Synchronous telescopic manipulator for grabbing automobile glass

Abstract

The invention relates to the technical field of manipulators, and particularly discloses a synchronous telescopic manipulator for grabbing automobile glass, the synchronous telescopic manipulator comprises a base, a motor mounting seat and four racks, the motor mounting seat is fixedly connected with the base through a plurality of stand columns with threads, and a servo motor is mounted at the bottom of the motor mounting seat; a gear is installed on a main shaft of the servo motor, a gear pressing block is arranged at the top of the installed gear and presses the gear to be in clearance fit and limited, and the four racks are meshed with the gear at a specified angle according to two layers and two racks in each layer. The manipulator drives four racks arranged according to a certain angle through a central gear to realize synchronous telescopic linear motion, so that an automobile glass gripper provided with a vacuum chuck is driven, and telescopic position adjustment can be synchronously carried out so as to adapt to gripping of glass of various specifications; the manipulator realizes an intelligent mistake proofing function through a sensor in the aspects of safety and reliability.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a synchronous telescopic manipulator for grabbing automobile glass. Background Art

[0002] In the process of automobile glass production, with the improvement of automation, the loading and unloading of automobile glass on the assembly line, including robot grasping in the intermediate processes, need to be completed by robots. The design and manufacture of robots have been standardized, and different manipulators are needed to match different products or product sizes and models.

[0003] At present, domestic and foreign automobile glass manufacturers use different manipulators for gripping glass according to the different sizes of automobile glass. If the production line is changed, the glass with large size differences will be replaced with manipulators of different specifications. Otherwise, the glass will shake violently during the robot's movement of grabbing the glass, and even the glass may slip from the manipulator, causing the production line to stop. In order to solve the above problems, it is necessary to design a universal manipulator that can change the gripping position according to the size of the glass when changing the glass production. To this end, a manipulator with four suction cup grippers that can be retracted and extended synchronously to meet the production of automobile glass of various sizes is provided. Summary of the invention

[0004] The purpose of the present invention is to provide a synchronous telescopic manipulator for grasping automobile glass in view of the defects of the prior art, so as to solve the problems raised by the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a synchronous telescopic manipulator for grabbing automobile glass, comprising a base, a motor mounting seat and four racks, wherein the motor mounting seat is fastened to the base through a plurality of threaded columns, a servo motor is mounted at the bottom of the motor mounting seat, a gear is mounted on the main shaft of the servo motor, a gear pressing block is arranged on the top of the mounting gear, the gear pressing block presses the gear to limit the clearance fit, four racks are arranged in two layers, two in each layer, and mesh with the gear at a specified angle, and a gear is also mounted on the top of the motor mounting seat. There is a rack guide block for limiting the moving direction of the rack, one end of the rack is connected to the rack connecting block, the rack connecting block is fastened to the track of the linear slide by bolts, and the two sliders of the linear slide are bolted to the four corners of the base; one end of the linear slide is connected to the suction cup mounting seat by bolts, and a vacuum suction cup and a suction cup sensor are installed on the suction cup mounting seat, a suction cup proximal sensor for controlling the nearest end position of the linear slide track is installed on the motor mounting seat, and a suction cup distal sensor for controlling the farthest end position of the linear slide track is installed on the base.

[0006] As a preferred technical solution of the present invention, a robot connecting seat is installed at the center position of the top end of the base through bolts.

[0007] As a preferred technical solution of the present invention, the vacuum suction cup and the suction cup sensor are both mounted on the suction cup mounting base by bolts.

[0008] As a preferred technical solution of the present invention, the rack connecting block is installed on one end of the rack by bolts.

[0009] As a preferred technical solution of the present invention, the servo motor is mounted on the bottom of the motor mounting seat by bolts, and the main shaft of the servo motor passes through the motor mounting seat and is fixedly connected to the gear.

[0010] As a preferred technical solution of the present invention, the rack guide block is mounted on the motor mounting seat by bolts.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention drives the gear to rotate through a servo motor, and according to the forward and reverse rotation directions of the motor, the four racks meshing with the gear synchronously perform linear motion in four directions, driving the track of the linear slide rail to perform telescopic motion, so that the vacuum suction cup connected under the track can be synchronously telescopically moved to the required position for grabbing automobile glass of different sizes and models in the four track directions; for various sizes and models of automobile glass, the corresponding coordinate points are set in the program, and when the machine is turned on, as long as the glass model is input, the servo motor will automatically move the vacuum suction cup to the best position for grabbing the glass, without the need to frequently replace different manipulators due to changes in the model of automobile glass produced.

