A glass suction cup manipulator

Abstract

The present invention relates to the technical field of manipulators, and specifically to a glass suction cup manipulator, which is used to solve the problem that in the prior art, the manipulator cannot adjust the suction cup spacing, so it is not suitable for handling glass plates with irregular shapes, and thus cannot meet the special design requirements of customers. The present invention includes a front suction cup frame main body, a rear suction cup frame main body, and a suction cup adjustment shaft. A plurality of front fixed sleeve rods are installed on the front suction cup frame main body. An interconnected front telescopic rod and a front adjustment mechanism are installed inside the front fixed sleeve rods. A front suction cup is installed at the end of the front telescopic rod. A plurality of rear fixed sleeve rods are installed on the rear suction cup frame main body. An interconnected rear telescopic rod and a rear adjustment mechanism are installed inside the rear fixed sleeve rods. A rear suction cup is installed at the end of the rear telescopic rod. A power mechanism is installed on the suction cup adjustment shaft. Through the above technical solutions, the present invention can be used to handle glass plates with irregular shapes, and thus can meet the special design requirements of customers.

Description

Technical Field

[0001] The present invention relates to the technical field of sucker manipulators, and more particularly to a glass sucker manipulator. Background Art

[0002] Glass is an amorphous inorganic non-metallic material. Generally, it is made from various inorganic minerals such as quartz sand, borax, boric acid, barite, barium carbonate, limestone, feldspar, soda ash, etc. as the main raw materials, and a small amount of auxiliary raw materials are added additionally. Its main components are silicon dioxide and other oxides. Glass is widely used in various buildings, and glass needs to be transported at construction sites or workshops. In order to improve the transportation efficiency of glass, a corresponding glass transportation manipulator is required.

[0003] In the prior art, the manipulator for transporting glass includes a column, and also includes a support arm rotatably arranged on the column. A vertical cylinder is slidably arranged on the support arm. A connecting frame is arranged on the bottom wall of the vertical cylinder. A sucker frame for adsorbing glass is rotatably connected to the connecting frame. A flipping assembly for pushing the sucker frame to flip is rotatably arranged on the connecting frame. A rotating assembly for pushing the sucker frame to rotate horizontally is arranged on the connecting frame. An operating platform for controlling the movement of the vertical cylinder, the flipping assembly and the rotating assembly is arranged on the connecting frame. By adopting this manipulator, the vertical cylinder is controlled to push the connecting frame and the sucker frame to move above the glass. After the sucker frame adsorbs the glass, the rotating assembly drives the glass out of the production line, and then the flipping assembly is used to drive the sucker frame and the glass to flip, rotating from the horizontal direction to the vertical direction, and finally the glass is moved onto the glass rack. In this way, the working method of manually moving the glass out of the production line and erecting the glass by workers can be replaced, reducing the working burden of workers.

[0004] However, for the handling and installation of some irregularly placed glass, the manipulators in the prior art cannot play an adjustment role. The space rotation angle of the sucker hanging rack that rotates and flips by cylinder pushing and pulling has great limitations, cannot rotate continuously or at a fixed angle, has low working efficiency, and cannot adjust the sucker spacing, is not suitable for handling irregularly shaped glass plates, and cannot meet the special design requirements of customers. Therefore, we urgently need a glass sucker manipulator that can adjust the spacing between suckers, so as to be able to handle irregular glass and thus improve the handling efficiency of glass. Summary of the Invention

[0005] Based on the above problems, the object of the present invention is to provide a glass suction cup manipulator, which is used to solve the problem that in the prior art, the manipulator cannot adjust the distance between the suction cups, so it is not suitable for handling glass plates with irregular shapes, and thus cannot meet the special design requirements of customers. In the present invention, the power mechanism drives the front adjustment mechanism and the rear adjustment mechanism to expand and contract respectively. The expansion and contraction of the front adjustment mechanism drives the front telescopic rod to expand and contract, and the expansion and contraction of the front telescopic rod further adjusts the distance between multiple front suction cups. Similarly, the expansion and contraction of the rear adjustment mechanism can adjust the distance between multiple rear suction cups. Therefore, this suction cup manipulator is suitable for handling glass plates with irregular shapes, and thus can meet the special design requirements of customers.

