A mechanical gripping device for glass production

Abstract

The present application relates to the field of intelligent manufacturing technology, and discloses a manipulator gripping device for glass production, including an assembly frame, the assembly frame is movably connected with a gripping frame and an adjustment frame, the adjustment frame is located at the front side of the gripping frame, the initial positions of the gripping frame and the adjustment frame are at the rear side of the assembly frame, the gripping frame and the adjustment frame are connected by a traction member, the bottom of the gripping frame is fixedly connected with a suction cup group, and the bottom of the adjustment frame is provided with a friction plate. The manipulator gripping device for glass production drives the adjustment frame to move by the friction between the friction plate and the glass, and then pulls the gripping frame to move by the adjustment frame, which can effectively control the maximum force generated by the glass and the gripping device, so that the glass will not move relative to the roller, and can also reduce the maximum impact force on the gripping device. At the same time, when placing the glass, the gripping frame and the adjustment frame can move to unload the force, which can effectively prevent the corners of the glass from being subjected to excessive pressure.

Description

Technical Field

[0001] The present application relates to the field of intelligent manufacturing technology, and in particular to a manipulator grasping device for glass production. Background Art

[0002] During glass production, the robot can use its powerful robotic arm and precise control system to stably transport the original glass sheets to the designated location.

[0003] Since the glass on the production line is usually in motion, in order to avoid relative movement between the glass sheet and the conveyor rollers on the production line and thus causing scratches, when the robot arm grabs the glass sheet, the grabbing structure needs to move synchronously with the glass sheet, which makes it difficult to control the motion trajectory of the robot.

[0004] Secondly, the position of the glass on the production line may change, and when the robot grabs the glass and transfers it according to the established procedure, it may bump into the corners of the glass and damage the glass. Summary of the invention

[0005] The present application proposes a manipulator grasping device for glass production, which drives the adjustment frame to move through the friction between the friction plate and the glass, and then pulls the grasping frame to move through the adjustment frame, which can effectively control the maximum force generated by the glass and the grasping device, so that the glass will not move relative to the roller, and can also reduce the maximum impact force on the grasping device. At the same time, when placing the glass, the grasping frame and the adjustment frame can move to unload the force, which can effectively prevent the glass corners from being subjected to excessive pressure.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: a manipulator grasping device for glass production, comprising a manipulator arm, the manipulator arm is connected to an assembly frame, the assembly frame is movably connected to a grasping frame and an adjusting frame, the adjusting frame is located at the front side of the grasping frame, the initial positions of the grasping frame and the adjusting frame are at the rear side of the assembly frame, the grasping frame and the adjusting frame are connected by a traction member, and can be buffered by elastic force or by relative displacement, the bottom of the grasping frame is fixedly connected to a suction cup group, the bottom of the adjusting frame is provided with a friction plate, and the friction force generated when the friction plate contacts the glass can drive the grasping frame and the adjusting frame to move The lowest point of the friction plate is lower than the lowest point of the suction cup group. The adjusting frame is connected to the friction plate through a connecting piece, and the connecting piece can be extended and retracted. The adjusting frame is connected to a monitoring piece, and the monitoring piece can monitor whether the glass reaches the bottom of the friction plate. When the monitoring piece detects that the glass has arrived, the mechanical arm controls the assembly frame to move downward so that the friction plate contacts the glass. After the grabbing frame and the adjusting frame accelerate and start to move at a uniform speed, the mechanical arm controls the assembly frame to move further downward so that the suction cup group presses and sucks the glass. Then, the mechanical arm controls the assembly frame to lift. The grabbing frame is connected to a driving piece, and the driving piece can drive the grabbing frame to move to a set position.

[0007] Furthermore, the monitoring component includes a baffle and a telescopic rod, the baffle is connected to the adjustment frame through the telescopic rod, the baffle is provided with a detection pressure plate, when the glass exerts pressure on the detection pressure plate, it is judged that the glass has arrived, and the telescopic rod is provided with an elastic member capable of resetting the telescopic rod.

