CN221164866U - Automatic frame feeding device for hollow glass spacing bar - Google Patents

Abstract

The utility model discloses an automatic frame feeding device for a hollow glass spacer, which relates to the technical field of hollow glass production and comprises the following components: the mechanical arm clamping jaw mechanism comprises a base assembly, a mechanical arm clamping jaw total mechanism, a telescopic mechanism and a rotating and moving mechanism; the mechanical arm clamping jaw total mechanism is arranged on the base assembly through the telescopic mechanism and the rotating and moving mechanism, the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism can at least move between a first position and a second position of the base assembly, the rotating and moving mechanism can rotate to adjust the dip angle and the height of the mechanical arm clamping jaw total mechanism, and the telescopic mechanism can stretch and retract in a first preset direction to adjust the position of the mechanical arm clamping jaw total mechanism in the first preset direction; etc. The utility model can realize accurate grabbing of the hollow glass spacing bar or can realize the adhesion of the clamped hollow glass spacing bar to the hollow glass under proper pressure.

Description

Automatic frame feeding device for hollow glass spacing bar

Technical Field

The utility model relates to the technical field of hollow glass production, in particular to an automatic frame feeding device for a hollow glass spacing bar.

Background

The existing hollow glass spacer upper frame device is generally manually operated to upper frames, after the hollow glass spacer is glued by a sealant coating machine, the hollow glass spacer after being manually held and glued is placed on an automatic hollow glass production line, and the hollow glass spacer and the outer edge of the hollow glass are manually bonded according to certain size interval requirements, so that the bonding requirement of the hollow glass spacer and the hollow glass is met. Because the existing manual framing process is limited to manual operation, the defects of poor stability, low production efficiency, high production cost and the like of manual operation production process exist, and therefore, the improvement is needed.

Disclosure of utility model

In order to overcome the above-mentioned drawbacks of the prior art, an embodiment of the present utility model provides an automatic frame feeding device for a hollow glass spacer, which can achieve accurate gripping of the hollow glass spacer or can achieve adhesion of the clamped hollow glass spacer to the hollow glass with a proper pressure.

The specific technical scheme of the embodiment of the utility model is as follows:

An automatic framing device for a hollow glass spacer, the automatic framing device for a hollow glass spacer comprising:

The mechanical arm clamping jaw mechanism comprises a base assembly, a mechanical arm clamping jaw total mechanism, a telescopic mechanism and a rotating and moving mechanism; the mechanical arm clamping jaw total mechanism is arranged on the base assembly through the telescopic mechanism and the rotating and moving mechanism, the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism can move at least between a first position and a second position of the base assembly, the rotating and moving mechanism can rotate to adjust the inclination angle and the height of the mechanical arm clamping jaw total mechanism, and the telescopic mechanism can stretch and retract in a first preset direction to adjust the position of the mechanical arm clamping jaw total mechanism in the first preset direction;

The mechanical arm clamping jaw total mechanism comprises at least one clamping jaw mechanism and a clamping jaw variable-pitch transmission mechanism for adjusting the position of the clamping jaw mechanism, wherein the clamping jaw mechanism comprises a clamping piece capable of being opened and closed and a pressure sensing unit;

When the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism are positioned at a first position of the base assembly, and the clamping piece is about to clamp the hollow glass spacing bar, and when the telescopic mechanism enables the mechanical arm clamping jaw total mechanism to move in the first preset direction until the mechanical arm clamping jaw total mechanism contacts the hollow glass spacing bar and the pressure of the pressure sensing unit reaches a first preset value, the telescopic mechanism stops moving towards the hollow glass spacing bar continuously;

And/or the number of the groups of groups,

When the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism are positioned at the second position of the base assembly, and the clamping piece is about to loosen the hollow glass spacing bar, and when the telescopic mechanism enables the mechanical arm clamping jaw total mechanism clamped with the hollow glass spacing bar to move in the first preset direction until the mechanical arm clamping jaw total mechanism contacts hollow glass and the pressure of the pressure sensing unit reaches a second preset value, the telescopic mechanism stops moving towards the hollow glass continuously.

Preferably, the base assembly comprises:

the first fixing base is provided with a first track extending along a second preset direction;

the second fixing base is provided with a second track extending along a third preset direction;

A first movable base disposed on the second rail, the first movable base having a third rail thereon, the third rail being in contact with the first rail when the first movable base is in a third position of the second fixed base such that the robotic arm jaw assembly, the telescoping mechanism, and the rotation and movement mechanism can enter from the first rail to the third rail; when the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism are located on the third track, the first moving base can move on the second track so that the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism reach the second position.

Preferably, the telescopic mechanism is mounted on the base assembly, and the mechanical arm clamping jaw total mechanism is connected with the telescopic mechanism through the rotating and moving mechanism.

Preferably, the telescopic mechanism comprises: the connecting base is arranged on the first rail and provided with a fourth rail extending along a first preset direction; a rotation and movement mechanism mounted on the fourth track; and the first driving unit can drive the rotating and moving mechanism to move along a first preset direction on the fourth track.

Preferably, the rotation and movement mechanism comprises:

a second moving base mounted on the fourth rail;

A telescoping unit comprising: a fixed base mounted on the second moving base; the telescopic electric cylinder is hinged with the fixed base, and the telescopic end of the electric cylinder is hinged with the first position of the mechanical arm clamping jaw total mechanism; and the second part of the mechanical arm clamping jaw total mechanism is also hinged with the second movable base.

Preferably, the first and second positions of the mechanical arm clamping jaw total mechanism are arranged along the vertical direction, so that the inclination angle between the mechanical arm clamping jaw total mechanism and the horizontal plane can be changed through the extension and retraction of the extension and retraction unit.

