CN108792624A - Automatic charging device - Google Patents
Automatic charging device Download PDFInfo
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- CN108792624A CN108792624A CN201810852061.9A CN201810852061A CN108792624A CN 108792624 A CN108792624 A CN 108792624A CN 201810852061 A CN201810852061 A CN 201810852061A CN 108792624 A CN108792624 A CN 108792624A
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- 239000000463 material Substances 0.000 claims abstract description 57
- 239000011521 glass Substances 0.000 claims abstract description 45
- 238000011084 recovery Methods 0.000 claims abstract description 11
- 238000001179 sorption measurement Methods 0.000 claims description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000003801 milling Methods 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005496 tempering Methods 0.000 description 1
Classifications
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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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- Manipulator (AREA)
Abstract
The present invention discloses a kind of automatic charging device, including：Pedestal, roof beam structure, the first manipulator, positioning device and the second manipulator；Wherein, the upper surface of the pedestal is in turn divided into positioning area, preset area and recovery area；The roof beam structure includes two support arms being fixedly connected with the pedestal, and is connected to crossbeam of two support arms far from described pedestal one end；First manipulator is slidably mounted on the crossbeam, for the glass material by the preset area is positioned over by being taken out in charging tray, and the glass material is positioned in the positioning device；The positioning device is installed on the positioning area, for being positioned to the glass material；Second manipulator is slidably mounted on the crossbeam, and the glass material for completing positioning is taken out by the positioning device, and is moved to preset feeding position；First manipulator is additionally operable to, and will be positioned over the recovery area positioned at the empty tray in the preset area.
Description
Technical Field
The invention relates to the technical field of machine tools, in particular to an automatic feeding device applied to an automatic production line of a glass engraving and milling machine.
Background
The 3C product is updated very fast, and the demand such as 2D 2.5D glass apron, tempering membrane sharply increases, for better productivity and efficiency that improves, adopts the manipulator to replace traditional manual work to get and put the material, saves the cost of labor greatly, and glass cnc engraving and milling machine automation line realizes intelligent unmanned mill basically.
However, the existing automatic feeding device is generally complex in structure and relatively high in cost.
Disclosure of Invention
The invention mainly aims to provide an automatic feeding device, aiming at realizing automatic feeding at low cost.
In order to achieve the above object, the present invention provides an automatic feeding device, comprising: the device comprises a base, a beam frame, a first manipulator, a positioning device and a second manipulator; wherein,
the upper surface of the base is sequentially divided into a positioning area, a preset area and a recovery area;
the beam frame comprises two support arms fixedly connected with the base and a cross beam connected to one ends of the two support arms far away from the base;
the first manipulator is slidably mounted on the cross beam and used for taking out the glass materials placed in the preset area from a material tray and placing the glass materials on the positioning device;
the positioning device is arranged in the positioning area and used for positioning the glass material;
the second manipulator is slidably mounted on the cross beam and used for taking out the positioned glass material from the positioning device and moving the glass material to a preset material taking position;
the first manipulator is also used for placing the empty material tray in the preset area in the recovery area.
Optionally, the first manipulator includes a first cross arm, a saddle, a first vertical arm, and a first adsorption assembly; wherein,
the first cross arm is connected to the cross beam in a sliding mode, and the length direction of the first cross arm is perpendicular to the length direction of the cross beam; the first cross arm can move along the length direction of the cross beam;
the sliding saddle is connected with the first cross arm in a sliding mode and can move along the length direction of the first cross arm;
the first vertical arm is connected to the saddle in a sliding mode, and the length direction of the first vertical arm is perpendicular to the length direction of the cross beam and the length direction of the first cross arm; the first vertical arm is movable along the length direction of the first vertical arm;
the first adsorption component is fixedly connected to the first vertical arm and used for adsorbing the glass materials or the material tray.
Optionally, the first suction assembly comprises a first connecting plate, a fixing plate, and a plurality of first vacuum chucks; wherein,
the first connecting plate is fixedly connected to the first vertical arm;
the fixing plate is fixedly connected to the first connecting plate;
the first vacuum chucks are fixed on the fixing plate at intervals.
