CN213475775U

CN213475775U - Adjustable sheet taking gripper of glass cutting all-in-one machine

Info

Publication number: CN213475775U
Application number: CN202021575787.1U
Authority: CN
Inventors: 张加斌; 时新刚
Original assignee: Shandong Huashili Automation Technology Co ltd
Current assignee: Shandong Huashili Automation Technology Co ltd
Priority date: 2020-08-03
Filing date: 2020-08-03
Publication date: 2021-06-18
Anticipated expiration: 2030-08-03

Abstract

The utility model discloses a piece tongs is got to adjustable type of glass-cutting all-in-one, including base, first cylinder, second cylinder, four-bar linkage and sucking disc, the one end of base articulates there is supplementary pendulum rod and first cylinder, the other end of supplementary pendulum rod articulates there is four-bar linkage, four-bar linkage including mobile jib, power rod, pick up pole and fourth rod, it is equipped with a plurality of fixed suction cups and a plurality of adjustable sucking disc on the pole to pick up, the one end of mobile jib is articulated with pendulum rod and fourth rod respectively, and the other end is articulated with the power rod, the one end of power rod is articulated with the piston rod of second cylinder, the cylinder of cylinder articulates on the mobile jib, the other end of power rod is articulated with the one end of picking up the pole, and the other end of picking up the pole is articulated. The beneficial effects are that: the gripper picking size is changed, the gripper picking size is suitable for picking different glasses, and meanwhile, the position of the picking rod for picking the glass is finely adjusted by the arrangement of the four-bar mechanism.

Description

Adjustable sheet taking gripper of glass cutting all-in-one machine

Technical Field

The utility model belongs to the technical field of the glass automatic pickup among the glass-cutting all-in-one technical field, especially, relate to an adjustable type of glass-cutting all-in-one that is applied to glass and picks up in the glass-cutting all-in-one gets a tongs.

Background

The glass cutting all-in-one machine is a special device which integrates multiple functions and realizes full-automatic feeding and full-automatic cutting of glass in a small range, the automatic glass picking function of the device is realized by a pneumatic manipulator arranged at the front end of the glass cutting all-in-one machine, the manipulator is a fixed size at present, Chinese utility model patent CN203999358 discloses an automatic feeding mechanism of a glass cutting machine, which belongs to the field of glass cutting machines and comprises a base, a driving motor, a vacuum pump and a turnover device, wherein a suction cup is arranged on the turnover device and is connected with the vacuum pump through an air suction pipe, a negative pressure detector is arranged at an air suction port of the vacuum pump and is connected with a controller, the input end of the controller is connected with a control handle, and the output end of the controller is respectively connected with an alarm and the hydraulic cylinder, the front end of the base is provided with a distance sensor, the distance sensor is connected with the input end of the controller, and the output end of the controller is connected with the driving motor. The disadvantage of this patent is that the suction cup is fixed at a designated position, that is, the size of the glass to be gripped is fixed, and the glass with different specifications and sizes cannot be gripped, which is also a common problem of this type of gripper at present, and this problem has no influence on the large-scale glass cutting operation with a single size, and then more and more orders are customized along with the progress of the society, that is, the sizes are not uniform, which causes the problem that the sizes of the glass in the raw material storage are diversified due to the increase of the orders, and obviously, the glass pickup gripper with the fixed size cannot meet the requirement of this kind of processing situation.

In summary, the adjustable sheet taking gripper of the glass cutting all-in-one machine is urgently needed to pick up glass with different sizes.

Disclosure of Invention

In order to overcome the defects of the prior art, the utility model provides a piece tongs is got to adjustable type of glass-cutting all-in-one.

The utility model discloses the concrete technical scheme who adopts does:

the utility model provides a piece tongs is got to adjustable type of glass-cutting all-in-one, includes base, first cylinder, second cylinder, four-bar linkage and sucking disc, the one end of base articulates there are supplementary pendulum rod and first cylinder, the other end of supplementary pendulum rod articulates there is four-bar linkage, four-bar linkage including mobile jib, power bar, pick up pole and fourth rod, it is equipped with a plurality of fixed suction cups and a plurality of adjustable sucking disc on the pole to pick up, the one end of mobile jib is articulated with pendulum rod and fourth rod respectively, and the other end is articulated with the power bar, the one end of power bar is articulated with the piston rod of second cylinder, the cylinder of cylinder articulates on the mobile jib, the other end of power bar is articulated with the one end of picking up the pole, and the other end of picking.

