Robot gripper for gripping glass, robot arm and robot

Abstract

A robot gripper used for gripping glass, a robot arm and a robot comprise a cross beam which is vertically connected with one end of a first longitudinal beam, one end of a second longitudinal beam, one end of a third longitudinal beam, one end of a fourth longitudinal beam and one end of a fifth longitudinal beam. The other ends of the first longitudinal beam, the second longitudinal beam, the third longitudinal beam, the fourth longitudinal beam and the fifth longitudinal beam are respectively provided with a sucking disc unit through fasteners; a gravity center adjusting unit is arranged on the cross beam between the first longitudinal beam and the second longitudinal beam; by optimizing the distribution positions of the first longitudinal beam, the second longitudinal beam, the third longitudinal beam, the fourth longitudinal beam, the fifth longitudinal beam and the flanges on the cross beam, arranging the corresponding number of suction cup units according to glass of different specifications and combining the adjusting effect of the gravity center adjusting unit, the whole device is more stable and reliable when grabbing the glass, the overturning and stacking precision is high, and the production efficiency is improved. And high adaptability and universality are achieved on grabbing of glass of different specifications.

Description

TECHNICAL FIELD

[0001] The utility model relates to glass grabbing technical field, especially relate to a robot gripper for grabbing glass, robot arm and robot. BACKGROUND

[0002] With the continuous development of industrial automation, robots are more and more widely used in production and manufacturing. As an important executive component of the robot, the performance of the robot gripper directly affects the working efficiency and operation accuracy of the robot. However, the existing robot gripper has problems such as unstable grabbing, poor adaptability, complex structure, etc. when grabbing glass, and cannot meet the diversified production needs.

[0003] Patent application CN 220811042 U proposes a glass grabbing device, which adds an adsorption assembly on the adsorption end face of the frame. The first suction cup of the adsorption assembly can adsorb and grab the glass. After the glass is grabbed, the air head of the separation mechanism works on the isolation paper attached to the glass, so that the isolation paper can fall off the glass. However, the stacking precision of the device when grabbing glass is low, and it cannot meet the needs of diversified production. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, the purpose of the utility model is to provide a robot gripper for grabbing glass. By optimizing the distribution positions of the first, second, third, fourth and fifth longitudinal beams and the flange on the cross beam, and configuring a corresponding number of suction cup units according to different specifications of glass, and combining the adjusting effect of the gravity center adjusting unit, the overall device is more stable and reliable when grabbing glass, has high overturning stacking precision, and has strong adaptability and versatility for grabbing different specifications of glass.

[0005] In order to achieve the above purpose, the utility model adopts the technical scheme of:

[0006] A robot gripper for grabbing glass, comprising a cross beam 1, the cross beam 1 is vertically connected with one end of a first longitudinal beam 2, a second longitudinal beam 3, a third longitudinal beam 4, a fourth longitudinal beam 5 and a fifth longitudinal beam 6 respectively, the other end of the first longitudinal beam 2, the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5 and the fifth longitudinal beam 6 is provided with a suction cup unit 8 through a fastener 7 respectively, and a gravity center adjusting unit 10 is arranged on the cross beam 1 between the first longitudinal beam 2 and the second longitudinal beam 3.

[0007] Further, the suction cup unit 8 comprises a gas pipe 81 sleeved on the fastener 7, the end of the gas pipe 81 away from the fastener 7 is provided with a suction cup 82, and a spring 83 is arranged on the gas pipe 81 between the suction cup 82 and the fastener 7.

[0008] Further, the gravity center adjusting unit 10 comprises a bearing seat 102 fixed on the cross beam 1 through a first locking bolt 101, a code table 103 movably connected to one side of the bearing seat 102, and a lead screw 104 movably connected to the other side of the bearing seat 102, wherein a counterweight sliding block 105 is sleeved on the lead screw 104, a long hole 106 is formed in the cross beam 1 near one side of the counterweight sliding block 105, and the cross beam 1 and the counterweight sliding block 105 are connected through a second locking bolt 107 vertically penetrating through the long hole 106.

