A manipulator with glass positioning function

Abstract

The present invention relates to the technical field of manipulator equipment, and discloses a manipulator with a glass positioning function, comprising a control mechanism, a steering mechanism is movably installed on the upper end of the control mechanism, and a connecting mechanism is movably installed on one end of the steering mechanism; the control mechanism comprises a control box, and a control arm body is arranged on the upper end of the control box; an outer cover mechanism is arranged on the lower end of the connecting mechanism, and an adsorption mechanism is arranged on the lower end of the outer cover mechanism, and the adsorption mechanism comprises an I-shaped piece, a connecting cylinder is fixedly installed on the middle part of the I-shaped piece, a bellows is connected and installed on the lower end of the connecting cylinder, and a suction cup body is connected and installed on the lower end of the bellows, and under the action of three pulleys and a telescopic rod, the position of the pulley close to the center is fixed, and the telescopic rod is extended, so that the length of the lower end of the belt body can be extended, so that more suction cup bodies are adsorbed on the glass, which is convenient for adjustment and use according to the size of the glass.

Description

Technical Field

[0001] The invention relates to the technical field of manipulator equipment, in particular to a manipulator with a glass positioning function. Background Art

[0002] Robots are used in the production and processing of glass. Among the robots used in the production of glass plates, there are suction cup robots, which mainly use the adsorption force of the negative pressure suction cup to fix, grab and move the glass. It is mainly composed of the robot arm body, mounting frame, suction cup, vacuum pump and other parts.

[0003] For example, a glass suction cup manipulator with the announcement number CN114310854A includes a fixing mechanism, a moving control mechanism is provided on one side of the lower side of the fixing mechanism, an upper adjustment structure is provided on the side of the moving control mechanism away from the fixing mechanism, a lower adjustment mechanism is provided on the side of the upper adjustment structure away from the moving control mechanism, gripping mechanisms are provided on both sides of the upper adjustment structure and the lower adjustment mechanism, and the gripping mechanisms on the upper adjustment structure and the gripping mechanisms on the lower adjustment mechanism are in a flush state on the side away from the moving control mechanism; the invention can realize the clamping of some irregularly placed glasses and protect the glass clamping position, greatly enhancing the practicality of the manipulator, while at the same time, the glass is damped when it is lifted and moved, and the buffering can be increased after the glass is sucked, and when the glass is tilted, the glass is buffered and the vibration is reduced when it is reset.

[0004] Although the above invention can grab irregular glass, the sizes of glass are different. When the traditional manipulator adsorbs large glass, the force points of the glass are concentrated in the center of the glass. This method easily causes the glass to break and the yield rate is low.

[0005] Therefore, we propose a robot with glass positioning function to solve the above problems. Summary of the invention

[0006] The object of the present invention is to provide a manipulator with a glass positioning function, which is provided with a plurality of suction cups and can adjust the number of suction cups to generate suction according to the size of the glass, so as to solve the problem raised in the above-mentioned background technology that when a traditional manipulator adsorbs a large glass, the force points of the glass are relatively concentrated in the center of the glass, which easily causes the glass to break.

[0007] To achieve the above object, the present invention provides the following technical solution: a manipulator with glass positioning function, comprising a control mechanism, a steering mechanism movably mounted on the upper end of the control mechanism, and a connecting mechanism movably mounted on one end of the steering mechanism;

[0008] The control mechanism comprises a control box, and a control arm body is arranged at the upper end of the control box;

[0009] The lower end of the connecting mechanism is provided with an outer cover mechanism, and the lower end of the outer cover mechanism is provided with an adsorption mechanism, and the adsorption mechanism includes an I-shaped piece, a connecting cylinder is fixedly installed in the middle of the I-shaped piece, the lower end of the connecting cylinder is connected and installed with a bellows, and the lower end of the bellows is connected and installed with a suction cup body;

[0010] An extension mechanism is arranged inside the outer cover mechanism, and the extension mechanism comprises three pulleys, on which a belt body is commonly mounted, the adsorption mechanism is mounted on the outer periphery of the belt body, fixed shafts are fixedly mounted at both ends of the pulleys, a first mounting frame is rotatably mounted on the fixed shaft, and a telescopic rod is commonly mounted between two adjacent first mounting frames;

[0011] An industrial camera is arranged at the lower end of the outer cover mechanism.

