An automatic grasping system for optical glass

Abstract

The present invention discloses an automatic optical glass grabbing system, which belongs to the field of optical glass grabbing technology, and comprises: a base, a mobile driving mechanism is arranged on the top of the base, and a grabbing mechanism is connected to the bottom end of the mobile driving mechanism; the grabbing mechanism comprises a grabbing box, a piston plate and a first cylinder, the first cylinder is fixedly connected to the top inner wall of the grabbing box, and a vacuum monitoring mechanism, an active adjustment mechanism and an inertia adjustment mechanism are arranged on the top of the piston plate. The present invention can realize automatic monitoring and automatic adjustment of the glass grabbing force through the vacuum monitoring mechanism and the active adjustment mechanism, and ensure the grabbing stability; the inertia adjustment mechanism can improve the grabbing force and prevent the optical glass from falling due to inertia when the grabbing glass is accelerated upward or decelerated downward to a large extent; the blowing mechanism can blow air into the glass gap to avoid adhesion and affect the grabbing.

Description

Technical Field

[0001] The invention relates to the technical field of optical glass grasping, and in particular to an optical glass automatic grasping system. Background Art

[0002] In modern industrial automation and robotics, accurate and fast grasping of objects is the key to improving production efficiency. Traditional mechanical grasping systems often rely on complex sensor combinations and control algorithms to achieve recognition and manipulation of objects of different shapes, sizes and materials. However, these systems usually have limitations such as high cost, poor flexibility and sensitivity to environmental conditions. They cannot be adjusted in time according to the state during the grasping process. In addition, the stacked glass will generate negative pressure due to the close fit, forming adhesion, which will encounter greater resistance during the transfer of single pieces, making it difficult to peel off. Therefore, we propose an automatic grasping system for optical glass to solve this problem. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic optical glass grasping system to solve the problems raised in the above background technology.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An automatic optical glass grabbing system comprises: a base, a mobile driving mechanism is arranged on the top of the base, and a grabbing mechanism is connected to the bottom end of the mobile driving mechanism;

[0006] The grabbing mechanism includes a grabbing box, a piston plate and a first cylinder, wherein the first cylinder is fixedly connected to the top inner wall of the grabbing box, and the output end of the first cylinder is fixedly connected to the top of the piston plate, the piston plate is slidably connected in the grabbing box, a cavity is formed in the area below the piston plate inside the grabbing box, and a plurality of suction cups are connected to the bottom of the grabbing box, blowing mechanisms are provided on both sides of the grabbing box, the blowing mechanisms are used to blow gas between two adjacent pieces of glass to avoid adhesion caused by negative pressure, and a vacuum monitoring mechanism, an active adjustment mechanism and an inertia adjustment mechanism are provided on the top of the piston plate, the monitoring mechanism is used to monitor the vacuum degree of the cavity, the active adjustment mechanism is used to perform active adjustment according to the vacuum degree of the cavity, and the inertia connection mechanism is used to adjust the vacuum degree of the cavity according to the moving state of the grabbing mechanism.

[0007] Preferably, the vacuum degree monitoring mechanism comprises a monitoring box, a sealing plate and a touch panel, wherein the touch panel is fixedly connected to the top of the monitoring box, the top of the sealing plate is fixedly connected to a vertical plate, one side of the vertical plate is provided with two grooves, a first touch button and a second touch button are fixedly installed in the two grooves respectively, the touch panel is movably abutted against the first touch button, and the touch panel is adapted to the second touch button;

[0008] A plurality of supporting springs are fixedly connected to the bottom of the sealing plate, and the bottom ends of the supporting springs are fixedly connected to the bottom inner wall of the monitoring box. A limiting plate is fixedly connected to the top inner wall of the monitoring box, and the limiting plate movably abuts against the top of the sealing plate.

[0009] Preferably, the active adjustment mechanism comprises a driving motor, an adjustment box, an adjustment plate, a bidirectional screw and two sliding seats, the adjustment plate is slidingly and sealingly connected in the adjustment box, and both sides of the top of the adjustment plate are fixedly connected with inclined plates, the outer side of the inclined plate is slidingly sleeved with a connecting plate, the front and rear sides of the top of the connecting plate are fixedly connected with vertical rods, the two sliding seats are respectively slidably sleeved on the outer sides of the corresponding vertical rods, and the two sliding seats are threadedly sleeved on the outer sides of the bidirectional screws, and the bidirectional screws are rotatably connected to the top of the grab box, one end of the bidirectional screw is fixedly connected with a large gear, the driving motor is fixedly installed on the top of the grab box, and a small gear is fixedly connected to the output shaft of the driving motor, and the small gear is meshed with the large gear;

[0010] The top and the inner wall of the grab box are fixedly connected with a U-shaped guide rod, the sliding seat is slidably sleeved on the outer side of the U-shaped guide rod, and a sliding hole is opened on the top of the grab box, and the sliding seat is slidably connected in the sliding hole.

