CN212475267U - Non-contact robot gripper - Google Patents

Abstract

The utility model provides a non-contact robot tongs belongs to the technical field of mechanical tongs. A non-contact robot gripper comprises a robot, a frame and a plurality of non-contact suckers; the utility model discloses connect the frame that has a plurality of non-contact sucking discs on the arm of robot, and the bottom of non-contact sucking disc's sucking disc main part is provided with the annular groove and arranges and communicate the third channel of recess along the lateral wall tangential of recess, make the tangential outflow of the lateral wall of cavity in gaseous ability follow third channel, and form spiral motion under the restraint of cavity inner wall, thereby produce vacuum suction, adsorb the glass substrate under the condition of non-contact glass substrate, snatch and shift, surface pollution because of the contact leads to has been avoided, the mar, the problem of damage and deformation, the quality of glass substrate has been guaranteed, the demand of follow-up processing has been satisfied, more do benefit to the manufacturing of glass substrate.

Description

Non-contact robot gripper

Technical Field

The utility model relates to a technical field of mechanical tongs specifically is a non-contact robot tongs is related to.

Background

The glass substrate is widely applied in the flat panel display industry, is one of the core components for ensuring the flat panel display performance, and the surface quality of the glass substrate directly influences the quality of subsequent products, so that the improvement of the production quality of the glass substrate becomes the key point of industrial research.

At present, the main mechanical tongs for transferring glass substrates in different processes in the industry are used for carrying, the contact type vacuum chuck is mainly used for adsorbing, grabbing and transferring the glass substrates, the vacuum chuck needs to be in contact with the surfaces of the glass substrates, and the problems of damage, scratches, surface pollution and the like of the glass substrates are easily caused. Moreover, as the glass substrate is becoming thinner and larger, the mechanical gripper using the contact vacuum chuck is prone to deform and damage the glass substrate during the transportation process, which is difficult to meet the processing requirements of the subsequent processes, has large limitations, and is not beneficial to the production and manufacturing of the glass substrate.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned problem that exists among the prior art, it aims at providing a non-contact robot tongs now, in order to set up a plurality of non-contact sucking discs, and above-mentioned a plurality of non-contact sucking discs pass through frame mount on robot arm, make when snatching glass substrate, non-contact sucking disc can realize the absorption to glass substrate under the condition of non-contact glass substrate surface, snatch and shift, the surface contamination because of contacting glass substrate and leading to has been avoided, the mar, the problem of damage and deformation, better quality of glass substrate has been guaranteed, better demand of having satisfied follow-up processing, the suitability is better, more be favorable to the manufacturing of glass substrate.

The specific technical scheme is as follows:

a non-contact robotic gripper having the features comprising:

a robot;

the middle part of the frame is connected to the arm of the robot;

a plurality of non-contact suckers arranged on the frame,

each non-contact type sucker is provided with a sucker main body which is of a cylindrical structure, the lower end surface of the sucker main body is provided with an annular concave cavity, and the upper end surface of the sucker main body is provided with a central vent hole along the axial direction, and meanwhile, the upper end surface of the sucker main body is also provided with a plurality of first channels along the axial direction, and the sucker main body is provided with a plurality of second channels with the same number as the first channels along the radial direction, and the second channels are communicated with the central vent hole and the first channels, in addition, a plurality of third channels with the same number with the first channels are arranged at the lower end of the sucker main body along the tangential direction of the inner wall of the concave cavity, the third channels are communicated with the first channels and the concave cavity, and the third channel is a stepped hole, the third channel is provided with a large hole end and a small hole end, the intersection of the large hole end and the small hole end is communicated with the first channel, and the end of the small hole end, which is far away from the large hole end, is communicated with the concave cavity.

The non-contact robot gripper further comprises a plurality of sucker fixing seats, the sucker fixing seats are arranged between the frame and each non-contact sucker, each sucker fixing seat corresponds to one non-contact sucker, one end of each sucker fixing seat is fixed on the frame, and the other end of each sucker fixing seat is provided with one non-contact sucker.

