Glass processing multi-station automatic transmission mechanical arm

Abstract

The utility model relates to glass processing technical field discloses glass processing multistation automatic transmission mechanical arm, including the mechanical arm, one end of mechanical arm is connected with the mounting panel rotatably, the bottom fixed connection of mounting panel has two connecting blocks, the bottom fixed connection of two connecting blocks has the fixed plate, the top rotatable connection of fixed plate has the rotary plate, both ends of rotary plate rotatable connection all have the follower plate, one end of follower plate rotably connects the sliding plate, both ends of fixed plate all fixedly connect the sliding slot, the bottom of sliding plate is slidably connected in the top of sliding slot. In the utility model, through mechanical arm drive mounting panel moves to glass top, through electric push rod and promote the connecting plate, and the follower connecting plate drives rotary plate to rotate, therefore through the rotary plate rotation and drive both ends follower plate rotation to drive the sliding plate, make the sliding plate slide on the sliding slot.

Description

Technical Field

[0001] This utility model relates to the field of glass processing technology, and in particular to a multi-station automatic transfer robotic arm for glass processing. Background Technology

[0002] Glass processing is the process of turning raw glass sheets into products with specific shapes and properties through processes such as cutting, edging, drilling, tempering, and coating. It is widely used in fields such as construction, automobiles, and electronics. With the increasing demand for automation, multi-station automatic transfer robotic arms for glass processing have emerged.

[0003] Existing automated multi-station transfer robotic arms for glass processing mainly consist of a six-axis linkage robotic arm and vacuum suction cups. They automatically transfer glass between multiple processes such as cutting, edging, and cleaning. When the robotic arm moves above the glass, the Z-axis descends, bringing the end effector close to the glass surface. The vacuum pump is activated, creating negative pressure between the suction cups and the glass, firmly adhering the glass. After the robotic arm reaches the target station, the Z-axis slowly descends. When it approaches the table, the vacuum is released, allowing the glass to be placed stably on the station. Automated multi-station transfer robotic arms for glass processing drive the development of glass processing towards intelligence and high precision, and are core equipment for improving the production capacity and quality of modern glass manufacturing.

[0004] Existing automated transfer robotic arms for multi-station glass processing use vacuum suction cups to adsorb and fix glass for transfer. However, if the suction cups are not centered to adsorb the glass, it will cause the robotic arm to move unbalanced, joint torque to fluctuate abnormally, trajectory to deviate, and long-term operation will cause component wear and deterioration of positioning accuracy. Therefore, an automated transfer robotic arm for multi-station glass processing is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a multi-station automatic transfer robotic arm for glass processing, which aims to improve the problem of lack of alignment in the prior art.

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

[0007] A multi-station automatic transfer robotic arm for glass processing includes a robotic arm with a mounting plate rotatably connected to one end. Two connecting blocks are fixedly connected to the bottom of the mounting plate, and a fixed plate is fixedly connected to the bottom of the two connecting blocks. A rotating plate is rotatably connected to the top of the fixed plate, and follower plates are rotatably connected to both ends of the rotating plate. A sliding plate is rotatably connected to one end of the follower plate. A sliding groove is fixedly connected to both ends of the fixed plate. The bottom of the sliding plate is slidably connected to the top of the sliding groove. Multiple sliding rods are slidably connected inside the sliding plate, and limit blocks are fixedly connected to the top of the sliding rods. Threaded rods are threaded around the perimeter of the mounting plate, and suction cups are fixedly connected to the bottom of the threaded rods. Quick-release components are fixedly connected to the top of the threaded rods.

[0008] As a further description of the above technical solution:

[0009] The quick-release assembly includes a locking tube, the bottom of which is fixedly connected to the top of the threaded rod. A connecting tube is slidably connected to the outside of the locking tube. Multiple balls are arranged inside the connecting tube. A snap ring is slidably connected to the outside of the connecting tube. A spring is fixedly connected inside the snap ring.

[0010] As a further description of the above technical solution:

[0011] An electric push rod is fixedly connected to the top of the fixed plate, and a connecting plate is fixedly connected to one end of the electric push rod. The connecting plate is rotatably connected to the outside of the rotating plate.

[0012] As a further description of the above technical solution:

[0013] The threaded rod is externally fixedly connected to a limit ring, and the connecting pipe is internally fixedly connected to a pressure compensation valve.

[0014] As a further description of the above technical solution:

[0015] Two vacuum pumps are fixedly connected to the top of the mounting plate, and a three-port pipe is fixedly connected to one end of each vacuum pump.

