Grabbing device for glass blanking

Abstract

The utility model discloses a gripping device for glass blanking, which comprises a gripping base, a plurality of sucker components are arranged at the lower end of the gripping base, the gripping base is telescopically arranged and comprises a first gripping seat, a first telescopic device and a second gripping seat, and a gripping guide rod is fixed at the lower end of each of the first gripping seat and the second gripping seat. The suction cup assemblies are slidably connected with the grabbing guide rods, every two longitudinally-corresponding suction cup assemblies are connected through a telescopic linkage rod set, every two transversely-corresponding suction cup assemblies are connected through a folding assembly, each folding assembly comprises a plurality of folding rods, and every two adjacent folding rods are rotationally connected through a rotating joint. According to the utility model, the point position grabbed by the suction cup assembly can be quickly adjusted, the time for preparing line change is shortened, and the production efficiency of line change of glass is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of glass production technology, and in particular to a gripping device for glass feeding. Background Technology

[0002] Mechanized glass feeding gripping devices can replace manual labor in quickly and accurately gripping the glass after it has been cut into circles.

[0003] However, when the glass size changes, the size and specifications of the glass feeding gripper need to be adjusted accordingly to meet the requirements for gripping glass of different sizes. The gripping size can be changed by fixing the negative pressure suction cup at the lower end of the glass feeding gripper to different positions. However, each operation requires disassembling and installing the negative pressure suction cup at each point, which takes a long time. Especially when gripping large-sized glass, the number of negative pressure suction cups that need to be disassembled and installed is even greater, the tightening requirements are higher, and the time consumed is even longer, affecting the production efficiency of the glass changeover line. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology by proposing a glass feeding gripping device that can quickly adjust the gripping point of the suction cup assembly, shorten the preparation time for line changeover, and greatly improve the efficiency of glass line changeover production.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A glass feeding gripping device includes a gripping base with a plurality of suction cup assemblies at its lower end. The gripping base is telescopically configured to include a gripping seat one, a first telescopic device, and a gripping seat two. A gripping guide rod is fixed to the lower end of both gripping seat one and gripping seat two. The suction cup assemblies are slidably connected to the gripping guide rods. Two longitudinally corresponding suction cup assemblies are connected by a telescopic linkage rod group, and multiple transversely corresponding suction cup assemblies are connected by a folding assembly. The folding assembly includes multiple folding rods, and adjacent folding rods are rotatably connected by a rotating joint. The rotating joint includes an inner rotating joint one and an outer rotating joint two. The inner rotating joint one is connected to the corresponding suction cup assembly and moves synchronously with the movement of the suction cup assembly. The device also includes a drive mechanism for controlling the folding state of the folding assemblies. By controlling the telescopic state of the gripping base, the distance between two longitudinally corresponding suction cup assemblies is adjusted; by controlling the folding state of the folding assemblies, the distance between two transversely corresponding suction cup assemblies is adjusted.

[0007] Preferably, the driving device includes a rotating device and a second telescopic device, wherein the second telescopic device adjusts the deflection angle of the two inner folding rods, and the rotating device adjusts the deflection angle of the multiple outer folding rods.

[0008] Preferably, the second telescopic device is installed in the middle position, between the gripping base and the second rotating joint. By controlling the telescopic movement of the gripping base, the position of the second rotating joint is controlled, thereby adjusting the angle between the two middle folding rods.

[0009] Preferably, the rotating device is installed on both sides of the second telescopic device, the base end of the rotating device is fixedly connected to the linkage rod group, and the rotating end of the rotating device is fixedly connected to the outer folding rod. The outer folding rod is adjusted to deflect synchronously by a predetermined angle through the rotating device.

[0010] Preferably, both the rotating device and the second telescopic device are controlled hydraulically, and the rotating device and the second telescopic device are in a state of hydraulic connection. When the second telescopic device extends or retracts, the two outer rotating devices can be controlled to rotate synchronously.

[0011] Preferably, the second telescopic device includes a telescopic base, a control piston is slidably connected inside the telescopic base, a control rod is fixed to the side wall of the control piston, the end of the control rod passes through the telescopic base and is connected to the second rotating joint, the control piston divides the telescopic base into a first control chamber and a second control chamber, after pumping oil into the first control chamber, the control piston is driven to move in the direction of the second rotating joint, pushing the control rod to extend.

[0012] Preferably, the second control cavity is provided with two separate elastic bladders, and a partition is provided between the two elastic bladders. The elastic bladders are connected to the corresponding rotating devices.

