Mechanical arm suction cup structure for glass processing

Abstract

The utility model relates to the technical field of glass processing, and discloses a mechanical arm suction cup structure for glass processing, which comprises a mounting vertical plate, a sliding block is slidably connected to the outside of the mounting vertical plate, an extension mounting column is fixedly connected to the rear side of the outside of the sliding block, and a distance adjusting mechanism is fixedly connected to the outside of the extension mounting column. And position adjusting mechanisms are fixedly connected to the left side and the right side of the exterior of the sliding block correspondingly, each distance adjusting mechanism comprises a horizontal mounting block, and a motor is fixedly connected to the top of each horizontal mounting block. According to the device, the motor is started, under the action of the motor, the motor can drive the driving plate to rotate, under the rotation of the driving plate, the driving plate drives the positioning rod to move through the follow-up plate, and under the action of the positioning rod, the follow-up plate drives the positioning rod to move. And the positioning rod drives the mounting sliding block to slide in the limiting sliding groove in the outer portion of the horizontal mounting block, and then the distance between the pneumatic suction cups can be adjusted.

Description

Technical Field

[0001] This utility model relates to the field of glass processing technology, and in particular to a suction cup structure for a robotic arm used in glass processing. Background Technology

[0002] In glass warehousing and logistics, glass needs to be removed from shelves and moved onto transport vehicles, or unloaded from transport vehicles to designated locations. Robotic arm suction cup structures can quickly and efficiently complete these tasks, reducing the labor intensity and risks of manual handling, while also preventing scratches or damage to the glass surface.

[0003] In the existing technology, the suction cup structure of some glass processing robotic arms is mostly based on the principle of vacuum. The suction cup is usually made of materials such as nitrile rubber, which is soft and has good sealing properties. When the robotic arm moves the suction cup close to the glass, the suction cup is tightly attached to the glass surface. Then the vacuum device is activated to quickly extract the air between the suction cup and the glass, forming a negative pressure environment.

[0004] However, in practical applications, glass comes in various sizes and specifications. If the suction cup spacing of the robotic arm is fixed during handling, it can only accommodate glass of a specific size. For smaller glass, the suction cup spacing is too large, making stable adhesion impossible and requiring multiple adjustments for handling. Conversely, for larger glass, the suction cup spacing is too small, failing to cover the glass edges and preventing successful handling in a single attempt, thus reducing handling efficiency. To address these issues, a robotic arm suction cup structure for glass processing is proposed. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a suction cup structure for a mechanical arm used in glass processing, aiming to improve the problem that some existing devices cannot adjust the spacing of pneumatic suction cups.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A suction cup structure for a robotic arm used in glass processing includes a mounting vertical plate, a sliding block slidably connected to the outside of the mounting vertical plate, an extension mounting column fixedly connected to the rear side of the sliding block, a spacing adjustment mechanism fixedly connected to the outside of the extension mounting column, and position adjustment mechanisms fixedly connected to the left and right sides of the outside of the sliding block.

[0008] The spacing adjustment mechanism includes a horizontal mounting block, a motor fixedly connected to the top of the horizontal mounting block, a drive plate fixedly connected to the drive end of the motor, follower plates rotatably connected to the left and right sides of the drive plate, a positioning rod rotatably connected to the other end of the follower plate, a mounting slider fixedly connected to the bottom of the positioning rod, a pneumatic suction cup fixedly connected to the outside of the mounting slider, a limit component provided on the outside of the horizontal mounting block, and the outside of the horizontal mounting block fixedly connected to the outside of the extension mounting column.

[0009] As a further description of the above technical solution:

[0010] The limiting component includes a limiting groove, and limiting blocks are fixedly connected to both the left and right sides of the horizontal mounting block. The limiting groove is formed at the upper and lower ends of the horizontal mounting block.

[0011] As a further description of the above technical solution:

[0012] The mounting slider is externally slidably connected to the inside of the limiting groove, and the outside of the mounting slider is in contact with the outside of the limiting block;

[0013] As a further description of the above technical solution:

[0014] The position adjustment mechanism includes a mounting frame, a connecting shaft fixedly connected inside the mounting frame, a rotating plate rotatably connected to the outside of the connecting shaft, a reset component provided outside the rotating plate, a positioning rod fixedly connected to the outside of the rotating plate, multiple slots opened on the left and right sides of the outside of the mounting vertical plate, the outside of the positioning rod contacting the outside of the slots, and the outside of the mounting frame fixedly connected to the left and right sides of the outside of the sliding block.

