Fully-sealed multi-finger synchronous swinging glass plate workpiece centering clamping jaw

Abstract

The utility model discloses a full-sealed multi-finger synchronous swing glass plate workpiece centering clamping jaw which comprises a full-sealed shell, a centering unit and a swing rod clamping arm unit. The fully-sealed shell is provided with a closed accommodating cavity; the centering unit is located in the containing cavity and comprises n guide sliding blocks capable of stretching out and drawing back synchronously, and the upper portion of each guide sliding block is fixedly connected with a hinge block. N is a natural number > = 2; the upper portion of one hinge block is at least connected with one swing rod clamping arm unit, and each swing rod clamping arm unit comprises a swing rod, a spherical hinge assembly and a clamping finger. The n guide sliding blocks stretch out and draw back synchronously and can drive the swing rods in all the swing rod clamping arm units to swing synchronously so as to drive the clamping fingers to be close to and act on the side wall of the workpiece to be centered at the same time, and centering is achieved. Compared with the prior art, the full-sealed multi-finger synchronous swinging glass plate workpiece centering clamping jaw can be used in the environment with cutting fluid, and workpiece centering is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, in particular to a fully sealed multi-finger synchronous swing glass plate workpiece centering clamp. Background Art

[0002] Before processing thin glass workpieces to be centered (such as the glass casing of a tablet or mobile phone), it is necessary to first use a positioning robot to locate the position of the glass workpiece to be centered to ensure accurate centering. If the processing environment of the glass workpiece to be centered contains cutting fluid, it is necessary to prevent the cutting fluid from entering the positioning robot, which may damage the positioning robot. In other words, the positioning robot is required to completely prevent the cutting fluid from entering the interior of the positioning robot while ensuring the positioning function.

[0003] In the prior art, Chinese patent application No. 202410324331.4 discloses a multi-finger synchronous centering robot for positioning glass plate silk screen processing, comprising multiple positioning heads and a driving cylinder for driving the multiple positioning heads to move synchronously; the driving cylinder comprises: a cylinder body, a lifting plate, a bottom cover and a piston; the plug body divides the piston accommodating chamber into an A chamber and a B chamber arranged upper and lower; the positioning head comprises: a lifting arm, a chuck and a guide groove body, the lifting arm comprises a connected connecting plate and a driving plate, and the external air source enters the A chamber or the B chamber after passing through the shell air duct and the plug air duct to drive the lifting plate, the lifting arm and the driving bevel block to rise and fall synchronously; the driving bevel block extends into the inclined guide groove to drive the chuck to move; and the guide column extends into the curved guide groove to control the movement of the chuck along the curved guide groove. This robot is suitable for scenes with relatively clean surroundings.

[0004] The disadvantage of the prior art is that the upper portion of the guide groove body of the manipulator in the prior art is an open structure, and cutting fluid can at least enter the cylinder body from the upper opening of the guide groove body, damaging the manipulator and failing to meet the processing environment with cutting fluid.

[0005] Therefore, it is necessary to provide a new fully sealed multi-finger synchronous swing glass plate workpiece centering clamp to solve the above technical problems. Summary of the Invention

[0006] (1) Technical issues to be resolved

[0007] Based on this, the utility model provides a fully sealed multi-finger synchronous swinging glass plate workpiece centering clamp, which aims to solve the technical problem that the glass plate centering manipulator in the prior art cannot meet the processing environment with cutting fluid.

[0008] (2) Technical solution

[0009] In order to solve the above technical problems, the utility model provides a fully sealed multi-finger synchronous swing glass plate workpiece centering clamp, comprising: a fully sealed shell, a centering unit and a rocker arm unit; the fully sealed shell has a closed receiving chamber; the centering unit is located in the receiving chamber, and the centering unit comprises n guide sliders that can be synchronously extended and retracted, and each guide slider is fixedly connected to a hinge block on the upper part; n is a natural number ≥ 2; at least one set of the rocker arm units is connected to the upper part of one hinge block, and each set of the rocker arm units includes: a rocker, a ball hinge assembly and a clamping finger, wherein: the ball hinge assembly is embedded in the top of the fully sealed shell, and the bottom end of the rocker It extends into the receiving cavity and is hinged to the hinge block; the rocker arm passes through the ball hinge assembly, and the rocker arm is ball-hinged to the fully sealed shell through the ball hinge assembly; the rocker arm and the ball hinge assembly are connected by a sliding seal, and the ball hinge assembly and the fully sealed shell are a fixed sealing structure; the top end of the rocker arm is located above the fully sealed shell, and the clamping fingers are fixed to the top end of the rocker arm; and all the clamping fingers together form a clamping area for placing the workpiece to be centered; the n guide sliders are synchronously extended and retracted, which can drive the rockers in all the rocker arm clamping arm units to swing synchronously, so as to drive the clamping fingers to approach and act on the side wall of the workpiece to be centered at the same time, so as to achieve centering.

