Dynamic double-gripping glass gripper device

Abstract

The utility model relates to a dynamic double-grabbing glass gripper device which comprises a gripper frame, a grabbing suction cup assembly, a lifting mechanism, a horizontal MD and a vertical MD, the lifting mechanism is connected with the grabbing suction cup assembly through a lifting plate and fixed to the gripper frame through bolts, and the horizontal MD and the vertical MD are both fixed to the gripper frame through bolts; the grabbing suction cup assembly is used for grabbing glass, the lifting mechanism is used for lifting the suction cup assembly, the horizontal MD is used for sensing the horizontal boundary of the glass, and the vertical MD is used for sensing the vertical boundary of the glass. According to the dynamic double-glass-grabbing gripper device, by means of the two sets of horizontal MD and the one set of vertical MD, the grabbing efficiency of the dynamic double-glass-grabbing gripper device is doubled compared with the grabbing efficiency of an original structure. The structural design of a traditional glass gripper can only meet the requirement for gripping glass of specific specifications, compared with the traditional glass gripper, the novel glass gripper is relatively simple in structure, few in suction cup arrangement and convenient to use, and the gripping suction cup assemblies are ingeniously grouped so that the requirement for gripping glass of various specifications can be met.

Description

Technical Field

[0001] The utility model relates to the field of machinery, in particular to the field of glass production, and specifically refers to a dynamic double-gripping glass gripper device. Background Art

[0002] In the glass production industry, glass gripping equipment often needs to meet the requirements of efficient gripping of multiple glass specifications. Traditional glass gripper designs can only meet the requirements of gripping specific glass specifications. The relatively simple structure of the present invention, with fewer suction cups, is easy to use. The clever grouping of the gripping suction cup components can meet the requirements of gripping multiple glass specifications, doubling the efficiency of the original structure that only grips glass from one side. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the above-mentioned prior art and provide a dynamic double-grip glass gripper device that can meet the needs of various specifications of glass, has a simple structure and high gripping efficiency.

[0004] In order to achieve the above purpose, the dynamic double-grip glass gripper device of the present invention is as follows:

[0005] The dynamic double-grabbing glass gripper device has the following main features: the device includes a gripper frame, a gripping suction cup assembly, a lifting mechanism, a horizontal MD and a vertical MD; the lifting mechanism is connected to the gripping suction cup assembly by a lifting plate and is fixed to the gripper frame by bolts; the horizontal MD and the vertical MD are both fixed to the gripper frame by bolts; the gripping suction cup assembly is used to grip the glass, the lifting mechanism is used to lift the suction cup assembly, the horizontal MD is used to sense the horizontal boundary of the glass through a first sensor fixed to the front end, and the vertical MD is used to sense the vertical boundary of the glass through a second sensor fixed to the front end.

[0006] Preferably, the grabbing suction cup assembly includes a linear bearing, a support rod, a support rod fixing sleeve, a support rod fixing plate, a round nut, a suction cup and a lifting spring. The linear bearing is nested in the support rod fixing sleeve, and the round nut fixes the support rod fixing sleeve to the support rod fixing plate. The support rod passes through one end of the linear bearing and locks the air pipe joint, and the other end is covered with a lifting spring and locked with a heightening joint. The other end of the heightening joint is connected to the suction cup to form a suction cup assembly, and the glass is grabbed by combining multiple suction cup assemblies; when the grabbing suction cup assembly is working, the suction cup is in horizontal contact with the glass surface and pressed down a certain distance, so that the lifting spring of the grabbing suction cup assembly is compressed, and the suction cup completely absorbs the glass, and the suction cup is firmly adsorbed on the glass through a vacuum pump or a vacuum generator to achieve glass grabbing.

[0007] Preferably, the lifting mechanism includes a lifting mechanism cylinder, which is fixed to a cylinder fixing plate by screws, one end of the lifting plate is connected to the end of the lifting mechanism cylinder rod via a nut, and the other end is connected to the suction cup assembly for lifting the suction cup assembly; when dynamically grabbing glass on one side, the lifting mechanism cylinder lifts the unused suction cup on the other side to avoid interference between the suction cup and the running roller.

