A manipulator with adsorption adjustment system

Abstract

The present application discloses a manipulator with an adsorption adjustment system for use in the field of manipulators. The manipulator can achieve stability when the manipulator body adsorbs automobile glass through the cooperation of an adsorption regulator, a rotation adjustment component, a pneumatic balancing component and an adsorption adjustment system. While improving the safety of adsorption and clamping, the control accuracy of adsorption pressure is effectively improved, and damage such as suction cup indentations or cracks on the automobile glass caused by excessive adsorption pressure is avoided. The quality of automobile glass is effectively guaranteed, the yield is improved, the manufacturing cost is reduced, and the application of the manipulator body in the automobile glass manufacturing industry is effectively promoted. The applicability and scope of use of the manipulator body are effectively increased, and the glass with different surface shapes or curvatures can be adsorbed and clamped, thereby improving the practicality of the manipulator body.

Description

Technical Field

[0001] The present application relates to the field of manipulators, and in particular to a manipulator with an adsorption adjustment system. Background Art

[0002] In today's rapidly advancing technology, the biggest difference between robotic arms and human arms lies in their flexibility and endurance. The greatest advantage of robotic arms is their ability to perform the same action repeatedly without ever getting tired. The application of robotic arms is expected to become increasingly widespread. Robots are a type of high-tech automated production equipment developed in recent decades, known for their precision and ability to complete tasks in a variety of environments. They are a key branch of industrial robotics.

[0003] The gradual maturity and application of industrial manipulator robot technology has prompted the industry to enter the era of automated production and preparation, especially the automotive manufacturing industry has been more widely used. When producing automotive glass, the manipulator plays the role of adsorption, clamping and transportation. However, since automotive glass is generally not a pure straight surface, most of them have a certain curvature, which increases the difficulty of the manipulator's adsorption action.

[0004] In the existing technology, the stability of the robot's adsorption and clamping of automobile glass is generally improved by increasing the adsorption strength of the robot. However, due to the continuous increase in vacuum suction, a circle of suction cup indentations will be formed on the surface of the automobile glass, which will directly cause quality damage to the automobile glass and require additional repair, increasing manufacturing costs. Excessive suction can even directly cause cracks in the automobile glass. Therefore, simply increasing the adsorption strength cannot effectively solve the above problems. Summary of the Invention

[0005] The purpose of this application is to solve the problem of the stability of the manipulator's adsorption of automobile glass. Compared with the existing technology, a manipulator with an adsorption adjustment system is provided, which includes a manipulator body, a front end of the manipulator body is fixedly installed with an adsorption adjustment component, a left end of the manipulator body close to the adsorption adjustment component is fixedly installed with an adsorption regulator, a front end of the adsorption adjustment component is connected to a plurality of glass suction cups, a rear end of the glass suction cup is fixedly connected to a vacuum adsorption tube connected thereto, and a front end of the adsorption adjustment component is connected to an infrared positioning sensor;

[0006] The rear end of the vacuum adsorption tube is sleeved with a stepped nesting connected thereto, and a rotation adjustment component is fixedly installed on the rear end of the stepped nesting. The rotation adjustment component includes an adjustment rotating ball fixedly connected to the rear end of the avoidance groove, and the rear end of the adjustment rotating ball is embedded with a pneumatic balancing component connected thereto, and the pneumatic balancing component cooperates with the adsorption regulator;

[0007] The manipulator body is provided with an adsorption adjustment system, which includes an adsorption processing unit. The input end of the adsorption processing unit is connected to a position sensing unit, an air pressure feedback unit and an adsorption pressure sensing unit. The output end of the adsorption processing unit is connected to an air pressure equalization steering unit, an adsorption pressure adjustment unit and an adsorption warning unit.

[0008] The input end of the position sensing unit is connected to the infrared positioning sensor signal through a wire, the input end of the air pressure feedback unit is connected to the air pressure sensor signal embedded in the step nest, and the input end of the adsorption pressure sensing unit is connected to the multiple pressure sensing probes embedded in the front end of the glass suction cup;

[0009] The output end of the air pressure equalization steering unit and the output end of the adsorption pressure adjustment unit are both connected to the adsorption regulator signal through a wire, and the output end of the adsorption warning unit is connected to the alarm signal arranged on the manipulator body through a wire. Through the cooperation of the adsorption regulator, the rotation adjustment component, the pneumatic equalization component and the adsorption adjustment system, the stability of the manipulator body when adsorbing the automobile glass can be achieved. While improving the safety of adsorption and clamping, the control accuracy of the adsorption pressure is effectively improved, and damage such as suction cup indentations or cracks on the automobile glass caused by excessive adsorption pressure is avoided. It effectively guarantees the quality of automobile glass, improves the yield, reduces manufacturing costs, effectively promotes the application of the manipulator body in the automobile glass manufacturing industry, and effectively increases the applicability and use scope of the manipulator body. It can adsorb and clamp glass with different surface shapes or curvatures, thereby improving the practicality of the manipulator body.

[0010] Optionally, a pneumatic balancing component includes a suction air nozzle, a suction air nozzle is embedded in the rear end of the adjusting rotating ball, and a partition balancing ring is fixedly connected to the outer end of the suction air nozzle near the adjusting rotating ball. A plurality of evenly distributed partition cavities are opened in the partition balancing ring, and a plurality of contraction air tubes connected to the partition cavities are fixedly connected to the rear end of the partition balancing ring, and the contraction air tubes and the partition cavities are in a one-to-one correspondence. A sleeve is sleeved on the outer end of the suction air nozzle away from the adjusting rotating ball, and the other end of the suction air nozzle is fixedly connected to the sleeve. The suction air nozzle is connected to the suction regulator through a spiral suction hose, and the partition cavity is connected to the suction regulator through a balancing hose. The suction strength of the glass suction cup can be controlled by the suction air nozzle, effectively ensuring the automatic control of the manipulator body. The partition balancing ring and the contraction air tube cooperate to realize the rotation of the suction angle of the glass suction cup by using the rotating adjustment component, so that the adsorption bonding surface of the glass suction cup can contact the surface of the automobile glass in the largest range. While effectively ensuring the adsorption stability, it can also balance the adsorption pressure by balancing the contact area to avoid damage to the automobile glass caused by excessive local pressure.

