A robot gripper for installing and gluing automobile windshields

Abstract

The present invention discloses a robot gripper for installing and gluing automobile windshields, and belongs to the technical field of automobile manufacturing. The end of the industrial robot is connected to a base plate, and a fixed suction cup and a segment removal cylinder a are provided on the base plate. The segment removal cylinder a is connected to a segment removal suction cup mechanism, and the segment removal suction cup mechanism is slidably connected to the base plate, and a support rod mechanism and a tape pasting mechanism are fixed on the base plate. The beneficial effects of the present invention are: by adding a support point rod and a suction cup rod clamp, adaptation to the curvature of the glass is achieved, the compatibility of use is enhanced, and the quality is well guaranteed during the gluing and installation process. After installation, the tape is applied before the suction cup is released to prevent the glass from sliding down, which well guarantees the installation quality.

Description

Technical Field

[0001] The invention relates to a gluing device for installing an automobile windshield glass, belonging to the technical field of automobile manufacturing. Background Art

[0002] In the production and assembly of the automobile industry, gluing and installation of windshields is a very important link; the existing automated gluing and installation equipment for windshields can not only reduce the labor intensity of operators, but also greatly improve the gluing quality by realizing automation; however, most automobile production lines have multiple models on the same line, and windshields are of different sizes and shapes. The original windshield grippers cannot meet their diversity, and quality problems such as poor installation will occur during the installation process; the problem that traditional grippers have always been unable to avoid is that the windshield slides down after installation. Summary of the invention

[0003] In order to solve the defects of the prior art, the purpose of the present invention is to provide a robot gripper for installing and gluing automobile windshields, which has strong compatibility and ensures the installation quality of automobile windshields.

[0004] The technical solution of the present invention is: a robot gripper for installing and gluing automobile windshields, the end of the industrial robot is connected to a base plate, a fixed suction cup and a segment removal cylinder a are provided on the base plate, the segment removal cylinder a is connected to a segment removal suction cup mechanism, the segment removal suction cup mechanism is slidably connected to the base plate, and a support rod mechanism and a tape pasting mechanism are fixed on the base plate.

[0005] The support rod mechanism includes a support rod a, one end of the support rod a is connected to a support cap, the support rod a passes through the outer shell a and is connected to a baffle a, a sound-absorbing pad a is provided on the surface of the baffle a on the side opposite to the outer shell a, the support rod a is slidably connected to the outer shell a through a linear bearing a, a buffer spring is sleeved on the outer periphery of the support rod a between the support cap and the outer shell a, the support rod a passes through the outer shell a, and the clamping end of the clamp a is located in the outer shell a and connected to the support rod a.

[0006] The shell a is connected to the bottom plate via connecting angle irons.

[0007] The segment-taking suction cup mechanism includes a support rod b, one end of which is connected to the suction cup body, the support rod b passes through the outer shell b and is connected to the baffle b, a sound-absorbing pad b is provided on the surface of the baffle b on the side opposite to the outer shell b, the support rod b is slidably connected to the outer shell b through a linear bearing b, a buffer spring is sleeved on the outer periphery of the support rod b between the suction cup body and the outer shell b, the support rod b passes through the outer shell b, and the clamping end of the clamping device b is located in the outer shell b and connected to the support rod b.

[0008] The tape pasting mechanism includes a lifting cylinder installed on a mounting plate a, the output end of the lifting cylinder is connected to a mounting plate b provided with a section-taking cylinder b, the section-taking cylinder b is connected to a mounting plate c slidably connected to the mounting plate b, the tape pneumatic clamp is fixed to the mounting plate c through a connecting frame, the pushing cylinder is arranged on the mounting plate c, the output end of the pushing cylinder is connected to a tape pressing cylinder through a connecting plate, the output end of the tape pressing cylinder is connected to a rolling wheel, a guide block is fixed to the end of the mounting plate c, the end of the guide shaft b that penetrates and is slidably connected to the guide block is connected to the mounting frame, the feeding guide roller is rotatably connected to the mounting frame, a fixed clamp fixed to the mounting plate c is provided above the feeding guide roller, a tension spring is sleeved on the guide shaft b, the two ends of the tension spring are respectively connected to the connecting plate and the guide block at the top of the guide shaft b, and the connecting plate is connected to the separation cylinder.

[0009] The industrial robot is fixed on a robot base, and the robot base is located on the ground.

