CN117184903B - Glass suction disc vehicle - Google Patents

Abstract

The invention relates to a glass suction disc vehicle, belongs to the technical field of glass transportation and installation, and solves the technical problem of low adjustability of the glass suction disc vehicle in the prior art. Comprises a vehicle body and a cantilever crane component which is connected to the vehicle body; the driving assembly is at least partially connected to the vehicle body and at least partially connected to the arm support assembly; the swing structure is connected to the arm support assembly; the sucker frame is connected to the swinging structure; the sucker frame is controlled by the pitching motion and/or the telescopic motion of the arm support assembly to have a primary regulation and control action, the regulating action of the sucker frame controlled by the regulating structures has a secondary regulation and control action, and the primary regulation and control action and the secondary regulation and control action promote the glass to be regulated to a preset posture. The primary regulation action and the secondary regulation action can be independently regulated, and can be regulated in a linkage manner, so that the glass can be regulated in multiple directions, the regulating diversity of the glass suction disc vehicle is ensured, and the mounting precision and the mounting efficiency of the glass are improved.

Description

Glass suction disc vehicle

Technical Field

The invention belongs to the technical field of glass transportation and installation, relates to a technology for improving adjustability of a glass suction disc vehicle, and particularly relates to the glass suction disc vehicle.

Background

Due to the fragile nature of glass, great care is required during its transportation and installation.

In the prior art, glass handling jiggers are commonly used to assemble glass for handling the glass onto a transport vehicle or to a designated installation location.

However, in order to ensure the stability of the working end of the suction cup carrier, that is, the stability of glass assembly, the connection structure of the glass suction cup frame is usually set to have a bias stability, and although the structure can ensure the stability of glass in the transportation process to a certain extent, the limitation of the glass suction cup carrier is caused. For example, when constructor needs glass suction disc car to assist in glass installation, it can't comparatively accurate adjust the angle of sucking disc frame, and then causes the glass suction disc car unable to exert great effect at supplementary glass installation process.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a glass suction disc vehicle.

In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:

the utility model provides a glass suction disc car, includes the automobile body, still includes:

a boom assembly connected to the vehicle body;

the driving assembly is at least partially connected to the vehicle body and at least partially connected to the arm support assembly, wherein the driving action of the driving assembly causes the arm support assembly to perform pitching motion and telescopic motion;

A swing structure connected to the boom assembly, wherein the swing structure has at least a plurality of adjustment structures;

a suction cup holder connected to the swing structure;

the sucker frame is controlled by the arm support assembly to perform pitching motion and/or telescopic motion, the adjusting motion of the sucker frame controlled by the adjusting structures is provided with a first-stage adjusting motion, the adjusting motion of the sucker frame controlled by the adjusting structures is provided with a second-stage adjusting motion, and the first-stage adjusting motion and the second-stage adjusting motion enable glass to be adjusted to a preset posture.

Preferably, the method further comprises: the supporting structure is arranged at the front end of the vehicle body;

wherein, the supporting structure is provided with at least one supporting arm and one supporting fulcrum;

the length of the supporting arm extending out of the vehicle body can be adjusted and synchronously drives the position of the supporting pivot to synchronously change.

Preferably, the supporting pivot is provided by a supporting claw, the supporting claw is connected to the end part of the supporting arm, and the supporting claw has a preset height H from the ground;

when the front end of the vehicle body turns over, the supporting claw can gradually contact with the ground and finally provide acting force opposite to the turning over direction.

Preferably, the method further comprises: the buffer part is arranged between the supporting claw and the supporting arm;

wherein the cushioning portion has an elastic construction that takes in a deformed manner the forces generated when the partial holding pawl is in contact with the ground.

Preferably, the method further comprises: the buffer two parts are arranged on the supporting claws;

the buffer two parts are provided with sliding structures which bear the acting force generated when part of the supporting claws are contacted with the ground in a sliding mode.

Preferably, the method further comprises: the load structure is arranged at the rear end of the vehicle body;

wherein the load structure is provided with at least one load arm and a load fulcrum;

the length of the load arm extending out of the vehicle body can be adjusted, and the position of the load fulcrum is synchronously driven to change.

Preferably, the primary regulation action at least comprises a first degree of freedom A and a second degree of freedom B;

wherein the first degree of freedom A is configured to allow the sucker frame to perform extending or retracting movement along a first direction, and the movement stroke is L; and the second degree of freedom B is configured to allow the suction cup holder to perform a vertical pitching motion in a second direction, and the pitching angle is α1.

Preferably, the secondary regulation action at least comprises a third degree of freedom C, a fourth degree of freedom D and a fifth degree of freedom E;

wherein the third degree of freedom C is configured to allow the suction cup frame to perform rotational movement along a third direction, and the rotational angle is alpha 2; the fourth degree of freedom D is configured to allow the sucker frame to horizontally swing along a fourth direction, and the swing angle is alpha 3; and the fifth degree of freedom E is configured to allow the suction cup holder to perform vertical pitching motion in a fifth direction, wherein the pitching angle is α4, and α4 is smaller than α1.

Preferably, the boom assembly comprises at least:

a support arm support, one end of which is connected to the vehicle body;

one end of the telescopic arm support is rotatably connected with the support arm support;

the telescopic arm support is composed of a plurality of arm sections, and at least part of the arm sections can be driven by the driving assembly to do telescopic motion.

Preferably, the drive assembly comprises at least:

the first driving piece is connected between the vehicle body and the telescopic boom, and can drive the telescopic boom to do pitching motion;

the second driving piece is connected between the plurality of arm joints and can drive the plurality of arm joints to do telescopic motion.

Preferably, the swing structure includes:

the first adjusting part is connected with the sucker frame, and the first adjusting part can promote the generation of a third degree of freedom C of the secondary regulation action; and a second adjusting portion connected to the first adjusting portion, wherein the second adjusting portion is capable of causing the second degree of freedom D of the secondary adjustment operation to occur by adjusting the second adjusting portion; and a third adjusting portion connected to the first adjusting portion, wherein the third adjusting portion is capable of causing the occurrence of a fifth degree of freedom E of the secondary regulation action by adjusting the third adjusting portion.

Preferably, the first adjusting part includes:

the center of the bearing piece is provided with a mounting station, and the sucker frame is rotationally connected to the mounting station;

a first adjustment groove formed in the carrier;

and the first adjusting piece is assembled to the first adjusting groove and connected with the sucker frame.

Preferably, the opening path of the first adjusting groove is consistent with the third direction, and the first adjusting piece has a first state and a second state;

the first state is configured that the first adjusting piece slides in the first adjusting groove and synchronously drives the sucker frame to rotate; and the second state is configured to lock after the first adjustment member moves to a desired position to fix the current position of the suction cup holder.

Preferably, the sliding travel of the first adjusting piece in the first adjusting groove is X, and the magnitude of the rotation angle α2 is controlled by the length of the sliding travel X.

Preferably, the second adjusting part includes:

one end of the rotating component A is hinged with the first adjusting part, and a rotating groove is formed at the other end of the rotating component A;

a rotating member B coupled to the rotating groove;

a second adjustment structure connected between the rotating member a and the rotating member B, by which the rotating member a and the rotating member B can be rotated relatively.

Preferably, the second adjustment configuration comprises:

a rotation shaft a connected between the rotation member a and the rotation member B;

an adjusting worm wheel sleeved on the rotating shaft A;

and the adjusting worm is rotatably connected between the rotating member A and the rotating member B and meshed with the adjusting worm wheel.

Preferably, the second adjustment configuration comprises:

a rotation shaft B connected between the rotation member a and the rotation member B;

a second adjustment groove formed in an end surface of the rotating member B; or at least part of the second regulating groove is formed on the end face of the rotating member A, and at least part of the second regulating groove is formed on the end face of the rotating member B;

And a second regulating piece assembled to the second regulating groove and connecting the rotating member A with the rotating member B.

Preferably, the opening path of the second adjusting groove is consistent with the fourth direction, and the second adjusting piece has a third state and a fourth state;

the third state is configured to enable the second adjusting piece and the second adjusting groove to slide relatively and synchronously drive the rotating member A to swing horizontally; and the fourth state is configured to lock after the second adjuster is moved to a desired position to fix the current position of the rotating member a.

Preferably, the sliding travel of the second adjusting piece in the second adjusting groove is Y, and the size of the swing angle alpha 3 is controlled by the length of the sliding travel Y.

Preferably, the third adjusting part includes:

the third adjusting piece is rotatably connected with the first adjusting part, and the third adjusting piece is provided with a first adjusting mode and a second adjusting mode;

the first regulation mode is electric regulation;

the second adjustment mode is manual adjustment.

Preferably, when the third adjusting member is manually adjusted, the third adjusting member includes:

The adjusting seat is rotationally connected with the first adjusting part;

the mounting seat is connected with the second adjusting part;

the adjusting rod is screwed to the mounting seat, and the end part of the adjusting rod is rotationally connected with the adjusting seat.

Preferably, the motion stroke of the third adjusting member is Z, and the magnitude of the pitch angle α4 is controlled by the length of the motion stroke Z.

