Cover plate clamp of manipulator

Abstract

The utility model relates to the technical field of cover plate clamps, in particular to a cover plate clamp of a manipulator, which comprises an assembly base plate and a grabbing support. The grabbing support is arranged on one end face of the assembling base plate in the thickness direction, a supporting rod with the axis perpendicular to the assembling base plate is arranged at the lower end of the grabbing support, the extending direction of the supporting rod is far away from the assembling base plate, a positioning clamp is arranged on the grabbing support, and the positioning clamp is used for positioning a cover plate on the supporting rod. A plurality of suction cups are arranged on the grabbing support. According to the utility model, rapid positioning of the cover plate can be realized without a camera.

Description

Technical Field

[0001] The utility model relates to the technical field of cover plate clamps, in particular to a cover plate clamp of a manipulator. Background Art

[0002] Before and after coating, the cover plate needs to be placed on the glass. Currently, the cover plate is placed manually or mechanically. Due to the low degree of automation of the manual method, it is not suitable for production lines with strong continuity. However, the mechanical method currently uses camera-assisted positioning to enable the robot to correctly grasp the cover plate, but the camera-assisted positioning requires regular memory cleaning to ensure the normal operation of the equipment. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a cover plate clamp of a manipulator to realize the rapid positioning of the cover plate.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is: a cover plate clamp of a robot, comprising an assembly substrate and a grabbing bracket; the grabbing bracket is arranged on an end face of the assembly substrate in the thickness direction, and a support rod with an axis perpendicular to the assembly substrate is arranged at the lower end of the grabbing bracket, and the extension direction of the support rod is away from the assembly substrate, and a positioning clamp is arranged on the grabbing bracket, and the positioning clamp is used to position the cover plate on the support rod, and a plurality of suction cups are arranged on the grabbing bracket.

[0005] Furthermore, the positioning fixture includes a linear reciprocating device and a push rod, the linear reciprocating device has two movable ends with opposite moving directions, and the movable end of the linear reciprocating device is provided with a push rod.

[0006] Furthermore, a protective pad is sleeved on the shaft of the putter.

[0007] Furthermore, a slide rail is provided at the lower end of the grabbing bracket, the support rod is slidably provided on the slide rail, and the sliding direction of the support rod faces the upper end of the assembly substrate.

[0008] Furthermore, a vacuum generator is provided on an end surface of the grabbing bracket facing the assembly substrate, and the vacuum generator is connected to a suction cup pipeline.

[0009] Furthermore, a flange connection tube is provided on an end surface of the assembly substrate away from the grabbing bracket.

[0010] Furthermore, a protective pad is sleeved on the rod body of the support rod.

[0011] The beneficial effect of the utility model is that, different from the prior art, the manipulator is connected to the assembly substrate through a grabbing bracket with a support rod and a positioning fixture. In the process of grabbing the cover plate, the manipulator first absorbs the cover plate through the suction cup on the grabbing bracket, and then the manipulator moves to tilt the grabbing bracket and let the suction cup release the cover plate, so that the cover plate slides onto the support rod by itself under the action of gravity, and then the positioning fixture positions the cover plate on the support rod, and then the suction cup absorbs the cover plate again, and finally the manipulator completes the placement of the cover plate on the glass or places the cover plate on the rack. Not only does it save the use of a camera for auxiliary positioning, but it can also effectively complete the positioning of the cover plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A schematic diagram of the structure of a cover plate fixture of a manipulator proposed in the utility model Figure 1 ;

[0013] Figure 2 A schematic diagram of the structure of a cover plate fixture of a manipulator proposed in the utility model Figure 2 ;

[0014] Description of labels:

[0015] 1. Assemble the base plate; 11. Flange connection cylinder;

[0016] 2. Grasping bracket; 21. Support rod; 22. Positioning fixture; 221. Linear reciprocating device; 222. Push rod; 23. Suction cup; 24. Slide rail. DETAILED DESCRIPTION

