A robot front-end gripper device for grasping glass

Abstract

The utility model relates to a robot front-end gripper device for grasping glass, comprising a mounting frame, a connecting flange for connecting to the robot working end is fixed on the top of the mounting frame, a gripper unit is mounted on the mounting frame, and the gripper unit comprises a plurality of gripper components arranged in an array, the robot drives the mounting frame to move through the connecting flange, thereby driving the gripper unit to move to the top of the glass through the mounting frame; a locking cylinder and a suction cup are arranged in a single gripper component, the output end of the locking cylinder is connected to the suction cup, and the locking cylinder drives the suction cup to move linearly, so that the corresponding suction cup is close to the top of the glass, thereby enabling the gripper unit to grasp the glass stably. By setting the gripper unit, it is possible to effectively grasp glass of different specifications, with good compatibility and high grasping efficiency, and can effectively improve production efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile assembly, in particular to a robot front end gripper device for gripping glass. Background Art

[0002] Glass is an important component in the automobile assembly process. For large buses, a single bus is equipped with more than a dozen types of glass with various specifications, including sliding window glass, insulating glass, small area glass and other glass with complex gripping surfaces.

[0003] The glass grippers in the prior art are usually only used to grip glass of one specification, which is difficult to meet the production requirements of various types and specifications of glass during the assembly of buses. They have poor compatibility and each type of glass needs to be equipped with a corresponding gripper, resulting in poor gripping efficiency, thereby reducing production efficiency. Utility Model Content

[0004] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a robot front-end gripper device for grasping glass. By setting a gripper unit, it is compatible with different specifications of glass for effective grasping, has good compatibility and high grasping efficiency, and can effectively improve production efficiency.

[0005] The technical solution adopted by the utility model is as follows:

[0006] A robot front-end gripper device for grasping glass, comprising a mounting frame, a connecting flange for connecting to a robot working end is fixed on the top of the mounting frame, a gripper unit is mounted on the mounting frame, and the gripper unit comprises a plurality of gripper assemblies arranged in an array, the robot drives the mounting frame to move through the connecting flange, and thus drives the gripper unit to move to the top of the glass through the mounting frame;

[0007] A locking cylinder and a suction cup are provided in a single gripper assembly. The output end of the locking cylinder is connected to the suction cup. The locking cylinder drives the suction cup to move linearly, so that the corresponding suction cup is close to the top of the glass, thereby enabling the gripper unit to stably grip the glass.

[0008] As a further improvement of the above technical solution:

[0009] The structure of a single gripper assembly is as follows: it includes a locking cylinder, which is fixed to a mounting frame through a cylinder support block, a mounting hole is provided in the middle of the cylinder support block, a guide sleeve is installed in the mounting hole, a guide hole is provided in the middle of the guide sleeve, a connecting rod is installed in the guide hole, one end of the connecting rod is connected to the output end of the locking cylinder, and the other end is connected to the adapter, and a suction cup is installed at the bottom of the adapter.

[0010] The adapter is provided with an air hole.

[0011] The adapter is connected to an external air source through an air hole. The external air source generates negative pressure, thereby driving the suction cup to absorb the glass through the air hole. The external vacuum source generates positive pressure, thereby driving the suction cup to separate from the glass through the air hole.

[0012] The single connecting rod is connected to the output end of the locking cylinder through a floating joint.

[0013] A pneumatic control component is also installed on the top of the installation frame. The pneumatic control component is electrically connected to an external control system. The external control system controls the action of the locking cylinder through the pneumatic control component.

[0014] A support plate is fixedly mounted on the top of the mounting frame, and the support plate is used for mounting a pneumatic control component.

[0015] The pneumatic control assembly includes a plurality of vacuum generators for supplying air to the locking cylinder. The vacuum generators are controlled by a valve island, and the valve island includes a plurality of solenoid valves.

[0016] A pressure gauge is installed on each vacuum generator.