By adopting the design, the cylinder is completely closed by arranging the auxiliary swing rod, the picking rod is ensured to be parallel to the base, the first cylinder and the second cylinder are hidden between the main rod and the base, the space of the equipment is fully utilized, the glass picked by the picking rod is placed on the workbench, then the position of the sucker on the picking rod can be adjusted by adjusting the arrangement of the adjustable sucker, so that the grippers can grip glass with different sizes, finally, the design of the four-bar mechanism ensures that the picking action of the picking rod is finely adjusted when a plurality of groups of grippers are used simultaneously, each gripper can grip the glass when the plurality of groups of grippers are used simultaneously, in addition, the cylinder involved in the scheme can be replaced by a hydraulic cylinder or an electric push rod, the action of the hydraulic cylinder is the same as that of the cylinder, and the expansion and closing of the four-bar mechanism can be controlled by the electric push rod, namely, the positioning can be carried out at different positions, and the fine adjustment range of the picking rod can be realized in a wider range, wherein the work of the suction cup needs to be communicated with a negative pressure air path, which is the known technology of the person skilled in the art and will not be described in detail herein.

As a further improvement of the utility model, be equipped with oval slot hole on picking up the pole, adjustable sucking disc is fixed in oval slot hole.

By adopting the design, the fixing rod of the sucker is fixed in the oval hole, and the fixing rod of the sucker is fixed after moving the position of the fixing rod in the oval hole, so that the adjustable gripper is realized, and the gripper is used for picking up glass with different sizes.

Preferably, the adjustable sucker is fixed in the elliptical hole after being screwed close to each other through two locking nuts on two sides of the picking rod.

As a further improvement, the non-pickup side of picking up the pole is equipped with sharp module, be equipped with the slip table in the sharp module, swing joint has on the slip table adjustable sucking disc, adjustable sucking disc slides and fixes in the oval trompil.

Adopt such design, can realize the automatically regulated of adjustable sucking disc, the straight line module is general linear motion module in the market, and its inside has servo motor, and the output of motor is connected with the lead screw, and the cover is equipped with the swivel nut on the lead screw, and the swivel nut then is connected with the slip table, and the slip table still slides and sets up on the guide rail of lead screw both sides, has just so realized that servo motor drives the lead screw and when rotating, promotes the slip table and slides on the guide rail, because the utility model discloses an adjustable sucking disc is fixed on the slip table, when the slip table slides like this, just drives the cylinder and also follows the slip, and then realizes the adjustable of sucking disc.

Preferably, the four-bar mechanism is a parallel four-bar mechanism, wherein the main bar is parallel to the pick-up bar, and the power bar is parallel to the fourth bar.

As a further improvement of the utility model, fixed sucking disc and adjustable sucking disc all are equipped with the solenoid valve alone for the realization can realize the independent control to every sucking disc to the gas circuit on-off control of this sucking disc, adopts such design, just so can realize closing the sucking disc that can not use, keeps the stability of negative pressure in the system.

The utility model has the advantages that: through the arrangement of the adjustable suckers, the change of the picking size of the gripper is realized, the gripper is suitable for picking of different glasses, meanwhile, the position fine adjustment of the picking rod for the glass picking is realized through the arrangement of the four-bar mechanism, the independent control of the air path of each sucker is realized, and the stability of negative pressure in a system is ensured.

Drawings

Fig. 1 is a three-dimensional schematic view of an adjustable sheet taking gripper of the glass cutting all-in-one machine of the present invention;

FIG. 2 is a side view of the adjustable film-taking gripper of the glass cutting machine of FIG. 1;

FIG. 3 is a side view of another embodiment of an adjustable film gripper of the glass cutting machine of FIG. 1;

FIG. 4 is a schematic view of a glass cutting machine to which the adjustable film taking gripper of the glass cutting machine of the present invention is applied;

fig. 5 is the utility model discloses a sucking disc I shape mounting sketch map in piece tongs is got to adjustable type of glass-cutting all-in-one.

Illustration of the drawings: 1-upper adjustable sucker, 2-lower adjustable sucker, 3-upper fixed sucker, 4-lower fixed sucker, 5-fourth rod, 6-first hinge point, 7-second hinge point, 8-base, 9-linear module, 10-upper oval hole, 11-pickup rod, 12-lower oval hole, 13-power rod, 14-second cylinder, 15-cylinder fixing plate, 16-main rod, 17-rotating shaft, 18-bearing, 19-workbench, 20-auxiliary swing rod, 21-first cylinder, and 22-clamping groove.

