Precision Glass Gripping and Positioning Device

Abstract

The present invention provides a precise positioning device for glass grasping, which includes a first driving device, a control device, a second driving device, a third driving device, a fourth driving device, a fifth driving device, and a suction cup device. The first driving device is provided with a fixed base, and on one side of the fixed base, a first supporting outer cylinder is fixedly provided. Above the first supporting outer cylinder, a first oil cylinder is provided. One end of the first oil cylinder is fixedly connected to the first supporting outer cylinder through an oil cylinder fixing member, and the other end of the first oil cylinder is fixedly connected to the first supporting inner cylinder through a first oil cylinder connecting member. This device uses a swing oil cylinder to replace the mechanism of a linear cylinder plus a connecting rod, which can reduce the complexity of the overall mechanism. At the same time, the linear oil cylinder for horizontal movement is integrated inside the swing oil cylinder, greatly shortening the overall length, enabling multi-angle adjustment, and improving the work efficiency of glass curtain wall installation. The present invention can be widely applied to the installation process of glass curtain walls.

Description

Technical Field

[0001] The present invention relates to the technical field of grasping devices, and particularly to a precise positioning device for glass grasping. Background Art

[0002] A glass curtain wall is a new type of wall in modern times. The greatest feature it endows to a building is that it organically unifies factors such as architectural aesthetics, architectural functions, building energy conservation, and building structures. The building presents different hues from different angles, giving people a dynamic beauty with the changes of sunlight, moonlight, and lighting. During the construction of a glass curtain wall, due to the relatively complex construction environment of the glass curtain wall, especially for large-sized and heavy glass curtain walls, it is difficult to handle during installation, and it is difficult to adjust the installation direction and installation angle. The existing glass grasping and positioning devices have a complex structure and relatively low functionality, cannot achieve multi-angle adjustment, and reduce the work efficiency of glass curtain wall installation. Summary of the Invention

[0003] In view of the technical problems of the existing glass grasping and positioning devices, such as complex structure, relatively low functionality, inability to achieve multi-angle adjustment, and low work efficiency, the present invention provides a precise positioning device for glass grasping. This device uses a swing oil cylinder to replace the mechanism of a linear cylinder plus a connecting rod, which can reduce the complexity of the overall mechanism. At the same time, the linear oil cylinder for horizontal movement is integrated inside the swing oil cylinder, greatly shortening the overall length, enabling multi-angle adjustment, and improving the work efficiency of glass curtain wall installation.

[0004] To this end, the technical solution of the present invention is a precise positioning device for glass grasping, including a first driving device, a control device, a second driving device, a third driving device, a fourth driving device, a fifth driving device, and a suction cup device. The first driving device is provided with a fixed base. On one side of the fixed base, a first support outer cylinder is fixedly provided. Above the first support outer cylinder, a first oil cylinder is provided. One end of the first oil cylinder is fixedly connected to the first support outer cylinder through an oil cylinder fixing member, and the other end of the first oil cylinder is fixedly connected to the first support inner cylinder through a first oil cylinder connecting member. The first support inner cylinder is located inside the first support outer cylinder. On the inner surface of the right end of the first support outer cylinder, a first sliding block is provided. The first sliding block is fixedly connected to the first support outer cylinder through a sliding block fixing plate. On the outer surface of the left end of the first support inner cylinder, a second sliding block is fixedly provided. The first support inner cylinder is slidably connected to the first support outer cylinder through the first sliding block and the second sliding block. At the right end of the first support inner cylinder, a first driving connecting member is fixedly provided;

[0005] The second driving device is provided with a second supporting outer cylinder body, the second supporting outer cylinder body is fixedly connected with the first driving connecting piece, the outer side of the second supporting outer cylinder body is fixedly provided with a second oil cylinder, the inside of the second supporting outer cylinder body is provided with a second supporting inner cylinder body, the second supporting inner cylinder body is slidably connected with the second supporting outer cylinder body, the second supporting inner cylinder body and the second oil cylinder are fixedly connected through a second oil cylinder connecting piece, the upper and lower ends of the second supporting inner cylinder body are respectively provided with second driving fixing plates, a second driving connecting piece is fixedly arranged between the two second driving fixing plates, and the second driving device is fixedly connected with the right end of the first driving device through the first driving connecting piece;

[0006] The third driving device is provided with a first rotary swing cylinder, the first rotary swing cylinder can realize the swing of the suction cup device in the left - right direction, the first rotary swing cylinder is fixedly connected with the second driving connecting piece, the upper and lower ends of the first rotary swing cylinder are fixedly provided with third driving fixing plates, a third driving connecting plate is fixedly arranged between the two third driving fixing plates, and the third driving device is fixedly connected with the right end of the second driving device through the second driving connecting piece;

[0007] The fourth driving device is provided with a swing cylinder, the swing cylinder can realize the swing of the suction cup device in the up - down direction, the swing cylinder is fixedly connected with the third driving connecting plate through a cylinder barrel fixing piece, a linear cylinder assembly is arranged at the right end of the swing cylinder, a rotary connecting plate is fixedly arranged inside the linear cylinder assembly, and the rotary connecting plate is slidably connected with the swing cylinder through a spline connecting shaft. The fourth driving device is fixedly connected with the right end of the third driving device through the third driving connecting plate;

[0008] The fifth driving device is provided with a third rotary swing cylinder, the rotation angle of the fifth driving device is 360 degrees, one end of the third rotary swing cylinder is fixedly connected with the rotary connecting plate, the other end of the third rotary swing cylinder is fixedly provided with a fifth driving connecting piece, and the fifth driving device is fixedly connected with the right end of the fourth driving device through the rotary connecting plate;

[0009] The suction cup device is provided with a suction cup support, the suction cup support is fixedly connected with the fifth driving connecting piece, the suction cup support is connected with a plurality of suction cup assemblies through a suction cup fixing component, and the suction cup device is fixedly connected with the right end of the fifth driving device through the fifth driving connecting piece.