[0016] As a further description of the above technical solution:

[0017] Both ends of the three-port pipe are fixedly connected to pipes, and one end of the pipe is fixedly connected to the inside of the pressure compensation valve.

[0018] As a further description of the above technical solution:

[0019] The outer side of the ball contacts the inner groove of the engaging tube, and one end of the spring is fixedly connected to the outside of the connecting tube;

[0020] As a further description of the above technical solution:

[0021] The outer part of the limiting ring contacts the bottom of the mounting plate, and the bottom of the limiting block contacts the top of the sliding plate.

[0022] This utility model has the following beneficial effects:

[0023] 1. In this utility model, a robotic arm moves the mounting plate above the glass, and an electric push rod pushes the connecting plate. The connecting plate then rotates the rotating plate, which in turn rotates the follower plates at both ends, causing the sliding plate to slide on the groove. This causes the sliding plate to move the sliding rods on both sides towards the center until they contact the glass. At this point, the sliding rods position the mounting plate at the center of the glass. The robotic arm then presses the mounting plate down to make the suction cup contact the glass. Simultaneously, a vacuum pump creates a vacuum inside the suction cup, allowing the glass to be vacuum-adsorbed and transferred. This avoids subsequent glass processing errors caused by glass misalignment during adsorption and improves transfer efficiency.

[0024] 2. In this utility model, by sliding the buckle ring upwards until it no longer contacts the ball bearing, the ball bearing then pops out along the tapered groove of the locking tube, allowing the connecting tube to be removed upwards. At this point, by rotating the threaded rod, the suction cup can be removed for replacement. After replacement, the threaded rod is used again to fix the replaced suction cup to the mounting plate. The buckle ring is slid upwards again to compress the spring, inserting the locking tube into the connecting tube. After ensuring that the ball bearing is aligned with the groove inside the locking tube, the buckle ring is released. The buckle ring resets under the action of the spring force, pressing the ball bearing into the groove inside the locking tube, ensuring that the locking tube and the connecting tube are firmly locked together. Therefore, the quick installation and removal of the connecting tube and the suction cup are achieved through a simple plug-and-play operation. Attached Figure Description

[0025] Figure 1 This is a three-dimensional schematic diagram of the multi-station automatic transfer robotic arm for glass processing proposed in this utility model.

[0026] Figure 2 This is a schematic diagram of the rotating plate of the multi-station automatic transfer robotic arm for glass processing proposed in this utility model.

[0027] Figure 3 This is a schematic diagram of the pressure compensation valve of the multi-station automatic transfer robot arm for glass processing proposed in this utility model.

[0028] Figure 4 This is a schematic diagram of the connecting pipe of the multi-station automatic transfer robot arm for glass processing proposed in this utility model.

[0029] Legend:

[0030] 1. Robotic arm; 2. Mounting plate; 3. Vacuum pump; 4. Three-way pipe; 5. Pipeline; 6. Pressure compensation valve; 7. Connecting pipe; 8. Clamping pipe; 9. Ball bearing; 10. Snap ring; 11. Spring; 12. Threaded rod; 13. Limiting ring; 14. Suction cup; 15. Connecting block; 16. Fixing plate; 17. Rotating plate; 18. Connecting plate; 19. Electric push rod; 20. Follower plate; 21. Sliding plate; 22. Sliding rod; 23. Limiting block; 24. Slide groove. Detailed Implementation

