Glass carrying manipulator facilitating feeding and discharging

Abstract

The invention relates to the technical field of mechanical arms, in particular to a glass carrying manipulator facilitating feeding and discharging, which comprises a rotating seat, a carrying frame and a fixing frame, a mechanical arm is arranged on the top surface of the rotating seat, the carrying frame comprises a lower frame body and an upper frame body, and the lower frame body is connected with the tail end of the mechanical arm; the lower frame body is further provided with a first driving assembly used for driving the upper frame body to slide in the width direction of the lower frame body. The fixing frame is arranged on the lower frame body, and a first suction cup assembly is arranged at the front end of the fixing frame. The three suction cup assemblies are arranged, the three suction cup assemblies can be distributed side by side so that multiple pieces of glass can be adsorbed at the same time, the three suction cup assemblies can also be distributed front and back at intervals, the carrying frame does not need to be greatly moved during discharging, and therefore the discharging efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and specifically to a glass handling robot for facilitating loading and unloading. Background Art

[0002] During the processing and manufacturing of glass, it needs to go through multiple processes such as cutting, edge grinding, coating, inspection, and packaging. Different processes are usually carried out on different production lines. Therefore, on the corresponding production lines, glass handling robots are usually also provided to realize the loading and unloading operations of glass sheets.

[0003] In the prior art, the invention patent with the publication number CN111923024B proposed a glass loading and unloading robotic arm, which specifically includes components such as a first swing arm, a second swing arm, a first mounting table, and a suction cup assembly. In this technical solution, the suction cups of several suction cup assemblies are located in the same plane. Specifically, when performing the unloading operation, it is necessary to fit the suction cup assembly to the upper surface of the glass, then turn on the negative pressure and suck the glass sheet. Subsequently, the glass is transported to the target area through the swing arm, and finally the glass is placed on the placement rack and the suction cup is released, thus completing the handling operation of the glass sheet.

[0004] However, when there are multiple pieces of glass placed side by side on the production line, at this time, it is necessary to use the robotic arm to adsorb multiple pieces of glass simultaneously, and then place the multiple pieces of glass on the placement rack in sequence. Specifically, the glass placement rack includes a vertical wall and a bottom wall. When placing the glass on the placement rack, it is necessary to make the bottom end of the glass fall on the bottom wall of the placement rack, and then make the top end of the glass lean against the vertical wall of the placement rack, and multiple pieces of glass need to be stacked. And because the suction cup assembly adsorbs multiple pieces of glass simultaneously, and the multiple pieces of glass are arranged side by side, so specifically when discharging, they can only be placed one by one. Relatively speaking, the discharging efficiency is relatively low. In view of this, we have proposed a glass handling robot for facilitating loading and unloading to well solve the above drawbacks. Summary of the Invention

[0005] The purpose of the present invention is to provide a glass handling robot for facilitating loading and unloading to solve the problems raised in the above background art.

[0006] The present invention is achieved through the following technical solutions:

[0007] A glass handling robot for facilitating loading and unloading includes a rotating base, and a robotic arm is provided on the top surface of the rotating base. It further includes:

[0008] A handling frame, the handling frame includes a lower frame body and an upper frame body. The lower frame body is connected to the end of the robotic arm, and a first driving component for driving the upper frame body to slide along the width direction of the lower frame body is further provided on the lower frame body;

[0009] A fixing frame is provided on the lower frame body, and a first suction cup assembly is provided at the front end of the fixing frame;

[0010] Two movable seats, both of the two movable seats are slidably engaged with the upper frame body along the length direction of the upper frame body. Hollow sleeves are provided on both of the two movable seats, and a first movable frame and a second movable frame are respectively movably provided in the two hollow sleeves. One ends of the first movable frame and the second movable frame both extend out of the outside of the hollow sleeves and are respectively provided with a second suction cup assembly and a third suction cup assembly;

[0011] Wherein, second driving components are provided in both of the two hollow sleeves, and the two second driving components are respectively used to drive the first movable frame and the second movable frame to slide along the length direction of the hollow sleeves, so that the first suction cup assembly, the second suction cup assembly and the third suction cup assembly are located in the same plane or are staggered in the front-back direction.

[0012] Optionally, the lower frame body has a U-shaped structure, the left and right side walls of the lower frame body are both hollow structures, and the left and right ends of the upper frame body are respectively movably embedded into the left and right side walls of the lower frame body.