[0008] Furthermore, the monitoring components are provided with two groups, and the monitoring components are connected to a timer, which records the time difference between the two monitoring components and the glass. The Y value is calculated from the glass movement speed and the time difference. The spacing between the two monitoring components is X, and the value of the glass inclination angle A is obtained from the tangent value. After the glass is lifted, the robot adjusts the rotation amount according to the inclination angle A to make the bottom edge of the glass horizontal or parallel to the bottom edge of the storage position.

[0009] Furthermore, the detection pressure piece is divided into a front glass detection pressure piece and a main glass detection pressure piece. The position of the main glass detection pressure piece is fixed. An adjustment groove is provided on the baffle. The front glass detection pressure piece is connected to the baffle through the adjustment groove, and the position of the front glass detection pressure piece can be adjusted.

[0010] Furthermore, the spacing between the present glass detection pressing plate and the front glass detection pressing plate is adjusted according to the glass thickness, so that the present glass detection pressing plate is located within the side projection of the current transfer glass, while the front glass detection pressing plate is located within the side projection of the previous glass that has been placed.

[0011] Furthermore, when placing the glass on the glass rack, first adjust the angle of the glass so that the bottom edge of the glass is horizontal, and then separate the bottom edge of the glass from the glass after placing it on the rack, then rotate the assembly rack 90 degrees, and adjust the position of the assembly rack so that the friction plate just contacts the glass, and the robotic arm drives the assembly rack to move laterally. If the current glass detection pressing piece and the front glass detection pressing piece contact the glass at the same time, it means that the glass is flush with the previously placed glass, otherwise it means that it is not flush, and the assembly rack is away from the glass, and the angle of the assembly rack is adjusted so that the monitoring part corresponds to the side of the glass before the glass protrudes, and then the assembly rack approaches and sucks the glass to lift the glass. When lifting, the front glass detection pressing piece does not separate from the projection of the glass placed below, and then moves sideways. After the current glass detection pressing piece contacts the glass, put down the glass.

[0012] Furthermore, if the glasses need to be stacked together, first adjust the glass angle so that the bottom edge of the current glass is parallel to the bottom edge of the previous glass. When starting to place the glass, first lower the assembly frame to an appropriate height, so that the front glass detection pressing piece is within the projection of the previously placed glass. Move the assembly frame horizontally so that the front glass detection pressing piece contacts the placed glass, then put down the glass, rotate the assembly frame, and adjust the other side of the glass in the same way.

[0013] Furthermore, the driving member includes a screw rod movably connected to the assembly frame, the screw rod is transmission-connected to a driving motor, the driving motor drives the screw rod to rotate, the screw rod is movably connected to a driving block, and the driving block is connected to the grabbing frame through a guide rod.

[0014] Furthermore, the driving block is movably connected to the guide rod, and springs are provided between the driving block and the grabbing frame and between the driving block and the end of the guide rod. The traction member includes a traction rod fixedly connected to the adjustment frame and a traction sleeve fixedly connected to the grabbing frame. The traction rod is inserted into the traction sleeve, and a friction seat is provided on the traction rod. A friction plate is provided on the friction seat, and the friction plate is tightly attached to the inner wall of the traction sleeve under the action of elastic force.

[0015] Furthermore, when the monitoring component detects that the glass has arrived, the driving motor starts to drive the driving block to move, and the set speed of the driving block is the same as the moving speed of the glass.

[0016] The beneficial effects of the present invention are as follows:

[0017] The present application provides a manipulator grasping device for glass production, which drives the adjustment frame to move through the friction between the friction plate and the glass, and then pulls the grasping frame to move through the adjustment frame. This can effectively control the maximum force generated by the glass and the grasping device, so that the glass will not move relative to the roller. At the same time, it can also reduce the maximum impact force on the grasping device, thereby reducing the difficulty of controlling the manipulator when dynamically grasping the glass.