Detailed Description

The invention is described in detail below with reference to the following figures and specific embodiments:

the specific embodiment is as follows:

in the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

The first embodiment is as follows:

an adjustable sheet taking gripper of a glass cutting all-in-one machine comprises a base 8, wherein the left end of the base 8 is hinged with an auxiliary swing rod 20 through a second hinge point 7, the upper part of the auxiliary swing rod 20 is hinged with a main rod 16 through a first hinge point 6, the second hinge point 6 is realized through a rotating shaft 17 and through holes arranged on the main rod 16 and the auxiliary swing rod 20, the gripper comprises three groups which are respectively hinged with the rotating shaft 17 through a shaft measuring part 18 and are uniformly distributed on the rotating shaft 17, the first hinge point is also hinged with a cylinder barrel of a first cylinder 21, the piston rod end of the first cylinder 21 is hinged with the main rod 16, the upper part of the hinge point is also hinged with a cylinder barrel of a second cylinder 14, the piston rod end of the second cylinder is hinged with the lower part of a power rod 13, the upper part of the power rod 13 is hinged with the upper part of a pickup rod 11, and the lower end of the pickup rod 11 is, the lower end of the fourth rod 5 is hinged with the main rod 16, the upper end of the picking rod is also provided with two oblong holes, namely an upper oblong hole 10 and a lower oblong hole 12, the upper oblong hole 10 is fixed with an upper adjustable sucker 1 through two nuts, and the lower oblong hole 12 is fixed with a lower adjustable sucker 2 through two nuts.

Example two:

an adjustable sheet taking gripper of a glass cutting all-in-one machine comprises a base 8, wherein the left end of the base 8 is hinged with an auxiliary swing rod 20 through a second hinge point 7, the upper part of the auxiliary swing rod 20 is hinged with a main rod 16 through a first hinge point 6, the second hinge point 6 is realized through a rotating shaft 17 and through holes arranged on the main rod 16 and the auxiliary swing rod 20, the gripper comprises three groups which are respectively hinged with the rotating shaft 17 through a shaft measuring part 18 and are uniformly distributed on the rotating shaft 17, the first hinge point is also hinged with a cylinder barrel of a first cylinder 21, the piston rod end of the first cylinder 21 is hinged with the main rod 16, the upper part of the hinge point is also hinged with a cylinder barrel of a second cylinder 14, the piston rod end of the second cylinder is hinged with the lower part of a power rod 13, the upper part of the power rod 13 is hinged with the upper part of a pickup rod 11, and the lower end of the pickup rod 11 is, the lower end of the fourth rod 5 is hinged with the main rod 16, the upper end of the picking rod is also provided with two oblong holes, namely an upper oblong hole 10 and a lower oblong hole 12, an upper adjustable sucker 1 is arranged in the upper oblong hole 10 in a sliding manner, a lower adjustable sucker 2 is arranged in the lower oblong hole 12 in a sliding manner, the upper adjustable sucker 1 and the lower adjustable sucker 2 are both fixed in a linear module 9, the linear module is a linear motion module which is commonly used in the market, a servo motor is arranged in the sliding platform, the output end of the motor is connected with a lead screw, a threaded sleeve is sleeved on the lead screw and connected with the sliding platform, the sliding platform is also arranged on guide rails at two sides of the lead screw in a sliding manner, thus, when the servo motor drives the screw rod to rotate, the sliding table is pushed to slide on the guide rail, because the utility model discloses an adjustable sucking disc is fixed on the slip table, when the slip table slides like this, just drive the cylinder and also follow the slip, and then realize the adjustable of sucking disc.