Optionally, the positioning device includes a housing, a positioning plate, and a first positioning assembly; wherein,
the outer cover comprises a lower fixing plate, an upper fixing plate arranged opposite to the lower fixing plate, and a side plate positioned between the upper fixing plate and the lower fixing plate;
the positioning plate is fixedly arranged on the upper fixing plate and used for bearing the glass material;
the first positioning component is used for positioning the glass material; the first positioning assembly comprises a first fixed leaning angle, a second fixed leaning angle, a first movable leaning angle, a second movable leaning angle, a first driving assembly and a second driving assembly; the first driving assembly and the second driving assembly are both arranged on the lower fixing plate; the first fixing leaning angle and the second fixing leaning angle are fixedly arranged on the upper fixing plate, penetrate through the positioning plate and extend above the positioning plate; the first fixed leaning angle and the second fixed leaning angle are vertically arranged; the first movable leaning angle is connected with the first driving assembly, penetrates through the upper fixing plate and the positioning plate, and extends above the positioning plate; the first movable leaning corner and the first fixed leaning corner are arranged oppositely and can move towards the direction close to or far away from the first fixed leaning corner under the driving of the first driving assembly; the second movable leaning angle is connected with the second driving assembly, penetrates through the upper fixing plate and the positioning plate and extends above the positioning plate; the second movable leaning corner and the second fixed leaning corner are arranged oppositely and can move towards the direction close to or far away from the second fixed leaning corner under the driving of the second driving assembly.
Optionally, the positioning device further comprises a second positioning assembly; the second positioning assembly comprises a third fixed leaning angle, a fourth fixed leaning angle, a third movable leaning angle, a fourth movable leaning angle and a third driving assembly; the third driving assembly is arranged on the lower fixing plate; the third fixing leaning angle and the fourth fixing leaning angle are fixedly arranged on the upper fixing plate, penetrate through the positioning plate and extend above the positioning plate; the third fixed leaning angle and the fourth fixed leaning angle are vertically arranged; the third movable leaning angle is connected with the third driving assembly, penetrates through the upper fixing plate and the positioning plate and extends above the positioning plate; the third movable leaning corner and the third fixed leaning corner are arranged oppositely and can move towards the direction close to or far away from the third fixed leaning corner under the driving of the third driving component; the fourth movable leaning corner is connected with the second driving assembly, penetrates through the upper fixing plate and the positioning plate, and extends above the positioning plate; the fourth movable leaning corner and the fourth fixed leaning corner are arranged oppositely and can move towards the direction close to or far away from the fourth fixed leaning corner under the driving of the second driving assembly.
Optionally, the positioning device further includes a third positioning assembly and a fourth positioning assembly; the third positioning assembly, the fourth positioning assembly and the second positioning assembly have the same structure.
Optionally, the second manipulator includes a second cross arm, a second vertical arm, and a second adsorption assembly; wherein,
the second cross arm is connected to the cross beam in a sliding mode, and the length direction of the second cross arm is perpendicular to the length direction of the cross beam; the second cross arm can move along the length direction of the cross beam;
the second vertical arm is slidably mounted on the second cross arm, and the length direction of the second vertical arm is perpendicular to the length direction of the cross beam and the length direction of the second cross arm; the second vertical arm can move along the length direction of the second vertical arm;
the second adsorption component is fixedly arranged on the second vertical arm and used for adsorbing the glass materials.
Optionally, the second adsorption assembly includes a second connection plate, a plurality of connection blocks, a plurality of second vacuum chucks, and a plurality of rotary cylinders; wherein,
the second connecting plate is fixedly connected to the second vertical arm;
the connecting blocks are connected to the second connecting plate at intervals;
each second vacuum chuck is rotatably connected to one connecting block;
each rotary cylinder is fixedly arranged on one connecting block and is in driving connection with the corresponding second vacuum chuck.
Optionally, the base includes a frame body and a coaming covering the periphery of the frame body.
Optionally, the automatic feeding device further comprises an electrical control system installed in the base; the electric control system is used for controlling the actions of the first manipulator and the second manipulator.
According to the technical scheme, the glass material is placed on the positioning device through the first mechanical arm; conveying the positioned glass material to a preset material taking position through a second mechanical arm; through the cooperative work of the first mechanical arm and the second mechanical arm, automatic feeding is realized, and the production requirement is effectively met; and the automatic feeding device has compact structure and small occupied area, and can effectively reduce the cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic perspective view of an automatic loading device according to an embodiment of the present invention;
FIG. 2 is a schematic view of an embodiment of the automatic feeding device shown in FIG. 1;
fig. 3 is a schematic perspective view of an embodiment of the first robot shown in fig. 1;
FIG. 4 is a schematic perspective view of an embodiment of the positioning device shown in FIG. 1;
fig. 5 is a schematic perspective view of an embodiment of the second robot shown in fig. 1.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
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.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides an automatic feeding device.