[0017] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0018] Please refer to Figure 1 and Figure 2 As shown, the utility model is a cover plate clamp of a robot, comprising an assembly substrate 1 and a grabbing bracket 2; the grabbing bracket 2 is arranged on one end face of the assembly substrate 1 in the thickness direction, and a support rod 21 with an axis perpendicular to the assembly substrate 1 is arranged at the lower end of the grabbing bracket 2, and the extension direction of the support rod 21 is away from the assembly substrate 1, and a positioning fixture 22 is arranged on the grabbing bracket 2, and the positioning fixture 22 is used to position the cover plate on the support rod 21, and a plurality of suction cups 23 are arranged on the grabbing bracket 2.

[0019] Working principle: Connect the assembly substrate 1 to the end effector of the manipulator. In the process of grabbing the cover, the manipulator first absorbs the cover through the suction cup 23 on the grab bracket 2, and then the manipulator moves to tilt the grab bracket 2 and let the suction cup 23 release the cover, so that the cover slides onto the support rod 21 by itself under the action of gravity, and then the positioning fixture 22 positions the cover on the support rod 21, and then the suction cup 23 absorbs the cover again, and finally the manipulator completes the placement of the cover on the glass or places the cover on the rack.

[0020] Please refer to Figure 1 As shown, further, the positioning fixture 22 includes a linear reciprocating device 221 and a push rod 222 , the linear reciprocating device 221 has two movable ends with opposite moving directions, and the movable end of the linear reciprocating device 221 is provided with a push rod 222 .

[0021] From the above description, it can be known that the two movable ends of the linear reciprocating device 221 are used to drive the corresponding push rods 222 to move respectively, and the push rods 222 push the cover plate, thereby realizing the positioning of the cover plate on the supporting rod 21.

[0022] Furthermore, a protective pad (not shown in the figure) is provided on the shaft of the push rod 222.

[0023] It can be seen from the above description that the use of the protective pad can prevent the push rod 222 from damaging the edge of the cover plate when contacting the cover plate.

[0024] Please refer to Figure 1 As shown, further, a slide rail 24 is provided at the lower end of the grabbing bracket 2 , and the support rod 21 is slidably provided on the slide rail 24 , and the sliding direction of the support rod 21 faces the upper end of the assembly substrate 1 .

[0025] From the above description, it can be seen that the support rod 21 uses the slide rail 24 to achieve adjustable position on the grabbing bracket 2, so as to adapt to the positioning and lifting of cover plates of various sizes to ensure that after the cover plate is positioned, the suction cup 23 at the upper end of the grabbing bracket 2 can adsorb the cover plate.

[0026] Furthermore, a vacuum generator (not shown in the figure) is provided on one end surface of the grabbing bracket 2 facing the assembly substrate 1 , and the vacuum generator is connected to the suction cup 23 through a pipeline.

[0027] From the above description, it can be known that the vacuum generator can be used to quickly control the suction cup 23 to absorb and release the cover plate, and the vacuum generator is arranged on an end surface of the grasping bracket 2 facing the assembly substrate 1 to avoid interference between the vacuum generator and the cover plate.

[0028] Please refer to Figure 2 As shown, further, a flange connection tube 11 is provided on an end surface of the assembly substrate 1 away from the grabbing bracket 2 .

[0029] It can be seen from the above description that the assembly substrate 1 can be easily assembled and disassembled with the robot execution end through the flange connection tube 11.

[0030] Furthermore, a protective pad (not shown in the figure) is sleeved on the rod body of the support rod 21.

[0031] It can be seen from the above description that the use of the protective pad can prevent the edge of the cover plate from being damaged when the cover plate slides onto the support rod 21.