[0013] Compared with the prior art, the advantages of this utility model are as follows:

[0014] By setting up the above structure, the distance between the two longitudinal suction cup components can be adjusted by controlling the extension and retraction state of the gripping base, and the distance between the two transverse suction cup components can be adjusted by controlling the folding state of the folding component. This eliminates the need for repeated disassembly and installation of the suction cup components, allowing for rapid adjustment of the gripping points of the suction cup components, shortening the preparation time for line changeover, and greatly improving the efficiency of glass line changeover production. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the automatic glass feeding device of the present invention.

[0016] Figure 2 For the present invention Figure 1 A schematic diagram of the main structure.

[0017] Figure 3 For the present invention Figure 1 A side view structural diagram.

[0018] Figure 4 For the present invention Figure 1 A top-view structural diagram.

[0019] Figure 5 This is a three-dimensional structural diagram of the material feeding and gripping device of the present invention.

[0020] Figure 6 For the present invention Figure 5 A schematic diagram of the main structure.

[0021] Figure 7 For the present invention Figure 5 A top-view structural diagram.

[0022] Figure 8 For the present invention Figure 5 A side view structural diagram.

[0023] Figure 9 For the present invention Figure 7 A magnified structural diagram at point A.

[0024] In the diagram: 100, conveying device; 110, conveying base; 120, conveyor belt; 200, glass plate; 210, outer area of ​​the circle; 220, inner area of ​​the circle; 300, material feeding gripping device; 310, gripping base; 311, gripping seat one; 312, first telescopic device; 313, gripping seat two; 320, gripping guide rod; 330, suction cup assembly; 340, linkage rod assembly; 341, linkage rod one; 342, linkage guide rod; 343, linkage rod two; 350, folding assembly; 351, folding rod; 352, rotating joint; 360, rotating device; 370, second telescopic device; 371, telescopic base; 372, first control chamber; 373, control piston; 374, control rod; 375, second control chamber; 400, positioning device. Detailed Implementation

[0025] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0026] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0027] See attached document Figure 1 - Appendix Figure 9 An automatic glass unloading device includes a conveying device 100, which includes a conveying base 110 and a conveying belt 120. The conveying belt 120 can transport glass sheets 200 during directional movement. The glass sheets 200 are oriented and transported on the surface of the conveying belt 120 after being shaped by a scouring machine. After being transported to one side of the unloading gripping device 300, the unloading gripping device 300 performs negative pressure gripping on the shaped glass sheets 200 as a whole, thereby realizing automatic unloading and stacking.

[0028] The glass plates 200 can be stacked vertically or horizontally as needed.

[0029] Specifically, the material handling and gripping device 300 includes a gripping base 310, which includes a gripping seat 1 311 and a gripping seat 2 313 that are relatively movable. The gripping seat 1 311 and the gripping seat 2 313 are connected by a first telescopic device 312. A mounting seat is provided on the upper end of the gripping seat 1 311. The robot arm is fixedly connected to the mounting seat to control the position of the gripping base 310 in three-dimensional space, so as to realize the rapid and accurate gripping and placement of the glass sheet 200.

[0030] A gripping guide rod 320 is fixed to the lower end of gripping seat 1 311 and gripping seat 2 313 respectively. The two gripping guide rods 320 are parallel to each other. Multiple suction cup assemblies 330 are slidably connected to the surface of the two gripping guide rods 320. The suction cup assemblies 330 can adhere to the surface of the glass sheet 200 to achieve negative pressure gripping of the glass sheet 200 after it has been circled.

[0031] The positions of the multiple suction cup components 330 are one-to-one, and the corresponding two suction cup components 330 are connected by a linkage group 340, which can control the two suction cup components 330 to move synchronously along the gripping guide rod 320. The linkage group 340 includes linkage rod one 341, linkage guide rod 342 and linkage rod two 343, etc., which can control the suction cup components 330 on both sides to move linearly along the length direction of the gripping guide rod 320, while also moving closer or further away in a direction perpendicular to the gripping guide rod 320.

[0032] After being circulated, the glass sheet 200 is divided into an outer circulated area 210 and an inner circulated area 220. The multiple suction cup components 330 of the control feeding and gripping device 300 are opposite to the outer circulated area 210, which can stably grip the glass sheet 200 as a whole at the outer position, ensuring stability during the gripping process and avoiding accidents.