[0015] As a further description of the above technical solution:

[0016] The reset assembly includes a telescopic rod, a spring is sleeved on the outside of the telescopic rod, and the outside of the telescopic rod is fixedly connected to the outside of the rotating plate;

[0017] As a further description of the above technical solution:

[0018] A handle is fixedly connected to the outside of the mounting vertical plate. Connecting brackets are fixedly connected to the left and right sides of the front of the handle. A start switch is fixedly connected to the left and right sides of the inside of the handle. An installation connector is fixedly connected to the outside of the start switch. An adapter is fixedly connected to the outside of the installation connector. A connecting tube is fixedly connected to the top of the adapter.

[0019] As a further description of the above technical solution:

[0020] A CNC box is fixedly connected to the outer front side of the grip. A cylinder is fixedly connected to the top of the CNC box. The drive end of the cylinder is fixedly connected to the outside of the mounting joint. A mounting bracket is fixedly connected to the top of the mounting vertical plate. A connecting plate is rotatably connected inside the mounting bracket. A lifting cylinder is fixedly connected to the top of the connecting plate.

[0021] As a further description of the above technical solution:

[0022] One end of the spring is fixedly connected to the outside of the rotating plate, and the other end of the spring is fixedly connected to the outside of the mounting bracket.

[0023] This utility model has the following beneficial effects:

[0024] 1. In this utility model, by starting the motor, the motor can drive the drive plate to rotate. Under the rotation of the drive plate, the drive plate drives the positioning rod to move through the follower plate. Under the action of the positioning rod, the positioning rod drives the mounting slider to slide in the limiting groove outside the horizontal mounting block, thereby realizing the adjustment of the spacing of the pneumatic suction cup.

[0025] 2. In this utility model, the rotating plate can then be separated from the slot outside the mounting vertical plate by the positioning rod. At this time, the sliding block can slide outside the mounting vertical plate. When adjusted to a suitable position, the rotating plate is released, causing the spring to rebound. Then, the rotating plate drives the positioning rod to engage with the slot outside the mounting vertical plate, thereby realizing the position adjustment of the pneumatic suction cup. Attached Figure Description

[0026] Figure 1 This is a three-dimensional schematic diagram of a suction cup structure for a robotic arm used in glass processing, as proposed in this utility model.

[0027] Figure 2 This is a schematic diagram of the connecting tube of the suction cup structure for a glass processing robotic arm proposed in this utility model;

[0028] Figure 3 for Figure 2 Enlarged view of point A in the middle;

[0029] Figure 4 This is a schematic diagram of the connecting frame for the suction cup structure of a glass processing robotic arm proposed in this utility model;

[0030] Figure 5 for Figure 4 Enlarged view of point B in the middle.

[0031] Legend:

[0032] 1. Vertical mounting plate; 2. Sliding block; 3. Extension mounting column; 4. Horizontal mounting block; 5. Limiting slide groove; 6. Motor; 7. Drive plate; 8. Follower plate; 9. Positioning rod; 10. Mounting slider; 11. Limiting block; 12. Mounting frame; 13. Connecting shaft; 14. Telescopic rod; 15. Spring; 16. Rotating clamping plate; 17. Positioning clamping rod; 18. Slot; 19. Handle; 20. Connecting frame; 21. CNC box; 22. Start switch; 23. Mounting connector; 24. Adapter; 25. Connecting pipe; 26. Lifting cylinder; 27. Connecting plate; 28. Mounting connecting frame; 29. ​​Cylinder one; 30. Pneumatic suction cup. Detailed Implementation