[0006] The present invention specifically adopts the following technical solutions to achieve the above object:

[0007] A glass suction cup manipulator includes a front suction cup frame main body, a rear suction cup frame main body and a suction cup adjustment shaft. The suction cup adjustment shaft sequentially passes through the front suction cup frame main body and the rear suction cup frame main body. A plurality of front fixed sleeve rods are installed on the front suction cup frame main body. An interconnected front telescopic rod and a front adjustment mechanism are installed in the front fixed sleeve rod. A front suction cup is installed at the end of the front telescopic rod. A plurality of rear fixed sleeve rods are installed on the rear suction cup frame main body. An interconnected rear telescopic rod and a rear adjustment mechanism are installed in the rear fixed sleeve rod. A rear suction cup is installed at the end of the rear telescopic rod. A power mechanism that can contact the front adjustment mechanism and the rear adjustment mechanism is installed on the suction cup adjustment shaft.

[0008] The preferred structures of the front adjustment mechanism and the rear adjustment mechanism are as follows: The front adjustment mechanism includes a front rotating shaft installed in the front fixed sleeve rod and extending into the front telescopic rod. A front nut located in the front telescopic rod is installed on the front rotating shaft by means of a thread. A front bevel gear is installed at the end of the front rotating shaft. The rear adjustment mechanism includes a rear rotating shaft installed in the rear fixed sleeve rod and extending into the rear telescopic rod. A rear nut located in the rear telescopic rod is installed on the rear rotating shaft by means of a thread. A rear bevel gear is installed at the end of the rear rotating shaft. The power mechanism includes a driving bevel gear installed on the suction cup adjustment shaft and located between the front bevel gear and the rear bevel gear. An engaging component is installed on the suction cup adjustment shaft. An adjustment reduction gear is also installed at the end of the suction cup adjustment shaft. The adjustment reduction gear is connected to an adjustment motor.

[0009] The engaging component includes a rotating shaft sleeve installed on the suction cup adjustment shaft through a bearing. One end of the rotating shaft sleeve is connected to a flange, and a conversion handle is connected to the flange.

[0010] Shaft collars are provided at the contact positions of both ends of the driving bevel gear with the suction cup adjustment shaft. A fixed cylinder body is connected to the outside of the rotating shaft sleeve by screws.

[0011] The preferred structure facilitating the hoisting of the suction cup manipulator is as follows: It further includes a corner reduction gearbox. The input end of the corner reduction gearbox is connected to a corner motor, the output end is connected to a rotating shaft, and the rotating shaft is connected to a suction cup frame jib.

[0012] The preferred structure facilitating the operation of the conversion handle is as follows: A support plate is installed on the suction cup frame jib. A retaining piece is connected to the support plate. A retaining groove is formed on the retaining piece, and the conversion handle passes through the retaining groove.

[0013] The preferred structure enabling relative rotation between the front suction cup and the rear suction cup is as follows: It further includes a rotation reduction gearbox. The input end of the rotation reduction gearbox is connected to a rotation motor, the output end is connected to an output shaft, a rotation gear is installed on the output shaft, and a rotation gear ring meshing with the rotation gear is installed at the rear end of the rear suction cup frame main body.

[0014] Preferably, the extended length of the front telescopic rod is less than that of the rear telescopic rod; the adsorption area of the front suction cup is less than that of the rear suction cup.

[0015] Preferably, the number of both the front fixed sleeve rods and the rear fixed sleeve rods is two. The axes of the two front fixed sleeve rods are on the same straight line, and the axes of the two rear fixed sleeve rods are on the same straight line.

[0016] The beneficial effects of the present invention are as follows:

[0017] (1) In the present invention, the power mechanism drives the front adjustment mechanism and the rear adjustment mechanism to extend and retract respectively. The extension and retraction of the front adjustment mechanism drive the front telescopic rod to extend and retract, and the extension and retraction of the front telescopic rod further adjust the distance between multiple front suction cups. Similarly, the extension and retraction of the rear adjustment mechanism can adjust the distance between multiple rear suction cups. Therefore, this suction cup manipulator is suitable for handling glass plates with irregular shapes, thus meeting the special design requirements of customers.