[0017] The beneficial effects of the utility model are as follows:

[0018] The utility model has a compact and reasonable structure and is easy to operate. By setting a grabbing unit and based on a locking cylinder, it can adapt to the height difference of the glass and meet the fully flexible grabbing requirements of glass products of different shapes and sizes, thereby meeting the production needs of bus glass grabbing, reducing manual participation and improving grabbing efficiency and production efficiency.

[0019] The utility model also has the following advantages:

[0020] (1) The installation frame of the utility model is made of aluminum profile, and the overall structural stability is reliable.

[0021] (2) The gripper components in the gripper unit of the utility model are arranged in an array, and the form of the array can be set according to usage requirements, with high flexibility and good compatibility. Moreover, the gripper components in the array are independently controlled and can match the shape and size of the glass, thereby further improving compatibility.

[0022] (3) In the present invention, a locking cylinder is provided so that the suction cup can move freely along the axial direction of the guide hole in a free state, and in a locked state, the suction cup can maintain its position, so that the suction cup in the gripper unit can fit the shape of the glass, thereby improving the compatibility and gripping efficiency of the device.

[0023] (4) In the present invention, by providing a pneumatic control component, the number and position of the suction cups involved in grasping can be controlled, so that the device can adaptively grasp glass of different specifications.

[0024] (5) The present invention provides a suction cup to realize negative pressure grabbing and positive pressure detachment, which has high working efficiency and thus improves the working efficiency of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the utility model.

[0026] Figure 2 for Figure 1 main view.

[0027] Figure 3 for Figure 1 Side view of.

[0028] Figure 4 It is a structural schematic diagram of the gripper assembly in the utility model.

[0029] Figure 5 It is an exploded view of the gripper assembly in the utility model.

[0030] Figure 6 It is a structural schematic diagram of the transfer joint of the utility model.

[0031] Among them: 1. Installation frame; 2. Locking cylinder; 3. Suction cup; 4. Adapter; 401, air hole; 5. Connecting rod; 6. Guide sleeve; 7. Cylinder support block; 8. Floating joint; 9. Connecting flange; 10. Vacuum generator; 11. Solenoid valve; 12. Pressure gauge; 13. Support plate. DETAILED DESCRIPTION

[0032] The specific implementation of the present utility model is described below in conjunction with the accompanying drawings.

[0033] The structure and functions of the utility model are as follows:

[0034] like Figure 1-Figure 6As shown, a robot front-end gripper device for grasping glass includes a mounting frame 1, a connecting flange 9 for connecting to the working end of the robot is fixed on the top of the mounting frame 1, a gripper unit is mounted on the mounting frame 1, and the gripper unit includes several gripper components arranged in an array, the robot drives the mounting frame 1 to move through the connecting flange 9, and thus drives the gripper unit to move to the top of the glass through the mounting frame 1; a locking cylinder 2 and a suction cup 3 are arranged in a single gripper component, the output end of the locking cylinder 2 is connected to the suction cup 3, and the locking cylinder 2 drives the suction cup 3 to move in a straight line, so that the corresponding suction cup 3 is close to the top of the glass, thereby enabling the gripper unit to grasp the glass stably. The robot front-end gripper device of the utility model includes a mounting frame 1, a connecting flange 9, a gripper unit and corresponding pneumatic control components; wherein,

[0035] The installation frame 1 is an integral installation frame, which is formed by splicing aluminum profiles. The connecting parts used are special aluminum profile screws, and angle brackets are installed at the splicing right angles, thereby increasing the overall structural stability of the installation frame 1.

[0036] The connecting flange 9 is made of Q235A steel and is used to connect the robot front end gripper device and the robot. It is connected to the working end of the robot, so that the robot can drive the robot front end gripper device to move as a whole.