Preferably, the method further comprises: the displacement adjusting part comprises a driving adjusting component and a driven adjusting component, the driving adjusting component is arranged between the first adjusting part and the third adjusting part, and the driven adjusting component is arranged between the first adjusting part and the second adjusting part;

the first adjusting part can be driven to do linear motion along a sixth direction by adjusting the active adjusting component, so that the sucker frame has a sixth degree of freedom F along the sixth direction.

Preferably, the active adjustment assembly comprises at least:

the first connecting piece is arranged on the first adjusting part, and a first installation hole site is formed in the first connecting piece;

the two ends of the displacement worm are rotatably connected into the first installation hole site;

the driving displacement head is connected with the displacement worm in a rotating way and is connected with the third adjusting part;

The driven adjustment assembly includes at least:

the second connecting piece is arranged on the first adjusting part and is positioned above the first connecting piece, and a second installation hole site is formed in the second connecting piece;

a displacement shaft fitted into the second mounting hole;

and the driven displacement head is connected to the displacement shaft in a sliding manner and is connected with the second adjusting part.

Preferably, the first connecting piece and/or the second connecting piece are/is of a split type construction and can be locked and fixed by a locking piece.

The invention provides a glass suction disc vehicle, which has the beneficial effects that:

the current position of glass can be adjusted under three dimensions by the secondary regulation action, so that the diversity of adjustment of the glass sucker car is ensured, and the mounting precision and the mounting efficiency of the glass are improved. And the primary regulation and control action and the secondary regulation and control action can be independently regulated, and also can be regulated in a linkage way, so that the glass can be regulated in multiple directions, and the regulation accuracy of the glass suction disc vehicle is further improved.

Drawings

FIG. 1 is a perspective view of a glass suction disc vehicle according to the present invention;

FIG. 2 is a side view of a glass suction disc vehicle according to the present invention;

Fig. 3 is a schematic structural diagram of a first adjusting portion, a second adjusting portion and a third adjusting portion in the glass suction disc vehicle according to the present invention (the second adjusting portion is one of the forms);

FIG. 4 is a side view of the structure shown in FIG. 3 (with the first and second connectors hidden);

fig. 5 is a second schematic structural diagram of the first adjusting portion, the second adjusting portion, and the third adjusting portion in the glass suction disc vehicle according to the present invention (the second adjusting portion is another form thereof);

FIG. 6 is a side view of the structure shown in FIG. 5;

fig. 7 is a front view of the structure shown in fig. 5;

FIG. 8 is a bottom view of the structure of FIG. 5;

fig. 9 is a schematic structural view of a first adjusting part in the glass suction disc vehicle according to the present invention;

FIG. 10 is a schematic view of a rotating member B in a glass sucker vehicle according to the present invention;

FIG. 11 is a second perspective view of a glass suction truck according to the present invention (assembled support structure and load structure);

fig. 12 is a schematic structural view of a rotating member a in a glass sucker vehicle according to the present invention;

FIG. 13 is a second schematic view of a rotating member B of the glass chuck vehicle according to the present invention;

fig. 14 is a schematic structural view of one of the support arms in the glass suction disc vehicle according to the present invention;

Fig. 15 is a schematic view of another structure of a support arm in a glass suction disc vehicle according to the present invention;

fig. 16 is a schematic view of another structure of a support arm in a glass suction disc vehicle according to the present invention.

Description of the reference numerals

1. A vehicle body; 2. arm support components; 201. a support arm support; 202. a telescopic boom; 3. a drive assembly; 301. a first driving member; 302. a second driving member; 4. a swinging structure; 401. a first adjusting part; 4011. a carrier; 4012. a first adjustment tank; 4013. a first adjustment member; 402. a second adjusting part; 4021. a rotating member A; 4022. a rotating member B; 4023. a second adjustment configuration; 40231. a rotating shaft A; 40232. adjusting a worm wheel; 40233. adjusting a worm; 40234. a rotating shaft B; 40235. a second regulating groove; 40236. a second adjusting member; 403. a third adjusting section; 4031. an adjusting seat; 4032. a mounting base; 4033. an adjusting rod; 5. a suction cup holder; 6. a displacement adjustment unit; 601. an active adjustment assembly; 6011. a first connector; 6012. a displacement worm; 6013. an active displacement head; 602. a driven adjustment assembly; 6021. a second connector; 6022. a displacement shaft; 6023. a driven displacement head; 7. a locking member; 8. a support structure; 801. a support arm; 802. supporting the supporting point; 803. buffering a first portion; 804. a second buffer part; 9. a load structure; 901. a load arm; 902. a load fulcrum; 10. a support arm; 1001. a slide bar; 1002. a slide block; 1003. an elastic member.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1 to 16, the following embodiments of the present invention are provided:

as shown in fig. 1 to 16, a first embodiment of the present invention proposes a glass suction disc vehicle, including a vehicle body 1, further comprising:

a boom assembly 2 connected to the vehicle body 1;

a drive assembly 3 at least partially connected to the vehicle body 1 and at least partially connected to the boom assembly 2, wherein a driving action of the drive assembly 3 causes a pitching movement and a telescoping movement of the boom assembly 2;

a swing structure 4 connected to the boom assembly 2, wherein the swing structure 4 has at least a plurality of adjustment structures;

a suction cup holder 5 connected to the swing structure 4;

the sucker frame 5 is controlled by the arm support assembly 2 to perform pitching motion and/or telescopic motion, a first-stage regulating action is provided, the sucker frame 5 is controlled by a plurality of regulating structures to perform regulating action, a second-stage regulating action is provided, and the first-stage regulating action and the second-stage regulating action promote glass to be regulated to a preset posture.

In the present embodiment, the vehicle body 1 is provided with a first drive unit. Specifically, the first drive unit is constituted by the boom assembly 2 and the drive assembly 3. The drive assembly 3 is constituted by a first drive portion and a second drive portion. Wherein the first driving part is connected between the vehicle body 1 and the boom assembly 2, and the second driving part is connected to the boom assembly 2.

When the first driving part is driven to act, the driving end of the first driving part can drive the arm support assembly 2 to do pitching motion. It is foreseen that the suction cup frame 5 is caused to act synchronously due to the occurrence of a pitching motion of the boom assembly 2. When a wide range of positional adjustment of the glass in the vertical direction is required, this can be achieved by the aforementioned actions.

When the second driving part is driven to act, the driving end of the second driving part can drive the arm support assembly 2 to extend and retract horizontally. It is envisioned that when the glass is farther from the mounting station, it is the practice of the prior art to move the glass suction jigger so that the glass is positioned closer to the mounting station. However, this process has a limitation in that when the size of the glass suction truck is large and the glass suction truck cannot approach the installation station, a constructor is required to detach the glass for manual transportation. Based on this, when the aforesaid manual handling's process can be replaced by glass suction disc car, can make the process of glass installation more efficient and safe, also can reduce constructor's risk on the other hand.

As shown in fig. 1 to 2, the first driving part drives the glass to perform pitching motion and the second driving part drives the glass to perform telescoping motion, so that a primary regulation action of the glass is formed. It can be known that the primary regulation action can regulate and correct the position of the glass in a larger range so as to assist constructors to finish the preface work of the glass installation procedure.

As a further divergence, the intervention of the primary regulatory action is also required as the glass is being transported. For example, in one embodiment, when transporting glass from a factory to a cart, it is desirable to place the glass on the cart in a nearly parabolic path because of the typically high differential between the cart and the glass suction cart. Based on the above, the primary regulation action can be more in accordance with the joint action of the conditions to realize the process of placing the glass on the transport vehicle, so that the glass carrying process is more efficient and rapid.

In another situation, such as when it is desired to remove the glass from the vehicle, it is also desirable that the glass be carried down a nearly parabolic path. Likewise, as previously described, primary regulation actions may be implemented as well.

It can be seen that the effect of primary control actions on the adjustment of the glass position is more prone to handling and transport, as well as earlier in the glass installation. In the process, the primary regulation action is not needed to have larger accuracy to a certain extent, so long as the safe and efficient completion of the process can be ensured.

Based on the foregoing considerations, this embodiment further contemplates the glass mounting process:

firstly, since the glass mounting process needs to ensure more accurate adjustment, the swinging structure 4 needs to have multiple dimensional adjustment;

secondly, because the working condition of the glass installation process is complex, constructors are required to adjust the position of the glass in real time according to the current position information of the glass, and the adjustment range is usually smaller;

thirdly, since the installation experience of constructors is more abundant and affects the final installation quality of the glass, the constructors do not expect to have larger autonomy, and conversely expect to have larger control over the adjusting structure, so that the constructors can apply the installation experience of the constructors to the adjusting structure and present the adjusting structure through adjustment.

Based on this, the present embodiment adds the swing structure 4, and the swing structure 4 is constituted by a plurality of adjustment structures. The action of each adjustment structure can affect the current position of the glass in one dimension and bring it close to the preset position (the correct mounting position of the glass).

In particular, in the first dimension, one of the adjustment structures can affect the angle of rotation of the glass. The adjusting structure is connected with the suction cup frame 5 and gives the suction cup frame 5 an adjustable degree of freedom of rotation. It is foreseen that when the suction cup holder 5 is rotatable, i.e. the glass can be rotated synchronously. When the current position of the glass deviates from the preset position, for example, when the projection of the edge of the glass at the current position and the edge of the glass at the preset position (or the edge of the installation station) on the same plane cannot be completely overlapped, a constructor can drive the glass to rotate within a certain range by adjusting the adjusting structure, so that the deviation angle between the two edges is gradually overlapped, and the current position of the glass is more close to the preset position in the first dimension.

