A hanging conveyor manipulator for detecting smoke exhaust skylight glass

Abstract

The present invention relates to the technical field of intelligent suspension conveying systems, and specifically relates to a suspension conveying manipulator for detecting the glass of a smoke exhaust skylight, which includes a base frame, on which a driving roller is vertically movably arranged, and supporting rollers are symmetrically and movably arranged on the base frame with respect to the driving roller. The driving roller is driven to slide closer to the supporting roller so that the driving roller abuts 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. The suspension conveying manipulator for detecting the glass of the smoke exhaust skylight provided by the invention uses the supporting roller to support the inner arc surface of the arc-shaped curved glass, and the driving roller moves vertically to abut against 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, the end edge of the glass will not be pressured to cause the glass to break, improving the clamping stability and safety of the arc-shaped curved glass.

Description

Technical Field

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

[0002] In smoke exhaust skylights, arc-shaped tempered glass is often used to make the skylight more beautiful. The glass surface has a hyperbolic shape and is tempered to enhance its strength and safety. After the curved glass is produced, an intelligent suspension conveying system is required to suspend and convey the curved glass to a quality inspection station to further ensure the safety of the glass.

[0003] According to the utility model patent with the publication number CN217172411U and the publication (announcement) date: August 12, 2022, a suspended handling robotic arm for the production of tempered glass is disclosed. Its technical solution includes a box body and a traction plate. Both sides inside the box body are fixedly provided with partition plates, and a first lead screw is rotatably installed between the inner wall of the box body and the partition plates. Both sides inside the box body are slidably installed with sliding sleeves, and the first lead screw threadedly penetrates through the middle of the sliding sleeves. A sliding plate is slidably installed in the middle inside the box body, and pressing pads are evenly distributed on the lower end surface of the sliding plate. Through grooves are evenly opened on both sides of the lower end surface of the box body. There are two traction plates in total, and the two traction plates are respectively slidably installed in the through grooves on the same side. Grooves are opened at both inner ends of the traction plate, and robotic arms are rotatably installed in the grooves through rotating shafts. The utility model has the advantages of improving the load-bearing surface, ensuring the safety of transportation, being adaptable to glasses of different sizes, and having strong practicability.

[0004] In the prior art including the above-mentioned patent, anti-slip pads on the robotic arm are used to support the lower edges of both ends of the glass, and the pressing pads vertically press above the middle of the glass to achieve the fixed grasping and conveying of flat glass. However, when it is necessary to fixedly convey curved glass, the anti-slip pads are used to support both ends of the arc-shaped curved glass, and the pressing pads press down on the arc-shaped middle 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 in pressure contact with the anti-slip pads. As a result, when the arc-shaped curved glass is clamped, its ends are subjected to greater pressure and are prone to breakage, that is, only using the pressing pads and anti-slip pads is not suitable for clamping and fixing arc-shaped curved glass. Summary of the Invention

[0005] The purpose of the present invention is to provide a suspension conveying manipulator for detecting the glass of a smoke exhaust skylight to solve the above problems.

[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 further includes a driving gear and a first motor disposed 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. A driving motor for driving the roller to rotate is arranged in the lifting seat.

[0016] In the above technical solution, a suspension conveying manipulator for detecting a smoke exhaust skylight glass provided by the present invention has the following beneficial effects: The supporting roller is used to support the inner arc surface of the arc-shaped curved glass, and the driving roller moves vertically to abut against 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, the end edge of the glass will not be pressed to cause the glass to break, 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 detected by an optical vision device during the glass conveying process, avoiding the problem that it is difficult to accurately detect the edge of the glass after it is transported in place and put down due to occlusion. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Figure 1 It is a schematic diagram of the overall structure provided by an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of the overall transverse structural cross-section provided by an embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of the structural cross-section of the installation part provided by an embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram of the structural cross-section at the movable column of the installation part provided by an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of the structural cross-section of the base frame provided by an embodiment of the present invention;

[0023] Figure 6 It is an exploded structural schematic diagram of the lifting seat, driving roller, driving gear and first motor provided by an embodiment of the present invention;

