CN207901150U - A kind of glass grabbing device - Google Patents

Abstract

The utility model discloses a glass grasping device in the field of glass window production, which comprises a mounting frame connected to a manipulator, and at least four grasping mechanisms are arranged on the mounting frame corresponding to the surroundings of the glass to be grasped. The grabbing mechanism includes a lead screw bracket fixedly connected to the installation frame. The lead screw bracket is provided with a rotatable lead screw. One end of the lead screw is connected to the servo motor for transmission. There is a driving actuator on the top, and the two movable ends of the driving actuator are respectively provided with an upper adjusting jaw and a lower adjusting jaw, and the glass to be grasped is located between the upper adjusting jaw and the lower adjusting jaw. The utility model can adjust the distance between the jaws according to the size of the glass, adapt to different types of glass, and transport the glass to the assembly workbench, which saves time and effort and is more efficient.

Description

A glass grabbing device

technical field

The utility model belongs to the field of glass window production, in particular to a glass grabbing device.

Background technique

In the prior art, the processing and assembling process of the glass window is as follows: firstly determine the size of the profile blanking of the glass window frame, then determine the size of the glass according to the window frame profile, and then manually control the cut-to-length material of the glass and the window frame profile, and the glass automatically Cutting, glass encapsulation and profile processing cut off, then stack the glass and profiles next to the assembly platform, manually assemble the window frame profiles around the glass, and finally manually screw the screws of the surrounding window frames into the profiles to fix the glass window frame.

In order to improve the production efficiency of glass windows, door and window factories and enterprises began to adopt production line equipment, which has a high degree of automation, more efficient production, and the processed glass windows are firm and reliable. Its shortcomings are: the size of the glass is large, and it is inconvenient to carry the glass to the assembly workbench manually, which is time-consuming and laborious, and the efficiency is low; the glass is relatively brittle, and it is easy to break the glass when it is manually carried; The size is different, and the grip position needs to be adjusted, which is troublesome.

Utility model content

The purpose of this utility model is to provide a glass grabbing device, which can adjust the distance between jaws according to the size of the glass, adapt to different types of glass, and transport the glass to the assembly workbench, saving time and effort, and is more efficient.

The purpose of this utility model is achieved in this way: a glass grabbing device, including a mounting frame connected to the manipulator, said mounting frame is provided with at least four grabbing mechanisms corresponding to the surroundings of the glass to be grabbed, said grabbing The take-up mechanism includes a lead screw bracket fixedly connected to the installation frame, the screw support is provided with a rotatable lead screw, one end of the lead screw is connected to the servo motor drive, the lead screw is screwed with a moving bracket, and the moving bracket is A driving actuator is provided, and the two movable ends of the driving actuator are respectively provided with an upper adjusting jaw and a lower adjusting jaw, and the glass to be grasped is located between the upper adjusting jaw and the lower adjusting jaw.

When the utility model is working, the servo motor drives the lead screw to rotate, the moving bracket moves back and forth, and the driving actuator is moved to a position close to the belt grabbing glass, and the driving actuator drives the upper adjustment jaw and the lower adjustment jaw to adjust the position up and down, clamping Hold the glass, and then the robot will move the glass to the assembly workbench for the subsequent glass window assembly process. Compared with the prior art, the beneficial effect of the utility model is that the distance between the clamping jaws can be adjusted according to the size of the glass to adapt to different types of glass, and the glass can be transported to the assembly workbench, which saves time and effort and is more efficient ; Grasp the surrounding glass, the force on the glass is more uniform, and avoid breaking the glass.

As a further improvement of the utility model, the mounting frame is rectangular, and the mounting frame is composed of a front beam, a rear beam, a left longitudinal beam and a right longitudinal beam, and two intermediate beams are arranged between the front beam and the rear beam. The left longitudinal beam is parallel, and a connecting plate is fixed on the upper side of the middle beam, and the connecting plate is connected with the manipulator. This technical solution ensures that the structure of the installation frame is stable, and it is more convenient to carry the glass.

As a further improvement of the utility model, the four lead screw brackets are respectively arranged at four right angles of the installation frame, and the lead screws are parallel to the glass to be grasped.

As a further improvement of the utility model, the driving actuator is an electric gripper, and the two moving ends of the electric gripper are provided with gripper mounting plates, and the upper adjustment jaw and the lower adjustment jaw are respectively fixed on the corresponding gripper mounting plates. The electric claw drives the upper adjusting jaw and the lower adjusting jaw to move towards each other or in the opposite direction, changing the distance between the two jaws to adapt to the thickness of the glass and firmly clamping the glass.

As a further improvement of the utility model, the driving actuator is a double-headed cylinder, and the two piston rod extension ends of the double-headed cylinder are provided with jaw mounting plates, and the upper adjustment jaw and the lower adjustment jaw are respectively fixed on the corresponding clamps. claw mounting plate. The extended ends of the two piston rods of the double-headed cylinder drive the upper and lower adjusting jaws to move toward each other or in the opposite direction, changing the distance between the two jaws to adapt to the thickness of the glass and firmly clamping the glass.

Description of drawings

Fig. 1 is a three-dimensional structure schematic diagram of the present utility model.

Fig. 2 is a schematic diagram of another three-dimensional structure of the utility model.

Fig. 3 is a schematic diagram of the bottom structure of the utility model.

Fig. 4 is the front view of the utility model.

Fig. 5 is a structural schematic diagram of the grabbing mechanism.

