CN117245678A - Coated glass clamping manipulator and use method - Google Patents
Coated glass clamping manipulator and use method Download PDFInfo
- Publication number
- CN117245678A CN117245678A CN202311199714.5A CN202311199714A CN117245678A CN 117245678 A CN117245678 A CN 117245678A CN 202311199714 A CN202311199714 A CN 202311199714A CN 117245678 A CN117245678 A CN 117245678A
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- 239000011521 glass Substances 0.000 title claims abstract description 108
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000001179 sorption measurement Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 7
- 230000008602 contraction Effects 0.000 claims description 9
- 239000011248 coating agent Substances 0.000 claims description 5
- 238000000576 coating method Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 229910003460 diamond Inorganic materials 0.000 abstract description 12
- 239000010432 diamond Substances 0.000 abstract description 12
- 230000003749 cleanliness Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 6
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002736 metal compounds Chemical class 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 238000001771 vacuum deposition Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of manipulators. The invention discloses a coated glass clamping manipulator and a use method thereof, and aims to solve the problems that the glass is conveyed by a sucker type manipulator, the sucker is required to adsorb the back surface of the glass, but the sucker device is difficult to ensure the surface cleanliness of the glass, and a plurality of pieces of glass are difficult to clamp simultaneously by virtue of a sucker structure, so that the clamping efficiency of the manipulator on the glass is influenced. The invention consists of a clamping and separating mechanism, a triggering mechanism and a pushing mechanism. According to the coated glass clamping manipulator and the application method, pressure is applied to the diamond folding frame through opposite movement of the two L-shaped clamping plates, so that the diamond folding frame extrudes the first spring telescopic rod to shrink, the adsorption force of the sucking disc on glass is increased, in the folding and extending process of the diamond folding frame, the glass is pulled to move upwards by matching with the sucking disc, the distance between a plurality of glasses is increased, and the phenomenon that the glass at the lowest side is stressed excessively due to mutual stacking of the glasses is avoided.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a coated glass clamping manipulator and a using method thereof.
Background
The coated glass is widely applied to industries such as buildings, automobiles, decoration and fitment, furniture, computer mobile phone screens and the like. The coated glass is prepared by coating one or more layers of metal, alloy or metal compound films on the surface of the glass by adopting a vacuum coating technology so as to change the optical properties of the glass and meet the requirements on certain properties.
In the process of coating glass, the surface of the glass coating is required to be clean no matter in carrying or placing. The existing glass is carried through the sucker type manipulator, the sucker is required to adsorb the back surface of the glass, but the sucker device is difficult to ensure the cleanness of the surface of the glass, and a plurality of pieces of glass are difficult to clamp simultaneously through the sucker structure, so that the efficiency of clamping the glass by the manipulator is affected.
Disclosure of Invention
The invention aims to provide a coated glass clamping manipulator and a use method thereof, which are used for solving the problems that in the background art, glass is conveyed by a sucker type manipulator, and the sucker is required to adsorb the back surface of the glass, but the sucker device is difficult to ensure the surface cleanliness of the glass, and a plurality of pieces of glass are difficult to clamp simultaneously by a sucker structure, so that the clamping efficiency of the manipulator on the glass is affected. In order to achieve the above purpose, the present invention provides the following technical solutions: the coated glass clamping manipulator comprises a mechanical arm, wherein a fixing frame is installed at the end part of the mechanical arm, the lower end of the fixing frame is fixedly connected with a limiting slide plate, and two clamping arms are connected in a sliding manner in the limiting slide plate;
two hydraulic cylinders are arranged on the limiting slide plate, two ends of each hydraulic cylinder are fixedly connected with two clamping arms respectively, and clamping and separating mechanisms are arranged on the clamping arms and used for clamping and separating glass.
Preferably, the clamping and separating mechanism comprises an L-shaped clamping plate fixed on the clamping arm, a diamond-shaped folding frame is hinged on the bottom surface of the inner wall of the L-shaped clamping plate, a first spring telescopic rod is hinged in the middle of the diamond-shaped folding frame, and the first spring telescopic rod is in a stressed compression state;
the hinge joint of one side of the diamond folding frame is arranged on a vertical plate of the L-shaped clamping plate in a sliding manner, the hinge joint of the other side of the diamond folding frame is hinged with an L-shaped pressing plate, a fixed pipe is fixedly connected to the L-shaped pressing plate, a cross pull rod is arranged on the fixed pipe in a sliding manner, and one end, far away from the L-shaped pressing plate, of the fixed pipe is fixedly connected with a sucker;
the L-shaped pressing plate is provided with a triggering mechanism.