[0011] Optionally, the adsorption regulator is provided with multiple independent air pressure adsorption units and multiple independent balancing adjustment units, the output ends of the multiple air pressure adsorption units are respectively connected with the corresponding adsorption air nozzles, and a single adsorption air nozzle corresponds to a single air pressure adsorption unit, a single balancing adjustment unit is provided with multiple independent pneumatic deflection units, and the output end of a single pneumatic deflection unit is connected with its corresponding partition cavity, a single balancing adjustment unit corresponds to a single partition balancing ring, and a single pneumatic deflection unit corresponds to a single partition cavity. Through the cooperation of the air pressure adsorption unit, the balancing adjustment unit and the pneumatic deflection unit, it is possible to effectively realize independent control of multiple glass suction cups, achieve precise control and precise adsorption effects, and effectively enable multiple glass suction cups to be adjusted according to the curvature trend of the automobile glass, thereby effectively ensuring the effectiveness of the glass suction cups in adsorbing the automobile glass and the balance of the adsorption force. While improving the adsorption stability, it can also achieve the control accuracy of the adsorption pressure, thereby reducing the damage rate of the automobile glass during clamping and transportation.

[0012] Optionally, the air pressure equalizing steering unit includes an air pressure equalizing processing module, the input end of the air pressure equalizing processing module is connected to the adsorption processing unit signal, the output end of the air pressure equalizing processing module is connected to multiple independent deflection control modules, the output end of the deflection control module is connected to the equalizing adjustment unit signal through a wire, and the multiple independent deflection control modules are arranged in a one-to-one correspondence with the multiple independent equalizing adjustment units. Through the setting of multiple independent deflection control modules, independent control of glass suction cups in different positions can be achieved, which fully improves the control accuracy and the clamping accuracy of the manipulator body, and effectively ensures the stability of clamping and the low damage rate effect.

[0013] Optionally, the adsorption pressure regulating unit includes an adsorption pressure processing module, the input end of the adsorption pressure processing module is connected to the adsorption processing unit signal, the output end of the adsorption pressure processing module is connected to multiple independent adsorption regulating modules, the output end of the adsorption regulating module is connected to the air pressure adsorption unit signal through a wire, and the multiple independent adsorption regulating modules are arranged in a one-to-one correspondence with the multiple independent air pressure adsorption units. Through the multiple independent adsorption regulating modules, the adsorption pressure of the independent glass suction cup can be adjusted when the glass suction cup needs to be deflected. While reducing the influence of the clamping effect of other glass suction cups during the adjustment process, it can also leave a pressure margin for the deflection of the glass suction cup, thereby reducing the damage to the automobile glass caused by the deflection adjustment of the glass suction cup.

[0014] Optionally, the adsorption pressure sensing unit includes a pressure sensing processing module, the output end of the pressure sensing processing module is connected to the adsorption processing unit signal, the input end of the pressure sensing processing module is connected to multiple independent adsorption pressure collection modules, and the multiple independent adsorption pressure collection modules are arranged in a one-to-one correspondence with the multiple glass suction cups, and the input end of the adsorption pressure collection module is connected to the corresponding multiple pressure sensing probe signals at the front end of the glass suction cup. Through the setting of multiple independent adsorption pressure collection modules, the contact data between the end face of the glass suction cup and the surface of the automobile glass can be effectively collected. While improving the independence of the data, the adsorption processing unit can also independently judge the adsorption state of a single glass suction cup, effectively realizing the precise control of a single glass suction cup, and then fully improving the control accuracy of the clamping pressure while ensuring the adsorption stability, reducing the clamping damage rate of the manipulator body, and improving the economic efficiency of the manipulator body.

[0015] Optionally, the air pressure feedback unit includes an air pressure feedback processing module, the output end of the air pressure feedback processing module is connected to the adsorption processing unit signal, the input end of the air pressure feedback processing module is connected to multiple independent air pressure data collection modules, and the multiple independent air pressure data collection modules are arranged in a one-to-one correspondence with the multiple step nests, and the input end of the air pressure data collection module is connected to the air pressure sensor signal in the corresponding step nest. Through the setting of the air pressure data collection module, the air pressure data in a single step nest can be collected and verified, thereby ensuring the effectiveness of the adsorption of the manipulator body and avoiding unstable air pressure during the adsorption, clamping and transportation of the manipulator body. While achieving the self-inspection effect of the manipulator body, it also improves its operation safety.

[0016] In addition, the coordinated use of the air pressure equalization processing module, the adsorption pressure processing module, the pressure sensing processing module and the air pressure feedback processing module achieves the effect of reducing the computational burden, thereby reducing the computational burden of the adsorption processing unit. This not only improves the control efficiency and shortens the working time of a single clamping and transportation of the robot body, but also reduces the design cost of the adsorption processing unit, thereby reducing the preparation cost of the robot body.

[0017] Optionally, the adsorption adjustment component includes an adsorption connecting block, the front end of the manipulator body is fixedly connected to the adsorption connecting block, the front end of the adsorption connecting block is fixedly connected to the adsorption bracket, the front end of the adsorption bracket is fixedly connected to multiple adsorption sliding rods, the adsorption sliding rods are slidably connected to multiple adsorption sliders, the front end of the adsorption slider is threadedly connected to a locking bolt, and the combination of the adsorption sliding rod and the adsorption slider can realize the adjustable distribution position and gap of the glass suction cup according to the different models and specifications of the produced automobile glass, thereby effectively expanding the scope of application of the manipulator body.

