Glass plate centering adsorption manipulator shell embedded with spherical hinge assembly

Abstract

The utility model discloses a glass plate centering adsorption mechanical arm shell embedded with a spherical hinge assembly. The glass plate centering adsorption mechanical arm shell comprises a fully-sealed shell body, a suction cup and the spherical hinge assembly. The fully-sealed shell comprises a containing cavity and a vacuum air channel which are formed in the fully-sealed shell, bearing installation grooves which are formed in a sunken mode and surround the suction cup are formed in the upper portion of the fully-sealed shell, and a swing arm via hole communicated with the bearing installation groove and the containing cavity is formed in the lower portion of each bearing installation groove. A set of spherical hinge assembly is arranged in each bearing mounting groove, each spherical hinge assembly comprises a bearing shell and a fisheye bearing which is mounted in the bearing shell and is spherically hinged with the bearing shell, the bearing shell is embedded in the bearing mounting groove, and the fisheye bearing is provided with a sliding hole. Compared with the prior art, when the clamping device is matched with the centering clamping jaw for use, the clamping device provides constraint for the action of the clamping fingers, so that the clamping fingers can complete transverse centering and longitudinal lifting actions, and meanwhile, external cutting fluid is prevented from entering the centering clamping jaw. And the use in an environment with cutting fluid is met.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a glass plate centering adsorption manipulator shell embedded with a ball hinge component. Background Art

[0002] Before cutting the edges of thin glass workpieces, such as the glass casings of tablet computers or mobile phones, the glass workpiece needs to be positioned using the robot's gripper fingers to ensure precise centering. The glass workpiece is then fixed, and the processing equipment needs to move above the glass workpiece. To prevent the gripper fingers from interfering with the cutting head of the cutting equipment, after positioning is completed, the gripper fingers need to be lowered below the glass workpiece and sufficient safety space must be reserved for the movement of the cutting head. The cutting head is then used to cut the periphery of the glass workpiece to obtain the required precise outer contour shape.

[0003] When designing a housing of a manipulator that can achieve the above functions, in order to ensure that it can be used in an environment with cutting fluid, it is necessary to ensure that after the housing is installed, the external cutting fluid will not enter the internal drive part of the centering jaw, so as to avoid corrosion and damage to the centering jaw by the cutting fluid; it is also necessary to ensure that the normal use of the centering jaw is not affected after the housing is installed, that is: the clamping fingers of the centering jaw can move laterally to push the workpiece to achieve centering of the workpiece, and the clamping fingers can be raised and lowered longitudinally to avoid the cutting head (Note: This paragraph only provides background information related to the disclosure of the utility model and does not constitute prior art).

[0004] The robot housing in the prior art includes two structures.

[0005] Structure 1: The manipulator housing is a non-sealed structure with a partial opening. This opening provides a channel for the gripper fingers to achieve lateral centering and longitudinal lifting movements. The disadvantage of this structure is that external cutting fluid can enter the internal drive unit of the centering jaws through the partial opening, damaging the centering jaws. In other words, this manipulator housing structure with a partial opening cannot be used in an environment with cutting fluid.

[0006] Structure 2: The manipulator housing features a simple sliding seal with a sealing ring. This means the gripping fingers are slidably connected to the housing, with a sealing ring or strip between them. This structure allows the gripping fingers to slide freely in only one direction relative to the housing, and cannot simultaneously meet the requirements for both horizontal centering and vertical lifting of the centering jaws.

[0007] Therefore, it is necessary to provide a new glass plate centering adsorption robot housing embedded with a ball hinge assembly to solve the above technical problems. Summary of the Invention

[0008] (1) Technical issues to be resolved

[0009] Based on this, the utility model provides a glass plate centering adsorption robot shell embedded with a ball joint assembly, which aims to solve the technical problem that when the existing robot shell is used in conjunction with the centering clamp, the clamping fingers cannot complete the horizontal centering and longitudinal lifting actions while avoiding external cutting fluid from entering the centering clamp.

