Cantilever manipulator for transferring glass

Abstract

The utility model belongs to the technical field of cantilever manipulators, and discloses a cantilever manipulator for transferring glass, which comprises a pair of support frames, and a horizontally placed connecting frame is fixed between the two support frames; a horizontally-placed first cantilever is arranged at the lower end of the connecting frame, and a vertically-upwards-placed rotating shaft is fixed to one end of the first cantilever and rotationally connected with the connecting frame. A plurality of sliding rails which are horizontally placed are fixed to the first cantilever, the sliding rails are all perpendicular to the first cantilever, at least two sliding blocks are connected to any sliding rail in a sliding and clamping mode, and the sliding blocks can slide in the axis direction of the sliding rails; lifting parts are fixedly mounted on the sliding rails; through the adjustable design of the sliding rail and the sliding block, the position of the adsorption part can be flexibly adjusted according to the shape and size of glass, the adaptability of the equipment to the glass of different specifications is greatly improved, the stress uniformity of the glass in the carrying process is improved, deviation or damage is effectively prevented, and the service life of the equipment is prolonged. The stability and the safety of glass transfer are obviously improved.

Description

Technical Field

[0001] This utility model belongs to the field of cantilever manipulator technology, specifically relating to a cantilever manipulator for transferring glass. Background Technology

[0002] In the glass manufacturing and processing industry, robotic arms are widely used for glass handling and transfer operations. Traditional glass handling robotic arms typically employ a fixed suction cup structure, where the position and number of suction points are determined during equipment installation. This makes it impossible to adapt to glass of different sizes and shapes. This fixed design has significant drawbacks. When encountering glass of different specifications, especially irregularly shaped or large-sized glass, the fixed suction points often fail to provide uniform suction force, easily leading to glass displacement, deformation, or even breakage during handling, posing serious safety hazards. Therefore, existing technologies suffer from the problem that fixed suction points make it difficult for robotic arms to adapt to different glass specifications, resulting in uneven force distribution during handling and affecting stability. Utility Model Content

[0003] To address the shortcomings of existing technologies, the purpose of this utility model is to provide a cantilever robot for transferring glass, which solves the problem that existing robots, due to their fixed adsorption points, are difficult to adapt to different glass sizes, leading to uneven force distribution during handling and affecting stability.

[0004] The objective of this utility model can be achieved through the following technical solutions:

[0005] A cantilever robot for transferring glass includes a pair of support frames and a horizontally placed connecting frame fixed between the two support frames;

[0006] The lower end of the connecting frame is provided with a horizontally placed first cantilever, and one end of the first cantilever is fixed with a vertically upward-placed rotating shaft, which is rotatably connected to the connecting frame.

[0007] Multiple horizontally placed slide rails are fixed on the first cantilever. The slide rails are all perpendicular to the first cantilever. At least two sliders are slidably engaged on each slide rail. The sliders can slide along the axis of the slide rail.

[0008] Each slide rail is fixedly equipped with a lifting part, and each lifting part is fixedly connected to an adsorption part at its lower end. The lifting part is used to drive the adsorption part to move up and down.

[0009] A second cantilever is fixed to the upper end of the rotating shaft. The second cantilever is placed in the same direction as the first cantilever. The second cantilever is fixed to the first cantilever by a fixing rod. A horizontally placed arc strip is fixed on the connecting frame. The center of the circular surface of the arc strip is located on the central axis of the rotating shaft. A support block is connected to the end of the second cantilever away from the rotating shaft. The lower end of the support block is slidably connected to the arc strip.

[0010] The upper end of the connecting frame is rotatably connected to a vertically upward rotating block. The upper end of the rotating block is fixed with a mounting base. A horizontally placed electric cylinder is fixedly installed on the mounting base. A hinge is fixed on the second cantilever. The hinge contains a pin that is placed in the same direction as the rotating shaft. The telescopic rod at the output end of the electric cylinder is rotatably sleeved on the pin.

[0011] A rolling element is provided between the support block and the arc strip. The upper end of the rolling element is connected to the support block, and the lower end of the rolling element is spherical. The lower end of the rolling element is slidably connected to the arc strip.

