Anti-cutting fluid intrusion type centering adsorption manipulator for edge processing of glass plates

Abstract

The present invention discloses an anti-cutting fluid intrusion type centering adsorption manipulator for edge processing of glass plates, comprising: a manipulator housing, a centering lifting integrated cylinder, and a swing rod clamping arm unit; the manipulator housing includes: a fully sealed housing, a suction cup, and a ball hinge assembly; the fully sealed housing includes a receiving cavity formed therein, the suction cup is installed on the top of the fully sealed housing, a bearing installation groove surrounding the suction cup is provided in the upper part of the fully sealed housing, and a set of ball hinge assemblies are provided in each bearing installation groove. The ball hinge assembly includes a bearing housing and a spherical bearing installed in the bearing housing and ball-hinged with the bearing housing. The bearing housing is embedded in the bearing installation groove, and the joint between the two is a fixed sealing structure; a sliding hole penetrating through it is provided on the spherical bearing; the centering lifting integrated cylinder is located in the receiving cavity. Compared with the prior art, the present invention can be used in an environment of cutting fluid, center and adsorb and fix the glass plate workpiece, and can avoid the upper cutting / edging head.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and particularly relates to an anti-cutting fluid intrusion type centering adsorption manipulator for edge processing of glass plates. Background Art

[0002] In the process of industrial production, before edge cutting / grinding of thin glass workpieces, it is necessary to first use a positioning manipulator to position the position of the glass workpiece to ensure accurate centering, and then fix it for subsequent cutting processing to obtain an accurate outer contour shape.

[0003] For example, the glass workpiece is a thin plate glass of a tablet computer or a mobile phone (with a thickness of about 1 mm). Specifically, the following conditions need to be met during implementation:

[0004] (1) Since the thickness of the thin plate glass is relatively thin, in order to avoid damaging the glass workpiece and ensure that the positioning push block can be more easily aligned with the thin plate glass for positioning, the thickness of the positioning push block in contact with the side wall of the thin plate glass needs to be set to be greater than the thickness of the thin plate glass.

[0005] (2) Since the thickness of the thin plate glass is relatively thin, during positioning, the positioning push block needs to push the entire side surface of the thin plate glass. During positioning, the upper part of the positioning push block is higher than the upper surface of the glass workpiece; the lower part of the positioning push block is lower than the lower surface of the glass workpiece.

[0006] (3) The processing equipment needs to move above the glass workpiece; in order to avoid the positioning push block interfering with the cutting head / grinding head of the cutting equipment, after positioning, the positioning push block needs to descend below the glass workpiece and sufficient safety space needs to be reserved for the movement of the cutting head / grinding head.

[0007] (4) Since cutting / grinding fluid is required during the cutting / grinding operation of the cutting / grinding equipment on the glass, and the cutting fluid has certain corrosiveness, if it enters the internal part of the positioning manipulator, it will damage the positioning manipulator. Therefore, it is required that the positioning manipulator can completely prevent the cutting fluid from entering the internal part of the positioning manipulator while ensuring the positioning function.

[0008] In the prior art, Chinese Patent CN118107264A discloses a multi-finger synchronous centering manipulator for screen printing processing positioning of glass plates, including a plurality of positioning heads and a driving cylinder for driving the plurality of positioning heads to act synchronously; the driving cylinder includes: a cylinder body, a lifting plate, a bottom cover and a piston; the piston main body divides the piston receiving cavity into an upper A cavity and a lower B cavity; the positioning head includes: a lifting arm, a chuck and a guide groove body. The lifting arm includes a connected connecting plate and a driving plate. An external air source enters the A cavity or the B cavity through the shell air duct and the plug air duct to drive the synchronous lifting of the lifting plate, the lifting arm and the driving inclined block; the driving inclined block extends into the inclined guide groove to drive the chuck to move; and the guide post extends into the curved guide groove to control the movement of the chuck along the curved guide groove.

[0009] In the prior art, the structure of the manipulator can meet the above conditions (1) and (2); however, it cannot meet the above conditions (3) and (4). The specific analysis is as follows:

[0010] Explanation of the inability to meet the above condition (3): The descending stroke of the manipulator in the prior art is relatively small. Although it can meet the descending height requirement for the screen printing process of the glass plate, when performing edge cutting / edging on the glass workpiece, it cannot descend below the glass workpiece and sufficient safety space needs to be reserved for the movement of the cutting head / edging head, resulting in a situation where the descending stroke of the positioning push block is insufficient.

[0011] Explanation of the inability to meet the above condition (4): Since the upper part of the guide groove body in the prior art is an open structure, the manipulator in the prior art is suitable for scenarios with a relatively clean surrounding environment. When in an environment with cutting fluid, the cutting fluid can at least enter the cylinder body through the upper opening of the guide groove body, damaging the manipulator.

[0012] As can be seen from the above, the deficiencies in the prior art are as follows: The existing manipulator for glass plate processing cannot be used in an environment with cutting fluid, and the lifting and lowering stroke is insufficient.

[0013] Therefore, it is necessary to provide a new anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing to solve the above technical problems. Summary of the Invention

[0014] (1) Technical problems to be solved

[0015] Based on this, the present invention provides an anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing to solve the problems of the existing manipulator for glass plate processing

[0016] (2) Technical solutions

[0017] To solve the above technical problems, the present invention provides an anti-cutting fluid intrusion type centering adsorption manipulator for processing the edges of glass plates, comprising: a manipulator housing, a centering lifting integrated cylinder, and a swing rod clamping arm unit; the manipulator housing includes: a fully sealed housing, a suction cup, and a ball hinge assembly; the fully sealed housing includes a receiving cavity formed therein, the suction cup is installed on the top of the fully sealed housing, a bearing mounting groove formed by depression and surrounding the suction cup is provided on the upper part of the fully sealed housing, and a set of the ball hinge assembly is provided in each bearing mounting groove, wherein: the ball hinge assembly includes a bearing housing and a spherical eye bearing installed in the bearing housing and ball-jointed with the bearing housing, the bearing housing is embedded in the bearing mounting groove, and the joint between the two is a fixed sealing structure; a sliding hole penetrating through the spherical eye bearing is provided on the spherical eye bearing; the centering lifting integrated cylinder is located in the receiving cavity, and the centering lifting integrated cylinder includes a multi-point centering part and a floating lifting part located below the multi-point centering part and used for providing lifting power; the multi-point centering part includes n guiding sliders capable of synchronously telescoping, and each guiding slider is fixedly connected with one hinge block at the upper part; n is a natural number greater than or equal to 2; at least one set of the swing rod clamping arm unit is connected to the upper part of one hinge block, and the number of the ball hinge assembly is the same as the number of the swing rod clamping arm unit; the swing rod clamping arm unit includes a swing rod and a clamp finger fixed at the top end of the swing rod, the swing rod penetrates through the sliding hole, and the bottom end of the swing rod extends into the receiving cavity and is hinged with the hinge block; the top end of the swing rod is located above the fully sealed housing, and the swing rod is ball-jointed with the fully sealed housing through the ball hinge assembly; the swing rod is slidably and sealingly connected with the spherical eye bearing; the top surface of the suction cup is used for placing a workpiece, and the n guiding sliders synchronously telescope, which can drive all the swing rods to swing synchronously to drive the clamp fingers to simultaneously approach or move away from the side wall of the workpiece, so as to realize centering of the workpiece; the floating lifting part lifts, which can drive the multi-point centering part and the swing rod clamping arm unit to lift integrally to adjust the height of the clamp fingers.

[0018] (III) Beneficial effects

[0019] Compared with the prior art, the present invention centers and adsorbs and fixes a glass plate workpiece in an environment of cutting fluid, and can avoid a cutting / edging head above. Description of the drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0022] Figure 2 is the overall structural sectional view of the present invention;

[0023] Figure 3 is Figure 2 the partial enlarged view at A in

[0024] Figure 4 is Figure 2 the partial enlarged view at B in

[0025] Figure 5 is the three-dimensional schematic diagram of the manipulator housing in the present invention;

[0026] Figure 6 is the exploded schematic diagram of the manipulator housing in the present invention;

[0027] Figure 7 is the three-dimensional schematic diagram of the centering lifting integrated cylinder in the present invention;

[0028] Figure 8 is the exploded schematic diagram of the centering lifting integrated cylinder in the present invention;

[0029] Figure 9 is the top view schematic diagram of the centering lifting integrated cylinder in the present invention (removing the hinge block);

[0030] Figure 10 is the sectional view schematic diagram of the swing rod clamping arm unit in the present invention.

