CN113601490A - A manipulator of getting for skylight - Google Patents
A manipulator of getting for skylight Download PDFInfo
- Publication number
- CN113601490A CN113601490A CN202110878356.5A CN202110878356A CN113601490A CN 113601490 A CN113601490 A CN 113601490A CN 202110878356 A CN202110878356 A CN 202110878356A CN 113601490 A CN113601490 A CN 113601490A
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- China
- Prior art keywords
- positioning block
- skylight
- assembly
- moving assembly
- moving
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of mechanical arms, in particular to a material taking mechanical arm for a skylight. During the use, remove grabbing device to the default position of snatching the skylight through mobile device, rotating assembly rotates grabbing device to behind the predetermined angle, first locating piece and third locating piece and the long limit butt in skylight, second locating piece and the short edge butt in skylight, grabbing the subassembly and snatching the skylight, through first locating piece, the second locating piece, third locating piece and fourth locating piece slide along first slide bar and second slide bar and adjust the position of skylight, thereby realize the position correction of skylight, both eliminated the position error when putting the skylight, also can press from both sides tightly the skylight through the correction subassembly, avoid taking the material in-process to take place to rock, influence the effect of correcting.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a material taking manipulator for a skylight.
Background
The whole piece of glass is usually required to be used for the sunroof, and glass's area is great and inseparable, so current sunroof need use the equipment that can carry the great article of size when the transport, and this equipment precision is lower usually, is difficult to put the positional deviation who exists to the material and rectifies, leads to still not eliminating the positional deviation when putting through the skylight of getting the material. If the position of the skylight needs to be corrected and centered in the centering process, the skylight usually needs to be placed in the centering device, the centering device adjusts the position of the skylight to complete centering, then the skylight is taken and transported through the taking device, the capital investment of equipment needs to be increased by increasing the centering device, the occupied area of the equipment also needs to be increased, and therefore the taking equipment with the position correcting function is needed to take materials and carry the skylight, so that the space and the cost for carrying the skylight are saved.
Disclosure of Invention
Based on the above, the invention provides a material taking manipulator with a position correction function for a skylight.
The technical scheme of the invention is as follows: a material taking manipulator for a skylight comprises a moving device and a grabbing device, wherein the grabbing device comprises a grabbing assembly, a correcting assembly and a rotating assembly, and the grabbing device is rotatably connected with the moving device through the rotating assembly;
the correcting assembly comprises a first positioning block, a second positioning block, a third positioning block, a fourth positioning block, a first sliding rod and a second sliding rod which are perpendicular to each other, the first positioning block and the third positioning block are respectively installed at two ends of the first sliding rod in a sliding mode, and the second positioning block and the fourth positioning block are respectively installed at two ends of the second sliding rod.
Optionally, the correcting assembly includes a first driving cylinder, and the first positioning block, the second positioning block, the third positioning block, and the fourth positioning block are all connected to the first driving cylinder and are driven by the first driving cylinder to slide.
Optionally, the gripping device includes a locking assembly, and when the locking assembly operates, the first positioning block, the second positioning block, the third positioning block, the fourth positioning block, and the gripping assembly are in a fixed state.
Optionally, the gripping assembly is a plurality of vacuum chucks.
Optionally, the moving device includes a first moving assembly and a second moving assembly, the first moving assembly includes a first slide rail horizontally disposed, the second moving assembly includes a second slide rail horizontally disposed, the second moving assembly is slidably disposed on the first moving assembly, the correcting assembly is slidably disposed on the second moving assembly, and the first moving assembly is perpendicular to the second moving assembly.
Optionally, a vertical adjusting assembly is arranged between the first moving assembly and the second moving assembly, the vertical adjusting assembly comprises a lifting plate, a sliding plate and a drag chain, one end of the lifting plate is mounted on the first sliding rail, the second sliding rail is mounted at one end, far away from the lifting plate, of the sliding plate, and the lifting plate and the sliding plate are connected and driven through the drag chain to lift the sliding plate.
