Suspended conveying manipulator for smoke exhaust skylight glass detection

Abstract

The invention relates to the technical field of intelligent suspension conveying systems, in particular to a suspension conveying manipulator for smoke exhaust skylight glass detection, which comprises a base frame, a driving roller is vertically and movably arranged on the base frame, and bearing rollers are symmetrically and movably arranged on the base frame relative to the driving roller. The driving roller is driven to slide and approach the supporting roller so as to enable the driving roller to abut against the outer arc surface of the arc-shaped curved glass, and the supporting roller abuts against and supports the inner arc surface of the arc-shaped curved glass. According to the suspension conveying mechanical arm for smoke exhaust skylight glass detection, the bearing roller is used for bearing the inner arc face of arc-shaped curved glass, the driving roller vertically moves to abut against the outer arc face of the arc-shaped curved glass, and therefore direct contact with the edge of the end of the arc-shaped curved glass is avoided; and when the arc-shaped curved glass is clamped and fixed by the bearing rollers and the driving rollers, the phenomenon that the glass is broken due to the fact that pressure is applied to the end edges of the glass is avoided, and the clamping stability and safety of the arc-shaped curved glass are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent suspension conveying systems, and in particular to a suspension conveying manipulator for detecting smoke exhaust skylight glass. Background Art

[0002] Curved tempered glass is often used in smoke exhaust skylights to make them more beautiful. The glass surface has a double-curved shape and is tempered to enhance its strength and safety. After the curved glass is produced, it needs to be suspended and transported to the quality inspection site using an intelligent suspension conveying system to further ensure the safety of the glass.

[0003] According to the publication number CN217172411U, the publication (announcement) date: 2022.08.12, a suspended handling robot arm for tempered glass production is disclosed. Its technical solution includes a box body and a traction plate, partitions are fixed on both sides of the interior of the box body, and a first screw is rotatably installed between the inner wall of the box body and the partition, a sliding sleeve is slidably installed on both sides of the interior of the box body, and the first screw thread runs through the middle of the sliding sleeve, a sliding plate is slidably installed in the middle of the interior of the box body, and pressure pads are equidistantly distributed on the lower end surface of the sliding plate, through grooves are equidistantly opened on both sides of the lower end surface of the box body, and the traction plates are provided with two, and the two traction plates are respectively slidably installed in the through grooves on the same side, and grooves are opened at both ends of the inner side of the traction plate, and a robot arm is rotatably installed in the groove through a rotating shaft. The utility model has the advantages of improving the load-bearing surface, ensuring transportation safety, and being adaptable to glass of different sizes, and is highly practical.

[0004] In the prior art including the above-mentioned patent, the anti-skid pads on the robot arm are supported on the lower edges of the two ends of the glass, and the pressure pad is vertically pressed downward on the upper middle part of the glass to achieve fixed grasping and transportation of flat glass. However, if it is necessary to fix and transport curved glass, the anti-skid pads are supported on the two ends of the arc-shaped curved glass, and the pressure pad is pressed down on the arc-shaped middle part of the arc-shaped curved glass to apply a bending deformation pressure to the arc-shaped curved glass, so that the arc-shaped ends of the arc-shaped curved glass are pressurized and contacted with the anti-skid pads, so that the ends of the arc-shaped curved glass are subjected to greater pressure when clamped and break. That is, only using the pressure pad and the anti-skid pad is not suitable for clamping and fixing the arc-shaped curved glass. Summary of the invention

[0005] The purpose of the present invention is to provide a suspension conveying robot for detecting smoke exhaust skylight glass, so as to solve the above-mentioned problem.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a suspended conveying robot for detecting smoke exhaust skylight glass, comprising a base frame, on which a driving roller is vertically movably arranged, and supporting rollers are symmetrically movably arranged on the base frame about the driving roller, the driving roller is driven to slide closer to the supporting roller so that the driving roller contacts the outer curved surface of the arc-shaped curved glass, and the supporting roller contacts and is supported on the inner curved surface of the arc-shaped curved glass.

[0007] Preferably, it also includes a mounting seat which is symmetrically arranged on the base frame and keeps synchronous movement, the mounting seat is arranged to slide horizontally symmetrically about the driving roller, and the supporting roller is rotatably arranged on the mounting seat.

[0008] Preferably, it further comprises a lifting seat arranged on the base frame for vertical sliding, the driving roller is arranged on the lifting seat for axial rotation, and a friction groove is provided in a circumferential array on the driving roller.

[0009] Preferably, a movable column is horizontally movable in the base frame, and an engaging groove is provided in the base frame. A linear array of matching grooves matching the movable column are provided on the coupling portion of the mounting seat. The two mounting seats are driven to slide relative to each other to drive the engaging end of the movable column to cyclically engage and disengage from the engaging groove through the matching groove.