[0031] Explanation of reference numerals:

[0032] 100, workpiece; 200, clamping area;

[0033] 1, manipulator housing; 2, centering lifting integrated cylinder; 3, swing rod clamping arm unit; 4, sealing ring;

[0034] 11, fully enclosed housing; 12, suction cup; 13, ball hinge assembly; 14, first plate; 15, second plate; 16, floating joint; 17, threaded mounting hole; 18, counterbore; 19, clearance; 20, vacuum joint; 21, air pipe joint; 22, waterproof electrical joint; 23, Y-shaped quick-insert air pipe joint;

[0035] 021, multi-designated centering part; 022, upper connecting screw; 023, floating lifting part; 024, lower connecting screw; 025, linear bearing; 026, linear guide shaft;

[0036] 31, swing rod; 32, finger; 33, screw;

[0037] 111, housing main body; 112, front side cover; 113, rear side cover; 114, bottom plate; 115, receiving cavity;

[0038] 121. Disc mounting through-hole

[0039] 131. Upper bearing housing; 132. Lower bearing housing; 133. Spherical hole; 134. Spherical plain bearing; 135. Threaded connecting piece; 136. Dowel pin

[0040] 161. Mounting step

[0041] 211. Cover plate; 212. Hinge block; 213. Upper cover body; 214. Middle push; 215. Upper cylinder body; 216. Upper piston; 217. Upper cylinder air chamber; 218. Upper first pipe joint; 219. Upper second pipe joint; 220. First long slider; 221. Second long slider; 223. First short slider; 224. Second short slider; 225. Slider closing limit block; 226. Adjusting stud; 227. L-shaped strong magnetic bracket; 228. Magnet; 229. Magnetic switch

[0042] 231. Lower cylinder body; 232. Lower piston; 233. Piston rod; 234. Lower cylinder air chamber; 235. Lower first pipe joint; 236. Lower second pipe joint

[0043] 321. Clamping action surface; 322. Avoidance inclined plane

[0044] 1111. Bearing mounting groove; 1112. Vacuum airway; 1113. Swing arm through-hole; 1114. Disc mounting blind hole

[0045] 1141. Bottom mounting groove of power part; 1142. Plate mounting blind hole

[0046] 1341. Sliding hole

[0047] 2201. Oblique hole

[0048] 2121. Stroke detection hinge block

[0049] 2131. Central groove; 2132. Upper cylinder mounting ring groove; 2133. First long groove; 2134. Second long groove; 2135. First short groove; 2136. Second short groove

[0050] 2141. Driving wedge block

[0051] 2151. Lower cylinder mounting ring groove

[0052] 2331. Movable end; 2332. Fixed end

[0053] 2251. Slider connecting block; 2252. Adjusting threaded part mounting block

[0054] 2261. Limit end

[0055] 2201, First long clamp finger mounting hole;

[0056] 2211, Second long clamp finger mounting hole;

[0057] 2231, First short clamp finger mounting hole;

[0058] 2241, Second short clamp finger mounting hole;

[0059] 11121, Connect to the vacuum source end. Detailed implementation manner

[0060] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manner of the present invention with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific implementations disclosed below.

[0061] The following combines the attached Figures 1-10 To further describe the anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing of the present invention.

[0062] Please refer to with emphasis Figures 1-4, the present invention discloses an anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing, including: a manipulator housing 1, a centering lifting integrated cylinder 2, and a swing rod clamping arm unit 3; the manipulator housing 1 includes: a fully sealed housing 11, a suction cup 12, and a ball hinge assembly 13; the fully sealed housing 11 includes a receiving cavity 115 formed therein, the suction cup 12 is installed on the top of the fully sealed housing 11, the upper part of the fully sealed housing 11 is provided with a recessed bearing mounting groove 1111 that surrounds the suction cup 12, and a set of ball hinge assemblies 13 is provided in each bearing mounting groove 1111, wherein: the ball hinge assembly 13 includes a bearing housing and a spherical eye bearing 134 installed in the bearing housing and ball-jointed with the bearing housing, the bearing housing is embedded in the bearing mounting groove 1111, and the joint between the two is a fixed sealing structure; the spherical eye bearing 134 is provided with a sliding hole 1341 penetrating therethrough; the centering lifting integrated cylinder 2 is located in the receiving cavity 115, the centering lifting integrated cylinder 2 includes a multi-point centering part 021 and a floating lifting part 023 located below the multi-point centering part 021 and used for providing lifting power; the multi-point centering part 021 includes n guide sliders that can synchronously expand and contract, and each guide slider is fixedly connected with a hinge block 212 at the upper part; n is a natural number greater than or equal to 2; at least one set of swing rod clamping arm units 3 is connected to the upper part of one hinge block 212, and the number of ball hinge assemblies 13 is the same as the number of swing rod clamping arm units 3; the swing rod clamping arm unit 3 includes a swing rod 31 and a finger 32 fixed to the top end of the swing rod 31, the swing rod 31 penetrates through the sliding hole 1341, and the bottom end of the swing rod 31 extends into the receiving cavity 115 and is hinged with the hinge block 212; the top end of the swing rod 31 is located above the fully sealed housing 11, and the swing rod 31 is ball-jointed with the fully sealed housing 11 through the ball hinge assembly 13; the swing rod 31 is slidably and sealingly connected with the spherical eye bearing 134; the top surface of the suction cup 12 is used for placing the workpiece 100, and the n guide sliders synchronously expand and contract, which can drive all the swing rods 31 to swing synchronously to drive the fingers 32 to approach or move away from the side wall of the workpiece 100 at the same time, so as to realize the centering of the workpiece 100; the floating lifting part 023 lifts, which can drive the multi-point centering part 021 and the swing rod clamping arm unit 3 to lift as a whole to adjust the height of the fingers 32.

[0063] The technical effect that the anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing of the present invention needs to achieve is: to provide a manipulator for glass workpiece 100 edge cutting / grinding processing, which can be used in an environment with cutting fluid, and can center and adsorb and fix the glass plate workpiece 100, and can avoid the upper cutting / grinding head. The manipulator housing 1, the centering lifting integrated cylinder 2, and the swing rod clamping arm unit 3 in the present invention support and interact with each other to jointly achieve this technical effect, which is specifically described as follows:

[0064] The centering lifting integrated cylinder 2 is the power unit of the present invention, providing power for the movement of the swing rod clamping arm unit 3. The swing rod clamping arm unit 3 is the execution unit of the present invention. The swing rod clamping arm unit 3 cooperates with the manipulator housing 1 to lead the power of the centering lifting integrated cylinder 2 to the finger 32 and stretch and descend according to a predetermined movement trajectory. The manipulator housing 1 is also used to adsorb and fix the workpiece 100 and accommodate the centering lifting integrated cylinder 2. The combination of the manipulator housing 1 and the centering lifting integrated cylinder 2 can prevent cutting fluid from invading the inside of the centering lifting integrated cylinder 2. Specifically, the fully sealed housing 11 of the manipulator housing 1 is used to provide a closed accommodation cavity 115. The centering lifting integrated cylinder 2 is completely accommodated in the accommodation cavity 115. During use, the centering lifting integrated cylinder 2 does not come into contact with the cutting fluid, so as to ensure that the manipulator of the present invention can be used in an environment with cutting fluid. Under the action of the fully sealed housing 11, the centering lifting integrated cylinder 2 is completely isolated from the external environment with cutting fluid, preventing cutting fluid from invading the inside of the centering lifting integrated cylinder 2 and achieving the purpose of preventing cutting fluid invasion.

[0065] The robot hand housing 1 is used in combination with the swing rod clamping arm unit 3 to provide constraints for the swing rod clamping arm unit 3, ensuring that the swing rod clamping arm unit 3 moves along a predetermined trajectory under the drive of the centering lifting integrated cylinder 2 without affecting the sealing performance of the fully sealed housing 11. Specifically: The ball hinge assembly 13 is used to install the swing rod clamping arm unit 3. A ball hinge structure is formed between the spherical eye bearing 134 and the bearing housing. The bearing housing is fixedly installed on the top of the fully sealed housing 11. Under the action of the swing rod 31, the spherical eye bearing 134 rotates within the spherical hole 133, and the swing rod 31 is also slidably connected to the spherical eye bearing 134. After the swing rod 31 passes through the sliding hole 1341, the swing rod clamping arm unit 3 forms a ball hinge connection with the fully sealed housing 11 through the ball hinge assembly 13, and the swing rod clamping arm unit 3 is also slidably connected to the spherical eye bearing 134, ensuring that the swing rod clamping arm unit 3 can rotate and slide when centering the workpiece 100, meeting the movement requirements during centering clamping. After the swing rod clamping arm unit 3 passes through the sliding hole 1341, a sliding seal can be achieved between the swing rod clamping arm unit 3 and the spherical eye bearing 134 through the sealing ring 4. Sealing rings 4 can also be provided as needed at other component joints (between the spherical eye bearing 134 and the bearing housing, between the bearing housing and the fully sealed housing 11). Therefore, it can be ensured that the inside of the receiving cavity 115 of the fully sealed housing 11 is completely isolated from the outside, and external cutting fluid will not affect the centering lifting integrated cylinder 2 housed in the receiving cavity 115. The part of the swing rod clamping arm unit 3 extending outside the receiving cavity 115 itself can be used in an environment with cutting fluid. Under the action of the ball hinge assembly 13, the swing rod clamping arm unit 3 can rotate to form a lateral displacement, approaching or moving away from the workpiece 100 to achieve lateral centering. The swing rod clamping arm unit 3 slides along the sliding hole 1341 to form a longitudinal lifting displacement. After the swing rod clamping arm unit 3 descends, it can avoid the cutting head / edging head. With the structure of this embodiment, during use, whether the swing rod clamping arm unit 3 rotates or lifts, external cutting fluid can never enter the inside of the receiving cavity 115, and at the same time, it meets the dynamic sealing requirements during the lateral centering and longitudinal lifting of the centering lifting integrated cylinder 2.