[0012] Preferably, the extension mechanism is provided with four or more groups, and the multiple groups of the extension mechanism are equidistantly installed on the periphery of the connecting mechanism, and the multiple groups of the adsorption mechanism are equidistantly arranged on the belt body of the extension mechanism.

[0013] Preferably, the connecting mechanism comprises a connecting shaft and a connecting rod rotatably mounted on the lower end of the connecting shaft, a connecting column is fixedly mounted on the lower end of the connecting rod, and a sliding groove is provided on the side wall of the connecting column.

[0014] Preferably, the outer cover mechanism includes an upper cover body fixedly mounted on the outer periphery of the connecting column, a lower cover body fixedly mounted on the lower end of the upper cover body, a first avoidance groove is commonly provided between the upper cover body and the lower cover body, a second avoidance groove is provided at the lower end of the lower cover body, the width of the second avoidance groove is greater than the width of the first avoidance groove, and a chamfer is provided between the first avoidance groove and the second avoidance groove.

[0015] Preferably, the adsorption mechanism also includes a connecting shaft fixedly installed on the upper end of the connecting cylinder, and the connecting cylinder is connected to the belt body through the connecting shaft, wherein a fixing rod is fixedly installed between the multiple I-shaped parts near the center position of the lower cover body.

[0016] Preferably, the extension mechanism also includes fixed resistances fixedly mounted on both ends of the fixed shaft, the fixed resistances are fixedly mounted on the bottom wall of the lower cover body, a groove is provided at the upper end of the belt body, a mounting wheel is also fixedly mounted on the fixed shaft, and one end of the first mounting frame is rotatably mounted on the mounting wheel.

[0017] Preferably, a stabilizing mechanism is also provided inside the upper cover body, and the stabilizing mechanism includes a stabilizing block slidably mounted on the connecting column and the slide slot, and a first elastic member is fixedly mounted on the upper end of the stabilizing block, and the first elastic member is also fixedly mounted on the top wall of the slide slot.

[0018] Preferably, a hydraulic rod is fixedly mounted on the outer periphery of the stabilizing block, a second mounting frame is fixedly mounted on one end of the hydraulic rod, the second mounting frame is rotatably mounted on the mounting wheel at the upper end, and a hydraulic rod is also fixedly mounted on the lower end of the stabilizing block.

[0019] Preferably, an air drive mechanism is provided at the upper end of the adsorption mechanism, and the air drive mechanism includes a hose connected to the upper end of the connecting tube, the upper end of the hose is inserted and connected to the belt body, the sleeve is connected to the hose, and the sleeve is fixedly installed in the trough body.

[0020] Preferably, a push rod is movably installed inside the sleeve, a top plate is fixedly installed at one end of the push rod, an arc plate is rotatably installed at one end of the top plate, a roller is rotatably installed on the inner wall of the arc plate, the roller is rotatably installed on the outer periphery of the pulley, a piston head is fixedly installed on the push rod, and the piston head is slidably installed in the sleeve.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The operator uses an industrial camera to locate the center of the glass, and then drives the control arm body and the steering mechanism to align the suction cup body with the center of the glass. The control box is also used to control the opening and closing of the air pump and the power size, which is convenient for adjustment according to different sizes of glass and integrated control.

[0023] 2. Under the action of three pulleys and the telescopic rod, the position of the pulley close to the center is fixed, the telescopic rod is extended, and the length of the lower end of the belt body can be extended. Therefore, there are more suction cup bodies to adsorb the glass, which is convenient for adjustment and use according to the size of the glass. It prevents the glass from being damaged due to excessive concentration of force to a great extent, and the protective effect is good.

