Spacing bar grabbing and framing device

Abstract

The utility model discloses a spacing bar grabbing upper frame device, and relates to the technical field of hollow glass processing and manufacturing, the spacing bar grabbing upper frame device comprises a lower variable pitch assembly and a plurality of lower clamping jaw assemblies installed on the lower variable pitch assembly, and the lower variable pitch assembly can adjust the spacing among the plurality of lower clamping jaw assemblies in the X-axis direction; the multiple lower clamping jaw assemblies comprise the first lower clamping jaw assembly and the second lower clamping jaw assembly, and the second lower clamping jaw assembly can stretch out and draw back in the Y-axis direction so that a second lower clamping jaw of the second lower clamping jaw assembly and a first lower clamping jaw of the first lower clamping jaw assembly can not be located on the same straight line. The multiple right clamping jaw assemblies are installed on the right variable-pitch assembly, and the right clamping jaw assemblies can adjust the intervals between the multiple right clamping jaw assemblies in the Y-axis direction; and the like. The problem that the number of the clamping jaw devices cannot adapt to the high compatibility of the spacing bar grabbing upper frame device to the specification of the spacing bar can be solved.

Description

Technical Field

[0001] This utility model relates to the field of insulated glass processing and manufacturing technology, and in particular to a spacer bar gripping upper frame device. Background Technology

[0002] Currently, there are two main methods for mounting spacer strips for insulated glass units: manual mounting and automatic mounting. Manual mounting involves the following steps: after the spacer strip is coated with butyl rubber using a butyl rubber coating machine, a person holds the coated spacer strip and places it on the automated insulated glass production line. The spacer strip is then manually bonded to the outer edge of the insulated glass unit at specific dimensional intervals to achieve proper adhesion. This manual mounting process is limited by manual operation and suffers from drawbacks such as poor process stability, low production efficiency, and high production costs. Automatic mounting, on the other hand, involves a gripper device that picks up the spacer strip after butyl rubber coating and automatically moves it along a pre-set route to the insulated glass production line. It automatically centers the insulated glass unit, protecting it from damage, and then automatically bonds the spacer strip to the outer edge of the insulated glass unit at specific dimensional intervals to achieve proper adhesion. This automatic frame mounting device has a limited range of compatibility with spacer specifications. If there are many gripper devices, the gripper devices will be too close together when the spacer specifications are small, resulting in excessive waste. If there are few gripper devices, the gripper devices will be too few when the spacer specifications are large, and the distance between adjacent gripper devices will be too large, resulting in poor stability of the gripped spacer and inconsistent bonding between the spacer and the insulating glass. Utility Model Content

[0003] In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a spacer bar gripping upper frame device, which can solve the problem that the number of gripper devices cannot be adapted to the high compatibility of the spacer bar gripping upper frame device with the spacer bar specifications.

[0004] The specific technical solution of this utility model embodiment is as follows:

[0005] A spacer bar gripping upper frame device, the spacer bar gripping upper frame device comprising:

[0006] The lower pitch component and a plurality of lower gripper components mounted on the lower pitch component, wherein the lower pitch component can adjust the spacing between the plurality of lower gripper components in the X-axis direction; the plurality of lower gripper components include a first lower gripper component and a second lower gripper component, wherein the second lower gripper component can extend and retract in the Y-axis direction so that its second lower gripper is not on the same straight line as the first lower gripper component of the first lower gripper component.

[0007] A right pitch control assembly and a plurality of right gripper assemblies mounted on the right pitch control assembly, wherein the right gripper assemblies are adjustable in the Y-axis direction to adjust the spacing between the plurality of right gripper assemblies; the plurality of right gripper assemblies include a first right gripper assembly and a second right gripper assembly, wherein the second right gripper assembly is extendable and retractable in the X-axis direction so that its second right gripper is not on the same straight line as the first right gripper assembly's first right gripper assembly.

[0008] The first track extending along the Y direction;

[0009] An upper pitch-changing component is directly or indirectly mounted on the first track and movable, and multiple upper gripper components are mounted on the upper pitch-changing component. The upper pitch-changing component can adjust the spacing between the multiple upper gripper components in the X-axis direction. The upper pitch-changing component and the lower pitch-changing component are arranged in parallel. The multiple upper gripper components include a first upper gripper component and a second upper gripper component. The second upper gripper component can extend and retract in the Y-axis direction so that its second upper gripper is not on the same straight line as the first upper gripper of the first upper gripper component.

[0010] A second orbit extending along the X direction;

[0011] A movable left pitch control assembly is directly or indirectly mounted on the second track, and multiple left gripper assemblies are mounted on the left pitch control assembly. The left pitch control assembly can adjust the spacing between the multiple left gripper assemblies in the X-axis direction. The left pitch control assembly and the right pitch control assembly are arranged in parallel. The multiple left gripper assemblies include a first left gripper assembly and a second left gripper assembly. The second left gripper assembly can extend and retract along the X-axis direction so that its second left gripper is not on the same straight line as the first left gripper of the first left gripper assembly.

[0012] Preferably, the plurality of lower gripper assemblies have a first position and a second position. In the first position, the first lower gripper assembly and the second lower gripper assembly are located on the same straight line. In the second position, the first lower gripper assembly is located on one straight line and the second lower gripper assembly is located on another straight line, and the two straight lines do not coincide.

[0013] The plurality of right gripper assemblies have a first right gripper assembly position and a second right gripper assembly position. In the first right gripper assembly position, the first right gripper assembly and the second right gripper assembly are located on the same straight line. In the second right gripper assembly position, the first right gripper assembly is located on one straight line and the second right gripper assembly is located on another straight line. The two straight lines do not coincide.