[0011] Preferably, the inertia adjustment mechanism comprises: a sealed box, a square plate, a piston box, a push plate, a connection box, and a compressed gas storage tank, wherein the piston box is fixedly connected to one side of the sealed box, the square plate is slidably and sealedly connected in the sealed box, and the push plate is slidably connected in the piston box, the tops of the square plate and the push plate are fixedly connected with the same connection frame, an air inlet and an air outlet are respectively opened on both sides of the connection box, and the compressed gas storage tank and the piston box are respectively connected to the air inlet and the air outlet;

[0012] An exhaust port is provided at the bottom of the connection box, and fixed plates are fixedly connected to both sides of the connection box, and vertical plates are slidably installed in the fixed plates. The bottoms of the two vertical plates are fixedly connected to the same horizontal plate, and the bottom of the horizontal plate is fixedly connected to a counterweight plate, and the top of the horizontal plate is fixedly connected to a mounting rod, and the top of the mounting rod passes through the exhaust port and is fixedly connected to a baffle, and the baffle is movably sealed against one end of the air inlet, and the baffle is adapted to the exhaust port;

[0013] The top of the vertical plate is fixedly connected with a supporting plate, the bottom of the supporting plate is fixedly connected with a compression spring, and the bottom end of the compression spring is fixedly connected to the top of the corresponding fixed plate.

[0014] Preferably, a mounting plate is fixedly installed on one side of the compressed gas storage tank, and the mounting plate, monitoring box, regulating box and sealing box are all fixedly connected to the top of the piston plate, and the bottoms of the monitoring box, regulating box and sealing box are all provided with connecting holes, and the top of the piston plate is provided with a plurality of through holes connected to the connecting holes.

[0015] Preferably, guide plates are fixedly connected to both the front and rear sides of the connecting plate, guide holes are opened on both the front and rear sides of the adjusting box, and the guide plates are slidably connected in the guide holes.

[0016] Preferably, the mobile driving mechanism comprises a moving seat, a rotating motor and two screw rods, the four corners of the top of the moving seat are fixedly connected to a second cylinder, the output end of the second cylinder is fixedly connected to the top of the grab box, and both sides of the moving seat are fixedly connected to a guide seat, the front and rear sides of the top of the guide seat are fixedly connected to a transmission plate, the transmission plate is threadedly sleeved on the outer side of the corresponding screw rod, and the rear ends of the two screw rods are fixedly connected to sprockets, the same chain is installed on the two sprockets for transmission, and the output end of the rotating motor is fixedly connected to the front end of one of the screw rods;

[0017] The four corners of the top of the base are fixedly connected with support legs, one side of the support leg is fixedly connected with a mounting ear, the mounting ear is rotatably sleeved on the outer side of the corresponding screw rod, and the inside of the guide seat is slidably connected with a guide rail, and the two guide rails are respectively fixedly connected to one side of the corresponding support leg.

[0018] Preferably, the top of the piston plate is fixedly connected to a limiting column, the top of the limiting column is fixedly connected to a buffer pad, and a long-press button is fixedly installed on the top inner wall of the grab box, and the long-press button is located directly above the buffer pad;

[0019] A control button is fixedly installed on the side wall of the regulating box, and a controller and a signal light are fixedly connected to the top of the movable seat;

[0020] The long-press button, the control button, the first touch button, the second touch button, the signal light, the first cylinder, the second cylinder, and the drive motor are all electrically connected to the controller. When the long-press button is pressed, the controller controls the first cylinder to stop contracting. When the long-press button is pressed and the first touch button is pressed at the same time, the controller controls the drive motor to operate. When the long-press button is pressed and the second touch button is pressed at the same time, the controller controls the signal light to light up. When the control button is pressed, the controller controls the signal light to flash and controls the drive motor to stop operating.

[0021] Preferably, a plurality of leakage holes are opened on the top of the base, and a plurality of supporting plates are arranged on the top of the base.

[0022] Preferably, the blowing mechanism comprises a first electric push rod, a second electric push rod, a mounting seat, a blowing frame and a high-pressure air pump, the output end of the first electric push rod is fixedly connected to a lifting frame, the second electric push rod is fixedly connected in the lifting frame, and the output end of the second electric push rod is fixedly connected to the mounting seat, the high-pressure air pump is fixedly connected to the other side of the mounting seat, the air outlet of the high-pressure air pump is connected to an air outlet pipe, and the other end of the air outlet pipe is connected to the blowing frame;

[0023] A fixing rod is fixedly connected to one side of the blowing frame, and the other end of the fixing rod is fixedly connected to the mounting seat;

[0024] A guide cross bar is fixedly connected to one side of the mounting seat, and the guide cross bar is slidably connected in the lifting frame;

[0025] Slide rails and a machine base are fixedly installed on both sides of the grab box, the first electric push rod is fixedly connected to the top of the machine base, and the lifting frame is slidably sleeved on the outer side of the slide rails.

[0026] The beneficial effects of the present invention are:

[0027] 1. In the present invention, an automatic optical glass grabbing system is described, which stacks the optical glass on the carrier plate, then starts the second cylinder to drive the grabbing box to move downward, so that the suction cup abuts against the grabbing box, and starts the first cylinder to control the output end thereof to contract, thereby driving the piston plate to move upward, and the piston plate forms a negative pressure in the cavity, and realizes the adsorption of the optical glass through atmospheric pressure, and in the process of the piston plate moving upward, the monitoring box is connected with the cavity, so that the internal gas of the monitoring box enters the cavity to maintain the air pressure balance, thereby driving the sealing plate to move downward in the monitoring box under the action of negative pressure, compressing the supporting spring, and driving the vertical plate to move downward, when the buffer pad contacts the long-press button, the long-press button sends a control message to the controller, and the controller controls the first cylinder to stop contracting to complete the grabbing of the optical glass, and at this time the touch panel contacts the second touch button, thereby controlling the signal light to light up, indicating that the grabbing state is normal;

