A CN201910963538A CN110697420B CN 110697420 B CN110697420 B CN 110697420B CN 201910963538 A CN201910963538 A CN 201910963538A CN 110697420 B CN110697420 B CN 110697420B
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- fixing
- fixing box
- high reliability
- water tank
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/04—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
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- 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
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- 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
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- 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
- B65G49/063—Transporting devices for sheet glass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a high-reliability glass carrying robot with a dust removing function, which comprises a vehicle body, a supporting rod, a cylinder, a water tank and a fixing box, and further comprises a fixing mechanism and a dust removing mechanism, wherein the fixing mechanism comprises a driving assembly and four fixing assemblies, each fixing assembly comprises a sucker, a connecting box, a piston, a supporting rod, a pressing plate, a pressure sensor, a spring and a power unit, the dust removing mechanism comprises an inflating assembly and four dust removing assemblies, the high-reliability glass carrying robot with the dust removing function realizes the function of fixedly carrying glass plates through the fixing mechanism, and the dust removing function is realized through the dust removing mechanism, so that dust is prevented from covering the glass plates and affecting the adsorption effect of the suckers.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a glass carrying robot with a dust removal function and high reliability.
Background
The intelligent robot has various internal information sensors and external information sensors, such as vision, hearing, touch, smell and the like, has an effector besides a receptor, and is widely applied to the fields of rescue, transportation, agriculture and the like as a means acting on the surrounding environment due to high intelligence degree.
When current glass transfer robot was carrying glass for a long time, the sucking disc was ageing easily, had increased the probability of sucking disc gas leakage to make the sucking disc adsorb the glass board insecure, make on the way of the transport, the glass board breaks away from with the sucking disc and falls and damage, thereby greatly reduced the reliability that the sucking disc adsorbed the glass board, moreover, easy adhesion dust on the glass board influences the adsorption effect of sucking disc easily, has reduced the practicality.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the glass carrying robot with the dust removal function and high reliability is provided.
The technical scheme adopted by the invention for solving the technical problems is as follows: a glass carrying robot with a dust removal function and high reliability comprises a vehicle body, a support rod, an air cylinder, a water tank and a fixing box, wherein the support rod is L-shaped, one end of the support rod is fixedly connected with the upper part of the vehicle body, the air cylinder is vertically fixed below the other end of the support rod, an air rod of the air cylinder is fixedly connected with the water tank, the fixing box is fixed below the water tank, a PLC is arranged in the vehicle body, and the air cylinder is electrically connected with the PLC;
the fixing mechanism comprises a driving assembly and four fixing assemblies, the four fixing assemblies are uniformly distributed on the periphery of the fixing box in the circumferential direction, the driving assembly is arranged inside the fixing box, and the driving assembly is connected with the fixing assemblies;
the fixing assembly comprises a sucker, a connecting box, a piston, a support rod, a pressing plate, a pressure sensor, a spring and a power unit, the connecting box is fixed on the periphery of the fixing box, the sucker is fixed below one end, far away from the fixing box, of the connecting box, the sucker is communicated with the connecting box, the piston is arranged inside the connecting box, the piston is connected with the inner wall of the connecting box in a sealing mode, one end of the support rod is fixedly connected with the piston, one side, close to the fixing box, of the connecting box is provided with a through hole, the connecting box is communicated with the fixing box through the through hole, the other end of the support rod penetrates through the through hole and is arranged inside the fixing box, the other end of the support rod is fixedly connected with the pressing plate, the pressure sensor is fixed inside the fixing box, the pressure sensor and the pressing plate are arranged oppositely, the power unit is arranged inside the fixing box, and, the pressure sensor is electrically connected with the PLC, and two ends of the spring are respectively connected with the inner wall of the connecting box close to one side of the through hole and one side of the piston close to the support rod;
the dust removal mechanism comprises an inflation assembly and four dust removal assemblies, the inflation assembly is arranged above the water tank, a water inlet is formed in the upper portion of the water tank, the dust removal assemblies correspond to the connecting boxes one to one, the dust removal assemblies comprise nozzles and connecting pipes, the nozzles are fixed below the connecting boxes, one ends of the connecting pipes are communicated with the nozzles, and the other ends of the connecting pipes are arranged at the bottom of the water tank.
