Glass plate hot bending device for manipulator

Abstract

The utility model relates to a glass plate hot bending device for a manipulator. The mechanical arm comprises a mechanical arm body. A first connecting plate is hinged to the middle of the mechanical arm body. The top of the first connecting plate is fixedly connected with an air injection mechanism; the bottom of the first connecting plate is fixedly connected with a second connecting plate; a plurality of first springs are fixedly connected to the bottom of the second connecting plate; the end part of the first spring is fixedly connected with a third connecting plate; the bottom of the third connecting plate is fixedly connected with a suction cup. The air injection mechanism comprises an air cylinder; the middle of the air cylinder is slidably connected with a connecting rod. The suction cups can be tightly attached to the surface of the glass plate under the contraction action of the first springs after making contact with the glass plate, glass plates of different shapes and different sizes can be clamped by the device, the fixing flexibility of the device to the glass plates of different shapes and different sizes is improved, and the glass plate conveying variety range of the device is widened.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent equipment manufacturing, in particular to a glass plate hot bending device for a robot. Background Art

[0002] A robot is an automatic device that can imitate certain movements of human hands and arms to grab, move objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, combining the advantages of both humans and robots.

[0003] In the work of hot bending of glass plates, the high-precision operation and powerful grasping and handling capabilities of the robot make it an ideal choice for transportation devices in the process of hot bending of glass plates. The robot can accurately clamp and transport the glass plates as needed.

[0004] Existing manipulators usually use suction cups to clamp and fix glass plates when transporting them. It is found in usage observation that glass plates are processed in various styles, and the suction cup clamps need to be adjusted when clamping and transporting different glass plates, which makes the glass plate transportation work more cumbersome and increases the time required for the work.

[0005] Therefore, in order to solve the above problems, a glass plate hot bending device for a robot is proposed. Utility Model Content

[0006] Therefore, the technical problem to be solved by the utility model is to overcome the problem in the prior art that the suction cup clamp needs to be adjusted when different glass plates are clamped and transported.

[0007] In order to solve the above technical problems, the utility model provides a glass plate hot bending device for a robot, comprising a robot arm body; a first connecting plate is hingedly connected to the middle part of the robot arm body; a jet mechanism is fixedly connected to the top of the first connecting plate; a second connecting plate is fixedly connected to the bottom of the first connecting plate; a plurality of first springs are fixedly connected to the bottom of the second connecting plate; a third connecting plate is fixedly connected to the end of the first spring; a suction cup is fixedly connected to the bottom of the third connecting plate; after the suction cup comes into contact with the glass plate, it will cling to the surface of the glass plate under the contraction action of the first spring, thereby realizing the clamping of glass plates of different shapes and sizes by the device, improving the flexibility of the device in fixing glass plates of different shapes and sizes, and increasing the range of types of glass plates transported by the device.

[0008] In one embodiment of the utility model, the jet mechanism includes a cylinder; a connecting rod is slidably connected to the middle part of the cylinder; the connecting rod and the cylinder are through-set; a cross plate is fixedly connected to the top of the connecting rod; a piston plate is fixedly connected to the bottom of the connecting rod; the piston plate and the cylinder are both slidably connected; an electric push rod is fixedly connected to the top of the first connecting plate; the electric push rod and the cross plate are both fixedly connected; the cylinder is connected to the second connecting plate through a pipe; the second connecting plate is connected to the suction cup through a pipe; the electric push rod controls the volume of air at the bottom of the piston plate by controlling the cross plate and then controls the suction force of the suction cup on the glass plate, thereby realizing flexible control of the suction force of the suction cup by the device, so that the glass plate can be smoothly adsorbed and released by the suction cup, ensuring stable transportation of the glass plate by the robot arm body.

[0009] In one embodiment of the utility model, a plurality of second springs are fixedly connected to the bottom of the third connecting plate; a pressure ring is fixedly connected between adjacent second springs; the pressure ring and the suction cup are arranged correspondingly; through the cooperation of the pressure ring and the second spring, when the pressure ring is squeezed by the glass plate, the middle part of the suction cup will be squeezed under the action of the elastic force of the second spring, thereby reducing the interference of external gas on the suction cup, enhancing the air tightness of the suction cup itself, and improving the adsorption effect of the suction cup on the glass plate.