[0010] (2) Technical solution

[0011] In order to solve the above technical problems, the present invention proposes a glass plate centering adsorption robot shell embedded with a ball hinge assembly, comprising: a fully sealed shell, a suction cup and a ball hinge assembly; the fully sealed shell includes a receiving cavity and a vacuum air duct formed therein, the vacuum air duct is located above the receiving cavity, the suction cup is installed on the top of the fully sealed shell, one end of the vacuum air duct extends to the suction cup and is used to provide adsorption power for the suction cup, the other end of the vacuum air duct is connected to the vacuum air source end, and the vacuum air source end extends to the side wall of the fully sealed shell; the upper part of the fully sealed shell is provided with a concave and annular A bearing mounting groove is arranged around the suction cup, and the lower part of each bearing mounting groove is provided with a swing arm through hole connecting the bearing mounting groove and the receiving cavity; each bearing mounting groove is provided with a set of the ball hinge assembly, wherein: the ball hinge assembly includes a bearing shell and a fisheye bearing installed in the bearing shell and ball-hinged with the bearing shell, the bearing shell is fixedly embedded in the bearing mounting groove, the fisheye bearing is provided with a sliding hole passing through it, a sealing ring is provided between the bearing shell and the bearing mounting groove, a sealing ring is provided between the bearing shell and the fisheye bearing, and a sealing ring is provided on the inner wall of the sliding hole.

[0012] Preferably, the fisheye bearing is a sphere as a whole, and the bearing shell 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, and the fisheye bearing is installed in the spherical hole, and the fisheye bearing is ball-hinged with the bearing shell; a sealing ring is provided between the upper bearing shell and the fisheye bearing, and 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 ball hinge assembly 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 fixedly connect the upper bearing shell, the lower bearing shell and the fully sealed shell.

[0013] Preferably, the inner wall of the accommodating cavity is provided with a recessed bottom mounting groove of the power unit, and the bottom of the bottom mounting groove of the power unit has a recessed plate mounting blind hole; the housing of the glass plate centering adsorption robot embedded with the ball joint assembly also includes a floating joint and a joint mounting plate; the lower end of the floating joint has a raised mounting step, and the center of the joint mounting plate is provided with a countersunk hole passing through it, the mounting step is installed in the countersunk hole, and the upper end of the floating joint extends out of the countersunk hole, the joint mounting plate is rectangular as a whole, and the four corners of the joint mounting plate are respectively provided with threaded mounting holes passing through it and aligned with the plate mounting blind hole; the joint mounting plate is installed in the bottom mounting groove of the power unit by a threaded connector.

[0014] Preferably, the joint mounting plate is formed by splicing a first plate and a second plate with mutually symmetrical structures, a threaded mounting hole is respectively provided at both ends of the first plate, the first plate and the second plate together form the countersunk hole, and there is a gap between the outer side of the floating joint and the wall of the countersunk hole.

[0015] Preferably, the fully sealed shell includes: an outer shell body, a front side cover, a rear side cover and a bottom plate; the outer shell body is a rectangular frame as a whole, and the front side arm, rear side wall and bottom wall of the outer shell body are respectively provided with a front opening, a rear opening and a bottom opening, the front side cover completely covers the front opening, and a sealing ring arranged around the front opening is provided between the front side cover and the outer shell body; the rear side cover completely covers the rear opening, and a sealing ring arranged around the rear opening is provided between the rear side cover and the outer shell body; the bottom plate completely covers the bottom opening, and a sealing ring arranged around the bottom opening is provided between the bottom plate and the outer shell body; the outer shell body, the front side cover, the rear side cover and the bottom plate together form the accommodating cavity, the vacuum air duct is located in the top wall of the outer shell body, the bearing mounting groove and the swing arm through hole are both provided on the top wall of the outer shell body, and the bottom end mounting groove of the power unit is located on the bottom plate.

[0016] Preferably, the front side cover is made of transparent material.

[0017] Preferably, the housing of the glass plate centering adsorption robot embedded with a ball joint assembly also includes: a vacuum connector provided at the top of the outer wall of the housing body and connected to the vacuum air source end, an air pipe connector and a waterproof electrical connector respectively provided at the bottom of the outer wall of the housing body and connected to the receiving cavity.

[0018] Preferably, the housing of the glass plate centering adsorption robot embedded with the ball joint assembly further includes a Y-type quick-connect air pipe connector provided in the receiving cavity.

[0019] Preferably, the suction cup is rectangular and is provided with a disc mounting through hole running through it; the top of the shell body is also provided with a disc mounting blind hole which is recessed and arranged corresponding to the disc mounting through hole; the suction cup is fixed to the top of the shell body by a threaded connection.