Optionally, vertical adjusting part includes electric block and electric cabinet, electric block locates the upper end of lifter plate is used for driving the removal of tow chain, the electric cabinet is located the side surface of lifter plate is used for controlling electric block.
Optionally, the lower surface of the gripping device is provided with a sensor electrically connected with the electric cabinet, and when the sensor contacts with the skylight or reaches a preset distance, the electric cabinet controls the electric hoist to stop operating.
Optionally, the mobile device further includes a third moving assembly, a second driving cylinder and a third driving cylinder, a fixed end of the second driving cylinder is installed in the second moving assembly, the third moving assembly is fixed in an output end of the second driving cylinder, the third moving assembly is connected with the second moving assembly through a second sliding rail in a sliding manner, a fixed end of the third driving cylinder is installed in the third moving assembly, and the correcting assembly is installed in an output end of the third driving cylinder.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
when the material taking manipulator for the skylight is used, the grabbing device is moved to the preset position for grabbing the skylight through the moving device, the rotating assembly rotates the grabbing device to the preset angle, the first positioning block and the third positioning block are abutted to the long edge of the skylight, the second positioning block and the fourth positioning block are abutted to the short edge of the skylight, the grabbing assembly grabs the skylight, and the first positioning block, the second positioning block, the third positioning block and the fourth positioning block slide along the first sliding rod and the second sliding rod to adjust the position of the skylight, so that the position correction of the skylight is realized, the position error of the skylight during placement is eliminated, the skylight is prevented from being clamped through the correcting assembly, and the correction effect is prevented from being influenced due to the shaking in the material taking process.
Drawings
Fig. 1 is a schematic structural diagram of a material taking manipulator for a skylight according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a grasping apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a correcting assembly and a first driving cylinder according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a material taking manipulator for a skylight, which is combined with the skylight according to an embodiment of the present invention.
Description of reference numerals:
100. a material taking manipulator for the skylight,
1. a moving device 11, a first moving component 111, a first slide rail 12, a second moving component 121, a second slide rail 13, a vertical adjusting component 131, a lifting plate 132, a slide plate 133, a drag chain 134, an electric block 135, an electric cabinet 14, a third moving component 15, a second driving cylinder 16 and a third driving cylinder,
2. a grabbing device, 21, a grabbing component, 22, a correcting component, 221, a first positioning block, 222, a second positioning block, 223, a third positioning block, 224, a fourth positioning block, 225, a first sliding rod, 226, a second sliding rod, 227, a first driving cylinder, 23, a rotating component, 24, a locking component, 25 and a sensor,
3. a skylight is provided.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In addition, the terms "first", "second", and the like are employed in the present invention to describe various information, but the information should not be limited to these terms, which are used only to distinguish the same type of information from each other. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.
Referring to fig. 1, 2, 3 and 4, the present embodiment provides a material taking manipulator 100 for a skylight, which includes a moving device 1 and a gripping device 2, wherein the gripping device 2 includes a gripping assembly 21, a correcting assembly 22 and a rotating assembly 23, and the gripping device 2 is rotatably connected to the moving device 1 through the rotating assembly 23. The correcting assembly 22 includes a first positioning block 221, a second positioning block 222, a third positioning block 223, a fourth positioning block 224, and a first slide bar 225 and a second slide bar 226 perpendicular to each other, wherein the first positioning block 221 and the third positioning block 223 are respectively slidably mounted at two ends of the first slide bar 225, and the second positioning block 222 and the fourth positioning block 224 are respectively mounted at two ends of the second slide bar 226. During the use, the grabbing device 2 is moved to a preset position for grabbing the skylight 3 through the moving device 1, after the rotating assembly 23 rotates the grabbing device 2 to a preset angle, the first positioning block 221 and the third positioning block 223 are abutted to the long sides of the skylight 3, the second positioning block 222 and the fourth positioning block 224 are abutted to the short sides of the skylight 3, the grabbing assembly 21 grabs the skylight 3, the skylight 3 is adjusted by sliding the first positioning block 221, the second positioning block 222, the third positioning block 223 and the fourth positioning block 224 along the first sliding rod 225 and the second sliding rod 226, and therefore the position correction of the skylight 3 is achieved, the position error of the skylight 3 during placement is eliminated, the skylight 3 can be clamped through the correcting assembly 22, the phenomenon that the skylight 3 shakes during the material taking process are avoided, and the correcting effect is affected is avoided.