[0010] In one embodiment of the utility model, a motor is fixedly connected to the bottom of the second connecting plate; a rotating shaft is fixedly connected to the output end of the motor; a third spring is fixedly connected to the end of the rotating shaft; a sleeve is fixedly connected to the end of the third spring; the sleeve and the rotating shaft are slidingly matched; a fourth connecting plate is fixedly connected to the bottom of the sleeve; a plurality of sponges are fixedly connected to the top of the fourth connecting plate; the sponges and the suction cups are arranged in correspondence; after the motor is started, the sponges will rotate together with the fourth connecting plate and clean the suction cups, thereby reducing dust inside the suction cups, improving the smoothness of the inside of the suction cups, and further enhancing the adsorption effect of the suction cups on the glass plates.

[0011] In one embodiment of the utility model, a plurality of damping springs are fixedly connected to the bottom of the fourth connecting plate; a buffer plate is fixedly connected to the bottom of adjacent damping springs; through the cooperation of the damping springs and the buffer plate, the buffer plate will contact the glass plate earlier than the fourth connecting plate and the impact generated during the contact will be absorbed by the damping spring, thereby reducing the direct contact between the fourth connecting plate and the glass plate, and reducing the wear and damage of the glass plate caused by direct contact with the fourth connecting plate.

[0012] In one embodiment of the utility model, a water bag is fixedly connected to the bottom of the fourth connecting plate; the water bag and the sponge are correspondingly arranged; a first cavity is opened inside the water bag; a circular hole is opened in the middle of the fourth connecting plate; the circular hole and the first cavity are connected; a second cavity is opened inside the sponge; the first cavity and the circular hole are connected; after the water bag is squeezed by the buffer plate, the water inside will enter the second cavity and be absorbed by the sponge, so that the sponge can moisten the suction cup, reduce the gap on the surface when the suction cup and the glass plate are in contact, and reduce the interference of external air on the suction cup.

[0013] In one embodiment of the utility model, a rubber pad is fixedly connected to the bottom of the buffer plate; the rubber pad is arranged in an array; by arranging the rubber pad, the rubber pad can reduce the impact generated when the glass plate contacts the buffer plate, thereby protecting the glass plate and reducing the impact on the glass plate.

[0014] In one embodiment of the utility model, the surface of the rubber pad is a wavy structure; the four corners of the rubber pad are arc transitions; because the surface of the rubber pad is a wavy structure, when the rubber pad and the glass plate come into contact, the contact area between the rubber pad and the glass plate will increase, dispersing the local pressure of the glass plate, and enhancing the cushioning and protective effect of the rubber pad on the glass plate.

[0015] The above technical solution of the utility model has the following advantages compared with the prior art:

[0016] 1. In the glass plate hot bending device for a robot described in the utility model, after the suction cup comes into contact with the glass plate, it will be tightly attached to the surface of the glass plate under the contraction action of the first spring, so that the device can clamp glass plates of different shapes and sizes, improve the flexibility of the device in fixing glass plates of different shapes and sizes, and increase the range of types of glass plates transported by the device.

[0017] 2. In the glass plate hot bending device for a robot described in the utility model, the electric push rod controls the volume of the air at the bottom of the piston plate by controlling the cross plate and then controls the suction force of the suction cup on the glass plate, thereby realizing flexible control of the suction force of the suction cup by the device, so that the glass plate can be smoothly adsorbed and released by the suction cup, ensuring stable transportation of the glass plate by the robot arm body. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0020] Figure 2 It is a structural schematic diagram of the first connecting plate in the utility model;

[0021] Figure 3 It is a structural schematic diagram of the cylinder in the utility model;

[0022] Figure 4 It is a structural schematic diagram of the medium pressure ring of the utility model;

[0023] Figure 5 It is a structural schematic diagram of the water bag in the utility model.