Preferably, the rotation and movement mechanism comprises:

a first fixed bottom plate;

A first movable floor is provided with a first movable floor,

The sliding rail mechanism is arranged between the first fixed bottom plate and the first movable bottom plate, and the first movable bottom plate can slide relative to the first fixed bottom plate in the vertical direction through the sliding rail mechanism;

The first driving mechanism comprises a transmission rack extending along the vertical direction, a gear matched with the transmission rack and a second driving unit for driving the gear to rotate, wherein the second driving unit is fixedly arranged relative to the first fixed bottom plate when the transmission rack is arranged on the first movable bottom plate, or the second driving unit is fixedly arranged relative to the first movable bottom plate when the transmission rack is arranged on the first fixed bottom plate;

the telescopic end of the electric cylinder is hinged with the first position of the first fixed bottom plate; the second part of the first fixed bottom plate is also hinged with the second movable base.

Preferably, the jaw pitch-changing transmission mechanism comprises:

a driven wheel supporting mechanism and a driving wheel supporting mechanism,

The first driven wheel and the second driven wheel are arranged on a transmission driven shaft on the driven wheel supporting mechanism;

The first driving wheel and the second driving wheel are arranged on a driving shaft of the driving wheel supporting mechanism, the first driving wheel and the first driven wheel are driven by a first driving part, the second driving wheel and the second driven wheel are driven by a second driving part, and the radius of the first driving wheel is smaller than that of the second driving wheel;

The third driving unit is used for driving the transmission driving shaft to rotate;

The driving rail is connected between the driven wheel supporting mechanism and the driving wheel supporting mechanism, a plurality of clamping jaw mechanisms are arranged on the driving rail, one clamping jaw mechanism is in a fixed state, and the two clamping jaw mechanisms are respectively in driving connection with the first driving part and the second driving part; the clamping jaw mechanisms corresponding to the first transmission parts are closer to the clamping jaw mechanisms in a fixed state than the clamping jaw mechanisms corresponding to the second transmission parts.

Preferably, the four clamping jaw variable-pitch transmission mechanisms are respectively arranged on the first movable bottom plate; the two clamping jaw variable-pitch transmission mechanisms extend in parallel along the horizontal direction, and the distance between the two clamping jaw variable-pitch transmission mechanisms in the vertical direction can be adjusted; the other two clamping jaw variable-pitch transmission mechanisms extend in parallel along the vertical direction, and the distance between the two clamping jaw variable-pitch transmission mechanisms in the horizontal direction can be adjusted.

Preferably, the jaw mechanism comprises:

A jaw mechanism base;

The silica gel plate is used for abutting against one side of the hollow glass spacing bar coated with the sealant, and the silica gel plate is connected with the clamping jaw mechanism base through a supporting frame;

At least two clamping pieces arranged on the clamping jaw mechanism base, wherein the clamping pieces can move relative to the clamping jaw mechanism base so as to enable the clamping pieces to move towards to clamp two sides of the hollow glass spacing bar, which are not coated with sealant;

The pressure sensing unit is arranged on the clamping piece, and the end part of the pressure sensing unit exceeds the end part of the clamping piece; when the telescopic mechanism enables the mechanical arm clamping jaw total mechanism to move in the first preset direction until the mechanical arm clamping jaw total mechanism contacts the hollow glass holding spacing bar and the pressure of the pressure sensing unit reaches a first preset value, the end part of the clamping piece does not exceed the outer side of one side of the hollow glass spacing bar.

The technical scheme of the utility model has the following remarkable beneficial effects:

1. The pressure sensing unit is arranged in the mechanical arm clamping jaw total mechanism, so that the clamping jaw mechanism can clamp the hollow glass spacing bar at a proper position, and the amount of the clamping piece clamping the hollow glass spacing bar in a first preset direction is controlled, so that the hollow glass spacing bar is adhered to the hollow glass at a later stage; in addition, when the mechanical arm clamping jaw master mechanism clamping the hollow glass spacing bar is used for bonding the hollow glass spacing bar and the hollow glass, the hollow glass can be protected from being damaged by the pressure sensing unit, and the hollow glass spacing bar and the hollow glass can be bonded according to enough pressure intensity, so that the bonding requirement of the hollow glass spacing bar and the hollow glass can be automatically met.

2. The automatic frame feeding device for the hollow glass spacing bar can be used for full-automatic operation, thereby replacing manual frame feeding, freeing up labor force, greatly reducing labor intensity of workers, reducing labor risk, saving a great amount of labor cost and material resource cost, and improving production efficiency

Specific embodiments of the utility model are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the utility model may be employed. It should be understood that the embodiments of the utility model are not limited in scope thereby. Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, proportional sizes, and the like of the respective components in the drawings are merely illustrative for aiding in understanding the present utility model, and are not particularly limited. Those skilled in the art with access to the teachings of the present utility model can select a variety of possible shapes and scale sizes to practice the present utility model as the case may be.

FIG. 1 is a schematic perspective view of an automatic frame feeding device for a hollow glass spacer according to an embodiment of the present utility model;

FIG. 2 is a top view of an automatic framing apparatus for hollow glass spacer according to an embodiment of the present utility model;

FIG. 3 is a side view of a rotary and translation mechanism in an embodiment of the present utility model;

FIG. 4 is a schematic view of the structure at A-A in FIG. 3;

FIG. 5 is a schematic diagram of a jaw pitch drive mechanism according to an embodiment of the present utility model;

FIG. 6 is a schematic view of a jaw mechanism at an angle to a hollow glass spacer bar in accordance with an embodiment of the present utility model;

FIG. 7 is a schematic view of a jaw mechanism at another angle to a hollow glass spacer in accordance with an embodiment of the present utility model;

fig. 8 is a schematic structural diagram of a mobile positioning device according to an embodiment of the utility model.

