CN210335953U

CN210335953U - Three-connecting-rod swinging type mechanical arm for feeding and discharging glass

Info

Publication number: CN210335953U
Application number: CN201921238514.5U
Authority: CN
Inventors: 曹浪
Original assignee: Jrt Foshan Jing Rui Electromechanical Technology Co ltd
Current assignee: Jrt Foshan Jing Rui Electromechanical Technology Co ltd
Priority date: 2019-08-01
Filing date: 2019-08-01
Publication date: 2020-04-17
Anticipated expiration: 2029-08-01

Abstract

The utility model provides a three-connecting-rod swinging mechanical arm for feeding and discharging glass, which comprises a fixed underframe, a movable combined frame, a primary swinging combination, a secondary swinging combination, a rotary type sucking disc combination and a glass conveying platform, wherein the movable combined frame is connected on the fixed underframe in a sliding way, and the primary swinging combination, the secondary swinging combination and the rotary type sucking disc combination are sequentially connected through a shaft; the fixed underframe, the movable combined frame and the rotary sucker combination are respectively provided with a movable driving part, a primary driving part, a secondary driving part and a rotary driving part; and the fixed underframe is provided with a control combiner, the control combiner controls the action sequence of the glass conveying platform, the moving driving part, the primary driving part, the secondary driving part and the rotating driving part, the multi-stage linkage type swinging is adopted to accurately realize the loading and unloading of the glass, the waiting period is shortened, the conveying efficiency is improved, the loading and unloading of the glass can be accurately realized under the condition of keeping the swinging angle unchanged, the universality is high, and the production quality of the glass is ensured.

Description

Three-connecting-rod swinging type mechanical arm for feeding and discharging glass

Technical Field

The utility model relates to a technical field of cavity glass production, the three-link swing type arm of unloading usefulness on glass specifically says so.

Background

At present, the hollow glass is high-efficiency compartment heat-insulating glass manufactured by bonding two or more pieces of glass with an aluminum alloy frame containing a drying agent by using a high-strength airtight composite bonding agent. Because various performances of the hollow glass are superior to those of common double-layer glass, the hollow glass is widely applied to occasions needing indoor air conditioning, such as houses, restaurants, hotels, office buildings, schools, hospitals, shops and the like, and can also be used for doors and windows of trains, automobiles, ships, refrigerated cabinets and the like.

However, in the hollow glass production line, it is necessary to carry two or three glass sheets to be mated to each other to the production line. In this process, then need artifical transport, the heavy glass of the big weight of especially volume, the amount of labour is big, and is inefficient, has great potential safety hazard, and is difficult to carry glass according to actual operation every certain time, and the operation limitation is big, reduces the machining precision, influences cavity glass production quality easily.

In view of the above, the existing glass hollow wire feeding and discharging mechanism comprises a rack, a glass feeding and discharging swing arm, a glass adsorption device and a conveying platform, wherein the conveying platform is fixedly installed on the rack, the glass adsorption device is installed at the swing end of the glass feeding and discharging swing arm, and the positioning end of the glass feeding and discharging swing arm is connected to the rack through a shaft. During operation, the swing ends of the swing arms of the upper and lower glass sheets swing up and down around the positioning ends, so that the glass adsorption device is driven to swing on the conveying platform or on the glass placing frame, glass is fed onto the glass placing frame from the conveying platform, or glass is fed onto the conveying platform from the glass placing frame, and the glass placing frame is high in efficiency, low in cost, safe and reliable.