[0024] 3. The belt body is a belt-shaped structure, with both ends fixedly connected to two pulleys close to the connecting column and wrapped around another pulley. The hydraulic rod is electrically connected to the control box. The control box can control the hydraulic rod to extend independently. After the hydraulic rod is extended, the length of the lower end of the belt body can be further lengthened, which is convenient for fixing glass with special-shaped structures, increasing the application range of the device and achieving good control effect.

[0025] 4. After the air pump is turned on, air is sucked inside the air pipe and the sleeve, and the piston head moves toward the air pipe. The corresponding push rod, top plate, and arc plate push the outer pulley outward, so that the two pulleys at the lower end move away from each other, thereby driving the extension of the telescopic rod, which is convenient for increasing the number of suction cup bodies.

[0026] 5. When the piston head moves toward the air pipe, the suction cup body added later generates air from the inside to the outside in turn to adapt to glasses of different lengths. When the suction cup body on the periphery slides to the periphery of the glass, the suction cup body is no longer vacuum, so it can be adsorbed to the outer end of the glass, with good adaptation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall first-view structure of the present invention;

[0028] Figure 2 It is a schematic diagram of the overall second viewing angle structure of the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of the outer cover mechanism of the present invention;

[0030] Figure 4 It is a schematic diagram of the internal structure of the outer cover mechanism of the present invention;

[0031] Figure 5 It is a cross-sectional view of the adsorption mechanism and the extension mechanism of the present invention;

[0032] Figure 6 For the present invention Figure 5 Enlarged view of point A in the middle;

[0033] Figure 7 It is a schematic diagram of the extension mechanism structure of the present invention;

[0034] Figure 8 It is a schematic diagram of the fixing rod structure of the present invention;

[0035] Fig. 9 It is a schematic diagram of the structure of the stabilizing mechanism of the present invention;

[0036] Fig.10 For the present invention Figure 5 Enlarged view of point B in the middle.

[0037] In the figure: 1. control mechanism; 11. control box; 12. control arm body; 2. steering mechanism; 3. connecting mechanism; 31. connecting shaft; 32. connecting rod; 33. connecting column; 34. slideway; 4. outer cover mechanism; 41. upper cover body; 42. lower cover body; 43. first avoidance groove; 44. second avoidance groove; 45. chamfer; 5. adsorption mechanism; 51. I-shaped piece; 52. connecting tube; 53. bellows; 54. suction cup body; 55. connecting shaft; 56. fixing rod; 6. extension mechanism; 61. Pulley; 62. Belt body; 63. Fixed shaft; 64. Fixed resistance; 65. First mounting frame; 66. Telescopic rod; 67. Trough body; 68. Mounting wheel; 69. Second elastic member; 7. Stabilizing mechanism; 71. Stabilizing block; 72. First elastic member; 73. Hydraulic rod; 74. Second mounting frame; 8. Air drive mechanism; 81. Hose; 82. Sleeve; 83. Push rod; 84. Top plate; 85. Arc plate; 86. Roller; 87. Piston head; 88. Air pipe; 9. Industrial camera. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Example 1: Please refer to Figure 1-Figure 7 The present invention provides a technical solution: a manipulator with a glass positioning function, comprising a control mechanism 1, a steering mechanism 2 is movably installed on the upper end of the control mechanism 1, a connecting mechanism 3 is movably installed on one end of the steering mechanism 2, an outer cover mechanism 4 is arranged at the lower end of the connecting mechanism 3, an industrial camera 9 is arranged at the lower end of the outer cover mechanism 4, and the industrial camera 9 is electrically connected to the control mechanism 1.