Preferably, in order to drive the piston to move, the power unit comprises a rotating shaft, a first gear, two connecting units and two bearings, the two bearings are respectively fixed at the top and the bottom in the fixed box, two ends of the rotating shaft are respectively fixedly connected with inner rings of the two bearings, the two connecting units are respectively connected with two ends of the rotating shaft, the first gear is fixedly connected with the rotating shaft, the first gear is arranged between the two connecting units, and the driving assembly is connected with the first gear.
Preferably, in order to drive the piston to move, the connecting unit comprises a rotary disc and a pull wire, the rotary disc is fixedly connected with the rotating shaft, two small holes are formed in one side, close to the fixing box, of the connecting box, the small holes correspond to the pull wires in a one-to-one mode, the connecting box is communicated with the fixing box through the small holes, one end of the pull wire is fixedly connected with one end, close to the supporting rod, of the piston, and the other end of the pull wire penetrates through the small holes and is wound on the rotary disc.
Preferably, in order to drive the first gear to rotate, the driving assembly comprises a motor and a second gear, the motor is fixed to the top of the fixing box and is in transmission connection with the second gear, the second gear is meshed with the first gear, and the motor is electrically connected with the PLC.
Preferably, in order to limit the moving direction of the pressure plate, the fixing assembly further comprises a support, the support is U-shaped, two ends of the support are fixedly connected with the inner wall of the fixing box on the side close to the through hole, through holes are formed in two ends of the pressure plate, two ends of the support penetrate through the two through holes respectively, the pressure plate is connected with the support in a sliding mode, and the pressure sensor is fixed on the support.
Preferably, in order to inflate the water tank, the inflation assembly comprises an air pump, a first connecting pipe and a second connecting pipe, the air pump is fixed above the water tank and is communicated with the water tank through the first connecting pipe, the air pump is communicated with the second connecting pipe, and the air pump is electrically connected with the PLC.
Preferably, in order to realize the impurity removing function, a filter screen is fixed at one end of the second connecting pipe, which is far away from the air suction pump.
Preferably, the motor is a servo motor for a function of precisely stabilizing the motor.
Preferably, in order to prolong the service life of the stay wire, the stay wire is made of nylon.
Preferably, in order to control the equipment to work, a control board is arranged on the vehicle body, a plurality of keys are arranged on the control board, and the keys are electrically connected with the PLC.
The glass carrying robot with the dust removal function and high reliability has the advantages that the function of fixedly carrying glass plates is achieved through the fixing mechanism, compared with the existing fixing mechanism, the fixing mechanism reduces the probability of air leakage of the sucker through the detection of the pressure sensor at any time, improves the reliability of carrying the glass plates, achieves the dust removal function through the dust removal mechanism, and prevents dust from covering the glass plates to influence the adsorption effect of the sucker.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural view of a highly reliable glass carrier robot having a dust removing function according to the present invention;
FIG. 2 is a schematic view showing a connection structure between a dust removing mechanism and a fixing mechanism of the glass carrier robot with dust removing function and high reliability according to the present invention;
FIG. 3 is a schematic structural view of a fixing mechanism of a highly reliable glass carrier robot having a dust removing function according to the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 2;
in the figure: 1. the automatic air suction device comprises a vehicle body, a supporting rod, a cylinder, a water tank, a fixing box, a sucker, a connecting box, a piston, a spring, a supporting rod, a pressing plate, a pressure sensor, a support, a pull wire, a rotating disc, a rotating shaft, a first gear, a second gear, a motor, a nozzle, a connecting pipe, a pump, a suction pump, a connecting pipe, a filter screen, a control board and a control board, wherein the supporting rod, the.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, a glass carrying robot with dust removal function and high reliability comprises a vehicle body 1, a support rod 2, a cylinder 3, a water tank 4 and a fixing box 5, wherein the support rod 2 is L-shaped, one end of the support rod 2 is fixedly connected with the upper part of the vehicle body 1, the cylinder 3 is vertically fixed below the other end of the support rod 2, an air rod of the cylinder 3 is fixedly connected with the water tank 4, the fixing box 5 is fixed below the water tank 4, a PLC is arranged in the vehicle body 1, and the cylinder 3 is electrically connected with the PLC;
a PLC, i.e., a programmable logic controller, which employs a programmable memory for storing therein a program, executing instructions for user-oriented operations such as logic operation, sequence control, timing, counting, and arithmetic operation, and controlling various types of machines or production processes through digital or analog input/output, is essentially a computer dedicated for industrial control, has a hardware structure substantially the same as that of a microcomputer, and is generally used for data processing and instruction reception and output for realizing central control.