[0012] The robot uses a central gear to drive four racks arranged at a certain angle to achieve synchronous telescopic linear motion, thereby driving the automotive glass gripper equipped with a vacuum suction cup to synchronously adjust the telescopic position to adapt to the grasping of glass of various specifications; in terms of safety and reliability, the robot uses sensors to achieve intelligent error prevention functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 is a side view of the present invention; Figure 3 It is a partial top view of the present invention; Figure 4 For the present invention Figure 2 An enlarged view of 1-1 in FIG. Figure 5 For the present invention Figure 3 An enlarged view of 2-2 in FIG. Figure 6 It is a schematic diagram of the connection structure of the servo motor of the present invention.

[0014] In the figure: 1. Vacuum suction cup; 2. Linear slide rail; 3. Rack connecting block; 4. Base; 5. Rack; 6. Robot connecting seat; 7. Gear pressure block; 8. Suction cup far-end sensor; 9. Suction cup mounting seat; 10. Servo motor; 11. Suction cup near-end sensor; 12. Servo motor mounting seat; 13. Rack guide block; 14. Gear; 15. Suction cup sensor.

[0015] A: The position of the suction cup for the smallest glass; B: The position of the suction cup for the largest glass; C: The movement trajectory of the suction cup; D: The largest glass; E: The smallest glass. DETAILED DESCRIPTION

[0016] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0017] Example: See Figure 1-6 The present invention provides a technical solution: a synchronous telescopic manipulator for grabbing automobile glass, comprising a base 4, a motor mounting seat 12 and four racks 5, the motor mounting seat 12 is fastened to the base 4 through a plurality of threaded columns, a servo motor 10 is installed at the bottom of the motor mounting seat 12, a gear 14 is installed on the main shaft of the servo motor 10, a gear pressing block 7 is arranged on the top of the mounting gear 14, the gear pressing block 7 presses the gear 14 to limit the clearance fit, the four racks 5 are arranged in two layers, two in each layer, and mesh with the gear 14 at a specified angle, and a gear 14 is also installed on the top of the motor mounting seat 12. A rack guide block 13 is used to limit the moving direction of the rack 5, one end of the rack 5 is connected to the rack connecting block 3, the rack connecting block 3 is fastened to the track of the linear slide rail 2 by bolts, and the two sliders of the linear slide rail 2 are bolted to the four corners of the base 4; one end of the linear slide rail 2 is connected to the suction cup mounting seat 9 by bolts, and the vacuum suction cup 1 and the suction cup sensor 15 are installed on the suction cup mounting seat 9, the suction cup proximal sensor 11 for controlling the nearest end position of the linear slide rail 2 is installed on the motor mounting seat 12, and the suction cup distal sensor 8 for controlling the farthest end position of the linear slide rail 2 is installed on the base 4.

[0018] A robot connecting seat 6 is installed at the top center position of the base 4 by bolts; the vacuum suction cup 1 and the suction cup sensor 15 are both installed on the suction cup mounting seat 9 by bolts; the rack connecting block 3 is installed on one end of the rack 5 by bolts; the servo motor 10 is installed on the bottom of the motor mounting seat 12 by bolts, and the main shaft of the servo motor 10 passes through the motor mounting seat 12 and is fixedly connected to the gear 14; the rack guide block 13 is installed on the motor mounting seat 12 by bolts.

[0019] Different sizes of automotive glass such as Figure 1 The smallest glass E and the largest glass D shown in the figure correspond to different coordinate positions of the vacuum suction cup 1 in the robot program. The glass model is input on the operation screen, and the servo motor 10 is started to drive the gear 14 to rotate, drive the four racks 5 to synchronously move outward or inward in a straight line, and the movement direction of the rack 5 is limited by the rack guide block 13. When the rack 5 meshing with the gear 14 moves, it drives the track of the linear slide 2 to make corresponding movements. After the vacuum suction cup 1 is moved to the program set coordinate position, the servo motor 10 with a brake function stops rotating; in order to prevent the rack 5 from going too far and derailing due to manual debugging of the program, the suction cup proximal sensor 11 senses the approach of the rack connecting block 3, and the suction cup distal sensor 8 on the base 4 senses the disappearance of the track of the linear slide 2, that is, the motor 10 is turned off; when sucking and hanging the glass, only when the four suction cup sensors 15 all sense that the vacuum suction cup 1 reliably sucks the glass, the robot arm moves the manipulator of the present invention to move the glass to the required workstation.