[0009] Further, the distance between the first longitudinal beam 2 and the second longitudinal beam 3 is greater than the distance between the second longitudinal beam 3 and the third longitudinal beam 4, the distance between the third longitudinal beam 4 and the fourth longitudinal beam 5, and the distance between the fourth longitudinal beam 5 and the fifth longitudinal beam 6.

[0010] Further, the number of the suction cup units 8 provided on the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5 and the fifth longitudinal beam 6 is at least six.

[0011] Further, the flange 9 for connecting the robot arm is arranged on the cross beam 1 between the second longitudinal beam 3 and the third longitudinal beam 4, and the flange 9 is asymmetrically arranged.

[0012] A robot arm comprises the robot gripper for grabbing glass as described above.

[0013] A robot comprises the robot gripper for grabbing glass as described above or the robot arm as described above.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1. The utility model discloses a gravity center adjusting unit 10 arranged on the cross beam 1 between the first longitudinal beam 2 and the second longitudinal beam 3, which can adjust the gravity center of the robot gripper, makes the glass more stable and reliable, reduces the impact force when the robot gripper overturns, and improves the work efficiency.

[0016] 2. The utility model discloses a plurality of suction cup units 8 arranged on the other end of the first longitudinal beam 2, the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5 and the fifth longitudinal beam 6 through the fastener 7, which can more stably grab the glass, and according to the mass of the glass of different specifications, the corresponding number of suction cup units 8 is configured, so that the overall device has strong adaptability and universality.

[0017] In conclusion, the whole structure of the utility model has reasonable design, through optimizing the distribution position of the first longitudinal beam 2, the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5, the fifth longitudinal beam 6 and the flange 9 on the cross beam 1, and according to different specifications of glass, configuring corresponding number of suction cup units 8, and combining the adjusting effect of the gravity center adjusting unit 10, the overall device is more stable and reliable when grabbing glass, and has high overturning and stacking precision, and has strong adaptability and versatility to the grabbing of different specifications of glass. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the whole structure schematic diagram of the utility model.

[0019] Figure 2 It is the structure schematic diagram of the suction cup unit 8 of the utility model.

[0020] Figure 3 It is the partial structure schematic diagram of the gravity center adjusting unit 10 of the utility model.

[0021] Figure 4 It is the partial sectional view schematic diagram of the gravity center adjusting unit 10 of the utility model.

[0022] In the drawing: 1, cross beam; 2, first longitudinal beam; 3, second longitudinal beam; 4, third longitudinal beam; 5, fourth longitudinal beam; 6, fifth longitudinal beam; 7, fastener; 8, suction cup unit; 81, air pipe; 82, suction cup; 83, spring; 9, flange; 10, gravity center adjusting unit; 101, first locking bolt; 102, bearing seat; 103, code table; 104, lead screw; 105, counterweight sliding block; 106, long hole; 107, second locking bolt. DETAILED DESCRIPTION

[0023] The utility model will be further explained in detail in combination with the drawings.

[0024] Reference Figure 1 A robot gripper for grabbing glass, comprising a cross beam 1, the cross beam 1 is vertically connected with one end of the first longitudinal beam 2, the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5 and the fifth longitudinal beam 6 respectively, the other end of the first longitudinal beam 2, the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5 and the fifth longitudinal beam 6 is provided with two suction cup units 8 through fastener 7 respectively, the cross beam 1 between the first longitudinal beam 2 and the second longitudinal beam 3 is provided with a gravity center adjusting unit 10.

[0025] The utility model discloses whole structure design is reasonable, through the distribution position of first longitudinal beam 2, second longitudinal beam 3, third longitudinal beam 4, fourth longitudinal beam 5, fifth longitudinal beam 6 on crossbeam 1 is optimized, and according to the different specifications glass is configured corresponding number of sucking disc unit 8, and the adjusting effect of gravity center adjusting unit 10 is combined, make the whole device when more stable reliable when grabbing glass, overturning stacking precision is high, and the grabbing of different specifications glass has strong adaptability and universality.

[0026] As Figure 1 And Figure 2 Sucking disc unit 8 includes the air pipe 81 of being worn on fastener 7, and the one end of air pipe 81 away from fastener 7 is provided with sucking disc 82, and spring 83 is arranged on the air pipe 81 between sucking disc 82 and fastener 7.