[0010] Preferably, the fourth driving device includes a swing cylinder, a rotary connecting plate, a linear cylinder assembly, a balance valve and a spline connecting shaft. The swing cylinder is provided with a swing cylinder barrel, a cylinder barrel fixing piece is fixedly arranged on the outer surface of the swing cylinder barrel, an internal gear ring is fixedly arranged on the inner surface of the inner cavity of the swing cylinder barrel, an internal tooth ring with inclined internal teeth is arranged on the inner surface of the internal gear ring, and an internal shaft assembly is coaxially arranged inside the internal gear ring;

[0011] The inner shaft assembly includes a circular shaft section, a threaded shaft section, a linear cylinder shaft section, and a connecting shaft section. The circular shaft section, the threaded shaft section, the linear cylinder shaft section, and the connecting shaft section are integrally machined. The circular shaft section and the threaded shaft section are located inside the swing cylinder. The outer surface of the threaded shaft section is provided with inner shaft inclined external teeth. The linear cylinder shaft section is located inside the linear cylinder assembly. The connecting shaft section is located between the swing cylinder and the linear cylinder assembly. The connecting shaft section is provided with a left oil hole and a right oil hole for the linear cylinder. The right side of the left oil hole for the linear cylinder is communicated with the left oil pipe of the linear cylinder. The right end of the right oil hole for the linear cylinder is sequentially communicated with the right first oil pipe and the right second oil pipe;

[0012] A middle sleeve is coaxially arranged between the inner shaft assembly and the inner gear ring. The inner surface of the right end of the middle sleeve is provided with middle sleeve inclined internal teeth. The outer surface of the right end of the middle sleeve is provided with middle sleeve inclined external teeth. The middle sleeve inclined internal teeth of the middle sleeve mesh with the inner shaft inclined external teeth. The middle sleeve inclined external teeth of the middle sleeve mesh with the inner gear ring inclined internal teeth of the inner gear ring. The outer surface of the left end of the middle sleeve is provided with an outer guide band and an outer sealing ring. The outer surface of the left end of the middle sleeve is slidably connected to the swing cylinder barrel through the outer guide band. The inner surface of the left end of the middle sleeve is provided with an inner guide band and an inner sealing ring. The inner surface of the left end of the middle sleeve is slidably connected to the circular shaft section through the inner guide band;

[0013] Left end covers and right end covers are respectively arranged at the left and right ends of the swing cylinder barrel. A end cover guide band and an end cover sealing ring are arranged between the left end cover and the swing cylinder barrel. The left end cover is rotatably connected to the swing cylinder barrel through the end cover guide band. The left end cover is fixedly connected to the circular shaft section. The left end cover, the inner shaft assembly, the swing cylinder barrel, and the middle sleeve form a right oil cavity. A right oil hole is arranged at the right end of the swing cylinder barrel. The right oil hole is communicated with the right oil cavity. An end cover sealing ring is arranged between the right end cover and the swing cylinder barrel. A thrust washer is arranged between the right end cover and the inner shaft assembly. The right end cover is sealingly and rotatably connected to the inner shaft assembly. The right end cover, the inner shaft assembly, the swing cylinder barrel, and the middle sleeve form a left oil cavity. A left oil hole is arranged at the left end of the swing cylinder barrel. The left oil hole is communicated with the left oil cavity. A thrust washer is arranged between the right end cover and the inner shaft assembly;

[0014] The outer surface of the linear cylinder shaft section is provided with a connecting spline. A rotating connecting plate is arranged outside the linear cylinder shaft section. The rotating connecting plate is slidably connected to the linear cylinder shaft section through the spline. A linear cylinder assembly is fixedly arranged on the right side of the rotating connecting plate. The linear cylinder assembly includes a linear cylinder barrel, a piston, a piston sleeve and a linear cylinder end cover. The linear cylinder assembly is fixedly connected to the rotating connecting plate through the linear cylinder barrel. The linear cylinder end cover is fixedly connected to the right end of the linear cylinder shaft section. A piston is coaxially arranged inside the linear cylinder shaft section. A damping hole is arranged at the right end of the piston. The number of damping holes is multiple. A piston sleeve is spirally fixed on the outer surface of the right end of the piston. A damping chamfer is arranged at the left end of the upper surface of the piston sleeve. A piston outer guiding band and a piston outer sealing ring are arranged on the outer surface of the piston sleeve. The piston sleeve is slidably connected to the linear cylinder shaft section through the piston outer guiding band. The left end of the piston penetrates through the linear cylinder end cover. A piston inner guiding band and a piston inner sealing ring are arranged on the inner surface of the linear cylinder end cover. The piston is slidably connected to the linear cylinder end cover through the inner guiding band. The left end of the piston is fixedly connected to the linear cylinder barrel. The piston sleeve and the linear cylinder shaft section and the linear cylinder end cover form a right oil cavity. The right oil cavity communicates with a right second oil pipe. A linear cylinder left oil cavity is arranged inside the linear cylinder shaft section on the left side of the piston sleeve. The linear cylinder left oil cavity communicates with a linear cylinder left oil pipe;

[0015] A spline connecting shaft is fixedly arranged at the left end of the left end cover. The left end of the rotating connecting plate is slidably connected to the spline connecting shaft. The right end of the rotating connecting plate is slidably connected to the linear cylinder shaft section. A balance valve is fixedly arranged on the outer surface of the swing cylinder barrel. One oil port of the balance valve communicates with the left oil hole through a balance valve connecting pipe. The other oil port of the balance valve communicates with the right oil hole.

[0016] Preferably, the control device includes a control valve housing and a multi-way control valve. The control valve housing is fixedly connected to the lower surface of the right end of the first support outer cylinder. The multi-way control valve is fixed inside the control valve housing.

[0017] Preferably, the forward and backward moving distance of the first driving device is 0 - 500 mm.

[0018] Preferably, the up and down moving distance of the second driving device is 0 - 100 mm.

[0019] Preferably, the left and right rotation angle of the third driving device is ± 90 degrees.