[0014] The plurality of upper gripper assemblies have a first position and a second position. In the first position, the first upper gripper assembly and the second upper gripper assembly are located on the same straight line. In the second position, the first upper gripper assembly is located on one straight line and the second upper gripper assembly is located on another straight line. The two straight lines do not coincide.

[0015] The plurality of left gripper assemblies have a first position and a second position. In the first position, the first left gripper assembly and the second left gripper assembly are located on the same straight line. In the second position, the first left gripper assembly is located on one straight line and the second left gripper assembly is located on another straight line. The two straight lines do not coincide.

[0016] Preferably, the lower pitch control assembly, the right pitch control assembly, the upper pitch control assembly, or the left pitch control assembly comprises:

[0017] Multiple sets of telescopic components, each set of telescopic components including: a first rod and a second rod, the middle part of the first rod is hinged to the middle part of the second rod, the end of the first rod is hinged to the end of the second rod of the adjacent telescopic component, and the end of the second rod is hinged to the end of the first rod of the adjacent telescopic component.

[0018] Preferably, the gripper assembly is connected to the first rod or the second rod, or at the middle of the first rod and the middle of the second rod, or at the end of the first rod and the end of the second rod of the adjacent telescopic assembly, or at the end of the second rod and the end of the first rod of the adjacent telescopic assembly.

[0019] Preferably, the spacer bar gripping upper frame device includes:

[0020] A sliding rail extends along the X direction, and multiple lower gripper assemblies are fitted onto the sliding rail and can move along the sliding rail;

[0021] A right slide rail extends along the Y direction, and multiple right gripper assemblies are fitted onto the right slide rail and can move along the right slide rail;

[0022] An upper slide rail extending along the X direction is mounted on the first track and can move along the first track. A plurality of upper gripper assemblies are all mounted on the upper slide rail and can move along the upper slide rail.

[0023] A left slide rail extending along the Y direction is mounted on the second track and can move along the second track. A plurality of left gripper assemblies are fitted and mounted on the left slide rail and can move along the left slide rail.

[0024] Preferably, the spacer bar gripping upper frame device includes:

[0025] A lower drive assembly is used to drive the lower pitch control assembly to extend and retract in the X-axis direction to adjust the spacing between the plurality of lower gripper assemblies; or, it is used to drive at least one of the lower gripper assemblies to cause the lower gripper assembly to drive the lower pitch control assembly to extend and retract in the X-axis direction to adjust the spacing between the plurality of lower gripper assemblies.

[0026] A right drive assembly is used to drive the right pitch control assembly to extend and retract in the Y-axis direction to adjust the spacing between the plurality of right gripper assemblies; or, it is used to drive at least one of the right gripper assemblies so that the right gripper assembly drives the right pitch control assembly to extend and retract in the Y-axis direction to adjust the spacing between the plurality of right gripper assemblies.

[0027] An upper drive assembly is used to drive the upper pitch-changing assembly to extend and retract in the X-axis direction to adjust the spacing between the plurality of upper gripper assemblies; or, it is used to drive at least one of the upper gripper assemblies to cause the upper gripper assembly to drive the upper pitch-changing assembly to extend and retract in the X-axis direction to adjust the spacing between the plurality of upper gripper assemblies.

[0028] A left drive assembly is used to drive the left pitch control assembly to extend and retract in the Y-axis direction to adjust the spacing between the plurality of left gripper assemblies; or, it is used to drive at least one of the left gripper assemblies to cause the left gripper assembly to drive the left pitch control assembly to extend and retract in the Y-axis direction to adjust the spacing between the plurality of left gripper assemblies.

[0029] Preferably, the spacer bar gripping upper frame device includes:

[0030] A lower corner gripper assembly mounted on the lower pitch assembly and located on the outermost side of the plurality of lower gripper assemblies;

[0031] A right corner gripper assembly mounted on the right pitch assembly and located on the outermost side of the plurality of right gripper assemblies;

[0032] An upper corner gripper assembly mounted on the upper pitch assembly and located on the outermost side of the plurality of upper gripper assemblies;

[0033] A left corner gripper assembly mounted on the left pitch assembly and located on the outermost side of the plurality of left gripper assemblies.

[0034] Preferably, the spacer bar gripping upper frame device includes:

[0035] The base support, the first track, the second track, the lower pitch control assembly, the plurality of lower gripper assemblies, the right pitch control assembly, and the plurality of right gripper assemblies are indirectly or directly disposed on the base support;

[0036] An angle adjustment component is provided, which can adjust the rotation angle of the base support around the X-axis so that the base support has a spacer bar clamping station and a spacer bar upper frame station.

[0037] Preferably, the spacer bar gripping upper frame device includes:

[0038] Z-axis translation unit, used to adjust the position of the base support on the Z-axis;

[0039] The X-axis translation unit is used to adjust the position of the base support on the X-axis.

[0040] The Y-axis translation unit is used to adjust the position of the base support on the Y-axis.

[0041] Preferably, when the spacer bar is clamped at the work station, the bottom support is in a vertical position; when the spacer bar is framed at the work station, the bottom support is at an angle to the vertical direction.

