CN205222039U

CN205222039U - Automatic go up glass's manipulator structure

Info

Publication number: CN205222039U
Application number: CN201521030083.5U
Authority: CN
Inventors: 夏旦; 张茂江; 姜波
Original assignee: JIANGYIN XINHUI SOLAR ENERGY CO Ltd
Current assignee: JIANGYIN XINHUI SOLAR ENERGY CO Ltd
Priority date: 2015-12-11
Filing date: 2015-12-11
Publication date: 2016-05-11
Anticipated expiration: 2025-12-11

Abstract

The utility model provides an automatic go up glass's manipulator structure, it makes has in the middle of the glass face of pull -up recessedly, and the easily separation between the glass, and then make and can not draw two glass is simultaneously avoided the glass fish tail or is exploded the piece. It includes mechanical arm, inhales disk substrate seat dish, sucking disc, mechanical arm's below is linked to be had inhale disk substrate seat dish, it has arranged to inhale the lower terminal surface of disk substrate seat dish the sucking disc, its characterized in that: the quantity of sucking disc is four, four four corners position that the sucking disc becomes the rectangle distribute in inhale disk substrate seat dish, the position of sucking disc is regional corresponding to the glass's of below four corners.

Description

A kind of robot manipulator structure of upper glass automatically

Technical field

The utility model relates to the technical field of solar module manufacturing equipment, is specially a kind of robot manipulator structure of upper glass automatically.

Background technology

Current solar photovoltaic assembly is put upper conveyor line glass and has been widely used manipulator and automatically go up glass, and the upper glass machinery hand that we use is with conveyor line on the glass conveying on sucker suction pallet, existing manipulator is provided with 6 suckers, before 6 suckers, in, rear both sides are arranged side by side, its structure is shown in Fig. 1, the glass surface of its pull-up is very smooth, because be one to put one's child in a boarding nursery glass, adsorption power between glass and glass is stronger, therefore two blocks of glass can be drawn when often inhaling one block of glass simultaneously, can not separate timely between glass with glass, because vibrations may cause next block glass to drop from manipulator in the process of transporting, cause glass scratch or quick-fried.

Summary of the invention

For the problems referred to above, the utility model provides a kind of robot manipulator structure automatically going up glass, and it makes the glass surface of pull-up centre have recessed, is easy to the separation between glass, and then makes to draw two blocks of glass simultaneously, avoid glass scratch or quick-fried.

A kind of robot manipulator structure of upper glass automatically, its technical scheme is such: it comprises manipulator arm, suction cup base dish, sucker, the lower chain of described manipulator arm is connected to described suction cup base dish, the lower surface of described suction cup base dish is furnished with described sucker, it is characterized in that: the quantity of described sucker is four, the orthogonal corner location of four described suckers is distributed in described suction cup base dish, and the position of described sucker corresponds to four angular zones of the glass of below.

It is further characterized in that: the sucker disk seat of any one sucker is circumscribed with jacking cylinder, and described jacking cylinder can drive the sucker disk seat movement in vertical direction of this sucker, and then drives this sucker movement in vertical direction;

The side being circumscribed with the sucker disk seat of the described sucker of jacking cylinder is fastenedly connected with contiguous block, and described contiguous block is fastenedly connected the piston rod of jacking cylinder, and the pedestal of described jacking cylinder is fastenedly connected described suction cup base dish.

After adopting technique scheme, the mode of 4 sucker suction glass, the glass surface of pull-up has recessed in centre under gravity, be easy to the separation between glass, and changeable program, before manipulator at the uniform velocity pull-up glass, manipulator first adsorbs glass, then the distance that is accelerated lift and general 2 centimeters of quick stopping motion is carried out, and then at the uniform velocity lift glass on conveyor line, in this motion process, by by the below glass of adsorption affinity between glass absorption can very fast and top by manipulator the glass generation of adsorbing be separated, any destruction can not be produced, therefore this structure makes the glass surface of pull-up centre have recessed, be easy to the separation between glass, and then make to draw two blocks of glass simultaneously, avoid glass scratch or quick-fried.

