Double-glass grabbing device
By designing a double-sheet glass grabbing device that includes flexible suction cups and edge measuring devices, the problem that traditional fixtures cannot efficiently grasp multiple glass, realize automatic grabbing and detection, and reduce resource waste and production costs.
Patent Information
- Application Number
- CN202421034213.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-14
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2034-05-14
AI Technical Summary
The glass substrate fixtures of traditional glass manufacturing companies cannot efficiently grasp multiple sheets of glass at the same time, resulting in waste of resources and glass damage.
A double-piece glass grabber device is designed, including a connecting plate, front vertical rod, rear vertical rod, left connecting frame, right connecting frame, left Y-axis edge measuring device, X-axis edge measuring device and right Y-axis edge measuring device , using flexible suction cup mechanism and edge measuring device to achieve automatic grasping and detection.
The ability to grab two pieces of glass at the same time is achieved, reducing equipment investment and production costs, and improving the efficiency and stability of glass production.
Smart Images
Figure CN222181087U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of glass clamps, in particular to a double-sheet glass grabbing device. Background Art
[0002] The glass substrate clamps used by traditional glass manufacturing companies are common. Two rows of clamps need to be installed in parallel on the glass substrate loading rack. Each set of clamps includes a stainless steel card holder and two stainless steel slot-type bases. The two rows of clamps can only grab one piece of glass, which is not conducive to the intelligent and efficient improvement of glass manufacturing. If multiple pieces of glass need to be grabbed at the same time, multiple sets of clamps need to be set up. From an economic point of view, it is a waste of financial resources. From an installation point of view, it is a waste of time and energy. In addition, since the clamping parts of the clamps are relatively sharp, it is easy to scratch the glass substrate due to negligence of the staff, causing damage. Therefore, a stable and reliable double-piece glass grabbing device is urgently needed. Summary of the invention
[0003] The purpose of the utility model is to overcome the above-mentioned shortcomings and provide a double-sheet glass grabbing device with reasonable structural design, high degree of automation, high efficiency, stability and reliability.
[0004] The purpose of the utility model is achieved in this way:
[0005] A double-sheet glass grabbing device, comprising a connecting plate, a front vertical rod, a rear vertical rod, a left connecting frame, a right connecting frame, a left Y-axis edge measuring device, an X-axis edge measuring device and a right Y-axis edge measuring device; the front vertical rod is connected to the lower side of the front side of the connecting plate, the rear vertical rod is connected to the lower side of the rear side of the connecting plate 1, and the front vertical rod and the rear vertical rod are arranged parallel to each other; a left connecting frame is provided on the left side of the connecting plate, and a right connecting frame is provided on the right side, and the left connecting frame and the right connecting frame are symmetrically arranged with respect to the connecting plate;
[0006] The left connecting frame comprises two first auxiliary cross bars and a second auxiliary cross bar arranged in parallel, a left connecting rod is arranged between the first auxiliary cross bar and the second auxiliary cross bar, and the left connecting rod is arranged at the front side of the front vertical rod; the structure of the right connecting frame is the same as that of the left connecting frame, and the right connecting frame comprises two third auxiliary cross bars and a fourth auxiliary cross bar arranged in parallel; a right connecting rod is arranged between the third auxiliary cross bar and the fourth auxiliary cross bar, and the right connecting rod is arranged at the front side of the front vertical rod;
[0007] A first supporting long bar and a second supporting long bar are arranged in parallel between the second auxiliary cross bar and the third auxiliary cross bar; a row of evenly distributed flexible suction cup mechanisms are connected below the first auxiliary cross bar and the second auxiliary cross bar; a left Y-axis edge measuring device is provided on the first auxiliary cross bar and the second auxiliary cross bar, and a right Y-axis edge measuring device is provided on the third auxiliary cross bar and the fourth auxiliary cross bar; an X-axis edge measuring device is provided on the first supporting long bar and the second supporting long bar.