Preferably, as shown in fig. 4, in the present embodiment, the calibration assembly 22 includes a first driving cylinder 227, and the first positioning block 221, the second positioning block 222, the third positioning block 223 and the fourth positioning block 224 are all connected to the first driving cylinder 227, and the first driving cylinder 227 drives the first positioning block 221, the second positioning block 222, the third positioning block 223 and the fourth positioning block 224 to slide. The first driving cylinder 227 can drive the first positioning block 221, the second positioning block 222, the third positioning block 223 and the fourth positioning block 224 to slide more accurately, so as to reduce the possibility of increasing errors in the process of correcting the position of the sunroof 3.
Preferably, as shown in fig. 3, in the present embodiment, the grabbing device 2 includes a locking assembly 24, and when the locking assembly 24 is activated, the first positioning block 221, the second positioning block 222, the third positioning block 223, the fourth positioning block 224 and the grabbing assembly 21 are in a fixed state. Can prevent to take place to rock at skylight 3 and fall the possibility even in the in-process of getting the material through the locking of locking subassembly 24 to first locating piece 221, second locating piece 222, third locating piece 223, fourth locating piece 224 and grabbing subassembly 21, ensure skylight 3 and got the security of material and skylight 3 position correction's reliability.
Preferably, as shown in fig. 3, in the present embodiment, the gripping assembly 21 is a plurality of vacuum chucks. Snatch skylight 3 through vacuum chuck, can reduce the damage to skylight 3 glass at the in-process of snatching. In other embodiments, a clamp or other gripping device 2 may be used to grip the skylight 3.
Preferably, as shown in fig. 1, in the present embodiment, the moving device 1 includes a first moving assembly 11 and a second moving assembly 12, the first moving assembly 11 includes a first sliding rail 111 disposed horizontally, the second moving assembly 12 includes a second sliding rail 121 disposed horizontally, the second moving assembly 12 is slidably disposed on the first moving assembly 11, the calibration assembly 22 is slidably disposed on the second moving assembly 12, and the first moving assembly 11 is perpendicular to the second moving assembly 12. The first moving assembly 11 and the second moving assembly 12 which are perpendicular to each other drive the gripping device 2 to move, so that the skylight 3 which is taken by the gripping device 2 can be transported, and the gripping device 2 can be adjusted in position in a plane according to actual use conditions.
Preferably, as shown in fig. 1, in this embodiment, a vertical adjustment assembly 13 is disposed between the first moving assembly 11 and the second moving assembly 12, the vertical adjustment assembly 13 includes a lifting plate 131, a sliding plate 132, a tow chain 133, an electric hoist 134 and an electric cabinet 135, one end of the lifting plate 131 is mounted on the first sliding rail 111, the second sliding rail 121 is mounted on one end of the sliding plate 132 away from the lifting plate 131, the lifting plate 131 and the sliding plate 132 are connected through the tow chain 133 and drive the lifting of the sliding plate 132, the electric hoist 134 is disposed at the upper end of the lifting plate 131 and is used for driving the tow chain 133 to move, the electric cabinet 135 is disposed on a side surface of the lifting plate 131 and is used for controlling the electric hoist 134, a sensor 25 electrically connected to the electric cabinet 135 is disposed on a lower surface of the grabbing device 2, and when the sensor 25 contacts the skylight 3 or reaches a preset distance, the electric cabinet 135 controls the electric hoist 134 to stop. After the grabbing device 2 moves to the skylight 3 needing to take materials, the electric hoist 134 drives the drag chain 133 to enable the sliding plate 132 to move downwards, so that the second moving assembly 12 and the grabbing device 2 are driven to descend, and when the sensor 25 located on the lower surface of the grabbing device 2 is in contact with the skylight 3 or reaches a preset distance, the electric cabinet 135 controls the electric hoist 134 to stop acting, so that the grabbing device 2 stops descending, and the grabbing device 2 is prevented from crushing the skylight 3. After the skylight 3 is grabbed, the electric hoist 134 drives the grabbing device 2 to ascend, so that the skylight 3 can be grabbed. The electric hoist 134, the electric cabinet 135 and the drag chain 133 can control the lifting or descending of the gripping device 2 more smoothly, and the shaking in the operation process is reduced.