However, the above-mentioned mechanism for loading and unloading glass hollow fiber has the following disadvantages in use:

1) the continuity of upper and lower sheets is low, the existing upper and lower sheet mechanisms can only wait for the conveying platform after the front glass is transferred during operation, and the glass upper and lower sheet swing arms can drive the glass adsorption device to swing away from the conveying platform, so that the waiting period is long, and the glass loading and unloading efficiency is low;

2) the swing angle of the swing arm for the upper and lower pieces of glass is difficult to adjust according to the number of the glass stacked on the glass placing frame, the installation position of the glass placing frame can only be adjusted to meet the requirements of the upper and lower pieces of glass placing, the accuracy of the placing position is low, and the universality is poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a three connecting rods swing formula arm of unloading usefulness on glass, its compact structure, the operation is stable, and adopts the multi-stage to cascade the dynamic formula swing in order to realize the piece about glass, reduces the latency of piece about, strengthens the continuation of piece about, improves conveying efficiency, can keep the unchangeable circumstances of swing angle simultaneously and accurately realize the piece about glass, and the commonality is high, ensures glass production quality.

The utility model discloses a utility model purpose is realized like this: a three-connecting-rod swinging mechanical arm for feeding and discharging glass comprises a fixed underframe, a movable combined frame, a primary swinging combination, a secondary swinging combination, a rotary sucking disc combination and a glass conveying platform,

the glass conveying platform is arranged on a movable combined frame, the movable combined frame is connected to a fixed underframe in a sliding mode, a positioning end shaft of the first-stage swing combination is connected to the movable combined frame, a swing end shaft of the first-stage swing combination is connected to a positioning end of the second-stage swing combination, and a swing end of the second-stage swing combination is connected with a rotary sucker combined shaft;

the fixed underframe is provided with a movable driving part for driving the movable combined frame to move back and forth, the movable combined frame is provided with a primary driving part for driving the swinging end of the primary swinging combination to swing front and back around the positioning end of the primary swinging combination, the swinging end of the primary swinging combination is provided with a secondary driving part for driving the swinging end of the secondary swinging combination to swing front and back around the positioning end of the secondary swinging combination, and the left end and the right end of the rotary type sucker combination are respectively provided with a rotary driving part for connecting with the swinging end shaft of the secondary swinging combination;

the fixed underframe is provided with a control combiner which is connected with the glass conveying platform, the movable driving part, the primary driving part, the secondary driving part and the rotary driving part and used for controlling the action sequence of the movable driving part, the primary driving part, the secondary driving part and the rotary driving part.

According to the optimization, the bottom surface of the movable combined rack is provided with teeth, and the output end of the movable driving part is provided with a gear in meshed connection with the teeth.

According to the optimization, the movable combined frame comprises a sliding frame and supporting frames, the supporting frames are arranged on the left side and the right side of the bottom surface of the sliding frame, and the teeth are respectively arranged on the bottom surface of the supporting frames;

the mobile driving part comprises a mobile driving motor connected with the control combiner, the mobile driving motor is arranged on the fixed underframe, and the gear is arranged on an output shaft of the mobile driving motor;

the outer side of the supporting frame is provided with a guide pulley, the left side and the right side of the fixed underframe are provided with connecting frames, and the inner side of each connecting frame is provided with a sliding chute in sliding connection with the guide pulley.

According to the optimization, the primary swing combination comprises a primary swing main arm, the secondary swing combination comprises a secondary swing main arm, the rotary type sucker combination comprises a rotary arm and a sucker combination frame arranged on the rotary arm,

the positioning end of the primary swing main arm is provided with a primary expansion connecting piece fixedly connected with the output end of the movable driving part, the swing end of the primary swing main arm is provided with a secondary driving part, the positioning end of the secondary swing main arm is provided with a secondary expansion connecting piece fixedly connected with the output end of the secondary driving part, the swing end of the secondary swing main arm is provided with a rotary expansion connecting piece fixedly connected with the output end of the rotary driving part, and the rotary driving part is arranged at the left end and the right end of the rotary arm.

According to the optimization, the primary driving part comprises a primary driving motor and a primary speed reducer, the left side and the right side of the movable combined frame are respectively provided with a mounting seat, the primary driving motor is mounted on the mounting seat and connected with the control combiner, the primary speed reducer is mounted on an output shaft of the primary driving motor, and an output end of the primary speed reducer is connected with a positioning end shaft of the primary swing main arm.