[0024] Figure 7 It is a schematic diagram of the structure of the mounting seat, supporting roller, movable column and stable seat provided by an embodiment of the present invention;

[0025] Figure 8 Exploded structural schematic diagram of the mounting base, supporting roller, movable column and stabilizing base provided by the embodiment of the present invention;

[0026] Figure 9 Structural schematic diagram of the mounting base and stabilizing base provided by the embodiment of the present invention;

[0027] Figure 10 Provided by the embodiment of the present invention Figure 3 Partial enlarged schematic diagram at position A in

[0028] Figure 11 Provided by the embodiment of the present invention Figure 4 Partial enlarged schematic diagram at position B in

[0029] Figure 12 Schematic diagram of the working principle of the driving roller and the supporting roller clamping the curved glass provided by the embodiment of the present invention.

[0030] Explanation of reference numerals:

[0031] 1, base frame; 11, mounting part; 12, installation cavity; 121, fitting groove; 13, movable cavity; 14, connecting part; 21, lifting seat; 211, linear tooth groove; 22, driving roller; 221, friction groove; 222, driving shaft part; 23, driving gear; 24, first motor; 31, mounting base; 311, coupling part; 3111, mating groove; 312, sliding groove; 313, horizontal slider; 32, supporting roller; 33, first elastic member; 4, movable column; 41, fitting end; 42, movable shaft part; 43, abutting disc; 51, second elastic member; 52, adjusting member; 521, pressing part; 6, stabilizing base; 61, sleeving hole; 62, extending part; 63, strengthening part; 64, sliding part; 7, flexible abutting ball; 8, third elastic member. Detailed implementation manners

[0032] In order to make the objectives, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are some but not all of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0033] As Figure 1-12As shown in the figure, a hanging conveyor manipulator for detecting the glass of a smoke exhaust skylight includes a base frame 1, on which a driving roller 22 is vertically movably arranged. On the base frame 1, supporting rollers 32 are symmetrically and movably arranged with respect to the driving roller 22. The driving roller 22 is driven to slide closer to the supporting roller 32 so that the driving roller 22 abuts against the outer arc surface of the arc-shaped curved glass, and the supporting roller 32 abuts against and supports the inner arc surface of the arc-shaped curved glass.

[0034] Specifically, a connecting portion 14 connected to an external driving device is provided on the base frame 1, and the base frame 1 can be driven by the external driving device to perform horizontal movement or vertical lifting. For example, Figure 1 As shown in the figure, mounting portions 11 are symmetrically provided on the base frame 1. A set of supporting rollers 32 are provided on each of the mounting portions 11, while the driving roller 22 is vertically movably arranged, and several supporting rollers 32 are arranged on the same horizontal plane. When it is necessary to convey the arc-shaped curved glass, the concave arc surface side of the arc-shaped curved glass can be placed facing the supporting rollers 32, that is, as Figure 12 shown in the figure. Subsequently, the driving roller 22 is driven to slide vertically closer to the driving roller 22 to abut against the top of the outer arc surface of the arc-shaped curved glass. 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, so as to prevent the glass from being broken, and the clamping stability and safety of the arc-shaped curved glass are improved. 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 detected by an optical vision device during the glass conveying process, avoiding the problem that it is difficult to accurately detect the edge after the glass is conveyed in place and put down due to occlusion.

[0035] Furthermore, the two sets of supporting rollers 32 on the mounting portion 11 are used to support the arc-shaped curved glass, so that the area of the arc-shaped curved glass blocked by the supporting rollers 32 is reduced, which is convenient for observing the curved glass during the conveying process and is convenient for actual transportation operations.

[0036] Among them, the external driving device is common general technical knowledge for those skilled in the art and will not be elaborated here.

[0037] In the above technical solution, the supporting roller 32 is used to support the inner arc surface of the arc-shaped curved glass, and the driving roller 22 moves vertically to abut against 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 32 and the driving roller 22 clamp and fix the arc-shaped curved glass, the end edge of the glass will not be pressured to cause the glass to break, 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 vision device during the glass conveying process, avoiding the problem that it is difficult to accurately inspect the edge after the glass is conveyed in place and put down due to occlusion.

