Manipulator for grabbing glass products

Abstract

The mechanical arm for grabbing the glass products comprises a box mounting plate, a plurality of grooves are formed in the inner wall of the mounting plate, the inner top wall of each groove is fixedly connected with a third motor, the output end of each third motor is fixedly connected with a third lead screw, and the output end of each third lead screw is fixedly connected with a second lead screw. And the side wall of the third lead screw is in threaded connection with a third sliding block, the bottom end of the third sliding block is fixedly connected with a connecting block through a connecting rod, the bottom end of the connecting block is fixedly connected with a rack plate, and the bottom end of the mounting plate is fixedly connected with a plurality of mounting cylinders. The two pull rods are pulled towards the outer side, so that the limiting rods leave the interiors of the clamping grooves and the insertion rods, limiting of the insertion rods is relieved, and therefore the mounting plate is rapidly disassembled; during installation, the inserting rod is inserted into the sliding hole, after the pull rod is loosened, the limiting rod is reset under the action of the spring, and therefore the limiting rod penetrates through the inserting rod and then is clamped in the clamping groove, the inserting rod is limited, and rapid replacement and installation are achieved.

Description

Technical Field

[0001] This invention relates to the field of glass product technology, and in particular to a robotic arm for grasping glass products. Background Technology

[0002] Glass products are a general term for household and industrial products made primarily from glass. Glass is a relatively transparent solid that forms a continuous network structure when molten, and gradually increases in viscosity and hardens without crystallizing during cooling. During processing, glass products require the use of robotic arms for handling and transporting the glass.

[0003] Current gripping devices, when using robotic arms to grasp glass products, cannot grasp multiple glass products at the same time, which affects gripping efficiency. In addition, most current robotic arms are fixed inside the device, making them inconvenient to disassemble. If the robotic arm malfunctions, it is difficult to quickly disassemble and replace it. Moreover, current gripping devices can only move the robotic arm in one horizontal direction, which has certain limitations. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robotic arm for grasping glass products.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robotic arm for grasping glass products includes a housing and a mounting plate. The mounting plate has multiple grooves on its inner wall. A third motor is fixedly connected to the top wall of each groove. A third lead screw is fixedly connected to the output end of the third motor. A third slider is threadedly connected to the side wall of the third lead screw. A connecting block is fixedly connected to the bottom end of the third slider via a connecting rod. A rack plate is fixedly connected to the bottom end of the connecting block. Multiple mounting cylinders are fixedly connected to the bottom end of the mounting plate. Each mounting cylinder has symmetrically symmetrically rotatably connected incomplete gears to its inner wall. A clamping half-ring is fixedly connected to the side wall of each incomplete gear. One end of the clamping half-ring extends through the through hole to the outside of the mounting cylinder.

[0006] Preferably, each groove is a cuboid structure, the third slider is a cuboid structure, the third slider abuts against the inner wall of the groove, the rack plate has symmetrical teeth on both side walls, each mounting cylinder is located in the same vertical direction as the groove, each incomplete gear is meshed with the rack plate, and each clamping half ring has an anti-slip sleeve at the end away from the incomplete gear.

[0007] Preferably, a first sliding groove is provided on the top wall of the inner chamber of the box. The first sliding groove has a cuboid structure. A first motor is fixedly connected to the side wall of the box. A first lead screw is fixedly connected to the output end of the first motor. One end of the first lead screw passes through the side wall of the box and is rotatably connected to the inner side wall of the first sliding groove. A first slider is threadedly connected to the side wall of the first lead screw. The first slider has a cuboid structure and abuts against the inner wall of the first sliding groove.

[0008] Preferably, a fixing plate is fixedly connected to the bottom end of the first slider. The fixing plate has a cuboid structure. A second sliding groove is opened at the bottom end of the fixing plate. A second motor is fixedly connected to the side wall of the fixing plate. A second lead screw is fixedly connected to the output end of the second motor. One end of the second lead screw passes through the side wall of the fixing plate and is rotatably connected to the inner side wall of the second sliding groove. A second slider is threadedly connected to the side wall of the second lead screw. The second slider abuts against the inner wall of the second sliding groove.

