Membrane trimming manipulator

Abstract

The membrane trimming manipulator comprises a framework, a first sliding rod, a first bearing, a second bearing, a second sliding rod, a compressed spring, a connector, a swing arm, a tension spring, a pneumatic claw, a blade clamping block and a blade, a flange plate is arranged at the tail end of the framework, the framework can be connected with a robot claw flange plate through the flange plate, and the first bearing and the second bearing are fixedly arranged on the framework; the first sliding rod and the second sliding rod are arranged in parallel, the first sliding rod and the second sliding rod are arranged in the first bearing and the second bearing respectively and can slide front and back, the first sliding rod and the second sliding rod are both sleeved with compressed springs, and connectors are fixed to the ends of the first sliding rod and the second sliding rod. According to the utility model, the sensitivity of angle swing of the blade can be improved, so that the blade is always attached to the edges of inner and outer layers of glass of laminated glass, and the edge of a cut membrane does not protrude out of the edges of the glass.

Description

Technical Field

[0001] The utility model relates to the field of automobile glass production equipment, in particular to a diaphragm trimming manipulator. Background Art

[0002] Due to the requirements of relevant safety regulations and the requirements of different performances such as heat insulation and noise reduction, most of the glass on cars is a sandwich structure, that is, a layer of diaphragm with special properties is sandwiched between the inner and outer layers of glass. This diaphragm must extend a certain length outside the edge of the glass outline due to process requirements during the production process, and the finished glass requires that the diaphragm must not exceed the edge of the glass outline, so special equipment is needed to remove the diaphragm that exceeds the edge of the glass outline. The equipment currently available on the market, including our company's existing equipment for removing the edge of the diaphragm, adopts the principle of belt grinding, using a high-speed rotating annular grinding belt to grind the edge of the laminated glass. Because the hardness of the diaphragm is much lower than that of the glass and is easily worn away by the grinding belt, the edge of the diaphragm can be ground to be flush with the edge of the glass without basically damaging the glass, thus completing the production.

[0003] Although the existing belt-type diaphragm trimming equipment has the advantage of smooth edges of finished glass diaphragms, it also has some disadvantages. The high-speed rotation of the grinding belt makes a lot of noise, and grinding dust will inevitably appear during the grinding process. The production site environment is poor, and additional dust removal equipment is required. The products after grinding also require additional cleaning equipment for cleaning. In order to ensure the grinding effect, the production speed is slow, and it is difficult to significantly improve production efficiency. The grinding belt is grinding the glass while grinding the diaphragm. The finished glass edge has a frosted and rough surface. If the grinding belt grinds the diaphragm for a little longer, the glass edge will be polished and cause defects. At the same time, the grinding belt will also grind the hard glass edge, which results in a short life of the grinding belt. The grinding belt needs to be replaced frequently to ensure the grinding effect, which leads to increased costs.

[0004] In order to solve the shortcomings of existing grinding belt trimming equipment, our company has developed a membrane trimming robot. The membrane that exceeds the edge of the laminated glass is cut off with a blade clamped by the robot to complete the production. The trimming robot of this application can be connected to the robot gripper flange and perform membrane cutting based on the robot. Utility Model Content

[0005] The utility model aims to provide a diaphragm trimming robot to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a diaphragm trimming robot, comprising a skeleton, a first slide bar, a first bearing, a second bearing, a second slide bar, a compression spring, a joint, a swing arm, a tension spring, an air claw, a blade clamping block and a blade, wherein a flange is provided at the end of the skeleton, and the skeleton can be connected to the robot gripper flange through the flange, and the first bearing and the second bearing are fixed on the skeleton; the first slide bar and the second slide bar are arranged in parallel, the first slide bar and the second slide bar are respectively arranged in the first bearing and the second bearing and can slide back and forth, the first slide bar and the second slide bar are both covered with compression springs, and joints are fixed at the ends of the first slide bar and the second slide bar.

[0007] Preferably, the middle and bottom of the swing arm are connected to the two joints at the ends of the first slide bar and the second slide bar through a pin shaft, and the swing arm is L-shaped and an air claw is installed at its upper end.

[0008] Preferably, a blade clamping block is fixed on the claw body of the air claw, and the blade clamping block is used to clamp the blade.

[0009] Preferably, one end of the tension spring is fixed to the frame, and the other end is connected to the swing arm.

[0010] Preferably, the blade is located on the extension line of the middle line of the first slide bar and the second slide bar.

[0011] Compared with the prior art, the beneficial effects of the utility model are:

[0012] 1. The height at which the blade of the utility model contacts the film for cutting is approximately in the middle of the first and second slide bars. When the blade swings at an angle, the first and second slide bars can be quickly extended and retracted, so that the blade is always in contact with the edges of the inner and outer layers of the laminated glass, so that the edge of the film after cutting does not protrude from the edge of the glass.

[0013] 2. The tension spring provided in the utility model can be used to balance the air claw, the blade clamping block, and the weight of the blade, so that the forces on the compression springs on the first and second slide bars are substantially the same, thereby improving the sensitivity of the blade angle swing.

[0014] 3. The blade clamping block of the utility model can clamp the common double-sided blades on the market for production, and can effectively control the movement and deformation of the blade during the process of cutting the membrane, thereby reducing the purchase and use costs of the blade. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0016] Figure 2 This is a schematic diagram of the state of the blade cutting glass in the embodiment of the utility model.