Accompanying drawing explanation

Fig. 1 is the mode of 6 suckers suction glass of prior art;

Fig. 2 is front view structural representation of the present utility model;

Fig. 3 is upward view structural representation of the present utility model;

Fig. 4 is the glass surface after the utility model absorption glass;

Fig. 5 is the mounting structure schematic perspective view of jacking cylinder and corresponding sucker;

Title in figure corresponding to sequence number is as follows:

Manipulator arm 1, suction cup base dish 2, sucker 3, glass 4, sucker disk seat 5, jacking cylinder 6, contiguous block 7, piston rod 8, pedestal 9.

Detailed description of the invention

A kind of robot manipulator structure of upper glass automatically, see Fig. 2 ~ Fig. 5: it comprises manipulator arm 1, suction cup base dish 2, sucker 3, the lower chain of manipulator arm 1 is connected to suction cup base dish 2, the lower surface of suction cup base dish 2 is furnished with sucker 3, the quantity of sucker 3 is four, the orthogonal corner location of four suckers 3 is distributed in suction cup base dish 2, the position of sucker 3 corresponds to four angular zones of the glass 4 of below, to allow glass 4 angles preferentially depart from next block glass with 4 sucker suction glass, due to self gravitation problem, intermediate point is the preferential disengaging that concave shape is more conducive to 4 angles.

The sucker disk seat 5 of any one sucker 3 is circumscribed with jacking cylinder 6, and jacking cylinder 6 can drive sucker disk seat 5 movement in vertical direction of this sucker 3, and then drives this sucker 3 movement in vertical direction;

The side being circumscribed with the sucker disk seat 5 of the sucker 3 of jacking cylinder 6 is fastenedly connected with contiguous block 7, and contiguous block 7 is fastenedly connected the piston rod 8 of jacking cylinder 6, and the pedestal 9 of jacking cylinder 6 is fastenedly connected suction cup base dish 2.

Its principle of work is as follows: the mode of 4 sucker suction glass, the glass surface of pull-up has recessed in centre under gravity, be easy to the separation between glass, and changeable program, before manipulator at the uniform velocity pull-up glass, manipulator first adsorbs glass, then the distance that is accelerated lift and general 2 centimeters of quick stopping motion is carried out, and then at the uniform velocity lift glass on conveyor line, in this motion process, jacking cylinder also can drive corresponding sucker that the glass of absorption is pushed up downwards simultaneously, utilize acceleration/accel that two blocks of glass are separated, the time of jacking cylinder action must be a manipulator Rapid lifting this stage quick stopping before at the uniform velocity rising, utilize acceleration/accel simultaneously jacking glass make wherein one jiao depart from lower block glass as early as possible.

Above specific embodiment of the utility model has been described in detail, but content being only the preferred embodiment that the utility model is created, the practical range created for limiting the utility model can not being considered to.All equalizations done according to the utility model creation application range change and improve, and all should still belong within patent covering scope of the present utility model.

Claims

1. the robot manipulator structure of an automatic upper glass, it comprises manipulator arm, suction cup base dish, sucker, the lower chain of described manipulator arm is connected to described suction cup base dish, the lower surface of described suction cup base dish is furnished with described sucker, it is characterized in that: the quantity of described sucker is four, the orthogonal corner location of four described suckers is distributed in described suction cup base dish, and the position of described sucker corresponds to four angular zones of the glass of below.

2. the robot manipulator structure of a kind of upper glass automatically as claimed in claim 1, it is characterized in that: the sucker disk seat of any one sucker is circumscribed with jacking cylinder, described jacking cylinder can drive the sucker disk seat movement in vertical direction of this sucker.

3. the robot manipulator structure of a kind of upper glass automatically as claimed in claim 2, it is characterized in that: the side being circumscribed with the sucker disk seat of the described sucker of jacking cylinder is fastenedly connected with contiguous block, described contiguous block is fastenedly connected the piston rod of jacking cylinder, and the pedestal of described jacking cylinder is fastenedly connected described suction cup base dish.