[0066] The robot hand housing 1 includes a suction cup 1. The fully sealed housing 11 provides an installation foundation for the suction cup 12 and provides a foundation for forming the vacuum airway 1112 of the suction cup 12. Specifically: The vacuum airway 1112 formed on the top wall of the fully sealed housing 11 can provide vacuum suction for the suction cup 12.

[0067] In this embodiment, the guiding slider in the centering lifting integrated cylinder 2 provides power for the swinging of the swing rod clamping arm unit 3. There are many structures to achieve "synchronous expansion and contraction of n guiding sliders".

[0068] For example, such as Figure 4 and 8, n guiding sliders are respectively connected to the same middle pusher 214 with a driving wedge 2141. Using the principle of force transmission through inclined planes, the lifting and lowering of the middle pusher 214 can drive the synchronous expansion and contraction of the n guiding sliders.

[0069] For another example, n synchronous cylinders are respectively connected to n sliders one by one. When the synchronous cylinders act, they drive the synchronous expansion and contraction of the n guiding sliders.

[0070] The lower part of the swing rod clamping arm unit 3 is connected to the guiding slider. The upper part of the swing rod clamping arm unit 3 extends out of the fully sealed housing 11. Since the swing rod 31 is connected to the ball hinge assembly 13 through a sliding seal, and the ball hinge assembly 13 and the fully sealed housing 11 form a fixed seal structure. Therefore, even if the swing rod 31 passes through the fully sealed housing 11, it will not affect the sealing performance of the fully sealed housing 11.

[0071] The upper part of the swing rod 31 is equipped with a finger 32. The finger 32 is used to directly act on the side wall of the workpiece 100 and push it to move. Driven by multiple synchronously expanding and contracting guiding sliders, multiple fingers 32 also act synchronously. Therefore, centering of the workpiece 100 can be achieved. More specifically, when n = 2, the two guiding sliders are arranged oppositely. When n > 2, the n guiding sliders are evenly arranged around the circumferential side of the workpiece 100. Therefore, the workpiece 100 can be pushed from at least two sides to achieve centering.

[0072] The floating lifting part 023 can be of a cylinder structure. The lifting stroke of the floating lifting part 023 is designed in advance according to the required lifting stroke of the finger 32. Ensure that when the finger 32 descends, there is enough safety distance from the cutting head / edging head.

[0073] During use, first use the workpiece suction manipulator to place the workpiece 100 on the suction cup 12 above the fully sealed housing 11. The multi - specified centering part 021 works, causing the n guiding sliders to synchronously extend, driving the swing rod 31 in the swing rod clamping arm unit 3 to swing synchronously around the ball hinge point, driving the fingers 32 to simultaneously approach and push the side wall of the workpiece 100 to achieve centering. After centering is completed, the multi - specified centering part 021 works, causing the n guiding sliders to synchronously retract, driving the swing rod 31 in the swing rod clamping arm unit 3 to swing reversely synchronously around the ball hinge point, driving the fingers 32 to simultaneously move away from and release the workpiece 100. The floating lifting part 023 lifts and lowers, which can drive the centering lifting integrated cylinder 2 and the swing rod clamping arm unit 3 to lift and lower as a whole. When the finger 32 rises, it can align with the workpiece 100 to ensure smooth centering. When the finger 32 descends, it can avoid the cutting head / edging head.

[0074] Compared with the prior art, the manipulator housing 1, the centering lifting integrated cylinder 2, and the swing rod clamping arm unit 3 in the anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing of the present invention act together, enabling the anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing of the present invention to be used in an environment with cutting fluid, and capable of centering and adsorbing and fixing the glass plate workpiece 100, and also capable of fully avoiding the upper cutting / edging head.

[0075] Please refer to Figures 7-8 , according to the specific embodiments of the present invention, the multi-designated centering part 021 further includes: an upper cover body 213, a middle push 214, an upper cylinder body 215, and an upper piston 216; a concave central groove 2131 is provided on the upper surface of the upper cover body 213, and n guide grooves are provided around the central groove 2131 and communicated with the central groove 2131 respectively. A guiding slider is slidably connected in each guide groove. The upper piston 216 is arranged in the upper cylinder body 215, and the two form a cylinder structure; the upper cylinder body 215 is fixed to the lower part of the upper cover body 213. The upper part of the middle push 214 extends into the central groove 2131 and is connected to the guiding slider, and the lower part of the middle push 214 is connected to the upper piston 216; the floating lifting part 023 includes a lower cylinder body 231, a lower piston 232, and a piston rod 233 that jointly form a cylinder structure. The lower cylinder body 231 is fixed to the lower part of the upper cylinder body 215. The upper part of the piston rod 233 is connected to the upper piston 216, and the lower part of the piston rod 233 extends out of the lower cylinder body 231; the upper and lower ends of the piston rod 233 are respectively a movable end 2331 and a fixed end 2332. The movable end 2331 is connected to the lower piston 232, and the fixed end 2332 extends out of the lower cylinder body 231; when the upper piston 216 moves up and down, it can drive the middle push 214 to move up and down synchronously, thereby driving all the guiding sliders to expand and contract synchronously; when the lower cylinder body 231 moves up and down, it can drive the multi-designated centering part 021 and the swing rod clamping arm unit 3 to move up and down as a whole.

[0076] This embodiment provides a specific structure of the centering lifting integrated cylinder 2, and the structures and functions of each part will be specifically described below.

[0077] Regarding the multi-designated centering part 021: The upper part of the middle push 214 forms a sliding connection structure with each guiding slider respectively, and the sliding surface is an inclined surface. It can realize the conversion of the vertical lifting force of the middle push 214 into the horizontal expansion and contraction forces of multiple guiding sliders; the guide grooves are used to provide sliding guidance for the guiding sliders to control the sliding direction of the guiding sliders. Specifically in implementation, according to the number of the surfaces to be clamped of the workpiece 100, the number of n is correspondingly selected. The number of n is equal to the number of the surfaces to be clamped. The guiding slider and the finger 32 are connected by a swing rod 31. When the guiding slider moves, it drives the swing rod 31 to swing. The moving directions of the guiding slider and the finger 32 are opposite, and finally the finger 32 is pushed to clamp and position the workpiece 100.

[0078] Regarding the floating lifting part 023: During use, the fixed end 2332 is used to connect to the inner bottom wall of the fully sealed housing 11, and the lower cylinder body 231 is lifted and lowered under the drive of an external air source. Since the upper cylinder body 215 is fixed to the lower cylinder body 231, the fingers 32 connected to the guiding slider can be lifted and lowered synchronously with the lower cylinder body 231.

[0079] It should also be noted that: The floating lifting part 023 is a cylinder structure. Among them, the structure for realizing the function of "the lower cylinder body 231 expands and contracts under the action of an external air source" is prior art, and the fact that the specific structure is not described in this embodiment does not affect its full disclosure. Similarly, for the multi-positioning part 021, the structure for realizing the function of "the lifting of the upper piston 216 drives the middle push 214 to lift synchronously" is prior art, and the fact that the specific structure is not described in this embodiment does not affect its full disclosure.

[0080] The specific use process of the centering and lifting integrated cylinder 2 is as follows:

[0081] Initial position: The lower cylinder body 231 in the floating lifting part 023 is in the lowered state. The fingers 32 connected to the guiding slider are in the open state, and are located below the upper surface of the suction cup 12 and maintain a sufficient safety space from the upper cutting head / edging head.

[0082] Placing the workpiece 100: Use a manipulator to place the workpiece 100 on the suction cup 12.

[0083] Clamping and centering: The lower cylinder body 231 in the floating lifting part 023 is in the raised state. The fingers 32 connected to the guiding slider are aligned with the workpiece 100 in the height direction, and the upper piston 216 acts, causing the fingers 32 connected to the guiding slider to approach and push the outside of the workpiece 100 to achieve centering of the workpiece 100.

[0084] Adsorbing and fixing: Use the suction cup 12 to adsorb and fix the workpiece 100.