[0024] Explanation of the reference numerals in the specification: 1. Robot arm body; 102. First connecting plate; 103. Jet mechanism; 104. Second connecting plate; 105. First spring; 106. Third connecting plate; 107. Suction cup; 2. Cylinder; 22. Connecting rod; 23. Electric push rod; 24. Cross plate; 25. Piston plate; 3. Pressing ring; 32. Second spring; 4. Motor; 42. Third spring; 43. Sleeve; 44. Fourth connecting plate; 45. Sponge; 46. Rotating shaft; 5. Damping spring; 52. Buffer plate; 6. Water bag; 62. First cavity; 63. Second cavity; 64. Round hole; 7. Rubber pad. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0026] Reference Figures 1 to 3As shown, a glass plate hot bending device for a robot of the utility model comprises a robot arm body 1; a first connecting plate 102 is hingedly connected to the middle part of the robot arm body 1; an air jet mechanism 103 is fixedly connected to the top of the first connecting plate 102; a second connecting plate 104 is fixedly connected to the bottom of the first connecting plate 102; a plurality of first springs 105 are fixedly connected to the bottom of the second connecting plate 104; a third connecting plate 106 is fixedly connected to the end of the first spring 105; a suction cup 107 is fixedly connected to the bottom of the third connecting plate 106; when working, the robot arm body 1 will start and drive the first connecting plate 102 to approach the glass plate, when the first connecting plate 102 approaches the glass plate, it will drive the second connecting plate 104 to move together, when the second connecting plate 104 moves, it will drive the first spring 105 to move together, when the first spring 105 moves, it will move together with the third connecting plate 106, and the third connecting plate 106 will approach the glass plate together with the suction cup 107 until the suction cup 107 and the glass plate come into contact. When the suction cup 107 contacts the glass plate, it will be subjected to the pressure exerted by the glass plate and transfer the pressure to the third connecting plate 106. After the third connecting plate 106 transfers the pressure to the first spring 105, the first spring 105 will be in a compressed state. Then the third connecting plate 106 will bring the suction cup 107 together to approach the second connecting plate 104 so that the suction cup 107 is close to the surface of the glass plate. At this time, the jet mechanism 103 will start and the air inside the suction cup 107 will be extracted. Under the action of atmospheric pressure, the suction cup 107 will have an adsorption effect on the surface of the glass plate. At this time, the device completes the fixation of the glass plate, and then the robot body 1 will start again and transport the glass plate to another working surface; after the suction cup 107 contacts the glass plate, it will be close to the surface of the glass plate under the contraction of the first spring 105, so that the device can clamp glass plates of different shapes and sizes, improve the flexibility of the device in fixing glass plates of different shapes and sizes, and increase the type range of glass plates transported by the device.

[0027] Reference Figure 3As shown, the jet mechanism 103 includes a cylinder 2; a connecting rod 22 is slidably connected to the middle part of the cylinder 2; the connecting rod 22 and the cylinder 2 are connected; a cross plate 24 is fixedly connected to the top of the connecting rod 22; a piston plate 25 is fixedly connected to the bottom of the connecting rod 22; the piston plate 25 and the cylinder 2 are both slidably connected; an electric push rod 23 is fixedly connected to the top of the first connecting plate 102; the electric push rod 23 and the cross plate 24 are both fixedly connected; the cylinder 2 is connected to the second connecting plate 104 through a pipeline; the second connecting plate 104 is connected to the suction cup 107 through a pipeline; when the suction cup 107 comes into contact with the glass plate, the electric push rod 23 will start and drive the cross plate 24 to move upward, and when the cross plate 24 moves, it will drive the connecting rod 22 to move together, and the connecting rod 22 moves When the device is to release the glass plate, the electric push rod 23 will start in the reverse direction and make the cross plate 24 drive the connecting rod 22 and the piston plate 25 to move downward, and the air at the bottom of the piston plate 25 will be discharged outward, so that the glass plate can smoothly detach from the suction cup 107; the electric push rod 23 controls the volume of the air at the bottom of the piston plate 25 by controlling the cross plate 24, thereby controlling the suction force of the suction cup 107 on the glass plate, thereby realizing the flexible control of the suction force of the suction cup 107 by the device, so that the glass plate can be smoothly adsorbed and released by the suction cup 107, thereby ensuring the stable transportation of the glass plate by the robot body 1.

[0028] Reference Figure 4 As shown, a plurality of second springs 32 are fixedly connected to the bottom of the third connecting plate 106; a pressure ring 3 is fixedly connected between adjacent second springs 32; the pressure ring 3 and the suction cup 107 are correspondingly arranged; when the suction cup 107 contacts the glass plate, the glass plate will also contact the pressure ring 3, and after being squeezed by the glass plate, the pressure ring 3 will transfer the pressure to the second spring 32 and make the second spring 32 in a compressed state, and then the second spring 32 will release the elastic potential energy and apply elastic force to the pressure ring 3, and the pressure ring 3 will squeeze the middle part of the suction cup 107 under the elastic force of the second spring 32; through the cooperation of the pressure ring 3 and the second spring 32, when the pressure ring 3 is squeezed by the glass plate, it will squeeze the middle part of the suction cup 107 under the elastic force of the second spring 32, thereby reducing the interference of external gas on the suction cup 107, enhancing the air tightness of the suction cup 107 itself, and improving the adsorption effect of the suction cup 107 on the glass plate.