[0020] Preferably, the fully sealed shell is rectangular as a whole; the number of the suction cups is n, and the n suction cups are arranged in sequence along the length direction of the fully sealed shell, n is a natural number ≥2, each of the suction cups has an independent vacuum air duct, the suction cup is rectangular, and the long side direction of the suction cup is consistent with the short side direction of the fully sealed shell; each of the suction cups is surrounded by a mounting groove group consisting of 5 bearing mounting grooves, and one mounting groove is respectively provided on the outer side of one long side and two short sides of the suction cup, and two mounting grooves are provided on the side of the other long side of the suction cup; the bearing mounting grooves located between two adjacent suction cups and belonging to different mounting groove groups are alternately arranged along the width direction of the fully sealed shell.

[0021] (3) Beneficial effects

[0022] Compared to existing technologies, the glass plate centering adsorption robot housing with an embedded ball hinge assembly in this utility model, when used in conjunction with the centering gripper, provides constraints on the gripper fingers, enabling them to perform lateral centering and vertical lifting while preventing external cutting fluid from entering the centering gripper. This allows for use in environments with cutting fluid. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 A three-dimensional diagram of the overall structure of the utility model Figure 1 ;

[0025] Figure 2 A three-dimensional diagram of the overall structure of the utility model Figure 2 ;

[0026] Figure 3 For the Figure 2 Schematic cross-sectional view of line AA;

[0027] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0028] Figure 5It is a top view schematic diagram of the utility model;

[0029] Figure 6 This is an exploded schematic diagram of the utility model;

[0030] Figure 7 This is a structural diagram of a glass plate processing and positioning robot (applying the glass plate centering and adsorption robot housing embedded with a ball joint assembly of the present invention).

[0031] Description of reference numerals:

[0032] 100, centering unit; 200, lifting unit; 400, fully sealed housing; 500, swing arm clamp unit; 600, workpiece; 700, suction cup;

[0033] 8. Floating joint; 9. First plate; 10. Second plate; 11. Countersunk hole; 13. Threaded mounting hole; 14. Clearance; 28. Receiving cavity; 32. Ball joint assembly; 33. Clamping finger; 34. Sealing ring; 35. Threaded connector; 36. Dowel pin; 43. Air pipe connector; 44. Waterproof electrical connector; 45. Vacuum air duct; 46. Vacuum connector; 47. Y-type quick-connect air pipe connector;

[0034] 01. Bearing mounting slot; 02. Swing arm through hole; 03. Power unit bottom mounting slot; 04. Plate mounting blind hole; 05. Housing body; 06. Front side cover; 07. Rear side cover; 08. Bottom plate; 09. Disc mounting blind hole;

[0035] 81. Install steps;

[0036] 321. Fisheye bearing; 322. Bearing upper shell; 323. Bearing lower shell; 324. Spherical hole;

[0037] 451, connect to the vacuum air source;

[0038] 051, front opening; 052, rear opening; 053, bottom opening;

[0039] 701, disk mounting through hole;

[0040] 3211. Sliding hole. DETAILED DESCRIPTION

[0041] 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.

[0042] The following is combined with Figure 1-7 The glass plate centering adsorption robot housing embedded with a ball joint assembly of the present invention is further described.

[0043] The utility model discloses a glass plate centering adsorption robot housing embedded with a ball hinge assembly, comprising: a fully sealed shell 400, a suction cup 700 and a ball hinge assembly 32; the fully sealed shell 400 includes a receiving cavity 28 and a vacuum air duct 45 formed therein, the vacuum air duct 45 is located above the receiving cavity 28, the suction cup 700 is installed on the top of the fully sealed shell 400, one end of the vacuum air duct 45 extends to the suction cup 700 and is used to provide adsorption power for the suction cup 700, the other end of the vacuum air duct 45 is connected to the vacuum air source end 451, and the vacuum air source end 451 extends to the side wall of the fully sealed shell 400; the upper part of the fully sealed shell 400 is provided with a concave and annular The bearing mounting groove 01 is arranged around the suction cup 700, and the lower part of each bearing mounting groove 01 is provided with a swing arm through hole 02 connecting the bearing mounting groove 01 and the receiving cavity 28; each bearing mounting groove 01 is provided with a set of ball hinge assembly 32, wherein: the ball hinge assembly 32 includes a bearing shell and a fisheye bearing 321 installed in the bearing shell and ball-hinged with the bearing shell, the bearing shell is fixedly embedded in the bearing mounting groove 01, the fisheye bearing 321 is provided with a sliding hole 3211 passing through it, a sealing ring 34 is provided between the bearing shell and the bearing mounting groove 01, a sealing ring 34 is provided between the bearing shell and the fisheye bearing 321, and a sealing ring 34 is provided on the inner wall of the sliding hole 3211.