[0010] (3) Beneficial effects

[0011] Compared to the prior art, the fully sealed multi-finger synchronously oscillating glass plate workpiece centering clamp of the present invention can be used in an environment with cutting fluid and achieve workpiece centering. Specifically, the rocker arm unit can extend and act on the outer wall of the workpiece to be centered, achieving centering clamping of the workpiece to be centered. The fully sealed housing has a fully sealed structure, and the extension of the rocker arm unit does not affect the sealing performance of the fully sealed housing. The centering unit can be completely isolated from the external environment with cutting fluid, preventing external cutting fluid from invading the interior of the fully sealed housing, effectively ensuring the performance and service life of the entire fully sealed multi-finger synchronously oscillating glass plate workpiece centering clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the utility model;

[0014] Figure 2 This is a schematic diagram of the application state of the utility model;

[0015] Figure 3 A three-dimensional diagram of some structures of this utility model Figure 1 (Including centering unit and swing arm unit);

[0016] Figure 4 A three-dimensional diagram of some structures of this utility model Figure 2 (Including centering unit and swing arm unit);

[0017] Figure 5 for Figure 4 A partial enlarged view of point A in the middle;

[0018] Figure 6 This is a schematic cross-sectional view of part of the structure of the utility model (including the centering unit and the swing arm clamping arm unit);

[0019] Figure 7 This is an exploded schematic diagram of the centering unit in the present invention;

[0020] Figure 8 This is a cross-sectional view of a swing arm clamp unit in the present invention;

[0021] Figure 9 This is a structural diagram of the sliding closing limit block and its related components in the utility model;

[0022] Figure 10 It is a cross-sectional schematic diagram of the present invention.

[0023] Description of reference numerals:

[0024] 100, centering unit; 300, clamping area; 400, fully sealed housing; 500, swing arm clamp unit; 600, workpiece to be centered; 700, suction cup;

[0025] 01. Bearing mounting slot; 02. Swing arm through hole;

[0026] 1. Center pusher; 3. Upper cylinder; 4. Upper piston; 6. Upper cover; 12. Bevel hole; 19. Slider closing stopper; 27. Cover plate; 28. Receiving chamber; 29. ​​Guide slider; 30. Hinge block; 31. Rocker arm; 32. Ball joint assembly; 33. Clamping finger; 34. Sealing ring; 35. Threaded connector; 36. Positioning pin; 37. Screw; 38. L-shaped strong magnetic bracket; 39. Magnet; 40. Magnetic switch; 41. Thickness-adjustable mounting pad; 43. Air pipe connector; 44. Waterproof electrical connector

[0027] 011, driving wedge;

[0028] 61. Center groove; 66. Guide groove;

[0029] 191. Slider connecting block; 192. Adjusting screw mounting block; 193. Adjusting stud;

[0030] 301, double-end hinge block; 302, single-end hinge block;

[0031] 321. Fisheye bearing; 322. Bearing upper shell; 323. Bearing lower shell; 324. Spherical hole;

[0032] 331, clamping surface; 332, avoidance slope;

[0033] 1931, limit end;

[0034] 3211. Sliding hole. DETAILED DESCRIPTION

[0035] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of specific embodiments of the present invention is provided in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without violating the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] The following is combined with Figure 1-10 The fully sealed multi-finger synchronous swinging glass plate workpiece centering clamp of the utility model is described in detail.

[0037] Please focus on Figure 1-6The utility model discloses a fully sealed multi-finger synchronous swing glass plate workpiece centering clamp, comprising: a fully sealed shell 400, a centering unit 100 and a swing arm clamp unit 500; the fully sealed shell 400 has a closed receiving chamber 28; the centering unit 100 is located in the receiving chamber 28, and the centering unit 100 includes n guide sliders 29 that can be synchronously extended and retracted, and each guide slider 29 is fixedly connected to a hinge block 30 on the upper part; n is a natural number ≥ 2; at least one set of swing arm clamp units 500 is connected to the upper part of an hinge block 30, and each set of swing arm clamp units 500 includes: a swing rod 31, a ball hinge assembly 32 and a clamping finger 33, wherein: the ball hinge assembly 32 is embedded in the top of the fully sealed shell 400, and the bottom of the swing rod 31 is fixed to the bottom of the swing rod 31. The end extends into the accommodating cavity 28 and is hinged to the hinge block 30; the rocker arm 31 passes through the ball hinge assembly 32, and the rocker arm 31 is ball-hinged with the fully sealed shell 400 through the ball hinge assembly 32; the rocker arm 31 and the ball hinge assembly 32 are connected by a sliding seal, and the ball hinge assembly 32 and the fully sealed shell 400 are a fixed sealing structure; the top end of the rocker arm 31 is located above the fully sealed shell 400, and the clamping finger 33 is fixed to the top end of the rocker arm 31; and all the clamping fingers 33 together form a clamping area 300 for placing the workpiece 600 to be centered; the n guide sliders 29 are synchronously extended and retracted, which can drive the rockers 31 in all the rocker arm clamping arm units 500 to swing synchronously, so as to drive the clamping fingers 33 to approach and act on the side wall of the workpiece 600 to be centered at the same time, so as to achieve centering.