[0018] Optionally, a sleeve hole is opened on the adsorption slider, and a sealing rubber ring is fixedly connected to the front and rear ends of the sleeve hole, an embedded ring is fixedly connected to the inner wall of the sealing rubber ring, and a plurality of rotating beads are rotatably connected to the inner wall of the embedded ring. The adjustment rotating ball is located between the two embedded rings and is rotatably connected to them through the rotating beads. The coordination of the adjusting rotating ball, rotating beads and embedded rings can effectively realize the flexibility of the deflection adjustment of the glass suction cup, realize the function of multi-directional adjustment, and improve the control range and control accuracy of the adsorption adjustment of the robot body.

[0019] Optionally, the front end of the adsorption slider is embedded with a buffer elastic pad that cooperates with the stepped nesting, and the rear end of the stepped nesting is provided with an avoidance groove that cooperates with the adsorption slider. The setting of the buffer elastic pad and the avoidance groove effectively ensures the safety of the glass suction cup during the deflection adjustment process, avoids damage caused by mechanical collision, and improves the service life of each structure.

[0020] Compared with the existing technology, the advantages of this application are:

[0021] (1) Through the coordination of the adsorption regulator, the rotation adjustment component, the pneumatic balancing component and the adsorption adjustment system, the stability of the manipulator body when adsorbing the automobile glass can be achieved. While improving the safety of adsorption and clamping, the control accuracy of the adsorption pressure is effectively improved, avoiding damage such as suction cup indentations or cracks on the automobile glass caused by excessive adsorption pressure, effectively guaranteeing the quality of the automobile glass, improving the yield rate, reducing manufacturing costs, and effectively promoting the application of the manipulator body in the automobile glass manufacturing industry. It also effectively increases the applicability and scope of use of the manipulator body, and can adsorb and clamp glass with different surface shapes or curvatures, thereby improving the practicality of the manipulator body.

[0022] (2) The adsorption strength of the glass suction cup can be controlled by the adsorption air nozzle, which effectively ensures the automatic control of the robot body. The coordination of the partition balance ring and the contraction air tube realizes the rotation of the adsorption angle of the glass suction cup by the rotation adjustment component, so that the adsorption bonding surface of the glass suction cup can contact the surface of the automobile glass in the largest range. While effectively ensuring the adsorption stability, it can also balance the adsorption pressure by balancing the contact area to avoid damage to the automobile glass caused by excessive local pressure.

[0023] (3) Through the coordination of the air pressure adsorption unit, the balance adjustment unit and the pneumatic deflection unit, the independent control of multiple glass suction cups can be effectively realized, and the effects of precise regulation and precise adsorption can be achieved. The multiple glass suction cups can be effectively adjusted according to the curvature trend of the automobile glass, thereby effectively ensuring the effectiveness of the glass suction cups in adsorbing the automobile glass and the balance of the adsorption force. While improving the adsorption stability, the control accuracy of the adsorption pressure can also be achieved, thereby reducing the damage rate of the automobile glass during the clamping and transportation process.

[0024] (4) By setting up multiple independent deflection control modules, independent control of glass suction cups at different positions can be achieved, which fully improves the control accuracy and the clamping accuracy of the manipulator body, and effectively ensures the stability of clamping and the low damage rate.

[0025] (5) Through multiple independent adsorption adjustment modules, the adsorption pressure of the independent glass suction cup can be adjusted when the glass suction cup needs to be deflected. While reducing the influence of the clamping effect of other glass suction cups during the adjustment process, it can also leave a pressure margin for the deflection of the glass suction cup, thereby reducing the damage to the automobile glass caused by the deflection adjustment of the glass suction cup.

[0026] (6) The setting of multiple independent adsorption pressure collection modules can effectively collect the contact data between the end face of the glass suction cup and the surface of the automobile glass. While improving the independence of the data, it can also realize the independent judgment of the adsorption state of a single glass suction cup by the adsorption processing unit, effectively realize the precise regulation of a single glass suction cup, and then fully improve the control accuracy of the clamping pressure while ensuring the adsorption stability, reduce the clamping damage rate of the robot body, and improve the economic efficiency of the robot body.

[0027] (7) Through the setting of the air pressure data collection module, the air pressure data within a single step nest can be collected and verified, ensuring the effectiveness of the manipulator body adsorption and avoiding the unstable air pressure during the manipulator body adsorption, clamping and transportation process. While achieving the self-inspection effect of the manipulator body, it also improves its operation safety.

[0028] (8) The effect of reducing the computational burden is also achieved through the coordinated use of the air pressure equalization processing module, the adsorption pressure processing module, the pressure sensing processing module and the air pressure feedback processing module, which reduces the computational burden of the adsorption processing unit. This not only improves the control efficiency and shortens the working time of a single clamping and transportation of the robot body, but also reduces the design cost of the adsorption processing unit, thereby reducing the preparation cost of the robot body.

[0029] (9) The combination of the adsorption slide bar and the adsorption slider can adjust the distribution position and gap of the glass suction cup according to the different models and specifications of the produced automobile glass, effectively expanding the application range of the robot body.

[0030] (10) The coordination of the adjusting ball, the rotating bead and the embedded ring can effectively realize the flexibility of the deflection adjustment of the glass suction cup, realize the function of multi-directional adjustment, and improve the control range and control accuracy of the adsorption adjustment of the manipulator body. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is the axonometric view of the robot body of this application;

[0032] Figure 2 This is the control logic diagram of the adsorption regulation system of this application;

[0033] Figure 3 This is the control topology diagram of the adsorption regulation system of this application;

[0034] Figure 4 This is a front cross-sectional view of the adsorption adjustment component and the glass suction cup of the present application;

[0035] Figure 5 This is a front cross-sectional view of the rotation adjustment component and the pneumatic balancing component of the present application;

[0036] Figure 6 This is the front view of the glass suction cup used in this application when adsorbing automobile glass;

[0037] Figure 7 This is a front cross-sectional view of the rotary adjustment component deflected downward during adsorption of automobile glass in the present application;

[0038] Figure 8 This is a front cross-sectional view of the rotary adjustment component of the present application deflected upward during adsorption of automobile glass;

[0039] Figure 9 This is a front view of the glass suction cup used in this application when adsorbing straight-faced glass;

[0040] Figure 10 This is a front cross-sectional view of the rotation adjustment component of the present application when adsorbing straight-faced glass.