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

[0032] Reference Figures 1 to 3This utility model provides an embodiment of a multi-station automatic transfer robotic arm for glass processing, comprising a robotic arm 1. The robotic arm 1 serves as the basic load-bearing structure and, through its own rotating joints and drive system, can achieve a wide range of spatial movements, providing flexible mobility for the entire robotic arm 1 to transport glass to different processing stations. One end of the robotic arm 1 is rotatably connected to a mounting plate 2, which is connected to the robotic arm 1 via a rotary bearing, enabling 360° flexible rotation. Two connecting blocks 15 are fixedly connected to the bottom of the mounting plate 2. A fixing plate 16 is fixedly connected to the bottom of the connecting block 15, which rigidly connects the mounting plate 2 to the fixing plate 16. A rotating plate 17 is rotatably connected to the top of the fixing plate 16, which serves as the mounting base. An electric push rod 19 is fixedly connected to the top of the fixing plate 16, and one end of the electric push rod 19 is fixedly connected to a connecting plate 18. The outside of the connecting plate 18 is rotatably connected to the outside of the rotating plate 17. The electric push rod 19 serves as a power source, pushing the connecting plate 18 to drive the rotating plate 17 to rotate. Follower plates 20 are rotatably connected to both ends of the rotating plate 17. One end of the follower plate 20 is rotatably connected to a sliding plate 21. The rotation of the rotating plate 17 drives the follower plates 20 at both ends to rotate, thereby driving the sliding plate 21. Both ends of the fixed plate 16 are fixedly connected to a slide groove 24. The bottom of the sliding plate 21 is slidably connected to the top of the slide groove 24. The slide groove 24 cooperates with the bottom slider of the sliding plate 21 to restrict the movement direction of the sliding plate 21. Multiple sliding rods 22 are slidably connected inside the sliding plate 21. The sliding rods 22 are inside the sliding plate 21 to make the glass center and adsorb and fix it. The top of the sliding rods 22 is fixedly connected to a limiter. Block 23, the mounting plate 2 is threaded with threaded rods 12 around its perimeter. The threaded rods 12 are connected to the mounting plate 2 by threads. The bottom of the threaded rods 12 is fixedly connected with a suction cup 14. When the suction cup 14 contacts the glass surface, it forms a vacuum suction force to ensure that the glass is firmly gripped. The outside of the threaded rods 12 is fixedly connected with a limiting ring 13. The limiting ring 13 is used to limit the screwing depth of the threaded rods 12 to ensure that the installation height of the suction cups 14 is consistent and to ensure uniform suction force. The top of the threaded rods 12 is fixedly connected with a quick-release assembly to enable quick disassembly of the suction cups 14.

[0033] Reference Figure 1 , Figure 3 and Figure 4The quick-release assembly includes a locking tube 8, the bottom of which is fixedly connected to the top of a threaded rod 12. The locking tube 8 and the threaded rod 12 are fixedly connected. A connecting tube 7 is slidably connected to the outside of the locking tube 8. Multiple balls 9 are arranged inside the connecting tube 7. The outside of the balls 9 contacts the groove inside the locking tube 8. When the balls 9 and the groove of the locking tube 8 are engaged, a locking state is formed. A snap ring 10 is slidably connected to the outside of the connecting tube 7. The snap ring 10 is used to assist the balls 9 in completing the locking action. A spring 11 is fixedly connected inside the snap ring 10. One end of the spring 11 is fixedly connected to the outside of the connecting tube 7. The spring 11 provides a return force to the snap ring 10. The spring 11 pushes the snap ring 10 so that the balls 9 are embedded in the groove of the locking tube 8, thereby achieving automatic locking.

[0034] Reference Figure 1 and Figure 3 Two vacuum pumps 3 are fixedly connected to the top of the mounting plate 2. One end of the vacuum pump 3 is fixedly connected to a three-port pipe 4, and both ends of the three-port pipe 4 are fixedly connected to pipes 5. The pipes 5 serve as vacuum transmission channels. A pressure compensation valve 6 is fixedly connected inside the connecting pipe 7. One end of the pipe 5 is fixedly connected inside the pressure compensation valve 6. The pipes 5 and the pressure compensation valve 6 are connected to realize the automatic adjustment and distribution of vacuum pressure, ensuring that the adsorption force of each suction cup 14 is balanced. The vacuum pump 3 is used to generate vacuum suction. The vacuum suction generated by the vacuum pump 3 is delivered to the pressure compensation valve 6 and then distributed to each suction cup 14 to form an adsorption force to grab the glass. The magnitude of the suction force can be adjusted by the pressure compensation valve 6. The pressure compensation valve 6 automatically adjusts the vacuum system pressure. When the contact area between the suction cup 14 and the glass surface changes, it maintains a stable adsorption force to prevent the glass from falling off and ensures the efficiency of suction transmission.

[0035] Working principle: The robotic arm 1 moves the mounting plate 2 above the glass. The electric push rod 19 pushes the connecting plate 18, which in turn drives the rotating plate 17 to rotate. The rotation of the rotating plate 17 drives the follower plates 20 at both ends to rotate, which in turn drives the sliding plate 21 to slide on the slide groove 24. The sliding plate 21 drives the sliding rod 22, which moves the sliding rods 22 on both sides towards the middle until they contact the glass. At this time, the sliding rods 22 align the mounting plate 2 with the glass. The robotic arm 1 then pushes the mounting plate 2 down to make the suction cup 14 contact the glass. At the same time, the vacuum pump 3 creates a vacuum inside the suction cup 14, thereby transferring the glass through vacuum adsorption by the suction cup 14.