[0038] As another embodiment provided by the present invention, it further includes mounting seats 31 symmetrically arranged on the base frame 1 and maintaining synchronous movement. The mounting seats 31 are symmetrically arranged horizontally and slidably with respect to the driving roller 22, and the supporting rollers 32 are rotatably arranged on the mounting seats 31.

[0039] Specifically, horizontal sliders 313 are symmetrically arranged on the mounting seats 31. The horizontal sliders 313 are horizontally slidably arranged in the mounting portion 11 of the base frame 1, and the mounting seats 31 slide relatively synchronously closer or farther away. The supporting rollers 32 are rotatably arranged on the mounting seats 31. As Figure 3 shown, a first elastic member 33 for driving the two mounting seats 31 to slide synchronously closer is further arranged in the base frame 1. When the supporting roller 32 does not place the curved glass, the two mounting seats 31 are driven by the first elastic member 33 to be at the maximum horizontal relative distance, so that the distance between the two supporting rollers 32 is the maximum value. When different arc-shaped curved glasses are placed on the supporting roller 32, if the required radian of the curved glass to be supported is larger, the contact and support points of the curved glass with the two supporting rollers 32 are more biased towards the back side of the two supporting rollers 32, thereby increasing the pressure applied to the supporting roller 32 and the mounting seat 31 to relatively slide closer. Thus, the mounting seat 31 and the first elastic member 33 are used to realize the self-adaptive relative sliding closer or farther away of the supporting roller 32 according to the radian of the curved glass, improving the supporting stability of the two supporting rollers 32 for curved glasses with different radians and improving the conveying safety.

[0040] Among them, the first elastic member 33 can be replaced by elastic objects well known to those skilled in the art such as springs, air bags, elastic plates, etc.

[0041] As still another embodiment provided by the present invention, it further includes a lifting seat 21 vertically slidably arranged on the base frame 1. The driving roller 22 is axially rotatably arranged on the lifting seat 21, and friction grooves 221 are circumferentially arranged on the driving roller 22.

[0042] Specifically, the driving roller 22 is rotatably arranged on the lifting seat 21, and a friction groove 221 is provided on the driving roller 22. Since the arc-shaped curved glass is formed by extrusion by a hot bending machine, the overall curvature of the arc-shaped curved glass is approximately the same. If there are large errors in the curvature at different positions of the arc-shaped curved glass, then this piece of curved glass may be a defective product. Therefore, during actual inspection, the overall curvature of the curved glass will be measured to ensure the yield rate of the glass.

[0043] When the lifting seat 21 descends so that the driving roller 22 abuts against the top of the outer arc surface of the arc-shaped curved glass, the driving roller 22 is rotationally locked, and the driving roller 22 is located below the inner arc surface of the arc-shaped curved glass for supporting to realize the fixed clamping of the arc-shaped curved glass. At this time, the friction groove 221 on the driving roller 22 can increase the friction force between the driving roller 22 and the curved glass, thereby improving the fixing stability when the driving roller 22 conveys the curved glass.

[0044] Secondly, the driving roller 22 can also be axially rotated to drive the curved glass to move in an arc under the rotational support of the supporting roller 32. If the overall curvature of the curved glass is consistent, then during the process of the driving roller 22 driving the curved glass to move in an arc on the supporting roller 32, the contact and supporting points between the supporting roller 32 and the curved glass always remain unchanged. Therefore, there is no relative sliding between the supporting roller 32 and the mounting seat 31, indicating that the overall arc accuracy of the curved glass is good;

[0045] If there is an error in the overall curvature of the curved glass, then during the process of the driving roller 22 driving 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 and contacts the position where the curvature of the curved glass is too large, the contact and 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 and approach a certain distance, so that the contact and supporting point of the supporting roller 32 moves to the relative side of the two supporting rollers 32 to ensure the stable support of the supporting roller 32 for the curvature change area of the curved glass. Thus, the relative movement change of the mounting seat 31 and the supporting roller 32 is used to indirectly reflect the curvature change of the curved glass, realizing the detection of the overall curvature of the curved glass and improving the detection efficiency.