[0020] Preferably, the up and down rotation angle of the fourth driving device is ± 90 degrees.

[0021] Preferably, the left and right moving distance of the fourth driving device is 0 - 50 mm.

[0022] The beneficial effects of the present invention are as follows. Through the multi-stage drive device, it can not only adjust the moving position in the front-back direction, up-down direction, and left-right direction, but also adjust the rotation angle in the up-down direction and left-right direction, which greatly facilitates the adjustment of the installation position and angle of the glass curtain wall, improves the accuracy of glass grasping, simplifies the installation process and steps, and improves the installation work efficiency.

[0023] Moreover, since the first rotary swing cylinder drives the subsequent device to achieve angular rotation in the left-right direction, using a swing oil cylinder instead of a linear cylinder plus a connecting rod mechanism can reduce the complexity of the overall mechanism, lower the maintenance difficulty, and improve the reliability of the device and the convenience of maintenance.

[0024] Furthermore, since the swing cylinder drives the subsequent device to achieve angular rotation in the up-down direction, and at the same time the linear cylinder drives the subsequent device to achieve position movement in the left-right direction, this design integrates the linear oil cylinder for horizontal movement into the swing oil cylinder, greatly shortening the overall length of the device. It can not only achieve angular rotation in the up-down direction but also achieve position movement in the left-right direction, greatly improving the work efficiency of glass curtain wall installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is the front view of the present invention;

[0026] Figure 2 is the overall structure schematic diagram of the present invention;

[0027] Figure 3 is the overall structure schematic diagram of the present invention from another angle;

[0028] Figure 4 is Figure 2 the top view of;

[0029] Figure 5 is Figure 2 the bottom view of;

[0030] Figure 6 is Figure 2 the front view of;

[0031] Figure 7 is Figure 2 the right view of;

[0032] Figure 8 is the cross-sectional view at the first support outer cylinder;

[0033] Figure 9 is the overall structure schematic diagram of the fourth drive device;

[0034] Figure 10 is Figure 9 the right view of;

[0035] Figure 11 isFigure 9 Top view;

[0036] Figure 12 is Figure 11 Cross-sectional view taken along A-A in

[0037] Figure 13 Schematic structural diagram of the inner shaft assembly;

[0038] Figure 14 Cross-sectional view along the center line of the second right inlet pipe;

[0039] Figure 15 Cross-sectional view when the piston is at the rightmost end of the linear cylinder shaft section;

[0040] Figure 16 Cross-sectional view of the left end of the piston.

[0041] Explanation of symbols in the figure:

[0042] 1. First driving device; 101. Fixed base; 102. First supporting outer cylinder; 103. Oil cylinder fixing part; 104. First oil cylinder; 105. First oil cylinder connecting part; 106. First supporting inner cylinder; 107. First sliding block; 108. Sliding block fixing plate; 109. Second sliding block; 110. First driving connecting part; 2. Control device; 201. Control valve housing; 202. Multi-way control valve; 3. Second driving device; 301. Second supporting outer cylinder; 302. Second oil cylinder; 303. Second oil cylinder connecting part; 304. Second supporting inner cylinder; 305. Second driving fixing plate; 306. Second driving connecting part; 4. Third driving device; 401. First rotary swing cylinder; 402. Third driving fixing plate; 403. Third driving connecting plate; 5. Fourth driving device; 501. Swing cylinder; 5101. Swing cylinder barrel; 5102. Barrel fixing part; 5103. Inner shaft assembly; 10301. Circular shaft section; 10302. Threaded shaft section; 103021. Inner shaft inclined external teeth; 10303. Linear cylinder shaft section; 10304. Connecting shaft section; 10305. Left oil hole of linear cylinder; 10306. Left oil pipe of linear cylinder; 10307. Right oil hole of linear cylinder; 10308. Right first oil pipe; 10309. Right second oil pipe; 5104. Inner gear ring; 5105. Intermediate sleeve; 10501. Outer guide band; 10502. Outer sealing ring; 10503. Inner guide band; 10504. Inner sealing ring; 5106. Right oil hole; 5107. Left oil hole; 5108. Right oil cavity; 5109. Left oil cavity; 5110. Left end cover; 5111. Right end cover; 5112. Thrust washer; 5113. End cover guide band; 5114. End cover sealing ring; 5115. End cover dust-proof ring; 502. Rotary connecting plate; 503. Linear cylinder assembly; 5301. Linear cylinder barrel assembly; 5302. Piston; 30201. Damping hole; 5303. Piston sleeve; 30301. Damping chamfer; 5304. Linear cylinder end cover; 5305. Right oil cavity of linear cylinder; 5306. Left oil cavity of linear cylinder; 5307. Outer guide band of piston; 5308. Outer sealing ring of piston; 5309. Inner guide band of piston; 5310. Inner sealing ring of piston; 5311. Piston dust-proof ring; 504. Balance valve; 5401. Balance valve connecting pipe; 505. Spline connecting shaft; 6. Fifth driving device; 601. Third rotary swing cylinder; 602. Fifth driving connecting part; 7. Suction cup device; 701. Suction cup bracket; 702. Suction cup fixing component; 703. Suction cup component. Detailed implementation mode

[0043] The present invention will be further described below in conjunction with embodiments.

[0044] Figures 1 - 16This is an embodiment of a precise positioning device for glass grasping in the present invention, which includes a first driving device 1, a control device 2, a second driving device 3, a third driving device 4, a fourth driving device 5, a fifth driving device 6, and a suction cup device 7. Through multiple levels of driving devices, it can not only adjust the moving positions in the front-back direction, up-down direction, and left-right direction, but also adjust the rotation angles in the up-down direction and left-right direction. This greatly facilitates the adjustment of the installation position and angle of the glass curtain wall, improves the accuracy of glass grasping, simplifies the installation process and steps, and improves the installation work efficiency.

