A mechanical gripper for sorting glass panels

Abstract

This utility model provides a mechanical gripper for sorting glass panels, belonging to the field of mechanical grippers. It includes a frame, a first driver, a moving rod, and a second driver. The first driver is mounted on the surface of the frame, and the moving rod is slidably connected to the surface of the frame. A cleaning component is located at the bottom of the moving rod, and a negative pressure gripping component is located below the moving rod. This utility model, after the cleaning component comes into contact with the surface of the glass panel, uses a moving gear, which, under the action of a rack, drives the cleaning component to rotate through a cylinder and a telescopic rod, cleaning the surface of the glass panel. This avoids the situation where, during subsequent sorting by a suction cup-type mechanical gripper, the gripper's gripping force is insufficient due to surface dust, causing the glass panel to separate from the gripper. This solves the problem that existing suction cup-type mechanical grippers cannot clean surface dust from glass panels.

Description

Technical Field

[0001] This utility model relates to the field of mechanical grippers, and more specifically, to a mechanical gripper for sorting glass panels. Background Technology

[0002] Because glass panels are fragile, have sensitive surfaces (easily scratched), and require high precision, suction cup mechanical grippers are typically used to sort them to avoid damage during the sorting process. These grippers utilize vacuum suction cups to create negative pressure, attracting the glass panels without scratching the surface. The suction force is uniform, ensuring the integrity of the glass panels.

[0003] During the stacking process, glass panels may accumulate surface dust. However, existing suction cup mechanical grippers cannot clean the surface of the glass panels themselves, resulting in poor contact between the suction cup and the glass panel, leading to edge seal failure and air leakage. Solving these problems has become an urgent issue for those skilled in the art. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a mechanical gripper for sorting glass panels, which aims to solve the problem that existing suction cup mechanical grippers cannot clean the floating dust on the surface of glass panels.

[0005] This utility model is implemented as follows: This utility model provides a mechanical gripper for sorting glass panels, including a frame, a driver one, a moving rod, and a driver two. The driver one is mounted on the surface of the frame, the moving rod is slidably connected to the surface of the frame, the driver two is mounted on the surface of the moving rod, a cleaning component is provided at the bottom of the moving rod, and a negative pressure gripping component is provided below the moving rod.

[0006] The cleaning assembly includes a hydraulic push rod, a connecting rod, a base plate, a motor, a threaded rod, a moving ring, a vertical rod, a gear, a rack, a cylinder, a telescopic rod, and a sweeping component. The hydraulic push rod is installed at the bottom of the moving rod. The connecting rod is fixedly connected to the bottom output end of the hydraulic push rod. The base plate is fixedly connected to the bottom end of the connecting rod. The motor is fixedly connected to the top of the base plate. The threaded rod is installed at the output end of the motor. The moving ring is located above the base plate. The vertical rod is fixedly connected to the bottom of the moving ring. The gear is installed on the surface of the vertical rod. The rack is fixedly connected to the bottom of the base plate. The cylinder is fixedly connected to the bottom of the gear. The telescopic rod is located at the bottom of the cylinder. The sweeping component is fixedly connected to the bottom end of the telescopic rod.

[0007] Preferably, the base plate has a track inside, the movable ring is located on the outer wall of the threaded rod and is threadedly connected to the threaded rod, the threaded rod passes through the movable ring and extends to the outside of the movable ring.

[0008] By adopting the above technical solution, when the motor drives the threaded rod to rotate, the moving ring will move under the action of the thread.

[0009] Preferably, the vertical rod passes through the track and extends below the track, the surface of the vertical rod is slidably connected to the surface of the track, the gear is sleeved on the surface of the vertical rod and rotatably connected to the vertical rod, and the gear meshes with the rack.

[0010] By adopting the above technical solution, the vertical rod can move inside the track under the drive of the moving ring, and the gear can rotate on the surface of the vertical rod. When the gear moves on the surface of the rack along with the vertical rod, it will rotate under the drive of the rack.

[0011] Preferably, a retaining plate is fixedly connected to the surface of the telescopic rod, the retaining plate on the surface of the telescopic rod passing through the cylinder and slidably connected to the cylinder.

[0012] By adopting the above technical solution, when the cylinder rotates under the drive of gears, the telescopic rod can be rotated by the clamping plate.