[0009] Preferably, a hydraulic push rod is fixedly connected to the bottom end of the second slider, and a connecting plate is fixedly connected to the movable end of the hydraulic push rod. The connecting plate has symmetrical sliding holes.

[0010] Preferably, the sliding hole sidewall has a slot, the sliding hole sidewall has a rectangular groove, the rectangular groove sidewall has a pull rod that is slidably connected through it, and the pull rod is fixedly connected to a limit rod at one end of the rectangular groove sidewall.

[0011] Preferably, a spring is fixedly connected to the side wall of the rectangular groove, and one end of the spring is fixedly connected to the side wall of the limiting rod.

[0012] Preferably, the top of the mounting plate is symmetrically fixedly connected with insert rods, one end of each insert rod is slidably connected through a sliding hole, and one end of the limiting rod is inserted into the slot after passing through the side wall of the insert rod.

[0013] The present invention has the following beneficial effects: 1. The first motor rotates forward, driving the first lead screw to rotate, causing the first slider to move horizontally to the left. Conversely, the first motor rotates backward, driving the first lead screw to rotate, causing the first slider to move horizontally to the right, thereby adjusting the horizontal position of the clamping half-ring. The second motor rotates forward, driving the second lead screw to rotate, causing the second slider to move the clamping half-ring forward. Conversely, the second motor rotates backward, driving the second lead screw to rotate, causing the second slider to move the clamping half-ring backward, thereby adjusting the horizontal and vertical position of the clamping half-ring. By adjusting the horizontal and vertical positions of the clamping half-ring, it is possible to grip glass products in various positions inside the box, improving the practicality of the device. 2. The third motor reverses, driving the third lead screw to rotate, which in turn causes the third slider to move the rack plate upward in the horizontal direction through the connecting rod. By utilizing the meshing of the rack plate and the incomplete gear, the two clamping half rings move closer to each other, thereby clamping the glass product. The bottom of the mounting plate is equipped with multiple sets of clamping half rings, which can clamp multiple glass products at once, improving the gripping efficiency. Then, the hydraulic push rod drives the clamping half rings to rise, thereby gripping the glass product. 3. Pull the two levers outward to compress the springs into the rectangular groove, causing the limiting rod to leave the slot and the insert rod, thus releasing the limiting effect on the insert rod and allowing for quick disassembly of the mounting plate. During installation, simply insert the insert rod into the sliding hole. After releasing the levers, the limiting rod will reset under the action of the spring, allowing it to pass through the insert rod and lock into the slot, limiting the insertion rod and facilitating quick replacement and installation. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a robotic arm for grasping glass products proposed in this invention; Figure 2 This is a schematic diagram of the structure of the first groove in a mechanical hand for grasping glass products according to the present invention; Figure 3 This is a schematic diagram of the mounting plate in a robotic arm for grasping glass products according to the present invention. Figure 4 for Figure 1 Enlarged schematic diagram of the structure at point A in the diagram; Figure 5 This is a front view of a robotic arm for grasping glass products proposed in this invention.

[0015] In the diagram: 1. Housing, 2. First slide groove, 3. First motor, 4. First lead screw, 5. First slider, 6. Fixing plate, 7. Second slide groove, 8. Second motor, 9. Second lead screw, 10. Second slider, 11. Hydraulic push rod, 12. Connecting plate, 13. Mounting plate, 14. Groove, 15. Third motor, 16. Third lead screw, 17. Third slider, 18. Connecting block, 19. Rack plate, 20. Mounting cylinder, 21. Through hole, 22. Incomplete gear, 23. Clamping half ring, 24. Insert rod, 25. Slide hole, 26. Slot, 27. Rectangular groove, 28. Pull rod, 29. Limiting rod, 30. Spring. Detailed Implementation