[0085] Returning to the initial position: The upper piston 216 acts, causing the fingers 32 connected to the guiding slider to open, and the lower cylinder body 231 carries the upper cylinder body 215 together with the fingers 32 connected to the guiding slider and descends as a whole. The fingers 32 connected to the guiding slider descend below the glass workpiece 100 and maintain a sufficient safety space from the upper cutting head / edging head. In this state, when the cutting head / edging head processes the side of the workpiece 100, it will not hit the fingers 32 connected to the guiding slider, meeting the requirements of glass plate cutting / edging processing.

[0086] In the centering and lifting integrated cylinder 2 of the present invention, a floating lifting part 023 is integrated below the multiple specified centering parts 021, which can lift the finger 32 connected to the guiding slider. After the workpiece 100 is centered and opened, the finger 32 connected to the guiding slider is then lowered to avoid the cutting head / edging head. By adjusting the height value of the lower cylinder body 231, the maximum lifting stroke of the floating lifting part 023 can be adjusted to meet the avoidance height requirements of different cutting heads / edging heads.

[0087] More specifically, the upper cylinder body 215 is integrally in the shape of a cylinder with an open top. At the bottom of the upper cover body 213, there is a sunken upper cylinder mounting ring groove 2132. The upper cylinder mounting ring groove 2132 is integrally stepped. The top of the upper cylinder body 215 is inserted into the upper cylinder mounting ring groove 2132. The upper cylinder body 215 and the upper cover body 213 jointly enclose a closed upper cylinder air cavity 217. At the lower part of the upper cylinder body 215, there is a sunken lower cylinder mounting ring groove 2151. The lower cylinder mounting ring groove 2151 is integrally stepped. The top of the lower cylinder body 231 is inserted into the lower cylinder mounting ring groove 2151. The lower cylinder body 231 and the upper cylinder body 215 jointly enclose a closed lower cylinder air cavity 234. The outer diameters of the upper cylinder body 215 and the lower cylinder body 231 are the same, and the upper cylinder body 215 and the lower cylinder body 231 are arranged vertically aligned.

[0088] In this embodiment, the upper cylinder air cavity 217 is formed by combining the upper cover body 213 and the upper cylinder body 215, and the lower cylinder air cavity 234 is formed by vertically combining the upper cylinder body 215 and the lower cylinder body 231 with the same outer diameter. The adjacent cavity walls up and down are of a shared structure, greatly reducing the size of the entire centering and lifting integrated cylinder 2 in the height direction and also reducing the volume of the entire centering and lifting integrated cylinder 2.

[0089] Please refer to Figures 5-6 , according to the specific embodiment of the present invention, the manipulator housing 1 further includes a joint mounting plate located in the receiving cavity 115 and a floating joint 16 connecting the joint mounting plate and the fixed end 2332. The joint mounting plate is fixed to the bottom wall of the receiving cavity 115.

[0090] In this embodiment, the floating joint 16 can be an existing directly purchased component, which is used to provide a floating connection for the fixed end 2332. The floating joint 16 can eliminate errors and prevent the cylinder from jamming the rod. The floating joint 16 can also reduce the installation difficulty of the centering and lifting integrated cylinder 2. A floating installation structure formed by the floating joint 16 and the joint mounting plate is arranged on the inner wall of the receiving cavity 115, so that the manipulator housing 1 has a built-in floating connection interface. During use, it can be conveniently and quickly connected to the fixed end 2332. And when installing the floating installation structure, it is not necessary to penetrate the bottom wall of the receiving cavity 115, which will not affect the sealing performance of the fully sealed housing 11.

[0091] Specifically, a blind screw hole needs to be set on the inner bottom wall of the fully sealed housing 11, and a screw is passed through the threaded mounting hole 17 and inserted into the thread to fix the joint mounting plate. No through hole is required on the inner bottom wall of the fully sealed housing 11 to ensure sealing.

[0092] More specifically, the inner wall of the accommodating cavity 115 is provided with a recessed bottom-end mounting groove 1141 of the power unit, and the bottom of the groove of the bottom-end mounting groove 1141 of the power unit has a recessed plate mounting blind hole 1142; the joint mounting plate is spliced ​​by a first plate 14 and a second plate 15 of mutually symmetrical structures, and both ends of the first plate 14 are respectively provided with threaded mounting holes 17 penetrating therethrough and aligned with the plate mounting blind hole 1142, and the joint mounting plate is installed in the bottom-end mounting groove 1141 of the power unit through a threaded connector 135; the first plate 14 and the second plate 15 together form a countersunk hole 18, the lower end of the floating joint 16 has a raised mounting step 161, the mounting step 161 is installed in the countersunk hole 18, the upper end of the floating joint 16 extends out of the countersunk hole 18 and is connected to the fixed end 2332; there is a gap 19 between the outer side of the floating joint 16 and the wall of the countersunk hole 18.

[0093] In this embodiment, since the joint mounting plate is installed in the mounting groove 1141 at the bottom end of the power unit, the side of the mounting groove 1141 at the bottom end of the power unit can provide positioning and limiting for the joint mounting plate. By adopting this structure, the protruding height of the joint mounting plate is reduced, providing more installation space for the power parts, which is conducive to reducing the overall height of the manipulator housing 1.

[0094] The joint installation plate is set to a symmetrical structure that is half-open on the left and right sides. During assembly, the floating joint 16 is first screwed to the fixed end 2332 of the cylinder rod, and then the first plate 14 and the second plate 15 are brought close to and pressed on the installation step 161 from both sides of the floating joint 16, and then the first plate 14 and the second plate 15 are fixed to the bottom of the installation groove 1141 at the bottom end of the power unit by screws 33. With this structure, installation is more convenient, and after determining the position of the floating joint 16, the installation positions of the first plate 14 and the second plate 15 can be fine-tuned to ensure that the gaps 19 at various locations between the floating joint 16 and the side walls of the countersunk hole 18 are equal, further improving the performance of the device.

[0095] After the joint mounting plate and the inner bottom wall of the fully sealed shell 11 are fixedly connected, due to the gap 19 between the outer side of the floating joint 16 and the wall of the countersunk hole 18, the lateral position of the floating joint 16 can be slightly adjusted, which greatly improves the flexibility of installation. The floating joint 16 is not locked, and the overall force effect is better.

[0096] The joint mounting plate is rectangular in shape as a whole. The upper middle portion of the joint mounting plate provides installation space for the floating lifting portion 023 , and threaded mounting holes 17 are conveniently provided at both ends of the length to install and connect the threaded connectors 135 .

[0097] According to a specific embodiment of the present invention, the centering and lifting integrated cylinder 2 further includes an upper connecting screw 022 and a lower connecting screw 024. The upper connecting screw 022 penetrates through the upper cover body 213 and extends into the upper cylinder body 215 for fixedly connecting the upper cover body 213 and the upper cylinder body 215. The lower connecting screw 024 penetrates through the lower cylinder body 231 and extends into the upper cylinder body 215 for fixedly connecting the lower cylinder body 231 and the upper cylinder body 215. The numbers of the upper connecting screw 022 and the lower connecting screw 024 are both multiple, and the upper connecting screw 022 and the lower connecting screw 024 are arranged staggeredly.

[0098] In this embodiment, the upper cover body 213, the upper cylinder body 215 and the lower cylinder body 231 are formed into an integral body with two independent air chambers by the upper connecting screw 022 and the lower connecting screw 024. The upper connecting screw 022 and the lower connecting screw 024 are arranged staggeredly to avoid interference.

[0099] More specifically, the upper piston 216 divides the air chamber of the upper cylinder body 215 into an upper first chamber and an upper second chamber. The outer side of the upper cylinder body 215 is provided with an upper first pipe joint 218 and an upper second pipe joint 219 which are respectively communicated with the upper first chamber and the upper second chamber. The lower piston 232 divides the air chamber of the lower cylinder body 231 into a lower first chamber and a lower second chamber. The outer side of the lower cylinder body 231 is provided with a lower first pipe joint 235 and a lower second pipe joint 236 which are respectively communicated with the lower first chamber and the lower second chamber.

[0100] In this embodiment, the upper first pipe joint 218, the upper second pipe joint 219, the lower first pipe joint 235 and the lower second pipe joint 236 are all used for connecting with a pressure air source.

[0101] More specifically, the top of the central groove 2131 is covered with a cover plate 211 for closing the top of the central groove 2131. The upper part of the middle pusher 214 has n driving wedges 2141. One end of the guiding slider close to the central groove 2131 is provided with an inclined hole 2201 which is used in cooperation with the driving wedge 2141, and one driving wedge 2141 is slidably connected in each inclined hole 2201.

[0102] As can be seen from the above, this embodiment provides a specific structure of the centering and lifting integrated cylinder 2. A floating lifting part 023 with a lifting function is combined below the multi-specified centering units, which can lift the fingers 32 connected to the guiding sliders. After the workpiece 100 is centered and opened, it then descends to avoid the cutting head / edging head, meeting the centering and avoidance requirements for cutting the edges of the glass plate. The centering and lifting integrated cylinder 2 is highly integrated with the multi-specified centering units 0 and the floating lifting part 0230. The upper and lower adjacent plate walls are of a shared structure, greatly reducing the size of the entire device in the height direction. It has the advantages of high integration, small volume, small mass, and convenient centralized control. The anti-cutting fluid intrusion type centering and adsorption manipulator for glass plate edge processing in the present invention adopts the centering and lifting integrated cylinder 2 with this structure, which can improve the market competitiveness of the product.