Among them, 1 installation frame, 2 lead screw bracket, 3 lead screw, 4 mobile bracket, 5 driving actuator, 6 gripper mounting plate, 7 upper adjustment jaw, 8 lower adjustment jaw, 9 front beam, 10 rear beam, 11 left longitudinal beam, 12 right longitudinal beam, 13 middle beam, 14 connecting plate, 15 glass.

Detailed ways

Example 1

As shown in Figures 1-5, it is a glass grabbing device, including a mounting frame 1 connected to the manipulator, and at least four grabbing mechanisms are arranged on the mounting frame 1 corresponding to the surroundings of the glass 15 to be grabbed. The take-up mechanism includes a lead screw bracket 2 fixedly connected to the installation frame 1, a rotatable lead screw 3 is arranged on the lead screw support 2, one end of the lead screw 3 is connected with a servo motor, and a movable bracket is threaded on the lead screw 3 4. The mobile bracket 4 is provided with a driving actuator 5, and the two moving ends of the driving actuator 5 are respectively provided with an upper adjustment jaw 7 and a lower adjustment jaw 8, and the glass 15 to be grasped is located between the upper adjustment jaw 7 and the lower adjustment jaw. Between the jaws 8. Mounting frame 1 is rectangular, and mounting frame 1 is made up of front crossbeam 9, rear crossbeam 10, left longitudinal beam 11 and right longitudinal beam 12, is provided with two middle beams 13 between front crossbeam 9 and rear crossbeam 10, middle beam 13 and The left longitudinal beam 11 is parallel, and a connecting plate 14 is fixed on the upper side of the middle beam 13, and the connecting plate 14 is connected with the manipulator. Four lead screw brackets 2 are respectively arranged at four right angles of the installation frame 1, and the lead screw 3 is parallel to the glass 15 to be grasped. The driving actuator 5 is an electric claw, and the two moving ends of the electric claw are provided with a claw mounting plate 6, and the upper adjusting jaw 7 and the lower adjusting jaw 8 are respectively fixed on the corresponding jaw mounting plate 6.

When the device is working, the servo motor drives the lead screw 3 to rotate, the moving bracket 4 moves back and forth, and the electric claw is moved to a position close to the glass 15, and the electric claw drives the upper adjustment jaw 7 and the lower adjustment jaw 8 to adjust the position up and down , clamping the glass 15, and then the manipulator transports the glass 15 to the assembly workbench for the subsequent glass window assembly process. The advantage of this device is that it can adjust the distance between the jaws according to the size of the glass, adapt to different types of glass, and transport the glass 15 to the assembly workbench, which saves time and effort and is more efficient; grasp the surrounding area of the glass 15 , the glass 15 is more evenly stressed, avoiding damage to the glass.

Example 2

The difference from Implementation 1 is that the driving actuator is a double-headed cylinder, and the extension ends of the two piston rods of the double-headed cylinder are provided with jaw mounting plates 6, and the upper adjustment jaw 7 and the lower adjustment jaw 8 are respectively It is fixed on the corresponding jaw mounting plate 6. The extended ends of the two piston rods of the double-headed cylinder drive the upper adjustment jaw 7 and the lower adjustment jaw 8 to move towards each other or in the opposite direction, and the distance between the two jaws is changed to adapt to the thickness of the glass and hold the glass firmly.

The utility model is not limited to the above-mentioned embodiments. On the basis of the technical solutions disclosed in the utility model, those skilled in the art can make some technical features based on the disclosed technical content without creative work. Replacement and deformation, these replacements and deformations are all within the protection scope of the present utility model.

Claims (5)

1. a kind of glass grabbing device, which is characterized in that including connecting mounting bracket on a robotic arm, corresponded on the mounting bracket Glass to be captured is surrounded by least four grasping mechanisms, and the grasping mechanism includes the leading screw being fixedly connected on mounting bracket Holder, the leading screw holder are equipped with rotatable leading screw, and one end of leading screw is connect with servo motor transmission, and screw thread connects on leading screw It is connected to mobile holder, mobile holder is equipped with driving executive item, two mobile terminals of executive item is driven to be respectively equipped with adjustment clamping jaw With lower adjustment clamping jaw, glass to be captured is between upper adjustment clamping jaw and lower adjustment clamping jaw.

2. a kind of glass grabbing device according to claim 1, which is characterized in that the mounting bracket is rectangle, mounting bracket Be made of front beam, rear cross beam, left longeron and right vertical beam, between front beam and rear cross beam be equipped with two intermediate beams, intermediate beam with Left longeron is parallel, is fixed with connecting plate on the upside of intermediate beam, connecting plate is connected with manipulator.

3. a kind of glass grabbing device according to claim 2, which is characterized in that four leading screw holders are respectively set In four right angles of mounting bracket, leading screw is parallel with glass to be captured.

4. a kind of glass grabbing device according to claim 1-3 any one, which is characterized in that the driving executive item Two mobile terminals for electric pawl, electric pawl are equipped with clamping jaw installing plate, and upper adjustment clamping jaw and lower adjustment clamping jaw are separately fixed at corresponding folder On pawl mounting plate.

5. a kind of glass grabbing device according to claim 1-3 any one, which is characterized in that the driving executive item Two-piston bar external part for double end cylinder, double end cylinder is equipped with clamping jaw installing plate, upper adjustment clamping jaw and lower adjustment clamping jaw point It is not fixed in corresponding clamping jaw installing plate.