The non-contact robot gripper further comprises a plurality of limiting blocks, and the limiting blocks are distributed around the frame.

The non-contact robot gripper is characterized in that a flange mounting seat is arranged in the middle of a frame, the bottom of the flange mounting seat is fixedly connected with the frame through bolts, and a plurality of fixing holes connected with arms of a robot are formed in the top of the flange mounting seat.

The non-contact robot gripper is characterized in that the plurality of third channels on the same sucker main body are arranged in the same direction and are all clockwise or all anticlockwise, the plurality of third channels on the same sucker main body are all left-handed suckers arranged along the clockwise direction, and the plurality of third channels on the same sucker main body are all right-handed suckers arranged along the anticlockwise direction.

The non-contact robot gripper is characterized in that the left-handed suckers and the right-handed suckers in the plurality of non-contact suckers on the same frame are the same in number, and are arranged in a crossed manner.

The non-contact robot gripper further comprises a first sealing plug, a second sealing plug and a third sealing plug, the first channel is a blind hole, an orifice of the first channel is located on the upper end face of the sucker main body, the second channel and the third channel are both through holes, an orifice of one end of the second channel is located on the side wall of the sucker main body, an orifice of the other end of the second channel is communicated with the central vent hole, an orifice of a small hole end of the third channel is communicated with the concave cavity, an orifice of a large hole end of the third channel is located on the side wall of the sucker main body, the first sealing plug blocks the orifice of the first channel located on the upper end face of the sucker main body, the second sealing plug blocks the orifice of the second channel located on the side wall of the sucker main body, and the third sealing plug blocks the orifice of a large hole end of the third channel located on the side wall of the sucker main body.

According to the non-contact robot gripper, the first sealing plug and the first channel, the second sealing plug and the second sealing channel, and the third sealing plug and the third channel are in threaded connection.

The non-contact robot gripper is characterized in that the upper end face of the sucker main body is provided with a plurality of mounting holes connected to the sucker fixing seat along the axial direction.

The non-contact robot gripper is characterized in that a quick connector is arranged on the sucker main body and in the central vent hole.

The positive effects of the technical scheme are as follows:

according to the non-contact robot gripper, the arm of the robot is provided with the frame with the non-contact suckers, the non-contact suckers are provided with the central vent holes and the cavities at the bottoms, meanwhile, the central vent holes are communicated with the cavities through the first channel, the second channel and the third channel, and the third channel is arranged along the tangential direction of the inner walls of the cavities, so that when the non-contact robot gripper is inflated through the central vent holes, gas can be ejected from the third channel along the tangential direction of the inner walls of the cavities and forms spiral motion under the restraint of the inner walls of the cavities, vacuum suction force is generated, the non-contact suckers can adsorb, grab and transfer a glass substrate under the condition of not contacting the glass substrate, the problems of surface pollution, scratch, damage and deformation caused by contacting the glass substrate are avoided, the quality of the glass substrate is guaranteed, and the requirements of subsequent processing are met, the limitation is reduced, and the production and the manufacture of the glass substrate are facilitated.

Drawings

Fig. 1 is a structural diagram of an embodiment of a non-contact robot gripper according to the present invention;

FIG. 2 is a view of a perspective of the gripper of a preferred embodiment of the present invention;

FIG. 3 is a view of another perspective of the gripper according to a preferred embodiment of the present invention;

FIG. 4 is a schematic diagram of a non-contact suction cup according to a preferred embodiment of the present invention;

FIG. 5 is a longitudinal cross-sectional view of a non-contact suction cup in accordance with a preferred embodiment of the present invention;

FIG. 6 is a cross-sectional view of a non-contact suction cup in accordance with a preferred embodiment of the present invention;

FIG. 7 is a schematic view of another non-contact suction cup according to a preferred embodiment of the present invention;

fig. 8 is a cross-sectional view of another non-contact suction cup in accordance with a preferred embodiment of the present invention.