As shown in fig. 1 and 2, fig. 1 is a schematic perspective view of an automatic feeding device according to an embodiment of the present invention; fig. 2 is a schematic view of a use state of the automatic feeding device shown in fig. 1 according to an embodiment.
In this embodiment, the automatic feeding device includes: the robot system includes a base 100, a beam 200, a first robot 300, a positioning device 400, a second robot 500, and an electrical control system (not shown). Wherein,
the base 100 includes a frame 120 and a surrounding plate 140 covering the periphery of the frame 120.
Specifically, the frame body 120 is assembled by aluminum alloy sections, and has a simple structure and relatively low cost. The enclosure 140 includes a top plate 142, a bottom plate (not shown), and an outer plate 144 disposed between the top plate 142 and the bottom plate, and at least one of the outer plates 144 is provided with a door 146. The upper surface of the top plate 142 is sequentially divided into a positioning area 102, a preset area 104, and a recycling area 106. The positioning area 102 is used for fixedly mounting the positioning device 400; the preset area 104 is used for storing a tray 700 containing glass materials 600; the recovery zone 106 is used to store the trays 700.
The beam mount 200 includes two support arms 220 fixedly connected to the base 100, and a cross beam 240 connected to two of the support arms 220 and far away from one end of the base 100.
Specifically, the two support arms 220 are respectively disposed at two ends of the base 100 in the length direction. The cross beam 240 spans the positioning zone 102, the staging zone 104, and the recovery zone 106.
As shown in fig. 3, and referring to fig. 1 and fig. 2, fig. 3 is a schematic perspective view of an embodiment of the first manipulator shown in fig. 1.
The first manipulator 300 is slidably mounted on the cross beam 240, and is used for taking out the glass material 600 placed in the preset area 104 from the tray 700 and placing the glass material 600 on the positioning device 400. The first robot 300 is further configured to place the empty tray 700 located in the pre-placement area 104 in the recycling area 106.
Specifically, the first robot 300 includes a first cross arm 320, a saddle 340, a first vertical arm 360, and a first adsorption assembly 380.
One end of the first cross arm 320 is slidably connected to the cross beam 240, the other end of the first cross arm is suspended above the preset area 104, and the length direction of the first cross arm 320 is perpendicular to the length direction of the cross beam 240; the first cross arm 320 is movable along the length of the cross member 240.
The saddle 340 is slidably connected to the first cross arm 320 and is movable along the length of the first cross arm 320.
The first vertical arm 360 is slidably connected to the saddle 340, and the length direction of the first vertical arm 360 is perpendicular to the length direction of the cross beam 240 and the length direction of the first cross arm 320; the first vertical arm 360 is movable along the length of the first vertical arm 360.
The first suction assembly 380 is fixedly connected to the first vertical arm 360 for sucking the glass material 600 or the tray 700. The first suction assembly 380 includes a first connection plate 382, a fixing plate 384, and a plurality of first vacuum cups 386. The first connecting plate 382 is fixedly connected to the first vertical arm 360; the fixing plate 384 is fixedly connected to the first connecting plate 382; a plurality of first vacuum chucks 386 are fixed to the fixing plate 384 at intervals.
In use, the first cross arm 320 moves to a position right above the preset area 104; the first vertical arm 360 moves downwards until the first vacuum chuck 386 adsorbs the glass material 600 in the tray 700 in the pre-placement area 104; after the completion of the suction, the first vertical arm 360 moves upward while the first horizontal arm 320 moves toward the positioning region 102, and when the first horizontal arm 320 moves right above the positioning device 400, the first vertical arm 360 moves downward and places the glass material 600 on the positioning device 400. After the glass materials 600 in the tray 700 are completely transported, the first cross arm 320 moves to a position right above the preset area 104; the first vertical arm 360 moves downwards until the first vacuum chuck 386 is sucked to the empty tray 700 in the preset area 104; after the adsorption is completed, the first vertical arm 360 moves upward, and at the same time, the first horizontal arm 320 moves toward the recovery area 106, and when the first horizontal arm 320 moves to a position right above the recovery area 106, the first vertical arm 360 moves downward, and the empty tray 700 is placed in the recovery area 106, and then the above steps are continued.
As shown in fig. 4, and referring to fig. 1 and fig. 2, fig. 4 is a schematic perspective view of an embodiment of the positioning device shown in fig. 1.
The positioning device 400 is installed in the positioning area 102, and is used for positioning the glass material 600.