According to the optimization, the secondary driving part comprises a secondary driving motor and a secondary speed reducer, the secondary driving motor is respectively installed on the swinging end of the primary swinging main arm and connected with the control combiner, the secondary speed reducer is installed on the output shaft of the secondary driving motor, and the output end of the secondary speed reducer is connected with the positioning end shaft of the secondary swinging main arm.

According to the optimization, the rotary driving component comprises a rotary driving motor and a rotary speed reducer, the rotary driving motor is respectively installed at the left end and the right end of the rotary arm and connected with the control combiner, the rotary speed reducer is installed at an output shaft of the rotary driving motor, and an output end of the rotary speed reducer is connected with a swinging end shaft of the secondary swinging main arm.

According to the optimization, the sucker combination frame comprises a plurality of support frames and a plurality of automatic sucker assemblies, the support frames are distributed on the rotating arm at equal intervals, and the automatic sucker assemblies are mounted on the support frames at equal intervals and connected with the control combiner.

The glass conveying platform is optimized according to the above, the glass conveying platform comprises a glass conveying driving motor, a conveying supporting platform, a conveying belt, a conveying shaft, a conveying driving wheel and a conveying driven wheel, the plurality of conveying supporting platforms are installed on the movable combined frame, an automatic sucker component convenient for the rotary sucker combined shaft is arranged between the conveying supporting platforms and is connected with the glass in an adsorption mode from top to bottom, a vacancy avoiding position is formed in the conveying driven wheel and the conveying driving wheel and is arranged at the front end and the rear end of the conveying supporting platform, the conveying belt is sleeved on the conveying driving wheel, the conveying supporting platform and the conveying driven wheel, the conveying driving wheel is sleeved on the conveying shaft respectively, the conveying shaft is connected with an output end shaft of the glass conveying driving motor, and the glass conveying driving motor is fixedly installed on the conveying supporting platform and is electrically connected.

According to the optimization, the control combiner comprises a control microcomputer and a position detection sensor, the control microcomputer is installed on the fixed bottom frame and is respectively and electrically connected with the glass conveying platform, the moving driving part, the primary driving part, the secondary driving part and the rotating driving part, and the position detection sensor is installed on the rotating arm of the rotary type sucker combination and is in signal connection with the control microcomputer.

The utility model has the advantages that:

1) the control combiner controls the action sequence of the first-stage swing combination, the second-stage swing combination and the rotary sucker combination respectively during operation, so that the first-stage swing combination and the second-stage swing combination sequentially swing from outside to inside towards the glass conveying platform or from inside to outside towards the glass placing rack.

2) Under the cooperation of movable combined frame, fixed chassis, can be according to the position of placing of glass in the front on the glass rack, the operation of control combiner control removal drive part to the sliding position of adjustment movable combined frame at fixed chassis realizes keeping the unchangeable condition of swing angle the arm of this structure accurately with glass piece about, and operating stability is high, and the commonality is strong, ensures glass production quality.

Drawings

Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.

Fig. 2 is a schematic structural diagram of the preferred embodiment of the present invention (omitting the glass conveying platform).

Fig. 3 is a bottom view of the preferred embodiment of the present invention (omitting the glass conveying platform).

Fig. 4 is a schematic structural view of a glass conveying platform according to a preferred embodiment of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

According to shown in attached figures 1-4, the utility model discloses a three-link swing type mechanical arm for feeding and discharging glass, which comprises a fixed bottom frame 1, a movable combined frame 2, a one-level swing combination 3, a two-level swing combination 4, a rotary sucker combination 5 and a glass conveying platform 6. The glass conveying platform 6 is arranged on the movable combined frame 2, and the movable combined frame 2 is connected to the fixed underframe 1 in a sliding mode. The positioning end of the first-stage swing combination 3 is connected to the movable combination frame 2 through a shaft, the swing end of the first-stage swing combination 3 is connected to the positioning end of the second-stage swing combination 4 through a shaft, and the swing end of the second-stage swing combination 4 is connected with the rotary type sucker combination 5 through a shaft.

