Gantry vacuum chuck grabbing manipulator for plate-shaped object detection

Abstract

The utility model relates to a gantry vacuum chuck grabbing manipulator for plate-shaped object detection, and aims to solve the problems of insufficient stability, high control complexity, poor adaptability and poor safety when large plate-shaped materials are grabbed in the prior art. By adopting the portal frame structure and cooperating with the horizontal driving device and the specially-made mechanical arm, efficient and stable grabbing and moving of plate-shaped objects are achieved. And the grabbing part adopts a vacuum chuck and an air cylinder, so that the effective adsorption of plate-shaped objects made of various materials is ensured, and the slipping phenomenon is avoided. The large plate-shaped material grabbing and moving device is particularly suitable for the field of detection, can meet the special requirements of precise detection equipment for grabbing and moving large plate-shaped materials, improves the stability and safety of a production line, simplifies the control process, and improves the adaptability of the equipment and the safety of operators.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, in particular to a gantry vacuum suction cup grabbing mechanical arm used for plate-like object detection. Background Art

[0002] At present, the common manipulators on the market for grasping large plate-like objects mostly use mechanical grippers or magnetic adsorption. Mechanical grippers grasp by physical clamping, but when facing materials with smooth surfaces, they are prone to slipping due to insufficient clamping force, especially in high-speed movement or vibration environments. The magnetic adsorption method is limited by the magnetic properties of the material, and cannot effectively adsorb non-magnetic materials or plate-like objects with anti-rust paint on the surface.

[0003] In the field of testing, the grasping and movement of large plate-shaped materials (such as glass substrates, solar panels, etc.) is particularly critical because they often need to be tested in precision testing equipment. When grasping these materials, the existing manipulators often have difficulty in providing sufficient adsorption force because the adsorption area is insufficient compared to the total surface area of ​​the material, which leads to slippage during movement, which not only affects the stability and safety of the production line, but also may damage the precision testing equipment.

[0004] At the same time, when grabbing large-mass plate materials, the equipment is not stable enough and is prone to slipping during the grabbing and moving process, which may not only damage the plate materials to be tested, but also pose a safety threat to operators and expensive testing equipment. The existing manipulators also have obvious defects in control complexity, adaptability and safety. They are often difficult to adapt to plate materials of different sizes and shapes, and the control process is complicated, requiring highly professional operators.

[0005] To sum up, the existing technology has many problems when grasping and moving large plate-like materials for inspection. There is an urgent need for a new type of grasping robot to solve the above problems, improve the stability and safety of grasping large plate-like materials, and at the same time simplify the control process, improve adaptability and safety, so as to meet the special needs of the inspection field. Utility Model Content

[0006] Based on the above-mentioned problems existing in the prior art, the present invention aims to provide a gantry vacuum suction cup grasping robot for plate-like object detection, so as to solve the problems of insufficient stability, high control complexity, poor adaptability and safety when grasping large plate-like materials in the prior art.

[0007] In order to achieve the above-mentioned purpose, the technical solution of the utility model is to design a gantry vacuum suction cup grasping robot for plate-like object detection, including a gantry, a horizontal drive device and a robot, the gantry including multiple columns, beams and slide rails, the columns are erected on the ground, the beams are erected on the upper ends of multiple columns, the horizontal drive device is arranged on the beams, the slide rails are arranged at the lower part of the beams, the upper end of the robot is mounted on the slide rails, and the horizontal drive device can drive the robot to move horizontally with the slide rails.

[0008] Furthermore, the manipulator includes a gripping portion and a vertical telescopic portion, the gripping portion is used to grip the plate, and the vertical telescopic portion is used to control the vertical height of the gripping portion.

[0009] Furthermore, the horizontal driving device includes a motor and a belt, the motor is arranged at the upper part of the beam, the belt is arranged at the lower part of the beam, and the motor drives the belt to rotate horizontally.