[0038] In this embodiment, the fully sealed housing 400 is used to provide a closed receiving chamber 28. The centering unit 100 is completely received in the receiving chamber 28. Under the action of the fully sealed housing 400, the centering unit 100 is completely isolated from the external environment with cutting fluid.

[0039] The guide slider 29 in the centering unit 100 provides power for the swing of the swing arm clamping arm unit 500 .

[0040] There are many structures for realizing "n guide slide blocks 29 synchronous extension and contraction". Figure 6 In the illustrated structure, n guide sliders 29 are each connected to a single central pusher 1 having a driving wedge 011. By utilizing the principle of inclined plane force transmission, the lifting and lowering of the central pusher 1 can drive the n guide sliders 29 to extend and retract synchronously. Alternatively, n synchronous cylinders can be used, each corresponding to the n sliders. Actuation of the synchronous cylinders drives the n guide sliders 29 to extend and retract synchronously.

[0041] The lower portion of the rocker arm clamp unit 500 is connected to the guide slider 29, and the upper portion of the rocker arm clamp unit 500 extends out of the fully sealed housing 400. Because the rocker arm 31 and the ball hinge assembly 32 are connected in a sliding seal, and the ball hinge assembly 32 and the fully sealed housing 400 are in a fixed seal, the rocker arm 31 passing through the fully sealed housing 400 does not affect the sealing performance of the fully sealed housing 400.

[0042] The upper portion of the rocker 31 is equipped with gripping fingers 33, which are used to directly act on the sidewalls of the workpiece 600 to be centered and propel it. Driven by multiple synchronously retractable guide sliders 29, the multiple gripping fingers 33 also move synchronously, thereby effectively centering the workpiece 600. More specifically, when n = 2, two guide sliders 29 are positioned opposite each other. When n > 2, n guide sliders 29 are evenly arranged around the circumference of the workpiece 600 to be centered. Therefore, the workpiece 600 can be pushed from at least two sides to achieve centering.

[0043] During use, the robot pre-positions the workpiece 600 to be centered in the clamping area 300 above the fully sealed housing 400. The n guide sliders 29 then extend synchronously, driving the rocker 31 in the rocker clamp arm unit 500 to swing in unison, driving the gripper fingers 33 to simultaneously approach and push against the sidewall of the workpiece 600 to achieve centering. The n guide sliders 29 then retract synchronously, causing the rocker 31 to swing in the opposite direction, driving the gripper fingers 33 to simultaneously move away from and release the workpiece 600.

[0044] Compared to the prior art, the fully sealed multi-finger synchronously oscillating glass plate workpiece centering clamp of the present invention can achieve workpiece centering while ensuring the clamp's own waterproofing. Specifically, the rocker arm unit 500 can extend and act on the outer wall of the workpiece to be centered 600, achieving centering clamping of the workpiece to be centered 600. The fully sealed housing 400 is a fully sealed structure, and the extension of the rocker arm unit 500 does not affect the sealing performance of the fully sealed housing 400. The centering unit 100 can be completely isolated from the external environment containing cutting fluid, preventing external cutting fluid from invading the interior of the fully sealed housing 400, effectively ensuring the performance and service life of the entire fully sealed multi-finger synchronously oscillating glass plate workpiece centering clamp.

[0045] According to a specific embodiment of the present utility model, the ball hinge assembly 32 includes a fisheye bearing 321 and a bearing housing; the fisheye bearing 321 is a sphere as a whole, and the fisheye bearing 321 is provided with a sliding hole 3211 passing through it, the rocker arm 31 passes through the sliding hole 3211, and the rocker arm 31 is slidingly connected to the fisheye bearing 321; the bearing housing includes an upper bearing shell 322 and a lower bearing shell 323 that are buckled together, and the upper bearing shell 322 and the lower bearing shell 323 together form a spherical hole 324 that matches the outer contour shape of the fisheye bearing 321, the fisheye bearing 321 is installed in the spherical hole 324, and the fisheye bearing 321 is ball-hinged with the bearing housing; the bearing housing is embedded in the top of the fully sealed housing 400.