In the drawings: 1. a robot; 2. a frame; 3. a non-contact suction cup; 31. a suction cup main body; 32. a first sealing plug; 33. a second sealing plug; 34. a third sealing plug; 35. a quick coupling; 311. a concave cavity; 312. a central vent; 313. a first channel; 314. a second channel; 315. a third channel; 316. mounting holes; 3151. a large bore end; 3152. a small bore end; 4. a sucker fixing seat; 5. a limiting block; 6. a flange mounting seat; 61. a fixing hole; 7. a glass substrate.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the following embodiments are specifically described with reference to fig. 1 to 8, but the following contents are not intended to limit the present invention.

Fig. 1 is a structural diagram of an embodiment of a non-contact robot gripper according to the present invention. As shown in fig. 1, the non-contact robot gripper provided in this embodiment includes: robot 1, frame 2 and a plurality of non-contact sucking disc 3, the middle part of frame 2 is connected on robot 1's arm, and a plurality of non-contact sucking disc 3 set up on frame 2 for robot 1 can remove the position of non-contact sucking disc 3 through frame 2, thereby realizes grabbing and shifting the glass that follow-up non-contact sucking disc 3 absorb basically, adapts to the basic production demand of glass.

FIG. 2 is a view of a perspective of the gripper of a preferred embodiment of the present invention; fig. 3 is a structural diagram of another view angle of the gripper according to a preferred embodiment of the present invention. As shown in fig. 1, fig. 2 and fig. 3, the non-contact type suction cup 3 provided by the present embodiment is provided with a plurality of non-contact type suction cups 3, and the plurality of non-contact type suction cups 3 are uniformly distributed on the frame 2, so that when the glass substrate 7 is sucked, the uniformity of the stress of the glass substrate 7 can be ensured, and the stability of the adsorption, the grabbing and the transferring of the glass substrate 7 is higher. In addition, in order to reduce the weight of the frame 2, a frame type structure is adopted in the frame 2. Preferably, frame 2 is the aluminium alloy frame, alleviates self structure weight when satisfying structural strength requirement to the better user demand who has satisfied 1 driven of robot.

FIG. 4 is a schematic diagram of a non-contact suction cup according to a preferred embodiment of the present invention; FIG. 5 is a longitudinal cross-sectional view of a non-contact suction cup in accordance with a preferred embodiment of the present invention; fig. 6 is a cross-sectional view of a non-contact type suction cup according to a preferred embodiment of the present invention. As shown in fig. 4, 5 and 6, each non-contact type suction cup 3 disposed on the frame 2 has a suction cup main body 31, in this case, the suction cup main body 31 is a cylinder structure, and it should be noted that the shape of the suction cup main body 31 is a cylinder structure, but is not limited to a cylinder structure, and may be a similar structure, such as a truncated cone structure. Moreover, an annular concave cavity 311 is formed in the lower end face of the suction cup main body 31, a central vent hole 312 is formed in the upper end face of the suction cup main body 31 and located at the center of the circle of the suction cup main body along the axial direction of the suction cup main body, and the central vent hole 312 is connected with a gas source, so that gas can enter the suction cup main body 31 from the central vent hole 312, and the gas source is provided for subsequent work. Meanwhile, a plurality of first channels 313 are further formed in the upper end face of the first suction cup main body 31 along the axial direction, a plurality of second channels 314 with the number being the same as that of the first channels 313 are formed in the suction cup main body 31 along the radial direction, and the second channels 314 are communicated with the central vent holes 312 and the first channels 313, so that after gas enters the suction cup main body 31 from the central vent holes 312, the gas can enter the first channels 313 through the second channels 314, and a circulation channel is provided for circulation of the gas inside the suction cup main body 31. In addition, a plurality of third channels 315 with the same number as the first channels 313 are arranged at the lower end of the sucker main body 31 along the tangential direction of the inner wall of the concave cavity 311, the third channels 315 are communicated with the first channels 313 and the concave cavity 311, so that gas entering from the central vent 312 and entering the first channels 313 through the second channels 314 can enter the concave cavity 311 through the third channels 315, and the third channels 315 are arranged along the tangential direction of the inner wall of the concave cavity 311, so that the gas flowing out of the third channels 315 can form spiral motion under the constraint of the inner wall of the concave cavity 311, vacuum suction is generated, the adsorption, grabbing and transfer of the glass substrate 7 under the condition of not contacting the glass substrate 7 are realized, the problems of surface pollution, scratch, damage and deformation caused by contacting the glass substrate 7 of the existing structure are avoided, and the quality of the glass substrate 7 is ensured, the requirement of subsequent processing is met, the limitation is reduced, and the production and the manufacture of the glass substrate 7 are facilitated. In addition, the third channel 315 is a stepped hole, the third channel 315 is provided with a large hole end 3151 and a small hole end 3152, the intersection of the large hole end 3151 and the small hole end 3152 is communicated with the first channel 313, and one end of the small hole end 3152, which is far away from the large hole end 3151, is communicated with the cavity 311, so that the inlet section of the gas at the third channel 315 is larger than the outlet section, the flow rate of the gas flowing out of the third channel 315 into the cavity 311 is further increased, the vacuum effect generated by the gas flow is better ensured, and the use requirement is better met.