[0033] By setting up a retractable gripping base 310 and a suction cup assembly 330 that can move along the gripping guide rod 320, multiple suction cup assemblies 330 can be controlled to move to different positions to adaptively grip glass sheets 200 of different sizes. There is no need to replace the entire unloading gripping device 300, which greatly improves the efficiency of gripping glass sheets 200 of different sizes and greatly shortens the time in the line change process.

[0034] In order to quickly adjust the position of multiple suction cup assemblies 330, further shorten the preparation time for line change, and improve the accuracy of the position of multiple suction cup assemblies 330 after adjustment, the unloading gripping device 300 here also includes a folding assembly 350. The folding assembly 350 includes multiple folding rods 351. Two adjacent folding rods 351 are rotatably connected by a rotating joint 352. The multiple folding rods 351 are in a bent state. The rotating joint 352 here includes an inner rotating joint one and an outer rotating joint two. The inner rotating joint one is connected to the corresponding suction cup assembly 330 and can move synchronously with the movement of the suction cup assembly 330.

[0035] By setting up the above structure, multiple suction cup assemblies 330 can be connected together through multiple folding assemblies 350. By adjusting the included angle between multiple folding rods 351, the position of multiple suction cup assemblies 330 can be quickly adjusted, which further improves the efficiency of manual adjustment and shortens the adjustment time.

[0036] To achieve automated adjustment, the feeding gripper 300 also includes a rotating device 360 ​​and a second telescopic device 370. The second telescopic device 370 is installed in the middle, between the gripping base 310 and the second rotating joint. By controlling the extension and retraction of the gripping base 310, the position of the second rotating joint can be controlled, thereby adjusting the angle between the two middle folding rods 351. The rotating device 360 ​​is installed on both sides of the second telescopic device 370. The base end of the rotating device 360 ​​is fixedly connected to the linkage rod group 340, and the rotating end of the rotating device 360 ​​is fixedly connected to the outer folding rod 351. By rotating the device 360, the outer folding rod 351 can be adjusted to deflect synchronously by a predetermined angle, thereby adjusting the deflection angle of the outer folding rod 351.

[0037] Through the above structural design, the second telescopic device 370 can adjust the deflection angle of the two inner folding rods 351, and the rotating device 360 ​​can adjust the deflection angle of the multiple outer folding rods 351, thus achieving synchronous control of the deflection angle of the multiple folding rods 351, controlling the relative consistency of the deflection angle of the multiple folding rods 351, and realizing automatic and rapid adjustment.

[0038] Taking the six folding rods 351 in the attached figure as an example, the overall drive control can be completed by setting up a second telescopic device 370 and two rotating devices 360. The deflection angle of the two middle folding rods 351 can be adjusted by driving the rotating joint 2 in the middle position through the second telescopic device 370 in the middle. The position of the deflection angle between the two outer folding rods 351 can be directly adjusted through the rotating devices 360 on both sides to achieve drive control.

[0039] It should be noted that the suction cup assembly 330 is slidably connected to the gripping guide rod 320, and the two outermost folding rods 351 are rotatably connected. While controlling the outermost folding rod 351 to deflect at a predetermined angle, the outermost folding rod 351 can deflect synchronously. After the outermost folding rod 351 deflects, it can drive the outermost suction cup assembly 330 to slide inward or outward, thereby realizing the adjustment and control of the position of multiple suction cup assemblies 330 along the gripping guide rod 320.

[0040] Furthermore, both the rotating device 360 ​​and the second telescopic device 370 are hydraulically controlled, and the rotating device 360 ​​and the second telescopic device 370 are in a state of hydraulic connection. While the second telescopic device 370 is extending and retracting, the two outer rotating devices 360 can be controlled to rotate synchronously.

[0041] The second telescopic device 370 here includes a telescopic base 371, a control piston 373 is slidably connected inside the telescopic base 371, and a control rod 374 is fixed to the side wall of the control piston 373. The end of the control rod 374 passes through the telescopic base 371 and is connected to the second rotating joint. The control piston 373 divides the telescopic base 371 into a first control chamber 372 and a second control chamber 375. After pumping oil into the first control chamber 372, the control piston 373 can be driven to move in the direction of the second rotating joint, pushing the control rod 374 to extend, and finally controlling the angle change of the corresponding two folding rods 351. After the change, multiple suction cup assemblies 330 can be pulled to move inward, reducing the distance between two adjacent suction cup assemblies 330.