[0027] As Figure 3 And Figure 4 Gravity center adjusting unit 10 includes bearing seat 102 fixed on crossbeam 1 through first locking bolt 101, and bearing seat 102's one side is movably connected code table 103, and bearing seat 102's other side is movably connected lead screw 104, and counterweight sliding block 105 is worn on lead screw 104, and the long hole 106 is set up on the crossbeam 1 close to counterweight sliding block 105 side, and crossbeam 1 is connected with counterweight sliding block 105 through the second locking bolt 107 vertically through long hole 106.

[0028] The utility model discloses before using, need to debug gravity center adjusting unit 10;According to the weight of first longitudinal beam 2, second longitudinal beam 3, third longitudinal beam 4, fourth longitudinal beam 5 and fifth longitudinal beam 6, the weight of all sucking disc unit 8 and the installation position of first longitudinal beam 2, second longitudinal beam 3, third longitudinal beam 4, fourth longitudinal beam 5 and fifth longitudinal beam 6 on crossbeam 1 respectively, the approximate position of counterweight sliding block 105 of gravity center adjusting unit 10 is calculated;After adjusting counterweight sliding block 105 to specified position by rotating lead screw 104 driven by code table 103, counterweight sliding block 105 is locked through the second locking bolt 107 vertically through long hole 106;The design of long hole 106 makes the second locking bolt 107 more easily and quickly align with the reserved hole on counterweight sliding block 105, improves the efficiency and flexibility of counterweight sliding block 105 in different position locking.

[0029] Again utilize robot tool detection function to carry out gravity detection to the combination of robot gripper and glass, record data repeatedly adjust the position of counterweight sliding block 105 and guarantee that the assembly overall gravity center of crossbeam 1 coincides with the center of flange 9;Same operation is carried out to other different specifications glass by the same method above, and the numerical value corresponding to code table 103 is adjusted and recorded, and when grabbing different specifications products, the gravity center can be quickly adjusted according to the recorded value.

[0030] By setting the gravity center adjusting unit 10, the glass is more stable and reliable to be grabbed, the impact force caused by the robot gripper overturning is reduced, and the working efficiency is improved.

[0031] The spacing between the first longitudinal beam 2 and the second longitudinal beam 3 is greater than the spacing between the second longitudinal beam 3 and the third longitudinal beam 4, the spacing between the third longitudinal beam 4 and the fourth longitudinal beam 5, and the spacing between the fourth longitudinal beam 5 and the fifth longitudinal beam 6. Through the optimization of this layout, the number of longitudinal beams can be reduced in actual application scenarios, the overall load of the robot gripper is reduced, and the grabbing efficiency is improved.

[0032] In order to keep the glass more stable and reliable when grabbing, the total number of suction cup units 8 provided on the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5 and the fifth longitudinal beam 6 is at least six.

[0033] The utility model discloses ten suction cup units 8 are provided, and the glass with the specification of 1000mm~2500mm can be automatically grabbed;When the glass with the minimum specification of 1000mm is grabbed, only four suction cup units 8 on the first longitudinal beam 2 and the second longitudinal beam 3 are used to meet the requirement;When the glass with the maximum specification of 2500mm is grabbed, all suction cup units 8 need to work. The commonly used glass specifications are 2272mm, 2378mm and 2459mm, and in combination with two suction cup units 8 provided on the first longitudinal beam 2 and the total number of suction cup units 8 provided on the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5 and the fifth longitudinal beam 6 is at least six, the stable grabbing of the commonly used glass specifications can be realized.

[0034] The flange 9 for connecting the robot arm is arranged on the cross beam 1 between the second longitudinal beam 3 and the third longitudinal beam 4;According to the specifications of the commonly used glass, the flange 9 is asymmetrically installed to ensure the center grabbing of the glass.

[0035] The utility model also provides a robot arm, which comprises the robot gripper for grabbing glass as described above, and can realize the functions and beneficial effects of the robot gripper for grabbing glass.