Reference numerals of the above drawings:

1. A hollow glass spacer; 11. sealing glue; 2. a mechanical arm clamping jaw total mechanism; 21. a clamping jaw variable-pitch transmission mechanism; 211. a driven wheel supporting mechanism; 212. a driving wheel supporting mechanism; 213. a first driven wheel; 214. a second driven wheel; 215. a first drive wheel; 216. a second driving wheel; 217. a first transmission member; 218. a second transmission member; 219. a third driving unit; 2110. a transmission rail; 2111. a transmission driven shaft; 2112. a driving shaft is driven; 22. a jaw mechanism; 221. a jaw mechanism base; 222. a silicone plate; 223. a support frame; 224. a clamping member; 225. a pressure sensing unit; 3. a rotation and movement mechanism; 31. a second movable base; 321. a fixed base; 322. an electric cylinder; 33. a first fixed bottom plate; 34. a first movable floor; 35. a drive rack; 36. a gear; 37. a second driving unit; 38. a bearing seat; 39. a rotation shaft; 310. an earring base; 311. a support base; 312. a joint; 313. a slide rail mechanism; 4. a base assembly; 41. a first fixed base; 411. a first track; 42. a second fixed base; 421. a second track; 43. a first mobile base; 431. a third track; 5. a telescoping mechanism; 51. the base is connected; 6. a mobile positioning device; 61. a cylinder fixing plate; 62. a thrust cylinder; 63. a locating pin socket; 64. a positioning pin; 65. a third fixed base; 66. a locating pin clamping plate; 67. and guiding the bearing seat.

Detailed Description

The details of the utility model will be more clearly understood in conjunction with the accompanying drawings and description of specific embodiments of the utility model. The specific embodiments of the utility model described herein are for purposes of illustration only and are not to be construed as limiting the utility model in any way. Given the teachings of the present utility model, one of ordinary skill in the related art will contemplate any possible modification based on the present utility model, and such should be considered to be within the scope of the present utility model. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, may be in communication with each other in two elements, may be directly connected, or may be indirectly connected through an intermediary, and the specific meaning of the terms may be understood by those of ordinary skill in the art in view of the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

In order to enable accurate gripping of the insulating glass spacer or to enable clamping of the insulating glass spacer to the insulating glass with a suitable pressure, an automatic insulating glass spacer framing device is proposed in the present application, as shown in fig. 1 to 7, which may include: the mechanical arm clamping jaw total mechanism comprises a base assembly 4, a mechanical arm clamping jaw total mechanism 2, a telescopic mechanism 5 and a rotating and moving mechanism 3.

Wherein, as shown in fig. 1 and 2, the mechanical arm clamping jaw total mechanism 2 is mounted on the base assembly 4 through a telescopic mechanism 5 and a rotating and moving mechanism 3. The robot arm jaw assembly 2, the telescopic mechanism 5 and the rotating and moving mechanism 3 are movable between at least a first position and a second position of the base assembly 4.

When the mechanical arm clamping jaw total mechanism 2, the telescopic mechanism 5 and the rotating and moving mechanism 3 are at the first position of the base assembly 4, the mechanical arm clamping jaw total mechanism 2 can be used for clamping the hollow glass spacing bar 1 coated with the sealant 11. For example, when the hollow glass spacing bar 1 with the glue coated is conveyed to the tail end of the sealing glue 11 coater, the automatic frame feeding device of the hollow glass spacing bar 1 clamps the hollow glass spacing bar 1 coated with the sealing glue 11 by using the mechanical arm clamping jaw total mechanism 2.

When the mechanical arm clamping jaw assembly 2, the telescopic mechanism 5 and the rotating and moving mechanism 3 are at the second position of the base assembly 4, the mechanical arm clamping jaw assembly 2 can be used for adhering the clamped hollow glass spacing bar 1 coated with the sealant 11 to the hollow glass, and then the mechanical arm clamping jaw assembly 2 is loosened. The mechanical arm clamping jaw total mechanism 2, the telescopic mechanism 5 and the rotating and moving mechanism 3 repeatedly back and forth between the first position and the second position of the base assembly 4, so that the operation on the automatic assembly line is realized.

As a possible option, as shown in fig. 1 and 2, the base assembly 4 may include: a first fixing base 41, the first fixing base 41 having a first rail 411 extending in a second preset direction; a second fixing base 42, the second fixing base 42 having a second rail 421 extending along a third preset direction; the first moving base 43 disposed on the second rail 421, the first moving base 43 having a third rail 431 thereon, the third rail 431 being connected to the first rail 411 when the first moving base 43 is at the third position of the second fixed base 42 so that the robot arm gripper assembly 2, the telescopic mechanism 5, and the rotating and moving mechanism 3 can enter from the first rail 411 to the third rail 431; when the robot arm holding jaw total mechanism 2, the telescopic mechanism 5, and the rotating and moving mechanism 3 are located on the third rail 431, the first moving base 43 can move on the second rail 421 to bring the robot arm holding jaw total mechanism 2, the telescopic mechanism 5, and the rotating and moving mechanism 3 to the second position.

As a practical matter, the second preset direction is not parallel to the first preset direction. The third preset direction is not parallel to the second preset direction. For example, the second preset direction may be perpendicular to the first preset direction, and the third preset direction may be perpendicular to the second preset direction.

Through the above manner, after the mechanical arm clamping jaw total mechanism 2, the telescopic mechanism 5 and the rotating and moving mechanism 3 move along the second preset direction on the first rail 411 on the base assembly 4, the mechanical arm clamping jaw total mechanism 2, the telescopic mechanism 5 and the rotating and moving mechanism 3 can move along the third preset direction, so that the moving range of the mechanical arm clamping jaw total mechanism 2, the telescopic mechanism 5 and the rotating and moving mechanism 3 is larger, and the directions are more.