[0042] The technical solution of this utility model has the following significant beneficial effects:

[0043] When the spacer gripping device needs to hold spacers of different sizes, the left pitch-adjusting assembly moves on the second track, and the upper pitch-adjusting assembly moves on the first track. This adjusts the distance between the left and right gripper assemblies mounted on the left pitch-adjusting assembly, and the distance between the upper and lower gripper assemblies mounted on the upper pitch-adjusting assembly, to match the lengths of the horizontal and vertical sides of the spacer, respectively. Then, the lower pitch-adjusting assembly adjusts the spacing between the lower gripper assemblies in the X-axis direction, and the upper pitch-adjusting assembly adjusts the spacing between the upper gripper assemblies in the X-axis direction, so that the area covered by the lower gripper assemblies corresponds to the length of the horizontal side of the spacer, and the area covered by the upper gripper assemblies corresponds to the length of the horizontal side of the spacer. If the lengths of the lower and upper horizontal edges of the spacer are relatively short, the second lower gripper assembly is controlled to extend and retract along the Y-axis so that its second lower gripper is not on the same straight line as the first lower gripper assembly. Similarly, the second upper gripper assembly extends and retracts along the Y-axis so that its second upper gripper is not on the same straight line as the first upper gripper assembly. This allows the lower and upper horizontal edges of the spacer to be gripped only by the first lower gripper assembly and the first upper gripper assembly, respectively. This effectively reduces the number of corresponding grippers used to grip the spacer, avoiding excessively dense grippers and waste. If the lengths of the lower and upper horizontal edges of the spacer are relatively long, the first and second upper gripper assemblies are controlled to grip the upper horizontal edge of the spacer together, and the first and second lower gripper assemblies are controlled to grip the lower horizontal edge of the spacer together. This ensures that the spacing between adjacent grippers is within the required range, which helps improve the stability of gripping the spacer and the consistency of the spacer before and after bonding to the insulating glass. The operation of the right and left gripper assemblies is similar to that of the upper and lower gripper assemblies. Through this operation, the number of gripper assemblies actually holding the spacer bar can be adapted to the high compatibility of the spacer bar gripping frame device with the spacer bar specifications. Even if the spacer bar has relatively large or relatively small specifications, the spacing between adjacent grippers will remain within the required range. Attached Figure Description

[0044] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, under the guidance of this invention, can select various possible shapes and proportions to implement this invention according to specific circumstances.

[0045] Figure 1This is a top view of the spacer bar gripping upper frame device in an embodiment of this utility model;

[0046] Figure 2 This is a front view of the upper frame robotic arm unit in an embodiment of this utility model;

[0047] Figure 3 This is a side view of a portion of the spacer bar gripping upper frame device in an embodiment of this utility model;

[0048] Figure 4 This is a schematic diagram of the structure of the X-axis translation unit and the upper frame robotic arm unit in the embodiment of this utility model;

[0049] Figure 5 This is a schematic diagram of the Z-axis translation unit in an embodiment of the present invention;

[0050] Figure 6 This is a schematic diagram of the non-retractable gripper assembly in an embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram of the retractable gripper assembly in an embodiment of the present invention;

[0052] Figure 8 This is a schematic diagram of the gripper assembly mounted on the pitch-changing assembly in an embodiment of the present invention.

[0053] The reference numerals in the above figures are as follows:

[0054] 1. Z-axis translation unit; 11. First translation track; 12. Z-axis translation platform; 13. First translation force assembly; 2. X-axis translation unit; 21. Second translation track; 22. X-axis translation platform; 23. Second translation force assembly; 3. Y-axis translation unit; 31. Third translation track; 32. Y-axis translation platform; 4. Angle adjustment assembly; 5. Upper frame robotic arm unit; 51. Base support; 52. Lower pitch control assembly; 521. Telescopic assembly; 5211. First rod; 5212. Second rod; 53. Lower gripper assembly; 531. First lower gripper assembly; 532. Second... 54. Lower gripper assembly; 55. Right pitch control assembly; 56. Right gripper assembly; 57. First track; 58. Upper pitch control assembly; 59. Upper gripper assembly; 50. Second track; 510. Left pitch control assembly; 511. Left gripper assembly; 512. Lower slide rail; 513. Right slide rail; 514. Upper slide rail; 515. Left slide rail; 516. Lower corner gripper assembly; 517. Right corner gripper assembly; 518. Upper corner gripper assembly; 519. Left corner gripper assembly; 6. Insulating glass; 71. Bracket; 72. Gripper power cylinder; 73. Gripper; 74. Frame; 75. Telescopic mechanism. Detailed Implementation

[0055] The details of this utility model can be more clearly understood by referring to the accompanying drawings and the description of specific embodiments. However, the specific embodiments of this utility model described herein are for illustrative purposes only and should not be construed as limiting the utility model in any way. Under the teachings of this utility model, those skilled in the art can conceive of any possible modifications based on this utility model, and these should all be considered to fall within the scope of this utility model.

[0056] To address the issue that the number of gripper devices is insufficient to meet the high compatibility of the spacer bar gripping upper frame device with spacer bar specifications, this application proposes a spacer bar gripping upper frame device. Figure 1 This is a top view of the spacer bar gripping upper frame device in an embodiment of this utility model. Figure 2 This is a front view of the upper frame robotic arm unit in an embodiment of this utility model, as shown below. Figure 1 and Figure 2 As shown, the spacer bar gripping upper frame device may include: a lower pitch control assembly 52 and a plurality of lower gripper assemblies 53 mounted on the lower pitch control assembly; a right pitch control assembly 54 and a plurality of right gripper assemblies 55 mounted on the right pitch control assembly 54; a first track 56 extending along the Y direction; an upper pitch control assembly 57 that is movable and directly or indirectly mounted on the first track 56 and a plurality of upper gripper assemblies 58 mounted on the upper pitch control assembly; a second track 59 extending along the X direction; a left pitch control assembly 510 that is movable and directly or indirectly mounted on the second track 59 and a plurality of left gripper assemblies 511 mounted on the left pitch control assembly.