[0013] Preferably, the top end of the telescopic rod penetrates the bottom of the cylinder and extends into the interior of the cylinder. The telescopic rod is slidably connected to the inner wall of the cylinder through which it is penetrated. A spring is fixedly connected to one side of the telescopic rod extending into the interior of the cylinder, and the spring is fixedly connected to the inner wall of the cylinder.

[0014] By adopting the above technical solution, the telescopic rod can slide inside the cylinder, and the spring can apply a thrust to the telescopic rod.

[0015] Preferably, the negative pressure gripping assembly includes a micro air pump, a telescopic hose, a suction cup, and an inner cavity. The micro air pump is fixedly connected to the top of the base plate, the telescopic hose is fixedly connected to the input end of the micro air pump, the suction cup is fixedly connected to the bottom end of the vertical rod, and the inner cavity is opened inside the vertical rod.

[0016] Preferably, the two ends of the inner cavity are connected to a suction cup and a telescopic hose, respectively.

[0017] By adopting the above technical solution and starting the micro air pump, air can be drawn from inside the suction cup through the telescopic hose and inner cavity, creating negative pressure inside the suction cup and gripping the glass panel.

[0018] The beneficial effects of this utility model are: 1. After the cleaning component comes into contact with the surface of the glass panel, the moving gear, under the action of the rack, drives the cleaning component to rotate through the cylinder and telescopic rod, thus cleaning the surface of the glass panel. This prevents the glass panel from separating from the mechanical gripper when it sorts the glass panel later due to insufficient gripping force caused by the floating dust on the glass panel surface. This solves the problem that existing suction cup mechanical grippers cannot clean the floating dust on the surface of the glass panel.

[0019] 2. When the vertical rod moves under the drive of the moving ring, it will cause the suction cup to move inside the cleaning component, ensuring that the area where the suction cup is adsorbed has been cleaned by the cleaning component, avoiding the problem of floating dust in the area where the suction cup is adsorbed; at the same time, the position of the suction cup can change with the movement of the vertical rod, so that the suction cup can adsorb and grab glass panels of different sizes, improving the applicability of the device. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of a glass panel sorting mechanical gripper provided by an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a glass panel sorting mechanical gripper cleaning component provided by an embodiment of the present invention; Figure 3 This is a schematic diagram of the bottom plate structure of a glass panel sorting machine gripper provided by an embodiment of the present invention; Figure 4 This is a schematic diagram of a toothed gripper structure for a glass panel sorting machine according to an embodiment of the present invention; Figure 5 This is a partial schematic diagram of the internal structure of a glass panel sorting machine gripper cleaning component provided by an embodiment of this utility model.

[0022] In the diagram: 1. Frame; 2. Driver 1; 3. Moving rod; 4. Driver 2; 5. Cleaning assembly; 501. Hydraulic push rod; 502. Connecting rod; 503. Base plate; 504. Motor; 505. Threaded rod; 506. Moving ring; 507. Vertical rod; 508. Gear; 509. Rack; 510. Cylinder; 511. Telescopic rod; 512. Cleaning component; 6. Negative pressure gripping assembly; 601. Miniature air pump; 602. Telescopic hose; 603. Suction cup; 604. Inner cavity. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] Reference Figures 1-5 A glass panel sorting mechanical gripper includes a frame 1, a driver 2, a moving rod 3, and a driver 4. The driver 2 is mounted on the surface of the frame 1, the moving rod 3 is slidably connected to the surface of the frame 1, the driver 4 is mounted on the surface of the moving rod 3, a cleaning component 5 is provided at the bottom of the moving rod 3, and a negative pressure gripping component 6 is provided below the moving rod 3.