[0010] Preferably, an installation cavity and a movable cavity are provided in the base frame, the movable shaft portion of the movable column is movably arranged in the movable cavity so that the engaging end is located in the installation cavity, and a second elastic member is provided in the movable cavity for driving the engaging end of the movable column to axially engage in the engaging groove, and the movable column is driven by the coupling portion to rotate axially and accompanied by axial sliding so that the engaging end is embedded in or out of the engaging groove.

[0011] Preferably, an adjusting member is threadedly mounted on the base frame, and the adjusting member is driven to rotate so that an extrusion portion arranged on the adjusting member is located in the active cavity to extrude or relax the second elastic member.

[0012] Preferably, it also includes a stabilizing seat slidably arranged on the mounting seat, the stabilizing seat is slidably sleeved on the supporting roller, and a resistance plate is arranged on the movable column. The movable column is driven to move so that the engaging end is engaged in the engaging groove, and the resistance plate moves to push the stabilizing seat to slide axially along the supporting roller away from the mounting seat.

[0013] Preferably, the stabilizing seat is provided with an extension portion extending into the mounting cavity to be horizontally aligned with the abutment plate, the sliding portion provided on the stabilizing seat is slidably arranged in a sliding groove provided on the mounting seat, and the sliding portion is provided with an inclined chamfer facing one side of the supporting roller.

[0014] Preferably, flexible abutment balls are arranged in a linear array on the side of the extension portion facing the abutment disk.

[0015] Preferably, it also includes a driving gear and a first motor arranged in the base frame, the driving gear is fixedly connected to the output end of the first motor, the driving gear is rotatably arranged and coupled with the linear tooth groove of the lifting seat, and the lifting seat is provided with a driving motor for driving the roller to rotate.

[0016] In the above technical scheme, the present invention provides a suspended conveying robot for smoke exhaust skylight glass inspection, which has the following beneficial effects: the inner arc surface of the arc-shaped curved glass is supported by a supporting roller, and the driving roller moves vertically to contact the outer arc surface of the arc-shaped curved glass, thereby avoiding direct contact with the end edge of the arc-shaped curved glass. When the supporting roller and the driving roller clamp and fix the arc-shaped curved glass, they will not exert pressure on the end edge of the glass to cause the glass to break, thereby improving the clamping stability and safety of the arc-shaped curved glass. Secondly, when the supporting roller and the driving roller clamp the arc-shaped curved glass, the end edge of the glass is exposed, so that the edge of the glass can be directly visually inspected through an optical visual device during the glass conveying process, thereby avoiding the problem that the edge of the glass is blocked and difficult to accurately inspect after it is conveyed and put down. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0018] Figure 1 A schematic diagram of the overall structure provided for an embodiment of the present invention; Figure 2 A schematic cross-sectional view of the overall transverse structure provided by an embodiment of the present invention; Figure 3 A schematic cross-sectional view of the structure of the mounting portion provided by an embodiment of the present invention; Figure 4 A schematic cross-sectional view of the structure of the movable column of the mounting portion provided by an embodiment of the present invention; Figure 5 A schematic cross-sectional view of the structure of a base frame provided in an embodiment of the present invention; Figure 6 A schematic diagram of the exploded structure of the lifting seat, the driving roller, the driving gear and the first motor provided in an embodiment of the present invention; Figure 7 A schematic diagram of the structure of a mounting seat, a supporting roller, a movable column and a stabilizing seat provided in an embodiment of the present invention; Figure 8 A schematic diagram of the exploded structure of the mounting seat, the supporting roller, the movable column and the stabilizing seat provided in an embodiment of the present invention; Fig. 9A schematic diagram of the structure of a mounting base and a stabilizing base provided in an embodiment of the present invention; Fig.10 The embodiment of the present invention provides Figure 3 A local enlarged schematic diagram of the middle A; Fig.11 The embodiment of the present invention provides Figure 4 A partial enlarged schematic diagram of point B in the middle; Fig.12 A schematic diagram of the working principle of the driving roller and the supporting roller clamping the curved glass provided in an embodiment of the present invention.

[0019] Description of reference numerals: 1. Base frame; 11. Installation part; 12. Installation cavity; 121. Fitting groove; 13. Active cavity; 14. Connecting part; 21. Lifting seat; 211. Linear tooth groove; 22. Driving roller; 221. Friction groove; 222. Driving shaft; 23. Driving gear; 24. First motor; 31. Mounting seat; 311. Coupling part; 3111. Matching groove; 312. Sliding groove; 313. Horizontal slider; 32. Supporting roller; 33. First elastic member; 4. Active column; 41. Fitting end; 42. Active shaft; 43. Contact plate; 51. Second elastic member; 52. Adjusting member; 521. Extrusion part; 6. Stable seat; 61. Sleeve hole; 62. Extension part; 63. Reinforcement part; 64. Sliding part; 7. Flexible ball; 8. Third elastic member. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0021] like Figure 1-12 As shown, a suspended conveying robot for detecting smoke exhaust skylight glass includes a base frame 1, on which a driving roller 22 is vertically movably arranged, and supporting rollers 32 are symmetrically arranged on the base frame 1 about the driving roller 22. The driving roller 22 is driven to slide closer to the supporting roller 32 so that the driving roller 22 contacts the outer curved surface of the arc-shaped curved glass, and the supporting roller 32 contacts and supports the inner curved surface of the arc-shaped curved glass.