[0008] Furthermore, the first auxiliary cross bar is arranged below the left ends of the front vertical bar and the rear vertical bar, the second auxiliary cross bar is arranged below the front vertical bar and the rear vertical bar close to the left side of the connecting plate, and the first auxiliary cross bar and the second auxiliary cross bar are respectively vertically connected to the front vertical bar and the rear vertical bar to form a tic-tac-toe structure.
[0009] Furthermore, the third auxiliary cross bar is arranged below the front vertical bar and the rear vertical bar near the right side of the connecting plate, the fourth auxiliary cross bar is arranged below the right ends of the front vertical bar and the rear vertical bar, and the third auxiliary cross bar and the fourth auxiliary cross bar are respectively vertically connected to the front vertical bar and the rear vertical bar to form a tic-tac-toe structure.
[0010] Furthermore, the first supporting long rod is arranged at the front ends of the second auxiliary cross rod and the third auxiliary cross rod, and the second supporting long rod is arranged below the connecting plate.
[0011] Furthermore, a flexible suction cup mechanism is respectively provided at both ends of the first auxiliary cross bar, and two flexible suction cup mechanisms are provided between the two ends of the first auxiliary cross bar, one is arranged on the left side of the first auxiliary cross bar, and the other is arranged on the right side of the first auxiliary cross bar; the flexible suction cup mechanism under the second auxiliary cross bar is arranged symmetrically up and down along the horizontal line with the flexible suction cup mechanism under the first auxiliary cross bar.
[0012] Furthermore, the left Y-axis side measuring device is arranged at the front ends of the first auxiliary cross bar and the second auxiliary cross bar, and at the front side of the left connecting rod.
[0013] Furthermore, the right Y-axis side measuring device is arranged at the front ends of the third auxiliary cross bar and the fourth auxiliary cross bar, and at the front side of the right connecting rod.
[0014] Furthermore, one end of the X-axis edge measuring device is fixed to the center of the first supporting long rod, and the other end is fixed to the center of the second supporting long rod.
[0015] Furthermore, the first auxiliary cross bar, the second auxiliary cross bar, the third auxiliary cross bar and the fourth auxiliary cross bar are connected by bolts and angle pieces.
[0016] Compared with the prior art, the beneficial effects of the utility model are:
[0017] The utility model provides a double-glass grasping device, which can grasp two pieces of glass at the same time and can automatically select several groups of suction cup components according to the glass specifications to detect and grasp the two pieces of glass at the same time; the utility model can meet the efficient production rhythm with very little use of the robot, which can not only save limited factory space for glass manufacturers but also greatly reduce the equipment investment cost and production cost of customers. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a structural schematic diagram of the utility model.
[0019] in:
[0020] Connecting plate 1, front vertical rod 2, rear vertical rod 3, left connecting frame 4, first auxiliary cross bar 4.1, second auxiliary cross bar 4.2, left connecting rod 4.3, right connecting frame 5, third auxiliary cross bar 5.1, fourth auxiliary cross bar 5.2, right connecting rod 5.3, flexible suction cup mechanism 6, first supporting long rod 7.1, second supporting long rod 7.2, left Y-axis side measuring device 8, X-axis side measuring device 9, right Y-axis side measuring device 10. DETAILED DESCRIPTION
[0021] In order to better understand the technical solution of the present invention, the following will be described in detail in conjunction with the relevant illustrations. It should be understood that the following specific embodiments are not intended to limit the specific implementation of the technical solution of the present invention, and are only implementations that can be adopted by the technical solution of the present invention. It should be noted that the description of the positional relationship of each component in this article, such as component A being located above component B, is based on the description of the relative positions of the components in the illustration, and is not intended to limit the actual positional relationship of the components. Example 1
[0022] See also Figure 1 , Figure 1 The schematic diagram of the structure of the double-pane glass grabbing device of the utility model is drawn. As shown in the figure, a double-pane glass grabbing device comprises a connecting plate 1, a front vertical rod 2, a rear vertical rod 3, a left connecting frame 4, a right connecting frame 5, a left Y-axis edge measuring device 6, an X-axis edge measuring device 7 and a right Y-axis edge measuring device 8; the front vertical rod 2 is connected to the lower side of the front side of the connecting plate 1, and the rear vertical rod 3 is connected to the lower side of the rear side of the connecting plate 1, and the front vertical rod 2 and the rear vertical rod 3 are arranged parallel to each other; the left connecting frame 4 is provided on the left side of the connecting plate 1, and the right connecting frame 5 is provided on the right side, and the left connecting frame 4 and the right connecting frame 5 are symmetrically arranged with respect to the connecting plate 1.
