A robot gripper for automatic installation of automotive glass

Abstract

The application discloses a robot gripper for automatic installation of automobile glass and belongs to the technical field of robot grippers. A plurality of elastic suction devices and limiting support devices are arranged on the two sides of a mounting bottom plate; the top of each of the elastic suction devices and the limiting support devices is provided with a holding device, and the holding device is fixed to the bottom of the mounting bottom plate. The application has the beneficial effects that a plurality of elastic suction devices and limiting support devices are arranged on the mounting bottom plate, and both the elastic suction devices and the limiting support devices are telescopic, can be matched with the arc shape of the glass, can suck the glass with different sizes and arc degrees, have high compatibility, and can reduce the cost.

Description

TECHNICAL FIELD

[0001] The application relates to a robot gripper for automatic installation of automobile glass and belongs to the technical field of robot grippers. BACKGROUND

[0002] Automobile glass includes a canopy, a front windshield and a rear windshield, and the sizes and curvatures of the glass for different automobiles and different installation positions are different. If a mechanical hand is used to grab and install the glass, mechanical hands suitable for different glass sizes and curvatures need to be used for grabbing and installation work to ensure the stability and reliability of grabbing and installation. Different robot grippers are used, the production cost is too high, and different mechanical hands need to be replaced according to the size and curvature of the glass, thereby reducing work efficiency. SUMMARY

[0003] To solve the defects in the prior art, the purpose of the application is to provide a robot gripper for automatic installation of automobile glass compatible with different glass sizes and curvatures.

[0004] The technical scheme of the application is: a robot gripper for automatic installation of automobile glass, a plurality of elastic suction devices and limiting support devices are arranged on both sides of the installation bottom plate; the elastic suction devices and the limiting support devices are provided with a clamping device at the top, and the clamping device is fixed at the bottom of the installation bottom plate.

[0005] The clamping device is a pneumatic clamping device, which comprises a shell with a gas hole, a piston which is in sealing sliding connection with the inner wall of the shell through air inlet or air outlet, a movable clamping block arranged on the moving path of the piston, a spring c having two ends connected with the piston and the movable clamping block respectively, a fixed clamping block fixed on the shell, and the movable clamping block and the fixed clamping block are arranged oppositely.

[0006] The elastic suction device comprises a suction disc fixed at the bottom of a connecting rod, and the suction disc is connected with a vacuum generator; the movable clamping block and the fixed clamping block are located on both sides of the connecting rod; the connecting rod is connected with a limiting block a located at the top of the shell; a spring a is arranged between the shell and the suction disc and sleeved on the connecting rod.

[0007] The gas hole is connected with an air inlet pipeline and an air outlet pipeline; an air inlet electromagnetic valve is arranged on the air inlet pipeline; and an air outlet electromagnetic valve is arranged on the air outlet pipeline.

[0008] The vacuum generator is located at the bottom of the installation bottom plate.

[0009] The limiting support device comprises a limiting support rod provided with an end at the bottom; the movable clamping block and the fixed clamping block are located on both sides of the limiting support rod; the limiting support rod is connected with a limiting block b located at the top of the shell; the limiting support rod is connected with a limiting block b located at the top of the shell; and a spring b is arranged between the shell and the end and sleeved on the limiting support rod.

[0010] The upper surface of the mounting base is provided with reinforcing studs, and the lower surface of the mounting base is provided with reinforcing frames.

[0011] The elastic suction devices and the limiting support devices are symmetrically arranged on both sides of the mounting base.

[0012] The mounting base is provided with a plurality of elastic suction devices and limiting support devices, both of which are telescopic, can be matched with the glass arc, can suck glass of different sizes and arcs, have strong compatibility, and reduce cost. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a perspective view of the present application;

[0014] Figure 2 It is a side view of the present application; Figure One ;

[0015] Figure 3 It is a side view of the present application; Figure Two ;

[0016] Figure 4 It is a top view of the present application;

[0017] Figure 5 It is a bottom view of the present application;

[0018] Figure 6 It is a structure diagram of the holding device.

[0019] The reference signs in the drawings are as follows: 1, mounting base, 2, connecting rod, 3, suction cup, 4, limiting support rod, 5, shell, 6, piston, 7, movable holding block, 8, spring C, 9, fixed holding block, 10, reinforcing stud, 11, reinforcing frame, 12, vacuum generator, 13, end, 14, air hole. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings Figures 1-6 The present application is further described:

[0021] The utility model provides a kind of robot gripper for automatic installation of automobile glass, and installation base plate 1 both sides are equipped with a plurality of elastic suction device and limiting support device, the elastic suction device and limiting support device are symmetrically arranged on the both sides of installation base plate 1, and the elastic suction device is initially determined in different positions, and the glass of different size is sucked;The elastic suction device and limiting support device top are equipped with the tight device, and the tight device is fixed on the bottom of installation base plate 1, and the elastic suction device and limiting support device are elastic, can be well with different camber glass profiling, each position can be well contacted and acted with glass, and the position reaches the best position, and the tight device is tight, avoids the instability generated by elasticity, guarantees the stability reliable of grabbing and installation, the upper surface of installation base plate 1 is equipped with reinforcing stud 10, and the lower surface of installation base plate 1 is equipped with reinforcing frame 11, to increase the structural strength of installation base plate 1;The tight device is pneumatic tight device, including, the shell 5 with air hole 14, the air hole 14 is communicated with inlet pipeline and exhaust pipeline, inlet pipeline is equipped with inlet solenoid valve for controlling the opening and closing of inlet gas path, exhaust pipeline is equipped with exhaust solenoid valve for controlling the opening and closing of exhaust gas path, piston 6 is slidably connected with the inner wall of shell 5 by inlet or outlet, movable tight block 7 is arranged on the moving path of piston 6, spring c8 is connected with piston 6 and movable tight block 7 respectively, fixed tight block 9 is fixed on the shell 5, and movable tight block 7 and fixed tight block 9 are oppositely arranged.When inlet gas path is opened, exhaust gas path is closed, high-pressure gas acts on piston 6, piston compresses spring c8, and then pushes movable tight block 7 to move towards fixed tight block 9, and movable tight block 7 cooperates with fixed tight block 9 to tighten the elastic suction device or limiting support device between them.