[0046] In this embodiment, a ball-hinged joint is formed between the fisheye bearing 321 and the bearing housing. The bearing housing is a split upper and lower structure, facilitating the installation of the fisheye bearing 321. The bearing housing is fixedly mounted on the top of the fully sealed housing 400. The fisheye bearing 321 rotates within the spherical hole 324 under the action of the rocker arm 31. The rocker arm 31 is also capable of slidingly connecting with the fisheye bearing 321. The structure of this embodiment forms a ball-hinged joint and a sliding connection between the fully sealed housing 400 and the rocker arm 31, satisfying the requirement to constrain the motion trajectory of the rocker arm 31. Furthermore, the fisheye bearing 321 is easily installed and sealed, thereby ensuring the sealing effect of the fully sealed housing 400.

[0047] According to the specific embodiment of the present invention, the upper part of the fully sealed housing 400 is provided with a recessed bearing mounting groove 01 and a swing arm through hole 02 connecting the bearing mounting groove 01 and the receiving chamber 28, the bearing housing is accommodated in the bearing mounting groove 01, the swing rod 31 passes through the swing arm through hole 02, a sealing ring 34 is provided between the bearing housing and the bearing mounting groove 01, at least one sealing ring 34 is provided between the fisheye bearing 321 and the swing rod 31, a sealing ring 34 is provided between the bearing upper shell 322 and the fisheye bearing 321, and a sealing ring 34 is provided between the bearing lower shell 323 and the fisheye A sealing ring 34 is provided between the bearings 321, and a sealing ring 34 is provided between the bearing upper shell 322 and the bearing lower shell 323; the rocker arm clamp unit 500 also includes a threaded connector 35 and a positioning pin 36; the middle part of the positioning pin 36 passes through the bearing lower shell 323, and the two ends of the positioning pin 36 extend into the bearing upper shell 322 and the fully sealed housing 400 respectively; the threaded connector 35 is used to fix the connection between the bearing upper shell 322, the bearing lower shell 323 and the fully sealed housing 400; the clamp finger 33 is fixed to the rocker arm 31 by a screw 37.

[0048] In this embodiment, the type of the sealing ring 34 between the components can be selected according to specific needs, including but not limited to an O-ring.

[0049] The swing arm through hole 02 is used for the swing rod 31 to pass through, and the bearing mounting groove 01 is used for the embedding and installation of the bearing housing. Sealed bearings are installed at the joints of the components to prevent cutting fluid from entering the fully sealed housing 400 from between the bearing housing and the bearing mounting groove 01, between the fisheye bearing 321 and the swing rod 31, or between the bearing housing and the fisheye bearing 321. The threaded connector 35 is used to fix the upper bearing shell 322 and the lower bearing shell 323. The threaded connector 35 is also used to fix the bearing shell to the fully sealed housing 400. The positioning pin 36 is used to achieve precise positioning between the upper bearing shell 322, the lower bearing shell 323 and the fully sealed housing 400, ensuring the movement accuracy of the swing rod 31.

[0050] The clamping fingers 33 are detachable structures, which are convenient for maintenance and replacement. In specific implementation, clamping fingers 33 of different shapes can be installed according to usage requirements to expand the scope of use.

[0051] Please focus on Figure 8 According to a specific embodiment of the present invention, the clamping finger 33 is rectangular as a whole, and the side of the clamping finger 33 close to the clamping area 300 is a clamping action surface 331, and the upper and lower ends of the clamping action surface 331 are respectively provided with avoidance slopes 332.

[0052] More specifically, the upper and lower ends of the clamping surface 331 are chamfered to form avoidance slopes 332 .

[0053] When the clamping finger 33 drives the workpiece to move, its movement trajectory is a curve. After the upper and lower ends of the clamping action surface 331 are chamfered, an avoidance slope 332 is formed (to avoid interference from sharp corners), which makes it easier for the clamping finger 33 to smoothly rotate in and press the workpiece 600 to be centered, and also makes it easier for the clamping finger 33 to smoothly rotate out and leave the workpiece 600 to be centered.

[0054] More specifically, the clamping fingers 33 push the workpiece 600 to be centered to move. When the workpiece 600 to be centered is just centered, the clamping action surface 331 is just in a vertical state, and the vertically set clamping action surface 331 is in a face-to-face fit with the vertically set side surface of the glass plate.

[0055] In this embodiment, the clamping surface 331 is a plane that directly contacts the workpiece 600 to be centered, and the side surface of the workpiece 600 to be centered is vertically arranged.

[0056] During installation, adjust the installation position of the rocker clamp arm unit 500 to ensure that when the clamping finger 33 pushes the workpiece to move and achieves centering, the clamping action surface 331 is also in a vertical state. The vertically set clamping action surface 331 and the vertically set side surface of the glass plate are in a face-to-face fit state, and the force effect is optimal.