Therefore, the above-mentioned process needs constructor to carry out real-time adjustment according to the operating mode on site, if adopt electric type regulation structure, can lead to the fact the comparatively mechanized or unification of glass installation's process, can't be with constructor's installation experience fine combination in, and then influence glass's installation quality.

In the second dimension, the other adjusting structure can indirectly promote the glass to horizontally swing. The adjusting structure can indirectly endow the glass with a swinging degree of freedom in the horizontal direction. It can be expected that when the current position of the glass deviates from the preset position, for example, when the horizontal central lines of the glass at the current position and the glass at the preset position are not parallel, the glass swings in the horizontal direction by adjusting the adjusting structure, so that the central line of the glass at the current position is close to be kept parallel to the horizontal line of the glass at the preset position, and the transition process of adjusting the glass from the current position to the preset position is realized. The process is controlled by constructors according to experience, so that the mounting accuracy of glass is guaranteed.

As further divergence, when the glass suction truck is in the process of transporting glass, especially when the glass enters a goods elevator or an environment with smaller space, there may be a case that the glass cannot enter or is easy to collide with the environment due to the excessively large width. Therefore, in this case, through adjusting this regulation structure for glass swings certain angle, with comparatively easy entering into less environment, and reduce the risk that glass knocks against.

Therefore, the glass suction disc vehicle has an adjusting function in the glass installation process by adjusting the glass in the second dimension, and provides a certain safety protection performance and transportation convenience in the glass transportation process.

In a third dimension, wherein the further adjustment structure is capable of causing the glass to undergo a vertical pitching motion. This adjustment structure gives the suction cup holder 5 an adjustable vertical pitch degree of freedom. It is envisioned that when the vertical centerline of the current position of the glass is not parallel to the vertical centerline of the glass at the preset position, a deviation is represented. When the glass is driven to perform pitching motion in the vertical direction by the adjusting structure, the vertical center line of the current position of the glass can be made to be parallel to the vertical center line of the preset position, and therefore the current position of the glass can be adjusted and corrected.

Moreover, the pitching motion in the primary regulation and control action is associated with and different from the pitching motion of the secondary regulation and control action to a certain extent.

The association is represented by: the pitching motions under the two regulation actions can influence the angle of the glass in the vertical direction, and the two regulation actions cooperate to enable the position adjustment of the glass in the vertical direction to be more rapid and efficient;

the difference is that: the pitching motion of the primary regulation action has a larger influence on the glass, so that the glass swings at a relatively larger amplitude, the glass can be quickly adjusted to a preset position, and the pitching motion of the secondary regulation action has a relatively smaller influence on the glass, so that the glass swings at a relatively smaller amplitude, and the glass can be accurately adjusted to the preset position.

Therefore, the current position of the glass can be adjusted by the secondary regulation action under three dimensions, so that the diversity of adjustment of the glass sucker car is ensured, and the mounting precision and the mounting efficiency of the glass are improved. And the primary regulation and control action and the secondary regulation and control action can be independently regulated, and also can be regulated in a linkage way, so that the glass can be regulated in multiple directions, and the regulation accuracy of the glass suction disc vehicle is further improved.

As shown in fig. 1 to 2, a second embodiment of the present invention proposes a glass suction disc vehicle, and on the basis of the first embodiment, the primary control action includes at least a first degree of freedom a and a second degree of freedom B;

wherein the first degree of freedom A is configured to allow the suction cup frame 5 to perform an extending or retracting motion along a first direction, and the motion stroke is L; and the second degree of freedom B is configured to allow the suction cup holder 5 to perform a vertical pitching motion in a second direction, and the pitching angle is α1.

In this embodiment, as described above, the primary regulation action has the first degree of freedom a and the second degree of freedom B. Correspondingly, the first degree of freedom A is the telescopic movement under the primary regulation and control action, and the action synchronously brings the glass to have the same action. When the current position of the glass is far away from the preset position in a larger range, the glass is enabled to be relatively fast close to the preset position through the extending action or the retracting action of the arm support assembly 2. Or, in the glass handling and transporting process, the glass handling and transporting process is more convenient and stable through the action. And the movement stroke L thereof can be adjusted and selected according to the adjustment range that the glass suction truck is expected to reach in the first direction (horizontal direction).

The second degree of freedom B is pitching motion under the primary regulation and control action, and the action synchronously brings the glass to have the same action. When the current position of the glass deviates from the preset position in a large range, correction or adjustment is performed through pitching motion. Or, in the glass conveying process, the glass can be conveyed to or from the transport vehicle more quickly and safely through the action. The pitch angle alpha 1 of the glass suction disc vehicle can be adjusted and selected according to the adjustment range which is expected to be reached by the glass suction disc vehicle in the second direction (the swinging direction of the arm support assembly 2).

As shown in fig. 6 to 8, a third embodiment of the present invention provides a glass suction disc vehicle, and on the basis of the previous embodiment, the secondary regulation action at least includes a third degree of freedom C, a fourth degree of freedom D and a fifth degree of freedom E;

wherein the third degree of freedom C is configured to allow the suction cup holder 5 to perform a rotational movement in a third direction, and the rotational angle is α2; and the fourth degree of freedom D is configured to allow the suction cup holder 5 to perform a horizontal swinging motion in a fourth direction, and a swinging angle α3; and the fifth degree of freedom E is configured to allow the suction cup holder 5 to perform a vertical pitching motion in a fifth direction, and a pitching angle α4 is smaller than α1.

In this embodiment, as previously described, the secondary regulation action has a three-dimensional regulation action.

In one dimension, the secondary regulation action has a third degree of freedom C. Correspondingly, the third degree of freedom C is rotational movement under the secondary regulation and control action, so that the action synchronous belt glass has the same action. The adjustment process is as described above and will not be described in detail herein. The third direction is the direction of rotation of the glass along its plane.

In another dimension, the secondary regulatory action has a fourth degree of freedom D. Correspondingly, the fourth degree of freedom D is horizontal swinging motion under the secondary regulation and control action, so that the action synchronization brings glass to have the same action. The adjustment process is as described above and will not be described in detail herein. The fourth direction is the swinging direction of the glass along the horizontal direction.

In yet another of these dimensions, the secondary regulatory action has a fifth degree of freedom E. Correspondingly, the fifth degree of freedom E is vertical pitching motion under the secondary regulation and control action, so that the action synchronization brings about the same action of the glass. The adjustment process is as described above and will not be described in detail herein. The fourth direction is the pitch direction of the glass along the vertical direction. Furthermore, it is desirable that pitch angle α4 be smaller than pitch angle α1 because the secondary regulation action is more prone to fine regulation and the primary regulation action is more prone to coarse regulation. Thus, the pitching motion of the secondary regulation action can be regulated in a relatively small range, so that the regulation precision of the secondary regulation action is ensured.

As shown in fig. 1 to 2, a fourth embodiment of the present invention proposes a glass suction disc vehicle, and based on the previous embodiment, the boom assembly 2 at least includes:

a support arm 201 having one end connected to the vehicle body 1;

one end of the telescopic boom 202 is rotatably connected with the supporting boom 201;

wherein the telescopic boom 202 is composed of a plurality of boom sections, and at least part of the boom sections can be driven by the driving assembly 3 to do telescopic motion.

In the present embodiment, the specific structure of the boom assembly 2 is defined.

Specifically, the boom assembly 2 is composed of a support boom 201 and a telescopic boom 202. One end of the supporting arm support 201 is connected with the vehicle body 1, the other end of the supporting arm support is provided with a pin shaft structure, and one end of the telescopic arm support 202 is hinged on the pin shaft structure. When the driving end of the driving assembly 3 acts, the telescopic boom 202 swings with the pin shaft structure as a swinging point.

Telescoping boom 202 is comprised of a plurality of boom segments. The plurality of arm segments are slidably coupled to form an integral telescopic boom 202. When the driving end of the driving assembly 3 acts, part of arm sections extend or retract from the previous arm section, so that the telescopic arm support 202 can realize telescopic movement, and the glass can be synchronously driven to synchronously act in the direction.

As shown in fig. 1 to 2, a fifth embodiment of the present invention proposes a glass suction disc vehicle, and on the basis of the above embodiment, the driving assembly 3 at least includes:

a first driving member 301 connected between the vehicle body 1 and the telescopic boom 202, wherein the first driving member 301 can drive the telescopic boom 202 to do pitching motion;

the second driving member 302 is connected between the plurality of arm segments, and the second driving member 302 can drive the plurality of arm segments to do telescopic motion.

In the present embodiment, the driving assembly 3 is constituted by a first driving member 301 and a second driving member 302.

The first driving member 301 is configured to drive the telescopic boom 202 to perform a vertical pitching motion, one end of the first driving member is hinged to the vehicle body 1, and the other end of the first driving member is connected to a first arm section of the telescopic boom 202, and when the driving end of the first driving member 301 acts, the telescopic boom 202 can be driven to perform a pitching motion.