[0022] The elastic suction device includes a suction cup 3 fixed to the bottom of a connecting rod 2, the suction cup 3 is connected to a vacuum generator 12, the vacuum generator 12 is located at the bottom of the installation base plate 1, the movable tight block 7 and the fixed tight block 9 are located on both sides of the connecting rod 2, the connecting rod 2 is connected to a limiting block a located at the top of the shell 5, to prevent the connecting rod 2 and the suction cup 3 from falling, and a spring a is provided between the shell 5 and the suction cup 3, which is sleeved on the connecting rod 2. The connecting rod 2 is telescopic, and the extension amount of the connecting rod 2 is different at different positions of the curved glass, the spring a is compressed, and the elastic force generated is converted into the pressure of the suction cup 3 on the glass surface, so that the suction cup 3 is tightly attached to the glass surface. The negative pressure generated by compressed air can tightly suck the glass, to avoid the up-and-down misalignment of the connecting rod 2 during the grabbing and moving process, the connecting rod 2 needs to be tightly positioned, that is, the movable tight block 7 cooperates with the fixed tight block 9 to tightly hold the connecting rod 2.

[0023] The limiting support device comprises a limiting support rod 4 provided with an end 13 at the bottom, the movable holding block 7 and the fixed holding block 9 are located at both sides of the limiting support rod 4, the top of the limiting support rod 4 is connected with the limiting block b located at the top of the shell 5, the top of the limiting support rod 4 is connected with the limiting block b located at the top of the shell 5, and the spring b is arranged between the shell 5 and the end 13 and is sleeved on the limiting support rod 4. After the glass is sucked by the suction cup 3, the periphery of the glass is subjected to a large force and is prone to deformation. In order to avoid this phenomenon, the limiting support rod 4 is arranged around the suction cup 3 and is abutted against the surface of the glass, so that the glass will not be excessively deformed due to the action of the suction cup 3, and the glass can maintain a normal shape during the process of being grabbed and moved.

[0024] The above only describes the preferred embodiments of the present application, and it should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A robot gripper for automatic installation of automotive glass, characterized in that, The installation bottom plate (1) is provided with a plurality of elastic suction devices and limiting support devices on both sides; the top of the elastic suction device and the limiting support device is provided with a holding device, and the holding device is fixed to the bottom of the installation bottom plate (1); The holding device is a pneumatic holding device, The holding device comprises a shell (5) provided with a gas hole (14), a piston (6) which is in sealing sliding connection with the inner wall of the shell (5) through air inlet or air outlet, a movable holding block (7) provided on the moving path of the piston (6), a spring c (8) which is connected to the piston (6) and the movable holding block (7) at both ends, a fixed holding block (9) which is fixed to the shell (5), and the movable holding block (7) and the fixed holding block (9) are oppositely arranged; The gas hole (14) is connected with the air inlet pipeline and the exhaust pipeline, the air inlet pipeline is provided with an air inlet electromagnetic valve, and the exhaust pipeline is provided with an exhaust electromagnetic valve; The elastic suction device and the limiting support device are symmetrically arranged on both sides of the installation bottom plate (1).

2. The robotic gripper for automatic installation of automotive glass according to claim 1, characterized in that, The elastic suction device comprises a suction disc (3) fixed to the bottom of the connecting rod (2), the suction disc (3) is connected with a vacuum generator (12), the movable holding block (7) and the fixed holding block (9) are located on both sides of the connecting rod (2), the top of the connecting rod (2) is connected with a limiting block a located on the top of the shell (5), and the spring a is arranged on the connecting rod (2) and located between the shell (5) and the suction disc (3).

3. The robotic gripper for automatic installation of automotive glass according to claim 2, characterized in that, The vacuum generator (12) is located at the bottom of the installation bottom plate (1).

4. The robotic gripper for automatic installation of automotive glass according to claim 1, wherein, The limiting support device comprises a limiting support rod (4) provided with an end (13) at the bottom, the movable holding block (7) and the fixed holding block (9) are located on both sides of the limiting support rod (4), the top of the limiting support rod (4) is connected with a limiting block b located on the top of the shell (5), the top of the limiting support rod (4) is connected with a limiting block b located on the top of the shell (5), and the spring b is arranged on the limiting support rod (4) and located between the shell (5) and the end (13).

5. The robotic gripper for automatic installation of automotive glass according to claim 1, wherein, The upper surface of the installation bottom plate (1) is provided with a reinforcing stud (10), and the lower surface of the installation bottom plate (1) is provided with a reinforcing frame (11).

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