[0013] Optionally, two third driving components are further provided on the upper frame body, and the two third driving components are respectively used to drive the two movable seats to slide along the length direction of the upper frame body.

[0014] Optionally, a loading platform is provided at the bottom of the lower frame body, a moving platform is provided on the top surface of the loading platform through a fourth driving component, and the fourth driving component is used to drive the moving platform to slide in the front-back direction.

[0015] Optionally, a through hole is formed in the moving platform, a first displacement block and a second displacement block are movably provided in the through hole, an installation hole communicating with the through hole is further formed in the moving platform, an elastic rope is provided in the installation hole, and one end of the elastic rope extends into the through hole and is fixedly connected with the second displacement block; in the natural state, the elastic rope is in a stretched state.

[0016] Optionally, a moving frame is provided on the bottom surface of the moving platform, a driven block that can slide along the length direction of the moving frame is slidably provided inside the moving frame, a fifth driving component is fixedly provided inside the moving frame, telescopic columns are provided at the movable end of the fifth driving component and the top surface of the driven block, and the top ends of the two telescopic columns are respectively connected with the first displacement block and the second displacement block.

[0017] Optionally, a first blocking portion is provided on the top surface of the first displacement block, a second blocking portion is provided on the top surface of the second displacement block, and the height of the first blocking portion is longer than the height of the second blocking portion.

[0018] Optionally, sliding rods are provided at both the left and right ends of the first displacement block and the second displacement block. Chute grooves for the sliding rods to be inserted are formed in the inner left and right side walls of the moving frame. The chute groove is a three-section structure formed by sequentially connecting a first horizontal groove, a diagonal brace, and a second horizontal groove end to end. When the sliding rod is inside the first horizontal groove, the top surfaces of the first blocking portion and the second blocking portion are both higher than the top surface of the moving table. When the sliding rod is inside the second horizontal groove, the top surface of the first blocking portion is higher than the top surface of the moving table, and the second blocking portion is lower than the top surface of the moving table.

[0019] Optionally, a first back plate and a second back plate are respectively provided on the back surfaces of the first movable frame and the second movable frame. When the handling frame is in a vertical state, the bottom end of the first back plate is located behind the suction cup of the second suction cup assembly, and the bottom end of the second back plate is located behind the suction cup of the third suction cup assembly.

[0020] Optionally, there are two first driving components, and the two first driving components are respectively arranged inside the left and right side walls of the lower frame body. The movable ends of the two first driving components are fixedly connected to the upper frame body.

[0021] Compared with the prior art, the present invention provides a glass handling manipulator that is convenient for loading and unloading, and has the following beneficial effects:

[0022] 1. The present invention has three suction cup assemblies, and the three suction cup assemblies can be arranged side by side to facilitate simultaneous adsorption of multiple pieces of glass, or can be arranged at intervals front and back, so that it is not necessary to move the handling frame significantly when discharging, thereby helping to improve the discharging efficiency.

[0023] 2. The upper frame body in the present invention can be lifted and lowered along the height direction of the lower frame body. Specifically, when discharging, the upper frame body can move upward to make three pieces of glass lean against the vertical wall of the placement rack simultaneously, thereby further helping to improve the discharging efficiency.

[0024] 3. The present invention also has a moving table, and the moving table has a first displacement block and a second displacement block. Through the movement of the first displacement block and the second displacement block, the bottom ends of the glasses can be driven to move closer to each other, so that the three pieces of glass are attached together, which helps to arrange the glass sheets neatly.

[0025] 4. The present invention also has a first back plate and a second back plate. The function of the two is to make multiple pieces of glass lean against each other slowly and avoid relative sliding between adjacent glass sheets. Therefore, it helps to make the glass sheets lean against the placement rack safely. Description of the Drawings

[0026] Figure 1 is a conventional glass handling manipulator;

[0027] Figure 2 is a schematic structural diagram of the present invention;

[0028] Figure 3 Structural schematic diagram of the sucking state of the handling frame of the present invention;

[0029] Figure 4 Structural schematic diagram of the discharging state of the handling frame of the present invention;

[0030] Figure 5 First state schematic diagram of the discharging of the handling frame of the present invention;