[0028] 2. In the present invention, the optical glass automatic grasping system described above adjusts the position of the blowing frame by starting the first electric push rod to drive the lifting frame to move up and down, and by starting the second electric push rod to drive the mounting seat to move horizontally, so that the blowing frame abuts against the gap between the top glass and the glass below it, and then starts the high-pressure air pump to generate high-pressure gas, and introduces it into the blowing frame through the air outlet pipe. The air in the blowing frame enters the gap between the two glasses, thereby breaking the sealed negative pressure environment to facilitate transportation;

[0029] 3. In the present invention, the optical glass automatic grabbing system described above drives the grabbing box to move upward by starting the second cylinder, thereby carrying the optical glass upward, and then starts the rotating motor to drive one of the screws to rotate, and drives the other screw to rotate synchronously through the transmission of two chains and sprockets. The two screws are driven by the threaded transmission with the corresponding transmission plate, and drive the moving seat to move forward and backward under the guidance of the guide rail to realize the handling of the optical glass;

[0030] 4. In the present invention, in the automatic optical glass grabbing system, during the glass handling process, when the vacuum degree in the cavity decreases so that the adsorption degree of the optical glass decreases, the vacuum degree of the area below the sealing plate in the monitoring box decreases, and the sealing plate moves upward under the elastic force of the supporting spring, and drives the vertical plate to move upward. When the vacuum degree of the cavity decreases to a dangerous state, the vertical plate moves upward so that the touch panel presses the first touch button, thereby controlling the operation of the driving motor, the driving motor drives the small gear to rotate, and drives the bidirectional screw to rotate through the engagement with the large gear, the bidirectional screw drives the two sliding seats away from each other through the threaded transmission with the two sliding seats and under the guidance of the U-shaped guide rod, the two sliding seats respectively drive the two connecting plates away from each other through the cooperation with the corresponding vertical rods, and the two connecting plates drive the inclined plate and the adjustment plate to move upward through the sliding cooperation with the corresponding inclined plate, thereby extracting the air in the cavity through the adjustment box to restore its vacuum degree and ensure the grabbing effect of the optical glass;

[0031] 5. In the present invention, in the automatic optical glass grabbing system, when the adjustment plate moves up to contact the control button, the control signal light flashes, indicating an abnormal situation. At this time, the adjustment plate cannot continue to move upward, so the vacuum in the cavity cannot be replenished. The controller controls the second cylinder and the rotating motor to operate, so that the grabbing box and the optical glass are quickly placed on the ground to avoid falling and damage;

[0032] 6. In the present invention, in the automatic optical glass grabbing system, the grabbing box accelerates upward or decelerates downward so that the grabbing box and the glass below it obtain upward acceleration, so that the counterweight plate moves downward under the action of its own inertia and drives the counterweight plate to move downward. The counterweight plate drives the horizontal plate, the vertical plate and the baffle plate to move downward and compresses the compression spring. When the vertical plate is inserted into the exhaust port to block the exhaust port and releases the blockage of the air inlet, the compressed gas in the compressed gas storage tank is quickly ejected, enters the piston box through the connecting box, pushes the push plate to move upward, and drives the square plate through the connecting frame. The plate moves upward, and a protrusion is provided on the side wall of the sealed box to prevent the square plate from falling out. When the square plate moves upward, the air in the air is sucked into the sealed box, thereby increasing the vacuum degree in the cavity to enhance the gripping force of the glass. When the moving speed of the grabbing box returns to a stable state, the horizontal plate is reset under the action of the compression spring and drives the baffle to reset, so that the baffle is disengaged from the exhaust port and the air inlet is blocked, so that the air in the piston box is discharged from the exhaust port. The square plate moves downward and resets under the action of negative pressure, and an air pump for inflating the compressed gas storage tank is provided on the piston plate, so as to replenish the air pressure in the compressed gas storage tank for multiple uses;

[0033] 7. In the present invention, the automatic optical glass grasping system can realize automatic monitoring and automatic adjustment of the glass grasping force through the vacuum monitoring mechanism and the active adjustment mechanism to ensure the grasping stability. The inertia adjustment mechanism can enhance the grasping force and prevent the optical glass from falling due to inertia when the glass is grasped to move upward or decelerate downward at a large extent. The blowing mechanism can blow air into the glass gap to avoid adhesion and affect the grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the three-dimensional structure of an automatic optical glass grasping system proposed by the present invention;

[0035] Figure 2 A schematic diagram of the stereoscopic structure of an automatic optical glass grasping system proposed by the present invention from another perspective;

[0036] Figure 3 A schematic cross-sectional view of an automatic optical glass grasping system proposed by the present invention;

[0037] Figure 4 for Figure 3 A partial enlarged view of part A;

[0038] Figure 5 for Figure 3 A partial enlarged view of part B;

[0039] Figure 6It is a schematic diagram of the side cross-sectional structure of the grab box proposed by the present invention;

[0040] Figure 7 This is a schematic diagram of the three-dimensional structure of the mobile driving mechanism proposed by the present invention;

[0041] Figure 8 A schematic diagram of the three-dimensional structure of the grabbing mechanism proposed by the present invention;