[0057] Please focus on Figure 7 According to the specific embodiment of the present invention, an L-shaped strong magnetic bracket 38 is fixedly installed on one side of an articulated block 30, and a magnet 39 is fixedly embedded on the lower part of the L-shaped strong magnetic bracket 38; two magnetic switches 40 are provided below the magnet 39 for use with the magnet 39 respectively, and the two magnetic switches 40 are arranged at intervals along the sliding direction of the articulated block 30. The centering unit also includes an upper cover body 6, and the upper surface of the upper cover body 6 is provided with a recessed central groove 61 and n guide grooves 66 arranged around the central groove 61 and respectively connected to the central groove 61, and a guide slider 29 is slidably connected in each guide groove 66; the magnetic switch 40 is fixedly mounted on the outer side of the upper cover body 6.

[0058] In this embodiment, since multiple hinge blocks 30 extend and retract synchronously, and each hinge block 30 moves synchronously with the guide slider 29, by detecting and controlling the extension and retraction stroke of one hinge block 30, the stroke of four guide sliders 29 can be controlled simultaneously, ultimately realizing the detection and control of the opening and closing stroke of the clamping fingers 33.

[0059] The magnet 39 is fixed to the hinge block 30 via an L-shaped strong magnetic bracket 38. The magnet 39 is located above two magnetic switches 40. When the hinge block 30 carries the magnet 39 past a magnetic switch 40, it can control the opening and closing of the magnetic switch 40. The external electrical control circuit receives the opening and closing signal of the magnetic switch 40 and can obtain the position signal of the magnet 39. The external electrical control circuit can control the movement of the guide slider 29 based on the position signal of the magnet 39 to achieve control of the stroke of the guide slider 29.

[0060] When the hinge block 30 carries the magnet 39 and passes another magnetic switch 40, the same principle as above is used to control the travel of the guide slider 29.

[0061] Please focus on Figure 9 According to a specific embodiment of the present invention, the centering unit 100 also includes a slider closing limit block 19, and the slider closing limit block 19 includes a slider connecting block 191 and an adjusting screw mounting block 192 fixed to one side of the slider connecting block 191. The slider connecting block 191 and the adjusting screw mounting block 192 together form an "L" shape; the side of the slider connecting block 191 away from the adjusting screw mounting block 192 is fixedly connected to the side of a guide slider 29 away from the center groove 61, and the adjusting screw mounting block 192 is located on one side of the upper cover body 6. An adjusting stud 193 is provided on the adjusting screw mounting block 192, and the end of the adjusting stud 193 close to the upper cover body 6 is a limiting end 1931; the limiting end 1931 is facing the outer wall of the upper cover body 6.

[0062] It should be noted that in the centering unit 100 of the present invention, the maximum stroke of the guide slider 29 is determined by the structure of the centering unit 100. The greater the stroke of the guide slider 29, the wider the range of sizes of the workpiece 600 that can be clamped, which can expand the application range of the present invention.

[0063] When the present invention is used in combination, if the size of the combination needs to be minimized as much as possible, the distance between adjacent fully sealed multi-finger synchronous swing glass plate workpiece centering jaws will be reduced. If the clamping fingers 33 are opened according to the maximum stroke, the clamping fingers 33 of one fully sealed multi-finger synchronous swing glass plate workpiece centering jaw may collide with the adjacent fully sealed multi-finger synchronous swing glass plate workpiece centering jaw after being fully opened. Therefore, it is necessary to limit the opening stroke of the clamping fingers 33.

[0064] Although the combination of magnet 39 and magnetic switch 40 can form an electronic limiter mechanism for limiting the opening travel of the gripper fingers 33, due to the short telescopic travel of the guide slider 29, this mechanism cannot accurately determine the position of the guide slider 29, which can easily lead to overtravel and collision with adjacent components. Furthermore, if the electronic limiter fails, the gripper fingers 33 will inevitably collide with adjacent components if they overtravel. Therefore, a reliable mechanism for adjusting the opening limit of the gripper fingers 33 is required.

[0065] The slider closing limit block 19 of this embodiment is a mechanical limit structure, which can prevent the clamping fingers 33 from opening beyond the stroke limit, and ensure that when the present invention is used in combination, there will be no mutual interference while minimizing the overall size. Specifically: Since the four guide sliders 29 move synchronously, the closing limit of the four guide sliders 29 can be achieved by using one slider closing limit block 19, limiting the retraction stroke of the four guide sliders 29. The slider closing limit block 19 is installed on any guide slider 29, and can achieve the closing limit of the four guide sliders 29 and limit the retraction stroke of the four guide sliders 29. Since the guide slider 29 and the clamping fingers 33 move in opposite directions, controlling the retraction stroke of the guide slider 29 controls the opening stroke of the clamping fingers 33. It can reduce the distance between the two fully sealed multi-finger synchronously swinging glass plate workpiece centering clamps during assembly and use, thereby reducing the overall volume of the assembly.

[0066] During use, when the guide slider 29, equipped with the slider closing stopper 19, retracts until its stopper end 1931 contacts the outside of the upper cover 6, the stopper end 1931 restricts further retraction of the guide slider 29, thereby achieving a stop function. By rotating the adjustment screw 193, the gap between the stopper end 1931 and the outer wall of the upper cover 6 can be adjusted, thereby adjusting the retraction stroke of the four guide sliders 29 (corresponding to the opening stroke of the clamping fingers 33).