[0103] According to the specific embodiment of the present invention, n = 4, and the four guide grooves together form a cross shape. The four guide grooves are respectively: the first long guide groove 2133, the second long guide groove 2134, the first short guide groove 2135, and the second short guide groove 2136. The first long guide groove 2133 and the second long guide groove 2134 are oppositely arranged on both sides of the central groove 2131. The first short guide groove 2135 and the second short guide groove 2136 are oppositely arranged on both sides of the central groove 2131. The lengths of the first long guide groove 2133 and the second long guide groove 2134 are equal. The lengths of the first short guide groove 2135 and the second short guide groove 2136 are equal. The length of the first long guide groove 2133 is greater than the length of the first short guide groove 2135. The guiding slider in the first long guide groove 2133 is the first long slider 220. The guiding slider in the second long guide groove 2134 is the second long slider 221. The guiding slider in the first short guide groove 2135 is the first short slider 223. The guiding slider in the second short guide groove 2136 is the second short slider 224. The lengths of the first long slider 220 and the second long slider 221 are equal. The lengths of the first short slider 223 and the second short slider 224 are equal. A first short finger mounting hole 2231 is provided at the top of the first short slider 223. A second short finger mounting hole 2241 is provided at the top of the second short slider 224. A first long finger mounting hole is provided on the side of the top of the first long slider 220 away from the central groove 2131. A second long finger mounting hole 2211 is provided on the side of the top of the second long slider 221 away from the central groove 2131. The length of the first long slider 220 is greater than the length of the first short slider 223.

[0104] Please refer to Figure 9 , since mobile phone or tablet glass is basically rectangular, that is, when the workpiece 100 is a rectangular glass plate, the four guide rail sliders need to enclose a rectangular clamping area 200.

[0105] To achieve the above functions, in this embodiment, two long sliders (the first long slider 220 and the second long slider 221) are arranged oppositely, and two short sliders (the first short slider 223 and the second short slider 224) are arranged oppositely. The long sliders are longer in length. One end is matched with the middle push 214, and the upper part of the other end can be provided with finger mounting holes that are farther away from the central groove 2131. The finger mounting holes on the two short sliders are closer to the central groove 2131, and a rectangular clamping area 200 that matches the shape of the rectangular glass plate can be formed.

[0106] Moreover, two long grooves (the first long groove 2133 and the second long groove 2134) are arranged oppositely, and two short grooves (the first short groove 2135 and the second short groove 2136) are arranged oppositely. The long sliders are arranged in the long grooves, and the short sliders are arranged in the short grooves, so that the sliders always slide within the guide grooves (to avoid the cantilever sliding structure), ensuring the smoothness and stability of the slider sliding.

[0107] More specifically, a slider closing limit block 225 is provided on one side of the first long groove 2133 away from the central groove 2131; the slider closing limit block 225 includes a slider connection block 2251 and an adjustment threaded part mounting block 2252 fixed to one side of the slider connection block 2251. The slider connection block 2251 and the adjustment threaded part mounting block 2252 together form an "L" shape; the side of the slider connection block 2251 away from the adjustment threaded part mounting block 2252 is fixedly connected to the side of the first long slider 220 away from the central groove 2131. The adjustment threaded part mounting block 2252 is located on one side of the upper cover body 213, and an adjustment stud 226 is provided through the adjustment threaded part mounting block 2252. One end of the adjustment stud 226 close to the upper cover body 213 is a limit end 2261; the limit end 2261 faces the outer side wall of the upper cover body 213.

[0108] In this embodiment, it should be noted that the upper cylinder body 215 can be internally provided with a limit step for limiting the up and down movement of the upper piston 216. The stroke of the upper piston 216 is directly related to the stroke of the middle push 214 and the four sliders. Therefore, the maximum telescopic stroke of the guiding slider is preset. The larger the stroke of the guiding slider, the wider the range of size changes of the glass plate workpiece 100 that can be clamped.

[0109] When the centering lifting integrated cylinders 2 are used in parallel combination, if it is necessary to minimize the combined size as much as possible, the distance between adjacent centering lifting integrated cylinders 2 needs to be reduced. When the gap 19 between the centering lifting integrated cylinders 2 is small, in order to avoid that when the fingers 32 are opened, if the fingers 32 are opened at the maximum stroke, the fingers 32 may hit adjacent components. Therefore, a finger opening limit adjustment structure needs to be provided.

[0110] In this embodiment, the slider closing limit block 225 is used to limit the closing stroke of the first long slider 220. Since the four guide sliders move synchronously, the closing limit of the four sliders can be achieved by using a slider closing limit block 225, limiting the retraction stroke of the four sliders. By rotating the adjustment stud 226, the gap 19 between the limit end 2261 and the outer wall of the upper cover body 213 can be adjusted to adjust the retraction stroke of the four sliders. Since the moving directions of the guide slider and the clamping finger 32 are opposite, controlling the retraction stroke of the guide slider controls the opening stroke of the clamping finger 32. It is possible to reduce the distance between the two centering lifting integrated cylinders 2 during assembly and use, thereby reducing the overall volume of the assembly. The slider closing limit block 225 is a mechanical limit structure, which can prevent the electronic limit from failing and hitting adjacent components when overtravel occurs.

[0111] More specifically, two diagonal corners of the upper cover 213 are respectively fixedly mounted with a linear bearing 025 penetrating therethrough and a linear guide shaft 026 penetrating the linear bearing 025 , and at least one end of the linear guide shaft 026 is connected to the fully sealed housing 11 .

[0112] More specifically, the linear bearing 025 is a flanged linear bearing, which is installed through its own flange.

[0113] In this embodiment, the linear bearing 025 is used to provide a lifting guide hole when the upper cover body 213 is lifted or lowered. When in use, it is used in conjunction with a linear guide column that passes through the linear bearing 025 to improve the stability and smoothness of the lifting of the upper cover body 213.

[0114] According to a specific embodiment of the present invention, the fisheye bearing 134 is a sphere as a whole, and the bearing shell includes a bearing upper shell 131 and a bearing lower shell 132 that are buckled up and down, and the bearing upper shell 131 and the bearing lower shell 132 together form a spherical hole 133 that matches the outer contour of the fisheye bearing 134, and the fisheye bearing 134 is installed in the spherical hole 133, and the fisheye bearing 134 is spherically hinged with the bearing shell; a sealing ring 4 is provided between the bearing shell and the bearing mounting groove 1111, and at least one sealing ring 4 is provided between the fisheye bearing 134 and the swing rod 31, and the bearing upper shell 131 is provided with a sealing ring 4. A sealing ring 4 is provided between the bearing 31 and the fisheye bearing 134, a sealing ring 4 is provided between the bearing lower shell 132 and the fisheye bearing 134, and a sealing ring 4 is provided between the bearing upper shell 131 and the bearing lower shell 132; the rocker arm unit 3 also includes a threaded connector 135 and a positioning pin 136; the middle part of the positioning pin 136 passes through the bearing lower shell 132, and the two ends of the positioning pin 136 extend into the bearing upper shell 131 and the fully sealed housing 11 respectively; the threaded connector 135 is used to fix the bearing upper shell 131, the bearing lower shell 132 and the fully sealed housing 11.

[0115] In this embodiment, the bearing housing has an upper and lower split structure, which is convenient for installing the spherical plain bearing 134. The type of the sealing ring 4 between components can be selected according to specific requirements, including but not limited to an O-ring 4. The swing arm through-hole 1113 is for the swing rod 31 to pass through, and the bearing mounting groove 1111 is for embedding and installing the bearing housing. Sealed bearings are provided at the joints of the components to prevent cutting fluid from entering the fully sealed housing 11 between the bearing housing and the bearing mounting groove 1111, or between the spherical plain bearing 134 and the swing rod 31, or between the bearing housing and the spherical plain bearing 134. The threaded connector 135 is used for fixing between the upper bearing housing 131 and the lower bearing housing 132, and the threaded connector 135 is also used for fixing the bearing housing to the fully sealed housing 11. The positioning pin 136 is used to achieve precise positioning among the upper bearing housing 131, the lower bearing housing 132 and the fully sealed housing 11, ensuring the movement accuracy of the swing rod 31.

[0116] According to a specific embodiment of the present invention, the finger 32 is fixed to the swing rod 31 by screws 33.

[0117] In this embodiment, the finger 32 has a detachable structure, which is convenient for maintenance and replacement. Specifically, during implementation, fingers 32 with different shapes can be installed according to usage requirements to expand the scope of use.