[0040] The control mechanism 1 includes a control box 11, and a control arm body 12 is arranged at the upper end of the control box 11. The control box 11 is the control unit of the device, which is used to control the length of the control arm body 12 and the rotation angle of the steering mechanism 2. The industrial camera 9 can shoot the surrounding scene. Under the control of the control box 11, it can ensure that the suction cup body 54 of the adsorption mechanism 5 is accurately positioned at the center of the glass, which is convenient for adsorption and transportation of the glass.

[0041] The lower end of the outer cover mechanism 4 is provided with an adsorption mechanism 5, which includes a I-shaped part 51, a connecting tube 52 is fixedly installed in the middle of the I-shaped part 51, the lower end of the connecting tube 52 is connected and installed with a bellows 53, the lower end of the bellows 53 is connected and installed with a suction cup body 54, and the suction cup body 54 is connected to the air pump for easy adsorption with the glass.

[0042] One end of the connecting tube 52 is connected to a sleeve 82, one end of the sleeve 82 is connected to an air pipe 88, one end of the air pipe 88 is connected to an air pump, and the air pump can be turned on the control box 11. The control box 11 is used to control the opening and closing of the air pump and the power size, so as to facilitate adjustment according to different sizes of glass.

[0043] In this embodiment, the operator uses the industrial camera 9 to locate the center position of the glass, and then drives the control arm body 12 and the steering mechanism 2 to align the suction cup body 54 with the center position of the glass, and then starts the air pump. After the air pump is turned on, it drives the air pipe 88, the sleeve 82, the connecting tube 52, the bellows 53, and the suction cup body 54 in sequence to generate suction. The contact surface between the suction cup body 54 and the glass is in a vacuum state, so the glass can be fixed. Finally, the control arm body 12 and the steering mechanism 2 are driven again to move the glass to the designated area, and the work of the robotic arm can be completed.

[0044] An extension mechanism 6 is arranged inside the outer cover mechanism 4, and the extension mechanism 6 includes three pulleys 61, on which a belt body 62 is commonly installed, and the adsorption mechanism 5 is installed on the outer periphery of the belt body 62, and fixed shafts 63 are fixedly installed at both ends of the pulleys 61, and a first mounting frame 65 is rotatably installed on the fixed shaft 63, and a telescopic rod 66 is commonly installed between two adjacent first mounting frames 65, and the telescopic rod 66 is parallel to the outer cover mechanism 4, and the cross-section of the belt body 62 is a triangular structure. Under the action of the three pulleys 61 and the telescopic rod 66, the position of the pulley 61 close to the center position is fixed, and the telescopic rod 66 is extended, and the length of the lower end of the belt body 62 can be extended. Therefore, more suction cup bodies 54 are adsorbed on the glass. On the contrary, if the telescopic rod 66 is shortened, the length of the lower end of the belt body 62 is shortened, and fewer suction cup bodies 54 are adsorbed on the glass, which is convenient for adjustment and use according to the size of the glass, and to a great extent prevents the glass from being damaged by excessive concentration of force, and has a good protective effect.

[0045] The extension mechanism 6 is provided with four or more groups, and the multiple groups of extension mechanisms 6 are equidistantly installed on the outer periphery of the connecting mechanism 3 and extend radially outward. The multiple groups of adsorption mechanisms 5 are equidistantly arranged on the belt body 62 of the extension mechanism 6. Therefore, the glass can be adsorbed and fixed in multiple directions, which increases the adsorption range. The amount of suction generated by the suction cup body 54 can be adjusted according to the size of the glass, and the use effect is good.

[0046] Example 2: Please refer to Figure 2-Figure 5The connecting mechanism 3 includes a connecting shaft 31 and a connecting rod 32 rotatably mounted at the lower end of the connecting shaft 31. A connecting column 33 is fixedly mounted at the lower end of the connecting rod 32 for connecting and fixing the outer cover mechanism 4 and the suction cup body 54. A slide groove 34 is provided on the side wall of the connecting column 33. The belt body 62 is a belt-like structure, and its two ends are respectively fixedly connected to two pulleys 61 close to the connecting column 33 and are wound around another pulley 61.