[0041] Description of the numbers in the figure:

[0042] 1. Robot body, 2. Adsorption regulator, 3. Adsorption adjustment assembly, 301. Adsorption connecting block, 302. Adsorption bracket, 303. Adsorption slide bar, 304. Adsorption slider, 305. Buffering elastic pad, 4. Glass suction cup, 401. Vacuum adsorption tube, 5. Infrared positioning sensor, 6. Rotation adjustment assembly, 601. Adjustment ball, 602. Turning ball, 603. Embedded ring, 604. Sealing rubber ring, 7. Pneumatic balancing assembly, 701. Adsorption nozzle, 702. Ring, 703. Partition balancing ring, 704. Contraction air tube, 8. Step nesting, 801. Avoidance groove. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0044] Example 1:

[0045] This application discloses a manipulator with an adsorption adjustment system. Figure 1-10 , including a manipulator body 1, a suction adjustment component 3 is fixedly installed at the front end of the manipulator body 1, a suction regulator 2 is fixedly installed at the left end of the manipulator body 1 close to the suction adjustment component 3, a plurality of glass suction cups 4 are connected to the front end of the suction adjustment component 3, a vacuum suction tube 401 connected thereto is fixedly connected to the rear end of the glass suction cup 4, and an infrared positioning sensor 5 is connected to the front end of the suction adjustment component 3;

[0046] The rear end of the vacuum adsorption tube 401 is connected to a stepped nest 8 (either an embedded threaded sealing connection or a fixed connection). The rear end of the stepped nest 8 is fixedly mounted with a rotation adjustment assembly 6. The rotation adjustment assembly 6 includes an adjustment ball 601 fixedly connected to the rear end of the avoidance groove 801. The rear end of the adjustment ball 601 is embedded with a pneumatic balancing assembly 7 connected thereto. The pneumatic balancing assembly 7 cooperates with the adsorption regulator 2.

[0047] The manipulator body 1 is provided with an adsorption adjustment system, which includes an adsorption processing unit. The input end of the adsorption processing unit is connected to a position sensing unit, an air pressure feedback unit and an adsorption pressure sensing unit. The output end of the adsorption processing unit is connected to an air pressure equalization steering unit, an adsorption pressure adjustment unit and an adsorption warning unit.

[0048] The input end of the position sensing unit is connected to the infrared positioning sensor 5 through a wire, the input end of the air pressure feedback unit is connected to the air pressure sensor embedded in the step nest 8, and the input end of the adsorption pressure sensing unit is connected to the multiple pressure sensing probes embedded in the front end of the glass suction cup 4;

[0049] The output end of the air pressure equalization steering unit and the output end of the adsorption pressure adjustment unit are both connected to the adsorption regulator 2 signal through a wire, and the output end of the adsorption warning unit is connected to the alarm signal set on the manipulator body 1 through a wire. Through the cooperation of the adsorption regulator 2, the rotation adjustment component 6, the pneumatic equalization component 7 and the adsorption adjustment system, the stability of the manipulator body 1 when adsorbing the automobile glass can be achieved. While improving the safety of adsorption and clamping, the control accuracy of the adsorption pressure is effectively improved, avoiding damage such as suction cup indentations or cracks on the automobile glass caused by excessive adsorption pressure, effectively guaranteeing the quality of automobile glass, improving the yield, reducing manufacturing costs, effectively promoting the application of the manipulator body 1 in the automobile glass manufacturing industry, and effectively increasing the applicability and scope of use of the manipulator body 1, and being able to adsorb and clamp glass with different surface shapes or curvatures, thereby improving the practicality of the manipulator body 1.

[0050] See also Figure 4-10, the pneumatic balancing component 7 includes an adsorption air nozzle 701, the rear end of the adjustment rotating ball 601 is embedded with the adsorption air nozzle 701, the outer end of the adsorption air nozzle 701 is fixedly connected to the side of the adjustment rotating ball 601 with a partition balancing ring 703, and a plurality of evenly distributed partition cavities are opened in the partition balancing ring 703. The rear end of the partition balancing ring 703 is fixedly connected with a plurality of contraction air tubes 704 connected to the partition cavity, and the contraction air tubes 704 and the partition cavity are in a one-to-one correspondence. The outer end of the adsorption air nozzle 701 is away from the adjusting rotating ball 601 and is sleeved with a collar 702. The other end of the adsorption air nozzle 701 is fixedly connected to the collar 702. The adsorption air nozzle 701 is adsorbed by a spiral The hose is connected to the adsorption regulator 2, and the partition cavity is connected to the adsorption regulator 2 through the balancing hose. The adsorption strength of the glass suction cup 4 can be controlled by the adsorption air nozzle 701, which effectively ensures the automatic control of the manipulator body 1. The partition balancing ring 703 and the contraction air tube 704 cooperate to realize the rotation adjustment component 6 to rotate the adsorption angle of the glass suction cup 4, so that the adsorption bonding surface of the glass suction cup 4 can contact the automobile glass surface to the maximum extent. While effectively ensuring the adsorption stability, it can also balance the adsorption pressure by balancing the contact area to avoid damage to the automobile glass caused by excessive local pressure.