[0118] Please refer to Figure 10 , more specifically, the finger 32 is integrally a rectangular block, and the side of the finger 32 close to the chuck 12 is the clamping working surface 321. Chamfering processes are performed at the upper and lower ends of the clamping working surface 321 to form relief inclined surfaces 322.

[0119] In this embodiment, when the finger 32 drives the workpiece 100 to move, its movement trajectory is a curve. After chamfering the upper and lower ends of the clamping working surface 321, relief inclined surfaces 322 are formed (to avoid sharp corner interference), which is convenient for the finger 32 to smoothly turn in and press the workpiece 100 to be centered, and is also convenient for the finger 32 to smoothly turn out and leave the workpiece 100 to be centered.

[0120] More specifically, when the finger 32 pushes the workpiece 100 to move and achieve centering, the clamping working surface 321 is in surface-to-surface contact with the outer side surface of the workpiece 100, and the clamping working surface 321 is in a vertical state.

[0121] In this embodiment, the clamping working surface 321 is a plane directly contacting the workpiece 100 to be centered. The side surface of the workpiece 100 to be centered is vertically arranged. During installation, the installation position of the swing rod and finger unit 3 is adjusted to ensure that when the finger 32 pushes the workpiece 100 to move and achieve centering, the clamping working surface 321 is also exactly in a vertical state. The vertically arranged clamping working surface 321 and the vertically arranged side surface of the glass plate are in a surface-to-surface contact state, and the force application effect is optimal.

[0122] According to a specific embodiment of the present invention, any one of the multiple designated centering parts 021, the hinge block 212 is set as the stroke detection hinge block 2121. An L-shaped strong magnetic bracket 227 is fixedly installed on one side of the stroke detection hinge block 2121, and a magnet 228 is fixedly embedded in the lower part of the L-shaped strong magnetic bracket 227; there are 2 magnetic switches 229 respectively cooperating with the magnet 228 below the magnet 228. The 2 magnetic switches 229 are arranged at intervals along the sliding direction of the stroke detection hinge block 2121, and the magnetic switches 229 are fixedly installed on the outer side of the upper cover body 213.

[0123] In this embodiment, since the multiple hinge blocks 212 expand and contract synchronously, and each hinge block 212 moves synchronously with the guide slider, therefore, by detecting and controlling the expansion and contraction stroke of one hinge block 212, the strokes of the four guide sliders can be controlled simultaneously, and finally the detection and control of the opening and closing strokes of the clamping fingers 32 can be realized.

[0124] The magnet 228 is fixed on the hinge block 212 through the L-shaped strong magnetic bracket 227. The magnet 228 is located above the 2 magnetic switches 229. When the hinge block 212 carries the magnet 228 past one magnetic switch 229, it can control the opening and closing of the magnetic switch 229. The external electrical control circuit receives the signal of the opening and closing of the magnetic switch 229, and can obtain the position signal of the magnet 228. The external electrical control circuit can control the movement of the guide slider according to the position signal of the magnet 228 to realize the control of the stroke of the guide slider.

[0125] When the hinge block 212 carries the magnet 228 past the other magnetic switch 229, the control of the stroke of the guide slider is realized by the same principle as above.

[0126] According to the specific embodiments of the present invention, the overall shape of the fully enclosed housing 11 is rectangular; the number of suction cups 12 is m, where m is a natural number greater than or equal to 2. A set of centering and lifting integrated cylinders 2 is correspondingly provided below each suction cup 12. The m suction cups 12 are arranged at intervals in the length direction of the fully enclosed housing 11. The suction cups 12 are rectangular, and the long side direction of the suction cups 12 is consistent with the short side direction of the fully enclosed housing 11. Each suction cup 12 is surrounded by an installation groove group composed of 5 bearing installation grooves 1111. One long side and the outer sides of the two short sides of the suction cup 12 are respectively provided with one installation groove, and the outer side of the other long side of the suction cup 12 is provided with two installation grooves. In the width direction of the fully enclosed housing 11, the bearing installation grooves 1111 located between two adjacent suction cups 12 and belonging to different installation groove groups are arranged alternately; each set of centering and lifting integrated cylinders 2 includes 4 hinge blocks 212. In the same set of centering and lifting integrated cylinders 2: among the 4 hinge blocks 212, there is 1 double-headed hinge block 212 and 1 single-headed hinge block 212; the double-headed hinge block 212 and the single-headed hinge block 212 are arranged opposite to each other; two sets of swing rod clamping arm units 3 are respectively connected to the upper part of the double-headed hinge block 212 at intervals; one set of swing rod clamping arm unit 3 is connected to the single-headed hinge block 212, and the two sets of swing rod clamping arm units 3 connected to the double-headed hinge block 212 are arranged staggeredly with the one set of swing rod clamping arm unit 3 connected to the single-headed hinge block 212.

[0127] In this embodiment, a plurality of suction cups 12 are provided, which can form a station group for processing glass plate workpieces 100 with multiple processing stations, and the specific value of m can be selected according to the usage requirements. Each suction cup 12 has a structure with an independent vacuum airway 1112, providing conditions for the individual use of each suction cup 12.

[0128] In this embodiment, the arrangement direction of the suction cups 12 is reasonably arranged, so that when forming the station group, the volume of the manipulator housing 1 is reduced as much as possible.

[0129] In addition, along the width direction of the fully enclosed housing 11, the bearing installation grooves 1111 located between two adjacent suction cups 12 and belonging to different installation groove groups are arranged alternately (the 3 bearing installation grooves 1111 between the two suction cups 12 are arranged staggeredly, and among the 3 bearing installation grooves 1111, the two bearing installation grooves 1111 located at the upper and lower positions belong to the installation groove group on the left, and the two bearing installation grooves 1111 located in the middle position belong to the installation groove group on the right). A ball hinge assembly 13 is correspondingly installed in each bearing installation groove 1111, that is, a swing rod clamping arm unit 3 can be correspondingly installed. With this structure, it is ensured that at least one swing rod clamping arm unit 3 corresponds to each side of the workpiece 100, ensuring that the workpiece 100 can be centered smoothly, and the distance between adjacent suction cups 12 is reduced as much as possible, further reducing the overall volume of the manipulator housing 1, meeting the occasions with relatively strict (small) requirements for the overall volume of the manipulator.

[0130] According to a specific embodiment of the present invention, the fully sealed housing 11 includes: a housing main body 111, a front cover 112, a rear cover 113, and a bottom plate 114; the housing main body 111 is in an overall rectangular frame shape, and the front side arm, rear side wall, and bottom wall of the housing main body 111 are respectively provided with a front side opening, a rear side opening, and a bottom opening. The front cover 112 completely covers the front side opening, and a sealing ring 4 is provided between the front cover 112 and the housing main body 111 and is arranged around the front side opening; the rear cover 113 completely covers the rear side opening, and a sealing ring 4 is provided between the rear cover 113 and the housing main body 111 and is arranged around the rear side opening; the bottom plate 114 completely covers the bottom opening, and a sealing ring 4 is provided between the bottom plate 114 and the housing main body 111 and is arranged around the bottom opening; the housing main body 111, the front cover 112, the rear cover 113, and the bottom plate 114 together enclose a receiving cavity 115. A vacuum air duct 1112 is provided inside the top wall of the housing main body 111. One end of the vacuum air duct 1112 extends to the suction cup 12 and is used to provide suction power for the suction cup 12. The other end of the vacuum air duct 1112 is a vacuum air source connection end 11121. Each suction cup 12 has an independent vacuum air duct 1112, and the vacuum air source connection end 11121 extends to the side wall of the housing main body 111; a bearing installation groove 1111 is provided on the top wall of the housing main body 111. A swing arm through hole 1113 communicating the bearing installation groove 1111 and the receiving cavity 115 is provided at the lower part of each bearing installation groove 1111, and the swing rod 31 passes through the swing arm through hole 1113; a power unit bottom installation groove 1141 is located on the bottom plate 114.

[0131] In this embodiment, the fully sealed housing 11 is in an overall structure of a combination of multiple components. Adopting this structure is beneficial to the installation of the power unit and the execution unit. A sealing ring 4 is provided between adjacent combined components to ensure the sealing performance of the receiving cavity 115. The housing main body 111 is in an overall rectangular frame shape to ensure better strength. The bottom opening is the main access channel for the installation of the power unit. The side openings are arranged on the opposite front and rear sides. This structure facilitates the entry and exit of small materials and installation tools. The side openings are arranged on the opposite front and rear sides. This structure also facilitates observing the internal situation during installation and improves the convenience of installation.

[0132] More specifically, the front cover is made of a transparent material.

[0133] In this embodiment, the front cover made of a transparent material is beneficial for observing the internal situation of the fully sealed housing 11 during use.

[0134] The manipulator housing 1 further includes: a vacuum joint 20 provided at the top of the outer side wall of the housing main body 111 and communicating with the vacuum air source connection end 11121, an air pipe joint 21 and a waterproof electrical joint 22 respectively provided at the bottom of the outer side wall of the housing main body 111 and communicating with the receiving cavity 115.