[0020] The gear 14 can be split into two parts, or designed as an integral part. The linear guide rail 2 can also be other forms of actuators. As long as one end can be fixed and the other end can move linearly along the fixed end, it is within the scope of the present invention.

[0021] The power of the present invention is provided by a servo motor 10, and an inefficient manual non-automatic moving method can also be used. The locking position point can be replaced by a screw locking method instead of a brake pad of the servo motor 10.

[0022] Working principle: A synchronous telescopic manipulator for grabbing automobile glass. The manipulator uses the gear rack principle to convert the positive and negative rotation motion of the motor into the telescopic motion of the linear slide track, so that the manipulator can be synchronously telescopic and grab automobile glass of different sizes and models; different sizes and models of automobile glass correspond to different coordinate positions of the vacuum suction cup 1 in the robot program, and the glass model is input on the operation screen, and the servo motor 10 is started to drive the gear 14 to rotate, and drive the four racks 5 to synchronously move outward or inward in a straight line. When the rack 5 meshing with the gear 14 moves, it drives the track of the linear slide 2 to make corresponding movements. After the vacuum suction cup 1 is moved to the coordinate position set by the program, the servo motor 10 with a brake function stops rotating.

[0023] The above embodiments only express the implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A synchronous telescopic manipulator for grasping automobile glass, comprising a base (4), a motor mounting seat (12) and four racks (5), characterized in that: The motor mounting seat (12) is fastened to the base (4) via a plurality of threaded columns; a servo motor (10) is mounted at the bottom of the motor mounting seat (12); a gear (14) is mounted on the main shaft of the servo motor (10); a gear pressing block (7) is arranged on the top of the mounting gear (14); the gear pressing block (7) presses the gear (14) to limit the clearance fit; four racks (5) are arranged in two layers, two in each layer, and mesh with the gear (14) at a specified angle; a rack guide block (13) for limiting the moving direction of the rack (5) is also mounted on the top of the motor mounting seat (12); the rack (5) is arranged on the top of the motor mounting seat (12); One end is connected to a rack connecting block (3), the rack connecting block (3) is fastened to the track of the linear slide rail (2) by bolts, and the two sliders of the linear slide rail (2) are fastened to the four corners of the base (4) by bolts; one end of the linear slide rail (2) is connected to a suction cup mounting seat (9) by bolts, a vacuum suction cup (1) and a suction cup sensor (15) are installed on the suction cup mounting seat (9), a suction cup proximal sensor (11) for controlling the nearest end position of the linear slide rail (2) is installed on the motor mounting seat (12), and a suction cup distal sensor (8) for controlling the farthest end position of the linear slide rail (2) is installed on the base (4).

2. The synchronous telescopic manipulator for grabbing automobile glass according to claim 1 is characterized in that: A robot connection seat (6) is mounted at the center of the top end of the base (4) via bolts.

3. The synchronous telescopic manipulator for grabbing automobile glass according to claim 1 is characterized in that: The vacuum suction cup (1) and the suction cup sensor (15) are both mounted on the suction cup mounting seat (9) via bolts.

4. The synchronous telescopic manipulator for grabbing automobile glass according to claim 1 is characterized in that: The rack connecting block (3) is mounted on one end of the rack (5) by means of bolts.

5. The synchronous telescopic manipulator for grabbing automobile glass according to claim 1 is characterized in that: The servo motor (10) is mounted on the bottom of a motor mounting seat (12) by means of bolts; a main shaft of the servo motor (10) passes through the motor mounting seat (12) and is fixedly connected to a gear (14).

6. The synchronous telescopic manipulator for grabbing automobile glass according to claim 1 is characterized in that: The rack guide block (13) is mounted on the motor mounting seat (12) by means of bolts.

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