[0008] Preferably, the horizontal MD includes a first readable stroke cylinder, a first cylinder mounting plate, a photoelectric panel, a first photoelectric mounting block, a first sensor, an oil-free guide rail, a horizontal MD connecting plate and a first drag chain. The first readable stroke cylinder is fixed to the horizontal MD connecting plate after being connected through the first cylinder mounting plate. The horizontal MD connecting plate is locked on the gripper frame by bolts. One end of the photoelectric panel is connected to the first photoelectric mounting block, and the other end is connected to the oil-free guide rail. The first sensor is fixed on the first photoelectric mounting block. When the first readable stroke cylinder is working, it drives the front-end photoelectric panel, the first photoelectric mounting block and the first sensor oil-free guide rail and the first drag chain to move. The first sensor at the front end of the first readable stroke cylinder senses the horizontal boundary of the glass.

[0009] Preferably, the vertical MD includes a second readable stroke cylinder, a second photoelectric switch mounting block, a second cylinder mounting plate, a second sensor and a second drag chain. The second readable stroke cylinder is fixed on the gripper frame after being connected through the second cylinder mounting plate. One end of the second photoelectric switch mounting block is connected to the second drag chain, and the other end is fixed with the second sensor. When the second readable stroke cylinder is working, it drives the second photoelectric switch mounting block and the second sensor, the second drag chain and other related components at the front end. The second sensor at the front end of the second readable stroke cylinder senses the vertical boundary of the glass.

[0010] Preferably, the gripper frame is an aluminum profile frame.

[0011] The dynamic dual-grip glass gripper of this utility model utilizes two sets of horizontal MD and one set of vertical MD to achieve twice the gripping efficiency of the previous structure. Traditional glass gripper designs can only handle glass of specific specifications. Compared to traditional glass grippers, this utility model has a relatively simple structure, fewer suction cups, and is easy to use. The clever grouping of the suction cup components can handle a variety of glass specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a structural diagram of the dynamic double-grip glass gripper device of the present invention.

[0013] Figure 2 This is a horizontal MD schematic diagram of the dynamic double-grip glass gripper device of the present invention for sensing the horizontal boundary of the glass.

[0014] Figure 3 This is a vertical MD schematic diagram of the dynamic double-grip glass gripper device of the present invention for sensing the vertical boundary of the glass.

[0015] Reference numerals:

[0016] 1 Gripper frame

[0017] 2 Grab the suction cup assembly

[0018] 3 Lifting mechanism

[0019] 4th level MD

[0020] 4.1 First readable stroke cylinder

[0021] 4.2 First cylinder mounting plate

[0022] 4.3 Photovoltaic panels

[0023] 4.4 First Photovoltaic Mounting Block

[0024] 4.5 First Sensor

[0025] 4.6 Oil-free guide rails

[0026] 4.7 Horizontal MD connecting plate

[0027] 4.8 First Drag Chain

[0028] 5 Vertical MD

[0029] 5.1 Second readable stroke cylinder

[0030] 5.2 Second photoelectric switch mounting block

[0031] 5.3 Second cylinder mounting plate

[0032] 5.4 Second Sensor

[0033] 5.5 Second drag chain DETAILED DESCRIPTION

[0034] In order to more clearly describe the technical content of the present invention, further description will be given below in conjunction with specific embodiments.

[0035] The dynamic double-grabbing glass gripper device of the present invention includes a gripper frame 1, a gripping suction cup assembly 2, a lifting mechanism 3, a horizontal MD4 and a vertical MD5. The lifting mechanism 3 is connected to the gripping suction cup assembly 2 by a lifting plate and is fixed to the gripper frame 1 by bolts. The horizontal MD4 and the vertical MD5 are both fixed to the gripper frame 1 by bolts; the gripping suction cup assembly 2 is used to grip the glass, the lifting mechanism 3 is used to lift the suction cup assembly, the horizontal MD4 is used to sense the horizontal boundary of the glass through a first sensor fixed at the front end, and the vertical MD5 is used to sense the vertical boundary of the glass through a second sensor fixed at the front end.