[0025] The cleaning assembly 5 includes a hydraulic push rod 501, a connecting rod 502, a base plate 503, a motor 504, a threaded rod 505, a moving ring 506, a vertical rod 507, a gear 508, a rack 509, a cylinder 510, a telescopic rod 511, and a cleaning component 512. The hydraulic push rod 501 is installed at the bottom of the moving rod 3. The connecting rod 502 is fixedly connected to the bottom output end of the hydraulic push rod 501. The base plate 503 is fixedly connected to the bottom end of the connecting rod 502. A track is provided inside the base plate 503. The motor 504 is fixedly connected to the top of the base plate 503. The threaded rod 505 is installed at the output end of the motor 504. The moving ring 506 is located above the base plate 503. 06 is located on the outer wall of the threaded rod 505 and is threadedly connected to the threaded rod 505. The threaded rod 505 passes through the moving ring 506 and extends to the outside of the moving ring 506. When the motor 504 drives the threaded rod 505 to rotate, the moving ring 506 will move under the action of the thread. The vertical rod 507 is fixedly connected to the bottom of the moving ring 506. The vertical rod 507 passes through the track and extends to the bottom of the track. The surface of the vertical rod 507 is slidably connected to the surface of the track. The vertical rod 507 can move inside the track under the drive of the moving ring 506. The gear 508 is installed on the surface of the vertical rod 507 and is sleeved on the surface of the vertical rod 507, and is connected to the vertical rod 507. The rod 507 is rotatably connected, and the gear 508 can rotate on the surface of the vertical rod 507. The rack 509 is fixedly connected to the bottom of the base plate 503, and the gear 508 meshes with the rack 509. When the gear 508 moves with the vertical rod 507 on the surface of the rack 509, it will rotate under the drive of the rack 509. The cylinder 510 is fixedly connected to the bottom of the gear 508, and the telescopic rod 511 is set at the bottom of the cylinder 510. A retaining plate is fixedly connected to the surface of the telescopic rod 511. The retaining plate on the surface of the telescopic rod 511 passes through the cylinder 510 and is slidably connected to the cylinder 510. When the cylinder 510 rotates under the drive of the gear 508, it can be pushed by the retaining plate. The telescopic rod 511 rotates, and its top end penetrates the bottom of the cylinder 510 and extends into the interior of the cylinder 510. The telescopic rod 511 is slidably connected to the inner wall of the cylinder 510 through which it is penetrated. A spring is fixedly connected to one side of the telescopic rod 511 extending into the cylinder 510, and the spring is fixedly connected to the inner wall of the cylinder 510. The telescopic rod 511 can slide inside the cylinder 510. The spring can apply a pushing force to the telescopic rod 511. The cleaning component 512 is fixedly connected to the bottom end of the telescopic rod 511. The spring can adaptively adjust the extension and retraction of the telescopic rod 511 according to the flatness of the glass panel surface to ensure that the cleaning component 512 always fits the glass surface.

[0026] After the cleaning component 512 comes into contact with the surface of the glass panel, the moving gear 508, under the action of the rack 509, drives the cleaning component 512 to rotate through the cylinder 510 and the telescopic rod 511, thus cleaning the surface of the glass panel. This prevents the glass panel from separating from the mechanical gripper when the suction cup 603 type mechanical gripper is sorting the glass panel due to insufficient gripping force caused by the floating dust on the glass panel surface. This solves the problem that the existing suction cup 603 type mechanical gripper cannot clean the floating dust on the surface of the glass panel.

[0027] The negative pressure gripping component 6 includes a miniature air pump 601, a telescopic hose 602, a suction cup 603, and an inner cavity 604. The miniature air pump 601 is fixedly connected to the top of the base plate 503, the telescopic hose 602 is fixedly connected to the input end of the miniature air pump 601, the suction cup 603 is fixedly connected to the bottom end of the vertical rod 507, and the inner cavity 604 is opened inside the vertical rod 507. The two ends of the inner cavity 604 are respectively connected to the suction cup 603 and the telescopic hose 602. When the miniature air pump 601 is activated, the air inside the suction cup 603 can be extracted through the telescopic hose 602 and the inner cavity 604, so that a negative pressure is formed inside the suction cup 603, and the glass panel is gripped.

[0028] When the vertical rod 507 moves under the drive of the moving ring 506, it will drive the suction cup 603 to move together with the cleaning component 512, ensuring that the area where the suction cup 603 is adsorbed has been cleaned by the cleaning component 512, avoiding the problem of floating dust in the area where the suction cup 603 is adsorbed; at the same time, the position of the suction cup 603 can change with the movement of the vertical rod 507, so that the suction cup 603 can adsorb and grasp glass panels of different sizes, improving the applicability of the device.