[0018] When placing the glass, first adjust the bottom edge and place it in the specified position. If the glass is offset from its original position, the grabbing frame and the adjustment frame can move to unload the force, which can effectively prevent the glass corners from being subjected to excessive pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without creative work:

[0020] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0021] Figure 2 It is a front view schematic diagram of the present invention;

[0022] Figure 3 It is a side view schematic diagram of the present invention;

[0023] Figure 4 It is a schematic diagram of the monitoring component in the present invention;

[0024] Figure 5 It is a schematic diagram of the glass when tilted in the present invention;

[0025] Figure 6 A top view of the present invention;

[0026] Figure 7 is a schematic diagram of an assembly rack in the present invention;

[0027] Figure 8 For the present invention Figure 2 Enlarged view of B.

[0028] In the figure: 1. Robotic arm; 2. Assembly frame; 3. Grabbing frame; 4. Adjusting frame; 5. Traction member; 51. Traction rod; 52. Traction sleeve; 53. Friction seat; 54. Friction plate; 55. Through groove; 6. Monitoring member; 61. Baffle plate; 62. Adjusting groove; 63. Main glass detection plate; 64. Front glass detection plate; 65. Telescopic rod; 7. Suction cup group; 8. Friction plate; 9. Driving member; 91. Screw; 92. Driving motor; 93. Driving block; 94. Guide rod; 95. Spring; 10. Connecting member; 11. Guide slide groove; 12. Damping section. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Example 1.

[0031] See also Figure 1-Figure 4A manipulator grasping device for glass production comprises a multi-joint multi-degree-of-freedom manipulator 1, the manipulator 1 is connected to an assembly frame 2, the assembly frame 2 is movably connected to a grasping frame 3 and an adjusting frame 4, the adjusting frame 4 is located at the front side of the grasping frame 3, the initial positions of the grasping frame 3 and the adjusting frame 4 are at the rear side of the assembly frame 2, the front side refers to the moving direction of the glass, the assembly frame 2 is provided with a guide slide groove 11, the grasping frame 3 and the adjusting frame 4 slide in the guide slide groove 11, the grasping frame 3 and the adjusting frame 4 are connected by a traction member 5, the traction member 5 has a buffering capacity, specifically, it can be buffered by elastic force, or by relative displacement buffering, the bottom of the grasping frame 3 is fixedly connected with a suction cup group 7, the suction cup group 7 is connected with a negative pressure component, and the negative pressure component can be provided with negative pressure by a vacuum generator or a vacuum pump The bottom of the adjustment frame 4 is provided with a friction plate 8. The friction force generated when the friction plate 8 contacts the glass can drive the grabbing frame 3 and the adjustment frame 4 to move. The lowest point of the friction plate 8 is lower than the lowest point of the suction cup group 7. The bottom of the friction plate 8 is a rubber plate. In this embodiment, the rubber plate is trumpet-shaped, and in other embodiments it can also be wedge-shaped, which can achieve that as the friction plate 8 moves downward, the contact area and pressure between the friction plate 8 and the glass gradually increase, and the friction force also gradually increases. The adjustment frame 4 is connected to the friction plate 8 through a connecting member 10, and the connecting member 10 can be retracted. After the friction plate 8 contacts the glass, the assembly