[0047] The outer cover mechanism 4 includes an upper cover body 41 fixedly mounted on the outer periphery of the connecting column 33, a lower cover body 42 fixedly mounted on the lower end of the upper cover body 41, a first avoidance groove 43 is provided between the upper cover body 41 and the lower cover body 42, and a second avoidance groove 44 is provided at the lower end of the lower cover body 42.

[0048] In this embodiment, the upper cover body 41 and the lower cover body 42 jointly cover the extension mechanism 6 and the adsorption mechanism 5, so as to protect the clamping part of the device.

[0049] When the triangular-structured belt body 62 is deformed, the belt body 62 slides in the first avoidance groove 43, and the I-shaped piece 51 is engaged and slides in the second avoidance groove 44. The width of the second avoidance groove 44 is greater than the width of the first avoidance groove 43, which is convenient for adapting to the deformation of the belt body 62 and ensuring that the suction cup body 54 is located at the lower end of the lower cover body 42. A chamfer 45 is provided between the first avoidance groove 43 and the second avoidance groove 44, which is convenient for driving the I-shaped piece 51 into the second avoidance groove 44 and plays a certain guiding role.

[0050] Example 3: Please refer to Figure 4-Figure 8 The adsorption mechanism 5 also includes a connecting shaft 55 fixedly installed on the upper end of the connecting cylinder 52, and the connecting cylinder 52 is connected to the belt body 62 through the connecting shaft 55, wherein a fixing rod 56 is fixedly installed between the two circles of I-shaped pieces 51 near the center position of the lower cover body 42, ensuring that the telescopic rod 66 is parallel to the lower cover body 42, ensuring that the positions of the I-shaped pieces 51 and the suction cup body 54 at the center position remain unchanged, and ensuring the stability of the device.

[0051] The extension mechanism 6 also includes fixed resistances 64 fixedly mounted on both ends of the fixed shaft 63, and the fixed resistances 64 are fixedly mounted on the bottom wall of the lower cover body 42, further playing a role in fixing the I-shaped piece 51 and the suction cup body 54 at the center position of the circle. A groove 67 is provided at the upper end of the belt body 62, and the sleeve 82 is installed in the groove 67, which does not affect the coordination with the pulley 61. A mounting wheel 68 is also fixedly mounted on the fixed shaft 63, and one end of the first mounting frame 65 is rotatably mounted on the mounting wheel 68, so as to facilitate fixing the position of the telescopic rod 66.

[0052] Example 4: Please refer to Figure 4 and Fig. 9A stabilizing mechanism 7 is also provided inside the upper cover body 41. The stabilizing mechanism 7 includes a stabilizing block 71 slidably mounted on the connecting column 33 and the slide groove 34. A first elastic member 72 is fixedly mounted on the upper end of the stabilizing block 71. The first elastic member 72 is also fixedly mounted on the top wall of the slide groove 34.

[0053] A hydraulic rod 73 is fixedly mounted on the outer periphery of the stabilizing block 71 , a second mounting frame 74 is fixedly mounted on one end of the hydraulic rod 73 , and the second mounting frame 74 is rotatably mounted on the upper end mounting wheel 68 .

[0054] When the telescopic rod 66 is extended, the height of the triangular-structured belt body 62 is shortened, that is, the second mounting frame 74 and the hydraulic rod 73 move downward. Since the stabilizing block 71 connects the multiple hydraulic rods 73 together, the multiple belt bodies 62 can be extended at the same time, so that the device forms a whole, reducing the generation of separate drives.

[0055] A second elastic member 69 is provided inside the telescopic rod 66, and both ends of the second elastic member 69 are fixedly connected to the sleeve rod and the inner rod of the telescopic rod 66 respectively. During the downward movement of the hydraulic rod 73 and the stabilizing block 71, the first elastic member 72 is adaptively stretched, and the second elastic member 69 is stretched. When the belt body 62 loses the driving force for deformation, the entire device can be reset.