In the above embodiment, the second rail 421 may have a rack portion thereon, and the first moving base 43 may be fixed with a gear 36 engaged with the rack portion, and the gear 36 may be driven to rotate by a motor to move the first moving base 43 on the second rail 421. To improve the accuracy of the movement, the motor may employ a servo motor. In the above embodiment, the movement of the robot arm gripping jaw total mechanism 2, the telescopic mechanism 5, and the rotating and moving mechanism 3 on the first rail 411 and the third rail 431 can be performed in a similar manner as above, and a detailed description thereof will be omitted.

Wherein the rotation and movement mechanism 3 is capable of rotating to adjust the tilt angle and height of the robot arm clamping jaw total mechanism 2. The inclination angle is an inclination angle between the mechanical arm clamping jaw total mechanism 2 and the horizontal plane, so that the mechanical arm clamping jaw total mechanism is parallel to hollow glass with an uncertain inclination angle. The telescopic mechanism 5 can be telescopic in a first preset direction to adjust the position of the mechanical arm clamping jaw total mechanism 2 in the first preset direction, so that the distance between the mechanical arm clamping jaw total mechanism 2 and the base assembly 4 is controlled.

In one possible embodiment, the telescopic mechanism 5 may be mounted on the base assembly 4, and the robot arm clamping jaw total mechanism 2 is connected to the telescopic mechanism 5 through the rotating and moving mechanism 3. Of course, in other possible embodiments, the rotation and movement mechanism 3 may be mounted on the base assembly 4, and the robot arm clamping jaw total mechanism 2 is connected to the rotation and movement mechanism 3 through the telescopic mechanism 5.

As a possible possibility, the telescopic mechanism 5 may comprise: a connection base 51, the connection base 51 being mounted on the first rail 411, the connection base 51 having a fourth rail extending in a first predetermined direction thereon; a rotation and movement mechanism 3 mounted on the fourth rail; a first driving unit capable of driving the rotation and movement mechanism 3 to move in a first preset direction on the fourth rail. Through the structure, the rotating and moving mechanism 3 can be driven by the first driving unit to move along the first preset direction on the fourth track, so that the distance between the mechanical arm clamping jaw total mechanism 2 and the base assembly 4 is controlled, the telescopic mechanism 5 is extended, the mechanical arm clamping jaw total mechanism 2 clamps the hollow glass spacing bar 1, and after the mechanical arm clamping jaw total mechanism 2 clamps the hollow glass spacing bar 1, the telescopic mechanism 5 is contracted, so that the mechanical arm clamping jaw total mechanism 2 clamps the hollow glass spacing bar 1 is retracted.

As a possibility, as shown in fig. 3 and 4, the rotation and movement mechanism 3 may include: a second moving base 31 mounted on the fourth rail; a telescoping unit comprising: a fixed base 321 mounted on the second moving base 31; the telescopic electric cylinder 322 is hinged with the fixed base 321, and the telescopic end of the electric cylinder 322 is hinged with the first position of the mechanical arm clamping jaw total mechanism 2; the second part of the mechanical arm clamping jaw total mechanism 2 is also hinged with a second movable base 31. The first position and the second position of the mechanical arm clamping jaw total mechanism 2 are arranged along the vertical direction, so that the inclination angle between the mechanical arm clamping jaw total mechanism 2 and the horizontal plane can be changed through the extension and retraction of the telescopic unit. With the above structure, the tilt angle of the arm claw total mechanism 2 can be controlled by the extension and contraction of the extension and contraction unit.

Further, the mechanical arm clamping jaw total mechanism 2 may be connected with a support base 311, and the telescopic end of the electric cylinder 322 may be hinged with the support base 311 by using a joint 312. In the second place, the arm clamping jaw total mechanism 2 may be connected with an earring base 310, the second moving base 31 is connected with a bearing seat 38, and the bearing seat 38 is connected with the earring base 310 through a rotating shaft 39, so that hinging is realized.

The robotic arm total jaw mechanism 2 may include at least one jaw mechanism 22 and a jaw pitch drive mechanism 21 for adjusting the position of the jaw mechanism 22, the jaw mechanism 22 including an openable and closable clamp 224 and a pressure sensing unit 225. When the clamping member 224 is about to clamp the hollow glass spacer 1 with the arm-holding jaw total mechanism 2, the telescopic mechanism 5, and the rotating and moving mechanism 3 in the first position of the base assembly 4, the telescopic mechanism 5 stops continuing to move toward the hollow glass spacer 1 when the telescopic mechanism 5 moves the arm-holding jaw total mechanism 2 in the first preset direction until the arm-holding jaw total mechanism 2 contacts the hollow glass spacer 1 and the pressure of the pressure sensing unit 225 reaches the first preset value. At this time, when the clamping member 224 is controlled to be closed again to clamp one side of the hollow glass spacer 1, the amount of clamping of the hollow glass spacer 1 by the clamping member 224 in the first preset direction can be controlled, thereby facilitating the adhesion of the hollow glass spacer 1 to the hollow glass at a later stage. For example, the end of the clip 224 can be prevented from exceeding the outside of one side of the insulating glass spacer 1, and the insulating glass spacer 1 cannot be bonded to the insulating glass at a later stage due to the end of the clip 224 abutting against the insulating glass. The pressure of the pressure sensing unit 225 reaching the first preset value may be that the pressure generated after the pressure sensing unit 225 abuts against the side surface of the hollow glass spacing bar 1 to keep the hollow glass spacing bar 1 substantially vertical by the related device reaches the first preset value, and the degree to which the mechanical arm clamping jaw assembly 2 contacts the hollow glass spacing bar 1 and the relative position between the mechanical arm clamping jaw assembly 2 and the hollow glass spacing bar 1 can be controlled by the pressure sensed by the pressure sensing unit 225.