[0036] The utility model also provides a robot, which comprises the robot gripper for grabbing glass as described above or the robot arm as described above.

[0037] The working principle of the utility model is as follows:

[0038] Before use, the approximate position of the counterweight slider 105 of the gravity center adjusting unit 10 is calculated according to the weight of the first longitudinal beam 2, the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5 and the fifth longitudinal beam 6, the weight of all the suction cup units 8 and the mounting position of the first longitudinal beam 2, the second longitudinal beam 3, the third longitudinal beam 4, the fourth longitudinal beam 5 and the fifth longitudinal beam 6 on the cross beam 1 respectively; after the counterweight slider 105 is adjusted to the specified position by rotating the lead screw 104 driven by the code table 103, the counterweight slider 105 is locked by the second locking bolt 107 vertically penetrating the long hole 106.

[0039] The gravity center of the combination of the robot gripper and the glass is detected by the robot tool detection function, data is recorded, the position of the counterweight slider 105 is adjusted repeatedly to ensure that the overall gravity center of the assembled cross beam 1 coincides with the center of the flange 9; the same operation is performed on other different specifications of glass by the same method, the corresponding values of the code table 103 are adjusted and recorded, and the gravity center can be quickly adjusted according to the recorded values when different specifications of products are grabbed.

[0040] When in use, the robot gripper with the adjusted gravity center is connected to the robot arm through the flange 9, and then the robot realizes the automatic grabbing of different specifications of glass.

Claims

1. A robot gripper for gripping glass comprising a crossbeam (1), characterised in that: The cross beam (1) is vertically connected with one end of the first longitudinal beam (2), the second longitudinal beam (3), the third longitudinal beam (4), the fourth longitudinal beam (5) and the fifth longitudinal beam (6), respectively, and the other end of the first longitudinal beam (2), the second longitudinal beam (3), the third longitudinal beam (4), the fourth longitudinal beam (5) and the fifth longitudinal beam (6) is provided with a suction cup unit (8) through a fastener (7), respectively, and the cross beam (1) between the first longitudinal beam (2) and the second longitudinal beam (3) is provided with a gravity center adjusting unit (10).

2. The robotic gripper for gripping glass of claim 1, wherein: The suction cup unit (8) comprises an air pipe (81) sleeved on the fastener (7), and the air pipe (81) is provided with a suction cup (82) at one end away from the fastener (7), and a spring (83) is arranged around the air pipe (81) between the suction cup (82) and the fastener (7).

3. The robotic gripper for gripping glass of claim 1, wherein: The gravity center adjusting unit (10) comprises a bearing seat (102) fixed on the cross beam (1) through a first locking bolt (101), a watch (103) movably connected to one side of the bearing seat (102), and a lead screw (104) movably connected to the other side of the bearing seat (102), wherein the lead screw (104) is sleeved with a counterweight sliding block (105), the cross beam (1) near the counterweight sliding block (105) is provided with a long hole (106), and the cross beam (1) and the counterweight sliding block (105) are connected through a second locking bolt (107) vertically penetrating the long hole (106).

4. The robotic gripper for gripping glass of claim 1, wherein: The distance between the first longitudinal beam (2) and the second longitudinal beam (3) is greater than the distance between the second longitudinal beam (3) and the third longitudinal beam (4), the distance between the third longitudinal beam (4) and the fourth longitudinal beam (5), and the distance between the fourth longitudinal beam (5) and the fifth longitudinal beam (6).

5. The robotic gripper for gripping glass of claim 1, wherein: The total number of suction cup units (8) provided by the second longitudinal beam (3), the third longitudinal beam (4), the fourth longitudinal beam (5) and the fifth longitudinal beam (6) is at least six.

6. The robotic gripper for gripping glass of claim 1, wherein: The cross beam (1) between the second longitudinal beam (3) and the third longitudinal beam (4) is provided with a flange (9) for connecting a robot arm, and the flange (9) is asymmetrically mounted.

7. A robot arm, characterized by: A robot gripper for grabbing glass according to any one of claims 1 to 6.

8. A robot, characterized by: A robot gripper for grabbing glass according to any one of claims 1 to 6 or a robot arm according to claim 7.

Images