Specifically, the positioning device 400 includes a housing 420, a positioning plate 440, a first positioning assembly 450, a second positioning assembly 460, a third positioning assembly 470, and a fourth positioning assembly 480.
The housing 420 includes a lower fixing plate 422, an upper fixing plate 424 disposed opposite to the lower fixing plate 422, and a side plate 426 between the upper fixing plate 424 and the lower fixing plate 422.
The positioning plate 440 is fixedly mounted on the upper fixing plate 424 for supporting the glass material 600.
The first positioning assembly 450 is used for positioning the glass material 600. The first positioning assembly 450 includes a first fixed reclining angle 452, a second fixed reclining angle 454, a first movable reclining angle 456, a second movable reclining angle 458, a first drive assembly (not shown), and a second drive assembly (not shown). The first driving assembly and the second driving assembly are both mounted on the lower fixing plate 422; the first fixing leaning corner 452 and the second fixing leaning corner 454 are fixedly mounted on the upper fixing plate 424, penetrate through the positioning plate 440, and extend above the positioning plate 440; the first fixed abutment 452 is arranged perpendicular to the second fixed abutment 454; the first movable backrest 456 is connected to the first driving assembly, and extends above the positioning plate 440 after penetrating through the upper fixing plate 424 and the positioning plate 440; the first movable rest angle 456 is disposed opposite to the first fixed rest angle 452, and can move towards a direction close to or away from the first fixed rest angle 452 under the driving of the first driving assembly; the second movable backrest 458 is connected to the second driving assembly, penetrates through the upper fixing plate 424 and the positioning plate 440, and extends above the positioning plate 440; the second movable rest angle 458 is disposed opposite to the second fixed rest angle 454, and can move toward or away from the second fixed rest angle 454 under the driving of the second driving assembly. The first driving assembly and the second driving assembly are both belt transmission assemblies.
The positioning device 400 further includes a second positioning assembly 460; the second positioning assembly 460 includes a third fixed backrest 462, a fourth fixed backrest 464, a third movable backrest 466, a fourth movable backrest 468, and a third driving assembly (not shown). The third driving assembly is mounted on the lower fixing plate 422; the third fixing leaning corner 462 and the fourth fixing leaning corner 464 are fixedly mounted on the upper fixing plate 424, penetrate through the positioning plate 440, and extend above the positioning plate 440; the third fixed lean angle 462 is vertically arranged with the fourth fixed lean angle 464; the third movable backrest 466 is connected to the third driving assembly, and extends above the positioning plate 440 after penetrating through the upper fixing plate 424 and the positioning plate 440; the third movable backrest 466 is disposed opposite to the third fixed backrest 462 and can be driven by the third driving assembly to move toward or away from the third fixed backrest 462; the fourth movable backrest 468 is connected to the second driving assembly, and extends above the positioning plate 440 after penetrating through the upper fixing plate 424 and the positioning plate 440; the fourth movable lean angle 468 is disposed opposite to the fourth fixed lean angle 464, and can move toward or away from the fourth fixed lean angle 464 under the driving of the second driving assembly. The third transmission assembly is a belt transmission assembly.
The third positioning element 470, the fourth positioning element 480 and the second positioning element 460 have the same structure, and are not described herein again.
As shown in fig. 5, and referring to fig. 1 and fig. 2, fig. 5 is a schematic perspective view of an embodiment of the second robot shown in fig. 1.
The second manipulator 500 is slidably mounted on the cross beam 240, and is configured to take out the positioned glass material 600 from the positioning device 400, and move the glass material to a preset material taking position.
Specifically, the method comprises the following steps. The second robot 500 includes a second cross arm 520, a second vertical arm 540, and a second suction assembly 560.
The second cross arm 520 is slidably connected to the cross beam 240, and the length direction of the second cross arm 520 is perpendicular to the length direction of the cross beam 240; the second cross arm 520 is movable along the length of the cross member 240.
The second vertical arm 540 is slidably mounted on the second cross arm 520, and the longitudinal direction of the second vertical arm 540 is perpendicular to the longitudinal direction of the cross beam 240 and the longitudinal direction of the second cross arm 520; the second vertical arm 540 may be movable along the length of the second vertical arm 540.