When the telescopic mechanism 5 moves the robot arm clamping jaw total mechanism 2 clamping the hollow glass spacer 1 in the first preset direction until the robot arm clamping jaw total mechanism 2 contacts the hollow glass and the pressure of the pressure sensing unit 225 reaches the second preset value, the telescopic mechanism 5 stops moving further towards the hollow glass when the clamping member 224 is about to release the hollow glass spacer 1 in the second position of the base assembly 4, the robot arm clamping jaw total mechanism 2, the telescopic mechanism 5 and the rotating and moving mechanism 3 are in the second preset position. By the means, the hollow glass spacing bar 1 clamped by the mechanical arm clamping jaw total mechanism 2 and the hollow glass can be fully pressed and bonded. Thereafter, the clamping member 224 releases the hollow glass spacer 1, and the telescopic mechanism 5 moves in a direction away from the hollow glass.

Further, as is possible, as shown in fig. 6 and 7, the jaw mechanism 22 may include: a jaw mechanism base 221; a silica gel plate 222 used for abutting on one side of the hollow glass spacing bar 1 coated with the sealant 11, wherein the silica gel plate 222 is connected with the clamping jaw mechanism base 221 through a supporting frame 223; at least two clamping pieces 224 provided on the clamping jaw mechanism base 221, the clamping pieces 224 being movable relative to the clamping jaw mechanism base 221 so that the clamping pieces 224 can be moved toward to clamp both sides of the hollow glass spacer 1 not coated with the sealant 11; the pressure sensing unit 225 is disposed on the grip 224, and an end of the pressure sensing unit 225 exceeds an end of the grip 224. When the silica gel plate 222 contacts the side of the insulating glass spacer 1 coated with the sealant 11, the pressure sensing unit 225 also contacts the related device supporting the side of the insulating glass spacer 1 to keep the insulating glass spacer 1 substantially vertical, and when the pressure of the pressure sensing unit 225 reaches the first preset value, the expansion mechanism 5 is controlled to stop expanding in time. Further, when the telescopic mechanism 5 moves the robot arm clamping jaw total mechanism 2 in the first preset direction until the robot arm clamping jaw total mechanism 2 contacts the hollow glass spacing bar 1 and the pressure of the pressure sensing unit 225 reaches the first preset value, the end of the clamping piece 224 does not exceed the outer side of one side of the hollow glass spacing bar 1, and it can be understood that the upper side of one side of the hollow glass spacing bar 1 is coated with the sealant 11 in fig. 6 and 7.

In the above-described structure, the clamping member 224 may be moved on the jaw mechanism base 221 by means of electric control to achieve opening and closing, thereby clamping and releasing the hollow glass spacer bar 1, and the structure may be any structure in the prior art, and will not be described herein.

As a possibility, as shown in fig. 3 and 4, the rotation and movement mechanism 3 may further include: a first fixed bottom plate 33; a first movable base plate 34, a slide rail mechanism 313 provided between the first fixed base plate 33 and the first movable base plate 34, the first movable base plate 34 being slidable in a vertical direction with respect to the first fixed base plate 33 by the slide rail mechanism 313; the first driving mechanism includes a transmission rack 35 extending in the vertical direction, a gear 36 cooperating with the transmission rack 35, and a second driving unit 37 for driving the gear 36 to rotate, wherein the second driving unit 37 is fixedly arranged relative to the first fixed base plate 33 when the transmission rack 35 is on the first movable base plate 34, or the second driving unit 37 is fixedly arranged relative to the first movable base plate 34 when the transmission rack 35 is on the first fixed base plate 33. The first movable base plate 34 can be used to connect the jaw pitch drive 21. Through the above structure, the first movable bottom plate 34 and the height position of the jaw pitch transmission mechanism 21 connected to the first movable bottom plate 34 in the vertical direction can be adjusted, so that the jaw pitch transmission mechanism 21 connected to the first movable bottom plate 34 can be substantially matched with the height of the hollow glass spacing bar 1. When the above structure exists, the telescopic end of the electric cylinder 322 is hinged with the first position of the first fixed bottom plate 33; the second place of the first fixed base plate 33 is also hinged with the second movable base plate 31. The first movable bottom plate 34 is used for connecting the mechanical arm clamping jaw total mechanism 2.

Further, as shown in fig. 1 and 2, the jaw pitch transmission mechanism 21 may be four, and each may be disposed on the first moving base 34. Wherein the two jaw pitch drives 21 extend in parallel in the horizontal direction and the distance between the two jaw pitch drives 21 in the vertical direction can be adjusted to accommodate different hollow glass spacer 1 sizes. The other two jaw pitch drives 21 extend in parallel in the vertical direction, and the distance between the two jaw pitch drives 21 in the horizontal direction can be adjusted to accommodate different dimensions of the hollow glass spacer 1.

For example, of the two jaw pitch drives 21 extending in parallel in the horizontal direction, one lower jaw pitch drive 21 may be fixed, and the other upper jaw pitch drive 21 may be adjustably movable in the vertical direction, where the adjustable movement may be electric or manual. Similarly, of the two jaw pitch drives 21 extending in parallel in the vertical direction, one jaw pitch drive 21 on the left side may be fixed and the other jaw pitch drive 21 on the right side may be adjustably movable in the horizontal direction. Thus, the mechanical arm clamping jaw total mechanism 2 can clamp hollow glass spacing bars 1 with any size by adjusting the two clamping jaw variable-pitch transmission mechanisms 21.