[0044] More specifically, the outer shell of the glass plate centering adsorption robot embedded with a ball joint assembly is used to adsorb and fix the workpiece 600 and install the centering clamp, and is assembled with the centering clamp to form a glass plate processing and positioning robot that can be used in an environment with cutting fluid. The centering clamp includes a power unit and an execution unit. The execution unit is a rocker arm clamp unit 500. When in use, the power unit is used to provide power to the rocker arm clamp unit 500, and it is necessary to ensure that the power unit does not contact the cutting fluid. The execution unit can contact the cutting fluid. There is a clamping finger 33 on the top of the execution unit. When centering, the clamping finger 33 is driven by the power unit to act on the side wall of the workpiece 600 to promote centering. When avoiding, the clamping finger 33 is driven by the power unit to descend to avoid the processing head that processes the workpiece 600 above.

[0045] More specifically, the power unit includes: a centering unit 100 connected to the rocker arm unit 500 and used to drive the rocker arm unit 500 to move closer to or away from the workpiece 600, and a lifting unit 200 located below the centering unit 100 and used to drive the centering unit 100 to carry the rocker arm unit 500 up and down as a whole.

[0046] In this embodiment, the fully sealed housing 400 serves multiple functions. Firstly, it houses the power unit of the centering jaws, isolating it from the external cutting fluid environment and protecting it from corrosion. Secondly, it houses the suction cup 700. The vacuum air passage 45 formed in the top wall of the fully sealed housing 400 provides vacuum suction for the suction cup 700, securing the workpiece 600. Furthermore, the fully sealed housing 400 provides a foundation for the installation of the ball joint assembly 32.

[0047] The ball hinge assembly 32 is used to install the actuator of the centering clamp (such as the rocker arm clamp unit 500). After the actuator of the centering clamp passes through the sliding hole 3211, the rocker arm clamp unit 500 forms a ball hinge with the fully sealed shell 400 through the ball hinge assembly 32. The rocker arm clamp unit 500 also forms a sliding connection with the fisheye bearing 321 to ensure that the rocker arm clamp unit 500 can rotate and slide when centering the workpiece 600, thereby meeting the action requirements during centering clamping.

[0048] After the actuator passes through the sliding hole 3211, there is a sealing ring 34 between the actuator and the fisheye bearing 321, and the joints of other components (between the bearing housing and the bearing mounting groove 01, and between the bearing housing and the fisheye bearing 321) also have sealing rings 34. Therefore, the inside of the receiving chamber 28 of the fully sealed shell 400 is completely isolated from the outside, and the external cutting fluid will not affect the power unit accommodated in the receiving chamber 28, and the part of the actuator extending out of the receiving chamber 28 itself can be used in a cutting fluid environment. Under the action of the ball joint assembly 32, the actuator can rotate to form a lateral displacement, approaching or moving away from the workpiece 600, to achieve lateral centering. The actuator slides along the sliding hole 3211 to form a longitudinal lifting displacement, and the actuator can avoid the cutting head after it descends.

[0049] Furthermore, by adopting the structure of this embodiment, when in use, no matter the actuator rotates or rises and falls, external cutting fluid cannot enter the receiving chamber 28 at any time, while meeting the dynamic sealing requirements of the centering jaws during transverse centering and longitudinal lifting.

[0050] According to a specific embodiment of the present invention, the fisheye bearing 321 is a sphere as a whole, and the bearing shell includes a bearing upper shell 322 and a bearing lower shell 323 that are buckled together. The bearing upper shell 322 and the bearing lower shell 323 together form a spherical hole 324 that matches the outer contour of the fisheye bearing 321. The fisheye bearing 321 is installed in the spherical hole 324, and the fisheye bearing 321 is spherically hinged to the bearing shell; a sealing ring 34 is provided between the bearing upper shell 322 and the fisheye bearing 321, and the bearing A sealing ring 34 is provided between the lower shell 323 and the fisheye bearing 321, and a sealing ring 34 is provided between the upper shell 322 of the bearing and the lower shell 323 of the bearing; the ball hinge assembly 32 also includes a threaded connector 35 and a positioning pin 36; the middle part of the positioning pin 36 passes through the lower shell 323 of the bearing, and the two ends of the positioning pin 36 extend into the upper shell 322 of the bearing and the fully sealed housing 400 respectively; the threaded connector 35 is used to fixedly connect the upper shell 322 of the bearing, the lower shell 323 of the bearing and the fully sealed housing 400.