[0045] The first driving device 1 is provided with a fixed base 101. On one side of the fixed base 101, a first support outer cylinder 102 is fixedly provided. Above the first support outer cylinder 102, a first oil cylinder 104 is provided. One end of the first oil cylinder 104 is fixedly connected to the first support outer cylinder 102 through an oil cylinder fixing member 103, and the other end of the first oil cylinder 104 is fixedly connected to the first support inner cylinder 106 through a first oil cylinder connecting member 105. The first support inner cylinder 106 is located inside the first support outer cylinder 102. On the inner surface of the right end of the first support outer cylinder 102, a first sliding block 107 is provided. The first sliding block 107 is fixedly connected to the first support outer cylinder 102 through a sliding block fixing plate 108. On the outer surface of the left end of the first support inner cylinder 106, a second sliding block 109 is fixedly provided. The first support inner cylinder 106 is slidably connected to the first support outer cylinder 102 through the first sliding block 107 and the second sliding block 109. The right end of the first support inner cylinder 106 is fixedly provided with a first driving connecting member 110. When the first driving device 1 works, the first oil cylinder 104 drives the first support inner cylinder 106 to perform telescopic movement in the front-back direction. The first sliding block 107 and the second sliding block 109 play the roles of sliding and supporting. The moving distance of the first driving device 1 in the front-back direction is 0 - 500 mm. This structural design enables the first driving device 1 to have a reliable supporting effect and can realize the adjustment of the installation position in the front-back direction, facilitating the installation and disassembly of the glass curtain wall.

[0046] As can be seen in the figure, below the first driving device 1, there is a control device 2. The control device 2 includes a control valve housing 201 and a multi-way control valve 202. The control valve housing 201 is fixedly connected to the lower surface of the right end of the first support outer cylinder 102. The multi-way control valve 202 is fixed inside the control valve housing 201. Through the multi-way control valve 202, the entire precise positioning device for glass grasping is uniformly coordinated and controlled, improving the accuracy of glass grasping and reducing the control difficulty.

[0047] The second driving device 3 is provided with a second support outer cylinder body 301. The second support outer cylinder body 301 is fixedly connected to the first driving connecting piece 110. A second oil cylinder 302 is fixedly arranged on the outer side of the second support outer cylinder body 301. A second support inner cylinder body 304 is arranged inside the second support outer cylinder body 301. The second support inner cylinder body 304 is slidably connected to the second support outer cylinder body 301. The second support inner cylinder body 304 and the second oil cylinder 302 are fixedly connected through a second oil cylinder connecting piece 303. Second driving fixing plates 305 are respectively arranged at the upper and lower ends of the second support inner cylinder body 304. A second driving connecting piece 306 is fixedly arranged between the two second driving fixing plates. The second driving device 3 is fixedly connected to the right end of the first driving device 1 through the first driving connecting piece 110. When the second driving device 3 works, the second oil cylinder 302 drives the second support inner cylinder body 304 to slide inside the second support outer cylinder body 301, driving the subsequent device to complete the up-and-down movement together. The up-and-down movement distance of the second driving device 3 is 0 - 100 mm.

[0048] In this embodiment, the third driving device 4 is provided with a first rotary swing cylinder 401. The first rotary swing cylinder 401 is fixedly connected to the second driving connecting piece 306. Third driving fixing plates 402 are fixedly arranged at the upper and lower ends of the first rotary swing cylinder 401. A third driving connecting plate 403 is fixedly arranged between the two third driving fixing plates 402. The third driving device 4 is fixedly connected to the right end of the second driving device 3 through the second driving connecting piece 306. When the third driving device 4 works, the first rotary swing cylinder 401 drives the subsequent device to achieve the angular rotation in the left-and-right direction. The left-and-right rotation angle of the third driving device 4 is ±90 degrees. With this design, using a swing oil cylinder to replace the mechanism of a linear cylinder plus a connecting rod can reduce the complexity of the overall mechanism, lower the difficulty of maintenance, and improve the reliability and convenience of maintenance of the device.

[0049] The fourth driving device 5 is provided with a swing cylinder 501. The swing cylinder 501 is fixedly connected to the third driving connecting plate 403 through a cylinder barrel fixing part 5102. A linear cylinder assembly 503 is provided at the right end of the swing cylinder 501. A rotating connecting plate 502 is fixedly arranged inside the linear cylinder assembly 503. The rotating connecting plate 502 is slidably connected to the swing cylinder 501 through a spline connecting shaft 505. The fourth driving device 5 is fixedly connected to the right end of the third driving device 4 through the third driving connecting plate 403. When the fourth driving device 5 works, the swing cylinder 501 drives the following device to realize angular rotation in the up and down direction. At the same time, the linear cylinder assembly 503 drives the following device to realize position movement in the left and right direction. The rotation angle of the fourth driving device 5 in the up and down direction is ±90 degrees, and the movement distance of the fourth driving device 5 in the left and right direction is 0 - 50 mm. This design integrates the linear oil cylinder for horizontal movement into the swing oil cylinder, greatly shortening the overall length of the device. It can not only realize angular rotation in the up and down direction but also realize position movement in the left and right direction, greatly improving the working efficiency of glass curtain wall installation.

[0050] As can be seen in the figure, the fifth driving device 6 is provided with a third rotating swing cylinder 601. One end of the third rotating swing cylinder 601 is fixedly connected to the rotating connecting plate 502, and a fifth driving connecting part 602 is fixedly arranged at the other end of the third rotating swing cylinder 601. The fifth driving device 6 is fixedly connected to the right end of the fourth driving device 5 through the rotating connecting plate 502. The rotation angle of the fifth driving device 6 is 360 degrees. This design meets the requirement of full-angle rotation during the installation of the glass curtain wall, making it unnecessary to consider whether the rotation angle of the glass matches the installation position when grasping the glass, simplifying the operation steps and improving the working efficiency.