[0057] like Figure 2 As shown, multiple lower gripper assemblies 53, multiple right gripper assemblies 55, multiple upper gripper assemblies 58, and multiple left gripper assemblies 511 work together to grip rectangular spacer strips. The different gripper assemblies grip four different sides of the spacer strip.

[0058] Among them, such as Figure 2 As shown, the lower pitch assembly 52 can adjust the spacing between multiple lower gripper assemblies 53 in the X-axis direction, thereby enabling the multiple lower gripper assemblies 53 to clamp spacer strips of different sizes. The right gripper assembly 55 can adjust the spacing between multiple right gripper assemblies 55 in the Y-axis direction, thereby enabling the multiple right gripper assemblies 55 to clamp spacer strips of different sizes.

[0059] like Figure 2As shown, the upper pitch adjustment assembly 57 can move on the first track 56. The upper pitch adjustment assembly 57 and the lower pitch adjustment assembly are arranged in parallel, thereby adjusting the distance between all the upper gripper assemblies 58 and lower gripper assemblies 53 mounted on the upper pitch adjustment assembly to match the length of the vertical side of the spacer bar. The upper pitch adjustment assembly 57 can adjust the spacing between multiple upper gripper assemblies 58 in the X-axis direction, so that multiple upper gripper assemblies 58 can clamp spacer bars of different sizes.

[0060] like Figure 2 As shown, the left pitch control assembly 510 can move on the second track 59. The left pitch control assembly 510 and the right pitch control assembly are arranged in parallel, thereby adjusting the distance between all the left gripper assemblies 511 and right gripper assemblies 55 mounted on the left pitch control assembly to match the length of the horizontal side of the spacer bar. The left pitch control assembly 510 can adjust the spacing between multiple left gripper assemblies 511 in the Y-axis direction, so that multiple left gripper assemblies 511 can clamp spacer bars of different sizes.

[0061] like Figure 2 As shown, the plurality of lower gripper assemblies 53 include a first lower gripper assembly 531 and a second lower gripper assembly 532. The second lower gripper assembly 532 is extendable and retractable along the Y-axis so that its second lower gripper 73 is not located on the same straight line as the first lower gripper 73 of the first lower gripper assembly 531. Alternatively, the plurality of lower gripper assemblies 53 may have a first position and a second position. In the first position, the first lower gripper assembly 531 and the second lower gripper assembly 532 are located on the same straight line. In the second position, the first lower gripper assembly 531 is located on one straight line, and the second lower gripper assembly 532 is located on another straight line, and the two straight lines do not coincide.

[0062] The plurality of right gripper assemblies 55 includes a first right gripper assembly 55 and a second right gripper assembly 55. The second right gripper assembly 55 is extendable and retractable along the X-axis so that its second right gripper 73 is not located on the same straight line as the first right gripper 73 of the first right gripper assembly 55. Alternatively, the plurality of right gripper assemblies 55 have a first position and a second position. In the first position, the first right gripper assembly 55 and the second right gripper assembly 55 are located on the same straight line. In the second position, the first right gripper assembly 55 is located on one straight line, and the second right gripper assembly 55 is located on another straight line, and the two straight lines do not coincide.

[0063] The plurality of upper gripper assemblies 58 include a first upper gripper assembly 58 and a second upper gripper assembly 58. The second upper gripper assembly 58 is extendable and retractable along the Y-axis so that its second upper gripper 73 is not located on the same straight line as the first upper gripper 73 of the first upper gripper assembly 58. Alternatively, the plurality of upper gripper assemblies 58 may have a first position and a second position. In the first position, the first upper gripper assembly 58 and the second upper gripper assembly 58 are located on the same straight line. In the second position, the first upper gripper assembly 58 is located on one straight line, and the second upper gripper assembly 58 is located on another straight line, and the two straight lines do not coincide.

[0064] The plurality of left gripper assemblies 511 include a first left gripper assembly 511 and a second left gripper assembly 511. The second left gripper assembly 511 is extendable and retractable along the X-axis so that its second left gripper 73 is not located on the same straight line as the first left gripper 73 of the first left gripper assembly 511. Alternatively, the plurality of left gripper assemblies 511 have a first position and a second position. In the first position, the first left gripper assembly 511 and the second left gripper assembly 511 are located on the same straight line. In the second position, the first left gripper assembly 511 is located on one straight line, and the second left gripper assembly 511 is located on another straight line, and the two straight lines do not coincide.