frame 2 can be further moved downward to make the suction cup group 7 contact the glass. The adjustment frame 4 is connected with a monitoring member 6, which can monitor whether the glass is Whether it reaches the bottom of the friction plate 8, when the monitoring part 6 detects that the glass has arrived, the robot arm 1 controls the assembly frame 2 to move downward, so that the friction plate 8 contacts the glass, and the friction between the friction plate 8 and the glass drives the adjustment frame 4 to move. Since the adjustment frame 4 has a small mass and the friction between the friction plate 8 and the glass gradually increases, it can not only ensure that the adjustment frame 4 can be quickly driven by the glass, but also avoid the adjustment frame 4 hindering the movement of the glass, causing the glass and the lower roller to have relative displacement and scratches. After the adjustment frame 4 is driven, the grabbing frame 3 is driven to move through the traction member 5. Since the traction member 5 has a certain buffering capacity and the mass of the grabbing frame 3 is relatively small, the grabbing frame 3 can be gradually accelerated to the same speed as the adjustment frame 4 and the glass, and the acceleration process produces a relatively small resistance to the glass. Small, when the grabbing frame 3 and the adjusting frame 4 complete acceleration and start uniform motion, in this embodiment, by waiting time judgment, when the waiting time is reached, that is, it is judged that the grabbing frame 3 and the adjusting frame 4 are consistent, in other embodiments, it can also be judged by monitoring the moving speed of the grabbing frame 3 and the adjusting frame 4 or the displacement between the grabbing frame 3 and the adjusting frame 4, the mechanical arm 1 controls the assembly frame 2 to move further downward, so that the suction cup group 7 presses the glass, and at the same time the suction cup group 7 is connected to the negative pressure component, so that the suction cup group 7 sucks the glass, when the negative pressure value reaches the set value, after the suction cup group 7 sucks the glass, the mechanical arm 1 controls the assembly frame 2 to lift, and the guide slide groove 11 on the assembly frame 2 is divided into two sections, the rear section is smooth, corresponding to the acceleration section of the grabbing frame 3, and the front section can generate damping, which can hinder the movement of the grabbing frame 3,In order to prevent the grabbing frame 3 from being unable to stop in time and causing excessive impact on the assembly frame 2, in this embodiment, a damping section 12 is provided on the side of the front section, and the damping section 12 can contact the side of the grabbing frame 3. The grabbing frame 3 is connected to a driving member 9, and the driving member 9 can drive the grabbing frame 3 to move. After the grabbing frame 3 stops moving, the driving member 9 drives the grabbing frame 3 to move to the set position. In this embodiment, the driving member 9 drives the grabbing frame 3 to move to the front extreme position. In other embodiments, the grabbing frame 3 can also move to other marked positions. When placing the glass on the glass placement rack, the front end of the assembly frame 2 is downward, and the glass is placed on the rack. When there is a deviation in the position of the glass, the position of the assembly frame 2 is still decreasing after the glass is placed on the shelf. At this time, since the grabbing frame 3 and the adjustment frame 4 can slide and unload force, the edge of the glass can be effectively prevented from being damaged by pressure.