The second driving piece 302 is configured to drive the telescopic boom 202 to perform telescopic motion, one end of the second driving piece is connected to the previous arm segment, the other end of the second driving piece is connected to the next arm segment, and the next arm segment extends out or retreats to the previous arm segment through the action of the driving end of the second driving piece, so that the telescopic motion of the telescopic boom 202 can be realized.

It should be noted that, the first driving member 301 and the second driving member 302 may be one of a hydraulic cylinder, an air cylinder, or an electric push rod. The model and the specification can be selected according to actual requirements.

As shown in fig. 3 to 5, a sixth embodiment of the present invention proposes a glass suction disc vehicle, and on the basis of the above embodiment, the swing structure 4 includes:

a first adjusting part 401, wherein the first adjusting part 401 is connected with the suction cup frame 5, and the first adjusting part 401 can promote the generation of a third degree of freedom C of the secondary regulation action; and a second adjustment unit 402 connected to the first adjustment unit 401, wherein the second adjustment unit 402 is configured to cause the second degree of freedom D of the secondary control operation to occur; and a third adjustment unit 403 connected to the first adjustment unit 401, wherein the third adjustment unit 403 is configured to cause the second degree of freedom E of the secondary control operation to occur.

In the present embodiment, since the adjustment is performed in three dimensions, the swing structure 4 correspondingly has three adjustment portions.

The first adjusting portion 401 is configured to carry an adjusting function in one dimension, so as to implement a rotational adjustment process of the glass. When the glass has the third degree of freedom C, the glass can rotate along the plane where the glass is located, so that the current position of the glass is corrected to a preset position, and the installation accuracy of the glass is ensured.

The second adjusting part 402 is used for bearing the adjusting action in the other dimension, so that the swinging adjusting process of the glass in the horizontal direction can be realized. When the glass has the fourth degree of freedom D, the glass can swing in the horizontal direction, so that correction and adjustment of the current position of the glass are realized.

The third adjusting part is used for bearing the adjusting function in the other dimension, and the adjusting process of the glass in the vertical pitching motion can be realized. When the glass has the fifth degree of freedom E, the pitching motion in the vertical direction can be realized.

In addition, in consideration of the fact that the constructor is expected to independently perform adjustment in each dimension during the actual operation, the first adjustment portion 401, the second adjustment portion 402 and the third adjustment portion 403 need to be disposed in three different areas, so that the constructor can perform the operation of each adjustment portion conveniently and rapidly.

In addition, the failure rate of the electric structure is relatively high, and the electric structure has certain instability. Therefore, after the mechanical adjusting part is changed, the structural stability can be improved, the structural failure rate is reduced, and the safety of glass adjustment is improved.

As shown in fig. 9, a seventh embodiment of the present invention proposes a glass suction disc vehicle, and on the basis of the above embodiment, the first adjusting part 401 includes:

a carrier 4011, wherein a mounting station is arranged at the central position of the carrier 4011, and the sucker frame 5 is rotatably connected to the mounting station;

a first adjustment groove 4012 formed in the carrier 4011;

a first adjusting member 4013 is assembled to the first adjusting groove 4012 and connected to the suction cup holder 5.

In the present embodiment, the first adjusting portion 401 is specifically defined.

The center position of the carrier 4011 is provided with a mounting station in which a part of the structure of the suction cup holder 5 is embedded. For example, the two may be connected in the form of a ball pin to ensure that the suction cup holder 5 rotates about this point. On the basis of the above, first adjustment grooves 4012 are provided on the end surface of the carrier 4011 on both sides of the rotation point. The first regulating member 4013 is fitted in the first regulating groove 4012. When the adjusting suction cup holder 5 rotates, the first adjusting member 4013 rotates in the first adjusting groove 4012 to realize a rotation adjusting process of the glass.

An eighth embodiment of the present invention proposes a glass suction disc vehicle, and on the basis of the previous embodiment, the opening path of the first adjusting groove 4012 is consistent with the third direction, and the first adjusting member 4013 has a first state and a second state;

Wherein, the first state is configured that the first adjusting piece 4013 slides in the first adjusting groove 4012 and synchronously drives the sucker frame 5 to rotate; and the second state is configured to be locked after the first adjuster 4013 is moved to a desired position to fix the current position of the suction cup holder 5.

In this embodiment, the opening path of the first adjusting groove 4012 is consistent with the third direction, and the third direction is the rotation direction of the glass.

Furthermore, as previously described, the first adjustment member 4013 has a first state, i.e., a sliding state, in which the suction cup holder 5 is simultaneously rotated in response to the sliding of the first adjustment member 4013 until the first adjustment member 4013 slides to a predetermined position, or the suction cup holder 5 or glass reaches a desired position. The first adjuster 4013 further has a second state, i.e., a locked state. When the glass has completed the foregoing adjustment process and the glass has reached the desired preset position, the locking of the current position of the glass is completed by locking the first adjustment member 4013.

The above procedure foresees that the degree of adjustment of the first adjustment member 4013 is somewhat more free. In particular, in the travel range of the first adjusting groove 4012, the glass can be rotated to any angle expected by constructors so as to meet different adjusting requirements under complex working conditions.

In addition, the first adjusting member 4013 may be a fastening bolt member, so as to facilitate the operation of the constructor and reduce the manufacturing cost on the basis of satisfying the aforementioned requirements.

As shown in fig. 7 and 9, a ninth embodiment of the present invention proposes a glass suction disc vehicle, and based on the previous embodiment, a sliding travel of the first adjusting member 4013 in the first adjusting groove 4012 is X, and the magnitude of the rotation angle α2 is controlled by the length of the sliding travel X.

In the present embodiment, the magnitude of the sliding stroke X affects the rotation angle α2 of the glass. Specifically, the larger the sliding stroke X, the larger the rotatable angle α2 of the glass. Conversely, the smaller the sliding stroke X, the smaller the rotatable angle α2 of the glass.

Based on this, the length of the first adjusting groove 4012, or the sliding travel X of the first adjusting element 4013, can be adjusted and selected according to the desired glass rotation angle α2, so that the vacuum chuck has a higher applicability.

As shown in fig. 3 to 5, a tenth embodiment of the present invention proposes a glass suction disc vehicle, and on the basis of the above embodiment, the second adjusting part 402 includes:

a rotating member a4021 having one end hinged to the first adjusting part 401 and the other end formed with a rotating groove;

A rotating member B4022 coupled to the rotating groove;

a second adjustment structure 4023 connected between the rotating member a4021 and the rotating member B4022, the rotating member a4021 and the rotating member B4022 being capable of being rotated relatively by adjusting the second adjustment structure 4023.

In the present embodiment, the second adjustment portion 402 is defined.

One end of the rotating member a4021 is hinged to the first adjusting portion 401, and the other end is formed with a rotating groove. One end of the rotating member B4022 is rotatably connected in the rotating groove. When the swing adjustment of the glass is required, the rotation member a4021 and the rotation member B4022 are caused to swing relatively, and thus the glass is indirectly caused to swing horizontally. Further, a second adjustment mechanism 4023 is provided between the rotating member a4021 and the rotating member B4022. By adjusting the second adjustment mechanism 4023, the foregoing actions can occur.

It is envisioned that there is a contact surface between the rotating member a4021 and the rotating member B4022, i.e., a lower end surface of the rotating member a4021 and an upper end surface of the rotating member B4022.

When the rotating member a4021 and the rotating member B4022 are in the process of relative swinging, it is desirable that they can be performed more gently. Thus, when the area of the contact surface is relatively increased, the stability of the relative swing can be improved to some extent, whereby the aforementioned contact surface area can be increased or decreased depending on the amount of weight of the glass that the glass sucker vehicle is expected to carry.

As shown in fig. 3 and 4, an eleventh embodiment of the present invention proposes a glass suction disc vehicle, and the second adjustment mechanism 4023 includes, based on the previous embodiment:

a rotation shaft a40231 connected between the rotation member a4021 and the rotation member B4022;

an adjustment worm wheel 40232, which is sleeved on the rotating shaft A40231;

an adjustment worm 40233 rotatably connected between the rotating member a4021 and the rotating member B4022 and meshed with the adjustment worm wheel 40232.

In the present embodiment, a specific structure of one of the second regulation mechanisms 4023 is provided.

That is, the second adjustment structure 4023 is constituted by a rotation shaft a40231, an adjustment worm wheel 40232, and an adjustment worm 40233.

The rotating members a4021 and B4022 are provided with rotating holes, and the rotating shaft a40231 is fitted into the rotating holes. The rotation member a4021 swings relative to the rotation member B4022 with the rotation shaft a40231 as a rotation point. On the basis of the above, by adjusting the adjustment worm 40233, the adjustment worm wheel 40232 is rotated, thereby causing the rotating member a4021 to oscillate relative to the rotating member B4022.

It can be seen that the above process forms the second adjustment mechanism 4023 in the form of a worm gear, which has the benefits of:

Firstly, the structure is more compact, so that the occupied structural space of the second adjusting structure 4023 is reduced, and more operation space is reserved;

secondly, worm gear transmission is relatively stable, so that relative swing of the rotating member A4021 and the rotating member B4022 is stable, and the adjusting process of glass is stable relatively.