This glass transfer robot with dust removal function that reliability is high has realized the function of fixed transport glass board through fixed establishment, through dust removal mechanism, has realized the function of dust removal, avoids the dust to cover on the glass board, influences the adsorption effect of sucking disc 6.
As shown in fig. 2-3, the fixing mechanism includes a driving assembly and four fixing assemblies, the four fixing assemblies are uniformly distributed on the periphery of the fixing box 5 in the circumferential direction, the driving assembly is arranged inside the fixing box 5, and the driving assembly is connected with the fixing assemblies;
the fixing assembly comprises a sucker 6, a connecting box 7, a piston 8, a support rod 10, a pressing plate 11, a pressure sensor 12, a spring 9 and a power unit, the connecting box 7 is fixed on the periphery of the fixing box 5, the sucker 6 is fixed below one end, far away from the fixing box 5, of the connecting box 7, the sucker 6 is communicated with the connecting box 7, the piston 8 is arranged inside the connecting box 7, the piston 8 is connected with the inner wall of the connecting box 7 in a sealing manner, one end of the support rod 10 is fixedly connected with the piston 8, a through hole is formed in one side, close to the fixing box 5, of the connecting box 7, the connecting box 7 is communicated with the fixing box 5 through the through hole, the other end of the support rod 10 penetrates through the through hole to be arranged inside the fixing box 5, the other end of the support rod 10 is fixedly connected with the pressing plate 11, the pressure sensor 12 is fixed inside the fixing box 5, and the pressure sensor, the power unit is arranged in the fixing box 5, the driving assembly is connected with the piston 8 through the power unit, the pressure sensor 12 is electrically connected with the PLC, and two ends of the spring 9 are respectively connected with the inner wall of one side, close to the through hole, of the connecting box 7 and one side, close to the support rod 10, of the piston 8;
when the glass is conveyed, the control cylinder 3 is started to drive the sucker 6 to move downwards, so that the sucker 6 is abutted against the glass plate, meanwhile, the dust removal mechanism works to remove dust from the glass plate, then the drive assembly works to control the power unit to work, the piston 8 is driven to move towards the direction close to the through hole, the spring 9 is compressed, so that air between the sucker 6 and the glass plate is pumped into the connecting box 7, the pressure between the sucker 6 and the glass plate is reduced, the sucker 6 is tightly attached to the glass plate, the function of fixing the glass plate is realized, when the piston 8 moves, the pressure plate 11 is driven to move towards the direction close to the pressure sensor 12 through the support rod 10 and is abutted against the pressure sensor 12, when the detection value of the pressure sensor 12 reaches the set value, the sucker 6 is shown to adsorb the glass plate, and the pressure value is constantly detected through the pressure sensor 12 during the conveying process, after the pressure value changes, show the gas leakage phenomenon, send signal gives PLC, PLC control drive assembly work, thereby make piston 8 remove, thereby make clamp plate 11 extrude pressure sensor 12 again, make pressure sensor 12 resume to the original value, thereby avoided sucking disc 6 to leak gas, influence the transport effect, through the detection of pressure sensor 12 moment in time, the probability of sucking disc 6 gas leakage has been reduced, the reliability of carrying the glass board has been improved, through setting up four fixed subassemblies, the area of contact with the glass board has been increased, thereby fixed transport effect has been promoted.