[0018] (2) In the present invention, the corner reduction gearbox is connected to the bottom end of the suction cup frame jib, and can adjust the suction cup frame jib to a horizontal or cubic state; the rotation reduction gearbox drives the rotation gear ring to rotate through the rotation gear, enabling the rear suction cup frame main body to perform rotational movements of 90°, 180°, 270°, and 360°, thereby timely adjusting the spatial position of irregularly placed glass during the handling process.

[0019] (3) In the present invention, when the conversion handle is pulled forward or backward, it drives the connecting flange to move forward or backward. The connecting flange then drives the rotating shaft sleeve to move forward or backward. The rotating shaft sleeve then drives the suction cup adjustment shaft to move forward or backward. The suction cup adjustment shaft then drives the active bevel gear to mesh with the front bevel gear forward and the rear bevel gear backward, thereby meeting the handling requirements of glass plates of different specifications and sizes. It has strong practicability. Using the conversion handle can realize the selection control of the front suction cup and the rear suction cup. The operation is simple, the overall structure is compact, and the transportation is stable and reliable.

[0020] (4) In the present invention, by providing a gear position groove on the gear position piece and the conversion handle passing through the gear position groove, it is more convenient and accurate to engage the driving bevel gear with the front bevel gear forward and with the rear bevel gear backward. Description of the Drawings

[0021] Figure 1 is a schematic three-dimensional structure diagram of the present invention;

[0022] Figure 2 is a schematic three-dimensional structure diagram of the connection of the front suction cup holder main body, the rear suction cup holder main body, the front suction cup and the rear suction cup of the present invention;

[0023] Figure 3 is a schematic front cross-sectional structure diagram of the connection of the front suction cup holder main body, the rear suction cup holder main body, the front suction cup and the rear suction cup of the present invention;

[0024] Figure 4 is a schematic front cross-sectional structure diagram of the connection of the front fixed sleeve rod, the front telescopic rod and the front adjustment mechanism of the present invention;

[0025] Figure 5 is a schematic three-dimensional structure diagram of the connection of the adjustment reduction gear and the suction cup adjustment shaft, etc. of the present invention;

[0026] Figure 6 is a schematic front cross-sectional structure diagram of the connection of the adjustment reduction gear and the suction cup adjustment shaft, etc. of the present invention;

[0027] Reference Signs: 1 rear suction cup, 2 rear telescopic rod, 3 rear fixed sleeve rod, 4 rotating gear, 5 corner reduction gear, 6 suction cup holder lifting arm, 7 rotating reduction gear, 8 adjustment reduction gear, 9 rotating gear ring, 10 rear suction cup holder main body, 11 front fixed sleeve rod, 12 front telescopic rod, 13 front suction cup holder main body, 14 front suction cup, 15 rotating shaft sleeve, 16 conversion handle, 17 suction cup adjustment shaft, 18 rear bevel gear, 19 rear nut, 20 rear rotating shaft, 21 rear telescopic rod, 22 front telescopic rod, 23 front rotating shaft, 24 front nut, 25 driving bevel gear, 26 front bevel gear, 27 shaft clamp, 28 support plate, 29 gear position piece, 291 gear position groove, 30 flange, 31 bearing, 32 fixed cylinder. Detailed Embodiments

[0028] For better understanding of the present invention by those skilled in the art of the present technology, the present invention will be further described in detail below with reference to the drawings and the following embodiments.

[0029] Embodiment 1:

[0030] As Figure 1-6As shown in the figure, a glass suction cup manipulator includes a front suction cup frame body 13, a rear suction cup frame body 10, and a suction cup adjusting shaft 17. The suction cup adjusting shaft 17 sequentially passes through the front suction cup frame body 13 and the rear suction cup frame body 10. A plurality of front fixing sleeve rods 11 are installed on the front suction cup frame body 13. An interconnected front telescopic rod 12 and a front adjusting mechanism are installed inside the front fixing sleeve rod 11. A front suction cup 14 is installed at the end of the front telescopic rod 12. A plurality of rear fixing sleeve rods 3 are installed on the rear suction cup frame body 10. An interconnected rear telescopic rod 2 and a rear adjusting mechanism are installed inside the rear fixing sleeve rod 3. A rear suction cup 1 is installed at the end of the rear telescopic rod 2. A power mechanism that can contact the front adjusting mechanism and the rear adjusting mechanism is installed on the suction cup adjusting shaft 17.