[0051] The suction cup device 7 is provided with a suction cup bracket 701. The suction cup bracket 701 is fixedly connected to the fifth driving connecting part 602. The suction cup bracket 701 is connected with a plurality of suction cup assemblies 703 through a suction cup fixing component 702. The number of suction cup assemblies 703 is more than 3. The suction cup device 7 is fixedly connected to the right end of the fifth driving device 6 through the fifth driving connecting part 602. This design can select the installation position and the number of installed suction cup assemblies 703 according to the size and weight of the glass, improving the applicable range of the equipment. When the number of suction cup assemblies 703 is more than 3, a more stable adsorption force can be provided to prevent the glass from falling off.

[0052] The present invention provides a precise positioning device for glass grasping. This device uses a swing oil cylinder to replace the mechanism of a linear cylinder plus a connecting rod, which can reduce the complexity of the overall mechanism. At the same time, the linear oil cylinder for horizontal movement is integrated into the swing oil cylinder, greatly shortening the overall length. It can realize multi-angle adjustment and improve the working efficiency of glass curtain wall installation.

[0053] Figures 9 - 16This is an embodiment of the fourth driving device 5, which includes a swing cylinder 501, a rotating connecting plate 502, a linear cylinder assembly 503, a balance valve 504, and a spline connecting shaft 505. The swing cylinder 501 is provided with a swing cylinder barrel 5101, and a cylinder barrel fixing member 5102 is fixedly arranged on the outer surface of the swing cylinder barrel 5101, which plays a role in stable fixation. An internal gear ring 5104 is fixedly arranged on the inner surface of the inner cavity of the swing cylinder barrel 5101. The inner surface of the internal gear ring 5104 is provided with internal gear ring inclined internal teeth, and an internal shaft assembly 5103 is coaxially arranged inside the internal gear ring 5104.

[0054] The internal shaft assembly 5103 includes a circular shaft section 10301, a threaded shaft section 10302, a linear cylinder shaft section 10303, and a connecting shaft section 10304. The circular shaft section 10301, the threaded shaft section 10302, the linear cylinder shaft section 10303, and the connecting shaft section 10304 are integrally processed. This design can improve the bearing pressure and reliability of the internal shaft. The circular shaft section 10301 and the threaded shaft section 10302 are located inside the swing cylinder 501. The outer surface of the threaded shaft section 10302 is provided with internal shaft inclined external teeth 103021. The linear cylinder shaft section 10303 is located inside the linear cylinder assembly 503. The connecting shaft section 10304 is located between the swing cylinder 501 and the linear cylinder assembly 503. The connecting shaft section 10304 is provided with a linear cylinder left oil hole 10305 and a linear cylinder right oil hole 10307. The right side of the linear cylinder left oil hole 10305 is communicated with a linear cylinder left oil pipe 10306. The right end of the linear cylinder right oil hole 10307 is sequentially communicated with a right first oil pipe 10308 and a right second oil pipe 10309.

[0055] As can be seen in the figure, an intermediate sleeve 5105 is coaxially arranged between the internal shaft assembly 5103 and the internal gear ring 5104. The inner surface of the right end of the intermediate sleeve 5105 is provided with intermediate sleeve inclined internal teeth, and the outer surface of the right end of the intermediate sleeve 5105 is provided with intermediate sleeve inclined external teeth. The intermediate sleeve inclined internal teeth of the intermediate sleeve 5105 are meshed with the internal shaft inclined external teeth 103021. The intermediate sleeve inclined external teeth of the intermediate sleeve 5105 are meshed with the internal gear ring inclined internal teeth of the internal gear ring 5104. The outer surface of the left end of the intermediate sleeve 5105 is provided with an outer guide band 10501 and an outer sealing ring 10502. The outer surface of the left end of the intermediate sleeve 5105 is slidably connected with the swing cylinder barrel 5101 through the outer guide band 10501. The inner surface of the left end of the intermediate sleeve 5105 is provided with an inner guide band 10503 and an inner sealing ring 10504. The inner surface of the left end of the intermediate sleeve 5105 is slidably connected with the circular shaft section 10301 through the inner guide band 10503.

[0056] At the left and right ends of the swing cylinder barrel 5101, a left end cover 5110 and a right end cover 5111 are respectively provided. Between the left end cover 5110 and the swing cylinder barrel 5101, there are an end cover guide strip 5113, an end cover sealing ring 5114, and an end cover dust ring 5115. The left end cover 5110 is rotationally connected to the swing cylinder barrel 5101 through the end cover guide strip 5113. The left end cover 5110 is fixedly connected to the circular shaft section 10301. The left end cover 5110, the inner shaft assembly 5103, the swing cylinder barrel 5101, and the intermediate sleeve 5105 form a right oil cavity 5108. A right oil hole 5106 is provided at the right end of the swing cylinder barrel 5101, and the right oil hole 5106 communicates with the right oil cavity 5108. Between the right end cover 5111 and the swing cylinder barrel 5101, there are an end cover sealing ring 5114 and an end cover dust ring 5115. A thrust washer 5112 is provided between the right end cover 5111 and the inner shaft assembly 5103. The right end cover 5111 is rotationally connected to the inner shaft assembly 5103 in a sealed manner. The right end cover 5111, the inner shaft assembly 5103, the swing cylinder barrel 5101, and the intermediate sleeve 5105 form a left oil cavity 5109. A left oil hole 5107 is provided at the left end of the swing cylinder barrel 5101, and the left oil hole 5107 communicates with the left oil cavity 5109.