[0010] Furthermore, the robot includes an upper plate and a lower plate, the upper end of the upper plate is mounted on the slide rail, the lower end of the upper plate is mounted on the belt, the grabbing part is arranged on the lower plate, and the vertical telescopic part is arranged between the upper plate and the lower plate, and the vertical spacing between the upper plate and the lower plate is controlled by the telescopic part.

[0011] Furthermore, the grasping part includes a rack rod, a vacuum suction cup and a cylinder. The rack rod is arranged on the lower rack plate. Two vacuum suction cups are arranged on each end of the rack rod. The vacuum suction cup is connected to the cylinder, and the cylinder is used to grasp and lower the object.

[0012] Preferably, the vertical telescopic part is a hydraulic cylinder.

[0013] Preferably, the belt is a synchronous belt.

[0014] The advantages and beneficial effects of the utility model are as follows: the utility model realizes the effective grasping and stable movement of large plate-like materials by designing a gantry structure, combining a horizontal drive device and a manipulator. The grasping part adopts a layout of multiple vacuum suction cups, which significantly increases the adsorption area and provides sufficient adsorption force, effectively solving the problem of insufficient stability of traditional manipulators when grasping large plate-like objects, and effectively avoiding slipping accidents during grasping and moving, thereby protecting the safety of operators and equipment and reducing the risk of safety accidents. Through the cooperation of the vertical telescopic part and the horizontal drive device, efficient control of the grasping part is achieved. At the same time, the grasping part can be flexibly adjusted according to plate-like objects of different sizes and shapes. It only needs to adjust the working state of the vacuum suction cup to adapt to different grasping requirements, which greatly reduces the control complexity and improves the adaptability and work efficiency of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 It is a schematic diagram of the utility model.

[0017] Among them, 1-gantry, 11-column, 12-crossbeam, 13-slide rail, 2-horizontal drive device, 21-motor, 22-belt, 3-manipulator, 31-grasping part, 311-rack rod, 312-vacuum suction cup, 313-cylinder, 32-telescopic part, 33-upper shelf plate, 34-lower shelf plate. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the utility model, and are not used to limit the utility model. In the utility model, unless otherwise stated, the directional words used, such as "upper" and "lower", generally refer to the upper and lower parts of the device in actual use or working state, specifically the drawing direction in the accompanying drawings; while "inside" and "outside" refer to the outline of the device.

[0019] like Figure 1As shown, the utility model mainly consists of three parts including a gantry 1, a horizontal drive device 2 and a manipulator 3.

[0020] The gantry 1 is composed of the following components: a plurality of columns 11, which are firmly erected on the ground to provide stable support for the entire manipulator; a crossbeam 12, which is erected on the upper ends of the plurality of columns 11 to form a stable frame; a slide rail 13, which is installed at the lower part of the crossbeam 12 to provide guidance for the horizontal movement of the manipulator 3.

[0021] The horizontal drive device 2 includes: a motor 21, which is installed on the upper part of the beam 12 as a power source; a synchronous belt 22, which is arranged at the lower part of the beam 12 and is connected to the motor 21, and is driven by the motor 21 to rotate horizontally, thereby driving the manipulator 3 to move horizontally on the slide rail 13.

[0022] The manipulator 3 is a key part for performing the grasping action, and includes: an upper shelf plate 33, whose upper end is mounted on the slide rail 13 and can move horizontally along the slide rail 13, and whose lower end is connected to the synchronous belt 22 and is driven by the synchronous belt 22 to move horizontally; a lower shelf plate 34, which is connected to the upper shelf plate 33 through a vertical telescopic portion 32 and can move vertically relative to the upper shelf plate 33; a grasping portion 31, which is mounted on the lower shelf plate 34 and is used to actually grasp the plate. The grasping portion 31 specifically includes a rack rod 311, a vacuum suction cup 312 and a cylinder 313. The rack rod 311 is mounted on the lower shelf plate 34, and two vacuum suction cups 312 are mounted at both ends of each rack rod 311. The vacuum suction cup 312 is connected to the cylinder 313, and the telescopic movement of the cylinder 313 is used to realize the grasping and putting down of the object.