The fixed underframe 1 is provided with a movable driving part 7 for driving the movable combination frame 2 to move back and forth, the movable combination frame 2 is provided with a primary driving part 8 for driving the swinging end of the primary swinging combination 3 to swing back and forth around the positioning end of the primary swinging combination 3, the swinging end of the primary swinging combination 3 is provided with a secondary driving part 9 for driving the swinging end of the secondary swinging combination 4 to swing back and forth around the positioning end of the secondary swinging combination 4, and the left end and the right end of the rotary sucker combination 5 are respectively provided with a rotary driving part 10 for connecting with the swinging end shaft of the secondary swinging combination 4.

The fixed base frame 1 is provided with a control combiner 11 connected with the glass conveying platform 6, the moving driving part 7, the primary driving part 8, the secondary driving part 9 and the rotating driving part 10 and used for controlling the action sequence of the two parts.

In practical application, the control combiner 11 comprises a control microcomputer 111 and a position detection sensor 112, the control microcomputer 111 is installed on the fixed bottom frame 1 and is electrically connected with the glass conveying platform 6, the moving driving part 7, the primary driving part 8, the secondary driving part 9 and the rotary driving part 10 respectively, and the position detection sensor 112 is installed on the rotary arm 51 of the rotary type sucker combination 5 and is in signal connection with the control microcomputer 111.

Namely, when the sheet is discharged, the control microcomputer 111 controls the action of the primary swing assembly 3, and the primary swing assembly 3 drives the secondary swing assembly 4 and the rotary sucker assembly 5 to swing from the glass placing frame to the glass conveying platform 6. When the first-stage swing assembly 3 swings to a designated position, the control microcomputer 111 controls the second-stage swing assembly 4 to act, and the second-stage swing assembly 4 acts to drive the rotary sucker assembly 5 to swing towards the glass conveying platform 6. After the secondary swing combination 4 swings to the designated position, the position detection sensor 112 is triggered and corresponding information is fed back to the control microcomputer 111. The control microcomputer 111 controls the rotary sucker to rotate and suck the glass blocks on the glass conveying platform 6. The control microcomputer 111 controls the second-stage swing assembly 4 and the first-stage swing assembly 3 to reset in sequence so as to drive the rotary sucker assembly 5 to swing towards the glass placing frame. When the rotary sucker assembly 5 swings to a designated position, the position detecting sensor 112 is triggered and corresponding information is fed back to the control microcomputer 111. The control microcomputer 111 controls the rotary sucker combination 5 to reset and rotate so that the glass blocks fall on the appointed glass placing rack to realize the quick underground slicing of the glass blocks.

Similarly, when loading, the microcomputer 111 controls the primary swing assembly 3 to move, and the primary swing drives the secondary swing assembly 4 and the rotary sucker assembly 5 to swing from the glass conveying platform 6 to the glass placing rack. When the first-stage swing assembly 3 swings to a designated position, the control microcomputer 111 controls the second-stage swing assembly 4 to act, and the second-stage swing assembly 4 acts to drive the rotary sucker assembly 5 to swing towards the glass placing frame. After the secondary swing combination 4 swings to the designated position, the position detection sensor 112 is triggered and corresponding information is fed back to the control microcomputer 111. The control microcomputer 111 controls the rotary sucker to rotate and suck the glass on the glass placing frame. And the control combination Gala controls the second-stage swing combination 4 and the first-stage swing combination 3 to be sequentially reset so as to drive the rotary sucker combination 5 to swing towards the glass conveying platform 6. When the rotary sucker assembly 5 swings to a designated position, the position detecting sensor 112 is triggered and corresponding information is fed back to the control microcomputer 111. The control combination controls the rotary sucker combination 5 to reset and rotate so as to enable the glass blocks to be loaded on the appointed glass conveying platform 6, and the glass is loaded fast.