As shown in fig. 5 and 10, a twelfth embodiment of the present invention proposes a glass suction truck, and the second adjusting mechanism 4023 includes, based on the previous embodiment:

a rotation shaft B40234 connected between the rotation member a4021 and the rotation member B4022;

a second regulating groove 40235 formed in an end surface of the rotating member B4022; or at least part of the second regulating groove 40235 is formed on the end surface of the rotating member a4021, and at least part of the second regulating groove 40235 is formed on the end surface of the rotating member B4022;

a second regulator 40236 is fitted to the second regulating groove 40235 and connects the rotating member a4021 with the rotating member B4022.

In this embodiment, a specific structure in which another second adjustment mechanism 4023 is provided.

The second adjustment mechanism 4023 includes a rotation axis B40234, a second adjustment groove 40235, and a second adjuster 40236.

Likewise, the rotating member a4021 and the rotating member B4022 form a rotational connection through the rotational shaft B40234. A second adjustment groove 40235 is provided on an end surface of the rotating member B4022, and the second adjuster 40236 slides in the second adjustment groove 40235 to achieve relative swinging between the rotating member a4021 and the rotating member B4022.

The first and second adjustment structures 4023 described above take into account that the wear during worm gear transmission is serious, and in order to avoid this problem, it is generally necessary to use materials with relatively high cost and good antifriction and abrasion resistance, which would result in an increase in manufacturing cost. Based on this, when the second adjustment mechanism 4023 adopts the second structural form, abrasion between the structures can be reduced to some extent, and the second adjusting member 40236 can be replaced with a fastening bolt, thereby reducing the manufacturing cost of the device.

The above is one of the forms of opening the second regulation groove 40235, in which we found that when the second regulation groove 40235 is entirely opened on the rotating member B4022, there are the following problems:

the end surface area of the rotating member B4022 is excessively missing, and since the end surface bears the force from the rotating member a4021 to some extent, when the end surface is excessively missing, the force bearing capacity of the rotating member B4022 is reduced.

As shown in fig. 12 to 13, based on this, there is provided another form of opening of the second regulating groove 40235. Namely, the second regulating groove 40235 is divided into a two-stage structure, wherein the second regulating groove 40235 of one stage is opened on the end surface of the rotating member a4021, and the second regulating groove 40235 of the other stage is opened on the end surface of the rotating member B4022, and the second regulating grooves 40235 of both stages are positioned on one side of the hinge point of the rotating member a4021 and the rotating member B and take an arc-shaped structure.

In this opening form, the opening area of the second regulating groove 40235 on the rotating member B4022 is reduced, so that the end surface of the rotating member B4022 has higher bearing strength.

The swing angle adjusting device is easier to adjust, so that constructors can control the swing angle of the glass well.

A thirteenth embodiment of the present invention proposes a glass suction disc vehicle, and on the basis of the previous embodiment, the opening path of the second adjusting groove 40235 is consistent with the fourth direction, and the second adjusting member 40236 has a third state and a fourth state;

wherein, the third state is configured such that the second adjuster 40236 and the second adjuster groove 40235 slide relatively and synchronously drive the rotating member a4021 to perform a horizontal swinging motion; and the fourth state is configured to lock after the second regulator 40236 is moved to a desired position to fix the current position of the rotating member a 4021.

In the present embodiment, the second regulating member 40236 has two states.

First, in order to satisfy the relative swing between the rotating member a4021 and the rotating member B4022, the second regulator 40236 has a sliding state, i.e., a third state. When the above-described operation occurs, the second regulating member 40236 is operated in the second regulating groove 40235, thereby satisfying the occurrence of the above-described operation.

During the sliding process, the side wall surface of the second adjusting groove 40235 provides a restraining force to the second adjusting member 40236 so as to slide in the fourth direction (the glass swinging direction) to avoid the sliding of the unexpected path, and ensure that the glass swinging direction is performed in the preset direction.

Second, when the glass swings to a desired position, the second regulator 40236 has a locked state, i.e., a fourth state. In this state, the second regulator 40236 can lock the current swing position of the rotating member a4021, thereby holding the glass at the current position.

A fourteenth embodiment of the present invention provides a glass suction disc vehicle, and on the basis of the above embodiment, the sliding travel of the second adjusting member 40236 in the second adjusting groove 40235 is Y, and the magnitude of the swing angle α3 is controlled by the length of the sliding travel Y.

In the present embodiment, it is envisioned that the sliding stroke Y of the second regulator 40236 determines the magnitude of the swing angle α3 to some extent. The longer the sliding stroke Y, the larger the maximum value of the rocking angle α3, that is, the larger the rocking angle of the glass. Conversely, the shorter the sliding stroke Y, the smaller the maximum value of the rocking angle α3, i.e., the smaller the rocking angle of the glass. The sliding travel Y of the second adjuster 40236 can be adjusted and selected based on the amount of glass swing angle that the glass sucker vehicle is expected to affect.

As shown in fig. 3 to 5, a fifteenth embodiment of the present invention proposes a glass suction truck, and on the basis of the above embodiment, the third adjusting part 403 includes:

a third adjusting member rotatably connected to the first adjusting portion 401, wherein the third adjusting member has a first adjusting mode and a second adjusting mode;

the first regulation mode is electric regulation;

the second adjustment mode is manual adjustment.

In the present embodiment, the third adjusting portion 403 is specifically defined.

As shown in fig. 5, in which the operator's operation effort is considered to be limited, the third adjusting portion 403 may employ the first adjusting mode, i.e., electric adjustment. In this adjustment mode, the third adjustment member may be one of a hydraulic cylinder, a pneumatic cylinder, and an electric push rod. The glass is driven to perform pitching motion in an electric mode.

And, when the specification of glass is great, and weight is heavier, it is relatively difficult to carry out vertical every single move operation to glass, and mechanical structure's wearing and tearing volume is great, therefore, when desiring that glass suction disc car have great load, the optional third regulating part is electric mode.

In another case, as shown in fig. 3 and 4, when a relatively small load of the glass holder vehicle is desired, the third adjustment member may be selected to be in the second adjustment mode, i.e., manually adjusted. In this adjustment mode, the glass is relatively small in size and relatively light in weight, so that adjustment can be performed manually to ensure the adjustment accuracy of the glass.

As shown in fig. 3 and 4, a sixteenth embodiment of the present invention provides a glass suction disc vehicle, and when the third adjusting member is manually adjusted on the basis of the previous embodiment, the third adjusting member includes:

an adjusting seat 4031 rotatably connected to the first adjusting portion 401;

a mounting base 4032 connected to the second adjustment unit 402;

an adjustment lever 4033 is screwed to the mounting block 4032 and has an end rotatably coupled to the adjustment block 4031.

In the present embodiment, a specific structure when the third regulating member is manually regulated is defined.

The third adjusting member includes an adjusting seat 4031, a mounting seat 4032 and an adjusting rod 4033.

The mounting seat 4032 is internally provided with an internal thread, the rod body of the adjusting rod 4033 is provided with an external thread, and the end part of the adjusting rod 4033 is pushed in by rotating the adjusting rod 4033 and pushes the adjusting seat 4031 to swing so as to promote the glass to perform pitching motion in the vertical direction.

Therefore, the angle of the pitching movement of the glass in the vertical direction can be realized by adjusting the extending amount and the retracting amount of the adjusting rod 4033 by constructors, and the structure enables the constructors to accurately control the pitching angle of the glass in the vertical direction relatively, so that the glass can be accurately adjusted to a desired position according to factors such as field environment.

According to a seventeenth embodiment of the present invention, a glass suction disc vehicle is provided, and based on the previous embodiment, an action stroke of the third adjusting member is Z, and a magnitude of the pitch angle α4 is controlled by a length of the action stroke Z.

In this embodiment, the movement stroke Z of the third adjusting member can determine the magnitude of the pitch angle α4 in either the electric adjustment mode or the manual adjustment mode.

In the electric adjusting mode, the extending amount and the retracting amount of the driving end of the third adjusting piece are the action travel Z of the third adjusting piece. As the motion stroke Z increases, the maximum pitch angle of the pitch angle α4 is correspondingly raised. Conversely, when the motion stroke Z decreases, the maximum pitch angle of the pitch angle α4 correspondingly decreases.

In the manual adjustment mode, the extension and retraction of the end of the third adjustment member is referred to as the movement stroke Z. Its effect on the pitch angle α4 is as described previously.

It can be seen that the motion stroke Z can be adjusted and optimized to achieve a maximum degree of pitch of different degrees of pitch angle a 4.

As shown in fig. 3 and 4, an eighteenth embodiment of the present invention proposes a glass suction disc vehicle, and further includes, based on the previous embodiment:

a displacement adjustment portion 6, wherein the displacement adjustment portion 6 includes a driving adjustment assembly 601 and a driven adjustment assembly 602, the driving adjustment assembly 601 is disposed between the first adjustment portion 401 and the third adjustment portion 403, and the driven adjustment assembly 602 is disposed between the first adjustment portion 401 and the second adjustment portion 402;

the active adjusting component 601 is adjusted to enable the first adjusting part 401 to perform linear motion along a sixth direction, so that the sucker frame 5 has a sixth degree of freedom F along the sixth direction.