[0012] The support block is detachably connected to the second cantilever;

[0013] The lifting part includes any one of a pneumatic cylinder, a hydraulic cylinder, or an electric push rod; the suction part is a suction cup;

[0014] Each suction cup is connected to the negative pressure device via an air passage;

[0015] The air path includes a first air pipe and a second air pipe. The number of first air pipes is equal to the number of suction cups and they correspond one-to-one. Each first air pipe is connected to the inside of the corresponding suction cup. The end of each first air pipe away from the suction cup is connected to the second air pipe. The other end of the second air pipe is connected to the output end of the negative pressure device.

[0016] Valves are installed on the first trachea;

[0017] The adsorption part is an electric suction cup.

[0018] The explanations of the nouns, conjunctions, or adjectives used in the above technical solutions are as follows:

[0019] Fixed connection: refers to a connection method in which two or more components are tightly connected together by welding, gluing or other methods, and cannot be easily separated.

[0020] Rotary connection: refers to a connection where two parts can rotate relative to each other, and is often used in mechanical devices when rotational motion is required.

[0021] The beneficial effects of this utility model are:

[0022] 1. This application uses an adjustable design of slide rail and slider to allow the position of the adsorption part to be flexibly adjusted according to the shape and size of the glass. This not only greatly improves the adaptability of the equipment to different specifications of glass, but also optimizes the distribution of adsorption force, improves the uniformity of glass force during handling, effectively prevents displacement or breakage, and significantly improves the stability and safety of glass transfer.

[0023] By pushing the first cantilever to rotate around the pivot, the glass can be rotated around the central axis of the pivot, which facilitates the transfer of the glass or the adjustment of the placement angle. Compared with traditional manual handling, it effectively reduces labor intensity and improves work efficiency.

[0024] 2. By setting up the second cantilever, fixed rod, arc strip, support block and rolling element, the possibility of the first cantilever sinking and deforming away from the pivot due to the weight of the glass can be effectively reduced, and the stability of glass transfer can be improved.

[0025] 3. By coordinating the rotating block, mounting base, electric cylinder, and hinge, the second cantilever and the first cantilever are automatically driven to swing around the central axis of the rotating shaft. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0028] Figure 2 This is a partial structural diagram of the connecting frame of this utility model;

[0029] Figure 3 This is a schematic diagram of a portion of the slide rail structure of this utility model;

[0030] Figure 4 This is a partial structural diagram of the rolling element of this utility model. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0032] This combination Figures 1 to 4This invention describes an embodiment of a cantilever robot for transferring glass. Specifically, the cantilever robot for transferring glass is constructed as a split structure, comprising a connecting frame 200, a first cantilever 300, a rotating shaft 400, a slide rail 500, a slider 501, a lifting part 600, and an adsorption part 700. Through the adjustable design of the slide rail 500 and the slider 501, the position of the adsorption part 700 can be flexibly adjusted according to the shape and size of the glass. This not only significantly improves the adaptability of the equipment to glass of different specifications but also optimizes the distribution of adsorption force, improves the uniformity of force on the glass during handling, effectively prevents displacement or breakage, and significantly improves the stability and safety of glass transfer.

[0033] Please refer to Figures 1 to 4 A cantilever robot for transferring glass includes a pair of support frames 100, with a horizontally placed connecting frame 200 fixed between the two support frames 100.

[0034] The lower end of the connecting frame 200 is provided with a horizontally placed first cantilever 300, and one end of the first cantilever 300 is fixed with a vertically upward-placed rotating shaft 400, which is rotatably connected to the connecting frame 200.

[0035] Multiple horizontally placed slide rails 500 are fixed on the first cantilever 300. All slide rails 500 are placed perpendicular to the first cantilever 300. At least two sliders 501 are slidably engaged on each slide rail 500. The sliders 501 can slide along the axis of the slide rail 500.

[0036] Lifting parts 600 are fixedly installed on the slide rails 500. Adsorption parts 700 are fixedly connected to the lower end of the lifting parts 600. The lifting parts 600 are used to drive the adsorption parts 700 to move up and down.

