Glass grabbing mechanism

Abstract

The utility model belongs to the technical field of glass processing, and particularly relates to a glass grabbing mechanism which comprises a mechanical arm body, and the bottom of the mechanical arm body is connected with a supporting chassis. A fixing plate is mounted on the mechanical arm body; two sliding frames are connected to the fixing plate in a sliding mode. The sliding frame is fixedly connected with a connecting plate; a vacuum chuck I is mounted on the connecting plate; the sliding frame is in threaded connection with a first screw rod; the first screw rod is connected with a bidirectional motor. Output shafts at the two ends of the two-way motor are connected with two first screw rods, and the ends, away from the two-way motor, of the two first screw rods are rotationally connected to the fixing plate; the two-way motor drives the two first screw rods to rotate, then the sliding frame is driven to slide on the fixing plate, the distance between the first vacuum suction cups is flexibly adjusted, the grabbing mechanism can adapt to glass of different sizes and shapes, and the adaptability and universality of the grabbing mechanism are enhanced.

Description

Technical Field

[0001] The utility model belongs to the technical field of glass processing, and specifically relates to a glass grabbing mechanism. Background Art

[0002] A glass grabbing mechanism is a device specifically designed to grab and transport glass plates during the glass processing. The grabbing mechanism first moves above the glass plate to be grabbed through a driving system. Then, the vacuum suction cups are activated to generate negative pressure to firmly suck the glass plate. Next, the grabbing arm and the flipping plate work together to transport the glass plate to the designated position.

[0003] Currently, in the prior art, when the grabbing mechanism grabs the glass, since the vacuum suction cups are fixed on the grabbing mechanism, it is difficult to adjust the distance between the two vacuum suction cups according to the size of the glass during grabbing. If the distance between the vacuum suction cups is fixed and the size of the glass does not match it, then during the grabbing process, the glass may tilt or slip due to uneven force, which will not only damage the glass but also pose potential safety hazards to the equipment and operators. Therefore, a glass grabbing mechanism is proposed for the above problems. Summary of the Utility Model

[0004] In order to make up for the deficiencies of the prior art and solve at least one of the technical problems proposed in the background art, the utility model proposes a glass grabbing mechanism.

[0005] The technical solution adopted by the utility model to solve its technical problems is as follows: A glass grabbing mechanism of the utility model includes a mechanical arm body, and a support chassis is connected to the bottom of the mechanical arm body; a fixing plate is installed on the mechanical arm body; two sliding frames are slidably connected to the fixing plate; a connecting plate is fixedly connected to the sliding frame; a first vacuum suction cup is installed on the connecting plate; a first screw rod is threadedly connected to the sliding frame; a bidirectional motor is connected to the first screw rod; the output shafts at both ends of the bidirectional motor are connected to the two first screw rods, and the ends of the two first screw rods far from the bidirectional motor are rotatably connected to the fixing plate; a fixing component is installed on the support chassis.

[0006] Preferably, the fixing component includes a mounting plate; two electric push rods and a second hydraulic telescopic rod are installed at the bottom of the mounting plate; the bottom of the second hydraulic telescopic rod is fixedly connected to a support plate, and the bottoms of the two electric push rods are fixedly connected to the same support plate; a mounting hole is formed in the support plate; an anti-slip pad is installed at the bottom of the support plate.

[0007] Preferably, a spring telescopic rod is installed on the fixing plate; a second vacuum suction cup is installed on the spring telescopic rod; the spring telescopic rod is arranged between the two sliding frames.

[0008] Preferably, a first hydraulic telescopic rod is installed on the fixed plate; a connecting frame is installed on the first hydraulic telescopic rod; the connecting frame is detachably connected to the connecting plate.

[0009] Preferably, a motor plate is installed on the bidirectional motor; one side of the motor plate is installed on the fixed plate.

[0010] Preferably, a front protection plate and a rear protection plate are installed on the support chassis; the front protection plate and the rear protection plate are arranged in front of and behind the robotic arm body.

[0011] Preferably, moving wheels are installed at the bottom of the support chassis; two lighting lamps are installed on the front protection plate.

[0012] Advantages of the present utility model:

[0013] 1. The present utility model provides a glass grasping mechanism. By driving two first screws to rotate through a bidirectional motor, the sliding frame is driven to slide on the fixed plate, realizing flexible adjustment of the distance between the first vacuum suction cups, enabling the grasping mechanism to adapt to glasses of different sizes and shapes, and enhancing its adaptability and versatility.