Preferably, as shown in fig. 1, in the present embodiment, the moving device 1 further includes a third moving assembly 14, a second driving cylinder 15 and a third driving cylinder 16, a fixed end of the second driving cylinder 15 is mounted on the second moving assembly 12, the third moving assembly 14 is fixed on an output end of the second driving cylinder 15, the third moving assembly 14 and the second moving assembly 12 are slidably connected through the second slide rail 121, a fixed end of the third driving cylinder 16 is mounted on the third moving assembly 14, and the calibration assembly 22 is mounted on an output end of the third driving cylinder 16. The distance of movement of the gripping means 2 controlled by the second movement assembly 12 can be increased by means of the third movement assembly 14. The second moving assembly 12 and the third moving assembly 14 are respectively controlled by the second driving cylinder 15 and the third driving cylinder 16, so that the process of grabbing the skylight 3 can be more stable.
When the material taking manipulator for the skylight, which is provided by the embodiment, is used, the grabbing device is moved to the position above the skylight to be taken by the first moving assembly, the second moving assembly and the third moving assembly, the electric cabinet controls the electric hoist to drive the drag chain so as to enable the grabbing device to descend, after the sensor is in contact with the skylight or reaches a preset distance, the grabbing device stops descending, the first positioning block and the third positioning block are abutted against the long edges of the skylight, the second positioning block and the fourth positioning block are abutted against the short edges of the skylight, the skylight is sucked by a plurality of vacuum suckers, the skylight is corrected under the action of the first positioning block, the second positioning block, the third positioning block and the fourth positioning block, after the correcting assembly and the grabbing assembly are locked by the locking assembly, the skylight finishes material taking under the action of the first moving assembly, the second moving assembly, the third moving assembly and the vertical adjusting assembly.
The material taking manipulator for the skylight of the embodiment has the following beneficial effects:
one, during the use, remove grabbing device to the default position of snatching the skylight through mobile device, rotating assembly rotates grabbing device to behind the predetermined angle, the long limit butt of first locating piece and third locating piece and skylight, the minor face butt in second locating piece and fourth locating piece and skylight, snatch the subassembly and grab the skylight, through first locating piece, the second locating piece, third locating piece and fourth locating piece slide along first slide bar and second slide bar and adjust the position of skylight, thereby realize the position correction of skylight, position error when having both eliminated the skylight and having put, also can press from both sides tightly the skylight through the correction subassembly, avoid getting taking the in-process to take place to rock, influence the effect of correcting.
The grabbing device is controlled to move in the horizontal direction through the first moving assembly, the second moving assembly and the third moving assembly, and is controlled to move in the vertical direction through the vertical adjusting assembly, so that the material taking manipulator can be used for carrying skylights, and the material taking manipulator is suitable for the skylights placed at different positions.
And thirdly, the second moving assembly, the third moving assembly and the gripping device can be controlled more stably through the driving cylinder, so that the gripping device can move more stably, and the first positioning block, the second positioning block, the third positioning block and the fourth positioning block can correct the position of the skylight more stably.
