Full-automatic updraught type robot automatic sheet taking device

Abstract

The utility model relates to the technical field of sheet-shaped workpiece deep processing and sheet feeding, in particular to a full-automatic updraught type robot automatic sheet taking device which comprises a sheet taking frame, an image sensor is fixedly installed on the sheet taking frame, bearing rods are symmetrically and fixedly installed on the sheet taking frame, a sliding frame is installed between the two bearing rods in a sliding mode, and the sliding frame is connected with the image sensor. Pneumatic suction cups are evenly and fixedly installed on the sliding frame, threaded rods are evenly and rotationally installed on the piece taking frame, a threaded sleeve is fixedly installed at the top end of the sliding frame, and stepping motors are symmetrically and fixedly installed at the two ends of the piece taking frame; when the mechanical arm moves the glass, the image sensor can shoot the glass, and after the size of the glass is judged through the upper computer, each sliding frame can automatically move to a proper position, so that the stress of the glass is more uniform in the process of being moved by the mechanical arm, and the effect of enhancing the use applicability is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to sheet workpiece deep processing sheet feeding technical field, especially a full -automatic suction type robot automatic sheet taking device. BACKGROUND

[0002] In the mass production of glass, the automatic line is used to improve the labor productivity, stabilize and improve the product quality, and in the glass production process, the accurate grabbing and carrying of glass sheets are a key work, in practical application, the robot automatic sheet taking device usually needs the following technologies:

[0003] 1. High-precision positioning system, such as laser positioner, visual identification system, etc., which can accurately identify the position and attitude of the glass sheet;

[0004] 2. Strong adsorption mechanism, such as vacuum chuck assembly, which has enough suction force to stably grab the glass sheet;

[0005] 3. Flexible mechanical arm structure, such as multi-joint mechanical arm, which ensures accurate access to the sheet taking position in different working scenes.

[0006] The existing Chinese patent: a robot sheet taking machine device, patent number: CN206216706U, including ordinary type six-axis robot, piece rack, sheet taking probe plate gripper, synchronous sheet feeding roller and safety fence. The robot sheet taking machine is provided with a sheet taking probe plate gripper, a proximity sensor is installed on the gripper, the robot automatically finds the plane of the sheet-shaped workpiece on the current rack by using the sensor on the gripper, and records the current position after finding the first sheet position. After successful grabbing, it is placed on the synchronous roller connected with the next process, and there is no communication interaction between the robot and the external roller controller, which avoids complex communication program, and the size data of the sheet-shaped workpiece is input through the robot teaching device, which is simple and convenient. The sheet taking machine with this structure can be operated by one operator in the safety area at the same time, and each robot sheet taking machine can take 5 sheets per minute, which can realize high automation control and can be used for deep processing and sheet feeding of various sheet-shaped workpieces.

[0007] But in the implementation process of the above technical scheme, it is found that at least the following technical problems exist: the above-mentioned sheet taking device is grabbed by the fixedly installed suction cup, and different sizes of glass may be produced according to the customer's demand in the glass production, the position of the suction cup cannot be quickly adjusted according to the size of the produced glass, if the glass length is wide, the glass is grabbed at both ends or in the middle, which is easy to cause uneven stress of the glass, and further cause the glass to break, if the glass size is small, some suction cups may exceed the glass area, and further be adsorbed to the object below the glass, such as the conveyor belt, therefore, the applicability is poor in use. UTILITY MODEL CONTENT

[0008] In view of the defects of the prior art, the full-automatic upper suction type robot automatic wafer taking device is provided, and the above technical problems are solved, that is, the glass is grabbed by the fixedly installed suction cups, different sizes of glass can be produced according to customer requirements during glass production, the positions of the suction cups cannot be quickly adjusted according to the size of the produced glass, if the glass length is wide, the two ends or the middle of the glass are grabbed, the glass is prone to uneven stress, and then the glass is prone to breakage, if the glass size is small, part of the suction cups can be out of the glass area, and then objects below the glass, such as a conveying belt, are adsorbed during adsorption, and therefore the applicability is poor during use.