[0036] As a preferred embodiment of the present invention, the grabbing suction cup assembly 2 includes a linear bearing, a support rod, a support rod fixing sleeve, a support rod fixing plate, a round nut, a suction cup and a lifting spring. The linear bearing is nested in the support rod fixing sleeve, and the round nut fixes the support rod fixing sleeve to the support rod fixing plate. The support rod passes through one end of the linear bearing and locks the air pipe joint, and the other end is covered with a lifting spring and locked with a heightening joint. The other end of the heightening joint is connected to the suction cup to form a suction cup assembly, and the glass is grabbed by combining multiple suction cup assemblies; when the grabbing suction cup assembly 2 is working, the suction cup is in horizontal contact with the glass surface and pressed down a certain distance, so that the lifting spring of the grabbing suction cup assembly 2 is compressed, and the suction cup completely absorbs the glass. The suction cup is firmly adsorbed on the glass through a vacuum pump or a vacuum generator to achieve glass grabbing.

[0037] As a preferred embodiment of the present invention, the lifting mechanism 3 includes a lifting mechanism cylinder, which is fixed to a cylinder fixing plate by screws. One end of the lifting plate is connected to the end of the lifting mechanism cylinder rod via a nut, and the other end is connected to the suction cup assembly for lifting the suction cup assembly; when dynamically grabbing glass on one side, the lifting mechanism cylinder lifts the unused suction cup on the other side to avoid interference between the suction cup and the running roller.

[0038] As a preferred embodiment of the present utility model, the horizontal MD4 includes a first readable stroke cylinder 4.1, a first cylinder mounting plate 4.2, a photoelectric panel 4.3, a first photoelectric mounting block 4.4, a first sensor 4.5, an oil-free guide rail 4.6, a horizontal MD connecting plate 4.7 and a first drag chain 4.8. The first readable stroke cylinder 4.1 is fixed to the horizontal MD connecting plate 4.7 after being connected through the first cylinder mounting plate 4.2. The horizontal MD connecting plate 4.7 is locked on the gripper frame 1 by bolts. One end of the photoelectric panel 4.3 is connected to the first photoelectric mounting block 4.4, and the other end is connected to the oil-free guide rail 4.6. The first sensor 4.5 is fixed on the first photoelectric mounting block 4.4. When the first readable stroke cylinder 4.1 is working, it drives the photoelectric panel 4.3, the first photoelectric mounting block 4.4 and the first sensor 4.5 oil-free guide rail 4.6 and the first drag chain 4.8 at the front end to move. The first sensor 4.5 at the front end of the first readable stroke cylinder 4.1 senses the horizontal boundary of the glass.

[0039] As a preferred embodiment of the present utility model, the vertical MD5 includes a second readable stroke cylinder 5.1, a second photoelectric switch mounting block 5.2, a second cylinder mounting plate 5.3, a second sensor 5.4 and a second drag chain 5.5. The second readable stroke cylinder 5.1 is connected to the second cylinder mounting plate 5.3 and fixed on the gripper frame 1. One end of the second photoelectric switch mounting block 5.2 is connected to the second drag chain 5.5, and the other end is fixed with the second sensor 5.4. When the second readable stroke cylinder 5.1 is working, it drives the second photoelectric switch mounting block 5.2 and the second sensor 5.4, the second drag chain 5.5 and other related components at the front end. The second sensor 5.4 at the front end of the second readable stroke cylinder 5.1 senses the vertical boundary of the glass.

[0040] As a preferred embodiment of the present invention, the grip frame 1 is an aluminum profile frame.

[0041] In the specific implementation of the utility model, the purpose is to overcome the shortcomings of the above-mentioned prior art and design a gripper that can simultaneously grasp glass on both sides. It has a relatively simple structure, high grasping efficiency and can meet the needs of various specifications of glass.

[0042] The utility model is a dynamic double-grabbing glass gripper used in the glass production industry, which includes a gripper frame 1, a grabbing suction cup assembly 2, a lifting mechanism 3, a horizontal MD4, and a vertical MD5. The grabbing suction cup assembly 2 is used to grab the glass, the lifting mechanism 3 is used to lift the suction cup assembly, the horizontal MD4 senses the horizontal boundary of the glass, and the vertical MD5 senses the vertical boundary of the glass. The lifting mechanism is connected to the grabbing suction cup assembly by a lifting plate, and then fixed on the aluminum profile frame. The lifting mechanism can lift the unused suction cup on the other side when the glass is dynamically grabbed on one side, to prevent the unused suction cup from interfering with the running roller. The horizontal MD4 and the vertical MD5 respectively sense the boundary of the glass through their respective matching sensors, and cooperate with other sensors on the frame to realize edge detection and accurate position judgment of the glass.