[0046] Secondly, the curved glass is driven by the driving roller 22 to move along an 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 conveying process, thereby further improving the detection efficiency.

[0047] Further, it further 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. A driving motor for driving the rotation of the driving roller 22 is disposed in the lifting seat 21. As Figure 6 shown, the driving gear 23 is rotatably disposed in the base frame 1. 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. The driving shaft portion 222 of the driving roller 22 is rotatably disposed in the lifting seat 21. The driving motor in the lifting seat 21 can be used to drive and lock the driving shaft portion 222, so as to realize the rotational drive or locking of the driving roller 22, and improve the control stability of the driving roller 22.

[0048] Among them, the electronic control programs and circuits of the first motor 24 and the driving motor belong to the well-known technical common sense of those skilled in the art and will not be elaborated here.

[0049] As another embodiment provided by the present invention, a movable column 4 is horizontally movably disposed in the base frame 1, and a fitting groove 121 is formed in the base frame 1. Fitting grooves 3111 matching the movable column 4 are linearly arranged on the coupling portions 311 of the mounting seats 31. The two mounting seats 31 are driven to slide relatively to drive the fitting end 41 of the movable column 4 to fit into and disengage from the fitting groove 121 in a cycle through the fitting grooves 3111.

[0050] Specifically, as Figure 4 shown, the movable column 4 is movably disposed inside the base frame 1, that is, the movable column 4 can perform axial sliding and axial rotation. The cross section of the movable column 4 is square. The coupling portions 311 of the two mounting seats 31 are respectively in contact with both sides of the movable column 4 through the fitting grooves 3111. A fitting groove 121 aligned with the fitting end 41 of the movable column 4 is formed in the base frame 1. When the two mounting seats 31 slide relatively synchronously, the coupling portions 311 of the mounting seats 31 push the movable column 4 to perform axial rotation through the fitting grooves 3111. When the movable column 4 is in the default state, the movable column 4 axially slides and the fitting end 41 is fitted into the fitting groove 121.

[0051] When a curved glass is placed on the supporting roller 32 so that the supporting roller 32 and the mounting seat 31 slide relatively close to each other, the mounting seat 31 pushes against the movable column 4 to rotate axially. At this time, the movable column 4 is driven by the rotational force so that the fitting end 41 rotates out of the fitting groove 121 and is misaligned. And the movable column 4 is axially slid due to the fitting end 41 being disengaged from the fitting groove 121. When the movable column 4 rotates 90 degrees each time, the fitting end 41 aligns with the fitting groove 121 again. At this time, the movable column 4 axially slides again so that the fitting end 41 is inserted into the fitting groove 121. If the horizontal pressure of the mounting seat 31 sliding relatively close is still greater than the frictional force between the fitting end 41 and the fitting groove 121, the mounting seat 31 will drive the movable column 4 to rotate axially again and make the fitting end 41 disengage from the fitting groove 121 again. Furthermore, by using the movable column 4 and the fitting groove 121, the segmented sliding of the mounting seat 31 is realized, providing deceleration and buffering when the mounting seat 31 and the supporting roller 32 are pressed and slide relatively close to each other, and can avoid the problem that the distance between the supporting rollers 32 is too small due to the sliding inertia of the mounting seat 31 and the supporting roller 32, and then the supporting roller 32 and the mounting seat 31 are driven by the first elastic member 33 to slide relatively away from each other and expand and squeeze the curved glass. Thus, the supporting stability and safety of the variable-spacing supporting roller 32 for the curved glass are further improved.

[0052] Secondly, a chamfer can be provided on the fitting groove 121 to facilitate the fitting and disengaging actions between the fitting end 41 and the fitting groove 121.

[0053] When the supporting roller 32 and the driving roller 22 complete the clamping of the curved glass, if the curved glass is driven by the driving roller 22 to move in an arc on the supporting roller 32, when one side of the curved glass has a larger curvature, after the supporting roller 32 supports and contacts the position with the larger curvature of the curved glass, 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 by a certain distance, and the mounting seat 31 drives the movable column 4 to move so that the fitting end 41 is fitted or disengaged from the fitting groove 121, thereby using the segmented sliding of the mounting seat 31 and the sound generated by the fitting end 41 and the fitting groove 121 to indicate the curvature change of the curved glass, which is convenient for actual detection and use.