[0065] When the spacer gripping device needs to hold spacers of different sizes, the left pitch-adjusting assembly 510 is moved on the second track 59, and the upper pitch-adjusting assembly 57 is moved on the first track 56. This adjusts the distance between the left gripper assemblies 511 and right gripper assemblies 55 mounted on the left pitch-adjusting assembly, and the distance between the upper gripper assemblies 58 and lower gripper assemblies 53 mounted on the upper pitch-adjusting assembly, to match the lengths of the horizontal and vertical sides of the spacer, respectively. Then, the lower pitch-adjusting assembly 52 adjusts the spacing between the multiple lower gripper assemblies 53 in the X-axis direction, and the upper pitch-adjusting assembly 57 adjusts the spacing between the multiple upper gripper assemblies 58 in the X-axis direction, so that the area covered by the multiple lower gripper assemblies 53 corresponds to the length of the horizontal side of the spacer, and the area covered by the multiple upper gripper assemblies 58 corresponds to the length of the horizontal side of the spacer. If the lengths of the lower and upper horizontal edges of the spacer are relatively short, the second lower gripper assembly 532 is controlled to extend and retract along the Y-axis so that its second lower gripper 73 is not on the same straight line as the first lower gripper 73 of the first lower gripper assembly 531. Similarly, the second upper gripper assembly 58 extends and retracts along the Y-axis so that its second upper gripper 73 is not on the same straight line as the first upper gripper 73 of the first upper gripper assembly 58. This allows the lower and upper horizontal edges of the spacer to be clamped using only the first lower gripper 73 of the first lower gripper assembly 531 and the first upper gripper 73 of the first upper gripper assembly 58, respectively. The horizontal edges are adjusted accordingly, thus effectively reducing the number of corresponding jaws 73 used to hold the spacer strip, avoiding excessive density and waste. If the lower and upper horizontal edges of the spacer strip are relatively long, the first and second upper jaw assemblies 58 are controlled to hold the upper horizontal edge of the spacer strip together, and the first and second lower jaw assemblies 531 and 532 are controlled to hold the lower horizontal edge of the spacer strip together. This ensures that the spacing between adjacent jaws 73 is within the required range, which helps improve the stability of holding the spacer strip and the consistency of the spacer strip before and after bonding with the insulating glass 6. The operation of the right jaw assembly 55 and the left jaw assembly 511 is similar to that of the upper jaw assembly 58 and the lower jaw assembly 53. Through the above operations, the number of jaw assemblies actually holding the spacer strip can be adapted to the high compatibility of the spacer strip gripping frame device with the spacer strip specifications. Even if the spacer strip has a relatively large or relatively small specification, the spacing between adjacent jaws 73 can be kept within the required range.

[0066] As a feasible option, Figure 6 This is a schematic diagram of the structure of the non-retractable gripper assembly in an embodiment of this utility model, as shown below. Figure 6 As shown, the first lower gripper assembly 531, the first right gripper assembly 55, the first upper gripper assembly 58, or the first left gripper assembly 511 may include: a bracket 71, a gripper power cylinder 72 and a gripper 73 mounted on the bracket 71, wherein the gripper power cylinder 72 controls the opening and gripping of the gripper 73.

[0067] As a feasible option, Figure 7 This is a schematic diagram of the retractable gripper assembly in an embodiment of the present invention, as shown below. Figure 7 As shown, the second lower gripper assembly 532, the second right gripper assembly 55, the second upper gripper assembly 58, or the second left gripper assembly 511 may include: a frame 74 for cooperating with a corresponding slide rail, a bracket 71, a gripper power cylinder 72 and a gripper 73 mounted on the bracket 71, and a telescopic mechanism 75. The gripper power cylinder 72 controls the opening and closing of the gripper 73. The bracket 71 is connected to the frame 74 via the telescopic mechanism 75. The telescopic mechanism 75 enables relative movement between the frame 74 and the bracket 71. The telescopic mechanism 75 may include a telescopic power cylinder, with its fixed end connected to one of the frame 74 and the bracket 71, and its telescopic end connected to the other of the frame 74 and the bracket 71.

[0068] To simplify the structure of the pitch-changing assembly and enable adjustment of the spacing between multiple gripper assemblies so that they are distributed within the corresponding range of the spacer strip, the lower pitch-changing assembly 52, right pitch-changing assembly 54, upper pitch-changing assembly 57, or left pitch-changing assembly 510 may optionally include multiple sets of telescopic assemblies 521. Each set of telescopic assemblies 521 may include a first rod 5211 and a second rod 5212. The middle portion of the first rod 5211 is hinged to the middle portion of the second rod 5212. The end of the first rod 5211 is hinged to the end of the second rod 5212 of the adjacent telescopic assembly 521, and the end of the second rod 5212 is hinged to the end of the first rod 5211 of the adjacent telescopic assembly 521. With the above structure, the multiple sets of telescopic assemblies 521 can achieve arbitrary telescopic adjustment of the entire pitch-changing assembly by changing the angle between the first rod 5211 and the second rod 5212.

[0069] Correspondingly, the gripper assembly can be connected to the first rod 5211 or the second rod 5212, or at the hinge point between the middle of the first rod 5211 and the middle of the second rod 5212, or at the hinge point between the end of the first rod 5211 and the end of the second rod 5212 of the adjacent telescopic assembly 521, or at the hinge point between the end of the second rod 5212 and the end of the first rod 5211 of the adjacent telescopic assembly 521. In this structure, once the pitch-adjusting assembly is extended or retracted, the distance between adjacent gripper assemblies will decrease or increase together. If the gripper assemblies are evenly connected to multiple sets of telescopic assemblies 521, all gripper assemblies can achieve equidistant spacing between adjacent gripper assemblies to accommodate the specified dimensions of the spacer strip.

[0070] To ensure that the gripper assembly maintains a consistent orientation angle when adjusting the spacing of the gripper assembly, Figure 8 This is a schematic diagram of the gripper assembly mounted on the pitch-changing assembly in an embodiment of the present invention, as shown below. Figure 2 and Figure 8 As shown, the spacer bar gripping upper frame device may include: a lower slide rail 512 extending in the X direction, with multiple lower gripper assemblies 53 all fitted on the lower slide rail 512 and movable along the lower slide rail 512; a right slide rail 513 extending in the Y direction, with multiple right gripper assemblies 55 all fitted on the right slide rail 513 and movable along the right slide rail 513; an upper slide rail 514 extending in the X direction, fitted on a first track 56 and movable along the first track 56, with multiple upper gripper assemblies 58 all fitted on the upper slide rail 514 and movable along the upper slide rail 514; and a left slide rail 515 extending in the Y direction, fitted on a second track 59 and movable along the second track 59, with multiple left gripper assemblies 511 all fitted on the left slide rail 515 and movable along the left slide rail 515.