[0023] The left connecting frame 4 includes two parallel arranged first auxiliary cross bars 4.1 and second auxiliary cross bars 4.2, wherein the first auxiliary cross bar 4.1 is arranged below the left ends of the front vertical bar 2 and the rear vertical bar 3, and the second auxiliary cross bar 4.2 is arranged below the front vertical bar 2 and the rear vertical bar 3 near the left side of the connecting plate 1, and the first auxiliary cross bar 4.1 and the second auxiliary cross bar 4.2 are respectively vertically connected to the front vertical bar 2 and the rear vertical bar 3 to form a tic-tac-toe structure; a left connecting rod 4.3 is arranged between the first auxiliary cross bar 4.1 and the second auxiliary cross bar 4.2, and the left connecting rod 4.3 is arranged in front of the first auxiliary cross bar 4.1 and the second auxiliary cross bar 4.2 beyond the front vertical bar 2.
[0024] The structure of the right connecting frame 5 is the same as that of the left connecting frame 4. The right connecting frame 5 includes two parallel third auxiliary cross bars 5.1 and a fourth auxiliary cross bar 5.2. The third auxiliary cross bar 5.1 is arranged below the front vertical bar 2 and the rear vertical bar 3 near the right side of the connecting plate 1, and the fourth auxiliary cross bar 5.2 is arranged below the right ends of the front vertical bar 2 and the rear vertical bar 3. The third auxiliary cross bar 5.1 and the fourth auxiliary cross bar 5.2 are respectively vertically connected to the front vertical bar 2 and the rear vertical bar 3 to form a tic-tac-toe structure; a right connecting rod 5.3 is arranged between the third auxiliary cross bar 5.1 and the fourth auxiliary cross bar 5.2, and the right connecting rod 5.3 is arranged in front of the third auxiliary cross bar 5.1 and the fourth auxiliary cross bar 5.2 beyond the front vertical bar 2.
[0025] A first supporting long rod 7.1 and a second supporting long rod 7.2 are arranged in parallel between the second auxiliary cross bar 4.2 and the third auxiliary cross bar 5.1. The first supporting long rod 7.1 is arranged at the front end of the second auxiliary cross bar 4.2 and the third auxiliary cross bar 5.1, and the second supporting long rod 7.2 is arranged below the connecting plate 1.
[0026] A row of evenly distributed flexible suction cup mechanisms 6 are connected to the bottom of the first auxiliary cross bar 4.1 and the second auxiliary cross bar 4.2; a flexible suction cup mechanism 6 is respectively provided at both ends of the first auxiliary cross bar 4.1, and two flexible suction cup mechanisms 6 are provided between the two ends of the first auxiliary cross bar 4.1, one is arranged on the left side of the first auxiliary cross bar 4.1, and the other is arranged on the right side of the first auxiliary cross bar 4.1; the flexible suction cup mechanism 6 under the second auxiliary cross bar 4.2 is arranged symmetrically with the flexible suction cup mechanism 6 under the first auxiliary cross bar 4.1 along the horizontal line.
[0027] The first auxiliary cross bar 4.1 and the second auxiliary cross bar 4.2 are provided with a left Y-axis measuring device 8, and the left Y-axis measuring device 8 is arranged at the front end of the first auxiliary cross bar 4.1 and the second auxiliary cross bar 4.2, and is arranged on the front side of the left connecting rod 4.3; the third auxiliary cross bar 5.1 and the fourth auxiliary cross bar 5.2 are provided with a right Y-axis measuring device 10, and the right Y-axis measuring device 10 is arranged at the front end of the third auxiliary cross bar 5.1 and the fourth auxiliary cross bar 5.2, and is arranged on the front side of the right connecting rod 5.3.