[0033] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] Reference Figures 1 to 3 This utility model provides an embodiment of a suction cup structure for a robotic arm used in glass processing, comprising a mounting vertical plate 1. The surface of the mounting vertical plate 1 is ground smooth to minimize flatness error. A sliding block 2 is mounted on the front of the mounting vertical plate 1 for sliding engagement. The sliding block 2 is slidably connected to the outside of the mounting vertical plate 1. The shape of the sliding block 2 is adapted to the dovetail groove guide rail on the mounting vertical plate 1, and a dovetail-shaped slider corresponding to the dovetail groove guide rail is machined inside it. A clearance fit is used between the slider and the guide rail to ensure smooth sliding of the sliding block 2 on the mounting vertical plate 1. An extension mounting post 3 is fixedly connected to the rear outer side of the sliding block 2. A spacing adjustment mechanism is fixedly connected to the exterior of the extension mounting post 3. Position adjustment mechanisms are fixedly connected to both the left and right outer sides of the sliding block 2. Each position adjustment mechanism includes a mounting frame 12, which is securely connected to the left and right sides of the sliding block 2 via bolts. The connection points are precisely positioned and calibrated to ensure that the verticality and horizontality errors of the mounting frame 12 are within a minimal range. A connecting shaft 13 is fixedly connected inside the mounting frame 12. The surface of the connecting shaft 13 is hardened and tempered to improve its wear resistance and fatigue resistance. Both ends of the connecting shaft 13 are fixed to the inner wall of the mounting frame 12 via key connections to ensure a secure connection.

[0035] A rotating clamping plate 16 is rotatably connected to the outside of the connecting shaft 13. A through hole, matching the outer diameter of the connecting shaft 13, is machined at the center of the rotating clamping plate 16 to ensure its flexible rotation. A reset assembly is provided outside the rotating clamping plate 16, including a telescopic rod 14. The telescopic rod 14 consists of an inner tube and an outer tube. The inner tube can slide within the outer tube to achieve telescopic function. A spring 15 is sleeved on the outside of the telescopic rod 14. When the rotating clamping plate 16 rotates, the telescopic rod 14 extends and retracts accordingly, and the spring 15 undergoes elastic deformation. When the external force disappears, the elastic restoring force of the spring 15 will cause the rotating clamping plate 14 to retract. The card plate 16 is reset to its initial position. The telescopic rod 14 is externally fixedly connected to the outside of the rotating card plate 16. The rotating card plate 16 is externally fixedly connected to a positioning rod 17. One end of the positioning rod 17 is threadedly connected to the rotating card plate 16 to facilitate insertion into the slot 18. Multiple slots 18 are provided on both the left and right sides of the mounting vertical plate 1. The slots 18 are arranged at equal intervals on the mounting vertical plate 1. The interval is determined according to the accuracy requirements of the position adjustment. The outside of the positioning rod 17 is in contact with the outside of the slot 18. The mounting bracket 12 is externally fixedly connected to the left and right sides of the sliding block 2.

[0036] The spacing adjustment mechanism includes a horizontal mounting block 4, which is rectangular in shape. Its length is determined based on the actual application scenario and the suction cup spacing adjustment range. A motor 6 is fixedly connected to the top of the horizontal mounting block 4. The motor 6 is a high-performance stepper motor, which has precise control accuracy and good torque characteristics, enabling it to accurately control the rotation angle and speed according to commands issued by the control system. The power of the motor 6 is determined based on the driving force required for spacing adjustment. A drive plate 7 is fixedly connected to the drive end of the motor 6, ensuring that the drive plate 7 rotates synchronously when the motor 6 rotates. The surface of the drive plate 7 is polished to improve its surface smoothness and reduce friction at the connection with the follower plate 8. Follower plates 8 are rotatably connected to both the left and right sides of the drive plate 7. The two ends of the follower plates 8 are rotatably connected to the drive plate 7 and the positioning rod 9 respectively via pins. The surfaces of the follower plates 8 are hardened. The other end of the follower plate 8 is rotatably connected to the positioning rod 9. The top of the positioning rod 9 is rotatably connected to the follower plate 8 via a pin, and the bottom is firmly fixed to the mounting slider 10 by bolts. The connection parts undergo rigorous quality inspection to ensure a secure and reliable connection. The mounting slider 10 is fixedly connected to the bottom of the positioning rod 9. A pneumatic suction cup 30 is fixedly connected to the outside of the mounting slider 10. The pneumatic suction cup 30 is connected to an external air source and control system via an air pipe. The system is connected and can generate adsorption force as needed to achieve the adsorption and handling of glass. A limiting component is provided on the outside of the horizontal mounting block 4, including a limiting groove 5. The surface of the limiting groove 5 is ground and polished to ensure that the mounting slider 10 can slide smoothly within the limiting groove 5. The length of the limiting groove 5 is determined according to the maximum range of the suction cup spacing adjustment. Limiting blocks 11 are fixedly connected to the left and right sides of the horizontal mounting block 4. The limiting groove 5 is provided at the upper and lower ends of the horizontal mounting block 4. The outside of the horizontal mounting block 4 is fixedly connected to the outside of the extension mounting post 3. The outside of the mounting slider 10 is slidably connected to the inside of the limiting groove 5, and the outside of the mounting slider 10 is in contact with the outside of the limiting block 11. (Refer to...) Figures 3 to 5 The external fixed connection of the vertical plate 1 is a handle 19. The handle 19 is ergonomically designed and streamlined, making it easy for operators to hold.