[0032] See also Figure 5 The monitoring component 6 includes a baffle 61 and a telescopic rod 65. The baffle 61 is connected to the adjustment frame 4 through the telescopic rod 65. A detection pressing piece is provided on the baffle 61. When the glass exerts pressure on the detection pressing piece, it is judged that the glass has arrived. At this time, the telescopic rod 65 is extended and retracted to adapt to the movement of the glass. The mechanical arm 1 controls the assembly frame 2 to move downward so that the friction plate 8 contacts the glass. The telescopic rod 65 is provided with an elastic member that can reset the telescopic rod 65. After the monitoring component 6 is out of contact with the glass, the telescopic rod 65 can be retracted and reset.

[0033] See also Figure 6 There are two groups of monitoring members 6, and the monitoring members 6 are connected to a timer. The timer records the time difference between the two monitoring members 6 and the glass. If there is a time difference, it means that the glass position is deviated and tilted. At this time, the Y value is calculated by the glass moving speed and the time difference, and the spacing X between the two monitoring members 6 is a fixed value. At this time, the value of the tilt angle A can be obtained by the tangent value. After the glass is lifted, the manipulator adjusts the rotation amount according to the tilt angle A to make the bottom edge of the glass horizontal or parallel to the bottom edge of the storage position.

[0034] The baffle plate 61 is provided with an adjustment groove 62, and the adjustment groove 62 is provided with a front glass detection pressing piece 64. The position of the front glass detection pressing piece 64 can be adjusted. The spacing between the glass detection pressing piece 63 and the front glass detection pressing piece 64 is adjusted according to the thickness of the glass. The glass detection pressing piece 63 and the front glass detection pressing piece 64 do not interfere with the baffle plate 61 sliding against the side of the glass. When placing the glass, first adjust the glass angle. When the glass is placed on the glass rack, first place the bottom edge of the glass on the rack, and then rotate the assembly rack 2 90 degrees, and adjust the position of the assembly rack 2 so that the friction plate 8 just contacts the glass. In order to determine whether the glass contacts the friction plate 8, a third pressure sensor is provided on the connecting piece 10. The contact between the friction plate 8 and the glass is determined by the pressure value of the friction plate 8 and the glass. At this time, the friction between the friction plate 8 and the glass is small, and it can slide freely against the glass. At this time, the glass detection pressing piece 63 and the front glass detection pressing piece 64 just Corresponding to the two adjacent glasses, the robot arm 1 drives the assembly frame 2 to move laterally. If the present glass detection pressing piece 63 and the front glass detection pressing piece 64 are in contact with the glass at the same time, it means that the glass is flush with the previously placed glass, otherwise it is not flush. The assembly frame 2 moves away from the glass and rotates to adjust the angle so that the monitoring component 6 corresponds to the side of the glass before the glass protrudes. If only the present glass detection pressing piece 63 is in contact with the glass, it is judged that the side is the side of the glass before the glass protrudes, and no rotation angle is required. Otherwise, if only the front glass detection pressing piece 64 is in contact with the glass, it is judged that the opposite side is the side of the glass before the glass protrudes, and the assembly frame 2 rotates 180 degrees. Then the assembly frame 2 approaches and sucks the glass to lift the glass slightly. The front glass detection pressing piece 64 does not separate from the projection of the glass placed below, and then moves sideways. After the present glass detection pressing piece 64 is in contact with the glass, the glass is put down. At this time, the side of the glass is flush with the previously placed glass.

[0035] If the glasses are stacked together, when you start placing the glasses, first lower the assembly frame 2 to an appropriate height, so that the front glass detection pressing piece 64 is in the projection of the previously placed glass. Move the assembly frame 2 horizontally so that the front glass detection pressing piece 64 contacts the previously placed glass, then put the glass down, rotate the assembly frame 2, and adjust the other side of the glass in the same way.

[0036] See also Figure 7-Figure 8 The driving member 9 includes a screw rod 91 movably connected to the assembly frame 2, the screw rod 91 is transmission-connected to a driving motor 92, the driving motor 92 drives the screw rod 91 to rotate, the screw rod 91 is movably connected to a driving block 93, the driving block 93 is connected to the grabbing frame 3 through a guide rod 94, the screw rod 91 rotates to drive the driving block 93 to move, and then drives the grabbing frame 3 to move.