[0051] In this embodiment, the bearing housing is a split upper and lower structure, facilitating the installation of the fisheye bearing 321. In this embodiment, sealed bearings are installed at the joints of the components to prevent cutting fluid from entering the fully sealed housing 400 through the gap between the bearing housing and the bearing mounting groove 01, between the fisheye bearing 321 and the rocker arm unit 500, or between the bearing housing and the fisheye bearing 321. The type of sealing ring 34 between the components can be selected according to specific needs, including but not limited to O-rings.

[0052] The threaded connector 35 is used to fix the bearing upper shell 322 and the bearing lower shell 323. The threaded connector 35 is also used to fix the bearing outer shell to the fully sealed shell 400. The positioning pin 36 is used to achieve precise positioning between the bearing upper shell 322, the bearing lower shell 323 and the fully sealed shell 400 to ensure the movement accuracy of the rocker arm clamp unit 500.

[0053] According to a specific embodiment of the present invention, the inner wall of the receiving cavity 28 is provided with a recessed bottom mounting groove 03 of the power unit, and the bottom of the bottom mounting groove 03 of the power unit has a recessed plate mounting blind hole 04; the housing of the glass plate centering adsorption manipulator with a ball joint assembly also includes a floating joint 8 and a joint mounting plate; the lower end of the floating joint 8 has a raised mounting step 81,

[0054] The center of the joint mounting plate passes through the countersunk hole 11 on it, the mounting step 81 is installed in the countersunk hole 11, and the upper end of the floating joint 8 extends out of the countersunk hole 11. The joint mounting plate as a whole is rectangular, and the four corners of the joint mounting plate are respectively provided with threaded mounting holes 13 passing through it and aligned with the plate mounting blind holes 04; the joint mounting plate is installed in the mounting groove 03 at the bottom end of the power unit through the threaded connector 35.

[0055] In this embodiment, a floating mounting structure formed by a combination of a floating joint 8 and a joint mounting plate is provided on the inner wall of the receiving chamber 28. This provides the housing of the glass plate centering adsorption robot with an embedded ball joint assembly with a built-in floating connection interface, enabling quick and easy connection to the bottom of the power unit during use. Furthermore, the floating mounting structure eliminates the need to penetrate the bottom wall of the receiving chamber 28 during installation, thereby maintaining the sealing performance of the fully sealed housing 400.

[0056] The following explanation uses the bottom of the power unit as a lifting unit 200, and this lifting unit 200 is a cylinder structure. The lower portion of the cylinder is the cylinder rod, and the extended end of the cylinder rod is the fixed end. The floating joint 8 is an existing directly purchased part that provides a floating connection for the fixed end. The floating joint 8 can eliminate errors and prevent the cylinder rod from sticking.

[0057] The joint mounting plate is rectangular as a whole. The upper middle portion of the joint mounting plate provides installation space for the lifting unit 200 , and threaded mounting holes 13 are conveniently provided at both ends of the length to install and connect the threaded connectors 35 .

[0058] In addition, since the joint mounting plate is installed in the mounting groove 03 at the bottom end of the power unit, the side of the mounting groove 03 at the bottom end of the power unit can provide positioning and limiting for the joint mounting plate, which facilitates its quick and stable installation. By adopting this structure, the protruding height of the joint mounting plate is reduced, providing more installation space for the power parts, which is conducive to reducing the overall height of the glass plate centering adsorption robot housing embedded with the ball joint assembly.

[0059] According to a specific embodiment of the present utility model, the joint mounting plate is spliced ​​together by a first plate 9 and a second plate 10 of mutually symmetrical structures. A threaded mounting hole 13 is respectively provided at both ends of the first plate 9. The first plate 9 and the second plate 10 together form a countersunk hole 11. There is a gap 14 between the outer side of the floating joint 8 and the wall of the countersunk hole 11.

[0060] In this embodiment, the joint mounting plate is designed as a symmetrical structure, split in half. During assembly, the floating joint 8 is first screwed onto the fixed end of the cylinder rod. The first and second plates 9, 10 are then brought closer together from either side of the floating joint 8 and pressed against the mounting step 81. The first and second plates 9, 10 are then screwed to the fixture. This structure facilitates installation. After determining the position of the floating joint 8, the mounting positions of the first and second plates 9, 10 can be fine-tuned to ensure that the gaps 14 between the floating joint 8 and the sidewalls of the countersunk hole 11 are equal at all locations, further improving the performance of the device.