[0037] Connecting brackets 20 are fixedly connected to the left and right sides of the outer front of the handle 19. The function of the connecting brackets 20 is to provide support points for connecting other components and enhance the stability of the structure. Start switches 22 are fixedly connected to the left and right sides of the inner side of the handle 19. Mounting connectors 23 are fixedly connected to the outside of the start switches 22. The mounting connectors 23 are used to lock onto the connecting pipe 25. An adapter 24 is fixedly connected to the outside of the mounting connectors 23. The connecting pipe 25 is fixedly connected to the top of the adapter 24. A CNC box 21 is fixedly connected to the outer front of the handle 19. The CNC box 21 is the control core of the entire equipment. It uses a metal shell, which has been processed by sheet metal and painted, providing good protection. A cylinder 29 is fixedly connected to the top of the CNC box 21. The cylinder 29 can push the mounting connectors 23 and the start switches 25 connected to them. The movement of components 2 achieves corresponding control functions. The drive end of cylinder 29 is fixedly connected to the outside of the mounting joint 23. The top of the mounting vertical plate 1 is fixedly connected to the mounting connecting frame 28. The inside of the mounting connecting frame 28 is rotatably connected to the connecting plate 27. The top of the connecting plate 27 is fixedly connected to the lifting cylinder 26. The front side of the handle 19 is fixedly connected to the CNC box 21. The top of the CNC box 21 is fixedly connected to cylinder 29. The drive end of cylinder 29 is fixedly connected to the outside of the mounting joint 23. The top of the mounting vertical plate 1 is fixedly connected to the mounting connecting frame 28. The inside of the mounting connecting frame 28 is rotatably connected to the connecting plate 27. The top of the connecting plate 27 is fixedly connected to the lifting cylinder 26. One end of the spring 15 is fixedly connected to the outside of the rotating clamping plate 16, and the other end of the spring 15 is fixedly connected to the outside of the mounting frame 12.

[0038] Working principle: When adjusting the spacing of the pneumatic suction cup 30, the motor 6 is started. Under the action of the motor 6, the motor 6 can drive the drive plate 7 to rotate. Under the rotation of the drive plate 7, the drive plate 7 drives the positioning rod 9 to move through the follower plate 8. Under the action of the positioning rod 9, the positioning rod 9 drives the mounting slider 10 to slide in the limiting groove 5 outside the horizontal mounting block 4, thereby realizing the adjustment of the spacing of the pneumatic suction cup 30.