[0022] Specifically, the base frame 1 is provided with a connection portion 14 connected to an external driving device, and the external driving device can be used to drive the base frame 1 to move horizontally or to lift vertically, such as Figure 1As shown, the mounting parts 11 are symmetrically arranged on the base frame 1, and a group of supporting rollers 32 are arranged on the mounting parts 11, and the driving rollers 22 are arranged to move vertically, and the supporting rollers 32 are arranged on the same horizontal plane. When the arc-shaped curved glass needs to be transported, the concave side of the arc-shaped curved glass can be placed toward the supporting rollers 32, that is, Fig.12 As shown, the driving roller 22 is then driven to slide vertically close to the driving roller 22 to contact the top of the outer curved surface of the arc-shaped curved glass, and the driving roller 22 and the supporting roller 32 are used to fix and support the arc-shaped curved glass, thereby avoiding direct contact with the end edge of the arc-shaped curved glass. When the supporting roller 32 and the driving roller 22 clamp and fix the arc-shaped curved glass, no pressure is applied to the end edge of the glass to cause the glass to break, thereby improving the clamping stability and safety of the arc-shaped curved glass. Secondly, when the supporting roller 32 and the driving roller 22 are used to clamp the arc-shaped curved glass, the end edge of the glass is exposed, so that during the glass transportation process, the edge of the glass can be directly visually inspected by an optical visual device, thereby avoiding the problem that the edge of the glass is blocked and difficult to accurately inspect after the glass is transported to the right place and put down.

[0023] Furthermore, the two groups of supporting rollers 32 on the mounting portion 11 are used to support the arc-shaped curved glass, thereby reducing the area of ​​the arc-shaped curved glass blocked by the supporting rollers 32, thereby facilitating observation of the curved glass during transportation and facilitating actual transportation operations.

[0024] Among them, the external driving device is common technical knowledge for those skilled in the art and will not be described in detail here.

[0025] In the above technical solution, the inner curved surface of the arc-shaped curved glass is supported by the supporting roller 32, and the driving roller 22 moves vertically to contact the outer curved surface of the arc-shaped curved glass, thereby avoiding direct contact with the end edge of the arc-shaped curved glass. When the supporting roller 32 and the driving roller 22 clamp and fix the arc-shaped curved glass, no pressure is applied to the end edge of the glass to cause the glass to break, thereby improving the clamping stability and safety of the arc-shaped curved glass. Secondly, when the supporting roller 32 and the driving roller 22 clamp the arc-shaped curved glass, the end edge of the glass is exposed, so that the edge of the glass can be directly visually inspected by an optical visual device during the glass transportation process, thereby avoiding the problem that the edge of the glass is blocked and difficult to accurately inspect after the glass is transported to the right place and put down.

[0026] As another embodiment provided by the present invention, it also includes a mounting seat 31 symmetrically arranged on the base frame 1 and maintaining synchronous movement. The mounting seat 31 is symmetrically arranged for horizontal sliding about the driving roller 22, and the supporting roller 32 is rotatably arranged on the mounting seat 31.

[0027] Specifically, the mounting seat 31 is symmetrically provided with a horizontal slider 313, the horizontal slider 313 is horizontally slidably arranged in the mounting portion 11 of the base frame 1, and the mounting seat 31 slides relatively and synchronously to move closer or farther away, and the supporting roller 32 is rotatably arranged on the mounting seat 31, such as Figure 3 As shown, the base frame 1 is also provided with a first elastic member 33 for driving the two mounting seats 31 to slide together synchronously. When the supporting roller 32 is not placed with a curved glass, the two mounting seats 31 are driven by the first elastic member 33 to be located at the maximum horizontal relative distance, so that the distance between the two supporting rollers 32 is the maximum. When different arc-shaped curved glasses are placed on the supporting rollers 32, if the curvature of the curved glass to be supported is larger, the contact supporting point between the curved glass and the two supporting rollers 32 is more biased toward the side opposite to the two supporting rollers 32, thereby increasing the pressure exerted on the supporting rollers 32 and the mounting seats 31 to slide together relatively, so that the supporting rollers 32 are adaptively slid together or away from each other according to the curvature of the curved glass by using the mounting seats 31 and the first elastic member 33, thereby improving the supporting stability of the two supporting rollers 32 for curved glasses of different curvatures and improving the transportation safety.