[0031] Figure 6 Second state schematic diagram of the discharging of the handling frame of the present invention;

[0032] Figure 7 Third state schematic diagram of the discharging of the handling frame of the present invention;

[0033] Figure 8 Fourth state schematic diagram of the discharging of the handling frame of the present invention;

[0034] Figure 9 Fifth state schematic diagram of the discharging of the handling frame of the present invention;

[0035] Figure 10 Sixth state schematic diagram of the discharging of the handling frame of the present invention;

[0036] Figure 11 Structural schematic diagram of the moving platform of the present invention;

[0037] Figure 12 Structural schematic diagram of the driven block of the present invention;

[0038] Figure 13 Cross-sectional view of the structure of the moving platform of the present invention;

[0039] Figure 14 Of the present invention Figure 5 Enlarged corresponding view at position A in the present invention.

[0040] In the figure: 100, rotating base; 200, robotic arm; 300, handling frame; 301, lower frame body; 302, upper frame body; 303, first driving assembly; 304, movable seat; 305, hollow sleeve; 306, third driving assembly; 3061, servo motor; 3062, driving screw; 307, second driving assembly; 400, fixing frame; 401, first suction cup assembly; 500, first movable frame; 501, second suction cup assembly; 502, first back plate; 600, second movable frame; 601, third suction cup assembly; 602, second back plate; 700, loading platform; 701, fourth driving assembly; 702, moving platform; 703, through port; 704, first displacement block; 705, second displacement block; 706, mounting port; 707, elastic cord; 708, moving frame; 709, driven block; 710, fifth driving assembly; 711, telescopic column; 712, first blocking portion; 713, second blocking portion; 714, sliding rod; 715, sliding groove; 7151, first horizontal groove; 7152, inclined groove; 7153, second horizontal groove. Detailed implementation manners

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0042] Please refer to Figure 1 , which is an existing glass handling robot, including a rotating base, a six-axis robotic arm, and a suction cup assembly. Among them, the suction cups of the suction cup assembly are located in the same plane. When the handling robot simultaneously handles multiple pieces of glass, as shown in the figure, the multiple glass pieces are arranged side by side. Therefore, when the robot needs to stack the glass pieces on the placement rack, it can only be placed one by one.

[0043] Specifically, first, one piece of glass is leaned against the placement rack, and then the corresponding suction cup is released; after that, the suction cup assembly is moved to make another piece of glass fit with the just-placed piece of glass, and the corresponding suction cup is released again; finally, the above actions are repeated until all three pieces of glass are placed. Obviously, the above actions require the robot to frequently move the position of the suction cup assembly, and each time of feeding requires two pieces of glass to be aligned by fitting, so the feeding efficiency is low.

[0044] To solve the above problems, the present application proposes the following technical solutions:

[0045] Embodiment 1: Please refer to Figure 2 - Figure 14, A glass handling manipulator facilitating loading and unloading, including a rotating base 100. A robotic arm 200 is provided on the top surface of the rotating base 100. Specifically, the robotic arm 200 is a six-axis robotic arm, and the rotating base 100 can drive the robotic arm 200 to rotate freely.

[0046] This embodiment further includes a handling frame 300. The handling frame 300 includes a lower frame body 301 and an upper frame body 302. The lower frame body 301 is connected to the end of the robotic arm 200. A first driving assembly 303 for driving the upper frame body 302 to slide along the width direction of the lower frame body 301 is further provided on the lower frame body 301. Specifically, the lower frame body 301 has a U-shaped structure. The left and right side walls of the lower frame body 301 are both hollow structures. The left and right ends of the upper frame body 302 are respectively movably inserted into the left and right side walls of the lower frame body 301. Therefore, the upper frame body 302 can slide along the width direction of the lower frame body 301.

[0047] In addition, the first driving assembly 303 adopts a linear slide. There are two first driving assemblies 303 in total. The two first driving assemblies 303 are respectively arranged in the left and right side walls of the lower frame body 301. The movable ends of the two first driving assemblies 303 are both fixedly connected to the upper frame body 302. And the two first driving assemblies 303 can always act simultaneously to drive the upper frame body 302 to move along the width direction of the lower frame body 301.