[0029] Reference Figure 5As shown, the bottom of the second connecting plate 104 is fixedly connected to the motor 4; the output end of the motor 4 is fixedly connected to the rotating shaft 46; the end of the rotating shaft 46 is fixedly connected to the third spring 42; the end of the third spring 42 is fixedly connected to the sleeve 43; the sleeve 43 and the rotating shaft 46 are in sliding fit; the bottom of the sleeve 43 is fixedly connected to the fourth connecting plate 44; the top of the fourth connecting plate 44 is fixedly connected to a plurality of sponges 45; the sponges 45 and the suction cup 107 are arranged correspondingly; after the device is started, the motor 4 will also be started, and after the motor 4 is started, the rotating shaft 46 will be driven to rotate, and when the rotating shaft 46 rotates, it will drive the third spring 42 to rotate, and when the third spring 42 rotates, it will also drive the rotating shaft 46 to rotate together, and when the rotating shaft 46 rotates, the fourth connecting plate 44 and the sponge 45 will rotate together. When the sponge 45 rotates, it will come into contact with the suction cup 107 and clean the inside of the suction cup 107, reducing the dust inside the suction cup 107. When the fourth connecting plate 44 comes into contact with the glass plate, the pressure will be transmitted to the sleeve 43, and the sleeve 43 will transmit the pressure to the third spring 42 and compress the third spring 42. The fourth connecting plate 44 will move closer to the motor 4 together with the sleeve 43, so that the glass plate can continue to move closer to the suction cup 107 until the glass plate comes into contact with the suction cup 107 and is fixed by the suction cup 107. After the motor 4 is started, the sponge 45 will rotate together with the fourth connecting plate 44 and clean the suction cup 107, reducing the dust inside the suction cup 107, improving the smoothness of the inside of the suction cup 107, and further enhancing the adsorption effect of the suction cup 107 on the glass plate.

[0030] Reference Figure 5 As shown, a plurality of damping springs 5 ​​are fixedly connected to the bottom of the fourth connecting plate 44; a buffer plate 52 is fixedly connected to the bottom of the adjacent damping springs 5; before the fourth connecting plate 44 contacts the glass plate, the buffer plate 52 contacts the glass plate first, and after being squeezed by the glass plate, the buffer plate 52 transfers the pressure to the damping spring 5 and compresses the damping spring 5, and the damping spring 5 absorbs the impact received by the buffer plate 52 and transfers the weakened impact to the fourth connecting plate 44; through the cooperation of the damping spring 5 and the buffer plate 52, the buffer plate 52 contacts the glass plate earlier than the fourth connecting plate 44 and the impact generated during the contact is absorbed by the damping spring 5, thereby reducing the direct contact between the fourth connecting plate 44 and the glass plate, and reducing the wear and damage of the glass plate caused by the direct contact with the fourth connecting plate 44.

[0031] Reference Figure 5As shown, a water bag 6 is fixedly connected to the bottom of the fourth connecting plate 44; the water bag 6 and the sponge 45 are arranged correspondingly; a first cavity 62 is opened inside the water bag 6; a circular hole 64 is opened in the middle of the fourth connecting plate 44; the circular hole 64 is in communication with the first cavity 62; a second cavity 63 is opened inside the sponge 45; the first cavity 62 is in communication with the circular hole 64; water is injected into the first cavity 62, and the buffer plate 52 will approach the fourth connecting plate 44 and come into contact with the water bag 6 after contacting the glass plate, and the water After the water bag 6 is squeezed by the buffer plate 52, the water inside will be squeezed from the first cavity 62 into the circular hole 64 and enter the interior of the second cavity 63 along the circular hole 64. At this time, the sponge 45 will absorb this part of water and moisten the surface of the suction cup 107 when it contacts with the suction cup 107; after the water bag 6 is squeezed by the buffer plate 52, the water inside will enter the second cavity 63 and be absorbed by the sponge 45, so that the sponge 45 can moisten the suction cup 107, reduce the gap on the surface of the suction cup 107 when it contacts with the glass plate, and reduce the interference of the outside air on the suction cup 107.