[0042] Fig. 9 This is a schematic diagram of the three-dimensional structure of the grab box and the suction cup proposed by the present invention;

[0043] Fig.10 It is a cross-sectional structural schematic diagram of the vacuum degree monitoring mechanism proposed by the present invention;

[0044] Fig.11 This is a schematic diagram of the three-dimensional structure of the active adjustment mechanism proposed by the present invention;

[0045] Fig.12 It is a schematic diagram of the three-dimensional structure of the inertia adjustment mechanism proposed by the present invention;

[0046] Fig.13 It is a cross-sectional structural schematic diagram of the inertia adjustment mechanism proposed by the present invention;

[0047] Fig.14 for Fig.13 A partial enlarged view of part C in the middle;

[0048] Fig.15 It is a schematic diagram of a partial three-dimensional structure of the inertia adjustment mechanism proposed by the present invention;

[0049] Fig.16 This is a schematic diagram of the three-dimensional structure of the blowing mechanism proposed in the present invention.

[0050] In the figure: 1, base; 101, supporting leg; 102, guide rail; 103, bearing plate; 2, moving seat; 201, guide seat; 202, transmission plate; 203, screw rod; 204, sprocket; 205, mounting ear; 206, chain; 207, rotating motor; 3, grab box; 301, second cylinder; 302, suction cup; 303, piston plate; 304, first cylinder; 4, monitoring box; 401, limit plate; 402, sealing plate; 403, support spring; 404, touch panel; 405, first touch button; 406, second touch button; 407, vertical plate; 5, adjustment box; 501, adjustment plate; 502, control button; 503, inclined plate; 504, connecting plate; 505, guide plate; 506, vertical rod; 507, sliding seat ;508, U-shaped guide rod;509, bidirectional screw;510, drive motor;511, large gear;512, small gear;6, sealing box;601, square plate;7, piston box;701, push plate;702, connecting frame;8, connecting box;801, baffle;802, horizontal plate;803, counterweight plate;804, vertical plate;805, fixed plate;806, compression spring;807, support plate;9, blowing frame;901, first electric push rod;902, second electric push rod;903, machine base;904, slide rail;905, lifting frame;906, guide cross bar;907, mounting seat;908, high-pressure air pump;10, limit column;11, buffer pad;12, long press button;13, controller;14, signal light;15, compressed gas storage tank. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0052] Reference Figure 1 - Fig.16 , an automatic optical glass grabbing system, comprising: a base 1, a mobile driving mechanism is arranged on the top of the base 1, and a grabbing mechanism is connected to the bottom end of the mobile driving mechanism;

[0053] The grabbing mechanism includes a grabbing box 3, a piston plate 303 and a first cylinder 304. The first cylinder 304 is fixedly connected to the top inner wall of the grabbing box 3, and the output end of the first cylinder 304 is fixedly connected to the top of the piston plate 303. The piston plate 303 is slidably connected in the grabbing box 3. A cavity is formed in the area below the piston plate 303 inside the grabbing box 3, and a plurality of suction cups 302 are connected to the bottom of the grabbing box 3. Blowing mechanisms are provided on both sides of the grabbing box 3. The blowing mechanisms are used to blow gas between two adjacent pieces of glass to avoid adhesion caused by negative pressure. A vacuum monitoring mechanism, an active adjustment mechanism and an inertial adjustment mechanism are provided on the top of the piston plate 3. The monitoring mechanism is used to monitor the vacuum degree of the cavity, the active adjustment mechanism is used to perform active adjustment according to the vacuum degree of the cavity, and the inertial connection mechanism is used to adjust the vacuum degree of the cavity according to the moving state of the grabbing mechanism.

[0054] In this embodiment, the vacuum monitoring mechanism includes a monitoring box 4, a sealing plate 402 and a touch panel 404. The touch panel 404 is fixedly connected to the top of the monitoring box 4. The top of the sealing plate 402 is fixedly connected to a vertical plate 407. Two grooves are provided on one side of the vertical plate 407. A first touch button 405 and a second touch button 406 are fixedly installed in the two grooves respectively. The touch panel 404 is movably abutted against the first touch button 405, and the touch panel 404 is adapted to the second touch button 406. The bottom of the sealing plate 402 is fixedly connected to a plurality of support springs 403. The bottom ends of the plurality of support springs 403 are fixedly connected to the bottom inner wall of the monitoring box 4, thereby supporting and resetting the sealing plate 402. A limiting plate 401 is fixedly connected to the top inner wall of the monitoring box 4, and the limiting plate 401 is movably abutted against the top of the sealing plate 402, thereby limiting the sealing plate 402.

[0055] In this embodiment, the active adjustment mechanism includes a driving motor 510, an adjustment box 5, an adjustment plate 501, a bidirectional screw 509 and two sliding seats 507. The adjustment plate 501 is slidably and sealedly connected in the adjustment box 5, and the top two sides of the adjustment plate 501 are fixedly connected with inclined plates 503, the outer side of the inclined plate 503 is slidably sleeved with a connecting plate 504, and the top front and rear sides of the connecting plate 504 are fixedly connected with vertical rods 506, and the two sliding seats 507 are respectively slidably sleeved on the outer sides of the corresponding vertical rods 506, and the two sliding seats 507 are threadedly sleeved on the outer sides of the bidirectional screw 509, and the bidirectional The screw rod 509 is rotatably connected to the top of the grab box 3, one end of the bidirectional screw rod 509 is fixedly connected to a large gear 511, the drive motor 510 is fixedly installed on the top of the grab box 3, and a small gear 512 is fixedly connected to the output shaft of the drive motor 510, and the small gear 512 is meshed with the large gear 511; a U-shaped guide rod 508 is fixedly connected to the top and the inner wall of the top of the grab box 3, the sliding seat 507 is slidably sleeved on the outer side of the U-shaped guide rod 508, and a sliding hole is opened on the top of the grab box 3, and the sliding seat 507 is slidably connected in the sliding hole, thereby guiding the sliding seat 507.