[0009] In order to achieve the above object, the following technical scheme is adopted:

[0010] The full-automatic upper suction type robot automatic wafer taking device comprises a wafer taking frame, an image sensor is fixedly installed on the wafer taking frame, load bearing rods are fixedly installed on the wafer taking frame in a symmetrical manner, a sliding frame is slidingly installed between the two load bearing rods, pneumatic suction cups are fixedly installed on the sliding frame in a uniform manner, threaded rods are rotatably installed on the wafer taking frame in a uniform manner, threaded sleeves are fixedly installed at the top end of the sliding frame, and step motors are fixedly installed at the two ends of the wafer taking frame in a symmetrical manner.

[0011] Preferably, the top end of the two pneumatic suction cups is fixedly installed with a connecting pipe.

[0012] Preferably, the two ends of the sliding frame are fixedly installed with a limiting sleeve in a symmetrical manner.

[0013] Preferably, the two ends of the sliding frame are fixedly installed with a sleeve tube in a symmetrical manner.

[0014] Preferably, the top end of the sleeve tube is rotatably installed with a pipe collecting tube.

[0015] Preferably, the top end of the pipe collecting tube is fixedly installed with a torsional spring, and the tail end of the torsional spring is fixedly connected with the sliding frame.

[0016] Preferably, the two ends of the sliding frame are rotatably installed with a roller in a symmetrical manner.

[0017] Preferably, the limiting sleeve is internally installed with an air guide pipe, and the tail end of the air guide pipe is in communication with the connecting pipe.

[0018] Compared with the prior art, the full-automatic upper suction type robot automatic wafer taking device has the following beneficial effects:

[0019] I. The image sensor will take a picture of the glass, and then the host computer will determine the size of the glass, and then drive the stepper motor according to the size of the glass, so that the position of the sliding frame changes, when the stepper motor rotates forward, it will drive the threaded rod to rotate clockwise, because the threaded rod is screwed with the threaded sleeve, so the threaded sleeve will be driven by the threaded rod to slide the sliding frame outward, when the stepper motor reverses, it will drive the threaded rod to rotate counterclockwise, so the threaded sleeve will be driven by the threaded rod to slide the sliding frame inward, and then the mechanical arm drives the device downward until the pneumatic suction cup is attached to the glass, and then the pneumatic control system will draw the air inside the pneumatic suction cup through the air guide pipe, so that the device can grasp the glass, after the position of the sliding frame is adjusted by the host computer, the suction force generated by the pneumatic suction cup acts uniformly on the glass, and after the size of the glass is determined by the host computer, each sliding frame will automatically move to the appropriate position, so that the glass is more evenly stressed during movement by the mechanical arm, thereby enhancing the applicability of use.

[0020] II. When the sliding frame moves, the sliding frame slides outward, which will generate a pulling force on the air guide pipe, and the air guide pipe will in turn drive the pipe cylinder to rotate clockwise, and when the pipe cylinder rotates clockwise, it will release more air guide pipes, and at the same time, the torsional spring will store energy, the air guide pipe at the bottom end of the pipe cylinder will drive the air guide pipe on the sleeve cylinder to rotate clockwise, so that the pipe cylinder releases more air guide pipes, and the air guide pipe released by the pipe cylinder will be supplemented to the pipe cylinder under the action of the pulling force, when the sliding frame slides inward, the torsional spring will drive the pipe cylinder to rotate counterclockwise, and the pipe cylinder will retract the released air guide pipes, and at the same time, the air guide pipe at the top end of the sleeve cylinder will be guided to rewrap counterclockwise on the sleeve cylinder, thereby avoiding the mutual entanglement of the air guide pipes caused by frequent sliding of the sliding frame, thereby improving the stability of the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, and the content of the specification can be implemented, the following will be explained in detail with the preferred embodiments of the present application and the accompanying drawings.