[0048] This embodiment further includes a fixing frame 400 and two movable seats 304. Among them, the fixing frame 400 is arranged on the lower frame body 301. A first suction cup assembly 401 is provided at the front end of the fixing frame 400. The two movable seats 304 are both slidably matched with the upper frame body 302 along the length direction of the upper frame body 302. A hollow sleeve 305 is provided on each of the two movable seats 304. A first movable frame 500 and a second movable frame 600 are respectively movably arranged in the two hollow sleeves 305. One ends of the first movable frame 500 and the second movable frame 600 both extend out of the outside of the hollow sleeve 305 and are respectively provided with a second suction cup assembly 501 and a third suction cup assembly 601. The first suction cup assembly 401, the second suction cup assembly 501 and the third suction cup assembly 601 have the same structure, all including a mounting block and a plurality of suction cups. Among them, the suction cups are communicated with an external negative pressure source through a hose, and a solenoid valve is arranged at the air inlet end interface of the suction cup. The solenoid valve is controlled by an external controller to be turned on and off to realize the material suction and discharge actions of the suction cup.

[0049] Specifically, two third driving components 306 are further provided on the upper frame body 302. The two third driving components 306 are respectively used to drive the two movable seats 304 to slide along the length direction of the upper frame body 302. The third driving component 306 includes a servo motor 3061 and a driving screw 3062. The servo motor 3061 is fixedly connected to the outer side wall of the upper frame body 302. The driving screw 3062 is threadedly connected to the corresponding movable seat 304, and the driving screw 3062 is coaxially connected to the output shaft of the servo motor 3061. Therefore, by controlling the rotation of the driving screw 3062 by the servo motor 3061, the movable seat 304 can be indirectly driven to slide.

[0050] In addition, second driving components 307 are provided in both of the two hollow sleeves 305. The two second driving components 307 are respectively used to drive the first movable frame 500 and the second movable frame 600 to slide along the length direction of the hollow sleeve 305, so that the first suction cup assembly 401, the second suction cup assembly 501 and the third suction cup assembly 601 are located in the same plane or are staggered in the front-back direction. Specifically, the second driving component 307 adopts a linear slide table. The cylinder body of the linear slide table is fixedly installed on the inner wall of the hollow sleeve 305, and the movable end of the linear slide table is connected to the corresponding first movable frame 500 / second movable frame 600 to control the first movable frame 500 and the second movable frame 600 to slide along the length direction of the hollow sleeve 305.

[0051] It is worth mentioning that both the first movable frame 500 and the second movable frame 600 are in an L-shaped structure. A strip-shaped opening is formed in the middle of the end of the first movable frame 500 and the second movable frame 600 extending into the hollow sleeve 305 for the movable end of the second driving component 307 to extend into the inner side of the strip-shaped opening. In addition, the other ends of the first movable frame 500 and the second movable frame 600 both extend downward, and when the upper frame body 302 extends downward into the lower frame body 301 to the maximum contraction amplitude, as Figure 3 shown, at this time, the heights of the first suction cup assembly 401, the second suction cup assembly 501 and the third suction cup assembly 601 are quite the same.

[0052] In the specific implementation process of this embodiment, first, the upper frame body 302 is fully retracted downward into the lower frame body 301, and the first movable frame 500 and the second movable frame 600 are fully retracted into the corresponding hollow sleeves 305. At this time, the first suction cup assembly 401, the second suction cup assembly 501 and the third suction cup assembly 601 are located in the same plane, and the heights of the three are quite the same, as Figure 3 shown. Then, the three suction cup assemblies are used to respectively suck three pieces of glass to be cut.

[0053] During the process of sucking and transferring using the robotic arm 200, first, the second driving component 307 is used to control both the first movable frame 500 and the second movable frame 600 to extend outward by a certain distance. It should be noted that the extending length of the second movable frame 600 is greater than that of the first movable frame 500. Then, the third driving component 306 is used to control both movable seats 304 to move towards the direction close to the fixed frame 400 until the first suction cup component 401, the second suction cup component 501, and the third suction cup component 601 are all in the same plane and are distributed at intervals in the front-rear direction, as Figure 4 shown in the state.

[0054] In another embodiment of the present application, a loading platform 700 is fixedly provided at the bottom of the lower frame body 301. A moving platform 702 is provided on the top surface of the loading platform 700 through a fourth driving component 701, and the fourth driving component 701 is used to drive the moving platform 702 to slide in the front-rear direction. Among them, the loading platform 700 is fixedly welded to the middle position of the bottom of the lower frame body 301, and the fourth driving component 701 adopts a linear module. The seat body of the linear module is fixedly installed on the loading platform 700, and its movable end is connected to the bottom surface of the moving platform 702.