[0071] Alternatively, the lower slide rail 512, right slide rail 513, upper slide rail 514, and left slide rail 515 can be one or more. For example, when there are multiple, multiple first lower gripper assemblies 531 can share one lower slide rail 512, and multiple second lower gripper assemblies 532 can share another lower slide rail 512. Furthermore, each of the multiple first lower gripper assemblies 531 can use an independent lower slide rail 512. Furthermore, each of the multiple second lower gripper assemblies 532 can use an independent lower slide rail 512.

[0072] To provide power for the pitch-changing assembly to adjust the spacing of the gripper assemblies, a lower drive assembly is provided, which drives the lower pitch-changing assembly to extend and retract in the X-axis direction to adjust the spacing between the plurality of lower gripper assemblies 53; or, it drives at least one lower gripper assembly 53 to cause the lower gripper assembly 53 to extend and retract in the X-axis direction to adjust the spacing between the plurality of lower gripper assemblies 53; a right drive assembly is provided, which drives the right pitch-changing assembly to extend and retract in the Y-axis direction to adjust the spacing between the plurality of right gripper assemblies 55; or, it drives at least one right gripper assembly 55 to cause the right gripper assembly 55 to extend and retract in the Y-axis direction to adjust the spacing between the plurality of lower gripper assemblies 53. The spacing between the right gripper assemblies 55; an upper drive assembly for driving the upper pitch-changing assembly to extend and retract in the X-axis direction to adjust the spacing between the multiple upper gripper assemblies 58; or, for driving at least one upper gripper assembly 58 to cause the upper gripper assembly 58 to drive the upper pitch-changing assembly to extend and retract in the X-axis direction to adjust the spacing between the multiple upper gripper assemblies 58; a left drive assembly for driving the left pitch-changing assembly to extend and retract in the Y-axis direction to adjust the spacing between the multiple left gripper assemblies 511; or, for driving at least one left gripper assembly 511 to cause the left gripper assembly 511 to drive the left pitch-changing assembly to extend and retract in the Y-axis direction to adjust the spacing between the multiple left gripper assemblies 511.

[0073] The drive assembly can take many different forms. For example, it can be a combination of rack, pinion, and motor; a combination of motor, roller, driven wheel, and conveyor belt; or a combination of screw and motor. This application does not limit the specific form of the drive assembly.

[0074] Alternatively, the lower drive component, upper drive component, left drive component, and right drive component can each be one or multiple. When there are multiple components, for example, each drive component can drive a corresponding gripper component.

[0075] To better clamp the corners of the spacer strip, that is, the corners of the rectangular spacer strip, such as... Figure 2 As shown, the spacer bar gripping upper frame device may include: a lower corner gripper assembly 516 mounted on the lower pitch control assembly and located on the outermost side of the plurality of lower gripper assemblies 53; a right corner gripper assembly 517 mounted on the right pitch control assembly and located on the outermost side of the plurality of right gripper assemblies 55; an upper corner gripper assembly 518 mounted on the upper pitch control assembly and located on the outermost side of the plurality of upper gripper assemblies 58; and a left corner gripper assembly 519 mounted on the left pitch control assembly and located on the outermost side of the plurality of left gripper assemblies 511. The corresponding corner gripper assembly may have one or two components, each located on the outermost side of the plurality of lower gripper assemblies 53.

[0076] As a feasible option, such as Figure 2 As shown, the spacer bar gripping upper frame device may include: a base support 51, a first track 56, a second track 59, a lower pitch control assembly 52, multiple lower gripper assemblies 53, a right pitch control assembly 54, and multiple right gripper assemblies 55, which are indirectly or directly mounted on the base support 51. The base support 51, the first track 56, the second track 59, the lower pitch control assembly 52, the multiple lower gripper assemblies 53, the right pitch control assembly 54, the multiple right gripper assemblies 55, the left pitch control assembly 510, the multiple left gripper assemblies 511, the upper pitch control assembly 57, and the multiple upper gripper assemblies 58 can form the upper frame robotic arm unit 5.

[0077] As a feasible option, Figure 3 This is a side view of a portion of the spacer bar gripping upper frame device in an embodiment of this utility model, such as... Figure 1 and Figure 3As shown, the spacer bar gripping and upper frame device may include: an angle adjustment component 4, which can adjust the rotation angle of the base support 51 around the X-axis, so that the base support 51 has a spacer bar gripping station and a spacer bar upper frame station. The angle adjustment component 4 is used in conjunction with the angle adjustment power component, and the angle adjustment component 4 provides rotational power to the angle adjustment component 51. The spacer bar gripping station can be such that the base support 51 is in a vertical state, which facilitates the gripper 73 on the gripper assembly to grip the vertically set spacer bar. The spacer bar upper frame station can be such that the base support 51 is at a slight tilt angle, which is relative to the vertical direction, for example, the tilt angle can be set within the range of 9 degrees. The spacer bar upper frame station is used by the spacer bar gripping and upper frame device to bond the gripped spacer bar and the outer edge of the insulating glass 6 according to certain dimensional spacing requirements. Since the insulating glass 6 is set vertically with a slight tilt to prevent tipping, the spacer bar gripping and upper frame device needs to adjust the tilt angle of the spacer bar to be parallel to the insulating glass 6 when putting the spacer bar onto the frame, so as to ensure the quality of the upper frame.