[0028] The first elastic member 33 can be replaced by any elastic object known to those skilled in the art, such as a spring, an air bag, an elastic plate, etc.

[0029] As another embodiment provided by the present invention, it also includes a lifting seat 21 vertically slidably arranged on the base frame 1, a driving roller 22 axially rotatably arranged on the lifting seat 21, and a friction groove 221 is formed in a circumferential array on the driving roller 22.

[0030] Specifically, the driving roller 22 is rotatably arranged on the lifting seat 21, and a friction groove 221 is arranged on the driving roller 22. Since the arc-shaped curved glass is extruded by a hot bending machine, the overall curvature of the arc-shaped curved glass is roughly the same. If the curvature of the arc-shaped curved glass at different positions has a large error, the piece of curved glass may be scrapped. Therefore, during actual inspection, the overall curvature of the curved glass will be measured to ensure the glass yield.

[0031] When the lifting seat 21 descends to make the driving roller 22 contact the top of the outer arc surface of the arc-shaped curved glass, the driving roller 22 is locked in rotation, and the driving roller 22 is located below the inner arc surface of the arc-shaped curved glass to support the arc-shaped curved glass. At this time, the friction groove 221 on the driving roller 22 can increase the friction between the driving roller 22 and the curved glass, thereby improving the fixing stability of the driving roller 22 when conveying the curved glass.

[0032] Secondly, the driving roller 22 can be made to rotate axially to drive the curved glass to be supported by the supporting roller 32 and move in an arc. If the overall curvature of the curved glass is consistent, the driving roller 22 drives the curved glass to move in an arc on the supporting roller 32, and the contact supporting point between the supporting roller 32 and the curved glass remains unchanged, so the supporting roller 32 and the mounting seat 31 will not slide relative to each other, indicating that the overall curvature accuracy of the curved glass is good. If the overall curvature of the curved glass has an error, the driving roller 22 drives the curved glass to move on the supporting roller 32. When the curvature of one side of the curved glass is too large, the supporting roller 32 supports the position of the curved glass with a larger curvature, and the contact supporting point of the supporting roller 32 moves to the opposite side of the two supporting rollers 32, thereby further increasing the horizontal pressure on the supporting rollers 32. At this time, the mounting seat 31 and the supporting roller 32 slide relatively close to each other for a certain distance, so that the contact supporting point of the supporting roller 32 moves to the opposite side of the two supporting rollers 32 to ensure that the supporting roller 32 stably supports the curvature change area of ​​the curved glass. In this way, the relative movement change of the mounting seat 31 and the supporting roller 32 is used to indirectly respond to the curvature change of the curved glass, so as to realize the overall curvature detection of the curved glass and improve the detection efficiency.

[0033] Secondly, the curved glass is driven by the driving roller 22 to move along the arc to expose the position originally blocked by the supporting roller 32, so that it is convenient to directly use optical equipment for visual inspection during the transportation process, thereby further improving the inspection efficiency.

[0034] Furthermore, it also includes a driving gear 23 and a first motor 24 disposed in the base frame 1, the driving gear 23 is fixedly connected to the output end of the first motor 24, the driving gear 23 is rotatably arranged and coupled with the linear tooth groove 211 of the lifting seat 21, and the lifting seat 21 is provided with a driving motor for driving the roller 22 to rotate. Figure 6 As shown, the driving gear 23 is rotatably arranged in the base frame 1, and the lifting seat 21 can be driven by the first motor 24 and the driving gear 23 to drive the driving roller 22 to move vertically, and the driving shaft 222 of the driving roller 22 is rotatably arranged in the lifting seat 21, and the driving motor in the lifting seat 21 can be used to drive and lock the driving shaft 222, thereby realizing the rotational drive or locking of the driving roller 22, thereby improving the control stability of the driving roller 22.

[0035] Among them, the first motor 24, the electric control program and the circuit of the driving motor are all common technical knowledge known to those skilled in the art and will not be elaborated here.

[0036] As another embodiment provided by the present invention, a movable column 4 is horizontally movablely arranged in the base frame 1, and an engaging groove 121 is opened in the base frame 1. A linear array of matching grooves 3111 matching with the movable column 4 are opened on the coupling portion 311 of the mounting seat 31. The two mounting seats 31 are driven to slide relative to each other to drive the engaging end 41 of the movable column 4 to cyclically engage and disengage from the engaging groove 121 through the matching groove 3111.