[0016] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0017] Reference Figures 1-5 A robotic arm for gripping glass products includes a housing 1 and a mounting plate 13. Multiple grooves 14 are formed on the inner wall of the mounting plate 13. A third motor 15 is fixedly connected to the top wall of each groove 14. The third motor 15 is a forward and reverse reversible motor. A third lead screw 16 is fixedly connected to the output end of the third motor 15. A third slider 17 is threadedly connected to the side wall of the third lead screw 16. A connecting block 18 is fixedly connected to the bottom end of the third slider 17 via a connecting rod. A rack plate 19 is fixedly connected to the bottom end of the connecting block 18. Multiple mounting cylinders 20 are fixedly connected to the bottom end of the mounting plate 13. Multiple sets of clamping semi-rings 23 are provided at the bottom of the mounting plate 13, allowing for simultaneous gripping. This device holds multiple glass products, improving gripping efficiency. Each mounting cylinder 20 has symmetrical through holes 21 on its side wall. The inner wall of the mounting cylinder 20 is symmetrically connected to an incomplete gear 22. Each incomplete gear 22 has a clamping half-ring 23 fixedly connected to its side wall. One end of the clamping half-ring 23 passes through the through hole 21 and extends to the outside of the mounting cylinder 20. The third motor 15 reverses, driving the third lead screw 16 to rotate, thereby causing the third slider 17 to drive the rack plate 19 to move upward in the horizontal direction through the connecting rod. By utilizing the meshing action between the rack plate 19 and the incomplete gear 22, the two clamping half-rings 23 move closer to each other, thereby clamping the glass products.

[0018] The third slider 17 abuts against the inner wall of the groove 14 to prevent the third slider 17 from rotating during movement. The two side walls of the rack plate 19 are symmetrically provided with teeth. Each mounting cylinder 20 is located in the same vertical direction as the groove 14. Each incomplete gear 22 is meshed with the rack plate 19. Each clamping half ring 23 is provided with an anti-slip sleeve at the end away from the incomplete gear 22 to increase the friction between the clamping half ring 23 and the glass product and prevent the glass product from falling and causing damage.

[0019] The top inner wall of the housing 1 is provided with a first sliding groove 2. A first motor 3 is fixedly connected to the side wall of the housing 1. A first lead screw 4 is fixedly connected to the output end of the first motor 3. One end of the first lead screw 4 passes through the side wall of the housing 1 and is rotatably connected to the inner side wall of the first sliding groove 2. A first slider 5 is threadedly connected to the side wall of the first lead screw 4. When the first motor 3 rotates forward, it drives the first lead screw 4 to rotate, causing the first slider 5 to move to the left in the horizontal direction. Conversely, when the first motor 3 rotates backward, it drives the first lead screw 4 to rotate, causing the first slider 5 to move to the right in the horizontal direction. This drives the clamping half ring 23 to adjust its horizontal position. The first slider 5 abuts against the inner wall of the first sliding groove 2, preventing the first slider 5 from rotating during movement.

[0020] A fixed plate 6 is fixedly connected to the bottom end of the first slider 5. A second slide groove 7 is opened at the bottom end of the fixed plate 6. A second motor 8 is fixedly connected to the side wall of the fixed plate 6. The second motor 8 is a forward and reverse motor. A second lead screw 9 is fixedly connected to the output end of the second motor 8. One end of the second lead screw 9 passes through the side wall of the fixed plate 6 and is rotatably connected to the inner side wall of the second slide groove 7. A second slider 10 is threadedly connected to the side wall of the second lead screw 9. The second motor 8 drives the second lead screw 9 to rotate in the forward direction, so that the second slider 10 drives the clamping half ring 23 to move forward. Conversely, the second motor 8 drives the second lead screw 9 to rotate in the reverse direction, so that the second slider 10 drives the clamping half ring 23 to move backward, thereby adjusting the horizontal and longitudinal position of the clamping half ring 23. The second slider 10 abuts against the inner wall of the second slide groove 7 to prevent the second slider 10 from rotating during movement.