Like this, at the structural cooperation of one-level swing combination 3, two-level swing combination 4, rotation type sucking disc combination 5, realize that the glass piece is upper and lower piece fast, reduce the latency of upper and lower piece, strengthen the continuation of upper and lower piece, improve conveying efficiency.

During, along with the quantity of the glass placing frame gradually increases, the control microcomputer 111 controls the movement of the moving driving part 7 to adjust the sliding position of the movable combined frame 2 on the fixed bottom frame 1, the placing position of the glass in front on the glass placing frame is realized, and therefore under the condition that the swinging angle is kept unchanged, the mechanical arm of the structure accurately places the glass blocks on and off, the operation stability is high, the universality is strong, and the glass production quality is ensured.

Referring to fig. 1 to 4, the bottom surface of the movable rack assembly 2 is provided with teeth 12, and the output end of the movable driving member 7 is provided with a gear 13 engaged with the teeth 12.

In practical applications, the movable rack assembly 2 includes a sliding frame 21 and a supporting frame 22, the supporting frame 22 is installed on the left and right sides of the bottom surface of the sliding frame 21, and the teeth 12 are respectively installed on the bottom surface of the supporting frame 22. The moving driving part 7 comprises a moving driving motor 71 connected with the control combiner 11, the moving driving motor 71 is installed on the fixed chassis 1, and the gear 13 is installed on the output shaft of the moving driving motor 71.

That is, the control combiner 11 controls the movement driving motor 71 to operate according to the position where the front glass is placed on the glass placing rack. The moving driving motor 71 rotates and drives the gear 13 to rotate, so that the gear 13 moves forwards or backwards on the teeth 12, thereby adjusting the moving position of the movable combined rack 2 sliding on the fixed base rack 1. The distance of this shift position accords with the quantity change that the glass piece stacked at the glass rack, and then realizes not adjusting under this arm swing amplitude's the circumstances, accurately with the piece about the glass piece, improves the suitability, ensures the stability of glass conveying simultaneously.

And, the outside of the said supporting rack 22 has guide pulleys 23, the left and right sides of the fixed chassis 1 have link frames 14, the inside of the link frame 14 has concrete chutes 141 slidably connected with guide pulleys 23. The sliding smoothness and stability of the movable combined frame 2 are improved, the accuracy of position adjustment is ensured, and the accuracy of the upper and lower sheets of the glass block is improved.

Referring to fig. 1 to 4, the primary swing assembly 3 includes a primary swing main arm 31, the secondary swing assembly 4 includes a secondary swing main arm 41, and the rotary suction cup assembly 5 includes a rotating arm 51 and a suction cup assembly frame 52 mounted on the rotating arm 51.

Wherein, the positioning end of the primary swing main arm 31 is provided with a primary expansion coupling piece 32 fixedly connected with the output end of the mobile driving part 7, and the swing end of the primary swing main arm 31 is provided with a secondary driving part 9. A secondary expansion connecting piece 42 fixedly connected with the output end of the secondary driving part 9 is arranged at the positioning end of the secondary swing main arm 41, and a rotary expansion connecting piece 53 fixedly connected with the output end of the rotary driving part 10 is arranged at the swing end of the secondary swing main arm 41. The rotation driving parts 10 are installed at both left and right ends of the rotation arm 51.

Under the action of the primary expansion connecting piece 32, the secondary expansion connecting piece 42 and the rotary expansion connecting piece 53, the rotation stability among the primary swing main arm 31, the secondary swing main arm 41 and the rotating arm 51 is enhanced, and a multi-stage movable swing mode is adopted to realize smooth and stable loading and unloading of glass blocks.