[0014] 2. The present utility model provides a glass grasping mechanism. During use, the first vacuum suction cups are firmly connected to the sliding frame through the connecting plate, capable of providing a stable adsorption force when grasping the glass. At the same time, the sliding connection between the sliding frame and the fixed plate and the threaded connection between the first screw and the sliding frame ensure the stability and reliability of the mechanism during the grasping process. Description of the Drawings

[0015] The drawings described herein are used to provide a further understanding of the present utility model, form a part of this application, and the schematic embodiments of the present utility model and their descriptions are used to explain the present utility model, and do not constitute an improper limitation to the present utility model.

[0016] Figure 1 is a perspective view of the present utility model;

[0017] Figure 2 is a perspective view of the fixed plate in the present utility model;

[0018] Figure 3 is a perspective view of the first hydraulic telescopic rod in the present utility model;

[0019] Figure 4 is a perspective view of the moving wheels in the present utility model;

[0020] Figure 5 is a perspective view of the fixing component in the present utility model.

[0021] Legend Explanation:

[0022] 1. Manipulator body; 2. Support chassis; 3. Fixed plate; 4. Sliding frame; 5. Connecting plate; 6. Bidirectional motor; 7. Screw rod 1; 8. Vacuum suction cup 1; 9. Spring telescopic rod; 10. Vacuum suction cup 2; 11. Motor plate; 12. Connecting frame; 13. Hydraulic telescopic rod 1; 14. Fixed component; 141. Mounting plate; 142. Electric push rod; 143. Hydraulic telescopic rod 2; 144. Support plate; 145. Mounting hole; 146. Anti-slip pad; 15. Front protection plate; 16. Rear protection plate; 17. Lighting lamp; 18. Movable wheel. Detailed implementation manner

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] The following gives specific embodiments.

[0025] Please refer to Figure 1 - Figure 4, the utility model provides a glass grasping mechanism, including a robotic arm body 1, a support chassis 2 is connected to the bottom of the robotic arm body 1; a fixing plate 3 is installed on the robotic arm body 1; two sliding frames 4 are slidably connected to the fixing plate 3; a connecting plate 5 is fixedly connected to the sliding frame 4; a first vacuum suction cup 8 is installed on the connecting plate 5; a first screw rod 7 is threadedly connected to the sliding frame 4; a bidirectional motor 6 is connected to the first screw rod 7; the output shafts at both ends of the bidirectional motor 6 are connected to the two first screw rods 7, and the ends of the two first screw rods 7 away from the bidirectional motor 6 are rotatably connected to the fixing plate 3; a fixing component 14 is installed on the support chassis 2; during operation, the bidirectional motor 6 drives the first screw rods 7 at both ends to rotate, so that the first screw rods 7 rotate inside the fixing plate 3. Furthermore, the two first screw rods 7 drive the sliding frames 4 threadedly connected thereto to extend towards both sides, and the sliding frames 4 slide on the fixing plate 3, thereby driving the first vacuum suction cup 8 on the connecting plate 5 connected thereto to move, and then adjusting the distance between the first vacuum suction cups 8, making it more convenient to grasp the glass; the robotic arm body 1 can achieve precise grasping of the glass through its precise motion control system. By driving the two first screw rods 7 to rotate through the bidirectional motor 6, the sliding frames 4 are driven to slide on the fixing plate 3, realizing flexible adjustment of the distance between the first vacuum suction cups 8, enabling the grasping mechanism to adapt to glasses of different sizes and shapes, and enhancing its adaptability and versatility; during use, the first vacuum suction cup 8 is firmly connected to the sliding frame 4 through the connecting plate 5, which can provide a stable adsorption force when grasping the glass. At the same time, the sliding connection between the sliding frame 4 and the fixing plate 3 and the threaded connection between the first screw rod 7 and the sliding frame 4 ensure the stability and reliability of the mechanism during the grasping process.

[0026] Further, as Figure 4 , 5As shown, the fixing component 14 includes a mounting plate 141; two electric push rods 142 and a second hydraulic telescopic rod 143 are mounted at the bottom of the mounting plate 141; the bottom of the second hydraulic telescopic rod 143 is fixedly connected to a support plate 144, and the bottoms of the two electric push rods 142 are fixedly connected to the same support plate 144; a mounting hole 145 is formed in the support plate 144; an anti-slip pad 146 is mounted at the bottom of the support plate 144; during operation, the electric push rod 142 pushes the support plate 144 to move downward, thereby driving the second hydraulic telescopic rod 143 to move downward, so that the support plate 144 moves to the ground. When the mechanism is not fixed, the support plate 144 is placed on the ground to reduce the overall movement. When installation is required, as described above, an external fixing bolt is then fixed in the mounting hole 145 to fix the entire mechanism; through the coordinated work of the electric push rod 142 and the second hydraulic telescopic rod 143, the mechanism can quickly complete the lifting and fixing process of the support plate 144, which helps to shorten the work preparation time and improve work efficiency. At the same time, the stable support and convenient fixing method also help to reduce accidents and downtime during the operation process.