[0017] In the figure: 1. frame; 2. first slide bar; 3. first bearing; 4. second bearing; 5. second slide bar; 6. compression spring; 7. joint; 8. swing arm; 9. tension spring; 10. air claw; 11. blade clamping block; 12. blade. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0020] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] See also Figure 1-2 The utility model provides a technical solution: a diaphragm trimming robot, comprising a skeleton 1, a first slide bar 2, a first bearing 3, a second bearing 4, a second slide bar 5, a compression spring 6, a joint 7, a swing arm 8, a tension spring 9, an air claw 10, a blade clamping block 11 and a blade 12, wherein a flange is provided at the end of the skeleton 1, the skeleton 1 can be connected to the robot gripper flange through the flange, and the first bearing 3 and the second bearing 4 are fixed on the skeleton 1; the first slide bar 2 and the second slide bar 5 are arranged in parallel, the first slide bar 2 and the second slide bar 5 are respectively arranged in the first bearing 3 and the second bearing 4 and can slide back and forth, the first slide bar 2 and the second slide bar 5 are both sleeved with compression springs 6, and the ends of the first slide bar 2 and the second slide bar 5 are fixed with joints 7.

[0022] In this embodiment, the middle and bottom of the swing arm 8 are connected to the two joints 7 at the ends of the first slide bar 2 and the second slide bar 5 through a pin shaft. The swing arm 8 is L-shaped and an air claw 10 is installed at its upper end.

[0023] In this embodiment, a blade clamping block 11 is fixed on the claw body of the air claw 10 , and the blade clamping block 11 is used to clamp a blade 12 .

[0024] In this embodiment, one end of the tension spring 9 is fixed on the frame 1 , and the other end is connected to the swing arm 8 .

[0025] In this embodiment, the tension spring 9 can be used to balance the weight of the air claw 10, the blade clamping block 11, and the blade 12, so that the compression spring 6 on the first slide bar 2 and the second slide bar 5 are subjected to basically the same force, which can improve the sensitivity of the blade angle swing.

[0026] In this embodiment, the specially designed blade clamping block 11 can clamp the common double-sided blades on the market for production, and can effectively control the movement and deformation of the blades during the film cutting process, thereby reducing the purchase and use costs of the blades.

[0027] like Figure 2 As shown, the height at which the blade 12 contacts the membrane for cutting is approximately in the middle of the first slide bar 2 and the second slide bar 5. When the blade 12 swings at an angle, the first slide bar 2 and the second slide bar 5 can be quickly retracted and retracted, so that the blade 12 is always in contact with the edges of the inner and outer layers of the laminated glass, so that the edge of the membrane after cutting does not protrude from the edge of the glass.

[0028] During operation, the two fingers of the air gripper 10 are fixed with a blade clamping block 11, and the two fingers of the air gripper 10 can be moved to both sides to open. At this time, the air gripper 10 is moved to the designated position of the blade 12, and the two fingers of the air gripper 10 are clamped inward, and the blade 12 is reliably fixed by the blade clamping block 11. The whole set of mechanisms is moved to the designated position of the edge of the glass to be produced by the robot. At this time, the membrane between the two pieces of glass is basically in the middle position of the blade length, and the compression spring 6 installed on the first slide bar 2 and the second slide bar 5 is compressed to a certain length, so that the blade has a certain pre-pressure to press against the edge of the membrane and the glass. The blade and the edge of the membrane need to be at a certain angle so that the blade can cut into the membrane. The robot drives the manipulator to walk along the edge of the glass with the blade, and the edge of the membrane that exceeds the edge of the glass is cut off with a knife to complete the operation.

[0029] It is worth noting that the entire device realizes motion control through a robot control cabinet. Since robots and control cabinets are commonly used equipment and belong to existing mature technologies, their electrical connection relationship and specific circuit structure will not be described in detail here.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A diaphragm trimming robot, characterized in that: The robot comprises a frame (1), a first slide bar (2), a first bearing (3), a second bearing (4), a second slide bar (5), a compression spring (6), a joint (7), a swing arm (8), a tension spring (9), an air gripper (10), a blade clamping block (11) and a blade (12), wherein a flange is provided at the end of the frame (1), the frame (1) can be connected to a robot gripper flange via the flange, and a first bearing (3) and a second bearing (4) are fixed on the frame (1); the first slide bar (2) and the second slide bar (5) are arranged in parallel, the first slide bar (2) and the second slide bar (5) are respectively arranged in the first bearing (3) and the second bearing (4) and can slide forward and backward, the first slide bar (2) and the second slide bar (5) are both sleeved with compression springs (6), and joints (7) are fixed at the ends of the first slide bar (2) and the second slide bar (5).

2. A diaphragm trimming robot according to claim 1, characterized in that: The middle and bottom of the swing arm (8) are connected to two joints (7) at the ends of the first slide bar (2) and the second slide bar (5) through a pin shaft. The swing arm (8) is L-shaped and an air claw (10) is installed at its upper end.

3. A diaphragm trimming robot according to claim 2, characterized in that: A blade clamping block (11) is fixed on the claw body of the air claw (10), and the blade clamping block (11) is used to clamp a blade (12).

4. The diaphragm trimming robot according to claim 1, characterized in that: One end of the tension spring (9) is fixed on the frame (1), and the other end is connected to the swing arm (8).

5. The diaphragm trimming robot according to claim 1, characterized in that: The blade (12) is located on the extended line of the middle line of the first slide bar (2) and the second slide bar (5).

Images