In this embodiment, it is contemplated that in some cases some degree of translation of the glass in the horizontal direction is required to better adjust to the desired position.

Based on this, the present embodiment adds the displacement regulating portion 6.

The displacement adjustment section 6 gives the suction cup holder 5 a sixth degree of freedom F in the sixth direction. The sixth direction is the direction along which the glass translates in the horizontal direction.

Specifically, the displacement regulating portion 6 is constituted by a driving regulating member 601 and a driven regulating member 602. The driving adjusting component 601 is adjusted to enable the first adjusting part 401 to perform relative horizontal displacement relative to the third adjusting part 403, and then the driven adjusting component 602 synchronously performs displacement in the direction, so that the first adjusting part 401 performs relative horizontal displacement relative to the second adjusting part 402, and finally the sucker frame 5 is driven to perform displacement motion along the direction.

It can be expected that, on the basis that the suction cup frame 5 has the five degrees of freedom, the embodiment further increases the degree of freedom in the sixth direction, and the degrees of freedom in the multiple directions can be independently adjusted, but all the degrees of freedom are finally fed back to the adjusting action of the glass, so that the glass can be adjusted in the current position in multiple dimensions, and the adjusting efficiency and the installation quality of the glass are improved.

As shown in fig. 3 and 4, a nineteenth embodiment of the present invention proposes a glass suction truck, and based on the previous embodiment, the active adjusting component 601 at least includes:

A first connecting member 6011 provided to the first adjusting portion 401, wherein the first connecting member 6011 is formed with a first mounting hole;

displacement worm 6012, both ends are rotatably connected to the first installation hole site;

an active displacement head 6013 screwed with the displacement worm 6012 and connected with the third adjustment part 403;

the slave adjustment assembly 602 includes at least:

a second connector 6021 disposed above the first adjusting portion 401 and located above the first connector 6011, wherein the second connector 6021 is formed with a second mounting hole;

a displacement shaft 6022 fitted into the second mounting hole;

a driven displacement head 6023 is slidably coupled to the displacement shaft 6022 and coupled to the second adjustment portion 402.

In the present embodiment, the driving adjustment assembly 601 and the driven adjustment assembly 602 are specifically defined.

The first connecting member 6011 is a connecting seat. Which is mounted on a side wall surface of the first regulating portion 401 and is formed with a first mounting hole site for mounting of the displacement worm 6012. On the basis of the above, the active displacement head 6013 is screwed on the displacement worm 6012, when the displacement worm 6012 rotates, the active displacement head 6013 is driven to move along the axis direction of the active displacement head 6013, so that the bearing piece 4011 is driven to move along the direction, and the glass is driven to move in the horizontal direction, so that the glass is moved in the dimension.

In addition to the above, it is considered that the second adjusting portion 402 needs to perform the above-described movement in synchronization, and therefore, the driven adjusting unit 602 is added between the second adjusting portion 402 and the first adjusting portion 401.

The driven adjustment assembly 602 is composed of a second connection member 6021, a displacement shaft 6022, and a driven displacement head 6023. The second connecting member 6021 is in the form of a connecting seat, which is mounted on a side wall surface of the first adjusting portion 401 above the first connecting member 6011, and similarly, is formed with a second mounting hole for mounting the displacement shaft 6022. On the basis of the above, when the driving adjusting component 601 performs displacement, the driven displacement head 6023 is synchronously driven to slide on the displacement shaft 6022, and the movement of the carrier 4011 is adapted in this way.

As shown in fig. 14 to 16, on the basis of the above, further divergently, there are further included:

a support arm 10 provided between the rotating member a4021 and the displacement shaft 6022, wherein the support arm 10 is in sliding contact with the displacement shaft 6022 for extending a fulcrum position of the driven displacement head 6023 on the displacement shaft 6022; or the supporting arm 10 is disposed on the second connecting piece 6021, and two ends of the supporting arm 10 and the displacement shaft 6022 have a first dead point position and a second dead point position, wherein the first dead point position and the second dead point position are adjustable.

When the displacement direction is adjusted, the gravity centers of the glass can synchronously shift along the adjustment direction, if the glass is not interfered, the suction cup frame 5 can deviate towards the adjustment direction, and the glass suction cup vehicle can be turned over.

Based on this, the support arm 10 can be added to avoid the occurrence of the aforementioned problems.

The support arm 10 has two structural forms:

first, the support arm 10 is provided between the rotating member a4021 and the displacement shaft 6022. Specifically, both ends of the driven displacement head 6023 extend out of part of the structure to form the support arm 10. Therefore, in this structural form, when the glass center of gravity is shifted to one side, a part of the structure can be extended from the side opposite to the glass center of gravity of the driven displacement head 6023, so as to prolong the fulcrum position of the driven displacement head 6023 at the side, thereby reducing the risk of rollover of the glass suction disc vehicle caused by the shift of the glass center of gravity to a certain extent.

However, the above-mentioned structure has a certain limitation, and it is desirable that the support arm 10 is relatively independent so as to have a certain adjustability, and thus the support arm 10 has a second structural form, i.e., is disposed on the second link 6021. At this time, both ends of the displacement shaft 6022 are extended, and the support arm 10 is constituted by a slide bar 1001 and a slider 1002. The slide bar 1001 is slidably attached to a second link 6021 which is slidable in the axial direction thereof and which can be locked by the second link 6021, and the slider 1002 is fitted to both ends of the slide bar 1001 and is slidably attached to both end extensions of the displacement shaft 6022.

When the center of gravity of the glass is shifted to one side, the sliding rod 1001 is reversely adjusted to slide, so that the sliding block on the side opposite to the center of gravity of the glass forms a first fulcrum with the displacement shaft 6022 at a relatively far position, the distance of the power arm is prolonged, and the sliding block 1002 can ensure the stability of the displacement structure with relatively small downward pressure, so that the side turning of the glass suction disc vehicle is avoided. Conversely, when the glass center of gravity is shifted toward the other side, the distance of the power arm is extended by reversely adjusting the slide rod 1001 to slide so that the slider on the opposite side to the glass center of gravity forms a second fulcrum with the displacement shaft 6022 at a relatively distant place, thereby enabling the slider 1002 to secure the stability of the displacement structure with a relatively small pressing force.

The above-described structure is a means for keeping the displacement structure stable by extending the fulcrum position, and on the other hand, the stability of the first displacement structure can be improved by adding weights on both sides of the displacement shaft 6022.

For example, extensions at both ends of the displacement shaft 6022 may be added with weights to maintain stability of the other end of the displacement shaft 6022 in the case where the center of gravity of the glass is shifted. Alternatively, elastic members 1003, such as springs, are added to extend from both ends of the displacement shaft 6022 obliquely mounted to the second connector 6021. The longer the spring is stretched, the greater the tension it produces, which contributes to increasing the stability of one end of the displacement shaft 6022. Thereby avoiding the occurrence of the foregoing problems.

Of course, the structural purpose of the added support arm 10 of this embodiment is to: when the two ends of the second connecting member 6021 cannot provide a precise and stable fixing force for the displacement shaft 6022, it is desirable to provide a fixing force that can assist in maintaining the two ends of the displacement shaft 6022, especially the end opposite to the shift of the center of gravity of the glass, when the glass is adjusted, so as to avoid the occurrence of side turning of the suction cup vehicle.

Therefore, the dimension of glass adjustment can be further increased in the process, so that the glass can be displaced in the horizontal direction, the accuracy of the current position adjustment of the glass is further improved, and the accuracy of glass installation is ensured.

As shown in fig. 3 and 4, a twentieth embodiment of the present invention proposes a glass suction disc vehicle, and on the basis of the above embodiment, the first connecting member 6011 and/or the second connecting member 6021 are of a split type construction and can be locked and fixed by a locking member 7.

In this embodiment, it is considered that when a certain adjusting portion is damaged and needs to be replaced, the adjusting portion and the carrier 4011 need to be separated, and if the first connecting member 6011 and the second connecting member 6021 have an integral structure, the disassembly and the installation process are complicated to some extent.

Based on this, the first and second connection members 6011 and 6021 are provided in a separate structure to facilitate the disassembly and assembly of the structure.

Specifically, the first connecting member 6011 is composed of a first housing and a second housing, which are respectively formed with half grooves, and when the first housing and the second housing are coupled, the two half grooves form the completed installation hole site. On the basis of the above, the first seat body and the second seat body are locked and fixed through the locking piece 7, and the locking piece 7 can be a bolt. The above structure realizes a detachable construction of the first connector 6011 to facilitate the disassembly and assembly of the structure.

Likewise, the second connector 6021 is of the same construction and will not be described in detail herein.

As shown in fig. 11, a twenty-first embodiment of the present invention provides a glass suction disc vehicle, and further includes, on the basis of the previous embodiment:

a supporting structure 8 provided at the front end of the vehicle body 1;

wherein the supporting structure 8 has at least one supporting arm 801 and one supporting fulcrum 802;

the length of the supporting arm 801 extending out of the vehicle body 1 can be adjusted, and the position of the supporting pivot 802 can be synchronously driven to synchronously change.