[0135] In this embodiment, the vacuum joint 20, the air pipe joint 21, and the waterproof electrical joint 22 are integrated on the outer side of the housing main body 111. The vacuum joint 20 is used to connect the vacuum airway 1112 and an external vacuum air source. The air pipe joint 21 is used to connect the power unit and an external pressure air source, and the waterproof electrical joint 22 is used to transmit the action state signal of the power unit to an external electrical control circuit.

[0136] With this structure, when the manipulator housing 1 is combined with the centering lifting integrated cylinder 2 and other modules, rapid installation can be achieved.

[0137] More specifically, the manipulator housing 1 further includes a Y-shaped quick-connect air pipe joint 2321 disposed in the receiving cavity 115. In this embodiment, the Y-shaped quick-connect air pipe joint 2321 is used to connect the air pipe joint 21 and the centering lifting integrated cylinder 2, and can achieve air flow shunting; it is applicable to the case where there are multiple sets of centering lifting integrated cylinders 2.

[0138] More specifically, the suction cup 12 is provided with a disk mounting through hole 121 penetrating therethrough; the top of the housing main body 111 is further provided with a disk mounting blind hole 1114 formed by depression and corresponding to the disk mounting hole; the suction cup 12 is fixed to the top of the housing main body 111 by a threaded connector 135.

[0139] In this embodiment, the shape of the suction cup 12 matches the shape of a commonly used rectangular glass plate workpiece 100. The disk mounting blind hole 1114 is not communicated with the receiving cavity 115, which will not affect the sealing performance of the receiving cavity 115 while satisfying the installation of the suction cup 12. After the suction cup 12 is fixedly installed, it can be stably communicated with the vacuum airway 1112 and can also provide stable support for the workpiece 100.

[0140] The components in the present invention and their functions will be further described below.

[0141] The suction cup 12 is always located at the top of the manipulator housing 1. The clamping fingers 32 can rotate around the spherical hinge point to open and close to achieve centering. The clamping fingers can also move up and down relative to the suction cup 12 to provide sufficient processing space for the upper cutting / edging head to realize the processing of the edge of the workpiece 100 (thin plate glass plate).

[0142] The centering lifting integrated cylinder 2 and the swing rod clamping arm unit 3 connected thereto form a set of power modules. With the structure of the present invention, multiple power modules are installed in the manipulator housing 1, and it is still possible to ensure that the centering lifting integrated cylinder 2 including the position detection components (magnet 228, magnetic switch 229) and the lifting guiding components (linear bearing 025, linear guiding shaft 026) is housed in the sealed receiving cavity 115, achieving complete isolation from the external cutting fluid, so that the anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing of the present invention can be used in an environment with cutting fluid. And because the centering lifting integrated cylinder 2 is housed in the sealed receiving cavity 115, it can also improve the service life and operation stability of the manipulator, and can improve the accuracy of the position detection of the finger 32 and the smoothness of the movement.

[0143] With the structure of the present invention, without interference, the gap between the power modules can be flexibly adjusted according to the size of the workpiece to be centered, and can be adjusted to the minimum interval that meets the requirements. That is, there is an overlapping section between adjacent power modules and no interference will occur.

[0144] This structure greatly reduces the volume of the anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing of the present invention, and can meet the occasions with many workstations and small overall volume requirements for the manipulator. This structure can also improve the flexibility of use and can be flexibly adjusted according to the sizes of different workpieces to be centered.

[0145] As can be seen from the above, the manipulator housing 1, the centering lifting integrated cylinder 2 and the swing rod clamping arm unit 3 in the anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing of the present invention work together to meet the use requirements (can be used in an environment with cutting fluid, can center and adsorb and fix the glass plate workpiece 100, and can fully avoid the upper cutting / edging head), and also have the advantages of good comprehensive performance and strong market competitiveness.

[0146] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium. It can be the communication inside two components, or a "transmission connection", that is, a power connection is carried out in various suitable ways such as belt drive, gear drive or sprocket drive. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Claims

1. A cutting fluid-resistant centering adsorption manipulator for glass plate edge processing, characterized in that: include: Manipulator housing, centering lifting integrated cylinder and swing arm clamp unit; the manipulator housing includes: a fully sealed housing, a suction cup and a ball joint assembly; the fully sealed housing includes a receiving cavity formed therein, the suction cup is installed on the top of the fully sealed housing, the upper part of the fully sealed housing is provided with a bearing mounting groove formed by a depression and arranged around the suction cup, each of the bearing mounting grooves is provided with a set of the ball joint assembly, wherein: the ball joint assembly includes a bearing housing and a fisheye bearing installed in the bearing housing and ball-hinged with the bearing housing, the bearing housing is embedded in the bearing mounting groove, and the combination of the two is a fixed sealing structure; the fisheye bearing is provided with a sliding hole running through it; the centering lifting integrated cylinder is located in the receiving cavity, the centering lifting integrated cylinder includes a multi-point centering part and a floating lifting part located at the bottom of the multi-point centering part and used to provide lifting power; the multi-point centering part includes n guide sliders that can be synchronously extended and retracted, Each guide slider is fixedly connected to a hinge block on the top; n is a natural number ≥ 2; at least one set of the rocker arm clamp unit is connected to the top of one hinge block, and the number of the ball hinge assemblies is the same as the number of the rocker arm clamp units; the rocker arm clamp unit includes a rocker and a clamping finger fixed to the top of the rocker, the rocker passes through the sliding hole, and the bottom end of the rocker extends into the accommodating cavity and is hinged to the hinge block; the top of the rocker is located above the fully sealed shell, and the rocker is ball-hinged with the fully sealed shell through the ball hinge assembly; the rocker is connected to the fisheye bearing sliding seal; the top surface of the suction cup is used to place the workpiece, and the n guide sliders are synchronously extended and retracted, which can drive all the rockers to swing synchronously, so as to drive the clamping fingers to approach or move away from the side wall of the workpiece at the same time, so as to realize the centering of the workpiece; the floating lifting part is lifted and lowered, which can drive the multi-finger centering part and the rocker arm clamp unit to lift and lower as a whole, so as to adjust the height of the clamping finger.

2. The cutting fluid intrusion-resistant centering adsorption manipulator for glass plate edge processing according to claim 1, characterized in that: The multi-point centering part also includes: an upper cover body, a middle push, an upper cylinder body and an upper piston; the upper surface of the upper cover body is provided with a recessed central groove and n guide grooves arranged around the central groove and respectively connected with the central groove, each of the guide grooves is slidably connected with a guide slider, the upper piston is arranged in the upper cylinder body and the two form a cylinder structure; the upper cylinder body is fixed to the lower part of the upper cover body, the upper part of the middle push extends into the central groove and is connected to the guide slider, and the lower part of the middle push is connected to the upper piston; the floating lifting part includes a lower cylinder body, a lower piston and a piston rod that together form a cylinder structure, the lower cylinder body is fixed to the lower part of the upper cylinder body, the upper part of the piston rod is connected to the upper piston, and the lower part of the piston rod extends out of the lower cylinder body; the upper and lower ends of the piston rod are respectively a movable end and a fixed end, and the movable end is connected to the lower piston The fixed end extends out of the lower cylinder body; the lifting of the upper piston can drive the middle push to rise and fall synchronously, thereby driving all the guide sliders to extend and retract synchronously; the lifting of the lower cylinder body can drive the multi-point centering part and the rocker arm clamp arm unit to rise and fall as a whole; the upper cylinder body is generally cylindrical with an open top, and a recessed upper cylinder mounting ring groove is provided at the bottom of the upper cover body, and the upper cylinder mounting ring groove is generally step-shaped, and the top of the upper cylinder body is inserted into the upper cylinder mounting ring groove, and the upper cylinder body and the upper cover body together form a closed upper cylinder air cavity; the lower part of the upper cylinder body is provided with a recessed lower cylinder mounting ring groove, and the lower cylinder mounting ring groove is generally step-shaped, and the top of the lower cylinder body is inserted into the lower cylinder mounting ring groove, and the lower cylinder body and the upper cylinder body together form a closed lower cylinder air cavity; the outer diameters of the upper cylinder body and the lower cylinder body are the same, and the upper cylinder body and the lower cylinder body are aligned up and down.

3. The anti-cutting fluid intrusion type centering adsorption manipulator for glass plate edge processing according to claim 2, characterized in that: The robot housing also includes a joint mounting plate located in the accommodating cavity and a floating joint connecting the joint mounting plate and the fixed end, the joint mounting plate being fixed to the bottom wall of the accommodating cavity, the inner wall of the accommodating cavity being provided with a recessed bottom mounting groove of the power unit, the bottom of the groove of the bottom mounting groove of the power unit being provided with a recessed plate mounting blind hole; the joint mounting plate is formed by splicing a first plate and a second plate of mutually symmetrical structures, the two ends of the first plate being respectively provided with threaded mounting holes penetrating therethrough and aligned with the plate mounting blind holes, the joint mounting plate being installed in the bottom mounting groove of the power unit by a threaded connector; the first plate and the second plate together form a countersunk hole, the lower end of the floating joint being provided with a raised mounting step, the mounting step being installed in the countersunk hole, the upper end of the floating joint extending out of the countersunk hole and being connected to the fixed end; there is a gap between the outer side of the floating joint and the wall of the countersunk hole.