Since the dimensions of the hollow glass spacers 1 may be large, the lengths of the sides of these hollow glass spacers 1 are long, and if one side holds only one position, the hollow glass spacers 1 may be bent and deformed, so that it is necessary to hold a plurality of positions on one side, and also because the dimensions of different hollow glass spacers 1 are different, it is necessary to enable adjustment of the plurality of holding positions on one side of the hollow glass spacers 1 to accommodate the length of one side of the hollow glass spacers 1. As a possibility, as shown in fig. 5, the jaw pitch drive 21 may comprise: a driven wheel supporting mechanism 211, a driving wheel supporting mechanism 212, a first driven wheel 213 and a second driven wheel 214 arranged on a driving driven shaft 2111 on the driven wheel supporting mechanism 211; the first driving wheel 215 and the second driving wheel 216 are arranged on the driving shaft 2112 of the driving wheel supporting mechanism 212, the first driving wheel 215 and the first driven wheel 213 are driven by a first driving part 217, the second driving wheel 216 and the second driven wheel 214 are driven by a second driving part 218, and the radius of the first driving wheel 215 is smaller than that of the second driving wheel 216; a third driving unit 219 for driving the power transmission driving shaft 2112 to rotate; a transmission track 2110 connected between the driven wheel supporting mechanism 211 and the driving wheel supporting mechanism 212, wherein the transmission track 2110 is provided with a plurality of clamping jaw mechanisms 22, one clamping jaw mechanism 22 is in a fixed state, and two clamping jaw mechanisms 22 are respectively in transmission connection with a first transmission member 217 and a second transmission member 218; the jaw mechanism 22 corresponding to the first transmission member 217 is closer to the jaw mechanism 22 in a fixed state than the jaw mechanism 22 corresponding to the second transmission member 218.

By the above structure, the two jaw mechanisms 22 which are respectively connected with the first transmission member 217 and the second transmission member 218 in a transmission manner can be driven to move along the transmission track 2110 by the third driving unit 219, so that the total length between the three jaw mechanisms 22 can be adjusted to adapt to the length of one side of the hollow glass spacing bar 1. If the length of one side of the hollow glass spacer 1 is short, the two jaw mechanisms 22 in driving connection with the first driving member 217 and the second driving member 218 are controlled to move along the driving track 2110 near the jaw mechanism 22 in a fixed state, and if the length of one side of the hollow glass spacer 1 is long, the two jaw mechanisms 22 in driving connection with the first driving member 217 and the second driving member 218 are controlled to move along the driving track 2110 far away from the jaw mechanism 22 in a fixed state.

When the coated hollow glass spacing bar 11 is conveyed to the tail end of the coating machine, after the automatic frame feeding device of the hollow glass spacing bar 1 receives signals, the rotating and moving mechanism 3 adjusts the up-down position to be at the same height and angle as the height and angle of the tail end of the corresponding coating machine, and the clamping jaw pitch-varying transmission mechanism 21 above the mechanical arm clamping jaw total mechanism 2 is moved up and down and left and right on the mechanical arm clamping jaw total mechanism 2 by the third driving unit 219, so that the clamping jaw can grab spacing bars with different sizes. The telescopic mechanism 5 starts to act and extend a certain distance to contact the hollow glass spacing bar 1, and after the pressure sensing device on the mechanical arm clamping jaw total mechanism 2 senses that the pressure reaches a first preset value, the telescopic mechanism 5 stops acting. After the positions of the clamping jaw variable-pitch transmission mechanisms 21 of the spacing bars with the corresponding sizes are adjusted, the clamping jaw mechanisms 22 in the four clamping jaw variable-pitch transmission mechanisms 21 are adjusted according to the corresponding sizes of the spacing bars, four sides of the clamping jaw mechanisms 22 uniformly distributed for grabbing the spacing bars are respectively realized, and levelness and verticality of grabbing the spacing bars are ensured. The clamping piece 224 in the clamping jaw mechanism 22 on the mechanical arm clamping jaw total mechanism 2 acts to clamp the hollow glass spacing bar 1, and then the telescopic device acts to retract to the initial position.

The telescopic mechanism 5, the rotating and moving mechanism 3 and the robot arm gripping jaw total mechanism 2 travel together with the hollow glass spacing bar 1 from the a end to the B end, i.e., from the first position to the B end, on the first rail 411 of the first stationary base 41 and the third rail 431 above the first moving base 43. In this process, the motor or the like can be used for providing power to run from the A end to the B end. The joint of the first rail 411 of the first fixed base 41 and the third rail 431 of the first movable base 43 has a certain proper gap, so that the joint of the rail and the transmission can be stably transited in the process of moving the telescopic mechanism 5 from the end A to the end B and from the end B to the end A, and the clamping phenomenon can not occur.

After that, the telescopic mechanism 5, the rotating and moving mechanism 3, and the arm jaw total mechanism 2 grip the hollow glass spacing bar 1 together with the first moving base 43 on the second rail 421 above the second fixed base 42 from the B end to the C end. In the process of moving from the end B to the end C, the rotating and moving mechanism 3 adjusts the vertical height and the rotating angle to adapt to the position of the hollow glass in order to match with the position of the hollow glass on the automatic hollow glass production line, the clamping jaw mechanism 22 in the mechanical arm clamping jaw main mechanism 2 automatically adjusts the levelness and the verticality of the hollow glass spacing bar 1, the appearance of the hollow glass spacing bar 1 is ensured to adapt to the hollow glass on the automatic hollow glass production line, after the telescopic mechanism 5 moves and stretches to a proper position, the pressure sensing unit 225 above the clamping jaw mechanism 22 in the mechanical arm clamping jaw main mechanism 2 contacts with the hollow glass on the automatic hollow glass production line to reach a second preset value, the telescopic mechanism 5 stops moving, and the hollow glass spacing bar 1 is adhered to the hollow glass. Then, the clamping piece 224 in the clamping jaw mechanism 22 on the mechanical arm clamping jaw total mechanism 2 acts, the hollow glass spacing bar 1 is loosened, and finally, the corresponding mechanism returns to the initial position along the opposite movement, one movement period is completed, and the corresponding movement action is repeated.