[0031] The preferred structures of the front adjusting mechanism and the rear adjusting mechanism are as follows: The front adjusting mechanism includes a front rotating shaft 23 installed inside the front fixing sleeve rod 11 and extending into the front telescopic rod 12. A front nut 24 located inside the front telescopic rod 12 is installed on the front rotating shaft 23 by means of a thread. A front bevel gear 26 is installed at the end of the front rotating shaft 23. The rear adjusting mechanism includes a rear rotating shaft 20 installed inside the rear fixing sleeve rod 3 and extending into the rear telescopic rod 2. A rear nut 19 located inside the rear telescopic rod 2 is installed on the rear rotating shaft 20 by means of a thread. A rear bevel gear 18 is installed at the end of the rear rotating shaft 20. The power mechanism includes a driving bevel gear 25 installed on the suction cup adjusting shaft 17 and located between the front bevel gear 26 and the rear bevel gear 18. A meshing component is installed on the suction cup adjusting shaft 17. An adjusting reduction gear 8 is also installed at the end of the suction cup adjusting shaft 17. The adjusting reduction gear 8 is connected to an adjusting motor.

[0032] The meshing component includes a rotating shaft sleeve 15 installed on the suction cup adjusting shaft 17 through a bearing 31. One end of the rotating shaft sleeve 15 is connected to a flange 30, and a conversion handle 16 is connected to the flange 30.

[0033] Preferably, the extended length of the front telescopic rod 12 is less than that of the rear telescopic rod 2; the adsorption area of the front suction cup 14 is less than that of the rear suction cup 1. In this way, the preferred adsorption area for the glass is larger, so that the glass can be adsorbed more stably.

[0034] Preferably, the number of both the front fixing sleeve rods 11 and the rear fixing sleeve rods 3 is two. The axes of the two front fixing sleeve rods 11 are on the same straight line, and the axes of the two rear fixing sleeve rods 3 are on the same straight line.

[0035] Working principle: When transporting the placed glass plate and it is necessary to adjust the distance between the two front suction cups 14, first pull the conversion handle 16 forward to drive the connecting flange 30 to move forward. The connecting flange 30 then drives the rotating shaft sleeve 15 to move forward. The rotating shaft sleeve 15 then drives the suction cup adjusting shaft 17 to move forward. The suction cup adjusting shaft 17 then drives the driving bevel gear 25 to move forward and mesh with the front bevel gear 26. Then, start the adjusting motor by operating the external controller. The adjusting motor drives the adjusting speed reducer 8 to operate. The adjusting speed reducer 8 then drives the suction cup adjusting shaft 17 to rotate. The suction cup adjusting shaft 17 then drives the driving bevel gear 25 to rotate. The driving bevel gear 25 then drives the front suction cup 14 gear and the front rotating shaft 23 to rotate in sequence. Since the front rotating shaft 23 is connected to the front telescopic rod 12 through the front nut 24 and the front rotating shaft 23 is threadedly connected to the front nut 24, when the front rotating shaft 23 rotates, it will drive the front nut 24 to move away from the front suction cup 14 gear on the front rotating shaft 23. The two front nuts 24 then drive the two front telescopic rods 12 to move in opposite directions in the two front fixed sleeve rods 11 respectively, and finally drive the two front suction cups 14 to move in opposite directions, so that the distance between the two front suction cups 14 can be increased. If the distance between the two front suction cups 14 needs to be decreased, the external controller can be used to control the adjusting motor to rotate in the opposite direction. Through the above principle, the distance between the two front suction cups 14 can be decreased. Among them, the external controller, the adjusting motor and the adjusting speed reducer 8 are all existing products.