[0051] See also Figure 1-10 , the adsorption regulator 2 is provided with multiple independent air pressure adsorption units and multiple independent balanced adjustment units, the output ends of the multiple air pressure adsorption units are respectively connected with the corresponding adsorption air nozzles 701, and a single adsorption air nozzle 701 corresponds to a single air pressure adsorption unit, a single balanced adjustment unit is provided with multiple independent pneumatic deflection units, and the output end of a single pneumatic deflection unit is connected with its corresponding partition cavity, a single balanced adjustment unit corresponds to a single partition balanced ring 703, and a single pneumatic deflection unit corresponds to a single partition cavity. Through the cooperation of the air pressure adsorption unit, the balanced adjustment unit and the pneumatic deflection unit, the independent control of the multiple glass suction cups 4 can be effectively realized, and the effect of precise control and precise adsorption can be achieved, so that the multiple glass suction cups 4 can be adjusted accordingly according to the curvature trend of the automobile glass, thereby effectively ensuring the effectiveness of the glass suction cup 4 in adsorbing the automobile glass and the balance of the adsorption force. While improving the adsorption stability, it can also achieve the control accuracy of the adsorption pressure, thereby reducing the damage rate of the automobile glass during clamping and transportation.

[0052] The air pressure adsorption unit includes multiple independent spiral adsorption hoses and various regulating valves, which can achieve unified adsorption and relaxation control when the regulating valves are fully open. It can also achieve independent adsorption air pressure regulation by controlling the regulating valves on a single spiral adsorption hose.

[0053] The pneumatic deflection unit includes multiple balancing hoses and various control valves, which can achieve unified angle maintenance and relaxation control when the control valves are fully open. It can also achieve regulation of a single glass suction cup 4 in different directions by controlling the various control valves on a single balancing hose; and the balancing adjustment unit independently controls multiple balancing hoses and various control valves on the same glass suction cup 4, reducing the complexity and difficulty of control.

[0054] See also Figure 1-3 The air pressure equalization steering unit includes an air pressure equalization processing module. The input end of the air pressure equalization processing module is connected to the adsorption processing unit signal. The output end of the air pressure equalization processing module is connected to multiple independent deflection control modules. The output end of the deflection control module is connected to the equalization adjustment unit signal through a wire, and the multiple independent deflection control modules are arranged in a one-to-one correspondence with the multiple independent equalization adjustment units. Through the setting of multiple independent deflection control modules, independent control of glass suction cups 4 at different positions can be achieved, which fully improves the control accuracy and the clamping accuracy of the manipulator body 1, and effectively ensures the stability of clamping and the low damage rate effect.

[0055] See also Figure 1-3 The adsorption pressure regulating unit includes an adsorption pressure processing module, the input end of the adsorption pressure processing module is connected to the adsorption processing unit signal, the output end of the adsorption pressure processing module is connected to multiple independent adsorption regulating modules, the output end of the adsorption regulating module is connected to the air pressure adsorption unit signal through a wire, and the multiple independent adsorption regulating modules are arranged in a one-to-one correspondence with the multiple independent air pressure adsorption units. Through the multiple independent adsorption regulating modules, when the glass suction cup 4 needs to be deflected, the adsorption pressure of the independent glass suction cup 4 can be adjusted. While reducing the influence of the clamping effect of other glass suction cups 4 during the adjustment process, it can also leave a pressure margin for the deflection of the glass suction cup 4, thereby reducing the damage to the automobile glass caused by the deflection adjustment process of the glass suction cup 4.

[0056] See also Figure 1-3The adsorption pressure sensing unit includes a pressure sensing processing module, the output end of the pressure sensing processing module is connected to the adsorption processing unit signal, the input end of the pressure sensing processing module is connected to multiple independent adsorption pressure collection modules, and the multiple independent adsorption pressure collection modules are arranged in a one-to-one correspondence with the multiple glass suction cups 4, and the input end of the adsorption pressure collection module is connected to the corresponding multiple pressure sensing probe signals at the front end of the glass suction cup 4. Through the setting of multiple independent adsorption pressure collection modules, the contact data between the end face of the glass suction cup 4 and the surface of the automobile glass can be effectively collected. While improving the independence of the data, it can also realize the independent judgment of the adsorption state of a single glass suction cup 4 by the adsorption processing unit, effectively realizing the precise regulation of a single glass suction cup 4, and then fully improving the control accuracy of the clamping pressure while ensuring the adsorption stability, reducing the clamping damage rate of the manipulator body 1, and improving the economic efficiency of the manipulator body 1.

[0057] See also Figure 1-3 The air pressure feedback unit includes an air pressure feedback processing module. The output end of the air pressure feedback processing module is connected to the adsorption processing unit signal. The input end of the air pressure feedback processing module is connected to multiple independent air pressure data collection modules, and the multiple independent air pressure data collection modules are arranged in a one-to-one correspondence with the multiple step nests 8. The input end of the air pressure data collection module is connected to the air pressure sensor signal in the corresponding step nest 8. Through the setting of the air pressure data collection module, the air pressure data in a single step nest 8 can be collected and verified, which ensures the effectiveness of the adsorption of the manipulator body 1 and avoids the occurrence of unstable air pressure during the adsorption, clamping and transportation process of the manipulator body 1. While realizing the self-inspection effect of the manipulator body 1, it also improves its operation safety.

[0058] In addition, the coordinated use of the air pressure equalization processing module, the adsorption pressure processing module, the pressure sensing processing module and the air pressure feedback processing module achieves the effect of reducing the computational burden, thereby reducing the computational burden of the adsorption processing unit. This not only improves the control efficiency and shortens the working time of a single clamping and transportation of the manipulator body 1, but also reduces the design cost of the adsorption processing unit, thereby reducing the preparation cost of the manipulator body 1.

[0059] See also Figure 1 and Figure 4-10The adsorption adjustment component 3 includes an adsorption connecting block 301, the front end of the manipulator body 1 is fixedly connected to the adsorption connecting block 301, the front end of the adsorption connecting block 301 is fixedly connected to the adsorption bracket 302, the front end of the adsorption bracket 302 is fixedly connected to a plurality of adsorption slide rods 303, and a plurality of adsorption sliders 304 are slidably connected to the adsorption slide rods 303. The front end of the adsorption slider 304 is threadedly connected with a locking bolt. The cooperation of the adsorption slide rod 303 and the adsorption slider 304 can realize the adjustable distribution position and gap of the glass suction cup 4 according to the different models and specifications of the produced automobile glass, thereby effectively expanding the scope of application of the manipulator body 1.