[0037] Specifically, Figure 4 As shown, the movable column 4 is movably arranged inside the base frame 1, that is, the movable column 4 can perform axial sliding and axial rotation, and the cross-section of the movable column 4 is square, and the coupling parts 311 of the two mounting seats 31 are respectively matched and contacted with the two sides of the movable column 4 through the matching grooves 3111, and the base frame 1 is provided with an engaging groove 121 aligned with the engaging end 41 of the movable column 4. When the two mounting seats 31 slide synchronously relative to each other, the coupling part 311 of the mounting seat 31 pushes the movable column 4 to rotate axially through the matching groove 3111, and when the movable column 4 is in the default state, the movable column 4 slides axially and the engaging end 41 is engaged in the engaging groove 121.

[0038] When a curved glass is placed on the supporting roller 32 so that the supporting roller 32 and the mounting seat 31 slide closer to each other, the mounting seat 31 pushes the movable column 4 to rotate axially. At this time, the movable column 4 is driven by the rotational force to make the engaging end 41 rotate out of the engaging groove 121 and dislocate, and the movable column 4 cooperates with the engaging end 41 to slide axially due to the engaging end 41 being disengaged from the engaging groove 121. When the movable column 4 rotates 90 degrees every time, the engaging end 41 is realigned with the engaging groove 121. At this time, the movable column 4 slides axially again to make the engaging end 41 embed into the engaging groove 121. If the horizontal pressure of the relative sliding of the mounting seat 31 is still greater than the friction between the engaging end 41 and the engaging groove 121, the mounting seat 31 will drive the movable column 4 to rotate axially again and make the engaging end 41 disengage from the engaging groove 121 again. Furthermore, the movable column 4 and the engaging groove 121 are used to realize the segmented sliding of the mounting seat 31, and provide deceleration and buffering when the mounting seat 31 and the supporting roller 32 are pressed and slide together, so as to avoid the problem that the mounting seat 31 and the supporting roller 32 are driven by the first elastic member 33 to slide away from each other when the spacing between the supporting roller 32 is too small due to the sliding inertia, and the expansion and squeezing of the curved glass. Thus, the supporting roller 32 with variable spacing can further improve the supporting stability and safety of the curved glass.

[0039] Secondly, a chamfer may be provided on the engaging groove 121 to facilitate the engaging and disengaging action between the engaging end 41 and the engaging groove 121 .

[0040] After the supporting roller 32 and the driving roller 22 complete the clamping of the curved glass, if the driving roller 22 is used to drive the curved glass to move in an arc on the supporting roller 32, when the curvature of one side of the curved glass is too large, after the supporting roller 32 supports the position of the curved glass with a larger curvature, the contact supporting point of the supporting roller 32 moves to the opposite side of the two supporting rollers 32, thereby further increasing the horizontal pressure on the supporting roller 32. At this time, the mounting seat 31 and the supporting roller 32 slide relatively close to each other for a certain distance, and the mounting seat 31 drives the movable column 4 to move so that the engaging end 41 and the engaging groove 121 are engaged or disengaged to make a sound, thereby utilizing the segmented sliding of the mounting seat 31 and the sound made by the engaging end 41 and the engaging groove 121 to indicate the curvature change of the curved glass, which is convenient for actual detection and use.

[0041] As another embodiment provided by the present invention, an installation cavity 12 and a movable cavity 13 are provided in the base frame 1, and the movable shaft portion 42 of the movable column 4 is movably arranged in the movable cavity 13 so that the engaging end 41 is located in the installation cavity 12, and a second elastic member 51 is provided in the movable cavity 13 for driving the engaging end 41 of the movable column 4 to axially engage in the engaging groove 121, and the movable column 4 is driven by the coupling portion 311 to rotate axially and accompanied by axial sliding to enable the engaging end 41 to be embedded in or disengaged from the engaging groove 121.

[0042] Specifically, Figure 4 As shown, the movable shaft portion 42 of the movable column 4 can be located in the movable cavity 13 to perform axial rotation or axial sliding, thereby improving the sliding stability of the movable column 4 in the installation cavity 12. A second elastic member 51 is provided in the movable cavity 13. When the movable column 4 is located in the default state, the engaging end 41 is aligned with the engaging groove 121, and the second elastic member 51 drives the movable column 4 in the default state to slide axially so that the engaging end 41 is engaged in the engaging groove 121. When the mounting seat 31 slides relatively to push the movable column 4 to rotate axially through the coupling portion 311 and the matching groove 3111, the movable column 4 rotates axially so that the engaging end 41 is disengaged from the engaging groove 121, and the engaging end 41 is disengaged from the engaging groove 121 to drive the movable column 4 to squeeze the second elastic member 51 to slide axially, so that the engaging end 41 is engaged with the engaging groove 121 by using the second elastic member 51, and the start-stop resistance between each sliding stroke of the mounting seat 31 and the deceleration during the sliding process of the mounting seat 31 can be provided.