[0043] The gripper frame 1 is an aluminum profile frame.

[0044] The grabbing suction cup assembly 2 includes a support rod fixing plate, a round nut, a joint, a support rod, a lifting spring, a linear bearing, and a suction cup. The linear bearing is nested in the support rod fixing sleeve, and the round nut fixes the support rod fixing sleeve to the support rod fixing plate. The support rod passes through the linear bearing, one end is locked with the air pipe joint, and the other end is locked with the lifting spring and then locked with the heightening joint. The other end of the heightening joint is connected to the suction cup to form a suction cup assembly. Multiple suction cup assemblies are combined to achieve the glass grabbing operation. The grabbing suction cup assembly 2 is connected to the lifting mechanism and fixed to the aluminum profile frame by bolts. When the grabbing suction cup assembly 2 is working, the suction cup contacts the glass surface horizontally and presses down a certain distance, so that the lifting spring is compressed and the suction cup completely absorbs the glass. Then, through the action of a vacuum pump or vacuum generator, the suction cup firmly adsorbs the glass, playing the role of grabbing the glass.

[0045] The lifting mechanism 3 comprises a cylinder mounting plate, a lifting cylinder, and a lifting plate. The lifting cylinder is screwed to the cylinder mounting plate. One end of the lifting plate is connected to the end of the lifting cylinder rod via a nut, and the other end is connected to the suction cup assembly 2, enabling flexible lifting of the suction cup assembly 2. The lifting mechanism 3 is fixed to the aluminum profile frame with bolts. When dynamically grasping glass on one side, the unused suction cup on the other side must be lifted by the lifting cylinder to prevent interference with the moving roller.

[0046] The horizontal MD4 is fixed to the aluminum profile frame by bolts, and the sensor fixed on the front end of the cylinder senses the horizontal boundary of the glass.

[0047] like Figure 2As shown, the horizontal MD4 includes a first readable stroke cylinder 4.1, a first cylinder mounting plate 4.2, a photoelectric panel 4.3, a first photoelectric mounting block 4.4, a first sensor 4.5, an oil-free guide rail 4.6, a horizontal MD connecting plate 4.7 and a first drag chain 4.8. The first readable stroke cylinder 4.1 is fixed on the horizontal MD connecting plate 4.7 after being connected through the first cylinder mounting plate 4.2. The horizontal MD connecting plate 4.7 is locked on the gripper frame 1 by bolts. One end of the photoelectric panel 4.3 is connected to the first photoelectric mounting block 4.4, and the other end is connected to the oil-free guide rail 4.6. The first sensor 4.5 is fixed on the first photoelectric mounting block 4.4. When the first readable stroke cylinder 4.1 is working, it drives the front-end photoelectric panel 4.3, the first photoelectric mounting block 4.4 and the first sensor 4.5 oil-free guide rail 4.6, the first drag chain 4.8 and other related components. The first sensor 4.5 at the front end of the first readable stroke cylinder 4.1 senses the horizontal boundary of the glass.

[0048] The vertical MD5 is fixed to the aluminum profile frame by bolts, and the sensor fixed on the front end of the cylinder senses the vertical boundary of the glass.

[0049] like Figure 3 As shown, the vertical MD5 includes a second readable stroke cylinder 5.1, a second photoelectric switch mounting block 5.2, a second cylinder mounting plate 5.3, a second sensor 5.4 and a second drag chain 5.5. The second readable stroke cylinder 5.1 is fixed on the gripper frame 1 after being connected through the second cylinder mounting plate 5.3. One end of the second photoelectric switch mounting block 5.2 is connected to the second drag chain 5.5, and the other end is fixed with the second sensor 5.4. When the second readable stroke cylinder 5.1 is working, it drives the second photoelectric switch mounting block 5.2 and the second sensor 5.4, the second drag chain 5.5 and other related components at the front end. The second sensor 5.4 at the front end of the second readable stroke cylinder 5.1 senses the vertical boundary of the glass.

[0050] The specific implementation scheme of this embodiment can be found in the relevant descriptions in the above embodiments and will not be repeated here.

[0051] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0052] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is at least two.