When in specific use:

taking the second embodiment as an example to describe the specific use of the present invention, when the glass to be picked up is determined, the length and width of the glass are outputted in the system according to the size of the glass, the system sends an adjustment signal to the linear module 9 according to the obtained value, the servo motor in the linear module rotates corresponding number of turns according to the signal to drive the lead screw to push the sliding table to move, the upper adjustable sucker 1 and the lower adjustable sucker 2 are adjusted to the designated positions to form a new picking sucker combination together with the upper fixed sucker 3 and the lower fixed sucker 4, meanwhile, the solenoid valve which can not be used is closed to avoid the negative pressure in the system from being affected, at this time, the first cylinder 21 is started, the push main rod 16 rotates around the second hinge point 7, after the designated position is reached, the second cylinder 14 is started to push the power rod 13 to rotate, the four-bar mechanism is unfolded with the power rod 13 to complete the fine tuning of the gripper, the adjustable sucker 1, the lower adjustable sucker 2, the upper fixed sucker 3 and the lower fixed sucker 4 are all adsorbed on the glass, then the second cylinder and the first cylinder move in the opposite direction, the gripper rotates back to back, the glass falls on the workbench 19, the pressure sensor on the workbench 19 is touched, the pressure sensor sends a signal to the control center, the control center controls the sucker to release suction, the glass is left on the workbench 19, the main rod 16 continues to rotate under the action of the first cylinder 21 at the moment, and finally the main rod is hidden below the workbench 1.

The foregoing has outlined broadly some of the aspects and features of the various embodiments, which should be construed to be merely illustrative of various potential applications. Other beneficial results can be obtained by applying the disclosed information in a different manner or by combining various aspects of the disclosed embodiments. Other aspects and a more complete understanding may be obtained by reference to the detailed description of the exemplary embodiments taken in conjunction with the accompanying drawings, based on the scope defined by the claims.

In addition the utility model also discloses following technical scheme:

the first scheme is as follows:

the four-bar mechanism is a parallel four-bar mechanism, wherein the main bar 16 is parallel to the picking bar 11, and the power bar 13 is parallel to the fourth bar 5.

Scheme II:

in the second embodiment, the upper oval hole 10 is slidably provided with the upper adjustable sucker 1, and the lower oval hole 12 is slidably provided with the lower adjustable sucker 2, which can be realized by arranging two nuts on the fixing rod of the sucker.

The third scheme is as follows:

the two nuts in the second scheme can also be realized by the same I-shaped fixing piece, the workpiece has a structure shown in fig. 5, a thread matched with the fixing rod of the sucker is arranged in the middle of the workpiece, and a clamping groove 22 matched with the oval hole is arranged in the middle of the workpiece.

And the scheme is as follows:

and the fixed sucker and the adjustable sucker are respectively provided with an electromagnetic valve for realizing the on-off control of the air path of the sucker.

The above embodiments have explained the present invention in detail. Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and the changes, modifications, additions, reductions, and substitutions made by the person skilled in the art within the spirit of the present invention also belong to the protection scope of the present invention.

Claims

1. The utility model provides a piece tongs is got to adjustable type of glass-cutting all-in-one, includes base, first cylinder, second cylinder, four-bar linkage and sucking disc, its characterized in that, the one end of base articulates there are supplementary pendulum rod and first cylinder, the other end of supplementary pendulum rod articulates there is four-bar linkage, four-bar linkage including mobile jib, power bar, pick up pole and fourth rod, it is equipped with a plurality of fixed suckers and a plurality of adjustable sucking disc to pick up to be equipped with on the pole, the one end of mobile jib is articulated with pendulum rod and fourth rod respectively, and the other end is articulated with the power bar, the one end of power bar is articulated with the piston rod of second cylinder, the cylinder of cylinder articulates on the mobile jib, the other end of power bar is articulated with the one end of picking up the pole, and.

2. The adjustable gripper for taking glass sheets of an all-in-one glass cutting machine as claimed in claim 1, wherein the picking rod is provided with an oblong hole, and the adjustable sucker is fixed in the oblong hole.

3. The adjustable glass-cutting all-in-one sheet taking gripper as claimed in claim 2, wherein the adjustable sucker is fixed in the oblong hole after being screwed close to each other by two locking nuts at two sides of the picking rod.

4. The adjustable sheet taking gripper of the glass cutting all-in-one machine as claimed in claim 2, wherein a linear module is arranged on a non-pickup side of the pickup rod, a sliding table is arranged in the linear module, the sliding table is movably connected with the adjustable sucker, and the adjustable sucker is fixed in the elliptical hole in a sliding manner.

5. The adjustable film taking gripper of any one of claims 1 to 4, wherein the four-bar mechanism is a parallel four-bar mechanism, wherein the main bar is parallel to the pick-up bar, and the power bar is parallel to the fourth bar.

6. The adjustable glass-cutting all-in-one sheet taking gripper of claim 5, wherein the fixed sucker and the adjustable sucker are respectively provided with a solenoid valve for controlling the on-off of the air passage of the sucker.