[0060] The plurality of adsorption slide bars 303 can be arranged to cooperate with each other in the horizontal and vertical directions according to the adsorption and clamping requirements, so as to achieve adjustment of the glass suction cup 4 in the left-right and up-down directions.

[0061] See also Figure 4-10 , a sleeve hole is opened on the adsorption slider 304, and a sealing rubber ring 604 is fixedly connected to the front and rear ends of the sleeve hole, and an embedded ring 603 is fixedly connected to the inner wall of the sealing rubber ring 604, and a plurality of rotating beads 602 are rotatably connected to the inner wall of the embedded ring 603, and the adjusting rotating ball 601 is located between the two embedded rings 603 and is rotatably connected to them through the rotating beads 602. Here, the adjusting rotating ball 601, rotating beads 602 and embedded ring 603 can be set to a spherical rotating ball bearing style or directly set to a universal ball head structure, and then fixedly set in the sleeve hole on the adsorption slider 304 through its outer end to realize rotation in the sleeve hole. The cooperation of the adjusting rotating ball 601, rotating beads 602 and embedded ring 603 can effectively realize the flexibility of deflection adjustment of the glass suction cup 4, realize the function of multi-directional adjustment, and improve the control range and control accuracy of the adsorption adjustment of the manipulator body 1.

[0062] See also Figure 4-10 The front end of the adsorption slider 304 is embedded with a buffer elastic pad 305 that cooperates with the stepped nest 8, and the rear end of the stepped nest 8 is provided with an avoidance groove 801 that cooperates with the adsorption slider 304. The setting of the buffer elastic pad 305 and the avoidance groove 801 effectively ensures the safety of the glass suction cup 4 during the deflection adjustment process, avoids damage caused by mechanical collision, and improves the service life of each structure.

[0063] See also Figure 1-10When the manipulator body 1 adsorbs the automobile glass, it first controls the adsorption adjustment component 3 to drive the glass suction cup 4 to move closer to the automobile glass. The infrared positioning sensor 5 can collect the position data between the glass suction cup 4 and the automobile glass, and then transmit the collected data to the position sensing unit. The position sensing data converts the received data and transmits it to the adsorption processing unit. The adsorption processing unit judges the distance between the glass suction cup 4 and the automobile glass. At the same time, after the glass suction cup 4 and the automobile glass generate received data, the multiple pressure sensing probes at the front end of the glass suction cup 4 will transmit the contact pressure data to the corresponding adsorption pressure collection module in the adsorption pressure sensing unit. The adsorption pressure collection module processes the data and transmits it to the pressure sensing processing module. The pressure sensing processing module calculates and converts the contact pressure generated by the multiple glass suction cups 4, and then transmits it to the adsorption processing unit. The adsorption processing unit judges the position of the glass suction cup 4 based on the received contact pressure data and position distance data.

[0064] After determining that the glass suction cup 4 has reached the position for adsorption and clamping the automobile glass, the adsorption processing unit first transmits the same adsorption control instruction to the adsorption pressure processing module of the adsorption pressure regulating unit. After analyzing and processing the instruction, the adsorption pressure processing module transmits the same control instruction to the adsorption regulating module, so that the adsorption regulating module controls all the air pressure adsorption units on the adsorption regulator 2, so that the air pressure adsorption units perform an initial adsorption action on all the glass suction cups 4 through the spiral adsorption hose, thereby performing an initial adsorption and clamping of the automobile glass through the glass suction cups 4.

[0065] Then, multiple pressure sensing probes at the front end of the glass suction cup 4 collect data on the contact pressure generated between it and the car glass, and then transmit the data to the corresponding adsorption pressure collection module in the adsorption pressure sensing unit. The adsorption pressure collection module processes the contact pressure data set generated by the end face of each glass suction cup 4 and transmits it to the pressure sensing processing module. The pressure sensing processing module calculates and converts the contact pressure generated by the multiple glass suction cups 4 and then transmits it to the adsorption processing unit. The adsorption processing unit judges the contact pressure data set generated by the end face of each glass suction cup 4 based on the received contact pressure data.

[0066] At the same time, the air pressure sensor in the stepped nest 8 collects air pressure data in the channels of the vacuum adsorption tube 401, the stepped nest 8, the adjustment ball 601, and the adsorption air nozzle 701, and then transmits the data to the corresponding air pressure data collection modules in the air pressure feedback unit. The air pressure data collection module collects and processes the air pressure data and transmits it to the air pressure feedback processing module. The air pressure feedback processing module calculates and converts the data and then transmits it to the adsorption processing unit. The adsorption processing unit determines the adsorption pressure of the glass suction cup 4 on the automobile glass at this time based on the received adsorption air pressure data.

[0067] When the contact pressure data collected by the multiple pressure sensing probes at the front end of the glass suction cup 4 are determined to be balanced and the adsorption air pressure data is qualified, the adsorption processing unit determines that the adsorption state of the glass suction cup 4 on the automobile glass is fully adsorbed, and the adsorption and clamping action is completed;

[0068] When it is determined that the contact pressure data collected by the multiple pressure sensing probes at the front end of the glass suction cup 4 are unbalanced and the adsorption air pressure data are qualified, the adsorption processing unit determines the number of glass suction cups 4 that are unqualified for adsorption. When it is determined that the number is within the clampable range, it is determined that the manipulator body 1 has completed all adsorption and clamping, and can perform the clamping and transportation action. When it is determined that the number is not within the clampable range, it is determined that the direction in which the glass suction cup 4 is unbalanced needs to be adjusted, and then the control instructions are respectively transmitted to the air pressure equalization processing module in the air pressure equalization steering unit and the adsorption pressure processing module in the adsorption pressure adjustment unit. First, the adsorption pressure processing module determines the data corresponding to the glass suction cup 4, and then transmits the control data to the adsorption adjustment module corresponding to the glass suction cup 4. The adsorption adjustment module controls the air pressure adsorption unit, so that the air pressure adsorption unit deflates the glass suction cup 4 and releases the suction effect on it.