[0067] The gap between the fully-sealed, multi-finger, synchronously oscillating glass plate workpiece centering jaws determines the overall size of the fully-sealed, multi-finger, synchronously oscillating glass plate workpiece centering jaws when used in combination. The smaller the gap, the smaller the overall size. By adjusting the rotary adjustment screw 193, the opening stroke of the clamping fingers 33 can be adjusted to avoid interference between adjacent fully-sealed, multi-finger, synchronously oscillating glass plate workpiece centering jaws. In specific implementation, when the gap between adjacent fully-sealed, multi-finger, synchronously oscillating glass plate workpiece centering jaws meets the requirements (meeting the overall external dimensions), the gap between the limit end 1931 and the outer wall of the upper cover body 6 can be increased as much as possible to allow the clamping fingers 33 to open as fully as possible to expand the clamping range.

[0068] Please focus on Figure 10According to a specific embodiment of the present invention, the fully sealed multi-finger synchronous swinging glass plate workpiece centering clamp also includes a thickness-adjustable mounting pad 41 installed in the receiving cavity 28 and used to adjust the installation height of the clamping fingers 33. The thickness-adjustable mounting pad 41 is located between the upper cylinder body 3 and the bottom wall of the receiving cavity 28.

[0069] In this embodiment, the thickness-adjustable mounting pad 41 is located between the upper cylinder 3 and the bottom wall of the receiving chamber 28 to form a stable support. The thickness-adjustable mounting pad 41 may include multiple pads of different thicknesses. When in use, the appropriate number of pads can be stacked as needed to form the desired height. With this structure, when the workpiece is placed at different heights, the height of the clamping jaws can be adjusted accordingly (the height direction is the reference height). Figure 3 The Z-axis direction in the figure satisfies the clamping and centering requirements. For example, during use, a suction cup 700 is placed on top of the fully sealed housing 400. The suction cup 700 is used to absorb and secure the workpiece after the clamping fingers 33 have centered the workpiece. The upper surface of the suction cup 700 serves as the workpiece placement surface. Different heights of the suction cup 700 result in different workpiece placement heights.

[0070] According to the shape of the hinge block 30 and the number of sets of the swing arm clamping arm units 500 connected to the hinge block 30, the present invention provides two structures.

[0071] The first structure is: n=4, the number of the articulated blocks 30 is correspondingly 4, and the 4 guide sliders 29 are arranged along the 4 sides of the same rectangle; each articulated block 30 is connected to a set of rocker arm clamping arm units 500 on the top.

[0072] In this embodiment, the four hinge blocks 30 are identical in structure. Each hinge block 30 is connected to a set of swing arm clamping arm units 500. During use, the four sets of swing arm clamping arm units 500 are respectively provided to correspond to the four edges of the workpiece 600 to be centered. This overall structure is symmetrical, simple, and has a small number of components. This structure is suitable for single use (as opposed to combined use).

[0073] The second structure is: n=4, the number of articulated blocks 30 is 4, and the 4 guide sliders 29 are arranged along the 4 sides of the same rectangle; the 4 articulated blocks 30 include a double-headed articulated block 301 and a single-headed articulated block 302; the double-headed articulated block 301 and the single-headed articulated block 302 are arranged opposite to each other; the upper part of the double-headed articulated block 301 is respectively connected to two sets of spaced-apart swing arm clamp units 500; the single-headed articulated block 302 is connected to one set of swing arm clamp units 500, the fully sealed multi-finger synchronous swing glass plate workpiece centering clamp is rectangular in shape as a whole, and in the length direction of the fully sealed multi-finger synchronous swing glass plate workpiece centering clamp (refer to FIG. Figure 3In the X-axis direction), the two sets of rocker arm clamping units 500 connected to the double-headed hinge block 301 are staggered with the one set of rocker arm clamping units 500 connected to the single-headed hinge block 302.

[0074] In this embodiment, the structures of the four hinge blocks 30 are not identical. On one set of opposite sides, the double-headed hinge block 301 is arranged opposite the single-headed hinge block 302, and the connected swing arm clamping arm units 500 are staggered. The advantage of adopting this structure is that when used in combination, the fully sealed multi-finger synchronous swing glass plate workpiece centering clamping jaws can be moved along the width direction (see Figure 3 (Y-axis direction) Multiple fully sealed, multi-finger, synchronously oscillating glass plate workpiece centering grippers are arranged in a line, forming a robotic gripper head group. Because the two sets of rocker arm units 500 connected to the double-ended hinge block 301 are staggered with the single set of rocker arm units 500 connected to the single-ended hinge block 302, a certain overlap can exist between adjacent fully sealed, multi-finger, synchronously oscillating glass plate workpiece centering grippers. This reduces the overall size of the assembly, meets customer requirements, and enhances product competitiveness. Furthermore, during use, the rectangular workpiece 600 to be centered experiences relatively balanced forces on its two sides corresponding to the double-ended hinge block 301 and the single-ended hinge block 302, without affecting the centering effect.