[0032] Reference Figure 5 As shown, a rubber pad 7 is fixedly connected to the bottom of the buffer plate 52; the rubber pad 7 is arranged in an array; before the buffer plate 52 and the glass plate come into contact, the rubber pad 7 will first come into contact with the glass plate, because the rubber pad 7 is a flexible material, the rubber pad 7 will absorb the impact generated when the buffer plate 52 and the glass plate come into contact, and reduce the impact on the glass plate; by arranging the rubber pad 7, the rubber pad 7 will reduce the impact generated when the glass plate comes into contact with the buffer plate 52, play a role in protecting the glass plate, and reduce the impact on the glass plate.

[0033] Reference Figure 5 As shown, the surface of the rubber pad 7 is a wavy structure; the four corners of the rubber pad 7 are arc transitions; because the surface of the rubber pad 7 is a wavy structure, when the rubber pad 7 and the glass plate come into contact, the contact area between the rubber pad 7 and the glass plate will increase, dispersing the local pressure of the glass plate, and enhancing the cushioning and protective effect of the rubber pad 7 on the glass plate.

[0034] Working principle: the robot body 1 will start and drive the first connecting plate 102 to approach the glass plate. When the first connecting plate 102 approaches the glass plate, it will drive the second connecting plate 104 to move together. When the second connecting plate 104 moves, it will drive the first spring 105 to move together. When the first spring 105 moves, it will move together with the third connecting plate 106. The third connecting plate 106 will approach the glass plate together with the suction cup 107 until the suction cup 107 and the glass plate come into contact. When the suction cup 107 and the glass plate come into contact, they will be subjected to the pressure exerted by the glass plate and transfer the pressure to the third connecting plate 106. After the third connecting plate 106 transfers the pressure to the first spring 105, the first spring 105 will be in a compressed state. Then the third connecting plate 106 will The suction cup 107 is brought close to the second connecting plate 104 so that the suction cup 107 is in close contact with the surface of the glass plate. At this time, the jet mechanism 103 is started and the air inside the suction cup 107 is sucked out. Under the action of atmospheric pressure, the suction cup 107 has an adsorption effect on the surface of the glass plate. At this time, the device completes the fixation of the glass plate. Then the robot body 1 is started again and the glass plate is transported to another working surface. When the suction cup 107 comes into contact with the glass plate, the electric push rod 23 is started and drives the cross plate 24 to move upward. When the cross plate 24 moves, it drives the connecting rod 22 to move together. When the connecting rod 22 moves, it drives the piston plate 25 to move together. When the piston plate 25 moves, it allows the outside air to enter the inside of the cylinder 2, that is, the suction cup 107 sucks the outside air. When the device is to release the glass plate, the electric push rod 23 will start in the reverse direction and make the cross plate 24 drive the connecting rod 22 and the piston plate 25 to move downward, and the air at the bottom of the piston plate 25 will be discharged outward, so that the glass plate can smoothly leave the suction cup 107; when the suction cup 107 and the glass plate come into contact, the glass plate will also come into contact with the pressure ring 3, and the pressure ring 3 will transfer the pressure to the second spring 32 after being squeezed by the glass plate, and make the second spring 32 in a compressed state, and then the second spring 32 will release the elastic potential energy and apply elastic force to the pressure ring 3, and the pressure ring 3 will squeeze the middle part of the suction cup 107 under the elastic force of the second spring 32; after the device is started, the motor 4 will also start, and after the motor 4 starts, it will drive the rotating shaft When the rotating shaft 46 rotates, the third spring 42 rotates, and when the third spring 42 rotates, the rotating shaft 46 also rotates together. When the rotating shaft 46 rotates, the fourth connecting plate 44 and the sponge 45 rotate together. When the sponge 45 rotates, it contacts the suction cup 107 and cleans the inside of the suction cup 107 to reduce dust inside the suction cup 107. When the fourth connecting plate 44 contacts the glass plate, the pressure is transmitted to the sleeve 43. The sleeve 43 transmits the pressure to the third spring 42 and compresses the third spring 42. The fourth connecting plate 44 moves toward the motor 4 together with the sleeve 43, so that the glass plate can continue to move toward the suction cup 107 until the glass plate contacts the suction cup 107 and is fixed by the suction cup 107.Before the fourth connecting plate 44 comes into contact with the glass plate, the buffer plate 52 will first come into contact with the glass plate. After being squeezed by the glass plate, the buffer plate 52 will transfer the pressure to the damping spring 5 and compress the damping spring 5. The damping spring 5 will absorb the impact of the buffer plate 52 and transfer the weakened impact to the fourth connecting plate 44. Water is injected into the first cavity 62. After the buffer plate 52 comes into contact with the glass plate, it will approach the fourth connecting plate 44 and come into contact with the water bag 6. After the water bag 6 is squeezed by the buffer plate 52, the water inside will be squeezed from the first cavity 62 into the circular hole 64 and Entering the interior of the second cavity 63 along the circular hole 64, the sponge 45 will absorb this part of water and wet the surface of the suction cup 107 when it contacts the suction cup 107; before the buffer plate 52 contacts the glass plate, the rubber pad 7 will contact the glass plate first, because the rubber pad 7 is a flexible material, the rubber pad 7 will absorb the impact generated when the buffer plate 52 contacts the glass plate, and reduce the impact on the glass plate; because the surface of the rubber pad 7 is a wavy structure, when the rubber pad 7 contacts the glass plate, the contact area between the rubber pad 7 and the glass plate will increase, dispersing the local pressure of the glass plate. ;