More specifically, still be provided with a plurality of sucking disc fixing base 4 on the frame 2, a plurality of sucking disc fixing base 4 set up between frame 2 and each non-contact sucking disc 3, realize the installation of non-contact sucking disc 3 on frame 2 through sucking disc fixing base 4. Meanwhile, a sucker fixing seat 4 corresponds to a non-contact sucker, one end of the sucker fixing seat 4 is fixed on the frame 2, and a non-contact sucker 3 is installed at the other end of the sucker fixing seat 4, so that each non-contact sucker 3 can be stably installed on the frame 2 through the sucker fixing seat 4.

More specifically, still be provided with a plurality of stoppers 5 on the frame 2, a plurality of stoppers 5 distribute around frame 2, and at this moment, frame 2 can be the structure of rectangle, and four edges of frame 2 all are provided with stopper 5 to stopper 5 symmetry setting on two relative edges on frame 2 makes the interval between the stopper 5 of two relative settings can be used for absorbing glass substrate 7. Preferably, the distance size between two stopper 5 of relative setting on the frame 2 is greater than the geometric dimension of the glass substrate 7 of waiting to absorb, and at this moment, can set for the distance size between two stopper 5 of relative setting slightly bigger than the geometric dimension of the glass substrate 7 of waiting to absorb, can conveniently hold the glass substrate 7 of waiting to absorb, can also carry on spacingly to the side of glass substrate 7, prevent to lead to falling the problem of damage because of removing at the in-process of glass substrate 7 transport, and the safety guarantee nature is higher.

More specifically, frame 2 connects and is provided with flange mount 6 in the middle part region of robot 1's arm, for the dismouting that makes things convenient for flange mount 6, flange mount 6's bottom and frame 2 pass through bolt fixed connection, and, a plurality of fixed orificess 61 of being connected with robot 1's arm are seted up at the top that flange mount 6 was done, at this moment, make fasteners such as the same accessible bolts of flange mount 6 connect on robot 1's arm, thereby realize the quick assembly disassembly of frame 2 on robot 1 that has non-contact sucking disc 3, structural design is more reasonable.