[0056] In this embodiment, the inertia adjustment mechanism includes: a sealed box 6, a square plate 601, a piston box 7, a push plate 701, a connection box 8, and a compressed gas storage tank 15. The piston box 7 is fixedly connected to one side of the sealed box 6, the square plate 601 is slidably and sealedly connected in the sealed box 6, and the push plate 701 is slidably connected in the piston box 7. The tops of the square plate 601 and the push plate 701 are fixedly connected with the same connection frame 702. An air inlet and an air outlet are respectively opened on both sides of the connection box 8, and the compressed gas storage tank 15 and the piston box 7 are respectively connected to the air inlet and the air outlet;

[0057] An exhaust port is provided at the bottom of the connection box 8, and a fixed plate 805 is fixedly connected to both sides of the connection box 8, and a vertical plate 804 is slidably installed in the fixed plate 805. The bottoms of the two vertical plates 804 are fixedly connected to the same horizontal plate 802, and the bottom of the horizontal plate 802 is fixedly connected to a counterweight plate 803, and the top of the horizontal plate 802 is fixedly connected to a mounting rod, and the top of the mounting rod passes through the exhaust port and is fixedly connected to a baffle 801, and the baffle 801 is movably sealed against one end of the air inlet, and the baffle 801 is adapted to the exhaust port; the top of the vertical plate 804 is fixedly connected to a support plate 807, and the bottom of the support plate 807 is fixedly connected to a compression spring 806, and the compression spring 806 The bottom end is fixedly connected to the top of the corresponding fixed plate 805, thereby supporting and resetting the support plate 807. A mounting plate is fixedly installed on one side of the compressed gas storage tank 15. The mounting plate, the monitoring box 4, the adjusting box 5 and the sealing box 6 are all fixedly connected to the top of the piston plate 303, and the bottoms of the monitoring box 4, the adjusting box 5 and the sealing box 6 are all provided with connecting holes. The top of the piston plate 303 is provided with a plurality of through holes connected to the connecting holes. The front and rear sides of the connecting plate 504 are fixedly connected with guide plates 505, and the front and rear sides of the adjusting box 5 are provided with guide holes. The guide plate 505 is slidably connected in the guide holes, thereby guiding the movement of the connecting plate 504.

[0058] In this embodiment, the mobile driving mechanism includes a mobile seat 2, a rotating motor 207 and two screw rods 203. The four corners of the top of the mobile seat 2 are fixedly connected to the second cylinder 301. The output end of the second cylinder 301 is fixedly connected to the top of the grab box 3, and the two sides of the mobile seat 2 are fixedly connected to the guide seat 201. The front and rear sides of the top of the guide seat 201 are fixedly connected to the transmission plate 202. The transmission plate 202 is threadedly sleeved on the outer side of the corresponding screw rod 203, and the rear ends of the two screw rods 203 are fixedly connected to the sprocket 204. The two chain The same chain 206 is installed on the wheel 204 for transmission, and the output end of the rotating motor 207 is fixedly connected to the front end of one of the screw rods 203 to facilitate driving the screw rod 203 to rotate; the four corners of the top of the base 1 are fixedly connected to the support legs 101, and one side of the support leg 101 is fixedly connected to the mounting ear 205, and the mounting ear 205 is rotatably sleeved on the outer side of the corresponding screw rod 203, and the guide seat 201 is internally slidably connected to the guide rail 102, and the two guide rails 102 are respectively fixedly connected to one side of the corresponding support leg 101, and the piston plate The top of 303 is fixedly connected to the limit column 10, the top of the limit column 10 is fixedly connected to the buffer pad 11, and a long-press button 12 is fixedly installed on the top inner wall of the grab box 3, and the long-press button 12 is located directly above the buffer pad 11; a control button 502 is fixedly installed on the side wall of the adjustment box 5, and a controller 13 and a signal light 14 are fixedly connected to the top of the moving seat 2; the long-press button 12, the control button 502, the first touch button 405, the second touch button 406, the signal light 14, the first cylinder 304, the second cylinder 301, The driving motors 510 are electrically connected to the controller 13. When the long-press button 12 is pressed, the controller 13 controls the first cylinder 304 to stop contracting. When the long-press button 12 is pressed and the first touch button 405 is pressed at the same time, the controller 13 controls the driving motor 510 to operate. When the long-press button 12 is pressed and the second touch button 406 is pressed at the same time, the controller 13 controls the signal light 14 to light up. When the control button 502 is pressed, the controller 13 controls the signal light 14 to flash and controls the driving motor 510 to stop operating.