[0036] When it is necessary to adjust the distance between the two rear suction cups 1, first pull the conversion handle 16 backward to drive the connecting flange 30 to move backward. The connecting flange 30 then drives the rotating shaft sleeve 15 to move backward. The rotating shaft sleeve 15 then drives the suction cup adjusting shaft 17 to move backward. The suction cup adjusting shaft 17 then drives the driving bevel gear 25 to move backward and mesh with the front bevel gear 26. Then, start the adjusting motor by operating the external controller. Adjust the distance between the two rear suction cups 1 through the above principle. The rotation of the adjusting speed reducer 8 is mainly determined according to the length of the glass plate to be transported, and it is in the neutral position during the transportation process, that is, the driving bevel gear 25 is neither meshed with the front suction cup 14 gear nor meshed with the rear suction cup 1 gear.

[0037] Preferably, shaft collars 27 are provided at the contact positions of both ends of the driving bevel gear 25 with the suction cup adjusting shaft 17, and a fixed cylinder 32 is connected to the outside of the rotating shaft sleeve 15 through screws. This can prevent relative movement between the driving bevel gear 25 and the suction cup adjusting shaft 17, thereby ensuring the accuracy of the meshing between the driving bevel gear 25 and the front suction cup 14 gear and the rear suction cup 1 gear.

[0038] Embodiment 2:

[0039] As Figure 1-6As shown in the figure, on the basis of the above-mentioned Embodiment 1, this embodiment provides an optimized structure that facilitates the hoisting of the suction cup manipulator. That is, it further includes a corner reduction gear 5. The input end of the corner reduction gear 5 is connected to a corner motor, the output end is connected to a rotating shaft, and the rotating shaft is connected to a suction cup frame boom 6. When transporting the placed glass plate, the suction cup frame boom 6 is connected to the hoisting device. When it is necessary to change the spatial position of the suction cup frame boom 6, the external controller is operated to rotate the corner motor. The corner motor then drives the corner reduction gear 5 to operate. The corner reduction gear 5 then drives the rotating shaft to rotate, and the rotating shaft then drives the suction cup frame boom 6 to rotate, so that the overall structure of the suction cup boom can be adjusted to a flat or cubic state.

[0040] Preferably, a support plate 28 is installed on the suction cup frame boom 6. A retaining piece 29 is connected to the support plate 28, and a retaining groove 291 is formed on the retaining piece 29. The conversion handle 16 passes through the retaining groove 291. By forming the retaining groove 291 on the retaining piece and the conversion handle 16 passing through the retaining groove 291, it is more convenient and accurate to make the driving bevel gear 25 mesh with the front bevel gear 26 forward and mesh with the rear bevel gear 18 backward.

[0041] Embodiment 3:

[0042] As Figure 1-6 shown in the figure, on the basis of the above-mentioned Embodiments 1 and 2, this embodiment provides an optimized structure that enables relative rotation between the front suction cup 14 and the rear suction cup 1. That is, it further includes a rotation reduction gear 7. The input end of the rotation reduction gear 7 is connected to a rotation motor, the output end is connected to an output shaft, and a rotation gear 4 is installed on the output shaft. A rotation gear ring 9 that meshes with the rotation gear 4 is installed at the rear end of the rear suction cup frame main body 10. When it is necessary to change the angle between the front suction cup 14 and the rear suction cup 1 in space, the external controller can be used to control the rotation of the rotation motor. The rotation motor then drives the rotation reduction gear 7 and the output shaft to rotate in sequence. The output shaft then drives the rotation gear 4 to rotate, and the rotation gear 4 then drives the rotation gear ring 9 to rotate. The rotation gear ring 9 drives the rear suction cup frame main body 10 to rotate by a certain angle, such as making rotational movements of 90°, 180°, 270°, 360°, so that the angle position between the front suction cup 14 and the rear suction cup 1 in space can be adjusted in a timely manner, and then the spatial position of the irregularly placed glass during handling can be adjusted.

[0043] The specific installation structure between the suction cup adjustment shaft 17 and the front suction cup frame main body 13 and the rear suction cup frame main body 10 is a conventional structure. It can be seen from the above three embodiments that the suction cup manipulator can adjust the distance between the two front suction cups 14 and the distance between the two rear suction cups 1, and can also adjust the angle position between the front suction cup 14 and the rear suction cup 1 in space, so that the suction cup manipulator can handle glass plates with irregular shapes, and thus can meet the special design requirements of customers.