[0035] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A glass plate bending device for a robot, comprising a robot arm body (1), characterized in that: A first connecting plate (102) is hingedly connected in the middle of the robot arm body (1); an injection mechanism (103) is fixedly connected to the top of the first connecting plate (102); a second connecting plate (104) is fixedly connected to the bottom of the first connecting plate (102); a plurality of first springs (105) are fixedly connected to the bottom of the second connecting plate (104); a third connecting plate (106) is fixedly connected to the end of the first spring (105); and a suction cup (107) is fixedly connected to the bottom of the third connecting plate (106).

2. The glass plate bending device for a robot according to claim 1, characterized in that: The jet mechanism (103) comprises a cylinder (2); a connecting rod (22) is slidably connected to the middle of the cylinder (2); the connecting rod (22) and the cylinder (2) are connected in a through arrangement; a cross plate (24) is fixedly connected to the top of the connecting rod (22); a piston plate (25) is fixedly connected to the bottom of the connecting rod (22); the piston plate (25) and the cylinder (2) are both slidably connected; an electric push rod (23) is fixedly connected to the top of the first connecting plate (102); the electric push rod (23) and the cross plate (24) are both fixedly connected; the cylinder (2) and the second connecting plate (104) are connected via a pipeline; the second connecting plate (104) and the suction cup (107) are connected via a pipeline.

3. The glass plate bending device for a robot according to claim 2, characterized in that: A plurality of second springs (32) are fixedly connected to the bottom of the third connecting plate (106); a pressure ring (3) is fixedly connected between adjacent second springs (32); and the pressure ring (3) and the suction cup (107) are arranged correspondingly.

4. The glass plate bending device for a robot according to claim 3, characterized in that: The bottom of the second connecting plate (104) is fixedly connected to a motor (4); the output end of the motor (4) is fixedly connected to a rotating shaft (46); the end of the rotating shaft (46) is fixedly connected to a third spring (42); the end of the third spring (42) is fixedly connected to a sleeve (43); the sleeve (43) and the rotating shaft (46) are in sliding fit; the bottom of the sleeve (43) is fixedly connected to a fourth connecting plate (44); the top of the fourth connecting plate (44) is fixedly connected to a plurality of sponges (45); the sponges (45) and the suction cups (107) are arranged correspondingly.

5. The glass plate bending device for a robot according to claim 4, characterized in that: A plurality of damping springs (5) are fixedly connected to the bottom of the fourth connecting plate (44); and a buffer plate (52) is fixedly connected to the bottom of an adjacent damping spring (5).

6. The glass plate bending device for a robot according to claim 5, characterized in that: A water bag (6) is fixedly connected to the bottom of the fourth connecting plate (44); the water bag (6) and the sponge (45) are arranged correspondingly; a first cavity (62) is provided inside the water bag (6); a circular hole (64) is provided in the middle of the fourth connecting plate (44); the circular hole (64) and the first cavity (62) are in a communicating relationship; a second cavity (63) is provided inside the sponge (45); the first cavity (62) and the circular hole (64) are in a communicating relationship.

7. The glass plate bending device for a robot according to claim 6, characterized in that: A rubber pad (7) is fixedly connected to the bottom of the buffer plate (52); the rubber pads (7) are arranged in an array.

8. The glass plate bending device for a robot according to claim 7, characterized in that: The surface of the rubber pad (7) is a wave-shaped structure; the four corners of the rubber pad (7) are arc transitions.

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