[0042] The second control chamber 375 here is in communication with the outer rotating device 360. During the movement of the control piston 373, the internal control oil can be pumped into the corresponding rotating device 360, controlling the corresponding rotating device 360 ​​to deflect at a predetermined angle, thereby realizing automatic drive control.

[0043] It should also be noted that two separate elastic bladders can be installed in the second control chamber 375. The control oil is contained in the elastic bladders. When the control piston 373 moves outward, the control oil in the elastic bladders can be squeezed into the rotating device 360, which in turn drives the corresponding folding rod 351 to deflect. When the control piston 373 moves inward, the elastic bladders can extract the oil in the rotating device 360 ​​under their own elasticity. During this process, the rotating device 360 ​​can deflect in the opposite direction to achieve automatic drive control. The rotating device 360 ​​can also be selected as a hydraulic element with reset elasticity, which can accelerate the reset of the control oil.

[0044] A partition is provided between the two elastic bladders. The partition is fixedly connected to the control piston 373 and can move synchronously with the control piston 373. At the same time, the end of the partition passes through the telescopic base 371 and is slidably connected to it. By setting the partition, the two elastic bladders can be separated, which can prevent the two elastic bladders from affecting each other during the compression and reset process, ensuring the normal extrusion and backflow of the control oil inside the two elastic bladders, and ensuring the stability of the 360-degree deflection control of the two rotating devices.

[0045] To ensure stable positioning between the outer circular area 210 and the material gripping device 300, a positioning device 400 is provided at the upper end of the conveying device 100. The positioning device 400 can adjust the position of the glass sheet 200 and control the glass sheet 200 to move to the predetermined position at the lower end of the material gripping device 300, thus ensuring the stability of the material gripping device 300.

[0046] The positioning device 400 is electrically connected to the conveyor belt 120. After the glass sheet 200 moves to a predetermined position along the length of the conveyor belt 120, the conveyor belt 120 is stopped. The positioning device 400 can slide electrically along the width of the conveyor belt 120. According to the width of the glass sheet 200, the positioning device 400 extends a predetermined distance along the width of the conveyor belt 120, pushing the glass sheet 200 outward a predetermined distance and moving the glass sheet 200 to a predetermined position at the lower end of the feeding gripper 300, ensuring the stability of subsequent negative pressure gripping.

[0047] The positioning device 400 here is also equipped with two sets of laser detection elements at its upper end. The two sets of laser detection elements are electrically connected. The first set of laser detection elements can detect and position the suction cup assembly 330 at the edge and transmit the relevant data to the second set of laser detection elements. The second set of laser detection elements can detect the position of the front end of the glass sheet 200. The second set of laser detection elements is electrically connected to the conveyor belt 120. After the front end of the glass sheet 200 moves to the predetermined position and is detected by the second set of laser detection elements, the conveyor belt 120 is controlled to stop driving. At this time, the glass sheet 200 is positioned along the length of the conveyor belt 120. Then, according to the width of the glass sheet 200, the positioning device 400 is driven to extend a predetermined distance along the width of the conveyor belt 120. Subsequently, the width of the glass sheet 200 is positioned. The position of the glass sheet 200 coincides with the projected area of ​​the unloading gripping device 300, ensuring the accuracy of the subsequent gripping position.

[0048] Meanwhile, it should also be noted that, through the above positioning method, multiple suction cup components 330 correspond to the outer circular area 210 of the glass sheet 200, ensuring the stability of the subsequent gripping process. Through the dual laser positioning method, the position of the glass sheet 200 moving along the length of the conveyor belt 120 can be automatically detected and positioned according to the moving position of the suction cup components 330. The conveyor belt 120, the unloading gripping device 300, and the positioning device 400 can form a whole, without the need for manual control. The operator only needs to input the length and width of the glass sheet 200 to adjust the distribution position of the suction cup components 330. After the position of the suction cup components 330 is adjusted, the positioning device 400 and the drive control of the conveyor belt 120 are automatically adjusted without human intervention, which greatly improves the efficiency of automatic unloading of the glass sheet 200 after automatic cutting.

[0049] An automatic glass feeding method, using the aforementioned automatic glass feeding equipment, includes the following steps:

[0050] S1. Cut the glass sheet 200 into a circle and drive the cut and circled glass sheet 200 to be oriented along the length direction by the conveyor belt 120.

[0051] S2. After the glass sheet 200 is conveyed to the predetermined position, the position of the glass sheet 200 is detected by the positioning device 400. After the front end of the glass sheet 200 reaches the predetermined position, the conveyor belt 120 is controlled to stop moving, and the positioning device 400 is controlled to extend. The extended positioning device 400 can push the glass sheet 200 to move to the other side until the glass sheet 200 is located in the horizontal projection plane of the unloading gripping device 300.