[0028] The first supporting long rod 7.1 and the second supporting long rod 7.2 are provided with an X-axis edge measuring device 9, one end of the X-axis edge measuring device 9 is fixed at the center of the first supporting long rod 7.1, and the other end is fixed at the center of the second supporting long rod 7.2.
[0029] The flexible suction cup mechanism 6 of the first auxiliary cross bar 4.1 and the second auxiliary cross bar 4.2 is used to grab a piece of glass, while the flexible suction cup mechanism 6 of the third auxiliary cross bar 5.1 and the fourth auxiliary cross bar 5.2 is used to grab another piece of glass.
[0030] The connecting plate 1 can be made of aluminum plate, and the first auxiliary cross bar 4.1, the second auxiliary cross bar 4.2, the third auxiliary cross bar 5.1 and the fourth auxiliary cross bar 5.2 can be made of aluminum profiles. The first auxiliary cross bar 4.1, the second auxiliary cross bar 4.2, the third auxiliary cross bar 5.1 and the fourth auxiliary cross bar 5.2 are connected by bolts and angle pieces.
[0031] Working principle:
[0032] By connecting the connecting plate to the flange of the robot arm, when the glass of the production line runs to the required station, according to the glass specifications, the corresponding grouping of flexible suction cups (8 sets in one group, divided into 2 groups in total) is opened, and the two pieces of glass are grabbed at the same time. After grabbing, the left Y-axis edge measuring device 6, the X-axis edge measuring device 7 and the right Y-axis edge measuring device 8 are activated to measure the edge of the glass and feed it back to the PLC. After calculation, the relative positions of the edges of the two pieces of glass and the double-piece glass clamp are obtained. When the glass plate is placed in the fixed station, the robot arm is adjusted to place one piece first, rotate it 180 degrees, and then place the other piece to ensure that the edges of the two sets of glass are aligned.
[0033] Since the flexible suction cup mechanism can be grouped according to the process, the double-glass gripper of the utility model can grip two small pieces of glass (mainly used in photovoltaic glass production lines, with glass dimensions of 1000~1300 in width and 2000~2400 in length); it can also be used to grip a large piece of glass (used in float glass production lines, with glass dimensions of 1830~2200 in width and 2000~2500 in length).
[0034] The above are only specific application examples of the utility model, and do not constitute any limitation on the protection scope of the utility model. Any technical solution formed by equivalent transformation or equivalent replacement falls within the protection scope of the utility model.
Claims
1. A double-sheet glass grabbing device, characterized in that: It comprises a connecting plate (1), a front vertical rod (2), a rear vertical rod (3), a left connecting frame (4), a right connecting frame (5), a left Y-axis edge measuring device (8), an X-axis edge measuring device (9) and a right Y-axis edge measuring device (10); the front vertical rod (2) is connected to the lower part of the front side of the connecting plate (1), the rear vertical rod (3) is connected to the lower part of the rear side of the connecting plate (1), and the front vertical rod (2) and the rear vertical rod (3) are arranged parallel to each other; the left side of the connecting plate (1) is provided with a left connecting frame (4), and the right side of the connecting plate (1) is provided with a right connecting frame (5), and the left connecting frame (4) and the right connecting frame (5) are symmetrically arranged with respect to the connecting plate (1); The left connecting frame (4) comprises two first auxiliary cross bars (4.1) and a second auxiliary cross bar (4.2) arranged in parallel, a left connecting rod (4.3) is arranged between the first auxiliary cross bar (4.1) and the second auxiliary cross bar (4.2), and the left connecting rod (4.3) is arranged on the front side of the front vertical bar (2); the structure of the right connecting frame (5) is the same as that of the left connecting frame (4), and the right connecting frame (5) comprises two third auxiliary cross bars (5.1) and a fourth auxiliary cross bar (5.2) arranged in parallel; a right connecting rod (5.3) is arranged between the third auxiliary cross bar (5.1) and the fourth auxiliary cross bar (5.2), and the right connecting rod (5.3) is arranged on the front side of the front vertical bar (2); A first supporting long bar (7.1) and a second supporting long bar (7.2) are arranged in parallel between the second auxiliary cross bar (4.2) and the third auxiliary cross bar (5.1); a row of uniformly distributed flexible suction cup mechanisms (6) are connected below the first auxiliary cross bar (4.1) and the second auxiliary cross bar (4.2); a left Y-axis side measurement device (8) is provided on the first auxiliary cross bar (4.1) and the second auxiliary cross bar (4.2), and a right Y-axis side measurement device (10) is provided on the third auxiliary cross bar (5.1) and the fourth auxiliary cross bar (5.2); and an X-axis side measurement device (9) is provided on the first supporting long bar (7.1) and the second supporting long bar (7.2).