FIG. 7 is a schematic view of another non-contact suction cup according to a preferred embodiment of the present invention; fig. 8 is a cross-sectional view of another non-contact suction cup in accordance with a preferred embodiment of the present invention. As shown in fig. 4 to 8, the third channels 315 on the same suction cup main body 31 are arranged in the same direction, that is, the third channels 315 extend along one side of the tangential direction of the inner wall of the cavity 311, so that the third channels 315 on the same suction cup main body 31 are arranged clockwise or counterclockwise, and when the third channels 315 on the same suction cup main body 31 are all arranged clockwise, the gas flowing out of the third channels 315 rotates clockwise in the cavity 311, that is, the non-contact type suction cup 3 is a left-handed suction cup, and when the third channels 315 on the same suction cup main body 31 are all arranged counterclockwise, the gas flowing out of the third channels 315 rotates counterclockwise in the cavity 311, that is, the non-contact type suction cup 3 is a right-handed suction cup, so that the rotating direction of the gas in the non-contact type suction cup 3 can be determined by the arrangement direction of the third channels 315, thereby satisfying different use requirements and having higher structure adaptability.

More specifically, the quantity of levogyration sucking disc and dextrorotation sucking disc is the same in a plurality of non-contact sucking discs 3 on same frame 2 to, levogyration sucking disc and dextrorotation sucking disc are the cross mode and arrange, can make the effort between levogyration sucking disc and the dextrorotation sucking disc offset each other, have guaranteed to snatch the stability of work, have avoided influencing snatching of glass substrate 7 because of the product defect of levogyration sucking disc and dextrorotation sucking disc self, and structural design is more reasonable.

More specifically, the first channel 313, the second sealing plug 33, the second sealing channel on the suction cup main body 31, the third sealing plug 34 and the third channel 315 on the suction cup main body 31 on the first sealing plug 32 and the suction cup main body 31 are in threaded connection, at this time, a connection thread is arranged at a hole opening of the first channel 313 on the upper end surface of the suction cup main body 31, a connection thread is arranged at a hole opening of the second channel 314 on the side wall of the suction cup main body 31, and a connection thread is arranged at a hole opening of the third channel 315 on the side wall of the suction cup main body 31.

More specifically, still set up a plurality of mounting holes 316 of connecting on sucking disc fixing base 4 along its axial on the up end of sucking disc main part 31 for sucking disc main part 31 can be installed to sucking disc fixing base 4 on through mounting hole 316 fast.

More specifically, last and being located central air vent 312 of sucking disc main part 31 and being provided with quick-operation joint 35, the quick intercommunication of central air vent 312 and the outside air compression equipment of sucking disc main part 31 is realized through quick-operation joint 35, and the pipeline dismouting is more convenient, and structural design is more reasonable.

As a preferred embodiment, the number of the first channel 313, the second channel 314, and the third channel 315 on each suction cup main body 31 is four, and the first channel, the second channel, and the third channel are distributed in an annular array with the axis of the suction cup main body 31 as the axis, so that the vacuum adsorption force is ensured, and meanwhile, the processing number of the channels is reduced, the processing burden is reduced, and the processing cost is reduced.

The non-contact robot gripper provided by the embodiment comprises a robot 1, a frame 2 and a plurality of non-contact suckers 3; the arm of the robot 1 is connected with the frame 2 with the non-contact type suckers 3, the bottom of a sucker main body 31 of each non-contact type sucker 3 is provided with an annular groove and a third channel 315 which is arranged along the tangential direction of the side wall of the groove and is communicated with the groove, the sucker main body 31 is provided with a central vent hole 312 and a first channel 313 and a second channel 314 which are used for communicating the central vent hole 312 with the third channel 315, so that gas can flow out from the third channel 315 along the tangential direction of the side wall of the cavity 311 after entering from the central vent hole 312, and forms spiral motion under the constraint of the inner wall of the cavity 311, thereby generating vacuum suction force, adsorbing, grabbing and transferring the glass substrate 7 under the condition of not contacting the glass substrate 7, avoiding the problems of surface pollution, scratch, damage and deformation caused by contact, and ensuring the quality of the glass substrate 7, the requirement of subsequent processing is met, and the production and the manufacture of the glass substrate 7 are facilitated.