[0023] In this embodiment, the grasping part 31 includes 4 racks 311, 8 vacuum suction cups 312 and 2 cylinders 313. Such a design can adjust the grasping ability and range of the grasping part 31 according to actual needs. The vertical telescopic part 32 is preferably a hydraulic cylinder, which provides a strong vertical telescopic force so that the grasping part 31 can move vertically stably, and the belt 22 is preferably a synchronous belt, which ensures the stability and accuracy of the manipulator 3 during horizontal movement.

[0024] Specific steps:

[0025] When in use, first adjust the working state of the vacuum suction cup 312 on the grasping part 31 according to the size and shape of the plate-like object to be grasped, and ensure that there are enough vacuum suction cups 312 in contact with the surface of the plate-like object. Then, start the motor 21, and drive the manipulator 3 to move horizontally above the plate-like object along the slide rail 13 through the synchronous belt 22. Next, start the vertical telescopic part 32, and control the grasping part 31 to descend to a suitable height so that the vacuum suction cup 312 fits tightly on the surface of the plate-like object. Subsequently, start the cylinder 313, and grasp the plate-like object through the vacuum suction cup 312. After the grasping is completed, start the motor 21 and the vertical telescopic part 32 again, move the grasped plate-like object to the specified position, and start the cylinder 313 to put down the plate-like object.

[0026] The above is a detailed introduction to a gantry vacuum suction cup grasping manipulator for plate-like object detection provided by the utility model. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present utility model.

Claims

1. A gantry vacuum suction cup grasping manipulator for plate-like object detection, comprising a gantry (1), a horizontal drive device (2) and a manipulator (3), characterized in that: The gantry (1) comprises a plurality of columns (11), a crossbeam (12) and a slide rail (13); the columns (11) are mounted on the ground; the crossbeam (12) is mounted on the upper ends of the plurality of columns (11); the horizontal drive device (2) is arranged on the crossbeam (12); the slide rail (13) is arranged on the lower part of the crossbeam (12); the upper end of the manipulator (3) is mounted on the slide rail (13); and the manipulator (3) comprises a grasping portion (31) and a vertical telescopic portion (32).

2. A gantry vacuum suction cup grasping manipulator for plate-like object detection according to claim 1, characterized in that: The horizontal driving device (2) comprises a motor (21) and a belt (22); the motor (21) is arranged on the upper part of the crossbeam (12), and the belt (22) is arranged on the lower part of the crossbeam (12); the motor (21) drives the belt (22) to rotate horizontally.

3. The gantry vacuum suction cup grasping manipulator for plate-like object detection according to claim 2 is characterized in that: The robot (3) comprises an upper frame plate (33) and a lower frame plate (34), the upper end of the upper frame plate (33) is mounted on the slide rail (13), the lower end of the upper frame plate (33) is mounted on the belt (22), the grasping portion (31) is arranged on the lower frame plate (34), and the vertical telescopic portion (32) is arranged between the upper frame plate (33) and the lower frame plate (34).

4. The gantry vacuum suction cup grasping manipulator for plate-like object detection according to claim 3 is characterized in that: The grasping portion (31) comprises a rack rod (311), a vacuum suction cup (312) and a cylinder (313); the rack rod (311) is arranged on the lower rack plate (34); two vacuum suction cups (312) are arranged at each end of the rack rod (311); the vacuum suction cups (312) are connected to the cylinder (313); and the object is grasped and lowered through the cylinder (313).

5. A gantry vacuum suction cup grasping manipulator for plate-like object detection according to any one of claims 1 to 4, characterized in that: The vertical telescopic part (32) is a hydraulic cylinder.

6. A gantry vacuum suction cup grasping manipulator for plate-like object detection according to any one of claims 2 to 4, characterized in that: The belt (22) is a synchronous belt.

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