[0021] The bottom end of the second slider 10 is fixedly connected to a hydraulic push rod 11, which drives the clamping half ring 23 to rise and fall. The movable end of the hydraulic push rod 11 is fixedly connected to a connecting plate 12, and the connecting plate 12 has symmetrical sliding holes 25.

[0022] The sliding hole 25 has a slot 26 on its side wall and a rectangular groove 27 on its side wall. A pull rod 28 is slidably connected through the side wall of the rectangular groove 27. A limit rod 29 is fixedly connected to one end of the pull rod 28 on its side wall. Pulling the two pull rods 28 outward causes the pull rod 28 to compress the spring 30 into the rectangular groove 27, causing the limit rod 29 to leave the slot 26 and the insertion rod 24, releasing the limit on the insertion rod 24, thereby allowing the mounting plate 13 to be quickly disassembled.

[0023] A spring 30 is fixedly connected to the side wall of the rectangular groove 27, and one end of the spring 30 is fixedly connected to the side wall of the limiting rod 29. A plug rod 24 is symmetrically fixedly connected to the top of the mounting plate 13. One end of each plug rod 24 is slidably connected through the sliding hole 25. One end of the limiting rod 29 passes through the side wall of the plug rod 24 and is inserted into the slot 26. After the pull rod 28 is released, the limiting rod 29 is reset under the action of the spring 30, thereby allowing the limiting rod 29 to pass through the plug rod 24 and be locked inside the slot 26, limiting the insertion of the plug rod 24, thus enabling quick replacement and installation.

[0024] In this invention, when it is necessary to grip glass products, the first motor 3 is activated. The first motor 3 is a forward and reverse reversible motor. The forward rotation of the first motor 3 drives the first lead screw 4 to rotate, causing the first slider 5 to move horizontally to the left. Conversely, the reverse rotation of the first motor 3 drives the first lead screw 4 to rotate, causing the first slider 5 to move horizontally to the right, thereby adjusting the horizontal position of the clamping half-ring 23. In addition, the second motor 8 is activated. The forward rotation of the second motor 8 drives the second lead screw 9 to rotate, causing the second slider 10 to move the clamping half-ring 23 forward. Conversely, the reverse rotation of the second motor 8 drives the second lead screw 9 to rotate, causing the second slider 10 to move the clamping half-ring 23 backward, thereby adjusting the horizontal and vertical position of the clamping half-ring 23. By adjusting the horizontal and vertical positions of the clamping half-ring 23, the clamping half-ring 23 can grip glass products in various positions inside the box 1, improving the practicality of the device. After adjusting the position of the clamping half-ring 23, the hydraulic push rod 11 is activated, which lowers the clamping half-ring 23. Then, the third motor 15 is activated. The third motor 15 is a forward and reverse motor. By reversing the third motor 15, the third lead screw 16 is rotated, which causes the third slider 17 to move the rack plate 19 upward in the horizontal direction through the connecting rod. The meshing action of the rack plate 19 and the incomplete gear 22 brings the two clamping half-rings 23 closer together, thereby clamping the glass product. The bottom of the mounting plate 13 has multiple sets of clamping half-rings 23, which can clamp multiple glass products at once, improving the gripping efficiency. Then, the hydraulic push rod 11 drives the clamping half-rings 23 to rise, thereby gripping the glass product. The end of the clamping half-ring 23 away from the incomplete gear 22 is fixedly connected with an anti-slip sleeve to increase the friction between the clamping half-ring 23 and the glass product, preventing the glass product from falling and being damaged. If the clamping half-ring 23 malfunctions, it needs to be disassembled and replaced. Pull the two pull rods 28 outward to compress the spring 30 into the rectangular groove 27, causing the limiting rod 29 to leave the slot 26 and the insertion rod 24, thus releasing the limitation on the insertion rod 24 and allowing the mounting plate 13 to be quickly disassembled. During installation, simply insert the insertion rod 24 into the sliding hole 25. After releasing the pull rod 28, the limiting rod 29 will reset under the action of the spring 30, so that the limiting rod 29 passes through the insertion rod 24 and is locked in the slot 26, limiting the insertion rod 24 and allowing for quick replacement and installation.