Since the first moving base 43 needs to reciprocate from the B end to the C end, it is necessary to ensure positional accuracy when the first moving base 43 returns to the B end. As a possible way, as shown in fig. 8, the first moving base 43 is provided with the moving positioning device 6, and the moving positioning device 6 includes an air cylinder fixing plate 61, a thrust air cylinder 62, a positioning pin clamping plate 66, a guide bearing block 67, a positioning pin 64, and a third fixing base 65 having a positioning pin socket 63. The positioning pin clamping plate 66 and the guide bearing seat 67 are used for limiting the positioning pin 64 in the radial direction. The positioning pin 64 passes through the guide bearing housing 67. The cylinder fixing plate 61 may be fixed to the first moving base 43. When the first moving base 43 returns to the B end, the thrust cylinder 62 acts to push the positioning pin 64 to slide in the positioning pin socket 63, the positioning pin 64 may be provided with a self-lubricating copper bush, and then the positioning pin 64 is inserted into the positioning pin socket 63. Because the end of the positioning pin 64 is formed by a certain taper angle and a certain tolerance dimension, the positioning pin is more convenient to insert into the positioning pin socket 63 for accurate positioning.

The automatic frame feeding device for the hollow glass spacing bar has the following advantages:

1. The mechanical arm clamping jaw total mechanism 2 is provided with a pressure sensing unit 225, which can ensure that the clamping jaw mechanism 22 clamps the hollow glass spacing bar at a proper position, and control the clamping amount of the clamping piece 224 to clamp the hollow glass spacing bar in a first preset direction so as to facilitate the adhesion of the hollow glass spacing bar to the hollow glass at a later stage; in addition, when the mechanical arm clamping jaw general mechanism 2 clamping the hollow glass spacing bar is used for bonding the hollow glass spacing bar and the hollow glass, the hollow glass can be protected from being damaged by the pressure sensing unit 225, and the hollow glass spacing bar and the hollow glass can be bonded according to enough pressure intensity, so that the bonding requirement of the hollow glass spacing bar and the hollow glass can be automatically met.

2. The rotating and moving mechanism 3 in the application can enable the inclination angle and the height of the mechanical arm clamping jaw total mechanism 2 to be adjusted so as to correspond to the hollow glass spacing bar when the hollow glass spacing bar is to be clamped; when the hollow glass spacer is to be bonded to the hollow glass, the inclination angle and the height of the hollow glass spacer are made to correspond to those of the hollow glass.

3. The jaw pitch drive mechanism 21 of the present application utilizes a third drive unit 219 to drive two jaw mechanisms 22 in driving connection with the first and second drive members 217, 218, respectively, along the drive track 2110, so that the overall length between the three jaw mechanisms 22 can be adjusted to accommodate the length of one side of the hollow glass spacer.

4. The automatic frame feeding device for the hollow glass spacing bar can be used for full-automatic operation, so that manual frame feeding is replaced, labor force is liberated, labor intensity of workers is greatly reduced, labor risk is reduced, a large amount of labor cost and material resource cost are saved, and production efficiency is improved.

The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not substantially affect the essential novel features of the combination. The use of the terms "comprises" or "comprising" to describe combinations of elements, components, or steps herein also contemplates embodiments consisting essentially of such elements, components, or steps. By using the term "may" herein, it is intended that any attribute described as "may" be included is optional. Multiple elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, component, section or step is not intended to exclude other elements, components, sections or steps.

The foregoing description of the embodiments of the present utility model is merely illustrative, and the present utility model is not limited to the embodiments described above. Any person skilled in the art can make any modification and variation in form and detail of the embodiments without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is still subject to the scope of the appended claims.

Claims (10)

1. Automatic device of going up frame of cavity glass spacer bar, its characterized in that, automatic device of going up frame of cavity glass spacer bar includes:

The mechanical arm clamping jaw mechanism comprises a base assembly, a mechanical arm clamping jaw total mechanism, a telescopic mechanism and a rotating and moving mechanism; the mechanical arm clamping jaw total mechanism is arranged on the base assembly through the telescopic mechanism and the rotating and moving mechanism, the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism can move at least between a first position and a second position of the base assembly, the rotating and moving mechanism can rotate to adjust the inclination angle and the height of the mechanical arm clamping jaw total mechanism, and the telescopic mechanism can stretch and retract in a first preset direction to adjust the position of the mechanical arm clamping jaw total mechanism in the first preset direction;

The mechanical arm clamping jaw total mechanism comprises at least one clamping jaw mechanism and a clamping jaw variable-pitch transmission mechanism for adjusting the position of the clamping jaw mechanism, wherein the clamping jaw mechanism comprises a clamping piece capable of being opened and closed and a pressure sensing unit;

When the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism are positioned at a first position of the base assembly, and the clamping piece is about to clamp the hollow glass spacing bar, and when the telescopic mechanism enables the mechanical arm clamping jaw total mechanism to move in the first preset direction until the mechanical arm clamping jaw total mechanism contacts the hollow glass spacing bar and the pressure of the pressure sensing unit reaches a first preset value, the telescopic mechanism stops moving towards the hollow glass spacing bar continuously;

And/or the number of the groups of groups,

When the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism are positioned at the second position of the base assembly, and the clamping piece is about to loosen the hollow glass spacing bar, and when the telescopic mechanism enables the mechanical arm clamping jaw total mechanism clamped with the hollow glass spacing bar to move in the first preset direction until the mechanical arm clamping jaw total mechanism contacts hollow glass and the pressure of the pressure sensing unit reaches a second preset value, the telescopic mechanism stops moving towards the hollow glass continuously.