[0061] Since there is a gap 14 between the outer side of the floating joint 8 and the wall of the countersunk hole 11, the lateral position of the floating joint 8 can be slightly adjusted, which greatly improves the flexibility of installation. Moreover, the floating joint 8 is not locked, and the overall force effect is better.

[0062] According to a specific embodiment of the present invention, the fully sealed housing 400 includes: a housing body 05, a front side cover 06, a rear side cover 07 and a bottom plate 08; the housing body 05 is in the shape of a rectangular frame, and the front side arm, rear side wall and bottom wall of the housing body 05 are respectively provided with a front opening 051, a rear opening 052 and a bottom opening 053, the front side cover 06 completely covers the front opening 051, and a sealing ring 34 is provided between the front side cover 06 and the housing body 05, which is arranged around the front opening 051; the rear side cover 07 completely covers the rear opening 052, and A sealing ring 34 is provided between the rear cover 07 and the shell body 05, which is arranged around the rear opening 052; the bottom plate 08 completely covers the bottom opening 053, and a sealing ring 34 is provided between the bottom plate 08 and the shell body 05, which is arranged around the bottom opening 053; the shell body 05, the front cover 06, the rear cover 07 and the bottom plate 08 together form a receiving cavity 28, the vacuum air duct 45 is located in the top wall of the shell body 05, the bearing mounting groove 01 and the swing arm through hole 02 are both provided on the top wall of the shell body 05, and the bottom end mounting groove 03 of the power unit is located on the bottom plate 08.

[0063] In this embodiment, the fully sealed housing 400 is a structure composed of multiple components. This structure facilitates the installation of the power unit and the actuator. Sealing rings 34 are provided between adjacent components to ensure the sealing performance of the receiving chamber 28. The housing body 05 is generally in the shape of a rectangular frame to ensure good strength. The bottom opening 053 is the main access channel for the installation of the power unit. The side openings are provided on the opposite front and rear sides. This structure facilitates the entry and exit of small materials and installation tools. The side openings are provided on the opposite front and rear sides. This structure also facilitates observation of the internal conditions during installation, improving the convenience of installation.

[0064] According to a specific embodiment of the present invention, the front cover 06 is made of a transparent material.

[0065] In this embodiment, the front cover 06 made of a transparent material facilitates observation of the interior of the fully sealed housing 400 during use.

[0066] According to the specific embodiment of the present invention, the housing of the glass plate centering adsorption robot embedded with a ball joint assembly also includes: a vacuum connector 46 arranged at the top of the outer wall of the housing body 05 and connected to the vacuum air source end 451, an air pipe connector 43 and a waterproof electrical connector 44 respectively arranged at the bottom of the outer wall of the housing body 05 and connected to the accommodating cavity 28.

[0067] In this embodiment, a vacuum connector 46, an air pipe connector 43, and a waterproof electrical connector 44 are integrated on the outside of the housing body 05. The vacuum connector 46 connects the vacuum air passage 45 to an external vacuum air source. The air pipe connector 43 connects the power unit to an external pressure air source. The waterproof electrical connector 44 transmits the power unit's operating status signal to the external electrical control circuit.

[0068] By adopting this structure, when the utility model is combined with a centering clamp and other modules, rapid installation can be achieved to form a glass plate processing and positioning robot.

[0069] According to a specific embodiment of the present invention, the housing of the glass plate centering adsorption robot embedded with the ball joint assembly further includes a Y-shaped quick-connect air pipe connector 47 provided in the accommodating cavity 28 .

[0070] In this embodiment, the Y-type quick-insert air pipe connector 47 is used to connect the air pipe connector 43 and the power unit, which can realize the diversion of the air flow; it is suitable for the case where there are multiple sets of power units.

[0071] According to a specific embodiment of the present invention, the suction cup 700 is rectangular and is provided with a disc mounting through hole 701 running through it; the top of the shell body 05 is also provided with a disc mounting blind hole 09 which is recessed and arranged corresponding to the disc mounting through hole 701; the suction cup 700 is fixed to the top of the shell body 05 by a threaded connection 35.

[0072] In this embodiment, the shape of the suction cup 700 matches the shape of a commonly used rectangular glass workpiece 600. The blind hole 09 for cup mounting is not connected to the receiving cavity 28, ensuring the proper mounting of the suction cup 700 without compromising the sealing of the receiving cavity 28. Once securely installed, the suction cup 700 maintains a secure connection with the vacuum air passage 45 and provides stable support for the workpiece 600.