In the present embodiment, a bracing structure 8 is added to the front end of the vehicle body 1. The front end of the vehicle body 1 is one end of the glazing.

When the suction cup frame 5 is glazed, the weight of the front end of the vehicle body 1 is generally greater than that of the rear end of the vehicle body 1, and thus, rollover of the vehicle body 1 toward the front end is extremely likely to occur.

Based on this, adding the holding structure 8 to the front end of the vehicle body 1 can alleviate the tendency of the vehicle body 1 to roll over to some extent.

Specifically, the holding structure 8 is constituted by holding arms 801 and holding fulcrums 802.

The stay 801 may be configured as a telescopic arm, for example, and may be adjustable in length in the direction of the front end of the vehicle body 1. The reason for the adjustment is that: the longer it extends, the easier the force generated by the contact of the supporting fulcrum 802 with the ground is to alleviate the forward-turning state of the vehicle body 1. That is, the extension length of the holding arm 801 can be adjusted and optimized in advance according to the weight of the glass loaded by the glass suction truck to ensure the overall stability of the vehicle body 1.

The extension length of the telescopic arm is limited, preferably, the extension length is in the range of the distance from the front end of the suction cup frame 5 to the front end of the front wheel. On the basis that the extending length of the telescopic arm does not affect the whole length of the vehicle body 1, sufficient safety guarantee is provided for avoiding the vehicle body 1 from turning forward.

On the basis of the above, it is considered that the center of gravity of the glass is shifted in the width direction of the vehicle body 1 during the adjustment, and this situation increases the risk of rollover of the vehicle body 1.

Based on this, the telescopic arm is connected to the bottom of the vehicle body 1 by means of a rotational connection, such as a ball and socket connection. When the telescopic arm can swing, we find that the position of the supporting pivot 802 can also swing synchronously, and when the glass gravity center deviates along the width direction, the telescopic arm can be adjusted synchronously to enable the supporting pivot 802 to be supported on the side of the glass gravity center deviation, so that the risk of side turning of the vehicle body 1 is reduced.

The supporting point can be provided by a supporting claw, the supporting claw is connected to the end part of the supporting arm 801, and the supporting claw has a preset height H from the ground;

wherein, when the front end of the car body 1 turns on one's side, the preset height H at least meets the requirement that the supporting claw can gradually contact with the ground and finally provide acting force opposite to the turning direction.

As a further consideration, when the holding structure 8 is always in contact with the ground, a mutually exclusive influence is formed with the movement of the vehicle body 1. It is desirable that the support structure 8 does not adversely affect the movement of the vehicle body 1 during normal operation and provides corresponding support when the vehicle body 1 is turned over or forward.

Based on this, the holding claw needs to be kept at a preset height H from the ground.

When the vehicle body 1 moves normally, the supporting claw cannot contact with the ground due to the preset height H, so that the supporting claw is prevented from affecting the movement of the vehicle body 1.

When the vehicle body 1 turns forward or turns over, the preset height H is continuously reduced and eventually reduced to 0 because the holding claw moves toward the ground, and at this time, the holding claw contacts the ground and generates a force opposite to the turning-over or turning-forward direction of the vehicle body 1, which helps to avoid the vehicle body 1 from continuing to turn forward or turn over, and to adjust the vehicle body 1 to return to the equilibrium state.

Furthermore, as can be seen from the above, the height of the holding claws does not need to be manually adjusted, i.e., the holding claws do not need to be adjusted in advance to be in contact with the ground. The reason is that: the glass adjusting process is dynamic, and the vehicle body 1 may need to move left and right and back and forth at any time, and if the supporting claw is adjusted to the state in advance, the adjusting process of the glass is affected. Therefore, it is desirable that the supporting structure 8 is capable of functioning properly when the vehicle body 1 is turned upside down or forward without requiring excessive manual intervention.

On the basis of the above, we have found that at the moment the holding claws are in contact with the ground, a very high rigid force is generated. This force may cause damage to the support structure 8, thereby disabling the support structure 8.

Based on this, further comprising:

a buffer part 803 provided between the holding claw and the holding arm 801;

wherein the buffer portion 803 has an elastic structure which takes on a force generated when a part of the holding claw is in contact with the ground in a deforming manner.

The buffer portion 803 may be of a spring construction. When the supporting claw is in contact with the ground, part of the acting force can be consumed by the spring in a deformation mode, so that the loss of the acting force to the supporting structure 8 is weakened, and the structural stability of the supporting claw is improved.

It can be seen that the cushioning portion 803 is more prone to alleviating or weakening forces in the vertical direction, thereby alleviating the adverse effects of forces on the bracing structure 8. Further, since the force is partially consumed by the buffer portion 803, the tendency of the vehicle body 1 to roll over or forward is reduced to some extent, thereby helping to maintain the balance and stability of the vehicle body 1.

On the basis, when the acting force borne by the supporting structure 8 is large, or the forward turning or side turning amplitude of the vehicle body 1 is large, the mode that the supporting structure 8 does not have relative motion with the ground can increase the stress load of the supporting structure 8, so that the supporting structure 8 is broken or damaged in the process of interacting with the ground. It is therefore desirable that the support structure 8 be able to have a certain relative movement with the ground over a certain range.

The reason is that when the supporting structure 8 has a relative movement with respect to the ground, this movement contributes to the continued consumption of part of the force, so that the risk of the vehicle body 1 turning sideways or forwards is reduced. On the other hand, when the ground does not cause excessive constraint to the supporting structure 8, the supporting structure 8 receives a force that reduces the loss of its structure to a certain extent.

Thereby, further comprising:

a buffer two part 804 arranged on the supporting claw;

Wherein the buffer second portion 804 has a sliding structure that slidingly bears a force generated when a portion of the stay contacts the ground.

The bumper portion 804 may be in the configuration of a universal wheel. The supporting claw is arranged around the universal wheel and forms a fulcrum together with the universal wheel. Thus, when the working force is excessive, part of the working force is relieved by the sliding of the universal wheel, so that the balance and stability of the vehicle body 1 are maintained.

As shown in fig. 11, a twenty-second embodiment of the present invention provides a glass suction disc vehicle, and further includes, based on the previous embodiment:

a load structure 9 provided at the rear end of the vehicle body 1;

wherein the load structure 9 has at least one load arm 901 and a load fulcrum 902;

the length of the load arm 901 extending out of the vehicle body 1 can be adjusted, and the position of the load supporting point 902 can be synchronously changed.

In the glass suction disc vehicle in the prior art, an operation table for a constructor to stand is usually added at the rear end of the vehicle body 1. However, when a constructor stands on the vehicle body 1 to perform an operation, it is more desirable to secure personnel safety as a first important point.

Unsafe factors for the above structure are as follows:

Firstly, when the front end of the glass sucker carries glass with large weight, the gravity center of the vehicle body 1 moves forward, and the risk of side turning of the vehicle is easily caused. At this time, although a constructor can provide a certain load while standing behind the vehicle body 1, it is difficult to calculate scientifically whether the load of the estimated weight can maintain the balance of the vehicle body 1. And the center of gravity of the vehicle body 1 is changed more complicated along with the adjustment of the glass at the front end, and the process further increases the risk of rollover or forward rollover of the vehicle. Therefore, there is a great risk of estimating the result of the field personnel (estimating the weight of the constructor standing on the vehicle body 1 to be able to balance the vehicle body 1).

Secondly, in terms of strict operation procedures, it is required that the constructor always stands on the vehicle body 1 during the glass transportation or installation process. However, it is difficult to avoid that some "novice" may get off the vehicle body 1 due to an emergency during the actual operation. At this time, the rear end of the vehicle body 1 loses a part of load, so that the risk of forward turning or side turning of the vehicle body 1 increases suddenly, and a constructor who performs glass adjustment at the front end of the vehicle body 1 also receives a great personal risk.

Thus, it is desirable that the responsibility for ensuring the safety of the constructors is higher than that for not damaging the glass, either during the transportation of the glass or during the installation of the glass.

Based on this, a load structure 9 is added to the rear of the vehicle body 1.

The load structure 9 has a load arm 901 and a load fulcrum 902.

The load arm 901 is also of a telescoping construction, as is the brace arm 801. And the load arm 901 is rotatably connected to the vehicle body 1, and when the glass is adjusted in the width direction of the vehicle body 1, the load arm 901 is adjusted to the opposite end thereof. The addition of the load fulcrum 902 to the distal end of the load arm 901 may be achieved by a weight or the like. As the load arm 901 increases, a smaller weight load may be required to maintain the stability of the vehicle body 1. When the load increases, the balance of the vehicle body 1 can be further ensured.

It can be seen that the load structure 9 is not just a counterweight structure. The length adjustment and rotation adjustment are based on the complex working condition of the glass installation to adjust the position of the load pivot 902.

In describing embodiments of the present invention, it is to be understood that terms "upper", "lower", "front", "rear", "left", "right", "horizontal", "center", "top", "bottom", "inner", "outer", and the like indicate an azimuth or positional relationship.

In describing embodiments of the present invention, it should be noted that the terms "mounted," "connected," and "assembled" are to be construed broadly, as well as being either fixedly connected, detachably connected, or integrally connected, unless otherwise specifically indicated and defined; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the description of embodiments of the invention, a particular feature, structure, material, or characteristic may be combined in any suitable manner in one or more embodiments or examples.