As shown in fig. 2, the dust removing mechanism includes an air charging assembly and four dust removing assemblies, the air charging assembly is disposed above the water tank 4, a water inlet is disposed above the water tank 4, the dust removing assemblies correspond to the connecting boxes 7 one by one, the dust removing assemblies include nozzles 20 and connecting pipes 21, the nozzles 20 are fixed below the connecting boxes 7, one end of each connecting pipe 21 is communicated with the nozzles 20, and the other end of each connecting pipe 21 is disposed at the bottom of the water tank 4.
When carrying out dust removal work, the subassembly work is aerifyd in the control, with the inside of the leading-in water tank 4 of external air, increase the pressure in the water tank 4, thereby the clear water in the water tank 4 connecting pipe 21 of impressing, in the leading-in nozzle 20 again, make nozzle 20 spray the clear water to the glass board, detach the dust on the glass board, realize the function of dusting, avoid the dust to cover on the glass board, influence the adsorption effect of sucking disc 6, and remove dust through the clear water, make partial clear water cover on the glass board, the reduction between glass board and sucking disc 6 has been filled through the clear water, the probability of sucking disc 6 gas leakage has been reduced, thereby make the adsorption effect of sucking disc 6 good.
Preferably, in order to drive the piston 8 to move, the power unit includes a rotating shaft 16, a first gear 17, two connecting units and two bearings, the two bearings are respectively fixed at the top and the bottom of the fixing box 5, two ends of the rotating shaft 16 are respectively fixedly connected with inner rings of the two bearings, the two connecting units are respectively connected with two ends of the rotating shaft 16, the first gear 17 is fixedly connected with the rotating shaft 16, the first gear 17 is arranged between the two connecting units, and the driving assembly is connected with the first gear 17.
Preferably, in order to drive the piston 8 to move, the connecting unit comprises a rotating disc 15 and a pull wire 14, the rotating disc 15 is fixedly connected with a rotating shaft 16, two small holes are formed in one side, close to the fixing box 5, of the connecting box 7, the small holes correspond to the pull wires 14 one to one, the connecting box 7 is communicated with the fixing box 5 through the small holes, one end of the pull wire 14 is fixedly connected with one end, close to the supporting rod 10, of the piston 8, and the other end of the pull wire 14 penetrates through the small holes and is wound on the rotating disc 15.
Preferably, in order to drive the first gear 17 to rotate, the driving assembly comprises a motor 19 and a second gear 18, the motor 19 is fixed on the top inside the fixing box 5, the motor 19 is in transmission connection with the second gear 18, the second gear 18 is meshed with the first gear 17, and the motor 19 is electrically connected with the PLC.
When carrying glass during operation, control cylinder 3 starts, drive sucking disc 6 downstream, make sucking disc 6 and glass board support and lean on, work through dust removal mechanism simultaneously, carry out dust removal work to the glass board, the motor 19 that controls again starts, second gear 18 rotates, through the meshing with first gear 17, make pivot 16 rotate, thereby drive carousel 15 and rotate, tighten up acting as go-between 14, drive piston 8 is to being close to fenestrate direction removal, compression spring 9, thereby with the inside of the air suction connecting box 7 between sucking disc 6 and the glass board, thereby make the pressure between sucking disc 6 and the glass board reduce, thereby make sucking disc 6 and glass board hug closely, thereby the function of fixed glass board has been realized.
Preferably, in order to limit the moving direction of the pressing plate 11, the fixing assembly further includes a bracket 13, the bracket 13 is U-shaped, two ends of the bracket 13 are both fixedly connected with an inner wall of one side of the fixing box 5 close to the through hole, two ends of the pressing plate 11 are both provided with through holes, two ends of the bracket 13 respectively pass through the two through holes, the pressing plate 11 is slidably connected with the bracket 13, and the pressure sensor 12 is fixed on the bracket 13.
Through setting up support 13, restricted the moving direction of clamp plate 11 for more stable when clamp plate 11 removes, thereby when making clamp plate 11 extrusion pressure sensor 12, the atress is more even, thereby makes the more accurate of the pressure value that pressure sensor 12 detected.