Preferably, the triggering mechanism comprises a second spring telescopic rod which is inserted on the L-shaped pressing plate, a pressure spring is sleeved on the outer side of the second spring telescopic rod, and one end of the pressure spring is extruded on the L-shaped pressing plate;
a pressing cap is fixedly connected to one end of the second spring telescopic rod, a limiting wedge block is inserted onto an outer sleeve of the second spring telescopic rod, a right trapezoid sliding block is fixedly connected onto the limiting wedge block, a connecting block is arranged on the limiting wedge block and is fixed onto an L-shaped pressing plate, and a third spring telescopic rod is fixedly connected between the connecting block and the limiting wedge block;
the outer sleeve of the second spring telescopic rod is fixedly connected with the cross pull rod, one end of the second spring telescopic rod, which is far away from the pressing cap, is abutted against a rotating plate, the rotating plate is hinged on the outer tube of the first spring telescopic rod, and the other end of the rotating plate penetrates through the outer tube of the first spring telescopic rod and is abutted against an anti-slip groove arranged on the inner rod of the first spring telescopic rod;
a first spring contraction rod is hinged between the rotating plate and the outer tube of the first spring expansion rod;
the L-shaped pressing plate is connected with a second spring shrinkage rod, the end part of the second spring shrinkage rod is connected with a connecting rod, the lower end of the connecting rod is fixedly connected with an air suction cylinder, and an air suction pipe of the air suction cylinder extends to the inside of the sucker.
Preferably, the side face of the connecting rod is abutted against a pushing plate, a deflection plate is hinged to one side, opposite to the L-shaped pressing plate, of the pushing plate, and the end portion of the deflection plate is abutted against a pushing mechanism.
Preferably, the pushing mechanism comprises a hollow pushing plate, two ends of the hollow pushing plate are fixedly connected with spring expansion plates, and the ends of the spring expansion plates slide in sliding grooves on the L-shaped clamping plates;
the inner side of the hollow pushing plate is inserted with a U-shaped plate, an electric telescopic rod is fixedly connected to the inner side of the U-shaped plate, an air cylinder is fixedly connected to the electric telescopic rod, and the air cylinder is installed on the limiting sliding plate through a transverse plate.
Preferably, the L-shaped clamping plate is fixedly connected with a limiting plate.
Preferably, the fixing frame is in a table shape.
Preferably, the application method of the coated glass clamping manipulator comprises the following steps:
s1: when a user clamps the glass, the positions of the L-shaped clamping plates are adjusted through the mechanical arms, so that the two L-shaped clamping plates are respectively positioned on two sides of the glass, and then the two clamping arms are driven to slide in the limiting sliding plate through the hydraulic cylinder, so that the two L-shaped clamping plates move in opposite directions to clamp the glass;
at the moment, the sucking discs on the inner sides of the L-shaped clamping plates are abutted against the edges of the glass, the distance between the two L-shaped clamping plates is gradually reduced, so that the sucking discs are extruded and adsorbed on the edges of the glass, when the sucking discs are pressed, the caps are pressed to extrude the edges of the glass, so that the second spring telescopic rod is passively contracted, the outer edges of the caps are pushed to abut against the right trapezoid sliding blocks, the right trapezoid sliding blocks are driven to push the limiting wedge blocks to slide at the end parts of the connecting blocks and separate from the outer edges of the second spring telescopic rod, at the moment, the outer tube of the second spring telescopic rod extrudes the pressure spring under the action of self contraction force of the outer tube, and pulls the cross pull rod to slide in the fixed tube, so that negative pressure is generated in the sucking discs, and the suction force of the sucking discs to the edges of the glass is increased;
s2: when the outer tube of the second spring telescopic rod extrudes the pressure spring, one end of the outer tube is pushed to abut against the rotating plate, so that the rotating plate deflects and is separated from the inner rod of the first spring telescopic rod, at the moment, the two L-shaped clamping plates move in opposite directions to apply pressure to the diamond folding frame, so that the diamond folding frame extrudes the first spring telescopic rod to shrink, the adsorption force of the sucking disc on glass is increased, in the folding and extending process of the diamond folding frame, the glass is pulled to move upwards by matching with the sucking disc, the distance between a plurality of glass is increased, and the glass is prevented from being stacked mutually;