In describing embodiments of the present invention, it will be understood that the terms "-" and "-" are intended to be inclusive of the two numerical ranges, and that the ranges include the endpoints. For example: "A-B" means a range greater than or equal to A and less than or equal to B. "A-B" means a range of greater than or equal to A and less than or equal to B.

In the description of embodiments of the present invention, the term "and/or" is merely an association relationship describing an association object, meaning that three relationships may exist, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (16)

1. The utility model provides a glass suction disc car, includes automobile body, its characterized in that still includes:

a boom assembly connected to the vehicle body;

the driving assembly is at least partially connected to the vehicle body and at least partially connected to the arm support assembly, wherein the driving action of the driving assembly causes the arm support assembly to perform pitching motion and telescopic motion;

a swing structure connected to the boom assembly, wherein the swing structure has at least a plurality of adjustment structures;

a suction cup holder connected to the swing structure;

the sucker frame is controlled by the arm support assembly to perform pitching motion and/or telescopic motion, the adjusting motion of the sucker frame controlled by the adjusting structures has primary adjusting motion, the adjusting motion of the sucker frame controlled by the adjusting structures has secondary adjusting motion, and the primary adjusting motion and the secondary adjusting motion enable glass to be adjusted to a preset posture;

The secondary regulation action at least comprises a third degree of freedom C, a fourth degree of freedom D and a fifth degree of freedom E;

wherein the third degree of freedom C is configured to allow rotational movement of the suction cup holder in a third direction and has a rotational angle α2; and the fourth degree of freedom D is configured to allow the suction cup frame to do horizontal swinging motion along a fourth direction and has a swinging angle alpha 3; and the fifth degree of freedom E is configured to allow the suction cup holder to perform vertical pitching motion in a fifth direction, and has a pitching angle α4, and α4 is smaller than α1;

the swing structure includes:

the first adjusting part is connected with the sucker frame, and the first adjusting part can promote the generation of a third degree of freedom C of the secondary regulation action; and a second adjusting portion connected to the first adjusting portion, wherein the second adjusting portion is capable of causing the second degree of freedom D of the secondary adjustment operation to occur by adjusting the second adjusting portion; and a third adjusting portion connected to the first adjusting portion, wherein the third adjusting portion is capable of causing a fifth degree of freedom E of the secondary regulation action to occur by adjusting the third adjusting portion;

The first adjusting section includes:

the center of the bearing piece is provided with a mounting station, and the sucker frame is rotationally connected to the mounting station;

a first adjustment groove formed in the carrier;

a first adjusting member assembled to the first adjusting groove and connected to the suction cup frame;

the opening path of the first adjusting groove is consistent with the third direction, and the first adjusting piece is provided with a first state and a second state;

the first state is configured that the first adjusting piece slides in the first adjusting groove and synchronously drives the sucker frame to rotate; and the second state is configured to lock after the first adjustment member moves to a desired position to fix the current position of the suction cup holder;

the second adjusting portion includes:

one end of the rotating component A is hinged with the first adjusting part, and a rotating groove is formed at the other end of the rotating component A;

a rotating member B coupled to the rotating groove;

a second adjustment structure connected between the rotating member a and the rotating member B, the rotating member a and the rotating member B being capable of being rotated relative to each other by adjusting the second adjustment structure;

The second adjustment configuration includes:

a rotation shaft a connected between the rotation member a and the rotation member B;

an adjusting worm wheel sleeved on the rotating shaft A;

an adjusting worm rotatably connected between the rotating member a and the rotating member B and engaged with the adjusting worm wheel;

or, the second adjustment configuration comprises:

a rotation shaft B connected between the rotation member a and the rotation member B;

a second adjustment groove formed in an end surface of the rotating member B; or at least part of the second regulating groove is formed on the end face of the rotating member A, and at least part of the second regulating groove is formed on the end face of the rotating member B;

a second regulating piece fitted to the second regulating groove and connecting the rotating member a with the rotating member B;

the opening path of the second adjusting groove is consistent with the fourth direction, and the second adjusting piece is provided with a third state and a fourth state;

the third state is configured to enable the second adjusting piece and the second adjusting groove to slide relatively and synchronously drive the rotating member A to swing horizontally; and the fourth state is configured to lock after the second adjuster is moved to a desired position to fix the current position of the rotating member a;

The second adjusting piece is provided with a sliding stroke Y in the second adjusting groove, and the size of the swing angle alpha 3 is controlled by the length of the sliding stroke Y.

2. The glass vacuum truck of claim 1, further comprising:

the supporting structure is arranged at the front end of the vehicle body;

wherein, the supporting structure is provided with at least one supporting arm and one supporting fulcrum;

the length of the supporting arm extending out of the vehicle body can be adjusted and synchronously drives the position of the supporting pivot to synchronously change.

3. The vacuum chuck of claim 2 wherein the support fulcrum is provided by a support jaw connected to the end of the support arm and having a predetermined height H from the ground;

when the front end of the vehicle body turns over, the supporting claw can gradually contact with the ground and finally provide acting force opposite to the turning over direction.

4. A glass suction cup as in claim 3, further comprising:

the buffer part is arranged between the supporting claw and the supporting arm;

wherein the cushioning portion has an elastic construction that takes in a deformed manner the forces generated when the partial holding pawl is in contact with the ground.

5. A glass suction cup as in claim 3, further comprising:

the buffer two parts are arranged on the supporting claws;

the buffer two parts are provided with sliding structures which bear the acting force generated when part of the supporting claws are contacted with the ground in a sliding mode.

6. The glass vacuum truck of claim 5, further comprising:

the load structure is arranged at the rear end of the vehicle body;

wherein the load structure is provided with at least one load arm and a load fulcrum;

the length of the load arm extending out of the vehicle body can be adjusted, and the position of the load fulcrum is synchronously driven to change.

7. The glass vacuum vehicle of any of claims 1-6, wherein the primary regulatory action comprises at least a first degree of freedom a and a second degree of freedom B;

wherein the first degree of freedom A is configured to allow the sucker frame to perform extending or retracting movement along a first direction, and the movement stroke is L; and the second degree of freedom B is configured to allow the suction cup holder to perform a vertical pitching motion in a second direction, and the pitching angle is α1.

8. The glass suction cup as in claim 1, wherein the boom assembly comprises at least:

A support arm support, one end of which is connected to the vehicle body;

one end of the telescopic arm support is rotatably connected with the support arm support;

the telescopic arm support is composed of a plurality of arm sections, and at least part of the arm sections can be driven by the driving assembly to do telescopic motion.

9. The glass pull-cart of claim 8, wherein the drive assembly comprises at least:

the first driving piece is connected between the vehicle body and the telescopic boom, and can drive the telescopic boom to do pitching motion;

the second driving piece is connected between the plurality of arm joints and can drive the plurality of arm joints to do telescopic motion.

10. The glass vacuum truck according to claim 1, wherein the first regulating member has a sliding stroke X in the first regulating groove, and the magnitude of the rotation angle α2 is controlled by the length of the sliding stroke X.

11. The glass vacuum vehicle according to claim 1, wherein the third adjusting portion includes:

the third adjusting piece is rotatably connected with the first adjusting part, and the third adjusting piece is provided with a first adjusting mode and a second adjusting mode;

The first regulation mode is electric regulation;

the second adjustment mode is manual adjustment.

12. The glass vacuum vehicle of claim 11, wherein when the third adjustment member is manually adjusted, the third adjustment member comprises:

the adjusting seat is rotationally connected with the first adjusting part;

the mounting seat is connected with the second adjusting part;

the adjusting rod is screwed to the mounting seat, and the end part of the adjusting rod is rotationally connected with the adjusting seat.

13. The vacuum chuck according to claim 12 wherein the third adjustment member has an actuation stroke Z, the magnitude of the pitch angle a 4 being controlled by the length of the actuation stroke Z.

14. The glass vacuum truck of claim 1, further comprising:

the displacement adjusting part comprises a driving adjusting component and a driven adjusting component, the driving adjusting component is arranged between the first adjusting part and the third adjusting part, and the driven adjusting component is arranged between the first adjusting part and the second adjusting part;

the first adjusting part can be driven to do linear motion along a sixth direction by adjusting the active adjusting component, so that the sucker frame has a sixth degree of freedom F along the sixth direction.

15. The glass holder vehicle of claim 14, wherein,

the active adjustment assembly includes at least:

the first connecting piece is arranged on the first adjusting part, and a first installation hole site is formed in the first connecting piece;

the two ends of the displacement worm are rotatably connected into the first installation hole site;

the driving displacement head is connected with the displacement worm in a rotating way and is connected with the third adjusting part;

the driven adjustment assembly includes at least:

the second connecting piece is arranged on the first adjusting part and is positioned above the first connecting piece, and a second installation hole site is formed in the second connecting piece;

a displacement shaft fitted into the second mounting hole;

and the driven displacement head is connected to the displacement shaft in a sliding manner and is connected with the second adjusting piece.

16. The glass holder vehicle of claim 15, wherein,

the first connecting piece and/or the second connecting piece are of a split type structure and can be locked and fixed by a locking piece.