2. A double-sheet glass grabbing device according to claim 1, characterized in that: The first auxiliary cross bar (4.1) is arranged below the left ends of the front vertical bar (2) and the rear vertical bar (3), and the second auxiliary cross bar (4.2) is arranged below the front vertical bar (2) and the rear vertical bar (3) near the left side of the connecting plate (1), and the first auxiliary cross bar (4.1) and the second auxiliary cross bar (4.2) are respectively vertically connected to the front vertical bar (2) and the rear vertical bar (3) to form a well-shaped structure.
3. The double-sheet glass grabbing device according to claim 1, characterized in that: The third auxiliary cross bar (5.1) is arranged below the front vertical bar (2) and the rear vertical bar (3) and close to the right side of the connecting plate (1); the fourth auxiliary cross bar (5.2) is arranged below the right ends of the front vertical bar (2) and the rear vertical bar (3); and the third auxiliary cross bar (5.1) and the fourth auxiliary cross bar (5.2) are respectively vertically connected to the front vertical bar (2) and the rear vertical bar (3) to form a well-shaped structure.
4. The double-sheet glass grabbing device according to claim 1, characterized in that: The first supporting long rod (7.1) is arranged at the front ends of the second auxiliary cross rod (4.2) and the third auxiliary cross rod (5.1), and the second supporting long rod (7.2) is arranged below the connecting plate (1).
5. The double-sheet glass grabbing device according to claim 1, characterized in that: A flexible suction cup mechanism (6) is respectively provided at both ends of the first auxiliary cross bar (4.1); two flexible suction cup mechanisms (6) are provided between the two ends of the first auxiliary cross bar (4.1), one being provided on the left side of the first auxiliary cross bar (4.1) and the other being provided on the right side of the first auxiliary cross bar (4.1); the flexible suction cup mechanism (6) below the second auxiliary cross bar (4.2) and the flexible suction cup mechanism (6) below the first auxiliary cross bar (4.1) are symmetrically arranged up and down along a horizontal line.
6. The double-sheet glass grabbing device according to claim 1, characterized in that: The left Y-axis side measuring device (8) is arranged at the front ends of the first auxiliary cross bar (4.1) and the second auxiliary cross bar (4.2), and is arranged at the front side of the left connecting rod (4.3).
7. The double-sheet glass grabbing device according to claim 1, characterized in that: The right Y-axis side measuring device (10) is arranged at the front ends of the third auxiliary cross bar (5.1) and the fourth auxiliary cross bar (5.2), and is arranged at the front side of the right connecting rod (5.3).
8. The double-sheet glass grabbing device according to claim 1, characterized in that: One end of the X-axis edge measuring device (9) is fixed on the first supporting long rod ( 7.1), and the other end is fixed to the center of the second supporting long rod (7.2).
9. The double-sheet glass grabbing device according to claim 1, characterized in that: The first auxiliary cross bar (4.1), the second auxiliary cross bar (4.2), the third auxiliary cross bar (5.1) and the fourth auxiliary cross bar (5.2) are connected via bolts and angle pieces.