[0056] The belt body 62 is a belt-like structure, with both ends fixedly connected to two pulleys 61 close to the connecting column 33 and wound around another pulley 61. The hydraulic rod 73 is electrically connected to the control box 11, and the control box 11 can control the hydraulic rod 73 to extend independently. After the hydraulic rod 73 is extended, the length of the lower end of the belt body 62 can be further lengthened, which is convenient for fixing the glass with special-shaped structure, thereby increasing the application scope of the device and achieving good control effect.

[0057] Example 5: Please refer to Figure 4-Figure 10 An air drive mechanism 8 is provided at the upper end of the adsorption mechanism 5 , and the air drive mechanism 8 includes a hose 81 connected to the upper end of the connecting tube 52 , the upper end of the hose 81 is inserted and connected to the belt body 62 , and the sleeve 82 is fixedly installed in the groove body 67 .

[0058] A push rod 83 is movably installed inside the sleeve 82, a top plate 84 is fixedly installed at one end of the push rod 83, an arc plate 85 is rotatably installed at one end of the top plate 84, a roller 86 is rotatably installed on the inner wall of the arc plate 85, and the roller 86 is rotatably installed on the outer periphery of the pulley 61, a piston head 87 is fixedly installed on the push rod 83, and the piston head 87 is slidably installed in the sleeve 82.

[0059] In the initial state, the telescopic rod 66 is in a shortened state, the piston head 87 is located at one end of the push rod 83, the upper ends of the multiple hoses 81 are commonly connected to the sleeve 82, the end of the sleeve 82 away from the piston head 87 is connected to the air pipe 88, and one end of the air pipe 88 is connected to the air pump.

[0060] After the air pump is turned on, air is sucked inside the air pipe 88 and the sleeve 82, and the piston head 87 moves toward the air pipe 88. The corresponding push rod 83, top plate 84, and arc plate 85 push the outer pulley 61 outward, so that the two pulleys 61 at the lower end move away from each other, thereby driving the extension of the telescopic rod 66, which is convenient for increasing the number of suction cup bodies 54.

[0061] During the movement of the piston head 87 toward the air pipe 88, the suction cup body 54 added later is sucked out from the inside to the outside in turn to adapt to glasses of different lengths. When the suction cup body 54 at the periphery slides to the periphery of the glass, the suction cup body 54 is no longer vacuum, so it can be adsorbed to the outer end of the glass, with a good adaptability effect.

[0062] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0063] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator with a glass positioning function, comprising a control mechanism (1), a steering mechanism (2) being movably mounted on the upper end of the control mechanism (1), and a connecting mechanism (3) being movably mounted on one end of the steering mechanism (2); It is characterized in that The control mechanism (1) comprises a control box (11), and a control arm body (12) is arranged at the upper end of the control box (11); The lower end of the connecting mechanism (3) is provided with an outer cover mechanism (4), the lower end of the outer cover mechanism (4) is provided with an adsorption mechanism (5), the adsorption mechanism (5) comprises an I-shaped piece (51), a connecting tube (52) is fixedly mounted in the middle of the I-shaped piece (51), the lower end of the connecting tube (52) is connected to and mounted with a bellows (53), and the lower end of the bellows (53) is connected to and mounted with a suction cup body (54); An extension mechanism (6) is arranged inside the outer cover mechanism (4), the extension mechanism (6) comprises three pulleys (61), a belt body (62) is commonly mounted on the three pulleys (61), the adsorption mechanism (5) is mounted on the outer periphery of the belt body (62), fixed shafts (63) are fixedly mounted at both ends of the pulleys (61), a first mounting frame (65) is rotatably mounted on the fixed shaft (63), and a telescopic rod (66) is commonly mounted between two adjacent first mounting frames (65); One end of the connecting tube (52) is connected to a sleeve (82), and one end of the sleeve (82) is connected to an air pipe (89); An industrial camera (9) is provided at the lower end of the outer cover mechanism (4); The extension mechanism (6) is provided in four or more groups, and the plurality of extension mechanisms (6) are equidistantly mounted on the outer periphery of the connection mechanism (3), and the plurality of adsorption mechanisms (5) are equidistantly arranged on the belt body (62) of the extension mechanism (6); The connecting mechanism (3) comprises a connecting shaft (31) and a connecting rod (32) rotatably mounted on the lower end of the connecting shaft (31); a connecting column (33) is fixedly mounted on the lower end of the connecting rod (32); and a sliding groove (34) is provided on the side wall of the connecting column (33); The outer cover mechanism (4) comprises an upper cover body (41) fixedly mounted on the outer periphery of the connecting column (33), and a lower cover body (42) is fixedly mounted on the lower end of the upper cover body (41); The adsorption mechanism (5) further comprises a connecting shaft (55) fixedly mounted on the upper end of the connecting cylinder (52), the connecting cylinder (52) being connected to the belt body (62) via the connecting shaft (55), wherein a fixing rod (56) is fixedly mounted between the plurality of I-shaped pieces (51) located near the center of the lower cover body (42).