[0055] Furthermore, a through hole 703 is formed in the moving platform 702. A first displacement block 704 and a second displacement block 705 are movably arranged in the through hole 703. There are also two installation ports 706 communicated with the through hole 703 on the moving platform 702. Elastic ropes 707 are arranged in the two installation ports 706. One end of the elastic rope 707 extends into the through hole 703 and is fixedly connected to the second displacement block 705. In the natural state, the elastic rope 707 is in a stretched state. As Figure 11 shown, the through hole 703 is in a convex shape. The second displacement block 705 is located on the front side of the first displacement block 704, and the length of the second displacement block 705 is greater than the width of the tail of the through hole 703. The first displacement block 704 is equivalent to the width of the tail of the observation port 703.

[0056] It is worth mentioning that the width of the moving platform 702 needs to be smaller than the width of the glass to be carried. And when the fourth driving component 701 controls the moving platform 702 to move backward to the maximum extent, as Figure 3 shown in the state, at this time, the bottom end of the moving platform 702 will be located behind the first suction cup component 401, avoiding the moving platform 702 from colliding with the glass when sucking the glass.

[0057] In addition, a moving frame 708 is provided on the bottom surface of the mobile station 702. The moving frame 708 is distributed in the front-rear direction. A driven block 709 that can slide along the length direction of the moving frame 708 is slidably provided inside the moving frame 708. A fifth driving assembly 710 is fixedly provided inside the moving frame 708. Telescopic columns 711 are provided at the movable end of the fifth driving assembly 710 and the top surface of the driven block 709. The top ends of the two telescopic columns 711 are respectively connected to the first displacement block 704 and the second displacement block 705. The telescopic column 711 is composed of two circular tubes that slide and sleeve with each other, and the telescopic column 711 can freely expand and contract under the action of an external force. It is worth mentioning that the fifth driving assembly 710 also adopts a linear slide table, whose cylinder body is fixedly connected to the bottom wall of the moving frame 708, and its movable end is connected to the corresponding telescopic column 711.

[0058] As Figure 13 shown, a first blocking portion 712 is provided on the top surface of the first displacement block 704, and a second blocking portion 713 is provided on the top surface of the second displacement block 705. The height of the first blocking portion 712 is longer than the height of the second blocking portion 713. The top surfaces of the first displacement block 704 and the second displacement block 705 are made of rubber material and have a strong friction coefficient. When the bottom end of the glass lands on the top surface of the displacement block, it can keep the bottom end of the glass from sliding. In addition, the top surface of the mobile station 702 is a smooth surface, and when the bottom end of the glass and the mobile station 702 slide relative to each other, no scratch will be left on the bottom end of the glass.

[0059] Sliding rods 714 are provided at the left and right ends of the first displacement block 704 and the second displacement block 705. Sliding grooves 715 for the sliding rods 714 to be embedded are formed on the left and right side walls inside the moving frame 708. The sliding groove 715 is a three-section structure composed of a first horizontal groove 7151, a diagonal brace 7152, and a second horizontal groove 7153 connected end to end in sequence, as Figure 13 shown; when the sliding rod 714 is inside the first horizontal groove 7151, the top surfaces of both the first blocking portion 712 and the second blocking portion 713 are higher than the top surface of the mobile station 702, and the top surfaces of both the first displacement block 704 and the second displacement block 705 are slightly higher than the top surface of the mobile station 702; when the sliding rod 714 is inside the second horizontal groove 7153, the top surface of the first blocking portion 712 is higher than the top surface of the mobile station 702, and the second blocking portion 713 is lower than the top surface of the mobile station 702. That is, when the sliding rod 714 enters the second horizontal groove 7153 from the first horizontal groove 7151, the two displacement blocks will move downward.