As shown in fig. 4, the air charging assembly includes a suction pump 22, a first connecting pipe 24 and a second connecting pipe 23, the suction pump 22 is fixed above the water tank 4, the suction pump 22 is communicated with the water tank 4 through the first connecting pipe 24, the suction pump 22 is communicated with the second connecting pipe 23, and the suction pump 22 is electrically connected to the PLC.
When carrying out dust removal work, control aspiration pump 22 work, lead to the inside of water tank 4 through second connecting pipe 23 and first connecting pipe 24 with external air, increase the pressure in water tank 4, thereby the clear water in the water tank 4 is impressed connecting pipe 21, in leading-in nozzle 20 again, make nozzle 20 spray the clear water to the glass board, detach the dust on the glass board, realize the function of dusting, avoid the dust to cover on the glass board, influence the adsorption effect of sucking disc 6, and remove dust through the clear water, make partial clear water cover on the glass board, filled the reduction between glass board and sucking disc 6 through the clear water, the probability of sucking disc 6 gas leakage has been reduced, thereby make the adsorption effect of sucking disc 6 good.
Preferably, a filter screen 25 is fixed at one end of the second connecting pipe 23 far away from the air suction pump 22 in order to realize the impurity removing function.
Through setting up filter screen 25, having detached the impurity of mixing in getting into second connecting pipe 23 air, avoided impurity to mix into the aquatic and block up nozzle 20, reduced nozzle 20 and blockked up the probability of damage, improved fail safe nature.
Preferably, the motor 19 is a servo motor for a precise and stable function of the motor 19.
Preferably, in order to prolong the service life of the stay wire 14, the stay wire 14 is made of nylon.
Preferably, in order to control the operation of the equipment, a control board 26 is arranged on the vehicle body 1, and a plurality of keys are arranged on the control board 26 and electrically connected with the PLC.
Through setting up the button, can control glass transfer robot work, improve its intelligent degree.
When the glass is carried, the control cylinder 3 is started to drive the sucker 6 to move downwards, so that the sucker 6 is abutted against the glass plate, the air pump 22 is controlled to work, outside air is led into the water tank 4 through the second connecting pipe 23 and the first connecting pipe 24 to increase the pressure in the water tank 4, so that clean water in the water tank 4 is pressed into the connecting pipe 21 and then led into the nozzle 20, the nozzle 20 sprays clean water to the glass plate to remove dust on the glass plate, the dust removing function is realized, the dust is prevented from covering the glass plate to influence the adsorption effect of the sucker 6, dust is removed through the clean water, part of the clean water covers the glass plate, the reduction between the glass plate and the sucker 6 is filled through the clean water, the probability of air leakage of the sucker 6 is reduced, the adsorption effect of the sucker 6 is good, after the dust removing work is finished, the motor 19 is controlled to start, the second gear 18 rotates, through the meshing with the first gear 17, make the rotating shaft 16 rotate, thereby drive the carousel 15 to rotate, tighten up the guy wire 14, drive the piston 8 to move to the direction close to the perforation, compress the spring 9, thereby the air suction between sucking disc 6 and the glass board is inside the connecting box 7, thereby make the pressure between sucking disc 6 and the glass board reduce, thereby make sucking disc 6 and the glass board hug closely, thereby the function of fixing the glass board has been realized, when the piston 8 moves, drive the clamp plate 11 to move to the direction close to the pressure sensor 12 through the branch rod 10 and lean against with the pressure sensor 12, after the detected value of the pressure sensor 12 reaches the set value, show that the sucking disc 6 has adsorbed the glass board, in the process of carrying, detect the pressure value constantly through the pressure sensor 12, after the pressure value changes, show that the gas leakage phenomenon appears, send a signal to the PLC, the PLC controls the drive, thereby make piston 8 remove to make clamp plate 11 extrude pressure sensor 12 again, make pressure sensor 12 resume to the original value, thereby avoided sucking disc 6 to leak gas, influence transport effect, through the detection of pressure sensor 12 moment to moment, reduced the probability of sucking disc 6 gas leakage, improved the reliability of transport glass board, through setting up four fixed subassemblies, increased the area with the glass board contact, thereby promoted fixed transport effect.