[0059] In this embodiment, a plurality of leakage holes are provided on the top of the base 1, and a plurality of bearing plates 103 are provided on the top of the base 1. The blowing mechanism includes a first electric push rod 901, a second electric push rod 902, a mounting seat 907, a blowing frame 9 and a high-pressure air pump 908. A lifting frame 905 is fixedly connected to the output end of the first electric push rod 901, the second electric push rod 902 is fixedly connected in the lifting frame 905, and the output end of the second electric push rod 902 is fixedly connected to the mounting seat 907, the high-pressure air pump 908 is fixedly connected to the other side of the mounting seat 907, and an air outlet pipe is connected to the air outlet of the high-pressure air pump 908, and the other end of the air outlet pipe is connected to the blowing frame 9;

[0060] A fixing rod is fixedly connected to one side of the blowing frame 9, and the other end of the fixing rod is fixedly connected to the mounting seat 907;

[0061] A guide cross bar 906 is fixedly connected to one side of the mounting seat 907, and the guide cross bar 906 is slidably connected in the lifting frame 905;

[0062] Slide rails 904 and a machine base 903 are fixedly installed on both sides of the grab box 3 , the first electric push rod 901 is fixedly connected to the top of the machine base 903 , and the lifting frame 905 is slidably sleeved on the outer side of the slide rails 904 .

[0063] In this embodiment, when in use, the optical glass is stacked on the carrier plate 103, and then the second cylinder 301 is started to drive the grab box 3 to move downward, so that the suction cup 302 abuts against the grab box 3, and the first cylinder 304 is started to control its output end to contract, thereby driving the piston plate 303 to move upward. The piston plate 303 forms a negative pressure in the cavity and realizes the adsorption of the optical glass through atmospheric pressure. In the process of the piston plate 303 moving upward, the monitoring box 4 is connected to the cavity, so that the internal gas of the monitoring box 4 enters the air. The air pressure in the cavity is balanced, so that the sealing plate 402 is driven to move downward in the monitoring box 4 under the action of negative pressure, and the supporting spring 403 is compressed, and the vertical plate 407 is driven to move downward. When the buffer pad 11 contacts the long-press button 12, the long-press button 12 sends control information to the controller 13, and the controller 13 controls the first cylinder 304 to stop contracting to complete the grasping of the optical glass. At this time, the touch panel 404 contacts the second touch button 406, so as to control the signal light 14 to light up, indicating that the grasping state is normal;

[0064] By starting the first electric push rod 901 to drive the lifting frame 905 to move up and down, and by starting the second electric push rod 902 to drive the mounting seat 907 to move horizontally, the position of the blowing frame 9 is adjusted so that the blowing frame 9 abuts against the gap between the uppermost glass and the glass below it, and then the high-pressure air pump 908 is started to generate high-pressure gas, which is introduced into the blowing frame 9 through the air outlet pipe. The air in the blowing frame 9 enters the gap between the two glasses, thereby breaking the sealed negative pressure environment to facilitate transportation;

[0065] Then, the second cylinder 301 is started to drive the grabbing box 3 to move upward, thereby carrying the optical glass upward, and then the rotating motor 207 is started to drive one of the screw rods 203 to rotate, and the other screw rod 203 is driven to rotate synchronously through the transmission of the two chains 206 and the sprocket 204. The two screw rods 203 are realized by the threaded transmission with the corresponding transmission plate 202, and under the guidance of the guide rail 102, the moving base 2 is driven to move forward and backward to realize the transportation of the optical glass;

[0066] During the glass handling process, when the vacuum degree in the cavity decreases, causing the adsorption degree of the optical glass to decrease, the vacuum degree of the area below the sealing plate 402 in the monitoring box 4 decreases, and the sealing plate 402 moves upward under the elastic force of the supporting spring 403, and drives the vertical plate 407 to move upward. When the vacuum degree in the cavity decreases to a dangerous state, the vertical plate 407 moves upward, causing the touch panel 404 to press the first touch button 405, thereby controlling the operation of the driving motor 510, and the driving motor 510 drives the small gear 512 to rotate, and through meshing with the large gear 511, the small gear 512 is rotated. The two-way screw 509 is driven to rotate, and the two-way screw 509 drives the two sliding seats 507 to move away from each other through the thread transmission with the two sliding seats 507 and under the guidance of the U-shaped guide rod 508. The two sliding seats 507 respectively drive the two connecting plates 504 to move away from each other through the cooperation with the corresponding vertical rods 506. The two connecting plates 504 drive the inclined plates 503 and the adjusting plate 501 to move upward through the sliding cooperation with the corresponding inclined plates 503, so that the air in the cavity is extracted through the adjusting box 5 to restore its vacuum degree and ensure the gripping effect of the optical glass.

[0067] When the adjustment plate 501 moves up to contact the control button 502, the control signal light 14 flashes, indicating an abnormal situation. At this time, the adjustment plate 501 cannot continue to move upward, so the vacuum in the cavity cannot be replenished. The controller 13 controls the second cylinder 301 and the rotating motor 207 to operate, so that the grab box 3 and the optical glass are quickly placed on the ground to avoid falling and damage;