[0037] The driving block 93 is movably connected with the guide rod 94, and the guide rod 94 passes through the driving block 93. A spring 95 is provided between the driving block 93 and the grabbing frame 3 and between the driving block 93 and the end of the guide rod 94. The driving block 93 applies a force to the grabbing frame 3 through the spring 95. The traction member 5 includes a traction rod 51 fixedly connected to the adjustment frame 4 and a traction sleeve 52 fixedly connected to the grabbing frame 3. The traction rod 51 is inserted into the traction sleeve 52. The traction rod 51 is provided with a friction seat 53, and the friction seat 53 is provided with a friction plate 54. The friction plate 54 is pressed against the inner wall of the traction sleeve 52 under the action of elastic force, and there is a large friction force between the traction sleeve 52 and the friction plate 54. A through groove 55 is provided at the bottom of the traction sleeve 52, and particles generated by friction fall from the through groove 55. The adjustment frame 4 drives the grabbing frame 3 through the friction force. When the speed of the grabbing frame 3 and the adjustment frame 4 are consistent, the traction sleeve 52 and the traction rod 51 move synchronously, which can make the speed of the grabbing frame 3 and the adjustment frame 4 consistent faster than the elastic force. When the monitoring component 6 detects that the glass has arrived, the driving motor 92 is started, and the driving block 93 The grabbing frame 3 is driven to move first by the spring 95, and the set speed of the driving block 93 is the same as the moving speed of the glass. When the speeds of the adjusting frame 4 and the glass are consistent, if the grabbing frame 3 and the adjusting frame 4 are consistent, when the suction cup group 7 sucks the glass, the glass will not be blocked and the assembly frame 2 will not be subjected to impact force. If the speeds of the grabbing frame 3 and the adjusting frame 4 are inconsistent, the friction between the friction plate 54 and the traction sleeve 52 will make the speeds of the grabbing frame 3 and the adjusting frame 4 consistent. Since the set speed of the driving block 93 is the same as the movement of the glass, the speeds of the grabbing frame 3 and the adjusting frame 4 are not much different at this time. The length of the guide rod 94 can meet the movement needs of the driving block 93. When the speeds of the grabbing frame 3 and the adjusting frame 4 are consistent, the driving block 93 continues to drive the grabbing frame 3 to move to the front end stop position and stop moving. In this embodiment, when the assembly frame 2 lifts the glass and waits for a period of time, it is determined that the speeds of the grabbing frame 3 and the adjusting frame 4 are consistent. The specific waiting time is set by the program. In other embodiments, it is also possible to determine whether the speeds of the grabbing frame 3 and the adjusting frame 4 are consistent through a sensor.

[0038] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mechanical gripping device for glass production, comprising a mechanical arm (1), wherein the mechanical arm (1) is connected to an assembly frame (2), characterized in that: The assembly frame (2) is movably connected to a grabbing frame (3) and an adjusting frame (4), the adjusting frame (4) is located at the front side of the grabbing frame (3), the initial positions of the grabbing frame (3) and the adjusting frame (4) are at the rear side of the assembly frame (2), the grabbing frame (3) and the adjusting frame (4) are connected via a traction member (5), the traction member (5) has a buffering capacity, the bottom of the grabbing frame (3) is fixedly connected to a suction cup group (7), the bottom of the adjusting frame (4) is provided with a friction plate (8), the friction force generated when the friction plate (8) contacts the glass can drive the grabbing frame (3) and the adjusting frame (4) to move, the lowest point of the friction plate (8) is lower than the lowest point of the suction cup group (7), the adjusting frame (4) is connected via a connecting member (10) The adjusting frame (4) is connected to the friction plate (8), and the connecting member (10) can be extended and retracted. The adjusting frame (4) is connected to a monitoring member (6), and the monitoring member (6) can monitor whether the glass reaches below the friction plate (8). When the monitoring member (6) detects that the glass has arrived, the mechanical arm (1) controls the assembly frame (2) to move downward, so that the friction plate (8) contacts the glass. When the grabbing frame (3) and the adjusting frame (4) accelerate and start to move at a uniform speed, the mechanical arm (1) controls the assembly frame (2) to move further downward, so that the suction cup group (7) presses and sucks the glass. Then, the mechanical arm (1) controls the assembly frame (2) to rise. The grabbing frame (3) is connected to a driving member (9), and the driving member (9) can drive the grabbing frame (3) to move to a set position.

2. A mechanical gripping device for glass production according to claim 1, characterized in that: The monitoring component (6) comprises a baffle (61) and a telescopic rod (65); the baffle (61) is connected to the adjustment frame (4) via the telescopic rod (65); a detection pressing piece is provided on the baffle (61); when the glass exerts pressure on the detection pressing piece, it is determined that the glass has arrived; and an elastic member capable of resetting the telescopic rod (65) is provided on the telescopic rod (65).

3. A mechanical gripping device for glass production according to claim 2, characterized in that: The monitoring members (6) are provided with two groups. When the two groups of monitoring members (6) are in contact with the glass and it is determined that the glass has arrived, the monitoring members (6) are connected to a timer. The timer records the time difference between the two monitoring members (6) and the glass. The Y value is calculated from the moving speed of the glass and the time difference. The distance between the two monitoring members (6) is X. The value of the glass inclination angle A is obtained from the tangent value. After the glass is lifted, the robot adjusts the rotation amount according to the inclination angle A so that the bottom edge of the glass is horizontal or the bottom edge of the glass is parallel to the bottom edge of the storage position.