[0037] This application can be used in conjunction with a conveyor, which is used to horizontally transport glass to below the connecting frame 200;

[0038] This application utilizes the adjustable design of the slide rail 500 and the slider 501 to allow the position of the adsorption section 700 to be flexibly adjusted according to the shape and size of the glass. This not only significantly improves the adaptability of the equipment to different specifications of glass, but also optimizes the distribution of adsorption force, improves the uniformity of glass stress during handling, effectively prevents displacement or breakage, and significantly improves the stability and safety of glass transfer.

[0039] After the glass is horizontally conveyed to the bottom of the connecting frame 200, the corresponding adsorption part 700 is driven to move down according to the shape and size of the glass by the lifting part 600, so that the adsorption part 700 adsorbs the upper surface of the glass; then, by pushing the first cantilever 300 to rotate around the rotating shaft 400, the glass can be rotated around the central axis of the rotating shaft 400, which facilitates the transfer of the glass or the adjustment of the placement angle. Compared with traditional manual handling, it effectively reduces labor intensity and improves work efficiency.

[0040] A second cantilever 301 is fixed to the upper end of the rotating shaft 400. The second cantilever 301 is placed coaxially with the first cantilever 300. The second cantilever 301 is fixed to the first cantilever 300 by a fixing rod 302. A horizontally placed arc strip 800 is fixed on the connecting frame 200. The center of the circular surface of the arc strip 800 is located on the central axis of the rotating shaft 400. A support block 303 is connected to the end of the second cantilever 301 away from the rotating shaft 400. The lower end of the support block 303 is slidably connected to the arc strip 800. Through the coordinated arrangement of the second cantilever 301, the fixing rod 302, the arc strip 800 and the support block 303, the possibility of the first cantilever 300 sinking and deforming due to the weight of the glass can be effectively reduced, thereby improving the stability of glass transfer.

[0041] Preferably, a positioning block is provided at one end of the arc strip 800, and the second cantilever 301 contacts the positioning block before each adsorption, so as to position the second cantilever 301 before each adsorption operation.

[0042] To facilitate the automatic rotation and swing of the second cantilever 301, a vertically upward rotating block is rotatably connected to the upper end of the connecting frame 200. A mounting base 900 is fixed to the upper end of the rotating block, and a horizontally placed electric cylinder 901 is fixedly mounted on the mounting base 900. A hinge 902 is fixed to the second cantilever 301. A pin is provided inside the hinge 902, which is coaxial with the rotating shaft 400. The telescopic rod at the output end of the electric cylinder 901 is rotatably sleeved on the pin. When the electric cylinder 901 is activated, the telescopic rod at the output end of the electric cylinder 901 extends and retracts, driving the hinge 902, thereby achieving the purpose of rotating and adjusting the second cantilever 301 and the first cantilever 300 around the central axis of the rotating shaft 400.

[0043] A rolling element 304 is provided between the support block 303 and the arc strip 800. The upper end of the rolling element 304 is connected to the support block 303, the lower end of the rolling element 304 is spherical, and the lower end of the rolling element 304 is slidably connected to the arc strip 800.

[0044] The rolling element 304 is provided so that the support block 303 can move along the surface of the arc strip 800;

[0045] Preferably, the rolling element 304 can be a bullseye bearing or a ball bearing embedded in the lower end of the support block 303.

[0046] Preferably, the surface of the arc strip 800 is provided with a polytetrafluoroethylene wear-resistant layer.

[0047] The support block 303 is detachably connected to the second cantilever 301; preferably, the support block 303 can be detachably connected to the second cantilever 301 by bolts, and the support block 303 can be replaced when the rolling element 304 is excessively worn.

[0048] The lifting unit 600 includes any one of a cylinder, a hydraulic cylinder, or an electric push rod; it is used to drive the connected adsorption unit 700 to move up and down.

[0049] This application provides the following two different embodiments of the adsorption section 700:

[0050] Example 1: The adsorption part 700 is a suction cup;

[0051] Each suction cup is connected to the negative pressure device via an air passage;

[0052] The air path is not shown in the diagram. During use, after the suction cup is attached to the glass, the negative pressure device continuously evacuates the inside of the suction cup through the air path, causing the suction cup to adhere to the glass. When it is necessary to release the glass, the negative pressure device is turned off, and the glass is slowly released by natural air leakage from the edge of the suction cup.

[0053] Preferably, the negative pressure device can be a vacuum generator or an air pump.