[0043] As another embodiment provided by the present invention, an adjusting member 52 is threadedly mounted on the base frame 1 , and the adjusting member 52 is driven to rotate so that a pressing portion 521 arranged thereon is located in the active cavity 13 to press or relax the second elastic member 51 .

[0044] Specifically, Figure 4As shown, the adjusting member 52 is threadedly installed on the mounting portion 11 so that the extrusion portion 521 is located in the movable cavity 13, and the second elastic member 51 is located between the extrusion portion 521 and the movable shaft portion 42. The adjusting member 52 can be rotated so that the extrusion portion 521 is located in the movable cavity 13 to squeeze or relax the second elastic member 51 to adjust the axial driving force of the second elastic member 51 on the movable column 4, wherein the resistance of the engaging end 41 to disengage from the engaging groove 121 is positively correlated with the axial sliding driving force of the movable column 4, thereby realizing the adjustment of the rotational force required for the engaging end 41 of the movable column 4 to disengage from the engaging groove 121, that is, realizing the adjustment of the segmented sliding resistance of the mounting seat 31, which is convenient for the actual use and debugging of the mounting seat 31.

[0045] The second elastic member 51 can be replaced by any elastic object known to those skilled in the art, such as a spring, an airbag, an elastic plate, etc.

[0046] As another embodiment provided by the present invention, it also includes a stabilizing seat 6 slidably set on the mounting seat 31, the stabilizing seat 6 is slidably sleeved on the supporting roller 32, and a resistance plate 43 is provided on the movable column 4. The movable column 4 is driven to move so that the engaging end 41 is engaged in the engaging groove 121, and the resistance plate 43 moves to push the stabilizing seat 6 to slide axially along the supporting roller 32 away from the mounting seat 31.

[0047] Specifically, Figure 6 As shown, the stabilizing seat 6 is slidably disposed on the mounting seat 31, and a sleeve hole 61 is provided on the stabilizing seat 6. Fig.12 As shown, when curved glass is supported on the two supporting rollers 32, the supporting rollers 32 will inevitably bend vertically downward due to pressure, and because the contact supporting points on the two supporting rollers 32 with the curved glass are biased toward the back side of the two supporting rollers 32, the supporting rollers 32 are also bent relatively close to each other due to the pressure of the curved glass, and the sleeve hole 61 is axially sleeved on the supporting rollers 32, thereby improving the axial stability of the supporting rollers 32, reducing the bending problem of the supporting rollers 32 caused by the pressure of the curved glass, and improving the supporting stability of the supporting rollers 32 for the curved glass.

[0048] First, the mounting seat 31 is driven by the first elastic member 33 to be located at the maximum horizontal relative distance, so that the distance between the two supporting rollers 32 is the maximum. Then, the curved glass is placed on the supporting rollers 32, and the contact supporting points of the curved glass and the two supporting rollers 32 are more inclined to the opposite side of the two supporting rollers 32. At this time, the curved glass exerts relative sliding pressure on the supporting rollers 32 and the mounting seat 31, and the mounting seat 31 slides relatively segmentedly to make the movable column 4 rotate axially, and the movable column 4 also slides axially to make the engaging end 41 engage in the engaging groove 121. At the same time, the axial sliding of the movable column 4 will also make the contact plate 43 move to push the stabilizing seat 6 to slide axially along the supporting roller 32 away from the mounting seat 31, so that the stabilizing seat 6 slides close to the end of the supporting roller 32 facing away from the mounting seat 31, thereby further improving the axial stability of the supporting roller 32, reducing the bending of the supporting roller 32 due to vibration during the sliding process, and further improving the supporting stability of the curved glass.

[0049] Secondly, the two supporting rollers 32 are subjected to relative bending pressure, and the stabilizing seat 6 is sleeved on the supporting rollers 32. The stabilizing seat 6 is subjected to the pressure of the supporting rollers 32 and applies contact pressure to the abutment plate 43, so that the stabilizing seat 6 is used to convert the bending pressure exerted on the supporting rollers 32 into an axial sliding driving force on the movable column 4, thereby reducing the rotational force required for the engaging end 41 to disengage from the engaging groove 121, thereby reducing the wear between the engaging end 41 and the engaging groove 121 and increasing the service life of the movable column 4.

[0050] Furthermore, a third elastic member 8 is provided in the mounting seat 31 for driving the stabilizing seat 6 to slide, approach and reset relative to the sliding mounting seat 31. The third elastic member 8 is used to make the stabilizing seat 6 slide and reset to approach the mounting seat 31 when it is not under pressure, so as to facilitate the actual use of the stabilizing seat 6. A rubber clamping layer can also be provided on the stabilizing seat 6. When the stabilizing seat 6 slides close to the end of the supporting roller 32 facing away from the mounting seat 31 to improve the axial stability of the supporting roller 32, the rubber clamping layer on the stabilizing seat 6 can also resist and wrap the side edge of the curved glass, thereby further improving the supporting stability and protection of the curved glass.