[0073] According to the specific implementation of the present invention, the fully sealed shell 400 is rectangular as a whole; the number of suction cups 700 is n, and the n suction cups 700 are arranged in sequence along the length direction of the fully sealed shell 400, n is a natural number ≥2, each suction cup 700 has an independent vacuum air duct 45, the suction cup 700 is rectangular, and the long side direction of the suction cup 700 is consistent with the short side direction of the fully sealed shell 400; each suction cup 700 is surrounded by a group of mounting slots consisting of 5 bearing mounting slots 01, and a mounting slot is respectively provided on the outer side of one long side and two short sides of the suction cup 700, and two mounting slots are provided on the side of the other long side of the suction cup 700; the bearing mounting slots 01 located between two adjacent suction cups 700 and belonging to different mounting slot groups are alternately arranged along the width direction of the fully sealed shell 400.

[0074] In this embodiment, multiple suction cups 700 are provided to form a station group for processing the glass plate workpiece 600. The specific value of n is selected according to the use requirements. Each suction cup 700 has an independent vacuum air channel 45 structure, providing conditions for the independent use of each suction cup 700.

[0075] This embodiment rationally arranges the arrangement direction of the suction cup 700 so that when forming a workstation group, the volume of the housing of the glass plate centering adsorption robot embedded with the ball joint assembly is reduced as much as possible.

[0076] In addition, along the width direction of the fully sealed housing 400, the bearing mounting grooves 01 located between two adjacent suction cups 700 and belonging to different mounting groove groups are alternately arranged (eg Figure 5 , the three bearing mounting slots 01 between the two suction cups 700 are staggered, and among the three bearing mounting slots 01, the two bearing mounting slots 01 located at the upper and lower positions belong to the left mounting slot group, and the two bearing mounting slots 01 located at the middle position belong to the right mounting slot group). A corresponding ball hinge assembly 32 is installed in each bearing mounting slot 01, that is, a corresponding rocker arm clamp unit 500 can be installed. The adoption of this structure ensures that each side of the workpiece 600 corresponds to at least one rocker arm clamp unit 500. After the centering clamp is installed, it ensures that the workpiece 600 can be centered smoothly, and the distance between the connected suction cups 700 is reduced as much as possible, further reducing the overall volume of the glass plate centering adsorption robot housing embedded with the ball hinge assembly, meeting the occasions with more stringent requirements on the overall volume of the robot (smaller).

[0077] It should be noted that the glass plate centering adsorption robot shell embedded with a ball joint assembly of the present invention can be used as a separate shell module product for consumers to choose; it can also be assembled with the centering clamp to form a robot product and then sold as a whole.

[0078] 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 glass plate centering adsorption robot housing embedded with a ball hinge assembly, characterized in that: include: A fully sealed shell, a suction cup and a ball hinge assembly; the fully sealed shell includes a receiving cavity and a vacuum air duct formed therein, the vacuum air duct is located above the receiving cavity, the suction cup is installed on the top of the fully sealed shell, one end of the vacuum air duct extends to the suction cup and is used to provide adsorption power for the suction cup, and the other end of the vacuum air duct is connected to the vacuum air source end, and the vacuum air source end extends to the side wall of the fully sealed shell; the upper part of the fully sealed shell is provided with a bearing mounting groove formed by a recess and arranged around the suction cup, and the lower part of each bearing mounting groove is provided with a swing arm through hole connecting the bearing mounting groove and the receiving cavity; each bearing mounting groove is provided with a set of the ball hinge assembly, wherein: the ball hinge assembly includes a bearing shell and a fisheye bearing installed in the bearing shell and ball-hinged with the bearing shell, the bearing shell is fixedly embedded in the bearing mounting groove, the fisheye bearing is provided with a sliding hole running through it, a sealing ring is provided between the bearing shell and the bearing mounting groove, a sealing ring is provided between the bearing shell and the fisheye bearing, and a sealing ring is provided on the inner wall of the sliding hole.

2. The housing of the glass plate centering adsorption robot embedded with a ball hinge assembly according to claim 1, characterized in that: The fisheye bearing is a sphere as a whole, and the bearing shell includes an upper bearing shell and a lower bearing shell that are buckled together. The upper bearing shell and the lower bearing shell together form a spherical hole that matches the outer contour of the fisheye bearing. The fisheye bearing is installed in the spherical hole, and the fisheye bearing is ball-hinged with the bearing shell; a sealing ring is provided between the upper bearing shell and the fisheye bearing, and 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 ball hinge assembly 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 fixedly connect the upper bearing shell, the lower bearing shell and the fully sealed shell.