[0036] When the suction cup 14 needs to be replaced, slide the retaining ring 10 upwards so that the retaining ring 10 is no longer in contact with the ball 9. At this time, the ball 9 pops outwards along the conical groove of the retaining tube 8, so the ball 9 and the retaining tube 8 are disengaged. Therefore, the connecting tube 7 can be taken out upwards. Then, the suction cup 14 can be taken out and replaced by rotating the threaded rod 12. The replaced suction cup 14 is fixed on the mounting plate 2 by the threaded rod 12 until the limiting ring 13 contacts the mounting plate 2. Slide the retaining ring 10 upwards again so that the retaining ring 10 compresses the spring 11 and inserts the retaining tube 8 into the connecting tube 7 until the ball 9 is aligned with the groove inside the retaining tube 8. At this time, release the retaining ring 10. The retaining ring 10 returns to its original position under the action of the spring 11, pressing the ball 9 into the groove inside the retaining tube 8, so that the retaining tube 8 and the connecting tube 7 are locked together. Therefore, the installation and removal of the connecting tube 7 and the suction cup 14 can be quickly realized.

[0037] 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 multi-station automatic transfer robotic arm for glass processing, comprising a robotic arm (1), characterized in that: One end of the robotic arm (1) is rotatably connected to a mounting plate (2). Two connecting blocks (15) are fixedly connected to the bottom of the mounting plate (2). A fixing plate (16) is fixedly connected to the bottom of the two connecting blocks (15). A rotating plate (17) is rotatably connected to the top of the fixing plate (16). Follower plates (20) are rotatably connected to both ends of the rotating plate (17). A sliding plate (21) is rotatably connected to one end of the follower plate (20). A sliding groove (24) is fixedly connected to both ends of the fixing plate (16). The bottom of the sliding plate (21) is slidably connected to the top of the sliding groove (24). Multiple sliding rods (22) are slidably connected inside the sliding plate (21). A limit block (23) is fixedly connected to the top of the sliding rod (22). Threaded rods (12) are threaded around the mounting plate (2). A suction cup (14) is fixedly connected to the bottom of the threaded rod (12). A quick-release assembly is fixedly connected to the top of the threaded rod (12).

2. The multi-station automatic transfer robotic arm for glass processing according to claim 1, characterized in that: The quick-release assembly includes a locking tube (8), the bottom of which is fixedly connected to the top of the threaded rod (12). A connecting tube (7) is slidably connected to the outside of the locking tube (8). Multiple balls (9) are provided inside the connecting tube (7). A snap ring (10) is slidably connected to the outside of the connecting tube (7). A spring (11) is fixedly connected inside the snap ring (10).

3. The multi-station automatic transfer robotic arm for glass processing according to claim 1, characterized in that: An electric push rod (19) is fixedly connected to the top of the fixed plate (16), and a connecting plate (18) is fixedly connected to one end of the electric push rod (19). The connecting plate (18) is rotatably connected to the outside of the rotating plate (17).

4. The multi-station automatic transfer robotic arm for glass processing according to claim 2, characterized in that: The threaded rod (12) is externally fixedly connected to a limit ring (13), and the connecting pipe (7) is internally fixedly connected to a pressure compensation valve (6).

5. The multi-station automatic transfer robotic arm for glass processing according to claim 4, characterized in that: Two vacuum pumps (3) are fixedly connected to the top of the mounting plate (2), and a three-port pipe (4) is fixedly connected to one end of the vacuum pump (3).

6. The multi-station automatic transfer robotic arm for glass processing according to claim 5, characterized in that: Both ends of the three-port pipe (4) are fixedly connected to pipes (5), and one end of the pipes (5) is fixedly connected to the inside of the pressure compensation valve (6).

7. The multi-station automatic transfer robotic arm for glass processing according to claim 2, characterized in that: The outside of the ball (9) is in contact with the inner groove of the engaging tube (8), and one end of the spring (11) is fixedly connected to the outside of the connecting tube (7).

8. The multi-station automatic transfer robotic arm for glass processing according to claim 4, characterized in that: The outer side of the limiting ring (13) is in contact with the bottom of the mounting plate (2), and the bottom of the limiting block (23) is in contact with the top of the sliding plate (21).

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