In practical operation, the primary driving component 8 includes a primary driving motor 81 and a primary speed reducer 82, the mounting seats 24 are respectively installed on the left and right sides of the movable combined frame 2, the primary driving motor 81 is installed on the mounting seat 24 and connected with the control combiner 11, the primary speed reducer 82 is installed on the output shaft of the primary driving motor 81, and the output end of the primary speed reducer 82 is connected with the positioning end shaft of the primary swing main arm 31.

The secondary driving part 9 includes a secondary driving motor 91 and a secondary speed reducer 92, the secondary driving motor 91 is respectively installed on the swing end of the primary swing main arm 31 and connected with the control combiner 11, the secondary speed reducer 92 is installed on the output shaft of the secondary driving motor 91, and the output end of the secondary speed reducer 92 is connected with the positioning end shaft of the secondary swing main arm 41.

The rotation driving part 10 includes a rotation driving motor 101 and a rotation speed reducer 102, the rotation driving motor 101 is respectively installed at the left and right ends of the rotation arm 51 and connected with the control combiner 11, the rotation speed reducer 102 is installed at the output shaft of the rotation driving motor 101, and the output end of the rotation speed reducer 102 is connected with the swing end shaft of the secondary swing main arm 41.

When the glass conveying device operates, the control combiner 11 controls the sequence of actions of the first-stage driving motor 81, the second-stage driving motor 91 and the rotary driving motor 101 so as to realize multi-stage connecting rod swinging, achieve rapid loading and unloading of glass, reduce waiting period of loading and unloading of glass, strengthen continuity of loading and unloading of glass and improve conveying efficiency. In the period, the structure of the first-stage speed reducer 82, the second-stage speed reducer 92 and the rotary speed reducer 102 is matched, so that the swinging stability of the multistage connecting rods is enhanced, the accuracy of loading and unloading glass is improved, and the transmission effect of the glass is ensured.

Furthermore, the suction cup assembly rack 52 includes a plurality of support frames 521 and a plurality of automatic suction cup assemblies 522, the plurality of support frames 521 are distributed on the rotating arm 51 at equal intervals, and the automatic suction cup assemblies 522 are mounted on the support frames 521 at equal intervals and connected with the control combiner 11.

During action, the control combiner 11 controls the mechanical arm of the structure to drive the sucker combination frame 52 to swing to a specified position in a multi-stage linkage swinging mode, and then the control combiner 11 controls the automatic sucker component 522 to act, so that glass blocks are automatically adsorbed or separated, and the glass blocks are smoothly loaded and unloaded.

Referring to fig. 1 to 4, the glass conveying platform 6 includes a glass conveying driving motor 61, a conveying support platform 62, a conveying belt 63, a conveying shaft 64, a conveying driving wheel 65 and a conveying driven wheel 66. The movable combined frame 2 is provided with a plurality of conveying and supporting platforms 62, an automatic sucker component 522 which is convenient for the rotary sucker combination 5 shaft is arranged between the conveying and supporting platforms 62 and is connected with the glass in an adsorption mode from top to bottom through a clearance 67, the conveying driven wheel 66 and the conveying driving wheel 65 are arranged at the front end and the rear end of the conveying and supporting platform 62, and the conveying belt 63 is sleeved on the conveying driving wheel 65, the conveying and supporting platform 62 and the conveying driven wheel 66. The conveying driving wheels 65 are respectively sleeved on the conveying shafts 64, the conveying shafts 64 are connected with the output end shafts of the glass conveying driving motors 61, and the glass conveying driving motors 61 are fixedly installed on the conveying supporting platforms 62 and are electrically connected with the control combiner 11.

In operation, the control combiner 11 controls the glass conveyance drive motor 61 to operate. The glass conveying driving motor 61 drives the conveying shaft 64 to rotate, and the rotation of the conveying shaft 64 can synchronously drive the conveying belts 63 of the conveying supporting platforms 62 to rotate, so that the glass blocks are smoothly conveyed on the conveying supporting platforms 62. When the glass blocks are conveyed to the designated position, the control combiner 11 controls the mechanical arm to act, so that the glass blocks can be quickly loaded and unloaded, the operation is stable, the continuity is high, the efficiency is improved, and the glass conveying effect is ensured.

