[0052] The present invention will be described in detail below with reference to the drawings and specific embodiments.
[0053] Reference Figure 1 to 8 As shown, the present invention provides a CNC glass efficient loading and unloading machine, including a first conveying device 1, a second conveying device 2, a first material frame clamping device 3, a second material frame clamping device 4, a positioning device 5, The manipulator device 6, the lifting and transferring device 7; the first conveying device 1 and the second conveying device 2 both include an upper belt line and a lower belt line, and the first conveying device 1 and the second conveying device 2 are arranged vertically; A material frame clamping device 3 is used to clamp the material frame from the upper belt line of the first conveying device 1 to the upper belt line of the second conveying device 2; the positioning device 5 is installed with the upper belt line of the second conveying device 2 The top part is used to position the material frame 9; the manipulator device 6 is erected above the second conveying device 2, and is used to grab the material in the positioned material frame 9 to the CNC machine tool 10 for processing, and the processed material Placed back into the material frame 9; the lifting and transferring device 7 is used to transfer the material frame 9 from the upper belt line of the second conveyor 2 to its lower belt line; the second material frame clamping device 4 is used to transfer The material frame is clamped from the lower belt line of the second conveyor 2 to the lower belt line of the first conveyor 1.
[0054] Wherein, the manipulator device 6 includes two suction cups 61, two linkage cylinders 62, a first vertical cylinder 63, two rack and pinion assemblies 64, a connecting shaft 65, a connecting plate 66, a manipulator 67, and a material tilt sensor; the connecting shaft 65 is arranged perpendicular to the connecting plate 66, and the top of the connecting shaft 65 is detachably connected to the manipulator 67; the two suction cups 61 are respectively installed on both sides of the connecting plate 66 through two rack and pinion assemblies 64; the two linked cylinders 62 are driven respectively The two suction cups 61 rotate relative to the connecting plate 66 via the two rack and pinion assemblies 64; the first vertical cylinder 63 drives the suction cup 61 to move up and down linearly; the material tilt sensor is installed on the connecting plate 66 for sensing the suction cup 61 Whether the material is inclined.
[0055] The lifting transfer device 7 includes a lifting cylinder 71, a forward and reverse belt line 72; the lifting cylinder 71 is used to lift the forward and reverse belt line 72 to the same plane as the upper belt line of the second conveying device 2 or lower it to The same plane as the lower belt line; the forward and reverse belt lines 72 rotate forward to connect the material frame 9 from the upper belt line of the second conveyor 2 to its top, and reverse to convey the material frame 9 to the second conveyor 2 On the lower belt line.
[0056] The first material frame clamping device 3 and the second material frame clamping device 4 both include a mounting bracket 31, a horizontal cylinder 32, a second vertical cylinder 33, two clamping cylinders 34, two material frame clamping jaws 35, and a blocking cylinder 36. The first in-position sensor; the mounting bracket 31 is erected on the top of the upper belt line or the top of the lower belt line of the first conveyor 1; the two material frame clamping jaws 35 are hoisted on the mounting bracket 31; the two clamps The taking cylinder 34 is used to drive the two material frame clamping jaws 35 to clamp the material frame 9; the horizontal air cylinder 32 and the second vertical air cylinder 33 are respectively used to drive the two material frame clamping jaws 35 to move horizontally and vertically; the blocking cylinder 36 It is installed on the end of the mounting bracket 31 far away from the feeding material to block the material frame 9 in place; the first in-position sensor is arranged on the mounting bracket 31.
[0057] The positioning device 5 includes two positioning cylinders 51, two positioning blocks 52, and a second position sensor 53; the two positioning blocks 52 are respectively arranged on both sides of the top of the upper belt line of the second conveying device 2; The air cylinder 51 is respectively used to drive two positioning blocks 52 to clamp the material frame 9 for positioning; the second in-position sensor 53 is installed near the positioning block 52.
[0058] The high-efficiency loading and unloading machine also includes a CCD camera 8; the CCD camera 8 is arranged near the manipulator device 6 and is used for correcting the material grasped by the manipulator device 6.
[0059] The working principle of the present invention:
[0060] 1) The material frame 9 filled with glass material is fed from the upper belt line end of the first conveyor 1, and the upper belt line of the first conveyor 1 conveys the material frame 9 to the first material frame clamping device 3 nearby;
[0061] 2) The first in-position sensor senses that the material frame 9 is in place, blocking the cylinder 36 to block the material frame 9 in place, the first material frame clamping device 3 clamps the material frame 9, and the material frame 9 is placed on the second conveyor 2 Upper belt line;
[0062] 3) The upper belt line of the second conveying device 2 conveys the material frame 9 to the vicinity of the positioning device 5. When the second in-position sensor 53 (optical fiber sensor) senses that the material frame 9 is in place, the two positioning cylinders 51 respectively drive the two positioning blocks 52 clamping material frame 9 positioning;
[0063] 4) The upper belt line of the second conveying device 2 continues to convey the material frame 9 in the direction of the lifting and transferring device 7 and convey it to the vicinity of the manipulator device 6;
[0064] 5) Each suction cup 61 in the manipulator device 6 (silica gel is provided on the surface of the suction cup 61, and the silica gel layer is used to protect the glass material and buffer) is individually controlled by a linkage cylinder 62. The suction cup 61 can be rotated from the same horizontal plane as the connecting plate 66 to The position perpendicular to the connecting plate 66 (the glass material is placed vertically in the material frame 9, when the suction cup 61 is taken in the material frame 9, it needs to be taken perpendicular to the connecting plate 66, and then rotated to the same as the connecting plate 66 On the horizontal surface, place the glass material horizontally on the CNC machine tool 10). The two suction cups 61 in the manipulator device 6 take turns loading and unloading under the rotation of the manipulator 67 (when the material frame 9 reaches the position of the positioning device 5, one of the suction cups 61 grabs the glass material in the position frame to the CNC machine tool 10. At the same time, another sucker 61 puts the processed glass material in the CNC machine tool back into the empty material frame 9 adjacent to the positioning device 5). Before the glass material is placed on the CNC machine tool 10 by the robot device 6, the CCD camera 8 first corrects the glass material. After the correction, the suction cup 61 is driven by the robot 67 (the robot 67 is a four-axis robot that can drive the suction cup 61 to rotate). The glass material is transferred to CNC machine tool 10;
[0065] 6) The upper belt line of the second conveying device 2 continues to convey the direction of the lifting transfer device 7, the forward and reverse belt line 72 is being transferred through the material frame 9 on the upper belt line of the second conveying device 2, and the lifting cylinder 71 The forward and reverse belt line 72 is lowered to the same level as the lower belt line of the second conveyor 2, and the forward and reverse belt line 72 reverses to transfer the material frame 9 to the lower belt line of the second conveyor 2;
[0066] 7) The lower belt line of the second conveying device 2 conveys the material frame 9 to the first conveying device 1. After being conveyed to the vicinity of the first conveying device 1, the second material frame clamping device 4 clamps the material frame 9 to the first The lower belt line of the conveying device 1 performs cutting.
[0067] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Inside.