The second suction assembly 560 is fixedly mounted to the second vertical arm 540 for sucking the glass material 600. The second suction assembly 560 includes a second connecting plate 562, a plurality of connecting blocks 564, a plurality of second vacuum cups 566, and a plurality of rotating cylinders 568. The second connecting plate 562 is fixedly connected to the second vertical arm 540; a plurality of connecting blocks 564 are connected to the second connecting plate 562 at intervals; each of the second vacuum cups 566 is rotatably connected to one of the connection blocks 564; each of the rotary air cylinders 568 is fixedly mounted to one of the connection blocks 564 and is drivingly connected to the corresponding second vacuum chuck 566.
In use, the second cross arm 520 moves to a position directly above the positioning device 400; the second vertical arm 540 moves downward until the second vacuum chuck 566 sucks the positioned glass material 600; after the adsorption is completed, the second vertical arm 540 moves upward, and at the same time, the second horizontal arm 520 moves toward a preset material taking position; the rotating cylinder 568 drives the second vacuum chuck 566 to rotate forward by 90 °, so that the glass material 600 adsorbed to the second vacuum chuck 566 is vertically placed and located outside the second robot 500, so as to be conveniently taken by a material taking device (not shown). After the glass material 600 sucked to the second vacuum chuck 566 is taken away by the material taking device, the rotating cylinder 568 drives the second vacuum chuck 566 to rotate reversely by 90 ° so that the second vacuum chuck 566 faces the direction of the base 100, and then the above steps are continued.
The electrical control system is installed in the base 100, and controls the operations of the first and second robots 300 and 500. Because the electrical control system is installed in the base 100, the space is utilized to the maximum extent, and the occupied space is saved.
According to the technical scheme of the embodiment, the glass material 600 is placed on the positioning device 400 through the first mechanical arm 300; conveying the positioned glass material 600 to a preset material taking position through a second manipulator 500; through the cooperative work of the first manipulator 300 and the second manipulator 500, automatic feeding is realized, and the production requirement is effectively met; and the automatic feeding device has compact structure and small occupied area, and can effectively reduce the cost.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An automatic feeding device, characterized by, includes: the device comprises a base, a beam frame, a first manipulator, a positioning device and a second manipulator; wherein,
the upper surface of the base is sequentially divided into a positioning area, a preset area and a recovery area;
the beam frame comprises two support arms fixedly connected with the base and a cross beam connected to one ends of the two support arms far away from the base;
the first manipulator is slidably mounted on the cross beam and used for taking out the glass materials placed in the preset area from a material tray and placing the glass materials on the positioning device;
the positioning device is arranged in the positioning area and used for positioning the glass material;
the second manipulator is slidably mounted on the cross beam and used for taking out the positioned glass material from the positioning device and moving the glass material to a preset material taking position;
the first manipulator is also used for placing the empty material tray in the preset area in the recovery area.
2. The automated feeding device according to claim 1, wherein the first robot comprises a first cross arm, a saddle, a first vertical arm, and a first adsorption assembly; wherein,
the first cross arm is connected to the cross beam in a sliding mode, and the length direction of the first cross arm is perpendicular to the length direction of the cross beam; the first cross arm can move along the length direction of the cross beam;
the sliding saddle is connected with the first cross arm in a sliding mode and can move along the length direction of the first cross arm;
the first vertical arm is connected to the saddle in a sliding mode, and the length direction of the first vertical arm is perpendicular to the length direction of the cross beam and the length direction of the first cross arm; the first vertical arm is movable along the length direction of the first vertical arm;
the first adsorption component is fixedly connected to the first vertical arm and used for adsorbing the glass materials or the material tray.
3. The automatic loading device according to claim 2, wherein the first suction assembly comprises a first connection plate, a fixing plate, and a plurality of first vacuum chucks; wherein,
the first connecting plate is fixedly connected to the first vertical arm;
the fixing plate is fixedly connected to the first connecting plate;
the first vacuum chucks are fixed on the fixing plate at intervals.
4. The automatic loading device according to claim 1, wherein the positioning device comprises a housing, a positioning plate, and a first positioning assembly; wherein,
the outer cover comprises a lower fixing plate, an upper fixing plate arranged opposite to the lower fixing plate, and a side plate positioned between the upper fixing plate and the lower fixing plate;
the positioning plate is fixedly arranged on the upper fixing plate and used for bearing the glass material;
the first positioning component is used for positioning the glass material; the first positioning assembly comprises a first fixed leaning angle, a second fixed leaning angle, a first movable leaning angle, a second movable leaning angle, a first driving assembly and a second driving assembly; the first driving assembly and the second driving assembly are both arranged on the lower fixing plate; the first fixing leaning angle and the second fixing leaning angle are fixedly arranged on the upper fixing plate, penetrate through the positioning plate and extend above the positioning plate; the first fixed leaning angle and the second fixed leaning angle are vertically arranged; the first movable leaning angle is connected with the first driving assembly, penetrates through the upper fixing plate and the positioning plate, and extends above the positioning plate; the first movable leaning corner and the first fixed leaning corner are arranged oppositely and can move towards the direction close to or far away from the first fixed leaning corner under the driving of the first driving assembly; the second movable leaning angle is connected with the second driving assembly, penetrates through the upper fixing plate and the positioning plate and extends above the positioning plate; the second movable leaning corner and the second fixed leaning corner are arranged oppositely and can move towards the direction close to or far away from the second fixed leaning corner under the driving of the second driving assembly.