[0078] As a feasible option, Figure 4 This is a schematic diagram of the X-axis translation unit and the upper frame robotic arm unit in an embodiment of this utility model, as shown below. Figure 1 , Figure 3 and Figure 4 As shown, the spacer bar gripping upper frame device may include: a Z-axis translation unit 1 for adjusting the position of the base support 51 on the Z-axis; an X-axis translation unit 2 for adjusting the position of the base support 51 on the X-axis; and a Y-axis translation unit 3 for adjusting the position of the base support 51 on the Y-axis. In other words, the Z-axis translation unit 1, X-axis translation unit 2, and Y-axis translation unit 3 can adjust the position of the upper frame robotic arm unit 5, thereby moving the upper frame robotic arm unit 5 to the spacer bar acquisition position to grip and acquire the spacer bar. Afterwards, after the angle adjustment component 4 adjusts the tilt angle of the spacer bar, the upper frame robotic arm unit 5 moves to the upper frame position of the spacer bar to bond the gripped spacer bar to the insulating glass 6.

[0079] For example, Figure 5 This is a schematic diagram of the Z-axis translation unit in an embodiment of the present invention, as shown below. Figure 5 As shown, the Z-axis translation unit 1 may include: a first translation track 11 extending along the Z-axis, a movable Z-axis translation platform 12 mounted on the first translation track 11, and a first translation force component 13 for driving the Z-axis translation platform 12 to move along the first translation track 11. Figure 4As shown, the X-axis translation unit 2 may include: a second translation track 21 extending along the X-axis, a movable X-axis translation platform 22 mounted on the second translation track 21, and a second translation force component 23 for driving the X-axis translation platform 22 to move along the second translation track 21. The Y-axis translation unit 3 may include: a third translation track 31 extending along the Y-axis, a movable Y-axis translation platform 32 mounted on the third translation track 31, and a third translation force component for driving the Y-axis translation platform 32 to move along the third translation track 31. The Z-axis translation unit 1, X-axis translation unit 2, and Y-axis translation unit 3 may be connected in different ways. For example, the second translation track 21 of the X-axis translation unit 2 is mounted on the Z-axis translation platform 12. The third translation track 31 of the Y-axis translation unit 3 is directly or indirectly mounted on the X-axis translation platform 22. Alternatively, the third translation track 31 of the Y-axis translation unit 3 may be mounted on an angle adjustment component 4, which is mounted on the X-axis translation platform 22.

[0080] All articles and references disclosed herein, including patent applications and publications, are incorporated herein by reference for various purposes. The term “substantially constitutes…” used to describe a combination should include the identified element, component, part, or step, as well as other elements, components, parts, or steps that do not substantially affect the essential novelty of the combination. The use of the terms “comprising” or “including” to describe combinations of elements, components, parts, or steps herein also contemplates embodiments substantially constituted by such elements, components, parts, or steps. The use of the term “may” herein is intended to indicate that any described attribute “may” include is optional. Multiple elements, components, parts, or steps can be provided by a single integrated element, component, part, or step. Alternatively, a single integrated element, component, part, or step can be divided into multiple separate elements, components, parts, or steps. The disclosure of “a” or “an” used to describe an element, component, part, or step does not imply exclusion of other elements, components, parts, or steps.

[0081] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A spacer bar gripping upper frame device, characterized in that, The spacer bar gripping upper frame device includes: The lower pitch component and a plurality of lower gripper components mounted on the lower pitch component, wherein the lower pitch component can adjust the spacing between the plurality of lower gripper components in the X-axis direction; the plurality of lower gripper components include a first lower gripper component and a second lower gripper component, wherein the second lower gripper component can extend and retract in the Y-axis direction so that its second lower gripper is not on the same straight line as the first lower gripper component of the first lower gripper component. A right pitch control assembly and a plurality of right gripper assemblies mounted on the right pitch control assembly, wherein the right gripper assemblies are adjustable in the Y-axis direction to adjust the spacing between the plurality of right gripper assemblies; the plurality of right gripper assemblies include a first right gripper assembly and a second right gripper assembly, wherein the second right gripper assembly is extendable and retractable in the X-axis direction so that its second right gripper is not on the same straight line as the first right gripper assembly's first right gripper assembly. The first track extending along the Y direction; An upper pitch-changing component is directly or indirectly mounted on the first track and movable, and multiple upper gripper components are mounted on the upper pitch-changing component. The upper pitch-changing component can adjust the spacing between the multiple upper gripper components in the X-axis direction. The upper pitch-changing component and the lower pitch-changing component are arranged in parallel. The multiple upper gripper components include a first upper gripper component and a second upper gripper component. The second upper gripper component can extend and retract in the Y-axis direction so that its second upper gripper is not on the same straight line as the first upper gripper of the first upper gripper component. A second orbit extending along the X direction; A movable left pitch control assembly is directly or indirectly mounted on the second track, and multiple left gripper assemblies are mounted on the left pitch control assembly. The left pitch control assembly can adjust the spacing between the multiple left gripper assemblies in the X-axis direction. The left pitch control assembly and the right pitch control assembly are arranged in parallel. The multiple left gripper assemblies include a first left gripper assembly and a second left gripper assembly. The second left gripper assembly can extend and retract along the X-axis direction so that its second left gripper is not on the same straight line as the first left gripper of the first left gripper assembly.