[0068] The grab box 3 accelerates upward or decelerates downward so that the grab box 3 and the glass below it obtain an upward acceleration, so that the counterweight plate 803 moves downward under the action of its own inertia, and drives the counterweight plate 803 to move downward. The counterweight plate 803 drives the horizontal plate 802, the vertical plate 804 and the baffle plate 801 to move downward, and compresses the compression spring 806. When the upward acceleration of the grab box 3 is large enough, the baffle plate 801 will be inserted into the exhaust port to block the exhaust port and release the blockage of the air inlet. The compressed gas in the compressed gas storage tank 15 will be quickly ejected, and enter the piston box 7 through the connecting box 8, push the push plate 701 to move upward, and drive the square plate 6 through the connecting frame 702. 01 moves upward, and a protrusion is provided on the side wall of the sealing box 6 to prevent the square plate 601 from falling out. When the square plate 601 moves upward, the air in the air is sucked into the sealing box 6, thereby increasing the vacuum degree in the cavity to enhance the gripping force on the glass. When the moving speed of the grabbing box 3 returns to a stable state, the cross plate 802 is reset under the action of the compression spring 806 and drives the baffle 801 to reset, so that the baffle 801 is disengaged from the exhaust port and the air inlet is blocked, so that the air in the piston box 7 is discharged from the exhaust port, and the square plate 601 moves downward and resets under the action of negative pressure, and an air pump for inflating the compressed gas storage tank 15 is provided on the piston plate 303, thereby replenishing the air pressure in the compressed gas storage tank 15 for multiple uses.

[0069] The above is a detailed introduction to an automatic optical glass grasping system provided by the present invention. Specific embodiments are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An automatic optical glass grabbing system, characterized in that: include: A base (1), wherein a mobile drive mechanism is arranged on the top of the base (1), and a gripping mechanism is connected to the bottom end of the mobile drive mechanism; The gripping mechanism comprises a gripping box (3), a piston plate (303) and a first cylinder (304), wherein the first cylinder (304) is fixedly connected to the top inner wall of the gripping box (3), and the output end of the first cylinder (304) is fixedly connected to the top of the piston plate (303), the piston plate (303) is slidably connected in the gripping box (3), a cavity is formed in the area below the piston plate (303) inside the gripping box (3), and a plurality of suction cups (302) are connected to the bottom of the gripping box (3), blowing mechanisms are arranged on both sides of the gripping box (3), the blowing mechanisms are used to blow gas between two adjacent sheets of glass to avoid adhesion caused by negative pressure, and a vacuum monitoring mechanism, an active adjustment mechanism and an inertia adjustment mechanism are arranged on the top of the piston plate (303), the monitoring mechanism is used to monitor the vacuum degree of the cavity, the active adjustment mechanism is used to perform active adjustment according to the vacuum degree of the cavity, and the inertia connection mechanism is used to adjust the vacuum degree of the cavity according to the moving state of the gripping mechanism; The vacuum degree monitoring mechanism comprises a monitoring box (4), a sealing plate (402) and a touch panel (404); the touch panel (404) is fixedly connected to the top of the monitoring box (4); the top of the sealing plate (402) is fixedly connected to a vertical plate (407); one side of the vertical plate (407) is provided with two grooves; a first touch button (405) and a second touch button (406) are fixedly installed in the two grooves respectively; the touch panel (404) is movably abutted against the first touch button (405), and the touch panel (404) is adapted to fit the second touch button (406); A plurality of support springs (403) are fixedly connected to the bottom of the sealing plate (402), the bottom ends of the plurality of support springs (403) are fixedly connected to the bottom inner wall of the monitoring box (4), a limit plate (401) is fixedly connected to the top inner wall of the monitoring box (4), and the limit plate (401) is movably abutted against the top of the sealing plate (402); The active adjustment mechanism comprises a driving motor (510), an adjustment box (5), an adjustment plate (501), a bidirectional screw (509) and two sliding seats (507); the adjustment plate (501) is slidably and sealingly connected in the adjustment box (5), and both sides of the top of the adjustment plate (501) are fixedly connected to inclined plates (503); the outer side of the inclined plate (503) is slidably sleeved with a connecting plate (504); the top front and rear sides of the connecting plate (504) are fixedly connected to vertical rods (506); the two sliding seats (507) are slidably sleeved on the two sides of the adjusting plate (501) and the two vertical rods (506) are fixedly connected to the two vertical rods (506); The two sliding seats (507) are threadedly sleeved on the outside of the bidirectional screw (509) corresponding to the vertical rod (506), and the bidirectional screw (509) is rotatably connected to the top of the grab box (3), one end of the bidirectional screw (509) is fixedly connected to a large gear (511), the driving motor (510) is fixedly installed on the top of the grab box (3), and a small gear (512) is fixedly connected to the output shaft of the driving motor (510), and the small gear (512) is meshed with the large gear (511); A U-shaped guide rod (508) is fixedly connected to the top and the inner wall of the top of the grab box (3), the sliding seat (507) is slidably sleeved on the outside of the U-shaped guide rod (508), and a sliding hole is opened on the top of the grab box (3), and the sliding seat (507) is slidably connected in the sliding hole; The inertia adjustment mechanism comprises: a sealing box (6), a square plate (601), a piston box (7), a push plate (701), a connection box (8), and a compressed gas storage tank (15); the piston box (7) is fixedly connected to one side of the sealing box (6); the square plate (601) is slidably and sealingly connected in the sealing box (6); and the push plate (701) is slidably connected in the piston box (7); the tops of the square plate (601) and the push plate (701) are fixedly connected to a same connection frame (702); an air inlet and an air outlet are respectively provided on two sides of the connection box (8); and the compressed gas storage tank (15) and the piston box (7) are respectively connected to the air inlet and the air outlet; An exhaust port is provided at the bottom of the connection box (8), and both sides of the connection box (8) are fixedly connected with fixed plates (805), and a vertical plate (804) is slidably installed in the fixed plate (805), and the bottoms of the two vertical plates (804) are fixedly connected with the same horizontal plate (802), and the bottom of the horizontal plate (802) is fixedly connected with a counterweight plate (803), and the top of the horizontal plate (802) is fixedly connected with a mounting rod, and the top of the mounting rod passes through the exhaust port and is fixedly connected with a baffle (801), and the baffle (801) is movably sealed against one end of the air inlet, and the baffle (801) is adapted to the exhaust port; The top of the vertical plate (804) is fixedly connected to a supporting plate (807), the bottom of the supporting plate (807) is fixedly connected to a compression spring (806), and the bottom end of the compression spring (806) is fixedly connected to the top of the corresponding fixed plate (805).