[0037] The gripper unit includes several gripper components, which are arranged in an array, which can be in a square array or a circular array;

[0038] Specifically, in the embodiments of the present invention, Figure 1-Figure 3 As shown, the gripper unit adopts a 3×4 square array form, that is, the gripper unit includes twelve gripper components, and is arranged in three rows and four columns;

[0039] like Figure 4-Figure 5 As shown, the structure of a single gripper assembly is as follows: it includes a locking cylinder 2, which is fixed to a mounting frame 1 through a cylinder support block 7, a mounting hole is provided in the middle of the cylinder support block 7, a guide sleeve 6 is installed in the mounting hole, a guide hole is provided in the middle of the guide sleeve 6, a connecting rod 5 is installed in the guide hole, one end of the connecting rod 5 is connected to the output end of the locking cylinder 2, and the other end is connected to an adapter 4, and a suction cup 3 is installed at the bottom of the adapter 4;

[0040] like Figure 5 As shown, a single connecting rod 5 is connected to the output end of the locking cylinder 2 via a floating joint 8;

[0041] A single gripper assembly includes a locking cylinder 2, a suction cup 3, an adapter 4, a connecting rod 5, a guide sleeve 6, a cylinder support block 7, and a floating joint 8; the output end of the locking cylinder 2 is connected to the suction cup 3 through the floating joint 8, the connecting rod 5, and the adapter 4 in sequence;

[0042] The cylinder support block 7 is used to fix the locking cylinder 2 on the mounting frame 1. The middle part of the cylinder support block 7 is fixed with a guide sleeve 6, and the middle part of the guide sleeve 6 is slidably mounted with a connecting rod 5.

[0043] The locking cylinder 2 has two states: loose and locked. In the loose state, the locking cylinder 2 extends or retracts, thereby driving the suction cup 3 to move linearly along the axial direction of the guide hole of the guide sleeve 6, so that the suction cup 3 can fit the glass surface; in the locked state, the locking cylinder 2 can maintain the output position, so that the suction cup 3 is fixed;

[0044] The floating joint 8 enables the connecting rod 5 to float freely in a certain space, which can improve the fit between the suction cup 3 and the glass, and further improve the compatibility of the robot front-end gripper device;

[0045] like Figure 6 As shown, an air hole 401 is provided on the adapter 4, and the adapter 4 is connected to an external air source through the air hole 401. The external air source generates negative pressure, thereby driving the suction cup 3 to absorb the glass through the air hole 401, and the external vacuum source generates positive pressure, thereby driving the suction cup 3 to separate from the glass through the air hole 401.

[0046] A pneumatic control component is also installed on the top of the installation frame 1. A support plate 3 is fixedly installed on the top of the installation frame 1. The support plate 3 is used to install the pneumatic control component.

[0047] The pneumatic control component is electrically connected to the external control system, and the external control system controls the action of the locking cylinder 2 through the pneumatic control component;

[0048] The pneumatic control assembly includes a plurality of vacuum generators 10 for supplying air to the locking cylinder 2. The vacuum generators 10 are controlled by a valve island, and the valve island includes a plurality of solenoid valves 11. The vacuum generators 10 correspond to the locking cylinders 2 one by one.

[0049] A pressure gauge 12 is installed on each vacuum generator 10 , and the pressure gauge 12 is used to monitor the output pressure of the corresponding vacuum generator.

[0050] The working process of the utility model is as follows:

[0051] In the initial state, all the locking cylinders 2 in the grabbing unit are extended to the maximum position and are in a loose state, and at the same time, the external air source is closed;

[0052] The external control system plans the motion path of the robot and the grasping path of the grasping unit. According to the instructions of the external control system, the valve island controls the output of the vacuum generator 10, thereby controlling the action of the corresponding locking cylinder 2 through the vacuum generator 10;

[0053] The robot drives the gripping unit to the glass surface. At this time, since the locking cylinder 2 is in a loose state, it can be freely extended or retracted, so that the suction cup 3 can adaptively fit the surface shape of the glass;

[0054] Subsequently, the valve island controls the corresponding locking cylinder 2 to be locked through the vacuum generator 10, so that the suction cup 3 is kept at the corresponding output position;

[0055] Next, the external air source generates negative pressure, which drives the suction cup 3 to generate negative pressure through the air hole 401 of the adapter 4, thereby sucking up the glass. Driven by the robot, the front gripper device of the robot grabs the glass and moves it to the target position;

[0056] After reaching the target position, the external air source generates positive pressure, which drives the suction cup 3 to generate positive pressure through the air hole 401 of the adapter 4, so that the suction cup 3 is separated from the glass surface;

[0057] Finally, the robot's front gripper device returns to its initial position and initial state.