[0069] The air pressure equalization processing module then processes and converts the data of the glass suction cup 4 that requires deflection adjustment, and transmits the control instructions to the deflection control module of the corresponding glass suction cup 4. The deflection control module controls the equalization adjustment unit to produce an action. By controlling the air pressure of a single partition cavity within the partitioned equalization ring 703, the contraction air tube 704 and the collar 702 cooperate to drive the suction nozzle 701 to produce a deflection action. The direction of the deflection of the suction nozzle 701 is to rotate toward the side with the smaller contact pressure value sensed by the multiple pressure sensing probes at the front end of the glass suction cup 4.

[0070] After all the glass suction cups 4 that need to be adjusted have been rotated and adjusted, the adsorption adjustment module controls the air pressure adsorption unit, and the air pressure adsorption unit performs a secondary suction action on all the rotating and adjusted glass suction cups 4 through the spiral adsorption hose to perform a secondary clamping of the automobile glass;

[0071] After adjustment, the multiple pressure sensing probes at the front end of the glass suction cup 4 collect data on the contact pressure generated between the suction cup 4 and the automobile glass. The data is then transmitted to the corresponding suction pressure collection modules in the suction pressure sensing unit. The suction pressure collection modules process the contact pressure data sets generated by the end faces of each glass suction cup 4 and transmit them to the pressure sensing processing module. The pressure sensing processing module calculates and converts the contact pressures generated by the multiple glass suction cups 4 and transmits them to the suction processing unit. The suction processing unit determines the contact pressure data sets generated by the end faces of each glass suction cup 4 based on the received contact pressure data.

[0072] At the same time, the air pressure sensor in the stepped nest 8 collects air pressure data in the channels of the vacuum adsorption tube 401, the stepped nest 8, the adjustment ball 601, and the adsorption air nozzle 701, and then transmits the data to the corresponding air pressure data collection modules in the air pressure feedback unit. The air pressure data collection module collects and processes the air pressure data and transmits it to the air pressure feedback processing module. The air pressure feedback processing module calculates and converts the data and then transmits it to the adsorption processing unit. The adsorption processing unit determines the adsorption pressure of the glass suction cup 4 on the automobile glass at this time based on the received adsorption air pressure data.

[0073] When the contact pressure data collected by the multiple pressure sensing probes at the front end of the glass suction cup 4 is determined to be balanced and the adsorption air pressure data is qualified, the adsorption processing unit determines that the glass suction cup 4 is now in a fully adsorbed state on the automobile glass. The rotation adjustment action is completed, and the manipulator body 1 is able to perform the gripping and transportation action after fully adsorbing and gripping the glass.

[0074] When it is determined that the contact pressure data collected by the multiple pressure sensing probes at the front end of the glass suction cup 4 are unbalanced and the adsorption air pressure data are qualified, the adsorption processing unit judges the number of glass suction cups 4 that fail to be adsorbed. When it is determined that the number is within the clampable range, it is determined that the manipulator body 1 has completed all adsorption and clamping, and can perform the clamping and transportation action; when it is determined that the number is not within the clampable range, the adsorption processing unit recycles the above-mentioned rotation adjustment, and then re-judges. After the number of cycles exceeds the set cycle value and still does not reach the range of adsorption and clamping completion, the adsorption processing unit controls the adsorption warning unit to operate, and the adsorption warning unit controls the alarm to start, generating an alarm signal, thereby improving the technicians' control over the manipulator. The main body 1 is inspected; through the cooperation of the adsorption regulator 2, the rotation adjustment component 6, the pneumatic balancing component 7 and the adsorption adjustment system, the stability of the manipulator body 1 when adsorbing the automobile glass can be achieved, while improving the safety of adsorption and clamping, the control accuracy of the adsorption pressure is effectively improved, and damage such as suction cup indentations or cracks on the automobile glass caused by excessive adsorption pressure is avoided, which effectively guarantees the quality of the automobile glass, improves the yield, reduces the manufacturing cost, and effectively promotes the application of the manipulator body 1 in the automobile glass manufacturing industry, and effectively increases the applicability and use range of the manipulator body 1, and can adsorb and clamp glass with different surface shapes or curvatures, thereby improving the practicality of the manipulator body 1.

[0075] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed in the present application based on the technical solution and its improved ideas, which should be covered by the scope of protection of the present application.