Above-mentioned embodiment only does the utility model discloses the better embodiment of effect, all with the utility model discloses a three connecting rods that unloading was used on glass sways the same or equivalent structure of formula arm, all is in the utility model discloses a within range.

Claims

1. The utility model provides a three-link swinging type mechanical arm for glass loading and unloading, which is characterized in that: the three-connecting-rod swinging mechanical arm comprises a fixed underframe (1), a movable combined frame (2), a primary swinging combination (3), a secondary swinging combination (4), a rotary sucking disc combination (5) and a glass conveying platform (6),

the glass conveying platform (6) is installed on the movable combined frame (2), the movable combined frame (2) is connected to the fixed underframe (1) in a sliding mode, the positioning end of the first-stage swing combination (3) is connected to the movable combined frame (2) in a shaft mode, the swing end of the first-stage swing combination (3) is connected to the positioning end of the second-stage swing combination (4) in a shaft mode, and the swing end of the second-stage swing combination (4) is connected with the rotary sucker combination (5) in a shaft mode;

a movable driving part (7) for driving the movable combined frame (2) to move back and forth is arranged on the fixed underframe (1), the movable combined frame (2) is provided with a primary driving part (8) for driving the swinging end of the primary swinging combination (3) to swing front and back around the positioning end of the primary swinging combination (3), the swinging end of the primary swinging combination (3) is provided with a secondary driving part (9) for driving the swinging end of the secondary swinging combination (4) to swing back and forth around the positioning end of the secondary swinging combination (4), and the left end and the right end of the rotary sucker combination (5) are respectively provided with a rotary driving part (10) for connecting with the swinging end shaft of the secondary swinging combination (4);

the fixed underframe (1) is provided with a control combiner (11) which is connected with the glass conveying platform (6), the moving driving part (7), the primary driving part (8), the secondary driving part (9) and the rotary driving part (10) and used for controlling the action sequence of the two parts.

2. The three-link swinging mechanical arm for loading and unloading glass as claimed in claim 1, wherein: the bottom surface of the movable combined rack (2) is provided with teeth (12), and the output end of the movable driving part (7) is provided with a gear (13) which is meshed and connected with the teeth (12).

3. The three-link swinging mechanical arm for glass loading and unloading as claimed in claim 2, wherein: the movable combined frame (2) comprises a sliding frame (21) and supporting frames (22), the supporting frames (22) are installed on the left side and the right side of the bottom surface of the sliding frame (21), and the teeth (12) are respectively arranged on the bottom surface of the supporting frames (22);

the moving driving part (7) comprises a moving driving motor (71) connected with the control combiner (11), the moving driving motor (71) is installed on the fixed underframe (1), and the gear (13) is installed on an output shaft of the moving driving motor (71);

the outer side of the supporting frame (22) is provided with a guide pulley (23), the left side and the right side of the fixed underframe (1) are provided with connecting frames (14), and the inner side of each connecting frame (14) is provided with a sliding groove (141) in sliding connection with the guide pulley (23).

4. The three-link swinging mechanical arm for loading and unloading glass as claimed in claim 1, wherein: the primary swing combination (3) comprises a primary swing main arm (31), the secondary swing combination (4) comprises a secondary swing main arm (41), the rotary type sucker combination (5) comprises a rotating arm (51) and a sucker combination frame (52) arranged on the rotating arm (51),

the one-level bloated tight connector (32) of output fixed connection usefulness with removal drive unit (7) are installed to the location end of one-level swing main arm (31), and second grade drive unit (9) are installed to the swing end of one-level swing main arm (31), the location end of second grade swing main arm (41) install with second grade bloated tight connector (42) of output fixed connection usefulness of second grade drive unit (9), the swing end of second grade swing main arm (41) install with rotatory tight connector (53) of bloated of the rotation of output fixed connection of rotation drive unit (10), both ends about swinging boom (51) are installed in rotation drive unit (10).