[0058] In addition, when the volume of the glass is large, more suction cups 3 will fit the glass surface to generate greater suction; when the volume of the glass is small, the grabbing action can be achieved by a small number of suction cups 3. At this time, the suction cups 3 that do not participate in the grabbing are retracted under the drive of the locking cylinder 2.

[0059] The above description is an explanation of the utility model, not a limitation of the utility model. The scope of the utility model is defined by the claims. Any form of modification can be made within the protection scope of the utility model.

Claims

1. A robot front-end gripper device for grasping glass, characterized in that: The robot comprises a mounting frame (1), a connecting flange (9) for connecting to a working end of a robot is fixed on the top of the mounting frame (1), a gripper unit is mounted on the mounting frame (1), and the gripper unit comprises a plurality of gripper components arranged in an array, and the robot drives the mounting frame (1) to move via the connecting flange (9), thereby driving the gripper unit to move to the top of the glass via the mounting frame (1); A locking cylinder (2) and a suction cup (3) are provided in a single gripper assembly, wherein the output end of the locking cylinder (2) is connected to the suction cup (3), and the locking cylinder (2) drives the suction cup (3) to move linearly, thereby making the corresponding suction cup (3) close to the top of the glass, thereby making the gripper unit stably grip the glass.

2. A robot front-end gripper device for grasping glass according to claim 1, characterized in that: The structure of a single gripper assembly is as follows: it includes a locking cylinder (2), the locking cylinder (2) is fixed to the mounting frame (1) through a cylinder support block (7), a mounting hole is provided in the middle of the cylinder support block (7), a guide sleeve (6) is installed in the mounting hole, a guide hole is provided in the middle of the guide sleeve (6), a connecting rod (5) is installed in the guide hole, one end of the connecting rod (5) is connected to the output end of the locking cylinder (2), and the other end is connected to the adapter (4), and a suction cup (3) is installed at the bottom of the adapter (4).

3. A robot front-end gripper device for grasping glass according to claim 2, characterized in that: The adapter (4) is provided with an air hole (401).

4. A robot front-end gripper device for grasping glass according to claim 3, characterized in that: The adapter (4) is connected to an external air source via an air hole (401); the external air source generates negative pressure, thereby driving the suction cup (3) to absorb the glass via the air hole (401); and the external air source generates positive pressure, thereby driving the suction cup (3) to detach from the glass via the air hole (401).

5. The robot front end gripper device for grasping glass according to claim 2, characterized in that: The single connecting rod (5) is connected to the output end of the locking cylinder (2) via a floating joint (8).

6. The robot front end gripper device for grasping glass according to claim 1, characterized in that: A pneumatic control component is also installed on the top of the installation frame (1), and the pneumatic control component is electrically connected to an external control system, and the external control system controls the action of the locking cylinder (2) through the pneumatic control component.

7. A robot front end gripper device for grasping glass according to claim 6, characterized in that: A support plate (13) is fixedly mounted on the top of the mounting frame (1), and the support plate (13) is used for mounting a pneumatic control component.

8. The robot front end gripper device for grasping glass according to claim 6, characterized in that: The pneumatic control assembly comprises a plurality of vacuum generators (10) for supplying air to the locking cylinder (2); the vacuum generators (10) are controlled by a valve island, and the valve island comprises a plurality of solenoid valves (11).

9. The robot front end gripper device for grasping glass according to claim 6, characterized in that: A pressure gauge (12) is mounted on a single vacuum generator (10).

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