Compared with the prior art, this glass transfer robot with dust removal function that reliability is high passes through fixed establishment, the function of fixed transport glass board has been realized, compare with current fixed establishment, this fixed establishment passes through pressure sensor 12 detection at every moment, the probability of sucking disc 6 gas leakage has been reduced, the reliability of transport glass board has been improved, through dust removal mechanism, the function of removing dust has been realized, avoid the dust to cover on the glass board, influence the adsorption effect of sucking disc 6, compare with current dust removal mechanism, this dust removal mechanism removes dust through the clear water, make partial clear water cover on the glass board, the reduction between glass board and sucking disc 6 has been filled through the clear water, the probability of sucking disc 6 gas leakage has been reduced, thereby make the adsorption effect of sucking disc 6 good.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. The glass carrying robot with the dust removal function and high reliability comprises a vehicle body (1), a support rod (2), a cylinder (3), a water tank (4) and a fixing box (5), wherein the support rod (2) is L-shaped, one end of the support rod (2) is fixedly connected with the upper part of the vehicle body (1), the cylinder (3) is vertically fixed below the other end of the support rod (2), an air rod of the cylinder (3) is fixedly connected with the water tank (4), the fixing box (5) is fixed below the water tank (4), a PLC is arranged in the vehicle body (1), and the cylinder (3) is electrically connected with the PLC;
the fixing mechanism comprises a driving assembly and four fixing assemblies, the four fixing assemblies are uniformly distributed on the periphery of the fixing box (5) in the circumferential direction, the driving assembly is arranged inside the fixing box (5), and the driving assembly is connected with the fixing assemblies;
the fixing assembly comprises a sucker (6), a connecting box (7), a piston (8), a support rod (10), a pressing plate (11), a pressure sensor (12), a spring (9) and a power unit, the connecting box (7) is fixed on the periphery of the fixing box (5), the sucker (6) is fixed below one end, far away from the fixing box (5), of the connecting box (7), the sucker (6) is communicated with the connecting box (7), the piston (8) is arranged in the connecting box (7), the piston (8) is connected with the inner wall of the connecting box (7) in a sealing mode, one end of the support rod (10) is fixedly connected with the piston (8), a through hole is formed in one side, close to the fixing box (5), of the connecting box (7), the connecting box (7) is communicated with the fixing box (5) through the through hole, the other end of the support rod (10) penetrates through the through hole and is arranged in the fixing box (5), the other end of the supporting rod (10) is fixedly connected with the pressing plate (11), the pressure sensor (12) is fixed inside the fixing box (5), the pressure sensor (12) is arranged opposite to the pressing plate (11), the power unit is arranged inside the fixing box (5), the driving assembly is connected with the piston (8) through the power unit, the pressure sensor (12) is electrically connected with the PLC, and two ends of the spring (9) are respectively connected with the inner wall of one side, close to the through hole, of the connecting box (7) and one side, close to the supporting rod (10), of the piston (8);
dust removal mechanism includes gas charging component and four dust removal subassemblies, gas charging component sets up the top at water tank (4), the top of water tank (4) is equipped with the water inlet, dust removal subassembly and junction box (7) one-to-one, the dust removal subassembly includes nozzle (20) and connecting pipe (21), the below at junction box (7) is fixed in nozzle (20), the one end and the nozzle (20) intercommunication of connecting pipe (21), the other end setting of connecting pipe (21) is in the bottom of water tank (4).
2. The glass transfer robot with dust removal function and high reliability as claimed in claim 1, wherein the power unit comprises a rotating shaft (16), a first gear (17), two connecting units and two bearings, the two bearings are respectively fixed at the top and the bottom in the fixing box (5), two ends of the rotating shaft (16) are respectively fixedly connected with inner rings of the two bearings, the two connecting units are respectively connected with two ends of the rotating shaft (16), the first gear (17) is fixedly connected with the rotating shaft (16), the first gear (17) is arranged between the two connecting units, and the driving assembly is connected with the first gear (17).