s3: the glass in the L-shaped clamping plate is pulled to a designated height through the mechanical arm, then the height of the electric telescopic rod is adjusted through the air cylinder, the electric telescopic rod is started to push the U-shaped plate to slide in the spring telescopic plate, the hollow push plate is driven to abut against one end of the push plate through friction force between the U-shaped plate and the hollow push plate, the push plate is driven to deflect and push the second spring telescopic rod to extend, the air suction cylinder is contracted to blow air into the sucking disc, the adsorption force of the sucking disc to the edge of the glass is relieved, at the moment, the glass drives the glass flush with the glass to slide along the inner wall of the L-shaped pressing plate under the action of the pushing force of the U-shaped plate, the glass is conveyed onto the conveying belt, and the next coating operation is carried out.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the right trapezoid slide block is pushed against the outer edge of the pressing cap to drive the right trapezoid slide block to push the limiting wedge block to slide at the end part of the connecting block and separate from the outer edge of the second spring telescopic rod, at the moment, the outer tube of the second spring telescopic rod presses the pressure spring under the action of self shrinkage force of the outer tube of the second spring telescopic rod, and pulls the cross pull rod to slide in the fixed tube, so that negative pressure is generated in the sucker, the suction force of the sucker on the glass edge is increased, and the stability of the subsequent clamping of the glass edge by the manipulator is ensured.
According to the invention, pressure is applied to the diamond folding frame by moving the two L-shaped clamping plates in opposite directions, so that the diamond folding frame extrudes the first spring telescopic rod to shrink, the adsorption force of the sucking disc on glass is increased, and in the folding and extending process of the diamond folding frame, the glass is pulled to move upwards by matching with the sucking disc, the distance among a plurality of glasses is increased, and the phenomenon that the stress of the glass at the lowest side is overlarge due to mutual stacking among the glasses is avoided.
According to the invention, the U-shaped plate is pushed to slide in the spring expansion plate by the electric expansion rod, the hollow pushing plate is driven to abut against one end of the pushing plate by friction force between the U-shaped plate and the hollow pushing plate, the pushing plate is driven to deflect and push the second spring expansion rod to extend, the air suction cylinder is contracted to blow air into the sucker, the adsorption force of the sucker to the edge of glass is relieved, at the moment, the glass is driven to slide along the inner wall of the L-shaped pressing plate under the action of the pushing force of the U-shaped plate, the glass is conveyed to the conveying belt, the frequency of clamping the glass by the device is reduced, and the efficiency of clamping and conveying the glass by the mechanical arm is higher.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of a partial perspective structure of the present invention;
FIG. 3 is a schematic perspective view of an L-shaped clamping plate according to the present invention;
FIG. 4 is a schematic perspective view of a clamping and separating mechanism according to the present invention;
FIG. 5 is an enlarged view of the structure of FIG. 4A in accordance with the present invention;
FIG. 6 is a schematic perspective view of a diamond-shaped folding frame according to the present invention;
FIG. 7 is a schematic perspective view of a second spring telescoping rod of the present invention;
FIG. 8 is an enlarged view of the structure of FIG. 7B in accordance with the present invention;
FIG. 9 is a perspective view of a suction cup of the present invention;
fig. 10 is an enlarged view of the structure of fig. 9C according to the present invention.
In the figure: 1. a mechanical arm; 2. a fixing frame; 3. a limit sliding plate; 4. a clamp arm; 5. a hydraulic cylinder; 6. a clamping and separating mechanism; 61. an L-shaped clamping plate; 62. a diamond folding frame; 63. a first spring telescoping rod; 64. an L-shaped pressing plate; 65. a fixed tube; 66. a cross pull rod; 67. a suction cup; 7. a trigger mechanism; 71. a second spring telescoping rod; 72. a pressure spring; 73. a limit wedge block; 74. a right trapezoid slider; 75. a connecting block; 76. pressing the cap; 77. a third spring telescoping rod; 78. a rotating plate; 79. a first spring retraction lever; 710. a second spring retracting lever; 711. a connecting rod; 712. a suction cylinder; 713. a push plate; 714. a deflector plate; 8. a pushing mechanism; 81. a hollow pushing plate; 82. a spring expansion plate; 83. a U-shaped plate; 84. an electric telescopic rod; 85. and (3) a cylinder.