[0029] The working principle of this glass panel sorting mechanical gripper is as follows: By controlling the operation of driver 1 2 and driver 2 4, the cleaning component 5 is moved to a designated position. Then, the hydraulic push rod 501 is controlled to operate, and the hydraulic push rod 501 pushes the base plate 503 to move via connecting rod 502 until the bottom of the cleaning component 512 abuts against the surface of the glass panel. Then, the motor 504 is started, driving the threaded rod 505 to rotate. Under the action of the thread, the moving ring 506 drives the gear 508 to move on the surface of the rack 509 via the vertical rod 507. Under the action of the rack 509, the cylinder 510 is rotated. When the cylinder 510 rotates and moves, it drives the cleaning component 512 to clean the surface of the glass panel and move it. After the cleaning component 512 moves to the designated position, the hydraulic push rod 501 is controlled to press down continuously, so that the suction cup 603 is in close contact with the glass panel. The micro air pump 601 is activated. The micro air pump 601 extracts the air inside the suction cup 603 through the telescopic hose 602 and the inner cavity 604, so that a negative pressure is formed inside the suction cup 603. Under the action of negative pressure, the glass panel is firmly attached to the suction cup 603. At this time, the hydraulic push rod 501 can be controlled to reset, and the driver 1 2 and driver 2 4 can be controlled to sort the glass panels.

[0030] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A mechanical gripper for sorting glass panels, comprising a frame (1), a first driver (2), a moving rod (3), and a second driver (4), wherein the first driver (2) is mounted on the surface of the frame (1), the moving rod (3) is slidably connected to the surface of the frame (1), and the second driver (4) is mounted on the surface of the moving rod (3), characterized in that: A cleaning component (5) is provided at the bottom of the moving rod (3), and a negative pressure gripping component (6) is provided below the moving rod (3). The cleaning assembly (5) includes a hydraulic push rod (501), a connecting rod (502), a base plate (503), a motor (504), a threaded rod (505), a moving ring (506), a vertical rod (507), a gear (508), a rack (509), a cylinder (510), a telescopic rod (511), and a cleaning component (512). The hydraulic push rod (501) is installed at the bottom of the moving rod (3). The connecting rod (502) is fixedly connected to the bottom output end of the hydraulic push rod (501). The base plate (503) is fixedly connected to the bottom end of the connecting rod (502). The motor (504) is fixedly connected to the base plate. At the top of (503), the threaded rod (505) is installed at the output end of the motor (504), the moving ring (506) is set above the base plate (503), the vertical rod (507) is fixedly connected to the bottom of the moving ring (506), the gear (508) is installed on the surface of the vertical rod (507), the rack (509) is fixedly connected to the bottom of the base plate (503), the cylinder (510) is fixedly connected to the bottom of the gear (508), the telescopic rod (511) is set at the bottom of the cylinder (510), and the cleaning component (512) is fixedly connected to the bottom end of the telescopic rod (511).

2. The glass panel sorting mechanical gripper according to claim 1, characterized in that: The base plate (503) has a track inside, the movable ring (506) is located on the outer wall of the threaded rod (505) and is threadedly connected to the threaded rod (505). The threaded rod (505) passes through the movable ring (506) and extends to the outside of the movable ring (506).

3. The mechanical gripper for sorting glass panels according to claim 2, characterized in that: The vertical rod (507) passes through the track and extends to the bottom of the track. The surface of the vertical rod (507) is slidably connected to the surface of the track. The gear (508) is sleeved on the surface of the vertical rod (507) and rotatably connected to the vertical rod (507). The gear (508) meshes with the rack (509).

4. A glass panel sorting mechanical gripper according to claim 3, characterized in that: A retaining plate is fixedly connected to the surface of the telescopic rod (511). The retaining plate on the surface of the telescopic rod (511) passes through the cylinder (510) and is slidably connected to the cylinder (510).

5. A glass panel sorting mechanical gripper according to claim 4, characterized in that: The top end of the telescopic rod (511) penetrates the bottom of the cylinder (510) and extends into the interior of the cylinder (510). The telescopic rod (511) is slidably connected to the inner wall of the cylinder (510) through which it is penetrated. A spring is fixedly connected to one side of the telescopic rod (511) extending into the interior of the cylinder (510), and the spring is fixedly connected to the inner wall of the cylinder (510).

6. A glass panel sorting mechanical gripper according to claim 5, characterized in that: The negative pressure gripping component (6) includes a micro air pump (601), a telescopic hose (602), a suction cup (603), and an inner cavity (604). The micro air pump (601) is fixedly connected to the top of the base plate (503), the telescopic hose (602) is fixedly connected to the input end of the micro air pump (601), the suction cup (603) is fixedly connected to the bottom end of the vertical rod (507), and the inner cavity (604) is opened inside the vertical rod (507).

7. A glass panel sorting mechanical gripper according to claim 6, characterized in that: The two ends of the inner cavity (604) are respectively connected to the suction cup (603) and the telescopic hose (602).

Images