[0052] S3. Then, the glass sheet 200 is gripped under negative pressure by the feeding and gripping device 300 and moved to the predetermined position for stacking.

[0053] After the length and width of the glass sheet 200 are adjusted, the rotating device 360 ​​and the second telescopic device 370 control the bending and deflection of multiple folding rods 351 at a predetermined angle, and simultaneously complete the adjustment of the distance between multiple sets of suction cup assemblies 330. The first telescopic device 312 can adjust the distance between two suction cup assemblies 330 in one set, and can quickly adjust according to the size and specifications of the glass sheet 200 after the change, so as to quickly and adaptably grasp and unload glass sheets 200 of different specifications.

[0054] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A glass grabbing device for glass blanking, comprising a grabbing base (310), wherein a plurality of suction cup assemblies (330) are arranged at the lower end of the grabbing base (310), characterized in that, The telescopic setting of the grabbing base (310) comprises a grabbing seat one (311), a first telescopic device (312) and a grabbing seat two (313), the lower end of the grabbing seat one (311) and the grabbing seat two (313) is fixed with a grabbing guide rod (320), the suction disc assembly (330) is slidably connected with the grabbing guide rod (320), the longitudinally corresponding two suction disc assemblies (330) are connected through the telescopic linkage rod group (340), the transversely corresponding multiple suction disc assemblies (330) are connected through the folding assembly (350), the folding assembly (350) comprises multiple folding rods (351), the adjacent two folding rods (351) are rotatably connected through the rotary joint (352), the rotary joint (352) comprises a rotary joint one located at the inner side and a rotary joint two located at the outer side, the rotary joint one located at the inner side is in the coupled state with the corresponding suction disc assembly (330) and moves synchronously with the movement of the suction disc assembly (330); the driving device for controlling the folding state of the folding assembly (350) is further included, the distance between the longitudinally two suction disc assemblies (330) is adjusted by controlling the telescopic state of the grabbing base (310), and the distance between the transversely two suction disc assemblies (330) is adjusted by controlling the folding state of the folding assembly (350).

2. The glass grabbing device for glass blanking according to claim 1, characterized in that, The driving device comprises a rotating device (360) and a second telescopic device (370), the deflection angle of the two folding rods (351) located at the inner side is adjusted through the second telescopic device (370), and the deflection angle of the multiple folding rods (351) located at the outer side is adjusted through the rotating device (360).

3. The glass grabbing device for glass blanking according to claim 2, characterized in that, The second telescopic device (370) is installed at the intermediate position between the grabbing base (310) and the rotary joint two, the position of the rotary joint two is controlled by controlling the telescopic state of the grabbing base (310), and the included angle of the two folding rods (351) located at the middle is adjusted and controlled.

4. The glass grabbing device for glass blanking according to claim 2, characterized in that, The rotating device (360) is installed at the positions on both sides of the second telescopic device (370), the base end of the rotating device (360) is fixedly connected with the linkage rod group (340), the rotating end of the rotating device (360) is fixedly connected with the folding rods (351) located at the outer side, and the folding rods (351) located at the outer side are synchronously deflected by a predetermined angle through the rotating device (360).

5. The glass grabbing device for glass blanking according to claim 2, characterized in that, The rotating device (360) and the second telescopic device (370) are controlled through hydraulic pressure, the rotating device (360) and the second telescopic device (370) are in a hydraulic communication state, and the two rotating devices (360) located at the outer side can be synchronously rotated and controlled while the second telescopic device (370) is telescoped.

6. The glass grabbing device for glass blanking according to claim 2, characterized in that, The second telescopic device (370) comprises a telescopic base (371), a control piston (373) is slidably connected inside the telescopic base (371), a control rod (374) is fixed to the side wall of the control piston (373), the control rod (374) penetrates through the telescopic base (371) and is connected with the rotary joint II, the control piston (373) divides the telescopic base (371) into a first control cavity (372) and a second control cavity (375), after pumping oil into the first control cavity (372), the control piston (373) is driven to move towards the rotary joint II, and the control rod (374) is pushed out.

7. The glass grabbing device for glass blanking according to claim 6, characterized in that, Two separate elastic bags are arranged in the second control cavity (375), a partition plate is arranged between the two elastic bags, and the elastic bags are communicated with corresponding rotary devices (360).

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