[0027] Further, as Figure 2 shown, a spring telescopic rod 9 is mounted on the fixing plate 3; a second vacuum suction cup 10 is mounted on the spring telescopic rod 9; the spring telescopic rod 9 is arranged between two sliding frames 4; during operation, the robotic arm body 1 drives the first vacuum suction cup 8 on the fixing plate 3 to adsorb the glass. At the same time, when the first vacuum suction cup 8 adsorbs the glass, the second vacuum suction cup 10 expands and contracts through the spring telescopic rod 9, so that the second vacuum suction cup 10 overlaps on the glass, and then vacuum adsorbs the glass, so that the two first vacuum suction cups 8 and the second vacuum suction cup 10 form a three-point adsorption. Compared with single-point or two-point adsorption, three-point adsorption can more evenly disperse the supporting force on the glass, thereby reducing the shaking and offset of the glass during the movement. At the same time, the stable adsorption state also helps to increase the moving speed of the robotic arm, thereby further improving the production efficiency.

[0028] Further, as Figure 3As shown in the figure, a first hydraulic telescopic rod 13 is installed on the fixed plate 3; a connecting frame 12 is installed on the first hydraulic telescopic rod 13; the connecting frame 12 is detachably connected to the connecting plate 5; a motor plate 11 is installed on the bidirectional motor 6; one side of the motor plate 11 is installed on the fixed plate 3; when adjusting the distance between the two first vacuum suction cups 8, the connecting plate 5 moves and drives the first hydraulic telescopic rod 13 to expand and contract simultaneously through the connecting frame 12. When the bidirectional motor 6 drives the first screw rod 7 to rotate to adjust the distance between the two first vacuum suction cups 8, the connecting plate 5 will move accordingly. At this time, the first hydraulic telescopic rod 13 can automatically expand and contract with the movement of the connecting plate 5, providing an additional supporting force for the sliding frame 4 and the connecting plate 5. This supporting force helps to reduce the shaking or deviation caused by the movement of the sliding frame 4, thereby enhancing the stability of the entire grasping mechanism; the motor plate 11 fixes the bidirectional motor 6 to reduce the shaking or movement during its operation.

[0029] Further, as Figure 1 shown, a front protection plate 15 and a rear protection plate 16 are installed on the support chassis 2; the front protection plate 15 and the rear protection plate 16 are arranged in front of and behind the robotic arm body 1; during operation, the front protection plate 15 and the rear protection plate 16 can prevent foreign objects from colliding with the robotic arm from the front and rear. In the working environment of grasping glass, there may be safety hazards such as flying fragments and falling objects. The presence of the front and rear protection plates can effectively reduce the risk of damage to the robotic arm caused by these safety hazards.

[0030] Further, as Figure 1 shown, moving wheels 18 are installed at the bottom of the support chassis 2; two lighting lamps 17 are installed on the front protection plate 15. During operation, the moving wheels 18 can move the entire mechanism, and the lighting lamps 17 provide lighting when moving the mechanism at night, facilitating the movement of the entire mechanism.