[0051] The third elastic member 8 can be replaced by any elastic object known to those skilled in the art, such as a spring, an air bag, an elastic plate, etc.

[0052] As another embodiment provided by the present invention, an extension portion 62 is provided on the stabilizing seat 6 and extends into the mounting cavity 12 to be horizontally aligned with the contact plate 43. The sliding portion 64 provided on the stabilizing seat 6 is slidably arranged in a sliding groove 312 opened on the mounting seat 31, and the sliding portion 64 is provided with an inclined chamfer facing one side of the supporting roller 32.

[0053] Specifically, Figure 4As shown, the extension portion 62 of the stabilizing seat 6 extends into the installation cavity 12 to be aligned with the abutment plate 43, and the stabilizing seat 6 is slidably disposed on the installation seat 31 by means of a sliding portion 64 to improve the sliding stability of the stabilizing seat 6. A reinforcing portion 63 connected to the seat body of the stabilizing seat 6 is also disposed on the extension portion 62 to improve the compressive strength of the extension portion 62, thereby avoiding the problem of failure of the radial support of the stabilizing seat 6 on the supporting roller 32 due to bending of the extension portion 62.

[0054] When the movable column 4 slides axially to fit the engaging end 41 into the engaging groove 121 , the axial sliding of the movable column 4 also moves the abutment plate 43 to push the extension portion 62 , thereby making the stabilizing seat 6 slide closer to the end of the supporting roller 32 facing away from the mounting seat 31 .

[0055] The extension direction of the extension portion 62 is perpendicular to the sliding direction of the stabilizing seat 6. If the supporting roller 32 is bent to a large extent due to the weight of the curved glass to be supported being too heavy, the supporting roller 32 and the sleeve hole 61 of the stabilizing seat 6 may get stuck, and the stabilizing seat 6 cannot be sleeved and slid relative to the supporting roller 32. At this time, the two supporting rollers 32 are bent and moved closer to each other due to the pressure of the curved glass. The curved glass applies pressure of relative sliding movement to the supporting rollers 32 and the mounting seat 31, and the mounting seat 31 slides and moves closer to each other in sections to allow the movable column 4 to rotate axially. The movable column 4 also slides axially to allow the engaging end 41 to engage in the engaging groove 121. At the same time, the axial sliding of the movable column 4 will also cause the contact plate 43 to move and push the extension portion 62. Since the supporting rollers 32 and the stabilizing seat 6 are stuck, and the sliding portion 64 is provided with an inclined chamfer toward the side of the supporting rollers 32, the extension portion 62 is pushed and the stabilizing seat 6 has a pressure to deflect toward the side of the mounting seat 31. That is, the stabilizing seat 6 and the extension portion 62 are used to apply pressure of relative bending and moving away from the two supporting rollers 32, thereby correcting the horizontal bending of the supporting rollers 32, further alleviating the horizontal bending problem of the supporting rollers 32 caused by the pressure of the curved glass, and improving the support, fixation and transportation stability of the curved glass.

[0056] As another embodiment provided by the present invention, flexible abutment balls 7 are arranged in a linear array on the side of the extension portion 62 facing the abutment plate 43 .

[0057] Specifically, Fig.11As shown, the flexible balls 7 arranged in a linear array on the extension 62 face one side of the abutment disc 43. Since the movable column 4 has both axial rotation and axial sliding motion, when the movable column 4 slides axially to make the abutment disc 43 abut the extension 62, the presence of the flexible balls 7 can buffer and reduce the hard contact wear between the abutment disc 43 and the extension 62, thereby increasing the service life of the abutment disc 43. When the bending degree of the support roller 32 is large, resulting in the support roller 32 and the sleeve hole 61 of the stable seat 6 being stuck, the abutment disc 43 squeezes the extension 62 so that the stable seat 6 has a tendency to flip and correct the bending of the support roller 32, the presence of the flexible balls 7 can increase the friction between the abutment disc 43 and the extension 62, thereby ensuring the stability of the abutment drive of the movable column 4 on the stable seat 6.