[0025] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A mechanical hand for gripping a glass product, comprising a box (1) and a mounting plate (13), characterized in that, The mounting plate (13) has multiple grooves (14) on its inner wall. A third motor (15) is fixedly connected to the top wall of each groove (14). A third lead screw (16) is fixedly connected to the output end of the third motor (15). A third slider (17) is threadedly connected to the side wall of the third lead screw (16). A connecting block (18) is fixedly connected to the bottom end of the third slider (17) through a connecting rod. A rack plate (19) is fixedly connected to the bottom end of the connecting block (18). Multiple mounting cylinders (20) are fixedly connected to the bottom end of the mounting plate (13). A through hole (21) is symmetrically opened on the side wall of each mounting cylinder (20). An incomplete gear (22) is symmetrically rotatably connected to the inner wall of the mounting cylinder (20). A clamping half ring (23) is fixedly connected to the side wall of each incomplete gear (22). One end of the clamping half ring (23) passes through the through hole (21) and extends to the outside of the mounting cylinder (20).

2. The mechanical hand for gripping a glass product according to claim 1, wherein Each of the grooves (14) is a cuboid structure, the third slider (17) is a cuboid structure, the third slider (17) abuts against the inner wall of the groove (14), the rack plate (19) has symmetrical teeth on both sides, each of the mounting cylinders (20) is located in the same vertical direction as the groove (14), each of the incomplete gears (22) is meshed with the rack plate (19), and each of the clamping half rings (23) has an anti-slip sleeve at the end away from the incomplete gear (22).

3. The mechanical hand for gripping a glass product according to claim 1, wherein The top wall of the box (1) is provided with a first sliding groove (2). The first sliding groove (2) is a cuboid structure. The side wall of the box (1) is fixedly connected to a first motor (3). The output end of the first motor (3) is fixedly connected to a first lead screw (4). One end of the first lead screw (4) passes through the side wall of the box (1) and is rotatably connected to the inner side wall of the first sliding groove (2). The side wall of the first lead screw (4) is threadedly connected to a first slider (5). The first slider (5) is a cuboid structure. The first slider (5) abuts against the inner wall of the first sliding groove (2).

4. The mechanical hand for gripping a glass product according to claim 3, wherein The bottom end of the first slider (5) is fixedly connected to a fixing plate (6), which is a cuboid structure. The bottom end of the fixing plate (6) is provided with a second slide groove (7). The side wall of the fixing plate (6) is fixedly connected to a second motor (8). The output end of the second motor (8) is fixedly connected to a second lead screw (9). One end of the second lead screw (9) passes through the side wall of the fixing plate (6) and is rotatably connected to the inner side wall of the second slide groove (7). The side wall of the second lead screw (9) is threadedly connected to a second slider (10), which abuts against the inner wall of the second slide groove (7).

5. The mechanical hand for gripping a glass product according to claim 4, wherein The bottom end of the second slider (10) is fixedly connected to a hydraulic push rod (11), and the movable end of the hydraulic push rod (11) is fixedly connected to a connecting plate (12). The connecting plate (12) is symmetrically provided with sliding holes (25).

6. The mechanical hand for gripping a glass product according to claim 5, wherein The sliding hole (25) has a slot (26) on its side wall and a rectangular groove (27) on its side wall. A pull rod (28) is slidably connected through the side wall of the rectangular groove (27). A limit rod (29) is fixedly connected to one end of the pull rod (28) on the side wall of the rectangular groove (27).

7. The mechanical hand for gripping a glass product according to claim 6, wherein A spring (30) is fixedly connected to the side wall of the rectangular groove (27), and one end of the spring (30) is fixedly connected to the side wall of the limiting rod (29).

8. The mechanical hand for gripping a glass product according to claim 5, wherein The top of the mounting plate (13) is symmetrically fixed with insert rods (24), one end of each insert rod (24) is slidably connected to the sliding hole (25), and one end of the limiting rod (29) is inserted into the slot (26) after passing through the side wall of the insert rod (24).

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