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 are obtained by a worker of ordinary skill in the art without creative efforts, are within the protection scope of the present invention based on the embodiments of the present invention.
Referring to fig. 1 to 10, the present invention provides a technical solution: the coated glass clamping manipulator comprises a mechanical arm 1, wherein a fixing frame 2 is installed at the end part of the mechanical arm 1, the lower end of the fixing frame 2 is fixedly connected with a limiting slide plate 3, and two clamping arms 4 are connected in a sliding manner in the limiting slide plate 3;
two hydraulic cylinders 5 are arranged on the limiting slide plate 3, two ends of the two hydraulic cylinders 5 are fixedly connected with two clamping arms 4 respectively, and a clamping and separating mechanism 6 for clamping and separating glass is arranged on the clamping arms 4.
In this embodiment, as shown in fig. 2, 3, 4, 6, 7, 8 and 9, the clamping and separating mechanism 6 includes an L-shaped clamping plate 61 fixed on the clamping arm 4, a diamond-shaped folding frame 62 is hinged on the bottom surface of the inner wall of the L-shaped clamping plate 61, a first spring telescopic rod 63 is hinged in the middle of the diamond-shaped folding frame 62, and the first spring telescopic rod 63 is in a stressed and compressed state;
the hinged part of one side of the diamond-shaped folding frame 62 is arranged on the vertical plate of the L-shaped clamping plate 61 in a sliding way, the hinged part of the other side of the diamond-shaped folding frame 62 is hinged with an L-shaped pressing plate 64, a fixed pipe 65 is fixedly connected to the L-shaped pressing plate 64, a cross pull rod 66 is arranged on the fixed pipe 65 in a sliding way, and a sucker 67 is fixedly connected to one end, far away from the L-shaped pressing plate 64, of the fixed pipe 65;
the L-shaped pressure plate 64 is provided with a trigger mechanism 7.
In this embodiment, as shown in fig. 5, 7, 8, 9 and 10, the triggering mechanism 7 includes a second spring telescopic rod 71 inserted in the L-shaped pressing plate 64, the outer side of the second spring telescopic rod 71 is sleeved with a pressure spring 72, and one end of the pressure spring 72 is pressed on the L-shaped pressing plate 64;
a pressing cap 76 is fixedly connected to one end of the second spring telescopic rod 71, a limiting wedge block 73 is inserted into an outer sleeve of the second spring telescopic rod 71, a right trapezoid slider 74 is fixedly connected to the limiting wedge block 73, a connecting block 75 is arranged on the limiting wedge block 73, the connecting block 75 is fixed to the L-shaped pressing plate 64, and a third spring telescopic rod 77 is fixedly connected between the connecting block 75 and the limiting wedge block 73;
the outer sleeve of the second spring telescopic rod 71 is fixedly connected with the cross pull rod 66, one end of the second spring telescopic rod 71 far away from the pressing cap 76 is abutted against a rotating plate 78, the rotating plate 78 is hinged on the outer tube of the first spring telescopic rod 63, and the other end of the rotating plate 78 penetrates through the outer tube of the first spring telescopic rod 63 and is abutted against an anti-skid groove arranged on the inner rod of the first spring telescopic rod 63; for restricting the contraction of the first spring telescoping rod 63.
A first spring retraction lever 79 is hinged between the rotation plate 78 and the outer tube of the first spring retraction lever 63;
the L-shaped pressing plate 64 is connected with a second spring contraction rod 710, the end part of the second spring contraction rod 710 is connected with a connecting rod 711, the lower end of the connecting rod 711 is fixedly connected with an air suction cylinder 712, and an air suction pipe of the air suction cylinder 712 extends into the sucker 67.
In this embodiment, as shown in fig. 5, the side of the link 711 abuts against the push plate 713, and the side of the push plate 713 opposite to the L-shaped pressing plate 64 is hinged with a deflector 714, and the end of the deflector 714 abuts against the pushing mechanism 8.