[0054] The air path includes a first air pipe and a second air pipe. The number of first air pipes is equal to the number of suction cups and they correspond one-to-one. Each first air pipe is connected to the inside of the corresponding suction cup. The end of each first air pipe away from the suction cup is connected to the second air pipe. The other end of the second air pipe is connected to the output end of the negative pressure device so as to evacuate the inside of each suction cup.

[0055] Each of the first air tubes is equipped with a valve; preferably, the valve can be a solenoid valve; after adjusting the position of each slider 501 and suction cup according to the shape and size of the glass, the corresponding valve can be closed for suction cups that do not need to work.

[0056] Example 2: The adsorption part 700 is an electric suction cup; when the adsorption part 700 is attached to the glass, the electric adsorption part 700 is turned on so that the glass can be automatically adsorbed or released.

[0057] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0058] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims of this utility model.

Claims

1. A cantilever robot for transferring glass, comprising a pair of support frames (100), with a horizontally placed connecting frame (200) fixed between the two support frames (100), characterized in that: The lower end of the connecting frame (200) is provided with a horizontally placed first cantilever (300), and one end of the first cantilever (300) is fixed with a vertically upward-placed rotating shaft (400), which is rotatably connected to the connecting frame (200). Multiple horizontally placed slide rails (500) are fixed on the first cantilever (300). The slide rails (500) are all placed perpendicular to the first cantilever (300). At least two sliders (501) are slidably engaged on each slide rail (500). The sliders (501) can slide along the axis of the slide rail (500). Lifting parts (600) are fixedly installed on the slide rail (500), and suction parts (700) are fixedly connected to the lower end of the lifting parts (600). The lifting parts (600) are used to drive the suction parts (700) to move up and down.

2. The cantilever robot for transferring glass according to claim 1, characterized in that, A second cantilever (301) is fixed to the upper end of the rotating shaft (400). The second cantilever (301) is placed coaxially with the first cantilever (300). The second cantilever (301) is fixed to the first cantilever (300) by a fixing rod (302). A horizontally placed arc strip (800) is fixed on the connecting frame (200). The center of the circular surface of the arc strip (800) is located on the central axis of the rotating shaft (400). A support block (303) is connected to the end of the second cantilever (301) away from the rotating shaft (400). The lower end of the support block (303) is slidably connected to the arc strip (800).

3. The cantilever robot for transferring glass according to claim 2, characterized in that, The upper end of the connecting frame (200) is rotatably connected to a vertically upward rotating block. The upper end of the rotating block is fixed with a mounting base (900). A horizontally placed electric cylinder (901) is fixedly installed on the mounting base (900). A hinge (902) is fixed on the second cantilever (301). A pin is provided in the hinge (902) that is coaxial with the rotating shaft (400). The telescopic rod at the output end of the electric cylinder (901) is rotatably sleeved on the pin.

4. The cantilever robot for transferring glass according to claim 3, characterized in that, A rolling element (304) is provided between the support block (303) and the arc strip (800). The upper end of the rolling element (304) is connected to the support block (303), and the lower end of the rolling element (304) is spherical. The lower end of the rolling element (304) is spherically connected to the arc strip (800).

5. The cantilever robot for transferring glass according to claim 4, characterized in that, The support block (303) is detachably connected to the second cantilever (301).

6. The cantilever robot for transferring glass according to claim 5, characterized in that, The lifting unit (600) includes any one of a cylinder, a hydraulic cylinder, or an electric actuator.

7. The cantilever robot for transferring glass according to claim 1, characterized in that, The adsorption part (700) is a suction cup; Each suction cup is connected to the negative pressure device via an air passage.

8. The cantilever robot for transferring glass according to claim 7, characterized in that, The air path includes a first air pipe and a second air pipe. The number of first air pipes is equal to the number of suction cups and they correspond one-to-one. Each first air pipe is connected to the inside of the corresponding suction cup. The end of each first air pipe away from the suction cup is connected to the second air pipe. The other end of the second air pipe is connected to the output end of the negative pressure device.

9. The cantilever robot for transferring glass according to claim 8, characterized in that, Each of the first airways is equipped with a valve.

10. The cantilever robot for transferring glass according to claim 1, characterized in that, The adsorption section (700) is an electric suction cup.

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