[0039] When adjusting the position of the pneumatic suction cup 30, pressing the rotating plates 16 on both sides causes the rotating plates 16 to press against the telescopic rod 14. Under the action of the telescopic rod 14, the spring 15 outside the telescopic rod 14 deforms, allowing the rotating plates 16 to separate from the slot 18 outside the mounting vertical plate 1 via the positioning rod 17. At this moment, the sliding block 2 can slide outside the mounting vertical plate 1. When the position is adjusted to a suitable position, releasing the rotating plates 16 causes the spring 15 to rebound, allowing the rotating plates 16 to drive the positioning rod 17 to engage with the slot 18 outside the mounting vertical plate 1, thereby achieving the position adjustment of the pneumatic suction cup 30.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A mechanical arm chuck structure for glass processing comprising a mounting vertical plate (1), characterized in that: The outer side of the sliding block (2) is fixedly connected with an extension mounting column (3), the outer side of the extension mounting column (3) is fixedly connected with a spacing adjusting mechanism, and the left and right sides of the outer side of the sliding block (2) are fixedly connected with a position adjusting mechanism. The spacing adjusting mechanism comprises a horizontal mounting block (4), the top of the horizontal mounting block (4) is fixedly connected with a motor (6), the driving end of the motor (6) is fixedly connected with a driving plate (7), the left and right sides of the outer side of the driving plate (7) are rotatably connected with a follower plate (8), the other end of the follower plate (8) is rotatably connected with a positioning rod (9), the outer bottom end of the positioning rod (9) is fixedly connected with a mounting sliding block (10), the outer side of the mounting sliding block (10) is fixedly connected with a pneumatic suction cup (30), the outer side of the horizontal mounting block (4) is provided with a limiting assembly, and the outer side of the horizontal mounting block (4) is fixedly connected to the outer side of the extension mounting column (3).

2. The mechanical arm chuck structure for glass processing according to claim 1, characterized in that: The limiting assembly comprises a limiting sliding groove (5), and the left and right sides of the outer side of the horizontal mounting block (4) are fixedly connected with a limiting block (11).

3. The mechanical arm chuck structure for glass processing according to claim 2, characterized in that: The outer side of the mounting sliding block (10) is slidably connected in the inner side of the limiting sliding groove (5), and the outer side of the mounting sliding block (10) is in contact with the outer side of the limiting block (11).

4. The mechanical arm chuck structure for glass processing according to claim 2, characterized in that: The position adjusting mechanism comprises a mounting frame (12), the inner side of the mounting frame (12) is fixedly connected with a connecting shaft (13), the outer side of the connecting shaft (13) is rotatably connected with a rotating clamping plate (16), the outer side of the rotating clamping plate (16) is provided with a reset assembly, the outer side of the rotating clamping plate (16) is fixedly connected with a positioning clamping rod (17), the left and right sides of the outer side of the mounting vertical plate (1) are provided with a plurality of clamping grooves (18), the outer side of the positioning clamping rod (17) is in contact with the outer side of the clamping groove (18), and the outer side of the mounting frame (12) is fixedly connected to the left and right sides of the outer side of the sliding block (2).

5. The mechanical arm chuck structure for glass processing according to claim 4, characterized in that: The reset assembly comprises a telescopic rod (14), the outer side of the telescopic rod (14) is sleeved with a spring (15), and the outer side of the telescopic rod (14) is fixedly connected to the outer side of the rotating clamping plate (16).

6. The mechanical arm chuck structure for glass processing according to claim 1, characterized in that: The outer side of the mounting vertical plate (1) is fixedly connected with a handle (19), the left and right sides of the outer front side of the handle (19) are fixedly connected with a linking frame (20), the left and right sides of the inner side of the handle (19) are fixedly connected with a starting switch (22), the outer side of the starting switch (22) is fixedly connected with a mounting connector (23), the outer side of the mounting connector (23) is fixedly connected with an adapter (24), and the outer top end of the adapter (24) is fixedly connected with a connecting pipe (25).

7. The mechanical arm chuck structure for glass processing according to claim 6, characterized in that: The outside front side of the handle (19) is fixedly connected with a numerical control box (21), the top of the numerical control box (21) is fixedly connected with a cylinder one (29), the driving end of the cylinder one (29) is fixedly connected outside the mounting joint (23), the top of the mounting vertical plate (1) is fixedly connected with a mounting connecting frame (28), the inside of the mounting connecting frame (28) is rotatably connected with a connecting plate (27), the top of the connecting plate (27) is fixedly connected with a lifting cylinder (26).

8. The mechanical arm chuck structure for glass processing according to claim 5, characterized in that: One end of the spring (15) is fixedly connected outside the rotating clamping plate (16), the other end of the spring (15) is fixedly connected outside the mounting frame (12).

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