[0022] Figure 1 It is the structure diagram of the film taking frame of the present application;

[0023] Figure 2 It is the structure diagram of the threaded rod of the present application;

[0024] Figure 3 It is the cross-sectional structure diagram of the sliding frame of the present application;

[0025] Figure 4 It is the structure diagram of the limiting sleeve of the present application;

[0026] Figure 5The utility model discloses a pipe collecting cylinder structure.

[0027] Legend: 1, take the frame; 2, image sensor; 3, sliding frame; 4, pneumatic sucking disc; 5, threaded rod; 6, threaded sleeve; 7, stepper motor; 8, bearing rod; 9, connecting pipe; 11, limit sleeve; 12, sleeve pipe cylinder; 13, pipe collecting cylinder; 14, torsional spring; 15, cylinder; 16, air guide pipe. DETAILED DESCRIPTION

[0028] The embodiment of the application provides a kind of full-automatic upper suction type robot automatic film taking device, effectively solve the film taking device described above, through fixed installation sucking disc to glass is grabbed, it can produce glass of different sizes according to customer demand when glass production, its sucking disc position cannot be quickly adjusted according to the size of glass produced, if glass length is wide, it is easy to cause glass uneven force when the both ends or middle of glass is grabbed, and then cause glass to break, if glass size is smaller, it can be that part of sucking disc exceeds glass area, and then it will be adsorbed to the object below glass, such as conveyor belt when adsorbing, therefore applicability is poor in use technical problem, image sensor will be photographed to glass, then the size of glass is judged by host computer, then according to the size of glass drive stepper motor, the position of sliding frame changes, when stepper motor is forward, it will drive threaded rod to rotate clockwise, because threaded rod is connected with threaded sleeve screw thread, therefore threaded sleeve will be driven to sliding frame to slide out under the drive of threaded rod, when stepper motor is reversed, it will drive threaded rod to rotate counterclockwise, therefore threaded sleeve will be driven to sliding frame to slide in under the drive of threaded rod, then mechanical arm drives the device downward, until pneumatic sucking disc and glass are attached, then pneumatic control system will remove the air in the interior of pneumatic sucking disc through air guide pipe, so that the device can grab glass, after the position of sliding frame is adjusted according to host computer, the suction force generated by pneumatic sucking disc acts on glass evenly, after the size of glass is judged by host computer, it will automatically make each sliding frame move to appropriate position, so that glass is more evenly stressed in the process of being moved by mechanical arm, reach the effect that the applicability of use is enhanced, when sliding frame position moves, sliding frame slides out, will generate tension to air guide pipe, air guide pipe will then drive pipe collecting cylinder to rotate clockwise, when pipe collecting cylinder rotates clockwise, it will release more air guide pipe, and make torsional spring store energy at the same time, the air guide pipe on sleeve pipe cylinder will drive the air guide pipe on sleeve pipe cylinder to rotate clockwise, so that pipe collecting cylinder releases more air guide pipe, the air guide pipe released by pipe collecting cylinder will be supplemented to pipe collecting cylinder under the action of tension, when sliding frame slides in, torsional spring will drive pipe collecting cylinder to rotate counterclockwise, pipe collecting cylinder counterclockwise rotation will recover the air guide pipe released, and guide the air guide pipe at the top of sleeve pipe cylinder to re-wind counterclockwise on sleeve pipe cylinder, can avoid that air guide pipe is mutually entangled due to sliding frame frequent sliding, reach the effect that the stability of equipment operation is improved.