5. The three-link swinging mechanical arm for loading and unloading glass as claimed in claim 4, wherein: the first-stage driving component (8) comprises a first-stage driving motor (81) and a first-stage speed reducer (82), mounting seats (24) are respectively mounted on the left side and the right side of the movable combined frame (2), the first-stage driving motor (81) is mounted on the mounting seats (24) and connected with the control combiner (11), the first-stage speed reducer (82) is mounted on an output shaft of the first-stage driving motor (81), and an output end of the first-stage speed reducer (82) is connected with a positioning end shaft of the first-stage swinging main arm (31).

6. The three-link swinging mechanical arm for loading and unloading glass as claimed in claim 4, wherein: the secondary driving component (9) comprises a secondary driving motor (91) and a secondary speed reducer (92), the secondary driving motor (91) is respectively installed on the swinging end of the primary swinging main arm (31) and connected with the control combiner (11), the secondary speed reducer (92) is installed on the output shaft of the secondary driving motor (91), and the output end of the secondary speed reducer (92) is connected with the positioning end shaft of the secondary swinging main arm (41).

7. The three-link swinging mechanical arm for loading and unloading glass as claimed in claim 4, wherein: the rotary driving component (10) comprises a rotary driving motor (101) and a rotary speed reducer (102), the rotary driving motor (101) is respectively installed at the left end and the right end of the rotary arm (51) and connected with the control combiner (11), the rotary speed reducer (102) is installed at an output shaft of the rotary driving motor (101), and an output end of the rotary speed reducer (102) is connected with a swinging end shaft of the secondary swinging main arm (41).

8. The three-link swinging mechanical arm for loading and unloading glass as claimed in claim 4, wherein: the sucker combination rack (52) comprises a plurality of support frames (521) and a plurality of automatic sucker components (522), the support frames (521) are distributed on the rotating arm (51) at equal intervals, and the automatic sucker components (522) are mounted on the support frames (521) at equal intervals and connected with the control combiner (11).

9. The three-link swinging mechanical arm for loading and unloading glass as claimed in claim 4, wherein: the glass conveying platform (6) comprises a glass conveying driving motor (61), a conveying supporting platform (62), a conveying belt (63), a conveying shaft (64), a conveying driving wheel (65) and a conveying driven wheel (66), wherein the movable combined frame (2) is provided with a plurality of conveying supporting platforms (62), an automatic sucker component (522) convenient for the rotary sucker combination (5) shaft is arranged between the conveying supporting platforms (62), the conveying driven wheel (66) and the conveying driving wheel (65) are arranged at the front end and the rear end of the conveying supporting platform (62) from top to bottom and are connected with glass in an adsorption mode, the conveying driving wheel (65) is sleeved on the conveying driving wheel (65), the conveying supporting platform (62) and the conveying driven wheel (66), the conveying driving wheel (65) is sleeved on the conveying shaft (64) respectively, and the conveying shaft (64) is connected with the output end of the glass conveying driving motor (61), the glass conveying driving motor (61) is fixedly arranged on a conveying supporting platform (62) and is electrically connected with the control combiner (11).

10. The three-link swinging mechanical arm for glass loading and unloading as claimed in any one of claims 1 to 9, wherein: the control combiner (11) comprises a control microcomputer (111) and a position detection sensor (112), the control microcomputer (111) is installed on the fixed bottom frame (1) and is respectively electrically connected with the glass conveying platform (6), the moving driving part (7), the primary driving part (8), the secondary driving part (9) and the rotary driving part (10), and the position detection sensor (112) is installed on a rotary arm (51) of the rotary type sucker combination (5) and is in signal connection with the control microcomputer (111).