[0057] In this embodiment, a connecting spline is provided on the outer surface of the linear cylinder shaft section 10303. A rotating connecting plate 502 is provided outside the linear cylinder shaft section 10303. The rotating connecting plate 502 is slidably connected to the linear cylinder shaft section 10303 through the spline. A linear cylinder assembly 503 is fixedly provided on the right side of the rotating connecting plate 502. The linear cylinder assembly 503 includes a linear cylinder barrel assembly 5301, a piston 5302, a piston sleeve 5303, and a linear cylinder end cover 5304. The linear cylinder assembly 503 is fixedly connected to the rotating connecting plate 502 through the linear cylinder barrel assembly 5301. The linear cylinder end cover 5304 is fixedly connected to the right end of the linear cylinder shaft section 10303. A piston 5302 is coaxially provided inside the linear cylinder shaft section 10303. A plurality of damping holes 30201 are provided at the right end of the piston 5302. A piston sleeve 5303 is helically fixed on the outer surface of the right end of the piston 5302. A damping chamfer 30301 is provided at the left end of the upper surface of the piston sleeve 5303. A piston outer guide band 5307 and a piston outer sealing ring 5308 are provided on the outer surface of the piston sleeve 5303. The piston sleeve 5303 is slidably connected to the linear cylinder shaft section 10303 through the piston outer guide band 5307. The left end of the piston 5302 penetrates through the linear cylinder end cover 5304. A piston inner guide band 5309, a piston inner sealing ring 5310, and a piston dust ring 5311 are provided on the inner surface of the linear cylinder end cover 5304. The piston 5302 is slidably connected to the linear cylinder end cover 5304 through the piston inner guide band 5309. The left end of the piston 5302 is fixedly connected to the linear cylinder barrel assembly 5301. The piston sleeve 5303 and the linear cylinder shaft section 10303 and the linear cylinder end cover 5304 form a right oil chamber 5305. The right oil chamber 5305 communicates with the right second oil pipe 10309. A linear cylinder left oil chamber 5306 is provided inside the linear cylinder shaft section 10303 on the left side of the piston sleeve 5303. The linear cylinder left oil chamber 5306 communicates with the linear cylinder left oil pipe 10306.

[0058] A spline connecting shaft 505 is fixedly provided at the left end of the left end cover 5110. Since the left end cover 5110 is fixedly connected to the circular shaft section 10301, the spline connecting shaft 505 is integrated with the left end cover 5110 and the circular shaft section 10301, and is rotatably connected to the swing cylinder barrel 5101 through the end cover guide band 5113. This design has the characteristics of simple structure, strong impact resistance, and high stability, reduces the number of parts, reduces the production and processing costs, is convenient for installation and maintenance, and improves the reliability of the device and the convenience of maintenance. The left end of the rotating connecting plate 502 is slidably connected to the spline connecting shaft 505. The right end of the rotating connecting plate 502 is slidably connected to the linear cylinder shaft section 10303.

[0059] In this embodiment, a balance valve 504 is fixedly arranged on the outer surface of the swing cylinder barrel 5101. One oil port of the balance valve 504 communicates with the left oil hole 5107 through a balance valve connecting pipe 5401, and the other oil port of the balance valve 504 communicates with the right oil hole 5106. This design can make the input of hydraulic oil more stable and improve the stability of equipment operation.

[0060] In this embodiment, the outer sealing ring 10502, the inner sealing ring 10504, the end cover sealing ring 5114, the piston outer sealing ring 5308, and the piston inner sealing ring 5310 are lip seals. In this design, the lip of the lip seal deforms under the action of hydraulic pressure, making the lip closely adhere to the sealing surface. The higher the hydraulic pressure, the tighter the lip adheres to the sealing surface. After the sealing lip wears, it has a certain ability of automatic compensation. This improves the sealing effect, has strong corrosion resistance, is not easy to age, has good wear resistance, can automatically compensate to a certain extent after wear, and improves the working life of the equipment.

[0061] As can be seen in the figure, a thrust washer 5112 is provided between the right end cover 5111 and the inner shaft assembly 5103. This design can play a good fixing role and prevent the shaking of the inner shaft assembly.

[0062] When the swing cylinder 501 works, hydraulic oil enters the left oil chamber 5109 through the left oil hole 5107. Under the action of oil pressure, the intermediate sleeve 5105 moves to the right. Since the internal gear ring 5104 is fixed on the swing cylinder barrel 5101, and the internal teeth of the internal gear ring 5104 are inclined internal teeth that mesh with the intermediate sleeve inclined external teeth of the intermediate sleeve 5105, when the intermediate sleeve 5105 moves, due to the meshing action of the helical teeth, the intermediate sleeve 5105 will perform a rotational motion. Also, since the intermediate sleeve inclined internal teeth of the intermediate sleeve 5105 mesh with the inner shaft inclined external teeth 103021, when the intermediate sleeve 5105 rotates and moves, it will drive the inner shaft assembly 5103 to rotate. Since the inner shaft assembly 5103 is fixedly connected to the left end cover 5110 and the spline connecting shaft 505, the left end of the rotating connecting plate 502 is connected to the spline connecting shaft 505, and the right end of the rotating connecting plate 502 is connected to the linear cylinder shaft section 10303, when the inner shaft assembly 5103 rotates, it drives the rotating connecting plate 502 to perform a rotational motion; similarly, hydraulic oil enters the right oil chamber 5108 through the right oil hole 5106. Under the action of oil pressure, the intermediate sleeve 5105 moves to the left. When the intermediate sleeve 5105 moves, due to the meshing action of the helical teeth, the intermediate sleeve 5105 will rotate in the other direction. When the intermediate sleeve 5105 rotates and moves, it will drive the inner shaft assembly 5103 to rotate in the other direction. When the inner shaft assembly 5103 rotates, it drives the rotating connecting plate 502 to rotate in the other direction; the rotational angle of the rotating connecting plate 502 in the up and down directions is ±90 degrees. This design has high seismic resistance, makes the load evenly distributed on all helical teeth, has good durability and resilience for vibration loads, and can continuously output a large torque.