2. The automatic framing device for a hollow glass spacer of claim 1, wherein said base assembly comprises:

the first fixing base is provided with a first track extending along a second preset direction;

the second fixing base is provided with a second track extending along a third preset direction;

A first movable base disposed on the second rail, the first movable base having a third rail thereon, the third rail being in contact with the first rail when the first movable base is in a third position of the second fixed base such that the robotic arm jaw assembly, the telescoping mechanism, and the rotation and movement mechanism can enter from the first rail to the third rail; when the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism are located on the third track, the first moving base can move on the second track so that the mechanical arm clamping jaw total mechanism, the telescopic mechanism and the rotating and moving mechanism reach the second position.

3. The automatic framing device for hollow glass spacer bars of claim 2, wherein said telescoping mechanism is mounted on said base assembly and said robotic arm jaw assembly is connected to said telescoping mechanism by said rotating and moving mechanism.

4. A hollow glass spacer automatic framing apparatus according to claim 3, wherein the telescoping mechanism comprises: the connecting base is arranged on the first rail and provided with a fourth rail extending along a first preset direction; a rotation and movement mechanism mounted on the fourth track; and the first driving unit can drive the rotating and moving mechanism to move along a first preset direction on the fourth track.

5. The automatic framing device for insulating glass spacer bars as claimed in claim 4, wherein said rotation and movement mechanism comprises:

a second moving base mounted on the fourth rail;

A telescoping unit comprising: a fixed base mounted on the second moving base; the telescopic electric cylinder is hinged with the fixed base, and the telescopic end of the electric cylinder is hinged with the first position of the mechanical arm clamping jaw total mechanism; and the second part of the mechanical arm clamping jaw total mechanism is also hinged with the second movable base.

6. The automatic framing device for a hollow glass spacer according to claim 5, wherein the first and second positions of the robot arm clamping jaw assembly are arranged in a vertical direction so that an inclination angle between the robot arm clamping jaw assembly and a horizontal plane can be changed by telescoping of the telescoping unit.

7. The automatic framing device for insulating glass spacer bars as claimed in claim 5, wherein said rotation and movement mechanism comprises:

a first fixed bottom plate;

A first movable floor is provided with a first movable floor,

The sliding rail mechanism is arranged between the first fixed bottom plate and the first movable bottom plate, and the first movable bottom plate can slide relative to the first fixed bottom plate in the vertical direction through the sliding rail mechanism;

The first driving mechanism comprises a transmission rack extending along the vertical direction, a gear matched with the transmission rack and a second driving unit for driving the gear to rotate, wherein the second driving unit is fixedly arranged relative to the first fixed bottom plate when the transmission rack is arranged on the first movable bottom plate, or the second driving unit is fixedly arranged relative to the first movable bottom plate when the transmission rack is arranged on the first fixed bottom plate;

the telescopic end of the electric cylinder is hinged with the first position of the first fixed bottom plate; the second part of the first fixed bottom plate is also hinged with the second movable base.

8. The automatic framing device for insulating glass spacer bars as claimed in claim 1 or 7 wherein said jaw pitch drive mechanism comprises:

a driven wheel supporting mechanism and a driving wheel supporting mechanism,

The first driven wheel and the second driven wheel are arranged on a transmission driven shaft on the driven wheel supporting mechanism;

The first driving wheel and the second driving wheel are arranged on a driving shaft of the driving wheel supporting mechanism, the first driving wheel and the first driven wheel are driven by a first driving part, the second driving wheel and the second driven wheel are driven by a second driving part, and the radius of the first driving wheel is smaller than that of the second driving wheel;

The third driving unit is used for driving the transmission driving shaft to rotate;

The driving rail is connected between the driven wheel supporting mechanism and the driving wheel supporting mechanism, a plurality of clamping jaw mechanisms are arranged on the driving rail, one clamping jaw mechanism is in a fixed state, and the two clamping jaw mechanisms are respectively in driving connection with the first driving part and the second driving part; the clamping jaw mechanisms corresponding to the first transmission parts are closer to the clamping jaw mechanisms in a fixed state than the clamping jaw mechanisms corresponding to the second transmission parts.

9. The automatic framing device for hollow glass spacing bars according to claim 7, wherein the four jaw pitch-changing transmission mechanisms are respectively arranged on the first movable bottom plate; the two clamping jaw variable-pitch transmission mechanisms extend in parallel along the horizontal direction, and the distance between the two clamping jaw variable-pitch transmission mechanisms in the vertical direction can be adjusted; the other two clamping jaw variable-pitch transmission mechanisms extend in parallel along the vertical direction, and the distance between the two clamping jaw variable-pitch transmission mechanisms in the horizontal direction can be adjusted.

10. The automatic framing device for hollow glass spacer bars as claimed in claim 1 wherein said jaw mechanism comprises:

A jaw mechanism base;

The silica gel plate is used for abutting against one side of the hollow glass spacing bar coated with the sealant, and the silica gel plate is connected with the clamping jaw mechanism base through a supporting frame;

At least two clamping pieces arranged on the clamping jaw mechanism base, wherein the clamping pieces can move relative to the clamping jaw mechanism base so as to enable the clamping pieces to move towards to clamp two sides of the hollow glass spacing bar, which are not coated with sealant;

The pressure sensing unit is arranged on the clamping piece, and the end part of the pressure sensing unit exceeds the end part of the clamping piece; when the telescopic mechanism enables the mechanical arm clamping jaw total mechanism to move in the first preset direction until the mechanical arm clamping jaw total mechanism contacts the hollow glass holding spacing bar and the pressure of the pressure sensing unit reaches a first preset value, the end part of the clamping piece does not exceed the outer side of one side of the hollow glass spacing bar.