In this embodiment, as shown in fig. 1 and 2, the pushing mechanism 8 includes a hollow pushing plate 81, two ends of the hollow pushing plate 81 are fixedly connected with a spring expansion plate 82, and an end of the spring expansion plate 82 slides in a chute on the L-shaped clamping plate 61;
the inner side of the hollow pushing plate 81 is inserted with a U-shaped plate 83, the inner side of the U-shaped plate 83 is fixedly connected with an electric telescopic rod 84, the electric telescopic rod 84 is fixedly connected with an air cylinder 85, and the air cylinder 85 is installed on the limiting sliding plate 3 through a transverse plate.
In this embodiment, as shown in fig. 3 and 4, a limiting plate is fixedly connected to the L-shaped clamping plate 61.
In this embodiment, as shown in fig. 1, the fixing frame 2 is in a table shape.
The application method and the advantages of the invention are as follows: the application method of the coated glass clamping manipulator comprises the following working processes:
as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10:
s1: when a user clamps glass, the mechanical arm 1 adjusts the positions of the L-shaped clamping plates 61 to enable the two L-shaped clamping plates 61 to be respectively positioned on two sides of the glass, and then the hydraulic cylinder 5 drives the two clamping arms 4 to slide in the limiting sliding plate 3 to enable the two L-shaped clamping plates 61 to move in opposite directions to clamp the glass;
at this time, the sucking disc 67 on the inner side of the L-shaped clamping plate 61 is abutted against the edge of the glass, the distance between the two L-shaped clamping plates 61 is gradually reduced, so that the sucking disc 67 is extruded and adsorbed on the edge of the glass, when the sucking disc 67 is pressed, the pressing cap 76 presses the edge of the glass to enable the second spring telescopic rod 71 to be passively contracted, the outer edge of the pressing cap 76 is abutted against the right trapezoid slide block 74, the right trapezoid slide block 74 is driven to push the limiting wedge block 73 to slide at the end part of the connecting block 75 and separate from the outer edge of the second spring telescopic rod 71, at this time, the outer tube of the second spring telescopic rod 71 presses the pressure spring 72 under the action of self contraction force and pulls the cross pull rod 66 to slide in the fixed tube 65, negative pressure is generated in the sucking disc 67, and the suction force of the sucking disc 67 to the edge of the glass is increased;
s2: and when the outer tube of the second spring telescopic rod 71 presses the pressure spring 72, one end of the outer tube pushes against the rotating plate 78, so that the rotating plate 78 deflects to be separated from the inner rod of the first spring telescopic rod 63, at the moment, the two L-shaped clamping plates 61 move oppositely to apply pressure to the diamond-shaped folding frame 62, so that the diamond-shaped folding frame 62 presses the first spring telescopic rod 63 to shrink, the adsorption force of the sucking disc 67 on glass is increased, and in the folding and extending process of the diamond-shaped folding frame 62, the glass is pulled to move upwards by matching with the sucking disc 67, the distance between a plurality of glasses is increased, and the glass is prevented from being stacked with each other;
s3: the glass in the L-shaped clamping plate 61 is pulled to a designated height through the mechanical arm 1, then the height of the electric telescopic rod 84 is adjusted through the air cylinder 85, the electric telescopic rod 84 is started to push the U-shaped plate 83 to slide in the spring telescopic plate 82, the hollow push plate 81 is driven to abut against one end of the push plate 713 through friction force between the U-shaped plate 83 and the hollow push plate 81, the push plate 713 is driven to deflect and push the second spring shrinkage rod 710 to stretch, the air suction cylinder 712 to shrink and blow air into the sucker 67, the adsorption force of the sucker 67 on the edge of the glass is relieved, at the moment, the glass drives the glass flush with the glass to slide along the inner wall of the L-shaped pressing plate 64 under the action of the pushing force of the U-shaped plate 83, the glass is conveyed onto a conveying belt, and the next film plating operation is carried out.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a mechanical arm is got to coated glass clamp, includes arm (1), its characterized in that: the end part of the mechanical arm (1) is provided with a fixing frame (2), the lower end of the fixing frame (2) is fixedly connected with a limiting slide plate (3), and two clamping arms (4) are connected in a sliding manner in the limiting slide plate (3);
two hydraulic cylinders (5) are arranged on the limiting sliding plate (3), two ends of each hydraulic cylinder (5) are fixedly connected with two clamping arms (4) respectively, and clamping and separating mechanisms (6) are arranged on the clamping arms (4) and used for clamping and separating glass.