[0010] The end of the guide shaft a is fixed on the mounting plate b, and the guide shaft a penetrates and is slidably connected to the mounting plate a.

[0011] There are two fixed suction cups and four sets of segment-taking suction cup mechanisms. The fixed suction cups and the segment-taking suction cup mechanisms are symmetrically distributed on the bottom plate.

[0012] The beneficial effects of the present invention are: by adding the support point rod and the suction cup rod clamp, the curvature of the glass can be adapted, the compatibility of use is enhanced, and the quality is well guaranteed during the gluing and installation process. After installation, the adhesive tape is applied before the suction cup is released to prevent the glass from sliding down, which well guarantees the installation quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is the overall structural view of the present invention;

[0014] Figure 2 It is a partial enlarged view of the present invention;

[0015] Figure 3 It is the structural diagram of the support rod mechanism;

[0016] Figure 4 is a cross-sectional view of the support rod mechanism;

[0017] Figure 5 This is the structural diagram of the segment-taking suction cup mechanism;

[0018] Figure 6 It is a cross-sectional view of the segment suction cup mechanism;

[0019] Figure 7 For tape bonding mechanism structure Figure 1 ;

[0020] Figure 8 For tape bonding mechanism structure Figure 2 .

[0021] The reference numerals in the figure are as follows: 1. robot base, 2. industrial robot, 3. bottom plate, 4. support rod mechanism, 4.1. clamp a, 4.2. linear bearing a, 4.3. housing a, 4.4. mute pad a, 4.5. baffle a, 4.6. support rod a, 4.7. support cap, 4.8. connecting angle iron, 5. segment suction cup mechanism, 5.1. clamp b, 5.2. linear bearing b, 5.3. housing b, 5.4. mute pad b, 5.5. baffle b, 5.6. support rod b, 5.7. suction cup body, 6. glue Belt pasting mechanism, 6.1, lifting cylinder, 6.2, guide shaft a, 6.3, section taking cylinder b, 6.4, pushing cylinder, 6.5, tape pneumatic clamp, 6.6, fixed clamp block, 6.7, tape pressing cylinder, 6.8, rolling wheel, 6.9, mounting plate a, 6.10, mounting plate b, 6.11, mounting plate c, 6.12, feeding guide roller, 6.13, mounting frame, 6.14, connecting frame, 6.15, guide block, 6.16, guide shaft b, 6.17, connecting plate, 7, fixed suction cup, 8, section taking cylinder a. DETAILED DESCRIPTION

[0022] The following is combined with Figure 1-8 The present invention is further described:

[0023] A robot gripper for installing and gluing automobile windshields, wherein the end of an industrial robot 2 is connected to a base plate 3, on which a fixed suction cup 7 and a segment-taking cylinder a8 are provided, and the segment-taking cylinder a8 is connected to a segment-taking suction cup mechanism 5, and the segment-taking suction cup mechanism 5 is slidably connected to the base plate 3, and a support rod mechanism 4 and a tape sticking mechanism 6 are fixed to the base plate 3. The industrial robot 2 is fixed to a robot base 1, and the robot base 1 is located on the ground. There are two fixed suction cups 7, and there are four sets of segment-taking suction cup mechanisms 5, and the fixed suction cups 7 and the segment-taking suction cup mechanisms 5 are symmetrically distributed on the base plate 3.

[0024] The support rod mechanism 4 includes a support rod a4.6, one end of which is connected to a support cap 4.7, the support rod a4.6 passes through the housing a4.3 and is connected to a baffle a4.5, a mute pad a4.4 is provided on the surface of the baffle a4.5 on the side opposite to the housing a4.3, the support rod a4.6 is slidably connected to the housing a4.3 through a linear bearing a4.2, a buffer spring is sleeved on the outer periphery of the support rod a4.6 between the support cap 4.7 and the housing a4.3, the support rod a4.6 passes through the housing a4.3, and the clamping end of the clamp a4.1 is located in the housing a4.3 and connected to the support rod a4.6. The housing a4.3 is connected to the bottom plate 3 through a connecting angle iron 4.8.