[0029] Embodiment

[0030] As Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 indicated, the technical scheme in the embodiment of the application effectively solves the above-mentioned glass taking device. The suction cups are fixedly installed to grab the glass. In the glass production, different sizes of glass can be produced according to the customer's demand. The positions of the suction cups cannot be quickly adjusted according to the size of the produced glass. If the length of the glass is wide, the glass is easily broken when the two ends or the middle of the glass are grabbed, and if the size of the glass is small, some suction cups can be out of the glass area, and thus the objects below the glass, such as the conveying belt, are sucked during the suction. Therefore, the technical problem of poor applicability in use is solved, and the general idea is as follows:

[0031] In view of the problems in the prior art, the utility model provides a full -automatic upper suction type robot automatic taking device, including taking frame 1, fixedly installed with image sensor 2 on taking frame 1, fixedly installed with bearing rod 8 on taking frame 1 symmetry, slidingly installed with sliding frame 3 between two bearing rods 8, uniformly fixedly installed with pneumatic suction cup 4 on sliding frame 3, uniformly rotatably installed with threaded rod 5 on taking frame 1, fixedly installed with threaded sleeve 6 on the top of sliding frame 3, fixedly installed with stepping motor 7 on both ends of taking frame 1 symmetry.

[0032] The position of the threaded sleeve 6 at the top of each sliding frame 3 is different, the plurality of threaded sleeves 6 are staggered, the plurality of threaded sleeves 6 are respectively screwed with the plurality of threaded rods 5, the plurality of stepping motors 7 drive the threaded rods 5 to rotate through the bevel gear sets, the top of the two pneumatic suction cups 4 is fixedly installed with a connecting pipe 9, and the two ends of the sliding frame 3 are fixedly installed with a limiting sleeve 11.

[0033] The two ends of the sliding frame 3 are fixedly installed with a sleeve tube 12, the top of the sleeve tube 12 is rotatably installed with a pipe collecting tube 13, and the top of the pipe collecting tube 13 is fixedly installed with a torsional spring 14; the end of the torsional spring 14 is fixedly connected with the sliding frame 3, the two ends of the sliding frame 3 are rotatably installed with a roller 15, and the limiting sleeve 11 is internally installed with a gas guide pipe 16; the end of the gas guide pipe 16 is communicated with the connecting pipe 9.

[0034] Working principle:

[0035] Firstly, the mechanical arm is connected to the device through the mounting hole on the tray 1, the image sensor 2 and the stepping motor 7 are connected to the PLC control system and the upper computer, and the end of the air guide pipe 16 is connected to the pneumatic control system. In use, the mechanical arm will lift the device, when the conveying belt transports the glass under the image sensor 2, the image sensor 2 will take a picture of the glass, then the upper computer will judge the size of the glass, and then drive the stepping motor 7 to change the position of the sliding frame 3. When the stepping motor 7 rotates forward, it will drive the threaded rod 5 to rotate clockwise, and since the threaded rod 5 is screwed with the threaded sleeve 6, the threaded sleeve 6 will be driven by the threaded rod 5 to slide the sliding frame 3 outward. When the stepping motor 7 reverses, it will drive the threaded rod 5 to rotate counterclockwise, so the threaded sleeve 6 will be driven by the threaded rod 5 to slide the sliding frame 3 inward. Each stepping motor 7 corresponds to a sliding frame 3, and each stepping motor 7 can be independently started, so that each sliding frame 3 can slide independently. After the upper computer judges the size of the glass, it will automatically move each sliding frame 3 to the appropriate position, then the mechanical arm will lower the device until the pneumatic suction cup 4 is attached to the glass, then the pneumatic control system will draw the air in the pneumatic suction cup 4 through the air guide pipe 16, so that the device can grasp the glass. After the position of the sliding frame 3 is adjusted by the upper computer, the suction force generated by the pneumatic suction cup 4 acts uniformly on the glass, so that the glass is more evenly stressed during movement by the mechanical arm.