[0063] When the linear cylinder assembly 503 is working, the hydraulic oil enters the left oil chamber 5306 of the linear cylinder through the left oil hole 10305 of the linear cylinder and the left oil pipe 10306 of the linear cylinder. Under the action of the oil pressure, the piston sleeve 5303 drives the piston 5302 to move to the right. Since the rotating connecting plate 502 and the linear cylinder assembly 503 are fixedly connected through the linear cylinder barrel assembly 5301, the left end of the piston 5302 is fixedly connected to the linear cylinder barrel assembly 5301, and the piston 5302 moves to the right to drive the rotating connecting plate 502 to move to the right; similarly, the hydraulic oil passes through the right oil hole 10307 of the linear cylinder, the right first oil pipe 10308 and the right second oil pipe 10309 to enter the right oil chamber 5305 of the linear cylinder. Under the action of the oil pressure, the piston sleeve 5303 drives the piston 5302 to move to the left, and the piston 5302 moves to the left to drive the rotating connecting plate 502 to move to the left. The moving distance of the rotating connecting plate 502 in the left and right directions is 0 - 50 mm. This structural design integrates the horizontally moving linear oil cylinder into the swing oil cylinder, which can not only realize the angular rotation in the up and down directions, but also realize the position movement in the left and right directions, shortening the overall length of the device, with a simple structural design, reducing the number of parts, lowering the production cost, and improving the reliability of the device and the convenience of maintenance.

[0064] Also, since a plurality of damping holes 30201 are provided at the right end of the piston 5302, when the piston 5302 moves to the left extreme position, the hydraulic oil in the damping holes 30201 provides a reverse thrust, playing a role in buffering and protecting. A damping chamfer 30301 is provided at the left end of the upper surface of the piston sleeve 5303. When the piston 5302 moves to the right extreme position, the damping chamfer 30301 forms a gap with the right second oil pipe 10309, and the hydraulic oil flows back through this gap. When the hydraulic oil enters the gap from the right oil chamber 5305 and flows back, a reverse resistance is also formed, playing a role in buffering and protecting. Through the above buffering design, the stability and reliability of the linear oil cylinder can be improved.

[0065] In addition, the fourth driving device 5 uses multi-layer dust-proof rings, which can adapt to the use in various working environments, prevent dust from entering the inside of the hydraulic cylinder, reduce part wear and increase the service life.

[0066] However, the above are only specific embodiments of the present invention, and the scope of implementation of the present invention cannot be limited thereby. Therefore, the replacement of equivalent components or the equivalent changes and modifications made according to the scope of protection of the present invention patent should still fall within the scope covered by the claims of the present invention.

Claims

1. A precise positioning device for glass grasping, characterized in that: It includes a first driving device, a control device, a second driving device, a third driving device, a fourth driving device, a fifth driving device, and a suction cup device. The first driving device is provided with a fixed base. On one side of the fixed base, a first support outer cylinder is fixedly provided. Above the first support outer cylinder, a first oil cylinder is provided. One end of the first oil cylinder is fixedly connected to the first support outer cylinder through an oil cylinder fixing part, and the other end of the first oil cylinder is fixedly connected to a first support inner cylinder through a first oil cylinder connecting part. The first support inner cylinder is located inside the first support outer cylinder. On the inner surface of the right end of the first support outer cylinder, a first sliding block is provided. The first sliding block is fixedly connected to the first support outer cylinder through a sliding block fixing plate. On the outer surface of the left end of the first support inner cylinder, a second sliding block is fixedly provided. The first support inner cylinder is slidably connected to the first support outer cylinder through the first sliding block and the second sliding block. At the right end of the first support inner cylinder, a first driving connecting part is fixedly provided. The second driving device is provided with a second support outer cylinder. The second support outer cylinder is fixedly connected to the first driving connecting part. On the outside of the second support outer cylinder, a second oil cylinder is fixedly provided. Inside the second support outer cylinder, a second support inner cylinder is provided. The second support inner cylinder is slidably connected to the second support outer cylinder. The second support inner cylinder is fixedly connected to the second oil cylinder through a second oil cylinder connecting part. At the upper and lower ends of the second support inner cylinder, second driving fixing plates are respectively provided. Between the two second driving fixing plates, a second driving connecting part is fixedly provided. The second driving device is fixedly connected to the right end of the first driving device through the first driving connecting part. The third driving device is provided with a first rotary swing cylinder. The first rotary swing cylinder can realize the swing of the suction cup device in the left - right direction. The first rotary swing cylinder is fixedly connected to the second driving connecting part. At the upper and lower ends of the first rotary swing cylinder, third driving fixing plates are fixedly provided. Between the two third driving fixing plates, a third driving connecting plate is fixedly provided. The third driving device is fixedly connected to the right end of the second driving device through the second driving connecting part. The fourth driving device is provided with a swing cylinder. The swing cylinder can realize the swing of the suction cup device in the up - down direction. The swing cylinder is fixedly connected to the third driving connecting plate through a cylinder body fixing part. At the right end of the swing cylinder, a linear cylinder assembly is provided. Inside the linear cylinder assembly, a rotary connecting plate is fixedly provided. The rotary connecting plate is slidably connected to the swing cylinder through a spline connecting shaft. The fourth driving device is fixedly connected to the right end of the third driving device through the third driving connecting plate. The fifth driving device is provided with a third rotary swing cylinder. The rotation angle of the fifth driving device is 360 degrees. One end of the third rotary swing cylinder is fixedly connected to the rotary connecting plate, and the other end of the third rotary swing cylinder is fixedly provided with a fifth driving connecting part. The fifth driving device is fixedly connected to the right end of the fourth driving device through the rotary connecting plate. The suction cup device is provided with a suction cup support, the suction cup support is fixedly connected to a fifth driving connecting member, the suction cup support is connected with a plurality of suction cup assemblies through a suction cup fixing assembly, and the suction cup device is fixedly connected to the right end of a fifth driving device through the fifth driving connecting member.