4. The cutting fluid intrusion-resistant centering adsorption manipulator for glass plate edge processing according to claim 3, characterized in that: The centering lifting integrated cylinder also includes an upper connecting screw and a lower connecting screw, the upper connecting screw passes through the upper cover body and extends into the upper cylinder body, and is used to fix the upper cover body and the upper cylinder body; the lower connecting screw passes through the lower cylinder body and extends into the upper cylinder body, and is used to fix the lower cylinder body and the upper cylinder body; the number of the upper connecting screws and the lower connecting screws are both multiple, and the upper connecting screws and the lower connecting screws are staggered; the upper piston divides the air cavity of the upper cylinder body into an upper first cavity and an upper second cavity, and the outer side of the upper cylinder body is provided with a plurality of upper and lower connecting screws, which are respectively connected to the upper first cavity and the upper second cavity. An upper first pipe joint and an upper second pipe joint are connected to a cylinder and an upper second chamber; the lower piston divides the air chamber of the lower cylinder into a lower first chamber and a lower second chamber, and the outer side of the lower cylinder is provided with a lower first pipe joint and a lower second pipe joint respectively connected to the lower first chamber and the lower second chamber; the top cover of the central groove is provided with a cover plate for closing the top of the central groove, and the upper part of the middle push is provided with n driving wedges; the end of the guide sliding block close to the central groove is provided with an inclined hole used in conjunction with the driving wedge, and a driving wedge is slidably connected in each inclined hole.

5. The cutting fluid intrusion-resistant centering adsorption manipulator for glass plate edge processing according to claim 4, characterized in that: n=4, and the four guide grooves together form a cross shape, and the four guide grooves are respectively: a first long groove, a second long groove, a first short groove and a second short groove; the first long groove and the second long groove are relatively arranged on both sides of the central groove; the first short groove and the second short groove are relatively arranged on both sides of the central groove; the lengths of the first long groove and the second long groove are equal; the lengths of the first short groove and the second short groove are equal; the length of the first long groove is greater than the length of the first short groove; the guide slider in the first long groove is the first long slider; the guide slider in the second long groove is the second long slider; the guide slider in the first short groove is the first short slider; the guide slider in the second short groove is the second short slider; the lengths of the first long slider and the second long slider are equal; the lengths of the first short slider and the second short slider are equal; the top of the first short slider is provided with a first short clamp finger mounting hole, and the top of the second short slider is provided with a second short clamp finger mounting hole 4. The repairing kit for automotive dents, according to claim 1, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The bosses comprise a through-hole, a screw bolt, and a nut. The bosses comprise a through-hole, a screw bolt, and a nut.

6. The cutting fluid intrusion-resistant centering adsorption manipulator for glass plate edge processing according to claim 5, characterized in that: The fisheye bearing is a sphere as a whole, and the bearing shell includes an upper bearing shell and a lower bearing shell that are buckled together, and the upper bearing shell and the lower bearing shell together form a spherical hole that matches the outer contour shape of the fisheye bearing, and the fisheye bearing is installed in the spherical hole, and the fisheye bearing is spherically hinged with the bearing shell; a sealing ring is provided between the bearing shell and the bearing mounting groove, and at least one sealing ring is provided between the fisheye bearing and the rocker arm, a sealing ring is provided between the upper bearing shell and the fisheye bearing, a sealing ring is provided between the lower bearing shell and the fisheye bearing, and a sealing ring is provided between the upper bearing shell and the lower bearing shell; the rocker arm clamp unit also includes a threaded connector and a positioning pin; the middle part of the positioning pin passes through the lower bearing shell, and the two ends of the positioning pin extend into the upper bearing shell and the fully sealed shell respectively; the threaded connector is used to fix the upper bearing shell, the lower bearing shell and the fully sealed shell.

7. The cutting fluid intrusion-resistant centering adsorption manipulator for glass plate edge processing according to claim 6, characterized in that: The clamping fingers are fixed to the rocker arm by screws; the clamping fingers are in the shape of a rectangular block as a whole, and the side of the clamping fingers close to the suction cup is the clamping action surface, and the upper and lower ends of the clamping action surface are formed into avoidance slopes by a chamfering process; when the clamping fingers push the workpiece to move and achieve centering, the clamping action surface is in surface contact with the outer side surface of the workpiece, and the clamping action surface is in a vertical state.

8. The cutting fluid-resistant centering adsorption manipulator for glass plate edge processing according to claim 7, characterized in that: Any one of the hinge blocks in the multi-finger central portion is set as a stroke detection hinge block, an L-shaped strong magnetic bracket is fixedly installed on one side of the stroke detection hinge block, and a magnet is fixedly embedded on the lower part of the L-shaped strong magnetic bracket; two magnetic switches are provided below the magnet and are used in conjunction with the magnet respectively, and the two magnetic switches are spaced apart along the sliding direction of the stroke detection hinge block, and the magnetic switches are fixedly installed on the outer side of the upper cover body.

9. The cutting fluid intrusion-resistant centering adsorption manipulator for glass plate edge processing according to claim 8, characterized in that: The fully sealed shell is rectangular as a whole; the number of the suction cups is m, m is a natural number ≥ 2, a set of the centering lifting integrated cylinder is correspondingly arranged under each suction cup, the m suction cups are arranged in sequence along the length direction of the fully sealed shell, the suction cups are rectangular, and the long side direction of the suction cups is consistent with the short side direction of the fully sealed shell; each suction cup is surrounded by a mounting groove group consisting of 5 bearing mounting grooves, one mounting groove is correspondingly arranged on the outer side of one long side and two short sides of the suction cup, and two mounting grooves are arranged on the outer side of the other long side of the suction cup; in the width of the fully sealed shell In the degree direction, the bearing mounting grooves located between two adjacent suction cups and belonging to different mounting groove groups are arranged alternately; each set of centering lifting integrated cylinders includes 4 articulated blocks, and in the same set of centering lifting integrated cylinders: the 4 articulated blocks include 1 double-headed articulated block and 1 single-headed articulated block; the double-headed articulated block and the single-headed articulated block are arranged opposite to each other; the upper part of the double-headed articulated block is respectively connected with 2 sets of the rocker arm clamping arm units arranged at intervals; the single-headed articulated block is connected with 1 set of the rocker arm clamping arm unit, and the 2 sets of rocker arm clamping arm units connected to the double-headed articulated block and the 1 set of rocker arm clamping arm unit connected to the single-headed articulated block are staggered.

10. The cutting fluid intrusion-resistant centering adsorption manipulator for glass plate edge processing according to claim 9, characterized in that: The fully sealed shell comprises: a shell body, a front side cover, a rear side cover and a bottom plate; the shell body is in the shape of a rectangular frame as a whole, and the front side arm, the rear side wall and the bottom wall of the shell body are respectively provided with a front opening, a rear opening and a bottom opening, the front side cover completely covers the front opening, and a sealing ring arranged around the front opening is provided between the front side cover and the shell body; the rear side cover completely covers the rear opening, and a sealing ring arranged around the rear opening is provided between the rear side cover and the shell body; the bottom plate completely covers the bottom opening, and a sealing ring arranged around the bottom opening is provided between the bottom plate and the shell body; the shell body, the front side cover, the rear side cover and the bottom plate together form the accommodating cavity, a vacuum air channel is provided in the top wall of the shell body, one end of the vacuum air channel extends to the suction cup and is used to provide adsorption power for the suction cup, and the other end of the vacuum air channel is connected to the vacuum air source end, and each of the suction cups has an independent The vacuum air duct, the vacuum air source end extends to the side wall of the shell body; the bearing mounting groove is arranged on the top wall of the shell body, and the lower part of each bearing mounting groove is provided with a swing arm through hole connecting the bearing mounting groove and the receiving cavity, and the swing rod passes through the swing arm through hole; the bottom mounting groove of the power unit is located on the bottom plate; the front side cover is made of transparent material; the manipulator shell also includes: a vacuum joint arranged at the top of the outer wall of the shell body and connected to the vacuum air source end, an air pipe joint and a waterproof electrical joint respectively arranged at the bottom of the outer wall of the shell body and connected to the receiving cavity; the manipulator shell also includes a Y-type quick-plug air pipe joint arranged in the receiving cavity; the suction cup is provided with a disk mounting through hole passing through it; the top of the shell body is also provided with a disk mounting blind hole which is recessed and arranged corresponding to the disk mounting through hole; the suction cup is fixed to the top of the shell body by a threaded connector; the workpiece is a glass plate.

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