[0053] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0054] The dynamic dual-grip glass gripper of this utility model utilizes two sets of horizontal MD and one set of vertical MD to achieve twice the gripping efficiency of the previous structure. Traditional glass gripper designs can only handle glass of specific specifications. Compared to traditional glass grippers, this utility model has a relatively simple structure, fewer suction cups, and is easy to use. The clever grouping of the suction cup components can handle a variety of glass specifications.

[0055] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive.

Claims

1. A dynamic double-grip glass gripper device, characterized in that: The device includes a gripper frame, a gripping suction cup assembly, a lifting mechanism, a horizontal MD and a vertical MD. The lifting mechanism is connected to the gripping suction cup assembly by a lifting plate and is fixed to the gripper frame by bolts. The horizontal MD and the vertical MD are both fixed to the gripper frame by bolts. The gripping suction cup assembly is used to grip the glass, the lifting mechanism is used to lift the suction cup assembly, the horizontal MD is used to sense the horizontal boundary of the glass through a first sensor fixed at the front end, and the vertical MD is used to sense the vertical boundary of the glass through a second sensor fixed at the front end.

2. The dynamic double-grip glass gripper device according to claim 1, characterized in that: The grabbing suction cup assembly includes a linear bearing, a support rod, a support rod fixing sleeve, a support rod fixing plate, a round nut, a suction cup and a lifting spring. The linear bearing is nested in the support rod fixing sleeve, and the round nut fixes the support rod fixing sleeve to the support rod fixing plate. The support rod passes through one end of the linear bearing and locks the air pipe joint, and the other end is covered with a lifting spring and locked with a heightening joint. The other end of the heightening joint is connected to the suction cup to form a suction cup assembly, and the glass is grabbed by combining multiple suction cup assemblies; when the grabbing suction cup assembly is working, the suction cup is in horizontal contact with the glass surface and pressed down a certain distance, so that the lifting spring of the grabbing suction cup assembly is compressed, and the suction cup completely absorbs the glass. The suction cup is firmly adsorbed on the glass through a vacuum pump or a vacuum generator to achieve glass grabbing.

3. The dynamic double-grip glass gripper device according to claim 1, characterized in that: The lifting mechanism includes a lifting mechanism cylinder, which is fixed to a cylinder fixing plate by screws. One end of the lifting plate is connected to the end of the lifting mechanism cylinder rod via a nut, and the other end is connected to the suction cup assembly for lifting the suction cup assembly. When dynamically grabbing glass on one side, the lifting mechanism cylinder lifts the unused suction cup on the other side to avoid interference between the suction cup and the running roller.

4. The dynamic double-grip glass gripper device according to claim 1, characterized in that: The horizontal MD includes a first readable stroke cylinder, a first cylinder mounting plate, a photoelectric panel, a first photoelectric mounting block, a first sensor, an oil-free guide rail, a horizontal MD connecting plate and a first drag chain. The first readable stroke cylinder is fixed to the horizontal MD connecting plate after being connected through the first cylinder mounting plate. The horizontal MD connecting plate is locked on the gripper frame by bolts. One end of the photoelectric panel is connected to the first photoelectric mounting block, and the other end is connected to the oil-free guide rail. The first sensor is fixed on the first photoelectric mounting block. When the first readable stroke cylinder is working, it drives the front-end photoelectric panel, the first photoelectric mounting block and the first sensor oil-free guide rail and the first drag chain to move. The first sensor at the front end of the first readable stroke cylinder senses the horizontal boundary of the glass.

5. The dynamic double-grip glass gripper device according to claim 1, characterized in that: The vertical MD includes a second readable stroke cylinder, a second photoelectric switch mounting block, a second cylinder mounting plate, a second sensor and a second drag chain. The second readable stroke cylinder is fixed on the gripper frame after being connected through the second cylinder mounting plate. One end of the second photoelectric switch mounting block is connected to the second drag chain, and the other end is fixed with the second sensor. When the second readable stroke cylinder is working, it drives the second photoelectric switch mounting block and the second sensor, the second drag chain and other related components at the front end. The second sensor at the front end of the second readable stroke cylinder senses the vertical boundary of the glass.

6. The dynamic double-grip glass gripper device according to claim 1, characterized in that: The grip frame is an aluminum profile frame.

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