2. The manipulator with glass positioning function according to claim 1, characterized in that: A first avoidance groove (43) is provided between the upper cover body (41) and the lower cover body (42); a second avoidance groove (44) is provided at the lower end of the lower cover body (42); the width of the second avoidance groove (44) is greater than the width of the first avoidance groove (43); and a chamfer (45) is provided between the first avoidance groove (43) and the second avoidance groove (44).

3. The manipulator with glass positioning function according to claim 2, characterized in that: The extension mechanism (6) further comprises fixed resistances (64) fixedly mounted on both ends of the fixed shaft (63); the fixed resistances (64) are fixedly mounted on the bottom wall of the lower cover (42); a groove (67) is provided at the upper end of the belt body (62); a mounting wheel (68) is also fixedly mounted on the fixed shaft (63); one end of the first mounting frame (65) is rotatably mounted on the mounting wheel (68); and a second elastic member (69) is provided inside the telescopic rod (66).

4. The manipulator with glass positioning function according to claim 3, characterized in that: A stabilizing mechanism (7) is also provided inside the upper cover body (41), and the stabilizing mechanism (7) comprises a stabilizing block (71) slidably mounted on the connecting column (33) and the slide groove (34), and a first elastic member (72) is fixedly mounted on the upper end of the stabilizing block (71), and the first elastic member (72) is also fixedly mounted on the top wall of the slide groove (34).

5. The manipulator with glass positioning function according to claim 4, characterized in that: A hydraulic rod (73) is fixedly mounted on the outer periphery of the stabilizing block (71), a second mounting frame (74) is fixedly mounted on one end of the hydraulic rod (73), and the second mounting frame (74) is rotatably mounted on the mounting wheel (68) at the upper end.

6. The manipulator with glass positioning function according to claim 5, characterized in that: An air drive mechanism (8) is provided at the upper end of the adsorption mechanism (5), and the air drive mechanism (8) comprises a hose (81) connected to the upper end of the connecting tube (52), the upper end of the hose (81) is connected to the belt body (62) through an insertion, the sleeve (82) is connected to the hose (81), and the sleeve (82) is fixedly mounted in the groove body (67).

7. The manipulator with glass positioning function according to claim 6, characterized in that: A push rod (83) is movably mounted inside the sleeve (82), a top plate (84) is fixedly mounted on one end of the push rod (83), an arc plate (85) is rotatably mounted on one end of the top plate (84), a roller (86) is rotatably mounted on the inner wall of the arc plate (85), the roller (86) is rotatably mounted on the outer periphery of the pulley (61), a piston head (87) is fixedly mounted on the push rod (83), and the piston head (87) is slidably mounted in the sleeve (82).

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