The above is only a preferred embodiment of the present invention, and not intended to limit the scope of the invention, and it should be appreciated by those skilled in the art that various equivalent substitutions and obvious changes made in the specification and drawings should be included within the scope of the present invention.

Claims (10)

1. A non-contact robot gripper, comprising:

a robot;

the middle part of the frame is connected to an arm of the robot;

a plurality of non-contact suction cups disposed on the frame, and,

each non-contact type sucker is provided with a sucker main body which is of a cylindrical structure, an annular concave cavity is formed in the lower end face of the sucker main body, a central vent hole is formed in the upper end face of the sucker main body along the axial direction of the sucker main body, meanwhile, a plurality of first channels are formed in the upper end face of the sucker main body along the axial direction of the sucker main body, a plurality of second channels with the number consistent with that of the first channels are formed in the sucker main body along the radial direction of the sucker main body, the second channels are communicated with the central vent hole and the first channels, in addition, a plurality of third channels with the number consistent with that of the first channels are formed in the lower end of the sucker main body along the tangential direction of the inner wall of the concave cavity, the third channels are communicated with the first channels and the concave cavity, in addition, the third channels are stepped holes, and are provided with large hole ends and, and the intersection of the big hole end and the small hole end is communicated with the first channel, and the end of the small hole end, which deviates from the big hole end, is communicated with the cavity.

2. The non-contact robot gripper of claim 1, further comprising a plurality of sucker holders, wherein a plurality of the sucker holders are disposed between the frame and each of the non-contact suckers, one of the sucker holders corresponds to one of the non-contact suckers, one end of the sucker holder is fixed to the frame, and the other end of the sucker holder is provided with one of the non-contact suckers.

3. The non-contact robot gripper of claim 1, further comprising a plurality of stop blocks, wherein the plurality of stop blocks are distributed around the frame.

4. The non-contact robot gripper as claimed in claim 1, wherein a flange mounting seat is arranged in the middle of the frame, the bottom of the flange mounting seat is fixedly connected with the frame through bolts, and a plurality of fixing holes connected with arms of the robot are formed in the top of the flange mounting seat.

5. The non-contact robot gripper according to claim 1, wherein the third channels of the same suction cup body are arranged in the same direction, which is clockwise or counterclockwise, and the third channels of the same suction cup body are all arranged in the clockwise direction and are left-handed suction cups, and the third channels of the same suction cup body are all arranged in the counterclockwise direction and are right-handed suction cups.

6. The non-contact robotic gripper of claim 5, wherein the number of left-handed suction cups and right-handed suction cups is the same for a plurality of non-contact suction cups on the same frame, and wherein the left-handed suction cups and the right-handed suction cups are arranged in a crossed manner.

7. The non-contact robot gripper according to claim 1, further comprising a first sealing plug, a second sealing plug, and a third sealing plug, wherein the first channel is a blind hole, the orifice of the first channel is located on the upper end surface of the suction cup body, both the second channel and the third channel are through holes, the orifice of one end of the second channel is located on the side wall of the suction cup body, the orifice of the other end of the second channel is communicated with the central vent hole, the orifice of the small hole end of the third channel is communicated with the cavity, the orifice of the large hole end of the third channel is located on the side wall of the suction cup body, the first sealing plug blocks the orifice of the first channel located on the upper end surface of the suction cup body, and the second sealing plug blocks the orifice of the second channel located on the side wall of the suction cup body, the third sealing plug blocks the hole of the large hole end of the third channel, which is positioned on the side wall of the sucker main body.

8. The non-contact robotic gripper of claim 7, wherein the first sealing plug and the first channel, the second sealing plug and the second sealing channel, and the third sealing plug and the third channel are all threaded.

9. The non-contact robot gripper according to claim 2, wherein the upper end surface of the suction cup main body is further provided with a plurality of mounting holes along the axial direction thereof, the mounting holes being connected to the suction cup fixing base.

10. The non-contact robotic gripper of claim 1 wherein a quick connector is disposed on the suction cup body and within the central vent hole.

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