[0036] Secondly, after one end of the air guide pipe 16 is connected to the connecting pipe 9, the air guide pipe 16 will first wrap counterclockwise around the sleeve cylinder 12 until it reaches the top end of the sleeve cylinder 12, then it will wrap clockwise from the bottom end of the pipe cylinder 13 until it reaches the top end of the pipe cylinder 13, then it will be connected to the pneumatic system. The surface of the sleeve cylinder 12 and the pipe cylinder 13 has a certain stickiness. When the sliding frame 3 moves, the sliding frame 3 slides outward, which will generate a pulling force on the air guide pipe 16, which in turn will drive the pipe cylinder 13 to rotate clockwise, releasing more air guide pipes 16 and storing energy in the torsional spring 14. The air guide pipe 16 at the bottom end of the pipe cylinder 13 will drive the air guide pipe 16 on the sleeve cylinder 12 to rotate clockwise, allowing the pipe cylinder 13 to release more air guide pipes 16. The air guide pipes 16 released by the pipe cylinder 13 will be replenished to the pipe cylinder 13 under the action of the pulling force. When the sliding frame 3 slides inward, the torsional spring 14 will drive the pipe cylinder 13 to rotate counterclockwise, which will retract the released air guide pipes 16 and guide the air guide pipes 16 at the top end of the sleeve cylinder 12 to rewrap counterclockwise around the sleeve cylinder 12, avoiding the mutual entanglement of the air guide pipes 16 caused by frequent sliding of the sliding frame 3.

[0037] Finally, it should be noted that: apparently, the above embodiments are merely examples for clearly illustrating the utility model, and are not limited to the implementation. For ordinary skilled persons in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to exhaust all the implementation. The obvious changes or variations derived therefrom are still within the protection scope of the utility model.

Claims

1. A fully automatic updraft robot automatic sheet taking device comprising a sheet taking rack (1), characterized in that, The image sensor (2) is fixedly installed on the film taking frame (1), the load bearing rods (8) are fixedly installed on the film taking frame (1) in symmetry, the sliding frames (3) are slidingly installed between the two load bearing rods (8), the pneumatic suction cups (4) are fixedly installed on the sliding frames (3) in uniformity, the threaded rods (5) are rotatably installed on the film taking frame (1), the threaded sleeves (6) are fixedly installed on the top end of the sliding frames (3), the stepping motors (7) are fixedly installed on the two ends of the film taking frame (1) in symmetry, Wherein, the threaded sleeves (6) on the top end of each sliding frame (3) are different, the threaded sleeves (6) are staggered, the threaded sleeves (6) are respectively in threaded connection with the threaded rods (5), the stepping motors (7) drive the threaded rods (5) to rotate through the bevel gear sets.

2. The fully automatic updraft robot automatic specimen fetching device according to claim 1, characterized in that, The connecting pipes (9) are fixedly installed on the top end of the pneumatic suction cups (4).

3. The fully automatic updraft robot automatic specimen fetching device according to claim 1, characterized in that, The limiting sleeves (11) are fixedly installed on the two ends of the sliding frames (3) in symmetry.

4. The fully automatic updraft robot automatic specimen fetching device according to claim 1, characterized in that, The sleeve tubes (12) are fixedly installed on the two ends of the sliding frames (3) in symmetry.

5. The fully automatic updraft robot automatic specimen fetching device according to claim 4, characterized in that, The pipe collecting tubes (13) are rotatably installed on the top end of the sleeve tubes (12).

6. The fully automatic updraft robot automatic specimen fetching device according to claim 5, characterized in that, The torsional springs (14) are fixedly installed on the top end of the pipe collecting tubes (13). Wherein, the end of the torsional spring (14) is fixedly connected with the sliding frame (3).

7. The fully automatic updraft robot automatic slide preparation apparatus according to claim 1, wherein The rollers (15) are rotatably installed on the two ends of the sliding frames (3) in symmetry.

8. The fully automatic updraft robot automatic specimen fetching device according to claim 3, characterized in that, The air guide pipes (16) are installed in the limiting sleeves (11). Wherein, the end of the air guide pipe (16) is in communication with the connecting pipe (9).

Images