2. The optical glass automatic grasping system according to claim 1, characterized in that: A mounting plate is fixedly mounted on one side of the compressed gas storage tank (15); the mounting plate, the monitoring box (4), the regulating box (5) and the sealing box (6) are all fixedly connected to the top of the piston plate (303); the bottoms of the monitoring box (4), the regulating box (5) and the sealing box (6) are all provided with communicating holes; and the top of the piston plate (303) is provided with a plurality of through holes that are connected to the communicating holes.

3. The optical glass automatic grasping system according to claim 1, characterized in that: The front and rear sides of the connection plate (504) are both fixedly connected to guide plates (505), the front and rear sides of the adjustment box (5) are both provided with guide holes, and the guide plates (505) are slidably connected in the guide holes.

4. The optical glass automatic grasping system according to claim 2, characterized in that: The mobile drive mechanism comprises a mobile seat (2), a rotating motor (207) and two screw rods (203); the four corners of the top of the mobile seat (2) are fixedly connected to a second cylinder (301); the output end of the second cylinder (301) is fixedly connected to the top of the grab box (3); the two sides of the mobile seat (2) are fixedly connected to a guide seat (201); the front and rear sides of the top of the guide seat (201) are fixedly connected to a transmission plate (202); the transmission plate (202) is threadedly sleeved on the outer side of the corresponding screw rod (203); the rear ends of the two screw rods (203) are fixedly connected to a sprocket (204); the same chain (206) is installed on the two sprockets (204) for transmission; and the output end of the rotating motor (207) is fixedly connected to the front end of one of the screw rods (203); The four corners of the top of the base (1) are fixedly connected to support legs (101), one side of the support leg (101) is fixedly connected to a mounting ear (205), the mounting ear (205) is rotatably sleeved on the outside of the corresponding screw rod (203), and the inside of the guide seat (201) is slidably connected to a guide rail (102), and the two guide rails (102) are respectively fixedly connected to one side of the corresponding support leg (101).

5. The optical glass automatic grasping system according to claim 4, characterized in that: The top of the piston plate (303) is fixedly connected to a limiting column (10), the top of the limiting column (10) is fixedly connected to a buffer pad (11), and a long-press button (12) is fixedly installed on the top inner wall of the grab box (3), and the long-press button (12) is located directly above the buffer pad (11); A control button (502) is fixedly mounted on the side wall of the regulating box (5), and a controller (13) and a signal light (14) are fixedly connected to the top of the movable seat (2); The long-press button (12), the control button (502), the first touch button (405), the second touch button (406), the signal light (14), the first cylinder (304), the second cylinder (301), and the drive motor (510) are all electrically connected to the controller (13); when the long-press button (12) is pressed, the controller (13) controls the first cylinder (304) to stop contracting; when the long-press button (12) is pressed and the first touch button (405) is pressed at the same time, the controller (13) controls the drive motor (510) to operate; when the long-press button (12) is pressed and the second touch button (406) is pressed at the same time, the controller (13) controls the signal light (14) to light up; and when the control button (502) is pressed, the controller (13) controls the signal light (14) to flash and controls the drive motor (510) to stop operating.

6. The optical glass automatic grasping system according to claim 1, characterized in that: A plurality of leakage holes are provided on the top of the base (1), and a plurality of bearing plates (103) are arranged on the top of the base (1).

7. The optical glass automatic grasping system according to claim 1, characterized in that: The blowing mechanism comprises a first electric push rod (901), a second electric push rod (902), a mounting seat (907), a blowing frame (9) and a high-pressure air pump (908); the output end of the first electric push rod (901) is fixedly connected to a lifting frame (905); the second electric push rod (902) is fixedly connected in the lifting frame (905); the output end of the second electric push rod (902) is fixedly connected to the mounting seat (907); the high-pressure air pump (908) is fixedly connected to the other side of the mounting seat (907); an air outlet of the high-pressure air pump (908) is connected to an air outlet pipe; the other end of the air outlet pipe is connected to the blowing frame (9); A fixing rod is fixedly connected to one side of the blowing frame (9), and the other end of the fixing rod is fixedly connected to the mounting seat (907); A guide cross bar (906) is fixedly connected to one side of the mounting seat (907), and the guide cross bar (906) is slidably connected inside the lifting frame (905); Slide rails (904) and a machine base (903) are fixedly installed on both sides of the grab box (3), the first electric push rod (901) is fixedly connected to the top of the machine base (903), and the lifting frame (905) is slidably sleeved on the outside of the slide rails (904).

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