[0025] The segment-taking suction cup mechanism 5 includes a support rod b5.6, one end of which is connected to the suction cup body 5.7, the support rod b5.6 passes through the outer shell b5.3 and is connected to the baffle b5.5, a silent pad b5.4 is provided on the surface of the baffle b5.5 on the side opposite to the outer shell b5.3, the support rod b5.6 is slidably connected to the outer shell b5.3 through a linear bearing b5.2, a buffer spring is sleeved on the outer periphery of the support rod b5.6 between the suction cup body 5.7 and the outer shell b5.3, the support rod b5.6 passes through the outer shell b5.3, and the clamping end of the clamping device b5.1 is located in the outer shell b5.3 and connected to the support rod b5.6.

[0026] The tape sticking mechanism 6 includes a lifting cylinder 6.1 installed on a mounting plate a6.9, the output end of the lifting cylinder 6.1 is connected to a mounting plate b6.10 provided with a segment cylinder b6.3, the segment cylinder b6.3 is connected to a mounting plate c6.11 slidably connected to the mounting plate b6.10, a pneumatic tape clamp 6.5 is fixed to the mounting plate c6.11 through a connecting frame 6.14, a pushing cylinder 6.4 is provided on the mounting plate c6.11, the output end of the pushing cylinder 6.4 is connected to a tape pressing cylinder 6.7 through a connecting plate, and the output end of the tape pressing cylinder 6.7 is connected Connected to the rolling wheel 6.8, a guide block 6.15 is fixed at the end of the mounting plate c6.11, and the end of the guide shaft b6.16 that penetrates and slides to connect the guide block 6.15 is connected to the mounting frame 6.13, and the feeding guide roller 6.12 is rotatably connected to the mounting frame 6.13, and a fixed clamping block 6.6 fixed to the mounting plate c6.11 is provided above the feeding guide roller 6.12, and a tension spring is sleeved on the guide shaft b6.16, and the two ends of the tension spring are respectively connected to the connecting plate 6.17 at the top of the guide shaft b6.16 and the guide block 6.15, and the connecting plate 6.17 is connected to the separation cylinder. The end of the guide shaft a6.2 is fixed on the mounting plate b6.10, and the guide shaft a6.2 penetrates and slides to connect the mounting plate a6.9.

[0027] When sucking the glass, the segmented suction cup mechanism 5 can move and retract on the bottom plate 3 to adapt to the suction of windshields of different sizes and curvatures and enhance compatibility. When the suction cup sucks the windshield, the support rod mechanism 4 is supported on the surface of the windshield at the same time. The support rod a4.6 is retractable and can play a buffering role during suction. When applying the glue, the quality of the glue pattern can be guaranteed. When installing, the glass can be pressed more evenly. The support point and the suction cup are designed in a telescopic + clamping device mode. When grabbing the glass, the clamping device is in an open state. When the windshield is completely in conformity with the gripper support point and its suction cup, the clamping device clamps the support point rod and its suction cup rod to fix it. Therefore, the entire gripper can adapt to different windshields with larger curvature changes. The compatibility of the front and rear windshields, on the one hand, must be compatible with curvature changes, and on the other hand, the size of the glass format is quite different. Therefore, two segmented cylinders are added to the four suction cup segmented positions to achieve the switching of large and small glasses.

[0028] The tape pasting mechanism 6 grabs the torn tape in advance and then grabs the windshield. Before grabbing the tape, the separation cylinder is actuated to separate the feeding guide roller 6.12 and the fixed clamp block 6.6 to form a clamping gap. The tape pneumatic clamp 6.5 and the clamping gap move from the tape side toward the tape. The tape pneumatic clamp 6.5 clamps one end of the tape. After the separation cylinder is deflated, the tension spring pulls the feeding guide roller 6.12, so that the feeding guide roller 6.12 is clamped against the fixed clamp block 6.6, and the other end of the tape is clamped between the feeding guide roller 6.12 and the fixed clamp block 6.6.

[0029] After the glass is installed, the lifting cylinder 6.1 extends, the section cylinder b 6.3 extends, the tape pneumatic clamp 6.5 moves synchronously with the feeding guide roller 6.12, driving the tape to extend into place; the tape pressing cylinder 6.7 descends, the rolling wheel 6.8 presses one end of the tape on the windshield, the tape pneumatic clamp 6.5 is released, and the pushing cylinder 6.4 drives the rolling wheel 6.8 to move toward the feeding guide roller 6.12 to roll the tape until the other end of the tape is pulled out from between the fixed clamp 6.6 and the feeding guide roller 6.12 and falls off, and the tape is attached to the upper edge of the windshield and the car body, and the windshield is prevented from sliding down through the fixing effect of the tape.