2. The spacer bar gripping upper frame device according to claim 1, characterized in that, The plurality of said lower gripper assemblies have a first position and a second position. In the first position, the first lower gripper assembly and the second lower gripper assembly are located on the same straight line. In the second position, the first lower gripper assembly is located on one straight line and the second lower gripper assembly is located on another straight line. The two straight lines do not coincide. The plurality of right gripper assemblies have a first right gripper assembly position and a second right gripper assembly position. In the first right gripper assembly position, the first right gripper assembly and the second right gripper assembly are located on the same straight line. In the second right gripper assembly position, the first right gripper assembly is located on one straight line and the second right gripper assembly is located on another straight line. The two straight lines do not coincide. The plurality of upper gripper assemblies have a first position and a second position. In the first position, the first upper gripper assembly and the second upper gripper assembly are located on the same straight line. In the second position, the first upper gripper assembly is located on one straight line and the second upper gripper assembly is located on another straight line. The two straight lines do not coincide. The plurality of left gripper assemblies have a first position and a second position. In the first position, the first left gripper assembly and the second left gripper assembly are located on the same straight line. In the second position, the first left gripper assembly is located on one straight line and the second left gripper assembly is located on another straight line. The two straight lines do not coincide.

3. The spacer bar gripping upper frame device according to claim 1, characterized in that, The lower pitch control assembly, the right pitch control assembly, the upper pitch control assembly, or the left pitch control assembly includes: Multiple sets of telescopic components, each set of telescopic components including: a first rod and a second rod, the middle part of the first rod is hinged to the middle part of the second rod, the end of the first rod is hinged to the end of the second rod of the adjacent telescopic component, and the end of the second rod is hinged to the end of the first rod of the adjacent telescopic component.

4. The spacer bar gripping upper frame device according to claim 3, characterized in that, The gripper assembly is connected to the first rod or the second rod, or at the hinge point between the middle of the first rod and the middle of the second rod, or at the hinge point between the end of the first rod and the end of the second rod of the adjacent telescopic assembly, or at the hinge point between the end of the second rod and the end of the first rod of the adjacent telescopic assembly.

5. The spacer bar gripping upper frame device according to claim 1, characterized in that, The spacer bar gripping upper frame device includes: A sliding rail extends along the X direction, and multiple lower gripper assemblies are fitted onto the sliding rail and can move along the sliding rail; A right slide rail extends along the Y direction, and multiple right gripper assemblies are fitted onto the right slide rail and can move along the right slide rail; An upper slide rail extending along the X direction is mounted on the first track and can move along the first track. A plurality of upper gripper assemblies are all mounted on the upper slide rail and can move along the upper slide rail. A left slide rail extending along the Y direction is mounted on the second track and can move along the second track. A plurality of left gripper assemblies are fitted and mounted on the left slide rail and can move along the left slide rail.

6. The spacer bar gripping upper frame device according to claim 1, characterized in that, The spacer bar gripping upper frame device includes: A lower drive assembly is used to drive the lower pitch control assembly to extend and retract in the X-axis direction to adjust the spacing between the plurality of lower gripper assemblies; or, it is used to drive at least one of the lower gripper assemblies to cause the lower gripper assembly to drive the lower pitch control assembly to extend and retract in the X-axis direction to adjust the spacing between the plurality of lower gripper assemblies. A right drive assembly is used to drive the right pitch control assembly to extend and retract in the Y-axis direction to adjust the spacing between the plurality of right gripper assemblies; or, it is used to drive at least one of the right gripper assemblies to cause the right gripper assembly to drive the right pitch control assembly to extend and retract in the Y-axis direction to adjust the spacing between the plurality of right gripper assemblies. An upper drive assembly is used to drive the upper pitch-changing assembly to extend and retract in the X-axis direction to adjust the spacing between the plurality of upper gripper assemblies; or, it is used to drive at least one of the upper gripper assemblies to cause the upper gripper assembly to drive the upper pitch-changing assembly to extend and retract in the X-axis direction to adjust the spacing between the plurality of upper gripper assemblies. A left drive assembly is used to drive the left pitch control assembly to extend and retract in the Y-axis direction to adjust the spacing between the plurality of left gripper assemblies; or, it is used to drive at least one of the left gripper assemblies to cause the left gripper assembly to drive the left pitch control assembly to extend and retract in the Y-axis direction to adjust the spacing between the plurality of left gripper assemblies.

7. The spacer bar gripping upper frame device according to claim 1, characterized in that, The spacer bar gripping upper frame device includes: A lower corner gripper assembly mounted on the lower pitch assembly and located on the outermost side of the plurality of lower gripper assemblies; A right corner gripper assembly mounted on the right pitch assembly and located on the outermost side of the plurality of right gripper assemblies; An upper corner gripper assembly mounted on the upper pitch assembly and located on the outermost side of the plurality of upper gripper assemblies; A left corner gripper assembly mounted on the left pitch assembly and located on the outermost side of the plurality of left gripper assemblies.

8. The spacer bar gripping upper frame device according to claim 1, characterized in that, The spacer bar gripping upper frame device includes: The base support, the first track, the second track, the lower pitch control assembly, the plurality of lower gripper assemblies, the right pitch control assembly, and the plurality of right gripper assemblies are indirectly or directly disposed on the base support; An angle adjustment component is provided, which can adjust the rotation angle of the base support around the X-axis so that the base support has a spacer bar clamping station and a spacer bar upper frame station.

9. The spacer bar gripping upper frame device according to claim 8, characterized in that, The spacer bar gripping upper frame device includes: Z-axis translation unit, used to adjust the position of the base support on the Z-axis; The X-axis translation unit is used to adjust the position of the base support on the X-axis. The Y-axis translation unit is used to adjust the position of the base support on the Y-axis.

10. The spacer bar gripping upper frame device according to claim 8, characterized in that, When the spacer bar is clamped at the work station, the bottom support is in a vertical position; when the spacer bar is framed at the work station, the bottom support is at an angle to the vertical direction.

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