2. The precision positioning device for glass grasping according to claim 1, characterized in that: The fourth driving device includes a swing cylinder, a rotating connecting plate, a linear cylinder assembly, a balance valve and a spline connecting shaft. The swing cylinder is provided with a swing cylinder barrel, an outer surface of the swing cylinder barrel is fixedly provided with a cylinder barrel fixing member, an inner surface of an inner cavity of the swing cylinder barrel is fixedly provided with an internal gear ring, an inner surface of the internal gear ring is provided with internal gear ring inclined internal teeth, and an inner shaft assembly is coaxially arranged inside the internal gear ring; The inner shaft assembly includes a circular shaft section, a threaded shaft section, a linear cylinder shaft section and a connecting shaft section. The circular shaft section, the threaded shaft section, the linear cylinder shaft section and the connecting shaft section are integrally processed. The circular shaft section and the threaded shaft section are located inside the swing cylinder. An outer surface of the threaded shaft section is provided with inner shaft inclined external teeth. The linear cylinder shaft section is located inside the linear cylinder assembly. The connecting shaft section is located between the swing cylinder and the linear cylinder assembly. The connecting shaft section is provided with a linear cylinder left oil hole and a linear cylinder right oil hole. A right side of the linear cylinder left oil hole is communicated with a linear cylinder left oil pipe. A right end of the linear cylinder right oil hole is sequentially communicated with a right first oil pipe and a right second oil pipe; A middle sleeve is coaxially arranged between the inner shaft assembly and the internal gear ring. An inner surface of a right end of the middle sleeve is provided with middle sleeve inclined internal teeth. An outer surface of the right end of the middle sleeve is provided with middle sleeve inclined external teeth. The middle sleeve inclined internal teeth of the middle sleeve are meshed with the inner shaft inclined external teeth. The middle sleeve inclined external teeth of the middle sleeve are meshed with the internal gear ring inclined internal teeth of the internal gear ring. An outer guiding belt and an outer sealing ring are provided on an outer surface of a left end of the middle sleeve. The outer surface of the left end of the middle sleeve is slidably connected to the swing cylinder barrel through the outer guiding belt. An inner guiding belt and an inner sealing ring are provided on an inner surface of a left end of the middle sleeve. The inner surface of the left end of the middle sleeve is slidably connected to the circular shaft section through the inner guiding belt; Left end covers and right end covers are respectively arranged at left and right ends of the swing cylinder barrel. A end cover guiding belt and an end cover sealing ring are arranged between the left end cover and the swing cylinder barrel. The left end cover is rotatably connected to the swing cylinder barrel through the end cover guiding belt. The left end cover is fixedly connected to the circular shaft section. The left end cover, the inner shaft assembly, the swing cylinder barrel and the middle sleeve form a right oil cavity. A right oil hole is provided at a right end of the swing cylinder barrel. The right oil hole is communicated with the right oil cavity. A end cover sealing ring is arranged between the right end cover and the swing cylinder barrel. A thrust washer is arranged between the right end cover and the inner shaft assembly. The right end cover is sealingly and rotatably connected to the inner shaft assembly. The right end cover, the inner shaft assembly, the swing cylinder barrel and the middle sleeve form a left oil cavity. A left oil hole is provided at a left end of the swing cylinder barrel. The left oil hole is communicated with the left oil cavity. A thrust washer is arranged between the right end cover and the inner shaft assembly; The outer surface of the linear cylinder shaft section is provided with a connecting spline. A rotating connecting plate is arranged outside the linear cylinder shaft section. The rotating connecting plate is slidably connected to the linear cylinder shaft section through the spline. A linear cylinder assembly is fixedly arranged on the right side of the rotating connecting plate. The linear cylinder assembly includes a linear cylinder barrel, a piston, a piston sleeve, and a linear cylinder end cover. The linear cylinder assembly is fixedly connected to the rotating connecting plate through the linear cylinder barrel. The linear cylinder end cover is fixedly connected to the right end of the linear cylinder shaft section. A piston is coaxially arranged inside the linear cylinder shaft section. A damping hole is arranged at the right end of the piston. The number of the damping holes is multiple. A piston sleeve is helically fixed on the outer surface of the right end of the piston. A damping chamfer is arranged at the left end of the upper surface of the piston sleeve. A piston outer guiding band and a piston outer sealing ring are arranged on the outer surface of the piston sleeve. The piston sleeve is slidably connected to the linear cylinder shaft section through the piston outer guiding band. The left end of the piston penetrates through the linear cylinder end cover. A piston inner guiding band and a piston inner sealing ring are arranged on the inner surface of the linear cylinder end cover. The piston is slidably connected to the linear cylinder end cover through the inner guiding band. The left end of the piston is fixedly connected to the linear cylinder barrel. The piston sleeve, the linear cylinder shaft section, and the linear cylinder end cover form a right oil cavity. The right oil cavity communicates with a right second oil pipe. A linear cylinder left oil cavity is arranged inside the linear cylinder shaft section on the left side of the piston sleeve. The linear cylinder left oil cavity communicates with a linear cylinder left oil pipe; A spline connecting shaft is fixedly arranged at the left end of the left end cover. The left end of the rotating connecting plate is slidably connected to the spline connecting shaft. The right end of the rotating connecting plate is slidably connected to the linear cylinder shaft section. A balance valve is fixedly arranged on the outer surface of the swing cylinder barrel. One oil port of the balance valve communicates with the left oil hole through a balance valve connecting pipe. The other oil port of the balance valve communicates with the right oil hole.

3. A glass grasping and precise positioning device according to any one of claims 1-2, characterized in that: The control device includes a control valve housing and a multi-way control valve. The control valve housing is fixedly connected to the lower surface of the right end of the first support outer cylinder. The multi-way control valve is fixed inside the control valve housing.

4. A glass grasping and precise positioning device according to any one of claims 1-2, characterized in that: The moving distance of the first driving device in the front-back direction is 0 - 500 mm.

5. A glass grasping and precise positioning device according to any one of claims 1-2, characterized in that: The moving distance of the second driving device in the up-down direction is 0 - 100 mm.

6. A glass grasping and precise positioning device according to any one of claims 1-2, characterized in that: The rotation angle of the third driving device in the left-right direction is ±90 degrees.

7. A precise positioning device for glass grasping according to any one of claims 1-2, characterized in that: The rotation angle of the fourth driving device in the up-down direction is ±90 degrees.

8. A glass grasping and precise positioning device according to any one of claims 1-2, characterized in that: The moving distance of the fourth driving device in the left-right direction is 0 - 50 mm.

9. A glass grasping and precise positioning device according to any one of claims 1-2, characterized in that: The number of the sucker assemblies is more than 3.

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