[0030] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A robot gripper for installing and gluing automobile windshields, characterized in that: The end of the industrial robot (2) is connected to a base plate (3), a fixed suction cup (7) and a segment removal cylinder a (8) are provided on the base plate (3), the segment removal cylinder a (8) is connected to a segment removal suction cup mechanism (5), the segment removal suction cup mechanism (5) is slidably connected to the base plate (3), and a support rod mechanism (4) and a tape sticking mechanism (6) are fixed on the base plate (3); The adhesive tape sticking mechanism (6) comprises a lifting cylinder (6.1) mounted on a mounting plate a (6.9); the output end of the lifting cylinder (6.1) is connected to a mounting plate b (6.10) provided with a section-taking cylinder b (6.3); the section-taking cylinder b (6.3) is connected to a mounting plate c (6.11) slidably connected to the mounting plate b (6.10); an adhesive tape pneumatic clamp (6.5) is fixed to the mounting plate c (6.11) via a connecting frame (6.14); a pushing cylinder (6.4) is arranged on the mounting plate c (6.11); the output end of the pushing cylinder (6.4) is connected to a tape pressing cylinder (6.7) via a connecting plate; the output end of the tape pressing cylinder (6.7) A roller wheel (6.8) is connected, a guide block (6.15) is fixed at the end of the mounting plate c (6.11), the end of the guide shaft b (6.16) that penetrates and is slidably connected to the guide block (6.15) is connected to the mounting frame (6.13), a feeding guide roller (6.12) is rotatably connected to the mounting frame (6.13), a fixed clamping block (6.6) fixed to the mounting plate c (6.11) is provided above the feeding guide roller (6.12), a tension spring is sleeved on the guide shaft b (6.16), two ends of the tension spring are respectively connected to the connecting plate (6.17) at the top of the guide shaft b (6.16) and the guide block (6.15), and the connecting plate (6.17) is connected to the separation cylinder; The industrial robot (2) is fixed on a robot base (1), and the robot base (1) is located on the ground.

2. The robot gripper for installing and gluing automobile windshields according to claim 1 is characterized in that: The support rod mechanism (4) comprises a support rod a (4.6), one end of the support rod a (4.6) is connected to a support cap (4.7), the support rod a (4.6) passes through the shell a (4.3) and is connected to a baffle a (4.5), a sound-proof pad a (4.4) is provided on the surface of the baffle a (4.5) on the side opposite to the shell a (4.3), the support rod a (4.6) is slidably connected to the shell a (4.3) via a linear bearing a (4.2), a buffer spring is sleeved on the outer periphery of the support rod a (4.6) between the support cap (4.7) and the shell a (4.3), the support rod a (4.6) passes through the shell a (4.3), and the clamping end of the clamping device a (4.1) is located in the shell a (4.3) and is connected to the support rod a (4.6).

3. The robot gripper for installing and gluing automobile windshields according to claim 2 is characterized in that: The housing a (4.3) is connected to the base plate (3) via a connecting angle iron (4.8).

4. The robot gripper for installing and gluing automobile windshields according to claim 1 is characterized in that: The segmented suction cup mechanism (5) comprises a support rod b (5.6), one end of which is connected to a suction cup body (5.7), the support rod b (5.6) passes through a shell b (5.3) and is connected to a baffle b (5.5), a sound-absorbing pad b (5.4) is provided on a surface of the baffle b (5.5) on a side opposite to the shell b (5.3), the support rod b (5.6) is slidably connected to the shell b (5.3) via a linear bearing b (5.2), a buffer spring is sleeved on the outer circumference of the support rod b (5.6) between the suction cup body (5.7) and the shell b (5.3), the support rod b (5.6) passes through the shell b (5.3), and the clamping end of the clamping device b (5.1) is located in the shell b (5.3) and is connected to the support rod b (5.6).

5. The robot gripper for installing and gluing automobile windshields according to claim 1 is characterized in that: The end of the guide shaft a (6.2) is fixed on the mounting plate b (6.10), and the guide shaft a (6.2) penetrates and is slidably connected to the mounting plate a (6.9).

6. The robot gripper for installing and gluing automobile windshields according to claim 1 is characterized in that: There are two fixed suction cups (7) and four sets of segment-taking suction cup mechanisms (5). The fixed suction cups (7) and the segment-taking suction cup mechanisms (5) are symmetrically distributed on the bottom plate (3).

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