[0032] Embodiment 1

[0033] A cover plate fixture for a robot, please refer to Figure 1 and Figure 2 As shown, it includes an assembly substrate 1 and a grabbing bracket 2; the grabbing bracket 2 is arranged on one end face of the assembly substrate 1 in the thickness direction, the lower end of the grabbing bracket 2 is provided with a supporting rod 21 whose axis is perpendicular to the assembly substrate 1, and the extension direction of the supporting rod 21 is away from the assembly substrate 1, and the grabbing bracket 2 is provided with a positioning fixture 22, the positioning fixture 22 is used to position the cover plate on the supporting rod 21, the positioning fixture 22 includes a linear reciprocating device 221 and a push rod 222, the linear reciprocating device 221 has two movable ends with opposite moving directions, the movable end of the linear reciprocating device 221 is provided with a push rod 222, and the push rod 222 and the supporting rod 21 are both sleeved with pads (not shown in the figure). A plurality of suction cups 23 are arranged on the grabbing bracket 2, and a vacuum generator (not shown in the figure) is arranged on one end face of the grabbing bracket 2 facing the assembly substrate 1, and the vacuum generator is connected to the suction cup 23 by pipeline. The lower end of the grab bracket 2 is provided with a slide rail 24, and the support rod 21 is slidably provided on the slide rail 24, and the sliding direction of the support rod 21 faces the upper end of the assembly substrate 1. The assembly substrate 1 is provided with a flange connection tube 11 on one end surface away from the grab bracket 2.

[0034] Working principle: Connect the flange connection tube 11 on the assembly substrate 1 to the end effector of the manipulator. In the process of grabbing the cover plate, the manipulator first controls the suction cup 23 to adsorb the cover plate through the vacuum generator on the grabbing bracket 2, and then the manipulator moves to tilt the grabbing bracket 2, and lets the vacuum generator control the suction cup 23 to release the cover plate, so that the cover plate slides onto the support rod 21 by itself under the action of gravity, and then the two movable ends of the linear reciprocating device 221 are used to drive the corresponding push rods 222 to move, and the push rods 222 push the cover plate, so as to realize the positioning of the cover plate on the support rod 21, and then the vacuum generator controls the suction cup 23 to adsorb the cover plate again, and finally the manipulator completes the placement of the cover plate on the glass or places the cover plate on the rack.

[0035] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent transformations made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical field, are also included in the patent protection scope of the present invention.

Claims

1. A cover plate fixture for a robot, characterized in that: It includes an assembly substrate and a grabbing bracket; the grabbing bracket is arranged on one end face of the assembly substrate in the thickness direction, a supporting rod with an axis perpendicular to the assembly substrate is arranged at the lower end of the grabbing bracket, and the extension direction of the supporting rod is away from the assembly substrate, a positioning fixture is arranged on the grabbing bracket, and the positioning fixture is used to position the cover plate on the supporting rod, and a plurality of suction cups are arranged on the grabbing bracket.

2. The cover plate fixture of the robot according to claim 1, characterized in that: The positioning fixture comprises a linear reciprocating device and a push rod. The linear reciprocating device has two movable ends with opposite moving directions, and the movable end of the linear reciprocating device is provided with a push rod.

3. The cover plate fixture of the robot according to claim 2, characterized in that: A protective pad is sleeved on the shaft of the push rod.

4. The cover plate fixture of the robot according to claim 1, characterized in that: The lower end of the grabbing bracket is provided with a slide rail, the supporting rod is slidably arranged on the slide rail, and the sliding direction of the supporting rod faces the upper end of the assembly substrate.

5. The cover plate fixture of the robot according to claim 1, characterized in that: A vacuum generator is arranged on one end surface of the grabbing bracket facing the assembly substrate, and the vacuum generator is connected to the suction cup pipeline.

6. The cover plate fixture of the robot according to claim 1, characterized in that: A flange connection tube is arranged on an end surface of the assembly substrate away from the grabbing bracket.

7. The cover plate fixture of the robot according to claim 1, characterized in that: A protective pad is sleeved on the rod body of the supporting rod.

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