Claims

1. A manipulator with an adsorption adjustment system, comprising a manipulator body (1), characterized in that: The front end of the manipulator body (1) is fixedly mounted with an adsorption adjustment component (3); the left end of the manipulator body (1) close to the adsorption adjustment component (3) is fixedly mounted with an adsorption regulator (2); the front end of the adsorption adjustment component (3) is connected to a plurality of glass suction cups (4); the rear ends of the glass suction cups (4) are fixedly connected to vacuum adsorption tubes (401) connected thereto; and the front end of the adsorption adjustment component (3) is connected to an infrared positioning sensor (5); The rear end of the vacuum adsorption tube (401) is sleeved with a stepped nest (8) connected thereto, and a rotation adjustment component (6) is fixedly installed on the rear end of the stepped nest (8), and the rotation adjustment component (6) includes an adjustment rotating ball (601) fixedly connected to the rear end of the avoidance groove (801), and the rear end of the adjustment rotating ball (601) is embedded with a pneumatic balancing component (7) connected thereto, and the pneumatic balancing component (7) cooperates with the adsorption regulator (2); The manipulator body (1) is provided with an adsorption adjustment system, the adsorption adjustment system comprising an adsorption processing unit, the input end of the adsorption processing unit being connected to a position sensing unit, an air pressure feedback unit and an adsorption pressure sensing unit, and the output end of the adsorption processing unit being connected to an air pressure equalization steering unit, an adsorption pressure adjustment unit and an adsorption warning unit; The input end of the position sensing unit is connected to the infrared positioning sensor (5) through a wire, the input end of the air pressure feedback unit is connected to the air pressure sensor embedded in the step nest (8), and the input end of the adsorption pressure sensing unit is connected to the multiple pressure sensing probes embedded in the front end of the glass suction cup (4). The output end of the air pressure equalization steering unit and the output end of the adsorption pressure regulating unit are both connected to the adsorption regulator (2) through a wire, and the output end of the adsorption warning unit is connected to the alarm signal provided on the manipulator body (1) through a wire; The pneumatic balancing component (7) includes an adsorption air nozzle (701), the rear end of the regulating rotating ball (601) is embedded with the adsorption air nozzle (701), the outer end of the adsorption air nozzle (701) is fixedly connected to a partition balancing ring (703) near the regulating rotating ball (601), a plurality of evenly distributed partition cavities are opened in the partition balancing ring (703), the rear end of the partition balancing ring (703) is fixedly connected to a plurality of contraction air tubes (704) connected to the partition cavities, and the contraction air tubes (704) and the partition cavities are in a one-to-one correspondence, the outer end of the adsorption air nozzle (701) is sleeved with a collar (702) away from the regulating rotating ball (601), the other end of the adsorption air nozzle (701) is fixedly connected to the collar (702), the adsorption air nozzle (701) is connected to the adsorption regulator (2) through a spiral adsorption hose, and the partition cavities are connected to the adsorption regulator (2) through a balancing hose.

2. The manipulator with an adsorption adjustment system according to claim 1, characterized in that: The adsorption regulator (2) is provided with a plurality of independent air pressure adsorption units and a plurality of independent equalization adjustment units, the output ends of the plurality of air pressure adsorption units are respectively connected to the corresponding adsorption air nozzles (701), and a single adsorption air nozzle (701) corresponds to a single air pressure adsorption unit, a single equalization adjustment unit is provided with a plurality of independent pneumatic deflection units, and the output end of a single pneumatic deflection unit is connected to its corresponding partition cavity, a single equalization adjustment unit corresponds to a single partition equalization ring (703), and a single pneumatic deflection unit corresponds to a single partition cavity.

3. The manipulator with an adsorption adjustment system according to claim 2, characterized in that: The air pressure equalization steering unit includes an air pressure equalization processing module, the input end of the air pressure equalization processing module is connected to the adsorption processing unit signal, the output end of the air pressure equalization processing module is connected to multiple independent deflection control modules, the output end of the deflection control module is connected to the equalization adjustment unit signal through a wire, and the multiple independent deflection control modules are arranged in a one-to-one correspondence with the multiple independent equalization adjustment units.

4. The manipulator with an adsorption adjustment system according to claim 2, characterized in that: The adsorption pressure regulating unit includes an adsorption pressure processing module, the input end of the adsorption pressure processing module is connected to the adsorption processing unit signal, the output end of the adsorption pressure processing module is connected to multiple independent adsorption regulating modules, the output end of the adsorption regulating module is connected to the air pressure adsorption unit signal through a wire, and the multiple independent adsorption regulating modules are arranged in a one-to-one correspondence with the multiple independent air pressure adsorption units.

5. The manipulator with an adsorption adjustment system according to claim 1, characterized in that: The adsorption pressure sensing unit includes a pressure sensing processing module, the output end of the pressure sensing processing module is connected to the adsorption processing unit signal, the input end of the pressure sensing processing module is connected to multiple independent adsorption pressure collection modules, and the multiple independent adsorption pressure collection modules are arranged in a one-to-one correspondence with the multiple glass suction cups (4), and the input end of the adsorption pressure collection module is connected to the multiple pressure sensing probes at the front end of the corresponding glass suction cups (4).

6. The manipulator with an adsorption adjustment system according to claim 1, characterized in that: The air pressure feedback unit includes an air pressure feedback processing module, the output end of the air pressure feedback processing module is connected to the adsorption processing unit signal, the input end of the air pressure feedback processing module is connected to multiple independent air pressure data collection modules, and the multiple independent air pressure data collection modules are arranged in a one-to-one correspondence with the multiple step nests (8), and the input end of the air pressure data collection module is connected to the air pressure sensor signal in the corresponding step nest (8).

7. The manipulator with an adsorption adjustment system according to claim 1, characterized in that: The adsorption adjustment component (3) includes an adsorption connecting block (301), the front end of the manipulator body (1) is fixedly connected to the adsorption connecting block (301), the front end of the adsorption connecting block (301) is fixedly connected to an adsorption bracket (302), the front end of the adsorption bracket (302) is fixedly connected to a plurality of adsorption sliding rods (303), the adsorption sliding rods (303) are slidably connected to a plurality of adsorption sliding blocks (304), and the front end of the adsorption sliding block (304) is threadedly connected to a locking bolt.

8. The manipulator with an adsorption adjustment system according to claim 7, characterized in that: A sleeve hole is provided on the adsorption slider (304), and a sealing rubber ring (604) is fixedly connected to both the front and rear ends of the sleeve hole. An embedded ring (603) is fixedly connected to the inner wall of the sealing rubber ring (604), and a plurality of rotating balls (602) are rotatably connected to the inner wall of the embedded ring (603). The adjusting rotating ball (601) is located between two of the embedded rings (603) and is rotatably connected to them via the rotating balls (602).

9. The manipulator with an adsorption adjustment system according to claim 7, characterized in that: The front end of the adsorption slider (304) is embedded with a buffer elastic pad (305) that matches the stepped nest (8), and the rear end of the stepped nest (8) is provided with an avoidance groove (801) that matches the adsorption slider (304).

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