[0060] In addition, a first back plate 502 and a second back plate 602 are respectively provided on the back surfaces of the first movable frame 500 and the second movable frame 600. The bottom ends of the first back plate 502 and the second back plate 602 are both lower than the corresponding suction cup assemblies. The back surfaces of the first back plate 502 and the second back plate 602 are both smooth surfaces, and the length of the second back plate 602 is greater than the length of the first back plate 502. When the handling frame 300 is in a vertical state, the bottom end of the first back plate 502 is located behind the suction cup of the second suction cup assembly 501, and the bottom end of the second back plate 602 is located behind the suction cup of the third suction cup assembly 601. The function is that when the suction cup assembly sucks the glass, the corresponding back plate will not come into contact with the glass.

[0061] In the initial state, the first displacement block 704 is located at the inner rear end position of the through port 703, and the second displacement block 705 is located at the middle position of the through port 703. When the fifth driving assembly 710 drives the first displacement block 704 to approach the second displacement block 705, the sliding rod 714 at the bottom of the first displacement block 704 is always located inside the first horizontal groove 7151; when the first displacement block 704 and the second displacement block 705 are in contact, the first displacement block 704 can push the second displacement block 705 to move synchronously; after they move synchronously for a certain distance, the sliding rod 714 enters the second horizontal groove 7153, and at this time only the first blocking portion 712 is higher than the top surface of the moving platform 702. When the first displacement block 704 moves backward to return to its original position, under the pulling force of the elastic rope 707, the second displacement block 705 will also move backward to return to its original position.

[0062] In summary, when specifically performing the discharging operation in this embodiment, first, through the actions of the second driving assembly 307 and the third driving assembly 306, the three pieces of glass are distributed at intervals front and back. Then, the manipulator 200 is used to transfer the glass to the target area, and the handling frame 300 is inclined, as Figure 5 shown. It should be noted that during the above operation process, the first driving assembly 303 is coordinated to control the up and down movement of the upper frame body 302, and the fourth driving assembly 701 is coordinated to control the forward extension of the moving platform 702, and finally the two pieces of glass located at the rear side respectively fall on the first displacement block 704 and the second displacement block 705.

[0063] Specifically during discharging, first, the top end of the glass at the frontmost side is made to abut against the vertical wall of the placement rack, and then the three suction cup assemblies are released, and the first driving assembly 303 is used to control the upper frame body 302 to rise, as Figure 6 shown. During the rising process of the upper frame body 302, the top end of the glass on the first suction cup assembly 401 will slide along the surface of the first back plate 502; at the same time, the fifth driving assembly 710 also drives the first displacement block 704 to gradually approach the second displacement block 705 until the first back plate 502 is separated from the corresponding glass, and when both pieces of glass are placed on the bottom end of the second back plate 602, as Figure 8In the state shown, the upper frame 302 first pauses to rise; then the first displacement block 704 and the second displacement block 705 continue to move forward synchronously. When they move to the state as shown in Figure 9 , the upper frame 302 rises again to separate the second back plate 602 from the corresponding glass. At this time, the three pieces of glass are flatly attached together, as shown in Figure 10 . Finally, the robotic arm 200 controls the entire handling frame 300 to descend a short distance so that the bottom ends of the three pieces of glass all fall on the bottom wall of the placement rack, and the simultaneous blanking operation of the three pieces of glass can be completed.

[0064] It is worth mentioning that in the above blanking operation, the inclination amplitude of the moving table 702 is equivalent to that of the bottom wall of the placement rack, and the moving table 702 is slightly higher than the bottom wall of the placement rack, so as to avoid sliding friction between the glass sheet and the bottom wall of the placement rack.

[0065] In addition, through the setting of the two back plates in this embodiment, the three glass sheets can gently lean against each other, avoiding the huge impact force generated when the glass sheets lean against each other due to free flipping under the action of gravity. Therefore, it helps to protect the safe placement of the glass sheets. At the same time, the rising action of the two back plates and the actions of the two displacement blocks at the bottom occur in coordination, so that when the glass sheet is separated from the corresponding back plate, the top end of the glass sheet always falls on the top position of another glass sheet, so as to avoid long-distance sliding friction between adjacent glass sheets, which may leave scratches on the surface of the glass sheet. Therefore, this technical solution can not only efficiently complete the glass stacking step, but also ensure the safety of the glass sheets and avoid damage to the glass sheets during the blanking process.