[0031] Working principle: During operation, the bidirectional motor 6 drives the screw rod 1 at both ends to rotate, causing the screw rod 1 to rotate inside the fixed plate 3. Then, the two screw rods 1 drive the sliding frames 4 threadedly connected thereto to extend towards both sides. The sliding frames 4 slide on the fixed plate 3, thereby driving the vacuum suction cups 1 on the connecting plates 5 connected thereto to move, and then adjusting the distance between the vacuum suction cups 1, making it more convenient to grasp the glass; the robotic arm body 1 can achieve precise grasping of the glass through its precise motion control system. By driving the two screw rods 1 to rotate through the bidirectional motor 6, the sliding frames 4 are driven to slide on the fixed plate 3, realizing flexible adjustment of the distance between the vacuum suction cups 1, enabling the grasping mechanism to adapt to glasses of different sizes and shapes, and enhancing its adaptability and versatility; during use, the vacuum suction cups 1 are firmly connected to the sliding frames 4 through the connecting plates 5, capable of providing a stable adsorption force when grasping the glass. At the same time, the sliding connection between the sliding frames 4 and the fixed plate 3 and the threaded connection between the screw rods 1 and the sliding frames 4 ensure the stability and reliability of the mechanism during the grasping process; during operation, the electric push rod 142 pushes the support plate 144 downward, thereby driving the hydraulic telescopic rod 2 143 downward, causing the support plate 144 to move to the ground. The anti-slip pad 146 at the bottom supports the support plate 144 to be placed on the ground to reduce the overall movement of the mechanism when it is not fixed. When installation is required, as described above, the external fixing bolts are then fixed in the installation holes 145 to fix the entire mechanism; through the coordinated operation of the electric push rod 142 and the hydraulic telescopic rod 2 143, the mechanism can quickly complete the lifting and fixing process of the support plate 144, which helps to shorten the work preparation time and improve work efficiency. At the same time, the stable support and convenient fixing method also help to reduce accidents and downtime during the operation process; during operation, the robotic arm body 1 drives the vacuum suction cups 1 on the fixed plate 3 to adsorb the glass. At the same time, when the vacuum suction cups 1 adsorb the glass, the vacuum suction cups 2 10 expand and contract through the spring telescopic rod 9, causing the vacuum suction cups 2 10 to overlap on the glass, and then performing vacuum adsorption on the glass, so that the two vacuum suction cups 1 and the vacuum suction cups 2 10 form a three-point adsorption. Compared with single-point or two-point adsorption, three-point adsorption can more evenly disperse the supporting force on the glass, thereby reducing the shaking and offset of the glass during the movement process; when adjusting the distance between the two vacuum suction cups 1, the connecting plate 5 moves and simultaneously drives the hydraulic telescopic rod 1 13 to expand and contract through the connecting frame 12. When the bidirectional motor 6 drives the screw rod 1 to rotate and then adjusts the distance between the two vacuum suction cups 1, the connecting plate 5 will move accordingly. At this time, the hydraulic telescopic rod 1 13 can automatically expand and contract with the movement of the connecting plate 5, providing an additional supporting force for the sliding frame 4 and the connecting plate 5. This supporting force helps to reduce the shaking or offset generated due to the movement of the sliding frame 4, thereby enhancing the stability of the entire grasping mechanism.

[0032] The above has shown and described the basic principles, main features and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and all these changes and improvements fall within the scope of the present utility model claimed.

Claims

1. A glass grasping mechanism, comprising a robotic arm body (1), characterized in that: The bottom of the robotic arm body (1) is connected to a support chassis (2); a fixing plate (3) is installed on the robotic arm body (1); two sliding frames (4) are slidably connected to the fixing plate (3); a connecting plate (5) is fixedly connected to the sliding frame (4); a first vacuum suction cup (8) is installed on the connecting plate (5); a first screw rod (7) is threadedly connected to the sliding frame (4); a bidirectional motor (6) is connected to the first screw rod (7); the output shafts at both ends of the bidirectional motor (6) are connected to the two first screw rods (7), and the ends of the two first screw rods (7) away from the bidirectional motor (6) are rotatably connected to the fixing plate (3); a fixing component (14) is installed on the support chassis (2).

2. The glass grasping mechanism according to claim 1, characterized in that: The fixing component (14) includes a mounting plate (141); two electric push rods (142) and a second hydraulic telescopic rod (143) are installed at the bottom of the mounting plate (141); the bottom of the second hydraulic telescopic rod (143) is fixedly connected to a support plate (144), and the bottoms of the two electric push rods (142) are fixedly connected to the same support plate (144); a mounting hole (145) is formed in the support plate (144); an anti-slip pad (146) is installed at the bottom of the support plate (144).

3. The glass grasping mechanism according to claim 1, characterized in that: A spring telescopic rod (9) is installed on the fixing plate (3); a second vacuum suction cup (10) is installed on the spring telescopic rod (9); the spring telescopic rod (9) is arranged between the two sliding frames (4).

4. A glass gripping mechanism according to claim 1, characterized in that: A first hydraulic telescopic rod (13) is installed on the fixing plate (3); a connecting frame (12) is installed on the first hydraulic telescopic rod (13); the connecting frame (12) is detachably connected to the connecting plate (5).

5. A glass grasping mechanism according to claim 1, characterized in that: A motor plate (11) is installed on the bidirectional motor (6); one side of the motor plate (11) is installed on the fixing plate (3).

6. The glass gripping mechanism according to claim 1, wherein: A front protection plate (15) and a rear protection plate (16) are installed on the support chassis (2); the front protection plate (15) and the rear protection plate (16) are arranged in front of and behind the robotic arm body (1).

7. The glass gripping mechanism according to claim 6, wherein: Moving wheels (18) are installed at the bottom of the support chassis (2); two lighting lamps (17) are installed on the front protection plate (15).

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