[0054] As another embodiment provided by the present invention, a mounting cavity 12 and a movable cavity 13 are formed in the base frame 1. The movable shaft portion 42 of the movable column 4 is movably arranged in the movable cavity 13 so that the fitting end 41 is located in the mounting cavity 12. A second elastic member 51 for driving the fitting end 41 of the movable column 4 to axially fit into the fitting groove 121 is arranged in the movable cavity 13. The movable column 4 is driven by the coupling portion 311 to rotate axially and slide axially so that the fitting end 41 is inserted into or disengaged from the fitting groove 121.

[0055] Specifically, such asFigure 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.

[0056] 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 .

[0057] Specifically, Figure 4 As 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.

[0058] 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.

[0059] 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.

[0060] 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.Figure 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] Specifically, Figure 4 As 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.

[0067] 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 .

[0068] 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.

[0069] 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 .

[0070] Specifically, as Figure 11 shown, on the side of the flexible ball-against member 7 linearly arrayed on the extension portion 62 facing the contact disk 43, since the movable column 4 has both axial rotation and axial sliding degrees of freedom, when the movable column 4 axially slides to make the contact disk 43 contact the extension portion 62, the existence of the flexible ball-against member 7 can play a role in buffering and reducing the hard contact wear between the contact disk 43 and the extension portion 62, improving the service life of the contact disk 43. And when the bending degree of the supporting roller 32 is relatively large, resulting in jamming between the supporting roller 32 and the sleeve hole 61 of the stable seat 6, when the contact disk 43 presses the extension portion 62 to make the stable seat 6 have a tendency to flip and correct the bending of the supporting roller 32, the existence of the flexible ball-against member 7 can increase the friction force between the contact disk 43 and the extension portion 62, thereby ensuring the driving stability of the movable column 4 against the stable seat 6.

[0071] Working principle:

[0072] First, the mounting seat 31 is driven by the first elastic member 33 to be at the maximum horizontal relative distance, so that the distance between the two supporting rollers 32 is the maximum value. The curved glass is placed on the supporting rollers 32. The contact and supporting points of the curved glass on the two supporting rollers 32 are more biased towards the back side of the two supporting rollers 32. At this time, the curved glass exerts a pressure on the supporting rollers 32 and the mounting seat 31 to slide relatively and approach each other, and the mounting seat 31 slides relatively and approaches segmentally to make the movable column 4 rotate axially. The movable column 4 also axially slides to make the fitting end 41 fit into the fitting groove 121. When the movable column 4 rotates 90 degrees each time, the fitting end 41 aligns with the fitting groove 121 again. At this time, the movable column 4 axially slides again to make the fitting end 41 embed into the fitting groove 121. If the horizontal pressure of the relative sliding of the mounting seat 31 is still greater than the friction force 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 received by the mounting seat 31 is less than the friction force between the fitting end 41 and the fitting groove 121. At this 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 make the contact disk 43 move to push the stable seat 6 to axially slide away from the mounting seat 31 along the supporting roller 32;

[0073] Subsequently, 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 rotates and locks, and the driving roller 22 is located below the inner arc surface of the arc-shaped curved glass for supporting to realize the fixed clamping of the arc-shaped curved glass.

[0074] Only some exemplary embodiments of the present invention have been described by way of illustration. Without doubt, for those of ordinary skill in the art, the described embodiments can be modified in various different ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description 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: It 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; It also includes a mounting seat (31) symmetrically arranged on the base frame (1) and maintaining synchronous movement, the mounting seat (31) being symmetrically arranged to slide horizontally with respect to the driving roller (22), and the supporting roller (32) being rotatably arranged on the mounting seat (31); 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); 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 axially rotate and to slide axially so that the engaging end (41) is engaged in or disengaged from the engaging groove (121); 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); It also includes a stabilizing seat (6) slidably disposed 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); 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).

2. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 1 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).

3. The hanging conveying robot for smoke exhaust skylight glass inspection according to claim 1 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).

4. 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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