[0075] According to the specific implementation of the present invention, the workpiece 600 to be centered is a glass plate, and the centering unit also includes: a middle push 1, an upper cylinder body 3 and an upper piston 4; the upper piston 4 is arranged in the upper cylinder body 3 and the two form a cylinder structure; the upper cylinder body 3 is fixed to the lower part of the upper cover body 6, the upper part of the middle push 1 extends into the center groove 61, and is connected to the guide slider 29, and the lower part of the middle push 1 is connected to the upper piston 4; the upper piston 4 rises and falls, which can drive the middle push 1 to rise and fall synchronously, thereby driving all the guide sliders 29 to extend and retract synchronously; the outer wall of the fully sealed shell 400 is also respectively provided with a trachea connector 43 and a waterproof electrical connector 44 connected to the accommodating cavity 28.

[0076] More specifically, the top cover of the center groove 61 is provided with a cover plate 27 for closing the top of the center groove 61, and the upper part of the center push 1 has four driving wedges 011; the end of the guide slider 29 close to the center groove 61 is provided with an inclined hole 12 for cooperating with the driving wedge 011, and a driving wedge 011 is slidably connected in each inclined hole 12.

[0077] In this embodiment, the upper portion of the middle push 1 forms a sliding connection structure with each guide slider 29, and the sliding surface is an inclined surface. This allows the vertical lifting force of the middle push 1 to be converted into the lateral telescopic force of the multiple guide sliders 29; the guide groove 66 is used to provide a sliding guide for the guide slider 29 to control the sliding direction of the guide slider 29. In the centering unit 100 of the utility model, a limit step for limiting the upper and lower positions of the upper piston 4 can be provided inside the upper cylinder body 3. The stroke of the piston is directly related to the stroke of the middle push 1 and the four guide sliders 29. Therefore, the maximum telescopic stroke of the guide slider 29 can be determined by the structure of the upper cylinder body 3.

[0078] In this embodiment, the air pipe connector 43 connects the receiving chamber 28 with an external air source and is used to provide pressurized air to the centering unit 100. The waterproof electrical connector 44 connects the receiving chamber 28 with an external electrical control unit and is used to transmit the status signal of the magnetic switch 40 to the external electrical control unit.

[0079] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium; it can mean internal communication between two elements, or a "transmission connection," i.e., a power connection through various appropriate means such as a belt drive, a gear drive, or a sprocket drive. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

Claims

1. A fully sealed multi-finger synchronous swing glass plate workpiece centering clamp, characterized in that: include: A fully sealed housing, a centering unit, and a rocker arm unit; the fully sealed housing has a closed receiving chamber; the centering unit is located within the receiving chamber and includes n synchronously retractable guide sliders, each having an articulated block fixedly connected to its upper portion; n is a natural number ≥ 2; At least one set of the rocker arm clamping arm units is connected to the upper part of one of the hinge blocks, and each set of the rocker arm clamping arm units includes: a rocker arm, a ball hinge assembly and clamping fingers, wherein: the ball hinge assembly is embedded in the top of the fully sealed shell, and the bottom end of the rocker arm extends into the accommodating cavity and is hinged to the hinge block; the rocker arm passes through the ball hinge assembly, and the rocker arm is ball-hinged with the fully sealed shell via the ball hinge assembly; the rocker arm and the ball hinge assembly are connected by a sliding seal, and the ball hinge assembly and the fully sealed shell are a fixed sealing structure; the top end of the rocker arm is located above the fully sealed shell, and the clamping fingers are fixed to the top end of the rocker arm; and all the clamping fingers together form a clamping area for placing the workpiece to be centered; n guide sliders are synchronously extended and retracted, which can drive the rockers in all the rocker arm clamping arm units to swing synchronously, so as to drive the clamping fingers to approach and act on the side wall of the workpiece to be centered at the same time, so as to achieve centering.

2. The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp according to claim 1, characterized in that: The ball hinge assembly includes a fisheye bearing and a bearing housing; the fisheye bearing is a sphere as a whole, and the fisheye bearing is provided with a sliding hole passing through it, the rocker arm passes through the sliding hole, and the rocker arm is slidingly connected to the fisheye bearing; the bearing housing includes an upper bearing shell and a lower bearing shell that are buckled together, and the upper bearing shell and the lower bearing shell together form a spherical hole that matches the outer contour shape of the fisheye bearing, the fisheye bearing is installed in the spherical hole, and the fisheye bearing is spherically hinged to the bearing housing; the bearing housing is embedded in the top of the fully sealed housing.