[0044] The above are the embodiments of the present invention. The above embodiments and the specific parameters in the embodiments are only for clearly expressing the invention verification process, and are not used to limit the patent protection scope of the present invention. The patent protection scope of the present invention still takes its claims as the criterion. Any equivalent structural changes made by using the content of the specification and drawings of the present invention should similarly be included in the protection scope of the present invention.

Claims

1. A glass suction cup manipulator, characterized in that: It includes a front suction cup holder body (13), a rear suction cup holder body (10) and a suction cup adjusting shaft (17). The suction cup adjusting shaft (17) sequentially passes through the front suction cup holder body (13) and the rear suction cup holder body (10). A front fixed sleeve rod (11) is installed on the front suction cup holder body (13). A front telescopic rod (12) and a front adjusting mechanism which are connected to each other are installed in the front fixed sleeve rod (11). A front suction cup (14) is installed at the end of the front telescopic rod (12). A rear fixed sleeve rod (3) is installed on the rear suction cup holder body (10). A rear telescopic rod (2) and a rear adjusting mechanism which are connected to each other are installed in the rear fixed sleeve rod (3). A rear suction cup (1) is installed at the end of the rear telescopic rod (2). A power mechanism which can contact with the front adjusting mechanism and the rear adjusting mechanism is installed on the suction cup adjusting shaft (17). The number of the front fixed sleeve rods (11) and the rear fixed sleeve rods (3) is two each. The axes of the two front fixed sleeve rods (11) are on the same straight line, and the axes of the two rear fixed sleeve rods (3) are on the same straight line; The front adjusting mechanism includes a front rotating shaft (23) installed in the front fixed sleeve rod (11) and extending into the front telescopic rod (12). A front nut (24) located in the front telescopic rod (12) is installed on the front rotating shaft (23) by means of a thread. A front bevel gear (26) is installed at the end of the front rotating shaft (23). The rear adjusting mechanism includes a rear rotating shaft (20) installed in the rear fixed sleeve rod (3) and extending into the rear telescopic rod (2). A rear nut (19) located in the rear telescopic rod (2) is installed on the rear rotating shaft (20) by means of a thread. A rear bevel gear (18) is installed at the end of the rear rotating shaft (20). The power mechanism includes a driving bevel gear (25) installed on the suction cup adjusting shaft (17) and located between the front bevel gear (26) and the rear bevel gear (18). An engaging component is installed on the suction cup adjusting shaft (17). An adjusting reduction gear (8) is further installed at the end of the suction cup adjusting shaft (17). The adjusting reduction gear (8) is connected with an adjusting motor; The engaging component includes a rotating shaft sleeve (15) installed on the suction cup adjusting shaft (17) through a bearing (31). One end of the rotating shaft sleeve (15) is connected with a flange (30). A conversion handle (16) is connected to the flange (30); Shaft collars (27) are provided at the contact positions of both ends of the driving bevel gear (25) with the suction cup adjusting shaft (17). A fixed cylinder body (32) is connected to the outside of the rotating shaft sleeve (15) by means of screws; It further includes a corner reduction gear (5). The input end of the corner reduction gear (5) is connected with a corner motor, and the output end is connected with a rotating shaft. The rotating shaft is connected with a suction cup holder jib (6); A support plate (28) is installed on the suction cup holder jib (6). A retaining piece (29) is connected to the support plate (28). A retaining groove (291) is formed in the retaining piece (29). The conversion handle (16) passes through the retaining groove (291); It further includes a rotary speed reducer (7). The input end of the rotary speed reducer (7) is connected to a rotary motor, and the output end is connected to an output shaft. A rotary gear (4) is installed on the output shaft, and a rotary gear ring (9) meshing with the rotary gear (4) is installed at the rear end of the rear suction cup bracket body (10). The extended length of the front telescopic rod (12) is less than that of the rear telescopic rod (2); the adsorption area of the front suction cup (14) is less than that of the rear suction cup (1).

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