3. The glass transfer robot with the dust removing function and high reliability as claimed in claim 2, wherein the connecting unit comprises a rotary table (15) and a pull wire (14), the rotary table (15) is fixedly connected with the rotary shaft (16), two small holes are formed in one side, close to the fixing box (5), of the connecting box (7), the small holes correspond to the pull wire (14) in a one-to-one mode, the connecting box (7) is communicated with the fixing box (5) through the small holes, one end of the pull wire (14) is fixedly connected with one end, close to the supporting rod (10), of the piston (8), and the other end of the pull wire (14) penetrates through the small holes and is wound on the rotary table (15).
4. The glass transfer robot with dust removal function and high reliability as claimed in claim 3, wherein the driving assembly comprises a motor (19) and a second gear (18), the motor (19) is fixed on the top portion in the fixing box (5), the motor (19) is in transmission connection with the second gear (18), the second gear (18) is meshed with the first gear (17), and the motor (19) is electrically connected with the PLC.
5. The glass transfer robot with the dust removing function and high reliability as claimed in claim 1, wherein the fixing assembly further comprises a bracket (13), the bracket (13) is U-shaped, both ends of the bracket (13) are fixedly connected with the inner wall of the fixing box (5) on the side close to the through hole, both ends of the pressing plate (11) are provided with through holes, both ends of the bracket (13) respectively penetrate through the two through holes, the pressing plate (11) is slidably connected with the bracket (13), and the pressure sensor (12) is fixed on the bracket (13).
6. The glass transfer robot with dust removal function and high reliability as claimed in claim 1, wherein the air-charging assembly comprises an air-suction pump (22), a first connecting pipe (24) and a second connecting pipe (23), the air-suction pump (22) is fixed above the water tank (4), the air-suction pump (22) is communicated with the water tank (4) through the first connecting pipe (24), the air-suction pump (22) is communicated with the second connecting pipe (23), and the air-suction pump (22) is electrically connected with the PLC.
7. The glass carrier robot with dust removing function and high reliability as claimed in claim 6, wherein a strainer (25) is fixed to an end of the second connecting pipe (23) remote from the suction pump (22).
8. The glass carrier robot with dust removing function having high reliability as set forth in claim 4, wherein said motor (19) is a servo motor.
9. The glass carrier robot with dust removing function and high reliability as set forth in claim 3, wherein said wire (14) is made of nylon.
10. The glass carrier robot with dust removing function and high reliability as claimed in claim 1, wherein a control board (26) is provided on the body (1), and a plurality of keys are provided on the control board (26), and the keys are electrically connected to the PLC.
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| CN201910963538.5A CN110697420B (en) | 2019-10-11 | 2019-10-11 | Glass transfer robot with dust removal function and high reliability |
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| CN111409055B (en) * | 2020-04-21 | 2021-11-05 | 王彩霞 | A transfer robot that stability is high for glass production |
| CN112591464A (en) * | 2020-12-16 | 2021-04-02 | 尚大(苏州)智能制造研究院有限公司 | Mechanical arm for robot transportation and transportation method |
| CN112957008A (en) * | 2021-01-29 | 2021-06-15 | 海南省妇女儿童医学中心 | Remote palpation equipment |
| CN113386162B (en) * | 2021-06-11 | 2022-08-12 | 山东润平塑业有限公司 | Grabbing device for transferring plastic plates and plastic plate grabbing method |
| CN114030891B (en) * | 2021-11-03 | 2023-06-06 | 深圳市晶泰玻璃科技有限公司 | Multifunctional glass moving and carrying device |
| CN116835325A (en) * | 2023-09-04 | 2023-10-03 | 江苏博瑜玻璃制品有限公司 | High-reliability glass carrying equipment for intelligent storage |
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Effective date of registration: 20201028 Address after: 221200 Liu Dongzu, eight Li village, eight Li metal electromechanical Industrial Park, Suining, Xuzhou, Jiangsu Applicant after: JIANGSU ZHONGKE RUITENG GLASS TECHNOLOGY Co.,Ltd. Address before: 518000 A, No. 1, Qian Wan Road, Shenzhen Qianhai cooperation zone, Shenzhen, Guangdong. Applicant before: SHENZHEN XIAOKONG COMMUNICATION TECHNOLOGY Co.,Ltd. |
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