5. The automatic loading device of claim 4, wherein the positioning device further comprises a second positioning assembly; the second positioning assembly comprises a third fixed leaning angle, a fourth fixed leaning angle, a third movable leaning angle, a fourth movable leaning angle and a third driving assembly; the third driving assembly is arranged on the lower fixing plate; the third fixing leaning angle and the fourth fixing leaning angle are fixedly arranged on the upper fixing plate, penetrate through the positioning plate and extend above the positioning plate; the third fixed leaning angle and the fourth fixed leaning angle are vertically arranged; the third movable leaning angle is connected with the third driving assembly, penetrates through the upper fixing plate and the positioning plate and extends above the positioning plate; the third movable leaning corner and the third fixed leaning corner are arranged oppositely and can move towards the direction close to or far away from the third fixed leaning corner under the driving of the third driving component; the fourth movable leaning corner is connected with the second driving assembly, penetrates through the upper fixing plate and the positioning plate, and extends above the positioning plate; the fourth movable leaning corner and the fourth fixed leaning corner are arranged oppositely and can move towards the direction close to or far away from the fourth fixed leaning corner under the driving of the second driving assembly.
6. The automatic feeding device according to claim 5, wherein the positioning device further comprises a third positioning assembly and a fourth positioning assembly; the third positioning assembly, the fourth positioning assembly and the second positioning assembly have the same structure.
7. The automatic loading device according to claim 1, wherein the second robot comprises a second cross arm, a second vertical arm, and a second suction assembly; wherein,
the second cross arm is connected to the cross beam in a sliding mode, and the length direction of the second cross arm is perpendicular to the length direction of the cross beam; the second cross arm can move along the length direction of the cross beam;
the second vertical arm is slidably mounted on the second cross arm, and the length direction of the second vertical arm is perpendicular to the length direction of the cross beam and the length direction of the second cross arm; the second vertical arm can move along the length direction of the second vertical arm;
the second adsorption component is fixedly arranged on the second vertical arm and used for adsorbing the glass materials.
8. The automatic loading device according to claim 7, wherein the second suction assembly comprises a second connection plate, a plurality of connection blocks, a plurality of second vacuum chucks, and a plurality of rotary cylinders; wherein,
the second connecting plate is fixedly connected to the second vertical arm;
the connecting blocks are connected to the second connecting plate at intervals;
each second vacuum chuck is rotatably connected to one connecting block;
each rotary cylinder is fixedly arranged on one connecting block and is in driving connection with the corresponding second vacuum chuck.
9. The automatic feeding device according to claim 1, wherein the base comprises a frame body and a surrounding plate covering the periphery of the frame body.
10. The automatic loading device of claim 1, further comprising an electrical control system mounted within said base; the electric control system is used for controlling the actions of the first manipulator and the second manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810852061.9A CN108792624A (en) | 2018-07-30 | 2018-07-30 | Automatic charging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810852061.9A CN108792624A (en) | 2018-07-30 | 2018-07-30 | Automatic charging device |
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| CN108792624A true CN108792624A (en) | 2018-11-13 |
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| CN201810852061.9A Pending CN108792624A (en) | 2018-07-30 | 2018-07-30 | Automatic charging device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109649709A (en) * | 2018-12-25 | 2019-04-19 | 南昌市环昱智能机器人有限公司 | A kind of glass dishing distributor |
| CN109909811A (en) * | 2019-02-21 | 2019-06-21 | 广东科杰机械自动化有限公司 | A kind of workpiece localization method and its feeding processing method |
| CN110422627A (en) * | 2019-07-24 | 2019-11-08 | 中国长城葡萄酒有限公司 | The bottle storage automatic pot carrying machine of wine |
| CN110980275A (en) * | 2019-12-28 | 2020-04-10 | 苏州博古特智造有限公司 | Automatic cleaning system |
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