3. The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp according to claim 2, characterized in that: The upper part of the fully sealed shell is provided with a recessed bearing mounting groove and a rocker arm through hole connecting the bearing mounting groove and the receiving cavity, the bearing shell is received in the bearing mounting groove, the rocker arm passes through the rocker arm through hole, a sealing ring is provided between the bearing shell and the bearing mounting groove, at least one sealing ring is provided between the fisheye bearing and the rocker arm, a sealing ring is provided between the upper bearing shell and the fisheye bearing, a sealing ring is provided between the lower bearing shell and the fisheye bearing, and a sealing ring is provided between the upper bearing shell and the lower bearing shell; the rocker arm clamping arm unit also includes a threaded connector and a positioning pin; the middle part of the positioning pin passes through the lower bearing shell, and the two ends of the positioning pin extend into the upper bearing shell and the fully sealed shell respectively; the threaded connector is used to fix the upper bearing shell, the lower bearing shell and the fully sealed shell; the clamping finger is fixed to the rocker arm by a screw.

4. The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp according to claim 3, characterized in that: The clamping fingers are rectangular in shape as a whole, and the side surfaces of the clamping fingers close to the clamping area are clamping action surfaces, and the upper and lower ends of the clamping action surfaces are respectively provided with avoidance slopes.

5. The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp according to claim 4, characterized in that: An L-shaped strong magnetic bracket is fixedly installed on one side of the hinge block, and a magnet is fixedly embedded on the lower part of the L-shaped strong magnetic bracket; two magnetic switches are provided below the magnet for use with the magnet respectively, and the two magnetic switches are arranged at intervals along the sliding direction of the hinge block. The centering unit also includes an upper cover body, the upper surface of the upper cover body is provided with a recessed central groove and n guide grooves arranged around the central groove and respectively connected to the central groove, and each of the guide grooves is slidably connected to a guide slider; the magnetic switch is fixedly installed on the outer side of the upper cover body.

6. The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp according to claim 5, characterized in that: The centering unit also includes a slider closing limit block, and the slider closing limit block includes a slider connecting block and an adjusting screw mounting block fixed on one side of the slider connecting block, and the slider connecting block and the adjusting screw mounting block together form an "L" shape; the side of the slider connecting block away from the adjusting screw mounting block is fixedly connected to the side of a guide slider away from the center groove, and the adjusting screw mounting block is located on one side of the upper cover body, and the adjusting screw mounting block is provided with an adjusting stud passing through it, and the end of the adjusting stud close to the upper cover body is a limiting end; the limiting end is opposite to the outer wall of the upper cover body.

7. The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp according to claim 6, characterized in that: The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp further comprises a thickness-adjustable mounting pad bottom wall installed in the receiving cavity and used for adjusting the mounting height of the clamping fingers.

8. The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp according to claim 7, characterized in that: n=4, the number of the hinge blocks is correspondingly 4, and the 4 guide sliders are arranged along the 4 sides of the same rectangle; the upper part of each hinge block is connected to a set of the rocker arm clamping arm unit.

9. The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp according to claim 7, characterized in that: n=4, the number of the articulated blocks corresponds to 4, and the 4 guide sliders are arranged along the 4 sides of the same rectangle; the 4 articulated blocks include 1 double-headed articulated block and 1 single-headed articulated block; the double-headed articulated block and the single-headed articulated block are arranged opposite to each other; the upper part of the double-headed articulated block is respectively connected to 2 sets of the rocker arm clamping arm units arranged at intervals; the single-headed articulated block is connected to 1 set of the rocker arm clamping arm units, and the fully-sealed multi-finger synchronous swinging glass plate workpiece centering clamp is a rectangle as a whole, and in the length direction of the fully-sealed multi-finger synchronous swinging glass plate workpiece centering clamp, the 2 sets of rocker arm clamping arm units connected to the double-headed articulated block and the 1 set of rocker arm clamping arm units connected to the single-headed articulated block are staggered.

10. The fully sealed multi-finger synchronous swing glass plate workpiece centering clamp according to any one of claims 7 to 9, characterized in that: The workpiece to be centered is a glass plate, and the centering unit also includes: a middle push, an upper cylinder body and an upper piston; the upper piston is arranged in the upper cylinder body and the two form a cylinder structure; the upper cylinder body is fixed to the lower part of the upper cover body, the upper part of the middle push extends into the central groove, and is connected to the guide slider, and the lower part of the middle push is connected to the upper piston; the lifting and lowering of the upper piston can drive the middle push to rise and fall synchronously, thereby driving all the guide sliders to extend and retract synchronously; an air pipe connector and a waterproof electrical connector are also provided on the outer side wall of the fully sealed shell; the thickness-adjustable mounting pad is located between the upper cylinder body and the bottom wall of the accommodating cavity.

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