The foregoing is directed to the preferred embodiment of the present invention, and it is understood that various changes and modifications may be made by one skilled in the art without departing from the spirit of the invention, and it is intended that such changes and modifications be considered as within the scope of the invention.
Claims (9)
1. The material taking manipulator for the skylight is characterized by comprising a moving device and a grabbing device, wherein the grabbing device comprises a grabbing component, a correcting component and a rotating component, and the grabbing device is rotationally connected with the moving device through the rotating component;
the correcting assembly comprises a first positioning block, a second positioning block, a third positioning block, a fourth positioning block, a first sliding rod and a second sliding rod which are perpendicular to each other, the first positioning block and the third positioning block are respectively installed at two ends of the first sliding rod in a sliding mode, and the second positioning block and the fourth positioning block are respectively installed at two ends of the second sliding rod.
2. The material taking manipulator for the skylight according to claim 1, wherein the calibration assembly comprises a first driving cylinder, and the first positioning block, the second positioning block, the third positioning block and the fourth positioning block are all connected to the first driving cylinder, and the first driving cylinder drives the first positioning block, the second positioning block, the third positioning block and the fourth positioning block to slide.
3. The material taking manipulator for the skylight according to claim 2, wherein the grabbing device comprises a locking assembly, and when the locking assembly is actuated, the first positioning block, the second positioning block, the third positioning block, the fourth positioning block and the grabbing assembly are in a fixed state.
4. The material fetching manipulator for skylights according to claim 1, wherein the gripping assembly is a number of vacuum cups.
5. The material taking manipulator for the skylight according to claim 1, wherein the moving device comprises a first moving assembly and a second moving assembly, the first moving assembly comprises a horizontally arranged first sliding rail, the second moving assembly comprises a horizontally arranged second sliding rail, the second moving assembly is slidably arranged on the first moving assembly, the correcting assembly is slidably arranged on the second moving assembly, and the first moving assembly is perpendicular to the second moving assembly.
6. The material taking manipulator for the skylight according to claim 5, wherein a vertical adjusting assembly is arranged between the first moving assembly and the second moving assembly, the vertical adjusting assembly comprises a lifting plate, a sliding plate and a drag chain, one end of the lifting plate is mounted on a first sliding rail, the second sliding rail is mounted on one end of the sliding plate far away from the lifting plate, and the lifting plate and the sliding plate are connected through the drag chain and drive the sliding plate to lift.
7. The material taking manipulator for the skylight as claimed in claim 6, wherein the vertical adjustment assembly comprises an electric hoist and an electric cabinet, the electric hoist is arranged at the upper end of the lifting plate and used for driving the drag chain to move, and the electric cabinet is arranged on the side surface of the lifting plate and used for controlling the electric hoist.
8. The material taking manipulator for the skylight as claimed in claim 7, wherein a sensor electrically connected with the electric cabinet is arranged on the lower surface of the gripping device, and the electric cabinet controls the electric hoist to stop when the sensor is in contact with the skylight or reaches a preset distance.
9. The material taking manipulator for the skylight according to claim 5, wherein the moving device further comprises a third moving assembly, a second driving cylinder and a third driving cylinder, a fixed end of the second driving cylinder is mounted on the second moving assembly, the third moving assembly is fixed on an output end of the second driving cylinder, the third moving assembly and the second moving assembly are slidably connected through the second sliding rail, a fixed end of the third driving cylinder is mounted on the third moving assembly, and the correcting assembly is mounted on an output end of the third driving cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110878356.5A CN113601490A (en) | 2021-07-30 | 2021-07-30 | A manipulator of getting for skylight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110878356.5A CN113601490A (en) | 2021-07-30 | 2021-07-30 | A manipulator of getting for skylight |
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| Publication Number | Publication Date |
|---|---|
| CN113601490A true CN113601490A (en) | 2021-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110878356.5A Withdrawn CN113601490A (en) | 2021-07-30 | 2021-07-30 | A manipulator of getting for skylight |
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Application publication date: 20211105 |