[0066] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0067] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A glass handling manipulator facilitating loading and unloading, comprising a rotating base, wherein a robotic arm is provided on the top surface of the rotating base, characterized in that, Further included are: A handling frame, the handling frame includes a lower frame body and an upper frame body, the lower frame body is connected to the end of the robotic arm, and a first driving component for driving the upper frame body to slide along the width direction of the lower frame body is further provided on the lower frame body; A fixing frame, the fixing frame is arranged on the lower frame body, and a first suction cup component is provided at the front end of the fixing frame; Two movable seats, both of the two movable seats are slidably matched with the upper frame body along the length direction of the upper frame body, a hollow sleeve is provided on each of the two movable seats, a first movable frame and a second movable frame are respectively movably arranged in the two hollow sleeves, and a second suction cup component and a third suction cup component are respectively provided at one ends of the first movable frame and the second movable frame extending outside the hollow sleeve; Wherein, second driving components are provided in the two hollow sleeves respectively, and the two second driving components are respectively used for driving the first movable frame and the second movable frame to slide along the length direction of the hollow sleeve, so that the first suction cup component, the second suction cup component and the third suction cup component are located in the same plane or are staggered in the front-back direction.

2. The glass handling manipulator for facilitating loading and unloading according to claim 1, wherein: The lower frame body has a U-shaped structure, the left and right side walls of the lower frame body are both hollow structures, and the left and right ends of the upper frame body are respectively movably embedded into the left and right side walls of the lower frame body.

3. The glass handling manipulator for facilitating loading and unloading according to claim 1, characterized in that: Two third driving components are further provided on the upper frame body, and the two third driving components are respectively used for driving the two movable seats to slide along the length direction of the upper frame body.

4. A glass handling manipulator facilitating loading and unloading according to claim 1, wherein: A loading platform is provided at the bottom of the lower frame body, a moving platform is provided on the top surface of the loading platform through a fourth driving component, and the fourth driving component is used to drive the moving platform to slide along the front-back direction.

5. The glass handling robot for facilitating loading and unloading according to claim 4, wherein: A through hole is formed in the moving platform, a first displacement block and a second displacement block are movably arranged in the through hole, an installation port communicating with the through hole is further formed in the moving platform, an elastic rope is arranged in the installation port, and one end of the elastic rope extends into the through hole and is fixedly connected with the second displacement block; in the natural state, the elastic rope is in a stretched state.

6. The glass handling manipulator convenient for loading and unloading according to claim 5, wherein: A moving frame is provided on the bottom surface of the moving platform, a driven block slidable along the length direction of the moving frame is slidably arranged inside the moving frame, a fifth driving component is fixedly arranged inside the moving frame, telescopic columns are provided at the moving end of the fifth driving component and the top surface of the driven block, and the top ends of the two telescopic columns are respectively connected with the first displacement block and the second displacement block.

7. The glass handling manipulator for facilitating loading and unloading according to claim 6, wherein: A first blocking portion is provided on the top surface of the first displacement block, a second blocking portion is provided on the top surface of the second displacement block, and the height of the first blocking portion is longer than the height of the second blocking portion.

8. A glass handling manipulator for facilitating loading and unloading, as claimed in claim 7, wherein: Sliding rods are provided at the left and right ends of the first displacement block and the second displacement block, sliding grooves for the sliding rods to be embedded are respectively formed in the left and right side walls inside the moving frame, and the sliding grooves are of a three-section structure formed by sequentially connecting a first horizontal groove, an inclined support and a second horizontal groove end to end; when the sliding rods are located inside the first horizontal groove, the top surfaces of the first blocking portion and the second blocking portion are both higher than the top surface of the moving platform; when the sliding rods are located inside the second horizontal groove, the top surface of the first blocking portion is higher than the top surface of the moving platform, and the second blocking portion is lower than the top surface of the moving platform.

9. The glass handling manipulator convenient for loading and unloading according to claim 8, characterized in that: The back surfaces of the first movable frame and the second movable frame are respectively provided with a first back plate and a second back plate; when the handling frame is in a vertical state, the bottom end of the first back plate is located behind the suction cup of the second suction cup assembly, and the bottom end of the second back plate is located behind the suction cup of the third suction cup assembly.

10. The glass handling robot convenient for loading and unloading according to claim 2, characterized in that: There are two first driving components in total, and the two first driving components are respectively arranged inside the left and right side walls of the lower frame body, and the movable ends of the two first driving components are fixedly connected to the upper frame body.

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