2. The coated glass gripping manipulator according to claim 1, wherein: the clamping and separating mechanism (6) comprises an L-shaped clamping plate (61) fixed on the clamping arm (4), a diamond-shaped folding frame (62) is hinged to the bottom surface of the inner wall of the L-shaped clamping plate (61), a first spring telescopic rod (63) is hinged to the middle of the diamond-shaped folding frame (62), and the first spring telescopic rod (63) is in a stressed compression state;
the hinge joint of one side of the diamond-shaped folding frame (62) is arranged on a vertical plate of the L-shaped clamping plate (61) in a sliding manner, the hinge joint of the other side of the diamond-shaped folding frame (62) is hinged with an L-shaped pressing plate (64), a fixed pipe (65) is fixedly connected to the L-shaped pressing plate (64), a cross pull rod (66) is arranged on the fixed pipe (65) in a sliding manner, and a sucker (67) is fixedly connected to one end, far away from the L-shaped pressing plate (64), of the fixed pipe (65);
the L-shaped pressing plate (64) is provided with a trigger mechanism (7).
3. The coated glass gripping manipulator according to claim 2, wherein: the triggering mechanism (7) comprises a second spring telescopic rod (71) which is inserted on the L-shaped pressing plate (64), a pressure spring (72) is sleeved on the outer side of the second spring telescopic rod (71), and one end of the pressure spring (72) is extruded on the L-shaped pressing plate (64);
a pressing cap (76) is fixedly connected to one end of the second spring telescopic rod (71), a limiting wedge block (73) is inserted on an outer sleeve of the second spring telescopic rod (71), a right trapezoid sliding block (74) is fixedly connected to the limiting wedge block (73), a connecting block (75) is arranged on the limiting wedge block (73), the connecting block (75) is fixed to the L-shaped pressing plate (64), and a third spring telescopic rod (77) is fixedly connected between the connecting block (75) and the limiting wedge block (73);
the outer sleeve of the second spring telescopic rod (71) is fixedly connected with the cross pull rod (66), one end, far away from the pressing cap (76), of the second spring telescopic rod (71) is provided with a rotating plate (78) in an abutting mode, the rotating plate (78) is hinged to the outer tube of the first spring telescopic rod (63), and the other end of the rotating plate (78) penetrates through the outer tube of the first spring telescopic rod (63) and abuts in an anti-sliding groove arranged on the inner rod of the first spring telescopic rod (63);
a first spring contraction rod (79) is hinged between the rotating plate (78) and the outer tube of the first spring expansion rod (63);
the L-shaped pressing plate (64) is connected with a second spring contraction rod (710), the end part of the second spring contraction rod (710) is connected with a connecting rod (711), the lower end of the connecting rod (711) is fixedly connected with an air suction tube (712), and an air suction tube of the air suction tube (712) extends to the inside of the sucker (67).
4. A coated glass gripping manipulator according to claim 3, wherein: the side face of the connecting rod (711) is abutted against a pushing plate (713), a deflection plate (714) is hinged to the side, opposite to the L-shaped pressing plate (64), of the pushing plate (713), and a pushing mechanism (8) is abutted against the end portion of the deflection plate (714).
5. The coated glass gripping manipulator according to claim 4, wherein: the pushing mechanism (8) comprises a hollow pushing plate (81), two ends of the hollow pushing plate (81) are fixedly connected with spring expansion plates (82), and the end parts of the spring expansion plates (82) slide in sliding grooves on the L-shaped clamping plates (61);
the inner side of the hollow pushing plate (81) is inserted with a U-shaped plate (83), an electric telescopic rod (84) is fixedly connected to the inner side of the U-shaped plate (83), an air cylinder (85) is fixedly connected to the electric telescopic rod (84), and the air cylinder (85) is installed on the limiting sliding plate (3) through a transverse plate.
6. The coated glass gripping manipulator according to claim 2, wherein: and the L-shaped clamping plate (61) is fixedly connected with a limiting plate.