4. A mechanical gripping device for glass production according to claim 3, characterized in that: The detection pressing piece is divided into a front glass detection pressing piece (64) and a real glass detection pressing piece (63); the position of the real glass detection pressing piece (63) is fixed; an adjustment slot (62) is provided on the baffle (61); the front glass detection pressing piece (64) is connected to the baffle (61) via the adjustment slot (62); and the position of the front glass detection pressing piece (64) is adjustable.

5. A mechanical gripping device for glass production according to claim 4, characterized in that: The spacing between the present glass detection pressing piece (63) and the front glass detection pressing piece (64) is adjusted according to the glass thickness, so that the present glass detection pressing piece (63) is located within the side projection of the current transfer glass, while the front glass detection pressing piece (64) is located within the side projection of the previous glass that has been placed.

6. A mechanical gripping device for glass production according to claim 4, characterized in that: When placing the glass on the glass rack, first adjust the angle of the glass so that the bottom edge of the glass is horizontal, and then separate the bottom edge of the glass from the glass after placing it on the rack. Then rotate the assembly rack (2) 90 degrees, and adjust the position of the assembly rack (2) so that the friction plate (8) just contacts the glass. The mechanical arm (1) drives the assembly rack (2) to move laterally. If the glass detection pressing piece (63) and the front glass detection pressing piece (64) contact the glass at the same time, it means that the glass is flush with the previously placed glass. Otherwise, it means that it is not flush. The assembly rack (2) moves away from the glass, and adjusts the angle of the assembly rack (2) so that the monitoring component (6) corresponds to the side of the glass before the glass protrudes. Then, the assembly rack (2) approaches and absorbs the glass, so that the glass is lifted. When lifting, the front glass detection pressing piece (64) does not separate from the projection of the glass placed below, and then moves laterally. After the current glass detection pressing piece (64) contacts the glass, the glass is put down.

7. A mechanical gripping device for glass production according to claim 4, characterized in that: If the glasses need to be stacked together, first adjust the angle of the glasses so that the bottom edge of the current glass is parallel to the bottom edge of the previous glass. When starting to place the glasses, first lower the assembly rack (2) to an appropriate height so that the front glass detection pressing piece (64) is within the projection of the previously placed glass. Then move the assembly rack (2) horizontally so that the front glass detection pressing piece (64) contacts the previously placed glass and then lower the glass. The assembly rack (2) rotates and the other side of the glass is adjusted in the same way.

8. A mechanical gripping device for glass production according to claim 1, characterized in that: The driving member (9) comprises a screw rod (91) movably connected to the assembly frame (2); the screw rod (91) is drivingly connected to a driving motor (92); the driving motor (92) drives the screw rod (91) to rotate; the screw rod (91) is movably connected to a driving block (93); the driving block (93) is connected to the grabbing frame (3) via a guide rod (94).

9. A mechanical gripping device for glass production according to claim 8, characterized in that: The driving block (93) is movably connected to the guide rod (94); a spring (95) is provided between the driving block (93) and the grab frame (3) and between the driving block (93) and the end of the guide rod (94); the traction member (5) comprises a traction rod (51) fixedly connected to the adjustment frame (4) and a traction sleeve (52) fixedly connected to the grab frame (3); the traction rod (51) is inserted into the traction sleeve (52); a friction seat (53) is provided on the traction rod (51); a friction plate (54) is provided on the friction seat (53); the friction plate (54) is tightly attached to the inner wall of the traction sleeve (52) under the action of elastic force.

10. A mechanical gripping device for glass production according to claim 9, characterized in that: When the monitoring component (6) detects that the glass has arrived, the driving motor (92) starts to drive the driving block (93) to move, and the set speed of the driving block (93) is the same as the moving speed of the glass.

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