[0058] Working principle: First, the mounting seat 31 is driven by the first elastic member 33 to be located at the maximum horizontal relative distance, so that the distance between the two supporting rollers 32 is the maximum, and the curved glass is placed on the supporting rollers 32. The contact supporting points of the curved glass and the two supporting rollers 32 are more inclined to the opposite side of the two supporting rollers 32. At this time, the curved glass exerts relative sliding pressure on the supporting rollers 32 and the mounting seat 31, and the mounting seat 31 slides relatively segmentedly to make the movable column 4 rotate axially. The movable column 4 also slides axially to make the engaging end 41 engage in the engaging groove 121. When the movable column 4 rotates 90 degrees, the engaging end 41 re-engages with the engaging groove 121. After the movable column 4 is aligned, the movable column 4 slides axially again to make the fitting end 41 fit into the fitting groove 121. If the horizontal pressure of the relative sliding of the mounting seat 31 is still greater than the friction between the fitting end 41 and the fitting groove 121, the mounting seat 31 will drive the movable column 4 to rotate axially and make the fitting end 41 disengage from the fitting groove 121 again, until the horizontal sliding pressure on the mounting seat 31 is less than the friction between the fitting end 41 and the fitting groove 121, at which time the supporting roller 32 stops and no longer slides horizontally. At the same time, the axial sliding of the movable column 4 will also cause the abutment plate 43 to move to push the stabilizing seat 6 to slide axially along the supporting roller 32 away from the mounting seat 31. Then the lifting seat 21 descends to make the driving roller 22 contact the top of the outer arc surface of the arc-shaped curved glass, and the driving roller 22 is locked in rotation. The driving roller 22 is located below the inner arc surface of the arc-shaped curved glass to support it so as to fix and clamp the arc-shaped curved glass.

[0059] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A suspension conveying robot for smoke exhaust skylight glass detection, characterized in that: The invention comprises a base frame (1) on which a driving roller (22) is vertically movably arranged, and a supporting roller (32) is symmetrically arranged on the base frame (1) about the driving roller (22), wherein the driving roller (22) is driven to slide closer to the supporting roller (32) so that the driving roller (22) contacts the outer curved surface of the arc-shaped curved glass, and the supporting roller (32) contacts and supports the inner curved surface of the arc-shaped curved glass.

2. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 1 is characterized in that: It also comprises a mounting seat (31) which is symmetrically arranged on the base frame (1) and maintains synchronous movement, wherein the mounting seat (31) is symmetrically arranged to slide horizontally with respect to the driving roller (22), and the supporting roller (32) is rotatably arranged on the mounting seat (31).

3. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 2 is characterized in that: It also comprises a lifting seat (21) arranged on the base frame (1) in a vertical sliding manner, the driving roller (22) being arranged on the lifting seat (21) in an axially rotatable manner, and a friction groove (221) being provided in a circumferential array on the driving roller (22).

4. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 2 is characterized in that: A movable column (4) is horizontally movable in the base frame (1), and an engaging groove (121) is provided in the base frame (1). A coupling portion (311) provided on the mounting seat (31) is provided with a linear array of engaging grooves (3111) that are matched with the movable column (4). The two mounting seats (31) are driven to slide relative to each other so as to drive the engaging end (41) of the movable column (4) to cyclically engage and disengage from the engaging groove (121) through the engaging groove (3111).

5. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 4 is characterized in that: The base frame (1) is provided with a mounting cavity (12) and a movable cavity (13); the movable shaft portion (42) of the movable column (4) is movably arranged in the movable cavity (13) so that the engaging end (41) is located in the mounting cavity (12); a second elastic member (51) is provided in the movable cavity (13) for driving the engaging end (41) of the movable column (4) to axially engage in the engaging groove (121); the movable column (4) is driven by the coupling portion (311) to rotate axially and slide axially so that the engaging end (41) is engaged in or disengaged from the engaging groove (121).

6. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 5 is characterized in that: An adjusting member (52) is threadedly mounted on the base frame (1), and the adjusting member (52) is driven to rotate so that a pressing portion (521) provided on the adjusting member is located in the active cavity (13) to press or relax the second elastic member (51).

7. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 4 is characterized in that: It also includes a stabilizing seat (6) slidably arranged on the mounting seat (31), the stabilizing seat (6) being slidably sleeved on the supporting roller (32), the movable column (4) being provided with a contact plate (43), the movable column (4) being driven to move so that the engaging end (41) engages in the engaging groove (121), and the contact plate (43) moves to push the stabilizing seat (6) to slide axially along the supporting roller (32) away from the mounting seat (31).

8. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 7 is characterized in that: The stabilizing seat (6) is provided with an extension portion (62) extending into the mounting cavity (12) to be horizontally aligned with the abutment plate (43); a sliding portion (64) provided on the stabilizing seat (6) is slidably arranged in a sliding groove (312) provided on the mounting seat (31); and the sliding portion (64) is provided with an inclined chamfer facing one side of the supporting roller (32).

9. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 8 is characterized in that: Flexible abutment balls (7) are arranged in a linear array on the side of the extension portion (62) facing the abutment disc (43).

10. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 3 is characterized in that: It also includes a driving gear (23) and a first motor (24) arranged in the base frame (1), wherein the driving gear (23) is fixedly connected to the output end of the first motor (24), the driving gear (23) is rotatably arranged and coupled to the linear tooth groove (211) of the lifting seat (21), and the lifting seat (21) is provided with a driving motor for driving the roller (22) to rotate.

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