7. The coated glass gripping manipulator according to claim 1, wherein: the fixing frame (2) is in a table shape.
8. The method of claim 5, wherein the step of using the coated glass gripping manipulator is characterized by comprising the following steps: the method comprises the following steps:
s1: when a user clamps glass, the positions of the L-shaped clamping plates (61) are adjusted through the mechanical arm (1), so that the two L-shaped clamping plates (61) are respectively positioned on two sides of the glass, and then the two clamping arms (4) are driven to slide in the limiting sliding plate (3) through the hydraulic cylinder (5), so that the two L-shaped clamping plates (61) move in opposite directions to clamp the glass;
at the moment, the sucking discs (67) on the inner sides of the L-shaped clamping plates (61) are abutted against the edges of glass, the distance between the two L-shaped clamping plates (61) is gradually reduced, so that the sucking discs (67) are extruded and adsorbed on the edges of the glass, when the sucking discs (67) are pressed, the pressing caps (76) are pressed against the edges of the glass to enable the second spring telescopic rods (71) to be passively contracted, the outer edges of the pressing caps (76) are pushed against the right trapezoid sliding blocks (74), the right trapezoid sliding blocks (74) are driven to push the limiting wedge blocks (73) to slide at the end parts of the connecting blocks (75) and separate from the outer edges of the second spring telescopic rods (71), at the moment, the outer tube of the second spring telescopic rods (71) is extruded with the aid of self-contraction force to push the pressure springs (72), and the cross pull rods (66) are pulled to slide in the fixed tubes (65), negative pressure is generated in the sucking discs (67), and the sucking discs (67) are increased on the edges of the glass;
s2: when the outer tube of the second spring telescopic rod (71) presses the pressure spring (72), one end of the outer tube pushes against the rotating plate (78), so that the rotating plate (78) deflects to be separated from the inner rod of the first spring telescopic rod (63), at the moment, the two L-shaped clamping plates (61) move oppositely to apply pressure to the diamond-shaped folding frame (62), the diamond-shaped folding frame (62) presses the first spring telescopic rod (63) to shrink, the adsorption force of the sucking disc (67) on glass is increased, and in the folding and extending process of the diamond-shaped folding frame (62), the sucking disc (67) is matched to pull the glass to move upwards, the distance among a plurality of glasses is increased, and the glass is prevented from being stacked mutually;
s3: the glass in the L-shaped clamping plate (61) is pulled to a designated height through the mechanical arm (1), then the height of the electric telescopic rod (84) is adjusted through the air cylinder (85), the electric telescopic rod (84) is started to push the U-shaped plate (83) to slide in the spring telescopic plate (82), the hollow push plate (81) is driven to abut against one end of the push plate (713) through friction force between the U-shaped plate (83) and the hollow push plate (81), the push plate (713) is driven to deflect and push the second spring shrinkage rod (710) to stretch, the air suction cylinder (712) is driven to shrink and blow air into the sucker (67), the adsorption force of the sucker (67) to the edge of the glass is relieved, at the moment, the glass is driven to slide along the inner wall of the L-shaped pressing plate (64) under the pushing force of the U-shaped plate (83), the glass is conveyed onto a conveying belt, and the next coating operation is carried out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311199714.5A CN117245678A (en) | 2023-09-18 | 2023-09-18 | Coated glass clamping manipulator and use method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311199714.5A CN117245678A (en) | 2023-09-18 | 2023-09-18 | Coated glass clamping manipulator and use method |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117921723A (en) * | 2024-03-22 | 2024-04-26 | 长春职业技术学院 | Manipulator for intelligent manufacturing |
| CN118372231A (en) * | 2024-06-21 | 2024-07-23 | 杭州凡诺电子有限公司 | Manipulator for picking and placing glass and using method |
-
2023
- 2023-09-18 CN CN202311199714.5A patent/CN117245678A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117921723A (en) * | 2024-03-22 | 2024-04-26 | 长春职业技术学院 | Manipulator for intelligent manufacturing |
| CN117921723B (en) * | 2024-03-22 | 2024-05-17 | 长春职业技术学院 | Manipulator for intelligent manufacturing |
| CN118372231A (en) * | 2024-06-21 | 2024-07-23 | 杭州凡诺电子有限公司 | Manipulator for picking and placing glass and using method |
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