3. The housing of the glass plate centering adsorption robot embedded with a ball hinge assembly according to claim 2, characterized in that: The inner wall of the accommodating cavity is provided with a recessed bottom mounting groove of the power unit, and the bottom of the bottom mounting groove of the power unit has a recessed plate mounting blind hole; the housing of the glass plate centering adsorption robot embedded with the ball joint assembly also includes a floating joint and a joint mounting plate; the lower end of the floating joint has a raised mounting step, and the center of the joint mounting plate is provided with a countersunk hole passing through it, the mounting step is installed in the countersunk hole, and the upper end of the floating joint extends out of the countersunk hole, the joint mounting plate is a rectangle as a whole, and the four corners of the joint mounting plate are respectively provided with threaded mounting holes passing through it and aligned with the plate mounting blind hole; the joint mounting plate is installed in the bottom mounting groove of the power unit by a threaded connector.

4. The housing of the glass plate centering adsorption robot embedded with a ball hinge assembly according to claim 3, characterized in that: The joint mounting plate is formed by splicing a first plate and a second plate with mutually symmetrical structures. A threaded mounting hole is respectively provided at both ends of the first plate. The first plate and the second plate together form the countersunk hole. There is a gap between the outer side of the floating joint and the wall of the countersunk hole.

5. The housing of the glass plate centering adsorption robot embedded with a ball hinge assembly according to claim 4, characterized in that: The fully sealed shell includes: an outer shell body, a front side cover, a rear side cover and a bottom plate; the outer shell body is a rectangular frame as a whole, and the front side arm, rear side wall and bottom wall of the outer shell body are respectively provided with a front opening, a rear opening and a bottom opening, the front side cover completely covers the front opening, and a sealing ring arranged around the front opening is provided between the front side cover and the outer shell body; the rear side cover completely covers the rear opening, and a sealing ring arranged around the rear opening is provided between the rear side cover and the outer shell body; the bottom plate completely covers the bottom opening, and a sealing ring arranged around the bottom opening is provided between the bottom plate and the outer shell body; the outer shell body, the front side cover, the rear side cover and the bottom plate together form the accommodating cavity, the vacuum air duct is located in the top wall of the outer shell body, the bearing mounting groove and the swing arm through hole are both provided on the top wall of the outer shell body, and the bottom end mounting groove of the power unit is located on the bottom plate.

6. The housing of the glass plate centering adsorption robot embedded with a ball hinge assembly according to claim 5, characterized in that: The front side cover is made of transparent material.

7. The housing of the glass plate centering adsorption robot embedded with a ball hinge assembly according to claim 6, characterized in that: The glass plate centering adsorption robot housing embedded with a ball joint assembly also includes: a vacuum connector arranged at the top of the outer wall of the housing body and connected to the vacuum air source end, an air pipe connector and a waterproof electrical connector respectively arranged at the bottom of the outer wall of the housing body and connected to the accommodating cavity.

8. The housing of the glass plate centering adsorption robot embedded with a ball joint assembly according to claim 7, characterized in that: The housing of the glass plate centering adsorption robot embedded with the ball joint assembly also includes a Y-shaped quick-insert air pipe joint arranged in the accommodating cavity.

9. The housing of the glass plate centering adsorption robot embedded with a ball joint assembly according to claim 8, characterized in that: The suction cup is rectangular and is provided with a disc mounting through hole running through it; the top of the shell body is also provided with a disc mounting blind hole which is recessed and arranged corresponding to the disc mounting through hole; the suction cup is fixed to the top of the shell body by a threaded connector.

10. The housing of the glass plate centering adsorption robot embedded with a ball hinge assembly according to any one of claims 1 to 9, characterized in that: The fully sealed shell is rectangular as a whole; the number of the suction cups is n, and the n suction cups are arranged in sequence along the length direction of the fully sealed shell, n is a natural number ≥2, each of the suction cups has an independent vacuum air channel, the suction cup is rectangular, and the long side direction of the suction cup is consistent with the short side direction of the fully sealed shell; each of the suction cups is surrounded by a mounting slot group consisting of 5 bearing mounting slots, and one mounting slot is provided on the outer side of one long side and two short sides of the suction cup, and two mounting slots are provided on the side of the other long side of the suction cup; the bearing mounting slots located between two adjacent suction cups and belonging to different mounting slot groups are arranged alternately along the width direction of the fully sealed shell.

Images